04 Axes and Drives

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MC-SMO-SYSAxes and Drives in SIMOTIONPage 1

SITRAIN Training forAutomation and drive technology

Date: 09.02.2012File: MC-SMO-SYS_05.1

SIMOTIONSiemens AG 2012. All rights reserved.

SITRAIN Training forAutomation and Dr ive Technology

Axes and Drives in SIMOTION

Content Page

Connecting Electrical Drives ............................................................................................................... 4

Symbolic Assignment Between Control and Drive ............................................................................. 5Automatic or Manual Message Frame Selection ................................................................................ 6

Structure of Standard Message Frames (1) ....................................................................................... 7

Structure of Standard Message Frames (2) ....................................................................................... 8

Overview: Drive Coupling ................................................................................................................... 9

Technology Objects (TO) in SIMOTION ............................................................................................ 10

The "Axis" Technology Object ........................................................................................................... 11

Creating and Configuring an Axis ...................................................................................................... 12

The Basic Configuration of an Axis .................................................................................................... 13

Selectively Removing Drive Enable Signals ................................................................................... 14

Calling the Expert List ......................................................................................................................... 15Specifying Mechanical Data ............................................................................................................... 16

Parameterizing Default Settings ......................................................................................................... 17

Specifying Limit Switches and Maximum Velocities .......................................................................... 18

Specifying the Maximum Acceleration and Jerk ................................................................................ 19

Filtering the Actual Value for Master Value Coupling ......................................................................... 20

Position Control in SIMOTION ........................................................................................................... 21

Position Controller Optimization without Precontrol ........................................................................... 22

Position Control with Precontrol ........................................................................................................ 23

Selecting a Suitable Balancing Filter Type ......................................................................................... 24

Optimizing the Balancing Time Constant (vTc) ................................................................................. 25

Position Control with DSC the PROFIdrive DSC Structure ............................................................ 26

Position Controller Optimization with Precontrol and DSC ................................................................ 27


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Content Page

Dynamic Adaptation for Synchronous Axes ...................................................................................... 28

Checking the Dynamic Adaptation Using the Circularity Test ............................................................ 29Positioning and Standstill Monitoring ................................................................................................. 30

Open-Loop Speed Controlled Motion - Standstill Signal .................................................................... 31

Following Error and Velocity Error Monitoring ................................................................................... 32

Signal Flow Representation of the Closed-Loop Axis Control ........................................................... 33

Programming Traversing Motion ....................................................................................................... 34

Enabling and Disabling Axes ............................................................................................................. 35

Processing Motion Commands .......................................................................................................... 36

Transitional Behavior of Motion Commands ..................................................................................... 37

Program Advance for Motion Commands .......................................................................................... 38

Synchronous and Asynchronous Program Execution ........................................................................ 39

Dynamic Settings for the Positioning Command ............................................................................... 40

Start axis, Closed-Loop Position or Speed Controlled ...................................................................... 41

Stop Axis ........................................................................................................................................... 42

Continue Motion ................................................................................................................................. 43

Homing Axes with Incremental Measuring Systems ........................................................................ 44

Active Homing with/without Zero Mark . . . ........................................................................................ 45

Passive Homing with/without Zero Mark . . . ..................................................................................... 46

Adjusting an Absolute Encoder ......................................................................................................... 47

Setting the Reference System .......................................................................................................... 48

Diagnostics of Axes or Drives - Service Overview ......................................................................... 49

Diagnostics of a TO - Querying the System Variables ...................................................................... 50

Significance of the Service Display ................................................................................................... 51


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Content Page

Technological Alarms ....................................................................................................................... 52

Configuring Technological Alarms ..................................................................................................... 53Acknowledging Technological Alarms ............................................................................................... 54

Using the Technology Object Trace (1) ............................................................................................ 55

Using the Technology Object Trace (2) ............................................................................................ 56

If You Want to Know Even More ........................................................................................................ 57

Using Axis Data Sets ........................................................................................................................ 58

2. Adding an Encoder to an Axis ....................................................................................................... 59

Basic Configuration - Encoder Type and Mode ................................................................................. 60

Mode of Operation of an Incremental, Optical Sin/Cos Encoder ...................................................... 61

Settings for Incremental Encoders - "Cyclic Actual Value" ................................................................ 62

Mode of Operation of an Absolute Encoder ...................................................................................... 63

Settings for Absolute Encoders - "Absolute Actual Value" ................................................................ 64

Settings for Absolute Encoders - Encoder Type ............................................................................... 65

Settings for Travel to Fixed Endstop ................................................................................................. 66

Travel to Fixed Endstop - "Determining the Reference Torque" ...................................................... 67

Travel to Fixed Endstop - "Settings in the Command" ...................................................................... 68


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Connecting Electrical Drives

... via analog or stepping

motor interface

SIMODRIVE

611U

MASTERDRIVESMC

....via PROFIBUS-DP

For example

SINAMICS

S120

... via PROFINET

Interface to the The functional interface to the drive is the speed setpoint interface.drive Digital as well as analog, electric drives can be directly connected to a

SIMOTION C2xx. For SIMOTION P350 and SIMOTION D4x5, digital drives can

be directly connected via PROFIBUS or PROFINET and analog drives viaADI4 or IM174.

Drives on With connection via PROFIBUS or PROFINET all data between the drivePROFIBUS/ system and SIMOTION are exchanged via this medium. Standard messagePROFINET 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 messageframe type. The type of selected message frame defines the maximumsupported functionality of an axis. It goes without saying that in SIMOTION, theaxis can only execute the functions, which the connected drive also supports.

Axes that are operated in the positioning mode must be connected via theisochronous PROFIBUS or via PROFINET IRT to ensure correct functioning. It

is sufficient for simple speed-controlled applications to be connected to a "notisochronous" PROFIBUS DP or a PROFINET RT. In this way you can connectall standard DP slaves that do not support isochronous operation.

Analog drives/ analog drives can be directly connected at C2xx or via PROFIBUS at the ADI4stepping motors 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 toSIMOTION C or ADI4, or from the pulse encoder emulation of the converter.The corresponding digital I/Os are available for feedback signals and controllerenable signals.

From V3.2 and higher, stepping motors can also be directly connected to theC2xx.


