Seamless Integration of 3 rd Party Devices to the Rockwell Logix Platform 1 Intern Electric Drives and Controls 04/2014 Sales Academy 01_Drive & Motor Update Bosch Rexroth AG 2013. Alle Rechte vorbehalten, auch bzgl. jeder
What is EtherNet/IP? EtherNet/IP is a member of a family of networks that implements the Common Industrial Protocol (CIP ) at its application layers. Introduced in 2001 EtherNet/IP is used in a broad range of automation applications. Active infrastructure that supports both time-critical (implicit) and messaging (explicit). 2
EDS Files (Electronic Data Sheet) EDS File Acronym for Electronic Data Sheet Simple text file that is used to commission and identify the device on the EtherNet/IP network. The EDS file has a specific format and contains pertinent information about the capabilities of the device. EDS File Device Information Supplier Info Device Info Classification Parameters Connections Ports... $ Version 1.0 $ ******************************************************************** $ *** *** $ *** Electric Drives and Controls *** $ *** Bosch Rexroth. The Drive and Control Company ***... [File] DescText = "EtherNet/IP Interface of IndraDrive";... [Device] VendCode = 287; VendName = "Bosch Rexroth AG";... [Device Classification] Class1 = EtherNetIP; [Params] Param1 = "IndraDrive_In_Size", $ name 3
AOI (Add-On Instructions) AOI Rockwell s acronym for Add-On Instruction Within the RSLogix 5000 software, AOIs allow users to create new instructions by encapsulating commonly-used PLC logic. Similar to Function Blocks in the IEC 61131 Standard for PLC Programming. Promotes consistency between projects by reusing commonly-used functionality. Can be exported and imported via.l5x files. 4
Requirements for Implementing EDS Files & AOIs Rockwell Requirements: Logix PLC that supports EtherNet/IP cyclic communication. ControlLogix or CompactLogix Studio 5000 Logix Designer Application (aka.. RSLogix 5000 Programming Software, Version 16). Bosch Rexroth Requirements IndraDrive Servo System: IndraWorks Ds Drive Configuration Software (Free Download) http://www.boschrexroth.com/dcc/vornavigation/vornavi.cfm? Language=EN&VHist=g97568,g96067&PageID=p146994 EDS Files included in IndraWorks Ds software or free download at the link above. BRC Add-On Instructions Export File - Free Preconfigured parameter files (*.par) to setup Indradrive Ethernet/IP communications - Free 5
EtherNet/IP Star & Line Topology L23 Ethernet/IP Master Indradrive Mi v2 10.107.84.77 10.107.84.78 10.107.84.79 10.107.84.80 Each drive has it s own IP address Single Axis motion commands Jog Move Relative/Absolute Homing Probe/Motion Watch(PLS) IndraDrive C 10.107.84.71 IndraDrive C 10.107.84.72 Indrv Cs 10.107.84.73 Indrv Cs 10.107.84.74 Indrv Cs 10.107.84.76 Star topology requires network switch 6
EtherNet/IP Line Topology AB EtherNet/IP Master No Managed Network Switch required, each IndraDrive has a mini-switch with two Ethernet connections. Single Axis motion commands Virtual Axis functionality and motion commands Sync Axis motion commands Position Gearing Motion Profile ( i.e. Cam Profile) Master/Slave offsets Indradrive C CSH01.3-CCD-ET 10.107.84.70 IndraDrive C IndraDrive Cs 7
Configuring the Rockwell & BRC Components for EtherNet/IP Rockwell Software - Two Methods for Configuring the EtherNet/IP Comm. 1) Importing the EDS File via RSNetworx For EtherNet/IP software. 2) In RSLogix 5000 software, select Generic Ethernet Module Bosch Rexroth IndraWorks Ds Software 1) Download the predefined parameter file. 2) Configure the EtherNet/IP addresses. 8
