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Simotion Easy Basics reviewed 5 Generating cams using the _FB_AddSegmentToCam In SIMOTION, cam can be generated in two ways: • While configuring the system using a cam editor (CamEdit or CamTool [9]) • During the runtime using the system functions _addPointToCam, _addPolynomialSegmentToCam or _addSegmentToCam. The function block _FB_AddSegmentToCam inserts a segment of a cam (Cam technology object) during the runtime. Contrary to the _addSegmentToCam system function, the polynomial coefficients to not have to be specified. The new segment can be adapted to the limitations (e.g. position and velocity) of the previous and subsequent segment in order to achieve a smooth motion transition. The cam synchronous operation in SIMOTION is described in 7]; the use of the technology object cam is explained in [8]. 5.1 Description Cam segments comprise effective ranges and motion transitions. Effective ranges are defined by the technological sequence in the machine itself. A detailed explanation of the terminology used in the following is provided in the Directive "VDI 2143 motion laws for cams" [6]. Slave Motion transition Fig. 15: Effective ranges and motion transitions for cams Effective range: Rest Constant velocity Reversal Master The motion transitions between the effective ranges must fulfill certain limitations - e.g. constant velocity and constant acceleration motion transition. This guarantees smooth drive operation, e.g. with low jerk. The segments are defined using mathematical functions between the starting and end points, e.g. polynomials. Version Date Page Document V3.0 15.11.04 38 User documentation Copyright © Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0.doc
Simotion Easy Basics reviewed Slave y k y i Limitations/secondary conditions: x i x k Starting point: Master and slave position Velocity Acceleration Master End point: Master and slave position Velocity Acceleration Fig. 16: Limitations/secondary conditions of a segment If the useful ranges change while a machine is operational, e.g. because of a modified product length, then the motion transitions must also be adapted. Useful ranges and motion transitions can be added to a cam using the function block _FB_AddSegmentToCam. In so doing, the limitations of the previous and subsequent segments can be taken into consideration. Contrary to the _addSegmentToCam system function, it is not necessary to calculate the polynomial coefficients. Three different mathematical functions can be applied to the segments. These will be known as profile types in the following: Profile type ("segmentProfile" parameter) Mathematical function PROFILE_LINEAR Polynomial, level 1 (straight line) PROFILE_POLYNOMIAL_ORDER_3 Polynomial, level 3 PROFILE_POLYNOMIAL_ORDER_5 Polynomial, level 5 Table 10: Using the various profile types Used to add Effective range (no motion and constant speed) Motion transition (constant-speed transition) Motion transition (constant-speed and constant-acceleration transition) In order to calculate a segment, the position limitations/secondary conditions must be specified for all profile types - refer to Fig. 13. Version Date Page Document V3.0 15.11.04 39 User documentation Copyright © Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0.doc
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