Documente Academic
Documente Profesional
Documente Cultură
SIMOTION
Siemens AG 2012. All rights reserved.
Date:
File:
09.02.2012
MC-SMO-SYS_05.1
Content
Page
Page 1
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
MC-SMO-SYS
Axes and Drives in SIMOTION
SIMOTION
Siemens AG 2012. All rights reserved.
Date:
File:
09.02.2012
MC-SMO-SYS_05.2
Content
Page
Page 2
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
MC-SMO-SYS
Axes and Drives in SIMOTION
SIMOTION
Siemens AG 2012. All rights reserved.
Date:
File:
09.02.2012
MC-SMO-SYS_05.3
Content
Page
Page 3
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
MC-SMO-SYS
Axes and Drives in SIMOTION
....via PROFIBUS-DP
MASTERDRIVES
MC
... via PROFINET
SINAMICS
S120
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.4
Interface to the
drive
Drives on
PROFIBUS/
PROFINET
With connection via PROFIBUS or PROFINET all data between the drive
system and SIMOTION are exchanged via this medium. Standard message
frames are used to enter the setpoint for digital drives connected to PROFIBUS
as well as the feedback data from the encoder.
It goes without saying that the drive must also support the selected message
frame type. The type of selected message frame defines the maximum
supported functionality of an axis. It goes without saying that in SIMOTION, the
axis can only execute the functions, which the connected drive also supports.
Axes that are operated in the positioning mode must be connected via the
isochronous PROFIBUS or via PROFINET IRT to ensure correct functioning. It
is sufficient for simple speed-controlled applications to be connected to a "not
isochronous" PROFIBUS DP or a PROFINET RT. In this way you can connect
all standard DP slaves that do not support isochronous operation.
Analog drives/
stepping motors
analog drives can be directly connected at C2xx or via PROFIBUS at the ADI4
or IM174. In this case the speed controllers are supplied with +/- 10 V via the
analog outputs.
The position actual values can either be taken from the encoder connected to
SIMOTION C or ADI4, or from the pulse encoder emulation of the converter.
The corresponding digital I/Os are available for feedback signals and controller
enable signals.
From V3.2 and higher, stepping motors can also be directly connected to the
C2xx.
Page 4
MC-SMO-SYS
Axes and Drives in SIMOTION
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.5
Interconnection control
New in V4.2
New control
Note
Page 5
MC-SMO-SYS
Axes and Drives in SIMOTION
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.6
PROFIBUS/
PROFINET
coupling
With the coupling via PROFIBUS/PROFINET, all information between the drive
system and SIMOTION is exchanged using standard message frames
according to the PROFIDRIVE profile V4.0. The structure and type of the
information being exchanged uniquely defines the number of the message
frame.
Message frame
selection
In the "Settings for ....." dialog, you can switch over to automatic or user-defined
PROFIdrive message frame setting and/or automatic message frame extension
for the selected drive object.
Automatic PROFIdrive message frame setting: This setting (standard) is
selected if the drive unit is to participate in the "Symbolic assignment" with
SIMOTION. A PROFIdrive message frame (including message frame extension)
is automatically determined with "Save and compile".
You must configure PROFIsafe message frames yourself; the configuration of
the safety data block (SIDB) however is performed automatically.
User-defined: The following options are available for the user-defined setting of
the process data transfer:
Semi-automatic message frame configuration (selection: "Automatic
message frame extension" and "Permit automatic address adaptation".
With this setting, the PROFIdrive message frame is selected, necessary
message frame extensions and address adaptations are performed by the
system when "Save and compile" is selected.
Manual message frame configuration: With this setting, you select the
PROFIdrive message frame and the message frame extension yourself, but
leave the address adaptation to the system (select. "Permit automatic
address adaptation").
Page 6
MC-SMO-SYS
Axes and Drives in SIMOTION
1
CW 1
2
NSET_A
PSD number
Setpoint
1
CW 1
2
3
NSET_B
4
CW 2
PZD number
Actual value
1
STW 1
2
NACT_A
PSD number
Actual value
1
STW 1
2
3
NACT_B
4
STW 2
Standard message frame 1 (16 bit nset) Standard message frame 2 (32 bit nset, without encoder)
PSD number
Setpoint
1
CW 1
2
3
NSET_B
4
CW 2
5
Enc1_CW
PSD number
Actual value
1
STW 1
2
3
NACT_B
4
STW 2
5
Enc1_STW
6
7
Enc1_XACT 1
8
9
Enc1_XACT 2
1
CW 1
2
3
NSET_B
4
CW 2
5
Enc1_CW
6
Enc2_CW
PSD number
Actual value
1
STW 1
2
3
NACT_B
4
STW 2
5
Enc1_STW
6
7
Enc1_XACT 1
8
9
. . .
Enc1_XACT 2
10
Enc2_STW
11
12
Enc2_XACT 1
13
14
Enc2_XACT 2
. . .
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.7
Standard
message frame 1
Standard
message frame 2
Standard
message frame3
Page 7
MC-SMO-SYS
Axes and Drives in SIMOTION
1
CW 1
2
3
NSET_B
4
CW 2
5
Enc1_CW
PSD number
Actual value
1
STW 1
2
3
NACT_B
4
STW 2
5
Enc1_STW
XERR
KPC
6
7
Enc1_XACT 1
8
9
Enc1_XACT 2
1
CW 1
2
3
NSET_B
4
CW 2
5
E1_CW
PSD number
Actual value
1
STW 1
2
3
NACT_B
4
STW 2
5
E1_STW
6
7
E1_XACT 1
8
9
E1_XACT 2
. . .
10
E2_STW
11
12
E2_XACT 1
13
14
E2_XACT 2
6
E2_CW
PSD number
Setpoint
1
CW 1
2
3
NSET_B
4
CW 2
5
MOMRW
6
E1_CW
PSD number
Actual value
1
STW 1
2
3
NACT_B
4
STW 2
5
MSGW
6
E1_STW
XERR
10
KPC
. . .
10
XERR
KPC
7
8
E1_XACT 1
9
10
E1_XACT 2
SIEMENS message frame 105 (32 bit nset, with 1 encoder + DSC + torque reduction)
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.8
Standard
message frame 4
Standard
message frame 5
Standard
message frame 6
Like standard message frame 4 with DSC, or standard message frame 5 with a
2nd encoder. This is used in SIMOTION for coupling positioning axes with a 2nd
measuring system.
SIEMENS
message frame
102 . . . 106
SIEMENS message frames 102 to 106 are created from the associated
standard message frames 2 to 6 by inserting an additional word in the setpoint
(after control word STW2) or a word in the actual value (after status word
ZSW2).
This extension is required for the dynamic torque reduction at the drive. The
torque limit is specified in the setpoint; in the actual value the drive among
others returns whether the torque limit (current limit) was reached or not.
This extension is used in SIMOTION to implement the functions "Travel with
torque limit" and "Travel to fixed endstop".
Page 8
MC-SMO-SYS
Axes and Drives in SIMOTION
SINAMICS
Analog
drives
S120
PROFIBUS
interface
MASTERDRIVE
MICROMASTER/
SINAMICS G120
MC
MM410/420/440
Posmo
S/CA/CD
611U
DP standard
slave
DP cycle clock
TO connection
3 ms
Speed-controlled
axis, positioning, synchronism, cam
Preferred
message frame
Drive
configuration
SIMODRIVE
1ms, 0.5 ms
granular
Speed-controlled
axis
105
105
Proprietary
Starter
SimoComU
Drive monitor
Starter
Drive ES
SIMOTION
Date:
File:
Drives on
PROFIBUS MC
09.02.2012
MC-SMO-SYS_05.9
Page 9
MC-SMO-SYS
Axes and Drives in SIMOTION
Configuration
data
Alarms
System
functions
System
functions
System
variable
SynSystem
chronous funcoperation tions
Configuration
data
Alarms
Encoder System
funcSystem
tions
variable
Alarms
Output
cam
System
variable
Date:
File:
Technology objects
Axis
System
functions
Alarms
Configuration
data
Alarms
SIMOTION
Configuration
data
System
variable
Measuring
input
System
variable
Configuration
data
System
functions
Alarms
09.02.2012
MC-SMO-SYS_05.10
Page 10
MC-SMO-SYS
Axes and Drives in SIMOTION
4 versions
Synchronous
axis
Positioning
axis
Path
interpolation
axis
Synchronous axis
SIMOTION
Date:
File:
Positioning axis
Positioning via
Positioning command or via profile
input (velocity, position)
Traversing to a fixed endstop
Speedcontrolled
axis
Axis TO
Speed-controlled axis
Path axis
09.02.2012
MC-SMO-SYS_05.11
Page 11
MC-SMO-SYS
Axes and Drives in SIMOTION
Using
parameter
screens
Using
expert list
SIMOTION
Date:
File:
Configuration
of TOs
09.02.2012
MC-SMO-SYS_05.12
You will need to work through several steps before you can use technology
objects. In the first step, the configuration creates an instance of the TO. A TO is
configured using the SCOUT engineering system. You are supported by the
corresponding Wizards (parameterizing screen forms) to create an object and
configure it.
