Sales Training Level 2 IndraMotion MLC

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1 Sales Training Level 2 IndraMotion MLC

2 Controller-Based Motion-Logic System 2

3 Integrated Motion-Logic System Integrated system for all tasks with motion and logic Comprehensive functionality for PLC, axis synchronization and positioning for a maximum of 32 axes and Robotics (MLC03 and higher) Standardized function blocks and motion wizards for easy integration of motion in application programs Pre-engineered technology modules for easy implementation of complex processes Innovative motion kernel with hard real-time (<1 µs jitter) for highest precision through SERCOS interface 3

4 Agenda Topology and system components System architecture and application examples Engineering with IndraWorks Motion programming with IndraLogic Programming template CAM Builder Information about MLC Information about competitors Robot Control 4

5 System Topology IndraWorks Engineering IndraControl V HMI Ethernet IndraControl L IndraControl V Inline Fieldline IndraDrive PackProfile HNC Rexroth pneumatics IndraDyn Rexroth hydraulics 5

6 IndraDrive Scalable Drive Platform IndraDrive C + M Compact converters and modular inverters Firmware MPx03, MPx04, MPx05 MPx03 functionality only MLC03 and higher versions support double-axis modules Functional package SNC Synchronization functional package is mandatory! 6

7 IndraControl L40 Innovative Compact Control Control panel with four keys for status indication and configuration Ethernet interface Ready contact with status LED SERCOS interface MBit/s FM bus for function modules Inline bus for I/O expansion with Inline IO RS232 not supported! 128-MB CF-module with firmware and user data Profibus DP master or slave Onboard IOs 8 inputs 8 outputs 7

8 Function Modules (1) Functional expansion through no more than 4 function modules NEW NEW IndraControl L40 NEW NEW Cross communication DeviceNet scanner NEW Fast I/O PLS SERCOS III PROFIBUS master SRAM (for Robot Control) 8

9 Function Modules (2) Cross Communication CFL01.1-Q2 Medium: Sercos FO MLC-link with a maximum of 64 MLCs Axis synchronization over several MLCs (distributed axes) CrossCommunication DeviceNet scanner PROFIBUS master DeviceNet Scanner CFL01.1-V1 Master functionality for DeviceNet Transmission rates 125, 250, 500 kb Up to 64 nodes PROFIBUS master CFL01.1-P1 PROFIBUS master functionality if onboard interface operates as slave MLC03 and higher 9

10 Function Modules (3) Digital Cam Switch (PLS) CFL01.1-N1 16 outputs Scanning rate 125 µs MLC03 and higher Fast I/O Digital Cam Switch SRAM (for Robot Control) Fast I/O CFL01.1-E2 Fast digital inputs and outputs 8 inputs, 8 outputs 8 freely programmable I/Os MLC03 and higher SRAM CFL01.1-Y1 Memory: 8 MB SRAM Battery-buffered MLC03 and higher (for RoCo) 10

11 Function Modules (4) SERCOS III CFL01.1-R3 Functionality equivalent to SERCOS 2 Connection through Ethernet CAT5 cable Data rate 100 MB Master communication cross-communication (distributed axes) MLC03 and higher SERCOS III Future further development of SERCOS III IP communication Device ring redundancy Hot Plug SERCOS III configuration tool SERCOS III I/O 11

12 System components HMI (optional) IndraControl VSP/VPP IndraControl VEP/VEH IndraControl VCP Control unit IndraControl L40 CML40.2-SP-330-NA-NNNN-NW Connector set R-IB IL CML S01-PLSET Drives IndraDrive M/C - Firmware MPx03, MPx04, or MPx05 - MPD03/04/05 is supported! Function modules (optional) CFL01.1-D1 (DeviceNet Master) CFL01.1-Q2 (CrossCom) CFL01.1-P1 (Profibus Master) CFL01.1-R3 (Sercos III) CFL01.1-N1 (Digital Cam Switch) etc. 12

13 System components Software SWA-IWORKS-ML*-Vxx-DO-CD650 CamBuilder (SWS-IWORKS-CAM-yyVRS-DO) Software WinStudio Lite Editor & Runtime IndraWorks Engineering MLC Engineering incl. technologies IndraLogic programming IndraControl L40 Firmware FWA-CML40*-ML*-VxxRS-DO MLC Motion-Logic Runtime up to 32 axes Standard and technology functions RTOS VxWorks Standard Add-On Standard xx,yy = actual version 13

