Siemens SIMOTION, Function Manual

Page 1: ...tion control Output Cams and Measuring Inputs Function Manual Valid as of Version 4 4 04 2014 Preface 1 Fundamental safety instructions 2 Output Cam TO Part I 3 Cam Track TO Part II 4 Measuring Input TO Part III 5 ...

Page 2: ...y instructions Qualified personnel are those who based on their training and experience are capable of identifying risks and avoiding potential hazards when working with these products systems Proper use of Siemens products Note the following WARNING Siemens products may only be used for the applications described in the catalog and in the relevant technical documentation If products and component...

Page 3: ...ters 29 3 2 2 1 Reaction effective direction 29 3 2 2 2 Hysteresis 30 3 2 2 3 Derivative action times activation deactivation time 32 3 2 2 4 Logical operation 34 3 2 2 5 Simulation 35 3 2 2 6 Inversion 35 3 2 3 Configure Units 35 3 3 Configuring the Output Cam technology object 37 3 3 1 Insertion of Output Cam 37 3 3 2 Parameterize Output Cam technology object 37 3 3 3 Using the expert list for o...

Page 4: ...1 4 2 3 7 Leave cam track active in the axis range as of V4 1 82 4 2 3 8 Start mode and stop mode 83 4 2 3 9 Output activation mode 85 4 2 3 10 Axis reference position and cam track offset 85 4 2 3 11 Simulation 86 4 2 4 Configure Units 86 4 2 5 Mapping a cam track onto an axis 87 4 2 5 1 Basics of cam track mapping 88 4 2 5 2 Mapping output cams onto the cam track 88 4 2 5 3 Mapping onto negative...

Page 5: ...uring Input TO Part III 129 5 1 Overview of Measuring Input TO 129 5 1 1 General information about the Measuring Input TO 129 5 2 Fundamentals of Measuring Input technology object 131 5 2 1 Measuring input types local and global measuring inputs 131 5 2 2 Hardware for measuring inputs 132 5 2 3 Interconnections 133 5 2 3 1 Measuring input connection options 134 5 2 3 2 Several Measuring Input TOs ...

Page 6: ...40 C240 PN B1 B4 167 5 3 7 3 Global measurement on D4xx D410 2 D4x5 2 X122 X132 CX32 CX32 2 CU310 CU310 2 CU320 and CU320 2 167 5 3 7 4 Global measuring on D4x5 2 X142 170 5 3 8 Configuring and interconnecting a listening Measuring Input TO 174 5 3 9 Measuring input with hardware enable TM17 High Feature 175 5 4 Measuring Input technology object programming references 177 5 4 1 Programming 177 5 4...

Page 7: ...4 4 Chapters in this manual This manual provides information about the functions operation command execution and technology alarms of the technology objects Output Cam technology object part I Functions and operation Cam Track technology object part II Functions and operation TO measuring input part III Functions and operation Index Keyword index for locating information Output Cams and Measuring ...

Page 8: ...ises ten documentation packages The following documentation packages are available for SIMOTION V4 4 SIMOTION Engineering System Handling SIMOTION System and Function Descriptions SIMOTION Service and Diagnostics SIMOTION IT SIMOTION Programming SIMOTION Programming References SIMOTION C SIMOTION P SIMOTION D SIMOTION Supplementary Documentation Preface 1 1 SIMOTION Documentation Output Cams and M...

Page 9: ...idually on the basis of Siemens content and how to adapt it for the purpose of your own machine documentation http www siemens com mdm Training Click the following link for information on SITRAIN Siemens training courses for automation products systems and solutions http www siemens com sitrain FAQs Frequently Asked Questions can be found in SIMOTION Utilities Applications which are included in th...

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Page 11: ...given in the hardware documentation Consider the residual risks for the risk evaluation WARNING Danger to life or malfunctions of the machine as a result of incorrect or changed parameterization As a result of incorrect or changed parameterization machines can malfunction which in turn can lead to injuries or death Protect the parameterization parameter assignments against unauthorized access Resp...

Page 12: ...m industrialsecurity To stay informed about product updates as they occur sign up for a product specific newsletter For more information visit http support automation siemens com WARNING Danger as a result of unsafe operating states resulting from software manipulation Software manipulation e g by viruses Trojan horses malware worms can cause unsafe operating states to develop in your installation...

Page 13: ...h different types of output cam Software cam Switching signals are used internally in the user program by evaluating the relevant state system variable Hardware cam Switching signals are output externally on I O devices by assigning a digital output to the Output Cam TO For example digital output modules from the ET 200 I O system can be used for the cam output WHUQDO HQFRGHU LV 2XWSXW DP 72 2XWSX...

Page 14: ...e clock because the switching edges are positioned within the position control cycle clock 3 1 2 Functionality It is possible to define an effective direction for the Output Cam TO i e the output cam is only active when the direction of motion of the axis is the same as the effective direction The output cam can be calculated in servo cycles IPO cycles or IPO_2 cycles Note With modules D435 2 DP P...

Page 15: ... and the calculated position setpoint will therefore be reached at the end of the following cycle Reference to the setpoint on the drive Calculation of the cam switch points according to the setpoint output with the current settings on the drive In this case the output cam functionality can be applied to axes or external encoders with or without modulo properties The output cam is also effective f...

Page 16: ...le 3 2 Comparison of Output Cam TO and Cam Track TO Features Output Cam TO Cam Track TO Availability As of Version 1 0 As of Version V3 2 Supported output cams Position based cam Time based output cam Unidirectional output cam Counter cam Exact time setting of an output exact time output cams as of V4 1 Position based cam Time based output cam Time based cam with maximum ON length Several output c...

Page 17: ...ve immediately Start and stop mode parameterizable Types of output Cyclic Cyclic Once Output cam status System variable Status of single output cams over one array of byte Output cam enable Via_enableOutputCam via_enableCamTrack Validity of single output cams configurable via system variables Performance Depends on number of single output cams When 5 or more output cams are used in one output cam ...

Page 18: ... 200M and PROFINET IO e g ET 200S Drive I O for example TM15 and TM17 High Feature terminal modules Hardware for output cams Cam output on cam output I O channel is configured as CAM SIMOTION D410 2 SIMOTION D4x5 2 TM15 TM17 High Feature Cam output on high speed output with direct access I O channel is configured as DO SIMOTION D4xx D4x5 1 SIMOTION C240 C240 PN Cam output on standard output I O ch...

Page 19: ...tion value is shifted outside the switch on area When commands are issued that deactivate the output cam e g _disableOutputCam _setOutputCamState and _resetOutputCam Switch on area The switch on area of the output cam is defined from the start position to the end position in a positive counting direction i e within a range between the start position and the end position If the end position is grea...

Page 20: ...switch on area When commands are issued that deactivate the output cam e g _disableOutputCam _setOutputCamState and _resetOutputCam 3 2 1 4 Time based output cam Direction neutral switching 21 GXUDWLRQ 6WDUWLQJ SRVLWLRQ Figure 3 5 Time controlled output cam Limits imposed by starting position and ON duration The output cam is switched on At the starting position If the starting position is overrun...

Page 21: ...output cam 6WDUWLQJ SRVLWLRQ Figure 3 6 Unidirectional output cam Limits imposed by starting position The output cam is switched on At the starting position if the axis is moving in the programmed effective direction The output cam is switched off By the _disableOutputCam _setOutputCamState and _reset commands Note The unidirectional output cam does not switch unless the starting position is expli...

Page 22: ... starting count value and current count value are programmed by means of the _setOutputCamCounter The current count values can be scanned with the counterCamData actualValue and counterCamData startValue system variables No resetting of the values by the system takes place e g after _enableOutputCam or _disableOutputCam 3 2 4 3 4 0 1 2XWSXW FDP FDP7 SH XUUHQW FRXQW YDOXH 2XWSXW 3URJUDPPHG VWDUWLQJ...

Page 23: ...Figure 3 8 Output cam configuration using the example of a position based cam Output Cam TO Part I 3 2 Output cam TO basics Output Cams and Measuring Inputs Function Manual 04 2014 23 ...

