Material Working

EIO0000001766 04/2014

Material Working
User Guide for Drawing Machine
LMC058 Project Template
04/2014
EIO0000001766.00

www.schneider-electric.com
 The information provided in this documentation contains general descriptions and/or technical
characteristics of the performance of the products contained herein. This documentation is not
intended as a substitute for and is not to be used for determining suitability or reliability of these
products for specific user applications. It is the duty of any such user or integrator to perform the
appropriate and complete risk analysis, evaluation and testing of the products with respect to the
relevant specific application or use thereof. Neither Schneider Electric nor any of its affiliates or
subsidiaries shall be responsible or liable for misuse of the information contained herein. If you
have any suggestions for improvements or amendments or have found errors in this publication,
please notify us.
No part of this document may be reproduced in any form or by any means, electronic or
mechanical, including photocopying, without express written permission of Schneider Electric.
All pertinent state, regional, and local safety regulations must be observed when installing and
using this product. For reasons of safety and to help ensure compliance with documented system
data, only the manufacturer should perform repairs to components.
When devices are used for applications with technical safety requirements, the relevant
instructions must be followed.
Failure to use Schneider Electric software or approved software with our hardware products may
result in injury, harm, or improper operating results.
Failure to observe this information can result in injury or equipment damage.
© 2014 Schneider Electric. All rights reserved.

2 EIO0000001766 04/2014
 Table of Contents

Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
About the Book. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Chapter 1 Drawing Machine Project Template . . . . . . . . . . . . . . . 11
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Chapter 2 Hardware Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Template Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
System Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Chapter 3 Hardware Configuration. . . . . . . . . . . . . . . . . . . . . . . . . 17
Embedded IOs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Chapter 4 Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
CANmotion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Ethernet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Modbus Serial Line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Chapter 5 System Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Drive Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Power Meter Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Chapter 6 Application Software . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
6.1 Library Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Library Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
6.2 Task Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Task Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
6.3 Global Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Global Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
6.4 Drive Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Drive Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
6.5 G-code Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
G-code Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
6.6 Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
6.7 Energy Efficiency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Energy Efficiency. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
6.8 HMI STU855 Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
HMI STU855 Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

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4 EIO0000001766 04/2014
 Safety Information

Important Information

NOTICE
Read these instructions carefully, and look at the equipment to become familiar with the device
before trying to install, operate, or maintain it. The following special messages may appear
throughout this documentation or on the equipment to warn of potential hazards or to call attention
to information that clarifies or simplifies a procedure.

EIO0000001766 04/2014 5
PLEASE NOTE
Electrical equipment should be installed, operated, serviced, and maintained only by qualified
personnel. No responsibility is assumed by Schneider Electric for any consequences arising out of
the use of this material.
A qualified person is one who has skills and knowledge related to the construction and operation
of electrical equipment and its installation, and has received safety training to recognize and avoid
the hazards involved.

BEFORE YOU BEGIN

Do not use this product on machinery lacking effective point-of-operation guarding. Lack of
effective point-of-operation guarding on a machine can result in serious injury to the operator of
that machine.

WARNING
UNGUARDED EQUIPMENT
 Do not use this software and related automation equipment on equipment which does not have
point-of-operation protection.
 Do not reach into machinery during operation.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

This automation equipment and related software is used to control a variety of industrial processes.
The type or model of automation equipment suitable for each application will vary depending on
factors such as the control function required, degree of protection required, production methods,
unusual conditions, government regulations, etc. In some applications, more than one processor
may be required, as when backup redundancy is needed.
Only you, the user, machine builder or system integrator can be aware of all the conditions and
factors present during setup, operation, and maintenance of the machine and, therefore, can
determine the automation equipment and the related safeties and interlocks which can be properly
used. When selecting automation and control equipment and related software for a particular
application, you should refer to the applicable local and national standards and regulations. The
National Safety Council’s Accident Prevention Manual (nationally recognized in the United States
of America) also provides much useful information.
In some applications, such as packaging machinery, additional operator protection such as point-
of-operation guarding must be provided. This is necessary if the operator’s hands and other parts
of the body are free to enter the pinch points or other hazardous areas and serious injury can occur.
Software products alone cannot protect an operator from injury. For this reason the software
cannot be substituted for or take the place of point-of-operation protection.

