西门子PLC多轴运动控制平台推荐方案.ppt

1、,Technological tasks with SIMATIC,IMATIC Technology,S,作者介绍,Wang Xuhui（王旭晖）SIMATIC Technology Product ManagerTel:010-6476 3732Mobile:1360 128 3045FAX:010-6476 4927Email address:X,作者简介,SIMATIC Technology 纵览,SIMATIC Technology 纵览,FM357-2 纵览,14轴直线插补、同步控制；14独立轴的定位控制；2轴圆弧插补；连续路径控制；可以选择的驱动器接口+/-10 V 模拟量接口脉

2、冲/方向步进驱动器接口PROFIBUS DP接口,Programming according to DIN 66025 or in high-level language,FM357-2,FM357-2 定位系统组图,FM357-2,FM357-2 模块系统配置图,Max.3 FM 357-2 per CPU(max.1 FM with Firmware version H)Central or distributed configurationLocal bus segment with up to 2 I/O modules for fast reaction(on right side

3、of FM only!),FM357-2,FM357-2 模块订货号,FM 357-2 Hardware 6ES7357-4AH01-0AE0FM 357-2 L System firmware 6ES7357-4AH03-3AE0 on coded memory card*+configuration packageFM 357-2 LX System firmware 6ES7357-4BH03-3AE0 on coded memory card*+configuration packageFM 357-2 H System firmware 6ES7357-4CH03-3AE0 on c

4、oded memory card*+configuration package Configuration Package(German,English,French,Italian)contains parameterization tool,electronic documentation,S7-Technology blocks,OP-Example masks Printed Manual 6ES7357-4AH00-8?G0(German=A,English=B,French=C,Italian=E)Edit-FM Program editor(stand-alone)6FC5263

5、-0AA03-0AB0(suitable for FM 353/354,FM 357 and FM 357-2)*copy protected,including backup-function for series commissioning and module exchange without PG/PC,FM357-2,FM357-2 Spline 插补算法,使用几个给定点，完成复杂的连续路径控制,FM357-2 Feature,FM357-2 Gantry 功能,轴之间的同步位置控制,FM357-2 Feature,FM357-2 DSC(Dynamic Servo Control)

6、功能(1),传统、常规的位置控制循环原理,DSC位置控制循环原理,FM357-2 Feature,FM357-2 DSC(Dynamic Servo Control)功能(2),传统、常规的位置控制循环原理的缺点,FM357-2 Feature,FM357-2 DSC(Dynamic Servo Control)功能(3),DSC的位置控制循环原理优点,FM357-2 Feature,FM357-2 路径的速度,路径的速度，依赖于模拟量的输出,FM357-2 Application,FM357-2 带中断功能的同步运动控制器,FM357-2 Application,FM357-2 连续定长剪切

7、的应用实例,通过定义凸轮盘、轴之间的同步控制,FM357-2 Application,FM357-2 测量纸箱长度的应用实例,FM357-2 Application,FM357-2 操作急停以后的设备快速启动,FM357-2 Application,SIMATIC Technology CPU31xT-2DP 纵览,+,+,=,Technology CPU(T-CPU),Driveconfiguration¶meter,Motion functions PLCopen,CPU 31xT-2 DP+fast I/O,CPU31xT-2DP,CPU31xT-2DP 应用场合,CPU31xT

8、-2DP Branches,CPU31xT-2DP 技术数据,Technology Data,CPU31xT-2DP硬件结构,PROFIBUS DP(DRIVE)用于传动部分的控制速度控制位置控制,路由，下载和远程诊断12 Mbit/s的MPI下载程序速度12 Mbit/s 的PROFIBUS DP控制速度,本地的输入和输出4个 BERO 输入8个 CAM凸轮控制器输出,MMC 4M或者更大容量,Technology Data,SIMATIC Technology 组件包,SIMATIC Technology CPU/softwareCPU 315T-2DP 6ES7 315-6TG10-0A

