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1 Technical Paper PLCopen Technical Commiee 2 Funcion Blocks for Moion Conrol Par 6 Fluid Power Exensions Version 2.0, Published DISCLAIMER OF WARRANTIES THIS DOCUMENT IS PROVIDED ON AN AS IS BASIS AND MAY BE SUBJECT TO FUTURE ADDITIONS, MODIFICATIONS, OR CORRECTIONS. PLCOPEN HEREBY DISCLAIMS ALL WARRANTIES OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING ANY WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE, FOR THIS DOCUMENT. IN NO EVENT WILL PLCOPEN BE RESPONSIBLE FOR ANY LOSS OR DAMAGE ARISING OUT OR RESULTING FROM ANY DEFECT, ERROR OR OMISSION IN THIS DOCUMENT OR FROM ANYONE S USE OF OR RELIANCE ON THIS DOCUMENT. Copyrigh by PLCopen. All righs reserved. Dae: November 18, 2011

2 Funcion blocks for Fluid Power Moion Conrol This documen is a specificaion as developed by he PLCopen Fuid Power Moion Conrol Task Force. As such i is an addiion o he PLCopen Technical Commiee 2 Task Force Funcion Blocks for Moion Conrol, Version 2.0. The presen specificaion was wrien hanks o he following members of he PLCopen Task Force Moion Conrol: Kenneh Ryan Edwin Schwellinger Joachim Unfried Kur Zeheleiner Ralf Bonefeld Edgar Holembowski Andrew DeRung Tiberiu Racsa Seve Zumbusch John Blomser Igor Oskroban Juergen Hipp Roland Bubliz Willi Gagseiger Eelco van der Wal Alexandria Technical College 3S, Smar Sofware Soluions B & R Auomaion B & R Auomaion Bosch Rexroh Bosch Rexroh Eaon Eaon Eaon Eaon Eckelmann ISG Parker Hannifin Siemens PLCopen Change Saus Lis: Version Dae Change commen number V 0.1 June 24, 2009 Preliminary version resul of he decision from he June 23-24, 2009 Kick-off meeing o exend he curren PLCopen Moion Conrol Funcion Blocks o faciliae MCFB uilizaion in conrol schemes involving fluid power. V 0.2 January 1, 2010 Documening he resul of he decision finalized during 6 online meeings from June 24, 2009 o December 31, V 0.3 Documening he resul of he decision finalized during 8 online meeings from December 31, 2009 o June 30, V 0.4 Sepember 18, 2010 Las release for commens wihin working group V 0.9 December 20, 2010 Final documen before Release for Commens V 0.91 January 19, 2011 Resul of feedback and web meeing Jan 14, 2011 V 091A June 23, 2011 Due o inconsisencies in documens vs. decisions V 092 Ocober 24,2011 Conains feedback iems on open issues V 2.0 November 18, 2011 Released version Par 6 Fluid Power Exensions V 2.0 November 18, 2011 page 2/ 27

3 Table of Conens 1. GENERAL INTRODUCTION OVERVIEW OF THE DEFINED EXTENDED FUNCTION BLOCKS: GENERAL REMARKS TO THE FUNCTION BLOCK BEHAVIOR Response Time STATE DIAGRAM DEFINED USER DERIVED DATATYPES ABORTING VERSUS BUFFERED MODES Buffered versus Non-buffered modes FUNCTION BLOCKS EXTENSIONS FOR MOTION CONTROL MC_LOADCONTROL MC_LIMITLOAD MC_LIMITMOTION MC_LOADSUPERIMPOSED MC_LOADPROFILE APPENDIX A COMPLIANCE PROCEDURE AND COMPLIANCE LIST APPENDIX A 1. STATEMENT OF SUPPLIER APPENDIX A 2. SUPPORTED DATATYPES APPENDIX A 3. OVERVIEW OF THE FUNCTION BLOCKS Appendix A 3.1 MC_LoadConrol Appendix A 3.2 MC_LimiLoad Appendix A 3.3 MC_LimiMoion Appendix A 3.4 MC_LoadSuperImposed Appendix A 3.5 MC_LoadProfile APPENDIX A 4. THE PLCOPEN MOTION CONTROL LOGO AND ITS USAGE Par 6 Fluid Power Exensions V 2.0 November 18, 2011 page 3/ 27

4 Table of Figures FIGURE 1: THE STATE DIAGRAM... 8 FIGURE 2: MC_LOADCONTROL TIMING DIAGRAM FIGURE 3: MC_LIMITLOAD TIMING DIAGRAM FIGURE 4: MC_LIMITLOAD USED IN SFC FIGURE 5: MC_LIMITMOTION TIMING DIAGRAM FIGURE 6: MC_LOADSUPERIMPOSED TIMING DIAGRAM FIGURE 7: MC_LOADPROFILE TIMING DIAGRAM Par 6 Fluid Power Exensions V 2.0 November 18, 2011 page 4/ 27