6 EIO0000001766 04/2014
 Ensure that appropriate safeties and mechanical/electrical interlocks related to point-of-operation
protection have been installed and are operational before placing the equipment into service. All
interlocks and safeties related to point-of-operation protection must be coordinated with the related
automation equipment and software programming.
NOTE: Coordination of safeties and mechanical/electrical interlocks for point-of-operation
protection is outside the scope of the Function Block Library, System User Guide, or other
implementation referenced in this documentation.

START-UP AND TEST

Before using electrical control and automation equipment for regular operation after installation,
the system should be given a start-up test by qualified personnel to verify correct operation of the
equipment. It is important that arrangements for such a check be made and that enough time is
allowed to perform complete and satisfactory testing.

CAUTION
EQUIPMENT OPERATION HAZARD
 Verify that all installation and set up procedures have been completed.
 Before operational tests are performed, remove all blocks or other temporary holding means
used for shipment from all component devices.
 Remove tools, meters, and debris from equipment.
Failure to follow these instructions can result in injury or equipment damage.

Follow all start-up tests recommended in the equipment documentation. Store all equipment
documentation for future references.
Software testing must be done in both simulated and real environments.
Verify that the completed system is free from all short circuits and temporary grounds that are not
installed according to local regulations (according to the National Electrical Code in the U.S.A, for
instance). If high-potential voltage testing is necessary, follow recommendations in equipment
documentation to prevent accidental equipment damage.
Before energizing equipment:
 Remove tools, meters, and debris from equipment.
 Close the equipment enclosure door.
 Remove all temporary grounds from incoming power lines.
 Perform all start-up tests recommended by the manufacturer.

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OPERATION AND ADJUSTMENTS
The following precautions are from the NEMA Standards Publication ICS 7.1-1995 (English
version prevails):
 Regardless of the care exercised in the design and manufacture of equipment or in the selection
and ratings of components, there are hazards that can be encountered if such equipment is
improperly operated.
 It is sometimes possible to misadjust the equipment and thus produce unsatisfactory or unsafe
operation. Always use the manufacturer’s instructions as a guide for functional adjustments.
Personnel who have access to these adjustments should be familiar with the equipment
manufacturer’s instructions and the machinery used with the electrical equipment.
 Only those operational adjustments actually required by the operator should be accessible to
the operator. Access to other controls should be restricted to prevent unauthorized changes in
operating characteristics.

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 About the Book

At a Glance

Document Scope
This document describes the project template based on LMC058 Motion Controller and HMI STU
855 display for an application with G-code.

Validity Note
This document has been created with the release of SoMachine V4.1.

Related Documents

Title of Document Reference Number

SoMachine Installation and Configuration Manager User Guide EIO0000001722
SoMachine Central User Guide EIO0000001660
SoMachine Programming Guide EIO0000000069
LXM32A, AC Servo Drive, Product Manual 0198441113755
iEM3100 series/iEM3200 series, Energy Meters, User Manual DOCA0005EN

You can download these technical publications and other technical information from our website
at www.schneider-electric.com.

