new generation controllers & industry 4.0 ken rayden ... · positioning with automatic...

10/27/2015 | DCUS-ME | © Bosch Rexroth AG 2014. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in

the event of applications for industrial property rights.

New Generation Controllers & Industry 4.0

Ken Rayden & Dave Cameron

CMA/Flodyne/Hydradyne – Drive for Technology

1




2

Heterogeneous programming and parameterization

software and controller structures

MAC-8

MACPRO WIN-PED BODAC WinHPT

HNC100

IAC

Controller A Controller B Controller C

HACD

Controller D

Andy Kevin Edgar Don



New Controller Lineup


XM2x

3




4

General platform

MLC+H IAC 2X HNC100/HACD follower DFE control electronics

with IAC-2X technology

IndraWorks IEC61131-3 Best-in-class controllers

HMC




5

Configurable Toolbar

Project Explorer

Device Library

Task List, Output Message, etc…

Work Area




6

IndraWorks - programming

Modern concept:

Arrays, structures…

Multi-tasking

Libraries

PLCopen

…

Consistent programming and runtime concept

Programs or program components may be

incorporated into other systems without problem!




7

IndraMotion MLC – Functions

Multi-axes synchronization Electronic Line Shafting

Positioning

Virtual master axes

Real master axes Encoder axes

Electronic gears

Electronic cams

Cross communication Link axes

MotionProfile Master-axes related motion

profiles

Master axes cascading

FlexProfile Master-axes or time related

motion profiles

PLCopen Standardized function blocks

for Motion Control

Logic control according to IEC 61131-3 with

extensions

Robot control Tools and functions for

coordinated motion

Linear interpolation




8

IndraMotion MLC – Hydraulic Specific Functions

Best-in-class controller Centrally processed “Best of“ controller for

hydraulic axes -

fast, modular and flexible

„best of“ Regler

Ablösende Regelung

Alternating control Positioning with automatic transition to force

control and back

Synchronization controller Centrally processed synchronization controller -

specifically for hydraulic axes,

position active and force passive

Gleichlauf Regler

WAB

Position-dependent braking Open-loop controlled positioning with deceleration

to target position

Variable-speed pump drives controller Centrally processed DVP controller for

hybrid axes

DVP Regler

M

WinView Diagnostic Tool – Free stand alone tool

MLC-H (deutsch) BestOfRegler.ppt

MLC-H (deutsch) Gleichlauf.ppt

MLC-H (deutsch) ablösende Regelung.ppt

MLC-H (deutsch) WAB.ppt

MLC-H (deutsch) DVP.ppt

MLC-H (deutsch) WinView.ppt




9

Best in Class Control

Best in Class Motion Control Axis controller

Position control ●

Force control ●

Pressure control ●

Velocity control ●

Closed-loop- flow control -

Open-loop flow control ●

Alternating control (Position / Force) ●

State control ●

Command value feed forward ●

Fine positioning ●




10

Hydraulic specific features Axis controller

Valce characteristic compensation ●

Valve overlap compensation ●

Direction-dependent gain ●

Command value generation

Valve direct control ●

Drive-controlled position control ●

Drive-controlled positioning ●

Positioning block mode ●

Monitoring / error reactions

Cable break detection (sensors) ●

Communication errors ●

Best in Class Control




11

IndraWorks Ds

Explorer

Parameter setup

Diagnosis



VT-HMC


VT-HMC

12




Hardware

Multi-Ethernet Interface

Multi-Encoder Interface

Digital Inputs/Outputs

Analog Inputs/Outputs

SD Slot

13




14

Multi-encoder interface

PROFIBUS DP

Analog inputs

Analog outputs

SD slot

Multi-Ethernet

Interface

Digital inputs

Digital outputs




15

Digital IO

Digital inputs

4 digital inputs

Digital outputs

2 digital outputs

Max. current 50 mA

Customer benefits

- Fast digital IO (cycle time)

- Short-circuit-proof




16


Bus systems

Sercos

PROFINET

Ethernet/IP

EtherCAT

PROFBUS DP

Ethernet-based bus system is

switchable (P4089-0.1).

Service interface TCP/IP

Customer benefits:


Reduced no. of variants




17

SD Slot

Saving of projects

Function update of HMC

Transfer of projects

Customer benefit

- Fast start-up




18

Analog inputs

4 analog inputs.

