User Manual

Phase Tools release 9.1

Doc. 48000000002 - ENG
Cockpit 3 User Manual Doc. 48000000002 ENG

SUMMARY

1. Introduction .............................................................................................................................. 5
1.1 Installation requirements .........................................................................................5
1.2 Installation steps .....................................................................................................5
2. Cockpit main view.................................................................................................................... 5
2.1 Main screen view.....................................................................................................5
2.2 User interface window .............................................................................................6
2.3 Catalog window .......................................................................................................6
2.4 Connection status window ........................................................................................7
2.5 Output window ........................................................................................................7
2.6 Monitor window .......................................................................................................7
2.7 Status bar ...............................................................................................................8
3. Managing projects ................................................................................................................... 8
3.1 Create a new project ................................................................................................8
3.2 Add a device to the project ......................................................................................9
3.2.1 Add a device from catalog ....................................................................................9
3.2.2 Add a device from automatic scanning ................................................................11
3.3 Delete a device from the project .............................................................................17
3.4 Open an existing project ........................................................................................17
3.5 Save the project ....................................................................................................17
3.5.1 Saving changes to the project.............................................................................17
3.5.2 Saving to an alternative location .........................................................................18
3.6 Close the project ...................................................................................................18
4. Managing AxX devices family ............................................................................................... 18
4.1 Device information ................................................................................................19
4.2 Full configuration download ...................................................................................19
4.3 Application selection .............................................................................................20
4.4 Device configuration ..............................................................................................20
4.5 Target information .................................................................................................21
4.6 Monitor page.........................................................................................................22
4.7 Alarm information .................................................................................................24
4.7.1 Alarm history information ...................................................................................24
4.8 Back to the project ................................................................................................25
5. Managing TW devices family ................................................................................................ 25
5.1 Device information ................................................................................................26
5.2 Full configuration download ...................................................................................26
5.3 Device configuration ..............................................................................................27
5.4 CANOpen configuration .........................................................................................28
5.5 Target information .................................................................................................28
5.6 Monitor page.........................................................................................................29
5.7 Alarm information .................................................................................................30
5.7.1 Alarm history information ...................................................................................31
5.8 Back to the project ................................................................................................32
6. Parameters management ...................................................................................................... 32
6.1 Node tree .............................................................................................................32
6.2 Parameters table ...................................................................................................33
6.3 Read/Write one parameter ......................................................................................34
6.4 Read/Write parameters ..........................................................................................35

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6.5 Read/Write all parameters ......................................................................................35

6.6 Auto refresh mode .................................................................................................35
6.7 Save parameters....................................................................................................35
7. Communication ...................................................................................................................... 36
7.1 Setup the communication ......................................................................................36
7.1.1 Communication with AxX family .........................................................................36
7.1.2 Communication with TW family ..........................................................................37
7.2 Enable the communication ....................................................................................38
7.3 Save the communication settings ...........................................................................39
7.4 Drive reset ............................................................................................................39
8. Control panel .......................................................................................................................... 39
8.1 Control panel ........................................................................................................39
8.2 Standard panel .....................................................................................................40
8.3 Enhanced panel ....................................................................................................41
9. Firmware upgrading .............................................................................................................. 42
9.1 AxX firmware updater ............................................................................................43
9.2 TW firmware updater .............................................................................................44
10. Advanced functions............................................................................................................... 45
10.1 Import Cockpit II parameters file ............................................................................45
10.2 File comparison ....................................................................................................45
10.3 Export parameters to EDS/XML ...............................................................................46
10.4 Interaction with LogicLab ......................................................................................47
10.4.1 Open with LogicLab ...........................................................................................47
10.4.2 PLC download ...................................................................................................47
10.4.3 Remove PLC application ....................................................................................47
10.5 Catalog upgrade ....................................................................................................47
10.6 Recipes ................................................................................................................48
10.6.1 Add/Delete recipes ............................................................................................48
10.6.2 Add/Delete parameters ......................................................................................48
10.6.3 Set recipe values ...............................................................................................49
10.6.4 Import/Export recipe ..........................................................................................49
11. Debugging tools..................................................................................................................... 49
11.1 Monitor window .....................................................................................................49
11.1.1 Open/Close the monitor window ..........................................................................50
11.1.2 Add/Remove parameters ....................................................................................50
11.1.3 Parameters refresh ............................................................................................50
11.2 SoftScope .............................................................................................................50
11.2.1 Open SoftScope ................................................................................................50
11.2.2 SoftScope interface ...........................................................................................51
11.2.3 Main toolbar .....................................................................................................52
11.2.4 Graph toolbar ....................................................................................................53
11.2.5 Chart area .........................................................................................................54
11.2.6 Tracks list window .............................................................................................55
11.2.7 Settings bar ......................................................................................................55
11.2.8 Add/Remove parameters ....................................................................................58
11.2.9 Data acquisition ................................................................................................58
11.2.10 Save and Close SoftScope ..................................................................................60

FIGURES.

Figure 1 Cockpit main screen ............................................................................................................. 6

Figure 2 User interface window ........................................................................................................... 6

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Figure 3 Catalog window .................................................................................................................... 7

Figure 4 Connection status window ..................................................................................................... 7
Figure 5 Output window ..................................................................................................................... 7
Figure 6 Monitor window .................................................................................................................... 8
Figure 7 Status bar ............................................................................................................................ 8
Figure 8 Cockpit startup window ......................................................................................................... 9
Figure 9 Ax device catalog .................................................................................................................. 9
Figure 10 TW device catalog ............................................................................................................. 10
Figure 11 Catalog list with existing devices ........................................................................................ 11
Figure 12 Automatic scan for AxX ..................................................................................................... 12
Figure 13 Start scanning for AxX ....................................................................................................... 12
Figure 14 Scanning result for AxX ..................................................................................................... 13
Figure 15 Automatic single node scan for TW ..................................................................................... 14
Figure 16 Start single node scan ....................................................................................................... 14
Figure 17 Single node scan result ..................................................................................................... 15
Figure 18 Automatic network scan for TW .......................................................................................... 15
Figure 19 Start network scan ............................................................................................................ 16
Figure 20 Network scan result .......................................................................................................... 16
Figure 21 AxX main page window ...................................................................................................... 19
Figure 22 Full configuration download ............................................................................................... 19
Figure 23 Application selection window ............................................................................................. 20
Figure 24 Device configuration window .............................................................................................. 21
Figure 25 Target information window ................................................................................................. 22
Figure 26 Monitor window ................................................................................................................ 22
Figure 27 Monitor window: Encoder section ....................................................................................... 23
Figure 28 Monitor window: Advanced encoder .................................................................................... 23
Figure 29 Monitor window: Device control .......................................................................................... 23
Figure 30 Alarm information window ................................................................................................. 24
Figure 31 Alarm history window ........................................................................................................ 24
Figure 32 TW main page window ....................................................................................................... 26
Figure 33 Full configuration download ............................................................................................... 27
Figure 34 Device configuration window .............................................................................................. 27
Figure 35 CANOpen configuration window.......................................................................................... 28
Figure 36 Target information window ................................................................................................. 29
Figure 37 Monitor window ................................................................................................................ 30
Figure 38 Alarm information window ................................................................................................. 31
Figure 39 Alarm history window ........................................................................................................ 31
Figure 40 Node tree......................................................................................................................... 33
Figure 41 Parameters table .............................................................................................................. 34
Figure 42 Devices link configuration .................................................................................................. 36
Figure 43 Modbus configuration........................................................................................................ 37
Figure 44 CanOpenTcp configuration ................................................................................................. 38
Figure 45 Digital Inputs/Outputs ....................................................................................................... 40
Figure 46 Analog Inputs/Outputs ....................................................................................................... 40
Figure 47 Standard control panel ...................................................................................................... 41
Figure 48 Enhanced control panel ..................................................................................................... 42
Figure 49 AxX firmware updater ........................................................................................................ 44
Figure 50 TW firmware updater ......................................................................................................... 44
Figure 51 File comparison ................................................................................................................ 46
Figure 52 Device catalog window ...................................................................................................... 48
Figure 53 Monitor window ................................................................................................................ 49
Figure 54 SoftScope initial interface ................................................................................................. 51
Figure 55 SoftScope interface .......................................................................................................... 52
Figure 56 SoftScope main toolbar ..................................................................................................... 52
Figure 57 SoftScope graph toolbar .................................................................................................... 53
Figure 58 SoftScope chart area ......................................................................................................... 55
Figure 59 SoftScope tracks list window.............................................................................................. 55
Figure 60 SoftScope settings bar ...................................................................................................... 56
Figure 61 SoftScope graph settings window ....................................................................................... 57
Figure 62 Auto trigger mode ............................................................................................................. 59
Figure 63 Normal trigger mode ......................................................................................................... 59

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1. INTRODUCTION
Phase tools is the setup and management tool for Phase Motion Control servo drives (including the Ax Drives
Series and TW integrated motors). Cockpit
For further details on servo drives features and capabilities, please refer to the corresponding reference
manuals.

