SoMachine Basic Example Guide

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SoMachine Basic Example

Guide
Importing Twido Drive Macros to M221
xSample_
Twido_Macro_Drive_Conversion.smbe
06/2016
EIO0000002402.00

www.schneider-electric.com
 The information provided in this documentation contains general descriptions and/or technical
characteristics of the performance of the products contained herein. This documentation is not
intended as a substitute for and is not to be used for determining suitability or reliability of these
products for specific user applications. It is the duty of any such user or integrator to perform the
appropriate and complete risk analysis, evaluation and testing of the products with respect to the
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please notify us.
No part of this document may be reproduced in any form or by any means, electronic or
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When devices are used for applications with technical safety requirements, the relevant
instructions must be followed.
Failure to use Schneider Electric software or approved software with our hardware products may
result in injury, harm, or improper operating results.
Failure to observe this information can result in injury or equipment damage.
© 2016 Schneider Electric. All rights reserved.

2 EIO0000002402 06/2016
 Table of Contents

Safety Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Chapter 1 Example Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Automatic Conversion of Twido Drive Macros to SoMachine Basic . . 15
Modifying the Converted Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Appendices ......................................... 29
Appendix A Appendices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Operating Principles of Drive Macros . . . . . . . . . . . . . . . . . . . . . . . . . 31

EIO0000002402 06/2016 3
4 EIO0000002402 06/2016
 Safety Information

Important Information

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

EIO0000002402 06/2016 5
PLEASE NOTE
Electrical equipment should be installed, operated, serviced, and maintained only by qualified
personnel. No responsibility is assumed by Schneider Electric for any consequences arising out of
the use of this material.
A qualified person is one who has skills and knowledge related to the construction and operation
of electrical equipment and its installation, and has received safety training to recognize and avoid
the hazards involved.

BEFORE YOU BEGIN

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

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

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

6 EIO0000002402 06/2016
 NOTE: Coordination of safeties and mechanical/electrical interlocks for point-of-operation
protection is outside the scope of the Function Block Library, System User Guide, or other
implementation referenced in this documentation.

START-UP AND TEST

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

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

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

EIO0000002402 06/2016 7
OPERATION AND ADJUSTMENTS
The following precautions are from the NEMA Standards Publication ICS 7.1-1995 (English
version prevails):
 Regardless of the care exercised in the design and manufacture of equipment or in the selection
and ratings of components, there are hazards that can be encountered if such equipment is
improperly operated.
 It is sometimes possible to misadjust the equipment and thus produce unsatisfactory or unsafe
operation. Always use the manufacturer’s instructions as a guide for functional adjustments.
Personnel who have access to these adjustments should be familiar with the equipment
manufacturer’s instructions and the machinery used with the electrical equipment.
 Only those operational adjustments actually required by the operator should be accessible to
the operator. Access to other controls should be restricted to prevent unauthorized changes in
operating characteristics.

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 About the Book

At a Glance

Document Scope
This document describes how to convert a TwidoSuite application that contains drive macros to
SoMachine Basic. It also explains how to adapt this converted SoMachine Basic project to various
setups.
The example described in this document is intended for learning purposes only. It must not be used
directly on products that are part of a machine or process.

WARNING
UNINTENDED EQUIPMENT OPERATION
Do not include the code from this example in your machine or process without thoroughly testing
your entire application.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

This document and its related SoMachine Basic project file focus on specific instructions and
function blocks provided with SoMachine Basic, and on specific features available in SoMachine
Basic. They are intended to help you understand how to develop, test, commission, and integrate
applicative software of your own design in your control systems.
The example is intended for new SoMachine Basic users who already have some degree of
expertise in the design and programming of control systems.

Validity Note
This document has been updated for the release of SoMachine Basic V1.4 SP1.

