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Motion control is the ideal solution for flexible machine control systems with positioning and/or synchronized axes, in particular for:
- Packaging machines
- Woodworking and plastics processing machines
- Machines for glass, ceramics and stone processing
- Presses
- Textiles machines
- Special-purpose machines
Motion control provides high-quality positioning and synchronization functionality for SIMATIC M7 and SIMOVERT MASTERDRIVES MC.
The modular design of the hardware and software allows flexible adaptation to a wide variety of different control tasks.
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Дизайн
Motion control can be used centrally in the SIMATIC M7 system or in a distributed SIMOVERT MASTERDRIVES MC system.
A control configuration with SIMATIC and Motion Control features the following main components:
- Programming device/PC
- Configuration of the control system with STEP 7
- Assignment of parameters for technological functions and drives
- Configuration of the technological functions with CFC (Continuous Function Chart) in conjunction with the engineering package (optional for M7)
- Programming
- Start-up and testing
- OP operator panel
- Operator control and monitoring of the machine
- Operation of the technological functions
- Assignment of technological function parameters in standard screen forms, customization possible
- Diagnostics
- SIMATIC CPU
- Machine program execution
- Interface to technological functions
- SIMATIC M7-300/400
- SIMATIC M7-FM 356-4/FM 456-2
- Real-time operating system M7-SYS/RMOS
- Motion control, technological functions for positioning and synchronization
- SIMOVERT MASTERDRIVES MC
- Digital servo drive from 0.5 kW to 200 kW as single-axis or multi-axis version with optional technological functions
- Communication via PROFIBUS-DP
- Synchronization via SIMOLINK
- Encoder connection: Incremental encoders: Resolver, sin/cos encoder, pulse encoder Absolute encoders: Serial absolute encoder with EnDat or SSI protocol
Функции
Centralized technology
In the centralized solution with SIMATIC M7, the technological functions are used on the FM 356-4 and FM 456-2 1).
The drives communicate with each other and with the SIMATIC M7 system over the SIMOLINK drive interface. This enables setpoints and actual values to be exchanged at high-speed synchronous to the control task.
SIMOLINK is implemented as a fiber optic ring and synchronizes up to 200 drives. The transfer of 100 32-bit variables takes only 630 ms, for example. The transfer of setpoint and actual values is synchronized with the system cycle.
If the drives are networked via PROFIBUS-DP, drive parameters can be exchanged between SIMATIC S7 and SIMOVERT MASTERDRIVES MC (centrally and decentrally) during operation.
With a centralized system on the SIMATIC M7, digital SIMOVERT MASTERDRIVES MC drives are used. In this case, the optional technology package is not needed with SIMOVERT MASTERDRIVES MC.
The runtime package for SIMATIC M7 contains standard applications for FM 356-4 and FM 456-2 1). The package includes the complete Motion Control functionality in the form of a finished application. It is neither necessary nor possible to modify the application using CFC.
If required, we will develop customized solutions on the SIMATIC M7 using graphical CFC configuring.
Distributed technology
The technological functions are integrated in SIMOVERT MASTERDRIVES MC; they are available as a software option.
In addition to the technological functions for positioning and synchronization, logical and mathematical blocks (AND, OR, compare, add, subtract, etc.) are available on the SIMOVERT MASTERDRIVES MC and can be used freely by the user.
The technological functions and the logical and mathematical blocks can be interconnected by the user via parameters.
Standard configurations are also available here to facilitate configuration and start-up.
Application interface to S7 CPU
The application interface to the S7 CPU has the same structure with centralized and distributed technology.
Communication between the S7 and M7 systems and between S7 and SIMOVERT MASTERDRIVES MC takes place via control and checkback signals. These signals define the operating mode, for example, or start the axes. The checkback messages from the technology functions are also entered in this interface.
A task-oriented data interface allows technology and drive parameters to be read and written.
Technological functions
Motion control provides the following technological functions:
Axis types:
- Linear axes
- Rotary axes
Positioning:
- Position controller with feedforward control
- Setup: Position controlled traversing of the axis in Jog mode
- Reference point approach: Referencing of the axis using various methods
- Positioning/MDI (Manual Data Input)
- Simultaneous transfer and starting of a positioning task
- Selection of configured positioning tasks
- Automatic
- Execution of complete positioning programs cyclically or in single-step mode
- Program-controlled output of switching functions (M functions)
- Block change on-the-fly via high-speed input
- Start/read enable via high-speed input
Synchronization:
- Angle synchronization/electronic gearbox
- Long-term stable angle synchronization with a transmission ratio of 1:5 to 32,000:1
- Input of transmission ratio as nominator and denominator in the range from 1 to 32,000
- Electronic cam disk/table interpolation
- Implementation of complex axis couplings, e.g. flying saw, flying knife
- Table change on-the-fly
- Linear interpolation between profile points
- Coupling/decoupling: Accurate incremental engaging or decoupling of a slave axis
- External synchronization of the slave axis via a high-speed input (e.g. printed marking)
- Master axis
- Internal master axis, position-controlled
- External master axis, external setpoint input
- Virtual master axis, master axis not available, internal generation of master actual value
Cam controller:
- High-speed switching output
- Free assignment of a setpoint or actual value position
- Two cam controllers with two cams each
- In preparation.
