TWINCAT. PLC and Motion Control on the PC. TwinCAT

Transcription

1 TWINCAT PLC and Motion Control on the PC 961

2 The Windows Control and Automation Technology 962

3 983 PLC Libraries 992 System Software Product overview PC-based control technology PLC and Motion Control on the PC PLC NC PTP NC I CNC CP PLC Controller Toolbox PLC Temperature Controller PLC Hydraulic Positioning PLC Modbus RTU PLC Serial Communication PLC Serial Communication 3964R / RK512 PLC Serial Communication EnOcean PLC Building Automation PLC Building Automation DALI PLC IEC Slave / IEC Slave PLC IEC Master PLC IEC Master / IEC Master NC PTP Libraries NC Camming NC FIFO Axes NC Flying Saw PLC Remote Synchronisation ECAD Import Engineering Interface Server Eventlogger XML Data Server Backup Simulation Manager Database Server CE PLC HMI Building Automation Framework System Software Motion Cam Design Tool Digital Cam Server DriveTop Server DriveCom OPC Server Valve Diagram Editor System Software Connectivity ADS OPC Server OPC UA Server SMTP/SMS Server Modbus TCP Server TCP Server 963

4 Supplement System System Manager CP PLC PLC Libraries NC Libraries System Software NC PTP NC I CNC Software PLC PLC PC hardware standard PC/IPC hardware, no extras Operating systems Windows NT/2000/XP/Vista, NT/XP Embedded, CE system EtherCAT, Lightbus, PROFIBUS DP/MC, Interbus, CANopen, DeviceNet, SERCOS, Ethernet and PC hardware Run-time system 4 multi-tasking PLCs each with 4 tasks in each PLC run-time system, development and run-time systems on one PC or separately (CE: only run-time) Memory process image size, flags area, program size, POU size, number of variables only limited by the size of the user memory (max. 2 GB with NT/ 2000 / XP/Vista) Cycle time adjustable from 50 µs Link-time 1 µs (Pentium GHz) for 1,000 PLC commands Programming IEC : IL, FBD, LD, SFC, ST, powerful library management, convenient debugging 972 Software NC PTP NC PTP 974 PLC inclusive 972 PC hardware standard PC/IPC hardware, no extras Operating systems Windows NT/2000/XP/Vista, NT/XP Embedded, CE system EtherCAT, Lightbus, PROFIBUS DP/MC, Interbus, CANopen, DeviceNet, SERCOS, Ethernet and PC hardware Programming performed using function blocks for PLC according to IEC (standardised PLCopen Motion Control libraries), convenient axis commissioning menus in the System Manager Run-time system NC point-to-point including PLC Number of axes up to 255 Axis types electrical and hydraulic servo drives, frequency converter drives, stepper motor drives, switched drives (fast/crawl axes) Cycle time 50 µs upwards, typically 1 ms (selectable) Axis functions standard axis functions: start / stop / reset / reference, speed override, special functions: master/slave cascading, cam plates, electronic gearings, online distance compensation of segments, flying saw PLC Libraries 964 Libraries PLC Controller Toolbox PLC Temperature Controller PLC Hydraulic Positioning PLC Modbus RTU PLC Serial Communication PLC Building Automation PLC IEC / Libraries NC PTP Libraries NC Camming NC FIFO Axes NC Flying Saw PLC Remote Synchronisation We reserve the right to make technical changes.

