Programmable motion control according to IEC61131-3

295 Pages·2005·6.8 MB·English

Electromechanical Automation
Operating instructions Compax3 T30
Programmable motion control
according to IEC61131-3
192-120104 N7 C3IxxT30
June 2005
Release 2004R3-1 (as from Firmware V2.05)
We reserve the right to make technical changes. 09.06.05 12:13 192-120104 N7 C3IxxT30 June 2005
The data contained correspond to the current status at the time of printing
Introduction
____________________________
Copyright ' 2005 Parker Hannifin GmbH EME
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Germany: Parker Hannifin GmbH&Co.KG
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Electromechanical Automation
Arena Business Centre
Holy Rood Close
Poole, Dorset BH17 7BX UK
Tel.: [phone]
Fax: [phone]
E-mail: [email protected] mailto:[email protected]
Internet: www.parker-eme.com http://www.parker-eme.com
Italy: Parker Hannifin S. p. A
Electromechanical Automation
Via Gounod 1
I-20092 Cinisello Balsamo (MI), Italy
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E-mail: [email protected] mailto:[email protected]
Internet: www.parker-eme.com http://www.parker-eme.com
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General hazards
Contents
1. Introduction..............................................................................................10
1.1 Device assignment ................................................................................10
1.2 Type specification plate........................................................................11
1.3 Safety Instructions.................................................................................12
1.3.1. General hazards...........................................................................................12
1.3.2. Safety-conscious working...........................................................................12
1.3.3. Special safety instructions..........................................................................13
1.4 Warranty conditions..............................................................................13
1.5 Conditions of utilization........................................................................14
1.5.1. Conditions of utilization for CE-conform operation....................................14
1.5.2. Conditions of utilization for UL permission................................................16
1.5.3. Current on the mains PE (leakage current).................................................17
2. IEC 61131-3 - Positioning with function modules based on PLCopen
...................................................................................................................18
3. Compax3 device description..................................................................20
3.1 Plug and connector assignment Compax3..........................................21
3.1.1. Function of the LEDs on the front panel.....................................................22
3.1.2. Plug and pin assignment complete.............................................................22
3.1.3. Main voltage supply (plug X1).....................................................................24
3.1.3.1 Power supply plug X1 for 1 AC 230VAC/240VAC devices..................24
3.1.3.2 Power supply plug X1 for 3AC 230VAC/240VAC devices...................24
3.1.3.3 Power supply plug X1 for 3AC 400VAC/480VAC devices...................25
3.1.4. Braking resistor / high voltage DC (plug X2)...............................................26
3.1.4.1 Braking resistor / high voltage supply plug X2 for1AC
230VAC/240VAC devices...................................................................26
3.1.4.2 Braking resistor / high voltage supply plug X2 for 3AC
230VAC/240VAC devices...................................................................26
3.1.4.3 Braking resistor / high voltage supply plug X2 for 3AC
400VAC/480VAC devices...................................................................27
3.1.4.4 Connection of the power voltage of 2 Compax3 3AC devices.............28
3.1.5. Motor / Motor brake (plug X3)......................................................................29
3.1.6. Resolver / Feedback (connector X13)..........................................................30
3.1.7. Control voltage 24VDC / enable (plug X4)...................................................31
3.1.8. RS232 / RS485 interface (plug X10).............................................................32
3.1.9. Analog / Encoder (plug X11)........................................................................33
3.1.9.1 Wiring of analog interfaces.................................................................33
3.1.9.2 Connections of the encoder interface.................................................33
3.1.10. Digital inputs/outputs (plug X12).................................................................34
3.1.10.1 Connection of the digital Outputs/Inputs.............................................35
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3.1.11. Profibus plug X23 withi Interface I20...........................................................36
3.1.11.1 Adjusting the bus address..................................................................36
3.1.11.2 Function of the Bus LEDs...................................................................36
3.1.12. CANopen plug X23 with Interface I21..........................................................37
3.1.12.1 Adjusting the bus address..................................................................37
3.1.12.2 Function of the Bus LEDs...................................................................38
3.2 Installation and dimensions Compax3.................................................39
3.2.1. Installation and dimensions of Compax3 S0xx V2.....................................39
3.2.2. Installation and dimensions Compax3 S100 V2 and S0xx V4....................40
3.2.3. Installation and dimensions Compax3 S150 V2 and S150 V4....................41
3.2.4. Installation and dimensions of Compax3 S300 V4.....................................42
3.3 Safety function (cid:150) safe standstill -.........................................................43
3.3.1. Safety instructions for the (cid:147)safe standstill(cid:147) function.................................45
3.3.2. Application examples for (cid:147)safe standstill(cid:147).................................................46
3.3.2.1 Sample circuit example of Compax3 devices without fieldbus
option.................................................................................................46
3.3.2.2 Sample circuit example of Compax3 devices with fieldbus option.......52
3.3.2.3 Sample circuit for C3 powerPLmC multi-axis application.....................56
4. Setting up Compax3................................................................................60
4.1 Configuration.........................................................................................61
4.1.1. Selection of the supply voltage used..........................................................62
4.1.2. Motor Selection............................................................................................63
4.1.3. Optimize motor reference point and switching frequency of the
motor current................................................................................................63
4.1.4. Braking Resistor...........................................................................................66
4.1.5. General Drive................................................................................................66
