PLCopen ® for efficiency in automation PLCopen Motion Control an introduction Check the notes in the notes view

PLCopen ® for efficiency in automation PLCopen Motion Control: The software problem

PLCopen ® for efficiency in automation

PLCopen ® for efficiency in automation Managing Complexity 100 – 10,000 – 1mio – 100mio Lines of Code Exponentially increasing complexity

PLCopen ® for efficiency in automation Why Structured Software Development ?  Software = key to system quality: errors cost money  Increased requirements: 100 lines of codes now 10,000 lines or even 100,000  Not a one-man job - but a team with different know how and background  Commissioning, Installation, Maintenance, and Improvements essential phases

PLCopen ® for efficiency in automation Modern Software Development Process  Defined in several clearly separated phases - project definition  Top-down approach  Multiple disciplines involved  Multiple people involved  Different backgrounds  Based on Functional Requirements

PLCopen ® for efficiency in automation Decomposition with Sequential Function Chart SFC

PLCopen ® for efficiency in automation Bottom-up after top-down Top- down Bottom up First decompose – then fill it in

PLCopen ® for efficiency in automation Abstraction via Function Blocks MC_MoveAbsolute AXIS_REF Axis AXIS_REF BOOL Execute Done BOOL REAL Position BOOL REAL Velocity CommandAborted WORD REAL Acceleration BOOL REAL Deceleration REAL Jerk MC_DIRECTION Direction Error ErrorID ContinuousUpdate BufferMode Busy Active BOOL MC_BUFFER_MODE BOOL

PLCopen ® for efficiency in automation Axis_Ref as Var_In_Out FB Axis1 Axis_Ref Structure

PLCopen ® for efficiency in automation Abstraction / HW Independence via Function Blocks Software View Inputs Name Outputs Hardware View I/F Intelligent Drive Motor E Drive Motor E PWM I/F Encapsulation / Information Hiding

PLCopen ® for efficiency in automation Abstraction with one FB FB Axis1 Axis_Ref Structure I/F Task Manager Drive Conver- sion Time or event driven

PLCopen ® for efficiency in automation and with 2 FBs FB1 Axis1 Axis_Ref Structure I/FDrive Task Manager Conver- sion Time or event driven FB2

PLCopen ® for efficiency in automation Mechatronic solutions Mechanical solution. Control solution

PLCopen ® for efficiency in automation Status PLCopen Motion Control  Part 1 – Function Blocks for Motion Control  Part 2 – Extensions  Part 3 – User Guidelines  Part 4 – Coordinated Motion  Part 5 – Homing procedures  Part 6 – Fluid Power (hydraulics)  Around 30 companies certified with over 40 products (check website for full list)

PLCopen ® for efficiency in automation Administrative Motion Single Axis Multiple Axes Single Axis Multiple Axes Non-Interpolated MoveAbsolute MoveRelative MoveSuperImposed MoveContinuous MoveVelocity Home Stop Power ClearPendingActions ReadStatus ReadAxisError ReadParameter WriteParameter ReadActualPosition PositionProfile VelocityProfile AccelerationProfile CamTableSelect CamIn CamOut GearIn GearOut Part 1 – MC FBs

PLCopen ® for efficiency in automation Administrative Motion Single Axis Multiple Axes Single Axis Multiple Axes TorqueControl DigitalCamSwitch TouchProbe AbortTrigger ReadDigitalInput ReadDigitalOutput WriteDigitalOutput SetPosition SetOverride GearInPos ReadActualVelocity ReadActualTorque Part 2 - Extensions

PLCopen ® for efficiency in automation GroupHome GroupStop GroupHalt GroupInterrupt GroupContinue MoveLinearAbsolute MoveLinearRelative AddAxisToGroup/ RemoveAxisFromGroup UngroupAllAxes GroupReadConfiguration GroupEnable / GroupDisable SetKin/Cartesian/CoordinateTransform MoveCircularAbsolute MoveCircularRelative MoveDirectAbsolute SyncAxisToGroup SyncGroupToAxis TrackConveyorBelt TrackRotaryTable ReadKin/Cartesian/CoordinateTransform GroupSetOverride GroupSetPosition / GroupReset GroupReadActualPosition/Vel/Acc GroupReadStatus/ReadError SetDynCoordTransform MoveDirectRelative MovePath Administrative Motion Part 4 – MC FBs PathSelect Coordinated Synchronized

PLCopen ® for efficiency in automation Administrative Motion Single Axis Multiple Axes Single Axis Multiple Axes LoadControl LoadSuperimposed LimitLoad LimitMotion LoadProfile Part 6 – Fluid Power

