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)
CAM – Cam technology functions
Cam technology object
•
The number of cams depends on the available system
resources
•
The number of support points or segments per cam depends
on the available system resources
•
Cam functions:
- Definition using table interpolation points or polynomials up
to the 6th order with trigonometric component
- Motion laws can be implemented in accordance with
VDI 2143
- Transition between support points/polynomials: Linear,
continuous, spline
Technology object synchronous axis with camming
•
Contains the functions of the synchronous axis technology
object
•
Scalability, cam functions can be offset and switched even
during operation:
-
The leading and following axis positions of the cam functions
can be scaled and offset during operation.
-
The active cam function can be defined and switched during
operation.
•
Non-cyclic and cyclic editing of cams
•
Absolute and relative camming
•
Absolute and relative master value referencing
•
Synchronization and desynchronization
(see synchronized axis technology object)
•
Overriding of 2 synchronized cams
•
Cams can be defined and modified with the SIMOTION
SCOUT engineering system or with an application program
during runtime.
PATH – Path interpolation technology functions
Path interpolation technology object
The path interpolation technology object is primarily intended for
the automation of handling kinematics and features the following
functions:
•
Linear, circular and polynomial interpolation in 2D and 3D
•
Transformation for standard kinematics
•
Synchronization with conveyor belts (conveyor tracking)
•
Dynamic planning across three traversing blocks
•
The path dynamics (acceleration, jerk) are specified on the
path, axis limits are generally applicable regardless of the
path limits
•
Continuous geometric movement between two traversing
blocks
•
Intuitive operation with SIMOTION SCOUT (path control panel
for efficient traversing of the path axes, screens to support the
calibration procedure of the coordinate system)
•
Interconnection of a path object is possible with:
- Up to 3 interpolating path axes
- One positioning axis for path-synchronized motion
- One cam for specifying velocity profiles
•
Connection of path-based cams, cam tracks and measuring
inputs over the positioning axis for path-synchronized motion
•
Interconnection of the Cartesian path coordinates with
positioning axes is possible. Cams, cam tracks and
measuring inputs can also be implemented on the path
•
Kinematic transformations for:
- Swivel arm
- SCARA L
- Cartesian gantries (2D/3D)
- Articulated arm (toploader)
- Cylindrical robot
- Roller pickers (2D/3D)
- Delta pickers (2D/3D)
- Spare transformation interface for customer-specific
kinematics
•
Programming in ST and MCC
A pre-configured standard application can be used for easy
implementation of handling kinematics, which allows both jog
mode and the creation of motion programs (see SIMOTION
Utilities & Applications which is supplied with SIMOTION
SCOUT).
© Siemens AG 2017