total view. overall detector view one axis horizontal motion overview
Post on 18-Dec-2015
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Total view
Overall detector view
One axis
Horizontal motion overview
Horizontal motion limits
Beam center line = 0
HS=-0.4ES=-0.2SS=-0.1
STOP STOP STOP
STOPSTOPSTOP
SS=-0.1ES=-0.2HS=-0.4
Overlap = 5mm
HS=30.2ES=30.0RS=29.8SS=29.7
STOP STOP STOP STOP
X
XL
SS=29.7 RS=29.8 ES=30.0HS=30.2
STOPSTOPSTOPSTOP
HS = hardstop (mm)ES = endswitch (mm)RS = reference switch (mm)SS = software stop (mm)
EFNI HK
Support frame
Y translation frame
Vertical motion limits
HS=5.2
ES=5.0
RS=4.8
SS=4.7
SS=-4.9
ES=-5.0
STOP
STOP
STOP
STOP
STOP
STOP
up
down
beam center = 0
detector mounting = -7
bellow mounting = -20
HS = hardstop (mm)ES = endswitch (mm)RS = reference switch (mm)SS = software stop (mm)
EFNI HK
The PLC hardware
Block diagram
Service area Target area60 meter
switchinterf.
stepperinterf.
res.interf.
step.drive
resolverstepperm.
40:1spindle XR
U33
potm.interf.
ES,RS ES
PotentiometerP1, P2, P3
switchinterf.
stepperinterf.
res.interf.
step.drive
resolverstepperm.
40:1spindle XL
U33
potm.interf.
ES,RS ES
PotentiometerP1, P2, P3
switchinterf.
stepperinterf.
res.interf.
step.drive
resolverstepperm.
16:1spindle Y
U33
potm.interf.
ES,RS ES
PotentiometerP1, P2, P3, P4Dig in
Sm321 32 chann.
ProcessorCPU 316-2DP
Ana inSm331 2x 16 chann.
Dig in/outSm323
Dig outSm322
Rs232Cp340
Power supplyPS307-5
EthernetCp343
192.16.192.50
Rs232Cp340 3x
Hardware interlocksBeam safety system
To scada system
Control system
Control system
Plug-in at service- or target area
portableoperatordisplay
EFNI HK UPS
PLC variables for one axis
switchinterf.
stepperinterf.
res.interf.
step.drive
resolverstepperm.
40:1spindle XR
U33
potm.interf.
ES,RS ES
PotentiometerP1, P2, P3
Write;Z to set reference to stepper interfaceA nnn move to position to stepper interfaceP read stepper value to stepper interfaceL read resolver value to stepper interfaceQ emergency stop for stepper to stepper interfaceM master mode bit to switch interface
Read variables;Stepper value after movement resolution range conv. to positionResolver value after movement 10bit 0…xx 0..mmES status out for each sub axis 1bit 1=activeRS status as reference 1bit 1=activeES status in for each sub axis 1bit 1=activeStepper driver status 1bit 1=ok
Read variables; resolution range conv. to positionP1 Value during movement 16bit 0…5V 0 - 50.00mmP2 Value during movement 16bit 0…5V 0 - 50.00mmP3 Value during movement 16bit 0…5V 0 - 50.00mm
EFNI HK
PLC initial procedure
physics mode
out of reference
n
n
n
master limitsactive
physics limitsactive
physics mode
time out
ready
enable beaminjection
Goto main-loop
start init
stop
At start;First check mode to establish the right communication?Or always in physics mode?Check or this command is allowed?A priori out of referenceInhibit beam injection
Goto reference positionError 101 on time out +? (other procedure)Enable beam injection
Goto desired position (other procedure)
So far it means that there is possible a beam without knowing the position of the detector?
Procedure delivers a status flag that all values are referenced?
Set reference values
Zcommand
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disable beaminjection
n status check
error105 error101
PLC mode procedure
Physics mode or Master mode.
