Flexible system customization. Short-period of development. Popular motion control languages

Transcription

1 MOTION CONTROLLER C

2 CONCEPT 1 CONCEPT 2 CONCEPT 3 Motion control, robot control, and PLC control all in one unit Enables seamless integration of motion control, robot control, and PLC control Simple system Wire-saving by serial interface Supports many serial buses (e.g. GA1060, SERCOS, CANopen, and PROFIBUS) Compact, modular structure Flexible system customization High expansivety, extensive option modules Extensive software library CONCEPT 4 CONCEPT 5 Short-period of development Prepared user-friendly development tools Enables modularized development or partible development through structured programming Uses resource programs (software-assets inheritance) Popular motion control languages World-standard PLC language (IEC ) Robot language (TeachTalk) 1

3 CONCEPT 1 Motion control, robot control, and PLC control all in one unit Enables seamless integration of motion control, robot control, and PLC control Motion control PTP, interpolation, and path-control operations Robot control Cartesian to 6/7 axes articulated arm robots PLC control I/O, real-time tasks, multi-tasks I/O control PLC CNC Robot Motion control SANMOTION C can seamlessly integrate the controllers needed for each device or machine in one unit. Conventional system system Ethernet Factory LAN Ethernet Factory LAN Motion control FIELD Bus PLC control Robot control PLC control Motion control Robot control 2

4 CONCEPT 2 Simple system Various Wire-saving interfaces features Wire-saving by serial interface Supports many serial buses (e.g. GA1060, SERCOS, CANopen, and PROFIBUS) Compact, modular structure Networking Reduced wiring GA1060 SERCOS CANopen PROFI BUS GA1060 LSI specialized for servo communications: Features synchronous communications between a controller and several servo-amplifiers using a multi-drop serial interface based on the RS485. Real-time control Date of position and velocity is monitored, and the change in the servo parameter is possible in servo operation. Improved communications reliability (communication redundancy) Checks for communication errors and resends data when errors occur. Dynamic range Use of high-resolution encoder in high speed operation. Improved maintainability Alarm/parameter setup. Modular structure F F 3

5 CONCEPT 3 Flexible system customization All application systems can be set up easily. High expansivety, extensive option modules Extensive software library Customer application equipment Conveyor, packaging machine, semiconductor-manufacturing equipment, liquid-crystal-manufacturing equipment,measuring instruments, inspection equipment, pressing machine, injection molding machine, others Kinematics SCARA robots Cartesian robots 6/7 axes articulated arm robots Multi-axis synchronization Linear interpolation arc interpolation Position, velocity, acceleration X-Y table drilling roll feeder transfer Robot control Sequence control Motion control Extensive library FB Function Block API MFB Motion Function Block Firmware CAN 1Mbps bus Example of adding DIO modules via FieldBus (CAN) Max. 12 units RS485/422 Touch panel Process I/O System USB memory Compact Flash 4

6 CONCEPT 4 Short-period of development Prepared user-friendly development tools Enables modularized development or partible development through structured programming Uses resource programs (software-assets inheritance) Distributed Development Configuration manager Real-time monitor LAN HMI programming PLC programming Motion programming Robot programming HMI Integrated Development tools PLC/MCU RCU View IEC edit Teach edit Scope Manager JAVA IEC TeachTalk Monitor Servo Tuning Structured programming Break down each program into small parts (program constituent units) Specify an execution scan period for each I/O (TASK) POU Operation description Variable definitions Common input/ output variables PART1 Uses resouce programs software-assets inheritance LD ( ) LD Not. IL A P SFC 5