5 PRODUCT OVERVIEW TWINCAT Software NC I PLC NC PTP PC hardware Operating systems system Programming Run-time system Number of axes Axis types Interpreter functions Geometries Axis functions NC I inclusive inclusive standard PC/IPC hardware, no extras Windows NT/2000/XP/Vista, NT/XP Embedded, CE EtherCAT, Lightbus, PROFIBUS DP/MC, Interbus, CANopen, DeviceNet, SERCOS, Ethernet and PC hardware DIN programs for NC interpolation, access via function blocks from PLC according to IEC NC interpolation, including NC PTP and PLC max. 3 axes and up to 5 auxiliary axes per group, 1 group per channel, max. 31 channels electrical servo axes, stepper motor drives subroutines and jumps, programmable loops, zeroshifts, tool compensations, M and H functions straight lines and circular paths in 3-D space, circular paths in all main planes, helixes with base circles in all main planes online reconfiguration of axes in groups, path override, slave coupling to path axes, auxiliary axes Software CNC CNC PLC inclusive 974 NC PTP inclusive 974 NC I inclusive 976 PC hardware standard PC/IPC hardware, no extras Operating systems Windows NT/2000/XP/Vista, Windows NT/XP Embedded system EtherCAT, Lightbus, PROFIBUS DP/MC, Interbus, CANopen, DeviceNet, SERCOS, Ethernet and PC hardware Programming DIN programming language with high-level language extensions, mathematical functions, programming of parameters/variables, user macros, subroutine techniques, spindle and help functions, tool functions, zero offset shifts Run-time system CNC, including NC I, NC PTP, PLC Number of axes / 8 path axes / 6 controlled spindles, max. of spindles 64 axes / 12 controlled spindles (optional) Axis types electrical servo-axes, analog/encoder interface via fieldbus, digital interface via fieldbus (EtherCAT, Lightbus, PROFIBUS MC, SERCOS) Geometries linear, circular, helical interpolation in the main planes and freely definable planes, 8 interpolating path axes per channel, look-ahead function Axis functions coupling and gantry axis function, override, axis error and sag compensation, measuring functions Operation automatic operation, manual operation (jog/ inching), single block operation, referencing, block search, handwheel operation (motion/ superposition) CNC Options Options CNC Axes Pack CNC Channel Pack CNC Transformation CNC Spline-Interpolation We reserve the right to make technical changes.

6 PRODUCT OVERVIEW TWINCAT Level 980 PC hardware standard PC/IPC hardware, no extras Operating systems Windows NT/2000/XP/Vista, NT/XP Embedded, CE (only run-time) Multi-purpose interface for all common fieldbus systems, PC Fieldbus Cards and interfaces with integrated real-time driver CP PC hardware standard PC/IPC hardware, no extras Operating systems Windows NT/2000/XP/Vista, NT/XP Embedded Windows driver for Beckhoff Control Panel 982 System software Motion Cam Design Tool tool for designing electronic cam plates, fully integrated in the System Manager Digital Cam Server fast camshaft controller as software implementation in, freely configurable via the System Manager DriveTop Server communication server for connecting the Indramat DriveTop tool with DriveCom OPC Server for communication of drive setup tools right into DriveCom compatible drives Valve Diagram Editor graphics-oriented editor for designing the characteristic curves of a hydraulic valve System software ECAD Import 992 tool for importing XML files from ECAD systems Engineering Interface Server 992 for coordination of programming tasks via a source code management system Eventlogger 993 Alarm and diagnosis system that can be used in all controllers with very little programming effort. XML Data Server 993 PLC data can be written directly into an XML file or read from an XML file. Backup 994 tool for backing up and restoring of files, operating system and settings Simulation Manager 994 simplifies preparation and configuration of a simulation environment Database Server CE 995 for bi-directional access to the PLC database Building Automation Framework 996 for easy configuration of building automation applications System software Connectivity ADS 1000 set of different ADS communication components OPC Server 1001 for access to variables in accordance with the OPC DA/XML-DA specification OPC UA Server 1002 for access to variables in accordance with the OPC UA specification SMTP/SMS Server 1002 enables sending of SMS messages from the PLC to a mobile phone Modbus TCP Server 1003 for communication with Modbus TCP devices (server and client functionality) TCP Server 1003 server and PLC library for communication via generic TCP server (client functionalities included) We reserve the right to make technical changes.