5 Table of Tables TABLE 1: OVERVIEW OF THE DEFINED FUNCTION BLOCKS... 7 TABLE 2: SUPPORTED DEFINED DATATYPES... 9 TABLE 3: THE ENUM TYPE MC_BUFFER_MODE... 9 TABLE 4: OVERVIEW OF BUFFERED VERSUS NON-BUFFERED MODES TABLE 5: SUPPORTED DERIVED DATATYPES TABLE 6: SHORT OVERVIEW OF THE FUNCTION BLOCKS Par 6 Fluid Power Exensions V 2.0 November 18, 2011 page 5/ 27

6 1. General Inroducion A he end of 2001, PLCopen released he firs version of he specificaion of an independen library of funcion blocks for moion conrol. I included moion funcionaliy for single axes and muliple axes, several adminisraive asks, as well as a sae diagram. This specificaion provides he user wih a sandard command se and srucure independen of he underlying archiecure, while merging he logic and moion conrol in one developmen ool. This srucure can be used on many plaforms and archiecures. In his way one can decide which archiecure will be used a a laer sage of he developmen cycle. Advanages for he machine builder are, amongs ohers, lower coss for supporing he differen plaforms and he freedom o develop applicaion sofware in a more independen way, wihou limiing he produciviy of he machine. In addiion o hose benefis, sysem mainenance is easier and he educaion period is shorer. This is a major sep forward, and is more and more acceped by users as well as suppliers. Wih he release of Par 1, i was undersood ha addiional funcionaliy was needed. Par 1 provides he basis for a se of iner-relaed specificaions: Par 1 - PLCopen Funcion Blocks for Moion Conrol Par 2 - PLCopen Moion Conrol - Exensions, which in he new release 2.0 is merged wih Par 1 Par 3 - PLCopen Moion Conrol - User Guidelines Par 4 - PLCopen Moion Conrol - Coordinaed Moion Par 5 - PLCopen Moion Conrol - Homing Procedures Par 6 - PLCopen Moion Conrol - Fluid Power Exensions Pars 2 hrough 6 of he sandard are addiions o he PLCopen Funcion Blocks for Moion Conrol (Par 1), and should no be seen as sand alone documens. The objecive of his specificaion Par 6 PLCopen Moion Conrol Fluid Power Exensions is: Opimizing programming and inegraion of fluid power devices and sysems by defining funcion blocks employing PLCopen sandardizaion and modular mehodology. Par 6 Fluid Power Exensions V 2.0 November 18, 2011 page 6/ 27

7 2. Overview of he defined exended Funcion Blocks: Adminisraive Moion Single Muliple Single Muliple MC_LimiLoad MC_LoadConrol MC_LimiMoion MC_LoadSuperImposed MC_LoadProfile Table 1: Overview of he defined Funcion Blocks 2.1. General Remarks o he Funcion Block Behavior Response Time The ime aken by he sysem o respond o a command may vary widely by manufacurer / vendor / supplier and produc. For example in one implemenaion, wriing a variable may resul in commanding a reques via a serial connecion and waiing for a response, while anoher implemenaion migh no have a serial connecion, resuling in a faser response. Par 6 Fluid Power Exensions V 2.0 November 18, 2011 page 7/ 27

8 3. Sae Diagram The following sae diagram is based on he version as defined in Par 1 Funcion Blocks for Moion Conrol, Version 2.0 This specificaion adds hree Load Funcion Blocks o he Sae Diagram: MC_LoadConrol MC_LoadSuperImposed MC_LoadProfile Funcion Blocks no lised in he sae diagram do no affec he Sae Diagram, meaning ha whenever hey are called he sae does no change. Discree Moion Synchronized Moion MC_LoadProfile MC_LoadConrol MC_LoadDifference Coninuous Moion Sopping Errorsop Noe 1 Noe 6 Noe 4 Noe 3 Homing Sandsill Noe 5 Disabled Noe 2 Noe 1: Noe 2: Noe 3: Noe 4: Noe 5: Noe 6: From any sae. An error in he axis occurred. From any sae. MC_Power.Enable = FALSE and here is no error in he axis. MC_Rese AND MC_Power.Saus = FALSE MC_Rese AND MC_Power.Saus = TRUE AND MC_Power.Enable = TRUE MC_Power.Enable = TRUE AND MC_Power.Saus = TRUE MC_Sop.Done = TRUE AND MC_Sop.Execue = FALSE Figure 1: The Sae Diagram Par 6 Fluid Power Exensions V 2.0 November 18, 2011 page 8/ 27

