Position Control Wizard (PTO / PWM Configuration)

Notes: This wizard is available for 2nd generation CPUs only. Your program must be compiled and set to symbolic addressing mode before you use the Position Wizard. If you have not compiled, the wizard prompts you to do so at the beginning of the configuration process. After you choose to configure the on board PTO/ PWM operation from screen one, the wizard queries you for the following information:

STEP 1 2 3 4 5 6 7 8
Specify a Pulse Generator Edit an Existing PTO or PWM Configuration Choose PTO or PWM and Select Timebase Specify the Motor Speed Set the Acceleration and Deceleration Times Configure Position Profiles Starting V Memory Address for Profile Data Generate Project Code

STEP 1
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Specify a Pulse Generator

The S7-200 PLC has two pulse generators: one assigned to digital output point Q0.0 one assigned to digital output point Q0.1 Specify the generator that you want to configure.

STEP 2
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Edit an Existing PTO or PWM Configuration

If you have an existing configuration in your project, then you can either delete the configuration from the project or move the existing configuration to another pulse generator. If you have no existing configurations, then go to Step 3

STEP 3
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Choose PTO or PWM

Choose to configure the pulse generator for pulse train output (PTO) or Pulse Width Modulation (PWM). For PTO mode, you can enable the High Speed Counter to count the output pulses. For PWM mode, choose a time base (microseconds or milliseconds) for cycle times and pulse widths.

STEP 4
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Specify the Motor Speed

Specify the maximum speed (MAX_SPEED) and Start/Stop Speed (SS_SPEED) for your application. MAX_SPEED: Enter the value for the optimum operating speed of your application within the torque capability of your motor. The torque required to drive the load is determined by friction, inertia, and the acceleration/deceleration times. The Position Control wizard calculates and displays the minimum speed that can be controlled by the Position module for a specified MAX_SPEED. SS_SPEED: Enter a value within the capability of your motor to drive your load at low speeds. If the SS_SPEED value is too low, the motor and load could vibrate or move in short jumps at the beginning and end of travel. If the SS_SPEED value is too high, the motor may lose pulses on start up, and the load may overdrive the motor when attempting to stop.

Note: The MIN_SPEED value is calculated. You cannot enter a different number in this field.

Motor data sheets have different ways of specifying the start/stop (or pull-in/pull-out ) speed for a motor and given load. Typically, a useful SS_SPEED value is 5% to 15% of the MAX_SPEED value. The SS_SPEED value must be greater than the minimum speed displayed from your specification of MAX_SPEED. To help you select the correct speeds for your application, refer to your motor data sheet. The figure below shows a typical motor torque/speed curve.

STEP 5
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Set the Acceleration and Deceleration Times

Specify the following times in milliseconds: ACCEL_TIME: Time required for the motor to accelerate from SS_SPEED to MAX_SPEED Default = 1000 ms DECEL_TIME: Time required for the motor to decelerate from MAX_SPEED to SS_SPEED Default = 1000 ms The default setting for both the acceleration time and the deceleration time is 1 second. Typically motors can work with less than 1 second. Motor acceleration and deceleration times are determined by trial and error. You should start by entering a larger value with the Position Control wizard. As you test your application, adjust the values as required. Optimize these settings for the application by gradually reducing the times until the motor starts to stall.

STEP 6
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Define Each Configured Profile

Each profile you select to configure is assigned a symbolic name. The symbolic name that is defined here is the parameter you enter in the PTOx_RUN subroutine.

For each profile, you must select the following parameters: Mode of operation: You configure the profile according the mode of operation, a relative position, or a single-speed continuous rotation. If you choose single-speed continuous rotation, then you must enter a target speed. Enable the PTO_ADV checkbox and a stopping distance to initiate a STOP for this profile. The figure below shows the different modes of operation.

Steps for the profile. A step is a fixed distance that a tool moves, including the distance covered during acceleration and deceleration times. Each profile can have up to 4 individual steps. You specify the target speed and ending position for each step. If you have more than one step, simply click the New Step button and enter the information for each step of the profile. The figure below shows four possible profiles; however, there are other possible combinations.

By simply clicking the Plot Step button, you can view a graphical representation of the step, as calculated by the Position Control wizard. This allows you to easily and interactively review and edit each step. The Position Control wizard also allows you to define a symbolic name for each profile by simply entering the symbol name as you define the profile. After you have finished configuring the profile, you can save to configuration. All of your configuration and profile information is stored in the PTOx_data page of the Data Block V memory assignments.

STEP 7
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Set Starting V Memory Address for Profile Data

The PTO wizard generates PTO profile templates in V memory as protected Data Block pages. The PWM wizard does not use a V memory template.

STEP 8
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Generate Project Code

PTO / PWM components For a PTO configuration, the following project components may be present. In the component names below, the x will be replaced with the output bit chosen for pulse generation: 0 for Q0.0; 1 for Q0.1. Also, the wizard will ensure that the component names are unique in the users project by appending the characters _Z where Z is a zero-based index that will be incremented until a unique name is generated. Click on a component name for details. Project Components for a PTO Configuration

PTOx_CTRL (Initialize and control PTO operation) should be enabled (at the EN input) on every program scan and executed, by a subroutine call, only once in the your program. PTOx_RUN (Run PTO profile) is used to execute a specific motion profile. This subroutine is generated for PTO wizard configurations when the user has defined one or more motion profiles. PTOx_MAN (Manual PTO mode) subroutine can be used to command pulse generation under program control PTOx_LDPOS (Load Position) subroutine is used to load a current position parameter to the PTO operation. The PTO Wizard creates this subroutine when the user has selected a high speed counter for pulse counting. PTOx_ADV (Advance) The PTOx_ADV subroutine stops the current continuous motion profile and advances the number of pulses specified in the wizard profile definfition. This subroutine is created if you have specified at least one single speed continuous rotation with the PTOx_ADV option enabled in the Position Control Wizard.

PTOx_SYM (Global symbol table) for variables used in PTO wizard configurations. PTOx_Data (Data block page) V memory data used by the wizard configuration. This data includes parameter table and motion profile definitions Project Component for a PWM Configuration PWMx_RUN (Manual PWM mode) subroutine is used to execute PWM under program control.