PCD2.H32.. MOTION CONTROL MODULES - SBC-support

PCD1
PCD2
xx7
Flexible and fully integrated PLC controller systems
for 1, 2, 3 … servo axes
SAIA®S-Bus (RS485) or MPI for
the xx7 Series, PROFIBUS DP or FMS,
LON-WORKS®, Ethernet (TCP/IP)
Terminal
PG4/PG5, Web-Server, Step®7,
SAIA®ViSi-PLUS, HMI editor,
software libraries
Modem
Serie xx7
Power stages
Servo motors
Transmitting devices
Essential benefits of using a SAIA®PCD
for axis controllers
¬ The modular concept of the SAIA®PCD system family supports
the full extent of every drive technology: whether
analogue or digital, stepper or servo motor (DC/BL/AC),
and whether position is controlled centrally in the PLC or
remotely in the power stage.
¬ A wide range of modular tools for programming.
¬ The configuration and commissioning software package,
for example, offers the convenience of parameter setting
under Windows, with graphical reproduction of motion
sequences for the optimum adjustment of control parameters.
¬ A very wide variety of motion control settings can be
defined in the user program and called up as required, for
example via one of the SAIA® control terminals.
¬ Open platform with range of interconnection capa bilities.
¬ Integration of additional digital and analogue I/O signals,
counting and time functions.
¬ Ideal for sophisticated machines and installations that
require a compact, economical controller, such as those
used in materials processing, handling, conveyors, mounting,
assembly or packing.
SAIA®PCD
PCD2.H32.. motion control module
PCD2.H32.. motion control modules
are distinguished by these characteristics
¬ Specification of trapezoid or S-curve velocity profiles; linear
interpolation and synchronization of multiple axes; position
or speed controlled operation.
¬ Electronic gearing, 1 master axis and 1 to 7 coupled slave
axes.
¬ Extraordinary flexibility due to event-oriented breakpoints
that can influence current movement.
¬ High speed and positioning accuracy due to PID control
with a cycle time of 100 µs per axis.
¬ All motion control functions are carried out autonomously
by the module, placing no load on the PCD CPU.
¬ Velocity, target position, PID parameters and gear transmission
ratios can be modified on the fly during motion.
¬ Inputs for 24 VDC or 5 V/RS 422 incremental shaft encoders
and SSI absolute angle transmitters.
¬ ±10 V standard analogue output with resolution of 12 bits
inc. sign, as velocity setpoint for power stage.
¬ Driving up to 4 (PCD1) or 14 (PCD2) axes.
PCD2.H32.. MOTION CONTROL MODULES
Edition 26/334 E2

PCD1
PCD2
xx7
Ultimate controller integration for the most sophisticated
motion functions
With the PCD2.H32.. motion control
module, each axis can be operated fully
independently of any other and previously
selected profiles can be modified
on the fly.
Position control mode
The trapezoidal velocity profile is standard
for many applications. It enables
acceleration and deceleration to be set
differently.
v1
v2
v
The S-surve velocity profile permits
smooth motion sequences. The profile is
predefined. Acceleration and deceleration
have identical values.
v
v1
24 V
24 V
24 V
LS1
24 V LS2
24 V Ref
24Vor5V
M
SSI-Data
SSI-Data
SSI-Clk
SSI-Clk
s1
POWER
AMPLIFIER
SI
SO
A
B
IN
±10V
IN
IN
B
B
Destination
position
s2
Speed control mode
Acceleration, velocity and deceleration
can be modified on the fly. A “Stop“
command can be used to travel through
a predefined deceleration ramp.
9 LED PROM
ENCODER-
INTERFACE
s
Destination
position
s1
s
Electronic gearing
Position information from the master
axis serves to control the slave axis.
This position information can be delivered
either directly from the master axis
transmitter or through the control of
the master module. The transmission
ratio extends from 1:65 535 to 65 535:1
and can be modified on the fly.
