infoPLC Net Ejem Twido LX05 Via Can XBTG V1 35

Twido, Magelis XBT-G2330 and LEXIUM05
via CANopen
Version 1.35
This document describes a small application using a Twido-PLC, a LEXIUM05 drive
connected via CANopen and a Magelis XBT-G2330 HMI connected via Modbus. The
program example includes
-How to activate the operation modes:

-Homing
-Set position
-Velocity mode
-Point to point
-Manual
-How to write and read parameters
-Error handling
Designed 16.09.2005 by
Patrick Friedmann
Berger Lahr GmbH
Customer Support Center - Technical Support
Gewerbestraße 9
D-77749 Hohberg-Niederschopfheim.
Tel.: +49 7808 / 943-235
Fax: +49 7808 / 946-58 235
E-Mail: mailto:patrick.friedmann@berger-lahr.com
www.berger-lahr.com
1
Components
TWIDO Modular TWDLMDA20RT
• 16 Digital Inputs Sink/Source integrated

• 8 Digital Outputs (6 Relays and 2 Transistor source) integrated
• Expandable with 7 additional modules
2
Lexium05
A universal drive with:
• Auto tuning on board, manual optimisation of the control loop with PowerSuite 2
• +/- 10V analogue signal interface
• Pulse/direction and A/B signal interface
• Field bus interface CANopen DS402 and ModBus RTU,
optional (in the future): Profibus DP
• Safety stop integrated in the drive
• 4 sizes (0,4-6kW)
• Standard motors & drives combination are defined
3
Magelis XBT-G2330
• TFT-screen, 5,7”
• 256 colours
• Uni-Telway, Modbus, Modbus-TCP/IP
• Ethernet
• 24V supply voltage
• CF Memory card
• Configuration software: Vijeo Designer
4
System configuration
Magelis XBTG2330
COM1 TOOL
XBTZG999
XBTZG915
XBT Z968
TSXPCX1031
Standard CAN cable
Port 1
Lexium05
Node-ID. 2
TWDLMDA20DRT
RS485 Serial link
CANopen Master
TWDNOZ485D
TWDNCO1M
TWIDO CPU
5
Visualization
Typical screen structure
Switch to Name of Switch to Fault screen (appears only

Trend screen Screen when a fault is active)
Display of
Parameter Actual and
(Read and write set values
values)
Action
buttons
Switchboard
Button Function
Trend Trend display of the velocity
Fault Fault page (only visible if a fault is active)
Main Main page with actual and set values

Home Homing mode
Set Pos Set position mode
Vel Profile velocity mode
PtP Point to point mode, manual mode
Para Read parameter and write parameter
Quit Quit drive error
Save Para Saving the Magelis parameter values on the plc
6
Structure of the screens
Main Page
Homing Mode Homing Parameter
Set position
Velocity mode
Point to point mode Manual mode
Parameter
Quit drive faults Fault Page
Save XBT parameter
Trend
Only possible if an error is active
7
Software
Hardware configuration
At first, the CANopen Master must be added on the extension bus (see also the Twido
software reference guide). Then the eds-file of Lexium05 must be imported in the CANopen
configuration tool. In this example a Lexium05 is used with node-id 2.
Import EDS Edit Slave-Address
Insert Slaves Supervision
Baud rate
8
The next step is the mapping of the PDO-objects. For the Lexium05 the first three PDOs are
statically mapped and cannot be changed. PDO4 is free usable.
9
List of Objects Transmission/Reception
COB-ID
Object indices
10
After the mapping the objects must be linked with the PLC.
Slave-PDO Insert Master-PDO Transmission/Reception
11
Finally the linked objects get symbols.
Symbols Object-name PLC-Address
12
Internal memory words
The following table shows the used internal memory words
Group Subroutine Names of the variables Type Address Comment
Internal Bits Internal Type Address

