Linear axis positioning with industrial servo motor

Abs ac — P ocessions con olle de ices and posi ioning asks wi h di e en condi ions a e qui e impo an in indus ial au oma ed sys ems. The aim o his pape was o ma e ialize a sys em which is an indus ial applica ion, wi h using indus ial de ices. The main pa o his eachable sys em is a PLC con olled se o mo o . Wi h i he use can se di e en posi ions on he linea axis, wi h di e en eloci ies; mo eo e i gi es he possibili y o de ine new places, and o make a p og am o con ol a whole sequen ial p ocess. The use can con ol his sys em wi h an indus ial display (HMI). I s in e ace is use - iendly wi h easy manageabili y; he e o e i can be used wi hou p og amming knowledge. Keywo ds— se o mo o , posi ioning, PLC, HMI, p og amming I. INTRODUCTION HE p ac ical applica ions o he se o mo o s is e y impo an in he indus y. In his pape we use i wi h a oo h bel linea axis o posi ioning. I can be made in di e en ways, such as - con olling wi h a PLC, - own able which is good o epea edly unning, - using a so wa e on he compu e . On he o he hand hese op ions can be connec ed wi h an indus ial display oo. II. GENERAL INFORMATION ABOUT THE SERVO MOTOR Posi ioning means mo ing a mass om a poin o ano he . Fo his we use a FESTO EMMS-AS-55-S- TM se o mo o . The b ushless se o mo o con ains a h ee phase s a o and a pe manen -magne o o . The o a ional speed o he o o depends on he equency o he o a ional magne ic ield h ough he s a o windings. The o o mo es synch onic wi h he magne ic ield o he s a o , and ollows i wi h he same e olu ions. (Fig. 1.) Wi h his o mula, we can see ha he speed o he mo o (n) is p opo ional wi h he s a o equency ( ) and in in e se a ion o he numbe o he poles (p). The name o he used mo o means ha his h ee phased b ushless se o mo o wi h he lange size 55 mm is equipped wi h an induc i e mul i- u n encode moun ed on he mo o sha . This eeds in o ma ion goes back om he mo o o he con olle . I means ha we use a closed-loop sys em (Fig. 2.). Fig. 1. S uc u e o a se o mo o [3] The use gi es he ins uc ions wi h he HMI, and i sends hem o he PLC. A e p ocessing his in o ma ion he PLC sends hem o he mo o con olle which consis s o a p og ammable con olle and an ampli ie . The commands abou he di ec ion, he dis ance, he speed and he accele a ion o wa d o he ac ua o (mo o ). The senso measu es he eal alues and sends back he ac ual in o ma ion o he con olle . Based on his eedback he con olle a e he compa ing decides how much co ec ion is necessa y. I con inues epea edly un il he ins uc ion is comple ed, o main ain he mo o a he speci ied posi ion and s a e. The da a o he comple ed mo ion goes back o he PLC, and base on his in o ma ion i gi es he nex ins uc ion. The mo e impo an in o ma ion o he use can be seen on he display. Fig. 2. The used closed-loop sys em LINEAR AXIS POSITIONING WITH INDUSTRIAL SERVO MOTOR Xénia E zsébe TÓTH1, János TÓTH PhD2 email:1[email p o ec ed]; 2 o [email protected] Uni e si y o Deb ecen Facul y o Enginee ing T ANNALS OF THE ORADEA UNIVERSITY Fascicle o Managemen and Technological Enginee ing ISSUE #1, MAY 2014, h p://www.im uo adea. o/auo. m e/ 139 Fig. 3. The used sys em III. USED MOTOR AND ITS CONTROLLER We use a FESTO EGC-50-600-TB-KF-GK oo h bel linea axis, wi h 50 mm axis size, and 600 mm wo king s oke. Wi hou i he da a o he mo o a e he ollowing: TABLE I GENERAL TECHNICAL DATA OF THE SERVO MOTOR Nominal o que 0,68 Nm Nominal speed 6600 pm Nominal ol age 360 V Nominal cu en 1,2 A To que a s ands ill 0,98 Nm Maximum speed 7330 pm Peak o que 2,7 Nm Maximum cu en 5 A Wi h using he linea oo h bel axis, i limi s he ange. In his case he maximum speed o he mo o is 3000 mm/s, and he maximum accele a ion can be 50 mm/s2. The used mo o con olle is a FESTO CMMS-AS-C4- 3A-G2 which means he mo o echnology is AC synch onous, he nominal cu en o he mo o is 4 A, and he nominal ol age is 230V AC/50…60 Hz. The maximal cu en is 10 A, and he signal speed h ough he RS232 po is 9600-115000 bi s/s. In Table II he da a o he mo o con olle can be seen. TABLE II GENERAL TECHNICAL DATA OF THE MOTOR CONTROLLER Nominal ou pu cu en 4 A Peak cu en 10 A Max. in e media e ci cui ol age 380 V DC Mains equency 50 ... 