EIO0000001766 04/2014 9
Product Related Information

WARNING
LOSS OF CONTROL
 The designer of any control scheme must consider the potential failure modes of control paths
and, for certain critical control functions, provide a means to achieve a safe state during and
after a path failure. Examples of critical control functions are emergency stop and overtravel
stop, power outage and restart.
 Separate or redundant control paths must be provided for critical control functions.
 System control paths may include communication links. Consideration must be given to the
implications of unanticipated transmission delays or failures of the link.
 Observe all accident prevention regulations and local safety guidelines.1
 Each implementation of this equipment must be individually and thoroughly tested for proper
operation before being placed into service.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

1For additional information, refer to NEMA ICS 1.1 (latest edition), "Safety Guidelines for the
Application, Installation, and Maintenance of Solid State Control" and to NEMA ICS 7.1 (latest
edition), "Safety Standards for Construction and Guide for Selection, Installation and Operation of
Adjustable-Speed Drive Systems" or their equivalent governing your particular location.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Only use software approved by Schneider Electric for use with this equipment.
 Update your application program every time you change the physical hardware configuration.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

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 Material Working
Drawing Machine Project Template
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Chapter 1
Drawing Machine Project Template

Drawing Machine Project Template

Introduction

The project template is an application example for using the SoMachine internal G-code editor. It
contains a hardware configuration for 2 axes and is programmed to handle the G-code. It also
contains a CANmotion configuration for servos drives. You can parameterize and control through
an HMI. A PC with SoMachine software installed is necessary to download this project template to
Modicon LMC058 Motion Controller and the HMI.
This project template is developed for a Modicon LMC058 Motion Controller with an HMI STU855.

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Drawing Machine Project Template

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 Material Working
Hardware Architecture
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Chapter 2
Hardware Architecture

Hardware Architecture

Overview
This chapter describes the hardware architecture of the template.

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Template Architecture 14
System Requirements 15

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Hardware Architecture

Template Architecture

Overview
This figure shows the supported hardware architecture with two Lexium 32 servo drives connected
to a Lexium MAX linear multi axes.

1 Modicon LMC058 Motion Controller

2 Magelis HMI STU 855
3 Lexium 32 servo drive
4 Lexium MAX linear multi axes
5 Phaseo power supply
6 Preventa safety switch
7 Power meter

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 Hardware Architecture

System Requirements

Using the Library

WARNING
UNINTENDED EQUIPMENT OPERATION
 Verify the SoMachine libraries contained in your program are the correct version after updating
SoMachine software.
 Verify that the library versions updated are consistent with your application specifications.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

For more detailed information, see Schneider Electric Libraries (see SoMachine, Functions and
Libraries User Guide).
For IEC 61131-3 compatibility, the ability to add the EN/ENO input/output automatically to Function
Blocks of certain programming languages is available to the programmer. However, for certain
applications that require the complex interaction of multiple function blocks, the use of the
IEC 61131-3 input to disable a function block in a series of interrelated functions affecting a
process may lead to unintended operation of the system as a whole. For the functions contained
in the Library that is the topic of the current document, this is especially true.
The EN/ENO inputs and outputs as defined by IEC 61131-3 are maladapted to, and therefore
inappropriate for, the targeted application of these functions. Suddenly disabling one function by a
falling edge on the EN input would require all outputs of the function block to immediately fall to
their default states, and such an unanticipated action would cause in abrupt change to the entire
process. The implication is that such an event would have deleterious results that may invoke
undesirable consequences. Therefore, the EN/ENO inputs/outputs as defined by IEC 61131-3 are
incompatible with the functions contained within this library.

WARNING
UNINTENDED MACHINE OPERATION
Do not use the EN/ENO functionality defined by IEC 61131-3 to control the behavior of the
Application Function blocks.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

NOTE: Verify that the EN/ENO option is disabled in the complier options menu of SoMachine.

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Hardware Architecture

System Requirements

Requirements Description
LMC058 Schneider Electric motion controller is needed to realize the synchronized movement.
The controller is connected to the HMI through an Ethernet cable.

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 Material Working
Hardware Configuration
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Chapter 3
Hardware Configuration

Hardware Configuration

Embedded IOs

Overview
The digital inputs and outputs of the Modicon LMC058 Motion Controller are used to get the
information from the machine and to control the drawing machine.

Input Variables
This table describes the input variable:

Input Variable Description

%IX1.0 i_xDoorClsd Cover door is closed.

