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The Motion Control concept from Baumuller
puts the main focus on the user’s manufacturing
process. Machine functions can be planned
without functional knowledge of the system
using Motion Control modules that comply
with PLCopen and the IEC 61131 programming
standard.
This gives machine constructors the freedom
to use their core competency more effectively
for the further development of machine concepts.
The amount of engineering that is required
for the automation and drive system is minimized.
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The Baumuller Motion Control concept
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Baumuller’s Motion Control concept reduces
the complexity and the development cost
of automation software in mechanical engineering.
It puts the main focus on the user’s processes
and machine functionality. This concept
allows the machine manufacturer to concentrate
on machine-specific future technologies
and the continuous further development of
their machine functionality in the software
– and increasing the manufacturer’s competitive
edge.
The planning of Single Axis and Multi Axis
functionality in accordance with “PLCopen
Motion Control” is only carried out using
the relevant function module libraries from
a technological point of view.
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The standard IEC 61131 programming languages
are used. The system functionality that
is required for motion management, field
bus communication and drives is integrated
in the operating system of the Baumuller
b maXX automation system using a communication
and motion manager.
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This leads to a considerable reduction
in complexity and development cost, since
special drive, field bus or communication
programming is no longer required for Motion
Control applications.
The main focus is on the user’s process
and machine functionality. The machine manufacturer’s
development expenditure can be much more
closely oriented to customer benefit and
market advantages again.
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Application areas for Motion Control
in accordance with PLCopen
- Printing
- Plastics
- Packaging
- Textiles
- Robotics and handling
- Special mechanical engineering
- Mechanical engineering in general
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Advantages
- Less complexity
- Shorter time-to-market times for the machine
- Better software quality
- Easier software updating and maintenance
- Lower initial and updating/maintenance costs
- Less training required
Reduce complexity when implementing automation
solutions by using:
- Motion Control single-axis and multi-axis
functionality libraries
in accordance with PLCopen
- IEC 61131 programming system PROPROGwt II
- Drive configuration tool
- Field bus configuration tool (in preparation)
- Cam disk editor and cam data record manager
- Automation interface
Data and project consistency is maintained in
the application by means of defined interfaces.
The user only perceives one programming and parameterization
environment.
IEC 61131 programming tool - PROPROGwt
II
The powerful PROPROGwt II tool is available for
programming in accordance with IEC 61131. Support
for multi-resourcing in PROPROGwt II puts the
user in a position to also handle complex projects
with a large number of decentralized controls.
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Features of PROPROGwt II
- Cross compiling: flowchart – STL – LD
- Real-time logic analysis
- Multi-resourcing via Ethernet TCP/IP
- Online debugging – trace and change
- Powerflow (program tracing)
- 32-bit emulation on the PC
- Online cross-referencing
- Online help system
- User-friendly documentation (incl. HTML)
- Multilingual: German/English
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Configuration tools integrated
in PROPROGwt II:
- Drive configuration tool
- Cam disk editor
- Cam data record manager
- Field bus configuration tool (in preparation)
- Automation interface
- I/O configuration tool
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b maXX-PLC and PROPROGwt II can handle
all the five languages of IEC 61131:
- Control system flowchart
- Ladder diagram
- Sequential language
- Structured text
- Statement list
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Integrated tools and fully encapsulated
functionality for synchronous movements
The Motion Control Multi Axis engineering tools
are fully integrated into the development environment.
The axis configuration tool that is needed for
Single Axis functions is supplemented by a data
record manager for the cam disk function. The
data record manager creates the associated data
records from graphically displayed cam profiles
and deals with data record downloading to the
PLC in the drive. User-defined cams are individually
designed and stored using the cam disk editor.
They are then available to the controller via
the cam disk Multi Axis command.
Drive configuration
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Cam data record manager |
ProCAM cam disk editor |
ProPLC I/O configuration
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The functionality has been consistently divided
up into partial areas from a user point of view.
Even with complex machines and systems, this provides
transparent and comprehensible automation and
drive systems.
