080611 AC500 Motion Control Library PS551 MC E
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Transcript of 080611 AC500 Motion Control Library PS551 MC E
![Page 1: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/1.jpg)
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PS
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: AC
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ABB STOTZ-KONTAKT GmbHHeidelberg - Germany
PS551-MC
Libraryfor AC500
Stefan Buchholz
June, 11th 2008
![Page 2: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/2.jpg)
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PS
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: AC
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Mot
ion
Con
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Lib
rarie
s AC500 library
PS551-MC Coming up
Motivation
AC500 PLC system
PLCopen Motion Control
PS551-MC library
First steps, demonstration
Preview Standard Drive Library
![Page 3: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/3.jpg)
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PS
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: AC
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Introduction: ABB SolutionsAC500 library
PS551-MC
![Page 4: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/4.jpg)
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Lib
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s Fieldbus configuration principle
![Page 5: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/5.jpg)
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PS
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: AC
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Mot
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Lib
rarie
s AC500 CoDeSys configuration
Program MCW, Ref1, Ref2,... Program a Motion / Velocity
![Page 6: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/6.jpg)
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PS
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: AC
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Mot
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Lib
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s AC500 library
PS551-MC Content
AC500 PLC system
PLCopen Motion Control
PS551-MC library
First steps, demonstration
Preview Standard Drive Library
![Page 7: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/7.jpg)
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PS
551-
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: AC
500
Mot
ion
Con
trol
Lib
rarie
s AC500 library
PS551-MC Coming up
AC500 PLC
PLCopen Motion Control
PS551-MC library
First steps, demonstration
Preview Standard Drive Library
![Page 8: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/8.jpg)
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Introduction – Configurations for PLCopen library
Servo motors Frequency converters PLCs 9C-Series ACSM1 HDP xx ACS800-MC AC500 … ACS350
AC500 libraryPS551-MC
![Page 9: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/9.jpg)
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PS
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PLCopen Motion Control
Specifications by PLCopen foundation
Functionality for motion control
- continuous motion (velocity ref)
- discrete motion (position ref)
- synchronous motion
State machine
Independent of used hardware
(PLC, Fieldbus, Drive)
Independent of physical unit
Independent of programming language
AC500 libraryPS551-MC
![Page 10: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/10.jpg)
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PLCopen State MachineAC500 library
PS551-MC
PLCopen Specification: AC500 visualization:
![Page 11: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/11.jpg)
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PLCopen Function Blocks
PLCopen describes hardware independent function blocks
AC500 libraryPS551-MC
Name Function
Inputs Outputs
![Page 12: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/12.jpg)
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PS551-MC PLCopen Function Blocks
Example: definition of MC_MoveAbsolute
![Page 13: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/13.jpg)
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PLCopen Specification of technical unit
Technical Unit [u]:
length unit [u] is not physically specified – manufacture dependent
only its relation with others is specified
velocity [u/s] acceleration / decceleration [u/s2 ] jerk [u/s3]
AC500 libraryPS551-MC
![Page 14: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/14.jpg)
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PLCopen Function Blocks
Overview of defiened function blocks by PLCopen
AC500 libraryPS551-MC
![Page 15: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/15.jpg)
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PLCopen - Programming structureAC500 library
PS551-MC
Drive: ACSM1 / ACS800-MC / …
PLCopen Motion Control FBsMC_XXX
MC_MoveAbsoluteMC_StopMC_Home
Communication Layer
ACSM1_ACCESS, ACS800_ACCESS…
AXIS_REF
AC500
Fieldbus (Profibus )
Fieldbus-Master
Fieldbus-Coupler
![Page 16: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/16.jpg)
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PS
551-
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: AC
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Mot
ion
Con
trol
Lib
rarie
s AC500 library
PS551-MC Coming up
AC500 PLC
PLCopen Motion Control
PS551-MC library
First steps, demonstration
Preview Standard Drive Library
![Page 17: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/17.jpg)
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Lib
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s ACSx_ACCESSFunction Block
Function Blocks – programming structurAC500 library
PS551-MC
MC_...Function Blocks
Axis_Ref
FieldbusConfiguration
![Page 18: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/18.jpg)
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Function Blocks – ACSM1_ACCESS_dc
ACSM1_ACCESS_dc
Once per drive
Interface to Fieldbus
AC500 libraryPS551-MC
Axis variable is used as reference for all other MC-FBs
![Page 19: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/19.jpg)
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MC_Power
AC500 libraryPS551-MC Function Blocks – MC_Power
Enable sets the drive into
“ready for reference”
![Page 20: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/20.jpg)
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MC_MoveRelative