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Symbolic Assignment Between Control and Drive

Advantages

Communication between an axis and drive is

automatically set up (PROFIdrive axis message

frames as well as addresses)

Message frame extensions and interconnections

in the drive are dependent on the selected TO

technology (e.g. SINAMICS Safety Integrated)

Axes and drives can be independently

configured from one another

Communication connections are automatically

established when configuring I/O on

SINAMICS I/Os

The assignment is kept even for address

offsets Activating/deactivating via the menu command:

Project -> using a symbolic assignmentInterconnection control

New in V4.2 The most significant innovation in the SIMOTION SCOUT engineering system isthe significantly simplified connection to the SINAMICS drive system. With thisstep, users are supported as a result of the essentially automated integration of

drives and their associated elements in SIMOTION SCOUT.Up until now, to connect drives according to PROFIdrive, users had to configurethe appropriate communication, both on the drive side as well as on the controlside. As result of the new symbolic assignment of technology objects (TOs) andI/Os to drive objects (Drive Objects/DOs), users no longer have to involvethemselves in the PROFIdrive communication with message frames andaddresses. The engineering system now takes care of all this.

For "Save and compile changes" or at the latest before a download, messageframes and addresses are automatically generated. Users only have todownload the project data into the target system.

New control The symbolic assignment is now realized using a new interconnection control.It is supported by technology objects axis, external encoder, cams, cam track

and measuring input. Further, the onboard I/Os of the devices SIMOTION D,CX32/CX32-2, Control Units for SINAMICS S120 as well as the TerminalModules and TB30 can now be symbolically assigned.

In this dialog, all pass-capable partners are hierarchically listed; connections arerealized symbolically by simply selecting the components to be interconnected.SINAMICS drives and/or devices and terminal modules with their available I/Oscan be selected in the control. In this case, only the pass-capable elements arelisted with symbolic identifiers; whereby even the terminal designations of themodules are listed.

Note If a project is upgraded to SIMOTION device firmware version V4.2 SP1, thenthe symbolic assignment can be subsequently selected. The assignments areautomatically determined from the logical addresses. Individual TOs and DOs

can be excluded from the symbolic assignment (refer to the next page)


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Automatic or Manual Message Frame Selection

PROFIBUS/ With the coupling via PROFIBUS/PROFINET, all information between the drivePROFINET system and SIMOTION is exchanged using standard message framescoupling according to the PROFIDRIVE profile V4.0. The structure and type of the

information being exchanged uniquely defines the number of the messageframe.

Message frame In the "Settings for ....." dialog, you can switch over to automatic or user-definedselection PROFIdrive message frame setting and/or automatic message frame extension

for the selected drive object.

Automatic PROFIdrive message frame setting: This setting (standard) isselected if the drive unit is to participate in the "Symbolic assignment" withSIMOTION. A PROFIdrive message frame (including message frame extension)is automatically determined with "Save and compile".

You must configure PROFIsafe message frames yourself; the configuration ofthe safety data block (SIDB) however is performed automatically.

User-defined: The following options are available for the user-defined setting ofthe process data transfer:

Semi-automatic message frame configuration (selection: "Automaticmessage frame extension" and "Permit automatic address adaptation".

With this setting, the PROFIdrive message frame is selected, necessarymessage frame extensions and address adaptations are performed by thesystem when "Save and compile" is selected.

Manual message frame configuration: With this setting, you select thePROFIdrive message frame and the message frame extension yourself, butleave the address adaptation to the system (select. "Permit automaticaddress adaptation").


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Structure of Standard Message Frames (1)

Standard message frame 1 (16 bit nset) Standard message frame 2 (32 bit nset, without encoder)

Standard message frame 4 (32 bit nset, with 2 encoders)

PZD number

Setpoint

1

CW 1

2

NSET_A

PZD number

Actual value

1

STW 1

2

NACT_A

PSD number

Setpoint

1

CW 1

4

CW 2

2 3

NSET_B

PSD number

Actual value

1

STW 1

4

STW 2

2 3

NACT_B

PSD number

Setpoint

1

CW 1

4

CW 2

2 3

NSET_B

5

Enc1_CW

PSD number

Actual value

1

STW 1

4

STW 2

2 3

NACT_B

6 7

Enc1_XACT 1

8 9

Enc1_XACT 2

5

Enc1_STW

PSD number

Setpoint

1

CW 1

4

CW 2

2 3

NSET_B

5

Enc1_CW

6

Enc2_CW

PSD number

Actual value

1

STW 1

4

STW 2

2 3

NACT_B

6 7

Enc1_XACT 1

8 9

Enc1_XACT 2

5

Enc1_STW

11 12

Enc2_XACT 1

13 14

Enc2_XACT 2

10

Enc2_STW. . .

Standard message frame 3 (32 bit nset, with encoder)

. . .

Standard Is designed for simple speed-controlled applications. The message framemessage frame 1 has a control and a status word via which the basic functionality regarding

activation, deactivation, pulse and controller enable is handled. A 16-bit data

word is used for transferring the speed setpoint. The actual speed value is alsotransferred back from the drive in 16 bits.

In SIMOTION, this message frame can only be used for the "speed axis"function.

Standard Is designed for more complex speed-controlled applications. In addition tomessage frame 2 the control and status word, the speed setpoint is transferred using a 32-bit data

word. The actual speed value is also transferred back from the drive in 32 bits.

In addition this message frame has a second control and status word whichhandles the "travel to fixed endstop" functionality (clamping torque must beconfigured in the drive, is not used in this form by SIMOTION for the "travel tofixed endstop" function).

In SIMOTION, this message frame can only be used for the "speed axis"function.

Standard Is designed for positioning applications. It also has an encoder control word,message frame3 an encoder status word and a 4-word interface to a measuring system.

SIMOTION functions, such as reference point approach and measuring input,can be implemented via this encoder control word.

In SIMOTION, this message frame can be used for the "positioning axis"function.


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Structure of Standard Message Frames (2)

Standard message frame 5 (32 bit nset, with 1 encoder + DSC)

Standard message frame 6 (32 bit nset,

with 2 encoders + DSC)

PSD number

Setpoint

1

CW 1

4

CW 2

2 3

NSET_B

5

Enc1_CW

PSD number

Actual value

1

STW 1

4

STW 2

2 3

NACT_B

6 7

XERR

8 9

KPC

6 7

Enc1_XACT 1

8 9

Enc1_XACT 2

5

Enc1_STW

PSD number

Setpoint

1

CW 1

4

CW 2

2 3

NSET_B

7 8

XERR

9 10

KPC

5

E1_CW

6

E2_CW

PSD number

Actual value

1

STW 1

4

STW 2

2 3

NACT_B

. . .

