General handling of positions with Beijer servo products

Basic description of how to setup a servo application to handle the movement requirements, based on the BSD template projects for BoX2 pro motion and X2 control.​

• 190723 General handling of positions with Beijer servo products.pdf

Handling of modulo positioning - SoftMotion vs SoftControl

​Basic description of how to use modulo positioning with the BSD template projects for BoX2 pro motion and X2 control.

• 190718 Modulo positioning - SoftMotion vs SoftControl.pdf

BSD-L7NHA - Issue jogging away from NOT / POT

​In BSD firmware 0.98 and 1.0, there is an issue not letting the operator jog away from Positive or Negative software limits. The operator can use absolute/relative positioning to get the motor away from POT/NOT.

Issue could not be replicated when using only BSD Tools to jog away from POT/NOT - only when using out X2 Control program.

Solution: Downgrade to BSD Firmware 0.96

BSD Tools - No connection with USB

​

Issue:

Cannot communicate with BSD Drives from PC through USB-connection.
When trying to connect, no connection can be established.

Solution:

Update driver to allow BSD Tools to communicate with BSD Drive.

How to:

1.  In device manager, find the device representing your USB connection. Plug/unplug the USB from BSD drive and locate the device which is added/deleted in list. In my case it was called "BETTER_USB_HS" found under "libusb-win32 devices".
   
2.  In update driver menu, choose "Browse my computer for driver software" then "Let me pick from a list..".
3.  Choose the "USB Input Device" instead of "BETTER_USB_HS"

How to control the physical outputs on a BSD-L7NHx servo drive

​The BSD-L7NHx servo drive has an IO-connector with 8 digital inputs and 4 digital outputs. The outputs have a predefined functionality but that can be changed to allow control from the PLC-program. The example below shows how to control output 1 (default assigned to the brake) using Codesys.

1. Configure output 1 to "unassigned" by setting parameter 2210#00 to 0 (zero).

2. Configure the mask for output 1 to "enabled" by setting parameter 60FE:#02, bit 16 to 1 (65536).

3. Write the parameters to EEPROM.

3. Activate the output using the name of servo axis followed by the output, for example with the servo template for X2 control: Servo_PP1.PlcToDrv.PhysicalOutputs.16

Output 16 is controlling output 1, 17 is controlling output 2 etc. The parameters can be found in the startup parameters tab by double clicking on the servo drive in the Codesys hardware configuration. If using the template the drives can be written to EEPROM by activating the input pin at the bottom left of the function block: xPrmStoreAll.

An IO cable is needed to be able to use the outputs. For more information see the BSD circuit diagrams and the Startup manual KI00390.

This information is available in the BSD-L7NH-manual:

BoX2 base, BoX2 pro (motion) and BoX2 extreme, change IP address

​Follow these steps to edit the network settings on a BoX2 base, BoX2 pro (motion) and BoX2 extreme.

LAN A is used for EtherCAT only, valid for BoX2 pro motion

LAN B is for programming and communication with HMI. 

Extract the attached zip-file. Put "BoX2ConfigSet.json" on a USB-stick and insert it into a BoX2. This will immediately set LAN B to 192.168.1.1. When the change is done the LED on the BoX2 will change temporarily to a red flash.

Do not change the file name.

A log file will be created on the USB-stick and can be used to verify that the setting was changed. Example:

"New result file input
Time: 2000-5-28 21:32:37
LAN B set IP: 192.168.1.1
Adapter rebind LANB successfull"

Edit the file to set a different IP. Locate the setting to be changed, for example IP-address on LAN B:

Original:

    {
      "Number": "6",
      "Enabled": true,
      "Command": "LAN B IP",
      "Entry": [
        "192.168.1.1"
      ],
      "Comment": ""
    },

Edited:

    {
      "Number": "6",
      "Enabled": true,
      "Command": "LAN B IP",
      "Entry": [
        "192.168.1.2"
      ],
      "Comment": ""
    },

Important:

"Enabled" must be set to 'true' in order for the change to take effect.
Several settings can be changed at the same time but they must all be set to 'true'.

• BoX2ConfigSet.zip

Drawings: EMC-filter TB6-B030NBDC (pdf)

​30A filter

• TB6-B030NBDC.pdf

BSD-L7x Installation and wiring

​Wiring diagrams of EMC-filter, drive, motor and I/O for the BSD-L7NH and BSD-L7P-series servo drives

• 160530 BSD-L7x Installation and wiring.pdf

Manufacturer Declaration: Safe Torque Off BSD

• EC Declaration of Conformity BSD STO Safety Functionality.pdf

User manual BSD-L7NHA series amplifiers 230VAC ver. 1.0

• L7NHA 200V Eng.pdf

User manual BSD-L7NHB series amplifiers 400VAC ver. 1.0

• L7NHB 400V Eng.pdf

BSD-L7NH and iX SoftMotion Startup Manual KI00374D

• BSD and iX SoftMotion Startup Manual KI00374D.pdf

BSD-L7NH and iX SoftControl Startup Manual KI00381

• BSD and iX SoftControl Startup Manual KI00381.pdf

BSD-L7NH EtherCAT ESI device description file

EtherCAT ESI device description xml file for the BSD-L7NHA (200V) and L7NHB (400V) servo drive. (ESI = EtherCAT Slave Information)

------------Release notes------------
0.80
- Merged xml files for CSP and PP mode (used to be two different)

- Default setting when inserting a slave device is with "DC unused" and 0x6060 = 1 (PP mode)
- Changed the name of the slave device to BSD-L7NH-ETC.