9 4. Defined User Derived Daaypes The objecive of his PLCopen Task Force Moion Conrol Exensions is defined in chaper 1 General Inroducion. To reach his objecive, i is necessary o define addiional reference ypes. These references are a represenaion of he objecs or devices, which are no necessarily a par of he process image. As a general rule, hese new reference daaypes are inended o be used in he same way as he AXIS_REF daaype, meaning ha parameers can be read wih similar Funcion Blocks having for insance an INPUT_REF insead of AXIS_REF and using he corresponding I/O parameers. Wih he definiion of hese reference srucures (or daaypes), here are Funcion Blocks defined which give access o he referenced daa. The following reference daaypes are defined wihin his documen: Defined daaype(s) Commen Relevan Funcion Block(s) MC_DIRECTION Enum ype (1-of-4 values: mcposiivedirecion, mcshoresway, mcnegaivedirecion, mccurrendirecion) MC_LoadConrol MC_LimiLoad MC_LimiMoion MC_BUFFER_MODE Enum ype (one of 6 values) See below MC_TL_REF Supplier specific daaype. Example: The conen of Time/Load pair may be expressed in DelaTime/Load, where Dela could be he difference in ime beween wo successive poins. Table 2: Suppored defined daaypes MC_LoadConrol MC_LoadProfile MC_LoadProfile 4.1. Aboring versus Buffered Modes Some of he FBs have an inpu called BufferMode. Wih his inpu, he FB can eiher work in a Non-buffered mode (defaul behavior) or in a Buffered mode. The difference beween hose modes is when hey should sar heir acion: A command in a non-buffered mode acs immediaely, even if his inerrups anoher moion A command in a buffered mode wais ill he curren FB ses is Done oupu (or InPosiion or InVelociy,...). There are several opions for he buffered mode. For his reason, his inpu is an ENUM of ype MC_BUFFER_MODE. The following modes have been idenified: Aboring Defaul mode wihou buffering. The nex FB abors an ongoing moion and he command affecs he axis immediaely. Buffered The nex FB affecs he axis as soon as he previous movemen is Done. There is no blending. BlendingLow The nex FB conrols he axis afer he previous FB has finished (equivalen o buffered), bu he axis will no sop beween he movemens. The velociy is blended wih he lowes velociy of boh commands (1 and 2) a he firs end-posiion (1). BlendingPrevious blending wih he velociy of FB 1 a end-posiion of FB 1 BlendingNex blending wih velociy of FB 2 a end-posiion of FB1 BlendingHigh blending wih highes velociy of FB 1 and FB 2 a end-posiion of FB1 The ENUM has been defined as follows: No. MC_BUFFER_MODE Descripion 0 mcaboring Sar FB immediaely (defaul mode) 1 mcbuffered Sar FB afer curren moion has finished 2 mcblendinglow The velociy is blended wih he lowes velociy of boh FBs 3 mcblendingprevious The velociy is blended wih he velociy of he firs FB 4 mcblendingnex The velociy is blended wih velociy of he second FB 5 mcblendinghigh The velociy is blended wih highes velociy of boh FBs Table 3: The ENUM ype MC_BUFFER_MODE Supplier specific exensions are allowed afer hese defined Enums. Par 6 Fluid Power Exensions V 2.0 November 18, 2011 page 9/ 27

10 Buffered versus Non-buffered modes Funcion block Can be specified as a buffered command Can be followed by a buffered command MC_LoadConrol Yes Yes MC_LoadSuperImposed No No MC_LoadProfile Yes Yes Table 4: Overview of buffered versus non-buffered modes MC_LoadSuperImposed can no be followed by a buffered command since, if here is an underlying moion and a superimposed moion, i can no be deermined which moion gives he sar condiion of he following buffered command. Par 6 Fluid Power Exensions V 2.0 November 18, 2011 page 10/ 27

