mitsubishi electric europe b.v
TRANSCRIPT
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Industrial Automation
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MITSUBISHI ELECTRIC
EUROPE B.V.
System QMotion Controller
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SV13 (Real Mode) and SV22 (Virtual Mode)SV13 (Real Mode) and SV22 (Virtual Mode)
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Example Application (SV13)Example Application (SV13)
X-Y Table control• Up to 4 axes linear interpolation• 2 axes circular interpolation• Uniform velocity locus control (CP control)
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Example Application (SV13)Example Application (SV13)
Sealing• Uniform velocity control• Linear and circular interpolation• High-speed, high precision locus calculation
X
Z
Y
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Feed Control• Speed change control• There is no limit to the number of speed change points
Example Application (SV13)Example Application (SV13)
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Example Application (SV13)Example Application (SV13)
Incremental Hole Drilling• Speed / position control• Switching with external input
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Example Application (SV13)Example Application (SV13)
Rotary Table Indexing• Single degree setting• Short indexing• Rotation direction indexing
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Example Application (SV13)Example Application (SV13)
Roll feeder• Incremental feed• High-speed, high-frequency positioning• High-speed response
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Servo instruction of SV13 (Real Mode)Servo instruction of SV13 (Real Mode)
1 Axis ABS-1INC-1
Absolute axis-1 positioningIncremental axis-1 positioning
2 Axis ABS-2INC-2
Absolute axis-2 positioningIncremental axis-2 positioning
3 Axis ABS-3INC-3
Absolute axis-3 positioningIncremental axis-3 positioning
4 Axis ABS-4INC-4
Absolute axis-4 positioningIncremental axis-4 positioning
2 Axis ABS
INC
Absolute auxiliary point specification,circular interpolationIncremental auxiliary point specification,circular interpolation
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Servo instruction of SV13 (Real Mode)Servo instruction of SV13 (Real Mode)
2 Axis ABS
INC
Absolute circular interpolation less thenCW 180°Incremental circular interpolation less thenCW 180°
2 Axis ABS
INC
Absolute circular interpolation CW 180°or moreIncremental circular interpolation CW 180°or more
2 Axis ABS
INC
Absolute circular interpolation less thenCCW 180°Incremental circular interpolation less thenCCW 180°
2 Axis ABS
INC
Absolute circular interpolation CCW 180°or moreIncremental circular interpolation CCW 180°or more
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Servo instruction of SV13 (Real Mode)Servo instruction of SV13 (Real Mode)
2 Axis ABSINC
Absolute center point circular interpolation CWIncremental center point circular interpolation CW
2 Axis ABSINC
Absolute center point circular interpolation CCWIncremental center point circular interpolation CCW
1 Axis FEED-1 Axis 1 incremental feed start
2 Axis FEED-2 Axis 2 linear incremental interpolation feed start
3 Axis FEED-3 Axis 3 linear incremental interpolation feed start
VF,VVF Speed control forward start
VR,VVR Speed control reverse start
VPF Speed and position control forward start
VPR Speed and position control reverse start
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Servo instruction of SV13 (Real Mode)Servo instruction of SV13 (Real Mode)
VPSTART Speed and position control restart
VSTART Speed switching control start
VEND Speed switching control end
VABS Speed switching control absolute
VINC Speed switching control incremental
CPSTART Constant velocity control start
CPEND Constant velocity control end
ZERO Start return to Zero point
START Simultaneous start
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Example Application (SV22)Example Application (SV22)
Filling Machine
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Example Application (SV22)Example Application (SV22)
Draw control application
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Example Application (SV22)Example Application (SV22)
Press Conveyance
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Mechanical Language of SV22Mechanical Language of SV22
Mechanism module Symbol Function
Virtual servo motor Virtual axis of the mechanism structureprogram starts with JOG or servo program
Synchronousencoder
Virtual axis starts by input from an extrnalsynchronous encoder
Gears Transfer the rotation of the propulsionmodule to the output modules with gear ratio
Direct clutch Connect and disconnect the rotation to theoutput module with direct transfer
Smoothing clutch Connect and disconnect the rotation to theoutput module with accerleration anddecleration
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Mechanical Language of SV22Mechanical Language of SV22
Speed variationdevice
Change the speed of the output modules
Differential gears Rotation from the virtual main shaft andthe auxilary input axis is reduced andtransfered to the output axis
Differential gears Rotation from the virtual main shaft andthe auxilary input axis is reduced andtransfered to the output axis
Roller Final output module for speed control
Ball screw Final output module for linearpositioning
Rotating table Final output module for angle control
Cam Final output module for cam control
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Start up of the Motion ControllerStart up of the Motion Controller
1. Installation of the programming software (GSV22P for SV22 or GSV13P for SV13)2. Installation of the operating system of the Motion Controller (SV22 for Virtual Mode or SV13 for Real Mode)3. System settings (Designate the settings for base unit, axis No., motor and amplifier)4. Positioning data settings (Designate the parameter of the servo motors and servo amplifiers)5. Servo program creation (Program for each motor’s positioning control format and data)6. Sequence program creation
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Motion Controller SoftwareMotion Controller Software
1. Installing Software SW6RNC-GSV22P on a WINDOWS 98, WINDOWS 2000 or NT4 PC
• SW6RN-SNETPSSCNet Communication driver
• SW6RN-GSV13P or SW3RN-GSV22PProgramming tool
• SW6RN-DOSCPDigital oscilloscope
• SW6RN-GSVHELPEHelpfiles
•SW3RN-CAMPSoftware tool for creation of CAM curves
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Installing Motion OSInstalling Motion OS
The Motion Controller operation system (OS) residesin the Flash Memory, which can be written by a PC.No OS is installed in the Motion Controller at the timeof purchase.
