Motion control with integrated control technology

Transcription

1 Drive Technology \ Drive Automation \ System Integration \ Services Flexible solutions for effective drive automation Motion control with MOVI-PLC Motion control with integrated control technology

2 2 Motion control with integrated control technology: MOVI-PLC MOVI-PLC : Flexible solutions for effective drive automation Electric drive technology has gained in importance regarding machine automation. This is because drive solutions affect crucial economic characteristics of machines such as investment and startup costs, production capacity or potential follow-up cost for maintenance and service. Designing the optimal drive solution requires a high level of flexibility in selecting the suitable drives and drive electronics as well as the appropriate technology. Keeping the access to comprehensive drive functionality as simple as possible is also critical for the implementation. can be programmed conveniently to IEC These blocks are adapted to the drive electronics and provide scalable functionalities simple single-axis functions, universal program modules, or application solutions for multiple axes. The integrated standard blocks of a PLC additionally provide full Logic Control. MOVI-PLC provides drive functionality in the form of parameterizable function blocks that Driving the world with innovative drive solutions for all branches of industry and for every application. Products and systems from SEW-EURODRIVE for any application worldwide. SEW-EURODRIVE products can be found in a variety of industries, e. g. automotive, building materials, food and beverage as well as metal-processing. The decision to use drive technology made by SEW-EURODRIVE stands for safety regarding functionality and investment.

3 3 This leaflet provides you with a complete overview as to the realization of drive solutions with MOVI-PLC Motion Control with integrated control technology. Page MOVI-PLC : universal, scalable and efficient 4+5 Automation solutions 6+7 MOVITOOLS MotionStudio software system 8 Remote maintenance 9 Programming or parameterizing Function blocks Program modules AxisControl Kinematics Application modules Handling basic 18 SyncCrane 19 Cam positioning 20 Simple bus programming (product announcement) 21 MOVI-PLC I/O-System 22 Operator panels 24 MOVI-PLC : Technical data 26

4 4 Universal, scalable and efficient MOVI-PLC can perfectly be integrated into any system

5 5 Universal MOVI-PLC is universal because it can easily be integrated into any drive solution: as an option card in MOVIDRIVE B inverters or MOVITRAC B frequency inverters, as well as in the MOVIAXIS multi-axis inverters or in the decentralized MOVIFIT drive control or as a compact control on a DIN rail. It is also considered a universal solution because all SEW-EURODRIVE inverters can be connected via the system bus. Furthermore, only one tool is required for the engineering of both the MOVI-PLC and the inverters. Scalable MOVI-PLC is scalable as it is available in two power classes: MOVI-PLC basic for the medium power range controls up to 12 axes MOVI-PLC advanced for the higher power range allows for controlling up to 64 axes. Both classes are available with various technology levels: Level T0 with single-axis functions, T1 for technology functions, and T2 for application solutions and multi-axis interpolation of complex kinematics. The connection of the drives via a CAN or EtherCat-based system bus, as well as via the interface to the higher-level control based on classic fieldbuses or ETHERNET. Powerful MOVI-PLC is powerful as the broad variety of function blocks provides the user with convenient access to the entire drive functionality, whereas the programming to IEC allows for simple handling. Thus, users are able to quickly implement complex drive tasks. The connection of the inverters via the fast, clock-synchronous system bus allows for reducing response times and thus enhancing the performance of the drive system, particularly when coordinating multiple axes.

6 6 Automation solutions MOVI-PLC can be used in any automation concept MOVI-PLC can be used whenever intelligent drive solutions are required, for example, if a number of drives have to interact perfectly. This is because MOVI-PLC always provides the matching drive functionality. MOVI-PLC controls this interaction in a simple and flexible manner. In this way, the drive functionality of a module is combined decentrally. This, in turn, relieves the workload of the central PLC and reduces the response times. However, it also allows for protecting know-how and eliminates complex portings to other control solutions. Motion control Ethernet Field bus With simple operation and a variety of preset function blocks, MOVI-PLC allows for an efficient implementation of motion functions, particularly if multiple axes are to be coordinated. With the axes connected to a fast synchronous system bus, pooling all the motion control tasks in one MOVI-PLC is the best you can do. Modular Ethernet Field bus System bus System bus MOVI-PLC I/O system

