6DD1600-0BA1 - Siemens - Datasheet.Live

Function Blocks - SIMADYN D

10-1

Edition 12.2001

10 GMC blocks

10.1 MDCMP Compensation block for mode changeover

MDCMP

Reference position

―

RXP YPR

―

Pos. reference value output

Reference velocity

―

RXV YVR

―

Ref. velocity output

Setting value, position

―

RXPS CORDI

―

Correction value

Dynamic position offset

―

ROFS POVBO

―

Positive position overflow

Correction value for the position act. value

―

R XCP NOV BO

―

Negative position overflow

Relative velocity for compensation

―

RVMX DONBO

―

Compensation ended

Relative acceleration for compensation

―

RAMX QFBO

―

Group error

Jerk

―

RJRK

Position normalization

―

RNFX

Velocity normalization

―

RNFV

Axis cycle

―

DI AZ

Set position

―

BO SET

Correct position actual value

―

BO CP

Steady-state offset compensation

―

BO SOC

Dynamic offset compensation

―

BO DOC

Mode changeover

―

BO MOC

Compensation using forwards motion

―

BO FWD

Compensation using reverse motion

―

BO BWD

This block is used to smoothly (jerk-free) changeover synchronous

functions and to compensate an offset in the actual value channel.

When changing operating modes (e.g. from a gearbox synchronous

operation to cam disk), steps can occur in the position (XP) and velocity

setpoint (XV), which may not be transferred to the drive. The MDCMP

block generates internal compensation functions to compensate these

steps.

The compensation functions are subject to the specified velocity and

acceleration values.

The first of three functions of the block is setting the position value. As

long as the input SET = 1 (SET command), an internal offset (refer to the

block diagram dXP) is added to the position reference value XP. Output

YP then assumes the value YP = XSP. Generally, a step appears at

output YP. This means that this setting mechanism is only practical for

operation with the drive inhibited.

Symbol

Brief description

Mode of operation

GMC blocks

10-2

Function Blocks - SIMADYN D

Edition 12.2001

Compensation operations which might not have been completed, are

cancelled using the SET command (block diagram: dx = dv = 0). The

internal offset is steady-state. It remains unchanged until a new setting

function is executed, or a steady-state offset compensation is made.

The steady-state offset compensation is initiated by a rising edge at input

SOC. After this, the internal offset value is reduced smoothly (jerk-free) to

zero. If the SET and SOC inputs are simultaneously set to 1, the steady-

state offset compensation starts immediately after the SET command is

withdrawn.

SET

Set steady-state offset

SOC

dXP

Steady-state offset compensation

When the drive is powered-up, the setpoint generation function provides a

position reference value, which is different than the actual drive position.

In order to prevent inadmissible drive motion after it has been enabled,

output YP is set to the position actual value using the setting function. The

drive is then enabled.

In order to align the drive to a setpoint, the steady-state offset

compensation is activated. The drive then rotates to the reference

position XP.

DOC

OFS

Dynamic offset compensation

MOC

Mode changeover

The second block function is used to changeover modes (also in the

motion).

At the same time that a new mode is selected, a rising edge must be

connected to input MOC. Using this edge, the block senses the jump at

the position and velocity inputs, which occurred due to the mode

changeover. This initiates an automatic compensation operation, i.e. the

position and velocity of the old mode are transitioned, jerk-free to the

position and velocity of the new mode.

Steady-state

compensation

Example for SOC

Mode change

(MOC)

GMC blocks

Function Blocks - SIMADYN D

10-3

Edition 12.2001

Internal

steady-

state

offset

dXo

dVo

dAo

XPS

POV

NOV

COR

AZO

SET

FWD

Offset

compensation

OFS

SOC

DOC

MOC

BWD

dXP

x(t) v(t)

Block diagram

NFV

VMX AMX JRK

The third mode is used to compensate the offset in the position actual

value channel. If an offset is recognized when sensing the position actual

value, the actual value isn’t directly corrected, but instead via the setpoint

channel. This has the advantage that the setpoint and actual value

channels can be processed in different time sectors and the actual value

channel does not have to compute the offset compensation (computation

time).

Procedure: Initially, the offset is subtracted from the setpoint and from the

actual value as correction value. The setpoint is then transitioned to the

previous value (before the correction) using a compensation operation.

For applications with rotary axis (AZ > 0), there are three compensation

versions which can be selected for mode changeover (MOC) or steady-

state offset compensation (SOC):

AZ FWD BWD Motion direction ( * means any)

> 0 0 0 Shortest distance

> 0 0 1 Backwards

> 0 1 * Forwards

0* *

Shortest distance

If the position actual value and position reference value are to be changed

according to a step function, connections XCP and CP become effective.

The position change is entered at XCP at the same time as the setpoint

step, and is transferred as correction to the position actual value with

rising edge at CP. This function is required, e.g. if when "referencing on

the fly" the setpoint is to be adapted at the same time.

Offset

compensation

(DOC)

Direction of the

compensation

operation

XCP, CP

GMC blocks

10-4

Function Blocks - SIMADYN D

Edition 12.2001

Pre-assign.

XP Reference position 0.0

XV Reference velocity 0.0

XPS Setting value, position 0.0

OFS Dynamic position offset 0.0

XCP Correction value for the position actual value. With a rising edge at CP, the

position actual value is increased by XCP using corrective action (outputs

COR, POV, NOV).

0.0

VMX Maximum relative velocity for the compensation process. The compensation

process is superimposed on the synchronous operation (XV). This means

that the sum of XV and dv is effective at output YV, values can be obtained

which are greater than the rated drive velocity!

100.0

AMX Maximum relative acceleration for compensation. The effective acceleration

is the sum of the compensation and synchronous operation.

Units: Rotary axis [1/s²] linear axis [m/s²]

100.0

JRK Jerk = change in the acceleration per unit time for the compensation

operation.

Units: Rotary axis [1/s³] linear axis [m/s³]

JRK = 0, means no rounding-off.

1000.0

NFX Position normalization: Rotary axis: Number of LU per revolution

Linear axis: Number of LU

per meter

360000

NFV Velocity normalization: Factor to convert the application-specific speed

normalization into [rev./min] for a rotary axis or [m/min] for a linear axis.

Examples:

User normalization Conversion NFV

1/s 60 s/min 60.0

mm/s 0.001 m/mm ⋅ 60 s/min 0.06

1.0

AZ Axis cycle for the input and output position value 360000

SET Set position. For SET = 1, compensation operations which have not been

completed are cancelled.

CP Correct position actual value. The position actual value is increased by XCP

with a rising edge.

SOC Steady-state offset compensation, edge-triggered 0

DOC Dynamic offset compensation, edge-triggered. For SET = 1, the DOC input

is ignored.

MOC Mode changeover, edge-triggered. For SET = 1, input MOC is ignored. 0

FWD Compensation operation, always forwards; dominant with respect to BWD

(not evaluated for DOC)

BWD Compensation operation, always backwards; (not evaluated for DOC) 0

YP Output, position reference value 0.0

YV Output, velocity setpoint 0.0

COR Correction value for steps in the position reference value and actual value 0

POV Positive overflow of the position reference value (COR was subtracted) 0

NOV Negative overflow of the position reference value (COR was added) 0

I/O

GMC blocks

Function Blocks - SIMADYN D

10-5

Edition 12.2001

DON 0: Compensation operation (dynamic or steady-state offset compensation

and mode changeover active

1: Compensation operation completed

QF Group error: Initialization: Not sufficient working memory;

during operation: Inputs VMX, AMX, NFX, NFV must be > 0; JRK must be ≥

Computation time [µs] T400/PM5 20

FM458/PM6 7

Can be loaded online Yes

Can be configured in Interupt tasks

Cyclic tasks

Computed in Normal mode

Special features -

10.2 CAMSW Cam block with 2 cams

CAMSW

Position actual value

―

RXP QBO

―

Cam active

Velocity

―

RXV QNBO

―

Cam not active

Position normalization

―

RNFX Q1BO

―

Cam 1 active

Velocity normalization

―

RNFV QN1BO

―

Cam 1 not active

Axis cycle of the position actual value

―

DI AZ Q2 BO

―

Cam 2 active

Enable, forwards

―

BO ENF QN2 BO

―

Cam 2 not active

Enable, backwards

―

BO ENR QF BO

―

Group error

Reset mode

―

BO RM

Switch-in threshold 1

―

RXA1

Switch-out threshold 1

―

RXB1

Switch offset time 1 [ms]

―

RDT1

Switch-in threshold 2

―

RXA2

Switch-out threshold 2

―

RXB2

Switch delay time 2 [ms]

―

RDT2

The block forms a cam controller for 2 cams. For each cam, the position

and timing delay when switching-in/out can be individually defined. All of

the cams refer to the same position actual value XP and the associated

velocity XV.

A positive time delay (leading) can only be reliably executed for a velocity

which also remains approximately constant! Negative switching delay

times (lagging cams) are generated using a time delay independent of the

velocity. This means, that the velocity signal is only required for leading

cams.

Configuring data

Symbol

Brief description

GMC blocks

10-6

Function Blocks - SIMADYN D

Edition 12.2001

As a result of the velocity V, position X* is calculated delayed by switching

delay time DT. If this position lies within the switching interval between XA

≤ X* ≤ XB, output Q is set. For positive DT values, the switching time

instant is brought forward (deadtime compensation); it is delayed for

negative values.

If XA and XB are close to one another (extreme case XA = XB), then

when the interval is exceeded {XA, XB}, for a minimum of one sampling

time, output Q is set. This is also true, if X* skips the complete interval

{XA, XB} in one sampling time.

XA XB X

XAXB X

For the case XA > XB, the active cam range is at both ends of the range.

In the range {XB, XA}, Q = 0.

The direction of rotation can be changed in operation. For systems with

linear axis (AZI = 0) this is even the rule. If the cam is only to be effective

in one direction of motion, then only this is enabled (ENF, ENR). The

enable function is only effective for switch-in, but not for the switch-out. If,

e.g. ENF = 1 and ENR = 0, then output Q can only be set to 1 for forwards

motion (when XA is exceeded). If the direction of rotation changes with

the output active, then Q is set to 0 when the switching interval is exited.

ENF = 1

ENR = 0

DT = 0

The operating range of position actual value XP is limited to the range 0

≤ XP < AZI for systems with rotary axis (AZI > 0). If XP exceeds the value

AZI (or if XP falls below the value 0), then the position actual value jumps

by this value. This characteristic is emulated inside the block for delayed

cams.

A rising edge at one of the inputs POV or NOV is used to recognize a

position jump. When using input RM (reset mode), it can be arranged that

the cams can only be shifted within one cycle of the input sawtooth. For

RM = 1, an active cam becomes inactive with the position jump.

Mode of operation

XA = XB

XA > XB

Direction of

rotation

AZI

POV, NOV

GMC blocks

Function Blocks - SIMADYN D

10-7

Edition 12.2001

Examples

DT = 0

DT > 0

DT < 0

RM = 0 RM = 1

DT = 0

↔

DT = 0

↔

The velocity and position normalization are used to calculate the position

offset from the velocity XV and delay DT (specified in [ms]). The definition

is valid for any application-specific normalization of XV and XP.

Example:

60min

_====

ionnormalizatInternal

ionnormalizatUser

NFV

Pre-assign.

XP Reference position 0.0

XV Reference velocity 0.0

NFX Position normalization: Rotary axis: Number of LU per revolution

Linear axis: Number of LU

per meter

360000

NFV Velocity normalization: Factor to convert the application-specific speed

normalization into [rev./min] for a rotary axis or [m/min] for a linear axis.

Examples:

User normalization NFV

1/s 60.0

mm/s 0.06

1.0

AZ Upper limit value 360000

ENF Enable forwards motion 1

ENR Enable backwards motion 1

NFV, NFX

I/O

GMC blocks

10-8

Function Blocks - SIMADYN D

Edition 12.2001

RM Reset mode: For a 1, active cams are reset with the position jump. 0

POV Position overflow, positive (X was reduced by AZI) 0

NOV Position overflow, negative (X was increased by AZI) 0

XA1 Switch-in threshold, 1st cam; when reversing, acts as a switch-out threshold 1000.0

XB1 Switch-out threshold, 1st cam; when reversing, acts as a switch-in threshold

(default value: 0.6)

2000.0

DT1 Switching delay time 1st cam in [ms] 0 ms

XA2 Switch-in threshold, 2nd cam; when reversing, acts as a switch-out threshold 5000.0

XB2 Switch-out threshold, 2nd cam; when reversing, acts as a switch-in threshold 6000.0

DT2 Switching delay time 2nd cam in [ms] (default value 0.0) 0 ms

QGroup output cam active; Q1 to Q4 OR'd 0

QN Group output cam not active (inverse to Q) 1

Q1 Output cam 1 active (default value 0) 0

QN1 Output cam 1 not active (default value 1) 1

Q2 Output cam 2 active (default value 0) 0

QN2 Output cam 2 not active (default value 1) 1

QF Group error: Not sufficient working memory. 0

Computation time [µs] T400/PM5 28

FM458/PM6 9

Can be loaded online Yes

Can be configured in Interupt tasks

Cyclic tasks

Executed in Normal mode

Special features -

Configuring data

GMC blocks

Function Blocks - SIMADYN D

10-9

Edition 12.2001

10.3 CATCH Catch-up/shutdown

CATCH

Reference position

―

RXP YPR

―

Position ref. value output

Reference velocity

―

RXV YVR

―

Ref. velocity output

Shutdown position

―

RXPS CORDI

―

Correction value

Offset setpoint

―

RDYP POVBO

―

Positive position overflow

Local velocity

―

RVLC NOVBO

―

Negative position overflow

Max. compensation velocity

―

RVMX QSYBO

―

Synchronous operation

Max. compensation acceleration

―

RAMX QLCBO

―

Local velocity reached

Jerk

―

RJRK QSTBO

―

Standstill

Position normalization

―

RNFX QTRBO

―

Compensation operation active

Velocity normalization

―

RNFV DONBO

―

Compensation operation completed

Axis cycle

―

DI AZ QF BO

―

Group error

Position/speed-controlled

―

BO PN

Local/synchronous operation

―

BO LOC

Overcontrol permitted

―

BO OVD

Trigger

―

BO TRG

Enable

―

BO EN

The block is used to couple-in or couple-out a drive from a drive group. In

the coupled-out condition, the drive runs with any local velocity. This

velocity can also be zero.

The transition from local operation to synchronous operation (catch-up) or

vice-versa (shutdown) is realized using specified jerk and acceleration

values.

The block can either be operated in the position or speed-dependent

mode. In the speed-dependent mode, shutdown or catch-up is realized as

quickly as possible. The position at standstill or the offset between the

input position XP and the output position YP is random.

In the position-dependent mode, the shutdown or catch-up function is

super-imposed on a positioning function. In this case, the drive comes to

a standstill at the shutdown position, or, after the catch-up operation has

been completed, there is offset DYP between XP and YP.

The block has several operating modes. The transition from one mode to

another is realized using a rising edge at trigger input TRG (trigger event).

The mode inputs PN and LOC are then evaluated and compensation

started. Inputs XPS, DYP, AMX and JRK are only evaluated when there is

a trigger event. This means, that a change at one of these inputs only

becomes effective after a trigger event.

The mode after power-on is determined by the values at the inputs PN,

LOC, VLC and DYP during initialization.

Symbol

Brief description

Mode of operation

GMC blocks

10-10

Function Blocks - SIMADYN D

Edition 12.2001

PN LOC VLC Mode (this is set after compensation has been completed)

0 0 Any Speed-controlled synchronous operation. YP and XP are in

synchronism. The offset between XP and YP is random.

0 1 Not equal to

zero

Speed-controlled local operation. After compensation has been

completed, the block operates like a virtual master. The following

applies

TRG = 1 → changes at VLC are immediately accepted and

transferred to YV

TRG = 0 → the actual value of YV is kept

0 1 0 Closed-loop speed controlled shutdown. After braking has been

completed, YP is at any random position

1 0 Any Closed-loop position controlled synchronous operation. YP and XP

are in synchronism. The offset between XP and YP is DYP:

YP = ( XP + DYP ) modulo AZ

When changing the offset setpoint and a new trigger event, the

offset is compensated up to the new offset setpoint.

1 1 Any Closed-loop position controlled shutdown at position XPS.

When changing the shutdown position and a new trigger event

occurs, then the offset is compensated to the new shutdown

position.

Pre-assign.

XP Reference position 0.0

XV Reference velocity 0.0

XPS Shutdown position for shutdown in the closed-loop position controlled mode

(PN = 1)

0.0

DYP Offset setpoint for synchronous operation in the closed-loop position

controlled mode (PN = 1)

0.0

VLC Local setpoint velocity for local operation (LOC =1) in the closed-loop speed

controlled mode (PN = 0). A change is effective as long as TRG = 1.

0.0

VMX Maximum velocity for offset compensation. This is only valid if the setpoint

velocity remains unchanged (standstill or synchronous operation). This has

no significance for shutdown or when catching-up.

1000.0

AMX Maximum acceleration/deceleration for the transition statuses.

Units: Rotary axis [1/s²] Linear axis [ 1/m²]

50.0

JRK Jerk (da/dt, derivative of the acceleration [time])

Units : Rotary axis 1/s³] linear axis [m/s³]).

Example:

This means that for JRK = 2000,

acceleration is 50m/s² after 25 ms.

2000.0

NFX Position normalization: Rotary axis: Number of LU per revolution

Linear axis: Number of LU per meter

360000

Modes

I/O

2000

da ==

GMC blocks

Function Blocks - SIMADYN D

10-11

Edition 12.2001

NFV Velocity normalization: Factor to convert the application-specific speed

normalization into [rev./min] for a rotary axis or [m/min] for linear axis.