6 7

E1_XACT 1

8 9

E1_XACT 2

11 12

E2_XACT 1

13 14

E2_XACT 2

5

E1_STW

10

E2_STW

. . .

PSD number

Setpoint

1

CW 1

4

CW 2

2 3

NSET_B

7 8

XERR

9 10

KPC

5

MOMRW

6

E1_CW

SIEMENS message frame 105 (32 bit nset, with 1 encoder + DSC + torque reduction)

PSD number

Actual value

1

STW 1

4

STW 2

2 3

NACT_B

7 8

E1_XACT 1

9 10

E1_XACT 2

5

MSGW

6

E1_STW

Standard This message frame is designed for connecting a second encoder. It is used inmessage frame 4 SIMOTION for coupling positioning axes with a 2nd measuring system.

Standard Is intended, just like standard message frame 3 for positioning applications.message frame 5 However, it has two additional double words in the setpoint for transferring the

following error and the servo gain (KPC gain).

In SIMOTION, this extension is required for the DSC functionality (dynamicservo control). When this function is selected, the dynamic part of the positioncontroller is transferred from SIMOTION to the drive and calculated with thesampling frequency of the speed controller. As part of this process, the followingerror (XERR) and servo gain KPC are transferred from SIMOTION to the drive.Due to the higher sampling frequency in the drive, the position control can nowbe operated with a higher servo gain.

Standard Like standard message frame 4 with DSC, or standard message frame 5 with amessage frame 6 2nd encoder. This is used in SIMOTION for coupling positioning axes with a 2nd

measuring system.

SIEMENS SIEMENS message frames 102 to 106 are created from the associatedmessage frame standard message frames 2 to 6 by inserting an additional word in the setpoint102 . . . 106 (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. Thetorque limit is specified in the setpoint; in the actual value the drive amongothers returns whether the torque limit (current limit) was reached or not.

This extension is used in SIMOTION to implement the functions "Travel withtorque limit" and "Travel to fixed endstop".


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Overview: Drive Coupling

ADI4

StarterDrive monitorSimoComUStarterDrive

configurationDrive ES

15105105Preferred

message frame

Speed-controlled

axis-TO connection

1ms, 0.5 ms

granular3 msDP cycle clock

DP standard

slave

PROFIBUS

interface

MM410/420/440MCPosmo

S/CA/CD

611US120

MICROMASTER/

SINAMICS G120MASTERDRIVESIMODRIVESINAMICS

Isochronous on PROFIBUS DP(DRIVE)

Speed-controlled axis, positioning, synchronism, cam

Analog

drives

1ms, 0.5 ms granular

3

Proprietary

Drives on The following applies to drives connected to PROFIBUS DP: On an isochronousPROFIBUS MC PROFIBUS MC, only drives can be operated in the isochronous mode that also

comply with PROFIDRIVE-profile V4.0.

All other drives (standard slaves) can be connected to the isochronousPROFIBUS MC - but not operated in the isochronous mode.

The following drives are integrated in the STEP 7 project via the hardwareconfiguration:

SINAMICS S120

SIMODRIVE 611U

SIMODRIVE POSMO CA

SIMODRIVE POSMO CD

SIMODRIVE POSMO SI

ADI4

MASTERDRIVE MC

MASTERDRIVE VC

MICROMASTER 420/430/440

COMBIMASTER 411

MICROMASTER 420/430/440 and SINAMICS S120 can be configured,assigned parameters and commissioned directly with SIMOTION SCOUT.


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SITRAIN Training forAutomation and Drive Technology

Technology Objects (TO) in SIMOTION

Axis

Encoder

Outputcam

Cam

Measuringinput

Syn-

chronousoperation

Configu-rationdata

Systemvariable

Systemfunc-tions

Alarms

Configu-rationdata

Systemvariable

Systemfunc-tions

Alarms

Configu-rationdata

Systemvariable

Systemfunc-tions

Alarms

Configu-rationdataSystem

variable

System

func-tions

Alarms

Configu-rationdata

Systemvariable

Systemfunc-tions

Alarms

Configu-rationdata

Systemvariable

Systemfunc-tions

Alarms

Technology objects The technology objects in SIMOTION are provided in the form of technologypackages that can be loaded. Each of these technology packages providescomplete functionality for the technology in question. For instance, the "Position"

technology package includes all of the functions, which are required to traverseand position axes.

In SIMOTION, for each "physical" automation object, for example, an axis, anexternal encoder, a measuring input etc., an appropriate technology object (TO)is created (instantiated). Each TO in SIMOTION encompasses:

Configuration data: Using configuration data, the created objects are adaptedto the requirements of the specific task or application.

System data: In the system data, a TO provides information about its presentstate. The system data of an axis TO will therefore display information suchas position setpoint, actual position value, following error etc.

Using system variables, standard values and settings can also be read orentered.

System functions: Using system functions, the user program accesses thefunctionality to control the associated "physical" object. For example, for anaxis TO, there are powerful system functions available for positioning,reference point approach, stopping etc. of an axis.

For example, the motion sequences of an axis are specified using motioncommands issued to that axis. The user program can be used to query themotion status at any time and to control specific aspects of the motion.Motions can be aborted, overridden, appended, or superimposed.

Alarms:If an event (error, note) occurs on a technology object, the TO issuesa technological alarm.

The TO alarms cause subsequent responses in the system. For each alarm,certain effects are set as default. However, these settings can be adapted tothe specific requirements.


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The "Axis" Technology Object

Speed-controlledaxis

Positioningaxis

Synchronous

axis

4 versions

Speed-controlled axis Motion with speed setpoint

Specification of a velocityprofile (time-controlled)

Traversing with torque limiting

Positioning axis

Positioning via

Positioning command or via profile

input (velocity, position)

Traversing to a fixed endstop

Synchronous axis

Following axis in gearing or

camming operation

Path axis

Linear, circular and polynomial

interpolation in 2D and/or 3D

support of various kinematics

Pathinterpolationaxis

Axis TO The axis motion control functionality is implemented in SIMOTION using thetechnology object (TO) axis. When creating an axis with SIMOTION SCOUT, adistinction is made between the following axis technologies:

Speed-controlled axis: Motion control is performed using a speed setpointwithout position control. The actual speed is monitored if an encoder isconfigured for the axis.

Positioning axis: Motion control for position-controlled axes. The positionas well as the dynamics of the axis are specified. The operation is realized inthe closed-loop position controlled mode. The functionality of the speed-controlled axis is included in the positioning axis.

