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Application note
Tension control
AN00212-001
Introduction
A brief background is given of the common mechanical setups for web
tension control. Problems associated with winding or unwinding of web materials are described. Finally, an example shows how to
code a servo application for taper tension control of a re-winder.
Tension zones and Nip Induced Tension
Different processes require different tensions. For example consistent tension profiles are necessary for printing. To load the material
onto the machine from an un-winder may need a smaller tension than for the machines mid section. Web guide systems will not
work without tension. Many other processes will not work unless the material is under tension.
A tension zone will exist between any two rolls that are either driven or braked. An example of a two zone machine would be as
follows. A driven master roller draws the web material through the machine and sets the machine speed. An unwind brake at the
start pulls against the master roller to create the first tension zone. A re-winder at the end of the machine operates in torque mode.
The re-winder pulls against master roller creating tension in zone 2. It is much easier to fault find problems with web transport if a
machine is divided into different tension zones.
All materials will elongate or strain under the effects of tension or stress. The material tension will be in proportion to its elongation
by the coefficient of elasticity for the material, up until the point of failure. If the material strain goes above its elastic limit the material
will be permanently deformed. If the material is under strain it will try to retract to its original length like a spring. For a wound roll this
Application note
Tension control
AN00212-001
will create compressive forces on the inside layers. As a guide the maximum tension should never exceed 25% of the materials
elastic limit but it will depend on the material.
There are two basic methods of controlling the tension.
Nip induced tension
The web runs between two nip rolls and a force is applied between the two nips. This
force generates a frictional tension along the material proportional to the force and the
coefficient of friction between the material and the nip surface. By controlling the force
the tension can be controlled. The tension before and after the nip is different so the
nip has the effect of isolating different sections of the machine with different tensions.
T=*F
If the nip roll is driven from a servo system we have the option of adding or subtracting
tension from the web. We could apply a positive or negative torque. For a constant
diameter roller the tension is proportional to the torque. The torque operates like a
lever in reverse. In a lever we apply a force at a distance to achieve a torque and the
greater the distance the smaller the force required to achieve the same torque.
Because we are driving the roller from the center however we need more torque to
achieve the same tension as the diameter of the roller increases.
Tq = T * R
Tq = Torque
T = Tension
R = Radius
The servo system gives us the additional option of changing the tension by driving the
roller via speed control faster or slower than the web. We would control the tension by
controlling the amount of elongation in the material. The formula opposite describes
this relationship. V2 is our controlling function. Suppose we want to increase the
speed of the material from 100m/min to 102 m/min and EA is 200N. For simplicity let
T1 =0
EA(V2--V1)/V1
T1 = T2*(V2/V1) + EA(V2
If we controlled the tension by controlling the center torque of the roll then a 0.25%
error in torque would produce only a 0.25% error in tension because torque is
proportional to tension. In conclusion, unless the material is stretchy ie EA is small, use
torque control.
Application note
Tension Control
AN00212-001
tensions is likely to exceed the available settings on the brake. A servo drive may be used in these circumstances to set a varying
torque to achieve constant tension as the reel diameter changes.
The code example at the end of this application note is for re-winders but it can be used for un-winders as well. Remember though
that the Taper Tension option should not be used with un-winders.
An un-winder will generate energy which would be dissipated as heat if a brake is used. A servo system offers the option of
recovering this energy if the drive shares a DC link with others on the machine. Since brakes are normally quite large to cope with
the heat dissipation, servo systems offer a low inertia which allows much better tension control, particularly at low diameters.
If the web is accelerating during machine start-up, the un-winder may need to be driven to accelerate the web onto the machine.
Web breaks can occur in the machine when the reel is unwound.
Rolls can burst during storage.
Tension wound into the material can create circumferential forces within the reel. If these become too high the material could
wrinkle or the core could collapse.
Rolls can block i.e. some of the layers may fuse together.