Status are presented to SCADA and portable display
Physics mode:
•Accept only commands via SCADA system
•Narrower limits then master mode
•No password protection
•No change allowed of the mode
Master mode:
•Accept only commands by portable display
•More limit privileges then physics mode
•Only via password protection changing of mode
EFNI HK
PLC Main Loop
read pos.
calculation desired Pos.
Check potm.
Stepper positionResolverposition
End
Pos. < limits
At start;Only allowed if values are referenced?Mode depends on mode procedureDuring movement injection inhibit?Stepper drive power on?
start main
Potmeterposition
n
n
n
master limitsactive
physic limitsactive
physics mode
Calc.time-out value
n
ntime out
ready
Positionnnn
error102 error101
Statusloop
Statusloop
A nnncommand
error103
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disable beaminjection
enable beaminjection
PLC Status loop
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Readpositionstepper
Store data
Send PRead
positionresolver
Store data
Send L
With potentiometertable
start status
Compare
Tolerance +/- 25 steps
Statusok
Error104
Select Axis XL-XR-Y
start status
Get XL sw Get XR sw Get Y sw
Switchstatus
ok
SwitchXL error
SwitchXR error
SwitchY error
Error xx
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Position inconsistentlyGive status
To scada and display
Error102
Time out
Error101
Input error
Error103
Error101;Has to end with Q command?
Error 101, 102;Back to ref. Pos.?Enable beam inj.?
Error 103
Send to PVVS
“Input?”
Error 104
Send to PVVS
“Axis undefined pos”
Axis pos. error
Error104
Frame parts
Box2
Box4Box3
XL XR
XL XR
Downstream
Downstream
Upstream
Upstream
UpstreamLeft
Box2 Bottom
Downstream
DSLsw1x USLsw1x
Ref sw.
USLTsw1x USRsw1x
USRsw1x DSRsw1xRef sw.
Right
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Top
Bottom
Top
Bottom
Top
Box1
Y
Box5Box6DSLpy USLpy
USLsw1y
USLsw2y
DSLsw1y
DSLsw2y
USRpy DSRpy
DSRsw1y
DSRsw2y
USRsw1y
USRsw2y
Ref sw.
USRTsw1xUSLTsw1x
DSRsw1x
DSRpxDSLpx
DSLsw2xBottom
USLTsw2xUSLTpx USRTpx
USRsw1xUSRpxUSRpx
Ref sw.
USRsw2x
Top
Bottom
DSLsw1x
USLsw1xRef sw.
Commands
goto reference position (takes 300 seconds maximum for XL and XR or 30 seconds for Y axis)check moving with the potentiometers
goto nnn absolute postition (takes 300 seconds maximum for XL and XR or 30 seconds for Y axis) nnn in steps, value between 0 and 1.400.000 (35.00mm)check moving with the potentiometers
read the position of the stepper
read the actual value of the resolver equal on the stepper (+/- 25 steps)
quit the command (Z and A), stops the steppermotor.
Available commands to the stepper interface;
XLXRY
Z
Annn
PL Q
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Variable list 1
Variable layout;Nickname symbol address datatype value comment
Global variable for the XL detector half;
Symbol address data type value commentXL-axis-mm xx xx variable XL-axis distance in mmXL-axis-resolver xx xx XL-axis distance in resolver stepsXL-axis-steps xx xx XL-axis distance in steppermotor stepsXL-res-ref-position xx xx constant
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Variable list 2
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Variable list 3
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OLD Motion control
To scadasystemPVSS II
Hardware interlocksto the beam inhibit system
PLC SiemensS7-300
CPU
Power Supply
Ethernet
RS232
DIG I/O
hand control panel
hand control
ADC
eth
ern
et
PLC System Motion Controls
Potmeter interface
RESOLVERinterface
Switchinterface
Stepper andresolver controller
RS232
steppermotor
resolver
3xSTEPPER
DRIVE
3x
Potmeter
Sh
ield
ing
wall
Power