60 Hz Max. nominal inpu cu en 5 A In Fig. 4 he d i e con igu a ion can be seen in he FCT p og am. E e y pa o a sys em should be se wi h all pa ame e s by his p og am, and a e i can calcula e he de ails, o example he maximum speed which is s o ed in i s memo y and i can be ound in he use manual o he de ices. Fig. 4. D i e con igu a ion Fo he accu acy o he posi ioning we use he encode which is moun ed on he mo o sha , and he limi swi ch o he linea axis. We se he home posi ion wi h using his Reed senso . The slide goes o he limi swi ch ( he side depends on he se ings) and a e eaching i , i goes immedia ely in o he opposi e di ec ion. The slide s ops when he signal is changing, his posi ion is aken as he homing poin . Fig. 5. Homing o he linea axis [4] IV. INTRODUCTION OF THE SYSTEM The con igu a ion o he mo o con olle can be done wi h he FESTO Con igu a ion Tool p og am. In one mo o con olle wi h using digi al I/O mode we can s o e 63 di e en posi ions and 8 p o iles ( eloci y, accele a ion and decele a ion). To con ol he sys em wi h he PLC we ha e o know he pin assignmen o he mo o con olle , in o de o be able o gi e he igh commands o he enable inpu s. Du ing he p ocess we de ine he numbe o he needed posi ions wi h he bina y code o he six Reco d selec bi s (Fig.6.). The i s one “000000” means he home posi ion, and a e we can choose om 63 posi ions. We can de ine also 8 p o iles in he mo o con olle and wi h using hese combina ions we can make he PLC p og am which chooses be ween hem depending on he use needs. Linea axis PLC Mo o con olle HM I ANNALS OF THE ORADEA UNIVERSITY Fascicle o Managemen and Technological Enginee ing ISSUE #1, MAY 2014, h p://www.im uo adea. o/auo. m e/ 140 Fig. 6. Digi al I/O o he mo o con olle The con olle also has digi al ou pu s, wi h hem we can make su e o example abou he e o s, he end o he posi ioning o he con olle is eady o he ope a ion. In his case we can send he nex ins uc ion o i . Wi h he Mode Selec Bi s we can choose be ween wo modes: “00” is simple posi ioning and “10” means eaching new posi ions o c awling on he axis. In Single Posi ion Se Mode we use he selec ion bi s o de ine posi ions. We can see he used posi ions and p o iles in he Fig. 7. Fig. 7. Used posi ions, eloci ies in he FCT In Jogging/Teaching Mode wi h DIN10 and DIN11 inpu s we can change he di ec ion and o a e he mo o slowly wi h 50 mm /s and a e 1s he speed changes o 200 mm/s (Fig.8.). Wi h his unc ion we can ind new posi ions, and wi h sending an impulse o DIN8 we can s o e hem o he DIN1-DIN4 de ined place. Fig. 8. Jog pa ame e s V. THE CONNECTION BETWEEN PLC AND HMI The cen e pa o he con olling is a FESTO CPX P og ammable Logic Con olle which has a modula s uc u e and i s p og amming in e ace is he Fes o So wa e Tools so wa e. We used an STL p og amming language, which desc ibes sequen ially p ocesses. A Fes o FED-500 ype HMI (Human-Machine In e ace) p o ides he necessa y in o ma ion abou he sys em’s unc ioning o he use , and makes he connec ion be ween he sys em and he use . I has a p essu e sensi i e ( esis i e) ouch sc een and i communica es wi h he PC and he PLC ia se ial po . The signals o he limi swi ch and he digi al ou pu s o he con olle go in o he wo digi