10 GMC blocks 10.1 MDCMP Compensation block for mode changeover Symbol MDCMP Reference position R Reference velocity R Setting value, position R Dynamic position offset R Correction value for the position act. value R Relative velocity for compensation R Relative acceleration for compensation R Jerk R Position normalization R Velocity normalization R Axis cycle DI Set position BO Correct position actual value BO Steady-state offset compensation BO Dynamic offset compensation BO Mode changeover BO Compensation using forwards motion BO Compensation using reverse motion BO Brief description XP XV XPS OFS XCP VMX AMX YP YV COR POV NOV DON QF R R DI BO BO BO BO Pos. reference value output Ref. velocity output Correction value Positive position overflow Negative position overflow Compensation ended Group error JRK NFX NFV AZ SET CP SOC DOC MOC FWD 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. 10 The compensation functions are subject to the specified velocity and acceleration values. Mode of operation 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. Function Blocks - SIMADYN D Edition 12.2001 10-1 GMC blocks 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SOC inputs are simultaneously set to 1, the steadystate offset compensation starts immediately after the SET command is withdrawn. Steady-state compensation YP YP dXP SOC SET Steady-state offset compensation Set steady-state offset Example for SOC 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. YP XP OFS YP DOC Dynamic offset compensation Mode change (MOC) 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. 10-2 Function Blocks - SIMADYN D Edition 12.2001 GMC blocks AZO YP POV NOV YV XP XV dXP YP XPS SET Internal steadystate offset x(t) dXo dv v(t) dVo dAo dx t t SOC OFS DOC MOC FWD BWD NFV Offset compensation VMX AMX JRK YP YV COR Block diagram Offset compensation (DOC) 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. Direction of the compensation operation XCP, CP For applications with rotary axis (AZ > 0), there are three compensation versions which can be selected for mode changeover (MOC) or steadystate offset compensation (SOC): AZ FWD BWD >0 0 0 Motion direction ( * means any) Shortest distance >0 0 1 Backwards >0 1 * Forwards 0 * * Shortest distance 10 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. Function Blocks - SIMADYN D Edition 12.2001 10-3 GMC blocks I/O 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 100.0 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! AMX Maximum relative acceleration for compensation. The effective acceleration is the sum of the compensation and synchronous operation. Units: Rotary axis [1/s] linear axis [m/s] 100.0 JRK Jerk = change in the acceleration per unit time for the compensation operation. Units: Rotary axis [1/s] linear axis [m/s] JRK = 0, means no rounding-off. 1000.0 NFX Position normalization: 360000 Rotary axis: Number of LU per revolution Linear axis: Number of LU per meter 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 mm/s 60 s/min 0.001 m/mm 60 s/min 60.0 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. 0 CP Correct position actual value. The position actual value is increased by XCP 0 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. 0 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) 1 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 10-4 Function Blocks - SIMADYN D Edition 12.2001 GMC blocks DON 0: Compensation operation (dynamic or steady-state offset compensation and mode changeover active 1: Compensation operation completed 0 QF Group error: Initialization: Not sufficient working memory; during operation: Inputs VMX, AMX, NFX, NFV must be > 0; JRK must be 0. 0 Configuring data Computation time [s] T400/PM5 FM458/PM6 Can be loaded online Yes Can be configured in Interupt tasks Cyclic tasks Computed in Normal mode Special features - 20 7 10.2 CAMSW Cam block with 2 cams Symbol CAMSW Position actual value R Velocity R Position normalization R Velocity normalization R Axis cycle of the position actual value DI Enable, forwards BO Enable, backwards BO XP XV NFX NFV AZ ENF ENR Reset mode BO Switch-in threshold 1 R Switch-out threshold 1 R Switch offset time 1 [ms] R Switch-in threshold 2 R Switch-out threshold 2 R Switch delay time 2 [ms] R RM XA1 XB1 DT1 XA2 XB2 DT2 Brief description Q QN Q1 QN1 Q2 QN2 QF BO BO BO BO BO BO BO Cam active Cam not active Cam 1 active Cam 1 not active Cam 2 active Cam 2 not active Group error 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. Function Blocks - SIMADYN D Edition 12.2001 10-5 10 GMC blocks Mode of operation XA = XB 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. Q Q XA XB X XB XA LU X For the case XA > XB, the active cam range is at both ends of the range. In the range {XB, XA}, Q = 0. XA > XB Direction of rotation 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. X XB XA ENF = 1 ENR = 0 DT = 0 t Q t AZI 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. POV, NOV 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. 10-6 Function Blocks - SIMADYN D Edition 12.2001 GMC blocks Examples RM = 0 XP RM = 1 XB XA t DT = 0 Q DT = 0 XA XB Q t DT = 0 XA XB t Q t DT Q DT > 0 DT DT < 0 t DT Q DT t DT 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: NFV, NFX m m User normalization s s = 60 = = NFV = m Internal _ normalization m min 60 s I/O 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 360000 per meter 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 mm/s 60.0 0.06 AZ Upper limit value 360000 ENF Enable forwards motion 1 ENR Enable backwards motion 1 Function Blocks - SIMADYN D Edition 12.2001 10 1.0 10-7 GMC blocks RM Reset mode: For a 1, active cams are reset with the position jump. 