Web materials are not perfectly uniform and the thickness could vary across the width of the material. Thicker layers will build up on
top of each other forming a mound. If the reel is wound too hard then the material will stretch and deform over the mound but not in
other areas. This causes a defect called corrugation or rope marks in the rolls.
If the tension in the roll is too low this can lead to telescoping of the reel during winding or unwinding. It is particularly important for
the core of the roll to be tighter as this must take the load of the outer layers of the roll.
If the web is a laminate of two or more materials then the web tension could distort the materials differently and cause the laminate
to curl or de-laminate.
If multiple print patterns are applied to a roll then the tension at each printing zone must match. Otherwise the web elongation will
be different and the print patterns will not line-up with each other.
The best way to choose the correct winding tension for a roll is from experience. It is helpful
to wind some test rolls. A good test is to do the following: Wind the material onto an empty
core up to say 100mm. Draw a straight line on the side of the reel from the edge of the core
to the edge of the reel. Wind on another 50mm thickness of material and then extend this line
to the edge of the reel. Continue this process in 50mm steps up to about 200mm and then in
100mm steps to the max reel diameter.
If the reel is wound too soft the layers will slip past one another as shown here and the
straight line will become a curved J line. The reel should be wound until the line remains
straight.
Methods of winding materials
mate rials
There are three basic winding geometries:
Centre winding
Surface winding
Centre surface winding
There are many variations and improvements on these basic methods. Some of these variations are described below to provide an
overview of the basic principles of rewinding.
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Application note
Centre winding
Tension control
AN00212-001
The core is driven from the centre by a motor and the material is wound
around the surface of the core. The main challenge with this geometry is
that air can get in between the layers of material during winding. Too
much air will produce a weak roll that will slip sideways.
This can be alleviated by pre tensioning the web before winding or by
applying a torque to the motor. Too much pre-tension could cause the
material to stretch.
Applying a central torque is also problematic in that the central layers of
the roll need to be tighter so that they can transmit the load through to
the outer layers. This limits the size of reel that can be wound using this
method.
The amount of centre wound tension required may be reduced by using a
lay-on roll. The lay-on roll applies nip induced tension to remove air. The
effect may be improved by winding the web around the lay-on roller first.
This is particularly useful for wide rolls because the web comes off the flat
surface of the lay-on roller onto the reel. This reduces the possibility of
wrinkles in the material.
Applying a central torque is a way of tensioning up the material. As the winding diameter changes, the torque will apply a different
tension to the outside material. Thus some method must be employed to keep track of the roll diameter.
Single roll surface winding
winding
The basic concept behind surface winding is to force the reel into
contact with a roller which is rotating at a fixed speed. The reels outer
surface will run at the same speed as the driven rollers surface speed.
The contact force removes air between the layers and will increase the
density or hardness of the roll. The contact force applies a frictional
force to the material and thus induces tension.
A material must elongate to produce tension. The material must
therefore slip parallel to the reels surface when it stretches after the
nip. This means that adhesive materials cannot be tensioned in this
way.
With a single rewind roller there is no direct means of controlling web tension on the reel. This makes tension control difficult. By
adjusting the contact force of the roller against the reel, the tension can be controlled to some extent.
The effect can be enhanced if the winding roller is driven by a servo system. If the winding roller is driven at a speed faster than the
incoming web material it will pre tension the material.
Application note
Tension Control
AN00212-001
Centre surface winding has an advantage over centre winding in that the wound in tension may be applied to the reel from a surface
roller and doesnt all need to come from central torque. This means that the web tension upstream of the winder may be lower than
the wound in tension in the reel. Centre surface winding provides more options and so allows larger and denser rolls to be wound.
Twin roller surface winding is typically used on thick materials such as paper or
textiles and is not suitable for thin plastics.
The reel surface rests between two driven rollers. A force may be applied from
a rider roller from the top. As the diameter increases the reel weight will
increase so the applied force can be gradually reduced.
