Motion Terminal VTEM. Description. Motion App #04. Model-based proportional pressure regulation [ ]

Transcription

1 Motion Terminal VTEM Description Motion App #04 Model-based proportional pressure regulation [ ]

2 VTEM Translation of the original instructions VTEM-MA04-E N Firefox is a registered trademark of its respective trademark holder in certain countries. 2 Festo VTEM-MA04-EN

3 VTEM Table of contents 1 About this document Further applicable documents Target group Product version Function Functional description Required sensors Diagnostic messages and error elimination System parameters used Tube length at (2) Tube length at (4) Tube internal diameter at (2) Tube internal diameter at (4) Volume at (2) Volume at (4) Application parameters used Maximum pressure rise at (2) Maximum pressure rise at (4) Defaults Setting of the Motion App (app option) Control of the Motion App (app control) Setpoint value 1 and 2 (setpoint value 1, setpoint value 2) Return values Status of the Motion App (app state) Actual value 1, actual value A Technical appendix A.1 Technical data Festo VTEM-MA04-EN English 3

4 1 About this document 1 About this document This document describes the function and parameterisation of the Motion App shown on the title page. Information relevant for understanding the function as well as the necessary steps and approaches for parameterisation are described in other documents ( 1.1 Further applicable documents). 1.1 Further applicable documents Document Instruction manual for mounting of CPX Terminal/Motion Terminal VTEM (CPX_VTEM) Instructions using Motion Terminal VTEM (VTEM) Description of Motion Terminal VTEM, function and parameterisation (VTEM) CPX system description (P.BE-CPX-SYS) Tab. 1.1 Table of contents Instructions and important notes for mounting the Motion Terminal VTEM with attached CPX terminal Instructions and important notes on handling, installing, commissioning and maintaining the Motion Terminal VTEM Detailed description of the Motion Terminal VTEM as well as its function and parameterisation Information on the complete system of the CPX terminal For all available product documentation Target group This document is intended for qualified personnel. Experience with electrical and pneumatic control systems is required in order to understand this documentation. 1.3 Product version This document refers to the following product versions: Product Version VTEM- Motion Terminal VTEM from Revision 01 CTMM-S1-C Controller of the Motion Terminal VTEM from Revision 01 Firmware Firmware of the controller CTMM from Version VEVM-S1-27- Valve for Motion Terminal VTEM from Revision 01 CTMM-S1-D-8E-M8-3 Digital input module for Motion Terminal VTEM from Revision 01 CTMM-S1-A-8E-A-M8-4 Analogue input module for Motion Terminal VTEM from Revision 01 Browser Firefox from Version 38 Tab. 1.2 The product version can be found using the [System] [Information] page in the WebConfig user interface of the Motion Terminal. Note There may be an updated version of this document for these or later product versions. Check if there is an updated version of this document ( 4 Festo VTEM-MA04-EN English

5 2 Function 2 Function ID of the Motion App Name of the Motion App Pictogram of the Motion App 04 Model-based proportional pressure regulation Tab. 2.1 The ID of the Motion App must be transmitted via the operating mode of the valve (valve mode) range of the process data (bits 5 0 in byte 0 (PDO)) to be able to operate the Motion App on a valve ( Description of the Motion Terminal VTEM, function and parameterisation). 2.1 Functional description The pressure on the supply air ports (2) and (4) can be regulated individually and independently for each port. The basis for this is the pressure measured at the working port as well as the specifications of the connected system (system parameter). The pressure in the volume is calculated for a model based on these specifications. The working pressures can be regulated between 0.9 bar and +7 bar proportionally to a specified setpoint value. For vacuum applications, a vacuum is connected to port 3. Ambient pressure or a specified overpressure can simultaneously be connected at port (1) (e.g. for an ejector pulse). Unexpected behaviour of the actuator technology when connecting low pressure Connecting low pressure to the port for collecting exhaust air (3) has an effect on the function of all valve slices. The Motion App is not suitable for a constant flow rate. Inflows and outflows result in a lasting divergence. Both the supply pressure at port (1) and the exhaust pressure at port (3) are detected. If a vacuum is connected to port (3), the current low pressure value is determined. If the pressure setpoint specification for a valve output is greater than the supply pressure, the internal setpoint pressure is limited to the supply pressure. If the pressure setpoint specification for a valve output is less than the [exhaust pressure bar], this output will be regulated fully exhausted. If the parameter for the volume at the outputs (2) and (4) is set too high, overshooting of the closed-loop control can result. 2.2 Required sensors The Motion App does not require any external sensors. Festo VTEM-MA04-EN English 5

6 2 Function 2.3 Diagnostic messages and error elimination For information on the VTEM diagnostic messages and error elimination Description of the function and parameterisation of the Motion Terminal VTEM and System parameters used System parameters Tube length outlet (2) Tube length outlet (4) Tube internal diameter, outlet (2) Tube internal diameter, outlet (4) Volume at outlet (2) Volume at outlet (4) Tab. 2.2 Range of values 2000 mm 5000 mm 2000 mm 5000 mm 4 mm 7.5 mm 4 mm 7.5 mm 0.1 l 5 l 0.1 l 5 l Tube length at (2) mm 1 mm mm Tab Tube length at (4) mm 1 mm mm Tab Tube internal diameter at (2) mm 0.01 mm mm Tab. 2.5 Internal diameter for tubes from Festo External Ø [mm] PUN PUN-CM PUN-H PUN-V PUN-V0-C PLN PEN PAN PAN-MF PAN-R PFAN Tab Festo VTEM-MA04-EN English