PLCopen ® for efficiency in automation Part 5 – Homing Procedures  Homing Procedures lHomeAbsoluteSwitch, HomeLimitSwitch, HomeBlock, HomeReferencePulse, HomeReferencePulseSet, HomeDistanceCoded, HomeDirect, HomeAbsolute  Homing Step Function Blocks lFBs: MC_StepAbsoluteSwitch, MC_StepLimitSwitch, MC_StepBlock, MC_StepReferencePulse, MC_StepDistanceCoded lFinalizing: MC_HomeDirect, MC_HomeAbsolute, MC_FinishHoming lHoming on-the-fly: MC_StepReferenceFlyingSwitch, MC_StepReferenceFlyingRefPulse, MC_AbortPassiveHoming

PLCopen ® for efficiency in automation Part 3 – User Guidelines  Shows examples for ease-of-use  Shows user-derived Function Blocks  Shows higher level encapsulation (e.g. Winding)  Stresses the creation of own FB libraries  Uses FBD, LD, and ST  82 pages in total  Not a training guideline

PLCopen ® for efficiency in automation Example – Multiple FBs on 1 axis - LD

PLCopen ® for efficiency in automation Timing Diagram

PLCopen ® for efficiency in automation Example – Multiple FBs on 1 axis - FBD

PLCopen ® for efficiency in automation Example with SFC

PLCopen ® for efficiency in automation Example - GearIn MC_GearIn AXIS_REF Master AXIS_REF BOOLExecute InGearBOOL INT RatioNumerator CommandAborted WORD UINT RatioDenominator BOOL REAL Acceleration Error ErrorID Slave AXIS_REF REAL Deceleration REAL Jerk

PLCopen ® for efficiency in automation GearIn

PLCopen ® for efficiency in automation GearIn

PLCopen ® for efficiency in automation Start-up procedure Is independent of the architecture Consists of 3 commands:  MC_Power  MC_Home  MC_Move….. To make any axis move.

PLCopen ® for efficiency in automation Start-up procedure

PLCopen ® for efficiency in automation Error Handling Error - Rising edge – error during execution of the FB ErrorID - Error identification MoveAbsolute AXIS_REF Axis AXIS_REF BOOL Execute Done BOOL REAL Position BOOL REAL Velocity CommandAborted WORD REAL Acceleration BOOL REAL Deceleration REAL Jerk MC_Direction Direction Error ErrorID BufferModeMC_BufferMode BOOL Busy BOOL Active

PLCopen ® for efficiency in automation Part 4 – Coordinated Motion

PLCopen ® for efficiency in automation Synchronized Motion items  SyncAxisToGroup  SyncGroupToAxis  TrackConveyorBelt  TrackRotaryTable

PLCopen ® for efficiency in automation Synchronization of single axis to an axes group

PLCopen ® for efficiency in automation Synchronization of an axes group to a single axis

PLCopen ® for efficiency in automation Tracking

PLCopen ® for efficiency in automation Encapsulation

PLCopen ® for efficiency in automation Labelling

PLCopen ® for efficiency in automation The labelling program

PLCopen ® for efficiency in automation Possible improvements

PLCopen ® for efficiency in automation Warehousing Example

PLCopen ® for efficiency in automation Application Program (1/2)

PLCopen ® for efficiency in automation Application Program (2/2)

PLCopen ® for efficiency in automation Alt. Application Program

PLCopen ® for efficiency in automation Encapsulation: Winding / Unwinding

PLCopen ® for efficiency in automation Dancer Control

PLCopen ® for efficiency in automation Graphical representation of FB

PLCopen ® for efficiency in automation UDFB for Winding (csv)

PLCopen ® for efficiency in automation

PLCopen ® for efficiency in automation PLCopen Motion Control A suite of specifications A suite of implementations A suite of suppliers A very fast growing suite of users A suite of advantages

PLCopen ® for efficiency in automation PLCopen Combining Logic, Motion and Safety Providing Structuring, Decomposition, Reuse and less training

PLCopen ® for efficiency in automation Some words to the Not-for-profit organization

PLCopen ® for efficiency in automation

PLCopen ® for efficiency in automation PLCopen - a world wide association Office in Japan Main Office in Europe Office in North America Office in China

PLCopen ® for efficiency in automation Organization TECHNICAL PROMOTIONAL COMMITTEES PLCopen for efficiency in automation

PLCopen ® for efficiency in automation PLCopen – providing a suite of specifications

PLCopen ® for efficiency in automation

PLCopen ® for efficiency in automation More Information...  Free-of-Charge electronic Newsletter ‘PLCopening’ (in english)