Shown here are two variations for loading the web material onto the reel. In the
top diagram the web material is brought between both surface rollers and the
reel. In the bottom diagram the web is brought around only the rear roller and
then onto the reel.
In the bottom diagram the rear roller drives the top layer of material onto the
roller and the front roller drives the layer underneath. The front roller is driven at
a higher speed to generate a frictional force between the layers of material. By
controlling this over-speed the amount of tension wound into the roll can be
controlled
The top configuration is ideal for slitting the material as it achieves the minimum
distance between slitter and reel. Both rolls may be driven at a similar speed
although you can get a drooping of material between the rolls.
Application note
Tension control
AN00212-001
Tw = Web tension
Vw = Velocity of Web
Tr = Tension in outer surface of reel
Vr = Tangential velocity of reel surface layer
Vf = Tangential velocity of front roller
Ff = Force created by the reel on the front roller
Fr = Force created by the reel on the rear roller
= Coefficient of friction between rewind roller and material
Dr = Diameter of rear roller.
If the reel tension Tr needs to be lower than the web tension Tf then Vr would have to be less than Vw. Vr will have to be less than
Vf. Also because Vr < Vw slippage would occur between the reel and the incoming web on the front roller. The rear roller motor will
have to be sized to provide enough torque to restrain the reel against the friction force on the web material. The required torque that
would have to be applied to the rear roller is:
Tr = x Ff x (Dr / 2)
The wound in tension in the reel is heavily dependent on the weight of the reel. When the reel is started there will be minimum
weight so the front rewind roller may be driven overspeed to wind in more tension into the reel. This over speed then needs to be
gradually reduced as the reel diameter increases. Beyond a certain level of overspeed the material will droop between the front a
and rear winding rollers. If the wound in tension setting is correct there will probably be some droop so this can act as a visual
indicator of the wound in tension. The correct level of tension needs to be found from experience.
Coding a surface wound application
In the twin roll surface rewind application described above the front and rear winding rollers can be given a velocity reference. The
front roller is given a higher VELREF to overspeed it. This is easily done during steady state conditions. For stopping and starting
however, the front roller needs to have an offset speed with respect to the rear roller. We cant just set the rear roller to follow the
front roller at a lower speed ratio because the offset will not be fixed during acceleration and deceleration.
Start front roller
MASTERDISTANCE(axFront) = msd1
FLY(axFront) = msd1 * ( (Vf-Vr) / Vf * 2) : GO(axFront))
Continue front roller acceleration and start rear roller
MASTERDISTANCE(axFront) = msd2
FLY(axFront) = msd2 * ( (Vf-Vr)/Vf + (Vr/Vf * 2) ) : GO(axFront))
MASTERDISTANCE(axRear) = msd2
FLY(axRear) = msd2 * ( Vr/Vf * 2 ): GO(axRear))
Run at synchronous speed
MASTERDISTANCE(axFront) = msd3
FLY(axFront) = msd3 : GO(axFront))
MASTERDISTANCE(axRear) = msd3
FLY(axRear) = msd3 : GO(axRear))
The solution is to use FLY move profiles to stagger the
acceleration of the front and rear rollers. The resultant velocity
diagram is shown on the left.
See application note AN00116 for more information on FLY
profiles.
Application note
Tension Control
AN00212-001
To apply a taper-tension profile we need to be able to measure the reel radius at all times or be able to estimate it accurately. We
could read the radius by wiring the output of an ultrasonic sensor or follower arm into the analogue input of the servo controller.
If we want to avoid using a sensor then the radius can be calculated if we know the material thickness. The reel axis has a position
counter that can be used to measure the amount of material that has been fed onto the reel. The position counter would have to be
reset when the empty core is loaded. To calculate the radius we use a formula derived from the fact that the material would look like
a rectangle in cross section if it were tolled out flat. It would have the same cross sectional area it does on the reel. The formula is:
Surface velocity of nip roller = Angular velocity of nip x Radius of nip = Angular velocity of reel x Radius of reel
This is fine when the machine is running but it cant be used in this form when at zero velocity. We need to use a starting value for
the reel radius such as the core diameter. The operator should be able to adjust the diameter and it is much easier to measure than
material thickness. Once the reel speed goes above a minimum threshold, the calculated radius can be gradually adjusted in steps.
