SoftMotion Basic Configuration - Schneider · PDF fileTT_MO1_iC_SoftMotion Basic V0.11 Schneider Electric ... Device configuration elements ... Drives : Servo drives

SoftMotion Configuration

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TT_MO1_iC_SoftMotion Basic V0.11Schneider Electric | Industry Business | OEM Technical Training | August 2009 Motion Basic

●SoftMotion Configuration●DriveInterface components

●DriveInterface device configuration

●DriveInterface SoftMotion library●DriveInterface drive and fieldbus specific library

●DriveInterface drive configuration

●Axis position scaling●Axis SoftMotion units

●Case of position scaling for LXM05

●Drive interface- Axis_Ref_SM3●Task configuration

●Encoder configuration

●Encoder scaling●Visualization templates drive

●Exercise: SoftMotion configuration

Content

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DriveInterface Components

●For main parts for DriveInterface:●Device configuration elements

●Fielbus specific

●SoftMotion base libraries●Drive specific libraries

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DriveInterface Components

Can managerDevice

Drive

●DriveInterface implementation in SoMachine:

CAN manager or Fieldbus Node : CANmotion managerDrives : Servo drives “ LXM32, LXM05”

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DriveInterface Device Configuration

●CAN manager settings

●CAN1

●CANopen manager

●CANmotion I/O mapping

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Specification of the Baudrate



●CAN1

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Specification of cyclic time fTaskCycle

� CAN Sync generation



●CANopen manager

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●CANmotion I/O mapping

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●How to monitor the CANmotion parameters?●View → Watch → Watch 1

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●Device settings

●Remote device configuration

● PDO mapping

● SDO

● CANopen I/O mapping

● Status

● Information

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●Device settings●Remote device configuration to configure CANopen address

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Set position

Actual position

●Device settings● PDO mapping to set, reset and configure PDO to be mapped

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●Device settings●Service data object: Parameters set by LMC during start up

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●Device settings● CANopen I/O mapping

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●Device settings●Status

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●Device settings● Information

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e.g. Drive1 communication status

If Drive1.bcommunication and Drive1.wCommunicationState = 100

THENxStartApplication

END_IF

●Device parameters

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DriveInterface Drive Configuration

●Drive parameters (axis)

●SoftMotion drive: Basic

●Scaling/Mapping

●Status

● Information

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●Axis parameters● Linear

●Possibility of set range of movement

●bSWLimitEnable, bSWLimitNegative/Positive

●Rotary (modulo)●Specify fPositionPeriod

●Ramp type for PLCopen FBs

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●Conversion: SoftMotion unit (used in PLC program) ↔ increments

●Mapping

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IEC= Scaling factor * Increments

Scaling factor = iRatioTechUnitsNum [IEC/rev] / dwRatioTechUnitsDenom [Increments/rev]

Axis Position Scaling

●Scaling factor: Conversion from bus unit to technical unit in techn. units per unit received on bus● dwRatioTechUnitsDenom, iRatioTechUnitsNum● iRatioTechUnitsNum could be negative to change direction of rotation!

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●Example with linear axis:● 1 User unit should be 1.0 mm●Motor resolution = 131072 Increments / rev; �16#20000

●No gearbox; axis with 100 mm = 1 revolution

●Scaling → dwRatioTechUnitsDenom = 131072 iRatioTechUnitsNum = 100

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●Example with rotary axis:● 1 User unit should be 0.1°●Motor resolution = 131072 Increments / rev; �16#20000

●No gearbox; 1 revolution = 360° * 10

●Scaling → dwRatioTechUnitsDenom = 131072 iRatioTechUnitsNum = 360*10

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Scaling result are units for speed and acceleration always in relation with seconds:

s = User Unit

v = User Unit/s

a = User Unit/s²

Example: User units in mm:

s = mm

v = mm/s

a = mm/s²

Axis SoftMotion Units

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Use same scaling on SoftMotion side as on Lexium05 side “SoMove”

