Beckhoff Beckhoff Beckhoff Beckhoff 运动控制技术及解决方案

IPC IPC IPC IPC 嵌入式PCPCPCPC

运动控制器 --------基于Windows XP Windows XP Windows XP Windows XP 和CECECECE的IPC EPCIPC EPCIPC EPCIPC EPC

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运动控制系统基石------------现场总线及I/OI/OI/OI/O

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Windows NT, 2000, XP

现场总线接口卡驱动程序

ADS 路由器

I/O服务器

I/O 映射

PLC服务器

I/O

NC服务器

其它例如，凸轮等

系统管理器

ADS

PLC控制

诊断功能如示波器

用户HMI

用户HMI

ADSADS TCP/IP

内核模式

用户模式

ADSADS OCX/Dll OPC

ADS ADS ADS ADS

I/O I/O

TwinCAT 系统

实时服务器

控制软件---TwinCAT Totol Windows Control Automation Technology---TwinCAT Totol Windows Control Automation Technology---TwinCAT Totol Windows Control Automation Technology---TwinCAT Totol Windows Control Automation Technology

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� PLC PLC PLC PLC 任务 和 NC NC NC NC 任务定时地以多任务多线程独立运行

� 周期性地获取CPUCPUCPUCPU的计算时间

Windows NTWindows NTWindows NTWindows NT和 HMIHMIHMIHMI程序

NC NC NC NC 服务PLC PLC PLC PLC 服务

在PC PC PC PC 上 一个 PLC PLC PLC PLC 程序和 NC NC NC NC 控制的实时运行

PLC PLC PLC PLC 周期 ((((例如. 2ms). 2ms). 2ms). 2ms) PLC PLC PLC PLC 周期 tttt

tttt

在 PC PC PC PC 上运行 PLCPLCPLCPLC 和 NCNCNCNC

NC NC NC NC 周期 ((((例如. 1. 1. 1. 1ms)ms)ms)ms) NC NC NC NC 周期 NC NC NC NC 周期 NC NC NC NC 周期

1111msmsmsms 2222msmsmsms 3333msmsmsms 4444msmsmsms 5555msmsmsms例如....

BeckhoffBeckhoffBeckhoffBeckhoff 运动控制系统机制

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逻辑运算与处理

路径规划闭环控制

位置，速度

加速度控制

通用插补同步，凸轮

飞剪等

PLC

PLC

NC I

NC I

NC PTP

CNC

TWINCAT TWINCAT TWINCAT TWINCAT ––––PC ControlPC ControlPC ControlPC ControlPLC/NC PTP/CNCPLC/NC PTP/CNCPLC/NC PTP/CNCPLC/NC PTP/CNC

NC PTP

NC PTP

BeckhoffBeckhoffBeckhoffBeckhoff 运动控制实现方式TwinCAT NC PTPTwinCAT NC PTPTwinCAT NC PTPTwinCAT NC PTP，NCINCINCINCI，CNCCNCCNCCNC

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I/O, PLC, NC PTP, NCI/CNCI/O, PLC, NC PTP, NCI/CNCI/O, PLC, NC PTP, NCI/CNCI/O, PLC, NC PTP, NCI/CNC高度集成在一个平台中

实时性：

• 硬实时能力：周期最小至 50505050微秒，以及 Beckhoff Beckhoff Beckhoff Beckhoff 拥有专利的

对CPUCPUCPUCPU利用率的动态调整

•XFC 100XFC 100XFC 100XFC 100微秒的刷新周期（包含 100100100100个伺服轴）���� 基于 EtherCATEtherCATEtherCATEtherCAT总线

• 几乎运行于任何一个PCPCPCPC• 纯软件解决方案 ((((无需硬件扩展 ))))

BeckhoffBeckhoffBeckhoffBeckhoff运动控制概览

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TwinCATTwinCATTwinCATTwinCAT NC PTP NC PTP NC PTP NC PTP 功能

普通定位运动 (Point to Point)(Point to Point)(Point to Point)(Point to Point)