14 Installation options (MLC03 and higher) Installation options for MLC Communication Basis for PC-based HMIs (IwSCP, OPC server, IndraLogic gateway) General automation Food and packaging Printing and Converting Differences with regard to installed libraries 14

15 SOS (1) 15

16 SOS (2) MLC02 and Sercos 2 MLC03 and Sercos 2 MLC03 and Sercos 3 16

17 Agenda Topology and system components System architecture and application examples Engineering with IndraWorks Motion programming with IndraLogic Programming template CAM Builder Information about MLC Information about competitors Robot Control 17

18 Integration of Motion and Logic Periphery PLCopen Library Motion Control Single-Axis HMI, Engineering IndraLogic Runtime IEC Application program Extended Motion Library Motion Logic Interface Motion Control Multi-Axes System Functions Motion Runtime Drives System Libraries Technology Libraries Technology Functions Integrated Motion-Logic runtime system Motion runtime system Synchronization of 32 axes Virtual, real, encoder or link axes IndraDrive, EcoDrive Cs, SERCOS drives (Pack Profile) Logic runtime system Embedded in motion kernel With transparent interface to motion kernel Communication interfaces Ethernet TCP/IP EtherNet/IP adapter (slave) PROFIBUS DP-V1 (master/slave) DeviceNet Scanner (master) SERCOS 2 / III Cross communication 18

19 Logic Runtime System HMI, Engineering Standardized PLC API according to IEC IndraLogic Runtime Periphery PLCopen Library IEC Application Program Extended Motion Library System Libraries Motion Logic Interface Technologie Libraries Libraries for access to all system functions Multitasking processing with up to 8 tasks Motion Control Single-Axis Motion Control Multi-Axes System Functions Motion Runtime Technology Functions Processing of calls of motion and technology modules within the application program Drives 19

20 Motion Runtime System HMI, Engineering Management and processing of all motion control functions IndraLogic Runtime Periphery PLCopen Library Motion Control Single-Axis IEC Application Program Extended Motion Library Motion Logic Interface Motion Control Multi-Axes System Libraries System Functions Motion Runtime Technology Libraries Technology Functions Drive synchronization in hard real-time with lowest jitter and high synchronism Processing of interfaces for communication and technologies Drives Transparent and easy-to-use interface to drives through direct access to drive parameters in the PLC program 20

21 Motion and Logic According to PLCopen The firmware architecture ideally integrates the state machine and function blocks of PLCopen Standardized motion functionality provided by certified library Additional libraries with function blocks, structures and data types for simplified handling of the overall functionality Identical handling of virtual master and real servo axes 21

22 PLCopen State Diagram (1) Error MC_MoveAbsolute MC_MoveRelative MC_MoveSuperimposed MC_MoveAdditive MC_PositionProfile MC_Halt Discrete Motion MC_MoveAbsolute MC_MoveRelative MC_MoveAdditive MC_MoveSuperimposed MC_PositionProfile MC_GearIn(Slave) MC_CamIn(Slave) MC_GearInPos (Slave) Done MC_Stop MC_Stop Error MC_GearIn(Slave), MC_CamIn(Slave) MC_Phasing(Slave) MC_MoveSuperimposed(Slave) MC_GearInPos (Slave) MC_MoveAbsolute MC_Move Relative MC_PositionProfile MC_Halt Error Synchronized Motion Note1 Stopping Note1 MC_Reset MC_Stop Errorstop Error MC_GearIn(Slave) MC_CamIn(Slave) MC_GearInPos (Slave) MC_MoveAbsolute; MC_Move Relative MC_MoveAdditive; MC_PositionProfile MC_Halt MC_Move Velocity; MC_VelocityProfile; MC_AccelerationProfile; MC_TorqueControl Error Note 4 MC_MoveVelocity MC_GearOut MC_CamOut MC_VelocityProfile MC_AccelerationProfile MC_TorqueControl MC_Stop Error MC_Stop MC_GearIn(Slave) MC_CamIn(Slave) MC_GearInPos (Slave) Note 2 MC_MoveSuperImposed MC_AccelerationProfile MC_MoveVelocity MC_VelocityProfile MC_TorqueControl Continuous Motion MC_Move Velocity MC_VelocityProfile MC_AccelerationProfile MC_TorqueControl MC_MoveContinuous To Synchronized Motion MC_GearIn commands a ratio n between the velocity of the slave an the master MC_CamIn engage the CAM MC_Phasing creates a phase shift in the master position of the slave axis MC_MoveSuperImposed adds a specified relative distance to an existing motion To Continuous Motion MC_GearOut disengages the slave from the master axis MC_CamOut disengages the slave from the master axis Done Homing Standstill Disabled Electric Drives and Controls Sales Training Level 2 IndraMotion MLC Note BRC/PRM4 3 - JS MC_Home 22