1.1 Installation requirements

 Operating system Windows XP, Windows 7 32bit/64bit or Windows 8 32bit/64bit
 PC with installed the Internet Explorer 8.0 browser or better
 PC with memory capacity 1GB (suggested) or better
 Minimum with 100MB free space on hard disk

1.2 Installation steps

 Visit Phase Motion Control at http://www.phase.eu in order to download the latest revision of
Phase Tools setup
 ols will be installed in the PC

Cockpit LogicLab (refer to LogicLab manual for further more
information) will be created on the desktop

2. COCKPIT MAIN VIEW

Cockpit is the user interface to configure the digital Ax Drive Series and TW integrated motors. It is intuitive in
the way that information is arranged and logically divided into groups for viewing and editing. It allows to
create, analyze, modify and copy all parameters useful for applications and regulations of the device.

Cockpit

 Drive control and identification information;

 Multi-devices control and project management;
 Drive parameters reading and writing;
 Intuitive usage of graphic pages;
 Troubleshooting alarm information;
 Drive firmware updating;
 Initialization and remote control with Control Panel utility;
 Real time diagnostics interface with Softscope;
 Communication by serial interface RS232 with Modbus protocol, or IXXAT CAN interface with
CANOpen protocol, or Ethercat protocol.

2.1 Main screen view

Double click the shortcut icon , Cockpit main screen is illustrated as Figure 1 . It consists of those
main panels: user interface window, catalog window, connection status window, output window, monitor
window and status bar.

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Figure 1 Cockpit main screen

2.2 User interface window

User interface window shown in Figure 2 is the main part of the main screen. It is used to show pages and
parameters grids opened by other controls/tools. It is intuitive and friendly provided that device identification
and parameters information, and also let user make fully operations.

Figure 2 User interface window

Next chapters will introduce all the features and operations on the user interface in details.

Other View

2.3 Catalog window

The catalog window in Figure 3 shows all the catalog objects that can be added to the project depending on
the supported product family. It is activa Catalog View , and also
activated with the corresponding button on the toolbar.

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Figure 3 Catalog window

It is possible to show all the available versions of the catalog items or only the latest version of each catalog
Options Show all versions in catalog

2.4 Connection status window

The connection status window shown in Figure 4 is to monitor the detailed connection status of each device
of the project. It is activa Connection Status View
the corresponding button on the toolbar.

Figure 4 Connection status window

When a project is composed of more than one device, it is very useful to understand what the devices are in
error when the connection status indicated ERROR

2.5 Output window

The output window shown in Figure 5 is the place where Cockpit reports its output messages, and it is mainly
used to report the common R/W operations results. The Reading/Writing parameters or polling operations can
be logged to show their results on this window.

The output window is activa Output View

corresponding button on the toolbar.

Figure 5 Output window

It can be also used to log other Options Logging options
item.

2.6 Monitor window

The monitor window in Figure 6 is one of the debugging tools supported by Cockpit. It allows viewing the
actual values of parameters. The values in the monitor window are continuously refreshed with the values read
from the device. Refer to Chapter 11.1 for more details.

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The monitor window is activated with Monitor View and also activated with the

corresponding button on the toolbar.

Figure 6 Monitor window

2.7 Status bar

The status bar in Figure 7 displays the state of the device on the left border of Cockpit window and an
animated control reporting the state of communication at the right border.

Figure 7 Status bar

3. MANAGING PROJECTS
Cockpit is managed as projects, one project consists of one or more devices, which are including AxN, AxM-II
family and TW integrated motors.

This chapter explains how to properly work with projects.

3.1 Create a new project

To start a new project, double click the shortcut of Cockpit icon where you install the Phase Tools.
T New File menu of Cockpit main window and it is
also activated with the corresponding button on the toolbar of an already opened project. The startup
Cockpit window is shown in Figure 8.

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Figure 8 Cockpit startup window

Cockpit supports two kinds of products series, which are Ax drives series and TW series as you can see from
the main page. First of all you have to select the target product series.

If your target is Ax drives series, click the Ax Drives Series(AxM-II,AxP,AxW) bar on the main page; If your
target is TW series, click the TW Drives Series(TW3,TW5,TW7) bar on the main page.

A project at least contains one device. Next section explains how to add a device to the project.

3.2 Add a device to the project

There are two different ways to add a device to the project:

 Adding a device from catalog

 Adding a device from automatic scanning

3.2.1 Add a device from catalog

The device catalog window shows all the necessary devices that could be added to the project. When the
current project is new, having no one device, if your selected target is Ax drives series shown in Figure 9.

Figure 9 Ax device catalog

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Click the Ax Drives Version 1.9 bar on Ax catalog to add a new device, the main page of the new device will

be shown. You can also click the icon to add a new device. The added device will be shown directly in
the device list.

If your selected target is TW series shown in Figure 10.

Figure 10 TW device catalog

Click the TW Drives Version 2.6 bar on TW catalog to add a new device, the main page of the new device will

be shown. You can also click the icon to add a new device. The added device will be shown directly in
the device list.

When the current project is already existing one or more device shown in Figure 11, you can also add a device

from catalog by clicking the corresponding bar or the icon of the target device you want to add. It is the
same way as above. The only difference is that, a message will pop up to require you confirming the operation.
Confirm

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Figure 11 Catalog list with existing devices

3.2.2 Add a device from automatic scanning

Cockpit provides the automatic scan function, which can find out all the necessary devices on the fieldbus. It
is also convenient for users in which condition they do not have enough details for communication with
devices, especially, when it is not clear that address id and baud rate of one Ax series drive, or node id and
baud rate of one TW series motor.

The following procedure shows you how to make automatic scanning for Ax drives:

 Click the Automatic Scan for AxX bar on the main page. Before starting scan, press the Advanced
bar to check the communication parameters in Figure 12. Modbus is the default protocol for Ax
drives; setup the correct COM port by which PC connects with the device; select the baud rate range
from a starting point to an ending; enter the addres Advanced
again, the window retracts back and the settings are persisted. Refer to Chapter 7 for more details
on communication parameters settings.

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Figure 12 Automatic scan for AxX

 Make sure the cables physical connections are ready. Then Start Scan bar, the automatic
scan is running. It will scan every baud rate from baud rate range and each address id from address
range in Figure 13.

Figure 13 Start scanning for AxX

 As soon as one device is found out, it will be listed Automatic Scan bar in Figure 14.

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Figure 14 Scanning result for AxX

 You can stop the scanning whenever you prefer Stop Scan bar.

Cockpit applies two types of automatic scanning for TW series:

 Single node scan

 Network scan

Usually when there is only one device of TW series on the network, Single node scan is preferred to be used.
Once it is found out one device, the single node scan procedure stops immediately. Network scan has to be
used when there are more than one device on the network.

The following procedure shows you how to make automatic single node scanning for TW series:

 Click the Automatic Scan for TW bar on the main window. Before starting scan, press the
Advanced in Figure 15. CanOverIp is the default
protocol for TW series. Refer to Chapter 7 for more details on communication parameters settings.

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Figure 15 Automatic single node scan for TW

 Make sure the cables physical connections are ready. Then Single Node Scan Start a
message is appeared to warn you that the operation must be done only on single connected device
per time. Confirm the automatic scan is running with each baud rate value from the baud
rate range in Figure 16.

Figure 16 Start single node scan

 Once the device is found out, the procedure will stop immediately, and the device will be shown
below Automatic Scan bar in Figure 17.

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Figure 17 Single node scan result

 You can stop the scanning whenever you prefer by pressing Single Node Scan Stop bar.

The following procedure shows you how to make automatic network scanning for TW series:

 Automatic Scan for TW For network scanning, select one

scanning baud rate from the baud rate list for network scanning.
 Advanced to check the communication setup parameters before starting scanning in
Figure 18. CanOverIp is the default protocol for TW series. Refer to Chapter 7 for more details on
communication parameters settings.

Figure 18 Automatic network scan for TW

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 Make sure the cables physical connections are ready. Then press the Network Scan Start bar, the
automatic scan is running with the selected baud rate and the node id range from 1 to 127 in Figure
19.

Figure 19 Start network scan

 When devices are found, they will be listed below Automatic Scan bar in Figure 20.

Figure 20 Network scan result

 You can stop the scanning whenever you prefer by pressing Network Scan Stop bar.

Note that such functions are useful when there is only one kind of products series. For example, only existing
Ax drives or only TW series on the same fieldbus. If there are both Ax drives and TW series on the same
fieldbus, such functions may not support.

The found devices are listed in the main window. You can press either the corresponding bar or the icon
to add the target device into the current project. The difference is that, if you press the corresponding bar to
add the device, a message will appear to inform that you can connect to the drive and update all parameters;
if you press the icon, the target device will be added and shown directly under the device list.

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Note that if the target device is already added on the project, you cannot add it to the same project anymore.
When you try to do such operation, a warning message will be appeared.

3.3 Delete a device from the project

The device list of the main page arrays all the devices in the current project.

To delete one device, click the corresponding icon on the selected device, a message is appeared to ask
if you are sure to delete the selected device or not Confirm
the project.

Note that, the last device in the project cannot be removed.

When there is only one device in a project and you would like to remove it, the following message is shown

when you click the corresponding icon .

3.4 Open an existing project

To open an existing project, Open File on the main window, or the toolbar icon .
This causes a dialog window to appear which lets you load the directory containing the project and select the
target project file.

You can also open an existing project from the item Most Recent Projects on the main window.

Note that Most Recent Projects only contains the projects files that is used recently. And if the
directory of the project file is moved to another path, the project cannot be opened correctly.