Importing the Add-On Instructions Rockwell Software Import User-Defined Data Types 1) Right-click on User-Defined Data Types, select Import Data Types 2) Select the file, BRC_Axis_Fieldbus.L5X, to import the data types for the Controller Tags.. 3) Right-click on Add-On Defined, select Import Add-On Instructions 4) Import the AOIs (.L5X) for the required motion function blocks 9
BRC Ethernet/IP AOI Single Axis Motion Blocks BRCFieldbusDriveComms_In / BRCFieldbusDriveComms_Out MSOBRC - Power On MSFBRC - Power Off MAFRBRC - Motion Axis Fault Reset MAHBRC - Motion Axis Home MAJBRC - Motion Axis Jog MASBRC - Motion Axis Stop MAMBRC - Motion Axis Move MAWBRC - Motion Arm Watch MDWBRC - Motion Disable Watch BRC_Probe BRC_Probe_Disable BRC_DistanceAccum 10
BRC Ethernet/IP AOI Sync Motion Blocks MB_GearInPos Position Gear MB_MotionProfile Programmable Cam MB_Phasing Master Phase offset MB_PhasingSlave Slave Phase offset fbwritempdata Programmable Cam Setup MAJBRC_VM Virtual Master Jog command MAMBRC_VM Virtual Master Move command MASBRC_VM Virtual Master Stop command MSFBRC_VM Virtual Master Disable MSOBRC_VM Virtual Master Enable 11
BRC Motion Blocks match AB Motion Blocks 12
EtherNet/IP Configuring AOIs Between PLC and Drives Indradrive 10.107.84.58 28 bytes = 7 (32bit) AB PLC PLC program Hardware Setup 40 bytes = 10 (32bit) Controller Tags - Outputs Controller Tags - Inputs (PLC Logic) 13
BRC Add-On Instruction function block data flow BRC_Axis_Fieldbus BRC_Axis_Fieldbus 14
Real-Time Ethernet Status Quo? CC-Link IE? HSCI Sercos Profinet?? EPA? Drive-Cliq EtherNet/IP + CIPsync Jet Sync Varan Powerlink Vnet/IP SyncUTC RTnet TTEthernet PowerDNA Modbus-RTPS Fast Track SafetyNET RAPIEnet Ethercat Switching TCnet Switch with Time-Server RTEX AFDX Dart-EC SynqNet?? Source: www.echtzeit-ethernet.de 15 Intern Electric Drives and Controls 04/2014 Sales Academy 01_Drive & Motor Update Bosch Rexroth AG 2013. Alle Rechte vorbehalten, auch bzgl. jeder
What is Sercos? Sercos is a real-time interface that has been applied on machines for over 20 years In 2003, the Ethernetbased, Sercos III was introduced. Sercos has evolved from a drive bus to universal automation bus. Today, Sercos III is one of the world-leading bus systems for demanding motion applications 16
ODVA Optimization of Machine Integration March 2011 - ODVA, Sercos International, and the OPC Foundation launched the initiative to provide a shared vision for Machinery Integration. 17 Intern Electric Drives and Controls 04/2014 Sales Academy 01_Drive & Motor Update Bosch Rexroth AG 2013. Alle Rechte vorbehalten, auch bzgl. jeder
EtherNet/IP Blended Infrastructure On Sercos III MDT0 MDT1 MDT2 MDT3 AT0 AT1 AT2 AT3 MDT0 H D R M S T H D R H D R H D R H D R H D R H D R H D R H M D S R T Sercos Ethertype = 0x88CD Unified Communication Ethertype 0x88CD Examples: Only MDT0 and AT0: up to 70 Sercos III devices using 250µs; cycle time of 1ms leaves 750µs for EtherNet/IP ( 37 devices) 64 Sercos III devices with 2ms cycle time and 400µs sercos time slot -> leaves 1600µs for EtherNet/IP ( 80 devices) 18
ODVA Optimization of Machine Integration Gateway for highly synchronized communication Cycle 1 v2 v3 v4 Time for Slave x Features: Provides a gateway from unsynchronized EtherNet/IP communication with jitter to synchronized Sercos communication without jitter Allows the PLC to provide the synchronized-cyclic position commands to the corresponding slave axes. All drives are directly controlled via main control. 19 Intern Electric Drives and Controls 04/2014 Sales Academy 01_Drive & Motor Update Bosch Rexroth AG 2013. Alle Rechte vorbehalten, auch bzgl. jeder
EtherNet/IP Example: Blended Infrastructure EtherNet/IP & Sercos III Sercos III EtherNet/IP 20
Thank you 21 Intern Electric Drives and Controls 04/2014 Sales Academy 01_Drive & Motor Update Bosch Rexroth AG 2013. Alle Rechte vorbehalten, auch bzgl. jeder