9、B0CPU 317T-2DP 6ES7 317-6TJ10-0AB0MMC 4 MB(或者更大空间)6ES7 953-8LM11-0AA0S7 Technology V3.0 6ES7 864-1CC30-0YX0STEP 7 V5.3+SP3 6ES7 810-4CC07-0Yxx软件选件包SCOUT CamTool V2.1 6AU1 810-0FA21-0XA0,Technology Data,PROFIBUS DP(DRIVE)连接西门子驱动器组件,低精度和低动态特性的速度控制轴MICROMASTER 420/430/440 and COMBIMASTER 411 frequency

10、converter MASTERDRIVES VC asynchronous drives高精度和高动态特性的位置控制轴SIMODRIVE 611 U synchronous driveMASTERDRIVES MC synchronous driveSIMODRIVE POSMO CD/SI/CA distributed drives SINAMICS S drive range更多可以连结到PROFIBUS DP(Driver)的组件PROFIBUS DP encoder SIMODRIVE sensor isochronADI 4:Analog drives interface modu

11、leIM 174:Interface of Profibus DP for analog drives,stepping drives,Hydraulic drives with AO+/-10V and“External encoder“ET 200M,ET 200S;,Profibus DP(Drive),CPU31xT-2DP 定位系统组图,Profibus DP(Drive),DP/MPI,Isochrone mode,DP(DRIVE),Encoder-Feedback,ADI 4,Analog drive,Power,10 V,ADI 4 接口模板,可以控制4轴的模拟量控制驱动器接

12、口模板订货号：6FC5 211-0BA01-0AA2,Interface Module,IM 174 接口模板,控制4轴模拟量控制驱动器，或者步进脉冲驱动器的接口模板订货号：6ES7 174-0AA00-0AA0模块特点：通过Profibus DP，以等时模式，最大支持12M的通讯速度，连接驱动器；有4个编码器接口，可以连接RS422接口的长线驱动型增量编码器，或者SSI绝对值编码器；4个+/-10 V 的驱动器的控制接口；4个步进电机驱动器的控制接口，可以选择连结或者不连结编码器；10个24 VDC 的DI，8个24 VDC（0.5 A）的DO；2个继电器作为“驱动器准备”信号，4个继电器作

13、为“4轴使能信号”；接口模板上有4个用于帮助诊断的指示灯；外围尺寸：（WxHxD）160mm x 125mm x 130mm；,Interface Module,IM 174 应用举例,Interface Module,CPU31xT-2DP DSC功能（1）,未启用DSC功能,CPU31xT-2DP Feature,CPU31xT-2DP DSC功能（2）,启用DSC功能,CPU31xT-2DP Feature,CPU31xT-2DP DSC功能（3）,启用DSC功能后，运动控制效果说明,CPU31xT-2DP Feature,CPU31xT-2DP 基本功能介绍,CPU31xT-2DP F

14、eature,Basic functions:MC_Power Enabling/disabling of an axisMC_Reset Fault acknowledgmentMC_Home Homing/setting of axisMC_Halt Standard stopMC_Stop Emergency stopMC_CamSwitch Position-based camMC_CamSwitchTime Position/time-based camMC_ReadSysParameter Read MC parameters,various data typesMC_WriteP

15、arameter Write MC parameters,various data typesSingle-axis commands:MC_MoveAbsoluteAbsolute positioningMC_MoveRelativeRelative positioningMC_MoveAdditiveRelative positioning to current target positionMC_MoveSuperImposedSuperimposed positioningMC_MoveToEndPosTravel to a dead stop/clamp MC_MoveVelocit

16、ySpeed input,适应PLCopen的运动控制命令,CPU31xT-2DP Feature,Synchronism commands:MC_GearIn Gearing;engagingMC_CamInCammingMC_PhasingPhase shifterMC_EngageEngaging/disengagingMC_GearOutEnd synchronous operationMC_CamOutEnd cammingCam processing:MC_CamClearClear contents of a camMC_CamSectorAddAdd sector of a camMC_CamInterpolateRecalculate camFunctions which are not axis-related:MC_ExternalEncoderExternal encoderMC_MeasuringInputMeasuring input,适应PLCopen的运动控制命令,CPU31xT-2DP Feature,View of available drives,