Example Description V01 PS552-MC Library Package Homing with FM562 PTO Module Application Examples

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1 Example Description V01 PS552-MC Library Package Homing with FM562 PTO Module Application Examples

2 Content 1 Disclaimer For customers domiciled outside Germany/ Für Kunden mit Sitz außerhalb Deutschlands Nur für Kunden mit Sitz in Deutschland INTRODUCTION TO DOCUMENT Scope of the document Overview of the Content Compatibility Reference documents Safety Instructions Hardware Hardware used in example Wiring Realization of Homing method Function Block Home_Example Visulization REVISION HISTORY... 9 abb ABB Automation Products GmbH 0 Application Example

3 1 Disclaimer 1.1 For customers domiciled outside Germany/ Für Kunden mit Sitz außerhalb Deutschlands "Warranty, Liability: The user shall be solely responsible for the use of this application example described within this file. ABB shall be under no warranty whatsoever. ABB's liability in connection with this application example or the files included within this file, irrespective of the legal ground, shall be excluded. The exclusion of liability shall not apply in the case of intention or gross negligence. The present declaration shall be governed by and construed in accordance with the laws of Switzerland under exclusion of its conflict of laws rules and of the Vienna Convention on the International Sale of Goods (CISG)." "Gewährleistung und Haftung: Der Nutzer ist allein für die Verwendung des in dieser Datei beschriebenen Anwendungsbeispiels verantwortlich. ABB unterliegt keiner Gewährleistung. Die Haftung von ABB im Zusammenhang mit diesem Anwendungsbeispiel oder den in dieser Datei enthaltenen Dateien - gleich aus welchem Rechtsgrund - ist ausgeschlossen. Dieser Ausschluß gilt nicht im Falle von Vorsatz oder grober Fahrlässigkeit. Diese Erklärung unterliegt Schweizer Recht unter Ausschluß der Verweisungsnormen und des UN-Kaufrechts (CISG)." 1.2 Nur für Kunden mit Sitz in Deutschland "Gewährleistung und Haftung: Die in diesem Anwendungsbeispiel enthaltenen Dateien beschreiben eine mögliche Anwendung der Steuerung AC500 bzw. zeigen eine mögliche Einsatzart der Steuerung. Sie stellen nur Beispiele für Programmierungen dar, sind aber keine fertigen Lösungen. Eine Gewähr kann nicht übernommen werden. Der Nutzer ist für die ordnungsgemäße, insbesondere vollständige und fehlerfreie Programmierung der Steuerungen selbst verantwortlich. Im Falle der teilweisen oder ganzen Übernahme der Programmierbeispiele können gegen ABB keine Ansprüche geltend gemacht werden. Die Haftung von ABB, gleich aus welchem Rechtsgrund, im Zusammenhang mit den Anwendungsbeispielen oder den in dieser Datei enthaltenen Dateien wird ausgeschlossen. Der Haftungsausschluß gilt jedoch nicht in Fällen des Vorsatzes, der groben Fahrlässigkeit, bei Ansprüchen nach dem Produkthaftungsgesetz, im Falle der Verletzung des Lebens, des Körpers oder der Gesundheit oder bei schuldhafter Verletzung einer wesentlichen Vertragspflicht. Im Falle der Verletzung einer wesentlichen Vertragspflicht ist die Haftung jedoch auf den vertragstypischen, vorhersehbaren Schaden begrenzt, soweit nicht zugleich ein anderer der in Satz 2 dieses Unterabsatzes erwähnten Fälle gegeben ist. Eine Änderung der Beweislast zum Nachteil des Nutzers ist hiermit nicht verbunden. Es gilt materielles deutsches Recht unter Ausschluß des UN-Kaufrechts." Only for customers with seat in Germany "Warranties and Liability: The files contained in this application sample are only describing a possible use of the AC 500 control system showing a possible kind of operation of it. These are only examples of the programming features and in no way working solutions. No warranty can be accepted. Each user himself is exclusively responsible for the correct, i.e. complete and faultless programming of the control system. In case of a partial or complete adoption of programming samples no resulting claims may be asserted against ABB. In connection with the application examples or the files contained therein any liability of ABB regardless of the legal cause shall be excluded. The exclusion of liability does not apply in the case of willful misconduct or gross negligence by ABB, claims under product liability law, in case of damage to life, body or health or breach of an essential contractual obligation. In case of breach of an essential contractual obligation the liability will, however, be limited to compensation for the foreseeable damage, that is typical for this type of contract in as far as no other exceptions are listed under sentence 2 of this subparagraph is present at the same time. An amendment of the burden of proof to the disadvantage of the user shall not be associated with this. German substantive law shall apply excluding the UN Convention on the International Sale of Goods." abb ABB Automation Products GmbH 1 Application Example

4 2 INTRODUCTION TO DOCUMENT 2.1 Scope of the document The manual is intended as instruction for making user specific homing method using the PTO FM562 pulse train output module together with the Motion control library PS552-MC with example program. Further functional description of FM562 and the Motion Control Library itself and details of the blocks are available in the on-line help of CoDeSys. 2.2 Overview of the Content Chapter 3 introduces the hardware and the wiring used for the example program. Chapter 4 describes in the example function block of homing and its visualization. 2.3 Compatibility The example and library are made for CBP 2.3 or higher, nevertheless tests have only been done with the Version V2.3.0 patch Reference documents Please refer to following manuals for testing with the example: User s manual MicroFlex Drive: MN1919WEN AC500-eCo installation instructions: 2CDC125122M6801 AC500 system description Vol 0: 2CDC125015M Safety Instructions The user must follow all applicable safety instructions and the guidelines mentioned in the user documents of the ABB products used in the example program o Read the complete safety instructions for the drives used before installation and commissioning the drive. o Read all safety instructions of the AC500 PLC. See System description AC500 (2CDC125015M0201 [English]) or the online help in CoDeSys (Help > Contents >Target System > AC500 / S500 > Introduction > Overview > Regulations). abb ABB Automation Products GmbH 2 Application Example

