T06: Embedded Motion and Ethernet Capabilities on … · Micro810 – Smart Relay Micro PLC...
Transcript of T06: Embedded Motion and Ethernet Capabilities on … · Micro810 – Smart Relay Micro PLC...
Copyright © 2012 Rockwell Automation, Inc. All rights reserved. Rev 5058-CO900C
T06: Embedded Motion and Ethernet Capabilities on Micro800™ PLCs Thomas Sugimoto Marketing Manager
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Agenda
10min – Wrapup and Q&A
10min – Programming Motion
10min - Motion Basics
5min - Ethernet Capabilities
5min - Introduction to Micro850™
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.
Ethernet - Connect to HMI - EtherNet/IP - Modbus TCP - Program upload/
download, debug, discover, etc.
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Micro850 – 24/48pt Micro PLC with Ethernet and Expansion I/O
Micro810 – Smart Relay Micro PLC Micro830 – Block-style Micro PLC
Connected Component Workbench Software Plug-in modules for customization
Expansion I/O - Max 4 modules - 32-pt inputs - 8ch analog IN - 4ch RTD/TC
Connected Component Workbench™ Release2 SW/FW
- Micro830™/Micro850 3-Axis Motion - Password Protection - CIP Symbolic with PVc - Redesigned, easier to use PVc editor
For all your Micro PLC needs - Maximum customization of your
controller with plug-ins, expansion I/O - Flexible communications with Ethernet,
USB, serial ports - 132pts with 4 expansion I/O
Micro800 Release 2 Overview – Micro850 Launch
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Connected Components Workbench Release 2 Overview
Features Controller password for OEM intellectual property protection Support for Micro850 with Ethernet and 2085 expansion I/O Support for Micro830/850 motion control
Ease of Use PanelView™ Component Editor integrated with Micro800 using
CIP Symbolic. Supported by both Ethernet and serial port Easily reference Micro800 variables in PVc Tag Editor
Local help - Instructions examples in all programming languages
Self-help links – Knowledgebase, user forums, submit a question, Sample Code Connected Components Accelerator Toolkit
Sample projects
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Strongly recommend customer to upgrade to CCW R2
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Agenda
10min – Wrapup and Q&A
10min – Motion Applications
10min - Motion Capabilities
5min - Ethernet Capabilities
5min - Introduction to Micro850
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Which Micro800 Controllers have Ethernet?
Only the Micro850 lineup has embedded Ethernet
Total of 8 Different Micro850 Catalog numbers Four 24pt Controllers Four 48pt Controllers
Protocols EtherNet/IP with CIP Symbolic for accessing variables in the
controller symbolically Symbolic name “CoolantTemperature” used instead of Modbus Address of
4000001 or PCCC Address of N7:0 Modbus TCP for connectivity to 3rd Party HMIs, RTU/SCADA
applications
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Ethernet Capabilities of Micro850
PanelView Component
Micro850
Stratix
Micro850
• Permanent programming connection • USB is easy to use but
temporary point-point connection • Suitable for long distances • Flexible Media – wireless,
optical fiber
• High performance connection to HMI
• Faster than serial port for large number of tags • Micro850 targets
larger standalone machines than Micro830
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• OPC Server for Data Monitoring • Modbus TCP • CIP Symbolic
(RSLinx Gateway)
Stratix
• Logix (Data Concentrator) initiates Message as Client • Data Table Read/Write
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Ethernet Capabilities of Micro850
PanelView Component
Stratix
Standalone Machine Control
Micro850
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Solar Farm Application
Ethernet required due to long distances and many individual solar panels
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Ethernet Limitations of Micro850
PanelView Component
Micro850
Stratix 2000™
Client Messaging capabilities for Micro850 will be available in next major release
Kinetix® 300
PowerFlex® 4
Micro850 Micro850 cannot initiate messages as a client to drives and other controllers
Standalone Machine Control
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Agenda
10min – Wrapup and Q&A
10min – Programming Motion
10min - Motion Basics
5min - Ethernet Capabilities
5min - Introduction to Micro850
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Overview of types of Component Motion supported by Micro800
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All methods use serial port or low cost hard wiring for simplicity and to keep wiring costs low
Analog Output for Speed/Torque - 0-10V, 0-20mA
High Low
Digital I/O for Position Indexing - 24V
ON OFF
Modbus RTU Serial Port for Speed/Torque
+RS485 - RS485
Pulse Train Output (PTO) - 24V
Direction Pulse
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Basic Concept of Pulse Train Outputs
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Typically PTO Motion is for precise positioning applications that require more flexibility than provided by Index Positioning Also used for precise velocity control especially if position registration
is required. (Not used for torque control)
A pulse rotates the motor by a fractional amount (e.g. 1/2000 revolution)
Pulse Train Output (PTO) - 24V
Direction Pulse
Pulse 1
Pulse 2
Pulse 3
Pulse 4
PTO is low cost and good performance. Can be interfaced using low cost shielded wiring to any component servo drive
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Which Micro800 Controllers have Pulse Train Output (PTO) Motion?