Breakpoints
Each axis has two programmable breakpoints,
each with 5 parameters and
8 conditions. This allows specific functions
to be integrated and parameters
(e. g. target position, velocity, etc.) to
be modified depending on axis status
(e. g. position of another axis, velocity,
time, etc.).
Synchronization
SI/SO inputs/outputs are deployed in
connection with breakpoints.
Flying cut
This function is easy to realize, thanks to
the module‘s great flexibility. It involves
the insertion of on-the-fly connection
or disconnection of electronic gearing
and breakpoints.
Status registers
Each axis has registers available of 3 × 16
bits to record certain states, events,
motions, etc., which can be queried via
the user program or which can directly
influence the module.
MOTION
PROCESSOR
CHIP-SET
(DSP+ASIC)
TRAJECTORY
GENERATION
PID-
REGULATION
CLOCK
40 MHz
PCD2.H32..
CONTROL SIGNALS
HOST DATABUS
DATABUS
TRACE
MEMORY
FIELD PRO-
GRAMMABLE
GATE ARRAY
BUS-
INTERFACE
SERIAL/
PARALLEL
CONVERSION
SSI-
INTERFACE
PCD1/2-BUS
Motion parameters
Registers with 32 bits are used for target
position, velocity, acceleration and
deceleration.
Position: metric entry (unit selectable between
1 µm and 1 m) or encoder pulses
Velocity: metric entry (unit selectable
between 1 µm/s and 1 m/s) or encoder
pulses/s
Acceleration: metric entry (unit selectable
between 1 µm/s² and 1 m/s²) or
encoder pulses/s²
PID controller: sampling interval 100 µs
per axis, proportional, integrative and
derivative factors programmable, sampling
interval for derivative part programmable
separately, feed-forward for
velocity and acceleration
Trace memory
This RAM memory of 2 × 256 kBit per
module allows motions to be stored of
1 s to 100 min, with up to 4 para me ters
and max. 2000 data points (4 para meters
with 500 each). This data can then be
read and displayed graphically.
Other functions
These include stop commands, compensation
voltage for vertical axes, openloop
mode and automatic limit switch
monitoring.
PROCESSOR PCD1/2
Block diagram
of a servodrive for 1 axis
(2 axes per module)
PERFORMANCE OVERVIEW

PCD1
PCD2
xx7
Comfortable configuring, programming and commissioning
of the positioning modules
This software package runs under Windows 98, 2000 and NT.
In summary, it offers the following capabilities:
¬ Direct, easy access to all basic functions
¬ Effortless entry, testing and storage for a variety of motion
parameters
¬ Tracing and graphical representation of motion
sequences
¬ Comprehensive diagnostic functions
¬ The PCD utilities, PG5, also allow the automatic integration
of software libraries, initialization for programming and
use of the new CSF instructions, which guarantee very fast
processing of user cycles in the SAIA®PCD.
The package can either be run as a stand-alone program,
or integrated into the PG5 PCD utilities, or used together
with Siemens‘ STEP®7 programming software. The following
is intended to present some of the dialog boxes in more
detail, various of which can also be used simultaneously.
Entry of motion parameters
This dialog box allows control parameters to be entered online,
updated directly in the ..H32.. module and stored as
backup. The right-hand column contains current values, which
can be modified in the left-hand column.
Diagnostic function
The “Watch Window” offers the possibility of displaying online
all data from the PCD (registers, flags, counters, etc.) and
those of the ..H32.. module.
Programming and testing different
motion sequences
With this dialog box it is possible, for example, quite simply
to define a motion on-line and then process it (without
knowledge of any programming language). Parameters and
the motion sequence are entered and then the process type
is selected.
Recording control parameters and
evaluating them graphically
This dialog box defines which motion parameters to record
in trace memory and how (up to 4 parameters per module).
«One Time» means that tracing will end as soon as the memory
is full. «Rolling Buffer» is used to refresh data in the memory
continuously. The start and end of a trace can be set manually
or event-controlled (e.g. by a breakpoint or state, such as
«Target velocity reached»).
The graphical display of motion follows automatically.