Page 24: ... TM15 TM17 High Feature The I O channel must be configured as CAM SIMOTION D410 2 The digital inputs outputs are used for the cam output in the D410 2 The digital inputs outputs can be used as the cam output CAM from the user program As of the editorial deadline of this documentation the output cam resolution for D410 2 was not yet certain The information can be found at the following website Addi...

Page 25: ...PG and the Fast IO configuration must be recreated when using cam outputs on TM15 TM17 High Feature For more information see chapter Current controller cycle clocks 125 μs use of output cams and measuring inputs in the TM15 TM17 High Feature Terminal Modules Commissioning Manual High speed digital output DO The cam output is performed via onboard outputs of the SIMOTION CPU The output is via a har...

Page 26: ...nputs outputs sampling time for the TB30 and onboard outputs p4099 TMxx inputs outputs sampling time for TM15 DI DO TM31 and TM41 Hardware supported Onboard outputs SIMOTION D Controller Extension CX SINAMICS Control Unit CU3xx Centralized I O SIMOTION C Distributed I O via PROFIBUS DP PROFINET IO e g ET 200 etc Drive I O TM15 TM15 DI DO TM17 High Feature TM31 TM41 TB30 Configuration data of cam o...

Page 27: ... of the offset is the start of the next execution cycle of the Output Cam TO You can read out the value of the time offset system dependent execution time between the execution cycle and the output cycle in the tOutput system variable The time in tOutput is the earliest possible time to switch the output cam The timeOffset is added to this time Features The offset must be less than the cycle time ...

Page 28: ...WLPH LVSOD HG LQ WKH W2XWSXW V VWHP YDULDEOH 6LJQDO RXWSXW 6SHFLILHG WLPH2IIVHW FWLYDWLRQ VLJQDO HGJH HDFWLYDWLRQ VLJQDO HGJH Figure 3 10 Exact time output setting for DP POSITION CONTROL 1 1 6 592 2XWSXW DP RXWSXW 3 7LPH EHWZHHQ WKH HQG RI F FOH DQG WKH HDUOLHVW SRVVLEOH RXWSXW WLPH LVSOD HG LQ WKH W2XWSXW V VWHP YDULDEOH 6LJQDO RXWSXW 6SHFLILHG WLPH2IIVHW 3 6 592 FWLYDWLRQ VLJQDO HGJH HDFWLYDWLR...

Page 29: ...tput cams The output cam only switches when the motion direction and effective direction are identical Options Table 3 4 Effective direction and behavior Effective direction Behavior Positive The output cam is activated only in positive direction of motion Positive and negative The output cam is activated independent of the direction of motion Negative The output cam is activated only in negative ...

Page 30: ...to mechanical influences specification of a hysteresis prevents the output cam from unintended switch status changes FWXDO SRVLWLRQ YDOXH Figure 3 14 Hysteresis Hysteresis range conditions Hysteresis is not activated until the direction has been reversed The direction of motion is not redefined within the hysteresis Output Cam TO Part I 3 2 Output cam TO basics Output Cams and Measuring Inputs 30 ...

Page 31: ...50 mm 0 mm 150 mm 0 mm VWHUHVLV FWXDO SRVLWLRQ RI D LV VWDUW 6ZLWFKLQJ VWDWH RI SRVLWLRQ EDVHG FDP Figure 3 15 Hysteresis range height of blue sections and behavior of a position based cam positive effective direction Output cam s second switch on point is moved to position 30 mm due to hysteresis see figure above Example time based cam hysteresis Output cam configuration output cam type time base...

Page 32: ...ized for an output cam the output cam does not switch off after a reversal of direction until it has left the hysteresis Time based cam The switching behavior of a time based cam is determined by the ON duration not by the hysteresis This means that an entered hysteresis range has no influence on the ON duration of an output cam It only has an influence on the switch on time start position Note If...

Page 33: ...ynamic adjustment If velocity changes up to signal output these changes are no longer taken into account Dead times e g PROFIBUS DP communication times output delay times on digital outputs etc are taken into account in the actuation time Long actuation times exceeding one modulo cycle may lead to heavy fluctuation of the switching position of actual value output cams actual value curve Here setpo...

Page 34: ... for time based cam Deactivation time is also taken into account in setting a time based cam Deactivation time must be Deactivation time activation time ON duration Activation and deactivation times can vary independently of the I O and can therefore influence the ON duration of the time based cam To achieve compatibility with older software versions V3 2 deactivation time for time based cams can ...

Page 35: ...ns the same and only the control of the output is reset or interrupted 3 2 2 6 Inversion The inversion of single output cams is available and is set on the _enableOutputCam command by a parameter invertOutput 3 2 3 Configure Units You can define the basic units for each technology object The same physical variables can have different units in different technology objects These are converted How to...

Page 36: ...e TO are available for the configuration Unit column Displays and configures the unit A drop down list for selecting the unit appears when you click on the cell Toolbar Displays whether offline data or online data is shown Blue field offline display Yellow field online display Close Button for closing the dialog Help Button for opening the online help for the dialog Output Cam TO Part I 3 2 Output...

Page 37: ...ST syntax conventions For this reason all the existing output cams are displayed under Available output cams 4 Click OK to confirm In the working area the window for the configuration is displayed and the created output cam TO is shown in the project navigator 3 3 2 Parameterize Output Cam technology object General information about configuration data and system variables Two data classes are dist...

Page 38: ...ning output cam defaults Page 43 3 3 3 Using the expert list for output cams For standard SIMOTION applications necessary parameters configuration data and system variables are parameterized into the Output Cam technology object directly in screen forms or are defined automatically It may be necessary to change automatically defined parameters for special SIMOTION applications These configuration ...

Page 39: ...ure 3 19 Output cam configuration using the example of a position based cam Output Cam TO Part I 3 3 Configuring the Output Cam technology object Output Cams and Measuring Inputs Function Manual 04 2014 39 ...

Page 40: ...he axis lies between two markers start and end position Time based cam The switching signal is on for a specific period of time after reaching the switching position start position Uni directional output cam The switching signal changes when the axis reaches the switching position start position The output cam remains switched on even if the start position is overtraveled several times The output ...

Page 41: ...following settings here depending on the type of the output cam values Reference to the actual value on the encoder without considering Ti Reference to the actual position in the controller before the position filter Reference to the actual value after the position filter Reference to the actual position in the controller after the position filter Reference to the actual value on the encoder Ti is...

Page 42: ...lowing CPUs is used SIMOTION D4x5 interface X122 X132 8 high speed cam outputs as of V4 1 the I O channel must be configured as DO SIMOTION D410 interface X121 4 high speed cam outputs as of V4 1 the I O channel must be configured as DO SIMOTION C240 C240 PN interface X1 8 high speed cam outputs For more details see cam output types Page 22 Note Cam output CAM or high speed digital output DO are a...

Page 43: ...ng a download to the target system The logical HW address must be located outside the process image and therefore be greater than 63 For more details see cam output types Page 22 Button for opening the assignment dialog see Section Symbolic assignment as of V4 2 in the SIMOTION Runtime Basic Functions Manual Select a parameter or an address in the assignment dialog Displays whether offline data or...

Page 44: ...u want to use a deactivation time when working with time based cams If this checkbox is deactivated you cannot enter a time In this respect the time based cam is compatible with older software versions V3 2 Deactivation time Enter the deactivation time here The output cam switch off time is set to the point when the end position is reached plus this period The output cam position is adapted dynami...

Page 45: ...ion times activation deactivation time Page 32 Reaction effective direction Page 29 Hysteresis Page 30 3 3 6 Determining derivative action times for output cams dead time compensation Depending on the system and the device there is a certain time between the setting of a cam output by the program and the actual reaction of the actuator e g solenoid valve This time is called dead time and depends f...

