内容课件分析lesson sercos topology

ControlLogix™BasicMotionOverview

Whatyouwilllearn

ControlLogixTMMotion

Aftercompletingthislesson,youwillbeabletorecognizeandunderstandthevariouscomponentsinatypicalSERCOSServoSystem.

ControlLogix™BasicMotionOverview

SERCOSDefinition

SERCOS

SErial

Real-time

COmmunication

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System

ControlLogix™BasicMotionOverview

BasicSERCOSTopology

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MasterController

Ring1

Ring2

Slave

SingleDrive

Slave

GroupofDrives

Slave

SingleDrive

Slave

SingleDrives

M

M

M

M

M

M

ControlLogix™BasicMotionOverview

•ControlLogixSERCOSTopology

ControlLogixTMMotion

Logix55xxAC

MOTIONGROUP

M M M

250usec.

ServoUpdate

1394

CoarseUpdate12ms12Axes

MxxSE1

MxxSE2

SERCOSRING1

1MSUPDATE

4Axes

SERCOSRING2

2MSUPDATE

8Axes

M

250usec.

ServoUpdate

2098

MMMM

MMMM

250usec.

ServoUpdate

1394

250usec.

ServoUpdate

1394

ControlLogix

RASERCOS

Drives

SERCOS

Module

ControlBus

RAControlLogixAC

ControlLogixw/Built-inMotionControl

RA1756M08SESERCOSModule

8AxisperModule

RA1756M16SESERCOSModule

16Axisper

SERCOSRING

ModuleSERCOSNetworkSERCOSDrives

1394Magnum

2098Ultra

8720

Kinetix6000

ControlLogix™BasicMotionOverview

SERCOSRingTopology

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1756MxxSESERCOS

Master

SERCOSRing

EachAxishasaUniqueSERCOSNodeAddress.

2098-DSD-xxx-SE

SlaveRotary=30

1394-SJTxx-D

Slave(Rotary=10)

DriveAxisAddress=10

DriveAxisAddress=11

DriveAxisAddress=12

DriveAxisAddress=13

ControlLogix™BasicMotionOverview

RingConnection

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FiberOpticRingNetwork

4or8MbpsDataRate(16MbpsFuture)

Master-SlaveTopology

Cyclic(Synchronous)DataTransfer

Progr blecyclicdataformat

200Meter umNode-Nodedistance

Compatiblywithsticorglassfibercables

ControlLogix™BasicMotionOverview

•SERCOSCommunicationPhases

ControlLogixTMMotion

TheSERCOSnetworkhasfivecommunicationphases(CP0,CP1,CP2,CP3,andCP4)whichitmustsequentiallycyclethroughtoinitiateand

establishactivecommunicationsbetweenmasterandslaves.

Phase0-RingIntegrity

DuringPhase0theMasterController(MxxSE)teststheintegrityoftheSercosRing.

Phase1-NodeDetection

DuringPhase1theMasterController(MxxSE)pollsallnodeaddresses(1-254)todeterminewhichnodesarepresentontheSercosring.

Phase2-NodeIdentification

DuringPhase2theMasterController(MxxSE)determineswhothenodeisandthencalculatesthetimingconstraintsrequiredtoexchangecyclicinformation.

Phase3-NodeConfiguration

DuringPhase3theMasterController(MxxSE)startstheexchangeofcyclicdataandthensendstheconfigurationparametersspecifictoeachnode.

Phase4-CyclicDataExchange

DuringPhase4theMasterController(MxxSE)exchangescyclicdatatoeachnodeattheSercosRingrateandthedriveisreadyforpower.

Phase0-RingIntegrity

Phase1-NodeDetection

Phase2-NodeIdentification

Phase3-NodeConfiguration

Phase4-CyclicDataExchange

ControlLogix™BasicMotionOverview

•SERCOSCommunicationPhases

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ControlLogix™BasicMotionOverview

IdentificationNumbers(IDN’s)

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AlldriveconfigurationandstatusparametersareassignedanIDNnumber

TheSERCOSstandardspecifiesIDNsforSERCOScompliantdrivesandcontrollers

EachIDNhasanassociatedDataBlock

–DataBlockcontainsname,format,units,maxandminvalues,aswellastheactualdatavalue.