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 Q Group 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 Configuring data 10-8 Computation time [s] T400/PM5 FM458/PM6 Can be loaded online Yes Can be configured in Interupt tasks Cyclic tasks Executed in Normal mode Special features - 0 28 9 Function Blocks - SIMADYN D Edition 12.2001 GMC blocks 10.3 CATCH Catch-up/shutdown Symbol CATCH Reference position R Reference velocity R Shutdown position R Offset setpoint R Local velocity R Max. compensation velocity R Max. compensation acceleration R Jerk R Position normalization R Velocity normalization R Axis cycle DI Position/speed-controlled BO Local/synchronous operation BO Overcontrol permitted BO Trigger BO Enable BO Brief description XP XV XPS DYP VLC VMX AMX JRK NFX NFV AZ YP YV COR POV NOV QSY QLC QST QTR DON QF R R DI BO BO BO BO BO BO BO BO Position ref. value output Ref. velocity output Correction value Positive position overflow Negative position overflow Synchronous operation Local velocity reached Standstill Compensation operation active Compensation operation completed Group error PN LOC OVD TRG 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. Mode of operation 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. Function Blocks - SIMADYN D Edition 12.2001 10-9 10 GMC blocks Modes 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 Speed-controlled local operation. After compensation has been zero 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 1 0 Any Closed-loop speed controlled shutdown. After braking has been completed, YP is at any random position 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. I/O 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/s] Linear axis [ 1/m] 50.0 JRK Jerk (da/dt, derivative of the acceleration [time]) 2000.0 Units : Rotary axis 1/s] m 50 2 da s = 2000 m = dt 25ms s3 NFX 10-10 Position normalization: linear axis [m/s]). Example: This means that for JRK = 2000, acceleration is 50m/s after 25 ms. Rotary axis: Linear axis: Number of LU per revolution Number of LU per meter 360000 Function Blocks - SIMADYN D Edition 12.2001 GMC blocks 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 mm/s 60 s/min 0.001 m/mm 60 s/min 60.0 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) 0 LOC Local velocity input or synchronous operation (0 = synchronous operation) 0 OVD Overcontrol (saturation) permitted: Synchronizing or shutdown is realized as 0 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. 0 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 0 QLC Local velocity reached. This is set to 1 as soon as the transition status in the speed-controlled local mode has been completed. 0 QST Standstill signal 0 QTR 1: Compensation operation operational 0 DON 1: Compensation operation completed 1 QF Group error: Not sufficient working memory 0 Configuring data Function Blocks - SIMADYN D Edition 12.2001 Computation time [s] T400/PM5 FM458/PM6 Can be loaded online Yes Can be configured in Interupt tasks Cyclic tasks Executed in Normal mode Special features - 23 8 10 10-11 GMC blocks 10.4 EDC Engage/disengage Symbol EDC Reference position R Reference velocity R Axis cycle DI Coupling position R Engage/disengage length R Ramp length R Rounding-off (percentage) R Position setting value R Set position BO Start/stop trigger BO Start/stop continuous BO Engage/disengage BO Enable BO XP XV AZ XCP DXL RMP DRP SV YP YV COR POV NOV QSY QST QF R R DI BO BO BO BO BO Position reference value, slave Ref. velocity, slave Correction value Positive position overflow Negative position overflow Synchronous operation Standstill Group error S SST SSC ED EN Brief description 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. Switch-in operation 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. Engaging operation YV XV YV YP Engaging operation with post-triggering XV YP 2 DXL DXL SST SST Post-trigger range Post-triggering range 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 10-12 Function Blocks - SIMADYN D Edition 12.2001 GMC blocks 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. Switch-out operation Post-triggering, in order to implement an offset by additional disengaging lengths, is possible up to the start of the synchronizing operation. Disengaging operation YV Disengaging operation with post-triggering YV XV YP XV YP 2 DXL DXL SST SST Post-trigger range Post-trigger range While engaging, the master axis moves through dXP = engaging length + ramp length = DXL + RMP. Negative speed 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. Continuous operation 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. Function Blocks - SIMADYN D Edition 12.2001 10-13 10 GMC blocks Continuous engaging operation Intermittent engaging operation YV YV 0 XCP 0 XCP 0 XCP SSC XP 0 XCP 0 XCP 0 XCP SSC Intermittent 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. Ramps, roundingoff 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 YP RMP 2 Rounding-off DRP RMP 2 DRP = 0 % YV DRP = 50 % dYV dt DRP = 100 % DRP I/O 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 10-14 Function Blocks - SIMADYN D Edition 12.2001 GMC blocks 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 S Set 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 01 edge occurs within the post-trigger range. 0 SSC An engaging or disengaging operation is started as a function of a level, for continuous or intermittent operation. 0 ED Operating mode selection: 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. 0 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). 0 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). 