Page 46: ...dead times dead time compensation Procedure 1 Set all actuation times for start of output cam activation time and end of output cam deactivation time to 0 2 Define the velocities for which the positions are to be determined You should select two velocities that correspond to velocities that occur during production e g minimum and maximum velocity 3 Start the application and determine the start pos...

Page 47: ...or these applications This can be implemented in the application with a user program After the actuation time has been changed you have to activate the output cam again with _enableOutputCam or the cam track with _enableCamTrack See also Derivative action times activation deactivation time Page 32 3 3 7 Configuring cams on SIMOTION D4xx onboard Output cams and cam tracks can be configured for stan...

Page 48: ...pported output cams you can achieve an output accuracy exceeding the servo cycle clock based on the hardware used Should you wish to configure a high speed output cam select the Activate output check box and select the High speed digital output DO radio button 10 Assignment of an output to an output cam cam track is supported as of V4 2 either by symbolic assignment see Chapter Symbolic Assignment...

Page 49: ...es you must also perform an alignment 5 Now calculate the hardware address by adding the base output address first value of the output data of the Control Unit to the offset for example 298 3 301 The offset always has the value 3 Enter this calculated address under Measuring input Configuration Input e g PI 301 1 6 The onboard measuring inputs in the expert list of the Control Unit must be set in ...

Page 50: ...AMICS_Integrated Control_Unit 2 Double click Inputs outputs below the control unit The window appears on the workspace 3 Switch to the Bidirectional digital inputs outputs tab 4 Click the button to switch between the input and output for the digital inputs outputs DO 8 to DO15 In each case switch the DI DO to the output you wish to use as the output of output cam The designation at the terminal st...

Page 51: ...on the hardware used Should you wish to configure a high speed output cam select the Activate output checkbox and select the Output cam output CAM radio button 10 Assignment of an output to an output cam cam track is supported as of V4 2 either by symbolic assignment see Chapter Symbolic Assignment as of V4 2 in the SIMOTION Runtime Basic Functions manual or by entering the hardware address 11 Cli...

Page 52: ...red at the TO output cam Figure 3 26 I O Properties 3 Click OK 4 Insert a new output cam or a new cam track or use an existing one 5 Parameterize the TO Output Cam Cam Track 6 Double click Configuration below the output cam or the cam track in the project navigator The Configuration window appears in the working area 7 For high speed hardware supported output cams you can achieve an output accurac...

Page 53: ...track or use an existing one 4 Parameterize the TO Output Cam Cam Track 5 Double click Configuration below the output cam or the cam track in the project navigator The Configuration window appears in the working area 6 For high speed hardware supported output cams you can achieve an output accuracy exceeding the servo cycle clock based on the hardware used If you would like to configure a high spe...

Page 54: ...Before you determine the hardware address an alignment between HW Config and SIMOTION SCOUT with respect to the address must be performed If this has not been performed or you have changed the addresses click on Set up addresses If question marks are entered in the fields instead of I O addresses either alignment has not yet taken place or the address is not recognized by SIMOTION SCOUT In this ca...

Page 55: ...to an output cam cam track is supported as of V4 2 either by symbolic assignment see Chapter Symbolic Assignment as of V4 2 in the SIMOTION Runtime Basic Functions manual or by entering the hardware address During a consistency check in SIMOTION SCOUT no check is made as to whether the entered HW address actually belongs to a high speed digital output DO 6 Click OK to close the window and select P...

Page 56: ...XW DP DERUW BVHW2XWSXW DP6WDWH Figure 3 28 Programming and execution model for Output Cam technology object 1 The following commands are effective in the TO states can be activated and active _disableOutputCamSimulation _enableOutputCamSimulation The simulation commands are modal act in parallel and do not replace any existing _enableOutputCam commands Output Cam TO Part I 3 4 Programming referenc...

Page 57: ...cam is reset from simulation mode The output of output cam is switched according to the output cam status and the signal inversion _setOutputCamState Deactivate the output cam function and set the output cam status to the specified value This is used if the output should not be controlled by the output cam TO Example A glue nozzle is controlled by the output cam TO applying glue dots As a service ...

Page 58: ...he associated command status beyond the execution period of the command Explicit deletion of previously saved command IDs For further information on the system functions please refer to the SIMOTION TP CAM Reference Lists 3 4 3 Process Alarms You can predefine local alarm responses via SIMOTION SCOUT Note For more information refer to the Motion Control Technology Objects Basic Functions functiona...

Page 59: ...Function Significance Note Close Select Close to close the configuration window for the output cam that is open in the working area Characteristics Select Properties to display the properties of the output cam highlighted in the project navigator Configuration Select Configuration to determine the configuration data for example output cam type of the output cam Default Select Default to define the...

Page 60: ... folder enables you to insert a folder below the TO You can create scripts in this folder in order to for example automate the configuration Import object Import object imports the data of a SIMOTION object from another project which was previously created with a selective XML export You cannot import the entire project only the data of the SIMOTION object Save project and export object Save proje...

Page 61: ...output cam on the cam track Software cam Switching signals are used internally in the user program by evaluating the relevant state system variable Hardware cams Switching signals are output externally on I O by assigning a digital output to the cam track TO For example digital output modules from the ET 200 I O system can be used for cam track output WHUQDO HQFRGHU LV DP 7UDFN 72 DP 7UDFN 72 2XWS...

Page 62: ...e shifted collectively The switching of several output cams is dependent on the same setpoint actual value and they are output on one output Any number of cam tracks can be used per axis The only restriction placed on this number is the system performance The cam track can be calculated in servo cycles IPO cycles or IPO_2 cycles All output cams on one track are of the same type position or time ba...

Page 63: ... cycle Reference is made directly to the setpoint applicable at the end of the cycle Reference to the setpoint after the fine interpolator The cam switch points are calculated as if the setpoint calculated in the interpolator will be output completely in the following cycle and the calculated position setpoint will therefore be reached at the end of the following cycle Reference to the setpoint on...

Page 64: ...everal output cams on one output Via logical operation AND OR Maximum 32 output cams of the same type in one track No cam track logical operations AND OR Different types of output cam on one output Via AND OR Not available Output cam definition Related to axis Via system variables Related to cam track cam track can be mapped as required on axis Via system variables array Hysteresis Available Avail...

Page 65: ...ut cam track instead of 5 single output cams the output cam track performs better This performance advantage amounts to at least a factor of 2 for 32 single output cams MCC command available Available Available V4 0 and higher Cam Track TO Part II 4 1 Overview of TO Cam Track Output Cams and Measuring Inputs Function Manual 04 2014 65 ...

Page 66: ...ined independently of the axis The axis reference position is used to define how the cam track is mapped on the axis or from which axis position the cam track should be output Cyclic or non cyclic activation mode If the cam track is output non cyclically it will have to be reactivated after execution Start mode and stop mode Start mode or stop mode can be used for example to define whether a cam t...

Page 67: ...are always of the same output cam type Software cam Page 67 Hardware cam Page 67 Position based cam Page 68 Time based cam Page 69 Time based cam with maximum ON length Page 70 High speed accurate output cam 4 2 2 1 Software cam Switching signals are used internally in the user program by evaluating the relevant state system variable 4 2 2 2 Hardware cam Description Switching signals are output ex...

Page 68: ...ndard output I O channel is configured as DO SIMOTION C D CX onboard I O SINAMICS onboard I O TM15 TM15 DI DO TM17 High Feature TM31 TM41 TB30 Standard DO SIMATIC ET200 4 2 2 3 Position based cam Switching behavior Position based cams on a cam track switch independently of the direction of motion i e they always have a positive and negative effective direction DP DFWLYDWLRQ UDQJH 6WDUWLQJ SRVLWLRQ...

Page 69: ...sition If the end position is greater than the starting position the activation range is defined by the starting and end positions see figure above The activation range is outside the range between the end and starting positions if the end position is less than the starting position see figure below DP DFWLYDWLRQ UDQJH 6WDUWLQJ SRVLWLRQ QG SRVLWLRQ DP DFWLYDWLRQ UDQJH Figure 4 4 Position controlle...

