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Motion Control - Управление и регулирование

Motion Control - Управление и регулирование

Область применения

Motion control is the ideal solution for flexible machine control systems with positioning and/or synchronized axes, in particular for:

  • Packaging machines
  • Woodworking and plastics processing machines
  • Machines for glass, ceramics and stone processing
  • Presses
  • Textiles machines
  • Special-purpose machines

Motion control provides high-quality positioning and synchronization functionality for SIMATIC M7 and SIMOVERT MASTERDRIVES MC.

The modular design of the hardware and software allows flexible adaptation to a wide variety of different control tasks.

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Дизайн

Motion control can be used centrally in the SIMATIC M7 system or in a distributed SIMOVERT MASTERDRIVES MC system.

A control configuration with SIMATIC and Motion Control features the following main components:

  • Programming device/PC
    • Configuration of the control system with STEP 7
    • Assignment of parameters for technological functions and drives
    • Configuration of the technological functions with CFC (Continuous Function Chart) in conjunction with the engineering package (optional for M7)
    • Programming
    • Start-up and testing
  • OP operator panel
    • Operator control and monitoring of the machine
    • Operation of the technological functions
    • Assignment of technological function parameters in standard screen forms, customization possible
    • Diagnostics
  • SIMATIC CPU
    • Machine program execution
    • Interface to technological functions
  • SIMATIC M7-300/400
    • SIMATIC M7-FM 356-4/FM 456-2
    • Real-time operating system M7-SYS/RMOS
    • Motion control, technological functions for positioning and synchronization
  • SIMOVERT MASTERDRIVES MC
    • Digital servo drive from 0.5 kW to 200 kW as single-axis or multi-axis version with optional technological functions
    • Communication via PROFIBUS-DP
    • Synchronization via SIMOLINK
    • Encoder connection:
      Incremental encoders: Resolver, sin/cos encoder, pulse encoder
      Absolute encoders: Serial absolute encoder with EnDat or SSI protocol

Функции

Centralized technology

In the centralized solution with SIMATIC M7, the technological functions are used on the FM 356-4 and FM 456-2 1).

The drives communicate with each other and with the SIMATIC M7 system over the SIMOLINK drive interface. This enables setpoints and actual values to be exchanged at high-speed synchronous to the control task.

SIMOLINK is implemented as a fiber optic ring and synchronizes up to 200 drives. The transfer of 100 32-bit variables takes only 630 ms, for example. The transfer of setpoint and actual values is synchronized with the system cycle.

If the drives are networked via PROFIBUS-DP, drive parameters can be exchanged between SIMATIC S7 and SIMOVERT MASTERDRIVES MC (centrally and decentrally) during operation.

With a centralized system on the SIMATIC M7, digital SIMOVERT MASTERDRIVES MC drives are used. In this case, the optional technology package is not needed with SIMOVERT MASTERDRIVES MC.

The runtime package for SIMATIC M7 contains standard applications for FM 356-4 and FM 456-2 1). The package includes the complete Motion Control functionality in the form of a finished application. It is neither necessary nor possible to modify the application using CFC.

If required, we will develop customized solutions on the SIMATIC M7 using graphical CFC configuring.

Distributed technology

The technological functions are integrated in SIMOVERT MASTERDRIVES MC; they are available as a software option.

In addition to the technological functions for positioning and synchronization, logical and mathematical blocks (AND, OR, compare, add, subtract, etc.) are available on the SIMOVERT MASTERDRIVES MC and can be used freely by the user.

The technological functions and the logical and mathematical blocks can be interconnected by the user via parameters.

Standard configurations are also available here to facilitate configuration and start-up.

Application interface to S7 CPU

The application interface to the S7 CPU has the same structure with centralized and distributed technology.

Communication between the S7 and M7 systems and between S7 and SIMOVERT MASTERDRIVES MC takes place via control and checkback signals. These signals define the operating mode, for example, or start the axes. The checkback messages from the technology functions are also entered in this interface.

A task-oriented data interface allows technology and drive parameters to be read and written.