Examples:

User normalization Conversion NFV

1/s 60 s/min 60.0

mm/s 0.001 m/mm ⋅ 60 s/min 0.06

1.0

AZ Axis cycle for the input and output position value (O = linear axis) 360000

PN Speed or position-controlled operation (0 = speed-controlled; this means

XPS and DYP are not evaluated)

LOC Local velocity input or synchronous operation (0 = synchronous operation) 0

OVD Overcontrol (saturation) permitted: Synchronizing or shutdown is realized as

quickly as possible. In this case, YV can be briefly greater than XV. Motion in

the opposite direction to the reference is also permitted.

TRG Trigger to start a mode change or after changing an input quantity (XPS,

DYP, AMX, JRK, NFX or NFV). The rising edge at input TRG (0 →1) is

evaluated.

VLC is accepted level-dependent for TRG = 1.

EN Enable. For EN = 0 (not enabled) YP = 0 and YV = 0 1

YP Position reference value, output quantity 0.0

YV Reference velocity, output quantity 0.0

COR Correction value for position reference value jumps (steps) 0

POV Positive position reference value overflow (COR was subtracted) 0

NOV Negative position reference value overflow (COR was added) 0

QSY Synchronous operation: This is set to 1 as soon as XP and YP run in

synchronism

QLC Local velocity reached. This is set to 1 as soon as the transition status in the

speed-controlled local mode has been completed.

QST Standstill signal 0

QTR 1: Compensation operation operational 0

DON 1: Compensation operation completed 1

QF Group error: Not sufficient working memory 0

Computation time [µs] T400/PM5 23

FM458/PM6 8

Can be loaded online Yes

Can be configured in Interupt tasks

Cyclic tasks

Executed in Normal mode

Special features -

Configuring data

GMC blocks

10-12

Function Blocks - SIMADYN D

Edition 12.2001

10.4 EDC Engage/disengage

EDC

Reference position

―

RXP YPR

―

Position reference value, slave

Reference velocity

―

RXV YVR

―

Ref. velocity, slave

Axis cycle

―

DI AZ COR DI

―

Correction value

Coupling position

―

RXCP POVBO

―

Positive position overflow

Engage/disengage length

―

RDXL NOVBO

―

Negative position overflow

Ramp length

―

RRMP QSYBO

―

Synchronous operation

Rounding-off (percentage)

―

R DRP QST BO

―

Standstill

Position setting value

―

RSV QFBO

―

Group error

Set position

―

BO S

Start/stop trigger

―

BO SST

Start/stop continuous

―

BO SSC

Engage/disengage

―

BO ED

Enable

―

BO EN

This block is used to couple-in or couple-out a drive from a drive group,

dependent on the position when a specific trigger condition is present.

The position actual value XP at the input represents the reference

position of a master drive. Output YP is the position reference value for a

slave drive.

When engaging, the output status of the slave is standstill. Engaging is

activated using a trigger signal (SST or SSC). If the master XP exceeds

the coupling position XCP, the slave (YP) moves along the engaging

length distance DXL where it remains stationary.

SST

Engaging operation

Post-trigger range

DXL

SST

YV XV

Engaging operation with post-triggering

Post-triggering range

⋅

DXL

Engaging can be extended by one or several additional engaging lengths,

if additional trigger edges (SST = 0 → 1) occur while engaging. The

trigger edges must lie within the post-trigger range. After the start of the

delay, the trigger event only becomes effective after the next coupling

position is passed, whereby a new coupling position is only taken into

account after the system comes to a standstill.

During engaging, the master axis (reference position) moves through

Symbol

Brief description

Switch-in operation

GMC blocks

Function Blocks - SIMADYN D

10-13

Edition 12.2001

dXP = engaging length + ramp length = DXL + RMP.

When disengaging, the slave is initially in synchronism with the master

drive. If the master passes the coupling position after a trigger event, the

slave decelerates and then accelerates back to the synchronous velocity.

At each disengaging operation, the offset grows between the master and

slave by the disengaging length DXL.

Post-triggering, in order to implement an offset by additional disengaging

lengths, is possible up to the start of the synchronizing operation.

SST

Disengaging operation

Post-trigger range

DXL

SST

Disengaging operation with post-triggering

Post-trigger range

⋅

DXL

While engaging, the master axis moves through

dXP = engaging length + ramp length = DXL + RMP.

Engaging and disengaging is also possible when the drive reverses

(negative speeds). In this case, the operation starts when the coupling

position is not reached. The engaging/disengaging length then becomes

effective in the other direction. This means for XV < 0 and for DXL = 90°,

the slave moves through –90° when engaging.

In addition to edge-triggered operation, which has been described up until

now (with SST), continuous operation is also possible. Continuous

operation is active as long as SSC is set to 1. Furthermore, the following

prerequisites must be fulfilled:

• It involves a system with linear axis

• Or the coupling position is passed a second time before

engaging/disengaging has been completed.

In both cases, engaging/disengaging is continually extended by the value

DXL, until SSC is set to 0.

Switch-out

operation

Negative speed

Continuous

operation

GMC blocks

10-14

Function Blocks - SIMADYN D

Edition 12.2001

00XCP XCP XCP

SSC

Continuous engaging operation

00XCP XCP XCP

SSC

Intermittent engaging operation

For systems with rotary axis and one engaging/disengaging length

DXL < AZ - RMP

intermittent operation occurs. This means that engaging/disengaging is

completed before the coupling position is passed again. In this case, a

sequence of individual engaging/disengaging operations is obtained,

which start, when the coupling position is exceeded. The sequence is

continued as long as SSC = 1.

The signal characteristics of YP and YV are dependent on input quantities

XP and XV (position-dependent; not time-dependent!). This means, that

acceleration and rounding-off are defined as position-dependent

quantities. The acceleration ramp specifies the component of the distance

where the slave drive accelerates or decelerates (ramp length). The

rounding-off defines by how many percent the acceleration ramp is used

to establish the torque.

Ramp length and rounding-off

dYV

RMP

DRP

Rounding-off DRP

DRP = 0 %

DRP = 50 %

DRP = 100 %

Pre-assign.

XP Reference position 0.0

XV Reference velocity 0.0

AZ Axis cycle for input and output position value (O = linear axis) 360000

XCP Coupling position. Engaging/disengaging operations are started if XP

exceeds this position value (or falls below it for a negative speed)

0.0

DXL Engaging/disengaging length. Engaging operation: The slave is moved in

the actual direction of motion by DXL for each engaging operation.

Disengaging operation: The offset between the master and slave grows by

DXL.

360000

Intermittent

operation

Ramps, rounding-

off

I/O

GMC blocks

Function Blocks - SIMADYN D

10-15

Edition 12.2001

RMP Distance component, which is used for acceleration and deceleration.

The master moves through RMP for each acceleration/deceleration

operation; the slave only moves through 50% of RMP/2. (Caution: This

occurs 2x per engaging/disengaging operation)

120000

DRP Component of the acceleration/deceleration ramp as a percentage, which is

used to ramp-up and ramp-down to the maximum acceleration. Permissible

range 0 ≤ DRP ≤ 100

10 %

SV Position setting value 0.0

SSet position reference value YP = SV 0

SST An engaging/disengaging operation is started, triggered by an edge. This

can be used to extend the operation, if a new 0→1 edge occurs within the

post-trigger range.

SSC An engaging or disengaging operation is started as a function of a level, for

continuous or intermittent operation.

ED Operating mode selection: 0: Disengaging 1: Engaging 0

EN Enable. For EN = 0 (not enabled), YP = 0 and YV = 0 1

YP Position reference value for the slave drive 0.0

YV Reference velocity for the slave drive 0.0

COR Correction value when jumping to YP due to the limit to the axis cycle for

systems with rotary axis.

POV For the position correction YP = YP - COR, POV is set to 1 for the duration

of a machining cycle (position overflow for a positive direction of rotation).

NOV For the position correction YP = YP + COR, NOV is set to 1 for the duration

of a processing cycle (position overflow for a negative direction of rotation).

QSY Synchronous operation: Indicates that the master axis and slave axis are in

angular synchronism

QST Standstill: Indicates that the slave velocity YV = 0. 0

QF Group error; this is always set, if YFC is not equal to zero. 0

Computation time [µs] T400/PM5 20

FM458/PM6 7

Can be loaded online Yes

Can be configured in Interupt tasks

Cyclic tasks

Executed in Normal mode

Special features -

Configuring data

GMC blocks

10-16

Function Blocks - SIMADYN D

Edition 12.2001

10.5 NAVMC Speed/position actual value sensing

NAVMC

Hardware address

―

GAD YVR

―

Speed actual value

Encoder pulse number

―

DI PR YP R

―

Position actual value

Reference speed

―

RRS YPSR

―

Position when synchronizing

Master/slave

―

BO MS YDS R

―

Offset actual value

Mode, hardware

―

W MHW SS BO

―

Position for synchronization set

Mode, software

―

W MSW SYP BO

―

Synchronizing pulse

Axis cycle (max. position value)

―

DI AZ COR DI

―

Corrective value

Reset position

―

BO R POV BO

―

Positive position overflow

Set position

―

BO S NOV BO

―

Negative position overflow

Position setting value

―

RSV QFBO

―

Group error

Setting value for synchronization

―

R SVS YFC W

―

Error code

Pos. ref. value for synchronization

―

RXPS

Enable synchronization

―

BO SP

POV: Subtract position correction

―

BO CP

NOV: Add position correction

―

BO CN

COR: Position correction value

―

DI DYP

Normalization, YP numerator

―

DI NPN

Normalization, YP denominator

―

DI NPD

Gear factor, numerator

―

DI NM

Gear factor, denominator

―

DI DN

Digital speed sensing with pulse encoder with the following features:

• The machine speed or velocity is sensed with a normalization which

can be specified (e.g.: in [rev/min], [Hz], [m/min], [mm/s] ....) and

taking into account a gearbox between the encoder and machine.

• The machine position is sensed with a normalization which can be

specified (e.g.: in [0.01°], [m], [mm], ....) and taking into account a

gearbox between the encoder and machine.

• Position sensing according to the master-slave principle. This means

that the block, configured as master, senses all of the slave position

actual values which are assigned to it, at the same time.

• A synchronizing pulse is monitored and output (e.g. zero pulse). This

pulse is used to correct the position actual value.

• The position actual value is corrected to synchronize the sawtooth

signal at the position output (rotary axis) with a reference sawtooth

(virtual or real master)

• A sawtooth signal is automatically generated when operated as real

master.

Symbol

Brief description

GMC blocks

Function Blocks - SIMADYN D

10-17

Edition 12.2001

The block must be configured in a sampling time ≤ 20 ms. The maximum

pulse frequencies, which are dependent on the module, should be

observed at the encoder inputs.

A master-slave configuration is formed using NAVMC blocks, which are

configured in the same sampling time. The block which is configured first,

becomes the master by setting input MS to 1. All of the following blocks in

the execution sequence with MS = 0 are assigned to this master as slave.

The master saves the counter statuses for the encoder pulses which it

received in the last interval and the required time. It does this for itself and

all of the slaves which are assigned to it. This means that the position and

speed values of all blocks in a master-slave configuration are referred to

precisely the same instant.

The following schematic applies for speed and position:

Motor

Gearbox

Machine

YP, YV

Output Y indicates the machine speed according to the following formula:

encoderspeed

⋅

min

Any speed or velocity normalization can be implemented using the

reference speed RS.

Required units for YV Machine feed per revolution Value for RS

Revolutions / min Any 1.0

Hz Any 60.0

m / min 0.335 m 1 / 0.335 = 2.985

Inch / s 22.5 inch 60 / 22.5 = 2.66667

The position outputs YP, YPS, YDP and COR have the basis unit LU

(length unit). If angular degrees are to be used for rotary axis systems, we

recommend 1 LU = 0.001° as base unit; for linear axis systems, 1 LU = 1

µm.

Essentially, any basis unit can be selected. However, it should be

observed that 1 LU is the finest system resolution. This means that

several inputs and outputs are exclusively implemented as integer values

(type DINT). This prevents rounding-off errors from being summed, and

guarantees long-time stability of the position sensing.

The position actual value is calculated as follows

Mode of operation

Speed

Examples

Position

GMC blocks

10-18

Function Blocks - SIMADYN D

Edition 12.2001

∑∑

+⋅⋅= DYP

NPN

pulsesencoderYP

The quotient NPN / NPD defines the basic unit. In this case, NPN

specifies the required position value, and NPD, the required number of

encoder pulses. (Please note: An encoder with 1024 pulses per revolution

generates 4 ⋅ 1024 = 4096 pulses per revolution, as each signal edge is

evaluated.)

For an encoder with 2048 pulses/revolution, one revolution should be

emulated on a linear system with 1 LU = 0.1 mm. One machine revolution

represents a feed of 525.8 mm.

NPN = 5258; ( 5258 ⋅ 0.1 mm)

NPD = 8192; ( 4 ⋅ 2048 )

This data is also valid if a gearbox is located between the motor and

machine, as this is taken into account using the gearbox factor (NM, DN).

For rotary axis systems, a position overflow at YP must be prevented.

This means that YP must be cyclically corrected (e.g. after every

revolution) by the distance it moved through (axis cycle). This generates a

sawtooth signal at output YP (at constant speed). Various techniques are

available.

1. A synchronizing signal is used to reset (hardware; e.g. zero pulse). In

this case, YP is optionally set to SVS, or the value SVS is subtracted

from YP (refer to MSW).

2. Corrected by the value DYP with a rising edge at inputs CP and CN.

These signals are generally supplied from the setpoint channel. This

technique should not be simultaneously combined with the two other

techniques.

3. The sawtooth signal is internally generated. In this case, bit 11 of

MSW must be set to 1. If YP exceeds the value AZ, then YP is set to

YP – AZ. If YP falls below 0, YP is set to YP + AZ.

At each correction, the absolute corrective value is output at COR. For a

positive overflow, COR is subtracted from YP and output POV is set for

the duration of a cycle. For a negative overflow, COR is added to YP and

a pulse is generated at output NOV.

If a correction with the same sign (polarity) is made in two or more

consecutive sampling times, the correction is shown alternating at POV

and NOV. The sign of COR is adapted, so that subsequent blocks can

execute the correction with the correct sign.

Example

Sawtooth

generation

POV, NOV, COR

GMC blocks

Function Blocks - SIMADYN D

10-19

Edition 12.2001

Bit(s) Function Value

Significance

2 ... 0 Hardware filter Encoder type 1 Encoder type 2

000 No filter No filter

001 500 ns 125 ns

010 2 µs Not permissible

011 8 µs Not permissible

100 16 µs Not permissible

Otherwise

Not permissible Not permissible

5 ... 3 Coarse pulse evaluation Mode Logic

(only influences T400) 000 0 Coarse pulse ignored

001 1 Coarse pulse ignored

010 2 Coarse pulse and 1st fine pulse

011 3 Coarse pulse and each fine pulse

100 4 Coarse pulse, inverse and 1st fine pulse

101 5 Coarse pulse, inverse and each fine

pulse

Otherwise

> 5 Coarse pulse ignored

6Synchronization 0Via the zero pulse

1Via the trigger signal (only possible for IT41)

7Edge evaluation 0Direction of rotation dependent (always the same

position value)

1Always the rising edge of the zero pulse

8Source of the track signals 0From terminal XE1 of T400

(involves encoder 1 at T400) 1From the basic drive converter/inverter via

backplane bus

9Source of the zero pulses 0From terminal XE1 of T400

(involves encoder 1 at T400) 1From the basic drive converter/inverter via

backplane bus

10 Encoder type 0Encoder type 1: Two tracks offset through 90°

Max. frequency: 1 MHz

Pulse quadrupling

1Encoder type 2: Every direction of rotation has its

own pulse track

Max. frequency: 2.5 MHz

No pulse quadrupling!

Hardware mode

MHW

GMC blocks

10-20

Function Blocks - SIMADYN D

Edition 12.2001

Bit(s) Function Value Significance

6 ... 0 Measuring interval for

standstill identification

0 ≥ X ≥127 If no track pulses are recognized after X+1

sampling cycles, the speed actual value YV is set

to 0.

7 Not used

8 Behavior for S = 1 0 Set position value: YP = SV

1 Subtract setting value: YP = YP – SV

10 .. 9 Behavior for synchronization 00 Set position value: YP = SVS

(zero pulse) 01 Subtract setting value: YP = YP – SVS

prerequisite: SP = 1 1* YP is not influenced. Synchronization only

updates YPS and YDP. ( ‘*‘ = any)

11 Enable internal 0 Position YP is not limited

sawtooth generation 1 Limiting: 0 ≤ YP < AZ; with automatic POV /

NOV generation for overflow/underflow.

Pre-assign.

AD Hardware address

PR Encoder pulse number (this may not be 0! ) 1024

RS Reference speed; YV = speed [RPM] / RS; (this may not be 0!) 1.0

MS Master/slave 1

MHW Hardware mode 0x0002

MHS Software mode 0x007F

AZ Axis cycle for automatic sawtooth generation and determining the offset

(this may not be negative)

360000

RReset position 0

SSet position 0

SV Setting value for input S 0.0

SVS Setting value for synchronization 0.0

XPS Position reference value for synchronization. This is used to calculate the

offset

0.0

SP Synchronization enable 0

CP Subtract corrective value DYP from YP (positive overflow) 0

CN Add corrective value DYP to YP (negative overflow) 0

DYP Corrective value for the position actual value 0

NPN Normalization for position; numerator (this may not be 0!) 1

NPD Normalization for position; denominator (this may not be 0!) 1

NM Gearbox factor; numerator (this may not be 0!) 1

DN Gearbox factor; denominator (this may not be 0!) 1

YV Velocity actual value 0.0

Software mode

MSW

I/O

GMC blocks

Function Blocks - SIMADYN D

10-21

Edition 12.2001

YP Position actual value 0.0

YPS Position actual value for the synchronizing event (zero pulse). 0.0

YDS Offset actual value = ( XPS – YPS ) modulo AZ 0.0

SS The position actual value was set as a result of a synchronizing pulse.

