Omron Simulink and Sysmac Studio Guide
विज्ञापन
विज्ञापन
NJ/NX/NY-series Controller
Startup Guide for Simulink ® & Sysmac Studio
SYSMAC-SE20 □□
NX701□□□□
NX1P2□□□□
NJ501□□□□
NJ301□□□□
NJ101□□□□
NY532□□□□
NY512□□□□
R88D-KN □ -ECT
R88D-1SN □ -ECT
GX-AD0471/DA0271
NX-AD □□□□
NX-DA □□□□
NA5□ W □□□□
NA5□□ W □□□□
W529-E1-05
©OMRON, 2013 - 2017
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of OMRON.
No patent liability is assumed with respect to the use of the information contained herein. Moreover, because
OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless,
OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.
Introduction
The
NJ/NX/NY-series Controller Startup Guide for Simulink
®
and Sysmac Studio
(hereinafter, may be referred to as “this Guide”) describes the startup procedures that are required to use a combination of Simulink ® from The MathWorks ® Inc. and the NJ/NX/NY-series Controller for the first time and the basic operating instructions for the Sysmac Studio. A simple single-axis positioning example is used for the discussion. You can perform the procedures that are presented in this Guide to quickly gain a basic understanding of the combination of Simulink ® and the NJ/NX/NY-series Controller.
This Guide does not contain safety information and other details that are required for actual use.
Thoroughly read and understand the manuals for all of the devices that are used in this Guide to ensure that the system is used safely. Review the entire contents of these materials, including all safety precautions, precautions for safe use, and precautions for correct use.
Intended Audience
This guide is intended for the following personnel.
• Personnel in charge of introducing FA systems
• Personnel in charge of designing FA systems
The personnel must also have the following knowledge.
• Knowledge of electrical systems (an electrical engineer or the equivalent)
• Knowledge of MATLAB ® /Simulink ® from The MathWorks ® Inc.
• Knowledge of the NJ/NX/NY-series Controller
• Knowledge of operation procedure of Sysmac Studio
Applicable Products
This guide covers the following products.
• CPU Units of NJ/NX-series Machine Automation Controllers
• Industrial PC Platform NY-series IPC Machine Controller
• Sysmac Studio Automation Software
• MATLAB ® /Simulink ® from The MathWorks ® Inc.
• Simulink ® PLC Coder™ from The MathWorks ® Inc.
Special Information
The icons that are used in this Guide are described below.
Precautions for Correct Use
Precautions on what to do and what not to do to ensure proper operation and performance.
Additional Information
Additional information to read as required.
This information is provided to increase understanding or make operation easier.
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Terms and Conditions Agreement
NJ/NX/NY-series Controller
Warranties
(a) Exclusive Warranty. Omron’s exclusive warranty is that the Products will be free from defects in materials and workmanship for a period of twelve months from the date of sale by Omron (or such other period expressed in writing by Omron). Omron disclaims all other warranties, express or implied.
(b) Limitations. OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED,
ABOUT NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR
PURPOSE OF THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED
THAT THE
PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE.
Omron further disclaims all warranties and responsibility of any type for claims or expenses based on infringement by the Products or otherwise of any intellectual property right. (c) Buyer Remedy.
Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-complying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal to the purchase price of the non-complying Product; provided that in no event shall Omron be responsible for warranty, repair, indemnity or any other claims or expenses regarding the Products unless Omron’s analysis confirms that the Products were properly handled, stored, installed and maintained and not subject to contamination, abuse, misuse or inappropriate modification. Return of any Products by Buyer must be approved in writing by Omron before shipment. Omron Companies shall not be liable for the suitability or unsuitability or the results from the use of Products in combination with any electrical or electronic components, circuits, system assemblies or any other materials or substances or environments. Any advice, recommendations or information given orally or in writing, are not to be construed as an amendment or addition to the above warranty.
See http://www.omron.com/global/ or contact your Omron representative for published information.
Limitation on Liability; Etc
OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR
CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS
IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN
CONTRACT, WARRANTY, NEGLIGENCE OR STRICT LIABILITY.
Further, in no event shall liability of Omron Companies exceed the individual price of the Product on which liability is asserted.
Suitability of Use
Omron Companies shall not be responsible for conformity with any standards, codes or regulations which apply to the combination of the Product in the Buyer’s application or use of the Product. At
Buyer’s request, Omron will provide applicable third party certification documents identifying ratings and limitations of use which apply to the Product. This information by itself is not sufficient for a
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complete determination of the suitability of the Product in combination with the end product, machine, system, or other application or use. Buyer shall be solely responsible for determining appropriateness of the particular Product with respect to Buyer’s application, product or system. Buyer shall take application responsibility in all cases.
NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO
ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS PROPERLY RATED AND
INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.
Programmable Products
Omron Companies shall not be responsible for the user’s programming of a programmable Product, or any consequence thereof.
Performance Data
Data presented in Omron Company websites, catalogs and other materials is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of
Omron’s test conditions, and the user must correlate it to actual application requirements. Actual performance is subject to the Omron’s Warranty and Limitations of Liability.
Change in Specifications
Product specifications and accessories may be changed at any time based on improvements and other reasons. It is our practice to change part numbers when published ratings or features are changed, or when significant construction changes are made. However, some specifications of the
Product may be changed without any notice. When in doubt, special part numbers may be assigned to fix or establish key specifications for your application. Please consult with your Omron’s representative at any time to confirm actual specifications of purchased Product.
Errors and Omissions
Information presented by Omron Companies has been checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.
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Sysmac Studio Automation Software
1. WARRANTY
(1) The warranty period for the Software is one year from the date of purchase, unless otherwise specifically agreed.
(2) If the User discovers defect of the Software (substantial non-conformity with the manual), and return it to OMRON within the above warranty period, OMRON will replace the Software without charge by offering media or download from OMRON’s website. And if the User discovers defect of media which is attributable to OMRON and return it to OMRON within the above warranty period,
OMRON will replace defective media without charge. If OMRON is unable to replace defective media or correct the Software, the liability of OMRON and the User’s remedy shall be limited to the refund of the license fee paid to OMRON for the Software.
2. LIMITATION OF LIABILITY
(1) THE ABOVE WARRANTY SHALL CONSTITUTE THE USER’S SOLE AND EXCLUSIVE
REMEDIES AGAINST OMRON AND THERE ARE NO OTHER WARRANTIES, EXPRESSED OR
IMPLIED, INCLUDING BUT NOT LIMITED TO, WARRANTY OF MERCHANTABILITY OR FITNESS
FOR PARTICULAR PURPOSE. IN NO EVENT, OMRON WILL BE LIABLE FOR ANY LOST
PROFITS OR OTHER INDIRECT, INCIDENTAL, SPECIAL OR CONSEQUENTIAL DAMAGES
ARISING OUT OF USE OF THE SOFTWARE.
(2)OMRON SHALL HAVE NO LIABILITY FOR DEFECT OF THE SOFTWARE BASED ON
MODIFICATION OR ALTERNATION TO THE SOFTWARE BY THE USER OR ANY THIRD PARTY.
(3)OMRON SHALL HAVE NO LIABILITY FOR SOFTWARE DEVELOPED BY THE USER OR ANY
THIRD PARTY BASED ON THE SOFTWARE OR ANY CONSEQUENCE THEREOF.
3. APPLICABLE CONDITIONS
USER SHALL NOT USE THE SOFTWARE FOR THE PURPOSE THAT IS NOT PROVIDED IN THE
ATTACHED USER MANUAL.
4. CHANGE IN SPECIFICATION
The software specifications and accessories may be changed at any time based on improvements and other reasons.
5. EXTENT OF SERVICE
The license fee of the Software does not include service costs, such as dispatching technical staff.
6. ERRORS AND OMISSIONS
The information in this manual has been carefully checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical, or proofreading errors, or omissions.
