T06: Embedded Motion and Ethernet

Capabilities on Micro800 PLCs

Thomas Sugimoto
Marketing Manager

Rev 5058-CO900C Copyright 2012 Rockwell Automation, Inc. All rights reserved.
Agenda

5min - Introduction to Micro850

5min - Ethernet Capabilities

10min - Motion Basics

10min Programming Motion

10min Wrapup and Q&A

Copyright 2012 Rockwell Automation, Inc. All rights reserved. 2

 Micro800 Release 2 Overview Micro850
Launch
For all your Micro PLC needs
- Maximum customization of your
controller with plug-ins, expansion I/O
- Flexible communications with Ethernet,
USB, serial ports
Micro810 Smart Relay Micro PLC - 132pts with 4 expansion I/O Micro830 Block-style Micro PLC

Ethernet
- Connect to HMI Expansion I/O
- EtherNet/IP - Max 4 modules
- Modbus TCP - 32-pt inputs
- Program upload/ - 8ch analog IN
download, debug, - 4ch RTD/TC
discover, etc.

Micro850 24/48pt Micro PLC with Ethernet and Expansion I/O

Connected Component Workbench
Release2 SW/FW
- Micro830/Micro850 3-Axis Motion
- Password Protection
- CIP Symbolic with PVc
- Redesigned, easier to use PVc editor
Connected Component Workbench Software Plug-in modules for customization
Copyright 2012 Rockwell Automation, Inc. All rights reserved. 3
Connected Components
Workbench Release 2 Overview
Features
Controller password for OEM intellectual property protection
Support for Micro850 with Ethernet and 2085 expansion I/O
Support for Micro830/850 motion control
Ease of Use
PanelView Component Editor integrated with Micro800 using
CIP Symbolic. Supported by both Ethernet and serial port
Easily reference Micro800 variables in PVc Tag Editor
Local help - Instructions examples in all programming
languages
Self-help links Knowledgebase, user forums, submit a question,
Sample Code Connected Components Accelerator Toolkit
Sample projects

Strongly recommend customer to upgrade to CCW R2

Copyright 2012 Rockwell Automation, Inc. All rights reserved. 4
Agenda

5min - Introduction to Micro850

5min - Ethernet Capabilities

10min - Motion Capabilities

10min Motion Applications

10min Wrapup and Q&A

Copyright 2012 Rockwell Automation, Inc. All rights reserved. 5

Which Micro800 Controllers have
Ethernet?

Only the Micro850 lineup has embedded Ethernet

Total of 8 Different Micro850 Catalog numbers

Four 24pt Controllers
Four 48pt Controllers

Protocols
EtherNet/IP with CIP Symbolic for accessing variables in the
controller symbolically
Symbolic name CoolantTemperature used instead of Modbus Address of
4000001 or PCCC Address of N7:0
Modbus TCP for connectivity to 3rd Party HMIs, RTU/SCADA
applications

Copyright 2012 Rockwell Automation, Inc. All rights reserved. 6

Ethernet Capabilities of Micro850
High performance
connection to HMI
Faster than serial
port for large
number of tags
PanelView Component Micro850 targets
larger standalone
machines than
Stratix Micro830

Permanent programming
connection
USB is easy to use but
temporary point-point connection
Suitable for long distances
Flexible Media wireless,
optical fiber Micro850 Micro850
Copyright 2012 Rockwell Automation, Inc. All rights reserved. 7
Ethernet Capabilities of Micro850
OPC Server for Standalone Machine Control
Data Monitoring
Modbus TCP
CIP Symbolic
(RSLinx
Gateway)
PanelView Component

Stratix Stratix

Micro850
Logix (Data Concentrator)
initiates Message as Client
Data Table Read/Write
Copyright 2012 Rockwell Automation, Inc. All rights reserved. 8
Solar Farm Application

Ethernet required due to long distances and many individual solar panels

Copyright 2012 Rockwell Automation, Inc. All rights reserved.

