TwinCAT

TheWindowsControlandAutomationTechnology

NCPTP

NumericalControlPointToPointNC-PTPPartIGeneralOverviewAxistypesFunctionalprincipleReferencingMotionControlFunctionblocksTeilIIPracticalPart:SettingupNCaxesintheSystemManagerStartingNCaxesfromthePLC23.11.20232SoftwareNCPTPTwinCATNCPoint-to-Point(PTP)isanaxispositioningsoftwarewithintegratedPLC,NCinterface,operatingprogramforaxessetupandI/Oconnectionoftheaxesthroughthefieldbus.Upto255axescanbemovedatthesametime.TwinCATNCPTPsupportsaxisdrivebyswitchedmotors,steppermotors,frequencycontrolledandservocontrolledmotors.PartIGeneralOverviewAxistypesFunctionalprincipleReferencingMotionControlFunctionBlocksTeilIIPracticalPart:SettingupNCaxesintheSystemManagerStartingNCaxesfromthePLC23.11.20233SoftwareNCPTPTwinCATNCPTPProgrammingDebuggingRuntimesystemNumberofaxesAxistypesCycletimeAxisfunctionsPerformedusingfunctionblocksforTwinCATPLCaccordingtoIEC61131-3,convenientaxiscommissioningmenusOnlinemonitoringofallaxisstatevariablessuchasactual/setvalue,enable,controllervalues,onlineaxistuning,forcingaxisvariablesNCPoint-to-Point(NCPTP)includingTwinCATPLCUpto255inupto255channelsElectricalandhydraulicservodrives,frequencyconverterdrives,

steppermotordrives,switcheddrives(fast/crawlaxes)Min.50μs,typ.1

ms(freelyadjustable)Standardaxisfunctions:start/stop/reset/referenceVelocityoverride,targetoverrideSpecialfunctions:master-slavecascading,electronicgearboxes,

onlinedistancecompensationofsegments23.11.20234Camshafts,Flyingsaw,FIFOCamshaftsSoftwaresolutionforelectroniccamshafts,obviatingtheneedtousemechanicalcamshaftsandspecialhardwareassemblies.Atablerelatesthepositionofthemasteraxis(mainshaft)totheassociatedpositiontowhichtheslaveaxisisdriven.FlyingsawThe"flyingsaw"(diagonalslave)isaspecialkindofslavecoupling.Theslaveaxisisbroughtfromstandstilltoaspeedsynchronouswiththemaster.FIFOInsteadofusinginternalgenerationofstandardsetvalues,anaxiscanalsoobeyanexternallycalculatedsequenceofsetvaluesthatcanbesupplementedasthemovementoftheaxisproceeds(FIFObuffer).23.11.20235SoftwareNCITwinCATNCIProgrammingDebuggingRuntimeSystemNumberofaxesAxistypesInterpreter-functionsGeometriesAxisfunctionsTwinCATPLCaccordingtoIEC61131-3OnlinemonitoringintheTwinCATSystemManagerwiththefollowingdisplays:presentset/actualpositions,followingerrorsofallaxes,NCprogramlinepresentlybeingexecuted/interpreted,channelstatusNCPTP+NCinterpolation,includingTwinCATPLC3axespergroup,1groupperchannel,max.255channelsElectricalservo-axesSubroutinesandjumps,programmedloops,zeroshifts,toolcompensations,MandHfunctions,Straightlinesandcircularpathsin3Dspace,circularpathsinallmainplanes,helixeswithbasecirclesinallmainplanesOnlinereconfigurationofaxesingroups,pathoverride,

slavecouplingtopathaxesDIN66025programsforNCinterpolation,accessviafunctionblocksforTwinCATNCInterpolation(NCI)istheNCsystemforlinearorcircularinterpolatedpathmovementsofaxisgroupseachinvolvingtwoorthreedrives.TwinCATNCIoffers2Dand3Dinterpolation(interpreter,setpointgeneration,positioncontroller),anintegratedPLCwithanNC-IinterfaceandanI/Oconnectionforaxesviathefieldbus.23.11.20236

