logging in or signing up Maxon- Operation & Application of Maxon's new EPOS Controller Electromate Download Post to : URL : Related Presentations : Share Add to Flag Embed Email Send to Blogs and Networks Add to Channel Uploaded from authorPOINT lite Insert YouTube videos in PowerPont slides with aS Desktop Copy embed code: (To copy code, click on the text box) Embed: URL: Thumbnail: WordPress Embed Customize Embed The presentation is successfully added In Your Favorites. Views: 60 Category: Science & Tech.. License: All Rights Reserved Like it (0) Dislike it (0) Added: December 20, 2011 This Presentation is Public Favorites: 0 Presentation Description Maxon- Operation & Application of Maxon's new EPOS Controller Comments Posting comment... Premium member Presentation Transcript PowerPoint Presentation: EPOS P 24/5 Features and Programming § Functionality § Performance § Communication § Terms § Programming Tool: Projects § Basics of the PLC Programming § Programming Language IEC 61131-3 Standard S § Sample Programs old & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: What is the EPOS P? § CAN-master + EPOS 24/5 - programmable, stand alone operation EPOS CAN bus Sold & Serviced By: EPOS P ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: What is the EPOS P? § same basic functionality as a motion controller as the EPOS § CAN master functionality other EPOS P CAN bus CANopen modules EPOS Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: CAN master functionality EPOS § maxon is responsible for EPOS (slaves) § User has to care about CANopen § User is responsible for CANopen master § User is responsible - for programming - for first installation - for debugging and service EPOS P § maxon is responsible for EPOS P and EPOS § Forget CANopen! § maxon is responsible for CANopen master § User is responsible - for programming - for first installation - for debugging and Sold & Serviced By: ice ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Performance of the EPOS P § Same as the EPOS 24/5 - Supply voltage, current, motor voltage - Motor and encoder - Communication, I/O - Connectors and pin assignments - Footprint § Power Range - 24V/5A version only - No EPOS P 24/1 or EPOS P 70/10 Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: P = Programmable § Programs or logical sequences are stored within the EPOS P and can be executed by simple commands or inputs. § Possibility for programming - Write and edit a program - Save and execute a program § Consequences - Additional memory needed to store program - CANopen driver - PC tool for writing programs: OpenPCS - New user interface: EPOS STUDIO (replaces EPOS GUI) - Upgrade EPOS Firmware Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Programming Standard IEC 61131-3 § Well known in the PLC world and in the motion control industry § Unique for small power drives - Direct competitors use proprietary programming languages § Motion function Libraries § Advantages - Programming language independent of hardware - Reusability of the programs - No need to learn a new language: same “look and feel” for programmer - Widely accepted Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Standalone Operation § program flow controlled by - internal events (time, current, position, speed...) - external events (digital inputs, CAN inputs) PC for programming only Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Is the EPOS P a PlC? § Yes, because … - No additional master system (PC or PLC) is necessary - It is programmed similar to a PLC § But … - Primarily intended for motion control functions - EPOS P contains an EPOS (motion controller) internally Hence § The EPOS P is a “small PLC specially designed for motion control ” Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Memory Performance § 1MB memory - More than 700KB for programming à Typical motion program < 100KB à Real PLC up to 10MB (e.g. Siemens S7) § 1KB non volatile memory - For RETAIN variables à 1 position ~ 40bytes Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: CPU Performance § Typically 2.5ms for 5,000 Lines of IL - Means that the processor needs about 2.5 ms to go through a 5,000 line program written in Instruction List (IL). - Included in this 2.5ms is a communication offset of about 1.5ms à For reloading a new task à i.e. for 10,000 lines of IL the system needs less than 4ms. Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Communication § CANopen (same as EPOS) - Typical time needed for one motion command with PDO 130µs, with SDO 2X130µs - For up to 32 CANopen motion axes - For up to 127 CANopen devices § PLC cycle time - Lies at about 2ms for small programs - Similar to an average PLC § Performance - Depends very much on the written program size and method Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Multi Axis and Synchronization § Ability to program a synchronized multi axis application - PLC programming and motion control Knowhow needed - Basic CANopen Knowledge needed § We expect that about 3 axis may be synchronized at 2ms cycle time § Remarks: - Not all multi axis systems need synchronization Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Other CANopen devices § EPOS P can control other CANopen devices, e.g.: - Digital I/O - Analog Inputs - Absolute sensors with CANopen interface - Displays - CANopen