The positioning axis in SIMOTION has a position controller. With electricalaxes, the speed controller is implemented in the drive.

Synchronous axis: The functionality is identical with that of a positioning axis.In addition, additional functions are available for the master value coupling inthe form of gearing and camming

Path axis: From Version V4.1, SIMOTION provides path interpolationfunctionality. This functionality encompasses that of the positioning axis.Additionally up to 3 path axes can be traversed along paths. In addition,a position axis can be traversed synchronously with the path. Paths can becombined from segments with linear, circular, and polynomial interpolation in2D and 3D.

Further, using this technology, the following kinematics are supported:

- Cartesian linear aches

- SCARA

- Roller picker

- Delta 2D /3 D picker

- Articulated arm

The "Axis" technology object can be used for axes with electric drives, withstepping motors, hydraulic actuators/valve (hydraulic axis) and on virtual axes.


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Creating and Configuring an Axis

Usingexpert list

Usingparameterscreens

Configuration You will need to work through several steps before you can use technologyof TOs 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 andconfigure it.

Inserting an axis instance is implemented in the Project Navigator in thedirectory Axes, by double-clicking on the entry "Insert axis". The axis wizardthen 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 alsodetermines the "size", i.e. the number of configuration and system variables ofthe technology object.

It is therefore not possible to subsequently change properties such as speed-controlled axis, positioning axis, etc. If a speed-controlled axis TO is to beconverted into a positioning TO, it is necessary to delete the original speed-controlled TO and insert a new positioning axis TO.

Configuration data generally determines the static properties of a TO. Certainproperties determined by the configuration can also be changed during theruntime.


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The Basic Configuration of an Axis

Configuration

Associated drive

Associated encoder

Name and technology

of the axis

Basic configuration 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 generallyhydraulic axes) the following level is also available:

fast IPO

fast servo

Axis type: Under this dialog, axis type changes can be made (linear or rotaryand 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 associateddrive object can be changed.

Function: This part involves settings to an additional technology data block in themessage frame between the TO axis and drive object A technology data block isrequired 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 integratedin the drive.


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Selectively Removing Drive Enable Signals

Settings to the Here, there is the option, for technology alarms with local alarm responsedrive 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 faultresponse, e.g. initially to withdraw OFF3 (STW1.Bit2), and then when the driveis stationary and the brake is closed, the power is disconnected (OFF2)(STW1.Bit1).

Also when using the extended Safety Integrated function, an adaptation isabsolutely necessary at the drive. For an integrated stop response of the drive,withdrawing the AUS2 bit must be prevented, as otherwise the drive will coastdown in an uncontrolled fashion.

Stop modes for For a digital drive coupling, the Drive Technology profile provides the followingPROFIdrive stop modes:

STW1 bit 0 = 0 (OFF1): Stop with ramp.

The drive travels with a speed ramp with adjustable deceleration to zerovelocity. The stopping process can be interrupted and the drive switched onagain. After stopping, the pulses are suppressed and the status changes toready to start.

STW1 bit 1 = 0 (OFF2): Coast down

The drive immediately goes to pulse suppression and the status changes toswitch-on inhibit.

STW1 bit 2 = 0: Quick stop

The drive travels to zero velocity at the torque limit. The stopping processcannot be interrupted. After stopping, the pulses are suppressed and thestatus changes to switch-on inhibit.


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Calling the Expert List

General After the configuration the next step is to set the parameters for the technologyobject. Parameterization involves defining numerous functions in detail.

Like the configuration, parameterization is carried out using the SCOUTengineering system. Below the object in the project navigator window, there arethe appropriate entries, via which the individual screen forms can be called forparameterization (making the appropriate parameter settings).

The result of the parameter assignment is stored in configuration data andsystem variables for the object and included in the download to the targetsystem.

Expert List In addition to access to the configuration data and system variables via thewizards and parameter screen forms, you can also access the data directly viaan 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, forexample, gearbox ratios, hardware limit switches, maximum dynamic values,closed-loop control parameters, etc. are defined.

System variables: System variables are generally used to display statusinformation about the selected TO. For axes, this involves positions,velocities etc. From the user perspective, such data can only be read. Usingsystem variables that can be written to, a basic parameterizing interface tothe TO is also implemented. These include, for example, velocity override,preassigned values (default values) of velocity, acceleration etc. fortraversing 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 configurationdata and system variables.


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Load gear:

transmission ratioMeasuring gear:

transmission ratio

Specifying Mechanical Data

Automatically adapted; if

TypeOfAxis.DriveControlConfig.dataAdaption = YES

TypeOfAxis.NumberOfEncoders.Encoder_1.dataAdaption = YES

TypeOfAxis.NumberOfEncoders.Encoder_1.encoderMode = PROFIDRIVE

General After the configuration the next step is to set the parameters for the technologyobject. Parameterization involves defining numerous functions in detail.

Like the configuration, parameterization is carried out using the SCOUTengineering system. Below the object in the project navigator window, is a rowof tabs for displaying the individual screens for parameter settings.

The result of the parameter assignment is stored in configuration data andsystem variables for the object and included in the download to the targetsystem.

Mechanical When controlling a drive by means of the "Axis" technology object, SIMOTIONProperties uses only the speed setpoint interface and not the positioning interface. The

drive therefore has no information about traversing paths, etc. All mechanicaldata regarding lengths, leadscrew pitch, etc., must be defined in SIMOTION.

Automatic Using automatic adaptation, from V4.2 SP1, the relevant drive data (drive and

adaptation encoder data, as well as reference variables, maximum variables, torque limits,and the selectivity associated with torque reduction of the SINAMICS S120 fromv2.6.2) are transferred into the TO configuration when the CPU boots and do nothave to be manually set.

For a "Copy current data to RAM" or "Copy RAM to ROM", in a dialog, it ispossible to load the adapted values to the PG and therefore into the offlineproject.

If required, the adaptation can be activated in the expert list using the followingConfig data:

TypeOfAxis.DriveControlConfig.dataAdaption = YES

TypeOfAxis.NumberOfEncoders.Encoder_1.dataAdaption = YES

TypeOfAxis.NumberOfEncoders.Encoder_1.encoderMode = PROFIDRIVE


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Parameterizing Default Settings

Default value for The system always uses the default values if, when calling the system functions,Dynamic response 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 inthis 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 The velocity profile defines the axis response during approach, braking, andprofile velocity changes.

