Digu khién vn tc vi moment déng eo AC-Servo GVHD : TS.NGUYEN MINH TAM. LOLNOI DAU rong céng cue xiy dim vi pit trién dét mabe dang be thoi kj ng nghigp hos hign dai hod vii nhng oo hoi thudn fi vi nang kh kin thich thi Lin, Bigu nity 4 ra cho thé hg tr, ning ngui chi tong Iai ca dit nade nig nhiém va ning nb, Bit made dang cin sie le vi tri tug cing nha ling nbigt huyét ea nig tr thie tre, trong 46 66 nhing ky si trong Ini, Vi sr phit trig nhanh ching cia cue eéch mang khoa hoc kj thudt néi chung va trong Tinh ve dign - dign tir - tu dong héa - tin hoe néi rigng lam cho b§ mat ciia xf héi thay déi timg ngay. Trong dé Bigu kin chuyén dng li mt trong nhing tinh wre da dang vi phi trién 4 ‘i moment yu clu st chinh xée cao rit cin dén mae tig bi dp img Diy a hich thie vt nhanh tong nginh digu khién va hr dng hod, Trong nhimg hg thing diéa khién vit fc nh khoa hoc, nhi sin xuat d& ché tao ra mot logi dng co thé lam durge nhigm vy nay d5 1 dng co servo, Neaiy nay hé thing servo duoc img dung rong rii trong ede hg thing, cae miy yéu clu sir chinh xie cao, DSi v6i trudng hoe vige tim higu vé déng eo servo la rit han ché nn tai cing mudn tim higu v8 n6 dé 06 thé higu v8 dng ca nay Vi thei gian nghign cia va diu kin thie ign han ch nén chic chi khong tinh duoc cic sai s6t. Rat mong nhin duoc sr d6ng g6p ¥ kién tr cdc thay c® vi ede ban dé dé tai | Table Position controller 2: oe (NC controller) Zz WA | Stepping le Ball screw i (Reduction gear 2.2. HE THONG DIEU KHIEN DUNG DONG CO SERVO: 2.2.1 Xu huéng trong diéu khién chuyén dOng ding servo: Bigu khién chuyén dong (DKCD) c6 18 la mot trong nhiing linh ve da dang va phat trién nhanh nit trong nganh diéu khién va tw dOng hoa. Cae khdi nigm va cong nghé DKCD da tir lau khong chi g6i gon trong nhiing hé théng servo chuyén dng khién béi ca hé truyén dng va thiet bi tao sin thong 6 gia kha cao. Thay vio 46, ngay nay ta cdn thay eae tinh nang cia DKCD ting dung ea cho tée A va vi tri trong truyén dng thay d6i tin s6 xoay chiéu, edie dong eo bude va truyén dong vong kin cing nhu ede hé truyén dng va dong co servo AC va DC théng dung khée, Hign nay c6 mot s6 xu hudng trong diéu khién dong co. Trong mét s6 trréng hop, van 48 cin quan thm chi don gidn 18 didu khién the 49, gia the, momen hoje cfc thuge tinh khée ca dong co trén co s6 tin higu diéu khién diu vao 18 tir phia con gut, chang han nhwr qua bang digu khign. Vigc diéu khién bing tay nhur vay thuge vé pham trt dieu khién vong hé. Trong m@t s6 truong hop khac, dong eo phai ty dong dura ra cic dip img véi cée tie dng thoi gian thy. Cie dap tng déi véi cic te dong nay duge quan sit va cic diéu chinh can thiét durge tu dng tao ra. Vi vay, né tao ra mt méi trudng diéu khién kin. Cac diéu khién vong lip kin nhw vay doe goi li h tiy dng servo, hay chi don gin 1 serve. Diu khign servo 14 mOt qua trinh xtt IY tin higu lign quan dén digu khién dong co trén co s6 dng hoc cia céc tin higu vao nhu vi tri, tc 46 hay momen. Trong qué khir noudi ta sit dung cde mach tuomg ty dé thye hign dig khién servo, hung kha nang thich nghi cia cde b6 vi xi ly tin higu s6 da tao ra mot cong nghé mdi cho sy lira chon trong nhigu img dung. SVTH : BIEN QUOC THOSt »Ditu khién vin the va moment ddng ew AC-Servo GVHD: TS.NGUYEN MINE TAM. bing PLC két hoy 2.2.2 Hé théng servo: Tree TT Postion [monitoring 2.2.2.1 Hg théng servo la gi? Servo bit ngudn tir tiéng Hy Lap 1a Servus (servant), nghia la né 18, day t6. Mot hé théng duge goi la servo khi hé thong dé chap hanh mét céch chinh xic ménh lénh cia chi: nhan (tire 1a ngudi dieu khién.Hé théng servo la hé thong diéu Khién cée thiét bi co hoe véi cée bién 1a bién vi tri va toe dO (gid tri thyte). Sau day 1 mot vi du minh hoa ‘Table postcoing conmaad vale] 2.2.2.2 Co cau dinh vi: SVTH : BIEN QUOC THOSt 20Ditu khién vin the va moment ddng ew AC-Servo GVHD: TS.NGUYEN MINE TAM. bing PLC Kat hay __Hé théng servo khong don gidn chi la mét phuong phép thay thé digu khién vj tri vi t6c dO cia cae eo cau ev hoc, ngoai nhiing thiét bj eo kit don gin, hé théng servo bay gig da tro thanh mot hé théng diéu Khién chinh trong phwong phap diéu khién vj ti va toe d8. Co cau dinh vi digu khién boi servo motor else lsat t p< 7 Jewie o Change to AC servo motor Uia dim cia co fu nay 46 la 49 chinh xée vi dép tmg be dd cao, o6 thé a ding thay d6i vj tri dich va toc d6 cua co cau chap hanh. 2.2.2.3 Co edu chuyén dong dink huéng: Co céu nay chuyén dng theo huding nhit dinh durge chi CChuyén déng od thé la chuyén dng tinh tién hay quay. Linear motor §—§ Stator (coiling side) Uu diém 1a co céu chp hanh don gidn va ndng cao tudi tho hop s6 truyén dong (do truyén dong kha ém). 2.2.2.4. Backlash va higu chinh: SVTH : BIEN QUOC THOSt aDitu khién vin the va moment ddng ew AC-Servo GVHD: TS.NGUYEN MINE TAM. bing PLC két hp WinCC-Fieaible Siemens Backlash hiéu ném na dé la gidi han chuyén dong etia mot hé théng servo.Tat ca cic thiét bi co khi déu 6 m6t diém trung tinh gitta chuyén dng hod quay theo chiéw durong va am (ciing giéng nh dong co tnade khi dio chigu thi van tbc phai giam vé 0). 2Xét mot chuyén d6ng tin tién Idi va t6i nhur trong hinh sau: ‘Chuyén dong tinh tién nay duge digu khién boi m6t dong ca servo. Chuyén dong {Gi va lai due gigi han béi mét khoan trong nhur trong hinh, Nhu vay dong co sé quay theo chigu durong hode chiéu am theo mot so vong nhat dinh dé chuyén dong cua thanh quét Ién toi bg Khoa txing 46 nhung khong duge vuot qué khodn trong (diy I mot trong nhimg diéu kign cét I6i cia vige digu khién dOng cu servo). Gigi han nay duroc oi la backlash, tirnay hé gap tr backlash thi chic cde ban 42 higu né li edi gi rbi ding khong. Tuy nhién trong thy té 46 dong co quay nhimg vong chinh xée dé con trugt tryor chink xe vi quét1én tin bG khodn tring trén ti rt kh6 the ign néu khong e6 Gt su bit trir cho n6, Va trong hé théng servo nat thiét ¢6 nhiing him lénh thuc hién vvige bu tnt, higu chinh nay. Nhu trong hinh vé trén, hg théng servo goi xung Iéah higu chinh eOng/ri sé Iwong xung lénh diéu khién va cée xung Iénh higu chinh nay sé khong duge tinh dén trong bo dém xung SVTH : BIEN QUOC THOSt 2itu khién vn