IndraLogic Electric Drives and Controls

Transkript

1 IndraLogic 1

2 System family IndraLogic Marketing Strategy... Rexroth IndraMotion Rexroth IndraLogic dramotion MLP IndraMotion MTX IndraMotion MLC IndraMotion MLD IndraLogic L20 IndraLogic L40 IndraLogic VE IndraLogic VS IndraLogic VP 3 designs has already been introduced to the market IndraLogic VPP21 Motion & Logic Based PLC-Based 2

3 IndraLogic Overview What is IndraLogic? IndraLogic is... The new PLC system solution for BRC Scalable with standardized platforms for the different controller hardware Common engineering with the IndraWorks Software-Framework programming compatibility to the industrial standard IEC and PLCopen One PLC runtime system for all Motion- Logic solutions SYNAX 200, VisualMotion and IndraMotion MTX, MLx 3

4 IndraLogic L Systems Version timeline Prototype Series 02VRS L20/L VRS L20/L VRS 03VRS Basis IndraLogic 1.x (CoDeSys 2.x) 04VRS L20/L VRS 20VRS L st Prototype 20VRS 21VRS L10/L20/L VRS L10/L20/L40.2/ L45/L65 Basis IndraLogic 2.x (CoDeSys 3.x) 21VRS 22VRS

5 Development planning 2006 Version planning IndraLogic FM: DeviceNet Master (CML40 ) FM: Profibus Master (CML40 ) Profibus Slave (CML20/40) EtherNet IP Slave (CML20/40) PLCopen Motion Function Blocks (CML20 /CoDeSysRTE) IndraMotion for Handling (CML20) Serial Interface for IndraLogic VE (VEP) Integrated in IndraWorks 04VRs 5

6 Development planning 2006 Version planning IndraLogic Accessing IndraLogic through Profibus (Master Class 2- Tunneling) PLCopen Parameter listing DeviceNet Master (VEP/Vxx) Integrated in IndraWorks 05VRs 6

7 IndraLogic Advantages powerful performance by innovative and aligned architectures of hardware and software PLC functionality through full implementation of IEC handling and installation because of easy mounting and wiring 7

8 IndraLogic Advantages powerful controller platforms Drives ==> Controller ==> PC scalable communication by consequently supporting of open and standardized interfaces expansion by optional function modules and the fine scalability of Rexroth Inline-I/O 8

9 IndraLogic Advantages powerful scalable standard Programming conform IEC and PLCopen by common PLC runtime Engineering with the software framework IndraWorks for all systems and platforms network for controls and HMI by standard software interfaces 9

10 PLCopen 10

11 IndraLogic Overview System family IndraLogic Rexroth IndraWorks The Engineering-Framework Rexroth IndraControl L Rexroth IndraControl V Rexroth IndraDrive Drive based PLC solution Controller based PLC solution PC based PLC solution 11

12 IndraLogic Overview IndraMotion MLD - drive based solutions The economic compact solution for drive based one and multi axes applications with integrated Motion- Logic based on the drives platform Rexroth IndraDrive optimized for modular and decentralized machine architectures with limited number of axes IndraDrive scalable as software PLC integrated in drives or optional for multi axes control 12

13 IndraMotion MLD & Cross Communication Expansion stages Single drive MC MLD-S Master Control (optional) 1 Master Control HMI 1 Master Control (optional) 2 1 HMI or Drive with advanced technology function 1 - Fieldbus-slave or drive w/o command communication - Advanced or Basic control section - Firmware option IndraMotion MLD PC e Digital setpoint coupling t a t s master (position, speed, torque, e p axis position) toty required o Norprogramming P 1 - Fieldbus-slave - Advanced control section - Optional module CCD Ethernet TCP/IP HMI - max. 3 (SYSTEM) -7(BASIC) slaves PC e t a t s Multiple axis MotioneControl p (up to 7 slaves) ty o t o Pr 1 - Fieldbus-slave or drive w/o command communication - Advanced control section - Optional module CCD - Firmware option IndraMotion MLD 2 - Basic control section with Sercos-III sufficient - Basic control section with Sercos-III sufficient 2 Electric Drives and Controls 2 Ethernet TCP/IP PC Single axis Motion Control Multi axes MC MLD-M Cross communication CCD Übersicht E-Planung 2006 Norbert Sasse BRC/PRM