Inserting an axis instance is implemented in the Project Navigator in the
directory Axes, by double-clicking on the entry "Insert axis". The axis wizard
then automatically starts and helps the user create and configure an axis.
Certain object-specific properties are determined in the first configuration (e.g.
speed-controlled axis, positioning axis, synchronized axis). This definition also
determines the "size", i.e. the number of configuration and system variables of
the technology object.
It is therefore not possible to subsequently change properties such as speedcontrolled axis, positioning axis, etc. If a speed-controlled axis TO is to be
converted into a positioning TO, it is necessary to delete the original speedcontrolled TO and insert a new positioning axis TO.
Configuration data generally determines the static properties of a TO. Certain
properties determined by the configuration can also be changed during the
runtime.
Page 12
MC-SMO-SYS
Axes and Drives in SIMOTION
Associated drive
Associated encoder
SIMOTION
Date:
File:
Basic configuration
09.02.2012
MC-SMO-SYS_05.13
The basic properties of the axis are defined in the basic configuration of an axis.
The following settings can be adapted in this basic configuration.
Technology/processing cycle: The execution level for axis interpolation is
defined in this selection box. The following can be selected:
IPO for dynamic axes
IPO2 for auxiliary axes which have low dynamic requirements
Servo for axes demanding a high dynamic performance
From V4.2 and higher, for axes connected to PROFINET (these are generally
hydraulic axes) the following level is also available:
fast IPO
fast servo
Axis type: Under this dialog, axis type changes can be made (linear or rotary
and electrical, hydraulic or virtual).
In addition, control options can be adapted, for example, standard or standard
+ pressure/force.
Drive assignment: Under drive assignment, the connection to the associated
drive object can be changed.
Function: This part involves settings to an additional technology data block in the
message frame between the TO axis and drive object A technology data block is
required for the "Winder" technology.
Further, settings can be made to withdraw enable signals for critical TO alarms
(refer to the next page).
Further, settings can be made for extended safety functions that are integrated
in the drive.
Page 13
MC-SMO-SYS
Axes and Drives in SIMOTION
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.14
Settings to the
drive
Here, there is the option, for technology alarms with local alarm response
RELEASE_DISABLE (withdraw enable), to specifically withdraw the enable
signals in STW1 of the corresponding standard message frame.
This means, for example, when implementing a brake control in the drive, for
_disableAxis() as well as for RELEASE_DISABLE as a result of a fault
response, e.g. initially to withdraw OFF3 (STW1.Bit2), and then when the drive
is stationary and the brake is closed, the power is disconnected (OFF2)
(STW1.Bit1).
Also when using the extended Safety Integrated function, an adaptation is
absolutely necessary at the drive. For an integrated stop response of the drive,
withdrawing the AUS2 bit must be prevented, as otherwise the drive will coast
down in an uncontrolled fashion.
For a digital drive coupling, the Drive Technology profile provides the following
stop modes:
STW1 bit 0 = 0 (OFF1): Stop with ramp.
The drive travels with a speed ramp with adjustable deceleration to zero
velocity. The stopping process can be interrupted and the drive switched on
again. After stopping, the pulses are suppressed and the status changes to
ready to start.
STW1 bit 1 = 0 (OFF2): Coast down
The drive immediately goes to pulse suppression and the status changes to
switch-on inhibit.
STW1 bit 2 = 0: Quick stop
The drive travels to zero velocity at the torque limit. The stopping process
cannot be interrupted. After stopping, the pulses are suppressed and the
status changes to switch-on inhibit.
Page 14
MC-SMO-SYS
Axes and Drives in SIMOTION
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.15
General
After the configuration the next step is to set the parameters for the technology
object. Parameterization involves defining numerous functions in detail.
Like the configuration, parameterization is carried out using the SCOUT
engineering system. Below the object in the project navigator window, there are
the appropriate entries, via which the individual screen forms can be called for
parameterization (making the appropriate parameter settings).
The result of the parameter assignment is stored in configuration data and
system variables for the object and included in the download to the target
system.
Expert List
In addition to access to the configuration data and system variables via the
wizards and parameter screen forms, you can also access the data directly via
an expert list. The expert list for an object can be called via the entry "Expert list"
of the axis TO.
Within the "Expert list", lists for the following parameters can be selected using
the tab symbol:
Configuration data: Configuration data are used to parameterize the
properties of a machine. As a consequence, mechanical properties, for
example, gearbox ratios, hardware limit switches, maximum dynamic values,
closed-loop control parameters, etc. are defined.
System variables: System variables are generally used to display status
information about the selected TO. For axes, this involves positions,
velocities etc. From the user perspective, such data can only be read. Using
system variables that can be written to, a basic parameterizing interface to
the TO is also implemented. These include, for example, velocity override,
preassigned values (default values) of velocity, acceleration etc. for
traversing commands
User-defined lists: From V4.0 and higher, there are user-defined expert lists
and the option of calling default lists with the most important configuration
data and system variables.
Page 15
MC-SMO-SYS
Axes and Drives in SIMOTION
Load gear:
transmission ratio
Measuring gear:
transmission ratio
Automatically adapted; if
TypeOfAxis.DriveControlConfig.dataAdaption = YES
TypeOfAxis.NumberOfEncoders.Encoder_1.dataAdaption = YES
TypeOfAxis.NumberOfEncoders.Encoder_1.encoderMode = PROFIDRIVE
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.16
General
After the configuration the next step is to set the parameters for the technology
object. Parameterization involves defining numerous functions in detail.
Like the configuration, parameterization is carried out using the SCOUT
engineering system. Below the object in the project navigator window, is a row
of tabs for displaying the individual screens for parameter settings.
The result of the parameter assignment is stored in configuration data and
system variables for the object and included in the download to the target
system.
Mechanical
Properties
Automatic
adaptation
Using automatic adaptation, from V4.2 SP1, the relevant drive data (drive and
encoder data, as well as reference variables, maximum variables, torque limits,
and the selectivity associated with torque reduction of the SINAMICS S120 from
v2.6.2) are transferred into the TO configuration when the CPU boots and do not
have to be manually set.
For a "Copy current data to RAM" or "Copy RAM to ROM", in a dialog, it is
possible to load the adapted values to the PG and therefore into the offline
project.
If required, the adaptation can be activated in the expert list using the following
Config data:
TypeOfAxis.DriveControlConfig.dataAdaption = YES
TypeOfAxis.NumberOfEncoders.Encoder_1.dataAdaption = YES
TypeOfAxis.NumberOfEncoders.Encoder_1.encoderMode = PROFIDRIVE
Page 16
MC-SMO-SYS
Axes and Drives in SIMOTION
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.17
The system always uses the default values if, when calling the system functions,
USER_DEFAULT is specified.
This means that the dynamic values for each axis can be defined centrally just
once and do not have to be re-entered whenever the system function is called.
The following dynamic variables of an axis can be assigned as default values in
this dialog
Velocity
Acceleration
Deceleration
Jerk
Velocity profile
Stopping time
Stopping Time
The time specified under Stopping time applies if a moving axis is stopped via
"Emergency stop in pre-defined time", for example.
Velocity
profile
The velocity profile defines the axis response during approach, braking, and
velocity changes.
You can choose between the following profiles:
Trapezoidal: The trapezoidal profile is used for linear acceleration in a
positive and negative direction of travel.
Smooth: The profile displays a smooth acceleration character and the jerk
characteristic is controllable.
Presetting the
dynamic response
Page 17
MC-SMO-SYS
Axes and Drives in SIMOTION
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.18
Hardware
limit switches
Traversing range limits are monitored by means of digital inputs and limit
switches. Hardware limit switches are always NC contacts and should always
be active outside the permissible travel range. When a limit switch is
approached, a technology alarm is triggered.
The logical address of the input which the hardware limit switch for negative/
positive direction of travel is connected to is entered in "Hardware limit switch".
The address must be outside the process image (>= 64). With the bit number,
the input is specified to which the hardware limit switch for negative/positive
direction of travel is connected.