23 PLCopen State Diagram (2) MC_CamIn Synchronous Motion MC_GearIn MC_GearIn Discrete Motion Done=TRUE MC_Stop Continuous Motion MC_MoveAbsolute Stopping MC_MoveVelocity Errorstop Done=TRUE Standstill 23

24 Flexible use of Cams IndraWorks Engineering CamBuilder CAM-Pool IndraMotion MLC Motion profiles 1) Processing in the control Alternative processing IndraDrive Cam profiles 2) Processing in the drive 1) 2 motion profiles with up to 16 segments per axis 2) 4 tables with up to 1024 points per axis 24

25 Cam Profiles Motion Profiles Two motion profiles with up to 16 segments per axis The handling of motion profiles is the same as Cam profiles, but the relation between slave axis position and master axis position is defined by an analytic function. Description through a few points and connections via polynomials The curve can be changed by modifying a few parameters. A segment also can consist of a Cam profile (table with 1024 points). MLC stores up to 99 Cam profiles. 25

26 Cam Profiles Motion Profiles axis 1 profile1 segment 1 segment 2 segment 16 profile 2 segment 1 segment 2 CAM pool Motion profiles per axis, with up to 16 segments A segment may consist of a Cam profiles (max. 99 Cam profiles with max points) Processing in PLC programs through function blocks MB_ChangeProfileSet MB_ChangeProfileStep MB_ChangeCamData MB_MotionProfile segment 16 axis n (max. 32) 99 26

27 Technology Function Blocks Pre-engineered function blocks for easy implementation of complex processes Basis for modular machine and control designs Faster reaction to market and customer requirements 27

28 Summary of some Technology Modules Sag control Winder Adjustment Tension control Flying Shear Probe Cross cutter Register controller Measuring wheel Handling Axis-related Technology Modules PID controller Temperatur Temperature control Digital Cam Switch Axis-independent Technology Modules Utility Technology Modules 28

29 Vertical Flow Wrapper Functions with motion-logic and technology modules Synchronization of servo axes via virtual masters Positioning and other functions for centring the foil Adjustable Cam profiles for foil feed, longitudinal and transverse sealing Print-mark control Digital Cam Switch 29

30 Saw-Tooth Grinding Machine Machine Type: Machine for grinding the saw teeth of a band saw Requirements: Maximum Flexibility with regard to the number of teeth with regard to the shape of the teeth with regard to the tooth spacing Operating modes moving a single axis synchronous mode 30

31 Saw-Tooth Grinding Machine IndraControl VCP25.2 Visualization IndraMotion MLC Virtual master Ethernet IndraDrive infeed grinding wheel CAM 1.. X IndraDrive infeed saw blade CAM 1.. X IndraDrive Fc grinding wheel 31

32 Double Winder 32

33 Double Winder IndraControl L40.1 MLC IndraControl VCP25 Profibus DP Local Inline IOs IndraDrive HCS02.1E-W

34 Agenda Topology and system components System architecture and application examples Engineering with IndraWorks Motion programming with IndraLogic Programming template CAM Builder Information about MLC Information about competitors Robot Control 34

35 Engineering Workflow Create new IndraWorks project add control to project add axes to project configure axes and control IndraWorks configure IOs motion programming IndraLogic 35