Prerequisite: SP = 1 and mode MSW bit10 = 0.

SYP Synchronizing pulse was recognized. This is generated for a processing

cycle at each synchronizing signal, independent of SP and MSW.

COR Corrective value for the position actual value. If the position actual value

changes due to CP, CN, synchronization or automatic sawtooth generation,

the absolute value of the change (signed) is indicated at COR.

POV For the position correction YP = YP - COR, POV is set to 1 for the duration of

a processing cycle.

NOV For the position correction YP = YP + COR, NOV is set to 1 for the duration

of a processing cycle.

QF Group error, this is always set, if YFC is not equal to zero. 0

YFC Error code (refer to the table) 0x0000

Bit Significance

0At least one of the block inputs PR, RS, DN, NM, NPN or NPD has the value zero.

1The block was configured in a sampling time > 20 ms.

2Illegal filter setting

3Block was configured as a slave; no master was found (in the same sampling time and in the

execution sequence before the slave).

4Master and slave are not configured in the same sampling time.

5Several masters are configured at the same hardware address.

6Master and slave are configured at the same address.

7AZ is negative.

8The measured sampling time was > 20 ms.

Computation time [µs] T400/PM5 30

FM458/PM6 10

Can be loaded online Yes

Can be configured in Interupt tasks

Cyclic tasks

Executed in Normal mode

Special features -

YFC error codes

Configuring data

GMC blocks

10-22

Function Blocks - SIMADYN D

Edition 12.2001

10.6 POSREG Position register reading

POSREG

Hardware address

―

GAD REGDI

―

Position register

Enable

―

BO EN QF BO

―

Group error

The function block is used for an event driven position sensing for

incremental encoders. It has to be calculated in an interrupt task which

becomes active with the event (e.g. at the rising edge of a binary input).

The function block should be used in combination with the position

sensing block NAVMC. The NAVMC has to be configured in a cyclic task

and it is responsible for normalization and setting function for the position

actual values.

This kind of event-driven position sensing should not be applied if the

corresponding NAVMC is configured in a master-slave-group where all

position values have to be sampled absolutely synchronous.

The function block latches the pulse counter of the corresponding

incremental encoder register and outputs the counter status at REG. This

output has to be connected to the input REG of the NAVMC which is

assigned to the same hardware address.

NAVMC calculates the corresponding position actual value and outputs it

at YPI. Any change of YPI will cause a pulse at the output QPI.

REG

YPI

POSREG

REG

NAVMC

QPI

Alarmtask

Zyklische Task

Lage zum Alarmereignis

Pre-assign.

AD Hardware address

EN Enable ‘1’ : function block is processed 1

REG Actual status of the position register of the incremental encoder. Connect

this output to the input REG of the corresponding NAVMC.

QF Group error: not enough memory 0

Symbol

Brief description

Mode of operation

I/O

GMC blocks

Function Blocks - SIMADYN D

10-23

Edition 12.2001

Computation time [µs] T400/PM5 2

FM458/PM6 1

Can be loaded online No

Can be configured in Interrupt tasks

Cyclic tasks

Executed in Normal mode

Special features -

10.7 PHSFT Phase shifter

PHSFT

Position actual value 1

―

RXP1 YPR

―

Position value shifted

Position actual value 2

―

RXP2 YVR

―

Velocity setpoint

Reference velocity 1

―

RXV1 CORDI

―

Corrective value

Reference velocity 2

―

R XV2 POV BO

―

Positive overflow

Axis cycle

―

DI AZ NOV BO

―

Negative overflow

The block shifts a position value by one offset value and limits the result

to a specified axis cycle. It can either involve a steady-state or dynamic

offset value.

The position output YP is obtained as follows

YP = ( XP1 + XP2 ) modulo AZ.

A sawtooth signal is obtained at YP which is offset with respect to XP1

and XP2. For a positive position overflow, YP jumps from a high to a low

value. A pulse is generated at output POV for 1 sampling time.

For negative velocities, a negative position overflow occurs, whereby YP

increases by the value AZ, and a pulse is generated at output NOV for

one sampling time. For a dynamic offset value, its rate of change must be

entered at input XV2. XV1 and XV2 must have the same velocity

normalization!

Pre-assign.

XP1 Position actual value 1 0.0

XP2 Position actual value 2 0.0

XV1 Reference velocity 1 0.0

XV2 Reference velocity 2 0.0

AZ Axis cycle of the position inputs and outputs (0 means linear axis) 0

YP Shifted position value: YP = ( XP1 + XP2 ) modulo AZ 0

YV Velocity setpoint: YV = XV1 + XV2 0.0

Configuring data

Symbol

Brief description

Mode of operation

I/O

GMC blocks

10-24

Function Blocks - SIMADYN D

Edition 12.2001

COR Correction value around YP jumps if the range 0 ≤ YP < AZ is exceeded or

fallen below.

POV For a positive position overflow, POV is set to 1 for a processing cycle. 0

NOV For a negative position overflow, NOV is set to 1 for a processing cycle. 0

Computation time [µs] T400/PM5 10

FM458/PM6 3

Can be loaded online Yes

Can be configured in Interupt tasks

Cyclic tasks

Executed in Normal mode

Special features -

10.8 ADDAZ Adder with axis cycle limiting

DDAZ

Axis cycle

―

DI AZ YP R

―

Position value shifted

Position actual value 1

―

RXP1

Position actual value 2

―

RXP2

Position actual value 3

―

RXP3

Position actual value 4

―

RXP4

Position actual value 5

―

RXP5

Position actual value 6

―

RXP6

Position actual value 7

―

RXP7

Position actual value 8

―

RXP8

The block adds 8 position values and limits the result to the specified axis

cycle.

The position output YP is obtained as follows

AZXPiYP

mod)(

∑

Output YP is limited to the range 0 ≤ YP < AZ. For a positive position

overflow, YP jumps back from a high (approx. AZ) to a low value (approx.

0).

Configuring data

Symbol

Brief description

Mode of operation

GMC blocks

Function Blocks - SIMADYN D

10-25

Edition 12.2001

Pre-assign.

AZ Axis cycle for the position output and all position inputs (0 means linear axis) 360000

XP1 ... Position actual values 1 to .. 0.0

... XP8 ... position actual value 8 0.0

YP Position output value: (sum of XP1 to XP8) modulo AZO 0

Computation time [µs] T400/PM5 5

FM458/PM6 2

Can be loaded online Yes

Can be configured in Interupt tasks

Cyclic tasks

Executed in Normal mode

Special features -

10.9 SPLINE Cam disk with 32 points (calculation)

SPLINE

Type

―

ITYP FKTDI

―

Result functions (pointer)

Start calculation

―

BO CAL QF BO

―

Input error

Linear sections 1

―

WLM1

Linear sections 2

―

WLM2

Abscissa value, point 1

―

RX1

Ordinate value, point 1

―

RY1

Abscissa value, point 2

―

RX2

Ordinate value, point 2

―

RY2

―

Abscissa value, point 31

―

RX31

Ordinate value, point 31

―

RY31

Abscissa value, point 32

―

RX32

Ordinate value, point 32

―

RY32

The SPLINE block calculates a characteristic comprising up to 32 points.

The result of the calculation is provided in tabular form as 3rd order

functions. This segmentation means that the complicated calculation can

be calculated in slow time sectors, while curve values are accessed in

fast time sectors.

The functions can be evaluated by a type SPLFKT or CAMD block. This

block accesses up to 31 curve segments, which are defined by points 1 to

32.

I/O

Configuring data

Symbol

Brief description

GMC blocks

10-26

Function Blocks - SIMADYN D

Edition 12.2001

Up to 32 points along a curve are defined at inputs X1, Y1 to X32, Y32.

The X values must be in an increasing sequence. The first point, whose X

value is less than/equal to the X value of the previous point, defines the

number of points which are used. All additional points are ignored.

Example: X5 = 10.0; X6 = 0.0; → 5 points are evaluated.

The block calculates the curves, which connect the points, using a rising

edge at input CAL. The curve order number is defined by the value at

input TYP:

Type Curve sections

0 3rd order. The gradient at point Xi is the same as the gradient between

the adjacent points = (Y

i+1

– Y

i-1

) / (X

i+1

– X

i-1

)

1 1st order (straight line)

2 2nd order

3 3rd order. The gradient at point Xi is the same as the average value of

the gradients of the adjacent segments.

Individual sections can then be defined as straight line using inputs LM1

and LM2, if TYP is not set to 1. In this case, LM1 and LM2 are evaluated

bitwise. Each bit is assigned another curve section. If the bit is set, then

the section is shown as a straight line.

Assignment:

For example: Section 7 is the section between points (X7,Y7) and

(X8,Y8).

Bit of LM1 or LM2 1514131211109876543210

Section assigned to LM1 16151413121110987654321

Section assigned to LM2 - 313029282726252423222120191817

Pre-assign.

CAL The calculation is started with a rising edge. The curve which has been used

up until now remains valid until the calculation has been completed.

LM1 Linear section 1. To specify individual straight line sections. 0

LM2 Linear section 2. To specify individual straight line sections. 0

X1, Y1 ...

X32, Y32

32 points to specify the curve.

FKT Result function for SPLFKT. This output may only be connected with the

input of block type SPLFKT with the same name. This signals SPLFKT the

curve specification.

QF Input error. QF is set if X2 <= X1, or if there is not sufficient memory

available.

Mode of operation

I/O

GMC blocks

Function Blocks - SIMADYN D

10-27

Edition 12.2001

Computation time [µs] T400/PM5 5

FM458/PM6 2

Can be loaded online Yes

Can be configured in Interupt tasks

Cyclic tasks

Executed in Normal mode

Special features new calculation: 50 µs for T400/PM5

new calculation: 17 µs for FM458/PM6

10.10 CAMD Cam disk

CAMD

Reference position

―

RXP YPR

―

Position reference value

Reference velocity

―

RXV YVR

―

Velocity setpoint

Calculation function

―

DI FKT COR DI

―

Correction value

Axis cycle length, input

―

DI AZI POV BO

―

Positive position overflow

Axis cycle length, output

―

DI AZO NOV BO

―

Negative position overflow

Scaling, input (X axis)

―

RSCX QSTBO

―

Stopped for YP = AZO

Scaling, output (Y axis)

―

RSCY QFBO

―

Group error

Scaling, derivation

―

RSCV

Absolute output

―

BO ABS

Stop for YP = AZO

―

BO STP

Restart after YP = AZO

―

BO TRG

Enable

―

BO EN

The block calculates the ordinate value YP of a cam disk, associated with

input quantity XP, using mathematical functions.

The input position value represents the reference position of a master

axis. The output position YP is the position reference value for a slave

drive. Position steps at the input are transferred, in the absolute output

mode, to the slave. In the relative output mode, the slave remains at the

actual position value for a master axis position jump.

The cam disk function is configured from block SPLI32 from up to 32

points, and provides this as mathematical functions at output FKT. This

output is connected with input FKT of block SPLFKT.

If another cam disk is to be selected in operation, then this is realized by

changing-over input FKT to another SPLI32 calculation block. In this

case, changeover switches or multiplexors are used.

The input and output position value are normalized using input quantities

SCX and SCY according to the following diagram. The derivative of the

curve is output with the actual velocity XV and the weighting factor SCV

as reference velocity YV.

Configuring data

Symbol

Brief description

Mode of operation

GMC blocks

10-28

Function Blocks - SIMADYN D

Edition 12.2001

SCX

SCY

SCV

POV

NOV

COR

AZO

There is a clear assignment between the input and output position values,

according the characteristic of the curve, in the absolute output mode

(ABS = 1):

YP = characteristic(XP) modulo AZO

The absolute output is only practical, if:

• The input and output are systems with linear axis (AZO = AZI = 0)

• The characteristic values for XP = 0 and XP = AZI are the same.

In both cases, position overflows (position jumps) only occur at position

output YP, if it involves a characteristic value less than 0 or greater than

AZO.

Examples for absolute output

Characteristic Y(X)

AZI0

AZI

AZO

AZO = 0 or AZO >>YP

Special case: YP is limited by AZO

AZI

AZO

Special case: STP = 1 (stop for YP = AZO)

TRG POV

NOV

For the relative output of a curve, the return jump of the input position

reference value XP (sawtooth) is not transferred to the slave axis. This

means that it is possible to attach original characteristics seamlessly

together ( i.e.:Y(0) = 0 ).

Example of relative output:

Absolute output

Relative output

GMC blocks

Function Blocks - SIMADYN D

10-29

Edition 12.2001

When the sawtooth jumps back, the characteristic is attached, offset by

the value Y(AZI). This means, that at each cycle, YP grows by the value

Y(AZI). If the range 0 ≤ YP < AZO is exceeded or fallen below, a modulo

AZO correction is made, which is designated with outputs POV or NOV.

Characteristic Y(X)

AZI0 X

YAZO

POV

Y(AZI)

Pre-assign.

XP Reference position of a master axis 0.0

XV Reference velocity of a master axis 0.0

FKT Link to characteristic definition (block type SPLI32) 0

AZI Axis cycle for the reference position (O = linear axis) 360000

AZ0 Axis cycle for the output position reference value (O = linear axis) 360000

SCX Reference position scaling ( characteristic: X = XP / SCX ). 1000.0

SCY Position reference value YP scaling ( characteristic: YP = Y(X) ⋅ SCY ) 1000.0

SCV Scaling the derivative of the curve ( YV = dy/dx ⋅ XV ⋅ SCV ) 1.0

ABS Absolute output of the curve: 0 = relative output; 1 = absolute output 0

STP Stop for YP = AZO. For STP = 1 0

TRG Restart after the axis cycle limit AZO has been reached for STP = 1 0

EN Enable. For EN = 0 (not enabled), YP = 0 and YV = 0 1

YP Position reference value 0.0

YV Velocity setpoint 0.0

COR Correction value for jumps at YP due to limiting to the axis cycle for rotary

axis systems.

POV For the position correction YP = YP - COR, POV is set to 1 for the duration

of a processing cycle (position overflow for a positive direction of rotation).

NOV For the position correction YP = YP + COR, NOV is set to 1 for the duration

of a processing cycle (position overflow for a negative direction of rotation).

QST Indicates that a stop was made for YP = AZO (to continue: TRG = 0 →1). 0

QF Group error : Not sufficient memory space 0

Computation time [µs] T400/PM5 35

FM458/PM6 12

Can be loaded online Yes

Can be configured in Interupt tasks

Cyclic tasks

Executed in Normal mode

Special features -

I/O

Configuring data

GMC blocks

10-30

Function Blocks - SIMADYN D

Edition 12.2001

10.11 TABCAM Cam disk in tabular form

TABCAM

Reference position

―

RXP YPR

―

Position setpoint

Reference speed

―

RXV YVR

―

Speed setpoint

Table reference

―

DI TAB COR DI

―

Position correction value

Axis cycle, input

―

DI AZI POV BO

―

Positive overflow

Axis cycle, output

―

DI AZO NOV BO

―

Negative overflow

Scaling factor, input

―

RSCX QSTBO

―

Stopped for YP = AZO

Scaling factor, output

―

RSCY QFBO

―

Group error

Scaling factor, derivation

―

RSCV

Mode absolute

―

BO ABS

Stop for YP = AZO

―

BO STP

Restart after YP = AZO

―

BO TRG

Enable

―

BO EN

The block calculates the ordinate value YP of a cam disk, associated with

input quantity XP, using a table of X- and Y-values.

The input position value represents the reference position of a master

axis. The output position YP is the position reference value for a slave

drive. Position steps at the input are transferred, in the absolute output

mode, to the slave. In the relative output mode, the slave remains at the

actual position value for a master axis position jump.

The cam disk table contains the X- and Y-coordinates generated by the

block TAB. The link to the table is done by connecting output TAB of

block TAB to input TAB of block TABCAM.

If another cam table is to be selected in operation, then this is realized by

changing-over input TAB to another TAB calculation block. In this case,

changeover switches or multiplexors are used.

The input and output position value are normalized using input quantities

SCX and SCY according to the following diagram. The derivative of the

curve is output with the actual velocity XV and the weighting factor SCV

as reference velocity YV.

SCX

SCY

SCV

POV

NOV

COR

AZO

Symbol

Brief description

Mode of operation

GMC blocks

Function Blocks - SIMADYN D

10-31

Edition 12.2001

There is a clear assignment between the input and output position values,

according the characteristic of the curve, in the absolute output mode

(ABS = 1):

YP = characteristic(XP) modulo AZO

The absolute output is only practical, if:

• The input and output are systems with linear axis (AZO = AZI = 0)

• The characteristic values for XP = 0 and XP = AZI are the same.

In both cases, position overflows (position jumps) only occur at position

output YP, if it involves a characteristic value less than 0 or greater than

AZO.

Examples for absolute output

Characteristic Y(X)

AZI0

AZI

AZO

AZO = 0 or AZO >>YP

Special case: YP is limited by AZO

AZI

AZO

Special case: STP = 1 (stop for YP = AZO)

TRG POV

NOV

For the relative output of a curve, the return jump of the input position

reference value XP (sawtooth) is not transferred to the slave axis. This

means that it is possible to attach original characteristics seamlessly

together ( i.e.:Y(0) = 0 ).