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Related Documents

Title of Documentation Reference Number

ATV61_communication_parameters_EN_V5.8_IE29 1760661
SoMachine Basic Generic Functions Library Guide EIO0000001474 (ENG)
EIO0000001475 (FRE)
EIO0000001476 (GER)
EIO0000001477 (SPA)
EIO0000001478 (ITA)
EIO0000001479 (CHS)
EIO0000001480 (POR)
EIO0000001481 (TUR)
SoMachine Basic Example Guide - Altivar Control from Serial Modbus EIO0000001862
SoMachine Basic Example Guide - Importing Twido COMM Macros to M221 EIO0000002401

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

10 EIO0000002402 06/2016
Product Related Information

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

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

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

WARNING
UNINTENDED EQUIPMENT OPERATION
Do not include the code from this example in your machine or process without thoroughly testing
your entire application.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

EIO0000002402 06/2016 11
12 EIO0000002402 06/2016
 SoMachine Basic Example Guide
Example Description
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Chapter 1
Example Description

Example Description

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Overview 14
Automatic Conversion of Twido Drive Macros to SoMachine Basic 15
Modifying the Converted Project 25

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Example Description

Overview

General
The Example guide and its corresponding project template, included with SoMachine Basic, help
you to understand the code generated after importing a Twido project containing Twido drive
macros into SoMachine Basic. This allows you to have an understanding of how variable speed
drives work. If your configuration changes, it also shows how to modify the generated code to adapt
it to a modified configuration.
This document describes:
 The conversion of a TwidoSuite project to a SoMachine Basic project for the M221 Logic
Controller.
 How to modify the resulting program to adapt it to a modified configuration.
 The operating principles of the drive macros.

The objective of the example is illustrated below:

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 Example Description

Automatic Conversion of Twido Drive Macros to SoMachine Basic

Twido Project Example Using Drive Macros

This functioning Twido project implements drive macros. The TwidoSuite project file is available
under the name xSample_Twido_Macro_Drive_Conversion.xar.
This project uses the Modbus protocol to communicate with a variable speed drive (an ATV 61 for
this example) with Modbus slave address 41. The instance number of the macro is 3 and its starting
address is %MW80.
This figure presents the communication parameters that are displayed in the Describe tab of
TwidoSuite:

The project focuses on how to use drive macros. It consists of rungs that call macros. Before being
deployed in the field, it would also need to manage operating modes.

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Example Description

Below are some graphics from the Program editor of the Twido example.
Turning the motor in different directions, stopping, or reinitializing:

Sending the speed value found in %MW84 (used with the animation table to set modifiable speeds):

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 Example Description

Choosing different turning speeds:

This project:
 Calls the D_Manager macro at each execution cycle to pass implicitly from one state to another.
 Turns the motor in the forward direction when %M1 is set to TRUE.
 Turns the motor in the reverse direction when %M2 is set to TRUE.
 Stops the motor when %M3 is set to TRUE.
 Clears the detected errors when %M4 is set to TRUE. This reinitializes the drive so that the other
commands can be sent.
 Sends the speed value found at %MW84 when %M5 is set to TRUE.
 Sets the speed to 150 rpm when %M6 is set to TRUE.
 Sets the speed to 1500 rpm when %M7 is set to TRUE.
 Modifies the speed to the preset value 1 when %M8 is set to TRUE.

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Example Description

An animation table is provided to manage the progress of the program:

Automatic Conversion of the Twido Project into SoMachine Basic

This TwidoSuite project is converted when opened in SoMachine Basic. However, M221 Logic
Controller serial line configuration is different from Twido controllers. For details, refer to Software
Configuration (see page 19).

Hardware Configuration
Verify that the hardware configuration displayed in the Configuration tab of SoMachine Basic
matches the physical configuration of your logic controller. In particular, verify the reference of the
logic controller, and that all expansion module and cartridge references match those used in the
physical configuration, and appear in the correct sequence. Adapt the SoMachine Basic
application as necessary.