Page 70: ...o be defined for time based cams on cam tracks This means that the time based cam is deactivated once it has covered the maximum length even though the parameterized time has not yet expired This is the case if for example glue dots should be applied to a workpiece and the amount of glue should be independent constant time time based cam of the throughput rate To avoid the time based cam still bei...

Page 71: ... SOC1 and SOC4 is used to exactly define the start of glue application The ON time t is used to ensure that the same amount of glue is applied independent of the axis speed The maximum ON length Lmax is used to ensure that no glue is applied outside of the defined area In the example the output cam ON durations t3 and t6 are limited by the maximum ON length 4 2 2 6 Cam output types The cam calcula...

Page 72: ...Figure 4 7 Output cam configuration using the example of a position based cam Cam Track TO Part II 4 2 TO Cam Track basics Output Cams and Measuring Inputs 72 Function Manual 04 2014 ...

Page 73: ...IMOTION D4x5 2 X142 TM15 TM17 High Feature The I O channel must be configured as CAM SIMOTION D410 2 The digital inputs outputs are used for the cam output in the D410 2 The digital inputs outputs can be used as the cam output CAM from the user program As of the editorial deadline of this documentation the output cam resolution for D410 2 was not yet certain The information can be found at the fol...

Page 74: ...PG and the Fast IO configuration must be recreated when using cam outputs on TM15 TM17 High Feature For more information see chapter Current controller cycle clocks 125 μs use of output cams and measuring inputs in the TM15 TM17 High Feature Terminal Modules Commissioning Manual High speed digital output DO The cam output is performed via onboard outputs of the SIMOTION CPU The output is via a har...

Page 75: ...nputs outputs sampling time for the TB30 and onboard outputs p4099 TMxx inputs outputs sampling time for TM15 DI DO TM31 and TM41 Hardware supported Onboard outputs SIMOTION D Controller Extension CX SINAMICS Control Unit CU3xx Centralized I O SIMOTION C Distributed I O via PROFIBUS DP PROFINET IO e g ET 200 etc Drive I O TM15 TM15 DI DO TM17 High Feature TM31 TM41 TB30 Configuration data of cam o...

Page 76: ... of the cam track are located within the track length The track length must not be 0 When track length 0 an error is reported when the cam track of a non modulo axis is activated If track length 0 for a modulo axis during cam track activation the cam track length is set to the axis modulo length 4 2 3 2 Effective direction and behavior The following diagram shows output cam behavior on switching o...

Page 77: ...n reversed The direction of motion is not redefined within the hysteresis Within the hysteresis the switching state of position based cams is not changed If modified switching conditions for the output cam are detected when the output cam is outside the hysteresis range this current switching state is set Example position based cam hysteresis Cam track configuration only one output cam configured ...

Page 78: ...ack configuration only one output cam configured Output cam type time based cam switch on position 40 mm ON duration 0 5 s hysteresis 20 mm effective direction both Axis positions 0 mm 100 mm 20 mm 50 mm 30 mm 80 mm 10 mm 150 mm VWHUHVLV FWXDO SRVLWLRQ RI D LV VWDUW 6ZLWFKLQJ VWDWH RI WLPH EDVHG FDP 2XWSXW FDP GRHV QRW VZLWFK Figure 4 12 Hysteresis range height of blue sections and behavior of a c...

Page 79: ... within the hysteresis it is not output 4 2 3 4 Derivative action times activation time deactivation time To compensate for the switching times of digital outputs and connected switching elements or of propagation delays it is possible to specify actuation times Actuation times are calculated from the sum of all delay times and can be specified separately for activation and deactivation edges as a...

Page 80: ... of the output cams are calculated taking into account the activation time and deactivation time in relation to the present velocity If allowing for actuation times the output cam was switched then the system deems this operation to have occurred and it does not switch the output cam again even if any subsequent current velocity changes occur The dynamic actuation of modulo axes can be greater tha...

Page 81: ...t transfer any new data when activating the command the defaults are used 4 2 3 6 Cam track deactivation Cam tracks are deactivated automatically or via a command Automatic deactivation Automatic cam track deactivation is only possible when the configuration data octBaseCfg keepEnabledOutOfTrackRange has been set to NO In this case deactivation occurs on exiting the domain of the cam track i e the...

Page 82: ...o length Value NO Non cyclic cam track is only active within the cam track length If the axis or external encoder moves out beyond the cam track length the cam track is deactivated Returning to this length triggers new switching operations Value YES Non cyclic cam track is active over the entire axis range also after leaving the cam track length If the axis or external encoder moves out beyond the...

Page 83: ...is not output Only after the tracks have been exchanged are the subsequent output cams on the new track output With next track cycle NEXT_CAM_TRACK_CYCLE Track does not become active until the next track cycle after either the axis reference position in the positive traversing direction or the end position of the cam track in the negative traversing direction The cam track end of the old track equ...

Page 84: ...ith the first output cam of the new track at the latest Up to that point time based cams remaining from the old cam track are still output b b QG RI FDP WUDFN QG RI FDP WUDFN DPSOH DPSOH Stop mode The stop mode stopMode is used to define the behavior of the cam track on deactivation The mode is defined either as part of the cam track configuration in the Default window or directly as a default set...

Page 85: ...e NO_CYCLIC setting in the activationMode parameter is used to predefine the activation mode for non cyclic output of the cam track The cam track is mapped from the start position output once only and terminated automatically after reaching the end position or remains active in the axis range The performance depends on the value of the configuration date octBaseCfg keepEnabledOutOfTrackRange Examp...

Page 86: ... not output to the hardware output In simulation mode hardware cams behave as software cams They are then only used for programming purposes If an active cam track is switched to simulation mode _enableCamTrackSimulation the output cam status remains the same and only the control of the output is reset or interrupted 4 2 4 Configure Units You can define the basic units for each technology object T...

Page 87: ... on the cell Toolbar Displays whether offline data or online data is shown Blue field offline display Yellow field online display Close Button for closing the dialog Help Button for opening the online help for the dialog 4 2 5 Mapping a cam track onto an axis The cam track is defined independently of the axis On activation the cam track is mapped onto the axis Only then are the switching states of...

Page 88: ... and the axis rotates negatively the track will also travel in a negative direction There is no conversion on the basis of the direction of rotation see figure If a cam track should always be output in a positive direction irrespective of the axis direction this must be solved in the application 2 2 2 DP WUDFN FDP7UDFN7 SH LV SRVLWLRQ 1HJDWLYH GLUHFWLRQ RI URWDWLRQ RI D LV 3RVLWLYH GLUHFWLRQ RI UR...

Page 89: ...is OC3 is converted to the track length and mapped to position OC3 A new output cam OC4 arises from partial output cam OC2 2 2 2 2 2 2 2 7UDFN OHQJWK DP WUDFN FDP7UDFN7 SH DP WUDFN FDP7UDFN7 SH DP WUDFN GHILQLWLRQ IWHU PDSSLQJ RQ WKH D LV 7UDFN OHQJWK Figure 4 17 Parts of cam track lie outside of the track length 4 2 5 3 Mapping onto negative axis positions e g linear axes Output cams on the cam t...

Page 90: ... range from axis position 1000 to 3000 3000 to 5000 etc The same behavior applies also for non modulo rotary axes 4 2 5 4 Relation of track length modulo length and activation mode in mapping In conventional output cam output comparable to mechanical cam controllers the track length corresponds to the modulo length of the axis and cyclic output takes place With electronic cam controllers the track...

Page 91: ...steps at an operating station right hand area The output cam is output cyclically for the operating station with the track length 1 4 modulo length of axis The output cams on a cam track define the operating steps for one of the four identical feeds The advantage of this solution is that the product defaults are set in mm of the blister length and calculation mapping at 360 only has to take place ...

Page 92: ...lic output next track cycle start mode and varying enable positions and axis reference positions Enable A axis reference position 0 positive direction of rotation output cam A is output If the cam track is not exited output cam A switches multiple times when the direction is reversed The cam track output is terminated on exiting the cam track Enable A axis reference position 240 negative direction...