0 QSY Synchronous operation: Indicates that the master axis and slave axis are in angular synchronism 0 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 Configuring data 0: Disengaging Computation time [s] T400/PM5 FM458/PM6 Can be loaded online Yes Can be configured in Interupt tasks Cyclic tasks Executed in Normal mode Special features - 1: Engaging 20 7 10 Function Blocks - SIMADYN D Edition 12.2001 10-15 GMC blocks 10.5 NAVMC Speed/position actual value sensing Symbol NAVMC Hardware address G Encoder pulse number DI Reference speed R Master/slave BO Mode, hardware W Mode, software W Axis cycle (max. position value) DI Reset position BO Set position BO Position setting value R Setting value for synchronization R Pos. ref. value for synchronization R Enable synchronization BO POV: Subtract position correction BO NOV: Add position correction BO COR: Position correction value DI Normalization, YP numerator DI Normalization, YP denominator DI Gear factor, numerator DI Gear factor, denominator DI Brief description AD PR RS MS MHW MSW AZ R S SV SVS YV YP YPS YDS SS SYP COR POV NOV QF YFC R R R R BO BO DI BO BO BO W Speed actual value Position actual value Position when synchronizing Offset actual value Position for synchronization set Synchronizing pulse Corrective value Positive position overflow Negative position overflow Group error Error code XPS SP CP CN DYP NPN NPD NM 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. 10-16 Function Blocks - SIMADYN D Edition 12.2001 GMC blocks 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. Mode of operation 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 Machine DN M NM Gearbox Speed YP, YV Output Y indicates the machine speed according to the following formula: YV = speed _ encoder[ 1 min ] NM DN RS Any speed or velocity normalization can be implemented using the reference speed RS. Required units for YV Machine feed per revolution Value for RS Examples Revolutions / min Position 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 m. 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 Function Blocks - SIMADYN D Edition 12.2001 10-17 10 GMC blocks YP = encoder pulses NM NPN + DYP DN NPD 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.) Example 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; NPD = 8192; ( 5258 0.1 mm) ( 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). Sawtooth generation 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. POV, NOV, COR 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. 10-18 Function Blocks - SIMADYN D Edition 12.2001 GMC blocks Hardware mode MHW Bit(s) Function 2 ... 0 Hardware filter 000 Encoder type 1 No filter Encoder type 2 No filter 001 500 ns 125 ns 010 2 s Not permissible 011 8 s Not permissible 100 16 s Not permissible Otherwise Not permissible Not permissible 5 ... 3 Coarse pulse evaluation (only influences T400) 6 Synchronization Significance Value 000 Mode 0 Logic 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 Otherwise >5 Coarse pulse, inverse and each fine pulse Coarse pulse ignored 0 Via the zero pulse 1 Via the trigger signal (only possible for IT41) 7 Edge evaluation 0 1 Direction of rotation dependent (always the same position value) Always the rising edge of the zero pulse 8 Source of the track signals 0 From terminal XE1 of T400 (involves encoder 1 at T400) 1 Source of the zero pulses 0 From the basic drive converter/inverter via backplane bus From terminal XE1 of T400 (involves encoder 1 at T400) 1 Encoder type 0 9 10 1 Function Blocks - SIMADYN D Edition 12.2001 From the basic drive converter/inverter via backplane bus Encoder type 1: Two tracks offset through 90 Max. frequency: 1 MHz Pulse quadrupling Encoder type 2: Every direction of rotation has its own pulse track Max. frequency: 2.5 MHz No pulse quadrupling! 10 10-19 GMC blocks Software mode MSW 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 11 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) Enable internal 0 Position YP is not limited sawtooth generation 1 Limiting: 0 YP < AZ; with automatic POV / NOV generation for overflow/underflow. I/O 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 R Reset position 0 S Set 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 10-20 Function Blocks - SIMADYN D Edition 12.2001 GMC blocks 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. 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 0 a processing cycle. NOV For the position correction YP = YP + COR, NOV is set to 1 for the duration of a processing cycle. 0 QF Group error, this is always set, if YFC is not equal to zero. 0 YFC Error code (refer to the table) 0x0000 0 YFC error codes Bit Significance 0 At least one of the block inputs PR, RS, DN, NM, NPN or NPD has the value zero. 1 The block was configured in a sampling time > 20 ms. 2 Illegal filter setting 3 Block was configured as a slave; no master was found (in the same sampling time and in the execution sequence before the slave). 4 Master and slave are not configured in the same sampling time. 5 Several masters are configured at the same hardware address. 6 Master and slave are configured at the same address. 7 AZ is negative. 8 The measured sampling time was > 20 ms. Configuring data Function Blocks - SIMADYN D Edition 12.2001 Computation time [s] T400/PM5 FM458/PM6 Can be loaded online Yes Can be configured in Interupt tasks Cyclic tasks Executed in Normal mode Special features - 30 10 10 10-21 GMC blocks 10.6 POSREG Position register reading Symbol POSREG Hardware address G Enable BO Brief description AD EN REG QF DI Position register 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. Mode of operation 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. Zyklische Task NAVMC AD Alarmtask YPI Lage zum Alarmereignis POSREG AD REG REG QPI I/O Pre-assign. AD Hardware address EN Enable `1' : REG Actual status of the position register of the incremental encoder. Connect this output to the input REG of the corresponding NAVMC. 