AUTOMATION nanoNavigator User Manual UM SWD EN NLC-NAV01 Order No.
AUTOMATION nanoNavigator User Manual Installing and using nanoNavigator software to configure nanoLine controllers 10/2008 Designation: UM SWD EN NLC-NAV01 Revision: B Order No.: 2701441 This user manual is valid for: Designation Version nanoNavigator 1.2 2373_en_B Order No.
nanoNavigator Please Observe the Following Notes In order to ensure the safe use of the product described, read this manual carefully. The following notes provide information on how to use this manual. User Group of This Manual The use of products described in this manual is oriented exclusively to qualified application programmers and software engineers, who are familiar with the safety concepts of automation technology and applicable standards.
nanoNavigator General Terms and Conditions of Use for Technical Documentation Phoenix Contact reserves the right to alter, correct, and/or improve the technical documentation and the products described in the technical documentation at its own discretion and without giving prior notice, insofar as this is reasonable for the user. The same applies to any technical changes that serve the purpose of technical progress.
nanoNavigator Statement of Legal Authority This manual, including all illustrations contained herein, is copyright protected. Use of this manual by any third party is forbidden. Reproduction, translation, and public disclosure, as well as electronic and photographic archiving or alteration requires the express written consent of Phoenix Contact. Violators are liable for damages. Phoenix Contact reserves all rights in the case of patent award or listing of a registered design.
Table of Contents Table of Contents 1 2 3 4 Before Beginning .....................................................................................................................1-3 1.1 About This User’s Manual................................................................................... 1-3 1.2 System Requirements ........................................................................................ 1-4 1.3 Manual Conventions.................................................................
nanoNavigator 6 7 A B 5.4 Using the Move Block......................................................................................... 5-9 5.5 Handling Analog Values ................................................................................... 5-12 5.6 Using Analog Values in a Flow Chart................................................................ 5-13 Running Projects and Controlling the nanoLC .........................................................................6-3 6.
Table of Contents B2 C D Ethernet Flags ................................................................................................... B-1 Technical Appendix – Analog Device Scaling ......................................................................... C-1 C1 Scaling Formula................................................................................................ C-1 C2 No Scaling Applied Example ............................................................................
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Section 1 This section provides information about: – The contents of this manual – Manual conventions – Contacting Technical Support Before Beginning..............................................................................................................................1-3 2373_en_B 1.1 About This User’s Manual................................................................................... 1-3 1.1.1 What’s Inside ...................................................................................
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Before Beginning 1 Before Beginning Welcome to the nanoNavigator™ software from Phoenix Contact — the software that makes the most of the nanoLine controller (nanoLC). nanoNavigator is the programming environment for the nanoLC. 1.1 About This User’s Manual This User Manual provides complete information on how to use nanoNavigator for the nanoLC. 1.1.1 What’s Inside This manual includes the following sections: Section 1, “Before Beginning”, provides an overview of nanoNavigator and this manual.
nanoNavigator 1.2 System Requirements nanoNavigator requires: – Keyboard and mouse – Display (800x600 minimum resolution) – Windows 2000 (SP4), Windows XP (SP2), or Windows Vista operating systems – 400 MHz processor – 128 MB memory – Hard Drive — 280 MB required for .net framework 2.0 ; 10 MB required for nanoNavigator and projects – .net framework 2.0 – MDAC 2.8 – Windows installer 3.0 (required to install .net) – IE6 SP1 (required to install .net) 1.
Before Beginning 1.3.1 Keyboard Commands Key names are shown as , , or . Keyboard commands, key combinations, and key sequences are shown in Table 1-1: Table 1-1 Manual Conventions for Keyboard Command Keystroke(s) Description + A plus sign (+) between key names means to press and hold the first key () and type the second key (). For example, + means to hold down the key, press the key, and then release both keys.
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Section 2 This section provides information about: – Installing and starting nanoNavigator – Using flow charting for the first time (Flow Charting Primer) – Connecting nanoNavigator to the nanoLC – Creating a flow chart project – Verifying the project Getting Started and Tutorial .............................................................................................................2-3 2373_en_B 2.1 Installing nanoNavigator ...........................................................................
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Getting Started and Tutorial 2 Getting Started and Tutorial This section provides help getting started with nanoNavigator software and nanoLine controller (nanoLC). The first step is to install nanoNavigator on a PC, and then connect to the nanoLC. To use the nanoLC, begin by creating a control program using nanoNavigator, and then transfer the program to the nanoLC. If you are new to flow chart programming or programmable controllers, read the section, “Flow Charting Primer”.
nanoNavigator 2.2.1 Connecting the Cable Use the cable provided with the nanoLC Starter Kit or any cable compatible with the nanoLC Base Unit. The standard cable is 1 m (3 ft.) long. Starter kits are only available with the USB option module and corresponding cable. Plug one end of the cable into the PC and the other end in the nanoLC (see Figure 2-1).
Getting Started and Tutorial 2.3 Starting nanoNavigator This section describes starting nanoNavigator and getting ready to create a project. Follow these steps: 1. From the Windows “Start” menu, select “Programs... Phoenix Contact... nanoNavigator... nanoNavigator” to start the program. Each time nanoNavigator starts, it displays a startup dialog box (see Figure 2-2). Figure 2-2 2.
nanoNavigator Figure 2-3 – 2-6 PHOENIX CONTACT The “nanoLC Connection Wizard” If there is no nanoLC connected to the PC, select the “Create a new Project” button. This displays the “nanoLC Configuration” dialog box. Follow these steps to configure the nanoLC for this sample project.: a) In the “Base Unit” section (see Figure 2-4), use the drop-down list to select the type of nanoLC.
Getting Started and Tutorial Figure 2-4 The “Configuration Dialog” defines the nanoLC b) As appropriate, select I/O Expansion module(s), Operator Panel, and COM Expansion module from their respective drop-down lists. c) In the Project “Name” field. For this tutorial, enter “nanoLights”. d) In the “Version” group, enter “Major” and “Minor” version numbers for the project. Most people start with “Major” set to “1” and “Minor” set to “0” for a displayed version of “1.
nanoNavigator 2.4 Flow Charting Primer This flow charting primer is for new users that have no experience with flow chart programming. It provides a brief introduction to flow chart programming concepts specifically as they relate to programming the nanoLC using nanoNavigator. For those already familiar with flow chart programming, skip to the next section, “Designing a Control Project” on page 2-12. 2.4.
Getting Started and Tutorial 2.4.2 Flow Charts nanoNavigator uses flow charts to design control programs, and nanoLC executes projects that use flow chart control programs. The symbols in the flow chart depict two classes of items: action blocks and branching blocks. Action Block An action block is a box (see Figure 2-5) representing an operation on the data in the system, which may include input or output data. In the flow chart, an action block has one entry point (top) and one exit point (bottom).
nanoNavigator Types of Action Blocks nanoNavigator has four types of action blocks: Control, Message, Move, and Wait. Control blocks (see Figure 2-6) initiate an action such as turning on an output or resetting a timer. One Control block can have up to four control expressions. Control expressions set values for flags, turn outputs on and off, and control timers and counters. Figure 2-6 Action blocks Message blocks select a message number (from 0 to 31) to display on the Operator Panel.
Getting Started and Tutorial Types of Branching Blocks Branching blocks (both Decision and Compare blocks) perform a test and determine which of two paths to take after the test. Each branching block has one entry point and two exit points indicating Yes and No paths from the block. By default, the bottom connector is the Yes path, and the right side is the No path. The standard orientation of flow chart is top-to-bottom for ease in reading.
nanoNavigator data item. For instance, some input names in a greenhouse project might be: “Greenhouse 3 Temperature”, “GH3 Water Flow Rate”, “GH3 Windows Opened”, “GH3 Windows Closed”; output names might be: “GH3 Valve”, “Open GH3 Windows”, “Close GH3 Windows”, “GH3 Sun Lamps”. nanoNavigator supports the nine data item types available on the nanoLC. They are: – Input – The number available depends on the configuration of the nanoLC. Inputs are on or off.