11 5. Funcion Blocks Exensions for Moion Conrol 5.1. MC_LoadConrol FB-Name MC_LoadConrol This funcion block coninuously exers a orque or force or pressure of he specified magniude. This magniude is approached using a defined ramp ( LoadRamp ), and he Funcion Block ses he InLoad oupu if he commanded load level is reached. Posiive orque, force and differenial pressure is in he posiive direcion of velociy, pressure is physically unsigned. VAR_IN_OUT B AXIS_REF Reference o he axis VAR_INPUT B Execue BOOL Sar he moion a rising edge E ConinuousUpdae BOOL See Par 1 secion The inpu ConinuousUpdae B Load REAL Value of he load (Torque, force or pressure in echnical uni [u]) E LoadRamp REAL The maximum ime derivaive of he se value of orque, force or pressure ([u] per sec) E Direcion MC_DIRECTION Enum ype (1 of 3 values: mcposiivedirecion, mcnegaivedirecion and mccurrendirecion) Noe: shores way no applicable. E BufferMode MC_BUFFER_MODE Defines he chronological sequence of he FB. See Buffered versus Non-buffered modes VAR_OUTPUT B InLoad BOOL Sepoin value of orque, force or pressure equals he commanded value and respecive conroller is acive E Busy BOOL The FB is no finished and new oupu values are o be expeced E Acive BOOL Indicaes ha he Funcion Block has conrol on he axis E CommandAbored BOOL Command is abored by anoher command B Error BOOL Signals ha an error has occurred wihin he Funcion Block E ErrorID WORD Error idenificaion Noe: Using his command leads o undefined moion of he axis, unless oher (moion conrolled) axes or mechanical srucures (arreser) are involved. MC_LoadConrol AXIS_REF AXIS_REF BOOL Execue InLoad BOOL BOOL ConinuousUpdae Busy BOOL REAL Load Acive BOOL REAL LoadRamp CommandAbored BOOL MC_DIRECTION Direcion Error BOOL MC_BUFFER_MODE BufferMode ErrorID WORD Par 6 Fluid Power Exensions V 2.0 November 18, 2011 page 11/ 27

12 Use Case Raional The Funcion Block LoadConrol provides base funcionaliy for any applicaion in which he devoluion of forces, orque or pressures provided by an axis o a process has o be acively defined and conrolled (e.g. in presses). LoadConrol - Example GO 3000 MC_LoadConrol Execue ConinuousUpdae Load LoadRamp Direcion BufferMode Firs InLoad Busy Acive CommandAbored Error ErrorID Tes & OR 2000 MC_LoadConrol Execue ConinuousUpdae Load LoadRamp Direcion BufferMode Second InLoad Busy Acive CommandAbored Error ErrorID Finish Nex Firs 1 GO 0 1 InLoad 0 1 CommandAbored 0 0 Second Tes Finish= InLoad Load Force Figure 2: MC_LoadConrol Timing Diagram Par 6 Fluid Power Exensions V 2.0 November 18, 2011 page 12/ 27

13 5.2. MC_LimiLoad FB-Name MC_LimiLoad This Funcion Block acivaes a limiaion of he load values provided by an axis. This may be orque, force, pressure or differenial pressure. The measures aken o keep he limis are vendor specific; swiching beween load and moion conrol depends on he exernal load condiions of he axis. The FB ses he Busy oupu when he limiing measures are sand-by on he axis. The Acive oupu is se, when he limiing measures are acive on he axis. VAR_IN_OUT B AXIS_REF Reference o he axis VAR_INPUT B Enable BOOL Allows funcion block o modify (clamp) a moion command B Load REAL Value of he maximum applicable load on he axis (Torque, force or pressure in echnical uni [u]) E Direcion MC_DIRECTION Enum ype (1 of 3 values: mcposiivedirecion, mcnegaivedirecion and mccurrendirecion) Noe: shores way no applicable. VAR_OUTPUT E Busy BOOL The FB is no finished and new oupu values are o be expeced B Acive BOOL Indicaes ha his FB is influencing he moion on he axis B Error BOOL Signals ha an error has occurred wihin he Funcion Block E ErrorID WORD Error idenificaion Noe: Issuing MC_LimiLoad does no cause a moion of he axis iself. I is mean o work in parallel o a moion command. I is no guaraneed ha aciviy of he limiing measures will be seen by he FB: a shor pulse of he limied quaniies could be over before he nex Funcion Block cycle occurs. MC_LimiLoad AXIS_REF AXIS_REF BOOL Enable Busy BOOL REAL Load Acive BOOL MC_DIRECTION Direcion Error BOOL ErrorID WORD Use Case Raional The Funcion Block MC_LimiLoad is inended o provide overload proecion for a process in erms of driving forces, orque or pressures during moion (e.g. mould proecion in injecion moulding machines). If load values on he axis exceed he given limi, appropriae measures are aken o keep his limi, implying ha he moion will no be following he programmed pah bu now depends on he load condiions. However, he Acive oupu of he MC_MoveXXX will say TRUE in his case, following he modified PLCopen definiion "The Acive oupu indicaes ha he FB has conrol of he pah generaion for he axis". This is despie he fac ha, physically, only he load-condiions or he movemen of an axis can be independenly conrolled wih se values. Wih acual load below programmed limi, he programmed moion will proceed. The Funcion block can be applied in differen scenarios which could be e.g. - A more cenralized applicaion in erms of a "proecion mode", where he complee moion is load limied. In his case he funcion block would be enabled independenly from he moion program iself. - A more decenralized applicaion in erms of addiional funcionaliy during he moion program. In his case he funcion block would be acivaed by and wihin he moion program iself. An applicaion example is he mould proecion scenario menioned above, resricing he limier aciviy o a cerain phase of he programmed moion. Ensuring ha limis are only supervised e.g. while one cerain MC_MoveXXX has primary conrol on he axis can be achieved by enabling MC_LimiLoad by he Acive oupu of he MC_MoveXXX. In his way he limiaion is only acivaed when he MC_MoveXXX akes conrol on he axis for he firs ime and is deacivaed when he MC_MoveXXX looses conrol on he axis by Done, CommandAbored or Error. Par 6 Fluid Power Exensions V 2.0 November 18, 2011 page 13/ 27