You can choose between the following profiles:

Trapezoidal: The trapezoidal profile is used for linear acceleration in apositive and negative direction of travel.

Smooth: The profile displays a smooth acceleration character and the jerkcharacteristic is controllable.

Presetting the Depending on the settings for maximum dynamic response, dynamic responsedynamic response values can be preset as default values in the system. You specify the settings

regarding maximum dynamic response using "Maximum velocity" and "Ramp-up/acceleration time up to maximum velocity".


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Specifying Limit Switches and Maximum Velocities

Assign

Hardware Traversing range limits are monitored by means of digital inputs and limitlimit switches 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/positivedirection of travel is connected.

From V4.2 and higher, the inputs for the hardware limit switches can also beeasily connected with the inputs of the CU of SINAMICS_Integrated. By clickingon the "" button, the assignment dialog is opened, in which the interconnectionwith the CU inputs can be made.

"Save and compile" is used to create the necessary message frames betweenthe CU and SIMOTION.

Software Software limit switches can be specified and activated. They are activated vialimit switches system variables (Swlimit.State). You can also specify in the "Homing" tab in the

configuration data: Homing.referencingNecessary whether the software limitswitch 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 In SIMOTION there are two velocity limits. SIMOTION automatically reduces tovelocities the minimum of the two values

Maximum velocity (configuration data): Defines the maximum axis velocity as aresult of the mechanical system and the drive.

Maximum programmed velocity (system variable): Permits a product-dependent

reduction of the maximum velocity.


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Specifying the Maximum Acceleration and Jerk

Acceleration, SIMOTION makes a distinction for acceleration and jerk between hardwarejerk limits in configuration data and software limits in system variables, which, for

example depending on the product, can be easily overwritten from the user

program.For programmed motion, the TO automatically reduces the acceleration and/orthe jerk to the minimum from the limits specified by the hardware and/orsoftware. Jerk limiting is only active for jerk-controlled motion, i.e. motionsequences with continuous acceleration.

If the "Direction dependent dynamic response" option is activated, then differentlimits for acceleration and jerk can be entered depending on the direction ofmotion.

Stopping with The set value is effective, if a moving axis is stopped in the "EMERGENCY OFFpre-parameterized mode" with the setting "Quick stop with actual value-related emergency stopbraking ramp ramp".

Time constant ... From V4.0 and higher, a time constant can be entered for smoothing themanipulated variable changes as a result of controller switching operations.

This switchover smoothing filter is active for all status transitions/switchovers inwhich an offset in the manipulated variable can occur due to the switchover.Gearbox change operations in the data block are not smoothed


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Filtering the Actual Value for Master Value Coupling

Master value For a synchronous group within a control system, synchronous operation iscoupling via realized taking into account the master value position, the velocity andactual value acceleration. For distributed synchronous operation, the master value position

and master value velocity are transferred between the master value andsynchronous object. At the synchronous object, acceleration is generatedthrough differentiation

If an encoder actual value is used as master value, then the measured actualvalue can be smoothed and extrapolated in order to compensate deadtimes.Deadtimes, occur when acquiring the actual values through bus communicationin the system and as result of the finite processing duration within the system.

Filtering the From V 4.1, the actual position value for the synchronous operation can beactual position 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 actualposition 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 The position is extrapolated based on the filtered or averaged velocity actualactual velocity value. This filter can be activated using the option "Filter on the actual velocity

value": The time for the average value generation or the PT1 filter time isentered under "Time constant.

The time for the extrapolation is entered under "Extrapolation time".Extrapolation is not performed if 0.0 is entered.

The extrapolated values (position and velocity) can be monitored in the systemvariable extrapolationData....

In addition, the velocity master value can be optionally generated from theextrapolated position master value through differentiation or the extrapolated

velocity master value can be used for synchronous operation.


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Position Control in SIMOTION

DSC operation

Feedforward control

Servo gain factor

IPO

Interpolator The interpolator processes the traversing commands which are issued e.g. fromthe user program to an axis. In each IPO cycle it calculates the position setpointof the axis while including the dynamic values such as acceleration, velocity etc.

in its calculation. This position setpoint is then entered into the position controllerafter fine interpolation.

Fine interpolation If there is a different sampling ratio between interpolator and position controller,the fine interpolator (FIPO)'s task is to generate intermediary setpoints.

For the configuration you can select in the "Fine interpolation" box between no,linear and constant speed interpolation.

Position control The position controller is responsible for controlling the actual position of theaxis. It is usually designed as P controller for electrical axes. The differencebetween the position setpoint and position actual value is used as the controldeviation 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 isdetermined in this case by the servo gain factor (or more precisely: 1/sg = risetime). The maximum possible servo gain depends on the dynamic properties ofthe drive (e.g. rise time, etc.) and mechanical properties of the axis (moment ofinertia, backlash, etc.) as well as on the set position control cycle (samplingtheorem).


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Unoptimized position control

Optimized position control

Position Controller Optimization without Precontrol

Velocity setpoint:

motionstatedata.commandvelocity

Actual velocity:motionstatedata.actualvelocity

Servo gain factor

Optimizing the Prerequisite for optimizing the position controller is that the current and speedposition controller 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 thetrace tool. The axis should accelerate, alternating between positive and negativevelocity. The axis acceleration should be selected so that the current limit is notreached.

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 followsthe specified setpoint velocity during axis acceleration without any overshoot.

In this case the setpoint and actual velocity/actual velocity and following error ofaxis can be recorded in the trace tool via the following system variables:

.motionstatedata.commandvelocity

.motionstatedata.actualvelocity

.positioningstate.differencecommandtoactualThese system values are determined in the interpolation. In particular, thismeans that all values which refer to the actual position/velocity are outdatedcompared to the associated values of the position control.


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Position Control with Precontrol

Position

setpoint

balancingfilter

Feedforward control

- SA

Act. position val.

* KV +

* KPC

nset

Dead time (transfer onPROFIBUS, rise time, ...)