7 7 Stand-alone In practice, it is often beneficial to also process I/Os that directly depend on the motion sequence in the MOVI-PLC, e.g. in the form of cam controllers or touch probe events. Then, in addition to motion control, the MOVI-PLC controls individual sequences of sub-processes and automates a closed module of a machine. Benefits: Less workload for the PLC, reduced response times, and increased performance. Further, integrating functionality in the MOVI- PLC can protect know-how and reduce the workload when changing the central automation system. Ethernet Moreover, in conjunction with the Drive Operator Panels (DOP) and the MOVI-PLC I/O system, all the components required for an automation solution are provided a drive with suitable drive electronics, a control with a flexible I/O system, as well the visualization. Stand-alone, MOVI-PLC provides all the automation tasks from motion control to process control. System bus MOVI-PLC I/O system

8 8 Modular MOVITOOLS MotionStudio software system and remote maintenance Modular software system and remote maintenance complement MOVI-PLC Customized software solutions are required for each individual plant in order to efficiently control and monitor a mechatronic concept. MOVITOOLS MotionStudio, the modular software system from SEW-EURODRIVE is predestined to meet these requirements: The modular software system allows for the complete engineering: Startup, parameterization, programming, control, diagnostics, communication and visualization The SEW communication server allows for a free choice of the communication paths as it supports a broad variety of communication media and fieldbus systems Further, MOVITOOLS MotionStudio can be used in a variety of ways: - central with MOVIDRIVE inverter, MOVITRAC B frequency inverter and fieldbus gateway - decentralized with the MOVIFIT drive controller for innovative field installations, MOVIMOT, gearmotors with integrated frequency inverter and field distributors - as well as with the MOVIAXIS multi-axis servo inverters Tools to be used individually or combined: Startup Parameterization Whether you use them individually or combined, the tools are essential for quick and effective automation. MOVITOOLS MotionStudio detects all the stations connected to the configured interfaces automatically and displays them as nodes in a unit tree. The required tools can be selected and started quickly and easily in the context menu of each node. Diagnostics and Visualization Programming

9 9 Remote maintenance Remote maintenance also provides a convenient engineering access. SEW-EURODRIVE provides several solutions depending on the plant topology: The simplest solution merely requires an analog phone line. Signals are converted for ETHERNET via the ORA11B modem. Thus a MOVI-PLC advanced can addressed. This provides the ideal solution if MOVI-PLC stand-alone automates an entire machine. Alternatively, the MOVI-PLC can be addressed via a higher-level central PLC. ORA11B technical data Power supply Functions Configuration Features 0 60 V DC / 3 5 W Analog modem with dial-up line up to 56 kbit/s Router with dial-in / dial-out / callback / DHCP server and client Switch with 4 ports, 10/100 MBit/s, full and half-duplex Web interface (local / remote) two binary I/Os, SMS message functionality Engineering PC with analog modem Analog phone line Remote location Ethernet System bus ORA11B MOVI-PLC advanced Axis 1 Axis 2 Axis 3

10 10 Programming or parameterizing Programming or parameterization MOVI-PLC adapts to the user Motion control with MOVI-PLC provides three options that will provide functional solutions quickly and easily, irrespective of the complexity of the individual task or the programming skills of the user. Function blocks: Versatile combinations and flexible applications The direct access to the blocks that allow for a certain drive function provide the highest level of flexibility. They are clearly arranged in libraries according to their functionality and the respective type of inverter. With some experience, the user can flexibly combine these function blocks to form an optimal program. Program modules: Optimized connection and efficient use The program modules comprise bundled comprehensive drive functions. These can be simple functions like positioning, referencing or speed control, technology functions for controlling a cam or a synchronous operation, or functions for multi-axis interpolations of kinematics. Once these program modules have been integrated, the user merely has to concentrate on programming the most important processes of the respective application. The program modules provide the entire drive functionality via an interface. Thus, program modules are ideal for PLC programmers that intend to reduce the programming effort of the drive functionality.

11 11 Application modules: Individual preprogramming and immediate executability The application modules comprise function blocks that, in turn, contain drive functions for certain applications. The user can use function blocks directly as executable programs by using simple parameterization without having to deal with complex programming. The MOVI-PLC can be operated directly via a defined process data inferface.