Page 93: ...userdefault array This array is transferred on using _enableCamTrack to activate a cam track These defaults are configured during cam track configuration or other values can be written to them dynamically in the user program See also Changing output cams on a cam track during runtime Page 93 Changing the track length during operation Page 94 Changing the axis configuration when a cam track is acti...

Page 94: ...levant output cam e g Bit_0 for output cam 0 the valid output cam is enabled with 1 and disabled with 0 e g only output cam 0 is disabled with 0x FFFFFFFE Properties of enableValidCam Value of enableValidCam is retained with reactivation by _enableCamTrack During system ramp up or with _resetCamtTrack enableValidCam is set to the default setting 0xFFFFFFFF Invalid output cams cannot be enabled via...

Page 95: ...on of cam tracks and single output cams System variable Meaning Description control Functional status of Cam Track TO The variable displays the state of the cam track For example it can be active inactive or waiting for the next cam track cycle state Output status The variable displays if cam track output is in an ON or OFF state singleCamState Status of single output cam The singleCamState system...

Page 96: ...ifted output cam positions Page 97 4 2 8 1 Basic mapping of a simple cam track One cam track with the following data is given Three position based cams 10 20 30 50 60 90 Activation mode Non cyclical cam track activation Start mode and stop mode Effective immediately Track length 100 All other user default variables are the default setting unless another setting is mentioned explicitly Display of g...

Page 97: ...diately Position of axis on which _enableCamTrack occurs 40 Position at which _disableCamTrack occurs 170 Activation mode Cyclic Start mode Immediate for inactive output cam track output Position of axis on which _enableCamTrack occurs 40 4 2 8 2 Advanced mappings with shifted output cam positions The following chapter presents examples of a cam track with shifted single cams i e when they are map...

Page 98: ...00 0 50 150 200 Mapping Mapping Single output cams of the cam track are mapped onto the track length and the position is recalculated A new output cam track results Display of given cam track with modified activation mode and axis reference position Activation mode Cyclic Mode Cyclic Axis reference position 20 Position at which _disableCamTrack occurs 150 Cam Track TO Part II 4 2 TO Cam Track basi...

Page 99: ...ule the module must be inserted and configured before the cam track configuration To insert a cam track 1 In the project navigator highlight the OUTPUT CAMS folder under the relevant axis or external encoder 2 Select Insert Technology object Cam track or double click Insert cam track in the project navigator under the axis or external encoder in the OUTPUT CAMS folder The Insert cam track window a...

Page 100: ...sociated objects 2 Double click Configuration or Default in the project navigator The window appears on the workspace Configuration see chapter Configuring a cam track Define the values for the configuration data of the cam track here This includes for example output cam type Default see chapter Defining cam track defaults Define the cam track defaults of the system variables here This can include...

Page 101: ...ion 4 3 4 Configuring a cam track In the Configuration window define the configuration data values for the cam track Double clicking in the project navigator below the cam track on the Configuration element displays the window in the working area Figure 4 21 Output cam configuration using the example of a position based cam Cam Track TO Part II 4 3 Configuring the TO Cam Track Output Cams and Meas...

Page 102: ...l is updated in the interpolator cycle clock IPO_2 The output cam signal is updated in the interpolator cycle clock 2 The IPO_2 cycle clock length is at least twice that of the IPO Servo The output cam signal is updated in servo cycles The following configurations of the processing cycle clock are possible Axis in IPO cycles and output cam in IPO_2 cycles Output cam in servo cycles and axis in IPO...

Page 103: ...e at the end of the cycle Reference to the setpoint after the fine interpolator The cam switch points are calculated as if the setpoint calculated in the interpolator will be output completely in the following cycle and the calculated position setpoint will therefore be reached at the end of the following cycle Reference to the setpoint on the drive Calculation of the cam switch points according t...

Page 104: ...duced by the output cycle of the I O used Supported hardware Onboard outputs SIMOTION D Controller Extension CX SINAMICS Control Unit CU3xx Centralized I O SIMOTION C Distributed I O via PROFIBUS DP PROFINET IO e g ET 200 etc Drive I O TM15 TM15 DI DO TM17 High Feature TM31 TM41 TB30 For more details see cam output types Page 67 Output The output can be symbolically assigned via the assignment dia...

Page 105: ...n the Defaults element displays the window in the working area See also Track data Page 105 Output cam data Page 108 4 3 5 1 Track data The defaults for the track system variables e g track length are displayed in the Track Data tab Figure 4 22 Cam track data using the example of a position based cam Cam Track TO Part II 4 3 Configuring the TO Cam Track Output Cams and Measuring Inputs Function Ma...

Page 106: ...ck if no single output cam is active any longer on the old cam track An active output single output cam on the old cam track is still output completely With next track cycle The track becomes active at the next track cycle Immediately the first output cam on the new track switches a changeover is made to the new track Up to that point a time based cam on the old track is output Stop mode See the S...

Page 107: ... for propagation delays If a negative value is entered as an activation time the switching signal is activated before the start position is reached Deactivation time Enter the deactivation time here The output cam switch off time is set to the point when the end position is reached plus this period The output cam position is adapted dynamically This allows you to compensate for propagation delays ...

Page 108: ...e output cam number 0 31 is displayed here Each track can have up to 32 output cams Validity Select this checkbox if you want to set the output validity of single output cams on a track If the box is activated the output cam will be output along with the track If it is not activated the output cam is not output Starting position Enter the starting position of the output cam End position Enter the ...

Page 109: ...uts outputs tab 4 Click the button to switch between the input and output for the digital inputs outputs DO8 to DO15 In each case switch the DI DO to the output you wish to use as the output of output cam The designation at the terminal strip of DI or DO switches to DO Outputs of the output cam can only be used if they have been defined as an output DO 8 is configured as an output in the diagram F...

Page 110: ...olic assignment is not activated 1 In the project navigator below the SIMOTION D device select SINAMICS_Integrated Communication Telegram configuration 2 Double click Configuration and in the window which appears select the tab IF1 PROFIdrive PZD telegram The components are displayed there with address range input output data 3 Select SIEMENS telegram 390 391 or 392 as telegram type A maximum of e...

Page 111: ...2 8 DI DO 9 X121 8 DI DO 9 Bit 1 X122 10 DI DO 10 X121 10 DI DO 10 Bit 2 X122 11 DI DO 11 X121 11 DI DO 11 Bit 3 X132 7 DI DO 12 Bit 4 X132 8 DI DO 13 Bit 5 X132 10 DI DO 14 Bit 6 X132 11 DI DO 15 Bit 7 Note In the case of versions earlier than V4 2 when using 39x telegrams the onboard D4x5 outputs are to be assigned exclusively to SIMOTION During a consistency check in SIMOTION SCOUT no check is ...

Page 112: ...e the TO Output Cam Cam Track 8 Double click Configuration below the output cam or the cam track in the project navigator The Configuration window appears in the working area 9 For high speed hardware supported output cams you can achieve an output accuracy exceeding the servo cycle clock based on the hardware used Should you wish to configure a high speed output cam select the Activate output che...

Page 113: ... be configured at the TO output cam Figure 4 27 I O Properties 3 Click OK 4 Insert a new output cam or a new cam track or use an existing one 5 Parameterize the TO Output Cam Cam Track 6 Double click Configuration below the output cam or the cam track in the project navigator The Configuration window appears in the working area 7 For high speed hardware supported output cams you can achieve an out...

Page 114: ... cam track or use an existing one 4 Parameterize the TO Output Cam Cam Track 5 Double click Configuration below the output cam or the cam track in the project navigator The Configuration window appears in the working area 6 For high speed hardware supported output cams you can achieve an output accuracy exceeding the servo cycle clock based on the hardware used If you would like to configure a hig...

Page 115: ...nents 3 Before you determine the hardware address an alignment between HW Config and SIMOTION SCOUT with respect to the address must be performed If this has not been performed or you have changed the addresses click on Set up addresses If question marks are entered in the fields instead of I O addresses either alignment has not yet taken place or the address is not recognized by SIMOTION SCOUT In...

