R&D - Product Integration Team

PLC Controlled Motion - Introduction

Nidec Control Technniques

27/06/2019 V1.2
Introduction
 Control Techniques drives are often used in
control systems with a central control PLC
from a 3rd party vendor e.g. Allen-Bradley
Rockwell or Siemens.
 Control Techniques has a “connect to
anything” philosophy.
 A standard way to help 3rd party PLCs users
to quickly integrate CT drives into an
application was required.
 The solution is PLC Controlled Motion.

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What is PLC Controlled Motion?
 PLC Controlled Motion is a set of application
integration tools that allow a 3rd party PLC to
command a Control Techniques drive to
generate a range of motion control
functionality.
 The offering splits into 3 categories:
- A guided setup plug-in for Control Techniques
Connect PC tool.
- A comprehensive set of PLC motion interfaces.
- Full step by step documentation for the Connect
plug-in and use of the PLC motion interfaces.

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PLC Controlled Motion plug-in for Connect
 After installation of the plug-in,
PLC Controlled Motion may be
selected under “Setup”.

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PLC Controlled Motion plug-in for Connect
 The Axis Configuration Screen
allows the main system preferences
to be selected:
- PLC Type

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PLC Controlled Motion plug-in for Connect
 The Axis Configuration Screen
allows the main system preferences
to be selected:
- PLC Type
- Control Type

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PLC Controlled Motion plug-in for Connect
 The Axis Configuration Screen
allows the main system preferences
to be selected:
- PLC Type
- Control Type
- Machine Type

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PLC Controlled Motion plug-in for Connect
 At any time, the PLC software and
help documentation is available by
clicking “Libraries and
Documentation”

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PLC Controlled Motion plug-in for Connect
 After completing the Axis
Configuration, the guided setup is
revealed, helping the user through
the axis setup with a commissioning
work flow.
- Motor setup with a searchable
database of Control Techniques and
Leroy-Somer Motors or direct motor
name plate entry.

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PLC Controlled Motion plug-in for Connect
 After completing the Axis
Configuration, the guided setup is
revealed, helping the user through
the axis setup with a commissioning
work flow.
- Option module selection
» Add digital I/O
» Add comms options
» Add feedback interfaces

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PLC Controlled Motion plug-in for Connect
 After completing the Axis
Configuration, the guided setup is
revealed, helping the user through
the axis setup with a commissioning
work flow.
- Encoder setup
» Feedback configuration
» Motor thermistor setup
» Single / Dual loop selection
» Freeze (feedback position capture)

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PLC Controlled Motion plug-in for Connect
 After completing the Axis
Configuration, the guided setup is
revealed, helping the user through
the axis setup with a commissioning
work flow.
- Machine setup.
» Ratio configuration.
» Rotary to linear conversion
(units per revolution).

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PLC Controlled Motion plug-in for Connect
 After completing the Axis
Configuration, the guided setup is
revealed, helping the user through
the axis setup with a commissioning
work flow.
- Hardware limits
» Assign drive digital I/O to hardware limit
inputs.
» Intended for forward and reverse hardware
limit switches that are connected to the
drive.

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PLC Controlled Motion plug-in for Connect
 After completing the Axis
Configuration, the guided setup is
revealed, helping the user through
the axis setup with a commissioning
work flow.
- Brake Control.
» Mechanical brake controller setup.
» Automatic brake controller.
» Manual brake release.
» Electrical braking resistor setup.

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PLC Controlled Motion plug-in for Connect
 After completing the Axis
Configuration, the guided setup is
revealed, helping the user through
the axis setup with a commissioning
work flow.
- Network Inputs / Outputs.
» All essential cyclic links are configured
automatically
» User can define 4 cyclic inputs.
» User can define 4 cyclic outputs.
» Allows flexibility to add custom data to the
application.

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PLC Controlled Motion plug-in for Connect
 After completing the Axis
Configuration, the guided setup is
revealed, helping the user through
the axis setup with a commissioning
work flow.
- Unit configuration.
» Unit type.
» Unit resolution.
» Position feedback resolution.
» Speed limits.
» Calculates the motion controller unit ratios
for the user.