Internal help flag Bool % M20
Internal help flag HF_00 Bool % M200
First_cyle_in_
System signals run S13
Restore_
memory S95
Backup_OK S96
PLC_Status SW6
Slave_Status SW20
Number_of_
words_to_
save SW97
Config_ok SW81:X0
Data_
exchange_on SW81:X1
System_
stopped SW81:X2
Can_cmd_
done SW81:X3
Can_cmd_
fault SW81:X4
Fault_
initialization SW81:X5
Save_memory
_words SW96:X0
Application_ok SW96:X6
13
Magelis XBT XBT to Twido Twido to XBT Type
XBT Start_Homing Bool % MW100:X0
Start_Setpos Bool % MW100:X1
Start_Velmode Bool % MW100:X2
PTP_absolute Bool % MW100:X3
Start_PTP Bool % MW100:X4
Start_Para_Read Bool % MW100:X5
Start_Para_Write Bool % MW100:X6
Quit_Drive_Fault Bool % MW100:X7
Setpos_absolute Bool % MW100:X8
Stop_Velmode Bool % MW100:X9
Read_Error-Code Bool % MW100:X10
Save_OK Bool % MW100:X11
Save Bool % MW100:X12
Restore Bool % MW100:X13
Start_man_right_slow Bool % MW101:X0
Start_man_right_fast Bool % MW101:X1
Start_man_left_slow Bool % MW101:X2
Start_man_left_fast Bool % MW101:X3
Actpos Dint % MD102
Actvel Dint % MD104
Setpos Dint % MD106
Setvel Dint % MD108
Home_Type Int % MW110
Home_Axis Int % MW111
Home_Homepos Dint % MD112
Home_VHome Int % MW114
Home_VOutHome Int % MW115
Home_POutHome Dint % MD116
Home_PDisHome Dint % MD118
Setpos_Pos Dint % MD130
Setpos_Axis Int % MW132
Vel_Setspeed Dint % MD140
Vel_Axis Int % MW142
PTP_Setpos Dint % MD150
PTP_Setspeed Int % MW152
PTP_Axis Int % MW153
Pararead_Index Int % MW160
Pararead_Subindex Int % MW161
Pararead_Axis Int % MW162
Pararead_Data Int % MD164
Parawrite_Index Int % MW170
Parawrite_Subindex Int % MW171
Parawrite_Length Int % MW172
Parawrite_Data Dint % MD174
Parawrite_Axis Int % MW176
Error Dint % MD178
Fault_Homing Bool % MW180:X0
Fault_Setpos Bool % MW180:X1
14
Fault_Move_Vel Bool % MW180:X2
Fault_PTP Bool % MW180:X3
Fault_Read_Para Bool % MW180:X4
Fault_Write_Para Bool % MW180:X5
Fault_Move_Manual Bool % MW180:X6
Fault_Drive Bool % MW180:X7
Manual_Slow Int % MW182
Manual_Fast Int % MW183
Manual_Axis Int % MW184
Functions
Name Subroutine Inputs Outputs Internal Type Address

BL_POWER_LX05 0 Enable Bool % MW1000:X0 not used at the moment!
Initialization Axis Int % MW1004 not used at the moment!
Status Bool % MW1002:X0 not used at the moment!
Error Bool % MW1002:X1 not used at the moment!
BL_HOME_LX05 1 Execute Bool % MW1100:X0

Homing Mode Position Dint % MD1104
HomeMode Int % MW1108
VHome Int % MW1110
VOUTHome Int % MW1112
POUTHome Dint % MD1114
PDISHome Dint % MD1118
Axis Int % MW1120
Temp1 Int % MW1122
Temp2 Int % MW1124
Done Bool % MW1102:X0
CommandAborted Bool % MW1102:X1 not used at the moment!
Error Bool % MW1102:X2
Busy Bool % MW1102:X3
BL_SETPOS_LX05 2 Execute Bool % MW1200:X0

Set position Mode Bool % MW1200:X1
Position Dint % MD1204
Axis Int % MW1206
Temp Int % MW1208
BL_MOVE_VELOCITY_LX
05 3 Execute Bool % MW1300:X0
Velocity mode Velocity Dint % MD1304
Axis Int % MW1308
Temp Int % MW1310
InVelocity Bool % MW1302:X0
15
BL_MOVE_PTP_LX05 4 Execute Bool % MW1400:X0

Point to Point: absolute + relative Absolute Bool % MW1400:X1
Position Dint % MD1404
Velocity Int % MW1408
Axis Int % MW1410
Temp Int % MW1412
BL_READ_PARAMETER 5 Enable Bool % MW1500:X0

Read Parameter Index Int % MW1504
Subindex Int % MW1506
Axis Int % MW1508
Value Dint % MD1510
Length Int % MW1512
BL_WRITE_PARAMETER 6 Execute Bool % MW1600:X0