ContinuousaxesTheaxisrespondstoacontinuously

changeablesetvalueThesetvalueisgeneratedbyTwinCATNC,e.g.servowith+/-10V,Sercosdrive,frequencyconverter,linearisedhydraulicaxis,steppermotordrivewithamplifierAxistypesPartIGeneralOverviewAxistypesFunctionalprincipleReferencingMotionControlFunctionBlocksTeilIIPracticalPart:SettingupNCaxesintheSystemManagerStartingNCaxesfromthePLC23.11.20237High/lowspeedaxesTheaxisrespondstoatwo-stagesetspeedvalueincludingdirectionofrotation:FAST/SLOWandFORWARDS/REVERSEThesetvalueisgeneratedbyTwinCATNC,e.g.frequencyconverterwithfast/slowinputs,combinationinterlock.Warning:Acquisitionofactualvalue(Encoderisnecessary)Axistypes23.11.20238Lowcoststeppermotor

Theaxisconsistsofasteppermotorwhichisconnectedtodigitaloutputsandreactstopulses(A/Bfromtheterminals)Fastpulsesequence->motorturnsquicklylSlowpulsesequence->motorturnsslowlyThesetvalue(=pulsepattern)isgeneratedbyTwinCATNC.Axistypes23.11.20239Lowcoststeppermotor,Hardwaree.g.24Voltsteppermotorwith2AoutputterminalsAnencoderisNOTrequired

foracquisitionoftheactualvalue,sincethepulsesthatareoutputarecounted.

!Themechanicaldesignand/ormaximumrotaryspeed/torqueshouldbeexaminedtoensurethatthemotorwillbeableto"keepup",sinceanoutputterminalcannotprovideanincreasedvoltageathigherfrequencyAxistypes23.11.202310Virtualencoderaxis,Anaxisthatonlyconsistsofanencoder."Normal”(continuous)axescanbecoupledtothisaxisasslaves,andfollowthesetencodervalueofthevirtualencoderaxis.(Gearrationpossible) HANDWHEELFUNCTIONAxistypes23.11.202311OutputisaspeedvalueTheactualpositionismonitored.Output:Speedpre-control+controlleroutput(accelerationpre-controlalsoisoptional)Feedback:ActualpositionvalueAtspecificaxistypese.g.SERCOSisalsoadirectoutputoftheSetpositioninNCtimepossible.Axistypes23.11.202312FunctionalprincipleoftheTwinCATNCTwinCATNCworkswitha

velocityprecontrol.

ThePositioncontroller

controlstheobservanceofthesetposition(?Motion“andpositioncontrol).

Furtheravailableoptions:

-Accelerationprecontrol

-PositioncontrolwithtwoPconstants

-directoutputoftheposition.(SercosAxes)

-High/lowspeedcontroller

-Steppermotorcontroller

-ExternalSetpointgeneration(abTwinCAT2.9)

-Linearisationofprecontrolfornonlinearaxes(Hydraulicaxes).PartIGeneralOverviewAxistypesFunctionalprinciple

ReferencingMotionControlFunctionBlocksTeilIIPracticalPart:SettingupNCaxesintheSystemManagerStartingNCaxesfromthePLC23.11.202313FunctionalprincipleoftheTwinCATNCDeadtimecompensationPosition-controllerController-limitingVelocityprecontrol(Scaling)OutputScaling&LimitingProcessPosition-measurementSetpointgenerator23.11.202314SetvaluegenerationDeadtime-compensationPositions-reglerRegler-begrenzungVelocityprecontrol(Scaling)OutputScalierung&Begrenzung??SetpositionSetvelocitySetpointgenerator23.11.202315SetvalueprofilesTheprofileofthevelocityoutputcanbevariiedduringandefinedbraketimeTherebytheaccelerationchange(jerk)canbereducedconsiderably.Thisworksoutonintheshortrunmechanicalburdensandcommensuratewithaswellontheelectricburdenofthedrive.23.11.202316Setvalueprofiles?hard“,bigAccelerationchange23.11.202317Setvalueprofiles?smooth“,theaccelerationrises(linearly)23.11.202318Setvalueprofiles?mostsmooth“,theaccelerationreachesnomoreconstantphase23.11.202319SetvalueprofilesInputviarun-uptimePreselectprofileCalculationbytheTwinCATSystemManagerDieVorgabekannsehreinfachüberdieVorgabederHochlaufzeitundderAuswahldesProfilsimSystemManagererfolgen!23.11.202320Problem:nonlinearcharcateristiccurvesofvalvesSolutionMeasurementofthecurveswiththePLCProgramimportthevaluestotheSystemManagergraphicalLinearisationInterpolation(Polynomialof5thdegree)LoadtoNCOutputsarelinearizedOutputLinearisation:TwinCATValveDiagramEditor23.11.202321controllerdriveValveDiagramEditorLinearoutputNCRealtimeLinearizationTwinCATValveDiagramEditor23.11.202322TwinCATValveDiagramEditor23.11.202323ReferencingReferencing(calibrate)isnecessaryforaxiswithnotabsoluteencodersystems.