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Precautions
• When building a system, check the specifications for all devices and equipment that will make up the system and make sure that the OMRON products are used well within their rated specifications and performances. Safety measures, such as safety circuits, must be implemented in order to minimize the risks in the event of a malfunction.
• Thoroughly read and understand the manuals for all devices and equipment that will make up the system to ensure that the system is used safely. Review the entire contents of these manuals, including all safety precautions, precautions for safe use, and precautions for correct use.
• Confirm all regulations, standards, and restrictions that the system must adhere to.
• Contact The MathWorks ® Inc. for the codes that were outputted from Simulink ® PLC Coder™.
• Applicability of codes that were outputted from Simulink ® PLC Coder™ must be judged by the customer.
• Check the user program for proper execution before you use it for actual operation.
Trademarks
• Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in
Japan and other countries for OMRON factory automation products.
• EtherCAT ® is registered trademark and patented technology, licensed by Beckhoff
Automation GmbH, Germany.
• MATLAB ® and Simulink ® are registered trademarks of The MathWorks ® Inc.
• Microsoft product screen shot(s) reprinted with permission from Microsoft Corporation.
Other company names and product names in this Guide are the trademarks or registered trademarks of their respective companies.
Software Licenses and Copyrights
The NJ/NX/NY-series Controller and the Sysmac Studio incorporate certain third party software. The license and copyright information associated with this software is available at http://www.fa.omron.co.jp/nj_info_e/.
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Related Manuals
The following manuals are related to the NJ/NX/NY-series Controller. Use these manuals for reference.
Manual name
Sysmac Studio Version 1
Operation Manual
NX-series CPU Unit
Hardware User’s Manual
NX-series NX1P2 CPU
Unit Hardware User's
Manual
NJ-series CPU Unit
Hardware User’s Manual
Cat. No.
W504
W535
W578
W500
Model numbers Application
SYSMAC-SE2□□□ Learning about the operating procedures and functions of the
Sysmac Studio.
NX701-□□□□ Learning the basic specifications of the NX-series CPU Units, including introductory information, designing, installation, and maintenance. Mainly hardware information is provided.
NX1P2-□□□□
NJ501-□□□□
NJ301-□□□□
NJ101-□□□□
Learning the basic specifications of the NX1P2 CPU Units, including introductory information, designing, installation, and maintenance.
Mainly hardware information is provided.
Learning the basic specifications of the NJ-series CPU Units, including introductory information, designing, installation, and maintenance.
Mainly hardware information is provided.
Description
The operating procedures of the Sysmac
Studio are described.
Provides an introduction to the entire NX701 system along with the following information on the CPU Unit.
• Features and system configuration
• Introduction
• Part names and functions
• General specifications
• Installation and wiring
• Maintenance and inspection
Provides an introduction to the entire NX1P2 system along with the following information on the CPU Unit.
• Features and system configuration
• Introduction
• Part names and functions
• General specifications
• Installation and wiring
• Maintenance and inspection
Provides an introduction to the entire NJ-series system along with the following information on the CPU Unit.
• Features and system configuration
• Introduction
• Part names and functions
• General specifications
• Installation and wiring
• Maintenance and inspection
6
Manual name
NY-series
IPC Machine Controller
Industrial Panel PC
Hardware User’s Manual
Cat. No.
W557
Model numbers
NY532-□□□□
NY-series
IPC Machine Controller
Industrial Box PC
Hardware User's Manual
W556
NY-series
IPC Machine Controller
Industrial Panel PC /
Industrial Box PC
Setup User's Manual
W568
NJ/NX-series CPU Unit
Software User’s Manual
W501
NY-series IPC Machine
Controller Industrial
Panel PC /Industrial Box
PC Software User’s
Manual
W558
NY512-□□□□
NY532-□□□□
NY512-□□□□
NX701-□□□□
NX1P2-□□□□
NJ501-□□□□
NJ301-□□□□
NJ101-□□□□
NY532-□□□□
NY512-□□□□
Application
Learning the basic specifications of the NY-series Industrial Panel
PCs, including introductory information, designing, installation, and maintenance.
Mainly hardware information is provided.
Learning the basic specifications of the NY-series Industrial Box PCs, including introductory information, designing, installation, and maintenance. Mainly hardware information is provided.
Learning the initial settings of the
NY-series Industrial PCs and preparations to use Controllers.
Learning how to program and set up an NJ/NX-series CPU Unit.
Mainly software information is provided.
Learning how to program and set up the Controller functions in an
NY-series Industrial PC.
Description
An introduction to the entire NY-series system is provided along with the following information on the Industrial Panel PC.
• Features and system configuration
• Introduction
• Part names and functions
• General specifications
• Installation and wiring
• Maintenance and inspection
An introduction to the entire NY-series system is provided along with the following information on the Industrial Box PC.
• Features and system configuration
• Introduction
• Part names and functions
• General specifications
• Installation and wiring
• Maintenance and inspection
The following information is provided on an introduction to the entire NY-series system.
• Two OS systems
• Initial settings
• Industrial PC Support Utility
• NYCompolet
• Industrial PC API
• Backup and recovery
Provides the following information on a
Controller built with an NJ/NX-series CPU Unit.
• CPU Unit operation
• CPU Unit features
• Initial settings
• Language specifications and programming based on IEC 61131-3
The following information is provided on the
NY-series Controller functions.
• Controller operation
• Controller features
• Controller settings
• Programming based on IEC 61131-3 language specifications
7
Manual name
NJ/NX-series CPU Unit
Motion Control User’s
Manual
NY-series
IPC Machine Controller
Industrial Panel PC /
Industrial Box PC Motion
Control User's Manual
NJ/NX-series
Instructions
Reference Manual
W559
W502
NY-series Instructions
Reference Manual
NJ/NX-series
Control
Motion
Instructions Reference
Manual
NY-series Motion Control
Instructions Reference
Manual
NJ/NX-series
Troubleshooting Manual
NY-series
Troubleshooting Manual
AC Servomotors/Servo
Drives G5-series with
Built-in EtherCAT
Communications User's
Manual
Cat. No.
W507
Model numbers
NX701-□□□□
NX1P2-□□□□
NJ501-□□□□
NJ301-□□□□
NJ101-□□□□
NY532-□□□□
NY512-□□□□
W560
W508
W561
W503
W564
I576
I577 concepts.
Application
Learning about motion control settings and programming
Learning about motion control settings and programming concepts of an NY-series Industrial
PC.
Describes the settings and operation of the
CPU Unit and programming concepts for motion control.
The settings and operation of the Controller and programming concepts for motion control are described.
Description
NX701-□□□□
NX1P2-□□□□
NJ501-□□□□
NJ301-□□□□
NJ101-□□□□
NY532-□□□□
NY512-□□□□
Learning detailed specifications on the basic instructions of an
NJ/NX-series CPU Unit.
Describes the instructions in the instruction set
(IEC 61131-3 specifications).
NX701-□□□□
NX1P2-□□□□
NJ501-□□□□
NJ301-□□□□
NJ101-□□□□
NY532-□□□□
NY512-□□□□
Learning detailed specifications on the basic instructions of an
NY-series Industrial PC.
Learning about the specifications of the motion control instructions that are provided by OMRON.
The instructions in the instruction set
(IEC61131-3 specifications) are described.
Describes the motion control instructions.
NX701-□□□□
NX1P2-□□□□
NJ501-□□□□
NJ301-□□□□
NJ101-□□□□
NY532-□□□□
NY512-□□□□
Learning about the specifications of the motion control instructions of an NY-series Industrial PC.
Learning about the errors that may be detected in an NJ/NX-series
Controller.
The motion control instructions are described.
Describes concepts on managing errors that may be detected in an NJ/NX-series Controller and information on individual errors.
R88M-K□
R88D-KN□-ECT
R88L-EC-□
R88D-KN□-ECT-L
Learning about the errors that may be detected in an NY-series
Industrial PC.