14 IndraMotion MLD & CCD Fields of Application Typical fields of application are: Single-Axis/Multi-axes motion control anti backlash drive position command value sync. (Gantry axes) torque/force or speed synchronisation virtual/real master axis synchronisation Intelligent technology functions 14

15 IndraMotion MLD/Cross Communication CCD Slaves All slave drives with Sercos-III command interface (without special function): Basic Single Axis: CSB-01.1C-S3-xxx-xx-x-.. ( CSB-01.1N- S3 -xxx-xx-x-.. In prep.) Advanced Single Axis: CSH-01.1C- S -xxx-xx-x-.. (CDB-01.1C- S3 -xxx-xx-x-.. in prep.) CCD master: Master drive with Sercos-III Motion functionality up to 7 Slaves via S-III Required hardware: CSH-01.2C-xx-xxx-xxx-CCD-xx-x-.. S-3-Master on option 3 Master ) Command interface: Profibus or DeviceNet with limitation: Parallel-/Analog interface, CanOpen and Sercos-2 On request : Profinet-I/O, EtherNet IP; Not planned: Sercos-3 Note: 1 free Ethernet port in Non-Sercos-Mode for optional Engineering-Interface and HMI New features: 32k Retained data onboard CSH1.2 only Access to I/O s of all axes 15

16 IndraMotion MLD & CCD System overview Master Control Pass trough mode for all axes Fieldbus Slave axes Advanced or BASIC- Double axis / Single axis Optional card Sercos-III for ADVANCED Option Sercos-III for Basic / Double or Advanced Ethernet TCP/IP Ethernet IP in MPx06 (07) CCD-System mode: max. 5 CCD -Expert mode: max. 7 MLD-M mode: max. 7 Sercos w/o direct CC MASTER SLAVE 1 SLAVE 2 SLAVE 3 16

17 IndraMotion MLD / CCD Mode of operation CCD SYSTEM mode CCD slaves with direct logic connection to the field bus CCD master. Command and process data via external control MLD-M mode CCD slaves without direct logic connection to the external control unit. Command triggering and input of process data only via the MLD-M. 17

18 CCD Expert mode FB-Slave Adv. control CCD Expert mode with fieldbus connection CCD CC Master Control Control Motion command CCD -S III S3-Slave CC Slaves S3-Slave SPS MLD MLD MLD Prerequisite: Firmware: from MP*04VRS Software: IndraWorks and IndraLogic Master unit: CSH CCD (Option 3) Slave unit: CSH01.1C/ CSB01.1C + S3 Main features: Command interface: Profibus, DeviceNet, CanOpen, Parallel, Analoginterface, SERCOS II, (on request: ProfiNet) min. cycle time: (T=500µs/ 1 Slave, T=1000µs/ 7 Slaves) Parameter channel gateway (PKG) for acyclic access master - slave Free config. Real time channel with max 48 Byte (16 IDN ) per drive Max. I/O-extension (distributed Slave periphery via Master) 7 * dig, I/O (16 Bit) via parameter inside Master : 114 dig. I/O 7 * analoge I/O (2 each) : 14 analog I/O Area of use: Distributed Motion control (via local MLD-S) or CCD between MLD-S In case of setpoint coupling or synchronisation, one command interface is required Limitations: no ProfiSafe solution no SERCOS III as command interface on CCD Master no Electric direct Drives process and Controls dataübersicht gateway E-Planung via 2006 external Norbert Sasse control BRC/PRM3 to Slave axes 18