tc va moment déng co AC-Servo GVHD ; TS.NGUYEN MINH TAM. bing PLC két hgp WinCC-Flexible Siemens 2.2.3 So dé khdi cita h¢ théng servo: Sau day 1A mot so dd khdi hé truyén dong servo véi 2 ving hdi tiép vi tri va tbe [ee ae i k : | ' : L aad : sue sinh ir Ij tin higu hdi tgp va higu chin kenh, Phin D, Ei eo edu thie thi vi hdi tip. Cae phin A, B, C thi kha phd dung trong cic so dé khdi digu khién, phan D, E thi tay eae thigt bi sir dung ma ching 6 kha nha di chit nhung v8 bin chit chiing hoi toin ging nhau. Sau day la mot 88 vi du ve phan D, E thuéng gap: SVTH : BIEN QUOC THOSt 23Ditu khién vin the va moment ddng ew AC-Servo GVHD: TS.NGUYEN MINE TAM. bing PLC Kat hyp WinCC-Flesibe Siemens 2.3 CAU TAO VA DAC TINH CUA DONG CO SERVO: 2.3.1 Cau t Dong co servo vé nguyén ly, cau tao phin dign - tir thi gidng nhw cae loai dong co binh thurdng (nghia la cing e6 phin cm phan ting, khe ho tir thong, cach du da N,v.) nhung 6 sy khie bigt vé céu trie eo hoe, d6 1a dong ca servo e6 hinh cing dai, dong kinh true va rotor nho hon dng co thuong cing céng suat, moment. Diém ndi bat cua 1 servo motor li tich hgp sin co cau feedback vao bén trong dong ca. Dong co servo Ia thiét bj duge digu khién bing chu trinh kin, Tir tin higu hoi tiép vin tdofvj tr, he théng dibu khién sé s@ diéu khién hoat dng cia mét déng co servo. Véi ly do néu trén nén sensor do vj tri ho8e tée dé (encoder hoe may phit tbe) 1 cae bo phan cn thiét phai tich hgp cho mot dong ca servo _ C6 3 loai dong co servo duge sir dung hign nay dé li dong co servo AC da trén nén ting dong co AC Ting s6e; Dong co servo DC dya trén nén ting dong co DC; va dong cg servo AC khing choi than dua trén nén tang dng co Khdng ding bé, va dong co ding bd. Khong phai bat ki d6ng co nao ciing 6 thé ding lam dong co servo. Bong co servo la dong co hoat dng dya theo cac Kénh digu khién vj tri va te a>. Chinh vi thé 1n6 phai durge thiét ké sao cho cdc dap ting la phi hop véi nhu cu diéu khién. ...). Tay mhign tuy theo nhu eau digu khién ma né c6 mot sé diém edi tién hon (dan cho nhimng me dich dic bigt) so véi dong co thurdng dé phuc va cho céc myc dich digu khién cu the 2.3.2. Die tinh ciia dong eo servi SVTH : BIEN QUOC THOS 4Ditu khién vin the va moment ddng ew AC-Servo GVHD: TS.NGUYEN MINE TAM. bing PLC két hp WinCC-Fieaible Siemens Dong co servo duge thiét ké cho nhing hé théng hdi tiép vong kin. Tin higu ra ciia déng ca durge néi v6i mot mach diéu khién, Khi dong co quay, van t6c va vi tri se urge hai tigp ve mach digu Khign may. Néu c@ bat ky ly do no ngan cin chuyén ding quay ciia dong co, co céu hoi tigp sé nhan thay tin higu ra chua dat duge vj tri mong, ‘mudn, Mach digu khién tiép tac rn sai Igch cho dng ca dat duge diém chinh || sapar oe Velocity feedback eB toae Psion feedback (encoder or resotver) ac tinh van hanh ciia m6t dong co servo phy thuge rat nhieu vao dac tinh tir va phuong phap digu khign dng co servo 2.3.2.1 Tang toc 46 dip img: Cac dong eo binh thuémg, muén chuyén tir tc 46 nay sang téc d6 kha thi cin © mt khoan théi gian qué d9. Trong mot sé nhu ciu digu khién, di hoi dng co phai ting/giim tée nhanh chéng dé dat duge mét tée 4} mong muén trong thd gian ngin nnhat, hoat dat duge mot vi tri mong muén nhanh nhat, Vi du ban muda digu khién mot co cf tit vi t i dau khi 6 xa vj tri X” thi déng co quay v6 lon 46 tang t6c, tuy nhién khi dén gin X’ doi hoi dong ca can gidm toc tite t thé dat duge vj tri mong muén mét cdch chinh xéc va loa tir sy vot Id vi tr, Cée dong co thirdng khong thé dap ing dunge diéu nay. Dé dong co dip img duge nhing yéu clu thi n6 phai duoc thi Jn dp img téc dé ciia dong co. Muon nhu vay ta can giim moment quan tinh va ting dong gidi han cho dong co. bé gidm moment quén tinh thi dng co servo duge gidm during kinh rotor va logi bd cée co cu sit khOng clin thiét. Dé ting dong gidi han, dng co servo c6 thé sit dung siit Ferrit 42 lam mach tir va thiét ké hinh dang 10i sat cho phit hgp. Déi véi dng co nam chim vinh edu thi né cin duge thiét ké sao cho ngn can durge su khir ti (inh SVTH : BIEN QUOC THOSt 25Ditu khién vin the va moment ddng ew AC-Servo GVHD: TS.NGUYEN MINE TAM. Ding PLC Kat hay dang mgch ti) va ting kha nang tir tinh cla nam cham (sir dung nam cham dat hiém rare earth magnet). 2.3.2.2 Tang kha ning dap tng: ___Bip tg 6 diy ein duge higu dé la sy tang/gidm t6e cin phai “mém” nghta li gia t6c la mt hing 36 hay gin nhu ti mot hing sé Mot s6 déng cor nhu thang may hay trong m6t s6 bang chuyén ddi hdi dap img. téc 46 ciia co cu phai “mém”, tic la qua trink qua d6 van téc phai xiy ra mét cdich tuyén tinh, Dé kim duge diéu nay thi cudn day trong dong ca phai e6 dign ei nho nham logi bo kha nang chong lai sy bién d0i dong dign do mach digu khién yéu cau. Cée dng co servo thude loai nay thudng duge thiét ké gidm thigu s cudn day trong ‘mach va c6 kha nang thu hep cdc vong tir trong mach tir khe ho khong khi, 2.3.2.3 Mé rong ving diéu khién (control range): Mét s6 yéu clu trong didn Khién cdn didu khién dong co & m@t dai t6c 46 lon hon inh mite rit nhiéu. Dong co binh thurdmg chi cho phép dign dp dat lén nb phai bing p chu dung cia déng co va thong thudng khong qué Kin so véi dign ap dinh Bong co servo thude logi nay c6 thiét ké dat bigt nhiam gia tang dign ép chiu dung hode tang kha nang bao hoa mach tir trong dong eo (nghia la dong cor lam vige & doan phia dudi céch xa doan dinh mite. Nhu vay déng co servo thudc loai nay phai diroc ting cuong cach dign va sir dung sit Ferrit hose nam chim dit hiém (rare earth). SVTH : BIEN QUOC THOSt 26Dia kn vn be vd moment dng cy ACS GVHD: TS.NGUYEN MINE TAM. 2.324 Kha ning ‘6n dinh téc ‘a Déng eo servo loai nay thurdng duge thiét ké sao cho viin te quay ota n6 rét On inh Se Target Khong c6 mach dign hodn hao, khéng c6 tir trig hoan hao trong thye t8 vi thé mot dong co quay 1750 rpm khong c6 nghia 1A n6 ludn luda quay & 1750 mp ‘ma né chi dao déng quanh gia tri nay. Dong co servo khée biét v6i dong co thurdng 1a 6 chd 45 dn dinh téc 46 kha cao, Cée ding co servo loai nay thuong duge str dung trong cic img dyng ddi hoi te dO chinh xac (nhur robot). N6 duge thiét ké sao cho cb thé gia