Learning how to use the AC
Servomotors/Servo Drives with built-in EtherCAT
Communications.
Concepts on managing errors that may be detected in an NY-series Controller and information on individual errors are described.
Describes the hardware, setup methods and functions of the AC Servomotors/Servo Drives with built-in EtherCAT Communications.
The linear motor type model and the model dedicated for position controls are available in
G5-series.
8
Manual name
AC Servomotors/Servo
Drives 1S-series with
Built-in EtherCAT
Communications User’s
Manual
GX-series EtherCAT
Slave Units User’s
Manual
Cat. No.
I586
W488
NX-series EtherCAT
Coupler Unit User’s
Manual
NX-series NX Units
User’s Manual
NA-series
Programmable
Terminal Hardware
User’s Manual
NA-series
Programmable
Terminal Software
User’s Manual
W519
W522
V117
V118
Model numbers
R88M-1□
R88D-1SN□-ECT
Application
Learning how to use the AC
Servomotors/Servo Drives with built-in EtherCAT
Communications.
GX-ID□□□□
GX-OD□□□□
GX-OC□□□□
GX-MD□□□□
GX-AD□□□□
GX-DA□□□□
GX-EC□□□□
XWT-ID□□
XWT-OD□□
NX-ECC□□□
NX-AD□□□□
NX-DA□□□□
NA5-□W□□□□
NA5-□□W□□□□
NA5-□W□□□□
NA5-□□W□□□□
Learning how to use the EtherCAT remote I/O terminals.
Leaning how to use an NX-series
EtherCAT Coupler Unit and
EtherCAT Slave Terminals
Learning how to use NX Units
Learning the specifications and settings required to install an
NA-series PT and connect peripheral devices.
Learning about NA-series PT pages and object functions.
Description
Describes the hardware, setup methods and functions of the AC Servomotors/Servo Drives with built-in EtherCAT Communications.
Describes the hardware, setup methods and functions of the EtherCAT remote I/O terminals.
The system and configuration of EtherCAT
Slave Terminals, which consist of an NX-series
EtherCAT Coupler Unit and NX Units, are described along with the hardware, setup, and functions of the EtherCAT Coupler Unit that are required to configure, control, and monitor NX
Units through EtherCAT.
Describes the hardware, setup methods, and functions of the NX Units.
Manuals are available for the following Units.
Digital I/O Units, Analog I/O Units, System
Units, Position Interface Units,
Communications Interface Units, Load Cell
Input Units, and IOLink Master Units.
Information is provided on NA-series PT specifications, part names, installation procedures, and procedures to connect an NA
Unit to peripheral devices.
Information is also provided on maintenance after operation and troubleshooting.
NA-series PT pages and object functions are described.
9
Manual name
NA-series
Programmable
Terminal
Device Connection
User’s Manual
NA-series
Programmable
Terminal
Startup Guide
Cat. No.
V119
Model numbers
NA5-□W□□□□
NA5-□□W□□□□
Application
Learning the specifications required to connect devices to an
NA-series PT.
Description
Information is provided on connection procedures and setting procedures to connect an NA-series PT to a Controller or other device.
V120 NA5-□W□□□□
NA5-□□W□□□□
Learning in concrete terms information required to install and start the operation of an NA-series
PT.
The part names and installation procedures are described followed by page creation and transfer procedures with the Sysmac Studio.
Also operation, maintenance, and inspection procedures after the project is transferred are described. Sample screen captures are provided as examples.
10
Revision History
A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual.
Cat. No.
W529-E1-05
Revision
Revision code
01
02
03
04
05
Date
June 2013
January 2014
January 2015
June 2016
March 2017
Revised content
Original production
Revisions for adding the SILS (Software In the
Loop Simulation) function.
Revisions for adding the Sysmac IO Device simulation function and the
Controller-to-Simulink data acquisition function.
Revisions for adding AC Servomotors/Servo
Drives 1S-Series with Built-in EtherCAT
Communications
Revisions for adding simulation target functions of Servo Drives (1S-series)
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CONTENTS
System to Construct and Configuration Devices ........................................... 13
System Configuration and Configuration Devices .......................................... 13
The Servo System Constructed in this Guide ................................................. 15
Wiring the Devices and Installing the Software .............................................. 17
Simulink PLC Coder & Sysmac Studio Operation Procedure ........................ 23
Outputting the Code using the Simulink PLC Coder ............................. 23
Importing the Code into the Sysmac Studio .......................................... 25
Checking the Calculation Accuracy ....................................................... 27
Creating the EtherCAT Network Configuration ..................................... 29
Creating the Programming Terminal Screen ......................................... 35
Preparing the Co-simulation of Simulink and Sysmac Studio ............... 36
Debugging by Simulation ...................................................................... 43
Transferring the Programs to the CPU Unit and Servo Drive ............... 47
Transferring Screen Data to Programmable Terminal ........................... 48
System Operation Check ...................................................................... 49
Programming in Ladder Diagram Language .................................................. 56
Sysmac IO Device Support Models and Simulation Target Functions ........... 58
(1) Simulation Target Functions of Servo Drives (G5-series) ..................... 58
(2) Simulation Target Functions of Servo Drives (1S-series) ..................... 60
Simulation Target Functions of Analog Input ......................................... 62
Simulation Target Functions of Analog Output ...................................... 62
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1. System to Construct and Configuration Devices
1.1. System Configuration and Configuration Devices
This section describes the system configuration and configuration devices used in this Guide.
The following figure represents the system configuration.
Computer
Sysmac Studio, MATLAB/Simulink, and Simulink PLC Coder are installed.
NA5-12W101S
Programmable Terminal
USB cable
NJ-PA3001 Power Supply Unit
NJ501-1300 CPU Unit
EtherCAT communications cable
EtherNet/IP communications cable
R88D-KNA5L-ECT
Servo Drive
Node Address 1 (Axis 0)
R88M-K05030T
Servomotor
Precautions for Correct Use
Please start only one session each for the MATLAB and the Sysmac Studio.
If more than one session is started for either of them, the co-simulation of Simulink and
Sysmac Studio cannot run. Also, more than one Simulink model file cannot be executed in parallel (i.e., at the same time).
13
The models of the devices that are described in this Guide are given in the following table.
When selecting devices for an actual application, refer to the device manuals.
Device name Model Manual name
NJ-series CPU Unit
NJ-series Power Supply Unit
EtherCAT communications cables
EtherNet/IP communications cables
Programmable Terminal
NJ501-1300 (Unit version 1.09)
NJ-PA3001
XS5W-T421-CMD-K
NA5-12W101S (version 1.01)
NJ-series CPU Unit Hardware
User’s Manual (Cat. No. W500)
AC Servo Drives
AC Servomotors
Motor Power Cables
(for the AC Servo Drives)
R88D-KNA5L-ECT (version 2.10)
R88M-K05030T
R88A-CAKA003S
NA-series Programmable Terminal
Hardware User’s Manual (Cat. No.
V117)
AC Servomotors/Servo Drives
(Built-in EtherCAT
Communications) User's Manual
(Cat. No. I576)
Encoder Cables
(for the AC Servo Drives)
R88A-CRKA003C
USB cable Commercially available USB cable *1 ---
*1. Use a USB2.0 (or 1.1) cable (A connector - B connector), 5.0 m max.
The names and versions of the software that are used in this Guide are given below. Install the following software to a computer (OS: Windows 7 64bit).
Manufacturer Name Version
OMRON Corporation Sysmac Studio
The MathWorks Inc. MATLAB/Simulink
The MathWorks Inc. Simulink PLC Coder
Version 1.12
R2014b
R2014b
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1.2. The Servo System Constructed in this Guide
This guide describes the procedure to start up the system for single-axis positioning with a
Servo Drive and Servomotor for one axis. The operations from creating the control algorithm using the Simulink® from the MathWorks® Inc. to operation check using the actual devices are given as the startup procedure.