Resolution : 14 Bit

Configurable I/U

Analog outputs

2 analog outputs

Resolution 16 Bit

Configurable I/U

Customer benefit

- Higher precision by high-resolution

Inputs/outputs

- Configurable I/U, change of wiring

isn‘t necessary.

- All standard signals available.

Analog IO




19

Multi-Encoder Interface

SSI encoder

Incremental encoder

EnDat2.2

Customer benefit

Multi-encoder Interface

Encoder voltage supply on board

Short-circuit-proof




20

Environmental

Ambient temperature

-20° to 60°

Type of protection IP20

Switch cabinet

CE mark

Customer benefit:

Simple termination technique

Operation within extended

temperature range

-20°

60




21

Summary

All Ethernet bus systems on board

Multi-encoder interface

Operation within extended

temperature range from -20° to +60°

Only 2 variants

22 10/27/2015 | DCUS-ME | © Bosch Rexroth AG 2014. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in



Agenda Software Properties

Indraworks

Diagnostics

Best-in-class controller

IEC 61131

Application example




23

Best-in-Class Controller

Position control

Force control

Pressure control

Active damping

Alternating control

Velocity control

Benefit:

Best-in-class controller




Programming Language

IEC 61131

ST (Structured Text)

FBD (Function Block Diagram)

LD (Ladder Diagram)

Sequential Function Chart

(SFC)

IL (Instruction List)

Library

PLCopen

Function library

PLCopen

Standardized

function blocks

for

Motion Control

Library

Predefined

function blocks

Logic Control

PLC IEC61131

with extension

24




25

VT-HPC




26

HPC vs VT-VPCD




27

Product comparison HPC vs. VPCD

Faster cycle time 2msec 0,5msec

Control valve without feedback

Swivel angle sensor has analog signal

All bus systems onboard

Temperature range from -20° up to +60° Celcius

Rexroth offers 2 variant of HPC




28

Comparision HPC VPCD / Performance

VT-HPC VT-VPCD

Controller sample rate

0.5msec 2msec

Interface Ethernet RS232

Voltage supply 24 VDC 18 - 30 VDC

Temperature -20° - 60° 0° - 50°

CE

Diagnosis IndraWorks Winview

Operator tool IndraWorks BODAC

= exists/advantage

= In preparation

= not exist




29

Sensors

VT-HPC VT-VPCD

Swivel angle

Analog

LVDT --

= exists/advantage

= In preparation

= not exist




30

Bus system

VT-HPC VT-VPCD

sercos

PROFINET

EtherNet/IP

EtherCAT

POWERLINK

PROFIBUS DP

DeviceNet --

CANopen --

= exists/advantage

= In preparation

= not exist




31

Controller

VT-HPC VT-VPCD

Swivel angle

Pressure

Mooring

Power limitation

Speed variable

Master Slave

Best in Class

= exist/advantage

= In preparation

= not exist




32

Analoge Input

VT-HPC VT-VPCD

Number (pcs.) 6 (U/I) 6 (U/I)

Resolution 14Bit 12Bit

0 .. 10V

-10V .. +10V

0 ..20mA

4 .. 20mA

User define

= exist/advantage

= In preparation

= not exist




33

Analoge Output VT-HPC VT-VPCD

Number (pcs.) 2 2

Resolution 16 Bit 14 Bit

0 .. 10V

-10V .. +10V

0 ..20mA

4 .. 20mA

Short-circuit protection

User-defined

= exist/advantage

= In preparation

= not exist




34

IAC- MultiEthernet

4WRPDH, 4WRLD




35

Decentralized, fast closed-loop

control

Low cabling effort

Low space requirement

Ready to use component

Flexible for extensions / adjustments

of the control architecture (e.g.

number of axis, sensor interfaces

etc)

Integrated Axis Controller

Advantages Components

Drive control valve

+ + =

Drive

controller

High-

response

directional

valve




36

Valve with integrated axis control Axis control features

Position control:

Scan time 1ms

PDT1 controller with switchable

integrator

Fine interpolation

State control

Pressure control:

Scan time 0.5ms

PI-controller

Alternating control

(Position/Pressure)

System adaption

(Valve, cylinder)

Comand value feed forward

(lagless position control)