36 Engineering with IndraWorks Selection of devices by drag & drop Parameterization through wizards Automatic generation of program data control parameters drive parameters PLC program template and data structures 36

37 Uniform Axis Configuration (1) Real Axis Virtual Axis 37

38 Uniform Axis Configuration (2) Encoder axis Link axis 38

39 Setup with Initial Commissioning Wizard 39

40 Offline Parameterization Complete offline parameterization of MLC and drives through emulation Activation through contextsensitive menu in the project tree Access to all SERCOS parameters Dialogue and data active Cross-check of parameters when switching online Status is offline Import/Export of parameters 40

41 Parameterization of Real Axes Direct access to dialogs for drive parameterization of real axes from the project tree The activated parameter monitor displays the list of relevant parameters 41

42 Parking and Deactivation of Real Axes Activation/deactivation of real axes access to A, S and P parameters is possible. Parking of real axis allows access to A, S and P parameters; drive follows SERCOS phases. The integrated safety system of the "parking axis" signals the safe state (binary signal) 42

43 Axis Configuration Easy parameterization of axes with uniform handling of different axis types Transparent access to all drive parameters from the project tree Identical internal processing of axis types through the MLC runtime system Full offline parameterization of the axes 43

44 Consistent I/O Configuration Fast OnBoard IOs Local Inline IOs Decentralized Inline / Fieldline IOs (PROFIBUS) 44

45 Switching to Online Mode Establish the Ethernet connection to the control Comparison of projected devices with real devices Download configuration data to IndraMotion MLC Online data exchange possible Switch from parameter mode (P2) to operating mode (BB) Start up of SERCOS ring, with all drives showing "bb" or "Ab"! 45

46 MLC Parameter System Virtual Axis C-parameters A-parameters A-parameters A-parameters A-parameters S-parameters P-parameters S-parameters P-parameters S-parameters P-parameters 46

47 Parameter Types Control parameters Configuration data of the control (or information) One set of C-parameters per IndraMotion MLC Axis parameters Configuration data of the axes (or information) One set of A-parameters per axis located in the control The set of A-parameters is reduced for some axis types Standard parameters defined in the SERCOS standard Configuration data of the drive (or information) Stored in the IndraDrive (Flash memory of control section) Manufacturer/product-specific parameters in terms of the SERCOS standard Configuration data of the drive (or information) Stored in the IndraDrive (Flash memory of control section) C-parameters A-parameters S-parameters P-parameters 47

48 Parameter Editor Invoking the parameter editor from the project tree MLC Real, virtual, encoder axes Access to A-, S- and P-parameters C-parameters Multiple Instances possible 48

49 System Diagnostics Display of device status Function for clearing errors Diagnosis / error memory for the entire system (max entries) List of invalid parameters Display of cycle times Time balance of the tasks for motion, logic and communication 49

50 System Messages Message categories Display of error/diagnostic memory 50

51 Axis Diagnosis Display of Axis status Function Clear errors 51

52 Agenda Topology and system components System architecture and application examples Engineering with IndraWorks Motion programming with IndraLogic Programming template CAM Builder Information about MLC Information about competitors Robot Control 52

53 Motion Programming with IndraLogic (1) Task configuration already is done! Axis descriptor for each configured axes is generated automatically! 53

54 Motion Programming with IndraLogic (2) Predefined array AxisData for direct access to data of all axes. Motion Libraries already are bound to the project. 54

55 IndraMotion MLC Libraries for Motion and Logic ML_Base (structures and data types) ML_PLCopen (PLCopen modules) ML_TechCommon (technology modules) ML_Technology03 (technology modules) ML_Packaging03 (technology modules) RIL_CommonTypes (structures and data types) RIL_ProfibusDP (diagnosis and DP-V1 services) Standard (modules according to IEC, e.g. string, timer, counter functions) Util (e.g. for mathematical and conversion functions) Syslibxxx (various system functions) Electric Drives and Controls Sales Training Level 2 IndraMotion MLC BRC/PRM4 - JS

56 Continuous Motion with PLCopen Implementation of motion commands in user programs is achieved through standardized PLCopen function blocks. Input of cyclically modified command values is achieved through FBs, presetting of noncyclically modified values through wizards. 56