al inpu s module o he PLC. F om he wo digi al ou pu s module o he PLC goes he necessa y enable, and inpu in o ma ion owa ds he mo o con olle h ough a pa allel cable which has 25 pins. The a iables ha we e used du ing he HMI p og amming a e de ined as lags inside he PLC p og am. The s uc u e o he p og am consis s o wo pa s: he main p og am ha ope a es he o he low- class p og ams, i makes hem ac i e o inac i e depends on he c i e ions. Fig. 9. Pa o he main p og am o he PLC In Fig. 9. can be seen a pa o he main p og am, when i is deciding abou he mode, in s ep Mode_sel he s a es is checking all he ime. Wi h he i s “i ” i is looking o whe he he Home bu on has been pushed o no . Wi h he second “i ” i does he same wi h he ese bu on. I hese a iables a e ue he p og am jumps in o ano he s eps. We a e also pay a en ion o he Mode selec bi s s a emen s, and base on hem i ac i a es o deac i a es p og ams. I he e is no homing he main p og am is con inually be in his s ep. ANNALS OF THE ORADEA UNIVERSITY Fascicle o Managemen and Technological Enginee ing ISSUE #1, MAY 2014, h p://www.im uo adea. o/auo. m e/ 141 VI. INTRODUCTION OF THE USER INTERFACE Fo he easie ope a ing we c ea ed a menu s uc u e which can be seen in Fig. 10. Wi h pushing he bu ons on he main sc een (in he middle) we can selec he o he sc eens. Be o e s a ing he p og am i goes au oma ically o i s home posi ion, bu wi h he home bu on he use can do i manually whene e i is necessa y. The p og am can be es a ed wi h he ese bu on. In he Posi ioning sc een ( igh on he op) we can selec be ween 8 ixed posi ions, which can be seen in he Fig. 7. The long g een line unde his unc ion symbolizes he linea axis, and he a ge posi ion on i . We can choose ixed eloci ies (Fig. 7.) o e e y posi ion and he indica o ligh s on he igh side show in o ma ion abou he s a e o he con olle . In Manual mo e & Teach posi ion sc een (le below) we can mo e he d ay wi h pushing mo e – o mo e + bu ons. I i s ops we can selec a place (1-7) in he con olle o he new posi ion, and sa e i wi h he Teach bu on. I we ha e manually augh posi ions we can load hem wi h he sc een on he le op. We can choose he numbe o he posi ion and push he mo e bu on. I will go o he de ined place wi h a ixed eloci y (200 mm/s). Wi h he las sc een on he igh below, called Posi ion se able, we can se a whole sequen ial p og am. We can desc ibe he posi ions, choose a eloci y and se a delay ime, which means he ime o wai ing be o e s a ing he mo emen . A e gi ing he de ails e e y used line should be ixed, o he wise he p og am skips hem. I a posi ion is eached he indica o ligh o he ow shows i . The p ocess s a s epea edly om he beginning i he epea bu on is pushed. VII. CONCLUSION AND RECOMMENDATIONS This p ocess and hese se ings can be qui e di icul , and needs he good knowledge o he de ices. Ou aim was o c ea e an in e ace o his sys em, wi h a simple s uc u e o a common use . I means ha i can be used easily wi hou he deep knowledge o p og amming, o o using so wa es. VIII. REFERENCES [1] Mohamed A. El-Sha kawi: Fundamen als o elec ic d i es, Cengage Lea ning, 2000 [2] János Tó h: Elec ical Ac ua o s, Uni e si y o Deb ecen Facul y o Enginee ing, 2012 [3] Da id Hoey, Dan Sando al, Edwa d Gaspe : TP 800 e-d i es - Re e ence no es, Fes o Didac ic GmbH & Co., D-73770 Denkendo , 2002 [4] h p://www. es o.com/ne /Suppo Po al/Files/102 73/EMMS-AS_ENUS.pd download: 20.04.2014. [5] h p://www. es o.com/ne /Suppo Po al/Files/102 72/CMMS-AS_ENUS.pd download: 20.04.2014. [6] h p://www.you ube.com/wa ch? =c2RhXUsSx E Fig. 10. The menu s uc u e [6] ANNALS OF THE ORADEA UNIVERSITY Fascicle o Managemen and Technological Enginee ing ISSUE #1, MAY 2014, h p://www.im uo adea. o/auo. m e/ 142