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PLC Controlled Motion plug-in for Connect
 After completing the Axis
Configuration, the guided setup is
revealed, helping the user through
the axis setup with a commissioning
work flow.
- RTMoE Setup.
» RTMoE is an IEEE1588 based
synchronous comms protocol.
» Used to transmit and receive real time
encoder data.
» Allows one axis to follow another with
electronic gearbox lock.
» Encoder source is selectable at PLC
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PLC Controlled Motion plug-in for Connect
 After completing the Axis
Configuration, the guided setup is
revealed, helping the user through
the axis setup with a commissioning
work flow.
- Homing.
» Selection of a homing sensor input
» Configuration of sensor-less homing
(hard stop homing)
» Configuration of homing limits

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PLC Controlled Motion plug-in for Connect
 After completing the Axis
Configuration, the guided setup is
revealed, helping the user through
the axis setup with a commissioning
work flow.
- Apply the setup.
» Download the settings to the drive.
» Perform an autotune.
» Click “Libraries and Documentation” to
access the PLC software / user guides.

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PLC code for motion control
 The Standard AOIs / Function Blocks
have been designed to be flexible to
meet the needs of the application.
- Interfaces can be edited to build
customer specific functionality
- The core functionality is not editable

 Ladder logic is used where possible

for ease of debugging.
 Rockwell from V17, Siemens from
TIA V14 (S7-1200 & S7-1500).
 Cyclic (Implicit) comms update
<=100ms 20
PLC code for motion control
 5 main motion function blocks are
available:
- Frequency Hz
- Speed rpm
- Speed engineering units (AMC)
- Position engineering units (AMC)
- Electronic Gear Box engineering units
(AMC)

 Example routines are provided to

help the user get going

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PLC code for motion control
 Supporting AOIs / Function Blocks
to aid development
- Non-cyclic (Explicit) comms read /
write to drive
» Rockwell only

- Read drive digital I/O state

- Read drive status
- Read AMC status

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PLC code for motion control
 AOI / Function Block prefixes:
- CT_A > Primary motion functionality
- CT_B > Auxiliary functionality
- CT_C > System functionality

 AOI / Function Block structure CT_A_PositionAMC

- Outer layer calls the inner core

functionality
CT_C_UniM7xxAMC
- Keeps the code maintainable
- Users can customise the outer layer
and still update the core functionality

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PLC code for motion control
 I/O for the motion function blocks
falls into 3 main categories:
- CMD – Boolean command inputs
- CFG – Configure inputs
- STS – Status outputs

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Frequency Hz
 AOI / Function Block is called
CT_A_FrequencyHz
 Works with Commander, Digitax HD
and Unidrive M
 Motion stop reference
 Jogging reference
- For manual control

 Running reference
- For automated control

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Speed rpm
 AOI / Function Block is called
CT_A_SpeedRPM
 Works with Digitax HD and Unidrive
M600 and M70x
 Motion Stop
 Jogging reference
- For manual control

 Running reference
- For automated control

 Closed speed loop 26

Speed AMC
 AOI / Function Block is called
CT_A_SpeedAMC
 Works with Digitax HD and Unidrive M70x
 Motion Stop reference
 Jogging reference
 Speed reference
 Closed speed and position loop

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Position AMC
 AOI / Function Block is called
CT_A_PositionAMC
 Works with Digitax HD and Unidrive M70x
 Motion stop reference
 Jogging reference
 Homing reference
 10 selectable position references
- Absolute and relative (indexes)

 Closed speed and position loop

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Electronic Gearbox (EGB) AMC
 AOI / Function Block is called
CT_A_ElectronicGearBoxAMC
 Works with Digitax HD and Unidrive M70x
 Motion stop reference
 Jogging reference
 Homing reference
 Single position reference
 EGB reference with PLC selectable
position master encoder via RTMoE
 Closed speed and position loop 29
Summary of benefits
 Significantly reduced integration times.
 High performance motion (e.g. ELS) with low spec. PLCs.
- High performance motion control is embedded in the drive > AMC.

 Only one network required > standard Ethernet.

 Simplifies migration between Siemens and Rockwell systems.
- Important for OEMs and System Integrators who use both manufacturers.
- Only one drive type needed for Siemens or Rockwell M700 or M750 when
fitted with Multi Protocol Factory Fitted Ethernet.

 Fully supported > Training > Documentation > Support Suite >
Technical Support > R&D.
 Flexible > Can be extended and tailored by Application Centres or
end users.
 Support for our current AC drive range.
 No licence fee > it’s free!
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