57 Synchronized Motion with PLCopen Real axis as slave in phase synchronization with MB_GearInPos Real axis as slave in velocity synchronization with MC_GearIn 57

58 Access to axis data Function blocks for read and write access MC_ReadParameter/MC_WriteParameter MB_ReadParameter / MB_WriteParameter etc. Access possible to A, C, S and P parameters Access to axis data through array AxisData Axis status data (e.g. AxisData[2].Axis_InVelocity) Actual position, velocity and force/torque values (e.g. AxisData[1].rActualPosition_i) Container for user-defined command and actual values 58

59 Function Blocks according to PLCopen (MLC03) Access to parameters MC_ReadActualPosition MC_ReadStatus MC_ReadAxisError MB_ReadListParameter MB_ReadParameter MB_ReadRealParameter MB_ReadSercosAttribute Single-Axis MC_Power MC_MoveAbsolute MC_MoveRelative MC_MoveAdditive MC_MoveVelocity MC_Home MC_Stop Multi-Axis MC_CamIn MC_CamOut MC_GearIn MC_GearOut MB_GearInPos MB_Phasing MB_PhasingSlave MB_ReadSercosDataStatus MB_ReadStringParameter MB_WriteListParameter MB_WriteParameter MC_Reset MC_TorqueControl MB_ChangeCamData MB_ChangeProfileSet ML_PhasingSlave MB_MotionProfile MC_AddAxisToGroup MC_RemAxisFromGroup MB_WriteRealParameter MB_ChangeProfileStep MC_GroupReset MB_WriteStringParameter ML_OpenCyclicPositionChannel MB_IRDProgSelect ML_WriteCyclicPosition MB_IRDProgStart MB_IRDProgStop Robot Control MC_xxx specified according to PLCopen MB_xxx across Bosch Rexroth systems ML_xxx MLC-specific 59

60 Insert Technology Library (1) Technology function blocks are provided through additional libraries Use the library manager to insert additional libraries in the IndraLogic project Observe the path! c:\program Files\Rexroth\IndraWorks\IndraLogic\Targets\IndraMotion_MLC_L40_03VRS 60

61 Insert Technology Library (2) 61

62 Technology Function Block Flying Shear Technology Function Block ML_FlyingShear Contains basic sequence of simple flying shear application (without short length and register) Implements the complete sequence: Cut off carriage moves to initial position Cut off carriage is synchronized Binary handshake with saw Return to initial position 62

63 Technology Function Block Register Controller Technology Function Block MB_RegisterController For all Applications with a synchronized material flow Implemented control Processing of sensors Calculation of the compensation value through P or PI controller structure Compensation of sensor dead times Flexible settings, such as signal expectation window 63

64 Technology Function Block Winder Technology Function Block ML_WinderSensorless For applications with unwinding and winding units without sensor Implemented Winding process Adjustable winding direction Integrated diameter calculator Compensation of friction and winding hardness Tensioning of the material at constant speed or web velocity, even at standstill 64

65 Technology Function Block Digital Cam Switch Reference for switching conditions Reference for outputs Function Block MC_DigitalCamSwitch according to PLCopen (Specs. Part 2) Function of a digital cam switch for 8 digital outputs Specification of on and off requirements through structures of no more than 32 switches references to track properties 65

66 Agenda Topology and system components System architecture and application examples Engineering with IndraWorks Motion programming with IndraLogic Programming template CAM Builder Information about MLC Information about competitors Robot Control 66

67 Why Templates? Disadvantages of not having a programming template Every customer develops his own individual application program. Many customers do not have the necessary system knowledge or programming experience and are working under time pressure, so that they feel this development is too much for them. While the development phase is in progress, customers will of course have to ask many questions resulting in a lot of care on our part and a certain degree of frustration on the customer's part. There are a great number of different application programs in the field, so that our support is difficult and time-consuming. Very often, the development is the task of "normal" PLC programmers rather than that of software specialists, so that the analysis and debugging of the program structure and organization is often difficult. 67

68 Benefits of Templates Administration of operating modes Modul Handling Modul n Power On Cold Start Error Messaging Example: Monitor system and enter errors in logbook Communication Example: Data handling for field bus, HMI Prepared program structure for operating modes, modules, debugging and diagnosis Easy modularization of the machine software Flexibility through easy expansion or modification of the modules Reduced requirements for program maintenance Increased service friendliness through clearly defined interfaces and clearly organized modules 68