IncrementalEncoder,SingleTurnAbsoluteEncoder,ornotabsoluteencodersystemsdirectfromthedrive,(e.g.actualpositionvalueofAX2000).

Atreferencingtheaxisisleadtoafixreferencepositionandtheencoderissettothecurrentactualposition.PartIGeneralOverviewAxistypesFunctionalprincipleReferencingMotionControlFunctionBlocksTeilIIPracticalPart:SettingupNCaxesintheSystemManagerStartingNCaxesfromthePLC23.11.202324ReferencinginitialstateReferenceswitch(PLCinput)GearingPLC:Functionblockforreferencing23.11.202325ReferencingReferenceswitch(PLCinput)GearingPLC:StartwithexecuteAxismovestoReferenceswitch23.11.202326ReferencingReferenceswitch(PLCinput)GearingPLC:StartwithexecuteReferenceswitchwasreached,axisbreaks23.11.202327ReferencingReferenceswitch(PLCinput)GearingPLC:StartwithexecuteAxismovesbackuntilreferenceswitchisfree.23.11.202328Referencingcompleted(a)Referenceswitch(PLCinput)GearingPLC:StartwithexecuteAxisbreaks,actualpositionisset23.11.202329Referencingcompleted(b)Referenceswitch(PLCinput)GearingAX2000:

Afterleavingthereferenceswitch,TwinCATNCwaitsforthe“Syncsignal”ofAX2000andthenstops.Advantage:moreexactely.ThesetpositioninthestandstilloftheaxisiscalculatedwiththeinternallatchoftheAX2000(correspondstothezerosignalatIncrementalencoders)StandardsettingsintheTwinCATSystemManager23.11.202330Referencingcompleted.Whichpositionisset?If?Position“DEFAULT_HOME_POSITION(globalvariablefromTCMC.LIB)issubmittedattheFbinput,thevalueistakenoutoftheSystemManager.Otherwisethevalueisttakenattheinput?Position“23.11.202331MotionControlFunctionblocksTarget:IEC61131-3compatible

programminginterface

formotiontasksPartIGeneralOverviewAxistypesFunctionalprincipleReferencingMotionControl

FunctionBlocksTeilIIPracticalPart:SettingupNCaxesintheSystemManagerStartingNCaxesfromthePLC23.11.202332MotionControlFunctionblocksWhyastandard?-HardwareindependentProgramming-thesamelookandfeel,identicalSyntax-IEC61131-3asBase

-Expansionsfornewapplicationareaspossible-TwinCAT:CombinationofMCblocksandTwinCATspecificAxisblockspossible.ExistingapplicationscanbeexpandedwithMotionControlblocks,withoutanewwritingoftheexistingflows.Beckhoff:Beckhoff:Beispiel:esmüssennichtunbedingtalleFB‘sausderspecvorhandensein23.11.202333MotionControlFunctionblocksDefinedin:ThePLCopenTaskForceMotionControl

