Maxon operation & application of maxon’s new epos controller

EPOS P 24/5 Features and
Programming
Functionality
Performance
Communication
Terms
Programming Tool: Projects
Basics of the PLC Programming
Programming Language IEC 61131-3 Standard
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What is the EPOS P?
CAN-master + EPOS 24/5
– programmable, stand alone operation

EPOS

CAN bus
CAN I/F
PLC

2, © by maxon motor ag, Jan 05
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EPOS P Toll Free Phone (877) SERVO98
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What is the EPOS P?
same basic functionality as a motion controller as the EPOS
CAN master functionality
other
EPOS P CANopen
modules
CAN bus

EPOS

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CAN master functionality
EPOS EPOS P
maxon is responsible for maxon is responsible for
EPOS (slaves) EPOS P and EPOS
User has to care about Forget CANopen!
CANopen
User is responsible for maxon is responsible for
CANopen master CANopen master
User is responsible User is responsible

– for programming – for programming
– for first installation – for first installation
– for debugging and service – for debugging and service
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Performance of the EPOS P
Same as the EPOS 24/5
– Supply voltage, current, motor voltage
– Motor and encoder
– Communication, I/O
– Connectors and pin assignments
– Footprint
Power Range
– 24V/5A version only
– No EPOS P 24/1 or EPOS P 70/10

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P = Programmable
Programs or logical sequences are stored within the EPOS
P and can be executed by simple commands or inputs.

Possibility for programming
– Write and edit a program
– Save and execute a program
Consequences
– Additional memory needed to store program
– CANopen driver

– PC tool for writing programs: OpenPCS
– New user interface: EPOS STUDIO (replaces EPOS GUI)
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– Upgrade EPOS Firmware ELECTROMATE
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Programming Standard IEC 61131-3
Well known in the PLC world and in the motion control
industry
Unique for small power drives
– Direct competitors use proprietary programming languages
Motion function Libraries
Advantages
– Programming language independent of hardware
– Reusability of the programs

– No need to learn a new language: same “look and feel” for
programmer
– Widely accepted Sold & Serviced By:

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Standalone Operation
program flow controlled by
– internal events (time, current, position, speed...)
– external events (digital inputs, CAN inputs)

PC for
programming only
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Is the EPOS P a PlC?
Yes, because…
– No additional master system (PC or PLC) is necessary
– It is programmed similar to a PLC
But…
– Primarily intended for motion control functions
– EPOS P contains an EPOS (motion controller) internally

Hence

The EPOS P is a “small PLC specially designed for motion
control” Sold & Serviced By:

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Memory Performance
1MB memory
– More than 700KB for programming
Typical motion program < 100KB
Real PLC up to 10MB (e.g. Siemens S7)

1KB non volatile memory
– For RETAIN variables

1 position ~ 40bytes

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CPU Performance
Typically 2.5ms for 5,000 Lines of IL
– Means that the processor needs about 2.5 ms to go through a 5,000
line program written in Instruction List (IL).
– Included in this 2.5ms is a communication offset of about 1.5ms
For reloading a new task
i.e. for 10,000 lines of IL the system needs less than 4ms.

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Communication
CANopen (same as EPOS)
– Typical time needed for one motion command with PDO 130µs, with
SDO 2X130µs
– For up to 32 CANopen motion axes
– For up to 127 CANopen devices
PLC cycle time
– Lies at about 2ms for small programs
– Similar to an average PLC
Performance

– Depends very much on the written program size and method
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Multi Axis and Synchronization
Ability to program a synchronized multi axis application
– PLC programming and motion control Knowhow needed
– Basic CANopen Knowledge needed

We expect that about 3 axis may be synchronized at 2ms
cycle time

Remarks:

– Not all multi axis systems need synchronization

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Other CANopen devices
EPOS P can control other CANopen devices, e.g.:
– Digital I/O
– Analog Inputs
– Absolute sensors with CANopen interface
– Displays
– CANopen devices: http://www.can-cia.org/products/pg2006/
– Maxon Motor does not produce any of these devices

Prerequisite

– CANopen Knowledge
– Trainings are offered from CIA or IXXAT… Sold & Serviced By:

ELECTROMATE
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Description of some terms
PLC Programmable Logic Control

PLCopen An Industrial Control organisation

IEC 61131-3 Programming Standard created by
PLCopen (in the past IEC 1131)