7 CONCEPT 5 Popular motion control languages The four programming languages LD,IL,ST, and SFC of IEC are supported. Furthermore,FB(Function Block) supports the machine units concept and therefore enables the software components, and structured programming. World-standard PLC language (IEC ) Robot language (TeachTalk) World-standard PLC language (IEC ) Makes programming more efficient and enables sharing of program resource Available for languages from IEC IL Instruction List Reduces application size LD Ladder Diagram Replaces relay sequence ST Structured Text Application description SFC Sequential Function Chart Application-structure description SFC Convenient for expressing the operation of an entire SFC control system Sequential Function Chart Start Transition conditions Transition conditions can be described by LD, FBD, etc. Step 1 N Action1 Transition conditions Execute program specified by Action1 Instruction List LD A ANDN B ST C Ladder Diagram A B C ( ) Branch Step 2 S Action2 Step 3 S Action3 A B & C Transition conditions Combine flow Structured Text Step 4 S Action1 C:=A AND NOT B IEC edit IEC (IEC standard) open platform promoted at PLCopen enables use of existing resource. Robot language (TeachTalk) Teach Talk ROUTINE Observation( ) WHILE TRUE Do WAIT go; red:=true; sleep(100); red:=false; START blinking(s); WAIT IS FINISHED OR NOT go; STOP blinking; go:=false; END_WHILE END_ROUTINE Teach edit 6

8 Examples of System Configurations Applications Loader, unloader, Conveying equipment single-axis, combination, Wire-saving application X-Y table, electronic gearing, electronic cams linear/arc interpolation, path-control application Model Remarks Hardware CPU module CP230-Z PowerPC 266MHz, 16MB, CAN, RS485 I/O module DM260-A 8DI, 8DO 0.5A 100% /1.0A 50% Interface module SX210-A RS232C Compact Flash CF 128MBCF Field bus module FM299-A GA1060 I/F module max. 16 axis Software PLC-CP23X PLC control firmware Mcu.ptp PTP control firmware Model Remarks Hardware CPU module CP230-Z PowerPC 266MHz, 16MB, CAN, RS485 I/O module DM260-A 8DI, 8DO 0.5A 100% /1.0A 50% Interface module SX210-A RS232C Compact Flash CF 128MBCF Field bus module FM299-A GA1060 interface module (max. 16 axis) Software PLC-CP23X PLC control firmware Mcu.ptp PTP control firmware Mcu.path Path control firmware Mcu.sensor Sensor control firmware Mcu.Tracking Tracking control firmware SANMOTION C combines the classic advantages of standard PLC technology (real-time operation, industrial robustness and stability) with the advantages of modern PC technology (Ethernet, USB, multimedia, Internet). Due to the open hardware and software architecture, individual system components can also be integrated later at any time. Examples of motion functions Function blocks KMFB_GetReference Commands to axis objects the corresponding section of the PLCOpen documentation is given in brackets KMFB_MoveAbsolute 3.1 Jerk limiting KMFB_MoveRelative 3.2 Trapezoidal acceleration profile KMFB_MoveAdditive 3.3 Sin 2 acceleration profile KMFB_MoveVelocity 3.5 KMFB_Stop 3.7 KMFB_Power 3.8 KMFB_ReadStatus 3.9 KMFB_ReadAxisError 3.10 KMFB_Reset 3.11 KMFB_ReadParameter & ReadBoolParameter 3.12 KMFB_WriteParameter & WriteBoolParameter 3.13 KMFB_ReadActualPosition & ReadActualVelocity 3.14 and Ext. V KMFB_ReadBackValues KMFB_SetPosition Ext. V KMFB_SetOverride Ext. V Path blending Overlapping Definition by radius=start of blending Deviation=shortest distance from path to P2 Percentage of segment=start of blending Commands for digital cam controller KMFB_EnableDigCamTrack KMFB_ReadDigCamTrackStatus KMFB_ReadDigCamTrackParameter KMFB_WriteDigCamTrackParameter KMFB_EnableDigCam KMFB_ReadDigCamStatus KMFB_ReadDigCamParameter KMFB_WriteDigCamParameter 7

