SIEMENS
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Siemens PM 21 · 2017
SIMOTION Motion Control System
SIMOTION runtime software
SIMOTION technology packages
2
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Function
(continued)
The following can be used as reference points for the switching
edges of the cams:
•
Setpoints for real and virtual axes
•
Actual values of real axes and external encoders
The following functions are available:
•
Parameterizable hysteresis and effective direction
•
Activation and deactivation times can be specified separately
(dead time compensation)
•
One-time and cyclic output of cam paths
•
Parameterizable start/stop mode for cam tracks (immediately,
with next track cycle, etc.)
•
The status of each individual cam (activated/deactivated) can
be read
•
Single output cams on a cam track can also be directly
defined as valid/invalid
Measuring input technology object
Measuring inputs can be assigned to positioning and
synchronous axes, external encoders or virtual axes and supply
the axis position at the time of measuring.
The following functions are available:
•
One-time measurement
•
Cyclic measurement (2 edges per servo/IPO cycle in
conjunction with measuring inputs on ET 200SP and
ET 200MP TM Timer DIDQ or SIMOTION C240, D4x5-2)
•
Measuring on virtual axes (in conjunction with measuring
inputs on TM15, ET 200SP and ET 200MP TM Timer DIDQ,
D4xx-2, CX32-2, CUxx or C240)
•
Several active measuring inputs on one axis or one measuring
input for several axes (in conjunction with measuring inputs on
TM15, ET 200SP and ET 200MP TM Timer DIDQ, D4xx-2,
CX32-2, CUxx or C240)
•
Parameterizable edge evaluation (rising, falling, both edges)
•
Dynamic resolution range
POS – Positioning technology functions
The positioning axis technology object
•
Contains the functions of the drive axis technology object
•
Supported axis types:
- Linear axis, rotary axis
- Modulo axis for linear and rotary axes
- Real and virtual axis
- Simulation axis
•
Position control for:
- Electrical drives
Position control with digital setpoint output:
The following PROFINET/PROFIBUS DP protocol is used for
this purpose: Drive technology profile, PROFIdrive, version 4
(isochronous mode)
Highly dynamic movements can be programmed using
Dynamic Servo Control (DSC and DSC with spline) in
combination with the position control in the drive in a cycle of
125
s, for example
Position control with analog setpoint output:
Onboard I/Os for C240, ADI 4, IM 174
- Hydraulic drives
Position control with analog setpoint output:
Onboard I/Os for C240, ADI 4, IM 174, analog outputs in the
I/O range, e.g. in combination with ET 200 High Speed I/Os
The characteristics of the hydraulic valves are specified with
cams
- Stepper motors
Position control with pulse direction output for stepper
drives:
Onboard I/Os for C240, IM 174
Alternatively, stepper drives can be linked with a
PROFINET/PROFIBUS interface provided that they support
the PROFIdrive profile. Stepper drives can be operated
without an encoder or be position-controlled with an
encoder.
•
Position-controlled positioning:
Axes can be manipulated individually without interpolation
context by specifying, for example:
- Axis name
- Position
- Velocity
- Acceleration/delay, jerk
- Transition behavior to next motion
•
Speed-controlled operation of positioning axes
•
Monitoring and limiting (standstill, positioning, dynamic
following error, standstill signal, controlled variables,
hardware/software end positions, encoder limit frequency,
velocity error, measuring system difference/slip, limits for the
dynamic response)
•
Reversing block (prevents the output of setpoints which would
cause a reversing motion)
•
Movement profiles on axis defined over cams:
- Path over time
- Velocity over time
- Velocity over path
•
Force and pressure control of an axis:
- On-the-fly switchover from position to pressure-controlled
operation and vice versa
- Several pressure sensors possible
- Pressure difference measurement
•
Force and pressure limitation of an axis:
•
Force and pressure profiles specifiable over cams:
- For closed-loop control and limitation
- Force/pressure over time
- Force/pressure over path
•
Traveling to a fixed stop point:
- Stop on reaching a following error limit
- Stop on reaching a torque limit
- Stop with defined torque
•
Traversing with additive torque, adjustable torque limiting and
flexible torque limits B+/B-
•
Transition behavior of successive motions:
- attach, i.e. each motion is completed and the axis stops
between motions (exact stop)
-
continuous move, i.e. the transition to the next motion begins
when braking starts.
- replace, i.e. the programmed motion is performed
immediately. The active command is aborted.
© Siemens AG 2017