Write Parameter Value Dint % MD1604
Index Int % MW1608
Subindex Int % MW1610
Length Int % MW1612
Axis Int % MW1614
BL_MOVE_MANUAL_LX05 7 Execute Bool % MW1700:X0

Manual movement Right_slow Bool MW1700:X0
Right_fast Bool MW1700:X1
Left_slow Bool MW1700:X2
Left_fast Bool MW1700:X3
Vel_Slow Int % MW1704
Vel_Fast Int % MW1706
Axis Int % MW1708
Temp Int % MW1710
16
Overview of the application:
Name Rung
Backup of the internal memory words 0-3
Initialization 4-8
Fault reset, application reset, helpflag reset 9-11
Data Exchange Twido -> Magelis XBT 12-20
Call Subroutines 21-33
Subroutine 1: Homing 34-74
Subroutine 2: Set position 75-98
Subroutine 3: Velocity mode 99-116
Subroutine 4: Point to point mode 117-136
Subroutine 5: Read Parameter 137-141
Subroutine 6: Write Parameter 142-146
Subroutine 7: Manual mode 147-171
Backup of the internal memory words (rung0-3)
After the first software download to the plc the contents of all memory words is zero. Some
default values for those memory words are stored in the animation table “V100_XBT.tat”.
Download them and start a backup (description see below).
Now it is possible to save and restore the actual settings with the HMI.
Here an example:
Go to page “Vel”
Change the parameter “Set speed” to 1111
Go to page “Save Para”
Press the button “Save XBT parameter” (the button is green if it is possible)
Change the parameter “Set speed” to 2222
Go to page “Save Para”
Press the button “Restore XBT parameter”
The parameter “Set speed” is 1111
17
The Online help of Twidosoft describes how to save data in the internal EEPROM:
18
Here is the description of the system bits (source: online help):
%S97 is true after the memory words are saved without an error. In the application it is not
used.
Here is the description of the system words (source: online help):
19
%SW96:X6 is true if the application is ok.
%SW97 is the number of words to be saved, starting with %MW0. In the application the value
is 185, because the highest memory word of the Magelis XBT-interface is %MW184.
20
Initialization (rung4-8)
This initialization routine is a possibility to start and check the used hardware.
At first the state machines of all nodes are switched back to initialization mode. When the
Slave is in status pre-operational and there was no error during the initialization all nodes are
switched to operational. After the slave has switched his status the state machine of the drive
is switched to enable and a fault reset is done. After that some system signals are checked.
Here is the description of the Can-command (source: online help):
21
Here is the description of the system words %SW20 - %SW27 (source: online help):
Here is the description of system word %SW81 (source: online help):

22
Here is the description of system word %SW6 (source: online help):
Fault reset, application reset and helpflag reset (rung 9-11)
In rung 9 the reset bit is sent from the HMI to the drive. To reset the applications it is
necessary to reset the busy-signals from the subroutines. The helpflags %M200-%M215 are
used in the subroutines and get a reset every cycle.
Data exchange Twido->Magelis XBT (rung 12-20)
In these rungs the errors, the actual and set values of position and speed are sent from the
Twido to the HMI.
23
Subroutines
The subroutines are basing on a function block model:
BL_NAME-OF-THE-FUNCTION_LX05
Axis Done
Execute Error
Parameter 1 Busy
Inputs Outputs
Parameter 2 ...
Parameter 3 ...
...
...
Internal variables
Axis corresponds with the Node-ID. With a rising edge at the execute input the function
starts. You can write a value to all input parameters. During the function is active, the busy
signal is true. When the function is finished the output done is true until the next execution of
the function. Error is true if a fault appears during the execution of the function.
The internal variables are some memory words which are needed inside of the function
block.
In Twidosoft it is not possible to write function blocks that can be called directly in a rung. For
those cases Twidosoft provides subroutines.
24
Homing mode (rung 34-74; function call in rung 21-22)
BL_HOME_LX05
Axis Done
Execute Error
Position Busy
Home mode
VHome
VOutHome
POutHome
PDisHome
Name Subroutine Inputs Outputs Internal Type Address Comment

