Compax3 with C3 powerPLmC PLC, Motion Control and … · 2008-08-11 · platform for combined PLC,...

PLC, Motion Control andVisualisation

Catalogue: 192-120012 N3 / UKVersion 3, January 2004 zim01

with C3 powerPLmC

3 Parker Hannifin GmbHElectromechanical Automation

with C3 powerPLmC: The most powerful PLC for Motion Control

Typical areas of application:

! Manufacturing technology

! General mechanical engineering

! Special purpose machines

! Series production (OEM)

! The packaging industry. . .

The most powerful PLC formotion control

The PLC from Parker that�s auniversal high-performanceautomation platform

""""" Logic, data & com-munication

""""" Motion Control

""""" Visualisation

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Servo motor

Electric cylinder

Pop: ParkerOperator Panel

Linear motorTorque motorLinear actuator

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PowerStation

Compax3 servo axesPIO: Parker I/Os

CANopen

C3 powerPLmC

Internet

C3 powerPLmC is the new automationplatform for combined PLC, Motion Controland visualisation tasks. The C3powerPLmC control system is based oninternationally recognised standards inprogramming, communication andinterfacing.Programming is based on the IEC61131-3standard. This powerful platform isconvincing customers with its impressiveperformance. For example, 1000 ILinstructions are executed in less than 100µs. This makes the C3 powerPLmC the fas-test and most powerful PLC for Motion

C3 powerPLmC

Control tasks. The standard Ethernetinterface included with the package is thebasis for state-of-the-art remotediagnostics via Internet or Intranet.Higher-level systems can communicateeffortlessly with Compax3 powerPLmCand bring up the states of the controlsystem directly. Parker has integrated anOPC Interface into the control system forconnecting open Windows-based processvisualisation and supervisory systems. AWebServer completes the optionsavailable with this flexible machine andprocess visualiation system.

In contrast to many other controlsystems, C3 powerPLmC offers advancedoptions for project management and fle-xible handling of data, for example dataimport and export. A powerful librarymanagement system is available to aidusers. The integration of PLCopen MotionControl libraries has been implemented asa standard feature. A specially developedDrive Interface simplifies working withfieldbus systems, evaluates functionmodule data and minimises overhead forthe entire system configuration.

All from one source!Complete automation systems from Parker

ViX small servo axes

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4

192-120012 N3


The Parker control system that meets the most de

Visualisation

! Integrated into the local programmingsystem√ Monitoring of machine or system

states√ Debugging√ Diagnosis

! With integrated access to web servervia standard browser

! OPC interface for integrating Windows-based visualisation programs such asInteractX, WinCC, Intouch, Protool

! Remote diagnostics

C3 powerPLmC

#####Drive InterfaceSimple integration of servoaxes

#####HEDAReal-time data bus for directcoupling between axes

#####32 bit-RISC-Processor< 100µs for 1000 IL commands

#####CANopenMulti-drive communication

#####EthernetProgramming interfaceRemote diagnostics viaInternet or IntranetProcess visualisationSystem integration

PLC

+ Motion Control

+ Visualisation

= C3 powerPLmC

Visualisation with C3 powerPLmCand CoDeSys

-integrated into the servo drive-



ost demanding requirements

Networking control systems

! Multiple control systems can benetworked together via Ethernet.

! Exchanging information via networkvariables.

Motion Control

! Integrated Motion Control functions fordynamic, synchronised control of multip-le axes.

! Ready-made PLCopen-compliant MotionControl function modules allow users tocreate programs effectively.

! Thanks to the integrated drive interface

√ no knowledge of fieldbusses isrequired for users

√ there is no need to run the fieldbusstate machine (to PowerON).

√ the integrated Compax3 inputs andoutputs are also available

√ effective program creation isguaranteed.

! Due to an internal cache memory on theC3 powerPLmC as well as on theCompax3, only the drive parametersthat are modified are transferred. Thisresults in the shortest possible transfertimes.

Project management

! Saving an entire project (source file)including symbols and comments to makeservice calls easier, because there is noneed for any project data on the deviceitself.

! Archiving projects as ZIP files

! Creating user-specific libraries that canbe reused as tested sections ofprograms√ These libraries can also be protected√ E.g. winders, synchronisation

components, etc.

! Various user levels make it possible tolock sections of the program withpasswords

! Depending on the task at hand, userscan select from among 5 IEC languagesplus CFC. These languages can also bemixed.