Example of relative output:

When the sawtooth jumps back, the characteristic is attached, offset by

the value Y(AZI). This means, that at each cycle, YP grows by the value

Y(AZI). If the range 0 ≤ YP < AZO is exceeded or fallen below, a modulo

AZO correction is made, which is designated with outputs POV or NOV.

Absolute output

Relative output

GMC blocks

10-32

Function Blocks - SIMADYN D

Edition 12.2001

Characteristic Y(X)

AZI0 X

YAZO

POV

Y(AZI)

Pre-assign.

XP Reference position of a master axis 0.0

XV Reference velocity of a master axis 0.0

TAB Link to table definition (block type TAB) 0

AZI Axis cycle length for the reference position (0 = linear axis) 360000

AZ0 Axis cycle length for the output position reference value (0 = linear axis) 360000

SCX Reference position scaling ( characteristic: X = XP / SCX ). 1000.0

SCY Position reference value YP scaling ( characteristic: YP = Y(X) ⋅ SCY ) 1000.0

SCV Scaling the derivative of the curve ( YV = dy/dx ⋅ XV ⋅ SCV / SCX ) 1.0

ABS Absolute output of the curve: 0 = relative output; 1 = absolute output 0

STP Stop for YP = AZO. For STP = 1 0

TRG Restart after the axis cycle limit AZO has been reached for STP = 1 0

EN Enable. For EN = 0 (not enabled), YP = 0 and YV = 0 1

YP Position reference value 0.0

YV Velocity setpoint 0.0

COR Correction value for jumps at YP due to limiting to the axis cycle for rotary

axis systems.

POV For the position correction YP = YP - COR, POV is set to 1 for the duration

of a processing cycle (position overflow for a positive direction of rotation).

NOV For the position correction YP = YP + COR, NOV is set to 1 for the duration

of a processing cycle (position overflow for a negative direction of rotation).

QST Indicates that a stop was made for YP = AZO (to continue: TRG = 0 →1). 0

QF Group error : Not sufficient memory space 0

Computation time [µs] T400/PM5 35

FM458/PM6 12

Can be loaded online Yes

Can be configured in Interrupt tasks

Cyclic tasks

Executed in Normal mode

Special features -

I/O

Configuring data

GMC blocks

Function Blocks - SIMADYN D

10-33

Edition 12.2001

10.12 POSMC Positioning block

POSMC

Position actual value

―

RXP YPR

―

Reference position

Velocity actual value

―

RXV YVR

―

Reference velocity

Target position

―

RXPD YAR

―

Reference acceleration

Following error window

―

RDXE CORDI

―

Correction value

Target window

―

RDYE POVBO

―

Positive position overflow

Max. velocity

―

RVMX NOVBO

―

Negative position overflow

Max. acceleration

―

RAMX QPBO

―

Positioning active

Jerk

―

R JRK DON BO

―

Position actual value in the target window

Position normalization

―

RNFX QXEBO

―

Following error exceeded

Velocity normalization

―

RNFV QFBO

―

Group error

Axis cycle

―

DI AZ

Forwards

―

BO FWD

Backwards

―

BO BWD

Absolute/relative positioning

―

BO ABS

Start

―

BO STR

Stop

―

BO HLT

Accept actual values

―

BO SET

Enable

―

BO EN

The POSMC block is a setpoint generator for position and velocity for

positioning with either linear or rotary axes. The setpoint characteristics

are obtained as a result of the target position, maximum velocity,

maximum acceleration and their derivatives (jerk). The velocity and

position are calculated, under this secondary condition so that when the

target position is reached, velocity and acceleration go to zero.

The positioning operation within an axis cycle can either be absolute or,

over any distances, relative.

The acceleration parameters AMX and JRK should be selected, so that

the drive can follow the setpoints with the minimum following error. Under

this prerequisite, precision positioning is possible without overshoot.

The block is de-activated for EN = 0; outputs YP and YV are zero. For

SET = 1, the block is transparent, i.e.: YP = XP and

YV = XV. The acceleration is calculated from the change of XV.

Every positioning operation starts with a 0→1 edge at start input STR

(start pulse). YP is set to XP by the start pulse. Positioning starts with the

actual velocity and acceleration values.

For the absolute positioning, the position reference value YP runs from

the initial value XP to the target position XPD. The distance moved

through is always less than the axis cycle length. The direction of motion

for rotary axis systems is defined by inputs FWD and BWD:

Symbol

Brief description

Mode of operation

Absolute

positioning

GMC blocks

10-34

Function Blocks - SIMADYN D

Edition 12.2001

AZ FWD BWD Direction of motion ( ABS = 1; * means any)

> 0 0 0 Shortest distance (when position from the motion, the next possible

standstill position is decisive)

> 0 0 1 Backwards

> 0 1 * Forwards

0* *

No alternatives, as it involves a linear axis

For relative positioning, the position reference value YP changes by XPD

with respect to the initial value. XDP can be any size, which also means

that positioning operations can be executed over several axis cycles. The

direction of motion is obtained from the sign of XPD. The inputs FWD and

BWD are not effective for relative positioning!.

Position overflows (YP > AZ) or underflows (YP < 0) are displayed at

outputs POV and NOV, and are corrected by the modulo AZ calculation in

the range 0 ≤ YP < AZ.

Reference position YP

Ref. speed YV

Reference

acceleration

AMX

VMX

Rounding-off (da/dt)=

AMX

The input quantities can change during positioning. In this case, a new

start pulse must be generated. After this, an equalization operation takes

place as transition into the new positioning operation.

Pre-assign.

XP Position actual value (normalization NFX). This is transferred, for SET=1, to

output YP. This is used when starting positioning as initial position of YP.

0.0

XV Velocity actual value. Accepted at output YV for SET=1. When starting

positioning, XV is the initial velocity.

0.0

XPD Absolute positioning: Target position

Relative positioning: Positioning distance

0.0

DXE Following error window (refer to QXE) 1000

DYE Target window (refer to DON) 100.0

VMX Maximum velocity when positioning. This value must be > 0. Normalization

NFV applies. If the initial velocity is greater than VMX, an equalization

operation takes place. YV is > VMX during this operation.

10.0

AMX Max. acceleration. Value must be > 0.

Units: Rotary axis [1/s²]; linear axis [m/s²]

10.0

Relative

positioning

Changes during

positioning

I/O

GMC blocks

Function Blocks - SIMADYN D

10-35

Edition 12.2001

Jerk = change in the acceleration per unit time for equalization.

This value must be ≥ 0. JRK = 0 means that there is no rounding-off.

Units: Rotary axis [1/m³] linear axis [m/s³]

1000.0

NFX Position normalization: Rotary axis: Number of LU per revolution

Linear axis: Number of LU per meter

360000

NFV Velocity normalization: Factor to convert the user-specific speed

normalization into [rev./min] for a rotary axis or [m/min] for a linear axis.

Examples:

User normalization Conversion NFV

1/s 60 s/min 60.0

mm/s 0.001 m/mm ⋅ 60 s/min 0.06

1.0

AZ Axis cycle for input and output position value 360000

FWD Forwards motion for absolute positioning and rotary axis (refer to the table

above)

BWD Backwards motion for absolute positioning, rotary axis and FWD = 0 0

ABS 0: Relative positioning

1: Absolute positioning

STR Positioning start with a positive edge 0

SET For SET = 1, YP is set to XP and YV is set to XV. Any positioning operation

running is immediately cancelled. If SET = 0, positioning is not continued.

EN Enable input. For EN = 0, YP = 0 and YV = 0. 1

YP Output, reference position 0.0

YV Output, reference velocity 0.0

YA Output, reference acceleration 0.0

COR Correction values for jumps in the position reference value 0

POV Positive position reference value overflow (COR was subtracted) 0

NOV Negative position reference value overflow (COR was added) 0

QP 0: Positioning completed (YP = target position; YV = YA = 0)

1: Positioning

DON 0: Positioning or position actual value outside the target window

1: Positioning completed and the position actual value in the target window

QXE 1: Setpoint/actual value deviation greater than the following error window (

|XP – YP| > DXE )

QF Group error: Initialization: Not sufficient working memory;

during operation: Inputs VMX, AMX must be > 0; JRK must be ≥ 0

Computation time [µs] T400/PM5 35

FM458/PM6 12

Can be loaded online Yes

Can be configured in Interupt tasks

Cyclic tasks

Executed in Normal mode

Special features -

Configuring data

GMC blocks

10-36

Function Blocks - SIMADYN D

Edition 12.2001

10.13 OFSSAV Offset calculation

OFSSAV

Position actual value

―

RXP YPDR

―

Position difference XPS - XP

Position reference value

―

RXPS YPMR

―

Shortest path

Axis cycle

―

DI AZ

Save offset

―

BO S

The block is used to sense the position offset. It generates the deviation

between the reference and actual position and the shortest path between

two position values for rotary axis systems.

The difference between the reference and actual position is calculated

with a rising edge at input S ( 0 → 1).

YPD = XPS – XP for S = 0 → 1

At the same time, the shortest position change is calculated, in order to

reach the reference position from the actual position.

Examples ( AZ = 360 ):

XPS XP YPD YPM

350 10 340 -20

190 270 -90 -90

10 340 -330 30

Pre-assign.

XP Position actual value 0.0

XPS Position reference value 0.0

AZ Axis cycle for input and output position values 360000

SCalculate offset with rising edge 0

YPD Position difference (this is saved for S = 0 → 1) 0.0

YPM Shortest path between the position actual value and position reference

value.

0.0

Symbol

Brief description

Mode of operation

I/O

GMC blocks

Function Blocks - SIMADYN D

10-37

Edition 12.2001

Computation time [µs] T400/PM5 1

FM458/PM6 0,3

Can be loaded online Yes

Can be configured in Interupt tasks

Cyclic tasks

Executed in Normal mode

Special features -

10.14 OFSGEN Offset input

OFSGEN

Offset setpoint

―

RXP YPR

―

Offset / position offset

Velocity for compensation

―

RVMX YVR

―

Reference velocity

Acceleration for compensation

―

RAMX CORDI

―

Corrective value

Jerk

―

RJRK POVBO

―

Positive position overflow

Position normalization

―

RNFX NOVBO

―

Negative position overflow

Velocity normalization

―

RNFV DONBO

―

Compensation ended

Axis cycle

―

DI AZ QF BO

―

Group error

Setting value

―

RSV

Accept setting value

―

BO S

Start offset change

―

BO STR

Absolute / relative offset

―

BO ABS

Compensation using forwards motion

―

BO FWD

Compensation using backwards motion

―

BO BWD

Enable

―

BO EN

The block is used to generate or change a position offset in the setpoint

(reference value) channel. The position offset is used to offset position

reference values of other synchronous operation functions.

Compensation is started with a rising edge at start input STR. In this

case, the position offset output YP is transitioned to the new offset value,

comparable with a positioning operation. The characteristic for the

compensation operation is specified by the maximum velocity VMX, the

maximum acceleration AMX and jerk JRK.

In the “absolute” mode (ABS =1), for compensation, the offset YP

changes towards the new offset setpoint XP. For rotary-axis systems, the

absolute offset is limited to the axis cycle (XP modulo AZ is used).

Configuring data

Symbol

Brief description

Mode of operation

Absolute (ABS = 1)

GMC blocks

10-38

Function Blocks - SIMADYN D

Edition 12.2001

For applications with rotary axis (AZ > 0) and “absolute” operating mode

(ABS = 1), there are three compensation versions which can be selected:

AZ FWD BWD Direction of motion ( * means any)

> 0 0 0 Shortest distance

> 0 0 1 Backwards

> 0 1 * Forwards

0**

Shortest distance

In the “relative” mode (ABS = 0), the new offset value is given by

YP(new) = YP(old) + XP

taking into account the axis cycle for rotary axis systems. If a new

compensation operation is started during compensation which is already

running, then the old operation is extended by the value XP. For the

relative mode, XP is not restricted by the axis cycle.

Pre-assign.

XP Offset setpoint (absolute or relative) 0.0

VMX Maximum velocity for compensation. 1.0

AMX Maximum acceleration for compensation.

Units: Rotary axis [1/m²] linear axis [m/s²]

1.0

JRK Jerk = change in the acceleration per unit time for compensation.

Units: Rotary axis [1/m³] linear axis [m/s³]

JRK = 0 means no rounding-off.

10.0

NFX Position normalization: Rotary axis: Number of LU per revolution

Linear axis: Number of LU per meter

360000

NFV Velocity normalization: Factor to convert the application-specific speed

normalization into [rev./min] for a rotary axis or [m/min] for a linear axis.

Examples:

User normalization Conversion NFV

1/s 60 s/min 60.0

mm/s 0.001 m/mm ⋅ 60 s/min 0.06

1.0

AZ Axis cycle for input and output offset values 360000

SV Setting value for the offset 0.0

SFor S = 1, the offset is set to the setting value. A compensation operation

which is already running, is cancelled. The setting function is also effective

for EN = 0.

STR The offset change is started with a 0→1 edge at STR 0

FWD Compensation operation always forwards; dominant over BWD 1

BWD Compensation operation always backwards 0

EN 1: Enable offset input

0: No offset compensation for S = 0: YP = 0; YV = 0

for S = 1: YP = SV; YV = 0

YP Position offset, added in the setpoint channel 0.0

YV Output, velocity setpoint during compensation 0.0

COR Correction value for steps/jumps in the position reference value 0

POV Positive position reference value overflow (COR was subtracted) 0

Relative (ABS = 0)

I/O

GMC blocks

Function Blocks - SIMADYN D

10-39

Edition 12.2001

NOV Negative position reference value overflow (COR was added) 0

DON 0: Compensation operation running

1: Compensation operation completed

QF Group error: Initialization: Not sufficient working memory;

during operation: Inputs VMX, AMX must be > 0; JRK must be ≥ 0

Computation time [µs] T400/PM5 30

FM458/PM6 10

Can be loaded online Yes

Can be configured in Interupt tasks

Cyclic tasks

Executed in Normal mode

Special features -

10.15 GEAR Gearbox block

GEAR

Reference position

―

RXP YPR

―

Position reference value

Reference velocity

―

RXV YVR

―

Reference velocity

YV correction factor

―

RCYV CORDI

―

Correction value

Axis cycle, input

―

DI AZI POV BO

―

Positive position overflow

Axis cycle, output

―

DI AZO NOV BO

―

Negative position overflow

Ratio, numerator

―

DI NM QF BO

―

Group error

Ratio, denominator

―

DI DN

Setting value

―

RSV

Set position

―

BO S

Enable

―

BO EN

The gearbox block is used to convert speeds and/or axis cycles.

The output speed YV (gradient of YP) is obtained from:

YV = XV ⋅ CXV ⋅ NM / DN

The ratio and axis cycles can be changed in operation. When changing

the ratio, the output speed jumps according to the formula shown above.

If this is to be prevented, the ratio must be varied via a ramp-function

generator.

Caution: For the case AZI ≠ AZO, the normalization for the reference

velocity can change. This depends on the interpretation of the position

values, and is therefore application-specific.

Configuring data

Symbol

Brief description

Mode of operation

AZI ≠

≠≠

≠ AZO

GMC blocks

10-40

Function Blocks - SIMADYN D

Edition 12.2001

Example: DN = NM = 1; AZI = 360; AZO = 720

720

360

Position

Case 1: The output axis cycle represents 1 revolution

(double the resolution of the position value with respect to

the input). In this particular case, the output reference

velocity is only half the magnitude of the input velocity (YV

= 2 ⋅ XV).

Case 2: One output axis cycle should correspond to 2 motor

revolutions (e.g. 720°). In this case, the input and output

speed are identical (YV = XV).

Pre-assign.

XP Reference position of a master axis 0.0

XV Reference velocity of the master axis 0.0

CYV Correction factor to adapt the output velocity when using the block for axis

cycle conversion (AZI ≠ AZO )

1.0

AZI Axis cycle for the reference position (O = linear axis) 360000

AZ0 Axis cycle for the output position reference value (O = linear axis) 360000

NM Ratio, numerator (this must be > 0) 1

DN Ratio, denominator (this must be > 0) 1

SV Setting value for the position output YP 0.0

SSet position YP (level active) 0

EN Enable. For EN = 0 (not enabled), YP = 0 and YV = 0 1

YP Position reference value 0.0

YV Velocity setpoint 0.0

COR Corrective value for jumps at YP due to limiting to the axis cycle for rotary-

axis systems.

POV For the position correction YP = YP - COR, POV is set to 1 for the duration of

a processing cycle (position overflow for a positive direction of rotation).

NOV For the position correction YP = YP + COR, NOV is set to 1 for the duration

of a processing cycle (position overflow for a negative direction of rotation).

QF Group error : Not sufficient memory space available 0

I/O

GMC blocks

Function Blocks - SIMADYN D

10-41

Edition 12.2001

Computation time [µs] T400/PM5 25

FM458/PM6 8

Can be loaded online Yes

Can be configured in Interupt tasks

Cyclic tasks

Executed in Normal mode

Special features -

10.16 INT_MR Virtual master

INT_MR

Reference velocity

―

RXV YPR

―

Position reference value

Position normalization

―

RNFX YVR

―

Reference velocity

Velocity normalization

―

RNFV CORDI

―

Correction value

Axis cycle

―

DI AZ POV BO

―

Positive position overflow

Setting value

―

RSV NOVBO

―

Negative position overflow

Set position

―

BO S QF BO

―

Group error

Hold position

―

BO HLD

Enable

―

BO EN

The virtual master generates a position reference value for linear or rotary

axis systems from a specified reference velocity (which is entered via a

ramp-function generator!).

The inter-relationship between position and velocity is specified using the

normalization inputs NFX and NFV.

Pre-assign.