From V4.2 and higher, the inputs for the hardware limit switches can also be
easily connected with the inputs of the CU of SINAMICS_Integrated. By clicking
on the "" button, the assignment dialog is opened, in which the interconnection
with the CU inputs can be made.
"Save and compile" is used to create the necessary message frames between
the CU and SIMOTION.
Software
limit switches
Software limit switches can be specified and activated. They are activated via
system variables (Swlimit.State). You can also specify in the "Homing" tab in the
configuration data: Homing.referencingNecessary whether the software limit
switch is always active, or only after referencing/homing:
Homing.referencingNecessary = NO software limit switch always active
Homing.referencingNecessary = YES switch active after referencing/homing
Maximum
velocities
Page 18
MC-SMO-SYS
Axes and Drives in SIMOTION
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.19
Acceleration,
jerk
Stopping with
pre-parameterized
braking ramp
The set value is effective, if a moving axis is stopped in the "EMERGENCY OFF
mode" with the setting "Quick stop with actual value-related emergency stop
ramp".
From V4.0 and higher, a time constant can be entered for smoothing the
manipulated variable changes as a result of controller switching operations.
This switchover smoothing filter is active for all status transitions/switchovers in
which an offset in the manipulated variable can occur due to the switchover.
Gearbox change operations in the data block are not smoothed
Page 19
MC-SMO-SYS
Axes and Drives in SIMOTION
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.20
Master value
coupling via
actual value
Filtering the
actual position
From V 4.1, the actual position value for the synchronous operation can be
filtered separately for the extrapolation using a PT2 filter. The filter for the
position actual value of the axes is set using the option "Filter on the actual
position value" and the two time constants "T1" and "T2".
The filter acts on the actual position for the extrapolation before the
differentiation of the position for the extrapolation velocity.
Filtering the
actual velocity
Page 20
MC-SMO-SYS
Axes and Drives in SIMOTION
DSC operation
Servo gain factor
IPO
Feedforward control
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.21
Interpolator
The interpolator processes the traversing commands which are issued e.g. from
the user program to an axis. In each IPO cycle it calculates the position setpoint
of the axis while including the dynamic values such as acceleration, velocity etc.
in its calculation. This position setpoint is then entered into the position controller
after fine interpolation.
Fine interpolation
Position control
The position controller is responsible for controlling the actual position of the
axis. It is usually designed as P controller for electrical axes. The difference
between the position setpoint and position actual value is used as the control
deviation value (following error). Multiplied with the servo gain factor, the result
the velocity setpoint of the axis is output at the position controller output.
The dynamic response and therefore the rise time in the position control loop is
determined in this case by the servo gain factor (or more precisely: 1/sg = rise
time). The maximum possible servo gain depends on the dynamic properties of
the drive (e.g. rise time, etc.) and mechanical properties of the axis (moment of
inertia, backlash, etc.) as well as on the set position control cycle (sampling
theorem).
Page 21
MC-SMO-SYS
Axes and Drives in SIMOTION
Velocity setpoint:
motionstatedata.commandvelocity
Actual velocity:
motionstatedata.actualvelocity
SIMOTION
Date:
File:
Optimizing the
position controller
09.02.2012
MC-SMO-SYS_05.22
Prerequisite for optimizing the position controller is that the current and speed
controller have already been optimized for the drive. Then the setpoint and
actual velocity of the axis can be optimized for the position controllers using
trace recording.
The axis can be moved via an MCC program or via the function generator of the
trace tool. The axis should accelerate, alternating between positive and negative
velocity. The axis acceleration should be selected so that the current limit is not
reached.
The position control can then be optimized by increasing the servo gain factor.
Good optimization of the servo gain was achieved if the actual velocity follows
the specified setpoint velocity during axis acceleration without any overshoot.
In this case the setpoint and actual velocity/actual velocity and following error of
axis can be recorded in the trace tool via the following system variables:
<Axis>.motionstatedata.commandvelocity
<Axis>.motionstatedata.actualvelocity
<Axis>.positioningstate.differencecommandtoactual
These system values are determined in the interpolation. In particular, this
means that all values which refer to the actual position/velocity are outdated
compared to the associated values of the position control.
Page 22
MC-SMO-SYS
Axes and Drives in SIMOTION
Velocity
setpoint
Interpolator
Position
setpoint
Feedforward control
* KPC
balancing
filter
SA
* KV
nset
servoData.controllerOutput
servoData.followingerror
Expert mode
servoData.preControlValue
Symmetrization
time constant
servoData.controllerDifference
servoData.symmetricServoCommandVelocity
servoData.symmetricServoCommandPosition
sensorData.sensorData[1].actual velocity
sensorData.sensorData[1].position
Configurationdata.TypeOfAxis.NumberOfDataSets.DataSet_1.DynamicData.velocityTimeConstant
= vTc (velocityTimeConstant)
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.23
Precontrol
Delay times
Unfortunately, data processing and transfer as well as the rise time of the drive
lead to delay times which have a considerable negative impact on the
conventional position control concept with precontrol.
There is a time lapse which cannot be neglected between supplying the position
setpoint to the following error and returning the first actual position values to the
position control. This delay time is mainly as a result of:
The dead times for transferring the setpoint/act. value (2xDPcycles + Ti + To)
Equivalent time for the speed control loop of the drive (approx. 1-5 ms).
If this time delay would not be compensated in one form or another, then the
speed setpoint output to the drive when the axis starts would be too high. This
excessive speed setpoint would result in overshoot and/or unstable performance
characteristics during drive rise time.
The increased speed setpoint is a result of the speed setpoint of the precontrol
and a component originating from the position setpoint supplied to the following
error. The actual value "missing" at the beginning of the motion will inevitably
result in an increase of the following error and therefore output of an additional
speed setpoint.
Page 23
MC-SMO-SYS
Axes and Drives in SIMOTION
nact
PT1- filter
Mode_1
Command value
Actual value
time
time
nact
Extended
balancing
filter
Command value
Actual value
Mode_2
SIMOTION
time
Date:
File:
09.02.2012
MC-SMO-SYS_05.24
time
SITRAIN Training for
Automation and Drive Technology
Balancing time
vTc
Delay in returning the actual position value output compared to input of the
position setpoint in the following error and resulting undesirable increase in the
output speed setpoint which can be compensated by means of delayed input of
the position setpoint to the following error.
The delay (balancing time vTc) of the input of the position setpoint to the
following error should exactly compensate for the delay in the return of the
actual position. This is the approximately the case if the balancing time vTc is
set to the same value as the calculated delay time Tequiv.
Filter mode
In the first version of SIMOTION, a pure PT1 filter was used This type has the
disadvantage, that when accelerating, the delayed setpoints at the output do not
match the characteristics of the actual values returned from the encoder.
In the initial phase of the acceleration, a PT1 filter already supplies setpoints;
however there are still no actual values from the encoder as a result of the
deadtime in the position control loop. As a consequence, there is a small
positive following error at the output, and therefore an additional and positive
value added to the speed setpoint that is output.
Vice versa, in the final acceleration phase, the actual values of the encoder
system have already been fed back into the position control, while the PT1 filter
is still delaying the setpoints that are applied. As a consequence, in the final
phase, there is a negative contribution added to the following error, and
therefore a negative contribution added to the speed setpoint that is output.
The result is generally an overshoot or undershoot of the speed setpoint that is
output, and therefore the velocity actual value that cannot be resolved through
optimization.
Expanded
balancing filter
Page 24
MC-SMO-SYS
Axes and Drives in SIMOTION
KV = 80/s
vTc = 7.5 ms
Without DSC
sensorData.sensorData[1].actual velocity
servoData.symmetricServoCommandVelocity
motionstatedata.actualvelocity
vTc optimum
KV = 80/s
vTc = 1 ms
Without DSC
vTc too small
sensorData.sensorData[1].actual velocity
servoData.symmetricServoCommandVelocity
KV = 80/s
vTc = 25 ms
Without DSC
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.25
Continuation
The filter can be activated using the following configuration data in the expert
list:
<Axis>.NumberOfDataSets.DataSet[1].ControllerStruct.PV_Controller.
balanceFilterMode = Mode_2
With "Mode_2", a dead time + PT1 filter is used, while Mode_1 uses a pure PT1
filter.
Type of fine
Interpolation
For selecting the precontrol, constant velocity fine interpolation must also be
selected. The type of fine interpolation is set in the dialog "Axis -> Fine
interpolation" in the "Fine interpolator" selection field:
"Fine interpolator = constant velocity interpolation"
If "No interpolation" or "Linear interpolation" would be selected, undesired speed
jumps would take place at the drive in the acceleration phase of the axis.