19 CCD SYSTEM mode CCD System mode with fieldbus connection Control Control MC FB-Slave MLD MLD MLD CCD CCD Master Fieldbus S3-Slave Motion command CCD -S III CCD Slaves S3-Slave CSH01.1 CSH01.1 CSH01.1 Prerequisite: Firmware: from MP*04VRS Software: IndraWorks and IndraLogic Master unit: CSH CCD (Option 3) Slave unit: CSH01.1C/ CSB01.1C + S3 Main features: Communication interface: Profibus, DeviceNet (on request: ProfiNet) min. cycle time: (T=500µs/ 1 Slave, T=1000µs/ 7 Slaves) Parameter channel gateway (PKG) for acyclic access external control - slaves Free config. Real time channel with max 48 Byte (16 IDN ) per drive Area of use: easy command setpoint coupling, synchronisation of axes Cyclical position command (Gantry axis) Master-/Slave applications (I sommand ) Antibacklash (n command ) I/O-extension (digital I/O s) Limitations: no ProfiSafe solution no CanOpen, Parallel, Analog, SERCOS II, SERCOS III for command values on CCD Master Only with free config. Profile 0xFFFE, 0xFFFD 19

20 IndraMotion-MLD MLD-M System mode MLD-M System mode FB-Slave Control Control SPS MC MLD MLD CCD Advancedl CCD Master with fieldbus Fieldbus (Sercos, Parallel) Motion command CCD -S III S3-Slave CCD Slaves S3-Slave Prerequisite: Firmware: from MP*04VRS Software: IndraWorks and IndraLogic Master unit: CSH CCD (Option 3) Slave unit: CSH01.1C/ CSB01.1C + S3 Main features: Command interface: Profibus, DeviceNet, CanOpen, Parallel, Analog and SERCOS-II, (on request: ProfiNet) min. cycle time: (T=500µs/ 1 Slave, T=1000µs/ 7 Slaves) Parameter channel gateway (PKG) for acyclic access master - slave Free config. Real time channel with max 16 Byte I/O per drive Max. I/O-extension (distributed I/O) 7 * dig, I/O (16 Bit) via parameter inside Master : 114 dig. I/O 7 * analoge I/O (2 each) : 14 analog I/O Motion channel from Master drive PLC to Slave drives (MC_Power, MC_Reset, MX/C_Stop, MC_MoveXXX, MC_CAM/Gear/GearPos_In/Out,..) Area of use: complex command coupling with intelligent failure reaction Drive integrated MotionControl -->System solution Limitations: no ProfiSafe solution Actually no SERCOS III command interface on CCD Master available No direct process data gateway from external control to Slaves 20

21 IndraMotion MLD Project Explorer with S-III 21

22 IndraMotion MLD MLD-M/CCD settings 22

23 IndraMotion MLD CCD status/control word Use of Slave I/O s 23

24 Technology function Flying shear Technology Function: Flying Shear Job for flying cut systems Material like plastic, paper, sheet metal or tubes which are running continuously will be cut to the programmed lenght on the fly. The material doesn t stop for cutting. 24

25 MLD Technology Function Cross cutter inside Technoly library (option) Technology Function: Cross Cutter 25

26 MLD Technology Function Feeder Technology Function: Cam Feeder 26

27 IndraMotion MLD Technology Function Rollfeed Technology Function (MLD-S) Rollfeed IndraMotion for Metal Forming Functionality Different materials like sheet metal, plastic foil, wires and so on will be transported with a rollfeed system under a press, shear or a punch. Note: All application have to be confirmed by BRC/SIA (Karl Rapp) 27

28 Rollfeed Example with MLD-M Cross communication of command speed, R/W of I/O and parameters Press Roll-feed Straightener Coil Motor feedback I/Os and analog signals Measuring wheel Press-encoder CCD CCD 28

29 Applications that can use MLD-s and MLD-M MLD-M apps in FL: Gantries simple smart belts simple palletizers Sold to Osgood for ice cream container filling retro-fit Micron Pharma for two axis thermoformer 29

30 IndraLogic Overview IndraLogic L - controller based solutions The powerful controller solution based on the scalable hardware platform IndraControl L Innovative combination of an embedded PC with fine scalable terminal technology in a compact housing Rexroth Inline for centralized and decentralized I/O modules IndraControl L40 IndraControl L20 Easy and flexible expansion of technology and communication interfaces by function modules (only IndraControl L40) 30