9 Cartesian robots, SCARA robots multi-axis, synchronous-operation application Model Remarks Hardware CPU module CP232-Z PowerPC 400MHz, 64MB, CAN, RS485 I/O module DM260-A 8DI, 8DO 0.5A 100% /1.0A 50% Interface module SX210-A RS232C NX250-A Ethernet Compact Flash CF 128MBCF Field bus module FM299-A GA1060 interface module (max. 16 axis) Software PLC-CP23X PLC control firmware Mcu.ptp PTP control firmware Mcu.path Path control firmware Mcu.sensor Sensor control firmware Mcu.Tracking Tracking control firmware Mcu.workspaceWorkspace firmware 6/7 axes articulated arm robots multi-axis, synchronous-operation application Model Remarks Hardware CPU module CP232-Z PowerPC 400MHz, 64MB, CAN, RS485 I/O module DM260-A 8DI, 8DO 0.5A 100% /1.0A 50% Interface module SX210-A RS232C NX250-A Ethernet Compact Flash CF 128MBCF Field bus module FM299-A GA1060 interface module (max. 16 axis) Software PLC-CP23X PLC control firmware Mcu.ptp PTP control firmware Mcu.path Path control firmware Mcu.sensor Sensor control firmware Mcu.Tracking Tracking control firmware Mcu.workspaceWorkspace firmware SANMOTION C controls robot of various types. The programs are optimizes for robot control and the engineering modules for control-operation commands. Examples of robot control functions Administrative function blocks KRCU_Kinematic KRCU_Reset KRCU_Continue KRCU_ReadStatus KRCU_Override KRCU_CreateReferenceSystem KRCU_UpdateTrackingRefSystem KRCU_GetCartPos KRCU-traversing command KMFB_ReadParameter & ReadBoolParameter 3.12 KMFB_WriteParameter & WriteBoolParameter 3.13 KMFB_ReadActualPosition & ReadActualVelocity 3.14 and Ext. V KMFB_ReadBackValues KMFB_SetPosition Ext. V KMFB_SetOverride Ext. V Linear interpolation control Arc interpolation control KRCU-controller connection KRCU_DriveControl KRCU_SEWDriveControl 8

10 Software Specifications Software Robot program Designed for Online-programming Programming and testing on the machine (Teach-In) Selected function commands Simple user interface on teach pendant Process visualization Central adaptation of look & feel Comprehensive auxiliary functions Language-switching functions Programming with Borland (JBuilder) Robot application Implemented in TeachTalk language Definition of function commands Jogging Program execute/step operations Connection to motors and drivers Robot Teach-in editor Robot program Robot application Robot control (Kinematics) Motion NC interpreter Process visualization Motion program Motion control Motion control PTP functions Synchronous Point-To-Point (PTP) interpolation functions Path consistent override and stop Limitation of jerk Axis limiter Workspaces (collision avoidance) Path functions CP interpolation functions (line, circle, spline) Mixed interpolation control (wrist-joint) Path blending with constant speed Trigger points Base system Operating system Vx Works 9

11 HMI PLC, Motion program PLC PLC control PLC program FB library I/O system I/O system OPC server RRS interface... GA1060 SERCOS PROFIBUS-DPV0 Direct I/O... PLC, Motion programming with IEC SFC, ST, IL, and LD languages Compiled code (cycle times < 1ms) Multi-tasking Offline programming tool (IEC-edit) I/O system I/O drivers and interfaces Field buses: GA1060, SERCOS, PROFIBUS-DPV0,... Direct I/O's: Digital-I/O, Analog-I/O, Counter,... Amplifiers: Sanyo Denki (QS-E, PV2,...) Teach pendants: T40, T50, T100 API Application programming interfaces Diagnostics interfaces Configuration with offline tool (SANMOTION.manager) 10