0 QF Group error: not enough memory 0 10-22 function block is processed 1 Function Blocks - SIMADYN D Edition 12.2001 GMC blocks Configuring data Computation time [s] T400/PM5 FM458/PM6 Can be loaded online No Can be configured in Interrupt tasks Cyclic tasks Executed in Normal mode Special features - 2 1 10.7 PHSFT Phase shifter Symbol PHSFT Position actual value 1 R Position actual value 2 R Reference velocity 1 R Reference velocity 2 R Axis cycle DI XP1 XP2 XV1 XV2 AZ YP YV COR POV NOV R R DI BO BO Position value shifted Velocity setpoint Corrective value Positive overflow Negative overflow Brief description 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. Mode of operation 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! I/O 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: 0.0 Function Blocks - SIMADYN D Edition 12.2001 YV = XV1 + XV2 10-23 10 GMC blocks COR Correction value around YP jumps if the range 0 YP < AZ is exceeded or fallen below. 0 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 Configuring data Computation time [s] T400/PM5 FM458/PM6 Can be loaded online Yes Can be configured in Interupt tasks Cyclic tasks Executed in Normal mode Special features - 10 3 10.8 ADDAZ Adder with axis cycle limiting Symbol DDAZ Axis cycle DI Position actual value 1 R Position actual value 2 R Position actual value 3 R Position actual value 4 R Position actual value 5 R Position actual value 6 R Position actual value 7 R Position actual value 8 R AZ YP R Position value shifted XP1 XP2 XP3 XP4 XP5 XP6 XP7 XP8 Brief description The block adds 8 position values and limits the result to the specified axis cycle. Mode of operation The position output YP is obtained as follows 8 YP = ( XPi) mod AZ i =1 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). 10-24 Function Blocks - SIMADYN D Edition 12.2001 GMC blocks I/O Pre-assign. AZ Axis cycle for the position output and all position inputs (0 means linear axis) 360000 XP1 ... Position actual values 1 to .. ... XP8 ... position actual value 8 0.0 YP Position output value: (sum of XP1 to XP8) modulo AZO 0 Configuring data 0.0 Computation time [s] T400/PM5 FM458/PM6 Can be loaded online Yes Can be configured in Interupt tasks Cyclic tasks Executed in Normal mode Special features - 5 2 10.9 SPLINE Cam disk with 32 points (calculation) Symbol SPLINE Type I Start calculation BO Linear sections 1 W Linear sections 2 W Abscissa value, point 1 R Ordinate value, point 1 R Abscissa value, point 2 R Ordinate value, point 2 R Abscissa value, point 31 R Ordinate value, point 31 R Abscissa value, point 32 R Ordinate value, point 32 R Brief description TYP CAL FKT QF DI Result functions (pointer) BO Input error LM1 LM2 X1 Y1 X2 Y2 X31 Y31 X32 Y32 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. Function Blocks - SIMADYN D Edition 12.2001 10-25 10 GMC blocks Mode of operation 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 = (Yi+1 - Yi-1) / (Xi+1 - Xi-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 15 14 13 12 11 10 9 Section assigned to LM1 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 Section assigned to LM2 - 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 8 7 6 5 4 3 2 1 0 I/O Pre-assign. CAL The calculation is started with a rising edge. The curve which has been used 0 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 ... 32 points to specify the curve. X32, Y32 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. 10-26 Function Blocks - SIMADYN D Edition 12.2001 GMC blocks Configuring data Computation time [s] T400/PM5 FM458/PM6 5 2 Can be loaded online Yes Can be configured in Interupt tasks Cyclic tasks Executed in Normal mode Special features new calculation: 50 s for T400/PM5 new calculation: 17 s for FM458/PM6 10.10 CAMD Cam disk Symbol CAMD Reference position R Reference velocity R Calculation function DI Axis cycle length, input DI Axis cycle length, output DI Scaling, input (X axis) R Scaling, output (Y axis) R Scaling, derivation R Absolute output BO Stop for YP = AZO BO Restart after YP = AZO BO Enable BO Brief description XP XV FKT AZI AZO SCX SCY YP YV COR POV NOV QST QF R R DI BO BO BO BO Position reference value Velocity setpoint Correction value Positive position overflow Negative position overflow Stopped for YP = AZO Group error SCV ABS STP TRG 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. Mode of operation 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. Function Blocks - SIMADYN D Edition 12.2001 10-27 10 GMC blocks AZO SCY YP COR POV NOV XP SCX XV YV SCV Absolute output 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) AZO = 0 or AZO >>YP YP AZI Y XP 0 AZI AZO X AZI t Special case: STP = 1 (stop for YP = AZO) XP Special case: YP is limited by AZO YP TRG XP AZI AZO YP t t POV NOV Relative output 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: 10-28 Function Blocks - SIMADYN D Edition 12.2001 GMC blocks 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) Y AZO YP Y(AZI) 0 XP X AZI t POV I/O 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. 0 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). 0 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). 0 QST Indicates that a stop was made for YP = AZO (to continue: TRG = 0 1). 