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)
•
An additional motion can be performed during an active
motion, for example, an active positioning motion can be
performed simultaneously to a compensation motion.
•
Concurrent start of positioning axes
• Homing:
The following homing types are currently supported:
- Active homing (reference point approach)/passive homing
(on-the-fly homing)
o
With reference cam and encoder zero mark
o
With external zero mark only
o
With encoder zero mark only
o
BERO proximity switch and hardware limit switch as
reversing cam
o
Hardware limit switch as reference cam
- Direct homing / setting the home position
- Relative direct homing
(shift by specified offset)
- Absolute encoder homing / absolute encoder calibration
•
Compensations and reference points:
- Reference point offset
- Backlash compensation
- Static friction compensation
- Sliding friction compensation for hydraulics
- Drift compensation for analog drives
•
Print mark correction
•
Encoder switchover:
Up to 8 encoders can be specified for an axis:
-
For the position control, only one encoder is active at any one
time:
-
The switchover between encoders can be performed on-the-
fly (with a change-over smoothing filter)..
- The actual value of the non-active encoder can be read with
the user program and used for specific monitoring, for
example.
• Override:
- Factors can be superimposed online on the current traverse
velocity and acceleration/deceleration.
GEAR – Synchronous operation/electronic gear
technology functions
Synchronized axis technology object
•
Contains the functions of the positioning axis technology
object
•
Synchronized speed for position-controlled axes
•
Angular synchronization, electronic gear:
Stable, long-time angular synchronization over several axes is
ensured. The gear ratio can be adjusted in small steps.
•
Absolute and relative gearbox synchronism
•
Offset of the following axis
•
Leading axis:
The master value can be changed immediately between
master value sources (transition dynamics must be specified).
The following can be used as a leading axis or master value
sources for the following axes:
- Virtual axis:
The virtual axis only exists in the control and therefore does
not have a real drive, motor or encoder. A virtual axis can be
controlled with commands in the same way as a real axis.
The motion control calculates the setpoints with the
interpolator which can be used as a master value for
synchronous operation, for example.
- Real axis:
The real axis is a leading axis which is part of the SIMOTION
system and can be coupled over a setpoint and actual value.
- External encoder:
The actual value is detected with an external encoder and
supplied as a master value after conditioning.
•
Setpoint value linkage as well as actual-value linkage with
compensation of dead times.
•
Angular position and electronic gear ratio for axes can also be
changed during operation.
• Engaging/disengaging:
Following axes can be stopped for one cycle or moved for
only one cycle to remove a faulty component, for example.
This can be flexibly implemented with the programmable
synchronism functionality.
•
Synchronization and desynchronization:
- Following axes can be synchronized and desynchronized
while the leading axis is in motion or standing still.
- The synchronous position of the master value and the
following axis can be specified.
•
Different synchronization modes are available:
- Synchronization via a specifiable master value distance
- Synchronization based on specifiable dynamic response
parameters (jerk-limited)
- Synchronizing position for synchronization and
desynchronization at a precision position
- Position of synchronizing range (before, after and
symmetrically with synchronous position)
•
Terminating synchronized operation of/to positioning
•
Comprehensive synchronized operation monitoring functions
•
External synchronization:
Material slip can be corrected, for example, by flying
measurement of, for example, a print-mark and a
superimposed positioning function.
•
Simultaneous motion during synchronous operation:
A positioning motion or other synchronous operation can be
performed during synchronous operation.
•
Distributed synchronous operation and the option to
implement synchronous operation beyond device limits.
- PROFIBUS: Leading axis to PROFIBUS master, following
axes to PROFIBUS slaves.
- PROFINET: Changeover possible between leading axes on
different SIMOTION controllers. Cascading of the
synchronous operations over several SIMOTION controllers.
- Dead times are compensated automatically.
- Also possible across different projects (independent
projects)
© Siemens AG 2017