ting dug dong tir trong mach tir Ken khé cao va gia ting tr tinh cia eye tit, Cac inh rotor durgc thiét ké v6i hinh dang dic bigt va cdc cudn day rotor cing durye bé tri Kae dic bigt dé c6 thé dap img duge yéu cw nay. Mét hinh anh minh hoa 2.3.2.5 Ting kha nang chiu dung cia dong co: M6t s dong co servo duge thiét ké sao cho 6 thé ch n 6 tin s6 rat va c6 kha nang chju duge duge nhimg yéu cau tang toe bat ngir tir 6 digu khién (c6 thé tao ra cde xung dign hai bée cao). Nhimg dng co nhu thé nay thudng duge cai tién vé phan co dé c6 tudi th cao va c6 thé chéng Iai duge sy hao mon do ma sit trén 6 bi bac dan cing nhur trén chéi than (di véi DC). MOt dong co servo c6 thé mot sb die diém trén dé phi: hgp véi nhu chu diéu Khién cia ngudsi digu khién, SVTH : BIEN QUOC THOSt 27Digu khién vn the va moment ding eu AC-Servo GVHD : TS.NGUYEN MINH TAM Ding PLC két hyp Win€C-Flexible Siemens 2.3.3 Nguyén ly hoat dong cia encoder Encoder mue dich ding dé quan ly vi tri géc cita m6t dia quay, dia quay e6 thé 1a banh xe, true déng co, hode bat ky thiét bj quay nao cin xde dinh vj tri g6e. Encoder durge chia lam 2 logi, absolute eacoder (tuyét di) va incremental encoer (tuong dé, Encoder tuyét d6i chi 18 ring vi tri cia encoder, ching ta khéng cin xir ly gi thém, cing biét chinh xée vi tri cua encoder ,encoder ttrong doi chi c6 1, 2, hoae toi da 143 vong 1d. Ctr mdi Lin di qua mot 13, chiang ta phai Ip trinh dé thiét bj do dém len 1 Do vay, encoder logi ny ¢6 tn ineremental encoder (encoder tang Ién | don vi) do a6 khéng thé cho ta biét chinh xée vi tri Vige thiét ké encoder tuyét d6i edn qu nhibu vong 13, va dln 16H gi han v8 kich thurée cua encoder, boi vi vige gia cong chinh xe cfc 16 qua nho la khong thé thye hign duge. Chua ké ring vige thiét ké m6t day dén Jed va con mat thu eting anh hudmg, rat lén dén kich thude gigi han nay nén trong da s6 ede Motor, incremental optical en- coder durge ding va m6 hinh dong co servo trong bai nay cling khong ngoai Ie. Sw khée bigt gitra absolute encoder va incremental encoder: Absolute encoder s& theo doi vi tri true dong co ngay ci khi hé thong bj mat dign va mot s6 chuyén dong xay ra trong thai gian d6. Incremental encoder la khong c6 kha ning ten. Neguyén IY co ban cita encoder, dé la mét dia tron xoay, quay quanh true. Trén dia 66 cic [6 (rah), Newai ta ding mét den led 48 chigu len mat dia, Khi dia quay, ché khong c6 [8 (ranh), dén led khng chigu xuyén qua duge, chd c6 18 (ranh), dn led sé chiéu xuyén qua. Khi dé, phia mat bén kia cia dia, ngudi ta dat mot con mat thu Voi cae tin higu 66, hode khéng ¢6 anh sing chiéu qua, ngudi ta ghi nan duge den led £6 chigu qua I6 hay khong. Nguén phat Bia quay Hinh 2. Optical Encoder SVTH : BIEN QUOC THOSt 28Digu khién vn the va moment ding eu AC-Servo GVHD : TS.NGUYEN MINH TAM bing PLC két hyp Win€C-Flexible Siemens Encoder thuimg c6 3 kénh G ngO ra) bao gm KEah A, Kénh B vi KEnh T. Trong hinh 2 ban thay hay chit ¥ mt 16 nho ben phia trong cia dia quay va mot efp phét-thu dnh rigng cho 1S nhé nay. BS la Kénh [ eta encoder, Ci mdi kin motor quay duge mot vong, 15 nhé xuat hign tai vi tri cia cap phat-thu, héng ngogi tir nguon phat sé xuyén qua 18 nho dén cam bién quang, mot tin higu xudt hign teen cdm bign, Nhu thé kénh xuat hign mot “xung” mdi vong quay ciia motor. Ben ngodi dia quay duge chia thanh céc rinh nho va m9t e§p thu-phat khéc dnh cho cfc rinh nay. iy la kénh A ca encoder, hoat dng ciia kénh A cing twong tu kénh I, dim Khac nhau [8 trong | vong quay ciia motor, c6 N “xung” xuat hign trén kénh A. N la rnb trén dia vi dure goi la 49 phan giai (resolution) eta encoder. Mi loai encoder c6 {46 phan gidi khéc nhau, 6 khi trén m6i dia chi cb vai rinh niumg cling ¢6 trubng hop «den hing nghin rinh durge chia. Dé diéu khién dOng co, ban phai biét dO phin giai cia encoder dang ding. Dé phan gidi anh huéng dén dO chinh xae diéu khién va ca phuong phap diéu khién, Khéng duge vé trong hinh 2, tuy nhién trén cc encoder con 6 mot cap thu phat khde duge dat trén cing duéng tron véi kénh A nhung Igch mot chit (Iéch M+0,5 rah), day lé kénh B cita encoder. Tin higu xung tir kénh B 66 cing, tiin so voi kénh A nhung Iéch pha 90 46. Bing edch phdi hop kénh A vi B ngudi doe s8 biét chidu quay cia dng co. Hay quan edt hinh 3, 360° (in this case, 360° means J tere tom otto 0) Hinh 3. Hai kénh A va B léch pha trong encoder sy b@ tri cia 2 cim bién kénh A vi B Igch pha nhau, Khi cam bién A bit dau bj che thi cam bién B hoan toan nhan duge héng ngoai xuyén qua, va ngugc Igi. Hinh thdp 1A dang xung ng@ ra trén 2 kEnh, Xét trudmg hop motor quay ciing chiéu kim in higu “di” tr tii sang pha, Ban hay quan sit lie tin higu A chuyén tir mite cao xuéng thap (canh xudng) thi kénh B dang 6 mirc thap. Nauge lai, néu dong ec quay ngurge chigu kim dong hé, tin higu “di tir pha qua trai, Lite nay, tai canh xudng cia kénh A thi kénh B dang é mite cao, Nhur vay, bang, céich phOi hop 2 kénh A vi B ching ta khong nhimg xae dinh duge gée quay (théng qua s6 xung) ma con biét duge chiéu quay cia dong co (théng qua mite ciia kénh B 6 canh xubng cia kénh A). Hinh trén eiing trong hinh 3 thé hi SVTH : BIEN QUOC THOSt 29itu khién vn tc va moment déng co AC-Servo GVHD ; TS.NGUYEN MINH TAM. bing PLC két hgp WinCC-Flexible Siemens 2.4 TIM HIEU VE DONG SAN PHAM SIGMA AC-SERVO CUA YASKAWA (SGD*-***6); 24.1 D§ng eo Ac-Servo (SGM-***##*); 2.4.1.1 So dd cu trac dgng co Ac-Servo (SGM-*****): AC-Servo motor duge chia thanh hai loai: dong co déng b6 va déng co cam img. Loai dong b9 thuimg duge sir dung nhieu hon, BOi véi dng co logi dong 69 tbe 4 cua mo- tor duge diéu khién bi sy thay ddi tan s6 cia dong dign xoay chiéu, Dong co logi dang b6 e6 mot moment gitt manh khi dng co diimg, va hom nita logi nay 6 thé sic dung khi bi hoi digu khign vj ti chinh xéc, loai ndy thung sit dung cho servo diéu khién vj tri, Hinh minh hga theo sau la edu tric bén trong cia mét dong AC-Servo loai dng bo. Leéghit es (Encoder) = tne Obiarme epee SVTH : BIEN QUOC THOSt 30Ditu khién vin the va moment ddng ew AC-Servo GVHD: TS.NGUYEN MINE TAM. hing PLC két hop WinCC-Flesible Siemens 2.4.1.2 Thong $6 dong c hain cita dong co cho ta cae thong s6 Ki thuat ctia dng co Ropearance Remepiete ee SGM-01A312 24.1.3 Nguyén tic hoat dng cia dong co: &u khién tirb6 driver ciia dong eo servopack ‘Tinh. higu hdi tiép cha dong co nhéy encoder dura vé driver. Driver xtrIy tin higu hi tiép dé va dua ra tin higu digu khién cho dng cv. 24.2 BO ditu khién driver cita dng co SERVOPACK (SGD*-****): ‘Operator Digital NSi tei cap dong 2.4.2.1 Théng s6 bé digu khién driver SERVOPACK (SGD*-****): SVTH : BIEN QUOC THOSt 311 SERIES SGD SERVOPACK MoToR OUTPUT A3 30WQOOKHP) AS SOW (007 HP) 01 1OW(O13HP) 02 200W 027 HP) 0% 400.W(053 HP) 08 750.W (1 01 HP) POWER SUPPLY A 20V B 10v SVTH : BIEN QUOC THOSt GVHD : TS.NGUYEN MINH TAM. Le 'S Speed Control Torque Control) P_ Posiuoning Control 32a moment dng co AC-Servo GVHD: TS.NGUYEN MINH TAM bing PLC két hop WinCC-Flexible Siemens 2.4.2.2. So dd chan cita driver SERVOPACK(SGD-02AS): So dé chan duge chia Lam 3 nhém chinh: Nhém 1 chan tin higu diéu khién COM+,COM_:chan nguén SV-ON: cho phép dong eo lam vige P-CON: chon mod diéu khién P-NL: mod digu khién N-NL: mod diéu khién CLixéa bo dém SV-RST:chin reset P-OT.N-OT:chin cng tie hanh trinh thug va nghich Nhém 2: chan tin higu dén béo SV-ALM&dén bao trang thai 15: CMP: dén bio vain tbe TGON:dén béo mod van tbe ALM: mod trang thai I8i ALM2: mod trang thai Ii ALM2: mod trang thai I6i Nhém 3: chan tin higu encoder = OA+, OA_: Tin higu ng6 ra kénh A OB+ OB: Tin higu ngo ra kénh B OC!, OC_: Tin higu ngo ra kénh C Cac tin higu phan hoi tir encoder giri vé driver qua m6t cong dém va duge driver xir ly vaduge dura vé b6 diéu khién trung tim(PLC). SVTH : BIEN QUOC THOAT 35vn tbe vi moment dng eo AC-Servo GVHD: TS.NGUYEN MINH TAM. | r = +H iL f i - + « , avon | | 50 880" waste Tae Pe et 36GVHD: TS.NGUYEN MINH TAM. 24.2.3 Nguyen I va moment: Driver diéu khién diéu khién we 49 va moment nguyén tie nhiin tin higu ana- log dui dang dign ap tir bén ngoai, c6 thé tir ng@ ra cia modul analog. u khién cia driver trong Mod diéu khién te do Sorvopack ‘Tin — ‘Torque higu sot |P ON-2 reference dién ap vaer tons analog SAE TD Speed wiePLC sav Pp fous |” roteroneo Khi dng co lam viéeencoder gin trén déng co sé giti tin higu phan hoi vj tri van téc va moment vé b6 digu khién driver.Driver sé thye hign vie so sinh tin higu nhan tir PLC va tin higu phan hoi tir d6 dura ra huémg xi Wy, ‘Tin higu diéu khién van tée va moment la tin higu dign 4p analog duge dua true tiép dén cde chin V-ref va T-ref Tay thude vio gid tri ngudn ma cai dat thong 96 45 Igi cho thich hop. Phu thude vio vige cai dat thong s6 trong Mod diéu khién téc 49 va moment ma che chan tin higu V-ref va T-ref c6 cde ngwtng didn khién khée nhau, ting ché 4 Cae trang thai dén can bao trén man hinh diéu khién: (Tracebeck Data) Remarks i] aa ‘Abeolute Bneoder Data Error Only when absolute encoder 18 used ABE Parameter Breakdown AY Parameter Seting Error Ag AY ‘Grercurrent or Heatsink Overheat or [Ground Fault Orervltage AST Feedback Overapeed Dotecied at 10¥ of max speed RSe (Orerspeed Relerence Inpat ‘Detected at 108 of max speed Alt Overload Momentary overload Ale Overload (Continuous overload Rao Bneoder Error Only when absolute encoder 18 used Rat Encoder Backup Alarm ‘Only when 12 absolute encoder ie ed REE Encoder Checksum Error ‘Only when 12:bt absolute encoder ve ted RBZ Encoder Battery Alarm ‘nly when 12it absolute encoder ie ied RABY Bneoder Absolute Error ‘nly when 12 bt absolute encoder ve ted RBS Encoder Overspecd ‘Only when 12 eed eolate encoder te Abt Reference Input Read Error RCI Overrun Roe Phase Detection Error ‘Ohly when incremental encoders bed C3 PA-, PB phase Disconnection of PO Signal Lise FEY | AER PC Dutconnaction of PG signal Line Momentary Power Loss Alarm ASS Not Applicable Alarm ‘Alarm Reset, Power ON Ofiy for tracoback data cPFED Digital Operator Transmssion Error 1 CPFGE Dapual Operator Transmission Error 2 Dag operator error Not detected as traceback data 47Diéu khién yn the via moment dng eo AC-Servo GVHD: TS.NGUYEN MINH TAM. bing PLC két hgp WinCC-Flexible Siemens 2.4.3.3 Cai dgt thong sé cho mode tée 49 va moment véi man hinh dién khién Digital Operator (JUSP-OP02A,JUSP-OP03A): set thong s6 thong qua man hinh.Cé rét nhigu thong s6.céc thong sé nay da phan duge gir nguyén theo tiéu chun cai dat ban dau cia nha sin xudt. cae thong s6 cai d8t cho mode tc d6 va moment chi yéu ching ta can thigp vio mat sb thing s6 o6 lién quan dén t6c d6 vio moment cho phi hyp véi yéu ciu vA muc dich sir dung cia ching ta, Uae Tove] now era ror) contre] Symbol | Nome ot [Cima] Shement «omit pad Rare 5 Ral See” caas | vmsrox [Seat Reevsee [mmr] we jue | Goat [LOOPED [Spe Loop Cam | He | i [am [| Spe Lp nas jpimae |inogravoe Time | mx | 2 |iva0 [20 Contant | GeiA [FOSGN [Pome LoopGem | ve [i wo |W z Energy Sop Mex Tyectorqee [OT cxos |enorng [BEE x fo [Mee [ax trewe Qt Feenard osning Now ~ aos mur |Ferwerd Re fo ME [Max Tra Rewrs Ronse | Nex ~ cx [nur [Rew Rote | 0 Me Max Tra a cus [ronrax [ZaeeeBaerse | 35W | 9 no |e = ani Tae Spd Lat wh ties uae cout [renuan [Selamat | wm [0 [ity [test coat [raarn, [Fees ag Woe | 0 [po | cous |cump |fovetEsirsel | yo [tg (0 fe Revere Exteel Mex rs cots [oun | Ree Bue + fo [ie [i coor |arsace |SetSan Tne as | 0 fim 0 + | com |susnec [StSar Tire | ms | 0 [iam | 0 ' i : om | a [tee J [vee [roowy [ueosp ot | me | 2 (By [Guar [sone [Rescneted [an [6 ist | : Syed Conedwes | sien | o fm (w [ove [owner Sere a | Dias Tim ro cou |oakros |Brdeng Ratevea te) ms | 0 lo |0 svorFDiéu khién yn the via moment dng eo AC-Servo GVHD: TS.NGUYEN MINH TAM. 1g PLC ket hgp WinCC-Flexible Siemens Seleation | Bit No seeayeres ns F-CON one Pr control oN erence Input P control “ero clamp speed coniral) “Alter the motor i stopped ZCLVL), the speed Maerenc is tersected|Seted reference (V-REF) PCON {execute the ero speed Pe damp 01] Septuncton “After the, uretion OFF ow SE mamntaine the serv lock sta + The PON signal (2CN. Taro damp 15) uned te form the sero funeuon ON élamp function ON and or Gerave and 1) | +The motor output torque s rep | comtelled by he toraue | Torque