In the last tutorial, we used ModbusRTU and Drv Object Inside TM221 to control ATV320 Drive.This time I will build a Webvisu from Codesys – inside Ctrlx PLC Engineering to operate it from web server base HMI. Let’s Start!

Implementation

Here is the Implementation – Modbus TCP App is used in the Ctrlx Automation and a Webvisu from Codesys – inside Ctrlx PLC Engineering to finish this task.

Reference Link

Project#Wago ModbusTCP Coupler 750-362 with TwinCAT TF6250/ctrlX Modbus TCP Apps

Project#Start up your ATV320_Part2_Using M221ME16T CPU with Modbus IO Scanner

Project#Start up your ATV320_Part1_ Using M221ME16T CPU with DI1/DI2/AI1

Schneider#EcoStruxureMachine Expert-Basic Installation

Project#Beckhoff TwinCAT3 x Schneider TM221 CPU x Ethernet/IP Communication

Schneider#Modicon CPU Firmware Update

Project#Revpi Connect x Schneider Mdoicon M221 x Modbus RTU

TM221 Side

Modbus TCP Configuration

Go To Configuration Tab>ETH1>Modbus TCP and you can see the Modbus TCP Configuration Screen.

Modbus TCP Screen is shown and You can configure the UnitID and total numbers of the Output/Input Registers.

The Default value is 10 and there are 10 16 bits Registers, configured in your project.

In this tutorial, I changed it to 20.There are 20 16 bits Registers, configured in your project.

Go to the programming Tabs>Tools Tab>Network Object, you can find the Input/Output Register of the Modbus TCP.

As we configured 20 Input Registers, from %QWM0 to %QWM19 can be used in your project.

As we configured 20 Output Registers, from %IWM0 to %IWM19 can be used in your project.

Programming

In this tutorial, there is no big goal on the programming parts – and you just need to transfer the status/Command between Input/Output Register and user variables.

How to bitaccess?

Here is a small tip for you on how to access bit data in a word.

For this example, you are accessing the bit0 of %QWM1.

%QWM1:X0

Pou4_HMI

Pou_HMI is a new Pou to transfer the status/Command between Input/Output Register and user variables.

Transfer Status to Input Register

From Rung0 to Rung10, The Status of Drive/CPU are transferred to Input Registers.

Data From Output Register

From Rung12 to Rung16, the commands received from Output Registers are transferred to user variables.

Pou1 System Modification

We only need to modify the Rung1 to let the task be triggered from these commands.

Ctrlx Side

Modbus TCP Apps

Add A Modbus TCP Slave and Configure the IP/Ports/Slave ID..Etc.

Here are the images for the important parameters.

Tasks with FC23 and FC16 are Configured.

Input Register

Here is the configuration of the Input Register Task.

Output Register

Here is the configuration of the Output Register Task.

Configure DataLayer

Configure the DataLayer_Realtime to access the variables from ModbusTCP Apps.

Done!

Programming

Data Unit Type

DUT_ATV320_ModbusStatus_w0_structure

Here is the Data unit type of Modbus TCP Input Register 0 of Schneider CPU.

TYPE DUT_ATV320_ModbusStatus_w0_structure :
STRUCT
RUN :BOOL;
SL1_STOP :BOOL;
SL1_ReqInited :BOOL;
SL1_OP :BOOL;
SL1_PARITALLYOP :BOOL;
SL1_SUSPEND :BOOL;
_b6,_b7,_b8,_b9
,_b10,_b11,_b12
,_b13,_b14,_b15 :BOOL;

END_STRUCT
END_TYPE

uDUT_ATV320_ModbusStatus_w0

Here is the Union data type to group the WORD variables and the DUT_ATV320_ModbusStatus_w0_structure in the same memory offset.

TYPE uDUT_ATV320_ModbusStatus_w0 :
UNION
_raw :WORD;
data :DUT_ATV320_ModbusStatus_w0_structure;
END_UNION
END_TYPE

DUT_ATV320_ModbusStatus_w1_structure

Here is the Data unit type of Modbus TCP Input Register 1 of Schneider CPU.

TYPE DUT_ATV320_ModbusStatus_w1_structure :
STRUCT
IO1_Drive_Power_IL :BOOL;
IO1_OP_IL :BOOL;
_b2,_b3,_b4,_b5
,_b6,_b7,_b8,_b9
,_b10,_b11,_b12
,_b13,_b14,_b15 :BOOL;
END_STRUCT
END_TYPE

uDUT_ATV320_ModbusStatus_w1

Here is the Union data type to group the WORD variables and the DUT_ATV320_ModbusStatus_w1_structure in the same memory offset.

TYPE uDUT_ATV320_ModbusStatus_w1 :
UNION
_raw :WORD;
data :DUT_ATV320_ModbusStatus_w1_structure;
END_UNION
END_TYPE

DUT_ATV320_ModbusStatus_w2_Structure

Here is the Data unit type of Modbus TCP Input Register 2 of Schneider CPU.