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 Example Description

Software Configuration
Verify that the serial line configuration of the M221 Logic Controller matches the previous settings
in TwidoSuite. To do so, choose MyController → SL1 (Serial line) on the Configuration tab as
shown below:

NOTE: If you are not using the same serial line, for example, you have switched from SL1 to SL2
or vice versa, you must modify each EXCH instruction and MSG function block to use the other serial
line.
To do so, you can use the Search and Replace tool under the Tools tab in SoMachine Basic. This
figure shows Search and Replace options:

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Example Description

Opening the Template

A template is provided that corresponds to the conversion result of this Twido project. Open the
template and use it to follow this document. To open the template, display the Start page by clicking

( ) in the top left corner, click the Templates button, select xSample_Twido_Mac-
ro_Drive_Conversion.smbe, and click Open Template.

Conversion Result
The program in the template is functionally equivalent to the Twido program. However, as
SoMachine Basic does not support macros, each macro is replaced by a rung with equivalent
instructions, and one subroutine (SR0).
The following graphics present the result of this conversion:

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 Example Description

This figure shows how the subroutine D_Manager macro equivalent is called:

This figure shows turning the motor in forward and reverse directions. D_Run_Fwd and
D_Run_Rev equivalents:

Setting to TRUE the bit 8 of %MW108 turns the motor in the forward direction. Setting bit 9 to TRUE
turns it in the reverse direction.

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Example Description

Stopping the motor. D_Stop equivalent:

Setting to TRUE the bit 7 of %MW108 stops the motor.

Clearing the detected errors so that the drive is reinitialized. D_Clear_Errd equivalent:

Setting to TRUE the bit 10 of %MW108 clears the detected errors present in the ATV.

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 Example Description

Modifying the speed. D_Select_Speed equivalent:

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Example Description

Modifying the speed to the preset value 1. D_Select_Speed equivalent:

Setting to TRUE the bit 6 of %MW108 means that a new speed value needs to be sent, either as a
preset speed or a modifiable speed.

The SoMachine Basic project is functionally equivalent to the Twido project:

 Calls the subroutine SR0 at each execution cycle to pass implicitly from one state to another.
 Turns the motor in the forward direction when %M1 is set to TRUE.
 Turns the motor in the reverse direction when %M2 is set to TRUE.
 Stops the motor when %M3 is set to TRUE.
 Clears detected errors when %M4 is set to TRUE. This reinitializes the drive so that the other
commands can be re-sent.
 Sends the speed value found at %MW84 when %M5 is set to TRUE.
 Sets the speed to 150 rpm when %M6 is set to TRUE.
 Sets the speed to 1500 rpm when %M7 is set to TRUE.
 Modifies the speed to the preset value 1 when %M8 is set to TRUE.

The subroutine SR0 corresponds to the D_Manager macro in the TwidoSuite program. All other
macros are converted to a rung that sets one bit to TRUE in the word Modbus_init (%MW108).
This word is then used inside the subroutine to determine to which state the drive must go. The
details on this subroutine can be found in Operating Principles of Drive Macros (see page 31).

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 Example Description

Modifying the Converted Project

Introduction
Although the conversion works for the drive macros as they appeared in the original Twido project,
if you modify your configuration you need to modify certain parameter values in your application.
NOTE: Each rung, with the exception of the shared subroutine, is independent from the others. So
if you modify one of them, the others are not affected. For more information on how to modify
settings, refer to Operating Principles of Drive Macros (see page 31).

Modifying the Modbus Slave Address

If you change your drive, or need to assign a new Modbus slave address to it, you must change
the slave address value in all EXCH instructions. EXCH instructions are used for Modbus
communications. For more details, refer to SoMachine Basic Example Guide - Importing Twido
COMM Macros (Sample_Twido_Macro_COMM_Conversion.smbe).
One way to modify the slave address is to search for the addresses %MW91 and %MW102 (macro
start address %MW80 + 11 and %MW80 + 22, respectively). These addresses are only used in the
subroutine.
The following graphics show where the Modbus slave address is specified. After modifying this
value in all locations, you will be able to communicate with the new Modbus slave address. The
address modification needs to be done in rungs 9, 10, 21, and 30 of the subroutine.
Slave address in Rung 9:

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Example Description

Slave address in Rung 10:

Slave address in Rung 21:

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 Example Description

Slave address in Rung 30:

Replace the value 41 with the new number at these locations to modify the slave address.