Getting Started and Tutorial – – Have label blocks to identify what each block is doing at every step of the process – a very important feature. Vary from the examples in this guide depending on what is required, while staying within their intended purpose and behavior. 2.5.
nanoNavigator Turn on and start timer Test for completion Turn off and reset timer Figure 2-8 An auto-mode flow chart example Therefore, it’s common to use the construct shown in Figure 2-8 along with variations (the blocks don’t have to be used next to each other) because, if a flow chart turns something on, it usually needs to turn it off at some point. As some operations take longer to complete than others, certain auto-mode flow charts will take longer to complete than others.
Getting Started and Tutorial Action blocks at the beginning ensure outputs are turned to desired states (usually OFF), timers and counters reset, etc., so nothing happens until the starting event initiates action (see Figure 2-9). Depending on the needs of the project, use one or more action blocks to perform this initialization.
nanoNavigator The third part of the project (see Figure 2-11) controlling the process turns something on (for instance an output), checks to make sure it’s done, and then turns that same output off. After that, flow, in this case, is routed back to the decision block that waits for someone to start the process over again. Depending on the application requirements, flow could be routed elsewhere.
Getting Started and Tutorial Example 2: Auto-Mode Flow Charts that Control by Following Process Needs This example shows two flow charts that control a project by monitoring when something needs to be done and then does it. The first flow chart (see Figure 2-12) stays in a current action (raising tank temperature, starting the agitation cycle, and adding of catalyst) until that action is done. Therefore, any remaining actions cannot be attempted until the one above it is done.
nanoNavigator The second flow chart (see Figure 2-13) shows how to add more initial checks at the beginning with the rest of the flow chart so that each action initiates a function. After examining all process functions, flow returns to the top, verifies that operating conditions are valid, and then repeats.
Getting Started and Tutorial 2.5.2 Status Flow Charts Status flow charts have a characteristic repeating three-block pattern (see Figure 2-14).
nanoNavigator A key characteristic of this type of flow chart is that no block, between the first and last two blocks, loops a flow line back to itself or to a block above it. Only the last two action blocks loop back to the first block. When the project is running, this flow chart executes from top-to-bottom every time no matter the path it takes.
Getting Started and Tutorial Figure 2-16 2.5.3 Sample status flow chart variation 2 Diagnostic Flow Chart A diagnostic flow chart looks for any project-stopping errors (for example, an Emergency Stop) and current process actions, which usually originate in the auto-mode flow chart(s). When an action is in progress, the diagnostic flow chart looks for faults. These faults can be improbable, probable, and those that indicate an error when an event doesn’t occur after a certain period of time.
nanoNavigator E-Stop Actions Check for projectstopping Check for faults Send message Set outputs ON/OFF Check for operator action Clear message and indicators Figure 2-17 2-22 PHOENIX CONTACT Sample diagnostic flow chart 2373_en_B
Getting Started and Tutorial The Diagnostic flow chart shown in Figure 2-17 illustrates general layout and ideas generally needed in diagnosing faults. It doesn’t account for the specific needs of all projects. Depending on project needs, including applicable safety regulations and considerations, it’s possible to write diagnostic flow charts to look for one or more errors for a given action (the example shows checking for three possible errors for any given action).
nanoNavigator Important characteristics of its structure are: – Each recovery task checked and acted on independently. – With the exception of the top decision block looping on itself (very important for this flow chart), the rest of the recovery flow chart is similar to a status flow chart (Figure 2-16 on page 2-21).
Getting Started and Tutorial chart with the highest number on the list has the highest precedence for that output in each scan. In other words, if flow chart #2 turns an output on and flow chart #3 turns it off, the output would be off once the outputs are sent to the bus. Figure 2-19 Flow Chart Explorer If there is only one flow chart in the project, the last block to control the output in the current scan has precedence.
nanoNavigator 2.7 Creating a Project This sample project is a control program for vehicle lights including turn indicators and brake lights. With flow chart programming, it is easy to create a project using nanoNavigator. To begin, notice that the flow chart workspace looks like a spreadsheet with row numbers and column letters (see Figure 2-20).
Getting Started and Tutorial 2.7.1 Creating the Brake Control Program To begin creating the vehicle brake light control program, follow these steps: 1. Click the “Decision” button in the Block toolbar. 2. Click cell A1 to drop the Decision block (for more information on Decision blocks, see “Branching Blocks” on page 3-19 and “Decision Block” on page 4-11). nanoNavigator also supports drag-and-drop of a block from the toolbar to a cell in the flow chart. 3. 4.
nanoNavigator Using Meaningful Data Item Names nanoNavigator provides for the creation of meaningful names for inputs, outputs, and all other data item types. To create meaningful names of up to 30 characters, use the Data Item Editor. Follow these steps to create a meaningful name for Input 02: 1. Select the “View... Data Items” menu to display the Data Item Editor (see Figure 2-22). Figure 2-22 2. 3. 4.
Getting Started and Tutorial 5. Continue naming data items needed, or wait and name them as programming continues. For this tutorial, create the data items listed in Table 2-1.
nanoNavigator Now that all the blocks in the flow chart are defined, it’s time to connect them to show the direction of flow. Connect flow chart blocks at any time – before or after entering expressions in one or more blocks. Connect Flow Chart Blocks In this section, connect the blocks to show how control flows from one block to another. Follow these steps: 1. Hover the mouse pointer over the line extending out of the bottom of the Enable block.
Getting Started and Tutorial The completed flow chart should look like Figure 2-23. Figure 2-23 Brake control flow chart Saving the Program Now, save the flow chart program. Follow these steps: 1. Select the “File... Save Flow Chart” menu. 2. In the “Flow Chart Name” dialog box, enter “BrakeControl”. 3. Click the “OK” button.
nanoNavigator 2.7.2 Creating Left Turn Flow Chart Create the left turn flow chart using the same techniques described in creating the brake control flow chart. Follow these steps: 1. Select the “File... New Flow Chart” menu. 2. Use Table 2-2 to create the flow chart blocks and enter expressions in each block.
Getting Started and Tutorial The completed flow chart should look like Figure 2-24 and Figure 2-25. If the flow lines don’t look like this, see “Manually Creating Flow Lines” below. Be sure to save the flow chart and give it a descriptive name, like “LeftTurn”.
nanoNavigator Figure 2-25 Completed “LeftTurn” flow chart (bottom half) Manually Creating Flow Lines If any automatic routing decisions that nanoNavigator makes aren’t adequate, delete the flow line and manually create a new one. For example, if the route from C6 to A1 is confusing, do the following: 1. Select the line by clicking anywhere along it. When selected, the line highlights (red by default). 2. Press the key to delete the line. 3.
Getting Started and Tutorial Displaying Output – Creating Messages To view what the project is doing, it is easy to set up messages to display on the optional nanoLC Operator Panel. If the nanoLC does not include an Operator Panel, this section may still be worthwhile to see how operators can interact with the display and keys. To create the display flow chart program, follow these steps: 1. Select the “View... Data Items” menu to display the Data Item Editor. 2.
nanoNavigator 8. The message should look like Figure 2-26. Click the “Save” button. Figure 2-26 Message M-00, Background 9. Use the “Current Message” drop-down list to select “M-01, LeftTurnOff”. 10. Leave the first and fourth lines blank, and clear the “Clear Line” check boxes (selected by default).