ref reference (PREF) | (TREE) «The V-REF eennct be used orque centr DD | +The POON signal (1c 18) used for torqued contol made ehangeorer At torque control Gontot | torque contol mode "Torque rfrence Mode | B:A | ether stat torques | (EREE) a jetion controlled by the torque Speed reference ‘ference (PREF) (WREF) +The pee Lit canbe entered fom conde Atspeed control (Ree) ‘Sood reference ‘The V-REF voltage (+) (VRE) Iams both the forward end rovrserumig pds [Nae | MoroR SPEED | Eslimtmgetce [One | feedback of torque in| Torque proportion 1 speed "| control Ahiference from lumt_| ON speed oncure to restore | Speed Moderate speed ‘Therefore, width of aclual motor rotation fed init dep Toad conditions None ‘Incase of continous rogenerahion (tension ral) Please contact your IYASKAWA | representative ‘ntered from the V-REF The PREF cannot be ”Diéu khién yn the via moment dng eo AC-Servo GVHD ; TS.NGUYEN MINH TAM. bing PLC két hgp WinCC-Flexible Siemens > Cae théng sé cdi dt cho hai mode diéu khién bit (Cn-01, Cn-02): 3 ‘Seng Faery onetnt | No. Seting read —[oeat OI i iy eit dostie [Use sene ON npc SOW) [Does ote evo ON nat (SOM, Sere nays ON, |e it Ie Vos SEN apap SENT when [Dove ols SEN ang stectte wns ad (SEM when absce erode 5 ed Seropact aorta ets a votae a gh ee ze i ie ses oward ates poked [Does rot soar cic sea 0. pohbted not (07) Forward econ aay ple Fe a ie es ere olen patbied [Does ral use ose ator eeu FO pohbted eet (VOT) Reve Fesson i aay poet. FToOW pat ac o ie ewting uses TOW pal GON as | es TGON sgn (GOR as ning ou que tou slo . io Rasa eso dam sas treo fo pone es. o ie [Case be mote oan a oop ena abe ars. 7 r hen an clam ates, ape be mt by sprog ramet toes ot rease Samora i ie Devs roa aon sly tte spcted | 38 when oral dete [potwon, 0 Q ahen otal detaded POT INT deers the mato a sop by spaying be true paced Gr and en proms Eeosane. i 7 ie Torq coael | Tg oe [m a (oo Ties ors seston asa |made och ndon inten Lev setres wae) SVTH : BIEN QUOC THOAT 30Diéu khién yn the via moment dng eo AC-Servo GVHD: TS.NGUYEN MINH TAM. bing PLC két hgp WinCC-Flexible Siemens Teer) Bt Seng Faery Constant | No. Setting No. Exod EF — ses neremental encode. Uses abhi encoder rege Fo 7 0 hcholiad Does nets taquefeetToward | Uses tq fad rad neon uneten neton, Rotten Ort 0 | T a a Deines couse (OOM) — | Detnes dockwse (CW) raion as — tation as forward rotaton, orward rotation (reverse rotaton mode Foe poston To T 0 cessing Dae fone poston err ven Does not eel Fane postion err econ stole encoders used. Contact Z [0 7 0 peed oot Does nture eta pepe Use eal pd ped coal cert Veer] BNE, ‘Seting Faeory Constant Seting No Resend [Grd [BoB | Reserved oto be eh tr seeton| fe a 1 7 6M motor SGP mato Reseed kG [Reser rottobe set 0 negation ine 8 a 1 0 constant sting unt ie ii equ erence er ic a Hi 0 bad Primary Secondary Resened ED | Reserved tobe st 0 que reece F 0 7 0 int slecton Uses torque efrence or | Uses araogvotage eruefeedfoward rene. | reference as toque int out SVTH : BIEN QUOC THOSI 31vn the va moment dng co AC-Servo GVHD: TS.NGUYEN MINH TAM. ‘hyp WinCC. 2.4.4 _ Két ndi dng co Ac-Servo (SGM-******) va mang hinh dién khién Digital Operator (JUSP-OP02A) véi driver SER- VOPACK (SGD*-****) Power supply Operate the mo- tor with a Digital Operator. =) Host controller(PLC) we S Encoder cable ? £ J Motor cable Encoder gin trén ding co durge két néi véi driver servopack thong qua cing 2cN ‘Tin higu did ICN, Mang hinh din khién Digital Operator (ebng 3CN) JUSP-OPO2A) durge két nb VGi driver servopack théng qua céng 3CN. Ci chin U,VW tirdéng co durge ndi vio tir PLC duge két ndi véi driver servopack thong qua céng ic ULV.W cita 6 driver servopack 4 Tinh ton trong mode digu khién vin the vi moment: ‘Van téc duge tinh toan tir tin higu phan hdi cia encoder: vant co Nis xung dém duge trong thei gian Kiy miu (xung/vong), No: d6 phan giai cua encoder (xung/vong) . ‘To: thai gian liy mau (s) SVTH : BIEN QUOC THON 52Diéu khién yn the via moment dng eo AC-Servo GVHD ; TS.NGUYEN MINH TAM. bang PLC két hyp WinCC-Flexible Siemens > Cie trang thai 151 vay ra trong qui trinh hoat dong: as ar Opa aaa a EP | ammoowroune | ae) = Seen Ee = am oa aan aaa re Spt |i Gear owt | AL pig bacon | ae [aaa | parte ser Es i lhl hl === eer [Sea arsenecn™™ [ete [xs — [Orr Jor Jorr [Orr Reta | sspox Ua oases [ot eaead |r ewes rot — fon — [aro —[or sae as | agai ea Tan GST race — Jou — [oreo [OFF [Enon | Pnses A an Cab Ba rao ‘sistthae | amor paca Jon Jor Jon or Enea a gapaa ee RSE Eras [Seca ier —Jon Jor Jon Jor —T Esc agape pms Smee | Sena lars —Jorr fon —Jorr for — Remar | pmar rann anea e foc _|SéereatnaCpoer em foprao [ora Dota] Datalcesar gs ocananeae wah | Torenieon [etre ve nat sera — ft Dia Taam er [xo= — |r [ore [or [on —— [Rtn ar | Roma opto ae SVTH : BIEN QUOC THOAT 53CHUONG 3: CO SO Li THUYET VE $7-200 VA OPC 3.1 TONG QUAN VE PLC S7-200: 3.1.1 Die diém bé didu khign loic kha trinh (PLC Sur phat trién ciia PLC da dem lai nhiéu thudn Igi va lam cho cae thao tic may tri nén nhank, nhay, dé dang va tin cdy hon, N6 ¢6 kha niing thay thé hoan toin cho cée phuong phap digu khién truyén thong dig role (logi thiét bj phite tap va cong, én); kha nang diéu khién thiét bj d& dang vA tinh hogt dya trén vige lip trinh trén cde [enh logic co ban; kha ning dinh thai, dém; gidi quyét cc vin dé todn hoe vi cong, nghé; kha nang tao lap, g6i di, tiép nhdn nhiing tin hiéu nhim muc dich kiém sodt sir kich hoat hoge dinh chi nhimg chite nang cua may hoge mot day chuyén cong nghé. ‘hur vay nhimng dic diém lam cho PLC 6 tinh ning wu vigt va thich hgp trong mdi trugmg cong nghiép: ¢ Kha nang khing nhigu rat tot, + Cu trite dang module rit thuén tign cho vige thiét ké, mé rng, cdi tao ning ip... #Cé nhtng module chuyén dung dé thyc hign nhing chite nang dae bist hay hing module truyén thong dé két ndi PLC véi mang céng nghigp hose mang Internet ¢ Kha nang lip trinh dug, lap trinh dé dang cing la dic diém quan trong dé xép_ hhang m@t hé thong dieu khign tw dong ‘Thue vio hé san xuat Tinh hogt do tinh thay 46i due chuomg trinh ode thay i trge tigp ede thong s6 ma khong can thay déi Iai churong trinh 3.1.2 Céiu tric phéin cimg cita $7-200: Céc thanh phan co bin cia mot PLC thuding ¢6 cée modul phan cig sau: 1. Modul nguén module don vi xir ly trung tm ‘Modul b6 nhé chirong trinh va dor ligu. Modul dau vio Modul du ra Modul g6i phép( dé ho try cho vin dé truyén thong ndi bd) + Modul che nang( 48 hd trg cho vin dé truyén théng mang). 