plcopen motion control an introduction
DESCRIPTION
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 ?. - PowerPoint PPT PresentationTRANSCRIPT
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PLCopen®
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PLCopen Motion Control
an introduction
Check the notes in the notes view
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PLCopen Motion Control:
The software problem
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Percentage of Software development costs in production systems (source: McKinsey)
0%
20%
40%
60%
80%
100%
1970 1980 1990 2000
Mechanic Electric Software
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Managing Complexity
100 – 10,000 – 1mio – 100mio Lines of Code
Exponentially increasing complexity
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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
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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
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Decomposition
with
Sequential
Function
Chart
SFC
N Initialisation S1
N FillingS2
N HeatingS3
N FermentingS4
N HarvestingS5
N CleaningS6
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Bottom-up after top-down
Top-
down
Bottom
up
First decompose – then fill it in
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Abstraction via Function Blocks
MC_MoveAbsolute
AXIS_REF Axis Axis AXIS_REFBOOL Execute Done
BOOLREAL Position
BOOLREAL
Velocity CommandAborted
WORDREAL Acceleration
BOOL
REAL DecelerationREAL Jerk
MC_DIRECTION Direction
ErrorErrorID
ContinuousUpdate
BufferMode
BusyActive
BOOL
MC_BUFFER_MODE
BOOL
BOOL
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Axis_Ref as Var_In_Out
FB
Axis1
Axis_Ref
Structure
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Abstraction / HW Independence via Function Blocks
Software View
InputsName
Outputs
Hardware View
I/F Intelligent Drive Motor
E
Drive Motor
E
PWM
I/F
Encapsulation / Information Hiding
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Abstraction with one FB
FBAxis1
Axis_RefStructure
I/F
TaskManager
DriveConver-sion
Time or event driven
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and with 2 FBs
FB1Axis1
Axis_RefStructure
I/F Drive
TaskManager
Conver-sion
Time or event driven
FB2
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Mechatronic solutions
Mechanical solution.
Control solution
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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 over
40 products (check website for full list)
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AdministrativeAdministrative MotionMotion
SingleAxis
MultipleAxes
SingleAxis
MultipleAxes
Non-Interpolated
MoveAbsolute
MoveRelative
MoveSuperImposed
MoveContinuous
MoveVelocity
Home
Stop
Power
ClearPendingActions
ReadStatus
ReadAxisError
ReadParameter
WriteParameter
ReadActualPosition
PositionProfile
VelocityProfile
AccelerationProfile
CamTableSelect CamIn
CamOut
GearIn
GearOut
Part 1 – MC FBs
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AdministrativeAdministrative MotionMotion
SingleAxis
MultipleAxes
SingleAxis
MultipleAxes
TorqueControl
DigitalCamSwitch
TouchProbe
AbortTrigger
ReadDigitalInput
ReadDigitalOutput
WriteDigitalOutput
SetPosition
SetOverride
GearInPos
ReadActualVelocity
ReadActualTorque
Part 2 - Extensions
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GroupHome
GroupStop
GroupHalt
GroupInterrupt
GroupContinue
MoveLinearAbsolute
MoveLinearRelative
AddAxisToGroup/ RemoveAxisFromGroup
UngroupAllAxes
GroupReadConfiguration
GroupEnable / GroupDisable
SetKin/Cartesian/CoordinateTransform
MoveCircularAbsolute
MoveCircularRelative
MoveDirectAbsolute
SyncAxisToGroup
SyncGroupToAxis
TrackConveyorBelt
TrackRotaryTable
ReadKin/Cartesian/CoordinateTransform
GroupSetOverride
GroupSetPosition / GroupReset
GroupReadActualPosition/Vel/Acc GroupReadStatus/ReadError
SetDynCoordTransform MoveDirectRelative
MovePath
AdministrativeAdministrative MotionMotion
Part 4 – MC FBs
PathSelect
CoordinatedCoordinated CoordinatedCoordinated SynchronizedSynchronized
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AdministrativeAdministrative MotionMotion
SingleAxis
MultipleAxes
SingleAxis
MultipleAxes
LoadControl
LoadSuperimposed
LimitLoad
LimitMotion
LoadProfile
Part 6 – Fluid Power
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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
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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
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Example – Multiple FBs on 1 axis - LD
MoveVelocity
Execute
Velocity
FB1 FB2
K
10
MoveVelocity
Execute
Velocity 20
L MInVel.