7 PC-based control technology The Windows Control and Automation Technology The Software System turns any compatible PC into a real-time controller with a multi-plc system and NC/CNC axis control. At the same time, integrates the programming environment for all Beckhoff controllers: from high-end Industrial PC control to embedded controller. architecture consists of run-time systems that execute control programs in real-time and the development environments for programming, diagnostics and configuration. Any Windows programs, for instance visualisation programs or Office programs, can access data via Microsoft interfaces, or can execute commands. A practically oriented software solution offers a precise timebase in which programs are executed with the highest deterministic features, independently of other processor tasks. The real-time load on a PC is set with ; defined operating behaviour is achieved in this way. indicates the system load for programs that are running. A load threshold can be set in order to assure a defined computing capacity for the operating programs and for Windows NT/2000/XP/Vista. If this threshold is exceeded, a system message is generated. supports system diagnosis The general use of hardware and software from the open PC world requires some checking: Unsuitable components can upset the PC system. Beckhoff has integrated a practical indicator of the real-time jitter, giving administrators an easy way to evaluate the hardware and software. A system message during operation can draw attention to incorrect states. Start/stop behaviour Depending on the setting, is started and stopped manually or automatically. Since is integrated into Windows NT/2000/XP/ Vista as a service, an operator is not needed to start the sys - tem: switching on is enough. Restarting and data backup When a program is started or restarted, loads programs and remanent data. To back up data and to shut down Windows NT/2000/XP/Vista correctly, a UPS (uninterruptible power supply) is of great value. and Blue Screen The system can be configured such that real-time capability is maintained in the event of a BSOD (Blue Screen of Death) operating system crash. tasks such as PLC and NC can therefore continue to run and bring the controlled process into a safe state. Ultimately, it is the decision of the programmer whether or not to utilise this feature, bearing in mind that data or programs may already have been destroyed by the BSOD. World-wide connection through message routing remote connection is inherent to the system According to the requirement for operating resources, the software devices can be distributed: PLC programs can run on the PCs or on Beckhoff Comparison: execution times for 1,000 PLC commands by a hardware PLC and by PLC 967 We reserve the right to make technical changes.

8 Read inputs Operate program Write outputs Windows NT and HMI Read inputs Operate program Write outputs Read inputs Operate program Read inputs Operate program Write outputs Read inputs Operate program Write outputs The Windows Control and Automation Technology The Beckhoff software system turns any compatible PC into a real-time controller with a multi-plc system, NC axis control, programming environment and operating station. replaces conventional PLC and NC/CNC controllers as well as operating devices with: open, compatible PC hardware embedded IEC software PLC, software NC and software CNC in Windows NT/2000/XP/Vista, NT/ XP Embedded, CE programming and run-time systems optionally together on one PC or separated connection to all common fieldbuses PC interfaces are supported data communication with user interfaces and other programs by means of open Microsoft standards (OPC, OCX, DLL, etc.) PLC cycle PLC cycle operation of PLC software in a classic PLC PLC Server Windows NT and HMI NC Server for Motion Control t PLC cycle PLC cycle t operation of PLC software on a PC Load threshold and jitter online Bus Terminal Controllers. A message router manages and distributes all the messages, both in the system and via TCP/IP connections. PC systems can be connected with each other via TCP/IP; Bus Terminal Controllers are integrated via serial interfaces and fieldbuses (Lightbus, PROFIBUS DP, CANopen, RS232, RS485, Ethernet TCP/IP). World-wide access Since standard TCP/IP services of NT/2000/XP/Vista can be used, this data can be exchanged across the world. The system offers scalable communication capacity and timeout periods for the supervision of communications. OPC provides a standardised means for accessing many different SCADA packets. The SOAP (Simple Object Access Protocol) enables a connection between two computers to be established by means of an inter - net connection via standard HTTP. A component is available for this purpose. ADS- ADS Web service TCP/IP serial Internet/Intranet server UA XML OPC client System Manager Scada, Visual Basic, Delphi DA OPC server e.g. 1 ms operation of software for a PLC and NC (Motion Control) on a PC A&E Message router Message router server run-time System Manager configuration, service, monitoring ADS t 2 ms 3 ms 4 ms 5 ms NC cycle (e.g. 1 ms) NC cycle NC cycle NC cycle t PLC cycle (e.g. 2 ms) PLC cycle t ADS PLC server PLC run-time PLC control PLC programming ADS NC PTP server NC PTP runtime Motion Control NC PTP NC I CNC ADS NC I server NC I run-time Scada, Visual Basic, Delphi, Visual C++,.NET, C#, VB.NET, ADS OCX/DLL CNC server CNC run-time 968 : All fieldbuses and PC interfaces mapping We reserve the right to make technical changes.