Drive integrated command

value generator

Command value profiles

Positioning block mode




37

Integrated Axis Controller

Control structure




38

Best in Class

Connectivit

y

Best-in-Class control

valve-integrated axis-control

easy installation and compact

design

High performance valve

program

wide range of products with

approved technology

Robust and reliable

protection class = IP65

ambient temperature = 60° C long

term stress

CE-mark

Support

worldwide support over Ethernet

Learning

Knowing

Living

Optimum

hydraulic-technology

Applications

sustained business success

Techn

olo

gy




39

open in communication

Multi-ethernet and bus profile support

1 x Bus In, 1 x Bus Out (M12)

parametrization and service over

standard Ethernet

Staus LED’s

digital and analog I/O (11+PE)

Valve internal safety function

Preventing unintentional start-up

Open sensor interfaces

max. 2 external pressure sensors

- 4…20 mA or 0..10 V, resolution 12 bit

position transducer (digital)

- SSI

- EnDat 2.2

- 1 Vpp

Ethernet bus electronics (IAC-2x)

Communication interfaces

Sensor interfaces

M12 interface




40

11+PE interface

Power supply

Enable for valve output stage

Acknowledge of valve output stage active

Configurable Analog IN and OUT (+-10V or 4…20mA)

2 Analog-/Digital inputs

1 Analog output

Error output

Internal saftey function

Preventing unintentional start-up (direction P => A)

for the use up to category 4 / PL e

according to EN 13849-1

(with appropriate system integration)

Can be used up to category 4/PL e according to EN 13849-1

11+PE

Safety function




41

Valve with internal safety function Symbols

Linear P: Non-linear 60%

Internal saftey function

Preventing unintentional start-up (direction P => A)

for the use up to category 4 / PL e

according to EN 13849-1

(with appropriate system integration)




42

Valve with internal safety function

Coding A

M12 5-pole

Coding D

M12 5-pole

M12 8-pole

After the signal at the enable input has been removed, the output stage, and thus the solenoid of the valve, are internally separated

from the available supply voltage. The enable acknowledgement will only be activated after the safe control spool position has been achieved.




43

DFEn – Multi-Ethernet

Engineering tool IndraWorks DS

Configuration of digital signals by

means of software (no fixed pin

configuration)

Powerful oscilloscope function

Extended diagnosis high reliability

Simple storing of project data




44

Control portfolio starting from 14VRS

Reference L65:

100%Performance -> real machine with 20-24 axes, with 8ms/ 2ms scan

and an “extensive” application.

L65

100% L75

120%

VPx

200%-

300%

L45

40%

XM21

30%

XM22

60%

XM4

?% XM10

?%

HMC

1Achs




IndraMotion MLC

45




46

XM and MLC-H

XM2x :

In combination with S20 2-Axes-module

Integration of the new hardware (XM, S20 modules)

for hydraulic applications e.g. Axis Wizard

New license model:

Optional are e.g. hydraulic functions




47

Drive control

Interface

I/O module for four drives HACD

Command values

Actual values

MLC

Decentralized control structure Central control structure

MLC for hydraulic drives

Interface




48

Decentralized I/O's

Centralized I/O's

+

Inline I/O

Block modular

Inline I/O modular

IndraControl S20 IndraControl S67




49

Inline Block I/O – Configure

Double click on Axis

Change to User Parameter

Double click on Value to open pull down

menu

Press Enter to confirm changes

4 x

SS

I Encoder

12 x

Analo

gue In

put

4 x

Analo

gue O

utp

ut




50

Best in Class – Hydraulic controller

IndraMotion MLC with tailored hydraulic controls:

Optimized synchronization Active and passive position synchronization and load allocation

Mixed synchronized groups (electric, hydraulic and hybrid drives)




51

Best in Class – Hydraulic controller

IndraMotion MLC with tailored hydraulic controls:

Synchronization - Concept

Motion-Application

Synchronized axis

(control axis)

Achse 1 axis 2 axis 3

Actual

values

axis 1 axis n

Slave axis handling (options):

Command value calculation for

cascaded position control


cascaded speed control


cascaded force control

Synchronization mode:

Determine the synchronization

reference value

Synchronization error detection

Target positioning (Integrator) Command

values

10/27/2015 | DC-IA/SPF3 | © Bosch Rexroth AG 2014. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in



Thank you for your attention! Questions ?

52

new generation controllers & industry 4.0 ken rayden ... · positioning with automatic...

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