Determining the
start values for vTc
Then, the start values for the balancing filter time can be determined. These
times essentially depend on whether DSC operation has been selected or not:
without DSC operation:
vTc = 2 x DP cycle time + Ti +To + rise time of the drive
with DSC operation:
vTc = rise time of the drive (equivalent time of the speed control loop)
Optimizing
vTc
Then you can proceed to optimize the servo gain Kv for the axis in the usual
manner. However, if an optimum rise time behavior is not achieved, then this
must be compensated by modifying vTc.
Axis not dynamic enough: In this case, vTc must be reduced. Selecting
vTc to be equal to Tequiv is only a first approximation.
Axis overshoots: In this case, vTc must be increased.
Page 25
MC-SMO-SYS
Axes and Drives in SIMOTION
Position
calculation
(interpolator) xset
xDiff
Speed
filter
ndrive
xact,SIMOTION
Speed
controller
Speed
calculation
3
2
Xact,SIMOTION
Tpc
xact, drive
Tpc
Tsc
xact,motor
Zero offset
and compensations
SIMOTION
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.26
Drive
Dynamic Servo
Control (DSC)
With the "Dynamic Servo Control" function, the dynamically active part of the
position controller is transferred to the drive and performed using the sampling
time of the speed control loop.
This allows a higher servo gain factor and consequently greater dynamic response
in the position control loop. Better dynamic performance is achieved both for the
command variable and for eliminating disturbances.
The structure of the DSC contains 3 branches for the feedback of the actual
position (nos. 1, 2 and 3). The feedback no.2 totally compensates the actual value
Xact, which is transferred from SIMOTION to the drive (no. 1). Therefore the only
relevant feedback of the actual position is branch no. 3.
The DSC structure allows a dynamic switchover between conventional position
control and operation with DSC. All monitoring functions as well as knowledge
about the actual position (reference point) must be - independent of DSC implemented only in SIMOTION.
SIMODRIVE 611 U
MASTERDRIVES
SINAMICS S120
Compensations
The DSC function is not only used in the SIMOTION system, but also in all of the
SIEMENS motion control systems, for example SINUMERIK. The SINUMERIK
system uses, in the actual value branch, a wide range of compensations, for
example spindle pitch error, sag compensation etc. This means that in the position
control loop of SINUMERIK, actual values from the drive are not directly input, but
an actual value that is compensated according to tables.
The DSC function has now been designed, so that these compensations can be
kept in their original form. Precisely, branch number 2 only compensates the noncompensated actual value in the following error, i.e. the compensation "survives".
Page 26
MC-SMO-SYS
Axes and Drives in SIMOTION
Activate precontrol,
motionstatedata.commandvelocity
servoData. precontrolvalue
sensorData.sensorData[1].actual velocity
servoData.symmetricServoCommandVelocity
KV = 200/s
vTc = 2.5 ms
with DSC
motionstatedata.actualvelocity
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.27
Using DSC and precontrol, it is only necessary to take into account the
equivalent time constant of the lower-level speed control loop. In this case, delay
times resulting from data processing or transfer are not included in the balancing
time constant.
vTc = rise time of the drive (equivalent time of the speed control loop)
Optimizing
vTc
Page 27
MC-SMO-SYS
Axes and Drives in SIMOTION
Precontrol
servoData.TotalServoCommandValue
Interpolator
* KPC
Dynamic
adaptation T1, T2
and deadtime
Sym.
filter
SA
* KV
n set
Dead time
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.28
Dynamic adaptation
for synchronous
axes
If, for the position controller optimization of axes, that will be subsequently
operated in a synchronous group, different time constants were set, then the
resulting time difference must be compensated; if this is not done, then the
actual axis contours will differ in synchronous operation.
These different time constants can be caused by:
different balancing times vTc for 100% precontrol
different servo gain factors without precontrol
In the first case, the position difference is a sequence of different time delays
when entering the position setpoints into the position control. For example, the
position actual value of an axis in the constant velocity phase would always be
obtained so that in the position controller the resulting system deviation is equal
to 0, i.e. the delayed position setpoint fed in minus the position actual value.
In a second case, the difference is caused by different servo gain factors. Thus,
for example in the constant velocity phase, the actual position of the axis always
moves a time 1/Kv = TLR after the position setpoint.
Further, it must always be observed, that either all axes are traversed in the
synchronous group with DSC or without DSC.
Page 28
MC-SMO-SYS
Axes and Drives in SIMOTION
"Actual"
radius
SIMOTION
Date:
File:
Circularity test
09.02.2012
MC-SMO-SYS_05.29
From V4.0, the SIMOTION trace tool also includes a circularity test. For a
circularity test, two axes are traversed along a circular path and the actual path
is compared with the program path. This allows the dynamic response and the
synchronous operating behavior of the axes to be tested.
Essentially, the circularity test can be executed in the two following
configurations:
The two axes interpolating with one another are real positioning axes:
The deviation between the programmed and actual radius provides a
measure of the following error (pythagoras). A deviation from a pure circular
shape (rotated ellipse) indicates different following errors of the two axes
when interpolating and therefore a poor dynamic response adaptation.
A good dynamic performance adaptation has been achieved, if the actual
path keeps its circular shape.
One of the axes is a real positioning axes, the other axis is a virtual axis.
In this particular case, the dynamic response of the real positioning axes is
tested. The best setting is achieved, if the resulting path is a circle where
the programmed radius is the same as the actual radius.
This can only be achieved, if the axis precisely traverses without any
following error even in the acceleration phase.
Page 29
MC-SMO-SYS
Axes and Drives in SIMOTION
servoMonitoring.positioningState
ACTUAL_VALUE_OUT_OF_POSITIONING_WINDOW
ACTUAL_VALUE_INSIDE_POSITIONING_WINDOW
STANDSTILL_MONITORING_ACTIVE
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.30
Positioning
monitoring
At the end of the positioning movement the movement of the axis into the
pre-defined position is monitored on the basis of a positioning window.
A positioning window and a time interval are used for this purpose.
At the end of position setpoint interpolation, a timer is started with the runtime
specified in "Positioning tolerance time". After the timer has expired, the actual
position value and the setpoint position value are compared. If the deviation is
greater than the value specified in the tolerance window "Positioning tolerance
window", then fault message "Fault 50106: position monitoring" is output.
Standstill
monitoring
Standstill monitoring monitors the actual position of the axis at the end of a
traversing movement. Two time windows and a tolerance window are provided
for standstill monitoring.
At the end of position setpoint interpolation, if the actual position of the axis has
reached the tolerance window for position monitoring, a timer is started with the
"Minimum dwell time" runtime. After the time has expired, the standstill
monitoring is active and the motion is considered as having been completed
(MOTION_DONE).
Now, the position actual value is compared with the setpoint position. If the
actual position leaves the "standstill window" for longer than the time specified in
"Tolerance time", then the error message: "Alarm 50107: Standstill monitoring"
is output. If the time intervals for "Minimum dwell time" and "Tolerance time" are
equal to 0, the tolerance position window for standstill monitoring must be
greater than or equal to the tolerance window for position monitoring.
Note
Page 30
MC-SMO-SYS
Axes and Drives in SIMOTION
SIMOTION
Date:
File:
Standstill signal
09.02.2012
MC-SMO-SYS_05.31
Page 31
MC-SMO-SYS
Axes and Drives in SIMOTION
Velocity error
monitoring
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.32
Dynamic
following error
monitoring
The task of the following error monitoring is to monitor for changes to the
following error in the traversing phase. Particularly noticeable changes occur
when e.g. the axis unintentionally moves against an obstacle.
The following error monitoring on the position-controlled axis is performed using
the calculated following error. The maximum permissible following error is
calculated from the setpoint speed and the straight lines parameterized in the
dialog box above. If this limit is exceeded, "Error 50102: dynamic following error
monitoring window was exceeded" is triggered.
With velocities less than the specifiable minimum velocity, a parameterizable
constant following error is monitored.
If several data sets are configured on the axis, the setting for the following error
monitoring must be identical in all data sets.
Velocity
error monitoring
The velocity error monitoring monitors for possible deviations between the
programmed setpoint and actual velocity. This monitoring function is active for
speed-controlled axes or for speed-controlled motion of positioning or
synchronous axes. For this monitoring function, an encoder must be connected
to the axis and be configured.
