ProConOS^® Win MC: SoftMotion solution for Windows XP and CE

With the ProConOS^® Win MC PLC runtime system, KW-Software has integrated a motion control into the PC-based SoftPLC: Both, sequence control and motion control can be programmed with MULTIPROG using the IEC 61131 PLC languages having the PLCopen-defined function blocks available as library for realizing the various motions.

The drives are connected and controlled via the SERCOS interface which is specialized in communication between controls and drives. SERCOS can be operated with 16 MBaud and an interpolation clock cycle of 1 ms. This way, up to 50 axes can be triggered using ProConOS^® Motion Control running on a 1 GHz PC under Windows^® XP. Based on the Windows^® real time extension developed by KW-Software, the ProConOS^® SoftPLC provides hard real-time properties and high performance.

ProConOS^® Win MC is available for Windows^® XP and Windows^® CE.

Motion functions in IEC 61131 for machine and system control

The advantages of the ProConOS^® Win MC SoftMotion solution at a glance:

• MULTIPROG as integrated engineering tool for programming the PLC and motion functions:
  All motion functions are available as PLCopen function blocks in all IEC 61131 programming languages. This easy way of engineering with integrated motion control library in an IEC 61131 programming tool reduces the number of necessary software tools and programming efforts.
• Further potential for savings by using an industrial PC as common platform for control and visualization with the additional possibility of individually adapting the used hardware and software, e.g. for further interface connections and devices.
• All parameters of the motion functions are processed directly in ProConOS Win MC. Thus, they are activated when calling the related function block and no parameters have to be transferred to the corresponding axes.
• Deployment of available and proven core technologies and products by KW-Software.

Support of the PLCopen motion control function blocks

The SoftMotion solution by KW-Software is certified according to the PLCopen and supports all requirements of the specification.

All motion control function blocks defined in version 1.1 are already completely realized and they are provided as library for all IEC 61131 languages in the programming system MULTIPROG. This includes, for example, single-axis motions, electronic gear and electronic cam disk. With these function blocks, motion functions such as flying saw can be realized (also with a changing master).
Available blocks of PLCopen part 1, version 1.1: 

The completion of the library according to part 2 is currently in preparation.

Support of the SERCOS standard

The SERCOS-triggered interpolator of the motion control kernel and the SERCOS drivers ensure the synchronized and precise data exchange.

• Typ. jitter in the drive bus (SERCOS) = 1µs.
• Max. baud rate in the SERCOS: 16 MBaud.
• Min. cycle time with up to 50 axes: 1 ms.

Example of application (1): Synchronization of two axes using a CAM table

A possible application of a motion function block is described here with the example of an engine speed synchronization of two axes. For that purpose, the motion control library contains FBs for the coupling of axes (multi-axes blocks). Possible are

• a synchronized movement of master and slave axis using a gearing ratio
• coupling and decoupling with adjustable acceleration, deceleration or jerk while the master axis is running
• phase shifting of the slave axis in relation to the running master axis with adjustable acceleration, deceleration or jerk

In the following illustration, the axes are coupled using a CAM table.

The following is part of the motion library online help:

Example of application (2):

A further possibility for the engine speed synchronization of two axes: The function block MC_GearIn activates an electronic speed gear between a slave and a master axis. It is noteworthy that the gear ratio can be changed even when the gear is running.

The following illustration shows the result of the circuit as a diagram which has been recorded with the MULTIPROG^® Logic Analyzer. It shows how the axis speeds conform to each other after the activation signal at the 'Execute' input of the FB.