Robotic Applications with TwinCAT Motion Control Agenda TwinCAT Kinematic Transformation Motivation Architecture Features Kinematic Transformation: Motivation Integration of a robot into the complete machine line Robot cell is not any longer a black box Beckhoff: PC-based Automation Beckhoff PC-based Control: Setting standards for Motion Control! TwinCAT a modular software system – in Engineering and in Runtime Beckhoff: PC-based Automation 5 Kinematic Transformation Same programming tools for all parts of the machine No special robot language One CPU can control the complete line 6 Kinematic Transformation The integration of robotic control in TwinCAT offers: Saving of an additional CPU for robotic control A known and consistent tool for configuration, parameterisation and diagnosis in one system No friction losses because of coaction of different CPUs and PLC, Motion and Robotic Higher performance and accuracy because of direct interfaces, complex communication between CPUs do not apply Supported Kinematics Cartesian Portal Shear kinematic 2D Parallel kinematic Roll kinematic (H-Bot) 3D Delta Crane kinematic SCARA 5D Kinematics (XYZAB) Hexapod (restricted) 6 axes seriell kinematic (restricted) TwinCAT Kinematic Transformation NEW in TF5111 TwinCAT Kinematic Transformation L2 NEW in TF5112 TwinCAT Kinematic Transformation L3 TwinCAT Kinematic Transformation TF5113 - TwinCAT Kinematic Transformation L4 extension of TwinCAT Kinematic Transformation L1..L3 supports kinematics with more than 4 DOF (degrees of freedom) Released! 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Sample: Delta-Robot Integration in the XAE The NC-Task allows to add different kinematic-groups Beneath the kinematic-groups you can select different kinematic-types (e.g. Delta, 2D-Kinematic) Integration in the XAE Axes Axes of the Machine Co-ordinate System (cartesian) are integrated as simulation-axes Parameterisation and programming in the MCS Axes of the Axis Co-ordinate Systems (ACS) are connected with the I/O Integration in the XAE Axes Axes of the Machine Co-ordinate System (cartesian) are integrated as simulation-axes Parameterisation and programming in the MCS Axes of the Axis Co-ordinate Systems (ACS) are connected with the I/O Kinematic-Groups • Assignment of the axes for the MCS & ACS • Description of the kinematic via XML Sample: Delta Kinematics Configuration inside the XAE PLC Function Blocks for Kinematics FB to build the kinematics group FB to call the transformation from PLC (option) Calculation routine of the Kinematics Forward transformation Transforms the motor position to cartesian co-ordinate system Automatically used during startup of kinematics group Backward transformation Used if movement is programmed in cartesian mode Calculates the motor position Calculation of the dynamic model for current pre-control Mode of operation of the backward transformation TwinCAT Motion AX5000 ... Cartesian Set-Point Generator Motor 2 Motor 1 Additional torque command Pos Velo Acc X, Y, Z... X, Y, Z... X, Y, Z... Kinematic Transformation (Backward) & Dynamic Modell Torque M1 Position Control Unit Pos M1 - - Velocity Control Unit Torque M2 Pos M2 - Current Control Unit Actual current Actual velocity Actual position U Drive Drive Drive EtherCAT uniVAL Interaction with uniVAL-System Interaction with uniVAL-System https://www.youtube.com/watch?v=fK3ZQJwQDqM TwinCAT Kinematic Transformation Direct robot control with TwinCAT Kinematic Transformation TF511x substitues external robot controller Controlling KR C4 from Kuka with mxAutomation PLC library enables controlling the robot directly from TwinCAT PLC Live on Beckhoff booth Live on ETG booth Drives Layer Fieldbus Layer Soft Motion Layer Soft SPS Layer Abstraction Layer + PLC SP Pos Ctrl Velo Preset Pos Meas. Limit + + Scale & Limit Example: Manual Mode Axes can operate in the Cartesian Mode (MCS) or Direct Mode (ACS) Programming of movements TcPlcInterpolation Library Alternative to G-Code Programming of move commands directly from PLC Supported Geo Types: Line, Circle, Bezier More flexible than a static G-Code file 24 Programming of movements The programming of the movements can be done by PTP Cam Plate G-Code (DIN 66025) TcPlcInterpolation Library out of the PLC or in combination of methods above The target coordinates usually are given in Cartesian (X,Y,Z) The interpolation mode (TcPlcInterpolation) supports different user co-ordinate systems (UCS) Optionally synchronization on several conveyor (tracking) Co-ordinate systems Work-piece (PCS) MCS 1 MCS 2 WCS World co-ordinate system MCS machine co-ordinate system UCS user co-ordinate system UCS 1 PCS programmed co-ordinate system (work-piece) PCS Conveyor UCS 2 WCS Tracking Synchronization on moved co-ordinate systems realized on application layer with flying saw comfortable ‘automatic’ solution (requires TC3.1) Tracking Application Sample: Optimized FB’s for tracking stPickIdlePosition 1 fPickXMinimum Z 2 4 fPickBlendLength 3 fPickSegment3Length fPickHeightSyncAbort Y Robot MCS Y stPickPosition X fPickXLimit fPickXMaximum Current Pre-Control The calculation of the dynamic model allows a current pre-control and offers a reduction of the lag distance reduction of mechanical oscillation smooth parameterization of the controller Current Pre-Control Lag distance with and without pre-control TwinCAT Kinematic Transformation Four levels for different complexity of transformations: TwinCAT Kinematic Transformation Levels Level 1 (TF5110) Static transformation includes translation & rotation Level 2 (TF5111) Including Level 1 Mainly 2D-kinematic transformations like H-Bot, 2D-parallel kinematics Level 3 (TF5112) Including Level 2 Mainly 3D-kinematic transformations like Delta, SCARA Level 4 (TF5113) Including Level 3 More than 4 axes interpolated like 6D-cable-kinematics, 5D-cutting-head Licensing & System Requirements License for one CPU The License agreements for Beckhoff software products apply Requires TwinCAT NC I Level (TC1260 or TF5100) TwinCAT 2.11 R3 (basis functions) TwinCAT 3.1 (for new applications recommended) Target system: Windows XP ,Windows 7/8, Windows CE Thank you for your attention Beckhoff Automation S.r.l. Via L. Manara, 2 20812 Limbiate (MB) Telefon0: Fax: E-Mail: Web: +39-02/9945311 +39-02/99682082 [email protected] www.beckhoff.it © Beckhoff Automation GmbH All images are protected by copyright. The use and transfer to third parties is not permitted. Beckhoff®, TwinCAT®, EtherCAT®, Safety over EtherCAT®, TwinSAFE®, XFC® and XTS® are registered trademarks of and licensed by Beckhoff Automation GmbH. Other designations used in this presentation may be trademarks whose use by third parties for their own purposes could violate the rights of the owners. The information provided in this presentation contains merely general descriptions or characteristics of performance which in case of actual application do not always apply as described or which may change as a result of further development of the products. An obligation to provide the respective characteristics shall only exist if expressively agreed in the terms of contract.
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