Highest possible resolutions:Lexium 32: 131072

Position Scaling for LXM32

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DriveInterface SoftMotion Library

●SoftMotion base libraries●Library SM3_Basic.library needs to be included in all SoftMotion applications and

consists of:●PLCopen FBs according to PLCopen Function Blocks for Motion Control V1.1●PLCopen FBs according to PLCopen Function Blocks for Motion Control - Part 2 V1.0

●Several proprietary motion control FBs

●DriveInterface basic driver FBs

(AXIS_REF_SM3, AXIS_REF_VIRTUAL_SM3, AXIS_REF_MAPPING_SM3)

●Utility functions and function blocks for implementation of specific drive drivers

● SM3_Basic.library

● SM3_CNC.library● SM3_Visu.library

● SM3_Drive_Virtual.library

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DriveInterface Specific Libraries

●Drive specific libraries●SM3_Drive_CAN_Schneider_Lexium05.library

●SEM_LXM.library “ Lexium Library”

●Fielbus specific libraries●SM3_Drive_CAN.library

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DriveInterface Axis_Ref_SM3

●For each configured drive, a function-block instance with an AXIS_REF_SM3 data structure will be defined●Hold all necessary parameters/variables

● Is identical for all drive types

●AXIS_REF_SM3● Is defined in SM3_Basic.library●Can be expanded with drive specific parameters and variables

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●Each function block has Axis-In/Output●Uniform structure of type AXIS_REF_SM3 (contain all important parameters and

variables)

● Interface between application and configuration

DriveInterface Axis_Ref_SM3

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CAN1_SYNC external event for Motion task

“Motion” task automatically created when CANmotion selected

In this task all motion FBs have to be called

Task Configuration

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LMC058 Encoder Hardware Implementation

Sub D 15

HSC modules DM72F0 DM72F1

Power supply switch 5-24VDC

●Encoder can be connected on●Sub D 15 with power supply adaptation switch 5VDC or 24VDC●HSC modules «DM72F0 DM72F1», for encoder with 24VDC power supply

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Types of Supported Encoder

●Two types of encoder can be connected to LMC058

● Incremental encoder « A,B,Z … »

●SSI encoder « Data +, Data -, Clk … »

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SoMachine Encoder Implementation

Sub-D 15

HSC module - 1

HSC module - 2

● In SoMachine 2 types of encoder implementation●SoftMotion Encoder●Standard Encoder

●LMC058 allows to use 3 Encoders (only 1 SoftMotion encoder) in application●Different combinations possible

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CANsync task

When Encoder Value Available?

Input IEC Output

Stack CANmotion initializationAcquire T_PDOWrite the LAST cycle R_PDO valueAcquire Encoder valueRead inputsWrite %Q if without Jitter is enabledOutput DONE of MC_TouchProbe

function block updated

Execution of IEC codeRead & Write 1 SDO / Cycle…

Update %Q…

●Main actions executed in CANSync task

●CANsync task split into 3 main parts● Input● IEC●Output

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Note: Encoder position capture is configurable in Capture Mode

Encoder Configuration

● Incremental configuration

●SSI configuration

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Example:Incremental encoder resolution: 1000IEC-units should be in °

AB quadrature: 1000 * 4 iRatioTechUnitsDenom = 4000dwRatioTechUnitsNum = 360

Global instance of<SMC_ENCODER_REF>MyEncoder

Encoder Scaling

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Visualization Templates Drive

●SM3_Visu.library provides two templates for SoMachine visualization

● LinDrive (prerequisite: Parameters fSWLimitNegative and fSWLimitPositive set)

●RotDrive

Documents

SoftMotion Basic Configuration - Schneider · PDF fileTT_MO1_iC_SoftMotion Basic V0.11 Schneider Electric ... Device configuration elements ... Drives : Servo drives