14 MC_MoveXXX1 MC_MoveXXX2 Go Execue Done Done1 Go Execue Done Done2 FPMC_LimiLoad 70 Posiion Busy Busy1 100 Posiion Busy Busy2 30 Velociy Acive Acive1 15 Velociy Acive Enable Acive LimierAcive Acc1 Dec1 Acceleraion Deceleraion CommandAbored Error Acc2 Dec2 Acceleraion Deceleraion CommandAbored Error Load-Limi CurrenDirecion Load Direcion Busy Error LimierBusy Jerk ErrorID Jerk ErrorID ErrorID Direcion Direcion BufferMode BlendingNex BufferMode Go Moion Profile MC_LimiLoad MC_MoveXXX2 MC_MoveXXX1 Done1 Busy1 Acive1 Go Done2 Busy2 Acive2 Enable LimierAcive LimierBusy LoadLimi Load Velociy 100 Acc1 Dec1 Acc2 Dec2 70 Posiion Figure 3: MC_LimiLoad Timing Diagram Par 6 Fluid Power Exensions V 2.0 November 18, 2011 page 14/ 27

15 Example: The combinaion wih SFC In he diagram below, an example is explained. SFC is used here o disinguish beween a movemen where he MC_LimiLoad funcionaliy has become Acive or no. In Sep 2 here is a movemen like MoveAbsolue, which is limied by he MC_LimiLoad funcionaliy. If he absolue posiion is reached wihou MC_LimiLoad becoming acive, he ransiion via done o sep 3 is applicable. However, if he MC_LimiLoad becomes Acive, he ransiion o he Hal sep is applicable, issuing a MC_Hal. Ini Ini Figure 4: MC_LimiLoad used in SFC Par 6 Fluid Power Exensions V 2.0 November 18, 2011 page 15/ 27

16 5.3. MC_LimiMoion FB-Name MC_LimiMoion This Funcion Block acivaes a limiaion of he moion values of an axis. These are Posiion, Velociy, Acceleraion, Deceleraion and Jerk. The measures aken o keep he limis are vendor specific; swiching beween moion and load conrol depends on he exernal load condiions of he axis. The FB ses he Busy oupu when he limiing measures are sand-by on he axis. The Acive oupu is se, when he limiing measures are acive on he axis. VAR_IN_OUT B AXIS_REF Reference o he axis VAR_INPUT B Enable BOOL Allows funcion block o modify (clamp) a load command E Posiion REAL Absolue posiion no o be crossed during load conrol B Velociy REAL Absolue value of he maximum velociy E Acceleraion REAL Value of he maximum acceleraion (acceleraion is applicable wih same sign of orque and velociy) E Deceleraion REAL Value of he maximum deceleraion (deceleraion is applicable wih opposie signs of orque and velociy) E Jerk REAL Value of he maximum jerk E Direcion MC_DIRECTION Enum ype (1 of 3 values: mcposiivedirecion, mcnegaivedirecion and mccurrendirecion) Noe: shores way no applicable. VAR_OUTPUT E Busy BOOL The FB is no finished and new oupu values are o be expeced B Acive BOOL Shows ha limis in moion are reached and he is ou of load conrol and conrols he commanded maximum moion values. B Error BOOL Signals ha an error has occurred wihin he Funcion Block E ErrorID WORD Error idenificaion Noe: I is no guaraneed ha aciviy of he limiing measures will be seen by he FB: a shor pulse of he limied quaniies could be over before he nex Funcion Block cycle occurs. MC_LimiMoion AXIS_REF AXIS_REF BOOL Enable Busy BOOL REAL Posiion Acive BOOL REAL Velociy Error BOOL REAL Acceleraion ErrorID WORD REAL Deceleraion REAL Jerk MC_DIRECTION Direcion Use Case Raional The Funcion Block MC_LimiMoion is inended o proec a process from undefined movemens during load/orque conrol Possible applicaion: e.g. force fiing. The FB is inended o be used in conjuncion wih a MC_LoadConrol or MC_TorqueConrol having primary conrol on he axis. The MC_LimiMoion should be enabled by he Acive oupu of he MC_LoadConrol / MC_TorqueConrol. If moion values on he axis exceed he given limi, appropriae measures are aken o keep o hese limis, implying ha he load/orque will no follow he programmed rajecory bu depend on he exernal load condiions. However, he Acive oupu of he MC_LoadConrol/MC_TorqueConrol will say TRUE in his case, following he modified PLCopen definiion The Acive oupu indicaes, ha he FB has conrol on he se-value generaion of he axis. This is despie he fac, ha physically only he load-condiions or he movemen of an axis can be conrolled. Wih acual moion saes below programmed limis, he programmed load/orque rajecory will proceed. Enabling he limier block wih acivaion of he MC_LoadConrol/MC_TorqueConrol ensures ha limis are only supervised when he MC_LoadConrol/MC_TorqueConrol akes conrol on he axis for he firs ime. Disabling he limier block wih de-acivaion of he Par 6 Fluid Power Exensions V 2.0 November 18, 2011 page 16/ 27