Modifying Speed Values and Modes

Modifying the speed, turning direction, and so on, is the same as in Twido. In each rung, set a bit
to TRUE in the memory word %MW108 (29th word of the macro), depending on the type of macro.
Bit details of memory word %MW108:

Bit Name/Use
0 Refer to Operating Principles of Drive Macros
1
(see page 31).

2
3
4
5
6 Select Speed
7 Stop
8 Run Forward
9 Run Reverse
10 Clear Error

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Example Description

Bit Name/Use
11 Refer to Operating Principles of Drive Macros
12
(see page 31).

13
14
15

The speed values, as in Twido, are modified in memory word %MW84 (5th word of the macro) and
the speed modes are modified in memory word %MW83.
To re-use the macros for other purposes in your application, you can copy and paste a rung from
the first POU and modify the speed values, or specify different contact addresses.

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 SoMachine Basic Example Guide

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Appendices

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30 EIO0000002402 06/2016
 SoMachine Basic Example Guide

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Appendix A
Appendices

Appendices

Operating Principles of Drive Macros

Introduction
This section presents advanced adaptations beyond converting and using Twido drive macros in
SoMachine Basic.
Each TwidoSuite macro is converted into rungs in SoMachine Basic. In this section, you will obtain
a better understanding of the operating principles of the drive macros.
From this point onwards, the memory words are referenced by their relative position within the
macro. This means that %MW80 mentioned previously is now %MW0, %MW91 is now %MW11, and so
on. This representation is used to allow the same references to be used across multiple instances
of macros.

Twido Drive Macros Interaction

In Twido drive macros, communication is done through the D_Manager macro (the subroutine),
while the other macros modify a specific memory word (%MW28), which serves as a messenger. An
illustration of interaction between drive macros is given below:

Additionally, the D_Select_Speed macro modifies the values in Select_Mode (%MW3) and
Select_Point (%MW4), which are subsequently taken into account by the D_Manager macro.

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Altivar Operating Principles
This document focuses on the role of the certain memory words of the ATV 61 and their values. It
does not describe in detail the electrical operating principles, nor its communication with the motor.
Altivar drives have a common structure of memory words which can be shared using the same
principles.

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 An Altivar drive has different operating states. The following state chart shows the different states
of the Altivar drive and the conditions for passing from one state to another:

Passing from one state to another is done using the command word (CMD). Each state has a mask
used for reading its status (ETA).

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 A simple description of this machine is:
 When the motor is running normally, the ATV is in state Operation enabled (5).
To switch to this state, the command word 000F hex must be sent when the ATV is in state 4.
 When the ATV is shut down (not braking), it is in state Ready to switch on (3).
To switch to this state, the command word 0006 hex must be sent when the ATV is in either
state 5 or state 2. The motor stops due its own friction.
 When the ATV is switched on, it is in state Switched on (4).
To switch to this state, the command word 0007 hex must be sent when the ATV is in either
state 3 or state 5.
 When in state 5, the command word 0002 hex activates the quick stop causing the ATV to go
to the Quick stop active state (6). It stops the motor faster than a normal stop, but it requires the
motor to be reinitialized and the drive must pass through states 3 and 4 to start again.
 From all states, a detected error forces the ATV to go to state Fault (8).
The ATV must then pass to state 2 with the command word 0080 hex.
By using the EXCH instruction or the Read Var and Write Var function blocks, it is possible to
manage an ATV, as shown in the template xSample_ATV_Modbus_SL_M221.
Refer to Altivar Parameters (see page 35) where are described the memory words used by the
D_Manager macro for reading and writing.
It is also necessary to know the role of memory words used within the macro. A drive macro uses
30 memory words (%MW0 to %MW29). Seven memory words (D_STATE, D_CANSTATE, D_ERROR,
D_SETPOINT_MODE, D_SETPOINT, D_MODBUS_INIT_PHASE) are named explicitly and
described in the TwidoSuite online help. The others are reserved for the D_Manager macro and
used internally by this macro. The memory word %MW28 is used as a messenger between the other
macros and also between the rungs within the D_Manager macro itself.
In summary, a drive macro works with:
 The parameters used by the ATV (see page 35)
 The 30 memory words used by the macro (see page 36)
 The 16 bits of the memory word %MW28 (see page 41)