Getting Started and Tutorial 11. In the second and third lines, enter a “space” in the first three pixels. Figure 2-27 shows the resulting Message Editor. Figure 2-27 Message M-01, LeftTurnOff 12. Click the “Save” button. 13. Use the “Current Message” drop-down list to select “M-02, LeftTurnOn”. 14. Leave the first and fourth lines blank, and clear the “Clear Line” check boxes (selected by default).
nanoNavigator 15. In the second and third lines, use the “Insert Symbol” keys to enter a the left-pointing arrow in the first three pixels. Figure 2-28 shows the resulting Message Editor. Figure 2-28 Message M-02, LeftTurnOn 16. Follow the same procedure to create the “RightTurnOff” and “RightTurnOn” messages with right-pointing arrows on the right side of the message display. 17. Follow similar procedures to create the “LeftBrakeOff” and “RightBrakeOff” messages.
Getting Started and Tutorial 18. Follow similar procedures to create the “LeftBrakeOn” and “RightBrakeOn” messages. For “LeftBrakeOn” message, enter the up-arrow symbol key in the fifth through seventh pixels in the second line and the down-arrow symbol key in the same pixels in the third line. For the “RightBrakeOn” message, use the fifth through seventh pixels counting from the right-side of the display. Figure 2-29 shows the resulting Message Editor.
nanoNavigator 5. 6. Enter a Control block in the following cells: A3, B3, C3, and D3. Enter the expressions and connect the blocks as shown in Figure 2-30.
Getting Started and Tutorial 7. Complete the bottom half of the flow chart as shown in Figure 2-31. Figure 2-31 2373_en_B The bottom half of the display flow chart.
nanoNavigator 8. 9. Connect the flow from the exit of the Message blocks in cell A9 and B9 to the input of the Decision block at cell A2. Save the flow chart with the name “Display”. At this point, it is time to begin verifying the project. It is good programming practice to verify modules one at a time rather than waiting until all the flow charts in the project are ready.
Getting Started and Tutorial That’s it, unless nanoNavigator detects an error while preparing the download. If an error occurs, nanoNavigator displays the “Project Information... Messages” tab (see Figure 2-32) with a list of messages nanoNavigator creates as it verifies the project. Figure 2-32 The “Project Information... Messages” tab with error information nanoNavigator must be (logically) disconnected from the nanoLC (select the “nanoLC...
nanoNavigator 2.8.2 Connecting to the Simulator To simulate a project, select the “nanoLC... Simulate Project” menu. This displays the “nanoLC Monitor” window. If a flow chart is open when started, the simulator displays all the data items referenced in that flow chart (see Figure 2-33). Figure 2-33 Simulator with data items displayed To begin simulation, click the “Start” button. Table 2-5 lists the buttons used to control the nanoLC simulator.
Getting Started and Tutorial Table 2-5 Simulator buttons Button Description Resume Resumes a paused project. 1 Scan Resumes a paused project for one complete scan. 1 Step Resumes a paused project for execution of one block in each currently executing flow chart. Monitoring Execution in the Simulator The monitoring features of the simulator are the same as those available for monitoring a project executing on a nanoLC.
nanoNavigator The result is that the LCD mimics brake lights on both sides of the vehicle and the outputs Q-01 and Q-02 are ON. The green flow chart elements show the current execution path in the BrakeControl flow chart.
Getting Started and Tutorial 2.8.3 Monitoring the Project Once nanoLC has a project downloaded to it, nanoNavigator can start, stop, and monitor its execution by viewing flow charts and data items. nanoNavigator can even modify data items, inputs, and outputs. To monitor the project, follow these steps: 1. Select the “nanoLC... Run nanoLC!” menu. 2. Select the “nanoLC... Monitor” menu. This displays the “nanoLC Monitor” window (see Figure 2-35).
nanoNavigator – Gray: Never executed When entering Monitor mode, nanoNavigator continues to display whatever is in the workspace. To open a flow chart, do one of the following: – Use the Flow Chart Explorer. To do this: 1. Select the “View... Flow Chart Explorer” menu to display the Flow Chart Explorer (see Figure 2-36). In Monitor mode, the Flow Chart Explorer has two additional columns of information.
Getting Started and Tutorial – Select the “File... Open Flow Chart... “ menu, and then select a flow chart from the cascade menu. 2.8.4 Verifying a Project In addition to viewing flow charts with their execution track and data item values as they change dynamically, nanoNavigator can force data values to cause flow chart execution to take different paths. Another important tool to verify and correct projects is the ability to cross-reference all locations where a data item appears in the project.
nanoNavigator Figure 2-37 The “nanoLC Monitor... Forces” tab Cross-Referencing Data Items Cross-referencing data items is an important tool to use when verifying a project. Examples of when to use cross-references: – While monitoring a data item, the value changes unexpectedly – When intending to force a data item and wanting to identify everywhere the data item is used – Changing a flow chart and impacting a data item...
Getting Started and Tutorial To cross-reference a data item, follow these steps: 1. With the project running and in Monitor mode, view the “nanoLC Monitor” window. 2. Using either the “Flow Charts” or “Blocks” tab, click the “XRef” hyperlink. This displays the “Project Information... Cross-Reference” tab (see Figure 2-38). Figure 2-38 The “Project Information... Cross-Reference” tab The “Project Information... Cross-Reference” tab displays all locations that reference or modify the selected data item.
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Section 3 This section provides information about: – Starting nanoNavigator – Configuring nanoNavigator – Using the Flow Chart Editor and creating flow charts – Using the Data Item Editor – Using the Message Editor General Programming Techniques ..................................................................................................3-3 2373_en_B 3.1 Starting nanoNavigator....................................................................................... 3-3 3.1.1 Run Connection Wizard.....
nanoNavigator 3.10.5 3.11 3-2 PHOENIX CONTACT Using Cross-Reference ..................................................................... 3-27 Using the Message Editor................................................................................. 3-28 3.11.1 Displaying the Message Editor .......................................................... 3-29 3.11.2 Creating and Editing Messages ......................................................... 3-29 3.11.3 Copying Messages .............................
General Programming Techniques 3 General Programming Techniques A flow chart is a type of diagram that uses symbols to illustrate a control process. The symbols in the flow chart depict two classes of items: action blocks and branching blocks. For a detailed discussion of action and branching blocks, see “Flow Charting Primer” on page 2-8. 3.1 Starting nanoNavigator Each time nanoNavigator software starts, it displays the “nanoNavigator Startup” dialog box (see Figure 3-1).
nanoNavigator When you connect to an attached nanoLC by clicking the “Run Connection Wizard” button, nanoNavigator displays a "nanoLC Connection Wizard" and performs one of several possible operations. The operations performed depend on the current state of the nanoLC and your selections. The possibilities are: – If no project is loaded in the nanoLC, nanoNavigator configures the project for the nanoLC. You can override this configuration (see “Configuring nanoNavigator” on page 3-5).
General Programming Techniques 3.2 Configuring nanoNavigator If a nanoLC is connected to the development PC, nanoNavigator can automatically set up the nanoLC configuration by doing one of the following: – When nanoNavigator first starts, select “Run Connection Wizard” in the “nanoNavigator Startup” dialog box (see Figure 3-1 on page 3-3). – At any time, select the “nanoLC... Connect” menu. To manually configure a nanoNavigator project, select the “nanoLC...
nanoNavigator Base Unit The “Base Unit” group selects a specific nanoLC base unit to use as the target for the project. After selecting a base unit, the “Configure” button becomes available. – Press the “Configure” button to display options available on the selected base unit (see Figure 3-3). Figure 3-3 Configure Base Unit dialog box Only options available on the base unit are available in this dialog box.