PC OS areaflash
memory
Motion Controller
Unit OSsoftwarepackage
Install Unit OS
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Installation of Motion OSInstallation of Motion OS
Install one of these OS to the motion CPU
Application Q172 CPU Q173 CPUSV13 (Motion SFC) SW6RN-SV13QB SW6RN-SV13QDSV22 (Motion SFC) SW6RN-SV22QC SW6RN-SV22QA
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1. Installation of Motion OS1. Installation of Motion OS
Turn ON switch 5 in front of theMotion CPU when installing the OS
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System SettingsSystem Settings
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Multi Multi CPU System SettingCPU System Setting
• Click on “Base Setting“
The multiple PLC settings have to be made for each CPU.
• Click on “Multiple PLC setting“
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MultiMulti CPU System Setting CPU System Setting
Number ofmounted
CPU modules (1, 2, 3 or 4)
Determine whethersystem keeps runningor stops when one CPUfails
Selection of the automatically refreshed devices
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Servo Data SettingServo Data Setting
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Servo ParameterServo Parameter
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Parameter BlockParameter Block
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• With the SFC program, when several programs are started, the process iscarried out with multi-task operation
• Multiple steps can be simultaneously executed with parallel branching evenwithin one program.
• A program that executes multiple processes simultaneously, or a program thatgroups the control axis for independent movements can be created easliy
• A higjly independent programming is possible according to the processdetails, so an easy-to-comprehend program can be created
SFC SFC withwith Multi- Multi-task processingtask processing
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• You can create up to 256 SFC programs
The SFC programs are stored inthe normal project folder
SFC-SFC-Program Program ManagerManager
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To create a new SFC program justklick New and enter a free SFC
program No. and a description name.You will then find a new entry in the
SFC program list. To edit the programyou can dubble klick on the program
name.
SFC-SFC-ProgramingPrograming
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With thisbutton youcan switch
between theprogram
manager andthe editor
This area isused for thegrafik design
This area shows thegenerated code of the
SFC program
SFC-SFC-ProgramProgram-Editor-Editor
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SFC-SFC-Program Program ManagerManager
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SFC-SFC-Program Program ManagerManager
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SFC-SFC-Program Program ManagerManager
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SFC Start / EndSFC Start / End
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SFC StepSFC Step
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Dubbleklick on the Kopens a new
window, there youcan select a K-
Program No. anddescription
YourYour First SFC- First SFC-ProgrammingProgramming
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In this area you cannow enter the
commands for ourpositioning.
Please dubbleklick
SFC-SFC-ProgrammingProgramming
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This is the area for theServo Program Editor
SFC-SFC-ProgrammingProgramming
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To enter a servo programthere are special commandsavailable. Depending of your
application you select thecommand class
SFC-SFC-ProgrammingProgramming
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SFC-SFC-ProgrammingProgramming
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The servo program is nowentered in this window
With this button youcan now batch
convert your SFCprogram
SFC-SFC-ProgrammingProgramming
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SFC-SFC-Programing downloadPrograming download
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SFC-SFC-ProgrammingProgramming-Operation--Operation-ControlControl
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SFC-SFC-ProgrammingProgramming
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SFC Operation control stepSFC Operation control step
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Word device descriptionsWord device descriptions
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Bit device descriptionsBit device descriptions
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SFC-SFC-ProgrammingProgramming
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SFC StepSFC Step
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Subroutine call
dubbleklick toopen newwindow
SFC-SFC-ProgrammingProgramming
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SFC-SFC-ProgrammingProgramming
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SFC TransitionSFC Transition
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The shift transition G0 becomes true after M2000 AND M9076 AND M9074 areall true, the system does not check if the motion is moving or not.
SFC-SFC-ProgrammingProgramming
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F0: is the all axisservo on command
SFC-SFC-ProgrammingProgramming
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Jog forward
Zerro pass
Stop jog f.
Movement compl.
SFC-SFC-ProgrammingProgramming
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G4 checks if all 3 axis havecompleted the home position
return, and waits till themovements has completed
before calling the subroutineSFC_Prg
SFC-SFC-ProgrammingProgramming
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SFC TransitionSFC Transition
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SFC TransitionSFC Transition
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SFC TransitionSFC Transition
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In this case excecutionof the motion
movement has to becompletet before G111
becomes active
SFC-SFC-ProgrammingProgramming
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SFC JumpSFC Jump
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You can use up to 16384 Pointer !
