Maxon operation & application of maxon’s new epos controller

EPOS P 24/5 Features and Programming

FunctionalityPerformanceCommunicationTermsProgramming Tool: ProjectsBasics of the PLC ProgrammingProgramming Language IEC 61131-3 StandardSample Programs

ELECTROMATEToll Free Phone (877) SERVO98

Toll Free Fax (877) SERV099www.electromate.com

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What is the EPOS P?CAN-master + EPOS 24/5– programmable, stand alone operation

CA

N I/

F

PLC

CAN bus

EPOS

EPOS P ELECTROMATEToll Free Phone (877) SERVO98


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What is the EPOS P?same basic functionality as a motion controller as the EPOSCAN master functionality

EPOS

EPOS P

CAN bus

other CANopen modules



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CAN master functionalityEPOS

maxon is responsible for EPOS (slaves) User has to care about CANopenUser is responsible for CANopen masterUser is responsible – for programming– for first installation– for debugging and service

EPOS Pmaxon is responsible for EPOS P and EPOSForget CANopen!

maxon is responsible for CANopen masterUser is responsible – for programming– for first installation– for debugging and service



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Performance of the EPOS PSame as the EPOS 24/5– Supply voltage, current, motor voltage– Motor and encoder– Communication, I/O– Connectors and pin assignments– Footprint

Power Range– 24V/5A version only– No EPOS P 24/1 or EPOS P 70/10



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P = ProgrammablePrograms or logical sequences are stored within the EPOS P and can be executed by simple commands or inputs.

Possibility for programming– Write and edit a program– Save and execute a program

Consequences– Additional memory needed to store program– CANopen driver– PC tool for writing programs: OpenPCS– New user interface: EPOS STUDIO (replaces EPOS GUI)– Upgrade EPOS Firmware ELECTROMATE

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Programming Standard IEC 61131-3Well known in the PLC world and in the motion control industryUnique for small power drives

– Direct competitors use proprietary programming languages

Motion function Libraries Advantages

– Programming language independent of hardware– Reusability of the programs– No need to learn a new language: same “look and feel” for

programmer– Widely accepted



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program flow controlled by – internal events (time, current, position, speed...)– external events (digital inputs, CAN inputs)

Standalone Operation

PC for programming only



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Is the EPOS P a PlC?Yes, because…– No additional master system (PC or PLC) is necessary– It is programmed similar to a PLC

But…– Primarily intended for motion control functions– EPOS P contains an EPOS (motion controller) internally

HenceThe EPOS P is a “small PLC specially designed for motion control”



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Memory Performance1MB memory– More than 700KB for programming

Typical motion program < 100KBReal PLC up to 10MB (e.g. Siemens S7)

1KB non volatile memory– For RETAIN variables

1 position ~ 40bytes



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CPU PerformanceTypically 2.5ms for 5,000 Lines of IL– Means that the processor needs about 2.5 ms to go through a 5,000

line program written in Instruction List (IL).– Included in this 2.5ms is a communication offset of about 1.5ms

For reloading a new taski.e. for 10,000 lines of IL the system needs less than 4ms.



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CommunicationCANopen (same as EPOS)– Typical time needed for one motion command with PDO 130µs, with

SDO 2X130µs– For up to 32 CANopen motion axes– For up to 127 CANopen devices

PLC cycle time– Lies at about 2ms for small programs– Similar to an average PLC

Performance– Depends very much on the written program size and method



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Multi Axis and SynchronizationAbility to program a synchronized multi axis application– PLC programming and motion control Knowhow needed– Basic CANopen Knowledge needed

We expect that about 3 axis may be synchronized at 2ms cycle time

Remarks:– Not all multi axis systems need synchronization



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Other CANopen devicesEPOS P can control other CANopen devices, e.g.:– Digital I/O– Analog Inputs– Absolute sensors with CANopen interface– Displays– CANopen devices: http://www.can-cia.org/products/pg2006/– Maxon Motor does not produce any of these devices

Prerequisite– CANopen Knowledge– Trainings are offered from CIA or IXXAT…



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http://www.can-cia.org/products/pg2006/