SERCOSsupportsvendorspecificIDN’s--calledPIDN–Allowsvendorcustomextensions

ControlLogix™BasicMotionOverview

IDN’s

IDN# Description

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IDNDetails

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PIDN’s

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PIDN# Description

PIDNDetails

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SercosInterface

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TheSERCOSinterfaceworksbyspecifyinghowacollectionofmessages,called“ egrams,”traversetheringinafullydeterministic*manner.

Master

Drive

Drive

ControlLogix™BasicMotionOverview

egramTypes

ControlLogixTMMotion

MasterSynchronizationegram(MST):Arebroadcastbythemas ndareusedbythedrivestosynchronizethemselvestothemaster.

AT

Drive egram(AT):Aretransmittedbytheslavesandservetotransferdatafromthedrivestothemaster.

Control(Master)

Axis(Slave)

MDT

MasterData egram(MDT):Aretransmittedbythemasteronceduringacycle.MDT’sarelengthyandtransferdatafromthemastertothedrives.

Control(Master)

Axis(Slave)

ControlLogix™BasicMotionOverview

egramStructure

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….

CycleTime

NextCycle

AT..n

AT..2

AT..1

MDT

MST

AT..n

AT..2

AT..1

MST

MDT

AT..1

Drive egram(s)MasterData egram

MST

MasterSynchronization egram

ControlLogix™BasicMotionOverview

•MasterSynchronization

egram

ControlLogixTMMotion

MST’sarebroadcastonceperSercosCyclebythemastercontroller.MST’sareshortinlengthandareusedbytheindividualdrivestosynchronizethemselvestothemastercontroller.

BOF

ADR(255)

CommunicationPhase

EOF

FCS

BOF:Beginofframe 1Byte

ADR:Broadcast 1Byte

Data:Communicationphase 1Byte

FCS:Framechecksequence 2Byte

EOF:Endofframe 1Byte

ControlLogix™BasicMotionOverview

•Drive

egram(AT)

ControlLogixTMMotion

Drive egramsarebroadcasttothemasterbyeachindividualSercosdriveonthenetwork.

AT

BOF

ADR

(1-254)

Datarecord

EOF

FCS

DataRecord

Status

DriveServiceinfo

Operationdata

Fixedpartofdatarecord

Configurablepartofdatarecord

Drive egramscontainthefollowinginformation:

AT

Status

TheStatusportionoftheDrive egramcontainsdrivestatusinformationthatistransferredtothemastercontroller.

DriveServiceinformation

TheDriveServiceinformationportionoftheDriveegramcontainsnon-cyclicdataincludingHoming,

WatchPosition,RegistrationEventandDriveStatusinformation.

Operationdata

TheOperationdataportionoftheDrive egramcontainscyclicinformationincludingPositionFeedback,VelocityFeedback,TorqueFeedback,AxisStatusandtwoconfigurableRealTimeAxisAttribute's.

ControlLogix™BasicMotionOverview

•MasterData

egram(MDT)

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DataRecordkfordrivexx

datarecord

record

MDT

MasterData egramsarebroadcastfromthemastercontrollertoeachindividualSercosdriveonthenetwork.

BOF

ADR(255)

Datarecord1

Datarecordk

DatarecordK

EOF

FCS

Control

MasterServiceInfo

Operationdatafordrivexx

Fixedpartof

Configurablepartofdata

MasterData egramscontainthefollowinginformation:

MDT

Control

TheMDTControlportionoftheMasterData egramcontainscontrollerstatusinformationthatistransferredtotheindividualdrives.

MasterServiceinformation

TheMasterServiceinformationportionoftheMasterDataegramcontainsnon-cyclicdonsistingofconfigurationdataandprocedurecommands.

OperationdataforDrivexx

TheOperationDataportionoftheMasterData egramcontainscyclicinformationforeachindividualdrivewhichcontainstheCommandPosition,CommandVelocityandCommandTorqueforthespecificaxis.

ControlLogix™BasicMotionOverview

SERCOSBenefits

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FiberOpticconnectioneliminatesdiscretewiringatthemotionmodule(upto18connectionsperaxisareeliminated).

FiberOpticconnectionprovideshighnoiseimmunity.Thiseliminatesthecomplexwireroutingandgroundingissuesassociatedwithogsystems.

Allowsconnectionof16axesper1756Slot.

Drivescanbedistributed….Upto32meterspersegmentwithstic,and200meterswithglasscabl