Axis Axis
FB3MoveVelocity
Execute
Velocity
Axis
InVelocity InVelocity InVelocity
0
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Timing Diagram
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Example – Multiple FBs on 1 axis - FBD
FB2 FB3
20
L
0
FB1
MC_MoveVelocity
K Execute
Velocity InVelocity10 AND
MC_MoveVelocity
Execute
MC_MoveVelocity
Execute
AxisAxisAxis
InVelocity InVelocityVelocity Velocity
M
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Example with SFCK = true
InVelocity = TRUE
L = TRUE
M = TRUE
K, L, M are Boolean Variables
V:= 10; E := TRUE;
E := FALSE;
E := FALSE;
E := FALSE;
V:= 20; E := TRUE;
V:= 0; E := TRUE;
InVelocity = TRUE
InVelocity =TRUE
E
V
Y
Axis X
MC_MoveVelocity
Velocity
Execute InVelocity
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Example - GearIn
MC_GearIn
AXIS_REFMaster Master
AXIS_REF
BOOL Execute InGear BOOL
BOOL
INT RatioNumerator CommandAborted
WORD
UINT RatioDenominatorBOOL
REAL AccelerationError
ErrorID
SlaveSlaveAXIS_REF AXIS_REF
REAL Deceleration
REAL Jerk
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GearIn
SecondFirst
MyMaster
GearIn
MySlave Slave
Deceleration ErrorID
100
Master
Ratio
Acceleration
InGear
Error
Jerk1
100
1
100
2
100
1
CommandAborted
Execute
GearIn
Slave
Deceleration ErrorID
Master
Ratio
Acceleration
InGear
Error
Jerk
CommandAborted
Execute
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First.Execute
MySlave.Velocity
First.InGear
RatioReached
1
1
0
0
Second.Execute
Second.InGear
RatioReached
1
1
0
0
t
t
t
t
t
GearIn
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Start-up procedure
Is independent of the architecture
Consists of 3 commands:
MC_Power
MC_Home
MC_Move…..
To make any axis move.
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Start-up procedure
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Error Handling
Error - Rising edge – error during execution of the FB
ErrorID - Error identification
MoveAbsolute
AXIS_REFAxis Axis
AXIS_REF
BOOL Execute Done BOOLREAL Position BOOL
REAL VelocityCommandAborted
WORD
REAL AccelerationBOOLREAL Deceleration
REAL Jerk
MC_Direction Direction
ErrorErrorID
BufferModeMC_BufferMode
BOOLBusyBOOLActive
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Part 4 – Coordinated Motion
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Synchronized Motion items
SyncAxisToGroup
SyncGroupToAxis
TrackConveyorBelt
TrackRotaryTable
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Synchronization of single axis to an axes group
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Synchronization of an axes group to a single axis MC_PathGearInMaster for press application
Axis
Execute
Axis
Done
MC_MoveAbsolute
Press Motion(Single Axis Motion)
Position
Velocity Active
CommandAborted
Jerk
Direction
Busy
Buffermode
Acceleration
Deceleration Error
ErrorID
AxisGroup
MasterAxis
AxisGroup
MasterAxisMC_PathGearInMaster
Robot Motion(Axis Group Motion)
Execute
RatioNumerator
Active
CommandAborted
Jerk
RatioDenominator
InGear
CoordSystem
Acceleration
Deceleration Error
ErrorID
Buffermode
Busy
Robot1 Robot2
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Tracking
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Encapsulation
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Labelling
Conveyor
LabelDriveProduct Detection
Product
Label
Sensor distance
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The labelling program
Conveyor
LabelDrive
Axis
Execute
Axis
InVelocity
MC_MoveVelocity
MC_MoveVelocity
Velocity Active
CommandAborted
Jerk
Direction
Busy
Buffermode
Acceleration
Deceleration Error
ErrorID
Product Detection
TONIN
PTQ
ET
Velocity
Start
SensorDistanceDIV
Axis
Execute
Axis
Done
MC_MoveRelative
MC_MoveRelative
Position
Velocity Active
CommandAborted
Jerk
Direction
Busy
Buffermode
Acceleration
Deceleration Error
ErrorID
LabelLength
Delay
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Possible improvements
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Warehousing Example
Axis_X
Axi
s_Y
Axis_Z
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Axis
Execute
Axis
Done
MC_MoveAbsolute
MoveToPalletX
Position
Velocity Active
