Transcript Mint On Board rev2

ETHERNET Powerlink
Mint On Board Capabilities
Jon Hampshire & Stuart Bratton
UK Application Engineering
Bristol England
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e100 Ethernet Machine Control
Real-time Ethernet control
TCP/IP and Ethernet RAW
Simple controller to drive cabling
Multi-axis motion control
Mint® Machine intelligent software
Centralized / distributed architecture
EPL / CAN IO expansion
Drive integrated positioning functions
Universal Encoder Interface
Linear / rotary servo and vector motor
control
Autotuning or all control loops
Total network visibility
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MicroFlex e100
Ethernet integrated hub
CANopen interface
‘Daisy chain’ connection
DS401 IO expansion
Status LEDS – Health /
CAN / Ethernet
Integrated control of  Position profiler
 Position loop
Mint On Board !
Node ID and IP address
set by 2 x Hex switches
 Auto-tuning
USB Service port
 Digital Notch filters
Universal Encoder Interface
Drive Enable
3 Digital inputs
 Incremental with Halls
 Hengstler BiSS absolute
 Baumer SSI absolute
(2 x Fast Latch)
 EnDat 2.1 and 2.2
2 Digital outputs
 1v Sin/Cosine
 Tamagawa absolute
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MotiFlex Features
Ethernet Powerlink real-time technology
Multi-Axis drive platform
DC shared supply (efficiency and installation
cost savings)
Brushless servo and closed loop vector
(software configured - same hardware)
Centralized / decentralized / distributed
architectures
Hi-performance motion control
Modular design – plug-in expansion options
Flexibility – Motor types, feedback choice,
programmable options, communications
Small footprint and minimal panel depth
Mint On Board !
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MotiFlex e100 Option Slots
2 option slots top/bottom faces
Provides future proof expansion
Fieldbus cards include EthernetIP, Modbus TCP, ProfiNet I/O
Profibus DP, DeviceNet
Only fits into Slot 1
Option slot 1
Screw lock
Mint Option Card
Embed single or multi-axis control
Distributed control
Coordinate axes via drives Powerlink
interface
Full NextMove capability
Only fits in Slot 1
Screw lock
I/O cards digital and analog
Fit in any option slot
Option slot 2
Feedback Option Cards
Encoder or Resolver
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Mint Option Card motion capabilities include -
Electronic gearing with clutch and registration
Variable Electronic CAMs
Multi-axis interpolated motion
Splines and PVT profiles
Jerk control (S ramp)
FLY - Flying shear segments
INCR/A Target change on the fly
JOG (in position or velocity control)
Registration control / EVENT Handling
Referencing (Homing)
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Mint Option Card
Single axis motion control with
standard Ethernet interface
Mint Option card
NextMove DSP Core performance
Mint multitasking software
Advanced motion and Ethernet
networking (TCP/IP or Modbus TCP via
Mint interpreter)
Multi-axis motion module
4 axes of coordinated motion
Additional devices on CAN / Powerlink
Fieldbus connectivity via other drive(s)
for share of application data
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Fieldbus Options – Gateway Concept
Plug-in fieldbus option cards
Provides access to system variables by
process data exchange
A single fieldbus module ‘gateway’ approach
Provides integration with other systems such as
PLC’s
Simple data exchange of I/O or machine
recipe information e.g. length, speed etc
Support for many fieldbus standards using
Anybus® CompactCom products from HMS
Ethernet/IP (AN00173)
Modbus-TCP (AN00174)
ProfiNet-IO (AN00172)
Profibus DPV1 (AN00171)
DeviceNet (AN00170)
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Baldor e100 Solutions – Scalable and Flexible
WW
W
LAN / WAN
Traditional Ethernet
Network
EPL Router
(Gateway/
Firewall)
Real –Time Ethernet
System
HMI
MOTION CONTROL
ANALOG SIGNAL (3 AXES)
STEPPER OUTPUT (4 AXES)
ADDITIONAL I/O
CANopen
FIELDBUS
STEPPER MOTOR
INTEGRATED DRIVER
PLC or OTHER
CONTROLLER
ADDITIONAL I/O
POWERLINK
Remote I/O on
CANopen
DISTRIBUTED MINT PROGRAMS
Linear
Brushless
Vector
ENCODER
POWERLINK
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www.baldormotion.com
MicroFlex e100 – Additional Capabilities
Standalone programmable drive for
simple applications with low I/O count
Localised program for networked
systems for specific task such as PLC
simulation, communications manager or
gain scheduling to save processor and
fieldbus bandwidth.
Expand I/O via CANopen
Baldor CANopen HMI
Third party HMI (e.g. Red Lion) via 2wire RS485 port
PLC Ethernet interface via Modbus
TCP, Raw Ethernet or ICM over TCP
(MN1948) - Ethernet/IP in future
PC interface via TCP/IP and ActiveX
control
Network additional axes and share
application data via CANopen – store
data in 256 NVRAM locations
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MicroFlex Mint On Board motion capabilities include Jerk control (S ramp)
MOVER/A Simple moves
INCR/A Target change on the fly
JOG (in position or velocity control)
Registration control / EVENT Handling
Referencing (Homing)
Torque or speed reference
Typical applications:
Indexing conveyors
Adjustable machine settings
(backstops/guides etc..)