3.5 Save the project

3.5.1 Saving changes to the project

When you make any change to the project, you are required to save the project in order to keep the changes.
To save the project, you can select the corresponding item Save in the menu File icon .

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3.5.2 Saving to an alternative location

When you donot want to overwrite the current project file for some reasons, you may save the modified project
menu File

3.6 Close the project

You can terminate the working session explicitly closing the project or exiting Cockpit. In both cases, when
there are changes not yet persisted to the project file, Cockpit will ask you to choose between saving and
discarding them.
To Exit the File menu; or click the icon on the right top of
Cockpit.

4. MANAGING AXX DEVICES FAMILY

AxX family is a programmable platform for brushless servomotors control. It is adequate to control most
standard Phase Motion Control brushless motors. The regulation and control functions are managed by the
firmware that is integrated into the drive memory. Refer to AxX reference manual for more details.

Cockpit is the dedicated software environment that is parameterizing and monitoring the AxX family operating
conditions with a serial interface RS232. Moreover, the graphic interface makes it easy and versatile the drive
configuration.

This chapter is to focus on how to manage devices of AxX family. When entering an AxX device, the main page
is shown in Figure 21. It is the startup entrance of an AxX device, on which there are all the components of
device configurations.

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Figure 21 AxX main page window

4.1 Device information

On the main page, the configuration table describes the basic device information.

Name is
If there are more than one device of AxX family in one project, the number will increase by one. It is also
possible to modify the device name as you prefer. Insert a new name on the textbox Enter it
will be updated immediately.

Disable Communication option is not selected by default. If selected, the communication for the device is not
able to connect.

Application is the PLC application information on the current device.

If the device has one PLC application, which is compatible with application catalog, the information including
application name and version is shown correctly. Instead, default setting displayed.

Catalog Version is the version number of AxX device catalog.

Address is the address value of communication. Refer to Chapter 7 for more details.
Port is the COM port setting of communication. Refer to Chapter 7 for more details.

4.2 Full configuration download

Full configuration download in Figure 22 is to download the linked plc application into the device, and write
all the configuration values of the system and application parameters into the device. After that, the drive will
be automatically save and reset for storing the configuration.

Figure 22 Full configuration download

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Note that it is the only function that can write correctly all the configuration parameters into the drive.

To make full configuration download, follow the procedure below:

 Click the Full Configuration Download bar on the main page, a message is appeared to inform you
that such procedure will overwrite any user application and parameters already in the drive with data
in the actual parameters table.
 Confirm . It is necessary to connect the target device before making such
operation. Refer to Chapter 7 on how to communicate with one device.
 If the drive is not connected yet, a message for online mode is required. Press Confirm
procedure will try to connect the device automatically. After connection is ok, the full configuration
download starts to process with a processing bar.
 In the end, the procedure executes successfully Full configuration download terminated
message.

Note that, if any failure happens during the procedure, please back to the first step and start again.

4.3 Application selection

You can enter into application selection window in Figure 23 by clicking the Application Selection bar on the
main page. It is listed all the available applications from catalog. Refer to AxX user manual for details on
applications managements.

Figure 23 Application selection window

To add one application into the device, just click the selected application bar.
Take AxX base plc application for example. If it is the device without any application embedded, click the
BaseApp bar, it will automatically add the application into the device and back to the main page. In the
meanwhile, the application information is updated on the configuration table.

If one application already exists in the device, after clicking the selected application bar, a message is
appeared to warn you that actual application and related parameters will be deleted. Confirm , the
selected application will be added into device but the actual application and relative parameters will be
deleted.

Note that offline mode is required when doing the operation.

Back to the main page by clicking the icon on the left top of Cockpit window.

4.4 Device configuration

You can enter into device configuration window in Figure 24 by clicking the Configuration bar on the main
page.

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Figure 24 Device configuration window

By default, it lists all the necessary system and application configuration links.
If the device has no application embedded or has one application without configuration pages, it will show
only the system configuration pages.
If the device has one embedded application on which there are application configuration pages, it will show
both system and application pages.
For advanced, the configuration pages could be also managed from LogicLab. Depending on different plc
application, it is necessary to display only the configuration pages that user prefers. Refer to LogicLab manual
for more details.

On the configuration window clicking the bar of the selected item, you can enter into parameters
configuration in details. Please refer to AxX software manual for system parameters explanations in details in
order to configure appropriate values.

On each parameters configuration page, you can back to the configuration window by clicking the Done bar

or the icon on the right top of the selected window.

Back to the main page by clicking the icon on the left top of Cockpit window.

4.5 Target information

You can enter into the target information window in Figure 25 by clicking the Target Info on the left
sidebar of the main page. Target Info Service

and it is also activated with the corresponding icon on the toolbar.

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Figure 25 Target information window

You can get the core information of AxX device on target information window.
The main components are System ID, System firmware, User Application, Controlboard ID, Powerboard ID,
FPGA ID, Drive time. It is necessary to connect the device before viewing this window, please refer to Chapter
7 on how to connect one AxX device.

System ID contains the device type, serial number and production date.
System firmware contains the firmware type and firmware version number.
User Application contains the PLC application name and version number.
Controlboard ID contains hardware controlboard type and version number.
Powerboard ID contains hardware power stage type and version number.
FPGA ID contains hardware FPGA type and version number.
Drive time contains the drive power-on time.

Press refresh button on the left sidebar of the target info window, you can get the latest data from a
connected device.

Back to the main page by clicking the icon on the left top of Cockpit window.

4.6 Monitor page

You can enter into monitor page as Figure 26 by clicking the Monitor Page button on the left sidebar of the

main page. You can also activate it with the corresponding icon on the toolbar.

Figure 26 Monitor window

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Monitor page provides you a friendly interface to verify the connections and settings between the motor and
the drive.
Please setup drive with on-line mode before making operations on monitor page. Refer to Chapter 7 for
communication settings. After the drive is connected, the monitor page refreshes every 400ms.

Power Stage
Current Loop value and the actual current when
drive is in operation mode.
Speed Loop tion, it shows the speed reference and the actual speed of the connected device.

Encoder section Advanced encoder

Device control buttons, the relative section is shown in the window.

Encoder section in Figure 27 is shown by default. You can get the encoder reading values: position turn
number and angle degree for both main encoder and auxiliary encoder.

Figure 27 Monitor window: Encoder section

On Advanced encoder in Figure 28, it provides the encoder information with more details.

Figure 28 Monitor window: Advanced encoder

Device control in Figure 29, basic device control functions are applied, which are torque mode,
profile velocity mode and profile position mode. You can control the drive with controlword and monitor the
state of the drive by statusword. Refer to AxX software manual for further details on parameters explanations.

Figure 29 Monitor window: Device control

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Note that on this window auto refresh mode is enabled. In this ca Settings
written into the drive if you modify them.

Back to the main page by clicking the icon on the left top of Cockpit window.

4.7 Alarm information

The actual drive status is displayed both on the status bar and on the connection status window. When the
drive is in alarm or warning condition, to view the alarms and warnings in details you can enter into alarm
information window.

To enter into alarm information window in Figure 30, you can click the Alarm button on the left sidebar of

the main page. You can also activate it with the corresponding icon on the toolbar. Moreover, the same
command is also available by double clicking the device column on the connection status window.

Figure 30 Alarm information window

All active alarms and warnings are listed on this window with refreshing time 500ms. Please refer to AxX
reference manual for a detailed description of all Ax drive alarms and warnings. It is also necessary to connect
the device before viewing the alarm information window. Refer to Chapter 7 for communication in details.

Back to the main page by clicking the icon on the left top of Cockpit window.

4.7.1 Alarm history information

To access the alarm history window in Figure 31, you can click the Alarms history button on the left sidebar
of the alarm window.

Figure 31 Alarm history window

The latest 32 alarms occurred on the drive can be recorded on alarm history window and ordered by drive
time decreasing. The latest alarm record is displayed at the first line of the table.
When an alarm is occurred, several variables and status values from the drive are recorded and reported on
the alarm history window. Please refer to AxX reference manual for all Ax drive alarms in details.

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Here are the explanation for each column on the alarms history table.

Time Power-on time of alarm

All All active alarm bits
Description Active alarm description
SCode Alarm subcode
Iu Instantaneous current phase U feedback
Iv Instantaneous current phase V feedback
Iu avg Average current phase U feedback
Iv avg Average current phase V feedback
Iq Instantaneous current quadrature feedback
Id Instantaneous current direct feedback
Tj Power module junction temperature
Th Heat sink temperature
Spd Average mechanical speed feedback
Vdc Instantaneous DC-bus voltage
BP Power dissipated by braking resistor

You can save all the content on the alarm history window to a file with the extension name .csv / .txt
clicking the Save to CSV file Save to TXT file button on the left sidebar.

You can refresh the actual alarm history window by clicking the Refresh button on the left sidebar of alarm
history window.

Note that, it is necessary to connect the device before viewing the alarm history window. Please refer to
Chapter 7 for communication in details.

Back to the alarm window by clicking the Alarms button on the left sidebar of alarm history window.

Back to the main page by clicking the icon on the left top of Cockpit window.

4.8 Back to the project

The Project button on the left sidebar of the device main page is the entrance that allows you back to
manage the whole project.

5. MANAGING TW DEVICES FAMILY

TW servomotors are complete, self-sufficient servo axis building blocks, which allow the design, integration
and operation of large multi axis systems with minimum hardware. TW motor systems are controlled by a
multi drop CANOpen field bus, linking together groups of motors on a single bus system.