BL_HOME_LX05 1 Execute Bool % MW1100:X0 Start of the movement
Position on reference
Homing Mode Position Dint % MD1104 point
HomeMode Int % MW1108 Type of reference run
Speed for search for the
VHome Int % MW1110 switch
Speed for retraction from
VOUTHome Int % MW1112 switch
Maximum run-off
POUTHome Dint % MD1114 distance
Maximum search
distance after traversing
PDISHome Dint % MD1118 over the switch
Axis Int % MW1120 Node-ID
Temp1 Int % MW1122
Temp2 Int % MW1124
The homing mode is a standardised operation mode. Generally, to activate it the parameter
operation mode (6060:0h) must be set to 06h. Then, after the reading of the actual operation
mode (6061:0h) the reference type must be set (6098:0h). To start the movement the bit
number 4 in the control word PDO1 must be true. The status word gives detailed status
information.
25
The CAN open technical documentation describes also the activation of the operation mode
(source: Lexium05 CANopen documentation):
The NMT command Start Remote node is done automatically during the initialization of the
bus. The activation of the power circuit happens in rung 7.
26
In the program example the function block BL_HOME_LX05 is called in the rung 21-22. In
rung 21 the values from the HMI are connected with the function inputs. In rung 22 is the
function call of subroutine 1. It is active as long as the busy-bit is true.
Generally, the subroutines are programmed as a sequence using the internal memory words.
For example the bit %MW1122:X0 sets the bit %MW1122:X1, the bit %MW1122:X1 sets the
bit %MW1122:X2, and so on. The last bit resets them all.
The subroutine starts in rung 34. Rung 35 is the initialization of the internal and output
signals. Rung 36-37 writes parameter Position after reference (3028:Bh). When the data
transfer on the Can bus is in progress, the system bit %SW81:X3 is false (rung 38). When
the data transfer is done that bit is true again (rung 38). Then it is possible to write the next
parameters Vhome (6099:1h), VoutHome (6099:2h), PoutHome (3028:6h) and PdisHome
(3028:Dh) (rung 40-55).
Now, as the technical documentation describes, the operation mode must be started by
writing parameter 6060:0h with 6h (rung 56-59). After that the operation status must be
checked by reading parameter 6061:0h. The contents must be 6h (rung60-63). In the rungs
64-67 the parameter reference movement method 6098:0h is transmitted and the start bit in
the control word is set to false. Rung 69 starts the movement by setting the start bit directly in
the control word. Rung 70-71 is the end of the operation mode. Therefore the information of
the status word are used (source: Lexium05 documentation):
If everything is ok, the busy output is false, the done output is true, the internal help flags get
a reset and also the start bit in the control word. When an error appears during that
movement, an alarm bit is true and the function gets a complete reset (rung 72-73). With the
return in rung 74 the subroutine is finished and the program continues in the main program.
27
Set position (rung 75-98; function call in rung 23)
BL_SETPOS_LX05
Axis Done
Execute Error
Position Busy
Mode

BL_SETPOS_LX05 2 Execute Bool % MW1200:X0 Start of the function
Absolute or relative set
Set position Mode Bool % MW1200:X1 position
Position Dint % MD1204 Position
Temp Int % MW1208
The operation mode set position is a special way of the homing mode. The drive does not
move. In absolute mode (input mode = false) with the rising edge on the execute input the
value on the position input is the actual position of the drive. In mode relative the actual
position is the old actual value plus the position value (source: Lexium05 documentation).
28
Velocity mode (rung 99-116; function call in rung 24)
BL_MOVE_VELOCITY_LX05
Axis InVelocity
Execute Error
Velocity Busy

BL_MOVE_VELOCITY_LX05 3 Execute Bool % MW1300:X0 Start of the movement
Velocity mode Velocity Dint % MD1304 Set speed
Temp Int % MW1310
InVelocity Bool % MW1302:X0 Set speed reached
In the profile velocity mode the drive is accelerated to an adjustable setpoint speed. When it
is reached the output InVelocity is true. To stop the operation mode, the set speed must be
zero.
The profile velocity mode is also a standardised operation mode. Generally, to activate it the
parameter operation mode (6060:0h) must be set with 03h. Then, after the reading of the
actual operation mode (6061:0h) the movement starts by writing a set value directly to the
target velocity on PDO3. The status word gives detailed information.
In the program example the function block BL_MOVE_VELOCITY_LX05 is called in rung 24.
signals. The operation mode must be started by writing parameter 6060:0h with 3h (rung
101-104). After that the operation status must be checked by reading parameter 6061:0h.
The contents must be 3h (rung105-108). In rung 109 the movement starts if the set speed is
different from zero, otherwise it stops. Rung 110 generates a help flag if the set speed is
zero. Rung 111 is the end of the operation mode depending on the information of the status
word. Rung 112 is necessary to delay the execution of rung 111. Rung 113 writes the output
InVelocity. When an error appears during that movement, an alarm bit is true and the function
gets a complete reset (rung 114-115). With the return in rung 116 the subroutine is finished
and the program continues in the main program.
29
Here are the information from the status word (source: Lexium05 documentation):
30
The CAN open technical documentation describes also the activation of the operation mode:
The enabling of the PDO is done automatically during the initialization of the bus, also the
NMT command Start Remote node. The activation of the power circuit happens in rung 7. To
set the acceleration ramp, deceleration ramp and restrict setpoint speed is optional.
31
Point to point mode (rung 117-136; function call in rung 25)
BL_MOVE_PTP_LX05
Axis InVelocity
Execute Error
Velocity Busy
Position