Technological functions

Motion control provides the following technological functions:

Axis types:

  • Linear axes
  • Rotary axes

Positioning:

  • Position controller with feedforward control
  • Setup: Position controlled traversing of the axis in Jog mode
  • Reference point approach: Referencing of the axis using various methods
  • Positioning/MDI (Manual Data Input)
    • Simultaneous transfer and starting of a positioning task
    • Selection of configured positioning tasks
  • Automatic
    • Execution of complete positioning programs cyclically or in single-step mode
    • Program-controlled output of switching functions (M functions)
    • Block change on-the-fly via high-speed input
    • Start/read enable via high-speed input

Synchronization:

  • Angle synchronization/electronic gearbox
    • Long-term stable angle synchronization with a transmission ratio of 1:5 to 32,000:1
    • Input of transmission ratio as nominator and denominator in the range from 1 to 32,000
  • Electronic cam disk/table interpolation
    • Implementation of complex axis couplings, e.g. flying saw, flying knife
    • Table change on-the-fly
    • Linear interpolation between profile points
  • Coupling/decoupling: Accurate incremental engaging or decoupling of a slave axis
  • External synchronization of the slave axis via a high-speed input (e.g. printed marking)
  • Master axis
    • Internal master axis, position-controlled
    • External master axis, external setpoint input
    • Virtual master axis, master axis not available, internal generation of master actual value

Cam controller:

  • High-speed switching output
    • Free assignment of a setpoint or actual value position
    • Two cam controllers with two cams each

1) In preparation.

Технические данные

Motion Control

SIMATIC M7

SIMOVERT MASTERDRIVES MC

Number of axes

Runtime package:
4/8 axes

Any number, modular axis design

General functions

Sensor monitoring

in SIMOVERT MASTERDRIVES MC

Yes

Cam controller

in SIMOVERT MASTERDRIVES MC

Distance/distance cams
2 x 2 cams, response time 800 µs

High-speed inputs and outputs

in SIMOVERT MASTERDRIVES MC

Yes

Positioning functionality

Traversing range

± 1000 m

Traversing speed

0.01 mm/min ... 500 m/min

Acceleration

1.0 mm/s2 ... 99.999 mm/s2

Deceleration

1.0 mm/s2 ... 99.999 mm/s2

Jerk limitation

1.0 mm/s3 ... 999.999 m/s3

No. of program blocks

1000

50

Number of programs

200

20

Zero offsets

Yes

Yes

2D linear interpolation

Yes

No

Corner rounding tolerances, velocity-independent

2

No

Acceleration influence-able via G function

Yes

Yes

Software limit switch

Yes

Yes

Actual value weighting factor

Yes

Yes

Tool offsets

Yes

Yes

Override for feed and acceleration

Yes

Yes

Backlash compensation

Yes

Yes

On-the-fly actual value setting/measurement

Yes

Yes

External start

Yes

Yes

External block change

Yes

Yes

External read enable

Yes

Yes

Switching functions (M functions)

Yes

Yes

Rotary axis

Yes

Yes

Teach-in

Yes

Yes

Simulation

Yes

Yes

Synchronization functionality

Master value sources

    
  • Virtual

Yes

Yes
  • Actual value control

Yes

Yes
  • Setpoint control

Yes

Yes

Free assignment of master and slave axes (cascading of slave axes)

Yes, with runtime package via parameterization, with engineering package via CFC configuring

Yes, via SIMOLINK
and parameter interconnection

Electronic gearbox transmission ratio from 1:5 ... 32,000:1

Yes

Yes

Transmission ratio can be changed during operation

Yes

Yes

Table synchronization

Yes

Yes
  • Number of tables

8

1 or 2
  • Number of interpola­tion points per table

1022

1 x 200 or 2 x 100
  • Table change on-the-fly

Yes

Yes

Coupling/decoupling

Yes

Yes

Synchronization via high-speed input (printed marking synchronization)

Yes

Yes

Additional functions

Customized applications possible with CFC

Approx. 200 logical and arithmetic functions (AND, OR, NOR, +, -, x, /, compare) in addition to controller blocks, with free interconnection of blocks

Position decoding

Using any encoder which can be connected to SIMOVERT MASTERDRIVES MC:
 

Encoder module SBR1/2: Resolver with/without pulse encoder simulation 512/1024 pulses)
 

Encoder module SBM: Multi-turn encoder (absolute) with SSI or EnDat protocol, high resolution sin/cos encoder
 

Encoder module SBP: Pulse encoder with TTL (5 V) or HTL (15 V) level

Drive interface

PROFIBUS DP in S7: Required only if parameters need to be changed (e.g. with change of format).

PROFIBUS DP in M7:
Not required.

PROFIBUS DP:

  • Change of parameters
  • Setpoint/actual values
  • Control signals
 

SIMOLINK:
Always required for:

  • Synchronization
  • Control signals
  • Setpoint/actual values

Max. 200 nodes

SIMOLINK:
Always required for angle synchronization and for:

  • Synchronization
  • Direct data exchange between the drives
  • Peer-to-peer link
  • Communication with SIMATIC M7

Max. 200 nodes