File handling

! Files can be generated on thepowerPLmC, for example√ Error logs√ Recipes√ Machine parameters

! Files are available via the FTP server ona drive in C3 powerPLmC and can bedownloaded onto a PC (usingWinCommander or Windows Explorer,for example)

! Error messages can be assigned to anerror string by means of the errornumber and then stored together withthe time of day (from an integratedclock).

PLC functionality

[ 4 real-time task types√ Free running√ Cyclic√ Event-triggered, internal events√ Event-triggered, external events

[ Online program change

[ Online debugging, single step, watchfunction, log

[ Simulation, online trace, breakpoints

[Watchdog Timer

[ Minimum IEC task time: 1ms

I/O Handling via peripheral devices

[ PIO - Parker I/O system (digital andanalogue I/O)

[ Integration via EDS file

� ��

Integration of Parker I/O

Trace monitoring

(1) Select Compax3

(2) Enter the address(NodeId)

6

192-120012 N3


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C3 powerPLmC control system for multi-axis motionA multi-axis control system can be

optimised for complex motion tasks using a

single-axis servo drive with the

powerPLmC for Compax3 option. Logic and

motion control are processed in parallel

under a real-time kernel. All system

components, including the PLC, the motion

control system with its specially developed

technology functions and visualisation can

be configured, programmed, placed in

service and maintained using a common

software platform.

At the field level, CANopen is used with

the SYNC telegram as a system bus. The

CAN bus offers the ideal arrangement to

facilitate synchronous and asynchronous

coupling of individual servo drives, making

it possible to implement fast and precise

applications. Profibus DP is also optionally

available.

.



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Function modulesbased on PLCopenPLCopen is an organisation that plays asignificant role in supporting the IEC61131-3 programming language. It is independentof individual companies or products. Itsspecific tasks also include defining basicprocesses relevant to motion. The PLCopenorganisation consists of both users andmanufacturers of automation components.Parker Hannifin is an active member of the�Motion Control� task force. Thisrepresents a great advantage to users ofParker drive technology, since they areconstantly able to profit directly from thelatest developments in PLCopen.

is a member ofthe �CoDeSys Automation

Alliance�

Advantages offered by international standards in programming

!!!!! Integrated standards offer:√√√√√ a trusted programming

environment

!!!!! Integrated standards reduce:√√√√√ the overhead of development√√√√√ maintenance costs√√√√√ software upkeep√√√√√ training overhead

!!!!! Integrated standards increase:√√√√√ productivity√√√√√ software quality√√√√√ concentration on core

competence

IEC61131-3:IEC61131-3 is the only programming lan-guage with world-wide support for industrialautomation devices. It is not dependent onany specific companies or products

IEC61131-3 includes graphical and

textual programming languages:

! Instruction list

! Structured text

! Ladder diagram

! Sequential function chart

! Function block diagram

CoDeSys professional development toolCoDeSys is a development environment for programming the C3 powerPLmC that saves asignificant amount of time as applications are created.Parker Hannifin has integrated the CoDeSys programming system into its automationdevices.

! One of the most powerful development environments available, established world-wide

! Universal programming platform for various devices

! Complete offline simulation

! Visual elements

! Library management for user-defined applications

! Context-sensitive help wizard

! Data exchange between devices from different manufacturers

! Complete online functionality

! Sophisticated technological features

! ...and all this for no additional cost

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Program development in IL

Program development in CFC

8

192-120012 N3


is an intelligent servo drive with a modular structure enabling it to be used ina wide range of industrial applications. The use of industrial standards minimisesdevelopment overheads for the user.

- servo drive

Drive features

! Functionality / protection√ positioning using motion profiles.√ short circuit proof IGBT power stage.

! Currents√ Compax3 S025 V2: 2.5Acont. / 5.0Apeak (<5s)√ Compax3 S063 V2: 6.3Acont. / 12.6Apeak (<5s)√ Compax3 S038 V4: 3.8Acont. / 7.5Apeak (<5s)√ Compax3 S075 V4: 7.5Acont. / 15.0Apeak (<5s)√ Compax3 S150 V4: 15.0Acont. / 30.0Apeak (<5s)√ Compax3 S300 V4: 30.0Acont. / 60.0Apeak (<5s)

! Supply voltage√ Single-phase 230VAC; 45-65Hz√ 3-phase 400VAC to 480VAC +10%; 45-65Hz√ Direct mains operation

! CE compliance√ EMC interference immunity/emission as per EN61800-3.√ Safety: VDE 0160 / EN 50178.