Configurationdata.TypeOfAxis.NumberOfDataSets.DataSet_1.DynamicData.velocityTimeConstant

= vTc (velocityTimeConstant)

Expert mode

Interpolator

Symmetrization

time constant O

servoData.symmetricServoCommandVelocity

servoData.symmetricServoCommandPosition

servoData.controllerOutput

servoData.controllerDifference

servoData.compensatedServoCommandValue

sensorData.sensorData[1].actual velocity

sensorData.sensorData[1].position

servoData.followingerror

Velocity

setpoint

servoData.preControlValue

Precontrol The conventional position control concept (P controller) always requires adeviation (following error = FE) between position setpoint and actual positionvalue. This deviation can lead to unwanted axis behavior, e.g. contour errors, poor

dynamics (performance characteristics during rise time) etc.The task of the precontrol is to compensate these disadvantages. The precontrolcalculates the axis (setpoint) velocity directly from the position setpoints bydifferentiation, multiplies it with the KPC factor, then transfers it directly to theposition controller output. In the best case, the precontrol setpoint will cause theaxis to move at the velocity calculated by the interpolator.

If the actual axis position was immediately returned to the position controller, thenthe following error would be 0. The position controller would then only have to dealwith the task of correcting disturbance-induced fluctuations of the real actual axisposition with respect to the position setpoint.

Delay times Unfortunately, data processing and transfer as well as the rise time of the drivelead 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 positionsetpoint to the following error and returning the first actual position values to theposition 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 thespeed setpoint output to the drive when the axis starts would be too high. Thisexcessive speed setpoint would result in overshoot and/or unstable performancecharacteristics during drive rise time.

The increased speed setpoint is a result of the speed setpoint of the precontroland a component originating from the position setpoint supplied to the following

error. The actual value "missing" at the beginning of the motion will inevitablyresult in an increase of the following error and therefore output of an additionalspeed setpoint.


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Selecting a Suitable Balancing Filter Type

Selection in the input field "Balancing filter"

"Extended balancing filter active"

or via expert list (configuration data):TypeOfAxis.NumberOfDataSets.DataSet_1.ControllerStruct.

PVController.balancedFilterMode

PT1- filter Command value

Actual value+

-

time

Mode_1

nact

Extended

balancingfilter

timeMode_2

nact

Actual value

Command value

time

time

Balancing time Delay in returning the actual position value output compared to input of thevTc 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 thefollowing error should exactly compensate for the delay in the return of theactual position. This is the approximately the case if the balancing time vTc isset 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 thedisadvantage, that when accelerating, the delayed setpoints at the output do notmatch 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 thedeadtime in the position control loop. As a consequence, there is a smallpositive 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 encodersystem have already been fed back into the position control, while the PT1 filteris still delaying the setpoints that are applied. As a consequence, in the finalphase, there is a negative contribution added to the following error, andtherefore a negative contribution added to the speed setpoint that is output.

The result is generally an overshoot or undershoot of the speed setpoint that isoutput, and therefore the velocity actual value that cannot be resolved throughoptimization.

Expanded In SIMOTION, an additional filter was integrated, which better matches thebalancing filter characteristics of the actual values returned from the encoder system. Using this

filter (expanded balancing filter or Mode_2) the undesirable undershoot orovershoot issue can, to a large extent, be avoided.


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Optimizing the Balancing Time Constant (vTc)

KV = 80/s

vTc = 7.5 ms

Without DSCsensorData.sensorData[1].actual velocity



motionstatedata.actualvelocity

KV = 80/s

vTc = 1 ms

Without DSC

KV = 80/svTc = 25 ms

Without DSC

vTc optimum

vTc too small

vTc too large



Continuation The filter can be activated using the following configuration data in the expertlist: .NumberOfDataSets.DataSet[1].ControllerStruct.PV_Controller.

balanceFilterMode = Mode_2With "Mode_2", a dead time + PT1 filter is used, while Mode_1 uses a pure PT1filter.

Type of fine For selecting the precontrol, constant velocity fine interpolation must also beInterpolation 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 speedjumps would take place at the drive in the acceleration phase of the axis.

Determining the Then, the start values for the balancing filter time can be determined. These

start values for vTc 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 Then you can proceed to optimize the servo gain Kv for the axis in the usualvTc 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. SelectingvTc to be equal to Tequiv is only a first approximation.

Axis overshoots: In this case, vTc must be increased.


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Position Control with DSC the PROFIdrive DSC Structure

xset

xact,SIMOTION

Xact,SIMOTION

xact, drive

Tpc Tpc Tsc

Positioncontroller

Deceleration Fine interpolation(1 DP cycle)

Zero offsetand compensations

xact,motor

xDiff

S MOT ON rive

Speedfilter

ndrive

n set

nset (precontrol)Speedcontroller

Speedcalculation

Positioncalculation

(interpolator)

Speed controller cycle 125 us

Position controller cycle 1-2 ms

12

3

Dynamic Servo With the "Dynamic Servo Control" function, the dynamically active part of theControl (DSC) 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 responsein the position control loop. Better dynamic performance is achieved both for thecommand variable and for eliminating disturbances.

The structure of the DSC contains 3 branches for the feedback of the actualposition (nos. 1, 2 and 3). The feedback no.2 totally compensates the actual valueXact, which is transferred from SIMOTION to the drive (no. 1). Therefore the onlyrelevant feedback of the actual position is branch no. 3.

The DSC structure allows a dynamic switchover between conventional positioncontrol and operation with DSC. All monitoring functions as well as knowledgeabout the actual position (reference point) must be - independent of DSC -implemented only in SIMOTION.

SIMODRIVE 611 U DSC is supported by MASTERDRIVES (standard message frames 5 and 6MASTERDRIVES PROFIdrive) and SIMODRIVE 611U or SINAMICS S120 (in addition, messageSINAMICS S120 frames 105 and 106).

Scripts on the AddOn - CD (4_Accessories\Masterdrives\Scripts) are available tosupport commissioning of MASTERDRIVES.

Compensations The DSC function is not only used in the SIMOTION system, but also in all of theSIEMENS motion control systems, for example SINUMERIK. The SINUMERIKsystem uses, in the actual value branch, a wide range of compensations, forexample spindle pitch error, sag compensation etc. This means that in the positioncontrol loop of SINUMERIK, actual values from the drive are not directly input, butan 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 non-compensated actual value in the following error, i.e. the compensation "survives".


27/68






Position Controller Optimization with Precontrol and DSC

KV = 200/s

vTc = 2.5 ms

with DSC




motionstatedata.actualvelocity

servoData. precontrolvalue

Settings:

Activate precontrol,

Weighting factor: KPC = 100

Activate DSC operation

Activate expanded balancing filter (FilterMode = Mode_2)

Balancing time vTc = equivalent time of the speed control loop

Start value for VTc Using DSC and precontrol, it is only necessary to take into account thewith DSC operation 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 The optimum performance characteristics during rise time can be achieved byvTc changing vTc. vTc is set to the optimum value if the actual velocity of the axis

(.servodata.actualvelocity) follows the "delayed" setpoint velocity(.servodata.symmetricservocommandvelocity) by approx. 2 DP cycles.