SFC-SFC-ProgrammingProgramming
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If you start a subroutine with aloop inside make sure that you
stop the subroutine with the CLRfunction
SFC-SFC-ProgrammingProgramming
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Reaction Reaction time time of of a fast a fast inputinput//output signaloutput signal
Q173: ~3 msA172SH: ~20 ms
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SFCSFC program reaction program reaction timetime
Q173: 1.1 ms ~ 1.6 msA172SH: ~20 ms Q173: ~5.5 ms
A172SH: ~30ms
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1. Automatic start: An automatic start is made by turning PLC Ready M2000 ON.
2. Start from SFC program: A start is made by executing a subroutine call/start step in the SFC program.
3. Start from PLC program: The SFC program can be started by executing the SFCS instruction in PLC program.
Start of SFC programStart of SFC program
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Industrial Automation
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S.SFCS (n1) (n2) (d1) (d2)SP.SFCS (n1) (n2) (d1) (d2)
(n1): Motion CPU number [16 Bit INT] CPU 2 = 3E1, CPU 3 = 3E2, CPU 4 = 3E3(n2): Motion SFC program number [16 Bit INT](d1): Status block [2 Bit BOOL]
(d1+0) : Start of SFC program without error(d1+1) : Start of SFC program with error
(d2): Status word [16 Bit INT]
Requests startup of the motion SFC program
K10
START
END
Q-MotionMotion SFC
S(P).SFCS
Q-CPU
G10
SFCS InstructionSFCS Instruction
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Industrial Automation
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S.GINT (n1) (n2)SP.GINT (n1) (n2)
(n1): Motion CPU number [16 Bit INT] CPU 2 = 3E1, CPU 3 = 3E2, CPU 4 = 3E3(n2): Interrupt number [16 Bit INT]
Requests start up of other CPU interruption programs
F10
START
END
Q-MotionInterrupt SFC prog.
S(P).GINT
Q-CPU
GINT instructionGINT instruction
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Industrial Automation
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Writes Q-CPU device data into Q-Motion devices
Device memory
Q-Motion
S(P).DDWR
Q-CPU
Device memory
reads thedevice memory
writes in the device memory
S.DDWR (n1) (s1) (s2) (d1) (d2)SP.DDWR (n1) (s1) (s2) (d1) (d2)
(n1): Motion CPU number [16 Bit INT] CPU 2 = 3E1, CPU 3 = 3E2, CPU 4 = 3E3(s1): Control area [2*16 Bit INT] (s1+0) : Status =0 without error, >0 error code
(s1+1) : Number of devices (s2): First device of Q-CPU [n * 16 Bit INT](d1): First device of Q-Motion CPU [n * 16 Bit INT](d2): Status block [2 Bit BOOL] (d2+0) : Write complete
(d2+1) : Write with error
DDWR instructionDDWR instruction
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Industrial Automation
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Device memory
Q-Motion
S(P).DDRD
Q-CPU
Device memory
writes in thedevice memory
reads thedevice memory
Reads Q-Motion devices data into the Q-CPU
S.DDRD (n1) (s1) (s2) (d1) (d2)SP.DDRD (n1) (s1) (s2) (d1) (d2)
(n1): Motion CPU number [16 Bit INT] CPU 2 = 3E1, CPU 3 = 3E2, CPU 4 = 3E3(s1): Control area [2*16 Bit INT] (s1+0) : Status =0 without error, >0 error code
(s1+1) : Number of devices (s2): First device of Q-CPU [n * 16 Bit INT](d1): First device of Q-Motion CPU [n * 16 Bit INT](d2): Status block [2 Bit BOOL] (d2+0) : Read complete
(d2+1) : Read with error
DDRD instructionDDRD instruction
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Industrial Automation
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Virtual Servo 1
Clutch
RollerCam Curve
Virtual Mode (SV22)Virtual Mode (SV22)
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Industrial Automation
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SVST J1 K2000M2001M1
ABS-1 Axis 1,100000Speed 1000
<K2000>Virtual
The servo motor can be operated simultaneously withother motor control conditions. Using the mechanism
support language, synchronous control settings like gears,clutches and cams can be released.
Automatic Machinery SV22 (Virtual Mode)Automatic Machinery SV22 (Virtual Mode)
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Virtual Axis 1Virtual Axis 1
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Industrial Automation
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Clutch Parameter 1 & 2 & 3Clutch Parameter 1 & 2 & 3
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RollerRoller
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CAM CAM curvecurve
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Industrial Automation
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• Resolution per cycle 256, 512, 1024, 2048• Max. number of CAM curves 256• Change of CAM curve online during run• CAM curves could be generated by software package on the PC and then downloaded • 8 Limit switch outputs per axes
CAM curvesCAM curves
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CAM CAM curvecurve
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FeedFeed CAM CAM curvecurve
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Software for creation of CAM curvesSoftware for creation of CAM curves
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Industrial Automation
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Cam Curve 1 & 2Cam Curve 1 & 2