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Simotion Easy Basics reviewed Position limitations/secondary conditions: y Slave followingRangeEndP followingRangeStartP Master leadingRangeStartP leadingRangeEndP Fig. 17: Assigning position limitations to block parameters For segments with polynomial level 3, in addition to the starting and end points, the speeds at the start and end of the segment must also be specified. The speeds are, e.g. determined from the rates of change of the bordering segments (i.e. speed in the useful ranges). For segments with polynomial level 5, in addition, the acceleration rates at the start and end of the segment must be specified. The bordering segments have a constant speed which is why the acceleration is zero (Fig. 12). The speeds and acceleration rates are specified referred to the position of the master axis (not dy dy′ referred to the time!) - this means y ′ = or y′ ′ = . dx dx Speed limitations followingRangeStartDerivation1 (speed) followingRangeStartDerivation2 (acceleration) y Slave dy y = dx ′ Acceleration y limitations dx followingRangeEndDerivation1 (speed) followingRangeEndDerivation2 (acceleration) Master Version Date Page Document V3.0 15.11.04 40 User documentation Copyright © Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0.doc x x d y ′ ′ = Fig. 18: Assigning limitations to block parameters Every profile type requires a specific number of limitations - superfluous limitations are rejected.
Simotion Easy Basics reviewed segmentProfile Parameters required PROFILE_LINEAR - PROFILE_POLYNOMIAL_ ORDER_3 PROFILE_POLYNOMIAL_ ORDER_5 followingRangeStartDerivation1 followingRangeEndDerivation1 followingRangeStartDerivation1 followingRangeEndDerivation1 followingRangeStartDerivation2 followingRangeEndDerivation2 Parameters not taken into account followingRangeStartDerivation1 followingRangeEndDerivation1 followingRangeStartDerivation2 followingRangeEndDerivation2 followingRangeStartDerivation2 followingRangeEndDerivation2 Table 11: Limitations required for the profile types Up to and including Simotion Version 2.0, when calculating the curves in the standard range, maximum values could be exceeded. This is the reason that an application-based calculation can be carried-out. Minimum and maximum values of the slave position and speed are calculated using the “enableExtremeValues := TRUE” parameter. Additional runtime is required to calculate extreme values. For "enableExtremeValues := FALSE", the extreme values, which are shown in Fig. 14, are not calculated, and their value is set to zero. Position maxFollowingVal minFollowingVal Speed, slave maxFollowingDerivati minFollowingDerivati Fig. 19: Minimum and maximum of the position and speed Version Date Page Document V3.0 15.11.04 41 User documentation Copyright © Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0.doc - Master The _FB_AddSegmentToCam function block is started with the TRUE signal level at the "run" input parameter. With the value TRUE at the "done" output parameter and the value FALSE at "error" output parameter, a segment is calculated and the segment is then successfully added to the cam specified at the "cam" parameter. Different output parameters signal that the function block had not inserted the required segment into the cam. The "done" and "error" output parameters must be checked each time before calling the _FB_AddSegmentToCam function block. The calculated cam can be read back with a cam editor from SCOUT (CamTool or CamEdit) [10].
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