69 Template Management of Operating Modes PLC Prg Start Power On drives, Homing... Jogging of axes... 1 Initialization Initializing Done Production mode... Manual Mode Selector Auto User Manual Mode Stopped & Not Manual Initialization Automatic Mode Stopped & Not Automatic Initialization User Mode(s) Stopped & Not User e.g. in the event of a severe failure with a drop in drive power 69

70 Template Modularizing (1) 70

71 Template Modularizing (2) Signals to control the machine Start Stop Reset EStop MatReady Jog+ Jog- AxisSel Machine Software Conveyor Master State Machine Smart Belt Flow Wrapper command and feedback for operation modes and states using the CMI 71

72 Template Modularizing (3) Ctrl Conveyor Belts Product Distribution System Module State Machine Status Axis Interface Axis Interface Axis Interface velocity synchronization to the master axis 72

73 AxisInterface Easy Motion Programming Application Program Axis_Control ML_AxisInterface.lib ML_AxisInterface Axis_Status MC_Power ML_PLCOpen.lib MC_Move... MC_Gear... MC_Cam... Drive 73

74 AxisInterface Axis_Control structure User defined name of axis Administration Select operating mode (e.g. positioning, Cam,...) Axis reference... Command values in positioning mode target position velocity acceleration Command values in synchronous mode dynamic synchronization select master axis ratio select Cam profile... Command values in velocity control mode velocity acceleration... 74

75 AxisInterface Axis_Status structure Axis is defined within the IndraWorks project and is being processed Registered Axis type (real, virtual, encoder, or link axis) Administration / Axis state Actual operating mode Axis diagnostics Warning Error Error codes... Status in positioning mode Positioning window reached Status in velocity control mode Status in synchronous mode Active Cam profile Synchronization window reached 75

76 AxisInterface Application Example Phase synchronization of the Fin seal axis Master: virtualaxis1 Ratio 3:2 absolute synchronization dynamic synchronization only in positive direction Fin seal axis Sample Program: araxisctrl[sealaxis].syncmode.master := virtualaxis1; araxisctrl[sealaxis].syncmode.inputrev := 3; araxisctrl[sealaxis].syncmode.outputrev := 2; araxisctrl[sealaxis].syncmode.startmode := ABSOLUTE; araxisctrl[sealaxis].syncmode.syncdirection := POS_DIRECTION; araxisctrl[sealaxis].admin._opmode := MODE_SYNC_PHASE; 76

77 Advantages of the Template Reduced engineering times Our customers may create their application program based on an existing, well thought out program framework The program framework provides typical common tasks of an automation program the programming work is mainly limited to include program code into the framework Modular software concept allows parallel development Expandability and Adaptability owing to the open IEC architecture Easy maintenance and reduced downtimes No individual program structures of the various applicators, but a uniform software architecture. Clearly defined software interfaces, compact and independent software modules Improved software quality by using pre-engineered and tested software components 77

78 Agenda Topology and system components System architecture and application examples Engineering with IndraWorks Motion programming with IndraLogic Programming template CAM Builder Information about MLC Information about competitors Robot Control 78

79 Activating CAM Builder (1) CAM Builder is an integral part of IndraWorks Licensing required For the current licensing state of CAM Builder refer to Tools Options General Software Licenses 79

80 Activating CAM Builder (2) Demo license (30 days) or Full license Enter the license key Accept license conditions CAM Builder is licensed The License State is Licensed 80

81 Activating CAM Builder (3) New node Cam Pool in project explorer 2 new toolbars: CamBuilder General CamBuilder Edit Dockable dialog windows for visualization and editing of Cam profiles 81

82 Working with CAM Builder New Default Cam profile Cam profile with one section, 5 th order polynomial Cam Profile Wizard Configure Cam profile with multiple sections yourself or generate motion profile Create an application-specific Cam profile for certain applications (e.g. cross seal) Import Cam profile Excel, XML, parameter backup *.par Upload Cam profile from MLC or IndraDrive 82