12 12 Function blocks Providing or flexibility and variety: Function blocks from the libraries Apart from a library for standard IEC functions and in order to allow for efficient programming, MOVI-PLC provides a library with function blocks containing suitable drive functions for each type of inverter. They comprise the following functions: Enabling the drive, presetting the speed, positioning, referencing, as well as reading or writing parameters. The established motion blocks certified to PLCopen are available as well. In addition, there are libraries for technology functions such as synchronous operation, cam, virtual master axis and cam control. These function modules can be combined easily to create individual, tailor-made solutions. The established motion blocks certified to PLCopen are available as well

13 13 MOVI-PLC technology version T1 supports the libraries MPLCTecGearMotion Electronic gear unit (synchronous operation) Various engaging type modes and trigger sources Master source can be switched Offset processing MPLCTecCamMotion y Electronic cam Numerous trigger and master sources Switching between several curves possible Online curve calculation x MPLCTecVirtualEncoder Virtual encoder with jerk-limited travel profile Can be operated in different operating modes like a real drive Two separate virtual encoders possible As master value for synchronous operation and cam MPLCTecCamSwitch Cam control Three tracks with 4 cams each Encoder source can be selected 1 ms sampling time with delay time feedforward in a 100 μsec resolution

14 14 Program modules Reduce required time and workload: the program modules with comprehensive functionality AxisControl program module Program modules combine function blocks from the libraries and provide the user with powerful packages containing comprehensive drive functionalities and significantly reducing the programming effort. The AxisControl program module provides yet another drive functionality spectrum. An axis can be controlled once the AxisControl program module matching the inverter has been integrated. Jog, referencing or positioning the user does not have to activate any other function blocks. Instead, a simple interface can be accessed to start the function and transmit the parameters. The AxisControl program module is a platform for comprehensive drive functionality providing the perfect basis for an application program. The user merely has to add the processes required in the application.

15 15 Special processes such as flying saw or algorithms e.g. for winders are provided as well. After minor adaptations, the user is provided with a working solution via the interface. A user interface is available matching the Axis- Control program module. It can be used to monitor and control the interface. Thus, each axis can be controlled once the program module has been integrated.

16 16 Program modules AxisGroupControl kinematics program module Machine controllers are increasingly taking over kinematics control of integrated handling or processing modules. The AxisGroupControl Kinematics program module facilitates complex path interpolation as well as the control of individual axes or technology functions. As with AxisControl, the user addresses a simple interface that, apart from the kinematics functions, also supports the conventional single-axis functions such as referencing of the involved axes. Several AxisGroupControl Kinematics can be set-up on one MOVI-PLC, which means that different paths can be controlled in different kinematics at the same time.

17 17 Functionality: Sequential program is built in IEC , no additional specific robotics programming language and no additional tool required. Numerous sample programs are available the simplest case merely requires the target coordinates and the velocity settings Path points and parameters can enter the user program in various ways, e.g.: - during startup or machine operation via an operator terminal (teach-in) - or via the calculation directly in the MOVI-PLC program - or data transmission from a higher-level PLC via a process data interface (Profibus, DeviceNet, Profinet, Ethernet IP, Modbus TCP, UDP) A graphical user interface with a display for monitoring and control simplifies startup. Convenient program sequence test using the 3D simulation integrated in MOVITOOLS MotionStudio: - simultaneously with the real machine operation or - completely without drives with MOVI-PLC and a PC A list of standard kinematics is provided Special customer kinematics can be integrated Kinematics can simply be changed via configuration Continuous path with automatic corner rounding Target path types with automatically limited path acceleration Tracking of moving workpieces Requirements: MOVI-PLC advanced, min. T2 MOVIDRIVE or MOVIAXIS Encoder feedback

18 18 Application modules Offer parameterizable solutions: Application modules for standard applications Handling basic application module Short cycle times and movements that wear the materials as little as possible are essential requirements for applications in handling technology, such as palletizers, packaging machines or transfer units. To meet these requirements, several axes have to be perfectly coordinated: a task MOVI-PLC is predestined for. Functionality: Coordination of up to four axes in gantry kinematics Graphical interface for startup and parameterization with online help Curve points determined directly via teach-in, or via a higher-level controller Comprehensive drive functionality for each axis (jog, referencing, singleaxis positioning, multi-axis coordination) Defined interface to master controller Monitor integrated in the GUI for monitoring and control purposes Automatic overlap Breakpoints Override System positions Requirements: MOVI-PLC basic T2 MOVIDRIVE Encoder feedback

