SIMOTION software - Gregbotos.com

6SIMOTION softwareRuntime softwareSIMOTION Technology packages■ Function (continued)"Measuring input" technology objectMeasuring input can be assigned to positioning and synchronousaxes, external encoders or virtual axes and supply the axisposition at the time of measuring.The following functions are available:• One-time measurement• Cyclic measurement (2 edges per IPO cycle in conjunctionwith TM17 High Feature)• Measuring on virtual axes (in conjunction with TM15 or TM17High Feature)• Parameterizable edge evaluation (rising, falling, both edges)• Dynamic resolution rangePositioning technology functions - POSABDC“The positioning axis” technology object• Supported axis types:- Linear axis, rotary axis- Modulo axis for linear and rotary axes- Real and virtual axis- Simulation axis• Position control for:Electrical axes- Position control with digital setpoint outputThe following PROFIBUS DP protocol is used for this purpose:Profile drive technology, PROFIdrive, Version 3(isochronous mode)Position control with analog setpoint output (on board I/O forC230-2, ADI 4)Hydraulic axes- Position control with analog setpoint output (on board I/O forC230-2, analog outputs for I/O range, ADI 4)The characteristics of the hydraulic valves are specified withcams.Stepper motors- Position control with pulse direction output for stepper drives(on board I/O for C230-2)The Motion Controller provides one pulse output per axis forthe position setpoint.Stepper drives can be operated without encoder or positioncontrolledwith encoder.• Position-controlled positioning:Axes can be manipulated individually without interpolationcontext by specifying, e. g.:- Axis name- Position-Velocity- Acceleration/deceleration, jerk- Transition behavior to next motion• Speed-controlled operation of positioning axes• Reversing block (prevents the output of setpoints which wouldcause a reversing motion)• Movement profiles on axis defined over cams:- Position over time- Velocity over time- Velocity over position• Force and pressure control of an axis:- Direct switchover from position to pressure-controlled operationand vice versa- Several pressure sensors possible- Pressure difference measurement• Force and pressure limitation of an axis• Force and pressure profiles specifiable over cams:- For closed-loop control and limitation- Force/pressure over time- Force/pressure over position• Traveling to a fixed stop point- Stop on reaching a following error limit- Stop on reaching a torque limit- Stop with defined torque• Traversing with adjustable torque limitation• Transition behavior of successive motions:- attach, i. e. each motion is completed and the axis stopsbetween motions (exact stop)- blend, i. e. the transition to the next motion begins whendeceleration starts- replace, i. e. the programmed motion is performed immediately.The active command is aborted.• An additional motion can be superimposed during an activemotion, e. g. an active positioning motion can be superimposedsimultaneously to a compensation motion.• Synchronized start of positioning axes• Referencing:The following referencing types are currently supported:- Active referencing/passive referencing (continuousreferencing)with reference bero and encoder zero markerwith external zero marker onlywith encoder zero marker only- Direct referencing/setting the home position- Relative direct referencing (shift by specified offset)- Absolute encoder referencing/absolute encoder calibration• Compensations and reference points:- Reference point offset- Backlash on reversal compensation- Static friction compensation- Sliding friction compensation for hydraulics- Drift compensation for analog drives• Encoder failover, second encoder:Up to two encoders can be specified for an axis:- For the position control, only one encoder is active at anytime.- The switchover between encoders can be performed immediately.- The actual value for the non-active encoder can be read withthe application program and used for specific monitoring, forexample.• Override:- Factors can be superimposed online on the current traversevelocity and acceleration/deceleration.• Programmable Motion Control- The motion programs can be assigned to the different executionlevels such as cyclic, sequential, event-driven or timecontrolled.6/8 Siemens PM 10 · 2005