BL_MOVE_PTP_LX05 4 Execute Bool % MW1400:X0 Start movement
Relative (false) or
absolute (true) position
Point to Point: absolute + relative Absolute Bool % MW1400:X1 mod
Position Dint % MD1404 Target position
Set speed for the
Velocity Int % MW1408 movement
Temp Int % MW1412
In the point to point operating mode the drive makes a relative or absolute positioning with a
adjustable speed.
The profile point to point mode is also a standardised operation mode. Generally, to activate
it the parameter operation mode (6060:0h) must be set with 01h. Then, after the reading of
the actual operation mode (6061:0h) the movement starts by setting the bits in the control
word of PDO2. The status word gives detailed information.
In the program example the function block BL_MOVE_VELOCITY_LX05 is called in rung 25.
The subroutine starts in rung117. Rung 118 is the initialization of the internal and output
signals. In rung 119-122 the set speed (6081:0h) is set. The operation mode must be started
by writing parameter 6060:0h with 1h (rung 123-126). After that the operation status must be
checked by reading parameter 6061:0h (rung127-130). In the rungs 131-132 the set position
is set in the target position in PDO2. Depending on the setting of the bits in the control word
of PDO 2 the movement starts (in this program example Bit 5 is not used; source: Lexium05
documentation).
32
Rung 133 is the end of the operation mode depending on the information of the status word.
When an error appears during that movement, an alarm bit is true and the function gets a
complete reset (rung 134-135). With the return in rung 136 the subroutine is finished and the
program continues in the main program (source: Lexium05 documentation).
33
Read parameter (rung 137-141; function call in rung 26)
BL_READ_PARA_LX05
Axis Done
Enable Error
Index Busy
Subindex Value

BL_READ_PARAMETER 5 Enable Bool % MW1500:X0 Start function
Read Parameter Index Int % MW1504 Parameter index
Subindex Int % MW1506 Parameter subindex
Value Dint % MD1510 Data value
Length Int % MW1512
This function reads a parameter from the drive.

In the program example the function block is called in rung 26. In rung 27 the output value is
copied to the HMI-variables.
The subroutine starts in rung 137. In rung 138 is the read operation. Rung 139 sets the
output done and rung 140 copies the value to the output. Rung 141 is the end of the
subroutine.
Rung 27-28 reads the error code of the drive (603F:0) and copies the value to the HMI. This
is an example how to use the functions.
34
Write parameter (rung 142-145; function call in rung 30)
BL_WRITE_PARA_LX05
Axis Done
Execute Error
Value Busy
Index
Subindex
Length

BL_WRITE_PARAMETER 6 Execute Bool % MW1600:X0 Start function
Write Parameter Value Dint % MD1604 Value to write
Index Int % MW1608 Parameter index
Subindex Int % MW1610 Parameter subindex
Length Int % MW1612 Parameter length in byte
This function writes a parameter to the drive.

In the program example the function block is called in rung 30.
The subroutine starts in rung 142. In rung 143 is the write operation. Rung 144 sets the
output done and rung 145 is the end of the subroutine.
Important is the correct data length. Otherwise the operation does not work.
35
Manual mode (rung 146-172; function call in rung 31-32)
BL_MOVE_MAN_LX05
Axis Done
Execute Error
Vel_Slow Busy
Vel_Fast
Right_slow
Right_Fast
Left_slow
Left_Fast