3.1.3 Céu trie bo nhé $7-200 Phan chia b6 nhé: BO nhé duge chia Kim 4 ving co ban, hau hét ede ving nhé déu c6 kha ning doc/ghi chi trir ving nhé dic bigt SM (Special Memory) la ving nhé £6 chi sd dae, s6 eon Iai c6 thé dgc/ghi duge SVTH : BIEN QUOC THOAT 4Ving nhé chong trink: Li mién bé nhé duge ding dé iu gitt cae Kénh, chuong trinh, Viing nay thuge kiéu non-valatie dge/ghi duge. ‘Ving nhé tham s6: La mién ju gitt ede tham s6 nur tir khéa, dia chi tram cing gidng nhur ving chyong trinh, ving nay thuge kiéu non-valatie doc/ghi duge Ving dit ligu: Duge sir dung dé cat cdc dir ligu ciia chuong trink bao gdm két qua ciia cée phép tinh, hing sé duge dinh nghia trong chuong trinh, bo dém truyén thong Ving d6i trong: Timer, b6 dém, 66 dém tbc dé cao vi cic céng vio/ra trong tr durge dat trong ving nhé cubi cing, Ving nay khong thude kiéu non-valatie nhung docighi doe. 3.14 Xitel chwong trinh, PLC thye hign chuong trinh theo chu ky lip. Mdi vong lip duge oi la mot vong quét (Scan). Méi ving quét duge bit dau bing vige doc dit ligu tir cdc cong vio ving bo dém ao, tigp theo Ia giai doan thye hign chuong trinh. Trong timg vong quet chuong trinh thyc hign bing Iénh diu tién va két thic bing lénh két thie. Sau giai dogn thye hign chuong trinh 1a giai doan truydn thong vA kiém tra I8i. Vong quét duge két thie biing giai doan chuyén céc ndi dung ciia bo dém ao dén cong ra Giai doan nhap dir ligu tir ngoaivi Giai doan chuyén di ligu ra ngoaivi ‘Giai doan thuc hién Giai doan truyén théng clurong trinh noi bé va ty kiém tra 16i ‘SVTH : BIEN QUOC THOAT 35Diéu khién yn the via moment dng eo AC-Servo GVHD: TS.NGUYEN MINH TAM. bing PLC két hgp WinCC-Flexible Siemens 3.1.5 Giao tiép giita sensor va co cfu chip hanh: ‘87-200 6 hai loai co ban: ACIDCIRELAY SESSGSSOSSSSSGssGG} [amen] Ta JODBOSWDO®OGOOOWSOHOVA|C} TUVUTTTTTITT TTT LALLY Leer Hinh 2.2: so dd mach giao tiép gitta CPU 224 AC/DCIRLY véi sensor va co clu chip hink pepeine (eer staan omy ceases FOTN (FOOD ff ISEEEQSSOEESHOSSO9G} = |OEQDVOOHOOOOHOOOOOO} TETTUTIT ITT Ty LECCE SELL LEE f dee Hiinh 2.3: So dd mach gino iép gita CPU 224 DCIDCIDC véi sensor vA co cfu chép hinh faDitu khién vin te vi moment dng ev AC-Servo GVHD: TS.NGUYEN MINH TAM. bing PLC két hyp WinCC-Flexible Siemens 3.2. BO DEM XUNG TOC BO CAO ( HSC: HIGHT SPEED COUNTER). 3.21 thigu vé HSC: Bd dém thudng trong PLC nh dém lén ( CTU), dém xuéng (CTD), dém kén xudng (CTUD), chi dém duge cde sur kign xay ra vi thn 96 thép (Chu ki xuat hign cia su ign nho hon chu ki quét ctia PLC) . HSC la b6 dém toc 6 cao, duge str dung dé dém nhiing sy kign xay ra véi tin 5 Jén ma cdc b9 dém théng thyimg trong PLC khong dém duge. VD: Tin higu xung tir encoder. 3.2.2. Sé Igng bo dém HSC cé trong PLC va tin sé tdi da cho phép: Tay thuge vio loai CPU ma s6 lugng 66 dém Hi hac nhau, vii tée d@ ti da cho phép BO dém [Ngo vo [Tan sO cho phép [Loa CPUS. HCO [100 30 kHZ (221,222,224 D2AXP 226 Het [106 20kHz (221,222,224 224XP 226 HC? [142. 30kHZ 221,222.224,224XP 226. Hes [10.1 30kHZ "221,222,224 224XP.226 Hea [103 200 KHZ ‘224XP Hes [lod 200 KH ‘224xP 3.2.3. Ving nhé dje bigt sir dyng dé Ip trinh cho HSC: MGi viing nhé HSC ¢6 mot ving nhe rigng dic biét, ving nhé nay duge sir dung 448 khai bio chon mode dém, dat gid tri, lu gid tri cho HSC trong img. ST [86 dim [Ving nh khai bao [Cha thich SCO | SVEN5 din Shas — [NG HSC a ug TOBE = 7 2 [Hct — [Sues ain siBss 3-_[HSc2—|suese ain swBos 4 5 HSCo__| SMO136 a8n SWE 145 Hsc4 | SiO 186 s6n SWB IES 3.24 bé dém: MBi b6 dém déu c6 nhing Mode dém khdée nhau. Tay vao tig img dung cy thé ‘ma ngwai fap trinh Iya chon Mode dém cho phit hp. Dudi day trinh bay Mode dém cia céc bo dém tidu Diéu HCO c6 1 mod dém(Mod 0).Céc b6 dém con Iai déu c6 12 Mod dém SVTH : BIEN QUOC THOAT 37GVHD: TS.NGUYEN MINH TAM. jing mé ti ché dj dém cua cic bg HSC Mode 0,1,2 : ding dé dém 1 pha voi huéng dém duge xée dinh b operation bxanpte of Modest and? it mdi ‘Gren ye leaded 0, preset neds 4 countng eto et Up otra ene eet ee PALOY nop gn inept rostne Mode 0:chi dém ting hodc gidm khéng c6 bit START vi RESET Mode 1: dém tang hode giém c6 bit RESET nhung khong c6 bit START Mode 2: : dém ting hode gidm cé bit RESET va bit START dé cho phép bat diu dém cing nhur bat diu reset.Cée bit reset cing nhur start ld céc tin higu INPUT duoc chon tir bén ngoa Mode 3.4,5 ding dé dém 1 pha véi hudng dém duroe 6 thé chon tirngo vao input i ngoai tte hi SVTH : BIEN QUOC THOAT 58Diéu khién yn the via moment dng eo AC-Servo GVHD: TS.NGUYEN MINH TAM. bing PLC két hgp WinCC-Flexible Siemens Bere ates es seer cere et eg Use eee gee eee dém ting hoae gidm khong o6 bit START vi RESET Mode 4: dém tng hoae gm c6 bit RESET nhung khong co bit START Mode 5: : dém ting hoic gid cé bit RESET va bit START dé cho phép bat diu dém cing nhu bat dau reset.Cac bit reset cing nhur start la cae tin INPUT duge chon tir bén ngoai Mode 6,7 dung dé dém gir peraion xan Medes 7, an “Greta ew prelate cea etn Uy] ‘Sou emi est aed WC iter eneatee p FY ira genentedane tr oven Cana mrt ented Boe ann lng dém 2 pha véi 2 xung vao,1 xung ding dé dém ting va 1 xung eater Sere ‘eo Mode 6:chi dém ting hode gidm khong c6 bit START vi RESET Mode 7: dém ting hose giim c6 bit RESET nhung khéng c6 bit START _ Mode 8: : dém ting hodc giim c6 bit RESET va bit START dé cho phép bit diu ém cing nhur bit dau reset.Céc bit reset ciing nhur start IA cée tin higu INPUT duge chon ti ben ngoai Mode 9,10,11 : diing dé dém xung A/B ciia ENCODER c6 2 dang SVTH : BIEN QUOC THOAT 59GVHD: TS.NGUYEN MINH TAM. Dang 1:dém ting 1 khi cé xung A/B quay theo chiéu thudn, gidm! khi c6 xung AJB quay theo chiéu nghich ‘Operation tramps of Mode 9:1, and 1 (Ouertre toe) 2, rte 3 a oO Dang 2:dém ting 4 khi cé xung A/B