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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PS
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Con
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Lib
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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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Lib
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s Fieldbus configuration principle
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Lib
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s AC500 CoDeSys configuration
Program MCW, Ref1, Ref2,... Program a Motion / Velocity
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PS551-MC Content
AC500 PLC system
PLCopen Motion Control
PS551-MC library
First steps, demonstration
Preview Standard Drive Library
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PS
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Lib
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s AC500 library
PS551-MC Coming up
AC500 PLC
PLCopen Motion Control
PS551-MC library
First steps, demonstration
Preview Standard Drive 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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PLCopen Motion Control
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
AC500 libraryPS551-MC
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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
AC500 libraryPS551-MC
Name Function
Inputs Outputs
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Lib
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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]
AC500 libraryPS551-MC
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PLCopen Function Blocks
Overview of defiened function blocks by PLCopen
AC500 libraryPS551-MC
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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
AC500
Fieldbus (Profibus )
Fieldbus-Master
Fieldbus-Coupler
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Lib
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s AC500 library
PS551-MC Coming up
AC500 PLC
PLCopen Motion Control
PS551-MC library
First steps, demonstration
Preview Standard Drive Library
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Lib
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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
AC500 libraryPS551-MC
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
AC500 libraryPS551-MC
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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
AC500 libraryPS551-MC
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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
AC500 libraryPS551-MC
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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
AC500 libraryPS551-MC
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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
AC500 libraryPS551-MC
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Lib
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s AC500 library
PS551-MC Coming up
AC500 PLC
PLCopen Motion Control
PS551-MC library
First steps, demonstration
Preview Standard Drive 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
AC500
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
AC500 libraryPS551-MC
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Function Blocks – first steps – task setup
Create or select ONE task for all MC-FBs related to this axis
AC500 libraryPS551-MC
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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”
AC500 libraryPS551-MC
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Function Blocks – first steps – ACSM1_ACCESS_dc
Write your programm with MC-Function Blocks
AC500 libraryPS551-MC
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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
AC500 libraryPS551-MC
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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
AC500 libraryPS551-MC
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Lib
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PS551-MC Coming up
AC500 PLC
PLCopen Motion Control
PS551-MC (AC500 library)
First steps, demonstration
Preview Standard Drive 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
AC500 libraryPS551-MC
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