General Programming Techniques – If high-speed counters are available on the selected base unit, you can enable one or both high-speed counters. If enabled, configure each high-speed counter based on the parameters and options shown in Table 3-1. Table 3-1 High-speed counter parameters and options Parameter Options Description Mode – Defines the trigger for counting based on the transition of the input signal.
nanoNavigator Configuring Analog I/O One of the I/O Expansion choices is “nLC-IO-4AI”. This expansion module provides four analog devices. When selected, the “Configure” button is active. Clicking the “Configure” button displays the “nLC-IO-4AI” dialog box (see Figure 3-4) that configures the four analog inputs on this device.
General Programming Techniques COM Interface Use the drop-down lists to select the options available. Once selected, the “Configure” button becomes available. For the “nLC-COM-ENET-MB1” option, click the “Configure” button to display the “Configure Ethernet” dialog box (see Figure 3-5). Figure 3-5 The “Configure Ethernet” dialog box configures the Ethernet option The options available in this dialog box are: – Select “Obtain IP Address Using BootP” to use an address assigned by Phoenix Contact “IPassign.
nanoNavigator Project In the Project group, change the project name and enter project comments. This group also includes “Major Version” and “Minor Version” options. nanoLC Runtime the major and minor version numbers in the nanoLC to compare the project on the nanoLC with the project on the PC. The “Minor” version number automatically increments whenever the project downloads or is verified. It also increments on the nanoLC whenever a change is made (locally or by download).
General Programming Techniques – – – “Parity” selects the data parity from the drop-down list. Valid values are “None”, “Odd”, and “Even”. “Watchdog” permits entry of a value, or use the spin buttons to set the watchdog timer. Valid values are from 0.0 to 25.5 seconds. A value of 0.0 disables the watchdog timer. If the time-out is exceeded after executing a command, the nanoLC issues a fault as defined in the “Fault” drop-down list. “Fault” defines handling for faults.
nanoNavigator 3.3 Exploring Flow Charts When first creating a project, nanoNavigator shows a new flow chart program in the workspace (see Figure 3-8). By default, nanoNavigator shows the current flow chart maximized. Use the “Window” menu to show multiple open flow charts by selecting “Cascade” or one of the tile options.
General Programming Techniques – Status line: Provides information about nanoNavigator or selected shapes. Status elements include a Message area and nanoLC status icons. nanoLC status icon area presents three icons (from left to right) that reflect the state of the nanoLC.
nanoNavigator 3.3.1 Using the Standard Toolbar The Standard toolbar (see Figure 3-10) is visible by default. To toggle the toolbar on and off, select the “View... Standard Toolbar” menu. Figure 3-10 Standard toolbar From left to right, the buttons in the toolbar are: – Open Project: Performs the same function as the “File... Open Project” menu (see “Open Existing Project” on page 3-4). – Save Project: Performs the same function as the “File... Save Flow Chart” menu.
General Programming Techniques Edit Flow Charts Button Display a flow chart one of two ways: – Select the flow chart from the “File... Open Flow Chart...” menu. – Display the Flow Chart Explorer by clicking the “Edit Flow Charts” button in the Standard toolbar or selecting the “View... Flow Chart Explorer” menu, and then either double-click the flow chart or select it and click the “Open” button. The Flow Chart Explorer provides a list of flow charts defined in the project.
nanoNavigator 3.3.6 Copying a Flow Chart To copy a flow chart, follow these steps: 1. Select the “View... Flow Chart Explorer” menu to display the Flow Chart Explorer. 2. Do one of the following: – Right-click the flow chart to copy, select “Copy” from the pop-up menu. – Select the flow chart, and then click the “Copy” button. 3. In the dialog box that appears, leave the default new name or type the new name. 4. Click the “OK” button.
General Programming Techniques – – – Zoom drop-down list Hold the key and spin the middle mouse wheel (up to zoom in and down to zoom out). Hold the key and press the main keyboard minus key to zoom out or the plus key to zoom in. Use the “Zoom” drop-down list in the Standard toolbar. 3.4 Displaying Multiple Flow Charts nanoNavigator allows multiple flow charts to be open simultaneously. This is very useful for copying flow chart logic from one flow chart to another.
nanoNavigator The window arrangement in Figure 3-11 is called tiled. A cascaded arrangement places one behind the other, slightly offset. nanoNavigator also permits maximizing, minimizing, or closing any flow chart window by using its Window controls in the upper-right corner. 3.5 Editing Flow Charts nanoNavigator provides intuitive Windows-style editing capability to move or cut and paste flow chart blocks from one grid location to another.
General Programming Techniques – – – Save the project Connect to the nanoLC Verify a project The ReDo stack is cleared (ReDo operations are no longer valid) when you perform any edit on the flow chart other than an UnDo. UnDo Button ReDo Button To perform an UnDo or ReDo operaton, click the “UnDo” or “ReDo” button on the Standard toolbar, or select the “Edit... UnDo” or “Edit... ReDo” menu. 3.6 Flow Chart Block Introduction This section provides a brief introduction to flow charts.
nanoNavigator 3.6.3 Action Blocks nanoNavigator has four types of action blocks: Control, Message, Move, and Wait (see Figure 3-13). For more information on action blocks, see “Types of Action Blocks” on page 2-10. Figure 3-13 3.6.4 Action blocks Notes Notes don’t actually appear in a block. They can appear anywhere on the flow chart page and don’t connect to or affect program flow.
General Programming Techniques 3.7 Connecting Flow Chart Blocks To draw flow chart block connecting lines, follow these steps: 1. Move the cursor to the bottom (or side for Decision and Compare blocks) connecting point of a block that doesn’t have an outgoing flow line. The connecting point turns orange (or the specified color) to indicate a potential outgoing connector pointer, and the cursor changes to the connector pointer.
nanoNavigator For example, Figure 3-14 shows a simple project flow chart with all required connecting lines. Figure 3-14 Sample flow chart with flow lines connecting all blocks Unlike CAD programs that permit ending a line where it intersects another line, nanoNavigator requires guiding the pending connection to the common destination. If the connector appears as a red line, it is not properly connected. This can occur if the connection doesn’t meet the input connection point of the block.
General Programming Techniques 3.8 Editing Flow Chart Block Expressions The content of a flow chart block is an expression. To enter and edit block expressions, double-click the block to display the “Configuration” tab of its properties dialog box. For a discussion of each block’s “Configuration” tab, see Section 4, “Flow Chart Techniques”. 3.9 Entering Block Comments Enter comments about a block to summarize actions taken in the block. This is useful to provide an overview version of the flow chart.
nanoNavigator 3. To view all block comments on the flow chart instead of expressions, select the “View... Block Comments” menu. 3.10 Using the Data Item Editor Data items are a central part of every project. They are the variables that contain project data. Data items have IDs that correspond to the IDs on a nanoLC. In nanoNavigator, data items also have names assigned as part of a project. The data item names assigned in nanoNavigator do not download to the nanoLC with the project.
General Programming Techniques 3.10.2 Data Item Editor The initial view of the Data Item Editor lists the data item types in nanoNavigator (see Figure 3-16). Each data item type is preceded by a plus button. Click the plus button to view the defined data items of that type. Figure 3-16 The Data Item Editor initially displays all available data types The Data Item Editor displays the defined data items of one or more types by clicking the plus button in front of the type heading.
nanoNavigator In nanoNavigator, all data items are pre-defined based on the configuration of the nanoLC. Figure 3-17 3.10.3 The Data Item Editor with an opened data type Data Item Types For a list of data item types available in nanoNavigator, see “Data Type Descriptions” on page 5-3. These data item types appear as headings in the Data Item Editor. To view available data items for each type, click the + (plus) button in front of the type heading (see Figure 3-17).
