Total view

Overall detector view

One axis

Horizontal motion overview

Horizontal motion limits

Beam center line = 0

HS=-0.4ES=-0.2SS=-0.1

STOP STOP STOP

STOPSTOPSTOP

SS=-0.1ES=-0.2HS=-0.4

Overlap = 5mm

HS=30.2ES=30.0RS=29.8SS=29.7

STOP STOP STOP STOP

X

XL

SS=29.7 RS=29.8 ES=30.0HS=30.2

STOPSTOPSTOPSTOP

HS = hardstop (mm)ES = endswitch (mm)RS = reference switch (mm)SS = software stop (mm)

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Support frame

Y translation frame

Vertical motion limits

HS=5.2

ES=5.0

RS=4.8

SS=4.7

SS=-4.9

ES=-5.0

STOP

STOP

STOP

STOP

STOP

STOP

up

down

beam center = 0

detector mounting = -7

bellow mounting = -20

HS = hardstop (mm)ES = endswitch (mm)RS = reference switch (mm)SS = software stop (mm)

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The PLC hardware

Block diagram

Service area Target area60 meter

switchinterf.

stepperinterf.

res.interf.

step.drive

resolverstepperm.

40:1spindle XR

U33

potm.interf.

ES,RS ES

PotentiometerP1, P2, P3

switchinterf.

stepperinterf.

res.interf.

step.drive

resolverstepperm.

40:1spindle XL

U33

potm.interf.

ES,RS ES

PotentiometerP1, P2, P3

switchinterf.

stepperinterf.

res.interf.

step.drive

resolverstepperm.

16:1spindle Y

U33

potm.interf.

ES,RS ES

PotentiometerP1, P2, P3, P4Dig in

Sm321 32 chann.

ProcessorCPU 316-2DP

Ana inSm331 2x 16 chann.

Dig in/outSm323

Dig outSm322

Rs232Cp340

Power supplyPS307-5

EthernetCp343

192.16.192.50

Rs232Cp340 3x

Hardware interlocksBeam safety system

To scada system

Control system

Control system

Plug-in at service- or target area

portableoperatordisplay

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PLC variables for one axis

switchinterf.

stepperinterf.

res.interf.

step.drive

resolverstepperm.

40:1spindle XR

U33

potm.interf.

ES,RS ES

PotentiometerP1, P2, P3

Write;Z to set reference to stepper interfaceA nnn move to position to stepper interfaceP read stepper value to stepper interfaceL read resolver value to stepper interfaceQ emergency stop for stepper to stepper interfaceM master mode bit to switch interface

Read variables;Stepper value after movement resolution range conv. to positionResolver value after movement 10bit 0…xx 0..mmES status out for each sub axis 1bit 1=activeRS status as reference 1bit 1=activeES status in for each sub axis 1bit 1=activeStepper driver status 1bit 1=ok

Read variables; resolution range conv. to positionP1 Value during movement 16bit 0…5V 0 - 50.00mmP2 Value during movement 16bit 0…5V 0 - 50.00mmP3 Value during movement 16bit 0…5V 0 - 50.00mm

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PLC initial procedure

physics mode

out of reference

n

n

n

master limitsactive

physics limitsactive

physics mode

time out

ready

enable beaminjection

Goto main-loop

start init

stop

At start;First check mode to establish the right communication?Or always in physics mode?Check or this command is allowed?A priori out of referenceInhibit beam injection

Goto reference positionError 101 on time out +? (other procedure)Enable beam injection

Goto desired position (other procedure)

So far it means that there is possible a beam without knowing the position of the detector?

Procedure delivers a status flag that all values are referenced?

Set reference values

Zcommand

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disable beaminjection

n status check

error105 error101

PLC mode procedure

Physics mode or Master mode.

Status are presented to SCADA and portable display

Physics mode:

•Accept only commands via SCADA system

•Narrower limits then master mode

•No password protection

•No change allowed of the mode

Master mode:

•Accept only commands by portable display

•More limit privileges then physics mode

•Only via password protection changing of mode

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PLC Main Loop

read pos.

calculation desired Pos.

Check potm.

Stepper positionResolverposition

End

Pos. < limits

At start;Only allowed if values are referenced?Mode depends on mode procedureDuring movement injection inhibit?Stepper drive power on?

start main

Potmeterposition

n

n

n

master limitsactive

physic limitsactive

physics mode

Calc.time-out value

n

ntime out

ready

Positionnnn

error102 error101

Statusloop

Statusloop

A nnncommand

error103

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disable beaminjection

enable beaminjection

PLC Status loop

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Readpositionstepper

Store data

Send PRead

positionresolver

Store data

Send L

With potentiometertable

start status

Compare

Tolerance +/- 25 steps

Statusok

Error104

Select Axis XL-XR-Y

start status

Get XL sw Get XR sw Get Y sw

Switchstatus

ok

SwitchXL error

SwitchXR error

SwitchY error

Error xx

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Position inconsistentlyGive status

To scada and display

Error102

Time out

Error101

Input error

Error103

Error101;Has to end with Q command?

Error 101, 102;Back to ref. Pos.?Enable beam inj.?

Error 103

Send to PVVS

“Input?”

Error 104

Send to PVVS

“Axis undefined pos”

Axis pos. error

Error104

Frame parts

Box2

Box4Box3

XL XR

XL XR

Downstream

Downstream

Upstream

Upstream

UpstreamLeft

Box2 Bottom

Downstream

DSLsw1x USLsw1x

Ref sw.

USLTsw1x USRsw1x

USRsw1x DSRsw1xRef sw.

Right

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Top

Bottom

Top

Bottom

Top

Box1

Y

Box5Box6DSLpy USLpy

USLsw1y

USLsw2y

DSLsw1y

DSLsw2y

USRpy DSRpy

DSRsw1y

DSRsw2y

USRsw1y

USRsw2y

Ref sw.

USRTsw1xUSLTsw1x

DSRsw1x

DSRpxDSLpx

DSLsw2xBottom

USLTsw2xUSLTpx USRTpx

USRsw1xUSRpxUSRpx

Ref sw.

USRsw2x

Top

Bottom

DSLsw1x

USLsw1xRef sw.

Commands

goto reference position (takes 300 seconds maximum for XL and XR or 30 seconds for Y axis)check moving with the potentiometers

goto nnn absolute postition (takes 300 seconds maximum for XL and XR or 30 seconds for Y axis) nnn in steps, value between 0 and 1.400.000 (35.00mm)check moving with the potentiometers

read the position of the stepper

read the actual value of the resolver equal on the stepper (+/- 25 steps)

quit the command (Z and A), stops the steppermotor.

Available commands to the stepper interface;

XLXRY

Z

Annn

PL Q

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Variable list 1

Variable layout;Nickname symbol address datatype value comment

Global variable for the XL detector half;

Symbol address data type value commentXL-axis-mm xx xx variable XL-axis distance in mmXL-axis-resolver xx xx XL-axis distance in resolver stepsXL-axis-steps xx xx XL-axis distance in steppermotor stepsXL-res-ref-position xx xx constant

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Variable list 2

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Variable list 3

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OLD Motion control

To scadasystemPVSS II

Hardware interlocksto the beam inhibit system

PLC SiemensS7-300

CPU

Power Supply

Ethernet

RS232

DIG I/O

hand control panel

hand control

ADC

eth

ern

et

PLC System Motion Controls

Potmeter interface

RESOLVERinterface

Switchinterface

Stepper andresolver controller

RS232

steppermotor

resolver

3xSTEPPER

DRIVE

3x

Potmeter

Sh

ield

ing

wall

Power