The single-axis Servo system that is set up in this Guide performs the single-axis positioning operation on the following path.
Position
Travel distance: 100 mm
Maximum velocity: 50 mm/s
(Maximum acceleration: 185 mm/s 2 )
Time
The mechanical configuration is as shown below.
Servomotor
Table
Item Specifications
Servomotor Rated speed
Rotor inertia
3,000 r/min
0.025 × 10 -4 kg m 2
Mechanism
Rated torque 0.16 N m
Command pulse count per motor rotation 131,072 *1
Work travel distance per motor rotation
Inertia
96 mm
0.375×10 -4 kg m 2 *2
*1. This value is set to 131,072 to match the resolution of the servomotor with 17-bit absolute encoder.
*2. Inertia ratio = Load inertia/rotor inertia x 100 % = 1500 %
15
1.3. Sample File List
The following sample files are related to this Guide.
We provide the sample files separately.
No.
1
2
3
4
5
6
7
8
9
File Name
PLCCoderDemoMC.mdl
Description
File that contains the Simulink model described in
Designing the Control Algorithm
PLCCoderDemoMC.smc2 Sysmac Studio project file that contains Sysmac Studio
programs described in 3.2.6. Creating Programs of this Guide.
PLCCoderDemoMC_Torque.smc2 Sysmac Studio project file that contains the program to output torque commands cyclically.
PLCCoderDemoMC_ADDA.mdl File that contains the Simulink model that shows the usage example of GX-AD0471 Analog Input Terminal and GX-DA0271
Analog Output Terminal.
PLCCoderDemoMC_ADDA.smc2 Sysmac Studio project file that shows the usage example of
GX-AD0471 Analog Input Terminal and GX-DA0271 Analog
Output Terminal.
SILSDemoMC.mdl
File that contains the Simulink model described in 3.2.8.
Preparing the Co-simulation of Simulink and Sysmac Studio
this Guide.
RMCDemoMC.mdl
PLCCoderDemoMC_LD.mdl
PLCCoderDemoMC_LD.smc2
File that contains the Simulink model described in
File that contains the Simulink model described in
Programming in Ladder Diagram Language
Sysmac Studio project file that contains Sysmac Studio
4.1. Programming in Ladder Diagram
16
2. Before You Begin
2.1. Wiring the Devices and Installing the Software
You wire the devices and install the software on the computer as described in
Configuration and Configuration Devices
Additional Information
Refer to the manuals for the devices that are used in the system for wiring of the devices.
Refer to the
Sysmac Studio Version 1 Operation Manual
(Cat. No. W504) for installation of the Sysmac Studio.
Access the website of The MathWorks Inc. or refer to the
MATLAB & Simulink
Installation Guide
that is provided by The MathWorks Inc. for installation of
MATLAB/Simulink and Simulink PLC Coder.
You make the MATLAB environment settings for using the linked functions of Simulink and
Sysmac Studio according to the following procedure.
1 Start the MATLAB and select the MATLAB folder in the directory where the Sysmac
Studio is installed as the Current Folder. (The default installation folder is
C:\Program
Files (x86)\OMRON\Sysmac Studio\MATLAB
.)
17
18
2 Right-click
Setup.p
and select
Run
from the menu.
3 Confirm that
Sysmac Studio interface setup has been completed successfully
is displayed in the Command Window.
2.2. Designing the Control Algorithm
You build a model for the Controller and controlled system using the Simulink. The code is created for the Controller by the Simulink PLC Coder. Therefore, you need to build the model using a block supported by the Simulink PLC Coder.
Additional Information
Access the website of The MathWorks Inc. or refer to the
Simulink User Guide
that is provided by The MathWorks Inc. for how to use the Simulink.
Access the website of The MathWorks Inc. or refer to the
Simulink PLC Coder
User’s Guide
that is provided by The MathWorks Inc. for the blocks supported by the Simulink PLC Coder.
This Guide gives an example for designing the control algorithm so that an NJ-series CPU Unit controls the position and a Servo Drive controls the velocity.
In the
Sample File No. 1 PLCCoderDemoMC.mdl
that is provided separately, a model is created for the Controller (Controller block) and controlled system (ControlledSystem block) by the Simulink as shown in the following figure.
The sampling time of the Controller is set to 1 ms in the sample.
Additional Information
Set the sampling time of the Controller so that it matches the task period of the Sysmac
Studio. (Primary periodic task period on the Sysmac Studio: 500 μs, 1 ms, 2 ms, or 4 ms)
19
20
The following figure shows the inside of the Controller block.
The Controller block is composed of two blocks; the CommandPositionGenerator block for creating position command values and the PositionController block for position control.
The inside of the PositionController block is shown below.
Kp
is the adjustable parameter.
You will get the simulation execution results (Scope) as shown below. The characteristics will be changed by changing
Kp
.
3. Setting up the System
3.1. System Setup Procedures
The operation procedure of Simulink and Sysmac Studio is given below.
3.2.1 Outputting the Code using the Simulink PLC
▼
You make a setting for outputting the code for the
Sysmac Studio and output the code with test code.
3.2.2 Importing the Code into the Sysmac Studio
You import the code outputted by the Simulink PLC
Coder into the Sysmac Studio.
▼
3.2.3 Checking the Calculation Accuracy
You confirm that the code has the same calculation accuracy as the Simulink (within the acceptable error range) by a simulation.
You register a R88D-KN01L-ECT Servo Drive that
▼
3.2.4 Creating the EtherCAT Network
▼ operates as axis 0 on the EtherCAT network configuration.
You add an axis to control the Servo Drive, assign the
Servo Drive to the axis, and make the axis parameter
▼ settings.
You create a program for calling the function blocks whose code was outputted by the Simulink PLC
Coder and a program for outputting command values to the Servo Drive.
▼
3.2.7 Creating the Programming Terminal Screen You insert the Programmable Terminal in the Sysmac
Studio project and create a Programmable Terminal
▼
Preparing the Co-simulation of Simulink and
screen for the operation and display.
You add the Sysmac Controller Interface block to the
Simulink model and make the setting for data
▼
▼ exchange between Simulink and Sysmac Studio.
Also, you add the Sysmac IO Device block to link with the parameter settings of the Servo
Drive in the Sysmac Studio project.
You debug the programs and screens that you created by the SILS (Software In the Loop
Simulation).
21
3.2.10 Transferring the Programs to the CPU Unit and Servo Drive
▼
3.2.11 Transferring Screen Data to Programmable
▼
You transfer the programs and parameter settings to the physical CPU Unit and Servo Drive.
You transfer the screen data that you created to the physical Programmable Terminal.
You execute the operation according to the programs transferred to the physical device and check the operation by comparing it with the simulation using the function for data acquisition from the NJ-series
CPU Unit to the Simulink.
22
3.2. Simulink PLC Coder & Sysmac Studio Operation Procedure
3.2.1. Outputting the Code using the Simulink PLC Coder
You make a setting for outputting the code for the Sysmac Studio and output the code with test code from the Simulink.
1 Open the
Sample File No. 1 PLCCoderDemoMC.mdl
that is provided separately on the
Simulink.
2 Click the Controller block to output the code and select
PLC Code
-
Options
from the
Code
Menu.
3 Select
PLC Code Generation
, and then select
OMRON Sysmac Studio
for
Target IDE
.
23
4 Select the
Generate testbench for subsystem
check box.
5 Click the
Apply
Button.
6 Click the
Generate Code
Button.
7 The PLCCoderDemoMC.xml file is saved into the plcsrc
folder specified in
Code Output
Directory
.
24
Additional Information
When you adjust the parameters after code generation, you generate the code as a variable, not a constant (literal). Access the website of The MathWorks Inc. or refer to the
Simulink PLC Coder User’s Guide
that is provided by The MathWorks Inc. for the setting procedure.
3.2.2. Importing the Code into the Sysmac Studio
You import the code outputted by the Simulink PLC Coder into the Sysmac Studio.
