SIMATIC Motion Control
Positioning
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Restricted
Drive Control
Positioning axis
Positioning
Palletizing equipment
Lifting and vertical conveyors
Feeder and gate controls
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Positioning axis
Principle of the interpolator: Calculate target position
Positioner
User System
Interface
Interpolator Position controller
on Normalization
Programm Target position
100
96
99
50
30
70
4
1
10
90
Setpoint
Dynamics -
TO Achse Speed setpoint
Actual position
s Position setpoint
100
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Positioning axis
Principle of the position controller: Calculate speed setpoint
Positioner
n%
User System Speed setpoint
100
Interface
Kv: 10
Interpolator Position Controller t
on 10
0
2
51
42 Normalization
Programm Target position Setpoint 𝝙𝑠
100
96
99
50
30
70
4
1
10
90 𝝙𝑠 ∗ 𝐾𝑣 10
100
20
50
40
20
0
Dynamics -
TO Achse Speed setpoint
Actual position 520
s Position setpoint 20
60
40
80
90
100
97
100
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Positioning axis
Position controller – amplification Kv
Gain factor Kv too low
Long settling time
Sluggish behaviour
Large following error
Speed reference value Actual speed value
Following error
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Positioning axis
Position controller – amplification Kv
Gain factor Kv too high
Short settling time
Low following error
However: Overshoot
Speed reference value Actual speed value
Following error
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Positioning axis
Position controller – amplification Kv
Gain factor Kv optimal
Short settling time
Dynamic behaviour
No overshoot
Speed reference value Actual speed value
Following error
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Positioning axis
Position controller – feed forward control Kpc
Feedforward control too low
Larger following error
Longer settling time
Speed reference value Actual speed value
Following error
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Positioning axis
Position controller – feed forward control Kpc
Feedforward control too high
Very short settling time
Very small following error
However: Strong overshoot
Speed reference value Actual speed value
Following error
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Positioning axis
Position controller – feed forward control Kpc
Feed forward control perfect
Short settling time
Low following error
No overshoot
Speed reference value Actual speed value
Following error
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Positioning axis
Motion Control application cycle and cyclic program
How does Motion Control work in the CPU?
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Positioning axis
Motion Control application cycle and cyclic program
Cyclic program (OB 1)
t
How does Motion Control work in the CPU?
Motion Control commands
Programming in the user program
(MC_Power, MC_MoveAbsolute, …)
Motion Control system functionality
Interrupt System-Motion-OBs (clock synchronous)
(Motion control, position control, drive control)
OB Servo OB Servo OB Servo
OB IPO OB IPO OB IPO
OB1 MC_Prog OB1 MC_Prog
t
t Motion Control application cycle
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Positioning axis
Motion Control System OBs
What are those two MC-Obs doing?
MC-Servo (OB91)
Calculation of the position controller
Communication to the drive
Monitoring
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Positioning axis
Motion Control System OBs
What are those two MC-OBs doing?
MC-Interpolator (OB92)
Evaluation of the MC instructions
Motion control with setpoint generation
(traversing profile)
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Positioning axis
Motion Control System OBs
Call type
Interrupts with adjustable t Motion Control application cycle
Either as
• Wake-up alarm OBs
• Clock-synchronous Obs to the bus (drives via PROFIdrive)
1
2
Position control cycle Interpolator clock
t Motion Control application cycle = (MC-Servo) = (MC-IPO)
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Positioning axis
Clock synchronization
T5
Without clock synchronization
Many different unsynchronized
T4 T3 machining cycles
No reading and writing of
T1
T2 peripheral signals in equidistant
time grids possible
Problem in many applications with
highly dynamic requirements such as
Motion Control
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Positioning axis
Clock synchronization
With clock synchronization
Processes are embedded in a fixes
time grid, the system clock
Time from the acquisition of a signal
by peripherals to the corresponding
Internal clock reaction as short as possible
Actual value acquisition and reference
value output are synchronized as
follows
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Positioning axis
Position control in the controller
Speed and current
Feed forward control and position control
control
Control system Drive
Target speed
Feed forward
Setpoint Position
control
generation controller
Target position
Symmetry filter - Amplification
Axis
command Actual position
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Positioning axis
Position control in the drive (DSC)
Position control,
Feed forward control
Speed and current control
Control system Drive – With DSC
(Dynamic Servo Control)
Target speed
Setpoint Feed forward
Position
generation control
controller
Target position
Symmetry filter - Amplification
Axis
command Actual position
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Positioning axis
Position control in the drive (DSC)
Position control,
Feed forward control
Speed and current control
Control system Drive – With DSC Position controller in step
(Dynamic Servo Control)
with the speed control loop
Target speed
Feed forward Much higher position
Setpoint Position
generation
control
controller controller gain factor Kv
Target position possible
Symmetry filter - Amplification
Axis
Highly dynamic drive
command Actual position control with DSC
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Technology objects
Positioning axis
• Calculates position reference values taking into
account dynamic specifications and outputs
corresponding speed reference values to the drive
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Technology objects
Positioning axis
Basic parameters:
Basic settings of the drive in the technology object:
• Axis type
• Units of measurement
• Modulo
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Technology objects
Positioning axis
Advanced Parameters – Mechanical settings:
- Mechanical settings:
settings :
Positionof
Setting ofthe
the thecorrect
position
correct position
lead encoder
screw sensor
in theinsystem:
pitch: TO:
• External encoder is used as position encoder
• Machine encoder is used as position encoder
• Motor encoder is used as position encoder
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Technology objects
Positioning axis
Extended parameters
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Technology objects
Positioning axis
Extended parameters – control loop:
• Position control parameters
• Dynamic Servo Control (DSC)
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Technology objects
Positioning axis
Axis control panel:
Direct control of the drive via technology object
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Drive control
Motion control commands
Usage: Referencing the axis
Basic module Used in most applications
Parameters Description
Axis Technology object
Execute Start of the order with rising edge
The specified value is used according to the
Position
selected „Mode“.
0: Direct homing (absolute)
1: Direct referencing (relative)
Mode
7: Absolute encoder adjustment
…
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Drive control
Motion control commands
Usage: Moving the axis to absolute position
Parameters Description
Axis Technology object
Execute Start of the order with rising edge
Position Absolute target position
Velocity,
Acceleration, Various dynamic parameters
Deceleration
Evaluation only with modulo function
1: Positive direction
Direction
2: Negative direction
3: Shortest way
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Drive control
Motion control commands
Usage: Moving an axis relative to the present position
Parameters Description
Axis Technology object
Execute Start of the order with rising edge
Distance Distance for positioning process
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Task
Positioning axis
HANDS ON 3
Task 1: Control of a positioning axis by control panel & MC-Blocks
Position 1 Position 2
0mm 200mm
Procedure:
• Create and configure TO_PositioningAxis Axis
Achse
• Position the axis via Control panel
• Create positioning program so that the drive can be positioned Speeds & Acceleration:
back and forward v1 = 100 mm/s v2 = 200 mm/s
a1 = 800 mm/s2 a2 = 2500 mm/s2
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