Page 116: ...ator e g solenoid valve This time is called dead time and depends for example on the load dependent delay times of a digital output the switching properties of a valve etc Usually the exact value for the dead time is not known and can therefore be determined empirically through measurements In order that an output cam switches at the correct time the dead time must be compensated by specifying a d...

Page 117: ...o velocities that correspond to velocities that occur during production e g minimum and maximum velocity 3 Start the application and determine the start positions xA1 and xA2 and end positions xE1 and xE2 of the line of glue for the velocities v1 and v2 Note To increase the accuracy you can perform several comparison measurements and use the average measured values 4 You can determine the actuatio...

Page 118: ...or TM17 High Feature The cam track is for example output cyclically on the TM17 High Feature The enable signal level or edge controlled triggers output of the cam track at the output of the TM17 High Feature A measuring input TO can be configured to implement an edge controlled enable at the enable input of the TM17 High Feature In this case the cam track is only enabled at the output of the TM17 ...

Page 119: ...cam track can also be output multiple times with a continuous enable signal An output cam which is already active is still output even if the enable is deactivated An output cam cannot be controlled until a hardware enable signal is present at the TM17 High Feature If the enable takes place within an output cam it is no longer output Subsequent output cams are however output This can be assigned p...

Page 120: ...st rising and both edges first falling and the cyclic measuring mode is not supported Edge controlled enable procedure In the case of edge controlled HW enable inputs the cam track is output when the track is active _enableCamTrack command set and the configured edge has been detected by the configured measuring input at the TM17 High Feature input This edge enables the hardware gate for outputtin...

Page 121: ...nput for the enable signal You will find more information in the Terminal Modules TM15 TM17 High Feature Commissioning Manual 4 3 12 3 Setting overriding the enable via a program It is possible to set the HW input of the enable for the cam track via a SW enable signal For this you have to access the HW input directly via its address in the user program and set the bit Level controlled Enable is se...

Page 122: ...the measured position the configured cam track can be activated with _enableCamTrack in the user program and the detected position can be calculated via the axis reference position Cam track output then occurs relative to the measured position Note that output cams cannot be output immediately after the measurement has taken place due to data transfer times for example bus runtimes This must be ta...

Page 123: ... DERUW BVHW DP7UDFN6WDWH Figure 4 32 Programming and execution model for the Cam Track TO 1 The following commands are available in the technology object states can be activated and active _disableCamTrackSimulation _enableCamTrackSimulation The simulation commands are modal act in parallel and do not replace any existing _enableCamTrack commands Cam Track TO Part II 4 4 Programming References of ...

Page 124: ...cam track output is switched according to the cam track status and the signal inversion The output of output cam is switched according to cam track status and signal inversion _setCamTrackState This function deactivates the cam track function and sets the cam track status to the specified value This is used if the output should not be controlled by the cam track TO Example A glue nozzle is control...

Page 125: ... function ends the saving of commandId and the associated command status beyond the execution period of the command Explicit deletion of previously saved command IDs For further information on the system functions please refer to the SIMOTION TP CAM Reference Lists 4 4 3 Process Alarms You can predefine local alarm responses via SIMOTION SCOUT Note For more information refer to the Motion Control ...

Page 126: ...menu Function Significance Note Close Select Close to close the configuration window for the cam track that is open in the working area Properties Select Properties to display the properties of the cam track highlighted in the project navigator Configuration Select Configuration to determine the configuration data e g output cam type of the cam track Default Select Default to define the defaults o...

Page 127: ...er enables you to insert a folder below the TO You can create scripts in this folder in order to for example automate the configuration Import object Import object imports the data of a SIMOTION object from another project which was previously created with a selective XML export You cannot import the entire project only the data of the SIMOTION object Save project and export object Save project an...

Page 128: ......

Page 129: ...es only global measuring inputs Note It is not possible to assign a measuring input to speed controlled axes Measurement once A measurement job is started by a program command When a signal edge is detected at the measuring input the current position for virtual axes either setpoint or actual value as required is stored temporarily When the current system cycle clock finishes either Servo cycle cl...

Page 130: ...in the measuring range One measuring input for more than one axis as of V4 0 By creating a measuring input with the monitoring measuring input property measurements can be made with one measuring input simultaneously on more than one axis external encoder Measuring Input TO Part III 5 1 Overview of Measuring Input TO Output Cams and Measuring Inputs 130 Function Manual 04 2014 ...

Page 131: ...cally or via the HW address Local measuring inputs refer to the respective drive Configuration usually takes place via drive parameters Global measuring inputs With a signal edge at the relevant input the current actual values of one or more encoders are measured using time stamp functionality with positioning accuracy in order to provide information for determining lengths or distances possible w...

Page 132: ...d even with different propagation delays between the time of the measurement to the evaluation 5 2 2 Hardware for measuring inputs Description Global measuring inputs are only supported by certain hardware measuring inputs see table below Hardware for local and global measuring inputs The following table provides an overview of which hardware supports local and which hardware supports global measu...

Page 133: ...nology objects such as Axis TO positioning axis following axis path axis and External Encoder TO A TO such as an Axis TO can be interconnected simultaneously with several Measuring Input TOs The assignment can be configured With local measuring inputs the measuring input TO is assigned symbolically or if V4 2 as part of its configuration The configuration specifies the number of the measuring inpu...

Page 134: ...02 5 9 0 67 5 5 9 6 6 1 0 6 0RWRU QFRGHU 0HDVXULQJ LQSXWV 0HDVXULQJ LQSXW VLJQDO 6HWSRLQW FWXDO SRVLWLRQ YDOXH 0HDVXUHG YDOXH 72 D LV Figure 5 2 Connection of the measuring input on the drive connected to SIMOTION via PROFIBUS Measuring inputs on the digital onboard measuring inputs of SIMOTION D or on TM15 TM17 High Feature Measuring inputs on the digital onboard measuring inputs of SIMOTION D or...

Page 135: ...following applies Only two measuring inputs can be configured per axis TO or external encoder Only one measuring input can be active on an axis TO or external encoder Global measuring inputs For global measuring inputs see Hardware for measuring inputs Page 132 the following applies More than one measuring input can be configured per axis TO or external encoder More than one measuring input can be...

Page 136: ...this case however it must be ensured that only one measuring input is active at any one time 0HDVXULQJ QSXW 72 0HDVXULQJ QSXW 72 0HDVXULQJ LQSXW LV H WHUQDO HQFRGHU LV H WHUQDO HQFRGHU Figure 5 5 Interconnection of more than one measuring input with a single C230 2 C240 M1 M2 onboard input 5 2 3 4 Measuring one measurement event on several axes Listening measuring input V4 0 and later With the Mon...

Page 137: ...surement as well as the configuration of a measuring range can only take place on the measuring input Activation and deactivation commands issued on the monitoring measuring input are not executed and are returned with errors Technology alarm 40011 is issued Functionality Activation and deactivation of the measuring process on the measuring input only These commands are not active on the monitorin...

Page 138: ...easuring inputs Page 132 Only single stage interconnections are possible Note You will find more information on interconnections in the SIMOTION Runtime Basic Functions function manual LV RU WHUQDO HQFRGHU 0HDVXULQJ QSXW 72 0HDVXULQJ LQSXW LV RU WHUQDO HQFRGHU 0HDVXULQJ QSXW 72 0HDVXULQJ LQSXW LVWHQLQJ 0HDVXULQJ QSXW 72 LV RU WHUQDO HQFRGHU 2XWSXW VLGH PHDVXULQJ LQSXW LQWHUFRQQHFWLRQ QSXW VLGH PHD...

Page 139: ...tance between two measurements in SIMOTION D410 2 D4x5 D4x5 2 X122 X132 onboard CX32 CX32 2 and CU310 310 2 320 320 2 is 3 position control cycle clocks The measured values must be read from the user program before they can be overwritten by a new measurement Supported by For hardware for local and global measuring inputs see Hardware for measuring inputs Page 132 Supported by For hardware for glo...