OpenPCS Programming tool for EPOS P
(from Infoteam)
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What is a PLC?
outputs
inputs
PLC actuators
sensors
motors, valves

roots in the wiring logic
– originally hardware based: Relays
increasingly software based
– more flexible, easier to modify
– more efficient, lower costs
needs a programming device

– industrial PC = PLC + programming device
– programming device will be removed after programming
special requirements: rough environment Sold & Serviced By:

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– no moving parts such as harddisks Toll Free Phone (877) SERVO98
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A PLC program works in a cyclic manner
Cyclic calculation of the output
pattern according to the input
inputs pattern
– it starts again when it’s finished
inputs – no inputs during the cycle

program cycle time
cycle time depends on the
application

smart living technology: < min;
outputs drives: several ms
particular programming Sold & Serviced By:

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languages Toll Free Phone (877) SERVO98
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What is PLCopen?
User organisation for the promotion of
IEC 61131-3 standards
develops and publishes the standards (e.g.
for Motion Control, Safety, …)
certification authority

PLCopen and maxon EPOS P
– motion functionality based on PLCopen Motion

Control

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What is IEC 61131-3 ?
describes concepts and directives for building a PLC
project, respectively PLC program
– use of defined terms (key words)
– contains 5 equal programming languages
– drive/motion function library
advantages
– widely spread in the PLC world and motion control industry
– well known “look and feel”, no need to learn new language
– independent of used hardware

– “a certain” re-usability of PLC programs
– widely accepted Sold & Serviced By:

ELECTROMATE
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OpenPCS
the programming tool for the EPOS P
– from company: Infoteam
follows the standard IEC 61131-3

not described in the IEC 61131-3 standard:
– How does a program editor have to look?
– management of projects and libraries
– documentation

– online functions, e.g. software modification, debugging
– file and data base structures
and this is where the programming tools differ! Sold & Serviced By:

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Configuration
PLC configuration in general
Project in the EPOS-Studio
Project in the OpenPCS

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Project in the EPOS Studio

Project in the EPOS Studio
– describes involved components
and its communication
– EPOS P: for 1 EPOS P
– EPOS: for 1 EPOS
– MCD EPOS: for 1 MCD EPOS
– MCD EPOS P: for 1 MCDEPOS P
– For Network: Create New Project
– Info will be handed over to

OpenPCS

tools and wizards depend on involved components
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communication, network connections Toll Free Fax (877) SERV099
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e.g. EPOS Project
for a EPOS
navigation is adjusted

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OpenPCS Project
project contains
– resources, runtime programs
– allocation of variables to physical PLC
addresses
– references to other programs: global
variables, data types
– corresponds to PLC configuration
resource = processing unit of the PLC
– e.g.: EPOS P “master function", CPU’s, special processors
– on one resource several runtime programs can run

program sequence controlled by "Task"
– importance = priority Sold & Serviced By:

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– execution type: periodic, cyclic, interrupt Toll Free Phone (877) SERVO98
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Programming
POU Program Organisation Unit
Programs, Function Blocks, Functions
Variables declaration, types
Programming languages

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Program Organisation Unit (POU)

For structuring IEC 61131-3 application PROG
programs
3 types of POU FB FUN
– Functions (FUN)
– Function Blocks (FB) FB FUN FUN
– Programs (PROG)
FUN FUN

POU’ s have a strict hierarchy

– recursion is not allowed
– memory demand is known from the beginning Sold & Serviced By:

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– memory allocation can be made Toll Free Phone (877) SERVO98
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Program Organisation Unit (POU)
FUNCTION
structure of a POU FUNCTION_BLOCK
– begin and end with KEY WORD PROGRAM
(taken care of by OpenPCS)
Interface
1. declaration section variables
interface variables, local variables local Variables
2. instruction section in one of the 5
programming languages
Instruction
POU body

END_PROGRAMM
END_FUNCTION_BLOCKSold & Serviced By:

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Characteristics of POU‘s
closed unit
– can be compiled independently
– can be called within the whole project
– can be used in the whole project
– unique name within a project
new POU
– File -> New -> POU
libraries can be built of FUN’s and FB’s

– reusability and modularisation
– e.g.: standard library, MC library, CAN library
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POU – variable declaration
VAR local data
VAR_INPUT input parameter
VAR_OUTPUT output parameter
VAR_INOUT input and output
VAR_GLOBAL global data
VAR_EXTERNAL reference to
global data