CommandAborted
Jerk
Direction
Busy
Buffermode
Acceleration
Deceleration Error
ErrorID
Axis
Execute
Axis
Done
MC_MoveAbsolute
MoveToPalletY
Position
Velocity Active
CommandAborted
Jerk
Direction
Busy
Buffermode
Acceleration
Deceleration Error
ErrorID
AND
Axis_X
Axis_Y
Axis_Z
Start 1000.0
Pos_X
40.0
Axis
Execute
Axis
Done
MC_MoveRelative
ForkInPallet
Position
Velocity Active
CommandAborted
Jerk
Direction
Busy
Buffermode
Acceleration
Deceleration Error
ErrorID
20.0
Pos_Y
40.0
Application Program (1/2)
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Axis
Execute
Axis
Done
MC_MoveRelative
ForkLift
Position
Velocity Active
CommandAborted
Jerk
Direction
Busy
Buffermode
Acceleration
Deceleration Error
ErrorID
Axis_Y
100.0
Axis
Execute
Axis
Done
MC_MoveAbsolute
ForkOutWithPallet
Position
Velocity Active
CommandAborted
Jerk
Direction
Busy
Buffermode
Acceleration
Deceleration Error
ErrorID
Axis_Z
0.0
Axis_X AND Finished
0.0
0.0
10.0 20.0
40.0
Axis
Execute
Axis
Done
MC_MoveAbsolute
MoveToDeliveryX
Position
Velocity Active
CommandAborted
Jerk
Direction
Busy
Buffermode
Acceleration
Deceleration Error
ErrorID
40.0
Axis_Y Axis
Execute
Axis
Done
MC_MoveAbsolute
MoveToDeliveryY
Position
Velocity Active
CommandAborted
Jerk
Direction
Busy
Buffermode
Acceleration
Deceleration Error
ErrorID
Application Program (2/2)
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Alt. Application Program
XYZLifter
StartPos_X, Pos_Y, 0
20.040.0
AxisGroup
Execute
AxisGroup
Done
MC_MoveLinearAbsolute
MoveToPallet
Positions
Velocity Active
CommandAborted
Busy
Error
ErrorID
AxisGroup
Execute
AxisGroup
Done
MC_MoveLinearRelative
ForkInPallet
Positions
Velocity Active
CommandAborted
Busy
Error
ErrorID
0, 0, 1000
20.0
AxisGroup
Execute
AxisGroup
Done
MC_MoveLinearRelative
LiftPallet
Positions
Velocity Active
CommandAborted
TransitionParameter
Busy
BufferMode
TransitionMode Error
ErrorID
0, 100, 0
20.0
AxisGroup
Execute
AxisGroup
Done
MC_MoveLinearRelative
ForkOutWithPallet
Positions
Velocity Active
CommandAborted
Busy
Error
ErrorID
0, 0, -1000 0, 0, 0
40.0
AxisGroup
Execute
AxisGroup
Done
MC_MoveLinearAbsolute
MoveToDelivery
Positions
Velocity Active
CommandAborted
Busy
Error
ErrorID
Finished
TransitionParameter
BufferMode
TransitionMode
TransitionParameter
BufferMode
TransitionMode
TransitionParameter
BufferMode
TransitionMode
TransitionParameter
BufferMode
TransitionMode
Aborting
TMNoneBlendingNext
TMCornerDistance
100
Aborting
TMNoneBlendingNext
TMCornerDistance
100
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Encapsulation: Winding / Unwinding
r
torquetension
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Dancer Control
LOAD CELL
M
M
DANCER
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Graphical representation of FB
PS_Wind_csv AXIS_REF Axis Axis AXIS_REF
BOOL Enable Busy BOOL REAL Velocity InVelocity BOOL REAL SpoolRadius Error BOOL
PS_Direction Direction ErrorID WORD REAL Min_S_Radius REAL Max_S_Radius REAL Acceleration REAL Deceleration REAL Jerk
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UDFB for Winding (csv)
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PLCopen Motion Control
A suite of specificationsA suite of implementations
A suite of suppliersA very fast growing suite of users
A suite of advantages
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PLCopen
Combining Logic, Motion and Safety
Providing Structuring, Decomposition, Reuse and less training
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Some words to the
Not-for-profit organization
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PLCopen - a world wide association
Office in Japan
Main Office in Europe
Office in North America Office in China
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Organization
TECHNICAL PROMOTIONALCOMMITTEES
PLCopenfor efficiency in automation
T C1 T C2 T C3 T C4 T C5 T C6 P C 1 P C 2 P C 3 P C 4 P C 5
G en eral M ee tin g , BO M , M D
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PLCopen – providing a suite of specifications
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More Information...
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