31 IndraLogic L20 Characteristics Complete stand-alone PLC-System in the lower performance range Based on the IndraControl platform IndraControl L20 Expandable functionality Inline-I/O User-Friendly Programming Conformant to IEC standards Engineering-Framework IndraWorks Simple Communication to the HMI Control devices and sensor/actuators (e.g. IndraDrive over Profibus) 31

32 IndraLogic L20 Performance Feature User Memory 3 MB runtime IndraLogic (conform to IEC ) Retain memory 32 kbyte programming languages IEC conform: ST, IL, LD, SFC, FBD, CFC Number of tasks 8 programming system Rexroth IndraWorks Kind of tasks cyclic, free running, periodic, controlled by external events Processing time typicaly 150 µs (1000 commands in IL, Bit and Word operations) I/O 8 Bit I (interruptable) + 8 Bit O on board 256 Bit I/O (Local) 126 decentralized modules over DP-interface (each 8 kbyte configurable) programming interfaces functions for programm test included librarys Ethernet or RS232 breakpoint, single step, single cycle, write/force, monitoring, sampling, trace, online change, simulation PLCopen, TCP/IP and ser. communication, standard IEC library 32

33 IndraLogic L40 comfortable operating and diagnostic Display with function keys, reset push button, stop LED diagnostic display of the status handling of addresses handling of parameters switching: run/stop locking outputs reset of control display of the status: STOP 33

34 IndraLogic L40 Performance features user memory 8 MB runtime IndraLogic (conform to IEC ) retain memory 64 kbyte programming languages number of tasks 16 programming system IEC conform: ST, IL, LD, SFC, FBD, CFC Rexroth IndraWorks kind of tasks cyclic, free running, periodic, controlled by external events processing time typically 70 µs (1000 commands in IL, bit and word operations) I/O 8 bit I (interruptable) + 8 bit O on board 512 bit I/O (local) 126 modules decentralized via Profibus-DP (each 8 kbyte, configurable) programming interfaces functions for programm test included librarys Ethernet or RS232 breakpoint, single step, single cycle, write/force, monitoring, sampling, trace, online change, simulation PLCopen, TCP/IP and ser. communication, standard IEC library 34

35 Competitive comparison IndraLogic L40 vs. Rockwell Automation ControlLogix technical features IndraLogic L40 ControlLogix user memory 8 MB 750 kb, 1,5/3,5/7,5 MB (dep. on CPU type) changeable memory 32 MB CF-Card (contains user data and firmware) pluggable memory module (opt. also as non-permanent); memory module always has to be plugged. retain memory 64 kb, autom. at NvRAM user memory, battery buffered number of tasks 16 max. 32 (each task max. 32 programs assignable) processing time typically 70 µs (1000 commands IL, bit and word operations) I/O 8 Bit I (interruptable) + 8 Bit O on board 512 Bit I/O (local) fieldbuses 1 Profibus-DP Master (DP-V1) max. each 8 kbyte I/O addressable max. 126 modules 80 µs for bit operations, for word operations no information max. 512 Bit I/O in rack with CPU module optional: ControlNet, DeviceNet, Ethernet/IP, Universal Remote I/O programming interface Ethernet or RS232 RS232C programming language IEC : ST, IL, LD, SFC, FBD, IEC : ST, IL, FBD, SFC CFC realtime clock / buffering time yes / typically 5 days no information communication interfaces RS232, Ethernet, PROFIBUS-DP RS232C (more only via optional communication modules) 35