电子齿轮同步

数字凸轮开关

凸轮轴

运动叠加（合成）

飞剪

TwinCATTwinCATTwinCATTwinCAT NC I NC I NC I NC I 功能

Linear, circular, helical interpolation in the main planesLook Ahead

Interpolation functions

DIN 66025 extensionSubroutine techniquesNCI function blocks from the PLC

NCI programming

IEC 61131-3PLC programming

2553 path axes + 5 auxiliary axes

Max. number of controlled axesMax. number of simultaneously interpolating per channel

TwinCAT NC IProperties

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TwinCATTwinCATTwinCATTwinCAT NCI NCI NCI NCI 功能

TwinCATTwinCATTwinCATTwinCAT CNC CNC CNC CNC 功能

Linear, circular, helical interpolation in the main planes/freely definable planesLook AheadSpline interpolationThread functions

Interpolation functions

DIN 66025 extensionHigh-level language extensionsSubroutine techniquesUser macros

CNC programmingIEC 61131-3PLC programming

255121032 path axes/spindles

Max. number of controlled axes/spindlesMax. number of controlled spindlesMax. number of independent channelsMax. number of simultaneously interpolating per channel

TwinCAT CNCProperties

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TwinCATTwinCATTwinCATTwinCAT CNC CNC CNC CNC 功能

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TwinCATTwinCATTwinCATTwinCAT NC PTP--NC PTP--NC PTP--NC PTP--PLCopenPLCopenPLCopenPLCopen 功能块概览

AdministrativeAdministrative MotionMotion

SingleAxes

MultipleAxes

SingleAxes

MultipleAxes

Non-InterpolatedMoveAbsolute

Interpolated

MoveAdditiveMoveSuperImposedMoveContinuousMoveVelocityHomeStop

PowerResetReadStatusReadAxisErrorReadParameterWriteParameterReadActualPosition

PositionProfileVelocityProfileAccelerationProfile

CamTableSelect

CamInCamOutGearInGearOut

…

MoveRelative

Phasing

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TwinCATTwinCATTwinCATTwinCAT NC PTP-NC PTP-NC PTP-NC PTP- --------PLCopenPLCopenPLCopenPLCopen 功能块概览

MC_MoveMC_MoveMC_MoveMC_MoveSuperSuperSuperSuperiiiimposedmposedmposedmposed MC_MoveMC_MoveMC_MoveMC_MoveVelocityVelocityVelocityVelocityMC_VelocityProfileMC_VelocityProfileMC_VelocityProfileMC_VelocityProfileMC_AccelerationProfileMC_AccelerationProfileMC_AccelerationProfileMC_AccelerationProfile

Discrete MotionDiscrete MotionDiscrete MotionDiscrete Motion Continuous MotionContinuous MotionContinuous MotionContinuous Motion

StandstillStandstillStandstillStandstill

MC_MC_MC_MC_Move AbsoluteMove AbsoluteMove AbsoluteMove AbsoluteMC_MC_MC_MC_Move RelativeMove RelativeMove RelativeMove RelativeMC_MoveAdditiveMC_MoveAdditiveMC_MoveAdditiveMC_MoveAdditiveMC_MC_MC_MC_MoveSuperimposedMoveSuperimposedMoveSuperimposedMoveSuperimposedMC_PositionProfileMC_PositionProfileMC_PositionProfileMC_PositionProfile

DoneDoneDoneDone

MC_MC_MC_MC_MoveAbsoluteMoveAbsoluteMoveAbsoluteMoveAbsoluteMC_MC_MC_MC_MoveRelativeMoveRelativeMoveRelativeMoveRelativeMC_MC_MC_MC_MoveSuperimposedMoveSuperimposedMoveSuperimposedMoveSuperimposedMC_MoveAdditiveMC_MoveAdditiveMC_MoveAdditiveMC_MoveAdditiveMC_PositionProfileMC_PositionProfileMC_PositionProfileMC_PositionProfile

MC_MC_MC_MC_StoStoStoStopppp MC-MC-MC-MC-StopStopStopStop

MC_MC_MC_MC_MoveVelocityMoveVelocityMoveVelocityMoveVelocityMC_VelocityProfileMC_VelocityProfileMC_VelocityProfileMC_VelocityProfileMC_AccelerationProfileMC_AccelerationProfileMC_AccelerationProfileMC_AccelerationProfile