83 Creating a New Cam Profile with Wizard Distinction Cam profile / Motion profile Measuring unit, master axis velocity and Cam shaft distance only relevant for visualization! Cam shaft distance has to be entered in the drive / control! Define Start and End point Enter number of sections Possible further dialogs for sections 83

84 Creating an Application-specific Cam profile Select application type Cross cutter Feeder Print length correction Cross seal Enter the application-specific settings! 84

85 Cam profile Visualization The master axis position and slave axis position is displayed at the cursor. The selected section may be modified in the section editor. Clicking on the curves for velocity, acceleration or jerk changes the scaling and the unit of the ordinate. Section borders 85

86 Section Editor in CAM Builder Left and right master axis positions of the section Left and right slave axis positions of the section Velocity of the slave axis at section border Acceleration of the slave axis at section border Jerk of the slave axis at section border Curve Type Extreme values of the sections 86

87 Example for an Application-specific Cam Profile Cam profile for cross seal application Synchronous area: 50 degrees Curve type: Polynomial of 5 th order 87

88 Download of Cam profiles / Motion profiles Cam profiles can be downloaded to the drive or the control IndraDrive 4 Cam profiles with 1024 points 4 Cam profiles with 128 points MLC: 99 Cam profiles Distinction between old and new format! Old format, no segmentation possible New format, segmentation possible 88

89 Old and New Format of Cam profiles Point Slave axis old format [%] Slave axis new Format [%] 0 33,333 66, % Old 100 % New Implicitly calculated point 66,66 % 50 % 50 % Specified by table 33,33 % Specified by table

90 CAM Table Explorer (in MLC03 and higher) Explore Cam profiles and Motion profiles in CAM Pool Parameter system of MLC Compact Flash memory of MLC IndraDrive Upload, download and deleting of Cam profiles or Motion profiles 90

91 Cam profile cascading (in MLC03 and higher) Virtual axis Real axis Encoder axis Link axis Easy cascading of axes with multi-axis modules MB_MotionProfile Master Slave Virtual axis MB_MotionProfile Master Flexible structure of axis groups for modular PLC programs Slave Real axis MC_CamIn Master Slave Real Axis PLC program 91

92 Agenda Topology and system components System architecture and application examples Engineering with IndraWorks Motion programming with IndraLogic Programming template CAM Builder Information about MLC Information about competitors Robot Control 92

93 Online Help Complete Online Help in IndraWorks Context-sensitive Help IndraWorks in general MLC Cam Builder 93

94 Available Information for Getting Familiar Marketing brochure available in German and English System documentation Project planning IndraWorks installation instructions First steps Operating and Programming instructions Library Description Diagnostics Parameter description Example project IndraMotion MLC First Steps Online Help, PDF, or print format 94

95 Agenda Topology and system components System architecture and application examples Engineering with IndraWorks Motion programming with IndraLogic Programming template CAM Builder Information about MLC Information about competitors Robot Control 95

96 Agenda Topology and system components System architecture and application examples Engineering with IndraWorks Motion programming with IndraLogic Programming template CAM Builder Information about MLC Information about competitors Robot Control 96

97 What is Robot Control? What is Robot Control (RoCo)? The Robot Control manages the coordinated motion of a kinematics (e.g. a robot) A kinematics consists of a number of axis moving a TCP (Tool Center Point) It interpolates PTP-, Linear- and Circular-movements with programmed speed, acceleration and deceleration. A coordinate transformation converts machine axis positions (Joint Coordinates) to XYZ (World coordinates) The end points can be programmed in world- or joint-coordinates 97

98 Typical Applications and Benefits (SIF Forum 10/2006) SIGPACK Systems: The standard for Robots in the food manufacturing environment are in packaging - such as for top loading wrapped articles into cartons, or case-packing, and palletizing, as well as high-speed pick and place applications - and will continue to grow. Robots never tire. Their silicon-based minds do not wander during an eight-hour shift. Stress-related injuries happen to humans, not Robots. Robots are fast, accurate, easier to use than ever before, and - thanks to increasing computer power - capable of performing complex operations. Robots, in other words, are very good at performing the types of tasks that most workers are not good at - high-volume repetitive motion that requires concentration and accuracy, but very little in the way of creative or value-adding thought. 98

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