 Ethernet Limitations of Micro850

Standalone Machine Control

Micro850 Micro850 cannot

initiate messages as a
Kinetix 300
Stratix 2000 client to drives and
other controllers
PanelView Component

Client Messaging
capabilities for
Micro850 will be
PowerFlex 4 available in next
Micro850 major release

Copyright 2012 Rockwell Automation, Inc. All rights reserved. 10

Agenda

5min - Introduction to Micro850

5min - Ethernet Capabilities

10min - Motion Basics

10min Programming Motion

10min Wrapup and Q&A

Copyright 2012 Rockwell Automation, Inc. All rights reserved. 11

Overview of types of Component Motion
supported by Micro800

Digital I/O for ON

Position Indexing
- 24V OFF
Analog Output for High
Speed/Torque
- 0-10V, 0-20mA Low
Modbus RTU +RS485
Serial Port for
Speed/Torque - RS485
Pulse Train Direction
Output (PTO)
- 24V Pulse
All methods use serial port or low cost hard wiring for simplicity
and to keep wiring costs low
Copyright 2012 Rockwell Automation, Inc. All rights reserved. 12
Basic Concept of Pulse Train Outputs

Typically PTO Motion is for precise positioning applications that require

more flexibility than provided by Index Positioning
Also used for precise velocity control especially if position registration
is required. (Not used for torque control)

A pulse rotates the motor by a fractional amount (e.g. 1/2000 revolution)

Pulse Pulse Pulse Pulse

1 2 3 4

Pulse Train Direction

PTO is low
Output (PTO) cost and good performance. Can be interfaced using
-low
24Vcost shielded wiring to any component servo drive
Pulse
Copyright 2012 Rockwell Automation, Inc. All rights reserved. 13
Which Micro800 Controllers have Pulse
Train Output (PTO) Motion?

All Micro830 and Micro850 controllers with Transistor Outputs support up

to 3 Axes of PTO Motion
Catalog Number Name must contain QBB or QVB
Micro830 10/16-pt controllers support 1 Axis of Motion
Micro830/850 24-pt controllers support 2 Axes of Motion
Micro830/850 48-pt controllers support 3 Axes of Motion
100KHz PTO Frequency, 24V single ended