When you enter into TW series from Cockpit startup window, two kinds of TW products are shown on the
device catalog window. They are:

 TW0503 series
 TW drives series

Please refer to TW manual for TW motors identification and selecting the correct device catalog when
connecting one TW motor. All TW motors can be programmed and monitored via Cockpit interface.

This chapter focuses on how to manage TW servomotors. When entering a TW device, take TW3 as example,
the main page is shown in Figure 32. It is the startup entrance of a TW device, on which there are all the
components of device configurations.

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Figure 32 TW main page window

5.1 Device information

On the main page, the configuration table describes the basic device information.

Name is the device TwX

If there are more than one device of TW family in one project, the number will increase by one. It is also
possible to modify the device name as you prefer. Insert a new name on the text Enter
will be updated immediately.

Disable Communication option is not selected by default. If selected, the communication for the device is not
able to connect.

Catalog Version is the version number of TW device catalog.

Status the state of the NMT (Network Management) on the target device.
If the target device is connected, the state attribute is one of the values: STOPPED, PRE-OPERATIONAL,
OPERATINAL and INITIALIZING.

Node ID the node id of TW motor. Refer to Chapter 7 for more details.

Baudrate the baud rate of communication. Refer to Chapter 7 for more details.

5.2 Full configuration download

Full configuration download in Figure 33 is to download any user configured parameters for TW servomotor,
including the setup of node id and baud rate. It is the only function that can write correctly all the
configuration parameters into the device.

Note that, the setup of node id and baud rate is optional. If the configured parameters of node id and baud
rate are the same as the actual communication settings, the full configuration download will setup all the user
parameters excepting the node id and baud rate. If different, it will first setup the configured node id and
baud rate, and then download other user parameters, in this case one more message will be displayed that
informs you to connect only one TW motor on the network.

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Figure 33 Full configuration download

To make full configuration download, follow the procedure below:

 Full Configuration Download bar on the main page, a message is appeared to inform you
that such procedure will write any user parameters data in the actual parameters table.
 Confirm
 Press Confirm again, the procedure will try to connect the device automatically. If the node id or
baud rate is not matched, Retry on the popup window to enable the
automatic scanning.
 After connection is ok, the full configuration download starts to process with the processing bar. In
the end, the procedure exe Full configuration download terminated
message.

Note that, when node id and baud rate are not the same as the values by which Cockpit is connecting to the
target, to avoid affecting the CAN network, it is also necessary to connect only one TW device per time during
making full configuration download.

Generally speaking, If there is an existing TW parameters file, you can connect to a TW motor without knowing
its node id and baud rate, and then parameterize all the user configurations by making full configuration
download. Note that, if any failure happens during the procedure, please back to the first step and start
again.

5.3 Device configuration

You can enter into device configuration window in Figure 34 Configuration
page.

Figure 34 Device configuration window

It lists all the links for TW configuration pages. On the configuration window, you can enter into parameters
configuration in details by clicking the bar of the relative item. Please refer to TW software manual for
parameters explanations in details.

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On each parameters configuration page, you can back to the configuration Done bar

or the icon on the right top of the selected window.

Back to the main page by clicking the icon on the left top of Cockpit window.

5.4 CANOpen configuration

You can enter into CANOpen configuration window in Figure 35 either by clicking the link on Device
CANOpen configuration bar on the main page.

Figure 35 CANOpen configuration window

CANOpen configuration window offers the possibility to set up the node id and baud rate for one TW motor.
The TW motor The
factory default setting is node id equal to 1 and baud rate equal to 125 kbps.

After setting up the parameters for node id and baud rate, clicking Set NodeId/Baudrate n the
left sidebar of the CANOpen configuration window, the TW motor can be configured for a CANOpen network
without using any devices and the configuration can be stored on a non-volatile memory.

Note that, when configuring the node id and baud rate, there must be only one TW motor per time
communicating on the CANOpen network.

Node id and baud rate will be automatically setup by using full configuration download.

Back to the main page by clicking the icon on the left top of Cockpit window.

5.5 Target information

You can enter into the target information window in Figure 36 Target Info
Target Info Service

and it is also activated with the corresponding icon on the toolbar.

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Figure 36 Target information window

You can get the core information of TW device on target information window. It is necessary to connect the
device before viewing this window, please refer to Chapter 7 on how to connect one TW device.

System ID contains the device type and serial number.

System firmware contains the firmware version type and firmware version number.
App Info contains the status of NMT and the actual device mode.
Hardware config contains encoder type and code.
Drive time contains the device power-on time.

refresh on the left sidebar of the target info window, you can get the latest data from a
connected device.

Back to the main page by clicking the icon on the left top of Cockpit window.

5.6 Monitor page

You can enter into monitor page as Figure 37 Monitor Page

main page. You can also activate it with the corresponding icon on the toolbar.

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Figure 37 Monitor window

Monitor window is the interface to investigate the cable connections and device status, and to make basic
control on the TW motor.
Please setup the device with on-line mode before making operations on monitor window. Refer to Chapter 7
for communication settings. After the TW motor is connected, the monitor window refreshes every 400ms.

Power Stage f DC link voltage and temperatures on different

modules of the TW motor.
Device Monitor the actual position and speed, which encoder provides, and the actual
current and device mode of the TW motor.
Status Word tion, it indicates the current state of the device and the current state of the operating
mode.
Command Word tion, it contains the bits of controlling the device.
Settings
mode and profile position mode. Refer to TW software manual for further details on different operating modes.

Note that on this window auto refresh mode is enab Settings

written into the device if you modify them.

Back to the main page by clicking the icon on the left top of Cockpit window.

5.7 Alarm information

The actual status of TW motor is displayed both on the status bar and on the connection status window. When
it is in alarm or warning condition, to view the alarms and warnings in details you can enter into alarm
information window.

To enter into alarm information window in Figure 38 Alarm on the left sidebar of

the main page. You can also activate it with the corresponding icon on the toolbar. Moreover, the same
command is also available by double clicking the device column on the connection status window.

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Figure 38 Alarm information window

All active alarms and warnings are listed on this window with refreshing time 500ms. Please refer to TW
software manual for a detailed description all alarms and warnings. It is also necessary to connect the device
before viewing the alarm information window. Refer to Chapter 7 for communication in details.

Back to the main page by clicking the icon on the left top of Cockpit window.

5.7.1 Alarm history information

To access the alarm history window in Figure 39, you can click Alarms history button on the left sidebar
of the alarm information window.

Figure 39 Alarm history window

The latest 8 alarms occurred on the drive can be recorded on alarm history window and ordered by drive time
decreasing. The latest alarm record is displayed at the first line of the table.
When an alarm is occurred, several variables and status values of the drive are recorded and reported on the
alarm history window. Please refer to TW software manual for all alarms in details.

Here are the explanation for each column on the alarms history table.

Time Life time of alarm

All All active alarm mask
Description Active alarm description
Iq Instantaneous current quadrature feedback
Id Instantaneous current direct feedback
Tb Board temperature
Tp Power temperature
Tm Estimated motor temperature
Ty Motor temperature from KTY
Spd Velocity sensor actual value
Angle Electrical angle
Vdc DC link circuit voltage
RTime Relative time
Cnte Endat error counter

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Cnta Endat alarm error counter

Cntc Endat CRC error counter
Cnto Endat device not present error counter
PWM PWM flags

You
Save to CSV file Save to TXT file button on the left sidebar.

Refresh button on the left sidebar of alarm

history window.

Note that it is necessary to connect the device before viewing the alarm history window. Please refer to
Chapter 7 for communication in details.

Back Alarms button on the left sidebar of alarm history window.

Back to the main page by clicking the icon on the left top of Cockpit window.

5.8 Back to the project

The Project button on the left sidebar of the device main page is the entrance that allows you back to
manage the whole project.

6. PARAMETERS MANAGEMENT
All parameters sets for the system configuration and operation both on the AxX drive family and TW family are
resident in the memory. They are accessible from Cockpit configuration tool. The application parameters,
which are located at defined memory addresses in the dedicated application, can be also managed by Cockpit.

Generally, parameters sets organized in hierarchical menus can be subdivided into three classes. which you
can distinguish by colors on the parameter table.

 PAR parameters identified with Black color are read/written from Cockpit configurator and could
be saved in the drive flash memory. In some cases Cockpit will inform some PAR system
paramerers need a system reset after modifications.
 VAR parameters identified with Green color are read-only variables. They are used as diagnostic
parameters in order to allow monitoring the drive variables.
 WKS parameters identified with Purple color are used to control drive behavior. They can be
read/written from Cockpit configurator but restored to zero after drive reset.

Usually parameters sets are aligned with logic blocks and some principal sections collect more commonly
used parameters. The default values set by the manufacturer are appropriately used in most cases. It could be
necessary to tune them for particular applications in order to optimize the drive performances. Note that the
user must be aware that the changes introduced assume a very deep knowledge of the drive firmware and
function control blocks implementation. Please refer to reference manuals for system parameters descriptions
in details.

This chapter focuses on how to manage (read/write) parameters with the device.

6.1 Node tree

There is the node tree window in Figure 40 on Cockpit working session, which is hidden by default. To active
Tree View on the toolbar.