XV Reference velocity of the master axis 0.0

NFX Position normalization: Rotary axis: Number of LU per revolution

Linear axis: Number of LU

per meter

360000

NFV Velocity normalization: Factor to calculate the user-specific speed

normalization into [rev./min] for a rotary axis or [m/min] for a linear axis.

Examples:

User normalization NFV

1/s 60.0

mm/s 0.06

1.0

AZ Axis cycle for an output position reference value (O = linear axis)

SV Setting value for the position output YP

SSet position YP (level-active)

HLT Hold position (level-active)

EN Enable. For EN = 0 (not enabled), YP = 0 and YV = 0

YP Position reference value

Configuring data

Symbol

Brief description

Mode of operation

I/O

GMC blocks

10-42

Function Blocks - SIMADYN D

Edition 12.2001

YV Velocity reference value

COR Correction value for jumps at YP due to limiting to the axis cycle for rotary-

axis systems.

POV For the position correction YP = YP - COR, POV is set to 1 for the duration of

a processing cycle (position overflow for a positive direction of rotation).

NOV For the position correction YP = YP + COR, NOV is set to 1 for the duration of

a processing cycle (position overflow for a negative direction of rotation).

QF Group error : Not sufficient memory space available 0

Computation time [µs] T400/PM5 15

FM458/PM6 5

Can be loaded online Yes

Can be configured in Interupt tasks

Cyclic tasks

Executed in Normal mode

Special features -

10.17 WEBSFT Measured value offset

WEBSFT

Position actual value

―

RXP YPR

―

Measured value offset (shift)

Measured value 1

―

RXM1 QVBO

―

Output YP valid (pulse)

Measured value 2

―

RXM2 QFBO

―

Group error

Position offset

―

RDX

Max. measured value number

―

INMX

Axis cycle

―

DI AZ

Save measured value

―

BO SAV

Delete measured value memory

―

BO CLR

Enable

―

BO EN

The WEBSFT block is used for material tracking, especially to track

measured offset values. In this case, the measured value is first saved,

and after the material web has been moved through the required

distance, is output again.

The difference (XM1 – XM2) is saved as the measured value. This

means, e.g. that a offset actual value is formed from a reference and

actual position.

This is saved with the rising edge at input SAV. After the position XP has

changed by more than DX, the measured value is output at YM. At the

same time, QV is set to 1 for one processing cycle.

This block can save up to NMX measured values. If more than NMX

values are saved within the shift range, then measured values are lost!

Configuring data

Symbol

Brief description

Mode of operation

GMC blocks

Function Blocks - SIMADYN D

10-43

Edition 12.2001

If the position offset DX is changed, this also effects the already saved

measured values. Measured values are output in the same sequence in

which they were saved. This guarantees the consistency of the output

data.

Measured values should only be saved, as long as the machine moves in

the same direction. In all of the other cases, no values should be saved,

or values, which are of no practical use, should be deleted by deleting the

measured value memory (CLR).

Pre-assign.

XP Position actual value 0.0

XM1 Measured value 1 0.0

XM2 Measured value 2 0.0

DX Position offset (shift) 0.0

NMX Maximum number of measured values (initialization input) 32

AZ Axis cycle for output position reference value (O = linear axis) 360000

SAV Save measured value (edge-active; with an increasing edge at input SAV) 0

CLR Delete measured value memory (level-active) 0

EN Enable. For EN = 0 (not enabled), YP = 0.0. 1

YP Position reference value 0.0

QV Output YP valid. QV is set to 1 for one cycle for a valid YP value. 0

QF Group error : Not sufficient memory space available 0

Computation time [µs] T400/PM5 15

FM458/PM6 5

Can be loaded online Yes

Can be configured in Interupt tasks

Cyclic tasks

Executed in Normal mode

Special features -

I/O

Configuring data

GMC blocks

10-44

Function Blocks - SIMADYN D

Edition 12.2001

10.18 OVFHSK Overflow handshake procedure

OVFHSK

Correction value, input ─DI COI COR DI

─

Correction value

Positive overflow, input ─BO POI POV BO

─

Positive overflow

Negative overflow, input ─BO NOI NOV BO

─

Negative overflow

POV checkback signal ─BO PFB

NOV checkback signal ─BO NFB

The block transfers position overflow control signals from a position

reference value generation to a converter with closed-loop position

control. The correction of the position actual value sensing of the

converter is synchronized to the position reference value using these

control signals. It must be guaranteed that also short control pulses

(duration: 1 processing cycle) are evaluated for the converter.

This problem always occurs, if the setpoint generation, data transfer and

closed-loop position in the converter don’t run in absolute synchronism, or

if individual data transfer telegrams can fail due to faults/errors.

The block contains the overflow signals POI, NOI and the correction value

as input signals. It transfers these to the converter via the

communications interface. The signals are received at the converter and

are sent back as receive acknowledgment via the communications

interface. There, they are connected to the feedback signal inputs PFB,

NFB. Only after an overflow signal has been fed back, is the overflow

signal reset. This “overflow cycle” generally takes several processing

cycles due to the double transfer involved.

POIPOV1

NOV1

COR1

Setpoint

generation

NOI

COI

OVFHSK

POV

NOV

COR

Converter

Communications

interface

PFB

NFB

POV2

NOV2

COR2

If the block recognizes a new input correction pulse during an overflow

cycle, the correction operations are collected. The correction involving all

of the collected correction operations are realized after the overflow cycle

has been completed.

Symbol

Brief description

Mode of operation

GMC blocks

Function Blocks - SIMADYN D

10-45

Edition 12.2001

POI

NOI

POV

PFB

COI

COR

COR = 3 × COI - 2 × COI = COI

Example: The position reference value

oscillates around the axis cycle limit

Pre-assign.

COI Correction value, input 0

POI Positive position overflow, input 0

NOI Negative position overflow, input 0

PFB POV feedback signal from the converter 0

NFB NOV feedback signal from the converter 0

COR Correction value, output 0

POV For the position correction YP = YP - COR, POV is set to 1 for the duration

of a processing cycle (e. g. position overflow for a positive direction of

rotation).

NOV For the position correction YP = YP + COR, NOV is set to 1 for the duration

of a processing cycle (e. g. position overflow for a negative direction of

rotation).

QF Group error: Not sufficient memory space available 0

Computation time [µs] T400/PM5 10

FM458/PM6 3

Can be loaded online Yes

Can be configured in Interupt tasks

Cyclic tasks

Executed in Normal mode

Special features -

I/O

Configuring data

GMC blocks

10-46

Function Blocks - SIMADYN D

Edition 12.2001

10.19 TAB, TAB_D Tabular values manager

TAB

Coupling module name

―

GV CTS TAB DI

―

Table

User data area (DB No.)

―

GV XDB DB W

―

DB number of the table

Address parameter, receive

―

S US YNP DI

―

Number of points actual

Receive mode

―

S MOD YXP R

―

X value actual point i

Telegram failure time

―

R TFT YYP R

―

Y value actual point i

Table name

―

SNAM YIPDI

―

Index actual point i

SAVE area

―

BO SAV QTS BO

―

Block status

Manual/automatic mode

―

BO AUT YTS W

―

Status display

Valid table

―

BO TVL YTC W

―

Status display, communications

No. of points

―

DI NP

X value point i

―

RXP

Y value point i

―

RYP

Index point i

―

DI IP

Write point

―

BO WR

Output point

―

BO RD

Enable

―

BO EN

The function blocks FB TAB and FB TAB_D are used to manage the

tabular values of SIMATIC and SIMADYN D. They only differ by the

managed data types. The FB TAB manages tabular values of the data

type REAL, FB TAB_D, data type DINT.

The following diagram shows a schematic overview of the inputs and

outputs of the FB TAB and its data types:

The representation of FB TAB corresponds, with the exception of the data

types of the following I/O, the representation of the FB TAB_D:

• XP

• YP

• YXP

• YYP

For FB TAB_D, these I/O, have data type DINT.

Pre-assign.

CTS Coupling module name

Initialization connection to enter the configured name of the module, via

whose data interface receive operation should be realized.

XDB Initialization connection to enter symbol names and number of the “virtual“

SIMATIC DBs for the table values.

Symbol

Brief description

I/O

GMC blocks

Function Blocks - SIMADYN D

10-47

Edition 12.2001

US Initialization connection for address data. The data comprises a channel

name and in addition, depending on the coupling type (e.g. DUST1 or

SINEC H1), 1 or 2 address stages.

Empty string

MOD Initialization connection to enter the access mechanism; possible entries:

"H” = Handshake

”R” = Refresh

”S” = Select

”M” = Multiple

TFT Monitoring time. Maximum telegram failure time while receiving table

values. (initialization connection)

100 ms

NAM Table name

(initialization connection)

Empty string

SAV SAVE area

(initialization connection)

At this initialization connection it is specified as to whether the table should

be saved in the battery-buffered RAM (SAV = 1) or in the unbuffered RAM

(SAV = 0).

AUT Manual/automatic mode

Changeover between the manual and automatic mode. Automatic mode

(AUT = 1)

TVL Valid table

The table becomes valid and is available at output TAB using a positive

edge at input TVL. This is only effective in the “manual mode”

NP Number of points

(initialization connection)

XP X value point i 0.0

YP Y value point i 0.0

IP Index point i 0

WR Write point 0

RD Output point default 0

EN Block enable. The block is not processed for EN=0 1

TAB Table 0

DB DB number of the table 0

YNP Actual number of points (with increasing value) 0

YXP X value of the actual point 0.0

YYP Y value of the actual point 0.0

YIP Index of the actual point 0

QTS Block status

At block output QTS it is displayed as to whether the block is operating

error-free (QTS = 1) or was inactive (QTS = 0).

YTS Detailed status display; for values at YTS refer to: D7-SYS online help

"Help for

events" (press key F1 in the CFC and call the “help on events” topic under

"CFC for SIMADYN D".)

YTC Detailed status display for the FB communications. For example, presently,

a new table is being received, etc. ...

For values at YTC refer to: D7-SYS online help "Help on

events". (Press the key F1 in the CFC and call the "Help on events”

topic under "CFC for SIMADYN D".)

GMC blocks

10-48

Function Blocks - SIMADYN D

Edition 12.2001

Computation time [µs] When setting-up the table (after a 0

to 1 edge at the inverter) for

T400/PM5: 4.5/point

FM 458/PM6: 1.5/point

others:

T400/PM5: 45

FM 458/PM6: 15

Can be inserted online No

Can be configured in Cyclic tasks

Executed in Initialization mode

Normal mode

Special features It is not possible to change-over from

“manual mode” to “automatic mode”:

memory card” after run-up.

Configuring data

GMC blocks

Function Blocks - SIMADYN D

10-49

Edition 12.2001

10.20 DRVIF Interface to the drive

DRVIF

Position ref. value ─RXP YPR

─Position ref. value

Speed setpoint ─RXV YPIDI

─Position ref. value (integer)

Reference speed ─RRS CORDI

─Correction value

Position correction value input ─DI COI YVI DI ─Speed setpoint (integer)

Drive status word ─DI STW CTW DI ─Drive control word

Brake delay time ─SD TBR QOP BO ─Drive enable

Positive position overflow ─BO POV QE BO ─Setpoint generation enabled

Negative position overflow ─BO NOV QEN BO ─Inhibit setpoint generation

Non-synchronous operation ─BO ASY BRK BO ─Open brake

Standstill detected ─BO STS ERR BO ─Drive fault

Drive fast stop ─BO STP QMV BO ─Measured value detected

Enable acknowledge fault ─BO ACK QRP BO ─Reference point detected

Enable save measured value ─BO ENM QF BO ─Group fault

Enable referencing ─BO REF

Set position actual value ─BO SPA

Set position ref. value ─BO SPS

Enable position control ─BO ENP

Enable drive ─BO EN

The block forms the interface between the Motion Control

setpoint/reference value generation (position and speed) and the

communications interface (e.g. SIMOLINK) to the drive.

The position reference value and speed setpoint are converted into

integer values and control bits are combined to form a control word

(double word CTW). This control word comprises a control word 1 (low

word) for a Masterdrives MC type of drive and special bits to control

Motion Control functions (high word).

If the drive and setpoint/reference value generation are operated in

asynchronous time sectors with respect to one another, the DRVIF block

conditions the position reference value and the overflow signals (POV,

NOV, COR) so that none of the short control pulses are lost.

The inputs EN, ENP, ACK and STS are used to generate control word 1

(refer to the documentation for MASTERDRIVES MC, Chart 180). The

status word 1 of the drive should be placed at the lower word of input

STW.

The drive can be powered-up and power-down using input EN. A rising

edge (EN = 0 → 1) should be generated to power-up the drive.

Symbol

Brief description

Mode of operation

GMC blocks

10-50

Function Blocks - SIMADYN D

Edition 12.2001

If the drive has a fault condition when it is being powered-up, the fault is

automatically acknowledged if ACK is set to 1, If the fault cannot be

acknowledged, the power-up operation is cancelled after 2 seconds. In

this case, the drive can only be powered-up, after the fault has been

removed, by a new 0 → 1 signal edge at EN.

It should be noted that the drive cannot be powered-down using EN = 0, if

the drive does not come to a standstill due to a plant/system fault or error.

In this case, the drive can be actively braked by activating the fast stop

function (STP = 1) and then powered-down at standstill.

If the connected drive has a holding brake, the setpoints must be

maintained up until the brake is opened (i.e. position reference value =

position actual value; speed setpoint = 0). The same status must be set

when closing the brake, before the drive is de-activated.

To realize this, the DRVIF block generates the enable signals QE and

QEN to control the setpoint/reference value generation. If a time greater

than 0 ms is entered at input TBR, then this time is taken into account as

delay when opening or closing the holding brake. The output QE (enable

setpoint/reference value generation) is then set TBR ms after the drive

operating signal (run signal) (QE = 1; QEN = 0).

The following state diagram shows the sequences and inter-

dependencies/inter-relationships when powering-up and powering-down

the drive.

Initial status

Drive inhibited

Power-up drive

Open brake

Setpoint/ref. value

generation active

Close brake

Acknowledge fault

EN and drive ready to be powered-up

EN and fault and ACK=1 EN=0 EN=1 and drive ready to be

powered-up

Drive operational

Open brake

EN=0 or fault

EN=0

or fault

EN=0

or fault

Wait for standstill

Brake closed

Standstill

Fast stop

Holding brake

GMC blocks

Function Blocks - SIMADYN D

10-51

Edition 12.2001

When shutting down, the brake is only closed when the standstill signal

STS = 1 is present. The drive is only inhibited (pulse inhibit) after the

brake has been closed.

The assignment of the control word (CTW) and status word (STW) can

be taken from the following table. Only the entries of the status word,

identified with “→” are evaluated.

Bit Status word STW Control word CTW

0→ Ready to power-up ON

1Ready No OFF2 (pulse inhibit)

2→ Operation No OFF3 (fast stop)

3→ Fault Enables the inverter

4No OFF2 present Enables the ramp-function generator

5No OFF3 present Ramp-function generator start

6Power-on inhibit Setpoint is enabled

7Alarm Signal edge, acknowledge fault

8No setpoint/reference value-actual value

deviation

Jogging, bit 0 (always 0)

9PZD control requested Jogging, bit 1 (always 0)

10 Comparison value reached Control requested (always 1)

11 Fault, undervoltage Enables the positive direction of rotation

(always 1)

12 Close main contactor request Enables the negative direction of rotation

(always 1)

13 Ramp-function generator Raise motorized potentiometer (always 0)

14 Positive speed setpoint Lower motorized potentiometer (always 0)

15 - Reserve - No external fault (always 1)

16 → POV feedback POV

17 → NOV feedback NOV

18 Measured value valid → QMV Enables the measured value memory

(optional)

19 Reference point detected → QMP Enables referencing (optional)

20 Position corrected Set position actual value (optional)

21 - not assigned - Set position reference value (optional)

22 - not assigned - Inhibits the position controller (open-loop

controlled operation)

23 - not assigned - Enables the speed controller

24 - not assigned - - not assigned -

25 - not assigned - Opens the brake

Rest - not assigned - - not assigned -

GMC blocks

10-52

Function Blocks - SIMADYN D

Edition 12.2001

For applications with rotary axis, the position reference value is corrected

(position step) by the axis cycle length, as soon as the rotary axis cycle

has been exceeded. The same position step must be simultaneously

made in the actual value channel in order to avoid giving the closed-loop

position control a fictitious position error. This means that at the same

time as the position step, an overflow signal (POV or NOV) is generated

which means that the correction value COR is either subtracted or added

to/from the position actual value.

This principle assumes that the setpoint/reference value and actual value

generation operate in absolute synchronism, as the overflow signals are

only present for the duration of a machining cycle. For asynchronous

operation (e.g. setpoint generation in a 1 ms cycle, actual value channel

and closed-loop position control (drive) in 3.2 ms), not every overflow

signal is received in the drive. A fictitious error of one axis cycle is

obtained if the overflow signal is missing, as the actual position is not

corrected.

The following steps are required in order to permit asynchronous

operation:

1. POV and NOV signals of the control word in the drive must be inserted

in the status word according to the table above. This means that the

overflow pulses are returned to the setpoint/reference value generation

(feedback).

2. Set input ASY to 1. This means that the POV/NOV signals are

extended until they appear in the status word via the feedback

channel.

If new overflow conditions occur between a position correction and

receiving a feedback pulse, then these are buffered and no position steps

are transferred to the drive. In this particular case, a new position

correction is only made after the feedback pulse has been received. With

this new position correction, all of the buffered overflows are taken into

account.

Pre-assign.

XP Reference position 0

XV Speed setpoint 0

RS Reference speed of the drive: The speed, for the speed normalization

used, which is displayed in the drive as 100%. Also refer to Parameter

P353 for MASTERDRIVES MC. It is not permissible that RS is 0.0!