END_VAR key word
for the end
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POU – type declaration
for each variable a type has to be defined
optionally an initial value can be
specified
– else standard value
– or value of previous call

types can also be defined by the
programmer

– File -> New -> Declarations ->Types
– global valid
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– TYPE … END_TYPE ELECTROMATE
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Variable declaration in OpenPCS
VAR_GLOBAL
– global data of the resource
File -> New -> Declarations ->
Global
– global data of the program
upper panel of the program

all other VAR

– upper panel of the POU

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Functions (FUN)
return exactly one output value
– call with input variable (VAR_INPUT)
– for the same input, there is always the same output value
without memory
– only local variables allowed (VAR), which will be
initialised at every call
– no global or external variables allowed
FUN can only call other functions FUNCTION Hallo: BOOL
VAR
standard functions are predefined

…
END_VAR
– arithmetic functions and comparisons
…
– e.g. sin (x) … Sold & Serviced By:

Hallo := TRUE ELECTROMATEToll Free Phone (877) SERVO98
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Function Blocks (FB)
work with an own data record
– with memory for internal state
– instantiation
output depends on the inputs and state information
– input parameter and output parameter
can call FUN’s and other FB’s
predefined standard FB’s
– e.g. for timer and counter

predefined Motion Control FB’s
– e.g. for relative movements Sold & Serviced By:

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Program (PROG)
main program
– “brain" of an PLC application program
– There is only one instance
defines the access to the PLC periphery
– allocation to the physical address (e.g. input and output of the PLC)
declaration of the variables of the whole program
(VAR_GLOBAL)
has no input and output parameter

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Programming languages in IEC 61131-3
5 equivalent programming languages
– IL: Instruction List similar to assembler
– ST: Structured Text similar to high level
programming language

– LD: Ladder Diagram graphical
– FBD: Functional Block Diagram graphical
– SFC: Sequential Function Chart graphical

It doesn’t matter with which language the user writes his
program. It is even possible to write different parts Sold & Serviced By:

(POU’s) of the program in different languages. ELECTROMATE
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FBD Function Block Diagram
graphical, strong accentuation of the function blocks
and the functions
– Similar to LabView

relatively big overhead for parameters and FB
no conditional code programmable
(all FB will always be loaded and called)
realistic cycle times >= 10 ms

– (@ 30 IL/ms)

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Sample FBD: SimpleMotionSequence
FUNCTION_BLOCK
with instantiation

FUNCTION
without name

variables, Sold & Serviced By:

constants, ELECTROMATE
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Libraries
standard library
– for timer functions, arithmetical functions, …
– see OpenPCS help
motion control (MC) library
– for axis control
– according to PLCopen standard
– see Programming Reference 6.1
CANopen library

– for reading and writing of SDO objects
– according to CANopen Standard
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– see Programming Reference 6.2 ELECTROMATE
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LD / LDD Ladder Diagram

graphical
– in the style of
current logic, relay
technique
– Boolean logic
widely used in USA
and Asia
– Rockwell LD-Editor

as reference

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SFC Sequential Function Chart
graphical
for process control engineering steps: will be executed if
activated

conditions (transitions)
– will be executed after
the previous step is
finished
– deactivates previous

step and activates
next step
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IL Instruction List
VAR
widely used in Europe First, Second, Result: INT:=10;
textual programming StringOp: String[30]:='123456789';
StringRes: String[25]
similar to assembler END_VAR
– PLC assembler …
B1: LD First (* 10(INT) *)
line oriented ADD Second (* 20(INT) *)
– 1 line = 1 instruction ST Result (* 20(INT) *)
GT 0 (* True(BOOL) *)
CR = current result JMPC B2 (* because
CR=True *)
– the virtual accumulator for
JMC FarAway (* CR undefined,
all data types

reaction depends
realistic cycle times: on implement.*)
B2: LD StringOp (* 123456789
– optimised down to 1 ms (String) *)
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ST StringRes (* 123456789 *) Toll Free Phone (877) SERVO98
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ST Structured Text
widely used in Europe
textual, similar to high level
language (e.g. Pascal or C+)
some features
– instructions separated with “ ; ”
– loops: FOR, WHILE, REPEAT
– conditions: CASE,
IF…THEN…ELSIF...ELSE
– complex expressions

realistic cycle times:
– optimised down to 1 ms Sold & Serviced By:

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Maxon operation & application of maxon’s new epos controller

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