Output Variables
This table describes the output variables:

Output Variable Description

%QX0.0 q_xToolActv Tool is active (used for M function, refer to the Online help
Programming with SoMachine/SoftMotion).
%QX0.1 q_xDoorLock Cover door is locked.

NOTE: Adapt the I/O configuration of the used architecture to your application.

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Hardware Configuration

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 Material Working
Communication
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Chapter 4
Communication

Communication

Overview
This project template uses the following four communication interfaces:
 The CANmotion bus connects the Modicon LMC058 Motion Controller to the two Lexium 32
servo drives.
 The Modicon LMC058 Motion Controller and the Magelis HMI STU855 communicate through
Ethernet.
 The communication between the controller and the power meter is through Modbus serial line.
 The download of the application to the LMC058 and to the HMI is done using a single USB
connection.

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
CANmotion 20
Ethernet 21
Modbus Serial Line 22

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Communication

CANmotion

Overview
The CANmotion fieldbus is defined with the Modicon LMC058 Motion Controller as master. The
Lexium 32A servo drives are slave nodes. All the drives have pre-defined node IDs that are
required to configure correctly.
The CANmotion transmission rate is 1 MBit/s.
This configuration is necessary for compatibility with various drives without changes in the project
template.
This image depicts supported configurations:

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 Communication

Ethernet

Overview

The subnet mask is: 255.255.255.0.

Optionally, you can link a PC to the Ethernet network.

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Communication

Modbus Serial Line

Overview
The Modbus SL RS-485 2-wire network is used for the communication between the Modicon
LMC058 Motion Controller (master) and the power meter iEM3150 (slave).
The used baud rate is 19200.

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 Material Working
System Setup
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Chapter 5
System Setup

System Setup

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Drive Configuration 24
Power Meter Configuration 27

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System Setup

Drive Configuration

Overview
To operate the Lexium 32A through CANmotion fieldbus, the communication parameters have to
be set for the device.
The following options are there to configure the drive:
 By the local HMI on the front of the drive.
 By a graphic display terminal.
 By the configuration software SoMove light installed on a PC.

NOTE: If a device has already been configured for some other use, re-establish the factory
settings. You can find instructions on how to do this in the respective documentation.

DANGER
UNINTENDED EQUIPMENT OPERATION
 Verify that both wiring and mounting are correct before you start to configure the drive.
 Make certain that an unintentional start of the connected motor will not endanger personnel or
equipment in any way.
Failure to follow these instructions will result in death or serious injury.

If necessary, disconnect the motor from the drive to avoid an unintentional motor start.

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 System Setup

Communication Settings
If the drive is started for the first time, the FSu (first setup) is invoked.
Only the CANmotion (CANopen) address (CoAd) and the baud rate (Cobd) are initially
needed.
If the FSu is not displayed after switching on, it means that the drive was started once before the
HMI was switched on. In this case, follow the depicted menu structure below to change the address
and the baud rate.
To adjust the parameters, use the following path and values for Lexium 32A (X and Y axis):

Step Action Value

1 Set the CANaddress (node number): Every device in the CAN network has a
 FSu -> CoAd unique address/node ID (1...127).
or X axis: 1
 ConF -> CoM -> CoAd Y axis: 2
2 Set the CANbaud: The baud rate for the CAN network is
 1000 for CANmotion (1000 = 1000 kbps = 1 MBaud) dependent on the architecture and the
 FSu -> Cobd settings of the CAN master, usually the
or controller.
 ConF -> CoM -> Cobd

WARNING
UNINTENDED EQUIPMENT OPERATION
Power cycle the drive after any configuration changes or adjustments (power removal followed
by the power reapplied).
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

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System Setup

When the device is switched on and if an encoder is connected to the drive, the device
automatically reads technical information from the motor (nominal torque and peak torque, nominal
current, nominal velocity and number of pole pairs). Without this information, the device is not
ready for operation.
You can configure limit values and basic parameters such as digital inputs/outputs based on the
system and motor data. As long as the motor is operated without loads, the default settings do not
need to be changed.
For more information, refer to LXM32A, AC servo drive, Product manual.