quay theo chiéu thuén, gidm4 khi e6 xung AJB quay theo chiéu nghich ‘Operation Example of Modes 9:10, and 11 (Quadrature x Mode) “arenas in dea preston 8 ral Canin areTON eT fe Up. Cromer eile beset em PARCY inert genemted Drecton cages, || ftrap genemie pumea Inert geneated out oa ovner Curent wee Mode 9:chi dém ting hod giém khong o6 bit START va RESET Mode 10: dém ting hode gidm c6 bit RESET nhung khéng 6 bit START SVTH : BIEN QUOC THOATDitu khién vin te vi moment dng ev AC-Servo GVHD: TS.NGUYEN MINH TAM. 1¢ PLC két hop WinCC- mens _ Mode 11: : dém ting hoae gim o6 bit RESET va bit START dé dau dém cing nhu bat diu reset Céc bit reset ciing nhur start 1d cde durge chon tir bén ngodi cho phép bit higu INPUT Mode 12: Chi ap dung véi HSCO va HSC3.HSCO ding dé dém xung phat ra tir Q0.0 HSC3 ding dé dém xung phat ra tir Q0.1 ma khong can phai dau ndi phan cimg cd nghfa la PLC tu kiém tra tir bén trong 3.2.5 V nghia cdc bit cia byte trang thai khi lp trinh cho HSC: Cac bit khong sir dung duge bo qua Byte digu khién cua HSCO :SMB36 SM36.5 | Chidu dang dém, 1:Bém lén, 0:Dém xudng. SM36.6 | Kat qua so sanh tire thdi, O:Néu CV + PV, 1:Néu CV = PV $M36,7 | Két qua so sanb tire thdi, O:Néu CV < PV, 1:NéuCV> PV Byte diéu khién cia HSC1: SMB46 SM46.5 | Chidu dang dm, 1:Bém lén, 0:D4m xudng, SN46.6 | K&t qua so sénh the thoi, O:Néu CV # PV, 1:Néu CV = PV SM46.7 | Két qua so sénh tie thdi, O:Néu CV < PV, 1:NéuCV> PV Byte diéu khién cua HSC2: SMBS6 SM56.5 | Chidu dang dém, 1:Bém én, 0:Dém xuéng SM56.6 | Két qua so sénh tire thd’, O:Néu CV PV, 1:Néu CV= PV SM56.7 | Két qua so sénh tite thd’, O:Néu CV < PV, 1:Néu CV> PV oGVHD: TS.NGUYEN MINH TAM. 3.2.6 VY nghia cac bit cia byte diéu khién khi lp trinh cho HS¢ Cac bit khéng sir dung duge bo qua Byte digu khién cua HSCO. 8M37.3 | Chiu dém: 0 aém ti, 1: dém lan SM37.4 | Cho phép déi chiéu dém, 0: khéng cho phép, 1: cho phép ‘SM37.5 | Cho phép siva ddi gia tri dat truéc,0: khong cho phép,1: cho hep SM37.6 | Cho phép sira déi gid tri dém tue thei, 0: khong cho phép, 1 cho phép ‘SM37.7 | 1- Cho phép kich HSCO, 0:Khéng cho phép HSCO Byte diéu khién caa HSC1 $M47.0 | Kiéu reset cho tin higu xéa tai odng 11.0 ‘SMAT.1 | Kidu start cho tin higu kh tal eng 1.1 'SM47.2 | Tan sé dém cla HSC1 | sma7.3 | Chidu aém: 0 adm ti, 1: aém én ‘SMA7.A | Cho phép dBi chidu dém, 0: khdng cho phép, 1: cho phép SM47.5 | Cho phép sita di gia tri Gat truée, 0: khéng cho phép, 1: cho hep ‘SM47.6 | Cho phép siza déi gid tri dém tac thei, 0: khéng cho phép, 1 cho phép ‘SM47.7 | 1- Cho phép kich HSC1, 0:Khéng cho phépHSC1 SVTH : BIEN QUOC THOAT 62vn tée vi moment dng co AC-Servo Byte digu khién etia HSC2 SM57.0 SMS7.1 SM57.2 SMS7.3 SM57.4 SMS7.5 SME7.6 SMS7.7 3.2.7 Chon kiéu Reset, Start va tin sé dém cho HSC i GVHD: TS.NGUYEN MINH TAM. ing PLC ket hgp WinCC-Fiexible Siemens Kiéu reset cho tin higu xéa tai cng 11.0 iu start cho tin higu kich tai cng 11.1 Tan sé dém cla HSC2 Chiéu dém: 0 dém Idi, 1: dém len Cho phép déi chidu dém, 0: khéng cho phép, 1: cho phép Cho phép siva déi gid tri dat true, 0: khéng cho phép, 1: cho phép Cho phép siza déi gia tri dém tlre thdi, 0: khéng cho phép, 1 ‘cho phép 1 cho phép kich HSC2, 0 ~ cho phép hy HSC2 HSC1__[HSC2__|Ghi cha $47.0 |SM57.0 | 0: Reset mirc cao 1: Reset mirc thap ‘SM47.1_|SM57.1_[0: Start mirc cao 1: Start mite thdp ‘$M47.2_|SM57.2_|0: 4X gia tri dém 1:1X gid tri dém 3.2.8 Byte trang thai va byte diéu khién cua HSC3, HSC4, HSCS. 86 dém Byte trang thai | Byte diu khign’ Ghi cha HSC3 ‘SMD136 ‘SMD137 HSC4 ‘SMD146 SMD147 HSC5 SMD156 ‘SMD157 3.2.9 Gis tr] tite thd, gia tr} dat Bo dém Gid ty te thoi [ Gia tri dat Ghi cha HSCO ‘SMD38 SMD42 HSCt ‘SMD48 SMD52 HSC2 SMD58, SMD62 HSC3 ‘SMD148 ‘SMD142 HSC4 ‘SMD158 ‘SMD152 HSCS ‘SMD168 ‘SMD162Diu kien van the vi GVHD: TS.NGUYEN MINH TAM. bing PLC két hgp WinCC-Flexible Siemens 3.2.10 Cée burde khéi tao bo dém HSC: DE doe xung tbe d6 cao ta thye hign eée bude sau cho vige dinh dang Wizard: ‘Chon Wizard doc xung tc d9 cao High Speed Counter Instruction Wizard ‘esecedPL ye totes Yelena ih Soe carla. Meet cmt soot po ‘Bneaees epson ‘vnc Cart wousyou ela coroue? co ‘The Woh Sed Coutts mode cf coon eerie ht Cock recor ae Sneha Sat arafset pure wed Whstmode opwahnwadsyocba? NedeDeciin | en/na whiten ec cor No Stat et Nofeea roa ‘Chon Mode dge xung tic 49 cao vit logi Counter nito (HCO,HCI...) Ding chu ki quét dau tién (SMO0.1) dé goi chuong trinh con khdi tao. Trong chwrong trinh con kha’ tao thyc hign ede cong vige sau diy. ‘Nap gid tri cho Byte digu khién, Gan b6 dém véi Mode dém tuong ting diing enh HDEP. Nap git tte thoi. Nap gid tr dat true. Gin chuong trinh ngit v6i sy kiga agit ding oh ATCH néu sit dung ngit Cho phép ngit dig Ign ENT. Chon bé dem dé thy thi ding lénh HSC, Luu ¥: Toin bé eée bude trén déu duge thye hign trong m@t chyong trinh con noi tgo HSC. Vige khéi go nay chi thye hign mt lin, khi nio edn thay d6i gid tr, ché d6 lam viéc thi méi khoi tao lai. SVTH : BIEN QUOC THOAT 64GVHD: TS.NGUYEN MINH TAM. 3.3. CHUONG TRINH NGAT: 33. Gi6i thigu vé ngit trong $7 200, Neit 1a qua trinh ma s7 200 dimg chuong trinh dang thue thi dé thy hign chuong trinh ngit khi duge yéu cau(cé su kign gay ra ngiit xy ra). Sau khi thye hign xong chuong trinh ngét thi $7 200 s@ quay vé chung trink dang thye hign trade khi xy ra ngit dé thue hign tigp Khi 06 nbigu yéu chu ngét xdy ca déng thoi thi ee ngft s@ thye hin theo thir ur wu tign ti ngit c6 mite uu cao nat dén ng c6 mite wu tién thap mbit. ‘Thirty wu tien ngat nhue sau: © ‘Neit truyén thong, © Natit vio ra + Nei Cac digu kign ngat xay ra sé duoc Iuu lai va sip xép theo thir ty ‘Mét chuong trinh ngat 6 thé dge goi boi nhiéu su kign ngat, Tuy nhién mgt su kign n chong thé gan cho nhiéu chuong trinh ng: Tily thude vao loi CPU ma sé Iugng agit cing nhu sy kign ngat eb khic hau InpetsOurputs Data Typee Operands ENT oe Consent CPU 22] and CPU BE 00 VE. 9 WE and aT WS trinh digu khién ngét. _-Lénh cho phép ngiit toin eve Lénh cm ngat toin eye = Lénh thot khéi chutong trinh ngét Gain chuong trinh ngat voi su kign ngat wong img i bo chwong trinh neat véi sw kiga ngit tong