A PT1 model is emulated to monitor the controlled system. The input of the PT1
element is supplied with the programmed setpoint velocity. The emulated
"velocity actual value" is available at the output. The monitoring function is
initiated if the deviation between the emulated "velocity actual value" and the
actual velocity value is greater than the value that has been entered under
"Maximum velocity deviation".
The time constant for the PT1 model is set during axis configuration in the
configuration data dynamicData.velocityTimeConstant or for hydraulic axes in
dynamicQFData.velocityTimeConstant.
When the velocity error monitoring response, "Alarm 50101 Window for
reference model monitoring exceeded" is output.
Page 32
MC-SMO-SYS
Axes and Drives in SIMOTION
SIMOTION
Date:
File:
Signal flow
09.02.2012
MC-SMO-SYS_05.33
The dialogs under the "Signal flow" entry provide a functional view of the closedloop control and the parameters of the SIMOTION TO "Axis".
Using the individual screen forms, the path from the setpoint position calculated
by the interpolator and the actual position sensed by the encoder system can be
tracked via the position control up to the manipulated variable output. The
variables prepared in the individual intermediate steps, for example positions,
velocities, speed etc., are displayed in the various screen forms.
The names of the associated system variables from the expert list are displayed
at the cursor tool tip (this is important for trace recordings). Further, the
parameter settings (configuration data), relevant for the control, can be directly
entered in the screen forms.
The functional view of the control in SIMOTION provides:
Identical visualization of the SIMOTION and SINAMICS functionality
A better understanding of the internal functions
Parameterization and online diagnostics in a functional view
Page 33
MC-SMO-SYS
Axes and Drives in SIMOTION
Stop an axis
Reference an axis
SIMOTION
Date:
File:
Overview
09.02.2012
MC-SMO-SYS_05.34
To traverse the axes that have been created, what are known as single-axis
commands are available in SCOUT. These commands can be inserted in the
MCC chart via the associated toolbar in the MCC editor.
The group of single-axis commands especially includes the commands for openloop or closed-loop controlled traversing of axes, as well as commands to
enable axes, reference axes etc.
The commands to activate and deactivate cams as well as handle external
encoders are also included in this group.
Page 34
MC-SMO-SYS
Axes and Drives in SIMOTION
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.35
Switching axis
enables signals
This command switches the enable signals at the axis. The axis goes into
the follow-up mode if any of the enable signals are missing. Following enable
signals can be switched.
Position controller enable: The position controller enable activates position
control for the axis. You can query the state of the position control using the
system variable <axis>.servoMonitorings.controlState.
The position controller enable is ignored for speed-controlled axes.
Switch drive enable: This checkbox switches the drive enable. You can query
the state of the current drive enable for real axes using the the system variable
<axis>.actorMonitorings.driveState.
Switch pulse enable: This checkbox switches the pulse enable in the drive
module. You can query the state of the current pulse enable for real axes using
the system variable <axis>.actorMonitorings.power.
The enable signals in STW1 according to the PROFIdrive profile can be
individually switched. All of the enable signals must be set for position-controlled
drive operation.
Follow-up mode
An axis can be switched into the follow-up mode using this check box. No
motion commands are executed in the follow-up mode. For positioning axes, in
the follow-up mode, the position control is canceled and the position setpoint
tracks the position actual value. After the follow-up mode has been deselected,
the axes must be re-referenced.
Traversing mode
The axis can be enabled for position or speed controlled operation via the
traversing mode. In the speed-controlled mode, the axis can be traversed if an
encoder fails.
Remove axis
enable
This command automatically removes the position control enable for the
selected axis. In addition you can specify whether the drive enable and pulse
enable are to be removed too. In the selection box "Follow-up mode", follow-up
mode for the axis can be activated.
Page 35
MC-SMO-SYS
Axes and Drives in SIMOTION
Start
Axis 1
Axis 2
Command
buffer
Pos(axis1)
Command
buffer
Pos(axis2)
Pos(axis1)
Interpolator
Interpolator
Fine
interpolator
Fine
interpolator
End
Position
controller
Position
controller
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.36
General
Commands can be issued from all user program tasks of the system. The
execution time of a command at the technology object is the only factor that
determines whether the command is effective.
A technology object does not have a task context, and therefore the priority of
the task, which issued the command, has no significance for actually executing
the command. If commands are issued from multiple tasks, the user program
must ensure a consistent sequence of the processing.
Command buffer
In order that several commands can be issued to an axis TO, every axis has a
command buffer. This buffer actually comprises four command group-specific
subbuffers, which can buffer a command from the one of the following command
groups
Emergency Stop and Stop Continue commands
Enable and disable commands
Sequential traversing motion (motion in the basis coordinate system)
Superimposed traversing motion (motion in the superimposed coordinate
system)
The interpolator at the axis reads out the command at the command buffer
(possibly in the interpolator clock cycle) and processes it. Commands from
various command groups are, to a certain extent, processed in parallel by the
axis TO.
Page 36
MC-SMO-SYS
Axes and Drives in SIMOTION
Substitute
Blending
Transitional behavior
Superimpose
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.37
Transitional
behavior
TO Alarm
Page 37
MC-SMO-SYS
Axes and Drives in SIMOTION
Motion start
Acceleration end
Start of
decleration phase
Setpoint
Actual
Actual
Motion completed,
i.e. position window
reached
Setpoint
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.38
Program
advance
Notes
The full control over the immediate advance after issuing a motion command
is only possible using the system function calls in the ST language.
Interrogating the state of the command buffer is also only possible with ST
calls (system function:_getstateofmotionbuffer(...)).
In MCC the command buffer can be cleared using the "Clear command
queue" command.
Page 38
MC-SMO-SYS
Axes and Drives in SIMOTION
POS (axis1,...)
POS (axis2,...)
Synchronous execution
(e.g. for MotionTasks)
Task x
Asynchronous execution
(e.g. for BackgroundTask,
IPOSynchronousTask, etc.)
POS (axis1,...)
POS (axis2,...)
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.39
Asynchronous
processing
Note
If a program with motion is generated for a cyclic task, then instead of the
motion commands from the toolbar the blocks in conformance with PLC-OPEN,
available in the library supplied, should be used. These blocks have been
specifically designed for use in cyclic tasks.
Synchronous
processing
Page 39
MC-SMO-SYS
Axes and Drives in SIMOTION
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.40
Smooth
Trapezoidal
Velocity
profile
You can select a velocity profile for the programmed axis motion. The velocity
profile defines the transitions between the individual motion phases. The
following are available:
Smooth: In this case the acceleration and jerk can be specified.
Trapezoidal (default setting): With this velocity profile you can only specify
the acceleration. The input fields for the jerk are grayed out.
The selectable velocity profiles influence the motion transitions between the
start and end of the acceleration phase, between constant velocity and
acceleration phase/deceleration phase, and the transitions from start and end of
the deceleration phase.
In addition to direct input of the velocity profile, you can also select from the
following options:
Last programmed: The last programmed command becomes effective
with this velocity profile
Default: The velocity profile configured in the "Default" dialog when
commissioning becomes effective for the command. You can overwrite the
default setting of the velocity profile using the MCC command "Set axis
parameter".
You can define the jerk and acceleration values via the individual combo boxes.
boxes. In addition to the two options "Last programmed" and "Default" freely
editable values or variables can be directly entered or as expression (formula).
You can use drag and drop to copy variables from the symbol browser to the
input field or copy commands and functions from the command library to the
input field.
In the selection list you can select whether the programmed jerk or the
acceleration should be effective in the configured unit or as a % referred to the
standard value.
Page 40
MC-SMO-SYS
Axes and Drives in SIMOTION
Time
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.41
Start axis
position controlled
Time duration
Speed input
Page 41
MC-SMO-SYS
Axes and Drives in SIMOTION
Stop Axis
Stop mode
Selection
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.42
Stop Axis
The command stops the axis moving. It can be used both for positioning and
speed movements. The motion can be stopped with Normal stop or Quick stop.
You define this in the "Stop mode" dropdown list.
Normal Stop
Quick stop
With quick stop the axis is stopped by the interpolator and is not switched into
the follow-up mode. The motion cannot be continued. In addition, the axis is
disabled for further motion commands. This state can be removed using
"Remove axis enable" or "Reset object".
Quick stop within defined period: The motion is stopped within the
parameterized time frame (tab: "Dynamics", parameter: "Time for deceleration").
Quick stop with actual value-related emergency stop ramp: The motion is
stopped by the interpolator via the Emergency OFF ramp (dialog box: "Limits",
tab: "Dynamic response", parameter: "Stop with preconfigured ramp").
A following error is taken into account before stopping.