PROGRAMMING AND COMMISSIONING

PCD1
PCD2
xx7
Technical data and ordering details
Path recording with incremental shaft encoders _ _ _
Number of inputs 6 per axis; A, B, IN and A, B, IN for ..H325
Input signal 24 V or non-equivalent 5 V inputs, according to RS 422
Count frequency max. 125 kHz with shaft encoder 24 V
max. 250 kHz with shaft encoder 5 V/RS 422
Count mode
fourfold evaluation of input signals
Encoder supply external or internal for ..H325
Error detection possible with ..H325: cable break, encoder failure
Path recording with SSI absolute angle transmitters
SSI interfaces
per axis 1 data input RS 422 (electrically isolated)
and 1 clock output RS 422 (electrically connected)
Resolution
data bits selectable from 8 to 26 bits
control bits selectable from 0 to 2 bits
Count frequency 1 MHz (cable length þ20 m), 500 kHz (cable length 50 m),
250 kHz (cable length 100 m)
Data refresh
every 100 µs at 1 MHz, 200 µs at 500 kHz,
500 µs at 250kHz
Data format
gray or binary code
Read mode
normal (simple)
Error detection transmitter failure (with 30 µs timeout)
Digital inputs
Number of inputs
Input current
Signal level
Input delay
Digital outputs
Number of outputs
Breaking capacity
Potential drop
Output delay
Analogue outputs
Number of channels
Output signal
Load resistance
Ordering details
Type
Description
per axis: 2 limit switches (LS1/LS2), 1 reference switch
(Ref) and 1 input for synchronization (SI)
8, electrically connected, negative logic
7 mA at 24 V
low = –30…5 V, high = 15…32 V
300 µs at 24 V
1 output per axis for synchronization (SO)
2, electrically connected, short-circuit protected,
source operation
max. 0.5 A in range 6…32 VDC
max. 0.3 V at 0.5 A
typically 100 µs, max. 500 µs, under resistive load
1 output per axis as velocity setpoint for driving the
power amplifier
2, electrically connected, with short-circuit protection
±10 V, resolution 12 bit inc. sign bit
ÿ3 kÞ
LEDs for status indication and diagnosis
Number of LEDs 8 per axis, indication of A, B, IN, Ref, LS1, LS2, SI, SO
2 per module, indication of Power and OK
Power supply
External supply
Internal supply
Operating conditions
Ambient temperature
6…32 VDC smoothed, residual ripple max.10%, max.1 A
(for outputs), without reverse battery protection
5 VDC: 190…250 mA + shaft encoder supply for the
..H325: max. 400 mA (electrically connected,
with short-circuit protection)
15 VDC: 10…16 mA
operating: 0…+50 °C without forces ventilation
storage: –20…+85 °C
Noise emission CE mark according to EN 50081-1
Noise immunity CE mark according to EN 50082-2
Motion control modules for servodrives
PCD2.H320 for 2 axes with incremental shaft encoders 24 VDC
PCD2.H325 for 2 axes with incremental shaft encoders 5 V/RS 422
or SSI absolute angle transmitters
PCD2.H322 for 1 axis as slave with incremental shaft encoders 24 VDC
PCD2.H327 for 1 axis as slave with incremental shaft encoders 5 V/RS 422
or SSI absolute angle transmitters (only as slave)
PCD8.Hx E Software package under Windows 95, 98, 2000, NT
26/772 E Manual PCD2.H32.. for PCD
PCD9.H32 E Software library with function blocks
26/778 E Manual PCD2.H32.. for xx7
Saia-Burgess
Saia-Burgess Controls Ltd.
Bahnhofstrasse 18
CH-3280 Murten / Switzerland
Telephone ++41 26 672 72 72
Telefax ++41 26 672 74 99
E-mail: pcd@saia-burgess.com
Homepage: www.saia-burgess.com
Your local contact:
TECHNICAL DATA
Printed in Switzerland 26/334 E2 06. 2001 TA20 Subject to change without notice.