MC_MC_MC_MC_MoveVelocityMoveVelocityMoveVelocityMoveVelocityMC_VelocityProfileMC_VelocityProfileMC_VelocityProfileMC_VelocityProfileMC_AccelerationProfileMC_AccelerationProfileMC_AccelerationProfileMC_AccelerationProfile

MC_PowerMC_PowerMC_PowerMC_PowerMC_MC_MC_MC_StopStopStopStop

Note 1Note 1Note 1Note 1

StoppStoppStoppStoppinginginging

MC_MC_MC_MC_MoveMoveMoveMoveAbsolute; MC_ Absolute; MC_ Absolute; MC_ Absolute; MC_ MoveMoveMoveMoveRelativeRelativeRelativeRelativeMC_MoveAdditive; MC_PositionProfileMC_MoveAdditive; MC_PositionProfileMC_MoveAdditive; MC_PositionProfileMC_MoveAdditive; MC_PositionProfile

DoneDoneDoneDone

HomingHomingHomingHomingDoneDoneDoneDone

MC_HMC_HMC_HMC_Hoooommmmeeee

MC-StopMC-StopMC-StopMC-StopNote 1:Note 1:Note 1:Note 1:All All All All FBsFBsFBsFBs can be called, can be called, can be called, can be called, althoughalthoughalthoughalthoughthey will notthey will notthey will notthey will not be executed, except be executed, except be executed, except be executed, except MC_MC_MC_MC_Reset Reset Reset Reset and Errorand Errorand Errorand Error–––– will will will will generate generate generate generate the transition to the transition to the transition to the transition to StandStillStandStillStandStillStandStill or or or or ErrorStop resp.ErrorStop resp.ErrorStop resp.ErrorStop resp.....

� Root: Task Force Motion Control presentation Version Febr2002 . (www.plcopen.org)

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TwinCATTwinCATTwinCATTwinCAT NC PTP-NC PTP-NC PTP-NC PTP- --------PLCopenPLCopenPLCopenPLCopen 功能块概览

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TwinCATTwinCATTwinCATTwinCAT NC PTP-NC PTP-NC PTP-NC PTP- --------电子齿轮同步

• 线性同步 耦合之后::::• 从轴 set position = coupling factorset position = coupling factorset position = coupling factorset position = coupling factor****主轴 set positionset positionset positionset position • 可以动态修改齿轮比

• 使用标准的功能块，简单方便

TwinCAT电子齿轮同步————龙门钻床

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TwinCAT运动控制凸轮同步

CammingCammingCammingCamming

• 主从轴之间非线性耦合

• 凸轮设计遵循 VDI guideline 2143VDI guideline 2143VDI guideline 2143VDI guideline 2143 • 凸轮设计工具 TwinCATTwinCATTwinCATTwinCAT cam design editor cam design editor cam design editor cam design editor

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TwinCATTwinCATTwinCATTwinCAT NC PTP-NC PTP-NC PTP-NC PTP-—凸轮设计工具

PositionPositionPositionPosition

Velocity Velocity Velocity Velocity

AccelerationAccelerationAccelerationAcceleration

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TwinCATTwinCATTwinCATTwinCAT NC PTP-NC PTP-NC PTP-NC PTP-—凸轮设计工具

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The position values of a slave depending on a master value are interpolatedin the NC

Only segment points needed. The intermediate points are calculated

depending on the actual function in the NC

PositiontablePositiontablePositiontablePositiontable

Motion FunctionMotion FunctionMotion FunctionMotion Function

TwinCATTwinCATTwinCATTwinCAT NC PTPNC PTPNC PTPNC PTP—凸轮设计工具

数据表

动态修改

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TwinCATTwinCATTwinCATTwinCAT NC PTPNC PTPNC PTPNC PTP : 飞剪

TwinCATTwinCATTwinCATTwinCAT NC PTPNC PTPNC PTPNC PTP : 飞剪功能块

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TwinCAT运动控制: 自动收放卷

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TwinCAT系统管理器————运动控制调试配置工具

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BeckhoffBeckhoffBeckhoffBeckhoff运动控制————软件示波器

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Digital Compact Servo Drive AX20xx

Digital Compact Servo Drive

AX25xx

SynchronousServomotors AM2000/AM3xxx

Digital Compact Servo Drive

AX5xxx

BeckhoffBeckhoffBeckhoffBeckhoff运动控制之驱动解决方案

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BeckhoffBeckhoffBeckhoffBeckhoff运动控制————驱动解决方案AX5000AX5000AX5000AX5000