byManufacturerandenduserBeckhoff:Beckhoff:Beispiel:esmüssennichtunbedingtalleFB‘sausderspecvorhandenseinAtlasCopcoControl TetraPakBaumueller RovemaPackagingMachinesBeckhoffControlTechniques FordElau GeneralMotorsGiddings&LewisIndramatInfoteamSoftwareKWSoftwareLenzeSiemensSofting Root:TaskForceMotionControlpresentationVersionFebr2002.()23.11.202334Statemachine:DiscreteMotionContinuousMotionStandstillStoppingHomingSynchronizedMotionErrorStop23.11.202335Statemachine:MC_MoveSuperimposedMC_MoveVelocityMC_VelocityProfileMC_AccelerationProfileDiscreteMotionContinuousMotionStandstillMC_MoveAbsoluteMC_MoveRelativeMC_MoveAdditiveMC_MoveSuperimposedMC_PositionProfileDoneMC_MoveAbsoluteMC_MoveRelativeMC_MoveSuperimposedMC_MoveAdditiveMC_PositionProfileMC_StopMC-StopMC_MoveVelocityMC_VelocityProfileMC_AccelerationProfileMC_MoveVelocityMC_VelocityProfileMC_AccelerationProfileMC_PowerMC_StopNote1StoppingMC_MoveAbsolute;MC_MoveRelativeMC_MoveAdditive;MC_PositionProfileDoneHomingDoneMC_HomeMC-StopNote1:AllFBscanbecalled,

althoughtheywillnot

beexecuted,exceptMC_ResetandError–willgeneratethetransitiontoStandStillorErrorStopresp..

Root:TaskForceMotionControlpresentationVersionFebr2002.()23.11.202336StatemachineSynchronizedMotionDiscreteMotionContinuousMotionStandstillStoppingSynchronizedMotionMC_GearInMC_GearInMC_CamInMC_CamInMC_GearInMC_CamInMC_MoveAbsoluteMC_MoveRelativeMC_PositionProfileMC_MoveVelocityMC_GearOutMC_CamOutMC_VelocityProfileMC_AccelerationProfileMC_StopMC_GearInMC_CamInMC_PhasingMC_MoveSuperimposed23.11.202337OverviewFunctionBlockClass:AdministrativeMotionSingleAxesMultipleAxesSingleAxesMultipleAxesNon-InterpolatedMoveAbsoluteInterpolatedMoveAdditiveMoveSuperImposedMoveContinuousMoveVelocityHomeStopPowerResetReadStatusReadAxisErrorReadParameterWriteParameterReadActualPositionPositionProfileVelocityProfileAccelerationProfileCamTableSelectCamInCamOutGearInGearOut…MoveRelativePhasing23.11.202338StandardizedHandshake23.11.202339FB‘sAdministrativeFunctionBlocks23.11.202340MCPowerEnableEnable_PositiveEnable_NegativeNCControllerallows:100Positioncontrol110Positioncontrol+Startinpositivedirection101Positioncontrol+Startinnegativedirection111Positioncontrol+Startinpositiveornegativedirection23.11.202341MCRead_...23.11.202342MCRead_...23.11.202343MCRead/WriteParameterNumberinTCMC.LIB?PLCControlLibraryManager23.11.202344ExampleReadActualVelocityWithReadModethesingleresp.permanentreadingcanbedetermined.23.11.202345MotionFunctionBlocksMotionFunctionBlocksSingleAxis23.11.202346MotionFunctionBlocks23.11.202347ModeofOperationMoveSuperimposedExecute￠

ActualPos

￠

SetpointPos￠

ActualVelo

￠

SetpointVelo￠

ActualAcc

￠

SetpointAcc23.11.202348MotionFunctionBlocksModeofoperationsee?Referencing“23.11.202349MotionFunctionBlocksDiscreteMotionContinuousMotionStandstillDoneMC_StopNote1StoppingDoneHomingDoneMC_StopMC_StopMC_Stop23.11.202350MotionFunctionBlocksMultipleAxisMotionFunctionBlocksMultipleAxis(non-interpolated)23.11.202351MotionFunctionBlocksMultipleAxisGEARINGistheactivationofanumericratiobetweenmasterandslaveaxis.(comparablewithamechanicalgearbox).

