SIEMENS
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Siemens PM 21 · 2017
SIMOTION Motion Control System
SIMOTION runtime software
SIMOTION Kernel
2
■
Function
The SIMOTION Motion Control System uses high-performance
CPUs on which a real-time operating system suitable for fast
control processes is implemented.
This real-time operating system organizes an execution system
comprising different execution levels.
Execution system
The SIMOTION execution system makes a distinction between
system execution levels and user execution levels (tasks):
System tasks process operations that are necessary for general
operation of the system. With technology objects, closed-loop
position control and characteristic variable calculation is
performed in the SERVO, IPO and IPO2 system tasks.
System tasks are regularly executed by the system. The system
cycle clock can be specified.
Execution levels with different execution characteristics are
available for task-related user programming (user program
tasks).
The execution levels define the chronological sequence of
programs in the execution system. Each execution level
contains one or more tasks. The individual user programs are
assigned to these tasks.
All programs – and thus also tasks – can execute PLC,
technology and Motion Control tasks.
Task types for task-related execution are:
•
Synchronous tasks
•
Cyclic tasks
•
Sequential tasks
•
Time-triggered tasks, and
•
Interrupt-driven tasks
Synchronous tasks are synchronized with the system tasks and
the control cycle of the drives or the isochronous
PROFINET/PROFIBUS.
With the help of these synchronous tasks, the whole application
is in isochronous mode (user program
Drives
I/O). This
results in short response times and the application is easily
reproducible.
Task structure of a SIMOTION application
Task structure of a SIMOTION application
1
2
G_PM10_EN_00027a
StartupTask
Stop
Run
BackgroundTask
MotionTasks
SynchronousTasks
TimerInterruptTasks
InterruptTasks
Background Task
MotionTask 1
Servo-syncTask
1 ms Task
Int1Task
MotionTask 2
IPO-syncTask
10 ms Task
Int2Task
MotionTask n
IPO2-syncTask
x ms Task
IntnTask
ShutdownTask
Run
Stop
Operation
User Program A
User Program C
User Program B
© Siemens AG 2017