one. Overview
In the field of automation control, the same function has different implementation modes. For the accuracy and response speed requirements of different devices, the appropriate positioning control system is selected to achieve the optimal cost performance. This paper introduces the practical application of positioning control which realizes the high-speed counting module ET200S and 70 series inverter of Siemens S7-300 plc through the function of PROFIBUS bus communication.
two. Control ideas
The traverse vehicle is an indispensable auxiliary equipment in the steel pipe production line. It mainly carries the steel pipe produced in the previous process to the next process, or is temporarily placed on each station of the gantry. As the level of automation required for the production line increases, the workload and operational errors of the operator are alleviated. It is required to realize fully automatic and accurate positioning control for the traverse vehicle.
The control core is to use the position signal collected by the encoder mounted on the wheel of the traversing vehicle to be read by the high-speed counting module of the PLC. The CPU compares the set position with the calculation processing to control the multi-stage speed of the inverter, thereby realizing the horizontal Accurate positioning control of moving vehicles. Because of the control cost and convenient operation, the PROFIBUS bus control mode is adopted, which reduces wiring, and is convenient and flexible to control.
three. System composition and characteristics
1. As the core of the control, PLC is mainly used to receive the feedback signal of the encoder, compare it with the set position signal, control the output frequency of the inverter to reduce by the communication function, decelerate in advance, run at low speed before the position is in place, and stop accurately when it is in place. . In order to achieve precise positioning, a zero position sensor is also provided. When the position is zero, the counter value is cleared to zero, the accumulated error is eliminated, and the positioning is ensured accurately, so that the traverse vehicle can smoothly lower and lift the steel pipe.
Since the control cabinet for the main station CPU and the inverter is far away from the traverse vehicle, the remote I/O module and the high-speed counter module ET200S are placed on the traverse vehicle, connected via the PROFIBUS bus, and the on-site sensor and encoder signals are directly Connected to the remote I/O and counting module, reducing the occurrence of wiring and faults on site, and easy maintenance. The communication rate can be over 1.5M, and the system block diagram of the whole system is as follows.
Due to the use of the communication function, several output points for controlling the inverter can be omitted, and the output point of the PLC is also reduced.
2. Application of high speed counter module ET200S
The encoder resolution selected in the control system is 2048P/R, the wheel diameter is φ250, and the gear ratio is 3. The pulse accuracy can be calculated: 250×3.14/2048×3=0.127mm/pulse. Can fully meet the accurate positioning accuracy of the traverse vehicle.
The precise positioning process is as follows:
Firstly, set one direction of the traverse vehicle operation to the positive direction (add pulse). When the traverse vehicle runs to the set position (working speed), the high-speed counter automatically performs acceleration/deceleration counting at the distance setting position. When 300-400mm, the output frequency of the inverter is controlled to run at low speed. When the set position is reached, the output of the inverter is stopped, and the mechanical brake is implemented to complete the accurate positioning.
The block for reading the high count module is as follows:
L PID 272 // module start address, store the counter module status value to MD20~MD27
T MD 20 // current count value
L PID 276
T MD 24
L 123 //Load comparison value
T MD 30
SET
= M 34.0 //Open the software door
AM 10.0 //Enable transfer of comparison value function
= M35.2
L MD 30
T PQD 272
L MD 34
T PQD 276
3. PLC and inverter communication
When the CPU is configured for hardware, the physical address is assigned to the PROFIBUS station on the bus. The PLC also has a corresponding physical address for communication with the inverter. The CPU has a dedicated communication function block SFC14, SFC15, which uses the internal register DB block to store data. When the PLC writes and reads data to the inverter, it is necessary to know the address of the relevant function defined by the PLC and the inverter, and then according to these addresses for data writing and reading, the inverter can be controlled. .
The parameters to be set for this control system inverter are as follows:
P60=1, P53=6, P554=3100, P571=3101
P572=3102, P443=3002, P566=3107
P734.1=32,,P734.2=148
Other parameters can be set to the factory defaults.
one. Conclusion
Through this electrical improvement, field wiring is reduced, automation is improved, human participation is reduced, and safety production is enhanced. The production efficiency has been greatly improved, and the communication control replaces the hard-wired terminal control, which not only reduces the cost, but also has more convenient operation and better cost performance. It also proves that the communication function of Siemens plc and inverter is very powerful and easy to use.
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