ProCAM cam disk editor
ProCAM cam generation in accordance with the
VDI 2143 movement laws
ProCAM is a graphical design tool for producing
electronic cam disks. Complex
movements can be subdivided into individual, successive
movement sequences
using this tool, the transitions of which are
achieved smoothly by entering the transition conditions.
Mechanical cam disks can be exactly reproduced
using the editor and subjected
to further development in a simple way. This is
easier on the mechanical system
and increases the availability of the machine.
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- Design in accordance with the VDI 2143
movement laws
- Display of velocity, acceleration and
jerk
- Run through of the derivation window
with a measuring cursor, display of the
relevant physical values in a measuring
window
- Scaling in physical units, depending
on the selected master velocity, acceleration
and jerk per cam section
- Import and export of existing CAM profiles
(as .csv file)
- Export of interpolation points in a
.csv file or a .txt file
- Direct import into the PROPROGwt II
data record manager for downloading to
the controller.
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ProPLC I/O configuration tool
ProPLC is a graphical tool with which I/O modulescan
be inserted from a list using Drag & Drop.
A symbolic setting of I/O names is performed automatically
and taken over into the application software.
This avoids duplicate entries and planning errors.
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- Simple configuration using Drag &
Drop
- Convenient module selection from a list
- Easy to expand
- Immediate transfer of symbolic names
into the application
- Clear module arrangement
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Scope of functions of the Motion Control
Single Axis library
The library includes Single Axis modules (non-coupled
commands) in accordance with the PLCopen standard
and additional function modules.
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Motion_Ready for operation
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Switch axis ON/OFF
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MC_Power
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Switch from "Errorstop" to "Standstill"
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MC_Reset
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Read PLCopen stat
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MC_ReadStatus
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Motion_Velocity blocks
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Definition of a target velocity
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MC_MoveVelocity
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Define velocity-time profile
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MC_VelocityProfile
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Switch to the PLCopen state "Stop"
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MC_Stop
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Motion_Positioning blocks
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Start parameterised referencing
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MC_Home
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Absolute positioning
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MC_MoveAbsolute
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Relative positioning
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MC_MoveRelative
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Additive positioning to started positioning
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MC_MoveAdditive
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Read actual position of the axis
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MC_ReadActualPosition
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Define position-time profile
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MC_PositionProfile
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Motion_Administrative
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Read drive error
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MC_ReadAxisError
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Read drive parameter
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MC_ReadParameter
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Write drive parameter
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MC_WriteParameter
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Supplements for homing, error handling,
etc. are fully implemented.
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Scope of functions of the Motion Control
Multi Axis library
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The library is comprised of Multi Axis
blocks (coupled commands) conforming to
the PLCopen standard and supplementary function
blocks.
As a system supplement the Multi Axis functionalities
are based on the Single Axis programming
library. Motion Control Multi Axis allows
the coupled synchronous path motion of several
axes.
In addition to the basic cam disk function
there are also new function blocks available
providing the functionalities of electronic
gear unit, superimposed positioning, master
phasing, and virtual master axis.
Axis couplings of the master and slave
are executed in the command and are implemented
by the system synchronously. The function
blocks are always used in connection with
a synchronous bus system. No bus-specific
knowledge is required.
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Motion_Cam disk blocks
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Start synchronous motion with one
cam
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MC_CamIn
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End synchronous motion with one cam,
defined
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MC_CamOut
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Select data record with more than
one cam
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MC_CamTableSelect
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Motion_Electronic gear unit
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Start synchronous axis coupling with
transmission
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MC_GearIn
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End synchronous axis coupling
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MC_GearOut
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Motion_Synchronous positioning
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Superimposed synchronous positioning
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MC_MoveSuperImposed
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Superimposed positioning of the master
position of an axis
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MC_Phasing
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Motion_Master axis functionalities
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Virtual master axis for synchronously
networked drives
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MC_MasterEngine
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Extra blocks for other master axis
sources
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Overview