7 2 Function Tube internal diameter at (4) 15 4 mm 7.5 mm 0.01 mm mm Tab. 2.7 Internal diameter for tubes from Festo External Ø [mm] PUN PUN-CM PUN-H PUN-V PUN-V0-C PLN PEN PAN PAN-MF PAN-R PFAN Tab Volume at (2) l 5 l l l Tab Volume at (4) l 5 l l l Tab Application parameters used ID Application parameters Range of values Default value 182 Maximum pressure rise at (2) 0.1 bar/s 200 bar/s Maximum pressure rise at (4) 0.1 bar/s 200 bar/s 50 Tab Maximum pressure rise at (2) bar/s 200 bar/s 0.01 bar/s x 0.01 bar/s Tab Maximum pressure rise at (4) Range of values Value of digit Range of digit bar 200 bar/s 0.01 bar/s x 0.01 bar/s Tab Festo VTEM-MA04-EN English 7

8 2 Function 2.6 Defaults The structure of the process data is described in the description Function and parameterisation of the Motion Terminal VTEM Setting of the Motion App (app option) Not used Control of the Motion App (app control) Activation of Pressure Control Functions Both pressure regulators in the valve slice can be activated or deactivated independently via the control bits 7 6 in Byte 0 (PDO). With a deactivated controller the corresponding working port (2) or (4) is locked. PDI Byte 0 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Possible statuses: Blocked Active State Port (2) Port (4) Bit 7 Bit 6 Blocked 0 Active 1 Blocked 0 Active 1 Tab Setpoint value 1 and 2 (setpoint value 1, setpoint value 2) Pressure setting The setpoint value for the controlled pressure can be set in the range of (corresponds to 1000 mbar mbar). The possible control range is between 0.9 bar +7 bar ( 2.1 Functional description). The pressure on (4) and (2) is set via the Bytes 5 4 and 3 2 (PDO). PDO Byte 5 PDO byte 4 PDO byte 3 PDO Byte 2 Port (4) Port (2) Port Range of values Value of digit Range of digit Data type Byte (PDO) (2) mbar 1 mbar mbar 16 bit signed integer 3 2 (4) mbar 1 mbar mbar 16 bit signed integer 5 4 Tab Festo VTEM-MA04-EN English

9 2 Function 2.7 Return values Status of the Motion App (app state) Status of the digital inputs (end position detection) The status of the inputs of the digital input module CTMM- -D-, which are assigned to the currently used valve, is depicted through the bits 2 and 0 in byte 1 (PDI) ( Description of Motion Terminal VTEM, function and parameterisation). This status information is only available if proximity sensors are installed in the end positions of the drive. For the operation of the Motion App no proximity sensors are required. PDI byte 1 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Position Bit 2 Bit 1 Bit 0 Status at input with odd number 0 1 (corresponds to position Advance of end position is reached 1) ) Status at input with even number (corresponds to position retracted end position reached 2) ) 0 1 1) (4) pressurised, (2) exhausted; switching position 14 2) (2) pressurised, (4) exhausted; switching position 12 Tab Warning The presence of warnings in the diagnostic memory of the Motion Terminal is given by bit 7 in byte 1 (PDI). PDI byte 1 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Value Description 0 There are no warnings. 1 There is a warning in the diagnostic memory of the Motion Terminal. Tab For handling of warnings and errors Description of function and parameterisation of Motion Terminal VTEM Actual value 1, actual value 2 The pressure actual values of both regulators (2) and (4) are reported via Byte 3 2 and Byte 5 4 (PDI). PDI byte 5 PDI byte 4 PDI byte 3 PDI byte 2 Port (4) Port (2) Connection Minimum Value digit Range of digit Data type Byte (PDI) (2) mbar 1 mbar mbar 16 bit signed integer 3 2 (4) mbar 1 mbar mbar 16 bit signed integer 5 4 Tab Festo VTEM-MA04-EN English 9

10 A Technical appendix A Technical appendix A.1 Technical data Static characteristics for the outlet pressure 1) Linearity error in the range of 5 % 95 % of the setpoint value under nominal conditions, with reference to the ideal characteristic curve Repetition accuracy in the range of 5 % 95 % of the setpoint value under nominal conditions Max. hysteresis in the range of 5 % 95 % of the setpoint value under nominal conditions Overall accuracy in the range of 5 % 95 % of the setpoint value under nominal conditions Response sensitivity in the range of 5 % 95 % of the setpoint value under nominal conditions (smallest setpoint value change that the closed-loop controller responds to) Max. temperature error in the entire temperature range (additional to overall accuracy) Zero point suppression 1) Applies for an outlet pressure range 0.9 to 7 bar. Tab. A.1 Technical data: static Dynamic characteristics for the outlet pressure 1) Recovery time (Hose PUN 8; 2 m; volume 0.1 l; setpoint step change 25 % 75 % 25 %) Permitted overshooting with stepwise setpoint changes for volumes 0.1 l (measured in the volume) 1) Applies for an outlet pressure range of 0 7 bar. Tab. A.2 Technical data: dynamic 170 mbar 80 mbar 80 mbar = Linearity error * hysteresis Z 210 mbar 80 mbar ± 50 mbar Setpoint value less than 100 mbar above internally measured exhaust pressure: Exhaust Setpoint value 100 mbar or more above internally measured exhaust pressure: Closed-loop control active 0.5 s 5 % full scale 10 Festo VTEM-MA04-EN English

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