17 MC_LoadConrol/MC_TorqueConrol ensures ha limis are no more supervised when he MC_LoadConrol/MC_TorqueConrol looses conrol on he axis by CommandAbored or Error PLCopen My Go Posiive Aboring FPMC_LoadConrol Execue Load LoadRamp Direcion BufferMode InLoad Busy Acive CommandA bored Error ErrorID InLoad Busy Vel-Limi FPMC_LimiMoion Enable Posiion Velociy Acceleraion Deceleraion Jerk Acive Busy Error ErrorID LimierAcive LimierBusy CurrenDirecion Direcion MC_LoadConrol Go InLoad Busy Acive MC_LimiMoion Enable LimierAcive LimierBusy Load Load LoadRamp LoadRamp Profile Vel- Limi Velociy Figure 5: MC_LimiMoion Timing Diagram Par 6 Fluid Power Exensions V 2.0 November 18, 2011 page 17/ 27

18 5.4. MC_LoadSuperImposed FB-Name MC_LoadSuperImposed This Funcion Block commands a conrolled load updae (increase/decrease) of a specified relaive value addiional o an exising load. The exising load conrol operaion is no inerruped, bu is superimposed by he addiional load. VAR_IN_OUT B AXIS_REF Reference o he axis VAR_INPUT B Enable BOOL Acivae he moion while enabled B Load REAL Load ha is o be superimposed (in echnical uni [u]) E LoadRampIncrease REAL Value of he load ramp increase of he addiional load([u] per sec) E LoadRampDecrease REAL Value of he load ramp decrease of he addiional load([u] per sec) VAR_OUTPUT B InLoad BOOL Addiional superimposed load has been achieved E Busy BOOL The FB is no finished and new oupu values are o be expeced E Acive BOOL Indicaes ha his FB is conribuing o he moion on he axis B Error BOOL Signals ha an error has occurred wihin he Funcion Block E ErrorID WORD Error idenificaion Noe: If MC_LoadSuperImposed is Acive, hen any oher command in aboring mode excep MC_LoadSuperImposed will abor boh load commands: boh he MC_LoadSuperImposed and he underlying load command. In any oher mode, he underlying load command is no abored If MC_LoadSuperImposed is Acive and anoher MC_LoadSuperImposed is commanded, only he ongoing MC_LoadSuperImposed command is abored, and replaced by he new MC_LoadSuperImposed command, bu no he underlying load command The values of LoadRampIncrease and LoadRampDecrease are addiional values o he on-going load conrol, and no absolue ones. Wih his, he underlying FB always finishes is job in he same period of ime regardless of wheher a MC_LoadSuperImposed FB akes place concurrenly. The oupu Acive has a differen behavior as in buffered FBs. MC_LoadSuperimposed AXIS_REF AXIS_REF BOOL Enable InLoad BOOL REAL Load Busy BOOL REAL LoadRampIncrease Acive BOOL REAL LoadRampDecrease Error BOOL ErrorID WORD Par 6 Fluid Power Exensions V 2.0 November 18, 2011 page 18/ 27