Simple cut to length
Non-interpolated Pick and Place
Nut runners
Many, many, more….
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Mint On Board
Demonstration
www.baldormotion.com
Full multi-tasking program support
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Variety of PLC Interface methods
Modbus TCP (via Ethernet and Mint
decode)
Host Comms Protocol (via 2-wire
RS485)
DF1 and other serial protocols (via 2wire RS485 and Mint decode)
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www.baldormotion.com
MotiFlex e100 Additional Capabilities
Standalone programmable drive for
simple applications with low I/O count
Expand I/O via CANopen
Baldor CANopen HMI
Third party HMI (e.g. Red Lion) via 2wire RS485 port
PLC Ethernet interface via Modbus
TCP, Raw Ethernet or ICM over TCP
(MN1948) - Ethernet/IP in future
PC interface via TCP/IP and ActiveX
control
Network additional axes and share
application data via CANopen – store
data in 256 NVRAM locations
Additional PLC interfaces via Fieldbus
Option Card (e.g. Ethernet/IP,
DeviceNet)
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MotiFlex Mint On Board motion capabilities include Electronic gearing with registration (position lock only)
Jerk control (S ramp)
MOVER/A Simple moves
INCR/A Target change on the fly
JOG (in position or velocity control)
Registration control / EVENT Handling
Referencing (Homing)
Torque or speed reference
PLC can pass application data/parameters via Fieldbus Option Card
Direct PLC control of motion is now possible via Fieldbus Option Card
Template PLC interface providing simple access to motion commands available
as a ‘canned application’
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Generic Drive Control Interface
Standard (pre-written) Mint program providing
most functions required for simple
positioning/indexing applications
Interface to any third party PLC via Fieldbus
Option Card (e.g. Ethernet/IP)
Allows PLC to command motion very easily
(PLC code can be as simple as writing to what
appears to be an output bit or word)
PLC reads pre-defined status information
(enabled, fault, homed, current, velocity,
following error etc..)
Mint program can be customised if required
See Application Note AN00188 for full details,
Mint program and example Rockwell PLC
setup/code
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Generic Drive
Interface
Demonstration
www.baldormotion.com
Additional PLC Connectivity via FOC
For this presentation the right hand
MotiFlex e100 in the picture was
connected to an Allen Bradley
ControlLogix PLC
A Baldor Ethernet/IP FieldBus Option
Card (FOC) was plugged into Slot 1 of
the MotiFlex e100 drive
Standard Ethernet cable links the drive
to an Allen Bradley 1756-ENET/B
Ethernet Bridge module
The drive is added to the PLC’s
network as a ‘Generic Ethernet Module’
The drive appears on the network as a
number of 32 bit wide input and output
words
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Direct Control of Motion from PLC
PLC writes to output bits/words to control motion and motion parameters
on the drive
PLC reads input bits/words for diagnostic and status information
Pre-written Mint program controls motion once triggered by the PLC
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Customisable Mint Template
Pre-defined PLC interface to share command and status information to suit
the majority of applications
Can be modified if necessary by the customer
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Customisable Application Parameters
Application specific parameters (home input, home type, stop input etc..)
conveniently arranged as constants for customer to edit
Pre-defined command list that customer can add to in order to create new
functionality (e.g. set positive or negative current limits)
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Mint On Board Limitations
No support for complex motion commands…
FLY
FOLLOWs other than position lock mode (and
only position lock mode only available on
MotiFlex e100)
SPLINE
CAM
CONTOURxxx
FEEDRATExxx
TRIGGERxxx
MOVEOUTX, MOVEPULSEOUTX
etc…
As there is no support for FEEDRATE then
SPEED/ACCEL/DECEL cannot be changed
during a move
No support for commands like PULSEOUTX
Refer to Help file – In general, select ‘MotiFlex
e100’ to determine if keyword supported (if
Help file states Mint Option Card is required
then not supported by MOB)
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Summary of Mint On Board Applications
Simple single axis motion (alternative to Flex+ drive)
Cut to length
Pick and place
Rotary table Indexer
Point to point motion
Retrofit or servo expansion
Replace a competitor or add an additional servo axis to an existing system
Create communications protocols to interface with existing control system
Produce custom motion system in a compact easy to install package
Control competitors motors
Distributed networks systems
Modular designs for large complex systems
Utilise available machine space local to the motor
Reduce expensive motor cabling
Process control systems
Large manufacturing lines
Break into large OEM market
Compatibility with large PLC manufacturers (Siemens, Alan Bradley)
Integration with popular fieldbus systems (Ethernet IP, Profinet)
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