36 IndraLogic L40 comparison vs. CLxx0 systems technical features IndraLogic L40 CL200, ZE200-DP CL350 / CL400 CL550 user memory 8 MB 128 kb (36 k commands IL) 256 kb (64 k / 128 k commands IL) 2,5 MB (200 k commands IL) retain memory 64 kb battery bufferered, total memory incl. data, flags, timer, counter battery bufferered, total memory incl. data, flags, timer, counter battery bufferered, total memory incl. data, flags, timer, counter number of tasks processing time (1000 commands IL, bit and word operations) typically 70 µs 300 µs 250 µs (bit) 500 µs (word) 80 µs (bit) 100 µs (word) I/O 8 bit I (interruptable) + 8 bit O on board 512 bit I/O (local) + decentralized via Profibus-DP (max. 126 modules, each 8 kb I/O fieldbuses Profibus-DP (V1) master in prep.: slave 192 bit I/128 Bit O + auxiliary I/O field (local) + decentralized via Profibus-DP (max. 126 modules, each 8 kb I/O je 2048 Bit I/O (local) decentralized via Profibus-DP (max. 126 modules, each 8 kb I/O Profibus-DP (V1) master optional: expansion Profibus-DP (V1) master modul optional: Interbus-S programming interface Ethernet oder RS232 RS232 RS232 Ethernet oder RS232 programming languages realtime clock, buffering time communication interfaces IEC : ST, IL, LD, IL, LD, CFC, SFC IL, LD, FUP, AS IL, LD, FUP, AS SFC, FBD, CFC high level language C high level language C high level language C yes, typically 5 days yes, battery buffered yes, battery buffered yes, battery buffered RS232, Ethernet, PROFIBUS-DP RS232, PROFIBUS-DP optional: Ethernet RS232 optional: Ethernet, DP Ethernet, RS232, PROFIBUS-DP 36

37 IndraLogic L40 Integrated display - operating menu 37

38 IndraLogic L40 Connectivity - Profibus-DP control + local I/O VCP02... VCP25 HMI decentralized I/O Rexroth Inline/Fieldline EcoDrive IndraDrive drives 38

39 IndraLogic L40 Connectivity - Profibus-DP DP-DP Gateway net 1 net 2 Interconnection of two DP master nets via Gateway multi master operation not necessary easy connection to 3rd party systems 39

40 IndraLogic L40 Connectivity - Ethernet Hubs/Switches Router/ or directly wye connection via hubs or switches crosslink communication via Ethernet protocol (3S) easy connection to 3rd party systems 40

41 IndraLogic L40 Connectivity - Visualization 41

42 IndraLogic L40 Connectivity - controls 42

43 IndraLogic L40 Connectivity - peripheral and programming 43

44 IndraLogic overview IndraLogic V - PC based solutions Combination of software PLC with integrated operation and visualization Based on the new HMI hardware platform IndraControl V Scalable as IPC or embedded PC Common design, operation and engineering Open interfaces for networking via Ethernet and Profibus IndraControl V 44

45 IndraLogic VE PLC system based on embedded PC PLC system based on IndraControl VEP with operation and visualization Open interfaces for the interlinking via Ethernet and Profibus Connection of decentralized I/O via fieldbus IndraControl VEPxx Generally in design, operation and engineering IndraLogic VE (AV since 9/2005) 45

46 IndraLogic VE Technology view IndraControl VEP VEP30 (8,4 TFT) VEP50 (15 TFT) VEP40 (12,1 TFT) Device variants VEP30, VEP40, VEP50 Touch-Screen, Keyboard as virtual keyboard 400 MHz, 128 MB optional extendable: 64/128 MB Compact Flash, internal 64/128 MB Compact Flash, external Windows CE.NET x Ethernet, 2 x USB Short time UPS for the data saving on Compact Flash Standard fieldbus master 46

47 IndraLogic VE System architecture of plc solutions on embedded PC Programmiergerät (PC..).Net Framework Bedienoberfläche Engineering Werkzeuge PC Betriebssystem Einheitliche API (Application Programmer s Interface) TCP/IP - Treiber TCP/IP IndraControl VEPxx VEP Windows CE 4.x Windows CE 4.x OPC CE-Visu SPS 47

48 IndraLogic VE Performance User memory (code / data) 12 MB (4 MB/8 MB) Runtime IndraLogic (conformal to the IEC ) Retain memory 256 kb, Flash Programming languages number of tasks 16 Engineering Framework Conformal to IEC : ST, IL, LD, SFC, FB, CFC Rexroth IndraWorks Logic Available tasks cyclic, periodic, free running, controlled by external event Processing time typically 100µs (1000 instr. in IL, bit- and wordcommands) I/O Communication interfaces 126 devices decentralized via Profibus DP (7 kbyte, each) RS232, Ethernet, USB, fieldbuses Programming interfaces Functions for program test Provided libraries Ethernet, RS232 Breakpoint, single step, single cycle, write/force, monitoring, sampling, trace, online change, simulation PLCopen, TCP/IP and serial communication, standard IEC library 48