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Figure 40 Node tree

Parameter files appear in the node tree on the left side of Cockpit window. It contains subfolders with
parameter groups and different tools necessary to work with the selected device.
There are some advanced functions applied from the AxX node tree, refer to Chapter 10 in details.
To expend a folder to view its subfolder, click on the symbol next to it.

To collapse a folder, click on the symbol next to it.

6.2 Parameters table

You can use the parameters table to configurate the device instead of the HTML pages. To open it, you can
click the selected menu from the node tree.

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Generally the parameters are structured in hierarchic subgroups collecting all parameters related to the
different catalog devices. Take Motor parameters table for example, click the menu on the node
tree, it is shown as Figure 41.

Figure 41 Parameters table

Each parameter record defines the following fileds:

IPA indecates the parameter index as specified by Modbus protocol.

Name is a mnemonic name used to identify the parameter.
Type indicates the parameter data type.
Value contains the actual value retained by Cockpit.
Um refers the measure unit of the value.
Default contains the default value retained by Cockpit.
Description contains a brief description of the parameter.

For further information on all system parameters in details please refer to related reference manuals.

6.3 Read/Write one parameter

The displayed parameter value is related to the last read from the device or the modified value put in the field
by user. When a value is different from the device value, because of editing or because it has not been read
yet, it is shown in red color. It is shown in red until a Write of the parameter on the device is successfully
done or a Read of the parameter is restored its value from the device. The value shown in the grid will be
updated after a Read/Write operation. If the value in the grid is different from the default value, the default
value is shown in blue instead of black.

Note that in next sections the drive is reqired in connected mode, refer to Chapter 7 for drive connection.

Assumed that drive is in connected mode, after selecting one parameter from the parameter table or the page,
you have several ways to read and get the value stored in the drive:

 Read selected Parameter menu;

 Or click the corresponding icon on the toolbar;
 R

Assumed that drive is in connected mode, after selecting one writable parameter from the parameter table or
the page, click the Value field and put the modified value on it, it will be visualized in red to indicate that it is
not written yet. Then you have several ways to write and send the value to the drive:

 Write selected Parameter menu;

 Or click the corresponding icon on the toolbar;
 W

After Read/Write operation is done successfully, the parameter value is displayed in black.

Note that, on the parameters table, those above operations are also available when selecting more than one
parameter by CTRL. Especially, you can use those above operations to read/write all parameters on the

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parameter grid select all Select all item Parameter menu, the

corresponding icon A

Note that, on the parameters grid, it is also possible to write the default values of the selected parameters on
the Write default values Parameters menu.

6.4 Read/Write parameters

Assumed that drive is in connected mode, on the parameters table or the page, you have several ways to read
and get the values stored in the drive:

 Page read Parameter menu;

 Or click the corresponding icon on the toolbar;

 E
 Refresh page Parameter

menu or the corresponding icon on the toolbar.

Assumed that drive is in connected mode, after parameters modifications are done, you have several ways to
write and send the values to the drive:

 Page write Parameter menu;

 Or click the corresponding icon on the toolbar;
 G

After Read/Write operation is done successfully, the parameter values are displayed in black.

6.5 Read/Write all parameters

Assumed that drive is in connected mode, it is advisable to fully read all drive parameters at the first startup
to verify the consistence with the drive. you have several ways to read and get all the values stored in the drive:

 Read all Parameter menu;

 Or click the corresponding icon on the toolbar;

 R

To write all the visuable parameters, the following ways can be done:

 Write all Parameter menu;

 W

Note that, such commands can not write all the device parameters. Full configuration downlaod is
suggestable to make all the parameters written into the device.

6.6 Auto refresh mode

Auto refresh mode is usable to speed up reading and writing parameters. When the device is in auto refresh
mode, the parameters values on the actaul parameters table or the page will update with the drive
continuously. When the user changes the value in the textbox on the parameters table or the page, it will be
wriiten to the drive instantly.
To active drive in auto refresh mode, the commands are:

 Auto refresh mode Parameters menu;

 Or click the corresponding icon on the toolbar.

6.7 Save parameters

When parameters have been optimized for the desired operation, it can be saved for subsequently usage. After
Write

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permanently. It is possible to lose the data at system drive reset. Flash saving is necessary to store the
parameters values permanently into the drive.

To save into drive flash memory, the commands are:

 Save parameters Parameters menu;

 Or click the corresponding icon on the toolbar;

 S

Note Write the

parameters save and reset operation are required. After that, the modified parameters values will be fully
active and ready to use. Refer to Chapter 7.4 Drive reset in details.

7. COMMUNICATION
Cockpit provides the communication interface to establish a connection with the target device in order to
monitor and debug the device. This chapter focuses on the communication operation required to connect to a
target device.

7.1 Setup the communication

In order to establish the communication connection with the target device, it is therefore necessary the
physical cables are ready and the network is properly configured, according to both AxX and TW user manuals
specifications.

To Communication settings Target menu on the Cockpit main

window. The devices link configuration window is appeared as Figure 42.

Figure 42 Devices link configuration

You can select the appropriate protocol from the listed communication protocols. If a protocol you expect to
appear is missing in the list, please check the setup executable program you have run on your PC.

7.1.1 Communication with AxX family

The communication with AxX family is accomplished by Modbus protocol with RS232/422 serial line. You
Properties key, the Modbus configuration window will show as
Figure 43 and allow to setup the communication parameters for AxX family.

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Figure 43 Modbus configuration

Port is the port number on the PC connected with a serial cable to the RS232/422 drive port. The default
value is COM1. You can check it from the PC device manager.

Baudrate drive serial communication setting is 38400 by default.

Frame settings serial port configuration setting is no parity, 8 data bits and 1 stop bit (N,8,1) by default.

The protocol default settings are: Jbus, address 1 and timeout 1000. Note that the setting address number
must be identical to the address given to the drive.

Refer to AxX software manual for Modbus protocol and communication parameters specifications in details.

7.1.2 Communication with TW family

The communication with TW family is accomplished by CanOverIp protocol. You can active the CanOverIp
protocol Properties the CanOpenTcp configuration window will show as Figure 44 and
allow to setup the communication parameters for TW family.

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Figure 44 CanOpenTcp configuration

The gateway default settings are IP address 127.0.0.1 and port 2196. It is suggested do not modify them.

The communication settings by default are baudrate 125Kb, Interface i/f 0, Node Id 1, TCP timeout 3000 and
Rx timeout 400. It is necessary to choose and setup the baudrate and node id with appropriate values of the
target device.

Refer to TW software manual for CanOpen protocol and communication parameters specifications in details.

7.2 Enable the communication

After applying OK
the connection. To enable the communication, the commands are:

 Connected mode Parameters menu;

 Or click the corresponding icon on the toolbar;

 T

You can disable and re-enable the communication using the same command. When the connection is active,
Connected mode ponding icon appears as pressed.

Especially, when enabling the communication on one TW motor, if the node id or baud rate does not match
the actual communication settings, a message will pop up to inform you Retry
single node scan. In this case, Cockpit will automatically search the target node id and baud rate. Note that,
single TW motor connected per time on the network is required. During search, the procedure messages are
printed in the Output window. After the device is found, the target node id and baud rate are updated on the
configuration table of main page.

Configurator allows the user to specify for each device its own communication settings to let the configurator
communicate with each of the physical target devices of the project. It is possible to connect to physical
targets once configured communication settings for each device in the project.

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When the connection is active, the configurator starts communicating with targets using specified
communication settings. Polling of a parameter is used to understand if the target is actually connected. If
any of the target devices cannot be reached, the connection still remains active and continues polling devices
but connection status indicated ERROR. When all the targets answers correctly to the polling requests
connection status indicates CONNECTED.

The state of communication is shown in the right border of the status bar. If you have not yet attempted to
connect to the target, the state of communication is set to .

When you try to connect to the target device, the state of communication becomes one of the following:

 : the communication has been established;

 : the communication cannot be established. You should check both the physical link
and the communication settings.

7.3 Save the communication settings

When you connect to target devices using the communications settings, you may expect to save them for the
future usage, especially the COM port setting which you usually use the same port for all devices on the same
PC.

Saving the project file can obtain to save the communication settings in the meanwhile. Refer to Chapter 3.5
Save the project

7.4 Drive reset

When establishing a connection with the target device, you can monitor and debug the status on the target,
drive reset operation is to clear the actual status on the target and run at startup. When drive is in
alarms/warnings status, it is necessary to make reset operation.

On Cockpit window, you have the following ways to reset drive:

 Drive reset Target menu;

 Or click the corresponding icon on the toolbar;
 R

You can also refer to hardware manual for hardware reset operation.

8. CONTROL PANEL
The integrated control panel, which is one of the useful functions that Cockpit embodies for AxX family, allows
It allows monitoring
and controlling the I/O interface of the device. When acting as a monitor, it is shown the actual status of the
physical I/O; when controlling is enabled, the physical I/O are virtually disconnected and not used, the control
panel will simulate the I/O interface to work with the drive.

This chapter focuses on the control panel operation to monitor and control the I/O interface of the device.

8.1 Control panel

One AxX device links to one relative control panel. To active it, first you have to focus on one target device of
the project, then you have the following ways to active:

 Control panel Target menu;

 Or click the corresponding icon on the toolbar.