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Description of some termsPLC Programmable Logic Control

PLCopen An Industrial Control organisation

IEC 61131-3 Programming Standard created by PLCopen (in the past IEC 1131)

OpenPCS Programming tool for EPOS P(from Infoteam)



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What is a PLC?

roots in the wiring logic– originally hardware based: Relays

increasingly software based– more flexible, easier to modify– more efficient, lower costs

needs a programming device– industrial PC = PLC + programming device– programming device will be removed after programming

special requirements: rough environment– no moving parts such as harddisks

PLCinputssensors

outputsactuatorsmotors, valves



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A PLC program works in a cyclic mannerCyclic calculation of the output pattern according to the input pattern– it starts again when it’s finished – no inputs during the cycle

cycle time depends on the application

smart living technology: < min;drives: several ms

particular programming languages

program

inputs

outputs

cycle time

inputs



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What is PLCopen?User organisation for the promotion ofIEC 61131-3 standardsdevelops and publishes the standards (e.g. for Motion Control, Safety, …)certification authority

PLCopen and maxon EPOS P– motion functionality based on PLCopen Motion

Control



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What is IEC 61131-3 ?describes concepts and directives for building a PLC project, respectively PLC program– use of defined terms (key words)– contains 5 equal programming languages– drive/motion function library

advantages– widely spread in the PLC world and motion control industry– well known “look and feel”, no need to learn new language– independent of used hardware– “a certain” re-usability of PLC programs– widely accepted



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OpenPCSthe programming tool for the EPOS P– from company: Infoteam

follows the standard IEC 61131-3

not described in the IEC 61131-3 standard:– How does a program editor have to look?– management of projects and libraries– documentation– online functions, e.g. software modification, debugging– file and data base structures

and this is where the programming tools differ! ELECTROMATEToll Free Phone (877) SERVO98


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ConfigurationPLC configuration in generalProject in the EPOS-StudioProject in the OpenPCS



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Project in the EPOS Studio

Project in the EPOS Studio– describes involved components

and its communication– EPOS P: for 1 EPOS P– EPOS: for 1 EPOS– MCD EPOS: for 1 MCD EPOS– MCD EPOS P: for 1 MCDEPOS P– For Network: Create New Project– Info will be handed over to

OpenPCS

tools and wizards depend on involved components communication, network connections



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e.g. EPOS Projectfor a EPOSnavigation is adjusted



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OpenPCS Projectproject contains– resources, runtime programs– allocation of variables to physical PLC

addresses– references to other programs: global

variables, data types– corresponds to PLC configuration

resource = processing unit of the PLC– e.g.: EPOS P “master function", CPU’s, special processors– on one resource several runtime programs can run

program sequence controlled by "Task"– importance = priority– execution type: periodic, cyclic, interrupt



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ProgrammingPOU Program Organisation Unit

Programs, Function Blocks, Functions

Variables declaration, typesProgramming languages



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Program Organisation Unit (POU)

For structuring IEC 61131-3 application programs3 types of POU– Functions (FUN)– Function Blocks (FB)– Programs (PROG)

PROG

FB

FB

FUN

FUN FUN

FUNFUN

POU’ s have a strict hierarchy– recursion is not allowed– memory demand is known from the beginning– memory allocation can be made ELECTROMATE


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Program Organisation Unit (POU)

structure of a POU– begin and end with KEY WORD

(taken care of by OpenPCS)1. declaration section

interface variables, local variables2. instruction section in one of the 5

programming languages

Interfacevariables

local Variables

InstructionPOU body

FUNCTION

END_FUNCTION

FUNCTION_BLOCKPROGRAM

END_FUNCTION_BLOCKEND_PROGRAMM



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Characteristics of POU‘sclosed unit– can be compiled independently– can be called within the whole project– can be used in the whole project– unique name within a project

new POU– File -> New -> POU

libraries can be built of FUN’s and FB’s– reusability and modularisation– e.g.: standard library, MC library, CAN library