9 PLC and Motion Control on the PC universal interface for all common fieldbuses Many PC fieldbus cards from various manufacturers are supported. It is possible to operate more than one fieldbus card per PC. Master and slave functionality is supported, depending on the selected fieldbus card. The fieldbus cards can be configured and diagnosed conveniently via the System Manager. includes the real-time system for operating the fieldbuses and a DLL interface to application programs. PLC the central pillar of automation software Conceived as a pure software PLC, PLC allows up to four virtual PLC CPUs, each running up to four user tasks, on one PC. The PLC program can be written in one or more of the languages provided for in the IEC standard: IL (Instruction List), LD (Ladder Diagram), FBD/CFC (Function Block Diagram), SFC (Sequential Function Chart) and ST (Structured Text). PLC running under the Windows NT/2000/XP/Vista operating systems includes both the programming environment and the run-time system, so that an additional programming device is not required. Under the CE operating system and the embedded operating systems for the series BX and BC controllers, only run-time is available. Program modifications are implemented via networkcapable powerful communication with the run-time system. Programming can be done locally, via TCP/IP or via the fieldbus (BXxxxx and BCxxxx). IEC advanced programming standard for all Beckhoff controllers The PLC is programmed in accordance with IEC independently of the manufacturer. supports all the IEC programming languages with convenient editors and a fast, effective compiler, so that the development cycle for the creation even of large PLC programs of several megabytes can be short. Incremental compilation prevents long turnaround times. Only genuinely new sections are compiled. Powerful editor features, such as autoformat, autodeclare or find and replace enable fast programming. For all programming languages, the project comparison function facilitates differences to be identified and accepted if appropriate. If a project (comments, directories, etc.) is to be translated into a language other than the original language, all terms can be exported into a table, translated and re-imported. If a team is dealing with the development, all objects (blocks, data types, lists) can be managed within a source code management tool via the Engineering Interface. This enables changes to be traced back and differences between individual versions to be displayed. The concept of the instantiation of function blocks, in which each instance is associated with its own data, leads naturally to object-oriented and structured programming styles. All common data types specified in IEC are supported. Multi-dimensional fields and structures are possible, as are enumeration and subrange types. PLC is certified for the languages IL and ST (base level). The online change function can be used for code and/or data modifications while the PLC is running, providing maximum data retention. Source code can be stored in the target system (except for BCxxxx series controllers). The criteria analysis function is very helpful for the detection of process errors. Code can very easily be reused via the convenient library manager. For know-how protection, multi-stage password protection can be applied to programs and libraries. Many target platforms one tool The PLC programs created with PLC can be executed on a number of target platforms. Apart from Industrial PCs and the Embedded PCs, the PLC project can also be loaded into the BC and BX series fieldbus controllers from Beckhoff. Pro gram development and debugging proceed in the same working environment, regardless of which unit is executing the program. 969 We reserve the right to make technical changes.