Page 140: ...asurement has been made the state variable is set to TRIGGER_OCCURRED and the measured values can be evaluated using the measuredValue1 and measuredValue2 variables for two measured edges Activation deactivation of measurement job The measurement job remains active until the measurement result has been obtained or until the job is terminated by a command e g _disableMeasuringInput The measuring pr...

Page 141: ...0 2 the minimum duration between two measurements is three servo cycles Measuring signals in between are not detected Measurements are taken cyclically until they are terminated with a command The measured values must be read from the user program in good time before they are overwritten by a new measurement Note Cyclic measuring is only possible with global measuring inputs see Hardware for measu...

Page 142: ...l cycle clock The measured values are taken over in the measurement equipment at time Ti and placed in the telegram to the control After that the measurement equipment is ready again In the telegram two edges per servo can be transmitted to the control These are provided in a buffer and processed by the measuring input TO in its processing cycle clock With cyclic measuring the state variable remai...

Page 143: ...about this counterMeasuredValue system variable The counterMeasuredValue1 and counterMeasuredValue2 counter variables are defined for the measuredValue1 and measuredValue2 system variables and are automatically incremented by a value of one for each measuring input In this way new events can be traced immediately e g even if the position value happens to be identical with the previous measurement ...

Page 144: ...Value1 and counterMeasuredValue2 Edges that are filtered out for example at X142 via the settable digital filter do not exist for the measuring input logic Edges that are not seen for example because the sensor is dirty are not acquired in any way Measured values Measured values are only acquired for the edges that are also to be calculated according to the configuration of the measuring input TO ...

Page 145: ...320 320 2 the minimum period between two measurements is 3 position control cycles Measuring signals in between are not detected 0HDVXULQJ LQSXW SURFHVVLQJ F FOH FORFN 32 32 PV 6HWWLQJ PHDVXUH ULVLQJ IDOOLQJ HGJHV 6HUYR PV Figure 5 9 1 Edge lost in measurement hardware 2 Edge lost due to cycle clock scaling Case 1 Loss of edges in measuring equipment Edges that result in more than 2 measured value...

Page 146: ... 10 N 8 rising falling rising 10 11 N 9 falling 10 12 N 10 rising falling rising 11 13 N 11 falling 11 14 Italics Edge is lost Hardware specific aspects X142 Lost Edge Counter X142 has a counter for lost edges Lost Edge Counter Up to 7 lost edges are recorded in one counter The counter value is transmitted cyclically and can be symbolically interconnected in the controller LEC Because the LEC only...

Page 147: ...s have been acquired these new edges are buffered again You will find further information in chapter System behavior during cyclic measurement in the Terminal Modules TM15 TM17 High Feature Commissioning Manual 5 2 4 4 Measurement activation times Various response times e g effects of propagation delays must be taken into account in the application for the measuring function depending on the axis ...

Page 148: ...an either be valid for the whole range or restricted by entering a measuring range start and end Note The measuring range can be used for single measurement and as of V4 0 for cyclic measurement If a measuring range is required for cyclic measurement prior to V4 0 this can be implemented in the application A user program in the IPO synchronous task can detect up to two edges in each IPO cycle cloc...

Page 149: ...HG 0HDVXUHPHQW WDNHQ 0HDVXULQJ UDQJH 6WDUW RI VFDOH YDOXH RI PHDVXULQJ UDQJH XOO VFDOH YDOXH RI PHDVXULQJ UDQJH Measuring Input TO Part III 5 2 Fundamentals of Measuring Input technology object Output Cams and Measuring Inputs Function Manual 04 2014 149 ...

Page 150: ...ingInput For non modulo axes the sequence in which the start and end of the measuring range are specified is irrelevant If the start of the measuring range is greater than the end of the measuring range value the two values are exchanged If the start of the measuring range is greater than the end of the measuring range in a modulo axis the measuring range is extended from the start of the measurin...

Page 151: ...iables can have different units in different technology objects These are converted How to configure the units 1 In the project navigator open the context menu for the technology object 2 In the context menu select Expert Configure units The Configure Units window appears in the working area 3 Select the unit for the physical variables These units are used for the technology object e g s for time ...

Page 152: ... field online display Close Button for closing the dialog Help Button for opening the online help for the dialog 5 2 7 Simulation This function activates the measuring input simulation simulation active Measured result arrived is set and allocated to the programmed measured value as a measured result If the simulation mode is active on the measuring input the simulated measured value is entered in...

Page 153: ...ayed under Available measuring inputs 4 Confirm with OK In the working area the window for the configuration is displayed and the measuring input created is shown in the project navigator 5 3 2 Parameterization of the Measuring Input technology object General information about configuration data and system variables Two data classes are distinguished when parameterizing a TO Configuration data def...

Page 154: ...ch you want to change the configuration data and defaults See also Measuring Input Configuration Page 154 Measuring input defaults Page 160 5 3 3 Use Expert List for Measuring Inputs Parameters required for standard SIMOTION applications configuration data and system variables are parameterized into the output cam technology object directly by means of screen forms or are defined automatically It ...

Page 155: ...ring input on the Configuration element displays the window in the working area Figure 5 13 Global measuring input Measuring Input TO Part III 5 3 Configuring the Measuring Input technology object Output Cams and Measuring Inputs Function Manual 04 2014 155 ...

Page 156: ...Figure 5 14 Local measuring input Measuring Input TO Part III 5 3 Configuring the Measuring Input technology object Output Cams and Measuring Inputs 156 Function Manual 04 2014 ...

Page 157: ...he measurement result is refreshed in interpolation cycles IPO_2 Measurement result is refreshed in the interpolation cycle clock 2 The IPO_2 cycle clock length is at least twice that of the IPO Servo The measurement result is refreshed in position control cycles For the possible setting of IPO_fast and Servo_fast with D435 2 D445 2 and D455 2 see Chapter Second servo cycle clock Servo_fast in the...

Page 158: ...o the actual value after the position filter Reference to the actual position in the controller after the position filter Reference to the actual value on the encoder Ti is taken into account Reference to the actual value on the encoder module drive The transmission time Ti from the encoder module drive to the controller is taken into account by the system Measuring input selection Standard global...

Page 159: ...meter or an address in the Assign dialog Displays whether offline data or online data is shown Blue field offline display Yellow field online display 5 3 4 2 Time stamp correction value When measuring with measuring inputs the following should be taken into account when calculating the measurement positions from the measurement result and actual position of axis external encoder the filter time co...

Page 160: ...asurements Measurements with velocity dependent displaced measuring results are an indication that the dead times have not been compensated or incorrectly compensated The procedure for empirical measuring technique determination of dead times is similar to the process for determining dead times during cam output See also Determining derivative action times for output cams dead time compensation Pa...

Page 161: ...Figure 5 16 Measuring input defaults Measuring Input TO Part III 5 3 Configuring the Measuring Input technology object Output Cams and Measuring Inputs Function Manual 04 2014 161 ...

Page 162: ...asuring range Enter the start and end of the measuring range here If the start of the measuring range is greater than the end of the measuring range for modulo axes the measuring range extends from the initial value through the modulo transition to the end value For non modulo axes the initial and end values are swapped in this case Measuring range measurement once See also Chapter Measuring range...

Page 163: ...10 CU310 2 CU320 and CU320 2 If you connect a local measuring input TO to the measuring inputs of D4xx D410 2 D4x5 2 X122 X132 CX32 CX32 2 and CU310 CU310 2 CU320 and CU320 2 you will have to set the following parameters PROFIdrive Parameter p488 on the associated drive for one local measuring input Parameters p488 and p489 on the associated drive for two local measuring inputs Parameters p728 8 p...

Page 164: ...are for measuring inputs Page 132 See also Global measurement on D4xx D410 2 D4x5 2 X122 X132 CX32 CX32 2 CU310 CU310 2 CU320 and CU320 2 Page 167 Configuring and interconnecting a listening Measuring Input TO Page 174 5 3 7 1 Global measuring on TM15 TM17 High Feature Description Digital inputs are available for connection of measuring inputs on the TM15 and TM17 High Feature Terminal Modules The...