3000.0

COI Position correction value input 0

STW Drive status word (refer to the Table above) 0

TBR Brake delay time; Time to open or close the motor holding brake 0 ms

POV Positive position overflow (this is inserted in control word CTW) 0

NOV Negative position overflow (this is inserted in control word CTW) 0

ASY Non-synchronous operation 0

Non-synchronous

operation

I/O

GMC blocks

Function Blocks - SIMADYN D

10-53

Edition 12.2001

STS Standstill detected. STS = 1 is a prerequisite that the drive should be shut

down!

STP Drive fast stop: brakes the drive along the current limit down to standstill. 0

ACK Enable acknowledge fault. For ACK=1, faults present before the drive is

powered-up, are acknowledged.

ENM Enables the position measured value to be saved in the drive 0

REF Enables the referencing function in the drive 0

SPA Sets the position actual values in the drive 0

SPS Sets the position reference values in the drive 0

ENP Enables the position controller in the drive. The drive can be operated in

the closed-loop speed controlled mode when the position controller is

inhibited

EN Enables the drive. The drive can be powered-up and powered-down using

this input. Also refer to the state diagram above.

YP Position reference value output. For non-synchronous operation, XP and

YP differ in so much that YP outputs position steps with a delay, and if

required, with a different step height.

YPI Position reference value as 32 bit integer to output to the drive. 0

COR Correction value (step height) to correct the position actual value in the

drive.

YVI Speed setpoint as 32-bit integer value in the drive normalization. 0

CTW Control word for the drive (refer to the Table above) 0

QOP Drive enable: Status bit for diagnostics 0

QE Setpoint enable. As long as QE = 0, the reference speed should be zero. 0

QEN Inverse setpoint enable 1

BRK Open brake. This output is included as bit in control word CTW. 0

ERR Drive fault. 0

QMV Measured value detected 0

QRP Reference point detected 0

QF Group fault: Fault/error when initializing the block 0

Can be loaded online Yes

Computation time [µs] T400 / PM5 15

PM6 / FM458 5

Can be configured in Interrupt tasks

Cyclic tasks

Computed in: Normal mode

Configuring data

GMC blocks

10-54

Function Blocks - SIMADYN D

Edition 12.2001

10.21 MDCMP1 basic and equalization functions for

Motion Control

MDCMP1

1. Position ref. value ─RXP1 YPR

─

Reference position

1. Velocity setpoint ─RXV1 YVR

─

Reference velocity

2. Position ref. value ─RXP2 CORDI

─

Correction value

2. Velocity setpoint ─R XV2 POV BO

─

Positive position overflow

Channel selection ─BO SEL NOV BO

─

Negative position overflow

Setting value, position ─RSV DONBO

─

Equalization completed

Dynamic position offset ─ROFS QRFBO

─

Referenced

Correction value for the position act. value ─RXCP QERBO

─

Enable referencing

Relative velocity for equalization ─RVMX QSTBO

─

Standstill

Relative acceleration for equalization ─RAMX QFBO

─

Group fault

Jerk ─RJRK

Position normalization ─RNFX

Velocity normalization ─RNFV

Axis cycle ─DI AZ

Set position ─BO S

Correct position actual value ─BO CP

Static offset compensation ─BO SOC

Dynamic offset compensation ─BO DOC

Equalization using forwards motion ─BO FWD

Equalization using reverse motion ─BO BWD

Hold ─BO HLT

Jog velocity ─RVJG

Jogging forwards ─BO JGF

Jogging backwards ─BO JGB

Referencing velocity ─RVRF

Referencing mode ─IMDR

Referencing ─BO REF

Reference point detected ─BO SYN

Initial position ─RXHM

Traverse to the initial position ─BO POS

This block generates the setpoint/reference values for various basic

functions for closed-loop position controlled operation of a drive. In this

case, this includes the “local operating modes” - jogging, referencing and

positioning, to an output position.

In addition to the local mode, there is also a synchronous operation mode,

where, the position reference value and speed setpoint at the block input

(if required, with constant offset) are switched through to the output. The

setpoints can be switched-over, jerk-free to each of the two external

sources.

All transition functions are subject to the specified velocity and

acceleration values.

Symbol

Brief description

GMC blocks

Function Blocks - SIMADYN D

10-55

Edition 12.2001

To select the actual block mode, the following priority list applies (* = any;

DOC and SOC can occur simultaneously):

Priority S HLT JGF JGB REF POS SOC DOC Operating mode

1 1*******

Setting function

2 01******

Stopping

3 001*****

Jog with speed VRF

4 0001****

Jog with speed -VRF

5 00001* * *

Referencing

6 000001* *

Position after XHM

7 0000000→1*

Static offset compensation for

synchronous operation (aligning)

7 000000*0→1Dynamic offset compensation for

synchronous operation (flying

referencing, pass mark

synchronization)

8 00000000

Synchronous operation (if require

with internal offset between YP and

XP)

For HLT = 1, the reference (setpoint) velocity is ramped-down to standstill

corresponding to AMX, JRK. Standstill is displayed at output QST

(QST=1).

In the jogging mode, for JGF = 1, the reference (setpoint) velocity is

ramped-up to the values specified at VJG; for JGB = 1 to the value –

VJG. When changing the value VJG the new velocity is tracked via ramps

(AMX, JRK).

For POS=1, the position reference value is positioned to the initial position

XHM. The maximum velocity for positioning is VMX. If XHM is changed,

the system positions to the new output position. When stationary, XHM

should be a constant position value (i.e. not entered from an analog

channel) in order to avoid continually initiating new positioning operations.

This would result in an unnecessarily high processor loading of the

module.

The referencing mode is activated by REF=1. At the start of referencing,

outputs QRF=0 (not referenced) and QER=1 (enable referencing) are set.

After this, the velocity ramps-up to VRF. When the reference point is

reached, this must be displayed as rising edge at input SYN. Output QER

is then set to 0 and QRF set to 1.

There are 4 different versions of the referencing procedure which are

selected at input MDR.

Mode of operation

Local operation

GMC blocks

10-56

Function Blocks - SIMADYN D

Edition 12.2001

MDR Behavior when referencing

0Referencing not possible. Set this mode when using absolute value

encoders.

1The reference velocity remains, also after passing the reference

point to VRF to REF=0, or another mode is activated.

2After the reference point has been passed the drive remains

stationary.

3After passing the reference point the drive continues to traverse to

the initial position XHM where it then remains stationary.

4After passing the reference point, the drive positions itself to the

initial position XHM. Positioning also depends on the data entered at

inputs VMX, AMX, JRK, FWD and BWD.

After all of the local operating modes have been exited (i.e. for S = HLT =

JGF = JGB = POS = 0) the position and speed are smoothly transitioned

to the setpoint channel selected using SEL. The block is then in the

synchronous mode.

The setting function is an important prerequisite so that a closed-loop

position controlled drive can be powered-up without any jerk. In this case,

the position reference value is set to the position actual value, and the

closed-loop position control then enabled. An equalization sequence does

not occur in the drive as the position reference value and actual value are

the same.

Practical approach:

1. Connect-up the position actual value at input SV.

2. With the drive inactive with S=1, set setpoint YP to SV.

3. After the closed-loop position control of the drive has become active,

the position reference value YP is routed (aligned) to the input position

reference value XP of the upstream setpoint generation. This is

realized using a rising edge at input SOC (static offset equalization).

When setting, an internal offset is added to the position reference value

XP whereby output YP has the value YP = SV. This means that a step

occurs at output YP. This is the reason that this setting mechanism is only

practical for operation with the drive inhibited.

Setting the static offset

YP(t)

XP(t)

SOC

YP YP(t)

Static offset compensation

XP(t)

An equalization sequence, which may not have been completed, is

interrupted when setting. The internal offset is static. This means that it

remains unchanged until a new setting function is executed, a static offset

equalization takes place or a local mode is selected.

Exiting local

operation

Setting function

and static

equalization

GMC blocks

Function Blocks - SIMADYN D

10-57

Edition 12.2001

In synchronous operation, the position and speed setpoint at the input are

transferred to the output. Two setpoint channels are available at the input.

The following applies for static operation:

SEL = 0 → YP = XP1; YV = XV1

SEL = 1 → YP = XP2; YV = XV2

When selecting SEL, in operation, it is possible to toggle, jerk-free,

between the two setpoint channels.

The dynamic offset equalization is used to equalize the offset in the

position actual value channel (e.g. for “flying referencing”). If an offset is

identified for the position actual value sensing, then the correction is not

directly made by setting the actual value, but instead via the setpoint

channel. This has the advantage that the setpoint and actual value

channel can be processed in different time sectors and the actual value

channel does not have to calculate any (time consuming) offset

equalization.

Procedure: Initially, the offset is subtracted, as correction value, both

from setpoint YP and from the actual value. Setpoint YP is then corrected

to the actual setpoint XP via an equalization operation.

For rotary axis application (AZ > 0) three equalization sequence

operations are available. The inputs FWD and BWD are evaluated for

static offset compensation (SOC), when the setpoint channel is changed

(SEL), positioning (POS) and referencing in the mode MDR=4.

AZ FWD BWD Motion direction ( * means any)

> 0 0 0 Shortest distance

> 0 0 1 Backwards

> 0 1 * Forwards

0**

Shortest distance

If the position actual value and position reference value are changed as

step function, then connections I/O XCP and CP become active. At the

same time as the setpoint step, the position change is entered at XCP

and is transferred as correction to the position actual value with a rising

edge at CP. This function is, e.g. required, if for “flying referencing”, the

setpoint is to be simultaneously adapted.

Changing the

setpoint channel

Offset equalization

(DOC)

Direction of the

equalization

operation

XCP, CP

GMC blocks

10-58

Function Blocks - SIMADYN D

Edition 12.2001

Pre-assign.

XP1 1st position reference value. Evaluated when SEL=0 0.0

XV1 1st velocity setpoint. Evaluated when SEL=0 0.0

XP2 2nd position reference value. Evaluated when SEL=1 0.0

XV2 2nd velocity setpoint. Evaluated when SEL=1 0.0

SEL Selects the setpoint channel: SEL=0 selects XP1, XV1 0

SV Setting value, position 0.0

OFS Dynamic position offset 0.0

XCP Correction value for the position actual value. For a rising edge at CP, the

position actual value is increased by XCP as correction (outputs COR, POV,

NOV).

0.0

VMX Max. relative velocity for the equalization sequence (XV). The equalization

sequence is superimposed on the synchronous operation YV. This means that

the sum of XV and dv act at output YV which means that values greater than

the rated drive velocity can be obtained!

100.0

AMX Max. relative acceleration for the equalization sequence. The effective

acceleration is the sum of the equalization and synchronous operation.

Units: Rotary axis [1/m²] Linear axis [m/s²]

100.0

JRK Jerk = Change in the acceleration per unit time for the equalization sequence.

Units: Rotary axis [1/m³] Linear axis [m/s³]

JRK = 0 means no rounding-off.

1000.0

NFX Position normalization: Rotary axis: Number of LU per revolution

Linear axis: Number of LU per meter

36000

NFV Velocity normalization: Factor to convert the application-specific speed

normalization in [RPM] for the rotary axis or [m/min] for the linear axis. NFV is

the velocity in m/min (rotary axis: Speed in RPM), which should be displayed as

1.0. This is effective for connections I/O XV, YV, VJG, VRF, VMX.

Examples:

User normalization Conversion NFV

1.0 = 1

= 60

min

60.0

1.0 = 1

= 0.06

min

0.06

1.0

AZ Axis cycle for the input and output position value 36000

SSet position. For S = 1, equalization sequences which have not been

completed, are cancelled.

CP Correct the position actual value. The position actual value is increased by XCP

with a rising edge.

SOC Static offset compensation, edge triggered 0

DOC Dynamic offset compensation, edge triggered. For S = 1, input DOC is ignored. 0

FWD Equalization sequence, always forwards; dominant with respect to BWD (not

evaluated for DOC)

BWD Equalization sequence, always backwards; (not evaluated for DOC) 0

HLT Hold. For HLT=1, the reference velocity goes to zero. 0

VJG Velocity for jogging 0.0

JGF Jogging with velocity VJG 0

JGB Jogging with velocity - VJG 0

VRF Velocity for referencing 0.0

I/O

GMC blocks

Function Blocks - SIMADYN D

10-59

Edition 12.2001

MDR Mode for the behavior after passing the reference point (refer to the table

above)

REF Enable referencing 0

SYN A rising edge at SYN signals that the reference point is passed in the

referencing mode.

XHM Initial position. This position is approached when positioning or when

referencing (MDR=3 or MDR=4).

0.0

POS Positioning as long as POS = 1, the initial position XHM is approached. 0

YP Output, position reference value 0.0

YV Output, velocity setpoint 0.0

COR Correction value for steps in the position reference value 0

POV Positive overflow of the position setpoint (COR is subtracted) 0

NOV Negative overflow of the position reference value (COR is added) 0

DON 0: Equalization sequence (dynamic or static offset compensation or mode

changeover active)

1: Equalization sequence completed

QRF Referenced. This is used, for example, to enable a position controller. 1

QER Enable referencing. This is used, e.g. to enable synchronization

(input SP at block NAVMC)

QST Standstill: Indicates that the reference speed YV=0. 0

QF Group fault: Initialization: Insufficient working memory;

during operation: Inputs VMX, AMX, NFX, NFV must be > 0; JRK must be ≥ 0.

Can be loaded online Yes

Computation time [µs] T400, PM5: 22

PM6, FM458: 7.5

Can be configured in Interrupt tasks

Cyclic tasks

Computed in: Normal mode

Configuring data

GMC blocks

10-60

Function Blocks - SIMADYN D

Edition 12.2001

10.22 CLUTCH engage/disengage (coupling)

CLUTCH

Reference position

─

RXP YPR

─Position reference value output

Referencing velocity

─

RXV YVR

─Reference velocity output

Shutdown position

─

RXPSCORDI

─Correction value

Offset setpoint

─

RDYPPOVBO

─Positive position overflow

Local velocity

─

RVLCNOVBO

─Negative position overflow

Max. equalization velocity

─

RVMXQSYBO

─Synchronous operation

Acceleration when equalizing

─

RAMXQLCBO

─Local velocity reached

Jerk

─

RJRKQSTBO

─Standstill

Position normalization

─

RNFXQTRBO

─Equalization sequence active

Velocity normalization

─

RNFVDONBO

─Equalization sequence completed

Axis cycle

─

DI AZ QF BO ─Group fault

Position setting value

─

RSV

Set position

─

BO S

Stop as fast as possible

─

BO HLT

Hold for XPS

─

BO STP

Synchronous operation (YP=XP)

─

BO SYP

Speed synchronism

─

BO SYN

Local operation

─

BO LOC

Over control permitted

─

BO OVD

Forwards

─

BO FWD

Backwards

─

BO BWD

Enable

─

BO EN

This block is used to engage or disengage a drive from a drive group. In

the disengaged condition (clutch open), the drive can run with any local

velocity, which can also be zero.

The transition from local operation to synchronous operation (engaging)

or vice versa (disengaging) is realized using specified jerk and

acceleration values.

The block can be operated either position or speed dependent. In the

speed-dependent mode, engaging and disengaging are realized as fast

as possible. The position at standstill or the offset between the input

position XP and the output position YP are randomly obtained.

In the position-dependent mode, the engaging and disengaging functions

are superimposed with positioning. The drive then comes to a standstill at

the standstill position or after engaging, there is offset DYP between XP

and YP.

Symbol

Brief description

GMC blocks

Function Blocks - SIMADYN D

10-61

Edition 12.2001

The block differentiates itself from the CATCH block by a simpler control

interface. Every operating mode can be activated using an input, whereby

the operating data are staggered according to priority. It is not possible to

re-calculate equalization motion in order to enter changed limit values for

speed (VMX), acceleration (AMX) or jerk (JRK) (refer to input TRG at

block CATCH).

The block has several operating modes. To activate a mode, the

associated input should be set to 1. The control inputs are prioritized

according to the following table (* = any input; 1 has the highest priority):

Prior

ity

S HLT STP SYP SYN LOC Operating mode Input

11*****

Setting function: YP = SV -

201****

Shutdown (as fast as possible; any

position)

3001* * *

Hold at the shutdown position XPS XPS

40001* *

Synchronous operation with YP =

XP+DYP

DYP

500001*

Synchronous operation with undefined

offset between XP and YP

6000001

Operation with local velocity VLC VLC

7000000

Shutdown (as a mode is not active) -

For several operating modes, an associated input is continuously

monitored (refer to the table above). If this input quantity changes, a new

operating point is automatically approached.

Example:

If DYP changes in synchronous operation, then equalization takes place.

When this is completed, there is a new offset between YP and XP.

The transition from one operating mode into another takes place within an

equalization operation which is specified by the maximum acceleration

AMX and jerk JRK.

For OVD = 0 the speed changes from the current value (old operating

status) to the final value (new operating status) without any overshoot. For

operating modes with defined end position, the transition status is delayed

so that the required position is assumed after the equalization process

has been completed.

Example:

In synchronous operation, the drive should be held at position XPS. The

drive continues to run in synchronous operation until the distance to the

target is precisely the same as the braking travel. It then brakes and

remains stationary at XPS.

Mode of operation

GMC blocks

10-62

Function Blocks - SIMADYN D

Edition 12.2001

If overcontrol is enabled (OVD = 1), when the operating mode is changed,

the transition to the new mode is as quickly as possible. In this particular

case, excess speeds up to VMX are possible.