4.1.6. Defining the reference system.....................................................................67
4.1.6.1 Measure reference.............................................................................67
4.1.6.2 Machine Zero.....................................................................................70
4.1.6.3 Travel Limit Settings...........................................................................85
4.1.6.4 Exchange assignment direction reversal / limit switches.....................89
4.1.6.5 Change initiator logic..........................................................................89
4.1.7. Defining jerk / ramps....................................................................................90
4.1.7.1 Ramp upon error and de-energize......................................................90
4.1.8. Monitoring / Limit Settings...........................................................................90
4.1.8.1 Current (Torque) Limit........................................................................90
4.1.8.2 Positioning window - Position reached..............................................91
4.1.8.3 Following error limit............................................................................92
4.1.8.4 Maximum operating speed.................................................................92
4.1.9. Encoder Output............................................................................................93
4.1.9.1 Encoder bypass with Feedback module F12 (for direct drives)............93
4.1.10. Recipe table..................................................................................................94
4.1.11. Configuration name / comments.................................................................94
4.2 Optimization...........................................................................................95
4.2.1. Optimization.................................................................................................95
4.2.1.1 Commissioning mode.........................................................................95
4.2.2. Control Loop Dynamics...............................................................................96
4.2.2.1 Velocity loop stiffness.........................................................................96
4.2.2.2 Velocity loop damping........................................................................97
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4.2.2.3 Velocity Filter.....................................................................................97
4.2.2.4 Advanced control parameters.............................................................98
4.2.3. Input simulation.........................................................................................102
4.2.3.1 Calling up the input simulation..........................................................102
4.2.3.2 Functionality.....................................................................................103
4.2.4. Calibration of the analog input..................................................................103
4.2.4.1 Offset alignment...............................................................................103
4.2.4.2 Gain alignment.................................................................................104
4.2.5. Turning the motor holding brake on and off.............................................105
4.3 Select signal source for Gearing........................................................106
4.3.1. Signal source HEDA...................................................................................107
4.3.2. Encoder A/B 5V or step/direction as signal source..................................107
4.3.2.1 Example: Electronic gearbox with position detection via encoder......108
4.3.3. +/-10V analog speed setpoint value as signal source..............................109
4.3.3.1 Time frame signal source master......................................................109
5. Programming based on IEC61131-3....................................................110
5.1 General..................................................................................................110
5.1.1. Requirements.............................................................................................110
5.1.2. CoDeSys / Compax3 target system (Target Package)..............................111
5.1.2.1 Program development and test.........................................................111
5.1.2.2 Recipe management........................................................................111
5.1.3. Languages supported................................................................................112
5.1.4. Function range supported.........................................................................112
5.1.4.1 Operators supported........................................................................113
5.1.4.2 Standard functions supported...........................................................114
5.1.4.3 Standard function modules supported..............................................114
5.1.5. Data types supported.................................................................................115
5.1.6. Recipe table with 9 columns and 32 lines.................................................115
5.1.7. Retain Variables.........................................................................................116
5.1.8. Maximum program size..............................................................................116
5.1.9. Cycle time...................................................................................................116
5.1.10. Access to the Compax3 object directory..................................................116
5.1.11. Compilation, debugging and down/upload of IEC61131 programs.........117
5.2 Motion control via function modules.................................................118
5.2.1. Status diagram based on PLCopen...........................................................119
5.2.2. Library constants.......................................................................................120
5.2.3. General rules / timing.................................................................................121
5.2.4. Control functions.......................................................................................123
5.2.4.1 Energizing the power output stage (MC_Power)...............................123
5.2.4.2 Stop (MC_Stop)...............................................................................124
5.2.4.3 Opening the brake (C3_OpenBrake)................................................126
5.2.5. Reading values...........................................................................................127
5.2.5.1 Reading the current position (MC_ReadActualPosition)....................127
5.2.5.2 Read access to the (C3_ReadArray) array.......................................128
5.2.5.3 Reading the device status (MC_ReadStatus)...................................129
5.2.6. Motion functions (standard)......................................................................130
5.2.6.1 Dynamic positioning.........................................................................130
5.2.6.2 Absolute positioning (MC_MoveAbsolute)........................................131
5.2.6.3 Relative positioning (MC_MoveRelative)..........................................134
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5.2.6.4 Aditive positioning (MC_MoveAdditive).............................................136
5.2.6.5 Continuous positioning (MC_MoveVelocity)......................................138