Page 165: ...Basic Functions Manual or by entering the hardware address In order to assign a physical output the HW address and bit number must be entered in the Output field 7 Click OK to close the window and select Project Save To determine the logical hardware address for a TM15 TM17 High Feature only if symbolic assignment is not activated 1 For TM15 TM17 modules the hardware addresses result from the conf...

Page 166: ... the addresses click on Set up addresses If there are question marks in the fields instead of I O addresses you must also perform an alignment 7 Now calculate the HW address by adding the base input address first value of the address range of the TM to the offset for example 288 3 291 8 The bit number is defined by means of the offset For example an offset of 3 0 results in a bit number of 0 See a...

Page 167: ...e HW address and bit number in the Output field 5 Enter the HW address and the bit number The hardware address and the bit number can be ascertained in HW Config e g 64 2 for the measuring input Pin 3 of connector X1 6 Click OK to close the window and select Project Save See also Inserting Measuring Inputs Page 153 Parameterization of the Measuring Input technology object Page 153 5 3 7 3 Global m...

Page 168: ...ssignment of the digital inputs to PZD2 is changed in 39x telegram this must be taken account of in p2088 2 correspondingly This is how you configure a measuring input on a measuring input of D4xx D410 2 D4x5 2 X122 X132 CX32 CX32 2 CU310 CU310 2 CU320 CU320 2 1 In the project navigator switch to the Control_Unit entry under the control unit for the respective device 2 Double click Inputs outputs ...

Page 169: ...vice 2 Double click Telegram configuration and in the window that opens select the tab PROFIdrive PZD telegrams The components are displayed there with address range input output data Figure 5 18 Control unit I O addresses 3 Select the telegram type SIEMENS telegram 391 max 2 measuring inputs 392 max 6 measuring inputs or 393 396 max 8 measuring inputs only D410 2 CU310 2 D4x5 2 CU320 2 The messag...

Page 170: ...X132 8 DI DO 13 X132 10 DI DO 13 X131 2 DI DO 13 Bit 5 X132 10 DI DO 14 X132 12 DI DO 14 X131 4 DI DO 14 Bit 6 X132 11 DI DO 15 X132 13 DI DO 15 X131 5 DI DO 15 Bit 7 5 3 7 4 Global measuring on D4x5 2 X142 Unlike X122 X132 measuring inputs on measuring input D4x5 2 X142 are configured in HW Config Configuration of terminals and function as well as the fixed telegram s start address are configured...

Page 171: ...the Properties dialog you can manage Addresses and interconnect Bidirectional digital inputs outputs 0 7 Measuring Input TO Part III 5 3 Configuring the Measuring Input technology object Output Cams and Measuring Inputs Function Manual 04 2014 171 ...

Page 172: ... or deactivate the automatic setting of digital input addresses Outputs Start Under Start you can enter the start address of the digital outputs Addresses 64 outside the process image are valid Length The length of the digital output address cannot be modified System specification With System specification you can activate or deactivate the automatic setting of digital output addresses Measuring I...

Page 173: ...me The drop down list contains 1µs and 125µs values Only available for DI and measuring input function Set substitute value keep last value The selection options are available for the DO and output cam function Logical address PI PQ for output cam and measuring input Note Logical address is only required if you work without symbolic assignment Measuring Input TO Part III 5 3 Configuring the Measur...

Page 174: ...splays the window in the working area 4 Select Monitoring measuring input and enter the processing cycle clock and the system number see the Measuring input configuration section 5 Double clicking in the project navigator below the monitoring measuring input on the Interconnections element displays the window in the working area 6 In the EventIn table row under the Interconnected to output connect...

Page 175: ... input is configured Digital input on TM17 High Feature parameterized for measuring input and level triggered enable input set at this input The appropriate enable input for the enable signal is parameterized automatically Digital input configured for detecting measured values HW address Measuring input must be active Level controlled enable procedure The measuring input is activated with _enableM...

Page 176: ...cute the enable with inverted logic i e the enable input on the TM17 High Feature can be operated inversely and then works in LOW active mode Overriding the enable It is possible to override the measuring enable input with a software enable signal To do this you have to access the input directly via its address and set the bit The enable is achieved as long as the bit is set functions as enable in...

Page 177: ...PHDVXUHPHQW MRE FRPSOHWHG DERUWHG BHQDEOH0HDVXULQJ QSXW BHQDEOH0HDVXULQJ QSXW BHQDEOH0HDVXULQJ QSXW FOLF BHQDEOH0HDVXULQJ QSXW FOLF Figure 5 24 Programming and execution model for the Measuring Input TO 1 The following commands are effective in the TO states can be activated and active _disableMeasuringInputSimulation _enableMeasuringInputSimulation Measuring Input TO Part III 5 4 Measuring Input ...

Page 178: ...er since the last activation without activating them Changing configuration data in the RUN state discards the accumulated modifications _getMeasuringInputErrorNumberState V3 1 and higher Readout of error number status Check for occurrence of an error with the specified error number _getStateOfMeasuringInputCommand V3 2 and higher This function returns the execution state of a command Check whethe...

Page 179: ...es Alarm Response Description Application NONE No response DECODE_STOP Command processing is aborted the current measuring function remains active Further processing on the technology object can continue after _resetMeasuringInput or _resetMeasuringInputError The TO measuring input can only be reactivated after the error has been acknowledged MEASURING_INPUT_DISABLE Stop and abort of all commands ...

Page 180: ...can be displayed and changed in this list Cut Select Cut to remove the selected object and save it to the clipboard Copy Select Copy to copy the selected object It is stored in the clipboard Paste Select Paste to insert the measuring input stored in the clipboard Delete Select Delete to delete the selected measuring input The entire data of the measuring input is deleted permanently Rename Use Ren...

Page 181: ...iables of the measuring input Properties Select Properties to display the properties of the measuring input selected in the project navigator Measuring Input TO Part III 5 4 Measuring Input technology object programming references Output Cams and Measuring Inputs Function Manual 04 2014 181 ...

Page 182: ......

Page 183: ...ckError 124 _resetMeasuringInput 178 _resetMeasuringInputConfigDataBuffer 178 _resetMeasuringInputError 178 _resetOutputCam 57 _resetOutputCamConfigDataBuffer 57 _resetOutputCamError 57 _setCamTrackState 124 _setOutputCamCounter 57 _setOutputCamState 57 A Activate output 42 Activation time 44 Actuation time Output cam 45 116 Assigning parameters Cam track 100 Measuring inputs 154 Output cam 37 Aut...

Page 184: ...t Cam track 85 D Deactivation time 44 Time based cam 81 Deactivation via command 81 Dead time compensation Output cam 45 116 DECODE_STOP 59 126 179 Default Cam tracks 105 Measuring inputs 160 Output cam 43 disableOutOfTrackRange 81 E Edge controlled enable Cam track TM17 High Feature 120 Relative cam track 122 Effective direction Output cam 29 45 Effective direction and behavior 76 enableValidCam ...

Page 185: ...l information 129 Hardware enable 175 HW enable TM17 High Feature 175 TM15 TM17 164 Measuring input interconnections 133 Measuring inputs Activation time 147 Assigning parameters 153 Context menu 180 Global 131 Global measuring 164 Inserting 153 Local 131 Measurement once 139 Menu 179 Measuring process Cyclic measuring 142 Measurement once 140 Measuring range 148 Measuring range 130 148 162 Dynami...

Page 186: ...8 S Servo cycle clock 41 102 Setting the enable 121 Simulation Cam track 86 Measuring inputs 152 Output cam 35 Software cam 18 67 Start mode 83 Effective immediately default 83 Immediately when cam track output inactive 83 With next track cycle 83 Stop mode 84 At end of cam track 85 Effective immediately default 84 Immediately when cam track output inactive 84 System functions Cam track 124 Measur...