5 3 Hardware 3.1 Hardware used in example In this document, an AC500- eco CPU PM564-R and an FM562 is used for the example. As drive, the ABB MicroFlex servo drive with servo motor is used. 3.2 Wiring - Following DI s are used to simulate home switch and limit switches: o DI0: Home switch o DI1: Limit switch of negative direction o DI2: Limit switch of positive direction AC power in 24 VDC 2A + 3A fast 2A anti surge P0+ = Step P1+ = Dir SGND = DGND Home Drive Enable X3 X2 1 Shield 2 Status- 3 Status+ 4 DIN0 5 DIN0+ MicroFlex Drive FMH 6 Drive enable- 7 Drive enable+ 8 Shield 9 Dir 10 Step 11 DGND 12 AIN0-13 AIN0+ 14 AGND 0V +24V Home: DI0 Limit 1: DI1 Limit 2: DI2 Motor Encoder abb ABB Automation Products GmbH 3 Application Example

6 4 Realization of Homing method Homing is necessary for a positioning application. To achieve homing precisely, the following points are considered in this example: - We assume the home switch is near one limit switch in this example. - The drive start direction to search home switch is mandantory. - The limit switches are also used to help the drive to find the home switch depending on the relation of the drive start point and home switch. - As the pulse of home switch has certain width, one pulse edge needs to be defined as home position. - Two speeds are used in this example: the higher speed for find the home switch or limit switch and then the lower speed to locate the home to set home position. 4.1 Function Block Home_Example Parameter Instance Home_Example Instance name Execute Input BOOL Enabling of the Function Block processing with rising edge StartDirection Input BOOL Start direction of the homing procedure LimitSwitch_N Input BOOL Limit switch in negative direction LimitSwitch_P Input BOOL Limit switch in positive direction HomeSwitch Input BOOL Home switch HomeVelocity1 Input REAL First homing velocity: higer speed HomeVelocity2 Input REAL Second homing velocity: lower speed HomePOS Input REAL Home position AXIS InOutput AXIS_REF Axis related for homing Done Output BOOL Homing is done successfully Active Output BOOL Homing is active Error Output BOOL Homing terminates with error ErrorID Output WORD Error ID abb ABB Automation Products GmbH 4 Application Example

7 Description Execute BOOL It enables the Function Block processing with rising edge. StartDirection BOOL The drive start direction is depending on where the home switch locates. If the home switch is near positive limit switch, then the start direction should be positive to save time. If the home switch is near negative limit switch, then the start direction should be negative. Homing Start Direction: Positive There are two situations: A. Drive is on the left side of the home switch before start a. Drive starts with higher speed (HomeVelocity1) b. Drive stops when the falling edge of home switch is detected c. Drive change its direction and turn back with lower speed (HomeVelocity2) d. Drive stops when the rising edge of home switch is detected e. The current position is set as home position B. Drive is on the right side of the home switch before start a. Drive starts with higher speed (HomeVelocity1) b. Drive stops when positive limit switch is active c. Drive change its direction and turn back with lower speed (HomeVelocity2) d. Drive stops when the rising edge of home switch is detected e. The current position is set as home position Home Limit 1 Limit 2 A B abb ABB Automation Products GmbH 5 Application Example

8 Homing Start Direction: Negative There are two situations: A. Drive is on the right side of the home switch before start a. Drive starts with higher speed (HomeVelocity1) b. Drive stops when the falling edge of home switch is detected c. Drive change its direction and turn back with lower speed (HomeVelocity2) d. Drive stops when the rising edge of home switch is detected e. The current position is set as home position B. Drive is on the left side of the home switch before start a. Drive starts with higher speed (HomeVelocity1) b. Drive stops when positive limit switch is active c. Drive change its direction and turn back with lower speed (HomeVelocity2) d. Drive stops when the rising edge of home switch is detected e. The current position is set as home position Home Limit 1 Limit 2 A B LimitSwitch_N BOOL Limit switch in negative direction, or negative limit switch. TRUE means it is active. LimitSwitch_P BOOL Limit switch in positive direction, or positive limit switch. TRUE means it is active. HomeSwitch BOOL Home switch HomeVelocity1 BOOL First homing velocity: higer speed for searching home switch or limit switch abb ABB Automation Products GmbH 6 Application Example

9 HomeVelocity2 BOOL Second homing velocity: lower speed to arrive home and set home position HomePOS REAL Home position to be set AXIS AXIS_REF Axis related for homing procedure Done If homing is done successfully, Done=TRUE until Execute=FALSE Active Homing is active Error Homing terminates with error. Error=TRUE until Execute=FALSE ErrorID Error ID, user defined abb ABB Automation Products GmbH 7 Application Example

10 4.2 Visulization Visualization is used to simulate the homing procedure in different situations to understand homing. Homing Start Direction: Positive Homing Start Direction: Negative abb ABB Automation Products GmbH 8 Application Example

11 5 REVISION HISTORY Rev. ind. Page (P) Chapt. (C) Description Date Dept./Init V01 All DEAPR / XiZh abb ABB Automation Products GmbH 9 Application Example

12 Doc. kind: No. o. p.: Application Note / Manual 10 Title: Lang.: Homing With FM562 PTO Module English Doc. No 3ADR025204M0201 Manual No. 3ADR M0201 abb ABB Automation Products GmbH ABB Automation Products GmbH Wallstadter Str. 59 D Ladenburg Tel. : / Fax : / plc.support@de.abb.com