General Programming Techniques New projects have all available data items listed. Data items have an ID that corresponds to their ID on the nanoLC, and they have a default name, which is modifiable. Data item names can be up to 30 characters long. Long data item names are split when they appear in a flow chart. The data item name does not get downloaded to the nanoLC.
nanoNavigator – – – Location: The type of flow chart block Address: The cell number of the block Action: The action taken in the block on the data item Double-click anywhere in a row to display the flow chart or message and the block containing the data item. 3.11 Using the Message Editor The Message Editor (see Figure 3-19) permits definition of up to 32 four-line messages to use during project execution.
General Programming Techniques 3.11.1 Edit Messages Button Displaying the Message Editor Use the “Edit Messages” button in the Standard toolbar, or select the “View... Message Editor” menu to display the Message Editor in the nanoNavigator workspace. Once open, the Message Editor is like any other window. Display the Message Editor by selecting it from the “Windows” menu, selecting it again from the “View” menu, or pressing + or ++ until it appears on top. When using “Windows.
nanoNavigator 3. 4. 5. Click the “Copy...” button. This displays the “Copy Message” dialog box. Use the “Copy Message” dialog box to enter a message number or use the up/down buttons to select a message number. The number entered is the destination for the copy operation. Click the “OK” button. The copy operation executes immediately unless the destination message already has text or fields. In that case, a warning message appears before the operation completes. 3.11.
Section 4 This section provides information about: – Flow chart blocks Flow Chart Techniques ....................................................................................................................4-3 4.1 2373_en_B Basic Flow Chart Blocks ..................................................................................... 4-3 4.1.1 Enable Block........................................................................................ 4-3 4.1.2 Note ..............................................
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Flow Chart Techniques 4 Flow Chart Techniques This section provides an in-depth discussion of the flow charting features of nanoNavigator. 4.1 Basic Flow Chart Blocks The first block in a flow chart is the starting point of execution. nanoNavigator automatically creates the Enable block at the top of the flow chart when creating a new flow chart. 4.1.1 Enable Block Each flow chart must have a beginning point, and the Enable block serves that purpose.
nanoNavigator – Add statements to the expression using logical operators (see Figure 4-2). The result of the expression is either TRUE or FALSE, enabling or disabling the flow chart respectively. Figure 4-2 – – – The “Enable Block” dialog box showing an expression The AND and OR “Operator” in the dialog box permits addition of a second Boolean condition to the expression.
Flow Chart Techniques 4.1.2 Note Notes are re-sizable text that can appear anywhere on the drawing page. Typically, notes should appear near relevant flow chart blocks. Once created, drag-and-drop or cut-andpaste operations are possible on notes. Note Button To enter a note: 1. Click the “Note” button in the toolbar, and then click the position in the flow chart where the note should appear. This displays the “Note Properties” dialog box (see Figure 4-3). Figure 4-3 2. 3. 4. 5. 6.
nanoNavigator 4.1.3 Compare Block Button Compare Block The Compare block can make a numerical comparison. Flow follows one of the two exit paths of the Compare block based on the result of the comparison. The type of comparisons available are less than (<), equal to (=), greater than (>), greater than or equal to (>=), less than or equal to (<=), and IsEven. There are also special direct time and date comparison operations for date, time, day of week, day of month, and day of year.
Flow Chart Techniques subtype of the first operand. Its drop-down list only shows operands with matching or unconfigured subtypes. If selecting an unconfigured item, nanoNavigator permits changing the subtype to match the type of the first operand. When comparing “Current Date” or “Current Time” or a register with a subtype of “Date” or “Time of Day”, choose which components of the date or time to include in the comparison.
nanoNavigator Compare Block Summary Table 4-2 defines all possible Compare block combinations. Table 4-2 Valid Comparisons in a Compare Block1 Data Item Type X IsEven mSec HMS DoW Time Date X Time Display Format X xxxxxxxx X X DoW dd/mm/yy X X HMS hh:mm:ss X X mSec Timer/Counter Integer Date mSec X HMS Integer DoW Integer Register Time subty pe Date Data Item Type Constant Value Sun-Sat X X Counts X hh:mm:ss X X HMS X X mSec xxxx.
Flow Chart Techniques 4.1.4 Control block Button Control Block The Control block is the most basic building block of a flow chart. It is one of the action blocks of the nanoNavigator (see “Types of Action Blocks” on page 2-10). Its job is to do the discrete actions listed in its expression list. A Control block is capable of setting bits On or Off (flags or outputs), and doing internal timer or counter operations. Unlike ladder logic, these actions are latched.
nanoNavigator Since actions in the Control block execute in the order they appear, Control blocks permit reordering actions. To reorder an action, select it (it appears highlighted), and then use the “Move Up” or “Move Down” buttons to move the selected action. For these buttons to be available, there must be more than one action defined in the block. The order rarely makes a difference. This feature is primarily to improve readability.
Flow Chart Techniques 4.1.5 Decision Block Button Decision Block The Decision block evaluates a Boolean expression as true/false. The expression may consist of one or more bits. The Decision block has one entry point and two exit points (Yes/No), based on the Boolean decision.
nanoNavigator Editing a Decision Block To edit a Decision block expression, follow these steps: 1. While in Selection Mode, double-click the Decision block to open the “Decision Block... Configuration” tab (see Figure 4-6). 2. Click the “Data Type” drop-down list to select the data item type. Only valid data types appear in the list. Available types are Flag, Input, Output, Keypad Key, Timer/Counter, and High-Speed Counter. 3.
Flow Chart Techniques Decision Block Summary Table 4-3 defines all possible Decision block combinations.
nanoNavigator 4.1.6 Message Block When configured with the optional Operator Panel, the nanoLC can display messages to the user. Messages can contain static text, dynamic values from any data item, and data entry requests. Double-click the Message block to edit its expression. This displays the Configuration page of the “Message Block” dialog box (see Figure 4-7). Figure 4-7 “Message Block...
Flow Chart Techniques The “Move Block... Configuration” tab (see Figure 4-8) permits definition of the “From” and “To” data fields. After selecting the “Data Type”, the “Data Item” drop-down list displays only those data items for the type selected. For more information on how the Move block performs powerful data manipulations, refer to “Using the Move Block” on page 5-9. Figure 4-8 2373_en_B “Move Block...
nanoNavigator 4.1.8 Wait Block The Wait block inserts a wait period in the execution of the flow chart. Configure the wait period in seconds (with millisecond resolution) or hours, minutes, and seconds. If the wait duration is zero, the block defaults to one scan cycle. Wait Block Button To configure the wait time: 1. Double-click the Wait block to display the “Wait Block... Configuration” tab (see Figure 4-9). Figure 4-9 2. “Wait Block...
Flow Chart Techniques The Wait block is easier to use than constructing a timing loop for a delay in the flow chart, since there is no need to create a timer data item or create the flow chart loop. When a Wait block is executing, no other blocks in the current flow chart execute until the wait completes. Other flow charts continue to execute normally as long as they are enabled.
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Section 5 This section provides information about: – Data items – Timers and counters – Move blocks – Analog values Data Operations ...............................................................................................................................5-3 2373_en_B 5.1 Data Type Descriptions ...................................................................................... 5-3 5.1.1 Duration, Preset, and Retentive Values ............................................... 5-4 5.
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Data Operations 5 Data Operations This chapter discusses how to use variables and constants in nanoNavigator. It begins with an overview of the available data item types and includes details on available data operations. 5.1 Data Type Descriptions There are ten data item types in nanoNavigator. Depending on the nanoLC configuration, some data item types may not be present in the Data Item Editor. Analog Input Present if available in the nanoLC. Use analog input to monitor voltages or values.
nanoNavigator Keypad Key The Keypad data type provides single-bit (0-1) input that corresponds to the Operator Panel keys on the nanoLC. One or TRUE values indicate that a key is being pressed. There are a total of 15 keys (0-9, four arrow keys, an “OK”) that are available only if the optional Operator Panel is present on the nanoLC. There is a sixteenth key data item for “Message Input Ready”. Output An Output data item is a single-bit (0 or 1) for use with discrete output points for the I/O subsystem.