0 QF Group error : Not sufficient memory space 0 10 Configuring data Function Blocks - SIMADYN D Edition 12.2001 Computation time [s] T400/PM5 FM458/PM6 Can be loaded online Yes Can be configured in Interupt tasks Cyclic tasks Executed in Normal mode Special features - 35 12 10-29 GMC blocks 10.11 TABCAM Cam disk in tabular form Symbol TABCAM Reference position R Reference speed R Table reference DI Axis cycle, input DI Axis cycle, output DI Scaling factor, input R Scaling factor, output R Scaling factor, derivation R Mode absolute BO Stop for YP = AZO BO Restart after YP = AZO BO Enable BO Brief description XP XV TAB AZI AZO SCX SCY YP YV COR POV NOV QST QF R R DI BO BO BO BO Position setpoint Speed setpoint Position correction value Positive overflow Negative overflow Stopped for YP = AZO Group error SCV ABS STP TRG 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. Mode of operation 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. AZO SCY XP SCX XV YP COR POV NOV YV SCV 10-30 Function Blocks - SIMADYN D Edition 12.2001 GMC blocks Absolute output 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) AZO = 0 or AZO >>YP YP AZI Y XP 0 AZI AZO X AZI t Special case: STP = 1 (stop for YP = AZO) XP Special case: YP is limited by AZO XP AZI AZO YP YP t TRG t POV NOV Relative output 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. Function Blocks - SIMADYN D Edition 12.2001 10-31 10 GMC blocks Characteristic Y(X) Y AZO YP Y(AZI) 0 XP X AZI t POV I/O 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. 0 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). 0 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). 0 QST Indicates that a stop was made for YP = AZO (to continue: TRG = 0 1). 0 QF Group error : Not sufficient memory space 0 Configuring data 10-32 Computation time [s] T400/PM5 FM458/PM6 Can be loaded online Yes Can be configured in Interrupt tasks Cyclic tasks Executed in Normal mode Special features - 35 12 Function Blocks - SIMADYN D Edition 12.2001 GMC blocks 10.12 POSMC Positioning block Symbol POSMC Position actual value R Velocity actual value R Target position R Following error window R Target window R Max. velocity R Max. acceleration R Jerk R Position normalization R Velocity normalization R Axis cycle DI Forwards BO Backwards BO Absolute/relative positioning BO Start BO Stop BO Accept actual values BO Enable BO Brief description XP XV XPD DXE DYE VMX AMX JRK NFX NFV YP YV YA COR POV NOV QP DON QXE QF R R R DI BO BO BO BO BO BO Reference position Reference velocity Reference acceleration Correction value Positive position overflow Negative position overflow Positioning active Position actual value in the target window Following error exceeded Group error AZ FWD BWD ABS STR HLT SET 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. Mode of operation 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 01 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. Absolute positioning 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: Function Blocks - SIMADYN D Edition 12.2001 10-33 10 GMC blocks AZ FWD BWD >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 Relative positioning Direction of motion ( ABS = 1; * means any) 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. VMX AMX Reference position YP Ref. speed YV t dt Rounding-off (da/dt)= Changes during positioning AMX dt Reference acceleration 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. I/O 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: Relative positioning: 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/s]; linear axis [m/s] 10.0 10-34 Target position Positioning distance Function Blocks - SIMADYN D Edition 12.2001 GMC blocks 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/m] 1000.0 linear axis [m/s] NFX Position normalization: Rotary axis: Linear axis: Number of LU per revolution Number of LU per meter 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 mm/s 60 s/min 0.001 m/mm 60 s/min 60.0 0.06 360000 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) 0 BWD Backwards motion for absolute positioning, rotary axis and FWD = 0 0 ABS 0: Relative positioning 1: Absolute positioning 0 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. 0 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 0 DON 0: Positioning or position actual value outside the target window 1: Positioning completed and the position actual value in the target window 0 QXE 1: Setpoint/actual value deviation greater than the following error window ( |XP - YP| > DXE ) 0 QF Group error: Initialization: Not sufficient working memory; during operation: Inputs VMX, AMX must be > 0; JRK must be 0 0 Configuring data Function Blocks - SIMADYN D Edition 12.2001 Computation time [s] T400/PM5 FM458/PM6 Can be loaded online Yes Can be configured in Interupt tasks Cyclic tasks Executed in Normal mode Special features - 35 12 10 10-35 GMC blocks 10.13 OFSSAV Offset calculation Symbol OFSSAV Position actual value R Position reference value R Axis cycle DI Save offset BO XP XPS YPD YPM R Position difference XPS - XP R Shortest path AZ S Brief description 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. Mode of operation 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 I/O Pre-assign. XP Position actual value 0.0 XPS Position reference value 0.0 AZ Axis cycle for input and output position values 360000 S Calculate 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 10-36 Function Blocks - SIMADYN D Edition 12.2001 GMC blocks Configuring data Computation time [s] T400/PM5 FM458/PM6 Can be loaded online Yes Can be configured in Interupt tasks Cyclic tasks Executed in Normal mode Special features - 1 0,3 10.14 OFSGEN Offset input Symbol OFSGEN Offset setpoint R Velocity for compensation R Acceleration for compensation R Jerk R Position normalization R Velocity normalization R Axis cycle DI Setting value R Accept setting value BO Start offset change BO Absolute / relative offset BO Compensation using forwards motion BO Compensation using backwards motion BO Enable BO XP VMX AMX JRK NFX NFV AZ YP YV COR POV NOV DON QF R R DI BO BO BO BO Offset / position offset Reference velocity Corrective value Positive position overflow Negative position overflow Compensation ended Group error SV S STR ABS FWD BWD EN Brief description 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. Mode of operation 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. Absolute (ABS = 1) 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). Function Blocks - SIMADYN D Edition 12.2001 10-37 10 GMC blocks For applications with rotary axis (AZ > 0) and "absolute" operating mode (ABS = 1), there are three compensation versions which can be selected: Relative (ABS = 0) 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. I/O Pre-assign. XP Offset setpoint (absolute or relative) 0.0 VMX Maximum velocity for compensation. 