The servo gain Kv can then be optimized in the usual manner.


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Dynamic Adaptation for Synchronous Axes

Sym.filter

Precontrol

- SA

Position actual value

* KV +

* KPC

n set

Dead time

Interpolator

A

servoData.compensatedServoCommandValue

Dynamic

adaptation T1, T2and deadtime

servoData.TotalServoCommandValue

Dead time

Configuration data.TypeOfAxis.NumberOfDataSets.DataSet_1.DynamicComp.enable = activation

Configuration data.TypeOfAxis.NumberOfDataSets.DataSet_1.DynamicComp.T1 = time constant T1

Configuration data.TypeOfAxis.NumberOfDataSets.DataSet_1.DynamicComp.T2 = time constant T2

Configuration data.TypeOfAxis.NumberOfDataSets.DataSet_1.DynamicComp.deadTime = dead time

Dynamic adaptation If, for the position controller optimization of axes, that will be subsequentlyfor synchronous operated in a synchronous group, different time constants were set, then theaxes 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 delayswhen entering the position setpoints into the position control. For example, theposition actual value of an axis in the constant velocity phase would always beobtained so that in the position controller the resulting system deviation is equalto 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 alwaysmoves a time 1/Kv = TLR after the position setpoint.

Further, it must always be observed, that either all axes are traversed in thesynchronous group with DSC or without DSC.

T1, T2, TRes As a result of the dynamic adaptation, a delay is created in the position setpointof the axis. The delay is caused by two PT1 elements and a resulting dead time.Using the configuration data:

TypeOf Axi s. Number Of Dat aSet s. Dat aSet _ 1. Dynami cComp. enabl e

the dynamic adaptation can either be activated or deactivated.

As resulting total time constant TRes the equivalent time constant of the axis withthe poorest dynamic performance is selected. T1, T2 and/or the dead time mustthen be set, so that the resulting equivalent time TRes is identical for all axes inthe synchronous group, i.e.:

TRes = T1 + T2 + dead time + vTc (1st case) TRes = T1 + T2 + dead time + TLR (2nd case)


29/68






Checking the Dynamic Adaptation Using the Circularity Test

"good" dynamic response adaptation

"Poor" dynamic response adaptation

Programmed

radius

"Actual"

radius

Circularity test From V4.0, the SIMOTION trace tool also includes a circularity test. For acircularity test, two axes are traversed along a circular path and the actual pathis 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 followingconfigurations:

The two axes interpolating with one another are real positioning axes:

The deviation between the programmed and actual radius provides ameasure of the following error (pythagoras). A deviation from a pure circularshape (rotated ellipse) indicates different following errors of the two axeswhen interpolating and therefore a poor dynamic response adaptation.

A good dynamic performance adaptation has been achieved, if the actualpath 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 wherethe programmed radius is the same as the actual radius.

This can only be achieved, if the axis precisely traverses without anyfollowing error even in the acceleration phase.


30/68






Positioning and Standstill Monitoring

servoMonitoring.positioningState

ACTUAL_VALUE_OUT_OF_POSITIONING_WINDOW

ACTUAL_VALUE_INSIDE_POSITIONING_WINDOW

STANDSTILL_MONITORING_ACTIVE

Positioning At the end of the positioning movement the movement of the axis into themonitoring 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 runtimespecified in "Positioning tolerance time". After the timer has expired, the actualposition value and the setpoint position value are compared. If the deviation isgreater than the value specified in the tolerance window "Positioning tolerancewindow", then fault message "Fault 50106: position monitoring" is output.

Standstill Standstill monitoring monitors the actual position of the axis at the end of amonitoring 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 hasreached the tolerance window for position monitoring, a timer is started with the"Minimum dwell time" runtime. After the time has expired, the standstillmonitoring 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 theactual 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" areequal to 0, the tolerance position window for standstill monitoring must begreater than or equal to the tolerance window for position monitoring.

Note From V4.1 and higher, in the system variables servoMonitoring.positioningStatethe status of the axis position is displayed during positioning:

INACTIVE (motion is active)

ACTUAL_VALUE_OUT_OF_POSITIONING_WINDOW

ACTUAL_VALUE_INSIDE_POSITIONING_WINDOW STANDSTILL_MONITORING_ACTIVE


31/68






Open-Loop Speed Controlled Motion - Standstill Signal

Standstill signal For traversing motion of speed-controlled, positioning and synchronous axes,the standstill signal (motionStateData.stillstandVelocity =ACTIVE) is generated,if the actual velocity is less than a configured velocity threshold for, as a

minimum, the duration of the delay time.For an Emergency Stop, below this velocity, motion is stopped with setpoint 0without an emergency stop ramp. If the command with "Attach" isparameterized, then the transition is realized with the output of the standstillsignal.


32/68






Following Error and Velocity Error Monitoring

Dynamic following error

monitoring

Velocity error

monitoring

Dynamic The task of the following error monitoring is to monitor for changes to thefollowing error following error in the traversing phase. Particularly noticeable changes occurmonitoring when e.g. the axis unintentionally moves against an obstacle.

The following error monitoring on the position-controlled axis is performed usingthe calculated following error. The maximum permissible following error iscalculated from the setpoint speed and the straight lines parameterized in thedialog box above. If this limit is exceeded, "Error 50102: dynamic following errormonitoring window was exceeded" is triggered.

With velocities less than the specifiable minimum velocity, a parameterizableconstant following error is monitored.

If several data sets are configured on the axis, the setting for the following errormonitoring must be identical in all data sets.

Velocity The velocity error monitoring monitors for possible deviations between theerror monitoring programmed setpoint and actual velocity. This monitoring function is active for

speed-controlled axes or for speed-controlled motion of positioning orsynchronous axes. For this monitoring function, an encoder must be connectedto the axis and be configured.

A PT1 model is emulated to monitor the controlled system. The input of the PT1element is supplied with the programmed setpoint velocity. The emulated"velocity actual value" is available at the output. The monitoring function isinitiated if the deviation between the emulated "velocity actual value" and theactual 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 theconfiguration data dynamicData.velocityTimeConstant or for hydraulic axes indynamicQFData.velocityTimeConstant .