26 EIO0000001766 04/2014
 System Setup

Power Meter Configuration

Basic Configuration
Before starting the configuration of the power meter, check the correct installation. Then, follow the
steps below:

Step Action Comment

1 Set date and time. When the power is interrupted, the iEM3150
automatically resets the date and time. The
start screen after power-on prompts you to set
the date and time
2 Enter the Configuration mode. The display switches to Configuration mode.
Press and hold ESC + OK for at least 2 seconds.
3 Select the submenu Wiring and set the The wiring parameter is set to 1PH2W L-N.
parameter for it.
4 Select the submenu Frequency and set the The frequency parameter is set to 50 Hz.
parameter for it.
5 Select the submenu Communication and set the The values of the parameters are set to:
slave address, baud rate, and parity for it.  slave address = 1
 baud rate = 19200
 parity = even

6 Leave the setup menu by pressing ESC. –

NOTE: In addition to this system user guide, the product manual for the iEM3150 energy meter
has to be read carefully. You can do further configurations depending on your application needs.
For more information, refer to iEM3100/iEM3200 series, Energy Meters, User Manual.

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System Setup

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 Material Working
Application Software
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Chapter 6
Application Software

Application Software

Overview
This chapter describes the application software.

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
6.1 Library Manager 30
6.2 Task Configuration 31
6.3 Global Variables 32
6.4 Drive Interface 33
6.5 G-code Handling 34
6.6 Application 35
6.7 Energy Efficiency 40
6.8 HMI STU855 Display 41

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Application Software

Section 6.1
Library Manager

Library Manager

Library Manager

Overview
The necessary libraries are configured in the project template.
The Energy Efficiency Libraries are manually added to the project template.

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 Application Software

Section 6.2
Task Configuration

Task Configuration

Task Configuration

Overview
This table shows the tasks configuration of the project template.

Task Type POU Description

MAST Cyclic (20 ms) POU_CANmotionCheck The communication on CANopen and
CANmotion is checked.
POU_Path Include the pre-processing function
blocks for the G-code.
POU_Functions The different functions are handled in this
POU such as M function, mode, and
start/stop.
Prg_iEM3150_MdbSL The function blocks and actions for
energy efficiency are here.
Motion Motion (4 ms) POU_Drives SoftMotion function blocks for drive
control are handled inside this POU.
POU_Gcode This POU manages the G-code from the
interpolator to the axes control.

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Application Software

Section 6.3
Global Variables

Global Variables

Global Variables

Overview
The object global variable list (GVL) contains global variables used for monitoring the system
status and parameterization of the project template application. It is used for communication with
the HMI.

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 Application Software

Section 6.4
Drive Interface

Drive Interface

Drive Interface

Overview
The two servo drives are added as motion axes on the second CAN port (CAN1) below the
CANmotion manager.

In the service data object (CANopen part) of the drives, the Homing mode (6098h:00) is added.

In the axis basic settings (SoftMotion part) of the drives, the limits have to adapt to the maximum
of the machine. Also, the scaling of the user units has to fit the mechanical part. In this project
template, the user units are fitting to the template machine and is set to millimeters (5 user units =
5 mm

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Application Software

Section 6.5
G-code Handling

G-code Handling

G-code Handling

Overview
Two G-code examples are created with the CNC-Editor of SoMachine.
The first example has compile mode as SMC_OutQueue. This can directly connect to the
interpolator.
The second example has compile mode as SMC_CNC_REF. A preprocessing is required to use the
variables (not part of this project template) in the CNC program.
The following figure shows the handling of a G-code and where the G-code is handled in this
project template:

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 Application Software

Section 6.6
Application

Application

Application

Overview
This section provides a brief description of the different POUs, which are part for this project
template. For a detailed description, refer to the online help of the function blocks used in
SoMachine. The project template is structured as followed.