1.0 AMX Maximum acceleration for compensation. 1.0 Units: Rotary axis [1/m] linear axis [m/s] JRK Jerk = change in the acceleration per unit time for compensation. Units: Rotary axis [1/m] linear axis [m/s] JRK = 0 means no rounding-off. 10.0 NFX Position normalization: 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: Rotary axis: Linear axis: Number of LU per revolution Number of LU per meter User normalization Conversion NFV 1/s mm/s 60 s/min 0.001 m/mm 60 s/min 60.0 0.06 1.0 AZ Axis cycle for input and output offset values 360000 SV Setting value for the offset 0.0 S For 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. 0 STR The offset change is started with a 01 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: for S = 1: 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 10-38 1 YP = 0; YP = SV; YV = 0 YV = 0 Function Blocks - SIMADYN D Edition 12.2001 GMC blocks NOV Negative position reference value overflow (COR was added) 0 DON 0: Compensation operation running 1: Compensation operation completed 0 QF Group error: Initialization: Not sufficient working memory; during operation: Inputs VMX, AMX must be > 0; JRK must be 0 0 Configuring data Computation time [s] T400/PM5 FM458/PM6 30 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 Symbol GEAR Reference position R Reference velocity R YV correction factor R Axis cycle, input DI Axis cycle, output DI Ratio, numerator DI Ratio, denominator DI Setting value R Set position BO Enable BO XP XV CYV AZI AZO NM YP YV COR POV NOV QF R R DI BO BO BO Position reference value Reference velocity Correction value Positive position overflow Negative position overflow Group error DN SV S EN Brief description The gearbox block is used to convert speeds and/or axis cycles. Mode of operation 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. AZI AZO 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. Function Blocks - SIMADYN D Edition 12.2001 10-39 10 GMC blocks Example: 720 DN = NM = 1; AZI = 360; AZO = 720 Position YP 360 XP t 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). I/O 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 S Set 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 rotaryaxis systems. 0 POV For the position correction YP = YP - COR, POV is set to 1 for the duration of 0 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). 0 QF Group error : Not sufficient memory space available 0 10-40 Function Blocks - SIMADYN D Edition 12.2001 GMC blocks Configuring data Computation time [s] T400/PM5 FM458/PM6 25 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 Symbol INT_MR Reference velocity R Position normalization R Velocity normalization R Axis cycle DI Setting value R Set position BO XV NFX NFV AZ SV S Hold position BO Enable BO HLD EN YP YV COR POV NOV QF R R DI BO BO BO Position reference value Reference velocity Correction value Positive position overflow Negative position overflow Group error Brief description 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!). Mode of operation The inter-relationship between position and velocity is specified using the normalization inputs NFX and NFV. I/O Pre-assign. XV Reference velocity of the master axis NFX Position normalization: Rotary axis: 0.0 Number of LU per revolution Linear axis: Number of LU 360000 per meter 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 mm/s 60.0 0.06 AZ Axis cycle for an output position reference value (O = linear axis) SV Setting value for the position output YP S Set 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 Function Blocks - SIMADYN D Edition 12.2001 1.0 10 10-41 GMC blocks YV Velocity reference value COR Correction value for jumps at YP due to limiting to the axis cycle for rotaryaxis systems. 0 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). 0 NOV For the position correction YP = YP + COR, NOV is set to 1 for the duration of 0 a processing cycle (position overflow for a negative direction of rotation). QF Group error : Not sufficient memory space available Configuring data 0 Computation time [s] T400/PM5 FM458/PM6 Can be loaded online Yes Can be configured in Interupt tasks Cyclic tasks Executed in Normal mode Special features - 15 5 10.17 WEBSFT Measured value offset Symbol WEBSFT Position actual value R Measured value 1 R Measured value 2 R Position offset R Max. measured value number I Axis cycle DI Save measured value BO Delete measured value memory BO Enable BO XP XM1 XM2 YP QV QF R Measured value offset (shift) BO Output YP valid (pulse) BO Group error DX NMX AZ SAV CLR EN Brief description 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. Mode of operation 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! 