Quick stop with maximum deceleration: The motion is stopped by the
interpolator with the max. dynamic values (dialog box "Limits", tab "Dynamic
response", parameter "Acceleration").
Quick stop with dynamic values: The motion is stopped with the parameterized
dynamic values (tab: "Dynamics").
Page 42
MC-SMO-SYS
Axes and Drives in SIMOTION
Continue Motion
Selection
SIMOTION
Date:
File:
Continue
motion
09.02.2012
MC-SMO-SYS_05.43
All motion
Basic motion
Superimposed motion
Page 43
MC-SMO-SYS
Axes and Drives in SIMOTION
Homing type
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.44
Active homing
Passive homing
Set home position
Set home position relative
Home axis
Homing type
For incremental measuring systems, the command selects the following homing
types:
Active homing (default value) In this case, via the configuration in the wizards for
the axis configuration (Dialog: "Homing") it is defined which of the three
following homing types will be executed (see the next page):
Homing only with zero mark
Homing with reference cam and zero mark
Homing only with external zero mark
Setting the current position value: The current axis position is assigned to the
value of the home coordinates. No active traversing motion takes place.
Relative direct homing: In this particular case, the axis coordinate system is
shifted by the value of the home position coordinate. The axis does not move.
Passive homing: Contrary to active homing, as a result of the homing command,
no active traversing motion takes place. In fact, the homing command is now
effective in parallel to the traversing commands, which must be issued from the
user program. The motion command can be triggered before or after the homing
command.
If the conditions for detecting the homing mark are fulfilled, then the axis is
homed corresponding to the sequence defined when configuring.
Page 44
MC-SMO-SYS
Axes and Drives in SIMOTION
Travel range
Left travel
limit
Homing mode
Homing output cam and
encoder zero mark
Zero mark only
External zero mark only
SIMOTION
Zero marker
Date:
File:
09.02.2012
MC-SMO-SYS_05.45
Right travel
limit
Position encoder
Homing mode
With active homing of an incremental measuring system the settings in the axis
configuration are evaluated. You can choose from the following possibilities in
the "Homing mode" selection box:
Homing with homing output cam and zero mark: The homing command initiates
motion towards the homing cam. After passing the reference cam, SIMOTION
synchronizes with the next encoder zero mark. After this, the axis is traversed
through the home position offset and then the actual position is set to the
"homing position coordinate) .
When homing with "Bero and reference cam" the homing cam signal must be
connected to an input on the control (outside the process image, i.e. >= 64).
The homing cam is "1"- active.
Homing with zero mark only: This type of homing is valid for axes with only one
zero mark over the complete traversing range (usually rotary axes). The homing
command initiates motion towards the homing cam. When the zero mark is
passed, the measuring system of the axis is synchronized.
After this, the axis is traversed through the home position offset and then the
actual position is set to the "homing position coordinate".
Homing with external zero mark: The homing command triggers a movement.
The measuring system of the axis is synchronized once the parameterized edge
of the external zero mark signal is detected. The axis is then moved by the
amount of the home position offset.
When referencing with "External zero mark only", the signal must be connected
there where the encoder value is also detected, i.e. at the drive, at the ADI4 or
at the intended Bero inputs of the C2xx.
Reversing cams
Page 45
MC-SMO-SYS
Axes and Drives in SIMOTION
Homing mode
External zero mark only
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.46
Note
For a digital coupling, drive homing is initiated via the encoder control word_1.
Drive parameters are used to define whether the drive synchronizes to the
encoder zero mark or to an external signal at the drive.
SINAMICS S120: P495[n]: External zero mark for encoder n
In addition, P490 of the CU to invert the signal
SIMODRIVE 611U: P879.13, in addition P660 = 79 (I0.n external zero mark).
Data transfer
from the drive
From V4.0 and higher, by pressing the button "Accept data from the drive",
parameter settings from SINAMICS drives can be transferred from the offline
data management all the "Start to" into SIMOTION SCOUT.
Depending on the setting of parameter P495, the associated selection in the
homing mode to zero mark or external zero mark is set.
Homing
required
Homing required "Yes": Software limit switches only become active after
homing. Absolute motion and synchronous motion commands are rejected
(error 40108: Axis not homed. Relative motion is permissible.
Homing required "No": Software limit switches are always active (if activated).
All motion and synchronous motion commands are permissible.
System variables
TO restart
Page 46
MC-SMO-SYS
Axes and Drives in SIMOTION
Homing type
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.47
Absolute encoder
adjustment
System variables
Notes
In the "Homing" dialog it can be set whether the value has been taken into
account in absolute terms or in addition ("Absolute encoder offset is used").
An axis with absolute encoder should not be homed using the function
"Setting the position actual value" as the offset between the encoder value
and the position actual value is not saved in the retentive data and displayed
in the corresponding system variables as is the case for the absolute
encoder adjustment.
Page 47
MC-SMO-SYS
Axes and Drives in SIMOTION
Reference system
Setpoint reference
Relative
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.48
Shift
measuring system
Using the command, shift measuring system, you can redefine the actual and
setpoint position of an axis. The command can either be programmed, referred
to the actual value or the setpoint. Both values are always changed.
Axis
Here, the axis is specified, for which the position should be newly set. All
positioning and synchronous axes, which are configured on the device are
listed.
Position
The new position value is entered here. The value can be directly entered or as
a variable or formula.
Typ
Note
By setting the actual value system using the command "Shift measuring
system", contrary to the command "homing, set the actual position value", the
original positions of the software limit switch are not changed.
The permissible traversing range therefore remains unchanged.
Page 48
MC-SMO-SYS
Axes and Drives in SIMOTION
Extended...
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.49
Service Overview
With this function it is possible in the online mode to quickly obtain an overview
of the state of all configured axes. Selected system variables are displayed here
together with their respective status. The status is displayed using colored
lamps.
Green lamp: Axis (system variable) is active/on or axis is stopped.
Red lamp: An error is present.
Yellow lamp: Axis is in motion (constant velocity, acceleration, deceleration) or
an alarm is present.
Gray (no LED): Axis (system variable) is not active.
Example:
Extended...
A list with additional system variables is displayed when you click the
"Expanded..." button. You can select additional system variables from this list for
which you want to display the status in the "Service overview".
You can select them in the open screen by checking the checkbox in front of the
system variable.
Page 49
MC-SMO-SYS
Axes and Drives in SIMOTION
1. Select axis
2. Symbol browser
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.50
System Variables
You can monitor and modify system variables via the symbol browser. You can
query for example the entire status of a command execution or of an axis motion
via system variables. This allows you to carry out a detailed analysis of all types
of motion and execution, in particular if you use it together with the trace
function.
You can access system variables:
Within the SIMOTION device from all programs
From HMI devices
System variables can be monitored and controlled via the symbol browser.
System variables can be also combined in separate application-specific watch
tables, for example when commissioning.
Procedure
Online Help
You can display the associated online help for the individual system variables.
To do that, proceed as follows:
1. Press the key combination <Shift> + <F1>.
A question mark is displayed next to the mouse cursor.
2. Now click on the row with the system variable for which you required
extended help.
The online help for the selected system variable is displayed.
Page 50
MC-SMO-SYS
Axes and Drives in SIMOTION
Significance
Operational status
(control)
Technological alarm on axis
(error)
Drive enable
(actormonitoring.drivestate)
Power enable
(actormonitoring.power)
Green: power enable (enable OFF1, OFF2 and OFF3 and operation)
Gray: no power enable
Drive error
(actormonitoring.driveerror)
Green: axis is not moving (signal mainly used for speed-controlled axes)
Gray: axis is moving
Green: axis is homed (only for axes with incremental encoders)
Gray: Axis is not homed
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.51
System Variables
Actual Position
Displays the current actual position of the axis. The actual position is derived
from the actual value transferred by the encoder system of the drive.
Setpoint Position
Displays the setpoint position of the axis as calculated by the interpolator. The
difference between setpoint and actual position is called following error. The
following error is the reference variable within the position controller for
calculating the speed setpoint.
Difference between
Setpoint and
Actual Position
Page 51
MC-SMO-SYS
Axes and Drives in SIMOTION
Technological Alarms
Alarm display and
acknowledgement:
Alarms
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.52
General
Technological
alarms
Page 52
MC-SMO-SYS
Axes and Drives in SIMOTION
2. TechnologicalFaultTask
3. Alarm configuration
4. Select TO
5. Configure alarm
1. Execution system
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.53
Alarm configuration
Local behavior
With the local behavior you define how the technology object involved should
behave when an alarm occurs and how additional commands for the TO should
be handled.
