In recent years, exceptional events such as the global pandemic of COVID-19 and the component crisis have completely upset the balance of the industry. The exponential increase in delivery times and the difficult availability of materials have caused a revolution in procurement and production logic, leading manufacturers to seek new suppliers and adopt previously unknown technologies. This new compulsory trend contrasts with the quest of development companies to offer modular and standardised software in order to guarantee better development and support in the long term. This paper seeks a meeting point between the two requirements and describes the process of designing, developing and implementing a motion control library following the adoption of new hardware. The aim of the thesis project was the creation of a software that is compatible with any AMKmotion GmbH drive, adaptable to the specific purpose of the axis under consideration, agile, and potentially infinitely extendable. The final product is interchangeable with an existing Bosch library, so that the same external logic software can be used, regardless of the motion architecture and without loss of functionality. The chosen approach was object-oriented (OOP), a novelty in the field of industrial automation. OOP is a growing trend for PLC programming, as it allows the creation of reusable software that can be combined to form complex systems. The library developed starts from a common base class and is progressively extended to cover all cases: the virtual axis, the controller, and the real axes. In particular, the software has been designed to consistently separate axis characteristics, from the basic data structure, and motion methods to the enabling, management, parameterisation, and implementation of additional functionalities. Finally, the library was tested on a two-colour flexo printer, achieving an average cycle time of 1.5 ms, a tracking error of 0.04°, and a total memory usage of 890 KB. These results indicate an excellent performance of the library and make it a solid starting point for future developments.
Negli ultimi anni, eventi eccezionali come la pandemia globale di COVID-19 e la crisi dei componenti hanno completamente alterato l’equilibrio del settore industriale. L’aumento esponenziale dei tempi di consegna e la difficile reperibilità dei materiali hanno causato una rivoluzione delle logiche di approvvigionamento e produzione, portando i costruttori a cercare nuovi fornitori e ad adottare tecnologie precedentemente sconosciute. La nuova tendenza obbligata si contrappone alla ricerca delle aziende sviluppatrici di proporre un software modulare e standardizzato, al fine di garantire uno sviluppo migliore e un supporto anche sul lungo periodo. Questo elaborato ricerca un punto di incontro tra le due esigenze e descrive il processo di ideazione, sviluppo e implementazione di una libreria di motion control in seguito all’adozione di un nuovo hardware. L’obiettivo del progetto di tesi era la creazione di un software compatibile con qualsiasi drive AMKmotion GmbH, adattabile allo specifico scopo dell’asse considerato, agile ed estendibile potenzialmente all’infinito. Il prodotto finale è inoltre intercambiabile con una libreria Bosch preesistente, in modo da utilizzare lo stesso software di logica esterno, indipendentemente dall’architettura di motion e senza perdere funzionalità. L'approccio scelto è stato di tipo object-oriented (OOP), una novità in ambito dell’automazione industriale. L’OOP è una tendenza in crescita per la programmazione PLC, poiché consente di creare software riutilizzabili, che possono essere combinati per formare sistemi complessi. La libreria sviluppata parte da una classe base comune e viene progressivamente estesa per coprire tutte le casistiche: l’asse virtuale, il controllore e gli assi reali. In particolare, il software è stato progettato per separare coerentemente le caratteristiche dell’asse, dalla struttura dati base, i metodi di motion fino all’abilitazione, gestione, parametrizzazione e implementazione di funzionalità aggiuntive. Infine, la libreria è stata testata su una stampante flessografica a due colori, ottenendo un tempo di ciclo medio di 1,5 ms, un errore di inseguimento di 0,04° e un utilizzo di memoria complessivo di 890 KB. Questi risultati indicano un'ottima performance della libreria e la rendono un punto di partenza solido per futuri sviluppi.
Development of a PLC object oriented motion library with AMK drives
Pignotti, Luca
2022/2023
Abstract
In recent years, exceptional events such as the global pandemic of COVID-19 and the component crisis have completely upset the balance of the industry. The exponential increase in delivery times and the difficult availability of materials have caused a revolution in procurement and production logic, leading manufacturers to seek new suppliers and adopt previously unknown technologies. This new compulsory trend contrasts with the quest of development companies to offer modular and standardised software in order to guarantee better development and support in the long term. This paper seeks a meeting point between the two requirements and describes the process of designing, developing and implementing a motion control library following the adoption of new hardware. The aim of the thesis project was the creation of a software that is compatible with any AMKmotion GmbH drive, adaptable to the specific purpose of the axis under consideration, agile, and potentially infinitely extendable. The final product is interchangeable with an existing Bosch library, so that the same external logic software can be used, regardless of the motion architecture and without loss of functionality. The chosen approach was object-oriented (OOP), a novelty in the field of industrial automation. OOP is a growing trend for PLC programming, as it allows the creation of reusable software that can be combined to form complex systems. The library developed starts from a common base class and is progressively extended to cover all cases: the virtual axis, the controller, and the real axes. In particular, the software has been designed to consistently separate axis characteristics, from the basic data structure, and motion methods to the enabling, management, parameterisation, and implementation of additional functionalities. Finally, the library was tested on a two-colour flexo printer, achieving an average cycle time of 1.5 ms, a tracking error of 0.04°, and a total memory usage of 890 KB. These results indicate an excellent performance of the library and make it a solid starting point for future developments.| File | Dimensione | Formato | |
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Descrizione: Development of a PLC object oriented motion control library with AMK drives.
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https://hdl.handle.net/10589/209318