10 970 Extensive supplementary libraries As an extension to the blocks defined by the IEC language standard, Beckhoff offers a wide range of supplementary libraries for the execution of tasks typical in automation technology: e.g. libraries for controlling electrical and hydraulic axes via NC, serial communication libraries, system libraries for message outputs, write/read files, control technology blocks, etc. Helpful practice tools Extensive faultfinding functions in PLC facilitate the solution of problems either on site or via remote maintenance. For this purpose, the PLC programming environment in offers: monitoring, powerflow (flow control), break point, sampling trace of PLC variables, single step, watchlist, call hierarchy and forcing of variables. In addition, the Scope- View (a software oscilloscope) can be used to record one or several variables simultaneously. NC Motion Control on the PC A software NC consists of: positioning (set value generation and position control) integrated PLC with NC interface operating programs for commissioning purposes connection for axes via fieldbus With NC, the position controller is calculated on the PC processor as standard. It exchanges data cyclically with drives and measurement systems via the fieldbus. Central NC positioning on the PC The computing capacity of a PC enables axis motion simultaneously with the PLC, whereby the position controller is usually calculated on the PC: The computing capacity of a PC enables many axes to be positioned simultaneously. enables a PC to pro cess the operating programs, the PLC and the NC at the same time. The division of the system load is supported by with appropriate functions. Analytical path calculation The algorithms that NC/NC I/CNC uses to control axes take account of the dynamic parameters of the axis: speed, acceleration and jerk. In this way, the axes are moved at any time within the limits of what is dynamically possible, and are precisely analytically coordinated. A range of different regulation algorithms are available in order to reduce the deviations from the ideal trajectory that will occur in practice. Supervisory system PC Control Communication PLC Hierarchical controller architecture: central or distributed Individual or joint Based on the normal methods for positioning an individual electrical axis, moving from its starting point to its destination (point-to-point positioning), NC also allows the coordinated movement of a number of axes in multi-stage master-slave operation (e.g. gearing functions or cam plates) to be executed. NC I further allows the interpolated path sequencing described in accordance with DIN to be carried out involving up to three axes. PC Control LAN We reserve the right to make technical changes.

11 PTP positioning procedure time (s) velocity (m/min) acceleration (m/s 2 ) jerk (scaled to -1.0, +1) position (mm) Software PLC included combines software NC and software PLC to form a powerful controller. The communication between the two packages is a pure software/software channel with minimum delay times. The NC functionalities are called from the PLC program via standardised, PLCopen-certified function blocks. Axis movements can be simulated without hardware; the actual value is instructed to ideally track the set value, and the complete machine flow is checked. ScopeView is helpful for commissioning and maintenance. It records all axis variables such as position, speed, acceleration and jerk. Convenient commissioning Commissioning is simplified significantly by the configuration and diagnostic dialogs offered in the System Manager. For each axis, all main data are displayed at a glance. The axes can be moved via function keys. Special functions such as couplings, cam plates or distance compensation can be triggered and observed via the System Manager. A convenient dialog enables the dynamic parameters of an axis to be determined. NC I axis interpolation in three dimensions NC I (interpolation) is the NC system for linear and circular interpolated path movements of axis groups each involving two or three drives. The system includes interpreter, set value generation and position controller. PLC functionality is integrated, as is the connection of the axes with the fieldbus. The interpreter interprets the code described in DIN Comprehensive PLC libraries enable interaction between NC and PLC. NC programs, for example, can be loaded directly from the PLC program into the interpreter. CNC the software CNC for toughest requirements CNC expands NC I with classic CNC features: Up to 32 interpolating axes and comprehensive coordinate and kinematic transformations are possible. Parts programming is carried out according to DIN using high-level language extensions. CNC can operate with up to 64 axes or 32 path axes and controlled spindles that can be distributed across up to twelve CNC channels. In a CNC chan - nel, up to 32 axes can be interpolated simultaneously, enabling even the most difficult motion tasks to be solved. Apart from the classic linear, circular and helical interpolations, CNC offers convenient spline interpolation, optionally based on Akima or B-splines. transformations enable complex machine kinematics to be realised without problem. 971 We reserve the right to make technical changes.