Help getting started controlling a 8LVA23.B1030D000-0 servo motor using mapp motion

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1

Hello,

I am new to the B&R System and have been trying to simply get a 8LVA23.B1030D000-0 Synchronous motor to run. To control it I am using the 80VD100PD.C000-14 Servo Drive. Everything is hooked up to a X20CP1586 PLC. The Servo Drive is connected via POWERLINK and is on the node number 1, which is was also configured on the hardware.

I have followed youtube and Help Explorer tutorials but have not been able to get anything to work. The CPU, Power Supply and Enable signal are all present.

I added an Axis to mapp motion and made sure to connect it to my hardware (Axis reference) and also disable the second unused drive. (By selecting single Axis configuration and selecting no encoder on the second channel)

I am using the example programm supplied in the Help Article and added the proper variables via text.

PROGRAM _INIT

    MpAxisBasic_0.Enable := TRUE;
    
    AxisParameters.Position := 100.0;
    AxisParameters.Velocity := 10.0;
    AxisParameters.Acceleration := 50.0;
    AxisParameters.Deceleration := 50.0;
     
END_PROGRAM

PROGRAM _CYCLIC
    
    MpAxisBasic_0.MpLink     := ADR(gAxis_1);
    MpAxisBasic_0.Parameters := ADR(AxisParameters);
    MpAxisBasic_0();
     
END_PROGRAM

I upload it and try to control it via Watch on the Main.st (Keep in mind however at this point R/R1 and R/R2 are blinking green on the servo drive, which I understand they are not supossed to. However I do not understand why they are blinking because everything is correct as far as I know)

As all tutorials mention, I set Power to TRUE but PowerOn doesn’t become TRUE, instead CommandBusy goes TRUE.

As an added info on something quite weird, I opened the B&R System Diagnostics Manager to check on the status of the Axis but it shows as name and address “Not defined”.

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Does anyone here have experience with this module and can please assist me? If anyone has any idea of where to look or what to check I would be very grateful. Perhaps I missed something obvious and require your help to see it.

I wish I could have added more pictures but as a new user I am limited to a single one.

Many thanks in advance,

Sebastian :slight_smile:

2

Hi Sebastian,
There are several things I would try:

  1. In the System Diagnostic Manager (SDM), check the “Hardware” section. Is it red? Select it and see if the PLC is seeing the drive and that there are no connection/configuration errors. The LEDs blinking green indicates either a network issue, encoder issue, or other operation related issue.

  2. Next thing I would try is mapp Cockpit. This is a built-in HMI to view configured axes. It needs to be enabled by (1) downloading the mapp Cockpit technology package in Tools > Upgrades, (2) adding a Settings file in the Configuration view and setting Permissions to Everyone, and (3) navigating to <IP_ADDRESS>:8084/mappCockpit, or Tools > mapp Cockpit. More info here: B&R Online Help
    → There is also a great Community Article describing mapp Cockpit in all its detail: Guide: Work with mapp Cockpit

Let me know what you find after checking these things and we can go from there.

Finally, I would point you to our Online Courses, specifically “Introduction: Single axis motion control with mapp Motion”, which should be free when logged in to the B&R website with your account. There are also some more advanced, paid courses that can be registered for.

3

Hello,
The Motor has a special Encoder which is Buffered via a Batterie in the ACOPOSmicro (Behind plastic next to Powerlink Node Number, sperate Ordernumber).

If this is the first time you power on the system you must acknowledge a special Encoder-Power-Monitoring used for this drives to supervice the status of the Batterie Supply. These Encoders are called EIB Encoder. In B&R naming B1-Option. Every time the Encoder is cut of the supply (low Batterie, no EncoderCable connected) it had to be reset again.

To reset this encoder Error you have to set ParID 719 to Value 1.

After you set Power to TRUE you should have got and StatusID <> 0 on the MappAxisBasic Functionblock. This would have indicated the Error. The Fuctionblock has no Error Details, the are found in Logger or with special Error Text Fuctionbocks.

For General Diagnosis on the Motion System i suggest you to always use the MappCockpit first, if you find there no clue continue with the Motion Logger in Automation Studio.

The SDM Axis Info does only work for ACP10 legacy Drive System and not for MappMotion.

Here are also good steps to get an Axis to Operational.

Greetings
Michael

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