Example:

The system should change from the disengaged mode to the

synchronous mode. However, the master axis (XP, XV) is presently at a

standstill. For OVD = 0, the system waits (any length of time!), until the

master axis starts. The drive is only synchronized after the standstill

position has been exceeded. However, for OVD = 1, the drive is

immediately positioned to the stationary master axis.

Pre-assign.

XP Reference position 0.0

XV Referencing velocity 0.0

XPS Shutdown position (disengaging position) for disengaging in position-controlled

operation (PN = 1)

0.0

DYP Offset reference value for synchronous operation in the closed-loop position

controlled mode (PN = 1)

0.0

VLC Local reference velocity for the local operation. When changed, output YV

tracks the ramp, defined by AMX and JRK.

0.0

VMX Maximum velocity when equalizing the offset. 1000.0

AMX Maximum acceleration/deceleration for the transition states.

Units: Rotary axis [1/s²] Linear axis [ 1/m²]

50.0

JRK Jerk (da/dt time derivative of the acceleration)

Units : Rotary axis 1/s³] Linear axis [m/s³]).

2000

da ==

Example:

This means that for JRK = 2000, an acceleration of 50m/s² is reached after 25

ms.

2000.0

NFX Position normalization: Rotary axis: Number of LU per revolution

Linear axis: Number of LU per meter

360000

NFV Velocity normalization: Factor to convert the application-specific speed

normalization in [RPM] for a rotary axis or [m/min] for a linear axis. NFV is the

velocity in m/min (rotary axis: Speed in RPM), which should be displayed as

1.0. This is effective for connections I/O XV, YV, VJG, VRF, VMX.

Examples:

User normalization Conversion NFV

1.0 = 1

= 60

min

60.0

1.0 = 1

= 0.06

min

0.06

1.0

AZ Axis cycle for the input and output position value (O = linear axis) 36000

SV Setting value for the position. This is accepted for S = 1. 0.0

SSetting position YP = SV. 0

I/O

GMC blocks

Function Blocks - SIMADYN D

10-63

Edition 12.2001

HLT Stopping as quickly as possible: For HLT=1 the speed setpoint is ramped down

to zero.

STP Hold at XPS: For STP = 1 the reference position remains stationary at XPS.

For OVD = 1, the axis positions to XPS.

SYP Synchronous operation with a defined offset (DYP) between YP and XP. When

the mode is activated, ramp-up is delayed until YP can “engage” with the

required offset.

SYN Synchronous operation for undefined offset between YP and XP. When the

operating mode is activated, YV immediately ramps-up to XV.

LOC Local velocity input VLC. When VLC is changed, the setpoint speed follows via

ramps.

OVD Overcontrol permitted. For OVD = 1, the new state is approached as quickly as

possible. In this case, the equalization can be faster than the reference velocity

or opposite to the direction of motion!

FWD Equalization motion is made in the forwards direction (refer to the table above) 0

BWD Equalization motion is made in the backwards direction (refer to the table

above)

EN Enable. For EN = 0 (not enabled) YP = 0 and YV = 0 1

YP Position ref. value, output quantity 0.0

YV Reference velocity, output quantity 0.0

COR Correction values for steps in the position reference value 0

POV Positive overflow of the position reference value (COR was subtracted) 0

NOV Negative overflow of the position reference value (COR was added) 0

QSY Synchronous operation: This is set to 1 as soon as XP and YP run in

synchronism

QLC Local velocity reached. 0

QST Standstill signal. 0

QTR 1: Equalization operation running 0

DON 1: Equalization operation completed 1

QF Group fault: Not sufficient working memory 0

Can be loaded online Yes

Computation time [µs] T400, PM5: 23

PM6, FM458 7,5

Can be configured in Interrupt tasks

Cyclic tasks

Computed in: Normal mode

Configuring data

GMC blocks

10-64

Function Blocks - SIMADYN D

Edition 12.2001

10.23 SHEAR cross-cutter/cross sealer

SHEAR

Material position ─RXP YPR

─Position, shears

Format (product length) ─RFMT YVR

─Speed, shears

Shears circumference ─RCIR YFRR

─Format actual value (floating point)

Synchronous operation [degrees] ─R SYR YFI DI ─Format actual value (integer)

Velocity normalization ─RNFV CORDI

─Correction value

Axis cycle output ─DI AZO POV BO ─Positive overflow

Cut enable ─BO CUT NOV BO ─Negative overflow

Enable block ─BO EN QST BO ─Standstill

QCO BO ─Cutting operation active

QF BO ─Group fault

The block calculates the reference position and speed for rotary shears or

a cross-sealing device as a function of the material position and product

length.

During operation, the shears can be shutdown at the quiescent position,

which is located with a 180° offset with respect to the cut/sealing position.

The product length can be changed during operation.

Under steady-state operating conditions, the block behaves like a

characteristic which emulates the material position with respect to the

position of the shears. The cut is made at position XP = 0 (this

corresponds to XP = FMT). The gradient (rate of rise) within the cutting

range is 1, i.e. the circumferential velocity of the shears is the same as

the material velocity. In the cutting range, the shears are in synchronism

with the material. The synchronous range width is specified in degrees at

input SYR. The gradient outside the cutting range is a function of the ratio

between cross cutter circumference and the product length.

AZO

FMT

Transfer characteristic for a large format

(FMT > CIR)

AZO

FMT

Transfer characteristic for a small format

(FMT < CIR)

CIR CIR

Characteristic for

FMT = CIR Characteristic for

FMT = CIR

For large formats, the shears brakes down to standstill (estimated value:

From product lengths FMT > 2⋅ CIR; dependent on SYR). On the other

hand, for product lengths less than CIR outside the cutting range, the

speed of the shears is higher than the material velocity.

Symbol

Brief description

Mode of operation

GMC blocks

Function Blocks - SIMADYN D

10-65

Edition 12.2001

Cutting is either enabled or inhibited using the CUT input. In the inhibited

state, the shears are in the quiescent position and ½ AZO. If cutting is

then enabled with CUT = 1, the shears accelerate up to the material

velocity and then cut according to the selected product length.

XP(t)

Behavior when cutting is enabled

YP(t)

CUT

Cut

Cut range

FMT AZO

If the cut format is changed (product length), then this only becomes

effective after the next cut. The change must be synchronized with the

axis cycle for the material position. XP must maintain the old axis cycle

limits until the new format has been accepted (old value of FMT)

AZO

AZI

GEAR

SHEAR

FMT

YFIFormat

For practical purposes, the format change is made as follows. In this

case, output YFI (currently valid format length) is used to define the axis

cycle for the material position, by entering the axis cycle of a gearbox

block or a virtual master (INT_MR).

Format change

GMC blocks

10-66

Function Blocks - SIMADYN D

Edition 12.2001

Pre-assign.

Material position. Position actual value of the products or the endless material

which is either cut using the shears or is transversely sealed using the sealing

device. (Position normalization as FMT)

0.0

FMT

Cutting format. Clearance between two products. The material position must

have axis cycle FMT. XP, FMT and CIR must have the same position

normalization!

20000.0

CIR

Circumferential scope of the shears/sealing device. (Position normalization: As

for FMT)

50000.0

SYR

Synchronous range in degrees. 10.0

NFV

Speed normalization for the shears speed YV. NFV is the reference speed, i.e.

the speed in RPM, which should be displayed as YV = 1.0.

1.0

AZO

Axis cycle for the shears position. This means a default value of 36000

increments per revolution.

36000

CUT

Enables cutting operation. For CUT = 0 the shears come to a standstill at AZO/2 0

Block enable 1

Position of the shears ( 0 ... AZO) 0

Speed of the shears (normalization according to NFV) 0.0

YFR

Actually used format length as floating-point value. 0.0

YFI

Actually used format length as 32-bit integer value. 0

COR

Correction value through which YP jumps if the range 0

≤

YP < AZ is to be

exceeded or fallen below

POV

For a positive position overflow, POV is set to 1 for one processing cycle. 0

NOV

For a negative position overflow, NOV is set to 1 for one processing cycle. 0

QST

Shears standstill 0

QCO

Cutting operation active. After the cut enable has been withdrawn (CUT = 0),

QCO is set to 0 when the shears come to a standstill.

Group fault 0

Can be loaded online Yes

Computation time [µs] T400, PM5 17

PM6, FM458 5,5

Can be configured in Interrupt tasks

Cyclic tasks

Computed in: Normal mode

I/O

Configuring data

GMC blocks

Function Blocks - SIMADYN D

10-67

Edition 12.2001

10.24 EDC1 engager/disengager

EDC1

Reference position

─

RXP YPR

─

Position reference value, slave

Referencing velocity

─

RXV YVR

─

Reference velocity, slave

Axis cycle, input

─

DI AZI COR DI

─

Correction value

Axis cycle, output

─

DI AZO POV BO

─

Positive position overflow

Coupling position

─

R XCP NOV BO

─

Negative position overflow

Engage/disengage length

─

R DXL QSY BO

─

Synchronous operation

Ramp length

─

R RMP QST BO

─

Standstill

Rounding-off (percentage)

─

R DRP QF BO

─

Group fault

Position setting value

─

RSV

Set position

─

BO S

Start/stop trigge

─

BO SST

Start/stop continuous

─

BO SSC

Engage/disengage

─

BO ED

Enable

─

BO EN

This block is used to couple-in or couple-out a drive from a drive group,

as a function of the position, when a trigger condition is available. The

position actual value XP at the input represents the reference position of a

master drive. Output YP is the position reference value for a slave drive.

Contrary to the EDC block, for EDC1, the axis cycles for the input and

output position can be selected to be different.

In the engaged mode, the initial slave status is standstill. Engaging

(coupling-in) is activated using a trigger signal (SST or SSC). If the

master XP has the coupling position XCP, the slave (YP) moves through

the engaging length (coupling-in length) DXL and it then remains

stationary.

SST

Engaging operation

Post trigger range

DXL

SST

YV XV

ngag

ng opera

on w

ith

pos

triggering

Post trigger range

⋅

DXL

Symbol

Brief description

Engaged operation

GMC blocks

10-68

Function Blocks - SIMADYN D

Edition 12.2001

The engaging sequence can be extended by one or several additional

engaging lengths if there are additional trigger edges (SST = 0 → 1)

during triggering. The trigger edges must lie within the post trigger range.

After the start of the deceleration operation, the trigger event is only

effective after passing-over the next coupling position, whereby a new

coupling position is only taken into account after standstill has been

reached.

During the engaging operation, the master axis (reference position)

moves through the distance given by

dXP = engaging length + ramp length = DXL + RMP

For disengaging operation, the slave is initially in synchronous operation

with the master drive. If, after the trigger event, the master goes past the

coupling position, the slave decelerates and then re-accelerates back to

the synchronous velocity. After each disengaging operation (coupling-out)

the offset between the master and slave increases by the disengaging

length DXL.

Post triggering is possible up to the start of the synchronizing operation in

order to implement an offset by additional disengaging lengths.

SST

Disengaging operation

Post trigger range

DXL

SST

Disengaging operation with post triggering

Post trigger range

⋅

DXL

During disengaging, the master axis travels through a distance given by

dXP = disengaging length + ramp length = DXL + RMP

Engaging and disengaging operation is also possible when reversing the

drive (negative speeds). In this case, the operation is started when the

coupling position is not reached. In this case, the engaging/disengaging

length acts in the opposite direction. This means that for XV < 0 and for

DXL = 90°, the slave moves through –90° when engaging.

In addition to the previously-described edge-triggered operation (with

SST), continuous operation is also possible. Continuous operation is

active as long as SSC is set to 1. Furthermore, the following prerequisites

must be fulfilled:

• a system with linear axis is involved,

Disengaging

operation

Negative speed

Continuous

operation

GMC blocks

Function Blocks - SIMADYN D

10-69

Edition 12.2001

• or, the coupling position is passed a second time before the

engaging/disengaging operation has been completed.

In both of these cases, the engaging/disengaging operation is continually

extended by the value DXL until SSC is set to 0.

00XCP XCP XCP

SSC

Continuous engaging operation

00XCP XCP XCP

SSC

Intermittent engaging operation

For systems with rotary axis and one engaging/disengaging length

DXL < AZ - RMP

intermittent operation is involved. This means that the

engaging/disengaging operation has been completed before the coupling

position is again passed. In this particular case, a sequence of individual

engaging/disengaging operations is obtained which always start when the

coupling position is exceeded. The sequence is continued as long as SSC

= 1.

Ramp length and rounding-off

dYV

RMP

DRP

Rounding-off DRP

DRP = 0 %

DRP = 50 %

DRP = 100 %

The signal characteristics of YP and YV are dependent on input quantities

XP and XV (distance dependent; not time dependent!). This means that

acceleration and rounding-off are defined as distant-dependent quantities.

The acceleration ramp specifies the component of the distance where the

slave drive accelerates or decelerates (ramp length). The rounding-off

defines what percentage of the acceleration ramp is used to establish the

torque.

Intermittent

operation

Ramps, rounding-

off

GMC blocks

10-70

Function Blocks - SIMADYN D

Edition 12.2001

Pre-assign.

Reference position 0.0

Referencing velocity 0.0

AZI

Axis cycle for the input position value (0 = linear axis) 36000

AZO

Axis cycle for the output position value (0 = linear axis) 36000

XCP

Coupling position. An engaging/disengaging operation is started if XP exceeds

these position values (or falls below, for a negative speed)

0.0

DXL

Engaging/disengaging length. Engaging operation: For each engaging

operation, the slave is moved through DXL in the actual direction of motion.

Disengaging operation: The offset between master and slave increases by

DXL.

36000

RMP

Component of the distance which is used for acceleration or deceleration. For

each acceleration/deceleration operation, the master moves through distance

RMP; the slave only moves through the half, RMP/2. (Caution: Occurs twice per

engaging/disengaging operation)

12000

DRP

Component of the acceleration/deceleration ramp as a percentage, which is

used to establish and reduce to the maximum acceleration.

Permissible range 0

≤

DRP

≤

100

10 %

Position setting value 0.0

Set position reference value YP to SV 0

SST

Edge-triggered starting of an engaging or disengaging operation. This can be

used to extend the operation if a new 0

→

1 edge is output within the post trigger

range.

SSC

Level-dependent starting of an engaging or disengaging operation for

continuous or intermittent operation.

Mode selection: 0: Disengaging 1: Engaging 0

Enabled. For EN = 0 (not enable) YP = 0 and YV = 0 1

Position reference value for the slave drive 0.0

Reference velocity for the slave drive 0.0

COR

Correction value for steps at YP due to limiting the axis cycle for systems with

rotary axis.

POV

For the position correction YP = YP - COR, POV is set to 1 for the duration of a

processing/machining (position overflow for positive direction of rotation).

NOV

For the position correction YP = YP + COR, NOV is set to 1 for the duration of a

processing/machining (position overflow for negative direction of rotation).

QSY

Synchronous operation: This signal indicates that the master axis and slave axis

are operating in angular synchronism with respect to one another

QST

Standstill: Indicates that the slave velocity YV = 0. 0

Group fault; this is always set if YFC is not equal to zero. 0

I/O

GMC blocks

Function Blocks - SIMADYN D

10-71

Edition 12.2001

Can be loaded online Yes

Computation time [µs] T400, PM5 27

FM458, PM6 9

Can be configured in Interrupt tasks

Cyclic tasks

Computed in: Normal mode

10.25 MCSB generating motion sequences (basis block)

MCSB

Start position

─

RX0 FKTDI

─

Calculation function

Start velocity

─

RV0 DSODI

─

Cascade output

Start acceleration

─

RA0 YDTR

─

Duration of the section

End position

─

RXE YTTR

─

Total duration

End velocity

─

RVE YAZDI

─

Total duration (rounded-off)

End acceleration

─

R AE QVM BO

─

Vmax exceeded

Time inputs

─

R TX QAM BO

─

Amax exceeded

Max. velocity

─

RVMX QFBO

─

Group fault

Max. deceleration

─

RAMXYFCI

─

Fault code

Jerk

─

RJRK

Position normalization

─

RNFX

Velocity normalization

─

RNFV

No. sequence blocks

─

INFB

Motion command

─

ICMD

Update curve

─

BO UPD

The block is used to generate position reference value curves (position =

f(time)), which is output using the characteristic block CAMD. A

characteristic can comprise several sections. The first section is always

generated from a type MCSB block - all of the following, from an MCSS

block type.

For each section, a different motion type can be selected (e.g. positioning,

accelerate to velocity, wait). Complex motion sequences can be defined

using combinations of these. This means that the block generates a

defined motion sequence from the time perspective, which can be

executed either periodically or event-controlled.

Different limit velocities and accelerations can be entered for each

section.

Configuring data

Symbol

Brief description

Mode of operation

GMC blocks

10-72

Function Blocks - SIMADYN D

Edition 12.2001

The MCSB block forms the basis for a motion sequence. It generates a

curve which can be expanded by subsequent blocks (type MCSS). The

number of subsequent blocks should be specified at input NFB. The

curve is a function of the position with respect to time whereby no position

overflows occur (in this case, rotary axis behavior is not supported!). The

abscissa of the characteristic and all time information refer to the units

[ms].

The connections between the blocks of a motion sequence and to the

cam is shown in the diagram below. For instance, an integrator is used to

enter the time axis. The following settings are required at block CAMD:

XV = SCX = SCY =1.0 (de-activate scaling)

ABS = 1 (absolute output of the characteristic)

NFVNFX

SCV ⋅

=60000

(scaling of the velocity)

MCSB

TI = 1 s

DSO

FKT

MCSS

DSI DSO

MCSS

Cam

INT

Basis-FB

··Supplem

entary FB

YTT

YAZ

CAMD

FKT

AZI

X = 1000

60000

NFX * NFV SCV

Combination of blocks for composite motion functions (simplified)

The initial and end conditions for position, velocity, and acceleration are

entered at block NCSB. If subsequent blocks are used, their motion

sequence starts with the end data of the preceding block.

