AC500 Motion Control Library PS551 MC E

Stefan Buchholz PS551-MC
June, 11th 2008

Library
for AC500
© ABB Stotz – Kontakt STO/CP Page - (#) -
PS551-MC: AC500 Motion Control Libraries
ABB STOTZ-KONTAKT GmbH

Heidelberg - Germany
AC500 library
PS551-MC Coming up
Motivation
AC500 PLC system
PLCopen Motion Control
PS551-MC library
First steps, demonstration
Preview Standard Drive Library

PS551-MC
AC500 library
Introduction: ABB Solutions
Fieldbus configuration principle
AC500 CoDeSys configuration
Program MCW, Ref1, Ref2,...  Program a Motion / Velocity

AC500 library
PS551-MC Content
AC500 PLC system
PS551-MC library


AC500 library
PS551-MC Coming up
AC500 PLC
PS551-MC library


AC500 library
PS551-MC Introduction – Configurations for PLCopen library
Servo motors Frequency converters PLCs

9C-Series ACSM1
HDP xx ACS800-MC AC500
… ACS350
AC500 library
PS551-MC 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 library
PS551-MC PLCopen State Machine
PLCopen Specification: AC500 visualization:

AC500 library
PS551-MC PLCopen Function Blocks
PLCopen describes hardware independent function blocks
 Name  Inputs
 Function  Outputs
AC500 library
Example: definition of MC_MoveAbsolute
AC500 library
PS551-MC 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 library
Overview of defiened function blocks by PLCopen

AC500 library
PS551-MC PLCopen - Programming structure
AC500
MC_MoveAbsolute
PLCopen Motion Control FBs MC_Stop
MC_XXX MC_Home
AXIS_REF
ACSM1_ACCESS,
ACS800_ACCESS…
Communication Layer
Fieldbus-Master
Fieldbus (Profibus )
Fieldbus-Coupler
Drive:
ACSM1 / ACS800-MC / …
AC500 library
PS551-MC Coming up
AC500 PLC
PS551-MC library


AC500 library
PS551-MC Function Blocks – programming structur
MC_...
Function Blocks
Axis_Ref
ACSx_ACCESS
Function Block
Fieldbus
Configuration
AC500 library
PS551-MC Function Blocks – ACSM1_ACCESS_dc
ACSM1_ACCESS_dc
 Once per drive

 Interface to Fieldbus
 Axis variable is used as reference

for all other MC-FBs
AC500 library
PS551-MC Function Blocks – MC_Power
MC_Power
Enable sets the drive into

“ready for reference”

PS551-MC
AC500 library
MC_MoveRelative
Function Blocks – MC_MoveRelative
AC500 library
PS551-MC 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 library
PS551-MC Visualization
Visualization for each type of MC_ Function Block
Use for
 Indication
 Control from internal

Visualization
AC500 library
PS551-MC 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 library
PS551-MC PS551-MC – libraries structur
Library structur
internally
needed
&
visualization
MC
Function
Blocks
Function Block for drive

communication layer independent
for specific drive
PS551-MC
AC500 library
ACSM1 Library
Library – Function Blocks realized for ACSM1
PS551-MC
AC500 library
ACS800 Library
Library – Function Blocks realized for ACS800
PS551-MC
AC500 library
ACS350 Library
Library – Function Blocks realized for ACS350
AC500 library
PS551-MC Library – Documentation
Documentation
 Common description of PLCopen Motion

Control functions blocks
 Specific description of ABB-library
 Description of parameter adjustment for

drives
AC500 library
PS551-MC Library – Example programs
Example programs for each different drive type
AC500 library
PS551-MC 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
ABB Stotz-Kontakt
X-Automation@de.abb.com
or
Stefan.Buchholz@de.abb.com
AC500 library
PS551-MC Coming up
AC500 PLC
PS551-MC library


AC500 library
PS551-MC First steps
AC500
MC_Power
PLCopen Motion Control FBs MC_MoveAbsolute
MC_XXX MC_Stop
AXIS_REF variable
ACSxxx_ACCESS,
Communication Layer
Fieldbus-Master Fieldbus
Configuration
Fieldbus (Profibus )
Communication
Fieldbus-Coupler Parameters
Drive: ACSM1 / ACS800-MC / …

AC500 library
PS551-MC 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 library
PS551-MC Function Blocks – first steps – task setup
 Create or select ONE task for all MC-FBs related to this axis
AC500 library
PS551-MC 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 library
PS551-MC Function Blocks – first steps – ACSM1_ACCESS_dc
 Write your programm with MC-Function Blocks

AC500 library
PS551-MC PLC-Open Motion Control - applications
Demonstration model for store application
 3 linear axis – ACSM1,  PLC-control with PM581 via Profibus

 1 rounde axis – ACSM1  User Interface with CP450 - Ethernet
AC500 library
PS551-MC 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 library
PS551-MC Coming up
AC500 PLC
PS551-MC (AC500 library)


AC500 library
PS551-MC Standard Drive Control library for speed control - PREVIEW
 Standard Function Block

for speed control,
 using PowerUp Statemachine
 Engineering Function Block

will be defined

AC500 Motion Control Library PS551 MC E

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AC500 Motion Control Library PS551 MC E

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Stefan Buchholz PS551-MC

June, 11th 2008

ABB STOTZ-KONTAKT GmbH

AC500 PLC system

PLCopen Motion Control

First steps, demonstration

Preview Standard Drive Library

Program MCW, Ref1, Ref2,...  Program a Motion / Velocity

AC500 PLC system

PLCopen Motion Control

First steps, demonstration

Preview Standard Drive Library

PLCopen Motion Control

First steps, demonstration

Preview Standard Drive Library

Servo motors Frequency converters PLCs

Specifications by PLCopen foundation

 Functionality for motion control

 Independent of used hardware

 Independent of physical unit

 Independent of programming language

PLCopen Specification: AC500 visualization:

PLCopen describes hardware independent function blocks

Technical Unit [u]:

 length unit [u] is not physically specified –

 only its relation with others is specified

Overview of defiened function blocks by PLCopen

PLCopen Motion Control

First steps, demonstration

Preview Standard Drive Library

 Once per drive

 Axis variable is used as reference

Enable sets the drive into

“ready for reference”

Common Visualization for each drive

 Main Status word

 Control from internal

PS551-MC package contains:

 Libraries with FBs, Visualization, …

 Manual for first steps and configuration

 “First example” program for each type of drive

Function Block for drive

 Common description of PLCopen Motion

 Specific description of ABB-library

 Description of parameter adjustment for

 BETA Version 1.0.2 for internal use only!

 First pilot projects coming up,

 Release for special customers / projects is

PLCopen Motion Control

First steps, demonstration

Preview Standard Drive Library

Drive: ACSM1 / ACS800-MC / …

 Drives Parameters have to be adjusted

 Profibus configuration with Sycon.net

 Call the one ACCESS-FB for the axis

 Connect axis-variable to in_output “axis”

 Write your programm with MC-Function Blocks

Demonstration model for store application

 3 linear axis – ACSM1,  PLC-control with PM581 via Profibus

 ACSM1-Democase with two drives modified for

PLCopen Motion Control

PS551-MC (AC500 library)