devices: http://www.can-cia.org/products/pg2006/ - Maxon Motor does not produce any of these devices § Prerequisite - CANopen Knowledge - Trainings are offered from CIA or IXXAT … Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Description of some terms § PLC Programmable Logic Control § PLCopen An Industrial Control organisation § IEC 61131-3 Programming Standard created by PLCopen (in the past IEC 1131) § OpenPCS Programming tool for EPOS P (from Infoteam) Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: What is a PLC? inputs sensors § roots in the wiring logic outputs PLC actuators motors, valves - originally hardware based: Relays § increasingly software based - more flexible, easier to modify - more efficient, lower costs § needs a programming device - industrial PC = PLC + programming device - programming device will be removed after programming § special requirements: rough environment - no moving parts such as harddisks Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: A PLC program works in a cyclic manner § Cyclic calculation of the output pattern according to the input inputs inputs pattern - it starts again when it ’s finished - no inputs during the cycle program cycle time § cycle time depends on the application à smart living technology: < min; outputs à drives: several ms Sold & Serviced By: § particular programming languages ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: What is PLCopen? § User organisation for the promotion of IEC 61131-3 standards § develops and publishes the standards (e.g. for Motion Control, Safety, …) § certification authority § PLCopen and maxon EPOS P - motion functionality based on PLCopen Motion Control Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: What is IEC 61131-3 ? § describes concepts and directives for building a PLC project, respectively PLC program - use of defined terms (key words) - contains 5 equal programming languages - drive/motion function library § advantages - widely spread in the PLC world and motion control industry - well known “look and feel”, no need to learn new language - independent of used hardware - “a certain” re-usability of PLC programs - widely accepted Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: OpenPCS § the programming tool for the EPOS P - from company: Infoteam § follows the standard IEC 61131-3 § not described in the IEC 61131-3 standard: - How does a program editor have to look? - management of projects and libraries - documentation - online functions, e.g. software modification, debugging - file and data base structures and this is where the programming tools differ! Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Configuration § PLC configuration in general § Project in the EPOS-Studio § Project in the OpenPCS Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Project in the EPOS Studio § Project in the EPOS Studio - describes involved components and its communication - EPOS P : for 1 EPOS P - EPOS : for 1 EPOS - MCD EPOS : for 1 MCD EPOS - MCD EPOS P : for 1 MCDEPOS P - For Network: Create New Project - Info will be handed over to OpenPCS § tools and wizards depend on involved componen Sold & Se § communication, network connections rviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: e.g. EPOS Project § for a EPOS § navigation is adjusted Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: OpenPCS Project § project contains - resources, runtime programs - allocation of variables to physical PLC addresses - references to other programs: global variables, data types - corresponds to PLC configuration § resource = processing unit of the PLC - e.g.: EPOS P “master function", CPU’s, special processors - on one resource several runtime programs can run § program sequence controlled by "Task" - importance = priority - execution type: periodic, cyclic, interrupt Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Programming § POU Program Organisation Unit Programs, Function Blocks, Functions § Variables declaration, types § Programming languages Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Program Organisation Unit (POU) § For structuring IEC 61131-3 application programs § 3 types of POU FB - Functions (FUN) - Function Blocks (FB) FB FUN - Programs (PROG) FUN FUN § POU ’ s have a strict hierarchy - recursion is not allowed - memory demand is known from the beginning - memory allocation can be made PROG FUN FUN Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Program Organisation Unit (POU) FUNCTION § structure of a POU - begin and end with KEY WORD (taken care of by OpenPCS) 1. declaration section à interface variables, local variables 2. instruction section in one of the 5 programming languages FUNCTION_BLOCK PROGRAM Interface variables local Variables Instruction POU body END_PROGRAMM END_FUNCTION Sold & Serviced By: CK ELECTROMATE END_FUNCTION Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Characteristics of POU ‘s § closed unit - can be compiled independently - can be called within the whole project - can be used in the whole project - unique name within a project § new POU - File -> New -> POU § libraries can be built of FUN ’s and FB’s - reusability and modularisation - e.g.: standard library, MC library, CAN library Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: POU - variable declaration § VAR