Additional Information
Refer to the
Sysmac Studio Version 1 Operation Manual
(Cat. No. W504) for how to use the Sysmac Studio.
1 Start the Sysmac Studio and create a new project.
Set the Select Device Area as shown below.
Category: Controller
Device: NJ501-1300
Version: 1.09
2 Delete the
Program0
that is automatically created when a new project is created because it is not used in this Guide.
25
3 Select
Import ST Program
from the
Tools
Menu.
4 Select the PLCCoderDemoMC.xml file that was outputted in the previous section in the
Import ST Program Dialog Box.
The data is imported and the programs, functions, function blocks, data types, and global variables in the XML file are added to the project of Sysmac Studio.
The
Controller block whose code is outputted by the Simulink PLC Coder and its internal blocks
CommandPositionGenerator
and
PositionController
are imported as function blocks of Sysmac Studio.
TestBench
is a function block for a test to call the Controller function block.
MainTB
is a program to call the TestBench function block.
26
Additional Information
The TestBench function block and the MainTB program are outputted when the
Generate testbench for subsystem
check box is selected in Step 4 of
3.2.1. Outputting the Code using the Simulink PLC Coder
3.2.3. Checking the Calculation Accuracy
You confirm that the code has the same calculation accuracy as the Simulink (within the acceptable error range) by a simulation.
1 Double-click
Task Settings
in the Multiview Explorer to display the Task Settings Tab
Page.
2 Set the task period to 1 ms in the Task Settings View on the Sysmac Studio so that the period matches the sampling time of the Controller on the Simulink.
3 Select the MainTB program in the Program Assignment Settings View.
4 Select
Run
from the
Simulation
Menu of the Sysmac Studio.
27
28
5 Double-click
TestBench
in the Multiview Explorer to display the program.
6 Confirm that
testVerify
is True and testCycleNum
is the value of
TEST_CYCLE_COUNT written in the comment.
You can confirm that calculation accuracy of the output data is the same level as the
Simulink (within the acceptable error range) if testVerify
is True.
You can also confirm that the simulation has been completed if testCycleNum
is the value of
TEST_CYCLE_COUNT written in the comment.
3.2.4. Creating the EtherCAT Network Configuration
You register a R88D-KNA5L-ECT Servo Drive that operates as axis 0 on the EtherCAT network configuration.
1 Double-click
EtherCAT
in the Multiview Explorer to display the EtherCAT Tab Page where you edit the EtherCAT network configuration.
2 Drag the R88D-KNA5L-ECT from the Toolbox to the master.
The Servo Drive is added under the master with a node address of 1.
Additional Information
To use digital I/O devices, analog I/O devices, and encoder input devices, add the devices using the same procedure. For data access to the devices that you added, register the device variables in the I/O Map.
The examples for using GX-AD0471 Analog Input Terminal and GX-DA0271 Analog
Output Terminal are provided as samples. Refer to the
Sample File No. 4
PLCCoderDemoMC_ADDA.mdl
and
No. 5 PLCCoderDemoMC_ADDA.smc2
that are provided separately.
29
3.2.5. Setting the Axis
You add an axis to control the Servo Drive, assign the Servo Drive to the axis, and make the axis parameter settings.
1 Double-click
Motion Control Setup
in the Multiview Explorer and right-click
Axis
Settings and select
Add
-
Axis Settings
from the menu.
2 Double-click
MC_Axis000(0)
(Axis 0) that was added under
Motion Control Setup
-
Axis Settings
in the Multiview Explorer to display the axis parameter setting view.
30
3 Make the Axis Basic Settings as shown below to assign the Servo Drive to the axis.
Axis type: Servo axis
Output device 1: Node: 1 R88D-KNA5L-ETC(E001)
4 Make the Unit Conversion Settings according to the mechanical configuration.
Unit of display: mm
Command pulse count per motor rotation: 131072 pulse/rev
Work travel distance per motor rotation: 96 mm/rev
5 Make the Operation Settings according to the mechanical configuration.
Maximum velocity: 50 mm/s
Maximum jog velocity: 50 mm/s
6 Right-click
Node1: R88D-KNA5L-ECT
under
EtherCAT
in the Multiview Explorer and select
Parameters
from the menu to display the Parameter Setting Tab Page.
7 Set the Servo Drive parameters as shown below according to the mechanical configuration.
Inertia Ratio: 1500 %
Operation Switch When Using Absolute Encoder: 1: Use as incremental encoder
Input Signal Selection 1 to 3: 0: Disabled – Contact A
31
3.2.6. Creating Programs
You create a program for calling the function blocks whose code was outputted by the Simulink
PLC Coder and a program for outputting command values to the Servo Drive.
1 Delete
TestBench
and
MainTB
because they are used for the test to check the calculation accuracy.
Right-click
TestBench
in the Multiview Explorer and select
Delete
from the menu.
32
Right-click
MainTB
in the Multiview Explorer and select
Delete
from the menu.
2 Create the PositionControl program for the following processing.
- Servo ON (by executing the MC_Power instruction)
- Homing (by executing the MC_Home and MC_MoveZeroPosition instructions)
- Calculation of velocity command values by the Controller function block whose code was outputted by the Simulink PLC Coder
- Output of velocity command values to the Servo Drive (by executing the
MC_SyncMoveVelocity instruction)
- Execution of the above operations by the signals from the Programmable
Terminal
- Output of the execution status of the above operations to the Programmable
Terminal
3 Double-click Task Settings in the Multiview Explorer to display the Task Settings Tab
Page.
4 Set the task period to 1ms in the Task Settings View on the Sysmac Studio so that the period matches the sampling time of the Controller on the Simulink.
33
5 In the Program Assignment Settings View, select the PositionControl program that you created.
6 Check the program that you created.
Select Check All Programs from the Project Menu.
34
Precautions for Correct Use
The sample programming that is provided in this Guide includes only the programming that is required to operate the Servomotors. When programming actual applications, also program EtherCAT communications, device interlocks, I/O with other devices, and other control procedures.
Additional Information
Refer to the
Sample File No. 2 PLCCoderDemoMC.smc2 that is provided separately for the above program.
4.1. Programming in Ladder Diagram Language
diagram language.
The instruction to use differs by the command given to the Servo Drive. Use the following instructions according to the command type.
Position command: MC_SyncMoveAbsolute
Velocity command: MC_SyncMoveVelocity
Torque command: MC_TorqueControl
If you use a MC_TorqueControl instruction, the command values are not outputted cyclically. You need to write the program so that the command values are outputted cyclically. Refer to the
MC_mySyncTorqueControl
of the
Sample File No. 3
PLCCoderDemoMC_Torque.smc2
that is provided separately for the program.
3.2.7. Creating the Programming Terminal Screen
You insert the Programmable Terminal in the Sysmac Studio project and create a
Programmable Terminal screen for the operation and display.
1 Select
HMI
–
NA5
from the Insert Menu of the Sysmac Studio.
2 Make the settings as shown below in the Add Device Dialog Box and click the
OK
Button.
Category: HMI
Device: NA5-12W101
Version: 1.01
3 Create a Programmable Terminal screen for the following processing.
- Servo ON/OFF operation and status display
- Homing operation
- Start/stop of movement to the command position and status display
- Status display of completion of movement to the command position
- Command position setting and display
- Current position display
- Velocity command value display
Additional Information
Refer to the
Sample File No. 2 PLCCoderDemoMC.smc2
that is provided separately for the above program.
35
3.2.8. Preparing the Co-simulation of Simulink and Sysmac Studio
You add the Sysmac Controller Interface block to the Simulink model and make the setting for data exchange between Simulink and Sysmac Studio.
Also, you add the Sysmac IO Device block to link with the parameter settings of the Servo Drive in the Sysmac Studio project.
1 Open the
Sample File No. 1 PLCCoderDemoMC.mdl
that is provided separately on the
Simulink.