49 IndraLogic VS Technical Data Technical Data PC Hardware Operating Systems Real-Time Runtime System User Memory (Code/Data) NVRAM Number of Tasks Task Types Processing Time (1,000 instructions in IL with bit and word processing IndraLogic VS IndraControl VSP16/40, VSB40 Windows XP VxWorks/VxWin IndraLogic 24MB (8MB/16MB) 2MB on hard drive (with USV) 32 cyclic, free running, event-controlled typical, 30 µs I/O decentralized, via Profibus DP (max. 126 units, per 7 kb I/O) Programming Software Programming Languages (IEC ) IndraWorks IL, LD, FBD, ST, SFC Programming Interfaces Communication Interfaces Included Libraries Functionality for Program Test Ethernet, RS232 or directly on the target hardware RS232, USB, Ethernet PLCopen, Communications, IEC breakpoint, single-step, single-cycle, write/force, monitoring, sampling trace, simulation, online change 49

50 IndraLogic VP Technical Data Technical Data PC Hardware IndraLogic VP IndraControl VPP16/40/60, VPB40, IndraControl BTV16/40/60, IPC40 Operating Systems Real-Time Runtime System User Memory Code/Data) NVRAM Number of Tasks Task Types Processing Time(1,000 instructions in IL with bit and word processing) WindowsXP/Windows2000 VxWorks/VxWin IndraLogic 24 MB (8MB/16MB) 2MB on hard drive (with USV) 32 cyclic, free running, event-controlled typical, 50 µs I/O decentralized via Profibus DP (max. 126 units, per 7 kb I/O) Programming Software Programming Languages (IEC ) Programming Interfaces Communication Interfaces Included Libraries Functionality for Program Testing IndraWorks IL, LD, FBD, ST, SFC Ethernet, RS232 or directly on the target hardware RS232, USB, Ethernet PLCopen, Communication, Standard IEC breakpoint, single-step, single cycle, write/force, monitoring, sampling trace, simulation, online change 50

51 IndraLogic VPP21 System architecture of the IPC-based PLC solutions.net Framework operator interface engineering tools PC operating system uniform API (Application Programmer`s Interface) internal TCP/IP oriented communication IndraLogic VPP21 PLC VxWorks realtime operating system Electric Drives and Controls Übersicht E-Planung 2006 Norbert Sasse BRC/PRM

52 IndraLogic VPP21 IPC-based PLC solution IndraLogic VPP21 PLC solution based on IndraControl V with operation and visualization Open interfaces for networking via Ethernet and Profibus Connection of decentralized I/Os via fieldbus Identical in design, operation and engineering First available variant is IndraLogic VPP21 (AWP since 5/2004) More VPP- and VEP-variants will be followed at the end of

53 IndraLogic VPP21 Technical features user memory 24 MB runtime IndraLogic (conform to IEC ) retain memory 2 MB, battery buffered programming language number of tasks 32 programming system IEC conform: ST, IL, LD, SFC, FBD, CFC Rexroth IndraWorks kind of tasks cyclic, free running, periodic, controlled by external events processing time typically 25µs (1000 commands IL, bit and word operations) I/O communication interfaces 126 modules decentralized via Profibus-DP (each 7 kbyte configurable) RS232, Ethernet, USB, fieldbuses programming interfaces functions for program test included libraries Ethernet, RS232 or direct on the destination hardware breakpoint, single step, single cycle, write/force, monitoring, sampling, trace, online-change, simulation PLCopen, TCP/IP- and ser. communication, standard IEC library 53