Data Operations To configure a retentive data item: 1. Open the Data Item Editor (see “Using the Data Item Editor” on page 3-24). 2. Select the check box in the “Retentive” column for the appropriate data item rows. Only data items that can be retentive have the Retentive column present in the Data Item Editor. When making a timer retentive, only its accumulator is retentive. The started/stopped and done status aren’t saved. When a project starts or restarts, all timers and counters are initially stopped.
nanoNavigator 5.2 Data Types and Formats Table 5-1 lists data types supported by nanoNavigator and nanoLC.
Data Operations 5.2.1 Current Date, Day, and Time The Compare block lets you access the real-time clock in the nanoLC to check the current date, day (of week, month, or year), and time. There are specific subtypes for some of these comparisons, and the Compare block ensures that you select the appropriate subtype.
nanoNavigator Reset A Timer Reset sets the timer’s accumulator to 0. After a timer expires, it must be reset before starting it again. Restart A Timer Restart sets the timer’s accumulator to 0 and starts the timer (combines the functions of Reset and Start). Stop A Timer Stop causes the accumulator to hold its current value. 5.3.2 Using Counters Counters are 32-bit values that have a range of 0 to 99,999,999.
Data Operations 5.4 Using the Move Block The purpose of the Move block in a flow chart is to write data from one variable to another. Mathematically, a move data operation is the same as an assignment statement: MOVE from Data Item A to Data Item B, or Let B = A It is important to see the move as an assignment operation or copy because the move is non-destructive. That is, moving data from A to B does not clear A. A still has its original value, but B has a new value equivalent to A.
nanoNavigator 5.4.2 Moving Between Same Data Types The simplest case is moving data from one data item to another of the same type. The following example uses two data items of the Register/Integer type, making the data item named “Setpoint” equal to “Max. Temperature”. TO FROM Mov 475 Max. Temperature 475 Setpoint To perform this type of move, follow these steps: 1. Double-click the Move block to display the “Move Block” dialog box. 2.
Data Operations 5.4.4 Move Summary The following table defines all possible Move block combinations. Table 5-3 Move Summary1 Timer/ Counter Register Sun-Sat X X X hh:mm:ss X X xxxx.xxx X X mSec xxxx.xxx xxxxxxxx X xxxxxxxx X Date X X X Time DoW hh:mm:ss X HMS Sun-Sat X mSec X X hh:mm:ss X xxxx.
nanoNavigator 5.5 Handling Analog Values nanoLC has a powerful set of I/O drivers that understand the difference between discrete (individual) I/O points and I/O data representing numerical values. Some controllers impose tedious programming tasks, such as handling sign bits separately from values, and time demultiplexing values for 2 to 8 channels from a single data word. nanoLC takes the usual work out of handling analog data. Scaling Analog Data Analog values typically have 8 or 12 data bits.
Data Operations For example, given an input device on “A-00” that measures temperature in the range of 70 to 90° on a 0-10 Volt device, configure the the device as follows: – Set “Mode” to “Unipolar 0-10 Volts” – Set “Lower Value” to “70” – Set “Upper Value” to “90” In this example, an input of 5 V would appear as a value of 80, while 0 V would be 70, and 10 V would be 90. For more information on scaling and scaling examples, see Appendix C, “Technical Appendix – Analog Device Scaling”. 5.
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Section 6 This section provides information about: – Verifying, downloading, running, stopping projects – Other nanoLC controls available through nanoNavigator Running Projects and Controlling the nanoLC..................................................................................6-3 2373_en_B 6.1 Specifying the PC Connection ............................................................................ 6-3 6.2 Verifying a Project......................................................................
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Running Projects and Controlling the nanoLC 6 Running Projects and Controlling the nanoLC This chapter shows how to prepare a nanoNavigator project to run it, how to transfer a project to or from the nanoLC, and how to start and stop execution on the nanoLC. Note that we discuss running a project, not just a flow chart. Whenever updating a flow chart or closing a project, nanoNavigator ensures that it is error-free (as far as it can tell without actually executing the project).
nanoNavigator 4. With a nanoLC Memory Module attached to a USB port on the PC and the special USB driver installed, select the “COM” port to use for communication to the Memory Module. Once installed, upload or download projects from or to the Memory Module (see “Downloading to the Memory Module” on page 6-6 and “Uploading from the Memory Module” on page 6-6). 6.
Running Projects and Controlling the nanoLC 6.3 Connecting to the nanoLC Before transferring a project to or from the nanoLC, starting or stopping the project, monitoring it, or performing any other operations on the nanoLC, connect to it. To perform a software connection from nanoNavigator to the nanoLC, the nanoLC and PC must be physically connected. Follow these steps: 1. Verify that there is a physical connection between the nanoLC and the PC (see “Connecting to a nanoLC” on page 2-3).
nanoNavigator 6.5 Uploading a Project from the nanoLC To upload a project to nanoNavigator from the nanoLC, follow these steps: 1. If nanoNavigator isn’t currently connected to the nanoLC, follow the steps in “Connecting to the nanoLC” on page 6-5. 2. Select “nanoLC... Upload and Merge” to upload the project. This transfers the executable project from the nanoLC. Before beginning the upload, nanoNavigator prompts for the project on the PC.
Running Projects and Controlling the nanoLC 6.8 Clearing the Memory Module To clear a project from the nanoLC Memory Module, follow these steps: 1. Attach the nanoLC Memory Module to the PC using the configured USB port (see “Specifying the PC Connection” on page 6-3) and a standard A-B USB cable. 2. Select “nanoLC... Memory Module... Clear Project” to clear the project from the memory module. 6.9 Running a Project To run a project on the nanoLC from nanoNavigator, follow these steps: 1.
nanoNavigator 3. If nanoLC doesn’t have a current password, skip to step 4. If the nanoLC already has a password, the “Enter Password” dialog box (see Figure 6-4) appears. Enter the correct current password (a one- to four-digit number). Figure 6-4 4. nanoNavigator displays the “Set Password” dialog box (see Figure 6-5). Figure 6-5 5. “Enter Password” dialog box requests the current password “Set Password” dialog box Enter a numeric password. Valid passwords are from 1 to 9999.
Running Projects and Controlling the nanoLC 6.12 Set nanoLC Date/Time To set the date and time on the nanoLC from nanoNavigator, follow these steps: 1. If nanoNavigator isn’t currently connected to the nanoLC, follow the steps in “Connecting to the nanoLC” on page 6-5. 2. Select the “nanoLC... Set Date/Time” menu. This displays the “Set nanoLC Date & Time” dialog box (see Figure 6-6). Figure 6-6 3. 4.
nanoNavigator 6.13 Lock the nanoLC When locked, the nanoLC does not permit changes until it is unlocked using the password defined at the time it was locked. To protect the nanoLC from changes using the nanoNavigator, follow these steps: 1. If nanoNavigator isn’t currently connected to the nanoLC, follow the steps in “Connecting to the nanoLC” on page 6-5. 2. If necessary, follow the steps in “Set nanoLC Password” on page 6-7. 3. Select the “nanoLC... Lock nanoLC” menu.