On AxX family the control panel consists of eight digital inputs, eight digital outputs, four analog inputs and
four analog outputs by software. Instead, there are only physically eight hardware digital inputs, four hardware
digital outputs, four hardware single ended analog inputs and two hardware differential analog outputs.

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Digital I/O is represented by means of buttons and icons, analog I/O by means of sliders and progress bars
and the values are also available in the form of textboxes shown as Figure 45 and Figure 46.

Digital Inputs/Outputs

Figure 45 Digital Inputs/Outputs

 Grey icon means digital input/output is OFF

 Red icon means digital input/output is ON
 The name of digital input/output is configurable from LogicLab plc application, by default it is named
DIx DOx

Analog Inputs/Outputs

Figure 46 Analog Inputs/Outputs

 User can feed the value both on the textbox and on the scale box for analog channels
 The name of analog input/output is configurable from LogicLab plc application, by default it is
AIx AOx

After activating the control panel, there are two switchable panels:

 Standard panel
 Enhanced panel

The following sections will introduce those two panels in details.

8.2 Standard panel

When the device is not connected, at the control panel startup it is shown as the standard panel as Figure 47.
It is also shown when the connected device is detected that the device firmware is not supported with the
enhanced panel.

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Figure 47 Standard control panel

 Panel Inputs Enabled
acts as a monitor of the actual status of physical I/Os
 Panel Inputs Enabled
virtually disconnected.
 Panel Inputs
Enabled
 Drive outputs enabled s activated by default. If it is disabled, the drive physical outputs
cannot be monitored from control panel window.

8.3 Enhanced panel

It is shown as the enhanced panel in Figure 48 when the device is connected and it is detected that the
firmware is also supported with the enhanced panel.

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Figure 48 Enhanced control panel

 Every digital input/output is independently controllable on the enhanced panel. By default, it is

DIx DOx icon to icon , it is feed OFF state to

DIx DOx icon to icon DIx DOx

 Every analog input/output is also independently controllable on the enhanced panel. By default, it is

AIx AOx icon to icon , both the textbox and

the scale AIx AOx AIx AOx
simulated from control panel window.
 Enable and Zeroes all and zeroes all values.
 Enable and keep all actual
values.
 Restore all isable simulation on all Inputs/Outputs and restore IO port driven inputs/outputs.
 Standard panel

9. FIRMWARE UPGRADING
Firmware upgrading is released embodied in the Phase Tools setup at regular period on the Phase Motion
Control web site, which could include new functions and generic enhancements. It could be done completely
via Cockpit, that applies extension tools for both AxX family and TW family to upgrade firmware
independently.

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To open the firmware upgrading window, you have the following ways:

 Click Load firmware Service menu;

 Or you can run as a stand Utilities
Phase tools setup menu.

Note that the operation of firmware upgrading has to be performed by technical people trained in the Phase
Motion Control.

9.1 AxX firmware updater

The firmware upgrading for AxX family is shown in Figure 49 on the following window.

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Figure 49 AxX firmware updater

 Communication status should be connected before starting the procedure. If it is not connected,
press the icon to enter into communication setting window, refer to Chapter 7 to connect the
device in details.
 With Browse to be downloaded, e.g.SysApp-1-8-312-xxxx-
xx.sre, Download
 There is a list of available files, which support different kinds of devices depending on different
hardware settings. On the system firmware FPGA ID , it is shown the connected
device information. xxxx-xxx he file name is defined related FPGA ID
select the correct .SRE file corresponding to the FPGA ID type and build.
 The baud rate could be selectable with different value from the baud rate list.
 Load Operation
Download

9.2 TW firmware updater

The firmware upgrading for TW family is shown in Figure 50 on the following window.

Figure 50 TW firmware updater

 Communication status should be connected before starting the procedure. If it is not connected,

press the icon to enter into communication setting window, refer to Chapter 7 to connect the
device in details.
 With Browse , select the target firmware file to be downloaded.
 Firmware file info
Drive firmware info
 Download

Synchro
synchronization executed operation
connected.

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Note that, if any troubles occur during the firmware upgrading, it is necessary to start from the beginning the
load of the selective firmware file. If the download is successfully completed, the device will reset and send a
bootup message on the output window. In addition, you can reset the device manual Reset
button.

10. ADVANCED FUNCTIONS

Cockpit provides some useful functions to simplify and optimize users operations. The following advanced
functions are introduced in details.

10.1 Import Cockpit II parameters file

In some condition that there are some applications created and maintained with previous configuration
plateform Cockpit II, the Cockpit 3 configuration plateform provides an import function in order to let a
smooth transition for the existing applications of both Ax series and TW series.

To import all settings of an old .par Cockpit II parameters file, including communication parameters COM port,
address, baudrate and node id, follow the procedure below:

 Create a new project in Cockpit 3, selecting the device catalog according the application;
 Select Import Cockpit II parameters file Service menu;
 Locate and select the .par Cockpit II parameters file to be imported;
 At the end Cockpit 3 will signal the result of the operation.

Note that, when creating a new project, the same device catalog as the original .par parameters file should be
selected. E.g. if .par file was made for TW3 firmware release 2.5.12 when creating the new project the TW
Drives Version 2.5 should be selected. If it is shown only the latest releases on the Cockpit main window,
Show all versions in catalog Options in catalog.

10.2 File comparison

When you may expect to compare the differences between two devices, click the item File comparison on
Service , select the target project file, which contains the device you would like to compare with,
Open File comparison window in Figure 51 is popped up in front of the current working
session.

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Figure 51 File comparison

On Select devices to compare
name of the project; the device selection list, on which you may select the target device in the project to
compare; and the catalog version of the selected device. And the right part is displayed the compared project
information.
Press Compare selected devices
Differences

By double clicking the selected parameter Differences , you may update the value in the current
project device with the one in the compared project, and simultaneously the selected parameter will be
removed from the table.

10.3 Export parameters to EDS/XML

The TW drives are slave systems using a subset of the standard CANopen protocol to provide communication
with a CANopen master system. As well as TW drives, the Ax drives can also be working as CANopen slave
systems. Further more, some types of TW family and Ax family support EtherCAT protocol, refer to Hardware
manual for different drives types in detail, and they can work as EtherCAT slave systems.

The usage of devices in communication networks requires the configuration information of the devices
parameters and communciation fancilities. Both CANopen and EtherCAT define standardized methods to
access the devices parameters via object dictionary. The standardized file format EDS is described for
CANopen devices and the standardized file format XML is for EtherCAT devices.

Cockpit provides the entries for exporting EDS/XML files.

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By clicking the item Export parameters to EDS on Service , a pop-up window is appeared to let
you define a file name and choose a destination dictionary for the EDS f Confirm an EDS file
with standardized format including user specific application configuration information are exported.
The same way as above, by clicking the item Export parameters to XML on Service , you can
export an XML file with standardized format, which includes user specific application configuration
information.

10.4 Interaction with LogicLab

There are some advanced commands applied to interact between Cockpit configuration platform and LogicLab
integrated development environment. On Cockpit platform user can enter into LogicLab workspace, and vice
verse. Here are introduced these commands by which Cockpit platform can interact with LogicLab.

10.4.1 Open with LogicLab

On the Cockpit working session, which exists at least one device with one PLC application, right click the
Open with LogicLab from the
popup menu, LogicLab will open directly the linked PLC project.

Note that if the PLC application in the Cockpit working session is selected from catalog, after selecting the
Open with LogicLab a dialog window is appeared to create a new folder in the
location and copy the PLC project from catalog.

10.4.2 PLC download

On the Cockpit working session, which exists at least one device with one PLC application, right click the
PLC download
popup menu, the procedure will start to download the linked PLC code into the connected device.

During dowloading, the procedure messages are reported in the Output window.

Usually PLC application is automatically downloaded using full configuration download.

10.4.3 Remove PLC application

You can remove the PLC application on the Cockpit working session existing the device with one PLC
application. Right click the application name in the Application node of the Node tree, and select the item
Remove a message is appeared to inform you if surely delete the application or not.
Confirm Cockpit working session.

10.5 Catalog upgrade

As Phase Tools including firmware releases are periodically upgrading on Phase Motion Control web site, the
existing projects configured with previous catalog version are necessary to upgrade as well in order to append
new functions and generic enhancements.

In the project both system device and application catalog vresions can be upgraded. Note that it operates on
the Node tree. Refer to Chapter 6.1 for activating the Node tree. To upgrade system device catalog, you may
right click the device root node in the Node tree. To upgrade application catalog, you may right click the
application node in the Node tree. Change popup menu, The Device catalog
window in Figure 52 is shown with the latest catalog version for the selected node in the Node tree.

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Figure 52 Device catalog window

If Show all version Device catalog window, all the catalog version for the selected node will be
displayed.
Select the target catalog version by clicking the item in the Device catalog window Select
button, the current catalog version will change to the selected one. In the end the message for the procedure
result is reported in the Output window.

10.6 Recipes
Recipes consist a set of parameters that user can compose to define specific values of the parameters, which
including system parameters and user application parameters. User can setup the parameters in the recipes
to configure different applications in an intuitive way.

The following sections will introduce how to operate recipes in details.

10.6.1 Add/Delete recipes

To add a new recipe in the Recipes node of the Node tree, you have the following ways:

 Add recipe Recipes menu;

 Or right click the Recipes Add Recipe
menu.

New Recipe Recipes New Recipe

F2, you can rename it as you prefer.

