How to configuration and programming S210 2Axis speed and position synchronize and torque control with S7-1511T ?

Dear Experts,

I use S7-1511T PLC and 3 of S210 Drive I have to control 2 axis of S210 speed and position synchronize and simultaneously control torque of this 2 axis as well in vertical load.

How to configuration and programming S210 2Axis speed and position synchronize and torque control with S7-1511T ? 

Can someone have experience project like this please help me too.

Best Regards,

Vorapob

Hi,

it is a little bit tricky because you say you want to do position control but also torque control. Both at the same time does not work due to the control principle. Either your contol loop is closed by the position actual value and you give a position setpoint or you do the same with torque values. 

But what you can do is to run both axes in position control (first axis is TO_PosAxis and second axis is TO_SyncAxis). First axis is master, second axis is the slave which can do sync operation to the master (by MC_GearIn funtion). Additionally you can limit the torque of the axes by the MC_TorqueLimiting function (add additional telegram 750 to your telegram config for that). So then you have a position control with limited torque - don't know if this is what you need... maybe describe the application a little further

Dear RB91,

Thank you for your recommend.

My application is the master and slave axis with move up/down according loadcell value (0-10V signal) and it will press the fabric as picture.

The load cell value will change according to roller of fabric size.

How should I do it I mean PLC and drive configuration and programming ?

Best Regards,

Vorapob

Hi, 

ok I see the load cell is moved by 2 axes in synchronous operation and you want to put pressure on the fabric. Please see chapter 3.10.4 in this manual:

https://support.industry.siemens.com/cs/de/en/view/109766462

For positioning and Synchronous axes you can use the TorqueLimiting function. This automatically disables the following error detection and makes it possible to move against a mechanical fixed stop with a defined torque (limit). 

So as described above you have your TO PosAxis (Master) and the TO SyncAxis (Slave). With the GearIn command you can synchronize the slave to the master. Then you give a position setpoint to the master which is beyond the mechanical stop (so it tries to go further but cannot reach the target). Doing that movement you also activate the MC_TorqueLimiting function on both axes and give your required torque limit as a parameter. So the load cell will push against the fabric with a defined torque/force.