1. Instrument Control Systems Seminar 2014, 20 th -24 th October 2014 Development of VLT Instrument Motion Control PLC Applications D.Popovic, ESO/DoE/CSE/ICSSW

2. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 2 Topics Motor Control Data model ESO Motor Control PLC Library Demo

3. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 3 Motor Control Data Model FUNCTION_BLOCK FB_MOTOR_CONTROL VAR (* OPC UA Interface *) cfg:T_MOTOR_CFG; (*~ (OPC : 1 : Config params) *) ctrl:T_MOTOR_CTRL; (*~ (OPC : 1 : Control params) *) info:T_MOTOR_INFO; (*~ (OPC : 1 : Info params) (OPC_PROP[0005] : 1 : OPC_PROP_RIGHTS, RO) *) stat:T_MOTOR_STAT; (*~ (OPC : 1 : Status params)(OPC_PROP[0005] : 1 : OPC_PROP_RIGHTS, RO) *) (* Variables that need mapping *) switchesAT %I*:T_MOTOR_SWITCHES; (* Limit switches *) i_bBrake_StatAT %I*:BOOL; (* Brake feedback signal - DIGITAL IN *) q_bBrake_CtrlAT %Q*:BOOL; (* Brake control signal - DIGITAL OUT *) i_nInfoData1AT %I*:UINT; (* Info data 1 from Motor I/O terminal *) i_nInfoData2AT %I*:UINT; (* Info data 2 from Motor I/O terminal *) Axis: AXIS_REF; END_VAR

4. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 4 PLCopen MC Specification compliant Handles different motor types transparently through configuration Low level control is hidden from the developer Only high-level motion control routines are used, e.g. − MC_Stop − MC_Reset − MC_MoveAbsolute − MC_MoveRelative − MC_MoveVelocity − MC_...  ESO MC Library < 3000 SLOC (incl. spaces & comments) BECKHOFF TwinCAT MC Library

5. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 5 ESO TC3 Motion Library

6. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 6 DC Controllers  EL7342: 2-ch, 50 V DC, 3.5 A, incremental encoder, TTL, 24V Stepper Controllers  EL7041: 50 V DC, 5 A, incremental encoder, TTL, 24V  EL7031: 24 V DC, 1.5 A, no encoder High Resolution Encoders  EL5101: differential, RS485, 5V, 32-bit, 5,000,000 inc/s  EL5152 : 2-ch, TTL, 24V, 32-bit, 400,000 inc/s Tested HW

7. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 7 Motor configuration divided into three groups: I/O Terminal  Maximum current  Holding current  Feedback type  Encoder resolution  … Axis  Scale factor  Accel., decel., jerk  PID parameters  Following error  … Instrument Function  Axis type (e.g. linear)  Backlash compensation  Software limits  INIT sequence  … Motor Configuration TC3 Configuration

8. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 8 Demo