Running Projects and Controlling the nanoLC 3. Enter the current password, a number from 1-9999, and then click the “OK” button. 6.15 Updating nanoLC Firmware nanoNavigator provides a straightforward capability to update the firmware on the nanoLC. Only perform this operation when instructed to do so by Phoenix Contact or your local system administrator. To update the firmware, follow these steps: 1. Start nanoNavigator (see “Starting nanoNavigator” on page 2-5).
nanoNavigator 3. Click the “nanoLC Utilities” button to display the “nanoLC Flash Manager” dialog box (Figure 6-10). Figure 6-10 4. Click the “Update Firmware” button to display the “Update nanoLC Firmware” dialog box (Figure 6-11). Figure 6-11 5. 6. 7. The “nanoLC Utilities” dialog box The “Update nanoLC Firmware” dialog box Use the “Browse” button to locate the nanoLC update package. Double-click or select the file, and then click the “Open” button.
Running Projects and Controlling the nanoLC 6.16 Clearing a nanoLC Project nanoNavigator provides a technique to totally remove a project from the nanoLC. This generally isn’t required because loading a new project to the nanoLC automatically removes the old one. However, to manually remove a project, follow these steps: 1. Start nanoNavigator (see “Starting nanoNavigator” on page 2-5). If already started, close any open project by select the “File... Close Project” menu.
nanoNavigator 3. Click the “nanoLC Utilities” button to display the “nanoLC Flash Manager” dialog box (Figure 6-10). Figure 6-13 4. 5. 6-14 PHOENIX CONTACT The “nanoLC Utilities” dialog box Click the “Clear Project” button. Confirm the operation by clicking the “Yes” button in the warning dialog that appears.
Section 7 This section provides information about: – Verifying projects – Forcing data values – Using Execution Tracing Verifying a Project ............................................................................................................................7-3 2373_en_B 7.1 nanoLC Monitor Window .................................................................................... 7-4 7.1.1 Flow Charts Tab .................................................................................. 7-4 7.1.
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Verifying a Project 7 Verifying a Project nanoNavigator provides verification support (Monitor mode) for nanoLCs. nanoNavigator must be connected to the nanoLC (see section "Connecting to the nanoLC" on page 6-5) before Monitor mode is available. To start Monitor mode, select the “nanoLC... Monitor” menu. In Monitor mode, nanoNavigator displays: – A “nanoLC Monitor” window that includes four tabs: • Flow Charts – This tab lists all the data values used or modified in the visible flow chart.
nanoNavigator – When displaying a flow chart, it shows the history of execution and the current block. If opening a flow chart, nanoNavigator displays the running status of that flow chart. This includes displaying values of data items in selected blocks in a Locals window. It also includes an indication of the executing block. 7.1 nanoLC Monitor Window The “nanoLC Monitor” window opens automatically when selecting the “nanoLC... Monitor” menu. This window provides real-time access to data item values.
Verifying a Project To modify or force a data or I/O value, right-click on the row that contains the data item. The pop-up menu has the choices shown in 7–5 Table 7-1 Force options available depending on data item type Type of Data Item Setting Description Input Force ON Sets the Input bit ON (see “Forcing Data Values” on page 7-8). Force OFF Sets the Input bit OFF (see “Forcing Data Values” on page 7-8). UnForce Removes Force setting. Turn ON Sets the output or flag bit ON.
nanoNavigator 7.1.2 Blocks Tab The “nanoLC Monitor... Blocks” tab (see Figure 7-3) lists all data values used or modified in the block. In addition, use this window to change or force values. Figure 7-3 The “nanoLC Monitor... Blocks” tab lists data values in the selected block To modify or force a data or I/O value, right-click on the row that contains the data item. The pop-up menu has the same choices listed in “Flow Charts Tab” on page 7-4.
Verifying a Project 7.1.3 Forces Tab The “nanoLC Monitor... Forces” tab (see Figure 7-4) lists all data values used or modified in the running project. In addition, use this window to change or force values. Figure 7-4 The “nanoLC Monitor... Forces” tab lists data items with forced values To modify or force a data or I/O value, right-click on the row that contains the data item. The pop-up menu has the same choices listed in “Flow Charts Tab” on page 7-4.
nanoNavigator 7.1.4 System Flags Tab The “nanoLC Monitor... System Flags” tab (see Figure 7-5) lists all system flags available to nanoNavigator and their current value. System flags provide status information that the control program can access. For a list of all available system flags, see “Technical Appendix – System Flags”. Figure 7-5 7.2 The “nanoLC Monitor... System Flags” tab lists all system flags Forcing Data Values Use the “nanoLC Monitor...
Verifying a Project 7.3 Using Execution Tracing in nanoNavigator Open flow charts in Monitor mode automatically provide execution tracking. With execution tracking, nanoNavigator color codes blocks to indicate if they were recently executed. The color coding is: – Green: Always executed on every scan – Yellow: Sometimes executed – Gray: Never executed These colors are defaults. To select custom colors, see “Debug Tab” on page A-8.
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A Technical Appendix – Setting Preferences This section is for advanced users who are interested in customizing the appearance of nanoNavigator. If satisfied with the default colors, fonts, and font sizes, there is no need to modify any of the preferences. The “File... Preferences...” menu displays the multi-tab ”Preferences” dialog box. Each tab provides a set of options that configures how nanoNavigator appears on the screen. The following sections describe each tab of the “Preferences” dialog box.
nanoNavigator A 1.1 Block Toolbar Options This group provides the following options: – “Show Toolbar Labels” – Select this check box to have labels appear under toolbar buttons (the default). Clear the check box to remove the labels. – “Toolbar Icons” – Select either large or small buttons by selecting the corresponding radio button. A 1.
A2 Designer Options Tab The “Preferences... Designer Options” tab (see Figure A-2) permits specification of various Flow Chart Editor options. Figure A-2 A 2.1 “Preferences... Designer Options” tab General When selected, the options available in the General group do the following: – “Show Grid Lines” – Displays grid lines in the Flow Chart Editor. – “Show Connection Anchors” – Displays valid anchor positions on all blocks and in the drawing area when in Connect mode.
nanoNavigator A 2.2 Rulers The Rulers group provides the following options: – “Show Rulers” – Displays horizontal and vertical rulers (column and row labels) along the edge of the drawing area. – “Ruler Options” – Provides options for background color, text color, line color, and font. The Edit button associated with font selection displays a standard font selection dialog box. The “Edit” buttons associated with color selection display a color picker dialog box.
colors, provides quick selection of previously defined custom colors, and provides a “Define Custom Colors” button that expands the “Color” dialog box for custom color definition (see Figure A-4). Figure A-4 “Color” dialog box after clicking “Define Custom Color” button To add a custom color, do one of the following, and then click the “Add to Custom Colors” button: – Click in the color rectangle to get in the general area of the color of interest, and then use the vertical slide to refine the selection.
nanoNavigator A4 Block Colors Tab Use the “Preferences... Block Colors” tab (see Figure A-5) to define the appearance of flow chart blocks. Figure A-5 “Preferences... Block Colors” tab Select the “Fill Blocks with color” check box to use the color information on this tab. When this box is cleared, all flow chart blocks have a white background. This tab provides options for text and number fonts and colors for block borders, text, selected block, and selected text.
A5 Data Item Editor Tab Use the “Preferences... Data Item Editor” tab (Figure A-6) to define the appearance of the Data Item Editor. Figure A-6 “Preferences... Data Item Editor” tab This tab provides options for fonts and colors for the background, grid background, grid font color, and header font and background color. The “Edit” buttons associated with font selections display a standard font selection dialog box. The “Edit” buttons associated with color selection display a color picker dialog box.
nanoNavigator A6 Debug Tab Use the “Preferences... Debug” tab (Figure A-6) to define the appearance of the Flow Chart blocks and forced data item values in the "nanoLC Monitor" window (see “nanoLC Monitor Window” on page 7-4) when monitoring an executing project. Figure A-7 “Preferences... Debug” tab This tab provides options for fonts, colors, and grid for the "nanoLC Monitor" window. It also provides options for Monitor mode block colors.
