iec 61131-3, motion control and safety - infoplc · welcome to phoenix contact masterversion 13 iec...

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IEC 61131-3, motioncontrol and safety

Logic and motion united forease of use

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PLCopenLogic and motion united for ease of use

End-user market trends:Reduced lifetime of products Increased product-variantsCustomized productsHigh availability of products…

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…results into machine requirements:Reuse and retrofit of existing machines.Modular machine design for flexible

solutions.Mechanical motion control is replaced

by servo-based motion control.High flexibility and shorter delivery

schedule require software basedmotion functionality.

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1. Step:The changeover from the mechanicalsolution…

…to Servo-based machines

TraditionalMechanical Machine

“Electronic” Machine

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Servo based motion control…Use of drive based motion functionalityUse of PLCs for programmable logic Interfacing between logic and motion

via bus specific profiles (DRIVECOM,PROFIdrive, SERCOS, CANopen…)

…but this means:Use of different toolsDifferent implementations according to

technology provider…

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2. Step:Integration of logic and motion into oneSystem

Standardized Programming ToolsStandardized Programming LanguagesStandardized access to drive / motion

specifics for centralized or distributedcontrol

IEC 61131-3 provides the only platformfor this !

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Hardware independence via functionblocks

Definition of standardized motionfunctions blocks for different motionfunctionalities.

Supplier and technology independenceallows for reuse of existing projects.

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TC2 – Function BlocksTask Force Motion ControlThe complete set functions for a world ofmachine applications.

Part 1 – Basics, implemented in over 30products.

Part 2 – Extensions, containing additionalfunction blocks.

Part 3 - User Guidelines, showing guidelinesand examples for users.

Part 4 – Coordinated Motion, focused to thecoordinated multi-axes motion in 3D space.

Part 5 - Homing, extension of the homingfunction block as defined in Part 1

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Implementation independent:PC basedController basedDrive based

Different architectures but the sameprogramming tool and languages

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The complete set of Motion Control Functions(overview)

Velocity commands Absolute, relative, additive and superimposed

positioning commands Position- Velocity- and Acceleration-profile

commands Electronic Cam function Electronic Gear function / with synchronized

start Linear and circular interpolation Override function Homing function Scale offset function …

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Applications:AssemblyMaterial HandlingLogisticsThese applications are described byPoint to point positioningPick and place movements

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Applications:PackagingLabelingPrintingThese applications are described byMaster-slave motionCamingGearing

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Applications - User guidelinesExamples for different applications like

flying sheer or registrationOMAC PackAL function library

programming examples

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User benefits:One tool for logic and motion

programmingWorldwide acceptance with IEC 61131

programming languagesTotally drive independent motion

descriptionSame look and feel from different

vendors allow for simple systemchanges

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Conclusion: IEC 61131-3 provides a good

framework for Motion AppsPLCopen Motion Control Library

provides an independent user interfaceSupport for single axis and multiple

axes / motion control IEC 61131-3 with PLCopen MC

provides mechatronic solutionsUser derived FBs and data structures,

and multi-tasking are crucial

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Questions ?

iec 61131-3, motion control and safety - infoplc · welcome to phoenix contact masterversion 13 iec...

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