local data § VAR_INPUT input parameter § VAR_OUTPUT output parameter § VAR_INOUT input and output § VAR_GLOBAL global data § VAR_EXTERNAL reference to global data § END_VAR key word for the end Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: POU - type declaration § for each variable a type has to be defined § optionally an initial value can be specified - else standard value - or value of previous call § types can also be defined by the programmer - File -> New -> Declarations ->Types - global valid Sold & Serviced By: - TYPE … END_TYPE ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Variable declaration in OpenPCS § VAR_GLOBAL - global data of the resource à File -> New -> Declarations -> Global - global data of the program à upper panel of the program § all other VAR - upper panel of the POU Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Functions (FUN) § return exactly one output value - call with input variable (VAR_INPUT) - for the same input, there is always the same output value § without memory - only local variables allowed (VAR), which will be initialised at every call - no global or external variables allowed § FUN can only call other functions § standard functions are predefined - arithmetic functions and comparisons FUNCTION Hallo: BOOL VAR … END_VAR … - e.g. sin (x) … Sold & Serviced By: ELECTROMATE Hallo := TRUE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 END_FUNCTION www.electromate.com sales@electromate.comPowerPoint Presentation: Function Blocks (FB) § work with an own data record - with memory for internal state - instantiation § output depends on the inputs and state information - input parameter and output parameter § can call FUN ’s and other FB’s § predefined standard FB ’s - e.g. for timer and counter § predefined Motion Control FB ’s - e.g. for relative movements Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Program (PROG) § main program - “brain" of an PLC application program - There is only one instance § defines the access to the PLC periphery - allocation to the physical address (e.g. input and output of the PLC) § declaration of the variables of the whole program (VAR_GLOBAL) § has no input and output parameter Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Programming languages in IEC 61131-3 § 5 equivalent programming languages - IL: Instruction List similar to assembler – ST: Structured Text similar to high level programming language - LD: Ladder Diagram graphical – FBD: Functional Block Diagram graphical - SFC: Sequential Function Chart graphical § It doesn ’t matter with which language the user writes his program. It is even possible to write different parts (POU ’s) of the program in different languages. Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: FBD Function Block Diagram § graphical, strong accentuation of the function blocks and the functions - Similar to LabView § relatively big overhead for parameters and FB § no conditional code programmable (all FB will always be loaded and called) § realistic cycle times >= 10 ms - (@ 30 IL/ms) Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Sample FBD: SimpleMotionSequence FUNCTION_BLOCK with instantiation FUNCTION without name variables, constants, virtual Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com connectionsPowerPoint Presentation: Libraries § standard library - for timer functions, arithmetical functions, … - see OpenPCS help § motion control (MC) library - for axis control - according to PLCopen standard - see Programming Reference 6.1 § CANopen library - for reading and writing of SDO objects - according to CANopen Standard - see Programming Reference 6.2 Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: LD / LDD Ladder Diagram § graphical - in the style of current logic, relay technique - Boolean logic § widely used in USA and Asia - Rockwell LD-Editor as reference Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: SFC Sequential Function Chart § graphical § for process control engineering steps: will be executed if activated conditions (transitions) - will be executed after the previous step is finished - deactivates previous step and activates next step Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: IL Instruction List VAR § widely used in Europe § textual programming similar to assembler - PLC assembler First, Second, Result: INT:=10; StringOp: String[30]:='123456789'; StringRes: String[25] END_VAR … § line oriented - 1 line = 1 instruction § CR = current result - the virtual accumulator for all data types § realistic cycle times: - optimised down to 1 ms B1: LD First ADD Second ST Result GT 0 JMPC B2 JMC FarAway B2: LD StringOp (* 10(INT) *) (* 20(INT) *) (* 20(INT) *) (* True(BOOL) *) (* because CR=True *) (* CR undefined, reaction depends on implement.*) (* 123456789 (Strin Sold & Serviced By: *) ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: ST Structured Text § widely used in Europe § textual, similar to high level language (e.g. Pascal or C+) § some features - instructions separated with “ ; ” - loops: FOR, WHILE, REPEAT - conditions: CASE, IF …THEN…ELSIF...ELSE - complex expressions § realistic cycle times: - optimised down to 1 ms Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com You do not have the permission to view this presentation. 