5.2.6.6 Manual operation (C3_Jog)..............................................................140
5.2.6.7 Current setting operation (C3_Current).............................................142
5.2.6.8 Homing (MC_Home)........................................................................143
5.2.6.9 Electronic gearbox (MC_GearIn)......................................................145
5.2.7. Error handling............................................................................................148
5.2.7.1 Acknowledging errors (MC_Reset)...................................................148
5.2.7.2 Reading axis errors (MC_ReadAxisError).........................................149
5.2.7.3 Switching off error messages (C3_ErrorMask)..................................150
5.2.8. Process image............................................................................................151
5.2.8.1 Reading digital inputs (C3_Input)......................................................151
5.2.8.2 Write digital outputs (C3_Output).....................................................151
5.2.8.3 Reading/writing optional inputs/outputs.............................................152
5.2.8.4 Integration of Parker I/Os (PIOs)......................................................154
5.2.8.5 Memorizing the signals with the trigger event (C3_TouchProbe).......160
5.2.8.6 Interrupt recording (MC_AbortTrigger)..............................................163
5.3 IEC examples........................................................................................164
5.3.1. Example in CFC: Using Compax3-specific function modules and
Compax3 objects........................................................................................164
5.3.2. Example in CFC: Positioning 1..................................................................165
5.3.3. Example in CFC: Positioning 2..................................................................166
5.3.4. Example in CFC: Positioning with set selection.......................................167
5.3.5. Example in CFC: Cycle mode....................................................................168
5.3.6. Example in ST: Cycle mode with a Move module.....................................169
6. Communication......................................................................................171
6.1 RS232 & RS485 (cid:150) interface record.....................................................172
6.1.1. RS485 setting values..................................................................................172
6.1.2. ASCII - record.............................................................................................173
6.1.3. Binary record..............................................................................................174
6.2 Profibus................................................................................................177
6.2.1. Typical application with fieldbus and IEC61131.......................................177
6.2.2. Profibus configuration...............................................................................178
6.2.2.1 Configuration of the process-data channel........................................178
6.2.2.2 PKW parameter channel..................................................................180
6.2.2.3 Error reaction to a bus failure...........................................................180
6.2.3. Cyclic process data channel......................................................................180
6.2.3.1 Control and status word....................................................................180
6.2.4. Acyclic parameter channel........................................................................181
6.2.4.1 Parameter access with DPV0: Required data channel......................181
6.2.4.2 Data formats of the bus objects........................................................187
6.3 CANopen...............................................................................................190
6.3.1. CANopen - configuration...........................................................................190
6.3.1.1 CANopen Operating Mode...............................................................190
6.3.1.2 Error reaction to a bus failure...........................................................191
6.3.1.3 Baud rate.........................................................................................191
6.3.1.4 Possible PDO assignment................................................................192
6.3.1.5 Transmission cycle time...................................................................192
6.3.2. Supporting IEC modules............................................................................192
6.3.2.1 C3_CANopen_State.........................................................................193
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6.3.2.2 C3_CANopen_GuardingState..........................................................194
6.3.2.3 C3_CANopen_AddNode..................................................................195
6.3.2.4 C3_CANopen_ConfigNode..............................................................196
6.3.2.5 C3_CANopen_NMT.........................................................................197
6.3.2.6 Reading an object in another node (C3_CANopen_SDO_Read4).....198
6.3.2.7 Writing an object in another node (C3_CANopen_SDO_Write4).......199
6.3.3. CANopen communication profile..............................................................200
6.3.3.1 Object types.....................................................................................201
6.3.3.2 Communication objects....................................................................201
6.3.4. Acyclic parameter channel........................................................................204
6.3.4.1 Service Data Objects (SDO).............................................................204
6.3.4.2 Object up-/download via CANopen...................................................206
6.3.4.3 Data formats of the bus objects........................................................207
7. Compax3 - Objects................................................................................210
7.1 Object overview sorted by object name (T30)...................................211
7.2 Objects for the process data channel................................................215
7.3 Detailed object list...............................................................................216
8. Status values..........................................................................................217
8.1 Drive......................................................................................................218
8.2 Motor.....................................................................................................218
8.3 Position.................................................................................................219
8.4 Speeds..................................................................................................220
8.5 Superimposed motion.........................................................................222
8.6 Current..................................................................................................223
8.7 Inputs....................................................................................................224
8.8 Cam.......................................................................................................225
8.9 Virtual Master.......................................................................................226
8.10 IEC61131-3............................................................................................226