23.11.202352MotionFunctionBlocksMultipleAxisLinear“gearbox”

fixedratiooftransmission:Vm/Vs“FlyingSaw”23.11.202353MotionFunctionBlocksMultipleAxisMOTIONDIAGRAMFORGEARING23.11.202354MotionFunctionBlocksMultipleAxisMovementdiagram￠

SlavePosSetpoint

￠

MasterPosSetpoint ￠

PositionLag￠

MasterVeloSetpoint

￠

SlaveVeloSetpoint￠

MasterAccelSetpoint ￠

SlaveAccelSetpoint23.11.202355PracticalPart

SettingupNCAxesinSystemManagerNote:ThesebitmapsshowallbasicstepsintheSystemManagerinforAX2000.Notallpossiblecombinationsareshown.

FurthermoretheSafetyinstructionsaretobeconsideredabsolutely.TwinCATInformationSystemNC->Safetyfunctionalities.PartIGeneralOverviewAxistypesFunctionalprincipleReferencingMotionControlFunctionBlocksTeilIIPracticalPart:SettingupNCaxesintheSystem

ManagerStartingNCaxesfromthePLC23.11.202356AxesSettingsExampleconfigurationDataAX2000:SettingsatthetrainingdevicesMax.r.p.m.3000IncrementsperMotorrevolution(EncoderemulationofAX2000)65535Adoptedmechanicalration1motorrevolutionisequivalentto1mmmechanicalway23.11.202357AxesSettings(adoptedApplicationmodell)ReferenceswitchGearing23.11.202358

EnterHardware23.11.202359ResultEnterHardwareRepeatstepsforallfurtherdrivesRename?23.11.202360

SettingupNCAxesintheSystemManager23.11.202361SelectandlinkdrivetypeRename?23.11.202362SelectandlinkdrivetypeInputsandoutputsbetweenTwinCATNCControllerandAX2000arelinked23.11.202363DefineAxisparameterunits23.11.202364EncoderparameterScalingfactorTranslationofthecollectedactualpositionvalueinthewayunitDecimalpointnecessaryCanbetakeninRegistryWriteonlinetoNC23.11.202365FurtherEncoderparameter(Notice)23.11.202366DriveparameterreferencevelocityTranslationofthemax.rotationspeedofthedrivetoavelocityCanbetakeninRegistryWriteonlinetoNCDecimalpointnecessary23.11.202367FurtherDriveparameter(Notice)23.11.202368GlobalAxisparameterLimitationofthemax.allowedvelocityHandvelocitiesintheOnlineMenueInfeedvelocity(NCIonly)ReferencingvelocitiesSoftwarelimitswitchFollowingErrormonitoringTargetpositionmonitoringPrecisionandfilterformessagetoPLC?Axisintargetposition“TimeoutmonitoringifaxisisintargetpositionVelocityreductionatsegmenttransitions(NCIonly)23.11.202369GlobalAxisparameter(Notice)23.11.202370DynamicEffectsseeSetvalueprofilesReferenceswitch23.11.202371StartingNCAxesfromthePLCExample:AsmallprojectforstartingansingleaxisshouldbecreatedwiththehelpoftheMCLibraryNotes:-Thecontroloftheenablesignals(hardware)isnottreatedinthisexample.TheprogrammingmodecorrespondsinthisexampletotheclassicalPLCprogramming,thatmeansglobalvariablesfortheinputsandoutputsandreferencinginthePOUs.AnalternativeisthecreationofFBs,whichworkinternallywithnottotallocatedvariablesfortheaxisinterface.(VAR_CONFIG)PartIGeneralOverviewAxistypesFunctionalprincipleReferencingMotionControlFunctionBlocksTeilIIPracticalPart:SettingupNCaxesintheSystemManagerStartingNCaxesfromthePLC23.11.202372CreatingaPLCProject23.11.202373InsertingTcMCLibraryFurtherrequiredlibrarieswillbeinsertedautomatically(fromTwinCAT2.8)23.11.202374CreatingInput/OutputvariablebetweenNCandPLCControlinputs.Linkingwithhardware,?Writingvalues“inPLCControl,o