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Maxon- Operation & Application of Maxon's new EPOS Controller Electromate Download Post to : URL : Related Presentations : Share Add to Flag Embed Email Send to Blogs and Networks Add to Channel Uploaded from authorPOINT lite Insert YouTube videos in PowerPont slides with aS Desktop Copy embed code: (To copy code, click on the text box) Embed: URL: Thumbnail: WordPress Embed Customize Embed The presentation is successfully added In Your Favorites. Views: 60 Category: Science & Tech.. License: All Rights Reserved Like it (0) Dislike it (0) Added: December 20, 2011 This Presentation is Public Favorites: 0 Presentation Description Maxon- Operation & Application of Maxon's new EPOS Controller Comments Posting comment... Premium member Presentation Transcript PowerPoint Presentation: EPOS P 24/5 Features and Programming § Functionality § Performance § Communication § Terms § Programming Tool: Projects § Basics of the PLC Programming § Programming Language IEC 61131-3 Standard S § Sample Programs old & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: What is the EPOS P? § CAN-master + EPOS 24/5 - programmable, stand alone operation EPOS CAN bus Sold & Serviced By: EPOS P ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: What is the EPOS P? § same basic functionality as a motion controller as the EPOS § CAN master functionality other EPOS P CAN bus CANopen modules EPOS Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: CAN master functionality EPOS § maxon is responsible for EPOS (slaves) § User has to care about CANopen § User is responsible for CANopen master § User is responsible - for programming - for first installation - for debugging and service EPOS P § maxon is responsible for EPOS P and EPOS § Forget CANopen! § maxon is responsible for CANopen master § User is responsible - for programming - for first installation - for debugging and Sold & Serviced By: ice ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Performance of the EPOS P § Same as the EPOS 24/5 - Supply voltage, current, motor voltage - Motor and encoder - Communication, I/O - Connectors and pin assignments - Footprint § Power Range - 24V/5A version only - No EPOS P 24/1 or EPOS P 70/10 Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: P = Programmable § Programs or logical sequences are stored within the EPOS P and can be executed by simple commands or inputs. § Possibility for programming - Write and edit a program - Save and execute a program § Consequences - Additional memory needed to store program - CANopen driver - PC tool for writing programs: OpenPCS - New user interface: EPOS STUDIO (replaces EPOS GUI) - Upgrade EPOS Firmware Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Programming Standard IEC 61131-3 § Well known in the PLC world and in the motion control industry § Unique for small power drives - Direct competitors use proprietary programming languages § Motion function Libraries § Advantages - Programming language independent of hardware - Reusability of the programs - No need to learn a new language: same “look and feel” for programmer - Widely accepted Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Standalone Operation § program flow controlled by - internal events (time, current, position, speed...) - external events (digital inputs, CAN inputs) PC for programming only Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Is the EPOS P a PlC? § Yes, because … - No additional master system (PC or PLC) is necessary - It is programmed similar to a PLC § But … - Primarily intended for motion control functions - EPOS P contains an EPOS (motion controller) internally Hence § The EPOS P is a “small PLC specially designed for motion control ” Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Memory Performance § 1MB memory - More than 700KB for programming à Typical motion program < 100KB à Real PLC up to 10MB (e.g. Siemens S7) § 1KB non volatile memory - For RETAIN variables à 1 position ~ 40bytes Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: CPU Performance § Typically 2.5ms for 5,000 Lines of IL - Means that the processor needs about 2.5 ms to go through a 5,000 line program written in Instruction List (IL). - Included in this 2.5ms is a communication offset of about 1.5ms à For reloading a new task à i.e. for 10,000 lines of IL the system needs less than 4ms. Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Communication § CANopen (same as EPOS) - Typical time needed for one motion command with PDO 130µs, with SDO 2X130µs - For up to 32 CANopen motion axes - For up to 127 CANopen devices § PLC cycle time - Lies at about 2ms for small programs - Similar to an average PLC § Performance - Depends very much on the written program size and method Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Multi Axis and Synchronization § Ability to program a synchronized multi axis application - PLC programming and motion control Knowhow needed - Basic CANopen Knowledge needed § We expect that about 3 axis may be synchronized at 2ms cycle time § Remarks: - Not all multi axis systems need synchronization Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Other CANopen devices § EPOS P can control other CANopen devices, e.g.: - Digital I/O - Analog Inputs - Absolute sensors with CANopen interface - Displays - CANopen