To delete a recipe from the Recipes node, you have to select the recipe in the node tree, and then there are
the following ways to delete it:

 Click the Delete recipe Recipes menu;

 Or right click the Delete Recipe
menu.

After OK Recipes.

10.6.2 Add/Delete parameters

You can add parameters into the recipe by selecting the corresponding parameters from the parameters table,
dragging and dropping onto the target recipe node in the Node tree. Opening the target recipe, the added
parameters are queued in the parameters table of the recipe.

To delete parameters from a recipe, you can select the parameters to be removed in the recipe, and then click
the Delete parameters from recipe Recipes menu.

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10.6.3 Set recipe values

After parameters are added in the recipe, user can modify the parameters values of the recipe and set as
Recipe value Set recipe values Recipes menu to set parameters values
shown in the parameters table of the recipe as the recipe values.

User can simply apply the recipe to the target device. by selecting all the items of the recipe and clicking the
Write default values Parameters menu Recipe value
into target.

10.6.4 Import/Export recipe

It is possible to add a previously exported recipe in the project. You have the following ways to import a recipe:

 Import recipe Recipes menu;

 Or right click the Recipes Import Recipe popup
menu.

After clicked, select the .RCP file to be imported from the open file dialog, the recipe will be added as
Recipes

In addition, recipes can be exported and saved in .RCP file to be used in other configurations. To export a
recipe, select on the node of the recipe to be exported, then you have the following ways:

 Export recipe Recipes menu;

 Or right click the Export Recipe
popup menu.

After clicked, specify a name of the .RCP file in the save file dialog, the recipe will be exported in the location.

11. DEBUGGING TOOLS

Cockpit mainly provides two debugging tools, which help users to verify and investigate the performances of
the connected devices. Both these two debugging tools are available for the two kinds of products series,
which are Ax drives series and TW series. They can allow users to watch the value of selected variables while
the devices were running. These two debugging tools are:

 Monitor window
 SoftScope (not available for TW0503 series)

This chapter shows you how to debug devices using these tools.

11.1 Monitor window

The monitor window in Figure 53 allows you to watch the current values of a set of parameters chosen by user,
which come from one project device and even from different project devices.

Figure 53 Monitor window

Each parameter added in the monitor window contains the following fields:

Device the device belonging to

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Name the name of the parameter

Value the value of the parameter that is cyclically refreshed
Um the measure unit of the parameter value
Description the parameter description

Being an asynchronous tool, the monitor window does not guarantee synchronization of values. Therefore,
when reading the values of the parameters in the monitor window, please mind that the parameters are
refreshed according to the entire cycle time of readings.

11.1.1 Open/Close the monitor window

As introduced on Chapter 2.6, to open the monitor window, you can select Monitor
View ou can active the corresponding button on the toolbar.

To close the monitor window, you can d Monitor View

corresponding button again. Alternatively, you can click the icon in the top right corner of the
monitor window.

Please note that, in both cases, closing the monitor window means simply hiding it, not resetting it. Actually,
if you close the monitor window and reopen it again, you will see that it still contains all the parameters you
added to it.

11.1.2 Add/Remove parameters

In connection status, you can add parameters to the monitor window. Selecting the corresponding parameter
from the parameter table, dragging it and dropping directly to the monitor window, the parameter is added
and queued in the monitoring list. You can also select more than one parameters per time using the Ctrl key
from the parameter table, then drag and drop them to the monitor window.

To remove one parameter from the Monitor window, you can select it in the Monitor window and press the
Delete

11.1.3 Parameters refresh

The parameters in the monitor window are cyclically read from the device memory. The interval between two
consecutive readings of the same parameter depends on the number of the parameters to be read by
configurator in an entire cycle of readings.

However, this action is carried out asynchronously, that is, it may happen that a higher priority task modifies
the values of some parameters while they are being read. Thus, at the end of a refreshing process, the values
displayed in the monitor window may refer to different execution states of the project.

When the target device is disconnected, the Value field in the monitor window will get frozen with the last
updated value until communication is restored.

11.2 SoftScope
SoftScope is a powerful debugging tool, which can be working either as the asynchronous debugger or as the
synchronous debugger. Being an asynchronous tool, SoftScope allows you to plot the evolution of the values of
a set of parameters. In addition, being a synchronous tool, it allows you to select a set of parameters, to have
them sampled synchronously which occurs when the processor reaches the position where you place the
trigger and to have their curve displayed in a proper window.

The following sections will introduce you how to operate the SoftScope in details.

11.2.1 Open SoftScope

When you are working on one selected device, you can easily open SoftScope from Cockpit window by clicking

Open Softscope Target menu or clicking the corresponding icon on the toolbar.

You can also run SoftScope as a standalone application SoftScope

on Phase tools setup menu. From the Start Menu to run SoftScope, the initial interface is appeared in Figure
54.

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Figure 54 SoftScope initial interface

SoftScope acquisition by selecting one target device from the
pop-up catalog window.

Click SoftScope acquisition by loading the correct directory.

Some SoftScope Most recent acquisitions . You can

directly open them if they are not moved to another path manually.

11.2.2 SoftScope interface

Opening SoftScope, the interface is shown in Figure 55 for accessing the debugging. It consists of several
parts as shown below.

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Figure 55 SoftScope interface

The Menu bar collects all the operation commands for SoftScope, which can be used to control the acquisition
process and the way data are displayed. See next sections for relative commands in details.

The Main toolbar See Chapter 11.2.3 for details.

The Graph toolbar See Chapter 11.2.4 for details.
The Chart area See Chapter 11.2.5 for details.
The Tracks list window See Chapter 11.2.6 for details.
The Settings bar See Chapter 11.2.7 for details.

The Output bar prints the communication messages and acquisition status to give user more information.
Output bar View

11.2.3 Main toolbar

The Main toolbar in Figure 56 contains the main controls of acquisition, which allow you to better supervise
the working of this debugging tool, so as to get more information for the target device under scope. Those
controls are also made accessible through the Menu bar.

Figure 56 SoftScope main toolbar

: File O
this command you can open an existing acquisition file while the actual acquisition will be closed
automatically. It is the same operation as 4.

: New File N By this

command you can open the initial interface as Figure 54 to create a new acquisition.

: the Save File S Save any

changes to the actual acquisition.

: the same command is th File tion to an

alternative location instead of overwriting in the same directory.

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: Remove selected track Edit Remove one selected

parameter track from the Tracks list window.

: Connect On-line Connect/Disconnect with the

device. SoftScope must be working in the connected mode. If it is disconnected, the control commands for
data acquisition are disabled automatically.

: On-line
when the communication is disconnected with the device. Refer to Chapter 7 for setting up communication in
details.

: Run acquisition Acquisition Start to run acquisition.

You can also start the acquisition by press F5

: Stop acquisition Acquisition

acquisition. It is enabled only when the acquisition is running. You can also stop the acquisition by pressing
F5

: Continuous capture Acquisition If the command is

enabled, the acquisition will be continuously running for the next sampling after the previous acquisition is
finished. The acquisition could stop until you press the command .

: Single sequence capture Acquisition If the

command is enabled, the acquisition will stop when the actual acquisition is done. The Single sequence
capture is enabled by default.

: the Auto trigger mode Acquisition Enabling Auto trigger

mode, the acquisition starts running immediately when you press the command regardless of the trigger
condition. The Auto trigger mode is enabled by default.

: Normal trigger mode Acquisition Enabling Normal

trigger mode, the acquisition starts running until the trigger condition becomes true after you press the

command .

: Force trigger Acquisition Force the trigger condition

to be true and start running acquisition. It is enabled only when the acquisition is in Pre-trigger mode, which

is the trigger condition is still false but you have pressed the command .

11.2.4 Graph toolbar

The Graph toolbar in Figure 57 acts in a well-defined way on the behaviour of SoftScope interface. It deals with
visualization controls of acquisition data and allows you to specify in detail when SoftScope is supposed to
sample the parameters added to the Tracks list window. Those controls are also made accessible through the
Graph on the Menu bar.

Figure 57 SoftScope graph toolbar

: Toggle grid Graph . The command is to show/hide

the grid on the Chart area. With the grid it is more visualized to get the value of each sample.

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: the same command is Show measure bars Graph The command is to

show/hide simultaneously the two vertical cursors (the red cursor and the blue cursor) and the horizontal
cursor (the green cursor) on the Chart area.

: Show acquisitions Graph

show/hide the exact sample point in which the parameters are triggered at each acquisition.

: Vertical split Graph

vertical axis into as many segments as the dragged-in parameters in order that the diagram of each parameter
is drawn in a separate band.

: Undo zoom settings Graph The command is to

return to the previous graph setting.

: Show all values Graph The command is used to fill

all the values sampled in the current record set for all dragged-in parameters to the Chart area.

: Show all values for selected track Graph

command is used to fill all the values sampled in the current record set for the selected parameter to the
Chart area.

: Horizontal zoom in Graph The operation enlarges

the curves in horizontal axis of the Chart area so that more details may be viewed more clearly.

: Horizontal zoom out Graph

the curves in horizontal axis of the Chart area so that the entire curves may be viewed.

: Horizontal show all Graph operation is used to

horizontally display the record set samples. The first sample is placed on the left margin and the last sample
is placed on the right margin of the Chart area.