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Application Software

Communication (POU_CANmotionCheck)
The program provides basic information about the communication status of the two configured
drives. On CANopen, the operational state is checked and combined with the state on CANmotion.
For each drive, it gives TRUE value if the communication is valid.

Project Functions (POU_Functions)

In this POU, general and special functions such as start/stop, mode, and M function are handled.

Drive Control (POU_Drives)

The SoftMotion function blocks are used for control of the axes such as powering, jogging, homing,
and reset axis.

G-code (POU_Gcode)
An important element is the SMC_Interpolator module. The input poqDataIn gets the G-code
from the CNC-Editor or after the preprocessing. The motion cycle time is written to dwIpoTime.
In this project template a portal system is to be controlled. For this reason, an instance of the
backward and forward transformation modules is from the library SM3_CNC. The backward
module (SMC_TRAFO_Gantry2) transforms the target position from the interpolator into the
separate axes. At this FB, it is simple to generate an offset of the G-Code. The forward transfor-
mation module (SMC_TRAFOF_Gantry2) is connected to the drives and needed for the
SoMachine visualization.

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 Application Software

The outputs of the backward module, that means, the axes coordinate, now has to be written to
the drives. The function blocks SMC_ControlAxisByPos are used for this purpose. Due to the
fact that G-code does not provide continuous outputs of the interpolator (for example, the path
ends at a point different from where it starts), the gap avoiding functions are activated
(bAvoidGaps, fGapVelocity, fGapAcceleration, fGapDeceleration). Additionally, the
bStopIpo output is connected with the bEmergency_Stop input of the interpolator and is the
interpolator-output iStatus is connected with the corresponding inputs of the axes control
modules.

NOTE: The correct order of the elements has to be considered during programming in CFC.

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Application Software

Path Preprocessing (POU_Path)

The CNC program Example_OutQueue is extent with path-preprocessing functions. The corners
of the program should be smoothed by splines. This is done by the SMC_SmoothPath function
block. The CNC program has to include the words G51/G50.
Due to the fact that a different compile mode (SMC_CNC_REF) is chosen for this CNC program, a
decoding and path-preprocessing is required to implement in the project.
NOTE: This time-consuming process is not to be done simultaneously with the interpolator. The
reason is that for each call of the decoder, a path object is created, which typically can be used for
many interpolator calls. Therefore, this POU is called in the lower priority MAST task, not in the
Motion task.
The SMC_NCDecoder function block decodes the CNC program. After the program is decoded, it
goes through the SMC_SmoothPath function block for rounding off, and then the data goes
through the SMC_CheckVelocities function block before it is sent to the interpolator.

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If Smooth Path is selected on the HMI, this POU is part of the sequence and the movement does
not stop in the corners, because these are smoothed by path-preprocessing. You see the result
below (green=acceleration, red=deceleration, and gray=constant speed). There are only stop to
drop or raise the pen, controlled by the M function.

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Section 6.7
Energy Efficiency

Energy Efficiency

Energy Efficiency

Overview
In Prg_iEM3150_MdbSL, the function blocks for energy efficiency are centralized. The controller
reads the power information from the power meter and the power information is displayed on the
HMI.

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Section 6.8
HMI STU855 Display

HMI STU855 Display

HMI STU855 Display

Overview
The panel used in this template is a Magelis HMI STU855. You can monitor and control the
application through the Magelis HMI.
In Manual mode, you can move each axis.
In Automatic mode, you can select one of the prepared G-code programs (direct and smooth path)
and the plot can start.
General functions such as powering, stop, and reset axis are available in both modes.
Access to the energy efficiency information is independent from the selected mode.
Programming of the Magelis HMI is done by using Vijeo Designer integrated in SoMachine.

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