A7 Changes Made The “Changes Made” dialog box (see Figure A-8) appears whenever there are changes to one or more preferences. Click the “OK” button to close the dialog box. This dialog box provides options to specify how to handle changes. Figure A-8 The “Changes Made” dialog box Although the available options appear in two groups, only one option in the dialog box can be selected. The options are self-explanatory.
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B Technical Appendix – System Flags nanoLC has predefined system flags that provide status information during project execution. These flags are available through nanoNavigator. The flags that appear in the Data Item Editor depend on the configuration options specified. B1 Base Unit Flags There are eight flags associated with the base unit.
nanoNavigator Table B-2 B-2 PHOENIX CONTACT Ethernet Flags Flag Name Description F-76 ETH Request BOOTP Requests the Ethernet module to enter a mode asking for an IP Address from a BOOTP server F-77 ETH Enable Web Access Allows the Ethernet module’s web server to be accessed from a network connection F-78 ETH Reset to Factory Default Resets the Ethernet module’s configuration data to the factory default settings. The IP Address is also reset to 0.0.0.
Table B-2 2373_en_B Ethernet Flags Flag Name Description F-100 ETH Status 12 (Reserved) Reserved for future use F-101 ETH Status 13 (Reserved) Reserved for future use F-102 ETH Status 14 (Reserved) Reserved for future use F-103 ETH Status 15 (Reserved) Reserved for future use PHOENIX CONTACT B-3
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C Technical Appendix – Analog Device Scaling This appendix describes the scaling formula and shows examples of scaling provided by analog devices on the nanoLC. Voltage values were read with a Fluke digital volt meter with voltages applied by a 0 –10 volt potentiometer. Current values were applied with a regulated DC power supply. Voltage and Current sample settings shown below. These are sample values. Your values may be slightly different or exactly the same based on the input device type.
nanoNavigator C2 No Scaling Applied Example Table C-1 Device Range/ Integer Value 0 2048 4095 C-2 PHOENIX CONTACT Default scaling at 0 to 4095 4 to 20 mA 0 to 10 V -10 to +10 V 4 mA = 0 0V = 0 -10V = 0 5 mA = 264 1 V = 412 -8 V = 448 6 mA = 516 2 V = 824 -6 V = 848 8 mA = 1022 3 V = 1236 -4 V = 1248 10 mA = 1530 4 V = 1648 -2 V = 1648 12 mA = 2048 5 V = 2048 0 V = 2048 14 mA = 2567 6 V = 2476 2 V = 2458 16 mA = 3073 7 V = 2894 4 V = 2872 18 mA = 3578 8 V = 3304 6 V = 328
C3 Table C-2 Scaling Applied Examples Scaling set to 70 to 90 Device Range/ Integer Value 4 to 20 mA 0 to 10 V 10 to +10 V 70 4 mA = 70 0 V = 70 10V = 70 5 mA = 71 1 V = 72 -8 V = 72 6 mA = 72 2 V = 74 -6 V = 74 8 mA = 74 3 V = 76 -4 V = 76 10 mA = 77 4 V = 78 -2 V = 78 12 mA = 80 5 V = 80 0 V = 80 14 mA = 82 6 V = 82 2 V = 82 16 mA = 84 7 V = 84 4 V = 84 18 mA = 87 8 V = 86 6 V = 86 19 mA = 88 9 V = 88 8 V = 88 20 mA = 90 10V = 90 10V = 90 80 90 Table C-3 Device R
nanoNavigator Table C-4 Scaling set to 0 to 10 Device Range/ Integer Value 4 to 20 mA 0 to 10 V 10 to +10 V 0 4 mA = 0 0V = 0 10V = 0 5 mA = 0 1V = 1 -8 V = 1 6 mA = 1 2V = 2 -6 V = 2 8 mA = 2 3V = 3 -4 V = 3 10 mA = 3 4V = 4 -2 V = 4 12 mA = 5 5V = 5 0V = 5 14 mA = 6 6V = 6 2V = 6 16 mA = 7 7V = 7 3V = 7 18 mA = 8 8V = 8 4V = 8 19 mA = 9 9V = 9 5V = 9 20 mA = 10 10V = 10 10V = 10 5 10 Table C-5 Device Range/ Integer Value 4 to 20 mA 0 to 10 V 10 to +10 V 0 4
Table C-6 Device Range/ Integer Value 4 to 20 mA 0 to 10 V 10 to +10 V 100 4 mA = 100 0 V = 100 10V = 100 5 mA = 158 1 V = 190 -8 V = 190 6 mA = 213 2 V = 280 -6 V = 280 8 mA = 324 3 V = 370 -4 V = 370 10 mA = 436 4 V = 460 -2 V = 460 12 mA = 550 5 V = 550 0 V = 550 14 mA = 664 6 V = 640 2 V = 640 16 mA = 774 7 V = 730 4 V = 730 18 mA = 886 8 V = 820 6 V = 820 19 mA = 943 9 V = 910 8 V = 910 20 mA = 1000 10V = 1000 10V = 1000 550 1000 2373_en_B Scaling set to 100 to
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D Appendix D1 2373_en_B List of Figures Figure 2-1: nanoLC RS-232 programming connection ........................................ 2-4 Figure 2-2: nanoNavigator startup dialog box ...................................................... 2-5 Figure 2-3: The “nanoLC Connection Wizard” ..................................................... 2-6 Figure 2-4: The “Configuration Dialog” defines the nanoLC .................................
nanoNavigator D-2 PHOENIX CONTACT Figure 2-33: Simulator with data items displayed ................................................. 2-44 Figure 2-34: Simulation of the nanoLights project ................................................ 2-46 Figure 2-35: The “nanoLC Monitor... Flow Charts” tab ......................................... 2-47 Figure 2-36: The Flow Chart Explorer .................................................................. 2-48 Figure 2-37: The “nanoLC Monitor... Forces” tab .
2373_en_B Figure 6-1: “Connection Settings” dialog box ....................................................... 6-3 Figure 6-2: The “Project Information... Messages” tab ......................................... 6-4 Figure 6-3: “Select COM Port” dialog box ............................................................ 6-5 Figure 6-4: “Enter Password” dialog box requests the current password ............. 6-8 Figure 6-5: “Set Password” dialog box .......................................................
nanoNavigator D-4 PHOENIX CONTACT 2373_en_B
D2 2373_en_B List of Tables Table 1-1: Manual Conventions for Keyboard Command .................................... 1-5 Table 2-1: Data Items for Brake Control Example.............................................. 2-29 Table 2-2: Left Turn Flow Chart Blocks.............................................................. 2-32 Table 2-3: Flow Line Connections ..................................................................... 2-32 Table 2-4: Message Data Items......................................
nanoNavigator D-6 PHOENIX CONTACT 2373_en_B
D3 Index A Action block ...................................................... 2-9, 3-20 Analog input ................................................................3-6 Analog values ...........................................................5-12 B Base Expansion Slots .................................................3-6 Base option slots.......................................................3-10 Block Comments...........................................................3-23 Multiple selection............
nanoNavigator Initial data item name values .......................................5-4 IP Address ..................................................................3-9 IPassign.exe ...............................................................3-9 Note Editing ...................................................................4-5 Entering.................................................................4-5 K P Keyboard commands..................................................1-5 Keywords ..............
T Technical support........................................................1-5 Time and date .............................................................5-7 Timer...........................................................................5-7 Reset.....................................................................5-8 Restart...................................................................5-8 Start.......................................................................5-7 Stop..............................
nanoNavigator D-10 PHOENIX CONTACT 2373_en_B