: Vertical zoom in Graph

the command on the vertical axis instead of horizontal axis. It enlarges the selected curve in vertical axis
of the Chart area.

: Vertical zoom out Graph on as

the command on the vertical axis instead of horizontal axis. It shrinks the selected curve in vertical axis
of the Chart area.

: Vertical show all Graph

the command on the vertical axis instead of horizontal axis. Max value sample is placed near the top
margin and min value sample is placed near the bottom margin.

Note that all the commands in the Graph toolbar are disabled if no parameter has been added to the Tracks list
window.

11.2.5 Chart area

The Chart area in Figure 58, the main part to display the acquisition, contains the following items to better
analyse the acquisition.

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Figure 58 SoftScope chart area

 Plot: the plot area containing the actual curves of the dragged-in parameters.
 Samples: acquisition samples in the current record set for the dragged-in parameters.
 Blue cursor: one of the two vertical measure bars, which can be exploited to take some measures on
the Chart area.
 Red cursor: one of the two vertical measure bars. The same function as the Blue cursor.
 Horizontal cursor: the horizontal measure bar. The same function as the Blue cursor.
 Zero cursor: identifying the zero position of the selected track in vertical axis. It allows you to slide
the curve up and down along the vertical axis by dragging it.
 Scroll bar: it appears on the bottom of the Chart area, allowing user to slide the curve back and forth
along the horizontal axis to display the samples.

11.2.6 Tracks list window

The lower section of the SoftScope interface is the Tracks list window in Figure 59, which consists of a table
for all dragged-in parameters.

Figure 59 SoftScope tracks list window

Each dragged-in parameter has the following fields:

Track the name of the parameter

Um the measure unit of the parameter value
Min value the minimum value in the record set
Max value the maximum value in the record set
Cur value the current value of the parameter
v/div the scale value between two engineering units in vertical axis
Red cursor the value of the parameter in the Chart area with the Red cursor
Blue cursor the value of the parameter in the Chart area with the Blue cursor
Horz cursor the value of the parameter in the Chart area with the horizontal cursor
Note the parameter description

11.2.7 Settings bar

The Settings bar in Figure 60 allows user to setup acquisition sampling and visualization properties for
parameters in the Tracks list window.

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Figure 60 SoftScope settings bar

Tracks supported shows the maximum number of parameters, which could be added into the Track list window
depending on different target devices.

Time prescaler is an editable value to amplify or reduce the base sample time with an integral number.

Sample time base displays the base sample time depending on the value of Time prescaler. Once the base
sample time is modified, the maximum acquisition time is changed dependently.

Max acquisition time shows the maximum time during acquisition.

Acquisition time is an editable value to apply the required acquisition time. It must be less than or equal to
the Max acquisition time.

Those are the settings for trigger condition:

Trigger source is a combo box to choose one parameter as a trigger.
Trigger slope is a combo box to select a Rising/Falling slope.
Trigger value is to apply the value of the parameter when triggering.
Pre-trigger time is to apply the acquisition start time before triggered.

Note that, the trigger source can be only selected from the parameters dragged in the Tracks list window and
the trigger value has the same measure unit as in the Tracks list window.

Samples acquired shows the number of samples in the current record set.

Status is to show the status of acquisition processing. The acquisition status can assume one of the following
values:

No acquisition is running and it is ready to start acquisition.

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In normal trigger mode, no samples are taken as the trigger condition is false.
In normal trigger mode, the trigger condition becomes true and it starts acquisition.
The samples are acquiring.
The current acquisition process is stopped.

Note that, if the communication is disconnected, three dots are filled in the Status instead of above values.

Generally, SoftScope applies default scales to the axes; however, you can customize the appearance of the
View on the Settings bar. It is
appeared in Figure 61.

Figure 61 SoftScope graph settings window

Show grid is a selective option to show/hide the grid on the Chart area. The same as the command on the
Graph toolbar.

Show time bar is a selective option to show/hide the time scroll bar at the bottom of the Chart area.

Show tracks list is a selective option to show/hide the Tracks list window below the Chart area.

Horizontal scale is to set how many milliseconds per unit of horizontal axis. The unit is the space between two
vertical lines of the background grid.

Tracks list table allows you to adjust some graphic properties of the plot for each parameter. There are the
following fields:

Unit the measure unit of the parameter value

Value/div the value per unit of vertical axis for the selected parameter
Offset the difference between the value crossing the horizontal axis and zero for the selected parameter
Hide the flag to show/hide the selected parameter on the Chart area

Note that, you have to press the Apply button to make you changes effective; or press the OK button to
apply your changes and close the Graph Settings window.

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11.2.8 Add/Remove parameters

To add parameters to SoftScope, the same operation as on the Monitor window is that, selecting the
corresponding parameter from the parameter table, dragging it and dropping to the Tracks list window or the
Chart area on the SoftScope interface.

On the Tracks list window the parameter is added and queued, in the meanwhile, on the Chart area a new track
identifying the parameter with the same color in the Tracks list window is also added. Once the first parameter
is dropped, the control commands on the Main toolbar and the Graph toolbar are automatically enabled to
allow user setup sampling and visualizing.

You can do the same procedure to apply all the parameters you want to investigate. You can also select more
than one parameters per time using the Ctrl key from the parameter table, then drag and drop them to
SoftScope.

Different parameters in the Tracks list window and Chart area are distinguished by different colors. There is the
maximum number of tracks supported by different product families. Especially, the max number for Ax series
is 8; and the max number for TW series is 4. The read-only item Tracks supported Settings bar
displayed the correct value depending on different selected device.

Note that, if the communication is disabled, you cannot add any parameter to SoftScope. The icons and

on the Main toolbar are communication relative commands. Refer to Chapter 7 for communication setup
in details.

Note that, you can add to Softscope all the parameters in the parameters table, but also all the variables and
parameters defined in the LogicLab. Please refer to LogicLab manual on how to operate in details.

To remove one parameter from SoftScope, you can select it by clicking in the Tracks list window, then press
Delete Remove selected track Edit menu. You can also remove it by
clicking the corresponding icon on the Main toolbar.

11.2.9 Data acquisition

SoftScope applies two acquisition modes generally:

 Auto trigger mode

 Normal trigger mode

Note that the communication must be enabled in order to make acquisition either on Auto trigger mode or on
Normal trigger mode. Refer to Chapter 11.2.3 for communication commands.

Auto trigger mode is an acquisition mode without any trigger source. After dragging and dropping parameters
into SoftScope, the Auto trigger mode starts acquiring Run acquisition

button . In the meanwhile the status of acquisition in the Settings bar is changed to . Figure
62 is an example for acquisition in Auto trigger mode.

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Figure 62 Auto trigger mode

Normal trigger mode is used to make acquisition with one trigger source. After dragging and dropping
parameters into SoftScope, you have to setup one trigger source condition on the Settings bar refer to Chapter

11.2.7 Run acquisition to start the Normal trigger mode. If the trigger
Run acquisition
button. At this moment the acquisition status in the Settings bar is . Once the trigger condition
becomes true and the acquisition status is changed to , data acquisition starts and now the
status is . Figure 63 is an example for acquisition in Normal trigger mode.

Figure 63 Normal trigger mode

Especially in Normal trigger mode, when the trigger condition is false, you can press the button to force
the trigger and start acquisition immediately.

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Both in Auto trigger mode and in Normal trigger mode, during acquiring, you can press the button whenever
you prefer to stop acquisition.

When acquisition is completed, SoftScope plots the curves of dragged-in parameters to the axes as default
scales in order that all data fit in the Chart area. To better analyse the acquisition data, you may expect to
adjust the scales and viewings.

You may zoom in and out on horizontal axis or vertical axis by corresponding buttons , , and .
Refer to Chapter 11.2.4.

You may quickly adapt the scales of horizontal axis, vertical axis or both to display all the samples by

corresponding buttons , , and .

You may expect to split the respective tracks by the button when you have sampled two or more
parameters.

You may expect to highlight the single values detected during acquisition by the button .

You may expect to show the measure bars by the button .

If you want to measure a time interval between two events, you just have to move one bar to the point that
corresponds to the first event and the other to the point that corresponding to the second one. The time
interval between the two bars is shown in the top left corner of the Chart area.
You can also use the measure bar to read the value of all the parameters in the Chart area at a particular
moment. You just have to move the bar to the point, which corresponds to the instant you want to observe in
the Chart area. Then in the Tracks list window you can read the values of all the parameters at that particular
moment. Refer to Chapter 11.2.6.

You may expect to apply a different scale of the horizontal axis, which is common to all the tracks, or specify
a distinct scale for vertical axis of each dragged-in parameter by opening the Graph settings shown in Figure
61. Refer to Chapter 11.2.7.

Especially you may expect to load other tracks from other existing acquisition files to the current in order to
better analyse and investigate data. To do this, you can click the
File
the number of tracks loaded is limited by the max number of supported in the current device.

11.2.10 Save and Close SoftScope

At the end of acquisition, you can save the acquisition samples to a file in order to be further analysed in the
future.
To save the acquisition, you can select the corresponding icon on the Main toolbar. Refer to Chapter
11.2.3 Save commands.

You may also save the acquisition to an alternative location by clicking the corresponding icon on the
Main toolbar. Refer to Chapter 11.2.3

After saving the acquisition, you can terminate SoftScope explicitly closing the current working session or
exiting it. To do Exit File on the right
top of SoftScope.

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