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MMMM SSSS

SSSS

SSSS SSSS SSSS SSSS SSSS

SSSS

∆∆∆∆tttt

PrecisePrecisePrecisePrecise Synchronisation (<< 1 Synchronisation (<< 1 Synchronisation (<< 1 Synchronisation (<< 1 µµµµs!) s!) s!) s!) bybybyby exactexactexactexact adjustmentadjustmentadjustmentadjustment of of of of distributeddistributeddistributeddistributed clocksclocksclocksclocks

DVI

IPC

....

BeckhoffBeckhoffBeckhoffBeckhoff运动控制————基于EtherCAT EtherCAT EtherCAT EtherCAT 总线的伺服驱动AX5000AX5000AX5000AX5000

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BeckhoffBeckhoffBeckhoffBeckhoff运动控制————驱动解决方案 AX5000AX5000AX5000AX5000

支持第三方的伺支持第三方的伺

服电机服电机

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� 板载多种通用接口无需额外接口

� Resolver� TTL encoder� TTL encoder with Hall effects� Sinus/Cosinus 1 Vpp

� EnDAT, single- and multi-turn� Hiperface, single- and multi-turn� BiSS, single- and multi-turn

BeckhoffBeckhoffBeckhoffBeckhoff运动控制————驱动解决方案 AX5000AX5000AX5000AX5000支持多种反馈接口

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BeckhoffBeckhoffBeckhoffBeckhoff伺服调试------------TcDriveManagerTcDriveManagerTcDriveManagerTcDriveManager

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BeckhoffBeckhoffBeckhoffBeckhoff运动控制————驱动解决方案 步进电机系统

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BeckhoffBeckhoffBeckhoffBeckhoff支持的运动控制方式

DVI/USB

EL2521/KL2521

EL4132

EL5101

EL2521/KL2521

EL7041/KL2541EM7004

驱动:::: 伺服电机((((总线,,,,模拟量,,,,脉冲),),),), 步进电机(KL2531/41,K/EL2521)(KL2531/41,K/EL2521)(KL2531/41,K/EL2521)(KL2531/41,K/EL2521) 直流电机(KL2532/42,KL2535/45)(KL2532/42,KL2535/45)(KL2532/42,KL2535/45)(KL2532/42,KL2535/45) 直线电机(AX5000/2000)(AX5000/2000)(AX5000/2000)(AX5000/2000) 液压轴

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BK1120BK1120BK1120BK1120

KL2542, 3.5A/50 V直流电机

KL2541, 5A/50 V步进电机

CP6619

KL4434, KL5101伺服电机

BeckhoffBeckhoffBeckhoffBeckhoff运动控制应用————金属焊接系统

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BeckhoffBeckhoffBeckhoffBeckhoff运动控制应用————轿车车门焊接设备

Automotive Door

Control systemControl systemControl systemControl system CP6201 NC PTP run-time EK1100 EL2521 TwinCAT HMI

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EK1100EK1100EK1100EK1100

EL2521

CP6201

EL2521

EL6731/Profibus master

EtherCAT

BeckhoffBeckhoffBeckhoffBeckhoff运动控制应用————轿车车门焊接设备

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BeckhoffBeckhoffBeckhoffBeckhoff运动控制应用--------立体仓库

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Cam tables MC_CamTableSelect MC_CamIn product detection MC_TouchProbe Cam table adjustment on the fly MC_CamScaling MC_WriteMotionFunction

BeckhoffBeckhoffBeckhoffBeckhoff运动控制应用--------矽钢片曲线开料机

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BeckhoffBeckhoffBeckhoffBeckhoff运动控制系统应用————机器人

C6350 Windows XP TwinCAT NCI ETHERCAT EL4132/5101 Visual C++ Camming Gearing

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BeckhoffBeckhoffBeckhoffBeckhoff运动控制系统应用 木工加工设备--NCI NCI NCI NCI

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BeckhoffBeckhoffBeckhoffBeckhoff运动控制系统应用---CNC---CNC---CNC---CNC加工中心

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BeckhoffBeckhoffBeckhoffBeckhoff运动控制系统

感谢大家的时间与耐心！