19 Use Case Raional The funcion block MC_LoadSuperImposed is inended o allow a superimposed load command o be issued on op of an exising load command wihou superceding he original load command. Possible Applicaion: Acuaor: hydraulic cylinder wih fluid pressure sensor acuaes he press of plasic injecion molding machine in a coninuous load operaion. Reques: prior o MC_LoadSuperImposed call, a MC_LoadConrol block is Acive wih a command of 7,500 kpa o press meled plasic ino he mold. Once he MC_LoadConrol InLoad condiion is achieved a superimposed pressure of 5,000 kpa is added several imes o cause a hammering effec o relieve sresses in he plasic. Resul: he MC_LoadConrol pressure command of 7,500 kpa is superimposed wih a discree pressure command of 5,000 kpa. Once he LoadSuperImposed command is acive he sysem pressure rises o 12,500 kpa. When he superimposed pressure command has been achieved he MC_LoadSuperImposed block is done and he original command given by he MC_LoadConrol resumes he original pressure command. The MC_LoadSuperImposed block is execued several imes wihou affecing he original pressure command given by he MC_LoadConrol block. Firs LoadDifference - Example Second MC_LoadConrol MC_LoadSuperimposed MyAX GO_Load Execue Load LoadRamp Direcion BufferMode InLoad Busy Acive CommandAbored Error ErrorID InLoad Load_Acive GO_Sup Enable Load LoadRampIncrease LoadRampDecrease InLoad Busy Acive Error ErrorID InSup Sup_Acive Firs GO_load 1 0 Load = 7500 Load = 0 1 InLoad 0 1 Load_Acive Second 0 Go_Sup InSup 1 0 Sup_Acive Load Figure 6: MC_LoadSuperImposed Timing Diagram Par 6 Fluid Power Exensions V 2.0 November 18, 2011 page 19/ 27

20 5.5. MC_LoadProfile FB-Name MC_LoadProfile This Funcion Block commands a ime-load locked profile. The load in he final elemen in he profile should be mainained. The sae remains ConinuousMoion. VAR_IN_OUT B AXIS_REF Reference o he axis B TimeLoad MC_TL_REF Reference o Time / Load. Descripion - see noe below VAR_INPUT B Execue BOOL Sar he moion a rising edge E TimeScale REAL Overall ime scaling facor of he profile E LoadScale REAL Overall load scaling facor of he profile E Offse REAL Overall offse for orque, force or pressure profile (in echnical uni [u]) E BufferMode MC_BUFFER_MODE Defines he chronological sequence of he FB. See Buffered versus Non-buffered modes VAR_OUTPUT B ProfileCompleed BOOL Profile compleed E Busy BOOL The FB is no finished and new oupu values are o be expeced E Acive BOOL Indicaes ha he FB has conrol on he axis E CommandAbored BOOL Command is abored by anoher command B Error BOOL Signals ha an error has occurred wihin he Funcion Block E ErrorID WORD Error idenificaion Noe: MC_TL_REF is a supplier specific daaype. An example for his daaype is given here below: The conen of Time/Load pair may be expressed in DelaTime/Load, where Dela could be he difference in ime beween wo successive poins. TYPE MC_TL : STRUCT DelaTime : TIME; Load : REAL; END_STRUCT END_TYPE TYPE MC_TL_REF ; STRUCT NumberOfPairs : INT; MC_TL _Array : ARRAY [1..N] OF MC_TL; END_STRUCT END_TYPE This funcionaliy does no mean i runs one profile over and over again: i can swich beween differen profiles. Par 6 Fluid Power Exensions V 2.0 November 18, 2011 page 20/ 27

21 MC_LoadProfile AXIS_REF AXIS_REF MC_TL_REF TimeLoad TimeLoad MC_TL_REF BOOL Execue Done BOOL REAL TimeScale Busy BOOL REAL LoadScale Acive BOOL REAL Offse CommandAbored BOOL MC_BUFFER_MODE BufferMode Error BOOL ErrorID WORD Use Case Raional This funcion block would be used o se a load profile curve in applicaions requiring a disinc load profile o effecively perform an operaion. (e.g. plasic injecion molding, meal forming, press, and oher applicaions requiring ime a load profiles for proper processing,) Figure 7: MC_LoadProfile Timing Diagram Par 6 Fluid Power Exensions V 2.0 November 18, 2011 page 21/ 27

22 Appendix A Compliance Procedure and Compliance Lis Lised in his Appendix are he requiremens for he compliance saemen from he supplier of he Moion Conrol Funcion Blocks. This par should be seen as inegral o Par 1 Funcion Blocks for Moion Conrol. The compliance saemen consiss of wo main groups: suppored daaypes and suppored Funcion Blocks, in combinaion wih he applicable inpus and oupus. The supplier has o fill ou he ables for he used daaypes and Funcion Blocks, according o heir produc, commiing heir suppor o he specificaion. By submiing hese ables o PLCopen, as well as hose from Par 1, and afer approval by PLCopen, he lis will be published on he PLCopen websie, as well as a shor form overview, as specified in Appendix A 2. Suppored Derived Daaypes and Appendix A 3. Overview of he Funcion Blocks as below. In addiion o his approval, he supplier is permied access and usage righs o he PLCopen Moion Conrol logo, as described in Par 1, chaper Appendix A 4. - The PLCopen Moion Conrol Logo and Is Usage. Par 6 Fluid Power Exensions V 2.0 November 18, 2011 page 22/ 27