When an alarm response occurs (except for NONE), the command decoder is
always stopped. Any programmed commands issued subsequently are rejected.
Command execution can continue after the alarm has been acknowledged in
cases where the global error response for the alarm does not automatically
require a Power ON.
Global behavior
With the global behavior, the impact of a TO alarm on the execution systems
described. The following actions can be set depending on the respective TO
alarm.
NONE: no response
START TechnologicalFaultTask With this task, the user can respond to the
TO alarm with an application-specific response. If there is no program
assigned to this task, the system switches to the STOP state.
STOP: All technology objects and the user program are inactive.
STOPU: Only the user program is inactive.
Page 53
MC-SMO-SYS
Axes and Drives in SIMOTION
Acknowledge specific
TO alarms
Acknowledge TO alarms
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.54
Acknowledge
TO alarm
Acknowledge
specific TO alarm
Note
Page 54
MC-SMO-SYS
Axes and Drives in SIMOTION
Start trace
recording
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.55
TO trace
Procedure
1. Activate an online connection to the target system and select the required
SIMOTION device in the project navigator.
2. Call the window of the TO trace from the entry "TO Trace" of the context
menu or using the corresponding button in the toolbar.
3. In the "Technology object" list, select the required TOs for the trace
recording.
4. Using the button: . . . at the end of the line for each TO, the dialog to
parameterize the trace function can be opened.
5. Under the individual tabs, parameterize: settings, commands, configuration
data and system variables, how many and which events are to be recorded.
Commands, configuration data, and system variables are always selected as
the default setting. Signals can be deselected at the individual tabs.
6. Load the parameterization into the target system and start the trace by
pressing the "Start TO trace" button.
Page 55
MC-SMO-SYS
Axes and Drives in SIMOTION
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.56
Continued
7. Select the "Recorded data" tab to be able to evaluate the recorded events.
Load the recorded data into SIMOTION SCOUT by pressing the "Upload
data" button.
The events (writing configuration data or system variables, commands to the
TO) are displayed in the correct sequence with timestamp and actual
execution status.
Note
When displaying the execution status of a command, pay special attention to the
following:
As command execution advances, the more information can be read out
concerning the relevant commands. This means that for commands that have
already been completed, the execution status (EXECUTED or ABORTED) and a
possible error code can be determined.
As the TO trace takes a snapshot, this information is based on the situation at
the time that data is read out. The status is not updated automatically once the
command has been completed. The status can be updated by reading out
again.
Page 56
MC-SMO-SYS
Axes and Drives in SIMOTION
SIMOTION
Date:
File:
Note
09.02.2012
MC-SMO-SYS_05.57
Page 57
MC-SMO-SYS
Axes and Drives in SIMOTION
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.58
For the TO axis, SIMOTION supports the concept of data sets as well as data
set changeover. Various data sets are used, if during the runtime:
the actual encoder must be changed
parameter settings of the controller data must be changed
The configuration data, which belong to the axis data set(ADS), can be viewed
under the axis data sets of the configuration dialog of the axis tab.
Data sets must be defined and activated as a group because some data, for
example, controller data, can only be activated simultaneously in groups to
ensure consistency of the controller and function.
When configuring, several data sets can be created for one axis. Further, it can
be defined as to which data set should be active after powering up.
Page 58
MC-SMO-SYS
Axes and Drives in SIMOTION
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.59
Encoder
configuration
Frequently, a data set changeover is required, if, for an axis, various encoders
are used, for example.
Motor measuring system (motor encoder)
Additional direct measuring systems (linear scale)
This means that up to 8 encoders can be created for the axis. All of the created
encoders are internally active, and the measured values are updated cyclically.
Using the "Encoder number" entry, in the axis data sets you can define which
encoder is used for the position control.
Automatic
adaptation
The adaptation of relevant drive and encoder data is, from SIMOTION V4.2 in
conjunction with SINAMICS S120 from V2.6.2 and higher, automatically
activated. The encoder parameters are automatically determined and adapted
during the runtime.
This is not possible for "older" drives (SIMODRIVE, MASTERDRIVES) or for
encoders that are directly connected to PROFIBUS DP, and which are supplied
via message frame 81 (see the above example). In this case, the encoder must
be manually configured.
To create a 2nd encoder for an axis, to start a message frame must have been
configured with the encoder values for the encoder in HW Config. This can
either be done by directly inserting a PROFIBUS encoder (for example
SIMODRIVE sensor isochrone via message frame 81) from the HW catalog or
providing additional encoder values via one of the message frames (message
frames) 4, 6, 106, to a drive system with a 2nd encoder.
A 2nd encoder is configured in SIMOTION SCOUT using the screen form:
Configuration -> Encoder configuration. A new encoder can be added to the axis
TO using the "Add" button. The new encoder can be connected with the
message frame data in HW Config via the "Assign encoder" dialog.
For encoders, which cannot be automatically adapted during the runtime, then
the necessary settings must be made for the encoder type, mode and encoder
resolution (see the following pages).
Page 59
MC-SMO-SYS
Axes and Drives in SIMOTION
Encoder type:
Absolute encoder
Absolute encoder, cyclic absolute
Incremental encoder
Encoder mode
Error 20005: Device type: 2, log.address: 1234 faulty. (Bit: 0, reason: 0x80h)
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.60
Encoder type
From V4.2 and higher, for SINAMICS drives it is possible to directly align the
encoder configuration dynamically with the encoder settings for SINAMICS during
the runtime. This is not possible for "older" drive systems, for example
SIMODRIVE and MASTERDRIVES or for third-party drives. In this case, the
encoder must be manually configured.
The required encoder type must first be selected:
Absolute encoder
Absolute encoder, cyclic absolute
Incremental encoder
Encoder mode
The actual encoder type is set in the "Encoder mode" selection field. The following
settings are available for absolute encoders:
Endat encoder (encoder data interface)
SSI encoder (synchronous serial interface)
The following incremental encoders are supported:
Sine/cosine encoder
Square-wave TTL encoder
Resolvers
Endat encoder
If the encoder parameterization in SIMOTION and in the drive differ from one
another, the following technology alarm is triggered as soon as an online
connection is established between the control and drive/encoder and the TO is
loaded to the control.
"Error 20005: Device type: 2, log.address: 1234 faulty. (Bit: 0, reason: 0x80h)"
The comparison of the parameterization for drives is realized according to the
PROFIdrive via a parameter: r979 (SensorFormat). For drives, which do not
support parameter r979, the configuration without alarm is considered to be valid.
Page 60
MC-SMO-SYS
Axes and Drives in SIMOTION
Scanning plate
Output signals:
Indexing disk
Photo elements
Light source
Spur B
Spur R
Spur C
Reference
mark
"Raw signal"
Spur D
Additional inverted tracks
A, B, R, C , D
2048 cycles
Spur A
Resolution with SINAMICS S120 : 2048 * 8 * 256 4 million
Spur B
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.61
Principle
The optical encoder is based on the following principle. Parallel light passes
through the lattice grid of a scanning plate opposite the light source onto the grid
serving as the measuring standard. The lattice grid distribution on the scanning
plate and on the indexing disk are identical
The lattice grid on the scanning plate is split up into 4 fields, which, regarding
the grid distribution, have spatial offsets of 0, 90, 180 and 270. For relative
motion, a bright-dark modulation is created due to the alternating coverage.
This modulation is evaluated using 4 photo elements (4 field scanning). These
photo elements supply currents that are proportional to the illumination intensity.
If the 0 and 180, as well as the 90 and 270 signals are combined, then 2 sin
or cos sequences are obtained.
Raw signals
Encoder output signals, which supply a voltage that can be evaluated (raw
voltage signals) have 1 Vpp - raw current signals supply 11App.
Resolution
Page 61
MC-SMO-SYS
Axes and Drives in SIMOTION
ERN 1387
ERN 1381
Spur A
G1_XIST 1
31
30
29
28
27 26
25
24
23
Overflows: 0 - 1023
SIMOTION
22
21
20 19
18
17
14
13
12
11 10
Date:
File:
16 15
09.02.2012
MC-SMO-SYS_05.62
Fine resolution
The converter does not only output the information on the pulse number to
Gn_XIST_1 but also increases the total resolution of the connected encoder by
internally sampling the sin/cos signal with sin/cos encoders or resolvers.
Resolution: Encoder pulses x 2n (n: fine resolution, no. of bits for internal
multiplication
The following applies for the No. of encoder marks:
Encoder marks = number of sine signal periods (sine/cos encoder with 1 Vpp)
No. of encoder marks = 1024 x pole pair no. (resolver with 12 bit resolution)
No. of encoder marks = 4096 x pole pair no. (resolver with 14 bit resolution)
The pulse number and fine resolution are entered in parameters in the
converter.
