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PLCopen Motion Control an introduction

PLCopen Motion Control an introduction. Check the notes in the notes view. PLCopen Motion Control: The software problem. Managing Complexity. 100 – 10,000 – 1mio – 100mio Lines of Code. Exponentially increasing complexity. Why Structured Software Development ?.

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PLCopen Motion Control an introduction

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  1. PLCopen Motion Control an introduction Check the notes in the notes view

  2. PLCopen Motion Control:The software problem

  3. Managing Complexity 100 – 10,000 – 1mio – 100mio Lines of Code Exponentially increasing complexity

  4. Why Structured Software Development ? Software = key to system quality: errors cost money Increased requirements: 100 lines of codes now 10,000 lines or even 100,000 Not a one-man job - but a team with different know how and background Commissioning, Installation, Maintenance, and Improvements essential phases

  5. Modern Software Development Process Defined in several clearly separated phases - project definition Top-down approach Multiple disciplines involved Multiple people involved Different backgrounds Based on Functional Requirements

  6. Decompositionwith SequentialFunctionChartSFC

  7. Bottom-up after top-down First decompose – then fill it in Top- down Bottom up

  8. Abstraction via Function Blocks MC_MoveAbsolute Axis Axis AXIS_REF AXIS_REF Done BOOL BOOL Execute Busy BOOL BOOL ContinuousUpdate REAL BOOL Active Position BOOL REAL CommandAborted Velocity BOOL Error REAL Acceleration WORD ErrorID REAL Deceleration Jerk REAL MC_DIRECTION Direction MC_BUFFER_MODE BufferMode

  9. Axis1 FB Axis_Ref Structure Axis_Ref as Var_In_Out

  10. Intelligent Drive Motor I/F Name Outputs Inputs E PWM Drive Motor I/F E Abstraction / HW Independence via Function Blocks Software View Hardware View Encapsulation / Information Hiding

  11. Drive Abstraction with one FB Axis1 FB Time or event driven Task Manager Conver- sion Axis_Ref Structure I/F

  12. Axis1 FB1 FB2 Time or event driven Task Manager Conver- sion Axis_Ref Structure I/F Drive and with 2 FBs

  13. Mechatronic solutions Mechanical solution. Control solution

  14. Status PLCopen Motion Control • Part 1 – Function Blocks for Motion Control • Part 2 – Extensions • Part 3 – User Guidelines • Part 4 – Coordinated Motion • Part 5 – Homing procedures • Part 6 – Fluid Power (hydraulics) • Around 30 companies certified with over40 products (check website for full list)

  15. Administrative Motion Part 1 – MC FBs Single Multiple Single Multiple Axis Axes Axis Axes Non-Interpolated Power CamTableSelect MoveAbsolute CamIn ClearPendingActions MoveRelative CamOut ReadStatus MoveSuperImposed GearIn ReadAxisError MoveContinuous GearOut ReadParameter MoveVelocity WriteParameter Home ReadActualPosition Stop PositionProfile VelocityProfile AccelerationProfile

  16. Administrative Motion Part 2 - Extensions Single Multiple Single Multiple Axis Axes Axis Axes TouchProbe TorqueControl GearInPos AbortTrigger DigitalCamSwitch ReadDigitalInput ReadDigitalOutput WriteDigitalOutput SetPosition SetOverride ReadActualVelocity ReadActualTorque

  17. Administrative Motion Part 4 – MC FBs Coordinated Synchronized Coordinated AddAxisToGroup/ RemoveAxisFromGroup GroupHome SyncAxisToGroup UngroupAllAxes GroupStop SyncGroupToAxis GroupReadConfiguration GroupHalt TrackConveyorBelt GroupEnable / GroupDisable GroupInterrupt TrackRotaryTable SetKin/Cartesian/CoordinateTransform GroupContinue ReadKin/Cartesian/CoordinateTransform MoveLinearAbsolute GroupSetPosition / GroupReset MoveLinearRelative GroupReadActualPosition/Vel/Acc MoveCircularAbsolute GroupReadStatus/ReadError MoveCircularRelative PathSelect MoveDirectAbsolute GroupSetOverride MoveDirectRelative SetDynCoordTransform MovePath

  18. Administrative Motion Part 6 – Fluid Power Single Multiple Single Multiple Axis Axes Axis Axes LimitLoad LoadControl LimitMotion LoadSuperimposed LoadProfile

  19. Part 5 – Homing Procedures • Homing Procedures • HomeAbsoluteSwitch, HomeLimitSwitch, HomeBlock, HomeReferencePulse, HomeReferencePulseSet, HomeDistanceCoded, HomeDirect, HomeAbsolute • Homing Step Function Blocks • FBs: MC_StepAbsoluteSwitch, MC_StepLimitSwitch, MC_StepBlock, MC_StepReferencePulse, MC_StepDistanceCoded • Finalizing: MC_HomeDirect, MC_HomeAbsolute, MC_FinishHoming • Homing on-the-fly: MC_StepReferenceFlyingSwitch, MC_StepReferenceFlyingRefPulse, MC_AbortPassiveHoming

  20. Part 3 – User Guidelines • Shows examples for ease-of-use • Shows user-derived Function Blocks • Shows higher level encapsulation (e.g. Winding) • Stresses the creation of own FB libraries • Uses FBD, LD, and ST • 82 pages in total • Not a training guideline

  21. Example – Multiple FBs on 1 axis - LD

  22. Timing Diagram

  23. Example – Multiple FBs on 1 axis - FBD

  24. Example with SFC

  25. Example - GearIn MC_GearIn Master Master AXIS_REF AXIS_REF Slave Slave AXIS_REF AXIS_REF InGear BOOL BOOL Execute CommandAborted BOOL RatioNumerator INT RatioDenominator Error UINT BOOL Acceleration REAL ErrorID WORD Deceleration REAL Jerk REAL

  26. GearIn

  27. GearIn

  28. Start-up procedure Is independent of the architecture Consists of 3 commands: MC_Power MC_Home MC_Move….. To make any axis move.

  29. Start-up procedure

  30. MoveAbsolute Axis Axis AXIS_REF AXIS_REF Done BOOL BOOL Execute BOOL REAL CommandAborted Position Busy BOOL Velocity REAL Active BOOL Acceleration REAL BOOL Error Deceleration REAL ErrorID WORD Jerk REAL MC_Direction Direction MC_BufferMode BufferMode Error Handling • Error - Rising edge – error during execution of the FB • ErrorID - Error identification

  31. Part 4 – Coordinated Motion

  32. Synchronized Motion items SyncAxisToGroup SyncGroupToAxis TrackConveyorBelt TrackRotaryTable

  33. Synchronization of single axis to an axes group

  34. Synchronization of an axes group to a single axis

  35. Tracking

  36. Encapsulation

  37. Labelling

  38. The labelling program

  39. Possible improvements

  40. Warehousing Example

  41. Application Program (1/2)

  42. Application Program (2/2)

  43. Alt. Application Program

  44. Encapsulation: Winding / Unwinding

  45. Dancer Control

  46. Graphical representation of FB

  47. UDFB for Winding (csv)

  48. PLCopen Motion Control A suite of specifications A suite of implementations A suite of suppliers A very fast growing suite of users A suite of advantages

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