10-42 Function Blocks - SIMADYN D Edition 12.2001 GMC blocks 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). I/O 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 Configuring data Computation time [s] T400/PM5 FM458/PM6 Can be loaded online Yes Can be configured in Interupt tasks Cyclic tasks Executed in Normal mode Special features - 15 5 10 Function Blocks - SIMADYN D Edition 12.2001 10-43 GMC blocks 10.18 OVFHSK Overflow handshake procedure Symbol OVFHSK Correction value, input DI Positive overflow, input BO Negative overflow, input BO POV checkback signal BO NOV checkback signal BO Brief description COI POI NOI COR DI Correction value POV BO Positive overflow NOV BO Negative overflow PFB 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. Mode of operation Setpoint generation COR1 POV1 NOV1 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. OVFHSK COI POI NOI PFB NFB COR POV NOV Communications interface Converter COR2 POV2 NOV2 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. 10-44 Function Blocks - SIMADYN D Edition 12.2001 GMC blocks Example: The position reference value oscillates around the axis cycle limit COR = 3 x COI - 2 x COI = COI POI NOI POV PFB COI COR t I/O 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). 0 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). 0 QF Group error: Not sufficient memory space available 0 Configuring data Function Blocks - SIMADYN D Edition 12.2001 Computation time [s] T400/PM5 FM458/PM6 Can be loaded online Yes Can be configured in Interupt tasks Cyclic tasks Executed in Normal mode Special features - 10 3 10 10-45 GMC blocks 10.19 TAB, TAB_D Tabular values manager Symbol TAB Coupling module name User data area (DB No.) Address parameter, receive Receive mode Telegram failure time Table name SAVE area Manual/automatic mode Valid table No. of points X value point i Y value point i Index point i Write point Output point Enable Brief description GV GV S S R S BO BO BO DI R R DI BO BO BO CTS XDB US MOD TFT NAM SAV AUT TVL NP XP YP IP WR RD EN TAB DB YNP YXP YYP YIP QTS YTS YTC DI W DI R R DI BO W W Table DB number of the table Number of points actual X value actual point i Y value actual point i Index actual point i Block status Status display Status display, communications 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. I/O 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. 10-46 - Function Blocks - SIMADYN D Edition 12.2001 GMC blocks 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 R TFT Monitoring time. Maximum telegram failure time while receiving table values. (initialization connection) NAM Table name (initialization connection) 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). 0 AUT Manual/automatic mode Changeover between the manual and automatic mode. Automatic mode (AUT = 1) 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" 0 NP Number of points (initialization connection) 0 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). 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".) 0 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".) 0 Function Blocks - SIMADYN D Edition 12.2001 100 ms Empty string 10 10-47 GMC blocks Configuring data Computation time [s] 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: Can be inserted online 10-48 T400/PM5: 45 FM 458/PM6: 15 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. Function Blocks - SIMADYN D Edition 12.2001 GMC blocks 10.20DRVIF Interface to the drive Symbol DRVIF Position ref. value Speed setpoint Reference speed Position correction value input Drive status word Brake delay time Positive position overflow Negative position overflow Non-synchronous operation Standstill detected Drive fast stop Enable acknowledge fault Enable save measured value R R R DI DI SD BO BO BO BO BO BO BO XP XV RS COI STW TBR POV NOV ASY STS STP ACK ENM Enable referencing Set position actual value Set position ref. value Enable position control Enable drive BO BO BO BO BO REF SPA SPS ENP EN Brief description YP YPI COR YVI CTW QOP QE QEN BRK ERR QMV QRP QF R DI DI DI DI BO BO BO BO BO BO BO BO Position ref. value Position ref. value (integer) Correction value Speed setpoint (integer) Drive control word Drive enable Setpoint generation enabled Inhibit setpoint generation Open brake Drive fault Measured value detected Reference point detected Group fault 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. Mode of operation 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. Function Blocks - SIMADYN D Edition 12.2001 10-49 10 GMC blocks 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. Fast stop 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. Holding brake 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 interdependencies/inter-relationships when powering-up and powering-down the drive. Acknowledge fault EN and fault and ACK=1 EN=0 EN=1 and drive ready to be powered-up Initial status Drive inhibited Brake closed EN and drive ready to be powered-up EN=0 or fault EN=0 or fault Power-up drive Close brake Drive operational Standstill Open brake Wait for standstill Open brake Setpoint/ref. value generation active 10-50 EN=0 or fault Function Blocks - SIMADYN D Edition 12.2001 GMC blocks 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 1 Ready No OFF2 (pulse inhibit) 2 Operation No OFF3 (fast stop) 3 Fault Enables the inverter 4 No OFF2 present Enables the ramp-function generator 5 No OFF3 present Ramp-function generator start 6 Power-on inhibit Setpoint is enabled 7 Alarm Signal edge, acknowledge fault 8 No setpoint/reference value-actual value deviation Jogging, bit 0 (always 0) 9 PZD 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 - Function Blocks - SIMADYN D Edition 12.2001 10 10-51 GMC blocks Non-synchronous operation 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. I/O 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! COI Position correction value input STW Drive status word (refer to the Table above) 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 10-52 3000.0 0 0 Function Blocks - SIMADYN D Edition 12.2001 GMC blocks STS Standstill detected. STS = 1 is a prerequisite that the drive should be shut down! 1 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. 