The fine resolution for the cyclic actual value Gn_XIST_1 in the converter must
be entered in SIMOTION as value = 2n in the input field.
An input value of 0 is interpreted as standard multiplication factor of 211 =
2048. In this case 0 is equal to 2048.
Page 62
MC-SMO-SYS
Axes and Drives in SIMOTION
Hall-effect
element
Photocouples
Light source
Scanning plate
Coded disk
Gear box
Resolution:
16
revolutions
Binary coding of a
mechanical revolution
with 8192 positions
Incremental tracks
16:1
Date:
File:
Resolution:
4096
revolutions
Motor
speed
Singleturn encoder
SIMOTION
Resolution:
256
revolutions
09.02.2012
MC-SMO-SYS_05.63
16:1
16:1
Principle
The optical design corresponds to a sin/cos encoder. In addition, the disks have
binary coded tracks, which can be interpreted as coded number of pulses in the
incremental track.
For 2048 pulses, then at least 11 additional tracks are required, in order to code
the position within one revolution (single turn encoder). The absolute traversing
distance that can be measured is therefore too low for most applications (for
example, 10 mm for a ballscrew with 10 mm pitch/revolution and directly
mounted onto the motor).
This is the reason that the measuring range has been extended using a 3-stage
gearbox. Every step down stage has a ratio of 16:1. As a consequence, the
position information only repeats itself after 4096 revolutions or after a traversing
distance of 40.96m. The position of the gear wheels in the gearbox are
evaluated using Hall elements.
EnDat interface
In order that the traversing distance through the 4096 revolutions can be
uniquely represented, the following information must be known.
Gearbox position: 3 x 4 bits (16 x 16 x 16 = 4096 revolutions)
Pulse number:
11 binary tracks
When the control system is switched on, this 23-bit information is transferred
from the encoder using the EnDat protocol (EncoderData Protocol).
The precise position information is retrieved using the interpolation technique
described for sin/cos encoders.
Page 63
MC-SMO-SYS
Axes and Drives in SIMOTION
not
evaluated
Encoder pulse
number: 512
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.64
Absolute
actual value
The "Data width absolute value without fine resolution" is obtained from the total
of the bits for multiturn resolution and encoder pulse number. The settings in
SIMOTION must match the corresponding settings in the converter, otherwise
the actual position will not be calculated and displayed correctly after switch on.
Fine resolution
Just the same as for "cyclic actual value", the converter not only transmits
information about the number of encoder revolutions (for multiturn encoders)
and the encoder pulse number to the higher-level control, but also performs fine
resolution. This fine resolution is lower with the "absolute actual value" than with
the "cyclic actual value" as the entire information must be stored in a 32-bit
double word.
This means only 9 bits, i.e. a factor of 512, remain for the fine resolution for
standard multiturn encoders with a multiturn resolution of 4096 (12 bits) and an
encoder pulse number of 2048 (11 bits). This is the reason that for the "Fine
resolution absolute value in Gn_XIST_2" an entered value of 0 is interpreted as
a multiplication factor of 29 = 512.
Note
The encoder position word Gn_XIST_2 is used not only for transferring the
absolute actual value after switch on but also for transferring the position in the
functions: "Measuring input" and "Homing". In this case, however, the position
value is coded in accordance with the format settings for the "cyclic actual
value", i.e. in accordance with the multiplication factor for the cyclic actual value.
Page 64
MC-SMO-SYS
Axes and Drives in SIMOTION
Encoder type:
"Absolute encoder"
Overflows of the multiturn information are not saved in
SIMOTION when it is switched off
....
Multiturn resolution
Encoder pulses
per revolution
Fine resolution
SIMOTION
Date:
File:
Encoder mode
09.02.2012
MC-SMO-SYS_05.65
The following two settings are available in the "Axis configuration - Encoder
assignment" dialog box in the "Encoder type" field:
Absolute encoder:
With this setting, the entire overflows of the absolute actual value, i.e. overflows of the multiturn information are not saved when the SIMOTION is
switched off.
The next time SIMOTION is switched on, the actual position value is
formed from the absolute actual value which is passed from the converter in
Gn_XIST_2 to SIMOTION.
With a multiturn resolution of 4096 and a leadscrew pitch of 10mm/rev. The
result is always a value between 0 m and approx. 40 m.
Absolute encoder, cyclic absolute
With this setting, at switched off, the overflows of the multiturn information
are stored in the retentive memory area of SIMOTION. The next time
SIMOTION is switched on, this information is taken into account for
calculating the actual position value.
This setting must be made if the absolute encoder with it's multiturn
resolution does not cover the complete traversing range of the axis or if, as a
result of an unfavorable mounting of the absolute encoder, overflows of the
multiturn information occur within the traversing range.
Note
The overflows of the multiturn information and the value for the absolute
encoder adjustment of an axis are deleted in the following situations:
OVERALL RESET of SIMOTION
Download of modified configuration data for the encoder settings for the axis.
Page 65
MC-SMO-SYS
Axes and Drives in SIMOTION
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.66
Travel to
fixed endstop
Fixed endstop
detection
In the dialog "Limits", "Fixed endstop" tab, in the "Fixed endstop detection" field,
it can be selected as to how it can be detected when the fixed endstop is
reached:
when the following error is exceeded. In this case, in the entry field
"Following error to the fixed endstop detection", the required value should be
entered, which results in the status "Fixed endstop reached".
when the torque is exceeded: In this case, when reaching the torque
programmed at the command for the status "Fixed endstop reached".
If the criterion "Fixed endstop reached" is reached, then the interpolator is
stopped; however the position control remains active. The axis is now clamped
with the torque programmed at the command. The usual traversing commands
in the same direction are rejected by the TO, only traversing commands in the
opposite direction are permitted.
In the system variables moveToEndStopCommand. ClampingState the state
"Fixed endstop reached" is displayed. The state "Fixed endstop reached" is
canceled if the actual axis position deviates by more than the value specified in
the "Position tolerance after fixed endstop detection" (e.g. because the clamping
force is overcome, traversing command in the direction opposite to the clamping
direction).
Page 66
MC-SMO-SYS
Axes and Drives in SIMOTION
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.67
Determining the
reference torque
For SINAMICS from V2.6.2 and higher, the reference torque of the motor
is automatically adapted by SIMOTION and entered into the corresponding
configuration data.
<Axis>.TypeOfAxis.SetPointDriverInfo.driveData.maxTorque
All of the reference variables of an axis are listed in the screen form:
Configuration -> Reference variables.
Resolution
For the resolution of the torque reduction, from V4.0 two options are available.
The setting in SIMOTION is made in the configuration data
SetPointDriverInfo.driveData.torqueReductionGranularity (standard motor)
or in
SetPointDriverInfo.linearMotorDriveData.forceReductionGranularity
(linear motor).
1. Setting: "STANDARD" (default setting) - resolution 0.006 %
The value of 4000H or 16384 (dec.) in the message frame corresponds to a
torque reduction of 100%.
In SINAMICS, P1544 must be set to 100 (default setting).
2. Setting: "BASIC" - resolution 1 %
The value of 64H or 100 (dec.) in the message frame corresponds to a
torque reduction of 100%.
In SINAMICS, P1544 must be set to 16384.
Page 67
MC-SMO-SYS
Axes and Drives in SIMOTION
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_05.68
Clamping value
(without unit)
The clamping value is entered in the force unit for the particular axis type,
i.e. in N, kN, ... (Newton) for linear axes or in Nm, kNm for rotary axes.
If a linear axis is implemented using a standard motor and a ballscrew, then the
motor reference torque must be converted to the "reference force" of the linear
axis. The following relationship is used for the conversion:
F = torquemotor x 2 x x (spindle / S) x (motor revolution/load revolution)
F = force
M = torque
S = spindle pitch (leadscrew.pitchVal)
= spindle efficiency (leadScrew.efficiency)
Motor revolution (Gear.numFactor)
Load revolution (Gear.denFactor)
Example
Clamping value
(as a percentage %)
When selecting the clamping value as a %, the required max. torque at the
drive can be directly entered in units of 0.01. The required maximum torque at
the drive of 0.37 Nm then corresponds to an input of 37.
When implementing a linear axes via a ballscrew at the motor, then a value of
628.0 must be entered into the system variable
userdefaultclamping.clampingvalue.
Page 68
MC-SMO-SYS
Axes and Drives in SIMOTION