T06: Embedded Motion and Ethernet Capabilities on … · Micro810 – Smart Relay Micro PLC...

Copyright © 2012 Rockwell Automation, Inc. All rights reserved. Rev 5058-CO900C

T06: Embedded Motion and Ethernet Capabilities on Micro800™ PLCs Thomas Sugimoto Marketing Manager

Copyright © 2012 Rockwell Automation, Inc. All rights reserved. 2

Agenda

10min – Wrapup and Q&A

10min – Programming Motion

10min - Motion Basics

5min - Ethernet Capabilities

5min - Introduction to Micro850™

Copyright © 2012 Rockwell Automation, Inc. All rights reserved.

Ethernet - Connect to HMI - EtherNet/IP - Modbus TCP - Program upload/

download, debug, discover, etc.

3

Micro850 – 24/48pt Micro PLC with Ethernet and Expansion I/O

Micro810 – Smart Relay Micro PLC Micro830 – Block-style Micro PLC

Connected Component Workbench Software Plug-in modules for customization

Expansion I/O - Max 4 modules - 32-pt inputs - 8ch analog IN - 4ch RTD/TC

Connected Component Workbench™ Release2 SW/FW

- Micro830™/Micro850 3-Axis Motion - Password Protection - CIP Symbolic with PVc - Redesigned, easier to use PVc editor

For all your Micro PLC needs - Maximum customization of your

controller with plug-ins, expansion I/O - Flexible communications with Ethernet,

USB, serial ports - 132pts with 4 expansion I/O

Micro800 Release 2 Overview – Micro850 Launch


Connected Components Workbench Release 2 Overview

Features Controller password for OEM intellectual property protection Support for Micro850 with Ethernet and 2085 expansion I/O Support for Micro830/850 motion control

Ease of Use PanelView™ Component Editor integrated with Micro800 using

CIP Symbolic. Supported by both Ethernet and serial port Easily reference Micro800 variables in PVc Tag Editor

Local help - Instructions examples in all programming languages

Self-help links – Knowledgebase, user forums, submit a question, Sample Code Connected Components Accelerator Toolkit

Sample projects

4

Strongly recommend customer to upgrade to CCW R2


Agenda


10min – Motion Applications

10min - Motion Capabilities


5min - Introduction to Micro850


Which Micro800 Controllers have Ethernet?

Only the Micro850 lineup has embedded Ethernet

Total of 8 Different Micro850 Catalog numbers Four 24pt Controllers Four 48pt Controllers

Protocols EtherNet/IP with CIP Symbolic for accessing variables in the

controller symbolically Symbolic name “CoolantTemperature” used instead of Modbus Address of

4000001 or PCCC Address of N7:0 Modbus TCP for connectivity to 3rd Party HMIs, RTU/SCADA

applications

6


Ethernet Capabilities of Micro850

PanelView Component

Micro850

Stratix

Micro850

• Permanent programming connection • USB is easy to use but

temporary point-point connection • Suitable for long distances • Flexible Media – wireless,

optical fiber

• High performance connection to HMI

• Faster than serial port for large number of tags • Micro850 targets

larger standalone machines than Micro830


• OPC Server for Data Monitoring • Modbus TCP • CIP Symbolic

(RSLinx Gateway)

Stratix

• Logix (Data Concentrator) initiates Message as Client • Data Table Read/Write

8

Ethernet Capabilities of Micro850

PanelView Component

Stratix

Standalone Machine Control

Micro850


Solar Farm Application

Ethernet required due to long distances and many individual solar panels


Ethernet Limitations of Micro850

PanelView Component

Micro850

Stratix 2000™

Client Messaging capabilities for Micro850 will be available in next major release

Kinetix® 300

PowerFlex® 4

Micro850 Micro850 cannot initiate messages as a client to drives and other controllers

Standalone Machine Control

http://www.ab.com/drives/powerflex/images/PowerFlex_Family/PowerFlex70family.jpg


Agenda







Overview of types of Component Motion supported by Micro800

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All methods use serial port or low cost hard wiring for simplicity and to keep wiring costs low