This method is shown in more detail in the following section on coding an application.
If surface winding and a taper tension profile is required we cannot use this method of calculating the reel radius. We need an
external diameter measurement.
Application note
Tension control
AN00212-001
Define hmiMACHINE_SPEED
= COMMS(11) 'Machine set speed in m/min
Define hmiREWIND_TENSION
= COMMS(12) 'Rewind tension %
Define hmiREWIND_MANDREL_DIAM = COMMS(13) 'Reel core diameter in mm
Define hmiREWIND_DIA
= COMMS(14) 'Calculated reel diameter in mm
Define hmiREW_TAPER_TENSION
= COMMS(15) 'Tension offset % for small diameters
We will want to read the velocity for both axes. We could use the VEL(axis) keyword however this does not always lead to the
smoothest reading for axis velocity. VEL is calculated from the rate of change of encoder counts in one loop closure time which is
250us but it gives a value in counts per second. Thus the minimum velocity that can be read is 1 count in 250us which would
appear as 4000 Counts per second. Using VELDEMAND will give a smoother reading for the master axis. Unfortunately
VELDEMAND cannot be used for the rewind axis because it is operating in torque mode.
A smoother calculation for rewind velocity is done using a timer event called every 100ms. The encoder velocity is the difference
between current and previous encoder counts divided by time. Note that the Wrap function is used here and elsewhere to allow for
the encoder counter to wrap from the maximum positive to the maximum negative count.
Dim fVelRewind
As Float
Dim fVelPrevRewind As Float
Dim fVelChngRewind As Float
Dim tTimebaseRewind As Time
TIMEREVENT = 100
Event TIMER
'Tasks to be done every 0.1 Seconds
'Calculate the rewind velocity from the encoder difference
fVelChngRewind = Wrap( ENCODER(_axREWIND) -fVelPrevRewind, -8388608,8388607)
fVelPrevRewind = ENCODER(_axREWIND)
'Use a timer to calculate the number of rewind encoder pulses since the last sample
'Encoder velocity = distance travelled / time
If (tTimebaseRewind > 10) And (tTimebaseRewind < 1000) Then
fVelRewind = Abs( (fVelChngRewind * 1000 ) / tTimebaseRewind)
Else
fVelRewind = 0
EndIf
tTimebaseRewind = 0
End Event
In the same timer event the bAdjustRadius flag is set to re-calculate the rewind radius every second.
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www.abb.com/motion
Application note
Tension Control
AN00212-001
Application note
Tension control
AN00212-001
Some means of web break detection is needed. The surface velocity of the master and rewind are compared. If the
rewind is significantly faster than the master then web must have broken releasing the rewind to accelerate and run
away. A further check is made of the master velocity to make sure it is on target. If the web brakes upstream of the
master the re-winder might have sufficient strength to pull the web past the master nip roll and so over-speed this roll.
To stop spurious events being detected, ten web breaks must be detected in a row over 1 second before the
bWebBreak flag is set.
Dim nWebBreakCount As Integer
Dim bWebBreak
As Integer
'Web break detection
'The rewind is running away if its surface velocity is allot higher than the web velocity
If (fVelRewind > 10000) And (VELDEMAND(_axMASTER) > 10000) Then
If Abs(fVelRewind * fRewindRadius / _fRewindScale ) > Abs(VELDEMAND(_axMASTER) * _fMasterRadius * 1.1/
_fMasterScale) Then
nWebBreakCount = nWebBreakCount + 1
Else If ( VEL(_axMASTER) > (VELDEMAND(_axMASTER) * 1.2) ) Then
'Check that a web break upstream of the master nip is not driving the master nip roll.
nWebBreakCount = nWebBreakCount + 1
Else
nWebBreakCount = 0
End If
If nWebBreakCount > 10 Then bWebBreak = _true
End If
Finally the main loop of the program jogs the master axis and calls the rewind tension routine. If the stop button is
pressed or there is a web break, the machine is stopped.