Технические данные
| Motion Control | SIMATIC M7 | SIMOVERT MASTERDRIVES MC |
|---|---|---|
| Number of axes | Runtime package:4/8 axes | Any number, modular axis design |
| General functions | ||
| Sensor monitoring | in SIMOVERT MASTERDRIVES MC | Yes |
| Cam controller | in SIMOVERT MASTERDRIVES MC | Distance/distance cams2 x 2 cams, response time 800 µs |
| High-speed inputs and outputs | in SIMOVERT MASTERDRIVES MC | Yes |
| Positioning functionality | ||
| Traversing range | ± 1000 m | |
| Traversing speed | 0.01 mm/min ... 500 m/min | |
| Acceleration | 1.0 mm/s2 ... 99.999 mm/s2 | |
| Deceleration | 1.0 mm/s2 ... 99.999 mm/s2 | |
| Jerk limitation | 1.0 mm/s3 ... 999.999 m/s3 | |
| No. of program blocks | 1000 | 50 |
| Number of programs | 200 | 20 |
| Zero offsets | Yes | Yes |
| 2D linear interpolation | Yes | No |
| Corner rounding tolerances, velocity-independent | 2 | No |
| Acceleration influence-able via G function | Yes | Yes |
| Software limit switch | Yes | Yes |
| Actual value weighting factor | Yes | Yes |
| Tool offsets | Yes | Yes |
| Override for feed and acceleration | Yes | Yes |
| Backlash compensation | Yes | Yes |
| On-the-fly actual value setting/measurement | Yes | Yes |
| External start | Yes | Yes |
| External block change | Yes | Yes |
| External read enable | Yes | Yes |
| Switching functions (M functions) | Yes | Yes |
| Rotary axis | Yes | Yes |
| Teach-in | Yes | Yes |
| Simulation | Yes | Yes |
| Synchronization functionality | ||
| Master value sources | ||
| - Virtual | Yes | Yes |
| - Actual value control | Yes | Yes |
| - Setpoint control | Yes | Yes |
| Free assignment of master and slave axes (cascading of slave axes) | Yes, with runtime package via parameterization, with engineering package via CFC configuring | Yes, via SIMOLINKand parameter interconnection |
| Electronic gearbox transmission ratio from 1:5 ... 32,000:1 | Yes | Yes |
| Transmission ratio can be changed during operation | Yes | Yes |
| Table synchronization | Yes | Yes |
| - Number of tables | 8 | 1 or 2 |
| - Number of interpolation points per table | 1022 | 1 x 200 or 2 x 100 |
| - Table change on-the-fly | Yes | Yes |
| Coupling/decoupling | Yes | Yes |
| Synchronization via high-speed input (printed marking synchronization) | Yes | Yes |
| Additional functions | Customized applications possible with CFC | Approx. 200 logical and arithmetic functions (AND, OR, NOR, +, -, x, /, compare) in addition to controller blocks, with free interconnection of blocks |
| Position decoding | Using any encoder which can be connected to SIMOVERT MASTERDRIVES MC: | |
| Encoder module SBR1/2: Resolver with/without pulse encoder simulation 512/1024 pulses) | ||
| Encoder module SBM: Multi-turn encoder (absolute) with SSI or EnDat protocol, high resolution sin/cos encoder | ||
| Encoder module SBP: Pulse encoder with TTL (5 V) or HTL (15 V) level | ||
| Drive interface | PROFIBUS DP in S7: Required only if parameters need to be changed (e.g. with change of format). PROFIBUS DP in M7:Not required. | PROFIBUS DP:- Change of parameters - Setpoint/actual values - Control signals |
| SIMOLINK:Always required for:- Synchronization - Control signals - Setpoint/actual values Max. 200 nodes | SIMOLINK:Always required for angle synchronization and for:- Synchronization - Direct data exchange between the drives - Peer-to-peer link - Communication with SIMATIC M7 Max. 200 nodes |