All Micro830 and Micro850 controllers with Transistor Outputs support up to 3 Axes of PTO Motion Catalog Number Name must contain “QBB” or “QVB” Micro830 10/16-pt controllers support 1 Axis of Motion Micro830/850 24-pt controllers support 2 Axes of Motion Micro830/850 48-pt controllers support 3 Axes of Motion 100KHz PTO Frequency, 24V single ended
Connected Components Workbench must be upgraded to Revision 2
Older Micro830 controllers must be upgraded to Firmware Revision 2 using ControlFlash Micro850 controllers ship with Firmware Revision 2
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Agenda
10min – Wrapup and Q&A
10min – Programming Motion
10min - Motion Basics
5min - Ethernet Capabilities
5min - Introduction to Micro850
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How to Configure a PTO Motion Axis
1) Create the Axis “Simulator” in the Controller Tree
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How to Configure a PTO Motion Axis
1) Create the Axis “Simulator” in the Controller Tree
2) Map Motion Related I/O - Map I/O to motion
function such as Drive Enable
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How to Configure a PTO Motion Axis
1) Create the Axis “Simulator” in the Controller Tree
2) Map Motion Related I/O
3) Enter Motor and Load Parameters - Depends on driver, motor and gearing
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How to Configure a PTO Motion Axis
1) Create the Axis “Simulator” in the Controller Tree
2) Map Motion Related I/O
3) Enter Motor and Load Parameters
4) Enter Axis Motion Limits - Hard and Soft options
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How to Configure a PTO Motion Axis
1) Create the Axis “Simulator” in the Controller Tree
2) Map Motion Related I/O
3) Enter Motor and Load Parameters
4) Enter Axis Motion Limits
5) Set Speed/Acceleration - Normal and Emergency Stop Profiles
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How to Configure a PTO Motion Axis
1) Create the Axis “Simulator” in the Controller Tree
2) Map Motion Related I/O
3) Enter Motor and Load Parameters
4) Enter Axis Motion Limits
5) Set Speed/Acceleration
6) Configure Homing - 5 types of homing supported
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Graphical User Interface makes configuring an Axis easy
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How to Program Motion
1) Powerup the Axis - Enables Driver
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How to Program Motion
1) Powerup the Axis - Enables Driver
2) Home the Axis - Moves Axis to known starting position
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How to Program Motion
1) Powerup the Axis - Enables Driver
2) Home the Axis - Moves Axis to known starting position
3) Move the Axis - MoveVelocity - MoveRelative
- Go to new position relative to current position
- MoveAbsolute - Go to new position regardless
of current position
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PLCopen function blocks simplifies motion programming
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Touch Probe – Low Cost Method for Exact Position Registration
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On rising edge of touch probe input, current position of PTO Axis is saved Useful for locating position of an asynchronous object such as film
wrapper registration mark, object on conveyor belt
Position 1
Position 2
Position 3
Position 4
Touch Probe embedded into the controller hardware. More accurate than interrupts. Not affected by program scan time.
Touch Probe Registers Position 2
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When to use Touch Probe? Touch Probe is used when more precision than
interrupts is desired Interrupts accurate to ~200us
And a move to an absolute position is required by an asynchronous object
Vertical Form Fill Seal (VFFS) example PTO Axis pulls/moves film wrapper using
MC_MoveAbsolute assuming no slippage MCTouchProbe is used to detect film
registration mark’s exact position New instance of MC_MoveAbsolute is
executed (aborted move) to compensate for slippage and variations in registration mark location
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Agenda
10min – Wrapup and Q&A
10min – Programming Motion
10min - Motion Basics
5min - Ethernet Capabilities
5min - Introduction to Micro850
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.
Micro800 Motion Features
Support up to 3 axis with PTO • Compatible with Kinetix 3/300,
and 3rd party drives that support PTO
• Exact position registration of PTO axis with Touch Probe.
• Available on Micro830 and Micro850
Easy to use GUI for configure the Motion • Create and configure axes in
CCW using 5 simple to use configuration screens
• Use the Axis Monitor to see important information about the status of axes
Dedicated motion instructions • Easy to use motion instructions • Simplify the programming
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Wide Variety of Motion Applications
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Packaging • VFFS (Vertical Form Fill and
Seal) • Case Erector • Stretch wrapping
Material Handling • Conveyors • Sorters • Pick and Place • Cutting
Energy • Solar PV Two-axis
positioning • Solar Thermal single-axis
positioning
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Rev 5058-CO900C
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