Connected Components Workbench must be upgraded to Revision 2

Older Micro830 controllers must be upgraded to Firmware Revision 2

using ControlFlash
Micro850 controllers ship with Firmware Revision 2

Copyright 2012 Rockwell Automation, Inc. All rights reserved. 14

Agenda

5min - Introduction to Micro850

5min - Ethernet Capabilities

10min - Motion Basics

10min Programming Motion

10min Wrapup and Q&A

Copyright 2012 Rockwell Automation, Inc. All rights reserved. 15

How to Configure a PTO Motion Axis

1) Create the Axis Simulator

in the Controller Tree

Copyright 2012 Rockwell Automation, Inc. All rights reserved. 16

How to Configure a PTO Motion Axis

1) Create the Axis Simulator in

the Controller Tree

2) Map Motion Related I/O

- Map I/O to motion
function such as Drive
Enable

Copyright 2012 Rockwell Automation, Inc. All rights reserved. 17

How to Configure a PTO Motion Axis

1) Create the Axis Simulator in

the Controller Tree

2) Map Motion Related I/O

3) Enter Motor and Load

Parameters
- Depends on driver, motor and
gearing

Copyright 2012 Rockwell Automation, Inc. All rights reserved. 18

How to Configure a PTO Motion Axis

1) Create the Axis Simulator in

the Controller Tree

2) Map Motion Related I/O

3) Enter Motor and Load

Parameters

4) Enter Axis Motion Limits

- Hard and Soft options

Copyright 2012 Rockwell Automation, Inc. All rights reserved. 19

How to Configure a PTO Motion Axis

1) Create the Axis Simulator in

the Controller Tree

2) Map Motion Related I/O

3) Enter Motor and Load

Parameters

4) Enter Axis Motion Limits

5) Set Speed/Acceleration
- Normal and Emergency
Stop Profiles

Copyright 2012 Rockwell Automation, Inc. All rights reserved. 20

How to Configure a PTO Motion Axis

1) Create the Axis Simulator in

the Controller Tree

2) Map Motion Related I/O

3) Enter Motor and Load

Parameters

4) Enter Axis Motion Limits

5) Set Speed/Acceleration

6) Configure Homing Graphical User Interface makes

- 5 types of homing configuring an Axis easy
supported
Copyright 2012 Rockwell Automation, Inc. All rights reserved. 21
How to Program Motion

1) Powerup the Axis

- Enables Driver

Copyright 2012 Rockwell Automation, Inc. All rights reserved. 22

How to Program Motion

1) Powerup the Axis

- Enables Driver

2) Home the Axis

- Moves Axis to known
starting position

Copyright 2012 Rockwell Automation, Inc. All rights reserved. 23

How to Program Motion

1) Powerup the Axis

- Enables Driver

2) Home the Axis

- Moves Axis to known starting
position

3) Move the Axis

- MoveVelocity
- MoveRelative
- Go to new position relative to
current position
- MoveAbsolute PLCopen function blocks
- Go to new position regardless simplifies motion
of current position
programming
Copyright 2012 Rockwell Automation, Inc. All rights reserved. 24
Touch Probe Low Cost Method for
Exact Position Registration

On rising edge of touch probe input, current position of PTO Axis is saved
Useful for locating position of an asynchronous object such as film
wrapper registration mark, object on conveyor belt

Touch Probe
Registers Position 2

Position Position Position Position

1 2 3 4

Touch Probe embedded into the controller hardware. More

accurate than interrupts. Not affected by program scan time.
Copyright 2012 Rockwell Automation, Inc. All rights reserved. 25
When to use Touch Probe?
Touch Probe is used when more precision than
interrupts is desired
Interrupts accurate to ~200us

And a move to an absolute position is required

by an asynchronous object

Vertical Form Fill Seal (VFFS) example

PTO Axis pulls/moves film wrapper using
MC_MoveAbsolute assuming no slippage
MCTouchProbe is used to detect film
registration marks exact position
New instance of MC_MoveAbsolute is
executed (aborted move) to compensate for
slippage and variations in registration mark
location
Copyright 2012 Rockwell Automation, Inc. All rights reserved. 26
Agenda

5min - Introduction to Micro850

5min - Ethernet Capabilities

10min - Motion Basics

10min Programming Motion

10min Wrapup and Q&A

Copyright 2012 Rockwell Automation, Inc. All rights reserved. 27

Micro800 Motion Features
Support up to 3 axis Easy to use GUI for Dedicated motion
with PTO configure the Motion instructions

Compatible with Kinetix 3/300, Create and configure axes in Easy to use motion instructions
and 3rd party drives that support CCW using 5 simple to use
PTO configuration screens Simplify the programming

Exact position registration of Use the Axis Monitor to see

PTO axis with Touch Probe. important information about the
status of axes
Available on Micro830 and
Micro850

Copyright 2012 Rockwell Automation, Inc. All rights reserved.

Wide Variety of Motion Applications
Packaging Material Handling Energy

VFFS (Vertical Form Fill and Conveyors Solar PV Two-axis

Seal) positioning
Sorters
Case Erector Solar Thermal single-axis
Pick and Place positioning
Stretch wrapping
Cutting

Copyright 2012 Rockwell Automation, Inc. All rights reserved. 29

Thank you!

Follow ROKAutomation on Facebook & Twitter.

Connect with us on LinkedIn.

www.rockwellautomation.com

Rev 5058-CO900C Copyright 2012 Rockwell Automation, Inc. All rights reserved.