fc275fddff80702381d83723420dbc3940c7df22.jpgMotion control is a key part of any machine. It includes processes ranging from simple movements to complex systems of coupled axes. Most often, various types of drives are combined to perform all necessary functions. These include stepper, induction and synchronous motors as well as hydraulic drives.

 

TM400 – Introduction to Motion Control

In general, motion control encompasses a broad range of components used to control motion sequences. This training module provides an overview of the different types of motors and encoders as well as the necessary electronics and software.

Objectives and content

  • Core aspects of a mechatronic drive solution
  • The basic requirements of a drive system
  • Electric motors
  • Position encoder
  • Inverters
  • Drive mechanics and power transmission
  • The B&R drive solution
  • Typical topologies, product overview, software access and decision-making guidelines
  • Introduction to the topic of drive sizing


TM410 – Working with Integrated Motion Control

The entire B&R motion control product line is fully integrated in Automation Studio. The drive configuration, programming, commissioning and diagnostics can therefore all be performed using a single tool. A high-performance simulation environment extends the many functions that are available.

Objectives and content

  • Understanding drive hardware and software
  • Adding and configuring drives in Automation Studio
  • Components of the motion control system
  • Commissioning and diagnostics environment
  • Command interface
  • Parameter management
  • Recording drive data in real time
  • Determining control parameters using autotuning
  • Commissioning preparations
  • Drive and motor simulation


TM440 – Motion Control: Basic Functions

PLCopen-compliant standard libraries are used to program drive functions. The included function blocks can be used for all B&R drive components.

Objectives and content

  • Introduction to the mapp technology concept
  • Using the MpAxis configuration
  • Integration in the control project
  • Switch on the controller, homing, perform base movements.
  • Overview of PLCopen standard and PLCopen state diagram
  • Overview of drive states, error evaluation and diagnostics
  • Configuration of axis factor and axis period
  • Saving and loading the drive configuration
  • Status evaluation in the application program
  • Transferring setpoint values cyclically
  • Overview of the ACP10_MC library


TM441 – Motion control: Electronic gears and cams

In addition to single-axis functions, the PLCopen standard also offers functions for the coordinated movement of multiple axes in an axis group. By implementing mapp technology, using them is made easier. Drive coupling can be carried out quickly with this.

Objectives and content

  • Properties of drive coupling
  • Linear coupling and dynamic phase shift
  • Creating and using electronic cam profiles
  • Parameterization and application of the MpAxisCoupling component
  • Structure and functionality of the Cam Profile Automat
  • Implementation of the Cam Profile Automat with MpAxisCamSequencer
  • Overview of the different types of compensation gearing
  • Exercises and examples


TM450 – Motion Control Concept and Configuration

The controllers integrated in an ACOPOS drive have a large number of configuration and optimization options. Maximum control quality can be achieved if ideal controller parameter values are configured. This training module provides an overview of how this is done.

Objectives and content

  • The basics of closed-loop control
  • Description of setpoint generator, position controller, speed controller and current controller
  • Calculating parameters for speed and position controllers
  • Procedure for setting parameters
  • Determining control parameters using autotuning
  • Saving the calculated controller parameters


TM460 – Initial Commissioning of Motors

Before motors can be used, it is first necessary to check whether they are compatible with the respective power electronics. Only then can the data required to configure the drive system be entered and calculated. This process is then completed by commissioning the motor.

Objectives and content

  • Selection criteria and compatibility of components
  • Preparation and information regarding installation
  • Parameter identification and configuration
  • Motors, encoders, temperature sensors and holding brake
  • Calculating the commutation offset - Phasing
  • Entering the temperature characteristic curve
  • Encoder configuration
  • Configuring the holding brake
  • Commissioning checklist for the individual components
  • Examples and exercises


TM1110 – Integrated Motion Control (Axis Groups)

Axis groups expand the B&R Motion Control concept by adding functionality that allows multiple axes to be grouped together. As a result, tasks to be executed for multiple axes with only one function block. The groups are programmed using standardized PLCopen function blocks. The areas of use are extremely versatile and range from single-axis groups to CNC and robotics applications and even combinations with different axis types. Grouping the axes and using the PLCopen function blocks significantly reduces the amount of programming work and simplifies commissioning.

Objectives and content

  • Overview of the Generic Motion Control concept
  • Interaction of Generic Motion Control libraries
  • Overview of the Axis Group concept
  • Axis group configuration in Automation Studio
  • Axis group commissioning and diagnostics
  • PLCopen axis group function block basics
  • Using PLCopen function blocks
  • Switching on and referencing an axis group
  • Overview of group movements and how to use them
  • Using and expanding the library example


TM1111 – Integrated Motion Control (Path Controlled Movements)

Path-controlled movements are the foundation for complex, high-precision manufacturing tasks. Generic Motion Control from B&R allows them to be seamlessly integrated into the machine application. Standardized PLCopen function blocks make it easy to program path-controlled movements. The range of potential applications is extremely diverse, reaching from CNC machines to robotic applications with high-speed pick-and-place tasks.

Objectives and content

  • CNC technology
  • General information about path-controlled movements
  • Path calculation and cyclic setpoint generation
  • PLCopen programming
  • Dynamic parameters
  • Communication between a CNC application and the PLC

 

B&R Automation - Training modules