Analog Output for Speed/Torque - 0-10V, 0-20mA

High Low

Digital I/O for Position Indexing - 24V

ON OFF

Modbus RTU Serial Port for Speed/Torque

+RS485 - RS485

Pulse Train Output (PTO) - 24V

Direction Pulse




Basic Concept of Pulse Train Outputs

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Typically PTO Motion is for precise positioning applications that require more flexibility than provided by Index Positioning Also used for precise velocity control especially if position registration

is required. (Not used for torque control)

A pulse rotates the motor by a fractional amount (e.g. 1/2000 revolution)

Pulse Train Output (PTO) - 24V

Direction Pulse

Pulse 1

Pulse 2

Pulse 3

Pulse 4

PTO is low cost and good performance. Can be interfaced using low cost shielded wiring to any component servo drive


Which Micro800 Controllers have Pulse Train Output (PTO) Motion?

All Micro830 and Micro850 controllers with Transistor Outputs support up to 3 Axes of PTO Motion Catalog Number Name must contain “QBB” or “QVB” Micro830 10/16-pt controllers support 1 Axis of Motion Micro830/850 24-pt controllers support 2 Axes of Motion Micro830/850 48-pt controllers support 3 Axes of Motion 100KHz PTO Frequency, 24V single ended

Connected Components Workbench must be upgraded to Revision 2

Older Micro830 controllers must be upgraded to Firmware Revision 2 using ControlFlash Micro850 controllers ship with Firmware Revision 2

14


Agenda







How to Configure a PTO Motion Axis

1) Create the Axis “Simulator” in the Controller Tree

16




2) Map Motion Related I/O - Map I/O to motion

function such as Drive Enable

17




2) Map Motion Related I/O

3) Enter Motor and Load Parameters - Depends on driver, motor and gearing

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3) Enter Motor and Load Parameters

4) Enter Axis Motion Limits - Hard and Soft options

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4) Enter Axis Motion Limits

5) Set Speed/Acceleration - Normal and Emergency Stop Profiles

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4) Enter Axis Motion Limits

5) Set Speed/Acceleration

6) Configure Homing - 5 types of homing supported

21

Graphical User Interface makes configuring an Axis easy


How to Program Motion

1) Powerup the Axis - Enables Driver

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2) Home the Axis - Moves Axis to known starting position

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2) Home the Axis - Moves Axis to known starting position

3) Move the Axis - MoveVelocity - MoveRelative

- Go to new position relative to current position

- MoveAbsolute - Go to new position regardless

of current position

24

PLCopen function blocks simplifies motion programming


Touch Probe – Low Cost Method for Exact Position Registration

25

On rising edge of touch probe input, current position of PTO Axis is saved Useful for locating position of an asynchronous object such as film

wrapper registration mark, object on conveyor belt

Position 1

Position 2

Position 3

Position 4

Touch Probe embedded into the controller hardware. More accurate than interrupts. Not affected by program scan time.

Touch Probe Registers Position 2


When to use Touch Probe? Touch Probe is used when more precision than

interrupts is desired Interrupts accurate to ~200us

And a move to an absolute position is required by an asynchronous object

Vertical Form Fill Seal (VFFS) example PTO Axis pulls/moves film wrapper using

MC_MoveAbsolute assuming no slippage MCTouchProbe is used to detect film

registration mark’s exact position New instance of MC_MoveAbsolute is

executed (aborted move) to compensate for slippage and variations in registration mark location

26


Agenda







Micro800 Motion Features

Support up to 3 axis with PTO • Compatible with Kinetix 3/300,

and 3rd party drives that support PTO

• Exact position registration of PTO axis with Touch Probe.

• Available on Micro830 and Micro850

Easy to use GUI for configure the Motion • Create and configure axes in

CCW using 5 simple to use configuration screens

• Use the Axis Monitor to see important information about the status of axes

Dedicated motion instructions • Easy to use motion instructions • Simplify the programming


Wide Variety of Motion Applications

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Packaging • VFFS (Vertical Form Fill and

Seal) • Case Erector • Stretch wrapping

Material Handling • Conveyors • Sorters • Pick and Place • Cutting

Energy • Solar PV Two-axis

positioning • Solar Thermal single-axis

positioning


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Rev 5058-CO900C

Thank you!

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