GMC blocks

Function Blocks - SIMADYN D

10-73

Edition 12.2001

The input CMD defines the required motion sequence version. 9 versions

are available:

CMD Command End position End velocity End

acceleration

0No function X0 V0 A0

1Absolute positioning XE VE AE

2Relative positioning X0 + XE VE AE

3Absolute positioning and wait until t > TX X0 0 0

4Relative positioning and wait until t > TX X0 + XE 0 0

5Traverse to velocity VE undefined VE 0

6Traverse to velocity VE and hold this

velocity for duration TX

undefined VE 0

7Traverse to velocity VE and hold this

velocity until t >TX

undefined VE 0

8Positioning at the initial position X0 V0 A0

9 Positioning after XE, VE, AE; TX is the

absolute instant in time at the end of the

section ;

Curve X(t) is generated as 5th Order

polynomial. It is not guaranteed that VMX,

AMX and JRK are maintained! Refer to the

alarm outputs QVM, QAM.

XE VE AE

10 Positioning up to after XE, VE, AE; TX is the

duration of this section.

Curve X(t) is generated as 5th Order

polynomial. It is not guaranteed that VMX,

AMX and JRK are maintained! Refer to the

alarm outputs QVM, QAM.

XE VE AE

For certain entries, for motion sequence, limit values VMX and AMX

cannot be maintained. This is especially true for CMD = 9, as the time

required for the operation is specified. The shorter the time entered, then

the higher the acceleration rates and velocities. If the limit value is

exceeded, this is displayed as alarm at outputs QVM or QAM. The

following rule applies:

If the limit value is exceeded at the start or the end of the operation, this is

not displayed as alarm. For example, for VMX = 5 m/s, the initial value of

the velocity V0 = 10 m/s is used as start velocity, then this is interpreted

as a transition from a fast to a slow motion section. In this case, an alarm

is not output, i.e. QVM = 0.

However, if the operation starts at VMX = V0 = 5 m/s and A0 = 20 m/s²,

then it is unavoidable that the velocity is exceeded along the curve as a

result of the initial acceleration (assumption: JRK ≠ 0). In this case,

QVM is set to 1.

CMD

Maintaining VMX,

AMX

GMC blocks

10-74

Function Blocks - SIMADYN D

Edition 12.2001

Internally, the block makes a differentiation between 3 modes which are

identified by widely differing computation times. The lowest computation

time occurs for UPD = 0. In this mode, all of the changes at the block

inputs are ignored (input NFB). This is also valid for possible subsequent

blocks, type MCSS.

For UPD = 1, all inputs are cyclically checked for changes, which means

that the computation time increases with respect to UPD = 0. If at least

one changed input is detected, all motion sequences are re-calculated.

This means that the computation time drastically increases. If UPD is

continually set to 1, all inputs should be constant in order to avoid

excessively high computation loading. (e.g. do not connect an analog

value!). Furthermore, we recommend that the block is configured in a

slow sampling cycle (e.g.: T3, T4).

The output characteristic is not valid while the runs are being

updated! The associated CAMD curve block outputs position YP = 0 and

signals QF = 1 (group fault).

This means that changes may only be made if the drive is in a safe

condition!

MSCB and MCSS are designed to generate time characteristics (position

= ƒ(time) ) for linear axis systems. This means that the use for rotary axis

applications is restricted, as the blocks do not take into account any rotary

axis cycle. This means that the rotary axis behavior must be simulated

using suitable position reference values and the axis cycle must be set at

the cam disk CAMD.

Initial position X0 = 0; rotary axis cycle = 1000; actual position = 3500;

For the “positioning in the initial position” command, the drive was moved

from 3500 to 0,. i.e. 3.5 axis cycles were executed. The same final

position can be approached in a shorter time by entering the target

position 3000 (or 4000).

YFC Significance

0NO fault

1Illegal input value

(VMX, AMX, NFV, NFX must be greater than 0)

2Illegal command, CMD

3Incorrect number of subsequent blocks configured

4Insufficient memory available for supplementary blocks inserted

online! Restart required.

5Insufficient memory available

6Sequence not possible within the time entered at TX; or the end of

the previous section is located after TX (this involves CMD = 3; 4; 7;

Updating the UPD

curve

Rotary/linear axis

Example, rotary

axis

Fault codes

GMC blocks

Function Blocks - SIMADYN D

10-75

Edition 12.2001

Pre-assign.

Start position (initial position) with reference to CMD = 8 ) 0.0

Start velocity (initial velocity with respect to CMD = 8 ) 0.0

Start acceleration (initial acceleration with respect to CMD = 8 ) 0.0

Final position 0.0

Final velocity 0.0

Final acceleration 0.0

Time input in [ms]. Depending on CMD this is interpreted as duration or

absolute time.

0.0

VMX

Maximum velocity for all sections of the curve (QVM!). When required, VMX is

individually entered for each subsequent block.

10.0

AMX

Max. acceleration for all sections of the curve (observe QAM!).

Units: Rotary axis [1/m²] Linear axis [m/s²]

10.0

JRK

Jerk = Change in the acceleration per unit time.

Units: Rotary axis [1/m³] Linear axis [m/s³]

JRK = 0, means no rounding-off.

1000.0

NFX

Position normalization: Rotary axis: Number of LU per revolution

Linear axis: Number of LU per meter

10000

NFV

Velocity normalization: Factor to convert the application-specific speed

normalization in [RPM] for a rotary axis or [m/min] for a linear axis. NFV is the

velocity in m/min (rotary axis: speed in RPM), which should be displayed as 1.0.

This is effective for I/O V0, VE, VMX.

Examples:

User normalization Conversion NFV

1.0 = 1

= 60

min

60.0

1.0 = 1

= 0.06

min

0.06

60.0

NFB

Number of subsequent blocks. This input is used to reserve memory space for

the characteristics. Furthermore, it is required for the interaction with the

subsequent blocks.

CMD

Motion command (refer to the table above) 0

FKT

Reference to the calculated time runs. This output should be connected to the

cam (input FKT)

DSO

Cascade output to extend the curve using subsequent blocks. This output

should be connected with input DSI (block MCSS)

YDT

Duration of the characteristic section in [ms] generated by block MCSB 0.0

YTT

Total duration of all cascaded curve sections in [ms] 0.0

YAZ

Rounded-off total duration of all cascaded curve sections in [ms] to input the

input axis cycle AZI of cam disk CAMD.

QVM

Alarm: Vmax exceeded. The alarm indicates that the motion inputs will cause

the maximum velocity VMX to be exceeded.

QAM

Alarm: Amax exceeded. The alarm indicates that the motion inputs will cause

the maximum acceleration AMX to be exceeded.

Group fault 0

YFC

Fault code (refer to the table above) 0

I/O

GMC blocks

10-76

Function Blocks - SIMADYN D

Edition 12.2001

Can be loaded online Yes

Computation time [µs] T400, PM5 20 (... 300)

FM458, PM6 7 (... 100)

Can be configured in Interrupt tasks

Cyclic tasks

Computed in: Normal mode

The computation times in brackets apply when re-calculating the characteristic.

10.26 MCSS generating motion sequences

(subsequent block)

MCSS

Cascade input

─

DI DSI DSO DI

─

Cascade output

Final position

─

RXE YDTR

─

Section duration

Final velocity

─

RVE YTER

─

Time at section end

Final acceleration

─

R AE QVM BO

─

Vmax exceeded

Time input

─

R TX QAM BO

─

Amax exceeded

Max. velocity

─

RVMX QFBO

─

Group fault

Max. acceleration

─

RAMXYFCI

─

Fault code

Motion command

─

ICMD

The block is used to extend a motion function, which was generated by a

type MCSB block. In this case, it is possible to cascade several

subsequent blocks one after the other.

This allows a complex time function, distance = f(time) to be generated

which is output with the curve block CAMD. Different types of time

functions can be selected (e.g. positioning, traverse to velocity, wait).

Input DSI should be connected to the block output which defines the

previous motion section. This means that block MCSS generates a

motion sequence which connects seamlessly and jerk-free to the final

conditions (position, velocity, acceleration) of the previous block.

For the MCSS block, the settings VMX, AMX, JRK, NFX and NFV apply

at the basis block (MCSB) of the motion sequence. VMX or AMX should

be set greater than zero if, for the section being considered, different limit

values should apply for velocity and acceleration.

Input CMD defines the motion sequence version required. 9 versions are

available. In the table, the meanings are as follows:

Configuring data

Symbol

Brief description

Mode of operation

CMD

GMC blocks

Function Blocks - SIMADYN D

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Edition 12.2001

X0 Initial position (final position of the previous section)

V0 Initial velocity

(final velocity of the previous section)

A0 Initial velocity

(final velocity of the previous section)

Caution: Changes made at the input only update curves if input UPD is

set to 1 at the basis block. While a characteristic is being re-calculated,

the old curve is no longer valid! The associated characteristic block

CAMD outputs position YP = 0 and signals QF = 1 (group fault).

CMD Command Final position Final velocity Final

acceleration

0No function X0 V0 A0

1Absolute positioning XE VE AE

2Relative positioning X0 + XE VE AE

3Absolute positioning and wait until t > TX X0 0 0

4Relative positioning and wait until t > TX X0 + XE 0 0

5Traverse to velocity VE Undefined VE 0

6Traverse to velocity VE and maintain velocity

for duration TX

Undefined VE 0

7Traverse to velocity VE and maintain velocity

to t >TX

Undefined VE 0

8Positioning at the initial position X0 V0 A0

9Positioning after XE. TX is the instant in time

at the end of the section.

Curve X(t) is generated as 5th order

polynomial. It is not guaranteed that VMX,

AMX and JRK are maintained! Refer to alarm

outputs QVM, QAM.

XE VE AE

10 Positioning after XE. TX is the duration of the

section.

Curve X(t) is generated as 5th order

polynomial. It is not guaranteed that VMX,

AMX and JRK are maintained! Refer to alarm

outputs QVM, QAM.

XE VE AE

For certain entries, for motion sequence, limit values VMX and AMX

cannot be maintained. This is especially true for CMD = 9, as the time

required for the operation is specified. The shorter the time entered, then

the higher the acceleration rates and velocities. If the limit value is

exceeded, this is displayed as alarm at outputs QVM or QAM (also refer

to MCSB).

Updating curves

Maintaining VMX,

AMX

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Edition 12.2001

YFC Significance

0No fault

1Illegal input value

(VMX, AMX, NFV, NFX must be greater than 0)

2Illegal command CMD

3Incorrect number of subsequent blocks configured

4Insufficient memory available for supplementary blocks inserted

online. Restart required!

5Insufficient memory

6Sequence not possible within the time entered at TX or, the end of

the previous section is after TX (involves CMD = 3; 4; 7; 9)

7Input DSI is not connected with a valid predecessor block (upstream

block)

8Predecessor block has signaled a fault

Pre-assign.

DSI

Cascade input (connect to DSO of the predecessor block) 0

Final position 0.0

Final velocity 0.0

Final acceleration 0.0

Time input in [ms]. This is interpreted as time duration or absolute time

depending on CMD.

0.0

VMX

Optional max. velocity for the actual curve sections (observe QVM!). For VMX =

0.0, the VMX setting applies at the basis block MCSB of the cascade (chain).

0.0

AMX

Optional max. acceleration for the actual curve sections (observe QVM!). For

AMX = 0.0, the AMX setting applies at the basis block MCSB of the cascade

(chain)..

Units: Rotary axis [1/m²] Linear axis [m/s²]

0.0

CMD

Motion command (refer to the table above) 0

FKT

Reference to the calculated time curves, This output should be connected to the

cam (input FKT)

DSO

Cascade output to extend the curve using additional subsequent blocks. 0

YDT

Duration of the currently generated curve section in [ms] 0.0

YTE

Time at the end of the actual curve section in [ms] referred to the start of the

characteristic.

0.0

QVM

Warning: Vmax exceeded. The alarm signifies that the specified motion causes

the maximum velocity VMX to be exceeded.

QAM

Alarm: Amax exceeded. The alarm signifies that the specified motion causes

the maximum acceleration AMX to be exceeded.

Group fault 0

YFC

Fault code (refer to the table above) 0

Fault codes

I/O

GMC blocks

Function Blocks - SIMADYN D

10-79

Edition 12.2001

Can be loaded online Yes

Computation time [µs] T400, PM5 9 (... 300)

FM458, PM6 3 (... 100)

Can be configured in Interrupt tasks

Cyclic tasks

Computed in: Normal mode

The computation times in brackets apply for a re-calculation of the characteristic.

10.27 CAMSW1 cam controller for time characteristics

CAMSW1

Time since the curve start

─

RXP QBO

─

Cam active

Refer to the curve definition

─

DI FKT QN BO

─

Cam inverse

Curve value switch-in

─

RY1 QFBO

─

Group fault

Deadtime switch-in [ms]

─

RDT1YFCI

─

Fault code

Start, search range switch-in

─

RXS1

Curve value, switch-out

─

RY2

Deadtime, switch-out [ms]

─

RDT2

Start search range, switch-out

─

RXS2

Shift mode

─

BO TSM

Update inputs

─

BO UPD

Enable

─

BO EN

The block creates a switching cam as a function of the initial position of a

motion sequence (generated using type MCSB, MCSS blocks). The cam

switching instants can be precisely brought forward (deadtime

compensation) or delayed.

The block inputs XP and FKT are connected to the same outputs as the

associated cam. The reference of the block to the characteristic is

established by connecting input FKT to the outputs of block MCSB having

the same name (generates the characteristic). A sawtooth signal is

connected at input XP; this increases (rate-of-rise) by a value of 1.0 per

millisecond.

Configuring data

Symbol

Brief description

Mode of operation

GMC blocks

10-80

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Edition 12.2001

Characteristic YP(t)

XP = t

|XS1|

|XS2|

Search direction for

Search direction for XS2 < 0

Q(t)

XS1 > 0XS1 < 0

Example 1:

XS1>0; XS2 < 0;

DT1 = DT2 = 0

Q(t)

20 ms 20 ms

Example 2:

DT1 = 20 ms

DT2 = -20 ms

XP = t

Switch-in (Q = 0 → 1) is realized for DT1 = 0, as soon as the curve value

Y1 is passed through. Generally, value Y1 can occur a multiple number of

times in the curve. In order to demarcate the required curve range, a

search range is defined. XS1 defines the start of the search range. For

negative values for XS1, the curve value Y1 is searched for in the reverse

(backwards) direction from instant in time |XS1|.

The switch-in instant can be offset using input DT1. Positive values of

DT1 are effective, to compensate the deadtime, this means that switch-in

is realized DT1 milliseconds earlier than the switching threshold is

reached. Negative values delay the switch-in instant.

An independent curve point Y2, search range XS2 and time offset DT2

apply for the switch-out instant.

For the switching offset (DT1, DT2) it must be known whether the curve is

passed-through sporadically or periodically. If the curve is sporadically

passed-through, this means that an undefined time expires after the curve

has been completed before the curve is passed-through again. On the

other hand, if the curve is periodically passed through, this means that

input XP is controlled from a continuous sawtooth signal, whereby the

curve is passed through once in one sawtooth cycle.

For the sporadic mode, the switching instants can be shifted as a

maximum up to the range limits. In this case, TSM should be set to 0. For

the periodic mode (TSM = 1), the switching instant can be shifted beyond

the range limit. This means, for example, switch-in can be shifted so far

that it occurs in the previous cycle.

The search for the instant which is associated with a required switching

threshold involves a lot of computation time. The search mechanism can

be de-activated (UPD = 0) in order to avoid unnecessarily high

computation times. In this case, a change at the inputs (Y1, Y2, XS1,

XS2, DT1, DT2 and TSM) is not detected.

Switch-in threshold

Deadtime

Switch-out

Shift mode

Computation time

GMC blocks

Function Blocks - SIMADYN D

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For UPD =1 all of the inputs with the exception of XP should be

connected to fixed values. Connections to fluctuating values (e.g. analog

values) result in high computation loads!

YFC Significance

0No fault

1Curve presently not valid (no points have been defined)

2Input FKT not connected to a valid curve

3Insufficient memory

4Search range lies outside the curve (the search starts after the curve

and the search direction is increasing)

5Point not found (Y1or Y2 are not located on the curve)

Pre-assign.

Time since the start of the curve. This input should be connected with a

sawtooth signal which increases by 1.0 per millisecond each time the curve is

run-through!

0.0

FKT

Reference to the curve function. Connect the input with output FKT of the

curve generation (block MCSB).

Curve value for the switch-in threshold 0.0

DT1

Switch-in deadtime in [ms]. Negative values delay switch-in 0.0

XS1

Absolute value of XS1: Starting the search range for switch-in.

Sign of XS1: Search direction

0.0

Characteristic value for switch-out threshold 0.0

DT2

Switch-out deadtime in [ms]. Negative values delay switch-out 0.0

XS2

Absolute value of XS2: Start of the search range for switch-out.

Sign of XS2: search direction

0.0

TSM

Shift mode: 0: only within the curve

1: beyond the curve limit (periodic mode)

UPD

Activates the automatic input monitoring. For UPD = 1 changes to the

switching inputs are immediately evaluated.

Enables the block 1

Can be loaded online Yes

Computation time [µs] T400, PM5 11 (... 168)

FM458, PM6 3.5 (... 56)

Can be configured in Interrupt tasks

Cyclic tasks

Computed in: Normal mode

The computation times in brackets apply once after the switching thresholds

have been changed.

Fault codes

I/O

Configuring data

GMC blocks

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Function Blocks - SIMADYN D

Edition 12.2001