54 IndraLogic comparison between IndraLogic systems technical features IndraLogic in Drives IndraLogic L20 IndraLogic L40 IndraLogic VPP21 User memory 64 kb (on board), 3 MB 8 MB 24 MB 512 kb (optional with MMC) retain memory 252 Byte (on board), 32 kb 64 kb 2 MB, battery buffered 32 kb (optional) number of tasks processing time (1000 commands IL, bit and word operations) typically 100 µs typically 150 µs typically 70 µs typically 50 µs I/O Programming interface Communication interfaceses digital: 11I/2O (on board), 16I/16O or 12I/8O (dep. of option) analogous: 1I/2O (on board), 2I/2O (optional) RS232, Ethernet (in prep.) SERCOS interface, PROFIBUS, parallel interface. in prep.: Ethernet, DeviceNet, CANopen 256 I/O (local), decentralized via Profibus-DP (max. 126 modules, each 8 kb I/O), 8I /8O on board 512 I/O (local), decentralized via Profibus-DP (max. 126 modules, each 8 kb I/O), 8I /8O on board decentralized via Profibus-DP (max. 126 modules, each 7 kb I/O) Ethernet, RS232 Ethernet, RS232 Ethernet, RS232 or directly on control RS232, Ethernet, PROFIBUS-DP RS232, Ethernet, PROFIBUS-DP RS232, Ethernet, USB fieldbuses 54

55 IndraLogic System family Performance IndraLogic MLD IndraLogic L20 IndraLogic L40 IndraLogic VPP21 Program memory 192 kb (on board), 3 MB 8 MB 32 MB 512 kb (optional MMC) Retain memory 250 Byte (on board), 32 kb 64 kb 2 MB with battery 32 kb (Option MD1) Max. tasks Performance typical 100 µs typical 150 µs typical 70 µs typical 50 µs 1000 lines Instruction list I/O s digital: 11I/O (on board), 16I/16O or 12I/8O ( Option) analog: 1I/OA (on 256 I/O (zentral), decentral via DP max. 126 slaves 8kb I/O per slave 512 I/O (central), decentral via DP max. 126 slaves 8 kb I/O per slave decentral via Profibus- DP with max. 126 slaves 8 kb I/O per slave board), 2I/2O (Option) 8/8 I/O on board 8/8 I/O on board Communication interface RS232 Ethernet, RS232 Ethernet, RS232 Ethernet, RS232 Command interface SERCOS, PROFIBUS, Parallel-Interface. RS232, Ethernet, PROFIBUS-DP RS232, Ethernet, PROFIBUS-DP RS232, Ethernet, USB Profibus, CANbus IndraLogic VE IndraLogic VS IndraLogic VP IndraLogic VPP21 User memory 12 MB 24 MB Retain memory 64 kb 2 MB (Harddisk, USP) 2 MB (Harddisk, USP) 2 MB, with battery Tasks orders in IL typical 100 µs typical 30 µs Typical 50 µs typical 50 µs Bit- and Word I/O Decentral Decentral Decentral decentral Fieldbus Profibus-DP (V1) Master max. 7 kbyte I/O per slave, max. 126 slaves Programming interface Ethernet or RS232 Profibus-DP (V1) Master max. 7 kbyte I/O per slave, max. 126 slaves Ethernet, RS232 or direct Profibus-DP (V1) Master max. 7 kbyte I/O per slave, max. 126 slaves Ethernet, RS232 or direct Profibus-DP (V1) Master max. 7 kbyte I/O per slave, max. 126 slaves Ethernet, RS232 or direct Programming IEC : All supp. IEC : All supp. IEC : All supp. IEC : All supp. languages RTC yes yes yes yes Communication interface RS232, Ethernet, PROFIBUS-DP RS232, Ethernet, PROFIBUS-DP RS232, Ethernet, PROFIBUS-DP RS232, Ethernet, PROFIBUS-DP 55

56 IndraMotion MLC 56

57 Development planning 2006 IndraMotion MLC Control hardware Expanding functionality for communications and Technology module (max. 4) I/O extension by direct connection the Inline I/O modules IndraControl L40 Cross communication MLC 02VRS DeviceNet Master MLC 02VRS PROFIBUS Master MLC 03VRS SERCOS III MLC 03VRS Cam builder FM MLC 03VRS 57

58 IndraMotion MLC 02VRS System Component Hardware HMI (optional) IndraControl VSP/VPP IndraControl VEP/VEH IndraControl VCP Hardware IndraControl L40 CML40.1-SP-220-NA-NNNN-NW Connector set R-IB IL CML S01-PLSET Function modules (optional) CFL01.1-D1 (DeviceNet Master) CFL01.1-Q2 (Cross Communication) Drives IndraDrive M/C - Firmware MPx03 - Firmware MPx04* * new MPx04 functionality is not supported 58