19 19 SyncCrane application module Cranes and hoists are often driven by mechanical systems with two or more drives that are not rigidly connected. The position of the system cannot be determined directly from the position of the motor encoder due to slip or rope elongation, for example. Additional encoders detect the impact of these disturbances and enable their compensation. Functionality: Up to eight axes in synchronous operation Optionally four auxiliary axes Graphical interface for startup and parameterization with online help Comprehensive drive functionality for each axis (jog, referencing, singleaxis positioning, synchronous operation) Defined interface to higher-level controller Monitor integrated in the GUI for monitoring and control purposes Evaluation of external or SSI encoders Indirect positioning Synchronous operation with virtual encoder Adjustable cyclical compensation of disturbances such as slip or rope elongation Requirements: MOVI-PLC basic T2 MOVIDRIVE Encoder feedback

20 20 Application modules Cam positioning application module In many areas of application, e.g. in transport, motion control is implemented via rapid/ creep positioning. This solution is cost-effective and, at the same time, enables the correction of disturbances, such as slip that occurs when positioning a pallet on a roller conveyor. In addition, positions can easily be set by relocating a sensor. Functionality: Graphical interface for startup and parameterization with online help and monitor for control and monitoring purposes Drive functions jog and rapid/creep speed positioning Control via fieldbus or terminal Decentralized with MOVIFIT Technology (FC or MC) or central with MOVIDRIVE or MOVITRAC Requirements: MOVIFIT Technology (FC or MC), MOVIDRIVE or MOVITRAC

21 21 Product announcement: Simple bus positioning application module Format adjustments or rotary tables are examples of applications that require positioning, however, without high dynamics and a high resolution. A full-fledged encoder would be rather expensive in those cases. The Simple bus positioning with the built-in encoder of the new DR motor represents a cost-effective alternative. Functionality: Graphical interface for startup and parameterization with online help and monitor for control and monitoring purposes Drive functionality Control via fieldbus Decentralized with MOVIFIT Technology (FC or MC) or central with MOVIDRIVE or MOVITRAC Requirements: MOVIFIT Technology (FC or MC), MOVIDRIVE or MOVITRAC DR motor with built-in EI7C encoder

22 22 MOVI-PLC I/O-System Modular and flexible: MOVI-PLC I/O-System The MOVI-PLC I/O system expands the digital and analog interfaces of MOVI-PLC. Up to 32 modules can be connected per bus coupler in enclosure IP20 via the system bus. Accordingly, MOVI-PLC can automatically access a large spectrum of inputs and outputs: MOVI-PLC I/O system I/Os directly integrated with MOVI-PLC I/Os of the controlled inverters Overview of the benefits: Powerful connection to MOVI-PLC via the system bus of the machine module Optimally integrated into the programming software PLC Editor of MOVITOOLS MotionStudio A variety of combination options makes for the implementation of flexible and individual machine solutions The compact design and the modular structure reduce control cabinet space requirements to a minimum Quick and easy installation or replacement in case of startup or service

23 23 MOVI-PLC I/O system Bus coupler OCC11B Bus coupler system bus CAN Transmission rate 10 kbaud to 1 MBaud User-friendly address setting Max. 32 I/O modules can be freely combined per coupler LED for status display Inputs ODI81B 8 digital inputs Electrically isolated from the bus system LED for status display of the channels OAI41B 4 analog inputs Voltage ± 10 V Resolution 13 bit Electrically isolated from the bus system LED for exceeding the control range OAI42B 4 analog inputs Current ma, ± 20 ma Resolution 13 bit Electrically isolated from the bus system LED for exceeding the control range OAI43B 4 analog inputs Multi-Input ± 10 V or ma, ± 20 ma Pt100, Pt1000, Ni100, Ni1000, Cu50; Type J, K, N, R, S, E, T Electrically isolated from the bus system LED for exceeding the control range Outputs ODO81B 8 digital outputs 0.5 A Electrically isolated from the bus system LED for supply voltage, error message, active display of the channels OAO41B 4 analog outputs Voltage ± 10 V or V Electrically isolated from the bus system Resolution 12 bit or 11 bit LED for supply voltage OAO42B 4 analog outputs Current 0 20 ma or ma Electrically isolated from the bus system Resolution 12 bit or 11 bit LED for supply voltage OAO43B 4 analog outputs Multi-Output Electrically isolated from the bus system ± 10 V, V, V, ± 20 ma, ma or ma Resolution 12, 11 or 10 bit LED for group diagnostics Accessories OTM21B Terminal module For 2 or 3-wire installation Max. terminal current 10 A OBP11B 1) OBP81B 2) Back-panel connector 1-tier and 8-tier connectors 1) Each module (except bus coupler) is supplied with a 1-tier connector. 2) For 8 modules, we recommend the use of an 8-tier connector.