AC500 libraryPS551-MC Function Blocks – MC_MoveRelative
![Page 21: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/21.jpg)
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Visualization
Common Visualization for each drive
Visualization for
each different drive
type is included in
the library
StateMachine Axis error Axis actual values Main Control word Main Status word
AC500 libraryPS551-MC
![Page 22: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/22.jpg)
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Visualization for each type of MC_ Function Block
Use for
Indication
Control from internal Visualization
AC500 libraryPS551-MC Visualization
![Page 23: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/23.jpg)
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PS551-MC contents
PS551-MC package contains:
Libraries with FBs, Visualization, …
Documentation including needed drive parameter settings
Manual for first steps and configuration
“First example” program for each type of drive
AC500 libraryPS551-MC
![Page 24: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/24.jpg)
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Library structur
AC500 libraryPS551-MC PS551-MC – libraries structur
internally needed
& visualization
drive independent
Function Block for communication layer
for specific drive
MC Function
Blocks
![Page 25: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/25.jpg)
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Library – Function Blocks realized for ACSM1
ACSM1 Library
AC500 libraryPS551-MC
![Page 26: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/26.jpg)
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ACS800 Library
AC500 libraryPS551-MC Library – Function Blocks realized for ACS800
![Page 27: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/27.jpg)
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ACS350 Library
AC500 libraryPS551-MC Library – Function Blocks realized for ACS350
![Page 28: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/28.jpg)
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Documentation
Common description of PLCopen Motion Control functions blocks
Specific description of ABB-library
Description of parameter adjustment for drives
AC500 libraryPS551-MC Library – Documentation
![Page 29: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/29.jpg)
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Library – Example programs
Example programs for each different drive type
AC500 libraryPS551-MC
![Page 30: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/30.jpg)
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PS551-MC state on 11th of June
BETA Version 1.0.2 for internal use only!
First pilot projects coming up, demo units shown on SPS and Hannover fair
Release for special customers / projects is possible, please contact
AC500 libraryPS551-MC
![Page 31: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/31.jpg)
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551-
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Mot
ion
Con
trol
Lib
rarie
s AC500 library
PS551-MC Coming up
AC500 PLC
PLCopen Motion Control
PS551-MC library
First steps, demonstration
Preview Standard Drive Library
![Page 32: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/32.jpg)
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First stepsAC500 library
PS551-MC
Drive: ACSM1 / ACS800-MC / …
PLCopen Motion Control FBsMC_XXX
MC_PowerMC_MoveAbsoluteMC_Stop
Communication Layer ACSxxx_ACCESS,
AXIS_REF variable
AC500
Fieldbus (Profibus )
Fieldbus-Master
Fieldbus-Coupler
Fieldbus Configuration
Communication Parameters
![Page 33: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/33.jpg)
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Function Blocks – first steps
Drives Parameters have to be adjusted
-> use documentation to adjust or -> copy prepared reduced parameter list (ACSM1)
Profibus configuration with Sycon.net
AC500 libraryPS551-MC
![Page 34: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/34.jpg)
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Function Blocks – first steps – task setup
Create or select ONE task for all MC-FBs related to this axis
AC500 libraryPS551-MC
![Page 35: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/35.jpg)
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Function Blocks – first steps – ACSM1_ACCESS_dc
Call the one ACCESS-FB for the axis
Connect the first fieldbus input variable with ADR operator to “field_in”
Connect the first fieldbus output variable with ADR operator to “field_out”
Connect axis-variable to in_output “axis”
AC500 libraryPS551-MC
![Page 36: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/36.jpg)
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Function Blocks – first steps – ACSM1_ACCESS_dc
Write your programm with MC-Function Blocks
AC500 libraryPS551-MC
![Page 37: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/37.jpg)
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PLC-Open Motion Control - applications
Demonstration model for store application
3 linear axis – ACSM1, 1 rounde axis – ACSM1
PLC-control with PM581 via Profibus User Interface with CP450 - Ethernet
AC500 libraryPS551-MC
![Page 38: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/38.jpg)
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PLC-Open Motion Control - applications
Democase ACSM1 with AC500
ACSM1-Democase with two drives modified for use with 230V AC.
PLC-control with PM581 via Profibus Optional use of CP440 Touchpanel
AC500 libraryPS551-MC
![Page 39: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/39.jpg)
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Mot
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Con
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Lib
rarie
s AC500 library
PS551-MC Coming up
AC500 PLC
PLCopen Motion Control
PS551-MC (AC500 library)
First steps, demonstration
Preview Standard Drive Library
![Page 40: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/40.jpg)
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Standard Drive Control library for speed control - PREVIEW
Standard Function Block for speed control,
using PowerUp Statemachine
Engineering Function Blockwill be defined
AC500 libraryPS551-MC
![Page 41: 080611 AC500 Motion Control Library PS551 MC E](https://reader030.fdocuments.in/reader030/viewer/2022013107/551423a24979591b1e8b458d/html5/thumbnails/41.jpg)
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