080611 ac500 motion control library ps551 mc e

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ABB STOTZ-KONTAKT GmbHHeidelberg - Germany

PS551-MC

Libraryfor AC500

Stefan Buchholz

June, 11th 2008

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s AC500 library

PS551-MC Coming up

Motivation

AC500 PLC system

PLCopen Motion Control

PS551-MC library

First steps, demonstration

Preview Standard Drive Library

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Introduction: ABB SolutionsAC500 library

PS551-MC

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s Fieldbus configuration principle

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s AC500 CoDeSys configuration

Program MCW, Ref1, Ref2,... Program a Motion / Velocity

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s AC500 library

PS551-MC Content

AC500 PLC system

PS551-MC library

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s AC500 library

PS551-MC Coming up

AC500 PLC

PS551-MC library

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Introduction – Configurations for PLCopen library

Servo motors Frequency converters PLCs 9C-Series ACSM1 HDP xx ACS800-MC AC500 … ACS350

AC500 libraryPS551-MC

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Specifications by PLCopen foundation

Functionality for motion control

- continuous motion (velocity ref)

- discrete motion (position ref)

- synchronous motion

State machine

Independent of used hardware

(PLC, Fieldbus, Drive)

Independent of physical unit

Independent of programming language

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PLCopen State MachineAC500 library

PS551-MC

PLCopen Specification: AC500 visualization:

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PLCopen Function Blocks

PLCopen describes hardware independent function blocks

Name Function

Inputs Outputs

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s AC500 library

PS551-MC PLCopen Function Blocks

Example: definition of MC_MoveAbsolute

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PLCopen Specification of technical unit

Technical Unit [u]:

length unit [u] is not physically specified – manufacture dependent

only its relation with others is specified

velocity [u/s] acceleration / decceleration [u/s2 ] jerk [u/s3]

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PLCopen Function Blocks

Overview of defiened function blocks by PLCopen

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PLCopen - Programming structureAC500 library

PS551-MC

Drive: ACSM1 / ACS800-MC / …

PLCopen Motion Control FBsMC_XXX

MC_MoveAbsoluteMC_StopMC_Home

Communication Layer

ACSM1_ACCESS, ACS800_ACCESS…

AXIS_REF

Fieldbus (Profibus )

Fieldbus-Master

Fieldbus-Coupler

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s AC500 library

PS551-MC Coming up

AC500 PLC

PS551-MC library

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s ACSx_ACCESSFunction Block

Function Blocks – programming structurAC500 library

PS551-MC

MC_...Function Blocks

Axis_Ref

FieldbusConfiguration

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Function Blocks – ACSM1_ACCESS_dc

ACSM1_ACCESS_dc

Once per drive

Interface to Fieldbus

Axis variable is used as reference for all other MC-FBs

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MC_Power

AC500 libraryPS551-MC Function Blocks – MC_Power

Enable sets the drive into

“ready for reference”

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MC_MoveRelative

AC500 libraryPS551-MC Function Blocks – MC_MoveRelative

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Visualization

Common Visualization for each drive

Visualization for

each different drive

type is included in

the library

StateMachine Axis error Axis actual values Main Control word Main Status word

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Visualization for each type of MC_ Function Block

Use for

Indication

Control from internal Visualization

AC500 libraryPS551-MC Visualization

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PS551-MC contents

PS551-MC package contains:

Libraries with FBs, Visualization, …

Documentation including needed drive parameter settings

Manual for first steps and configuration

“First example” program for each type of drive

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Library structur

AC500 libraryPS551-MC PS551-MC – libraries structur

internally needed

& visualization

drive independent

Function Block for communication layer

for specific drive

MC Function

Blocks

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Library – Function Blocks realized for ACSM1

ACSM1 Library

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ACS800 Library

AC500 libraryPS551-MC Library – Function Blocks realized for ACS800

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ACS350 Library

AC500 libraryPS551-MC Library – Function Blocks realized for ACS350

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Documentation

Common description of PLCopen Motion Control functions blocks

Specific description of ABB-library

Description of parameter adjustment for drives

AC500 libraryPS551-MC Library – Documentation

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Library – Example programs

Example programs for each different drive type

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PS551-MC state on 11th of June

BETA Version 1.0.2 for internal use only!

First pilot projects coming up, demo units shown on SPS and Hannover fair

Release for special customers / projects is possible, please contact

ABB Stotz-KontaktX-Automation@de.abb.com

or Stefan.Buchholz@de.abb.com

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s AC500 library

PS551-MC Coming up

AC500 PLC

PS551-MC library

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First stepsAC500 library

PS551-MC

Drive: ACSM1 / ACS800-MC / …

PLCopen Motion Control FBsMC_XXX

MC_PowerMC_MoveAbsoluteMC_Stop

Communication Layer ACSxxx_ACCESS,

AXIS_REF variable

Fieldbus (Profibus )

Fieldbus-Master

Fieldbus-Coupler

Fieldbus Configuration

Communication Parameters

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Function Blocks – first steps

Drives Parameters have to be adjusted

-> use documentation to adjust or -> copy prepared reduced parameter list (ACSM1)

Profibus configuration with Sycon.net

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Function Blocks – first steps – task setup

Create or select ONE task for all MC-FBs related to this axis

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Function Blocks – first steps – ACSM1_ACCESS_dc

Call the one ACCESS-FB for the axis

Connect the first fieldbus input variable with ADR operator to “field_in”

Connect the first fieldbus output variable with ADR operator to “field_out”

Connect axis-variable to in_output “axis”

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Function Blocks – first steps – ACSM1_ACCESS_dc

Write your programm with MC-Function Blocks

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PLC-Open Motion Control - applications

Demonstration model for store application

3 linear axis – ACSM1, 1 rounde axis – ACSM1

PLC-control with PM581 via Profibus User Interface with CP450 - Ethernet

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PLC-Open Motion Control - applications

Democase ACSM1 with AC500

ACSM1-Democase with two drives modified for use with 230V AC.

PLC-control with PM581 via Profibus Optional use of CP440 Touchpanel

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s AC500 library

PS551-MC Coming up

AC500 PLC

PS551-MC (AC500 library)

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Standard Drive Control library for speed control - PREVIEW

Standard Function Block for speed control,

using PowerUp Statemachine

Engineering Function Blockwill be defined

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080611 ac500 motion control library ps551 mc e

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