2 Select the Sysmac Controller Interface block from the Simulink Library Browser and add it to the Simulink model that you opened in Step 1.
36
3 Double-click the Sysmac Controller Interface block that you added in Step 2 and display the dialog box where to make the setting for data exchange between Simulink and
Sysmac Studio’s Simulator.
4 Select
MC_Axis000.Act.Pos
from the list of variables in the Sysmac Studio project and click the
Register
Button for the In list to pass the actual current position calculated by the Simulink to the Sysmac Studio’s Simulator.
5 Select
CommandPosition from the list of variables in the Sysmac Studio project and click the
Register
Button for the Out list to pass the position command value calculated by the Sysmac Studio’s Simulator to the Simulink.
37
38
6 Select
MC_Axis000.Cmd.Vel from the list of variables in the Sysmac Studio project and click the
Register
Button for the Out list to pass the velocity command value for the
Servo Drive calculated by the Sysmac Studio’s Simulator to the Simulink.
7 Select
Kp
from the list of variables in the Sysmac Studio project and click the
Register
Button for the Parameter list to pass the values from Simulink to Sysmac Studio only in the first step,
8 Click the
OK
Button to close the dialog box.
9 Delete the Controller block and replace it with the Sysmac Controller Interface block that you added.
Connect the input signal line and output signal line of the Sysmac Controller Interface block.
10 Select the Sysmac IO Device block from the Simulink Library Browser and add it to the
Simulink model.
11 Double-click the Sysmac IO Device block added in Step 10. The setting dialog box for selecting a device in the Sysmac Studio project is displayed.
39
12 Select the Servo Drive whose node address is
1
from the EtherCAT network configuration in the Sysmac Studio project.
13 Select
R88M-K10030T
from the list of servomotors that can be connected to the Servo
Drive selected in Step 12.
40
14 Click the
OK
Button to close the dialog box.
15 Delete the Servo Drive block and replace it with the Sysmac IO Device block that you added. Connect the input signal lines and output signal lines of the Sysmac IO Device block as shown below.
<Inputs>
Modes of operation: Constant (9: Cyclic synchronous velocity mode (csv))
Cmd.Pos: Ground (Not used)
Cmd.Vel: Output (MC_Axis000.Cmd.Vel) from the Sysmac Controller Interface block
Motor actual velocity: Output (MotorActualVelocity) from the Machine block
<Outputs>
Modes of operation display: Terminator (Not used)
Torque demand: Input (Torque) to the Machine block
Act.Pos: Input (MC_Axis000.Act.Pos) to the Sysmac Controller Interface block
Act.Vel: Scope
Act.Trq: Terminator (Not used)
Because the unit of input (Torque) to the Machine block is [%],convert the value to the torque in [N m].
41
42
Additional Information
Refer to the
Sample File No. 6 SILSDemoMC.mdl
for the Simulink model that you created by the above operation.
You can add the following axis variable members to the In list.
Variable name (Member) Name
Act.Pos
Act.Vel
Actual current position
Actual current velocity
Act.Trq Actual current torque
However, you can add only the axes whose
Axis use
parameter is set to
Unused axis (changeable to used axis)
or
Used axis
and whose
Axis type
parameter is set to
Servo axis or
Encoder axis
. Like the actual access from Servo Drive or encoder to
Controller, these variables are converted to the data type for the PDO communications (
Act.Pos
and
Act.Vel
are converted to DINT data and
Act.Trq
is converted to INT data) for unit conversion of axis variables (i.e., calculation based on the electronic gear ratio setting) using the command pulse count per motor rotation and work travel distance per motor rotation.
The
Modes of operation
input to the Sysmac IO Device block is corresponding to the operation mode of the process data object (PDO) of the AC Servomotor/Servo
Drives G5/1S-series with built-in EtherCAT communications (6060 hex) and refers to
8: Cyclic synchronous position mode (csp)
,
9: Cyclic synchronous velocity mode
(csv)
, or
10: Cyclic synchronous torque mode (cst)
.
The unit of the
Toque demand output from the Sysmac IO Device block is [%]. To convert the value to the torque in [N m], use the rated torque to calculate it as shown below.
Torque [N m] = Torque [%] x rated torque / 100
You can confirm the rated torque in the setting dialog box for the Sysmac IO Device block.
3.2.9. Debugging by Simulation
You debug the programs and screens that you created by the SILS (Software In the Loop
Simulation).
1 Select
Run witn NA Simulator
from the Simulation Menu of the Sysmac Studio.
2
Select the HMI that you created in
3.2.7. Creating the Programming Terminal Screen
in the Simulator Option Dialog Box and click the
OK
Button.
The Simulator of the Programmable Terminal is started.
43
3 Select
Run
from the Simulation Menu of the Simulink.
4 Click the
Power ON
Button on the Test Window for the Programmable Terminal.
The Servo is turned ON and the
Ready
Lamp is lit.
44
5 Click the
Home
Button on the Test Window for the Programmable Terminal.
The axis is returned to the home.
6 Click the
Start
Button on the Test Window for the Programmable Terminal.
The axis starts moving to the Target Position and the
Run
Lamp is lit.
The Actual Position value and Command Velocity value change.
When the movement is completed, the
Done
Lamp is lit.
7 Check the simulation results (Scope) of the Simulink.
You can confirm that you got the similar results as the waveform shown in
Servo System Constructed in this Guide
2.2. Designing the Control Algorithm
8 Use the following procedure to stop the simulation.
Select
Stop
from the Simulation Menu of the Simulink.
45
9 Select
Stop
from the Simulation Menu of the Sysmac Studio.
Precautions for Correct Use
When the SIM_SetActPos, SIM_SetActVel, or SIM_SetActTrq simulation instruction is used, the Simulink cannot pass the value to the
Act.Pos
(actual current position),
Act.Vel
(actual current velocity), or
Act.Trq
(actual current torque) variable of the
Sysmac Studio.
Do not use the SIM_SetActPos, SIM_SetActVel, or SIM_SetActTrq simulation instruction to pass the value from the Simulink to the
Act.Pos
(actual current position),
Act.Vel
(actual current velocity), or
Act.Trq
(actual current torque) variable of the Sysmac Studio.
When the SIM_SetVelocity simulation instruction is used for the encoder axis, the
Simulink cannot pass the value to the
Act.Vel
(current velocity ) variable of the
Sysmac Studio.
Do not use the SIM_SetVelocity simulation instruction to pass the value from the
Simulink to the
Act.Vel
(current velocity) variable of the Sysmac Studio.
Unit conversion of the axis variables (i.e., calculation based on the electronic gear ratio setting) uses the command pulse count per motor rotation and work travel distance per motor rotation at the simulation start of the Simulink. Therefore, if the command pulse count per motor rotation or work travel distance per motor rotation is changed by the MC_WriteAxisParameter instruction during the simulation, the
Simulink cannot correctly write the values to the
Act.Pos
(actual current position) variable and the
Act.Vel
(actual current velocity) variable of the Sysmac Studio.
Do not change the command pulse count per motor rotation or work travel distance per motor rotation when the values are written from the Simulink to the
Act.Pos
(actual current position) variable and the
Act.Vel
(actual current velocity) variable of the Sysmac Studio.
Additional Information
Refer to the
Sysmac Studio Version 1 Operation Manual
(Cat. No. W504) for the program debugging procedures.
The control performance is changed by changing the gain and other parameters of the Servo Drive. Refer to
4.2. Sysmac IO Device Support Models and Simulation
for the simulation target functions.
46
3.2.10. Transferring the Programs to the CPU Unit and Servo Drive
You transfer the programs and parameter settings to the physical NJ-series CPU Unit and
Servo Drive.
1 Select
Online
from the Controller Menu.
2 Select
Transfer
-
To Controller from the Controller Menu.
3 Clear the selection of the
Don’t transfer the following. (All items are not transferred.)
Check Box.