When the velocity error monitoring response, "Alarm 50101 Window for

reference model monitoring exceeded" is output.


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Signal Flow Representation of the Closed-Loop Axis Control

Signal flow The dialogs under the "Signal flow" entry provide a functional view of the closed-loop 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 betracked via the position control up to the manipulated variable output. Thevariables 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 displayedat the cursor tool tip (this is important for trace recordings). Further, theparameter settings (configuration data), relevant for the control, can be directlyentered 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


34/68






Programming Traversing Motion

Single-axes commands to traverse axes

Set axis enable

Withdraw axis enable

Positioning to a target position

Start axis speed-controlled

Start axis position-controlled

Stop an axis

Reference an axis

Overview To traverse the axes that have been created, what are known as single-axiscommands are available in SCOUT. These commands can be inserted in theMCC chart via the associated toolbar in the MCC editor.

The group of single-axis commands especially includes the commands for open-loop or closed-loop controlled traversing of axes, as well as commands toenable axes, reference axes etc.

The commands to activate and deactivate cams as well as handle externalencoders are also included in this group.


35/68






Enabling and Disabling Axes

Switching axis This command switches the enable signals at the axis. The axis goes intoenables signals 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 positioncontrol for the axis. You can query the state of the position control using thesystem variable .servoMonitorings.controlState.

The position controller enable is ignored for speed-controlled axes.

Switch drive enable: This checkbox switches the drive enable. You can querythe state of the current drive enable for real axes using the the system variable.actorMonitorings.driveState.

Switch pulse enable: This checkbox switches the pulse enable in the drivemodule. You can query the state of the current pulse enable for real axes usingthe system variable .actorMonitorings.power.

The enable signals in STW1 according to the PROFIdrive profile can beindividually 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. Nomotion commands are executed in the follow-up mode. For positioning axes, inthe follow-up mode, the position control is canceled and the position setpointtracks 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 thetraversing mode. In the speed-controlled mode, the axis can be traversed if anencoder fails.

Remove axis This command automatically removes the position control enable for the

enable selected axis. In addition you can specify whether the drive enable and pulseenable are to be removed too. In the selection box "Follow-up mode", follow-upmode for the axis can be activated.


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Fineinterpolator

Positioncontroller

Interpolator

Commandbuffer

Processing Motion Commands

Fineinterpolator

Positioncontroller

Interpolator

Commandbuffer

End

Start

Pos(axis1)

Pos(axis2)

Pos(axis1) ?

MotionTask 1

?Axis 1

Axis 2

General Commands can be issued from all user program tasks of the system. Theexecution time of a command at the technology object is the only factor thatdetermines whether the command is effective.

A technology object does not have a task context, and therefore the priority ofthe task, which issued the command, has no significance for actually executingthe command. If commands are issued from multiple tasks, the user programmust ensure a consistent sequence of the processing.

Command buffer In order that several commands can be issued to an axis TO, every axis has acommand buffer. This buffer actually comprises four command group-specificsubbuffers, which can buffer a command from the one of the following commandgroups

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 coordinatesystem)

The interpolator at the axis reads out the command at the command buffer(possibly in the interpolator clock cycle) and processes it. Commands fromvarious command groups are, to a certain extent, processed in parallel by theaxis TO.


37/68






Transitional Behavior of Motion Commands

Position axis

Transitional behavior

Attach

Attach - deletepending command

Substitute

Blending

Superimpose

Transitional If a motion command is issued from a MCC chart and if a traversing motion isbehavior already active, you can specify in the "Transition behavior" parameter how to

process the issued motion command.

Substitute: The motion specified in the issued command becomes activeimmediately. The motion command being interpolated is interrupted.If the command buffer contains a command, it is cleared.

Attach and discard existing command: The issued command is entered inthe command buffer. If the command buffer contains a command, it iscleared. The active traversing motion (interpolator) is not affected.

Attach: The issued command is entered if the command buffer is empty.If the command buffer already contains a command, the call waits until thecommand buffer is empty and enters the command.

Blending: (like attach) blending is a particular form of two consecutivepositioning movements. Contrary to substitution, the motion in the previouscommand is traversed at the programmed velocity until the target position isreached, the transition takes place in the target position of the previousmovement.

The setpoint velocity specified in the command for the respective movementis adhered to at all times.

Superimpose: The issued motion is executed as a superimposed movement.Superimposed movements are independent movements that can canceleach other and can be independently stopped/resumed.

The superimposed motion is carried out in a superimposed coordinatesystem as relative or absolute movement depending on how it wasprogrammed. Analogously, the basic movement is carried out in the basiccoordinate system as relative or absolute movement depending on how itwas programmed.

TO Alarm Aborted commands in the interpolator trigger a technological alarm "30002Command aborted".


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Program Advance for Motion Commands

Motion start

Acceleration end

Start ofdecleration phase

End of the setpointinterpolation

Motion completed,i.e. position windowreached

Step to next commandimmediately

Setpoint

Setpoint

Actual

Actual

Position axis

Delay program execution

Program To synchronize programmed sequence and command processing in theadvance logical object, using the parameter "one command advance" it can be specified

as to when, after the command is issued, the program execution should be

continued. In this way, the system can wait until the motion has been partially orcompletely executed.

Do not wait: If, for a pos command in an MCC chart, the checkbox for theoption "Delay program execution" is not selected, only when selecting thetransition behavior "Substitute" does the system advance to the nextcommand.

If "Attach - delete pending command", "Blending" or "Superimpose" isselected in the transition behavior "Attach", then the system waits until theissued command has been entered in the command buffer.

When the option "Wait for program execution" is selected, the following settingsare available:

Start motion

End of acceleration Start of braking phase

End of setpoint interpolation

Motion completed, i.e. position window reached

Notes The full control over the immediate advance after issuing a motion commandis only possible using the system function calls in the ST language.

Interrogating the state of the command buffer is also only possible with STcalls (system function:_getstateofmotionbuffer(...) ).

In MCC the command buffer can be cleared using the "Clear commandqueue" command.


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Synchronous and Asynchronous Program Execution

POS (axis1,...)

POS (axis2,...)

Task x

Start of axis positioning;

Program changes to the nextcommand, without waiting forpositioning to be completed

Asynchronous execution

(e.g. forBackgroundTask,

IPOSynchronousTask, etc.)

Synchronous execution

(e.g. for MotionTasks)

POS (axis1,.

04 Axes and Drives

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