23 Appendix A 1. Saemen of Supplier Supplier name Supplier address Ciy Counry Telephone Fax address Produc Name Produc version Release dae I hereby sae ha he following ables as filled ou and submied do mach our produc as well as he accompanying user manual, as saed above. Name of represenaion (person): Dae of signaure (dd/mm/yyyy): Signaure: Par 6 Fluid Power Exensions V 2.0 November 18, 2011 page 23/ 27

24 Appendix A 2. Suppored Daaypes Defined daaypes wih MC library: Suppored If no suppored, which daaype used BOOL WORD REAL Wihin he specificaion he following derived daaypes are defined. Define which of hese srucures are used in his sysem: Derived daaypes: Where used Suppored Which srucure AXIS_REF All FBs MC_DIRECTION MC_LoadConrol MC_LimiLoad MC_LimiMoion MC_BUFFER_MODE MC_LoadConrol MC_LoadProfile MC_TL_REF MC_LoadProfile Table 5: Suppored derived daaypes Appendix A 3. Overview of he Funcion Blocks Single Funcion Blocks Suppored Yes / No Commens (<= 48 char.) MC_LoadConrol MC_LimiLoad MC_LimiMoion MC_LoadSuperImposed MC_LoadProfile Table 6: Shor overview of he Funcion Blocks Appendix A 3.1 MC_LoadConrol If Suppored MC_LoadConrol Sup.Y/N Commens VAR_IN_OUT B VAR_INPUT B Execue E ConinuousUpdae B Load E LoadRamp E Direcion E BufferMode VAR_OUTPUT B InLoad E Busy E Acive E CommandAbored B Error E ErrorID Par 6 Fluid Power Exensions V 2.0 November 18, 2011 page 24/ 27

25 Appendix A 3.2 MC_LimiLoad If Suppored MC_LimiLoad Sup.Y/N Commens VAR_IN_OUT B VAR_INPUT B Enable B Load E Direcion VAR_OUTPUT B Busy E Acive B Error E ErrorID Appendix A 3.3 MC_LimiMoion If Suppored MC_LimiMoion Sup.Y/N Commens VAR_IN_OUT B VAR_INPUT B Enable E Posiion B Velociy E Acceleraion E Deceleraion E Jerk E Direcion VAR_OUTPUT B Busy E Acive B Error E ErrorID Appendix A 3.4 MC_LoadSuperImposed If Suppored MC_LoadSuperImposed Sup.Y/N Commens VAR_IN_OUT B VAR_INPUT B Enable B Load E LoadRampIncrease E LoadRampDecrease VAR_OUTPUT B InLoad E Busy E Acive B Error E ErrorID Par 6 Fluid Power Exensions V 2.0 November 18, 2011 page 25/ 27

26 Appendix A 3.5 MC_LoadProfile If Suppored MC_LoadProfile Sup.Y/N Commens VAR_IN_OUT B B TimeLoad VAR_INPUT B Execue E TimeScale E LoadScale E Offse E BufferMode VAR_OUTPUT B ProfileCompleed E Busy E Acive E CommandAbored B Error E ErrorID Par 6 Fluid Power Exensions V 2.0 November 18, 2011 page 26/ 27

27 Appendix A 4. The PLCopen Moion Conrol Logo and Is Usage For quick idenificaion of complian producs, PLCopen has developed a logo for he Moion Conrol Funcion Blocks: Figure 8: The PLCopen Moion Conrol Logo This moion conrol logo is owned and rademarked by PLCopen. In order o use his logo free-of-charge, he relevan company has o fulfill all he following requiremens: 1. he company has o be a voing member of PLCopen; 2. he company has o comply wih he exising specificaion, as specified by he PLCopen Task Force Moion Conrol, and as published by PLCopen, and of which his saemen is a par; 3. his compliance applicaion is provided in wrien form by he company o PLCopen, clearly saing he applicable sofware package and he supporing elemens of all he specified ables, as specified in he documen iself; 4. in case of non-fulfillmen, which has o be decided by PLCopen, he company will receive a wrien saemen concerning his from PLCopen. The company will have a one monh period o eiher adop heir sofware package in such a way ha i complies, represened by he issuing of a new compliance saemen, or remove all reference o he specificaion, including he use of he logo, from all heir specificaion, be i echnical or promoional maerial; 5. he logo has o be used as is - meaning he full logo. I may be alered in size providing he original scale and color seing is kep. 6. he logo has o be used in he conex of Moion Conrol. Par 6 Fluid Power Exensions V 2.0 November 18, 2011 page 27/ 27