Click the
Execute
Button.
47
3.2.11. Transferring Screen Data to Programmable Terminal
You transfer the screen data that you created to the physical Programmable Terminal.
1 Select
Online
from the HMI Menu of the Sysmac Studio.
2 Select
Synchronization
–
NA Device
from the HMI Menu of the Sysmac Studio.
3 Click the
Transfer to Device
Button in the Synchronization Window.
48
3.2.12. System Operation Check
You execute the operation according to the programs transferred to the physical device and check the operation by comparing it with the simulation results using the function for data acquisition from the NJ-series CPU Unit to the Simulink.
This function can be used when the data are synchronized between the Sysmac Studio and the
NJ-series CPU Unit.
Precautions for Correct Use
The physical motor will run. Thoroughly read and understand the manuals for all devices that make up the system to ensure that the system is used safely. Review the entire contents of these manuals, including all safety precautions, precautions for safe use, and precautions for correct use before the actual operation.
1 Select
Online
from the Controller Menu of the Sysmac Studio.
2 Select
Synchronization
from the Controller Menu of the Sysmac Studio.
49
3 Confirm that the data are already synchronized in the Synchronization Window and click the
Close
Button.
50
4 Click the Button in the Controller Status Pane.
5 Confirm that
Synchronized
is displayed in the detailed view of controller status.
6 Open the Simulink model file that you used in
3.2.9. Debugging by Simulation
separately provided the
Sample File No. 6 SILSDemoMC.mdl
on the Simulink.
7 Double-click the Sysmac Controller Interface block. The setting dialog box for exchanging the data between Simulink and Sysmac Studio is displayed.
8 Select
Controller
for the connection target to get the Controller data.
51
9 Because the In list is not used, delete the variable in the list.
Select
MC_Axis000.Act.Pos
and click the
Delete
Button.
10 In order to pass the actual current position and actual current velocity of the NJ-series
CPU Unit to the Simulink, select
MC_Axis000.Act.Pos
and
MC_Axis000.Act.Vel
from the list of variables in the Sysmac Studio project and click the
Register
Button for the
Out list.
52
11 Click the
OK
Button to close the dialog box.
12 Connect the output signal lines from the Sysmac Controller Interface block to the Scope block. By keeping
MC_Axis000.Cmd.Vel
connected with the Sysmac IO Device block, the value of the
MC_Axis000.Cmd.Vel
of the NJ-series CPU Unit is used in the simulation.
13 Select
Run
from the Simulation Menu of the Simulink.
14 Click the
Yes
Button in the Sysmac Controller Interface Dialog Box.
The value of the
Kp workspace variable of the MATLAB (
10
in the Sample File No. 9) is written to the
Kp
variable of the Controller.
53
15 Press the
Power ON
Button on the physical Programmable Terminal.
The Servo is turned ON and the
Ready
Lamp is lit.
16 Press the
Home
Button on the physical Programmable Terminal.
The axis is returned to the home.
17 Press the
Start
Button on the physical Programmable Terminal.
The axis starts moving to the Target Position and the
Run
Lamp is lit.
The Actual Position value and Command Velocity value change.
When the movement is completed, the
Done
Lamp is lit.
54
18 Check the simulation results (Scope) of the Simulink.
You can confirm that you got the similar results as the waveform shown in
Servo System Constructed in this Guide
2.2. Designing the Control Algorithm
19 Use the following procedure to stop the simulation (i.e. monitoring on the Simulink).
Select
Stop
from the Simulation Menu of the Simulink.
Additional Information
Refer to the
Sample File No. 7 RMCDemoMC.mdl for the Simulink model created above.
Perform either of the following operations to change the value of the MATLAB workspace variable to adjust the parameter.
Set the Retain attribute for the variable on the Sysmac Studio in advance.
After the adjustment, change the initial value of the variable to the new value on the Sysmac Studio and send the data to the Controller again.
The present values of non-retained variables will change to their initial values when the power supply to the CPU Unit is turned ON, when the operation mode is changed, and after data download from the Sysmac Studio.
55
4. Appendix
4.1. Programming in Ladder Diagram Language
To call a function block from a program written in the ladder diagram language, the function block must have at least one BOOL input variable and one BOOL output variable.
This section describes the procedure for adding boolean signals to the block on the Simulink.
Additional Information
You also can add BOOL variables on the Sysmac Studio after importing the code without changing the block on the Simulink.
1 Add boolean signals to the Controller block on the Simulink.
56
2 When the code is imported to the Sysmac Studio, the BOOL variables are added as shown below.
3 The program to call the function block is written in the ladder diagram language as shown below.
Additional Information
Refer to the
Sample File No. 8 PLCCoderDemoMC_LD.mdl
that is provided separately for the Simulink model used in this section.
Refer to the
Sample File No. 9 PLCCoderDemoMC_LD.smc2
that is provided separately for the program used in this section.
57
4.2. Sysmac IO Device Support Models and Simulation Target Functions
The following models can be selected for Sysmac IO Device.
No. Category Target Model
1
2
3
4
Servo Drive
Servo Drive
Analog Input
Analog Output
AC Servo Drives [G5-series Servo Drives with EtherCAT communications]
AC Servo Drives [G5-series Linear Servo Drives with
EtherCAT communications]
AC Servo Drives [1S-series Servo Drives with EtherCAT communications]
GX-series EtherCAT Remote I/O Terminal
NX-series EtherCAT Slave Terminals
GX-series EtherCAT Remote I/O Terminal
NX-series EtherCAT Slave Terminals
R88D-KN -ECT
R88D-KN -ECT-L
R88D-1SN -ECT
GX-AD0471
NX-AD
GX-DA0271
NX-DA
(1) Simulation Target Functions of Servo Drives (G5-series)
The control mode is switched between position control mode and velocity control mode by specifying
8: Cyclic synchronous position mode (csp)
or
9: Cyclic synchronous velocity mode (csv)
in the
Modes of operation
input to the Sysmac IO Device block.
Torque control mode and control mode change during simulation are not supported.
Function
Smoothing filter
(first-order lag filter)
No.
Pn222
Name
Position Command Filter Time Constant
Damping control
Speed Feed-forward
Gain switching
(Only “Always gain 1” and
“Always gain 2” are supported.)
Position control
Speed control
Pn213
Pn100
Pn105
Pn101
Pn106
Pn102
Pn107
Pn004
Pn214
Pn215
Pn216
Pn217
Pn110
Pn111
Pn114
Pn115
Pn120
Damping Filter Selection (Only “0” is supported. Even if other value is set, it operates as if “0” is set.)
Damping Frequency 1
Damping Filter 1 Setting
Damping Frequency 2
Damping Filter 2 Setting
Speed Feed-forward Gain
Speed Feed-forward Command Filter
Gain Switching Input Operation Mode Selection
Switching Mode in Position Control (Only “0”, “1”, and “4” are supported.
If other value is set, it operates as if “0: Always gain 1” is set.)
Switching Mode in Speed Control (Only “0” and “1” are supported. If other value is set, it operates as if “0: Always gain 1” is set.)