59 IndraMotion MLC 02VRS System components software/firmware SWA-IWORKS-ML*-V02-DO-CD700 Software Cam Builder (SWS-IWORKS-CAM-03VRS-DO) WinStudio Lite Editor & Runtime MLC Engineering incl. technologies Engineering PC Ethernet IndraLogic Programming Standard Add-On FWA-CML40*-ML*-V02RS-DO Firmware MLC Motion-Logic Runtime Max. 16 axes IndraControl L40 Standard and technology functions Real-time OS VxWorks Standard 59

60 IndraMotion MLC 02VRS Offline parameter setup Complete offline parameter setup of control and drives via hardware emulation r4 Activation of offline parameter setup Activation via context menu in project tree Access to all C, A, S and P parameter via Online dialogues Parameter comparison via switching Online Offline Online Dialogues and data are active Import/Export of parameter is possible anytime Status is offline 60

61 Slide 60 r4 ralashqar, 1/19/2006

62 IndraMotion MLC 02VRS Link ring control configuration MLC link ring corresponds to cross communication of SYNAX/VM Max. 64 controls can communicate via link ring (8 ms SERCOS cycle time) Automatic call of wizards for basic configuration 61

63 IndraMotion MLC 02VRS Link ring configuration per Drag & Drop New library FM (Function module) Insert of function module for cross communication per Drag & Drop 62

64 IndraMotion MLC 02VRS Link ring parameter setup Setup of link axes via context menue in project tree Link axes are taken from Link ring All Axis types (Virtual, Real, Encoder) can be used within the link ring New node Link Axes in project tree Selection of available link axes 63

65 IndraMotion MLC 02VRS Parking and deactivation of real axes New motion interface for Activation/Parking of an axis via context menu Activation/deactivation of real axes, access to A parameter is possible Parking of real axes, access to A, S and P parameter is possible, drive follows SERCOS phases 64

66 MLC s Robot Control RoCo Features MLC03VRS - MLC: 32 axes over all - 1 Kinematics with max. 8 axes (position, orientation, belts) - Transformation for XYZ-, Scara- and Delta-Robot released - Pool of more than 90 transformations available - Belt synchron motion (up to 4 belts) - Buffered/Blended motion (Block_Slope, Progr_Slope) - World coordinate shifting - RCL-Subprograms - PTP, LINEAR, CIRCULAR movements with: Conditional break, Setting binary output at exact position or time Time movement (v = s/t) 65

67 MLC s Robot Control RoCo Features Motion - Synchron PTP* (all axes start and end at same time) (absolute or relative) - Linear interpolation* (absolute or relative) - Circular interpolation* (absolute or relative) - Programable speed and acceleration (A, V, AFACTOR, DFACTOR, AFIX, V_PTP) - Sinus² acceleration - Speed can depend on programmed time (v=s/t) - Motion break on signal - Signal out on exact position - Block_Slope, Progr_Slope (Buffered/Blended motion) * The programmed points can be in WCS or JCS (world- or joint coordinate system) 66

68 MLC s Robot Control RCL Features (Robot Control Language) RCL means Robot Control Language. In the past it is also known as BAPS (Bewegungs- und Ablauf-Programmier-Sprache). RCL is a sequential programming language (in contrast to the PLC program) RCL has all features of a modern programming language Programable workspace Belt synchron movements (up to 4 belts) 67

69 MLC s Robot Control Setup IndraWorks - Kinematics Wizard - Dialogs to configure the Kinematics (K-parameter) - RCL-program editor - RCL point table editor - RCL compiler (generates IRD-program and Point-table) - Up-/Download of RoCo files - RCL-program debugger (MLC 04VRS) 68

70 MLC s Robot Control setup Axes Definition Standard IndraWorks MLC Kinematics Configuration IndraWorks MLC Kinematics wizard Edit RCL- Programm IndraWorks MLC RoCo-Editor Edit PLC Programm IndraLogic RCL-program compile, download Standard IndraWorks MLC 69