• Beijer Electronics BSD-L7NH_V0.80.xml

Program example BoX2 pro motion - BSD v3.24

​This program example contains a Codesys- and iX-project with functionality to handle the most common motion features on a BoX2 pro motion solution with BSD-L7NH EtherCAT drives.

The example is prepared for eight axis but more can be added.

Do not modify the POU 'prgServoControl' or the iX-screens. If they are kept intact it will be much easier to support or upgrade. Also the iX-screens are very valuable when configuring, troubleshooting or examining the application.

Please read the information in the _Read_Me POU within the Codesys project.

• BSD and BoX2 pro motion Startup Manual KI00390.pdf
• CODESYS_3_5_10_1_BoX2_pro_motion_v324.projectarchive
• iX250_X2_Pro_7_BSD_SoftControl_v502.zip

BoX2 pro motion and BSD Start up manual KI00390

​Start up manual covering the fundamental information needed to select, install, configure, commission and trouble shoot a solution with BoX2 pro motion and BSD products.

Note that the start up template itself is not included, it is available as a separate thread. 

• BSD and BoX2 pro motion Startup Manual KI00390.pdf

Program example X2/BoX2 control - BSD v3.33

​This program example contains everything you need in order to get your X2/BoX2 control solution with BCS Tools SoftControl and BSD products up and running using basic servo functionality.

Programming environment needed for this example:
- iX Developer v2.50
- BCS Tools v3.52

The startup example contains:
 - BCS352_SC_v333.projectarchive : BCS Tools project for X2 control 7 (powerfail) and 8 servo axis.
- iX250_X2_Pro_7_BSD_SoftControl_v502 : iX project version 5.02 for X2 control 7"
  

• BCS352__BSD_SC_v333.projectarchive
• iX250_X2_Pro_7_BSD_SoftControl_v502.zip

Sequence example BSD servo X2 control (iX/BCS Tools)

​BSD Startup program with added sequences to demonstrate how to handle:
- start/stop, manual/auto, reset and debug* mode
- calibration of one axis with simulated home sensor
- simple movement of one axis with handshake to main sequence
- interface using 'Outputs'-POU making code clearer and easier to debug

*Debug-mode is a feature to single step through a sequence:
1. Activate 'Debug'-mode
2. Activate 'Auto'-mode
3. Press 'Start'. The sequence will start.
4. As soon as the step condition is fulfilled the sequence will stop.
5. Press 'Start'. The sequence will move into the next step and start.

Note1: Pressing 'Stop' will halt/pause the sequence. In order to completely reset all sequences press and hold 'Stop' for 5s.

Note2: The 'HMI-Enable'-functionality requires the sequence example to be in 'Manual'-mode.

- - - - - - - 

The example contains two files:
HMI-application (iX-version: 2.40 SP7, build 2.47.417.0): X2_Control_7_ControlExample_v401.zip

Control application (BCS Tools 3.34, compiler 3.5.13.30): BCS 334_SP13_X2_control_SequenceExample.projectarchive

Download iX Developer and BCS Tools from our homepage:
https://www.beijerelectronics.com

• 220711 Sequence example X2 control BSD iX BCS Tools.zip

Quick start guide, Upgrade instructions TxB Softmotion to BoX2 pro motion, SUEN00413

• Upgrade instructions TxB Softmotion to BoX2 pro motion - SUEN00413.pdf

Firmware for 400V BSD-L7NHB servo drives (all versions)

​Use our software BSD Tools to handle firmware updates. Download for free from our homepage:

https://smartstore.beijerelectronics.com/en/Software/Software___products/?filter=Latest%20version%20

• L7NHB_FW OS Ver0.93.bin
• L7NHB_FW_OS Ver1.02.bin
• L7NHB_FW_OS Ver2.00.bin
• L7NHB_FW_OS Ver2.06.bin
• L7NHB_FW_OS Ver2.09.bin
• L7NHB_FW_OS Ver2.09E.bin
• L7NHB_FW_OS_Ver2.15.bin
• L7NHB_FW_OS_Ver2.15E.bin

Firmware for 200V BSD-L7NHA servo drives (all versions)

​Use our software BSD Tools to handle firmware updates. Download for free from our homepage:

https://smartstore.beijerelectronics.com/en/Software/Software___products/?filter=Latest%20version%20

• L7NH_FW_OS Ver2.08E.zip
• L7NHA_FW OS Ver0.93.bin
• L7NHA_FW OS Ver0.96.bin
• L7NHA_FW_OS Ver1.00.bin
• L7NHA_FW_OS Ver1.02.bin
• L7NHA_FW_OS Ver2.00.bin
• L7NHA_FW_OS Ver2.01.bin
• L7NHA_FW_OS Ver2.05.bin
• L7NHA_FW_OS Ver2.09.bin
• L7NHA_FW_OS Ver2.09E.bin
• L7NHA_FW_OS_Ver2.15.bin
• L7NHA_FW_OS_Ver2.15E.bin

BoX2pro-motion

​This image is solely for BoX2 pro motion and cannot be used on any other devices.

• Beijer BoX2 Image Manual MAEN205C.pdf
• BoX2 pro LastMinuteNotes PIEN353.pdf
• BoX2 pro ReleaseNotes PIEN354.pdf
• Codesys.zip
• X2ImageLoader_build594.exe

BoX2 pro motion - Brochure

• Box2 Pro motion brochure_low.pdf