TYPE DUT_ATV320_ModbusStatus_w2_Structure :
STRUCT
IO1_MC_POwer_Status :BOOL;
IO1_MC_Power_Error :BOOL;
IO1_MC_JOG_FW :BOOL;
IO1_MC_JOG_BW :BOOL;
IO1_MC_JOG_DONE :BOOL;
IO1_MC_JOG_BUSY :BOOL;
IO1_MC_JOG_CMDABORED :BOOL;
IO1_MC_JOG_ERROR :BOOL;
IO1_MC_MOVEVEL_IL :BOOL;
IO1_MC_MOVEVEL_CMD :BOOL;
IO1_MC_MOVEVEL_CONTUPDATE :BOOL;
IO1_MC_MOVEVEL_INVEL :BOOL;
IO1_MC_MOVEVEL_BUSY :BOOL;
IO1_MC_MOVEVEL_CMDABORED :BOOL;
IO1_MC_MOVEVEL_ERROR :BOOL;
IO1_STATUS_VALID :BOOL;
END_STRUCT
END_TYPE

uDUT_ATV320_ModbusStatus_w2

Here is the Union data type to group the WORD variables and the DUT_ATV320_ModbusStatus_w2_structure in the same memory offset.

TYPE uDUT_ATV320_ModbusStatus_w2 :
UNION
_raw :WORD;
data :DUT_ATV320_ModbusStatus_w2_structure;
END_UNION
END_TYPE

DUT_ATV320_ModbusStatus_w3_Structure

Here is the Data unit type of Modbus TCP Input Register 3 of Schneider CPU.

TYPE DUT_ATV320_ModbusStatus_w3_Structure :
STRUCT
IO1_STATUS_ERRORSTOP :BOOL;
IO1_STATUS_DISABLED :BOOL;
IO1_STATUS_STOPPING :BOOL;
IO1_STATUS_STANDSTILL :BOOL;
IO1_STATUS_CONTMOTION :BOOL;
IO1_STATUS_ERROR :BOOL;
IO1_MCREADMOTIONSTS_VALID :BOOL;
IO1_MCREADMOTIONSTS_CONSTANTVEL :BOOL;
IO1_MCREADMOTIONSTS_ACCELERATING :BOOL;
IO1_MCREADMOTIONSTS_DECELERATING :BOOL;
IO1_MCREADMOTIONSTS_ERROR :BOOL;
IO1_MC_RESET_DONE :BOOL;
IO1_MC_RESET_BUSY :BOOL;
IO1_MC_RESET_ERROR :BOOL;
IO1_MC_STOP_DONE :BOOL;
IO1_MC_STOP_BUSY :BOOL;
END_STRUCT
END_TYPE

uDUT_ATV320_ModbusStatus_w3

Here is the Union data type to group the WORD variables and the DUT_ATV320_ModbusStatus_w3_structure in the same memory offset.

TYPE uDUT_ATV320_ModbusStatus_w3 :
UNION
_raw :WORD;
data :DUT_ATV320_ModbusStatus_w3_structure;
END_UNION
END_TYPE

DUT_ATV320_ModbusStatus_w4_Structure

Here is the Data unit type of Modbus TCP Input Register 4 of Schneider CPU.

TYPE DUT_ATV320_ModbusStatus_w4_Structure :
STRUCT
IO1_MC_STOP_ERROR :BOOL;
_b1,_b2,_b3,_b4,_b5
,_b6,_b7,_b8,_b9
,_b10,_b11,_b12
,_b13,_b14,_b15 :BOOL;
END_STRUCT
END_TYPE

uDUT_ATV320_ModbusStatus_w4

Here is the Union data type to group the WORD variables and the DUT_ATV320_ModbusStatus_w4_structure in the same memory offset.

TYPE uDUT_ATV320_ModbusStatus_w4 :
UNION
_raw :WORD;
data :DUT_ATV320_ModbusStatus_w4_structure;
END_UNION
END_TYPE

DUT_ATV320_ModbusStatus

Here is the Data type that groups all Status Word into one Data Type again – we will define a variable with this type in GVL again.

TYPE DUT_ATV320_ModbusStatus :
STRUCT
w0 :uDUT_ATV320_ModbusStatus_w0;
w1 :uDUT_ATV320_ModbusStatus_w1;
w2 :uDUT_ATV320_ModbusStatus_w2;
w3 :uDUT_ATV320_ModbusStatus_w3;
w4 :uDUT_ATV320_ModbusStatus_w4;
w5_ActualSpeed :INT;
END_STRUCT
END_TYPE

DUT_ATV320_ModbusCmds_w0_structure

Here is the Data unit type of Modbus TCP Output Register 0 of Schneider CPU.

TYPE DUT_ATV320_ModbusCmds_w0_structure :
STRUCT
PowerON :BOOL;
JogFW :BOOL;
JogBW :BOOL;
MoveVel :BOOL;
ContUpdate :BOOL;
Reset :BOOL;
Stop :BOOL;
_b7,_b8,_b9
,_b10,_b11,_b12
,_b13,_b14,_b15 :BOOL;
END_STRUCT
END_TYPE