img. SVTH : BIEN QUOC THOAT 65,Diéu khién yn the via moment dng eo AC-Servo GVHD: TS.NGUYEN MINH TAM. bing PLC két hgp WinCC-Flexible Siemens 33.3 Cac sy kign gy ra ngit ‘STT_] Deseribion CPU DA [CPU I [CPU ZG cpu 222 CPU 26xM. [0 [Rising edge 10.0 x x pa 4 [Falling edge — 10.0 x x x [2 [Rising edge 10.1 x x x 3 [Faling edge 10.1 x x ie [4 [Rising edge 102 x x x S| Falling edge 10.2 % x mn [6 [Rising edge 10.3 x x x T__|Faling edge 10.3 = x x '8__| Port 0 Receive Characior x x x ‘3 [Port 0 Transmit Complete x x x 10 | Timedintemupt 0 SMB 24 x x x “11 [Timed interupt 1 SMB 25° x % x 712 [HSCO. CV = PV x x x TS_[HSCI v= cv. x z “4 HSCT Direction changed x x 5 HSCi Reset external x x 6 [HSC2 CV = Cv x x 7 —[HSC2 Direction changed x x Ta | HSC2 Reset external x x 19 [PLSO PTO pulse count) x x x ‘complet interrupt 20 | PLS1 PT pulse count complet] x x x interrupt 2i__| Timer T32 CT = PT complet x x x 22 [Timer 795 CT= PT complet x x x 23 |Pon 0 recene massage] x |X x complet 2 [Pot 1 recene massage x ‘complet 25__| Port 1 receive character x 26_—| Port 1 Transmit complete x 27 — HSCO Direction changed x x x 28 HSCO External reset x x x 20 HSC4 PV = Cv x x x ‘30 —| HSC4 Direction changed x x x 31 | HSC4 External reset x x x 32 | HSC3PV= CV. x x x Ed x x x ~_ Xéc dinh ting dung va chuomg trinh ngét — Phu thude vio timg logi ngit ma khéi tao chuong trinh ngit — Kich hoat ché d6 ngitvn tée vi moment dng co AC-Servo GVHD: TS.NGUYEN MINH TAM. bang PLC két hyp WinCC-Flexi emens 3.4 SU'DUNG MODUL ANALOG: higu Analog la céc tin higu twong ty (0 — 10VDC,hode 4-20mA......),Hau hét céc ting dung cia chong trinh PLC Siemens néi riéng hay céc ting dung khéc in phai doc cdc tin higu analog. Tin higu analog c higu tr efe cam khoaing cach,cdm bién ap sudt,cdm bién do trong lugng..... 3.4.1 Modul EM321: 1. Gidi thigu vé modul EM321: ugg ngo vao. S6 Iugng ngd vao 4A1W (ATWO, AIW2, AIW4,AIW6). Ned vao e6 thé Ia dign ap hay dong di Cach két néi ngd vio, Votage ransmé EFF Umseainput VQYSSVSVS i. Ot peeeemnae Innes Woorim toe Hinh 3.8: Khoi tgo Serip 43.4 MOts6 ham sir dung trong chuong trinh: Inverbit Cui phap: Inverbit Y nghia: Dao nguye gid tri cia m6t tag kiéu di ligu Binary Setbit Gi phip: Setbit (Tag) Dit gid tri cua Tag = True voi kiéu dor ligu Ia Binary Resetbit ( Tag) Dat gid tr ciia Tag = False v6i kiéu dit ligu 1a Binary SetbitinTag Cii phap: SetbitinTag( Tag.bit) Y nghiia: Dat gid tr I true cho vj tri bit duge xée djnh trong Tag ResetbitinTag SVTH : BIEN QUOC THOAT 7i 4 moment déng eo AC-Servo GVHD: TS.NGUYEN MINH TAM bing PLC két hop WinCC-Flexible Siemens Chi phap: ResetbitlnTag( Tag,bit) ‘Y nghia: Dat gia tr la false cho vi tri bit duge xée dinh trong Tag ‘StopRuntime Cui phap: StopRuntime (Mode) Y nghia: Thoit khoi Runtime cia Wince Flexible SVTH : BIEN QUOC THOAT 84 moment dng GVHD: TS.NGUYEN MINH TAM bing PLC két hop WinCC-Flexible Siemens CHUONG 5: UU DIEM VA HAN CHE 1. UU DIEM CUA DE TAL 1) Tinh khoa hge etia dé tai DB tii nghién cu v8 ech thse didu Khign te d6 vi moment cia dng eo Ac-Servo. Tay dng co Servo due sir dung nhidu trong cong nghigp nung dé tai nay Ia mot A ti wong di 8 mi Nahin e khién duge ea vj ti t6 u thye « da ching minh ce sin phim Ac-Servo sau nay 06 thé eding tte thire thye té quy 6 va moment. Qua dé tai em e6 thém mot bu d8 ¢6 thé hd tro cho ti sau khi ra ra trumg va bude chan vio xa hoi 2) Tinh thye tién va kha nang img dung: Qua nghién ciu dé rit ra qui trinh, ti thiy ring diéu khién dng cu Ac-Servo khing qua phic tgp. Bay la mé hinh digu khién nho néu ¢6 thém thoi gian nguyén citu ti nghi ¢6 thé to ra mot san phim e6 thé duge king dng vio dé sin xu vi qui ms. I, HAN CHE CUA DE TAL Vi tii gian nghign ctu 6 han, may mée thit bi khong diy di nén cdn e6 nhimg vin 8 con tin tai, & Chua lam duge hét tit cd ede ciich didu khién we A. ‘Chua liam duge het tat cd cic catch digu khién moment, 4 Vige nghién eiru chi méi dimg lai 6 vi tr, t6c 46 va moment cia b6 dng co mo, SVTH : BIEN QUOC THOAT 2DGVHD: TS.NGUYEN MINH TAM. PHAN 3 KET LUAN VA KIEN NGHI SVTH : BIEN QUOC THOAT 80a moment dng co AC-Servo GVHD: TS.NGUYEN MINH TAM bing PLC két hgp WinCC-Fiexible Siemens KET LUAN Dé fin di hoan thanh ding tién d va co ban dat duge cae yéu edu dé ra nhur sau: > > > > Tim hiéu céu tgo, dae diém ky thuat ca cae thiét bis PLC Higu duge nguyén ly hot dong va niim dae phuong phap digu khién hg thong servo ae Str dung duge phan mém Wince Flexible va phin mém Step 7 MicroWin v4.0 Chay thanh eng hg théng trén mé hinh that Tuy nhién van con mot s6 han ché chura durge xt Ii ‘Trong qué trinh thyc hign d an T.S NGUYEN MINH TAM da tén tinh husng din 4é téc gia c6 thé hoan thanh dé an mot cach tét nhat, Tac gid cing da cé ging nhiéu hung do han ché vé tii ligu tham Khao va ning lve nén s® khéng tinh kh6i nhiing thigu sot. Rat mong nhan duge nhiing y kién b6 sung, g6p ¥ cita quy thay 6 dé dé tai ciia tic gid ngay cng hoan thign hon. Em-xin chan thanh cam on! SVTH : BIEN QUOC THOAT st4 moment dng GVHD: TS.NGUYEN MINH TAM bing PLC két hop WinCC-Flexible Siemens Il. KIEN NGHI - Néu c6 théi gian, t6i sé nghién ciu khac phuc nhimg Idi nho, phat trién dé tai digu khién t6c 46 va moment thanh mét dé tai Lon hon 46 li Lim mot may CNC ©@ nho digu khién 3 truc trong dé vita diéu khién duge vi tr,t6e te d6 va ca moment. SVTH : BIEN QUOC THOAT 824 moment dng GVHD: TS.NGUYEN MINH TAM bing PLC két hop WinCC-Flexible Siemens PHU LUC TAL LIEU THAM KH ‘Tai ligu sich tham khio: [1] Nguy8n Doan Phude. Phan Xuan Minh, Ty Dong Hoa voi SIMATIC $7-200. Nha Xuat Ban Nong Nghigp, 1997 [2] Lam Tang Dite. Nguyn Kim Anh — Gido sink diéu khién Logic ~Trudng Dai Hoe Bich Khoa Da Nang [3] WinCCflexible — GettingStarted — PowerUser. [4] Te Van Phuong .Tai ligu PLC cng nghiép. Truimg Bai Hoe SPKT TPHCM. Liu hah ngi bé IS]Ha Van Tri.Giao trinh PLC. NXB Khoa hge ky thuat [6] Lam Quynh Trang — Lé Trong Hign — Nguyén Minh Trung ~ Doan Higp Dai hoe Bich Khoa Thanh phd 8 Chi Minh - Chuong trinh PFIEV.Déng co servo. Web tham khio: 17] htp://support.automation.siemens.com/ [8] hiup://www.yaskawa.com [9]http://google.com.vn SVTH : BIEN QUOC THOAT 83