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Altivar Parameters
The parameters of the ATV 61 are detailed in the document ATV61_communication_parame-
ters_EN_V5.8_IE29 (see page 10). However, this table summarizes these parameters and also
which ones the D_Manager macro reads or writes to:

Logic Address Description

8601 This is the Command word (CMD), used to pass from one state to another. The
values it takes are the following:
 0000 hex to disable voltage
 0002 hex to quick stop
 0006 hex to stop
 0007 hex to switch on
 000F hex to enable operation
 0080 hex to clear detected errors

8602 This is the commanded speed value. The value written in D_Setpoint (%MW4) is
written to this logic address.
The value can be converted to a frequency using the following formula:
w = 2 x f x 60 / n
Where w is the speed in rpm, f is the frequency and n is the number of poles.
With a 4-pole motor, the formula becomes:
f = w / 30
By reading the address 8604 (output velocity), you can verify whether the drive has
reached the speed value you requested.
8603 This is the aforementioned ETA value, that is, the present state of the ATV. It is used
with a mask and the masked value is stored somewhere else. Depending on the
state of the ATV, the D_Manager macro sends the appropriate CMD words. Refer
to ATV61_communication_parameters_EN_V5.8_IE29 (see page 10) to understand
the meaning of the value found in this word.
8606 Contains the ERRD value. It shows the detected error and it is cleared by sending
the command 0080 hex.
8413 This logic address selects the type of the first channel. In the template, it contains
the value 164, which means Modbus.
11401, 11402 and These are the preset speed values. They are initialized with 173, 174, and 175
11403 respectively. If no preset values are set, using modifiable preset speeds is not
possible.
3320 This is the part number of the ATV. Its value can be used to detect whether it is an
ATV 31, ATV 61, or ATV 71.

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Macro Memory Words
This table describes the memory words used in the macro:

Memory Word Address Name/Use

%MW0 State
%MW1 Can State
%MW2 Error
%MW3 Set Point Mode
%MW4 Set Point
%MW5 Command
%MW6 Set Point Backup
%MW7 Command Backup
%MW8 Set Point Backup
%MW9 First Exchange Table
%MW10 Reading 4 Words

%MW11
%MW12
%MW13
%MW14
%MW15
%MW16
%MW17
%MW18
%MW19
%MW20 Second Exchange Table
%MW21 Writing 1 Word

%MW22
%MW23
%MW24
%MW25
%MW26
%MW27
%MW28 Messenger
%MW29 –

For more information, refer to the reference documents on Modbus communication, and the EXCH
instructions (see SoMachine Basic, Generic Functions Library Guide).

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First Exchange Table
This table is used to read 4 words from the drive. It uses 11 words and has the following format:

An exchange table is called by using the EXCH instruction within an operation block:
EXCH1 %MW89:11
where 11 is the total number of words in the exchange table.

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 You can see the configuration of this table in rung 9 and its use in rungs 9, 13, and 26.

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Second Exchange Table
This table is used to write one word to the drive, and is used in the macro.

An exchange table is called by using the EXCH instruction within an operation block:
EXCH1 %MW100:8
where 8 corresponds to the total number of words in the exchange table.

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 The configuration is in rungs 10, 21, and 30 and it is used in rungs 3, 4, 5, 7, 8, 10, 21, and 30.

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Memory Word %MW28
The following table shows the purpose of each bit of the memory word %MW28:

Bit Name
0 Error
1 %S6 of logic controller
2 –
3 ATV reference (0 for ATV61/71)
4 –
5 Order to send Speed Value
6 Select Speed
7 Stop
8 Run Forward
9 Run Reverse
10 Clear Error
11 Order to send a command
12 –
13 –
14 Frame is sent
15 –

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