Position Loop Gain 1
Position Loop Gain 2
Speed Loop Gain 1
Speed Loop Gain 2
Speed Loop Integral Time Constant 1
Speed Loop Integral Time Constant 2
Inertia Ratio
58
Function
Notch filter
Torque (Force) filter
Torque (Force) limit
Unit conversion settings
No. Name
Pn201
Pn202
Pn203
Pn204
Pn205
Pn206
Pn207
Pn208
Notch 1 Frequency Setting
Notch 1 Width Setting
Notch 1 Depth Setting
Notch 2 Frequency Setting
Notch 2 Width Setting
Notch 2 Depth Setting
Notch 3 Frequency Setting
Notch 3 Width Setting
Pn209
Pn210
Pn211
Pn212
Notch 3 Depth Setting
Notch 4 Frequency Setting
Notch 4 Width Setting
Notch 4 Depth Setting
Pn104
Pn109
Torque (Force) Command Filter Time Constant 1
Torque (Force) Command Filter Time Constant 2
Pn753 External Torque (Force) Limit 1 (PDO: 3013 hex)
Pn754 External Torque (Force) Limit 2 (PDO: 3522 hex)
Axis setting Positive Torque Limit (PDO: 60E0 hex)
Axis setting Negative Torque Limit (PDO: 60E1 hex)
Axis setting Command pulse count per motor rotation
Axis setting Work travel distance per motor rotation
Axis setting Unit of display
59
(2) Simulation Target Functions of Servo Drives (1S-series)
The control mode is switched between position control mode, velocity control mode, and torque control mode by specifying
8: Cyclic synchronous position mode (csp)
,
9: Cyclic synchronous velocity mode (csv)
, or
10: Cyclic synchronous torque mode (cst) in the
Modes of operation
input to the
Sysmac IO Device block.
Torque control mode and control mode change during simulation are not supported.
Function
Basic Functions
Machine
Position Command Filter
Damping Control
Damping Filter 1
Damping Filter 2
Velocity Command Filter
Velocity Limit in Torque Control
ODF Velocity Feed-forward
ODF Torque Feed-forward
TDF Position Control
OD
3014.06
3014.07
3014.08
3021.03
3021.04
3031.01
3112.01
3112.02
3112.03
3113.01
3113.02
3113.03
3120.01
3120.10
3120.11
3013.01
3013.02
3013.03
3013.04
3013.05
3013.06
3013.07
3013.08
3000.03
3001.01
3011.01
3011.02
3011.03
3011.04
3012.01
3012.02
3014.01
3014.02
3014.03
3014.04
3014.05
Name
Control Method Selection
Inertia Ratio
FIR Filter Enable
FIR Filter Moving Average Time
IIR Filter Enable
IIR Filter Cutoff Frequency
Damping Filter 1 Selection
Damping Filter 2 Selection
1st Frequency
1st Damping Time Coefficient
2nd Frequency
2nd Damping Time Coefficient
3rd Frequency
3rd Damping Time Coefficient
4th Frequency
4th Damping Time Coefficient
1st Frequency
1st Damping Time Coefficient
2nd Frequency
2nd Damping Time Coefficient
3rd Frequency
3rd Damping Time Coefficient
4th Frequency
4th Damping Time Coefficient
IIR Filter Enable
Filter Cutoff Frequency
Velocity Limit Value
Gain
LPF Enable
LPF Cutoff Frequency
Gain
LPF Enable
LPF Cutoff Frequency
Command Following Gain
Command Following Gain Selection
Command Following Gain 2
60
Function
Speed Detection Function
TDF Velocity Control
TDF Velocity Feed-forward
TDF Torque Feed-forward
Gain Switching in Position Control 3212.01
1st Position Control Gain
2nd Position Control Gain
Gain Switching in Velocity Control 3222.01
1st Velocity Control Gain
2nd Velocity Control Gain
Filter Switching in Torque Control
1st Torque Command Filter
2nd Torque Command Filter
Torque Compensation
1st Notch Filter
2nd Notch Filter
3rd Notch Filter
3223.01
3223.02
3224.01
3224.02
3232.01
3321.01
3321.02
3321.03
3321.04
3322.01
3322.02
3322.03
3322.04
3323.01
3323.02
3323.03
3323.04
3233.01
3233.02
3234.01
3234.02
3310.01
3310.02
3310.03
3310.04
OD
3B60.04
3121.01
3121.10
3121.11
3122.01
3123.01
3213.01
3214.01
Name
Enable
Frequency
Q-value
Depth
Enable
Frequency
Q-value
Depth
Enable
Frequency
Q-value
Depth
Excessive Speed Detection Level
Command Following Gain
Command Following Gain Selection
Command Following Gain 2
Gain
Gain
Mode Selection (Only “0” and “1” are supported. If other value is set, it operates as if “0: Always gain 1” is set.)
Proportional Gain
Proportional Gain
Mode Selection (Only “0” and “1” are supported. If other value is set, it operates as if “0: Always gain 1” is set.)
Proportional Gain
Integral Gain
Proportional Gain
Integral Gain
Mode Selection (Only “0” and “1” are supported. If other value is set, it operates as if “0: Always 1st Filter” is set.)
Enable
Cutoff Frequency
Enable
Cutoff Frequency
Viscous Friction Coefficient
Unbalanced Load Compensation
Positive Dynamic Friction Compensation
Negative Dynamic Friction Compensation
61
Function
4th Notch Filter
OD
3324.01
3324.02
3324.03
3324.04
Enable
Frequency
Q-value
Depth
Name
Torque Limit
Unit conversion settings
3330.01
Switching Selection (Only “0” is supported. Even if other value is set, it operates as if “0” is set.)
3330.02 Max Torque
Axis setting Positive Torque Limit (PDO: 60E0 hex)
Axis setting Negative Torque Limit (PDO: 60E1 hex)
Axis setting Command pulse count per motor rotation
Axis setting Work travel distance per motor rotation
Axis setting Unit of display
(3) Simulation Target Functions of Analog Input
GX-series EtherCAT Remote I/O Terminal
Function Index
Available channel
Range
0x3100:00
0x3101:01-04
Moving average 0x3132:01-04
NX-series EtherCAT Slave Terminals
Name
Analog Input Available Channel Choice
Analog Input Range
Analog Input Moving Average
Function Index Name
Available channel
Range
Moving average
0x5002:01-08
0x5003:01-08
0x5004:01-08
Ch1-8 Enabled/Disabled
Ch1-8 Range Setting
Ch1-8 Input Moving Average Time
(4) Simulation Target Functions of Analog Output
GX-series EtherCAT Remote I/O Terminal
Name
Analog Output Available Channel Choice
Analog Output Range
Function Index
Available channel 0x3200:00
Range 0x3201:01-02
NX-series EtherCAT Slave Terminal
Function
Available channel
Range
Index
0x5010:01-04
0x5011:01-04
Ch1-4 Enabled/Disabled
Ch1-4 Range Setting
Name
62
MEMO
OMRON AUTOMATION AMERICAS HEADQUARTERS • Chicago, IL USA • 847.843.7900 • 800.556.6766 • www.omron247.com
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OMRON EUROPE B.V. • Wegalaan 67-69, NL-2132 JD, Hoofddorp, The Netherlands. • +31 (0) 23 568 13 00 • www.industrial.omron.eu
Authorized Distributor: Controllers & I/O
• Machine Automation Controllers (MAC) • Motion Controllers
• Programmable Logic Controllers (PLC) • Temperature Controllers • Remote I/O
Robotics
• Industrial Robots • Mobile Robots
Operator Interfaces
• Human Machine Interface (HMI)
Motion & Drives
• Machine Automation Controllers (MAC) • Motion Controllers • Servo Systems
• Frequency Inverters
Vision, Measurement & Identification
• Vision Sensors & Systems • Measurement Sensors • Auto Identification Systems
Sensing
• Photoelectric Sensors • Fiber-Optic Sensors • Proximity Sensors
• Rotary Encoders • Ultrasonic Sensors
Safety
• Safety Light Curtains • Safety Laser Scanners • Programmable Safety Systems
• Safety Mats and Edges • Safety Door Switches • Emergency Stop Devices
• Safety Switches & Operator Controls • Safety Monitoring/Force-guided Relays
Control Components
• Power Supplies • Timers • Counters • Programmable Relays
• Digital Panel Meters • Monitoring Products
Switches & Relays
• Limit Switches • Pushbutton Switches • Electromechanical Relays
• Solid State Relays
Software
• Programming & Configuration • Runtime
W529-E1-05 0 3 /1 7 No t e: Specifications are subject to change.
© 201 7 Om r on. All Rights Reserved.
Printed on recycled paper.
P rinted in U.S.A.
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