12 11 Product Lineup COMPACT FLASH USB Field bus CAN extension Status display LED RS485 Power SANMOTION C Controller (base) module Interface modules CP 232-Z CPU PowerPC : 400MHz 64MB, CAN,... CP 230-Z CPU PowerPC : 266MHz 16MB, CAN,... CP 231-X CPU PowerPC : 266MHz 64MB, CAN, Graphic I/F... SX210-A RS232C SX230-A RS485/422 NX250-A Ethernet FX200-A CAN RS232C RS485 Ethernet Bus link module BL210-A CAN coupler I/O module DM260-A 8 DI, 8DO DM262-A 8 DI, 8DO AM299-A 4 DI, 4 DO 2 AI diff. 2 AO AM299-B 4 DI, 4 DO 2 AI Pot. 2 AO TM 220-A 3 thermal inputs Typ J, K Field bus module FM299-A GA F Lineup

13 SANMOTION C General Specifications Specifications General Control modes Motion control, PLC control, robot control specifications Control languages PLC,Motion language (IEC ) Robot language (TeachTalk) No. of control axes Motion bus Maximum data-transfer rate Position-commands update cycle Hydraulics control Max. 16/module; expansion up to 2 modules GA Mbps 1, 2, 4, 8, 16, 32 msec Can be customized in combination with special firmware (manufactured after order) Functions Command unit Various (pulse, mm, inch, degree) Maximum command value PTP (PointToPoint) Linear interpolation Arc interpolation Acceleration/deceleration types Teaching playback to ( 31 bit) Linear, rotational, infinite length Max. 6 axes, articulated arm Max. 3 axes Linear, asymmetric, S-curve Teach in Independent operation for each axis Override function Teaching pendants Robot control Kinematics operations (SCARA, Cartesian, 6/7 axes articulated arm, e.t.c ) Collision-avoidance function Programs Program size 30 MB (RAM 64MB) No. of simultaneous tasks Programming Unlimited User-defined functions may be created Options External connections Ethernet RS-232C RS-485/422 Development tools (PC/AT compatible) IECedit Teachedit (programming and debugging) Manager (parameter-setting tools) Scope (data tracing ; SW oscilloscope) View (HMI development tools) Usage Power supply DC24V (19.2 to 30VDC) environment Operating temperature 0 to 55 (IEC compliance) Storage temperature Humidity Dimensions Mass 40 to 70 (IEC compliance) 10 % to 95 %(no condensation) (IEC compliance) 125mm(H) 180mm(W) 100mm(D) (Controller modules) 0.65kg (Controller modules) 12

14 ART / Rev 00 / Ind 00 SX 230/A P Dimensions (Unit : mm) Dimensions Controller (base) module CP23 CP23 - Connector : SIO, CAN : D-sub 9-pin female connector Power supply DC24V : MSTB2.5/2-ST-5.08 (Phoenix Contact) 100± ±2 DIN rail 121±2 72±1 Interface modules CAN module FX200-A Connector : D-sub 9-pin female connector Ethernet module NX250-A Connector : RJ45 connector (8 pin) RS 232C module SX210-A Connector : D-sub 9-pin female connector RS 485/422 module SX230-A Connector : D-sub 9-pin female connector SI1 SX 230/A SANYO DENKI 13

15 SERCOS module FM280-A Connector : SMA connector(optical) GA1060 module FM299-A Connector : D-sub 9-pin female connector 100±2 100±2 121±2 72±1 22.5±1 37 I/O module DM260-A, DM262-A Connector : I/O : MSTB 2.5/8-ST-5.08 (Phoenix Contact) Power supply : MSTB 2.5/8-ST-5.08 (Phoenix Contact) Analog input/output module AM299-A, AM299-B Connector : I/O : MSTB 2.5/8-ST-5.08 (Phoenix Contact) Power supply : MSTB 2.5/8-ST-5.08 (Phoenix Contact) 100±2 121±2 72± ±1 Buslink CANcoupler module BL210-A Connector : D-sub 9-pin female connector, MSTB2.5/2-ST-5.08 (Phoenix Contact) 100±2 121±2 72±1 121±2 72±1 22.5± ±2 121±2 72± ±1 22.5±

16 JAVA, JBuilder, VxWorks, COMPACT FLASH and all other product names decribed in this catalog are trade marks or registered trademarks of respective owners DN