devices: http://www.can-cia.org/products/pg2006/ - Maxon Motor does not produce any of these devices § Prerequisite - CANopen Knowledge - Trainings are offered from CIA or IXXAT … Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Description of some terms § PLC Programmable Logic Control § PLCopen An Industrial Control organisation § IEC 61131-3 Programming Standard created by PLCopen (in the past IEC 1131) § OpenPCS Programming tool for EPOS P (from Infoteam) Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: What is a PLC? inputs sensors § roots in the wiring logic outputs PLC actuators motors, valves - originally hardware based: Relays § increasingly software based - more flexible, easier to modify - more efficient, lower costs § needs a programming device - industrial PC = PLC + programming device - programming device will be removed after programming § special requirements: rough environment - no moving parts such as harddisks Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: A PLC program works in a cyclic manner § Cyclic calculation of the output pattern according to the input inputs inputs pattern - it starts again when it ’s finished - no inputs during the cycle program cycle time § cycle time depends on the application à smart living technology: < min; outputs à drives: several ms Sold & Serviced By: § particular programming languages ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: What is PLCopen? § User organisation for the promotion of IEC 61131-3 standards § develops and publishes the standards (e.g. for Motion Control, Safety, …) § certification authority § PLCopen and maxon EPOS P - motion functionality based on PLCopen Motion Control Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: What is IEC 61131-3 ? § describes concepts and directives for building a PLC project, respectively PLC program - use of defined terms (key words) - contains 5 equal programming languages - drive/motion function library § advantages - widely spread in the PLC world and motion control industry - well known “look and feel”, no need to learn new language - independent of used hardware - “a certain” re-usability of PLC programs - widely accepted Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: OpenPCS § the programming tool for the EPOS P - from company: Infoteam § follows the standard IEC 61131-3 § not described in the IEC 61131-3 standard: - How does a program editor have to look? - management of projects and libraries - documentation - online functions, e.g. software modification, debugging - file and data base structures and this is where the programming tools differ! Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Configuration § PLC configuration in general § Project in the EPOS-Studio § Project in the OpenPCS Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Project in the EPOS Studio § Project in the EPOS Studio - describes involved components and its communication - EPOS P : for 1 EPOS P - EPOS : for 1 EPOS - MCD EPOS : for 1 MCD EPOS - MCD EPOS P : for 1 MCDEPOS P - For Network: Create New Project - Info will be handed over to OpenPCS § tools and wizards depend on involved componen Sold & Se § communication, network connections rviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: e.g. EPOS Project § for a EPOS § navigation is adjusted Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: OpenPCS Project § project contains - resources, runtime programs - allocation of variables to physical PLC addresses - references to other programs: global variables, data types - corresponds to PLC configuration § resource = processing unit of the PLC - e.g.: EPOS P “master function", CPU’s, special processors - on one resource several runtime programs can run § program sequence controlled by "Task" - importance = priority - execution type: periodic, cyclic, interrupt Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Programming § POU Program Organisation Unit Programs, Function Blocks, Functions § Variables declaration, types § Programming languages Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Program Organisation Unit (POU) § For structuring IEC 61131-3 application programs § 3 types of POU FB - Functions (FUN) - Function Blocks (FB) FB FUN - Programs (PROG) FUN FUN § POU ’ s have a strict hierarchy - recursion is not allowed - memory demand is known from the beginning - memory allocation can be made PROG FUN FUN Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Program Organisation Unit (POU) FUNCTION § structure of a POU - begin and end with KEY WORD (taken care of by OpenPCS) 1. declaration section à interface variables, local variables 2. instruction section in one of the 5 programming languages FUNCTION_BLOCK PROGRAM Interface variables local Variables Instruction POU body END_PROGRAMM END_FUNCTION Sold & Serviced By: CK ELECTROMATE END_FUNCTION Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Characteristics of POU ‘s § closed unit - can be compiled independently - can be called within the whole project - can be used in the whole project - unique name within a project § new POU - File -> New -> POU § libraries can be built of FUN ’s and FB’s - reusability and modularisation - e.g.: standard library, MC library, CAN library Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: POU - variable declaration § VAR local data § VAR_INPUT input parameter § VAR_OUTPUT output parameter § VAR_INOUT input and output § VAR_GLOBAL global data § VAR_EXTERNAL reference to global data § END_VAR key word for the end Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: POU - type declaration § for each variable a type has to be defined § optionally an initial value can be specified - else standard value - or value of previous call § types can also be defined by the programmer - File -> New -> Declarations ->Types - global valid Sold & Serviced By: - TYPE … END_TYPE ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Variable declaration in OpenPCS § VAR_GLOBAL - global data of the resource à File -> New -> Declarations -> Global - global data of the program à upper panel of the program § all other VAR - upper panel of the POU Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Functions (FUN) § return exactly one output value - call with input variable (VAR_INPUT) - for the same input, there is always the same output value § without memory - only local variables allowed (VAR), which will be initialised at every call - no global or external variables allowed § FUN can only call other functions § standard functions are predefined - arithmetic functions and comparisons FUNCTION Hallo: BOOL VAR … END_VAR … - e.g. sin (x) … Sold & Serviced By: ELECTROMATE Hallo := TRUE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 END_FUNCTION www.electromate.com sales@electromate.comPowerPoint Presentation: Function Blocks (FB) § work with an own data record - with memory for internal state - instantiation § output depends on the inputs and state information - input parameter and output parameter § can call FUN ’s and other FB’s § predefined standard FB ’s - e.g. for timer and counter § predefined Motion Control FB ’s - e.g. for relative movements Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Program (PROG) § main program - “brain" of an PLC application program - There is only one instance § defines the access to the PLC periphery - allocation to the physical address (e.g. input and output of the PLC) § declaration of the variables of the whole program (VAR_GLOBAL) § has no input and output parameter Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Programming languages in IEC 61131-3 § 5 equivalent programming languages - IL: Instruction List similar to assembler – ST: Structured Text similar to high level programming language - LD: Ladder Diagram graphical – FBD: Functional Block Diagram graphical - SFC: Sequential Function Chart graphical § It doesn ’t matter with which language the user writes his program. It is even possible to write different parts (POU ’s) of the program in different languages. Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: FBD Function Block Diagram § graphical, strong accentuation of the function blocks and the functions - Similar to LabView § relatively big overhead for parameters and FB § no conditional code programmable (all FB will always be loaded and called) § realistic cycle times >= 10 ms - (@ 30 IL/ms) Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Sample FBD: SimpleMotionSequence FUNCTION_BLOCK with instantiation FUNCTION without name variables, constants, virtual Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com connectionsPowerPoint Presentation: Libraries § standard library - for timer functions, arithmetical functions, … - see OpenPCS help § motion control (MC) library - for axis control - according to PLCopen standard - see Programming Reference 6.1 § CANopen library - for reading and writing of SDO objects - according to CANopen Standard - see Programming Reference 6.2 Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: LD / LDD Ladder Diagram § graphical - in the style of current logic, relay technique - Boolean logic § widely used in USA and Asia - Rockwell LD-Editor as reference Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: SFC Sequential Function Chart § graphical § for process control engineering steps: will be executed if activated conditions (transitions) - will be executed after the previous step is finished - deactivates previous step and activates next step Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: IL Instruction List VAR § widely used in Europe § textual programming similar to assembler - PLC assembler First, Second, Result: INT:=10; StringOp: String[30]:='123456789'; StringRes: String[25] END_VAR … § line oriented - 1 line = 1 instruction § CR = current result - the virtual accumulator for all data types § realistic cycle times: - optimised down to 1 ms B1: LD First ADD Second ST Result GT 0 JMPC B2 JMC FarAway B2: LD StringOp (* 10(INT) *) (* 20(INT) *) (* 20(INT) *) (* True(BOOL) *) (* because CR=True *) (* CR undefined, reaction depends on implement.*) (* 123456789 (Strin Sold & Serviced By: *) ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: ST Structured Text § widely used in Europe § textual, similar to high level language (e.g. Pascal or C+) § some features - instructions separated with “ ; ” - loops: FOR, WHILE, REPEAT - conditions: CASE, IF …THEN…ELSIF...ELSE - complex expressions § realistic cycle times: - optimised down to 1 ms Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.comPowerPoint Presentation: Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com