Dim fRewindDir
As Float = 1
Dim bStopPressed As Integer
'Main program loop
Repeat
DoSetRewindTension( hmiREWIND_TENSION, fRewindDir)
JOG(_axMASTER) = hmiMACHINE_SPEED * _fMastScaleMperMin
'wait for stop button or web break
Until bStopPressed Or bWebBreak
STOP(_axMASTER)
CANCEL(_axREWIND)
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Application note
Tension Control
AN00212-001
Inertia compensation
th
The inertia of a reel increases with the 4 power of its diameter. If the machine is accelerated or decelerated gradually then the
tension control strategy described above will work. For rapid accelerations and decelerations the inertia of the reel needs to be
taken into account. The reel inertia and acceleration torque may be calculated from the following formulae:
Ti
= Inertia compensating torque
I
= Moment of inertia of reel
d/dt = Angular acceleration of reel
a
= Acceleration of reel in revs/s/s
Ti = I * d/dt
d/dt = 2 * a
4
4
I = w (R out R in)
For an e100 system the MOVESTATUS keyword may be used to detect if the master roll is accelerating. The reel acceleration
torque is calculated from the reel diameter and added to the torque applied to the re-winder. During deceleration it is removed.
'Nm
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Application note
Tension control
AN00212-001
Friction compensation
There will be some friction from the rewind reel coupling and windage. This will create a counter torque on the re-winder servo
motor. There is a static and dynamic component to friction. The static friction is the torque that must be overcome to get the reel
moving. It is always present and is constant. The dynamic friction is proportional to the re-winder speed. It will be largest when the
reel is empty and we are winding onto the core. We add two additional parameters for static and dynamic friction as percentages of
continuous motor torque:
Define hmiSTATIC_FRICTION = COMMS(21) '% Torque
Define hmiDYNAMIC_FRICTION = COMMS(22) '% Torque
And then the following new constants and variables are declared:
Dim fVelAtCoreDia As Float
Dim fFrictionTrq As Float
The DoSetRewindTension subroutine is modified at the end as follows:
'Calculate friction compensating torque
'First calculate the rewinder max speed from the machine speed (in m/min)
'and use this to calculate the dynamic friction.
'Then add this to the static friction
fVelAtCoreDia = ( hmiMACHINE_SPEED * 1000 / 60 ) * _fRewindScale / hmiREWIND_MANDREL_DIAM
fFrictionTrq = hmiSTATIC_FRICTION + ( hmiDYNAMIC_FRICTION * fVelRewind / fVelAtCoreDia )
And the Torque setpoint is modified by the addition of the friction compensating torque:
fTorqueSP = ( hmiREWIND_DIA * fTensionSP * _fMotorCurrentRatio / _fMaxDiaRewind ) + fTaperTrq + fInertiaTrq + fFrictionTrq
To estimate the static torque go online to the re-winder drive in workbench. With the re-winder empty and not webbed up JOG the
axis at 5-10 % of its maximum speed. In the spy window or command line read CURRENTMEAS(0) for the drive current. The
percentage static frictional torque can be found by the formula:
Static friction = CURRENTMEAS(0) * Motor torque constant * 100 / Motor continuous torque
To estimate the dynamic friction,
friction, JOG the rere -winder at full speed. Repeat the above procedure to calculate the total
frictional torque.
torque. Take away the static friction from this to get the dynamic friction.
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Application note
Tension Control
AN00212-001
Contact us
For more information please contact your
local ABB representative or one of the following:
www.abb.com/
www.abb.com/motion
.com/ motion
www.abb.com/drives
www.abb.com/drives
www.abb.com/drivespartners
www.abb.com/PLC
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