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POU – variable declarationVAR local dataVAR_INPUT input parameterVAR_OUTPUT output parameterVAR_INOUT input and outputVAR_GLOBAL global dataVAR_EXTERNAL reference to

global dataEND_VAR key word

for the endELECTROMATE


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POU – type declarationfor each variable a type has to be defined

optionally an initial value can be specified– else standard value– or value of previous call

types can also be defined by the programmer– File -> New -> Declarations ->Types– global valid– TYPE … END_TYPE ELECTROMATE


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Variable declaration in OpenPCSVAR_GLOBAL– global data of the resource

File -> New -> Declarations -> Global

– global data of the programupper panel of the program

all other VAR– upper panel of the POU



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Functions (FUN)return exactly one output value– call with input variable (VAR_INPUT)– for the same input, there is always the same output value

without memory– only local variables allowed (VAR), which will be

initialised at every call– no global or external variables allowed

FUN can only call other functionsstandard functions are predefined– arithmetic functions and comparisons– e.g. sin (x)

FUNCTION Hallo: BOOLVAR…END_VAR……Hallo := TRUEEND_FUNCTION



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Function Blocks (FB)work with an own data record– with memory for internal state– instantiation

output depends on the inputs and state information– input parameter and output parameter

can call FUN’s and other FB’spredefined standard FB’s– e.g. for timer and counter

predefined Motion Control FB’s– e.g. for relative movements



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Program (PROG)main program– “brain" of an PLC application program– There is only one instance

defines the access to the PLC periphery– allocation to the physical address (e.g. input and output of the PLC)

declaration of the variables of the whole program (VAR_GLOBAL)has no input and output parameter



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Programming languages in IEC 61131-3 5 equivalent programming languages– IL: Instruction List similar to assembler– ST: Structured Text similar to high level

programming language

– LD: Ladder Diagram graphical– FBD: Functional Block Diagram graphical– SFC: Sequential Function Chart graphical

It doesn’t matter with which language the user writes his program. It is even possible to write different parts (POU’s) of the program in different languages. ELECTROMATE


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FBD Function Block Diagram graphical, strong accentuation of the function blocks and the functions

– Similar to LabView

relatively big overhead for parameters and FBno conditional code programmable(all FB will always be loaded and called)realistic cycle times >= 10 ms

– (@ 30 IL/ms)



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Sample FBD: SimpleMotionSequence

FUNCTIONwithout name

FUNCTION_BLOCKwith instantiation

variables, constants,virtual connections



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Librariesstandard library– for timer functions, arithmetical functions, …– see OpenPCS help

motion control (MC) library– for axis control– according to PLCopen standard– see Programming Reference 6.1

CANopen library– for reading and writing of SDO objects– according to CANopen Standard– see Programming Reference 6.2 ELECTROMATE


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LD / LDD Ladder Diagram

graphical– in the style of

current logic, relay technique

– Boolean logic

widely used in USA and Asia

– Rockwell LD-Editor as reference



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SFC Sequential Function Chart graphicalfor process control engineering

conditions (transitions) – will be executed after

the previous step is finished

– deactivates previous step and activates next step

steps: will be executed if activated



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IL Instruction Listwidely used in Europetextual programming similar to assembler

– PLC assembler

line oriented– 1 line = 1 instruction

CR = current result– the virtual accumulator for

all data types

realistic cycle times:– optimised down to 1 ms

VARFirst, Second, Result: INT:=10;StringOp: String[30]:='123456789';StringRes: String[25]END_VAR…B1:LD First (* 10(INT) *)

ADD Second (* 20(INT) *)ST Result (* 20(INT) *)GT 0 (* True(BOOL) *)JMPC B2 (* because

CR=True *)JMC FarAway (* CR undefined,

reaction depends on implement.*)

B2:LD StringOp (* 123456789(String) *)

ST StringRes (* 123456789 *)ELECTROMATE


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ST Structured Textwidely used in Europetextual, similar to high level language (e.g. Pascal or C+)some features

– instructions separated with “ ; ”– loops: FOR, WHILE, REPEAT– conditions: CASE,

IF…THEN…ELSIF...ELSE– complex expressions

realistic cycle times:– optimised down to 1 ms



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Technology

Maxon operation & application of maxon’s new epos controller