BL_MOVE_MANUAL_LX05 7 Execute Bool % MW1700:X0
Manual movement Right_slow Bool MW1700:X0
Right_fast Bool MW1700:X1
Left_slow Bool MW1700:X2
Left_fast Bool MW1700:X3
Vel_Slow Int % MW1704
Vel_Fast Int % MW1706
Axis Int % MW1708
Temp Int % MW1710
In the manual operating mode the drive has two speeds for each direction.
The profile velocity mode is a manufacturer-specific operation mode. Generally, to activate it
the parameter operation mode (6060:0h) must be set with FFh. Then, after the reading of the
actual operation mode (6061:0h) the movement starts with writing parameter JOGactivate
(301B:9h).
36
In the program example the function block BL_MOVE_MAN_LX05 is called in rung 31-32.
signals. In rung 148-151 the slow speed (3029:4h) is set, in rung 152-155 the fast speed
(3029:5h). The operation mode must be started with writing parameter 6060:0h with FFh
(rung 156-159). After that the operation status must be checked by reading parameter
6061:0h. The contents must be FFh (rung160-163). In rung 164 the movement starts in the
right direction. In rung 165 the movement starts in the left direction. Rung 166 is necessary to
stop the drive. When the movement has started the signal X_END in the status word is false
(rung 167). When all of the four input bits are false and the X_END is true again the operation
mode is finished rung 168). Rung 169 is for the error bit. The reset of the function is disabled.
This is necessary if the manual should work although an error is active, for example to move
the drive in the right direction from left limit switch. With the return in rung 171 the subroutine
is finished and the program continues in the main program.
Summary
This application shows one possibility how to activate different operation modes at one drive,
using the subroutines and memory words. It would be also possible to activate the modes
using a sequence, step counter, …
To use more drives is possible, but the software needs to be extended with the input and
output variables of the further drives.
This application does not use all available operation modes. There are some more, for
example the current control mode.
To use this example it is also necessary to use the Lexium05 device manual and the
Lexium05 CANopen manual.
Designed 16.09.2005 by
Patrick Friedmann
Berger Lahr GmbH
Customer Support Center - Technical Support
Gewerbestraße 9
D-77749 Hohberg-Niederschopfheim.
Tel.: +49 7808 / 943-235
Fax: +49 7808 / 946-58 235
E-Mail: mailto:patrick.friedmann@berger-lahr.com
www.berger-lahr.com
37

infoPLC Net Ejem Twido LX05 Via Can XBTG V1 35

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Twido, Magelis XBT-G2330 and LEXIUM05

-How to activate the operation modes:

TWIDO Modular TWDLMDA20RT

• 16 Digital Inputs Sink/Source integrated

A universal drive with:

Standard CAN cable

Typical screen structure

Switch to Name of Switch to Fault screen (appears only

Main Main page with actual and set values

Homing Mode Homing Parameter

Point to point mode Manual mode

Quit drive faults Fault Page

Save XBT parameter

Only possible if an error is active

Import EDS Edit Slave-Address

Insert Slaves Supervision

Slave-PDO Insert Master-PDO Transmission/Reception

Symbols Object-name PLC-Address

The following table shows the used internal memory words

Group Subroutine Names of the variables Type Address Comment

Internal Bits Internal Type Address

Name Subroutine Inputs Outputs Internal Type Address

BL_HOME_LX05 1 Execute Bool % MW1100:X0

BL_SETPOS_LX05 2 Execute Bool % MW1200:X0

BL_MOVE_PTP_LX05 4 Execute Bool % MW1400:X0

BL_READ_PARAMETER 5 Enable Bool % MW1500:X0

BL_WRITE_PARAMETER 6 Execute Bool % MW1600:X0

BL_MOVE_MANUAL_LX05 7 Execute Bool % MW1700:X0

Backup of the internal memory words (rung0-3)

Here is the description of the system words (source: online help):

Here is the description of the Can-command (source: online help):

Here is the description of system word %SW81 (source: online help):

Fault reset, application reset and helpflag reset (rung 9-11)

Data exchange Twido->Magelis XBT (rung 12-20)

The subroutines are basing on a function block model:

Name Subroutine Inputs Outputs Internal Type Address Comment

Name Subroutine Inputs Outputs Internal Type Address Comment

Name Subroutine Inputs Outputs Internal Type Address Comment

Name Subroutine Inputs Outputs Internal Type Address Comment

Name Subroutine Inputs Outputs Internal Type Address Comment

This function reads a parameter from the drive.

Name Subroutine Inputs Outputs Internal Type Address Comment

This function writes a parameter to the drive.

Name Subroutine Inputs Outputs Internal Type Address Comment

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