24 24 Visualization

25 25 Optimal visualization with the DOP11B operating panels With more complex plants, the demands on operation, visualization and diagnostics increase as well. The DOP11B operating panels allow for complex visualizations in a comfortable way. They offer a simple connection to the MOVI-PLC and possibilities for recipe and multilanguage management, as well as several security levels. In addition, an integrated web server allows for an easy remote access to the operating panel. MOVI-PLC supports the following visualization options: Visualization via Drive Operator Panels PC Drive operator panel (DOP11B-xx) from SEW-EURODRIVE Third-party panel OPC interface driver Application Builder, a software tool from SEW-EURODRIVE connection via serial RS-232, RS-422, RS-485 interface or ETHERNET direct access to data in MOVI-PLC free tool connection via serial RS-485 interface or ETHERNET supports Modbus RTU or Modbus TCP protocols further protocols can be parameterized provides data from the MOVI-PLC for other applications on the PC PC-based visualization types can access this data connection via serial RS-485 interface or Ethernet direct access to data in MOVI-PLC free tool front f.l.t.r. DOP11B-15, -25, -20, -30, -10 / back f.l.t.r. DOP11B-60, -50, -40

26 26 MOVI-PLC in brief Motion Control with integrated control technology MOVI-PLC at a glance DHP11B-T.. MOVI-PLC basic control card in unit versions T0, T1, T2 for installation in MOVIDRIVE B, MOVITRAC B*, MOVIAXIS master module* Technical data: PROFIBUS slave DP-V1 2 CAN interfaces, 1 of which is electrically isolated RS-485 interface 7 LEDs for PLC, PROFIBUS and CAN status display 8 digital I/Os, 5 of which are interruptible 512 kb program memory 128 kb data memory 16 kb retain variables 8 kb system variables (retain) Up to 4000 IL lines / msec Free-wheeling task Cyclic tasks: 1 ms, 5 ms, 10 ms, 100 ms OST11B Extension for MOVI-PLC basic DHP11B additional engineering/rs-485 for installation in MOVIDRIVE B, MOVIAXIS master module* optional in compact control * can only be installed at the factory

27 27 DHx41B MOVI-PLC advanced control card DHE41B with ETHERNET interface DHF41B with additional PROFIBUS and DeviceNet slave interface DHR41B** additionally with PROFINET / Ethernet IP / Modbus TCP/IP-Slave interface for installation in MOVIDRIVE B, MOVITRAC B*, MOVIAXIS master module* Technical data: 1x ETHERNET 1x EtherCAT-based system bus 2 CAN interfaces, 1 electrically isolated 2x RS-485 USB-Device PROFIBUS slave DP-V1 (DHP41B) 8 digital I/O Status display for PLC and fieldbus 8 MB program memory 4 MB data memory 32 kb retain variables 8 kb system variables (retain) free-wheeling task, 5 cyclic tasks (1 ms ms) PC-readable memory card for firmware and application program OMH41B-T.. Memory cards for MOVI-PLC advanced with technology activation T0... T10 DH../../UOH.. MOVI-PLC compact controls DHP11B-Tx/UOH11B DHP11B-Tx/OST11B/UOH21B DHE41B/UOH11B DHP41B/UOH21B DHR41B/UOH21B** MT.. MOVIFIT Technology function level** with integrated MOVI-PLC basic for decentralized installation * can only be installed at the factory, DHF41B not in MOVITRAC B ** product announcement

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