8.11 Feedback..............................................................................................227
8.12 Gearing.................................................................................................229
8.13 HEDA.....................................................................................................229
9. Error........................................................................................................231
9.1 Error list................................................................................................231
10.Compax3 Accessories ..........................................................................246
10.1 Order code for Compax3.....................................................................246
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10.2 Accessories order code......................................................................247
10.3 Parker servo motors............................................................................250
10.3.1. Direct drives...............................................................................................250
10.3.1.1 Transmitter systems for direct drives................................................250
10.3.1.2 Linear motors...................................................................................251
10.3.1.3 Torque motors..................................................................................251
10.3.2. Rotary servo motors..................................................................................251
10.4 Connections to the motor...................................................................252
10.4.1. Resolver cable............................................................................................253
10.4.2. SinCos cable...............................................................................................254
10.4.3. Overview of motor cables..........................................................................254
10.4.4. Motor cable with plug.................................................................................255
10.4.5. Motor cable for terminal box......................................................................256
10.5 EMC measures.....................................................................................257
10.5.1. Mains filter..................................................................................................257
10.5.1.1 Mains filter NFI01/01........................................................................257
10.5.1.2 Mains filter NFI01/02........................................................................258
10.5.1.3 Mains filter for NFI01/03...................................................................258
10.5.2. Motor output filter......................................................................................259
10.5.2.1 Motor output filter MDR01/04............................................................259
10.5.2.2 Motor output filter MDR01/01............................................................260
10.5.2.3 Motor output filter MDR01/05............................................................260
10.5.2.4 Wiring of the motor output filter.........................................................260
10.6 External ballast resistors....................................................................261
10.6.1. BRM8/01braking resistors.........................................................................262
10.6.2. BRM9/01 braking resistor..........................................................................262
10.6.3. BRM5/01 braking resistor..........................................................................262
10.6.4. Braking resistor BRM6/02..........................................................................263
10.6.5. Braking resistor BRM4/0x..........................................................................263
10.7 Operator control module BDM............................................................264
10.8 EAM06: Terminal block for inputs and outputs.................................265
10.9 ZBH plug set.........................................................................................268
10.10 Interface cable......................................................................................269
10.10.1. RS232 cable................................................................................................269
10.10.2. RS485 cable to Pop....................................................................................270
10.10.3. I/O interface X12.........................................................................................271
10.10.4. Ref X11........................................................................................................272
10.10.5. Encoder coupling of 2 Compax3 axes.......................................................273
10.10.6. Encoder cable.............................................................................................274
10.11 Input/output option M12......................................................................275
10.11.1. Assignment of the X22 connector.............................................................275
10.11.1.1Input wiring of digital inputs..............................................................276
10.11.1.2Output wiring of digital outputs.........................................................276
10.12 HEDA (motion bus) - Option M11 .......................................................277
10.13 HEDA (M11) & I/Os (M12) => Option M10...........................................278
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10.14 Profibus plug BUS08/01......................................................................279
10.15 CAN - plug BUS10/01...........................................................................280
10.16 PIO: Inputs/Outputs.............................................................................281
11.Technical Data........................................................................................282
12.Index........................................................................................................291
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Introduction
1. Introduction
In this chapter you can read about:
Device assignment................................................................................................................................10
Type specification plate........................................................................................................................11
Safety Instructions................................................................................................................................12
Warranty conditions..............................................................................................................................13
Conditions of utilization.........................................................................................................................14
1.1 Device assignment
This manual applies to the following devices:
Compax3 S025 V2 + supplement
!
Compax3 S063 V2 + supplement
!
Compax3 S100 V2 + supplement
!
Compax3 S150 V2 + supplement
!
Compax3 S015 V4 + supplement
!
Compax3 S038 V4 + supplement
!
Compax3 S075 V4 + supplement
!
Compax3 S150 V4 + supplement
!
Compax3 S300 V4 + supplement
!
With the supplement:
F10 (Resolver)
!
F11 (SinCos)
!
F12 (linear and rotary direct drives)
!
I11 T30
!
I20 T30
!
I21 T30
!
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