! Safety√ Safe standstill in accordance with EN954-1 (Category 3)

Technology functions of servo controllers

! Positioning (T11)

! IEC61131-3 - programs in the servo controller(T30)

! Cam function in the servo controller (T40)

Cam creation with the integratedCamEditor

Electronic cam applicationVerification of the motion profile



C3 ServoManager Software Tool

! Wizard-guided configuration√ Automatic querying of all necessary

entries.√ Graphically supported selection.

! Commissioning mode√ Moving individual axes√ Definable profiles√ Convenient operation

! integrated 4-channel oscilloscope√ Signal tracking directly on the PC√ Various modes (single/normal/auto/roll)√ Zoom function√ Export as image or table (for example

for Excel)

! Firmware update with firmware package

Motors and feedback devices

!!!!!Supported feedback devices

√ Resolver√ SinCos © - Single- or Multiturn.√ Analogue and digital Hall sensors√ Linear Encoder

! Motors√ Sinusoidal commutated

synchronous motors√ Torque motors√ Linear motors√ MotorManager supports the

configuration of any desired motor..

Interfaces

! Connection to C3 powerPLmC viaCANopen

! RS232 / RS485

! HEDA real-time bus for inter-axis coupling

! 8 digital inputs, 4 digital outputs

! 2 analogue inputs (+/-10V, 14bits)

! 2 analogue outputs (+/-10V, 8bits)

! Encoder input and output

C3 ServoManager with Oscilloscope

Configuration wizard

10

192-120012 N3


Analogue inputs PIO-4684AI 0-10V DC S.E.

4-channel analogue input terminal

PIO-4802AI 0-20mA differential

input2-channel analogue input terminal

Number of inputs 4 2 (opto-isolated)

Data width of the process image 4*2 bytes 2*2 bytes

Connection Single-ended Differential input

Power contacts None None

Internal current drain 60 mA at 5 V <100 mA at 5 V

Signal input 0 V ... 10 V 0 mA ... 20 mA

Resolution 12 bits 14 bits (A/D converter)13 bits (measurement value)

Dimensions (mm) WxHxD 12 x 64 x 100 12 x 64 x 100

Peripheral modules for distributed automationParker�s PIO modular bus terminal system uses the associated sensor system to record awide variety of control signals from field devices. Connections to the field level can beimplemented quickly and reliably with PIO.

! Fieldbus-independent layout via fieldbus coupler

! Easy to extend by replacing modules

! Especially compact design

! Safe contacting

! Maintenance-free

! Different voltages can be combined with each other

! Great flexibility ensures optimal adaptibility to different applications

Digital Inputs PIO-4002DI 24V DC 3.0 ms

2-channel digital input terminal

PIO-4024DI 24V DC 3.0 ms


PIO-4308DI 24V DC 3.0 ms


Number of inputs 2 4 8

Data width of the process image 2 bits 4 bits 8 bits

Connection 2 to 4 lines, positive switching 2 to 3 lines, positive switching 1 line, positive switching

Power contacts 3; DC 24 V (-15% ... +20%) 2; DC 24 V (-15% ... +20%) 2; DC 24 V (-15% ... +20%)

Internal current drain 3.7 mA at 5 V 7.5 mA at 5 V 17 mA at 5 V

Signal input (0) DC �3 V to +5 V DC �3 V to +5 V DC �3 V to +5 V

Signal input (1) DC 15 V to 30 V DC 15 V to 30 V DC 15 V to 30 V

Input current (typ.) 4.5 mA 4.5 mA 2.8 mA

Dimensions (mm) WxHxD 12 x 64 x 100 12 x 64 x 100 12 x 64 x 100

PIO - Parker I/O system:



on Digital Outputs PIO-5012DO 24V DC 0.5 A

2-channel digital output terminal

PIO-5044DO 24V DC 0.5 A

4channel digital output terminal

PIO-5308DO 24V DC 0.5 A

8-channel digital output terminal

Number of outputs 2 4 8

Data width of process image 2 bits 4 bits 8 bits

Connection Short-circuit proof, positiveswitching

Short-circuit proof, positiveswitching

Short-circuit proof, positiveswitching

Power contacts 3; DC 24 V (-15% ... +20%) 2; DC 24 V (-15% ... +20%) 2; DC 24 V (-15% ... +20%)

Internal current drain 3.5 mA at 5 V 7 mA at 5 V 25 mA at 5 V

Type of load Resistive, inductive, lamp load Resistive, inductive, lamp load Resistive, inductive, lamp load

Output current 0.5 A 0.5 A 0.5 A

Switching frequency (max.) 5 kHz 1 kHz 2 kHz

Dimensions (mm) WxHxD 12 x 64 x 100 12 x 64 x 100 12 x 64 x 100

Important features of the PIO

bus terminal system:

! Integrated input filter

! Opto-isolated

! Suitable for copper cables with cross-sections from 0.08mm² to 2.5 mm²

! Error and status display (LED)

! Access options for simple signal test

! Short-circuit-proof inputs

! Options for clear, unambiguousidentification

System integration using fieldbus couplers

CANopen ECO coupler PIO-347CANopen standard coupler PIO-337

Analogue outputs PIO-5502AO 0-10 V DC

2-channel analogue output terminal

PIO-5522AO 0-20 mA

2-channel analogue output terminal

Number of outputs 2 2

Data width of process image 2*2 bytes 2*2 bytes

Power contacts None 2; DC 24 V (-15% ... +20%)

Signal output 0 V ... 10 V 0 mA ... 20 mA

Internal current drain 65 mA at 5 V 60 mA at 5 V

Resolution 12 bits 12 bits

Conversion time Approx. 2 ms Approx. 2 ms

Load impedance > 5 kOhm < 500 Ohm

Dimensions (mm) WxHxD 12 x 64 x 100 12 x 64 x 100

12

192-120012 N3


POP - Parker Operator Panels:Parker supplies operator panels for all text and graphical applications in industrial environments.

Control and monitoring in automation

Visualisation with Touch-Screen

! Pop31 / Pop32√ 1/4� VGA Display (320 x 240 Pixel),

5.6" diagonal√ 16 lines of 40 characters for text√ Resistive touch screen√ Can be connected to various bus

systems√ Multi-lingual projects possible√ RS-232, RS-422, RS-485, CL20mA,

CANopen√ Printer interface√ 32 kB recipe memory√ Real-time clock, battery backup√ Event list for alarms√ Screensaver

!!!!! Pop22√ 32 kB recipe memory√ Alarms, real-time clock, battery

backup

!!!!! Pop23√ 8 lines of 40 characters for text√ 23 function keys√ 24 user LEDs√ Printer interface√ 16 kB recipe memory√ Alarms, real-time clock, battery

backup

! Pop31√ Monochrome LCD display√ 8 MB Flash memory

! Pop32√ STN colour LCD display√ 8 MB flash memory on memory card

Operator panels with Graphics display

Pop21 / Pop22√ Monochrome graphics display√ 4 lines of 20 characters for text√ Downloadable font√ 12 function keys with insertable labels√ 13 user LEDs√ Multi-lingual projects possible√ RS-232, RS-422, RS-485, CL20mA,

CANopen√ 512 kB user program memory√ 512 kB expanded memory

Text and graphics-oriented Ope-

rating Systems

! Pop11 / Pop12√ 4 function keys with insertable

labels√ 5 user LEDs√ Multi-lingual projects possible√ Connection to various bus systems√ RS-232, RS-422, RS-485, CL20mA,

CANopen√ 512 kB user program memory

! Pop11√ Monochrome LCD display√ 2 lines of 20 characters for text

! Pop12√ Monochrome graphics display√ 4 lines of 20 characters for text√ Downloadable font√ Scalable text



C3

Device type: Single axis S

2.5A / 5A / 230V AC (1-phase) 0 2 5 V 2Device currents / Supplyvoltage: 6.3A / 12.6A / 230V AC (1-phase) 0 6 3 V 2

3.8A / 7.5A / 400V AC (3-phase) 0 3 8 V 47.5A / 15.0A / 400V AC (3-phase) 0 7 5 V 415.0A / 30.0A / 400V AC (3-phase) 1 5 0 V 430.0A / 60.0A / 400V AC (3-phase) 3 0 0 V 4

Feedback: Resolver F 1 0SinCos© (Hiperface) F 1 1Direct drive (linear and rotary) F 1 2

Interface: With CANopen I 2 1Multi-axis control C3 powerPLmC C 1 0 M 0 0

C3 powerPLmC with HEDA and Profibus C 1 3 M 0 0

Positioning T 1 1Technology functions:Motion control programmable via IEC61131 T 3 0Electronic cam control T 4 0

Options: Without options M 0 012 digital I/Os & HEDA (Motionbus) M 1 0HEDA (Motionbus) M 1 112 digital I/Os M 1 2

Order codes for C3 powerPLmC and servo drives

PowerStation:

PC - based system

Compax3 servo axis without C3 powerPLmC (individual servo drive):

! C3 S038V4F10I21T11:servo drive

! C3 S038V4F10I21T30: programmable servo drive

! C3 S038V4F10I21T40: servo drive with cam function

Examples:

Compax3 servo drive with C3 powerPLmC:

! C3 S038V4F10C10T11: C3 powerPLmC and servo drive

! C3 S038V4F10C10T30: C3 powerPLmC; programmable servo drive

! C3 S038V4F10C13T40: C3 powerPLmC with HEDA and Profibus;servo drive with cam function

! Scalable system√ PC up to 1GHz√ Touchscreen monitors up to 18��

! InteractX software for completemachine visualisation√ Graphical design elements -

extremely realistic√ Reduced development overhead

wit innovative interface design√ Specially developed for complete

machine visualisation√ Extensive driver library for

communication√ Integrated VBA and ActiveX Tools

for simple, customer-specificadaptation

√ Unpack it, install it and you�re offand going � everything from onesource

√ Highly developed projectmanagement

√ No limitations in tags, no limitationsin alarms...

! Features for machine visualisation√ Inline / Online World Wide Multi-

Language Support√ 21CFR11 Compliant User Security

Levels√ Extensive driver library (40+)√ Tag Database Design

! Operating systems√ Development: Win98, ME, NT 4.0,

2000, XP Professional√ Runtime supports Embedded NT

14

192-120012 N3


General information: Platform 32Bit RISC Processor 200MHz

Boot FLASH / FLASH program memory 1 Mbyte / 4MByte

SDRAM data memory / non volatile data memory 16Mbyte / 32kByte NVRAM

Real time clock Yes, with backup battery

Operating system / power supply Real-time multitasking / 24V DC

User control program CompiledControl system features:

Processing time <100µµµµs for 1000 IL � lines

Real time tasks: • Free-running• Cyclical• Event-controlled, internal / external events

Minimum cycle time Typically 1ms

Online Programm Change Yes

Watchdog Timer Yes

Data exchange in distributed systems (network variables) Yes

Programming system CoDeSyS for Automation AllianceProgramming andDebugging:

Programming languages IL, SFC, FBD, ST, LD, CFC

Command structure IEC61131-3

PLCopen � MotionControl components Yes

Debug, Single Step, Watch function Yes

Simulation, Online Trace Yes

Breakpoints Yes

Source Code Download Yes

Write, read, force variables Yes

Import PLC programs Siemens Import

Program administration File � System, FTP

Programming interface Fast Ethernet

Visualisation: Locally on the programming system Yes

Web Server Yes

OPC Server Yes

Interfaces: (Field)busses (standard) • CANopen• Ethernet 10/100

(Field)busses (optional) • Profibus DP Slave• HEDA: Real time data bus

Digital and analogue inputs/outputs (optional) PIO � external terminals

Encoder output Yes, up to 16384 counts per revolution

Technical data for C3 powerPLmC

11 Parker HannifinElectromechanical Automation

PIO Parker Input / Output192-120800 N2

Automation systems

Standard and customised solutions

...based on sophisticated electronic andmechanical components manufacturedby Parker.

! one, two and three dimensionalgantries

! storage & retrieval systems, testequipment, reinforcement gantriesfor the construction industry, large-area plotter systems etc.

Linear actuators

Guiding, Moving & Positioning

Mechanical systems manufactured by Parker � robust,reliable, extended life expectancy, scalable for a wide rangeof different applications.

ER, HLE, HPLAflange sizes from 32 to 180 mm! Toothed belt or rack-and-pinion drive! Plastic or steel rollers! high dynamic performance with speeds up to

5 m/s! long strokes, high bearing loads

(up to 1000 kg)

HZR / HTR (vertical actuators)different types for different applications! HZR: high load capacity (100 kg)! HTR-Telescopic actuator: long stroke with small size

ET cylindersRange of sizes from ET32 to ET125! closes the gap between pneumatic and hydraulic drives! ballscrew-driven actuator: precise & fast (up to 1 m/s)! long stroke, up to 1,500mm / high thrust force, up to

44kN! optional IP 65 protection version

SL, LXR, BLMA

Linear servo motors & linear motor actuators

Parker offers a wide range of linear servo motors...

! SL: Linear servo motor kit with continuous force ratings from 17 to 519N for use inOEM applications

! LXR: ��Plug-and-Play�� linear motor actuator with continuous force ratingsfrom 50 to 315N for accurately-synchronised machine applications

! BLMA: ��Plug-and-Play�� linear motor actuatorwith continuous force rating of 420-700N for use

in dynamic handling systems

Compax3 with C3 powerPLmC PLC, Motion Control and … · 2008-08-11 · platform for combined PLC,...

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