1 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 1 EN Enables the drive. The drive can be powered-up and powered-down using this input. Also refer to the state diagram above. 0 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. 0 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. 0 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 Configuring data Can be loaded online Yes Computation time [s] T400 / PM5 PM6 / FM458 Can be configured in Interrupt tasks Computed in: Normal mode 15 5 Cyclic tasks Function Blocks - SIMADYN D Edition 12.2001 10 10-53 GMC blocks 10.21 MDCMP1 basic and equalization functions for Motion Control Symbol MDCMP1 1. Position ref. value 1. Velocity setpoint 2. Position ref. value 2. Velocity setpoint Channel selection Setting value, position Dynamic position offset Correction value for the position act. value Relative velocity for equalization Relative acceleration for equalization R R R R BO R R R R R XP1 XV1 XP2 XV2 SEL SV OFS XCP VMX AMX Jerk Position normalization Velocity normalization Axis cycle Set position Correct position actual value Static offset compensation Dynamic offset compensation Equalization using forwards motion Equalization using reverse motion Hold Jog velocity Jogging forwards Jogging backwards Referencing velocity Referencing mode Referencing Reference point detected Initial position Traverse to the initial position R R R DI BO BO BO BO BO BO BO R BO BO R I BO BO R BO JRK NFX NFV AZ S CP SOC DOC FWD BWD HLT VJG JGF JGB VRF MDR REF SYN XHM POS Brief description YP YV COR POV NOV DON QRF QER QST QF R R DI BO BO BO BO BO BO BO Reference position Reference velocity Correction value Positive position overflow Negative position overflow Equalization completed Referenced Enable referencing Standstill Group fault 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. 10-54 Function Blocks - SIMADYN D Edition 12.2001 GMC blocks Mode of operation Priority S HLT To select the actual block mode, the following priority list applies (* = any; DOC and SOC can occur simultaneously): JGF JGB REF POS SOC DOC Operating mode 1 1 * * * * * * * Setting function 2 0 1 * * * * * * Stopping 3 0 0 1 * * * * * Jog with speed VRF 4 0 0 0 1 * * * * Jog with speed -VRF 5 0 0 0 0 1 * * * Referencing 6 0 0 0 0 0 1 * * Position after XHM 7 0 0 0 0 0 0 01 * Static offset compensation for synchronous operation (aligning) 7 0 0 0 0 0 0 * 8 0 0 0 0 0 0 0 Local operation 01 Dynamic offset compensation for synchronous operation (flying referencing, pass mark synchronization) 0 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. Function Blocks - SIMADYN D Edition 12.2001 10-55 10 GMC blocks MDR Behavior when referencing 0 Referencing not possible. Set this mode when using absolute value encoders. 1 The reference velocity remains, also after passing the reference point to VRF to REF=0, or another mode is activated. 2 After the reference point has been passed the drive remains stationary. 3 After passing the reference point the drive continues to traverse to the initial position XHM where it then remains stationary. 4 After 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. Exiting local operation 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. Setting function and static equalization 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. YP XP(t) YP(t) YP XP(t) YP(t) SV S SOC Setting the static offset Static offset compensation 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. 10-56 Function Blocks - SIMADYN D Edition 12.2001 GMC blocks Changing the setpoint channel 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. Offset equalization (DOC) 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. Direction of the equalization operation XCP, CP 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. Function Blocks - SIMADYN D Edition 12.2001 10-57 10 GMC blocks I/O 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 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/m] Linear axis [m/s] 100.0 JRK Jerk = Change in the acceleration per unit time for the equalization sequence. Units: Rotary axis [1/m] Linear axis [m/s] JRK = 0 means no rounding-off. 1000.0 NFX Position normalization: 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. Rotary axis: Linear axis: 0 Number of LU per revolution Number of LU per meter 1.0 Examples: User normalization 1 1.0 = 1 /s mm 1.0 = 1 /s Conversion 1 1 1 /s = 60 /min mm m 1 /s = 0.06 / min NFV 60.0 0.06 AZ Axis cycle for the input and output position value S Set position. For S = 1, equalization sequences which have not been completed, are cancelled. 0 CP Correct the position actual value. The position actual value is increased by XCP with a rising edge. 0 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) 1 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 JGF Jogging with velocity VJG JGB Jogging with velocity - VJG VRF Velocity for referencing 10-58 36000 0.0 0 0 0.0 Function Blocks - SIMADYN D Edition 12.2001 GMC blocks MDR Mode for the behavior after passing the reference point (refer to the table above) 0 REF Enable referencing 0 SYN A rising edge at SYN signals that the reference point is passed in the referencing mode. 0 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. 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 0 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) 0 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. 0 Configuring data Can be loaded online Yes Computation time [s] T400, PM5: PM6, FM458: Can be configured in Interrupt tasks 0 22 7.5 Cyclic tasks Computed in: Normal mode 10 Function Blocks - SIMADYN D Edition 12.2001 10-59 GMC blocks 10.22 CLUTCH engage/disengage (coupling) Symbol CLUTCH Reference position Referencing velocity Shutdown position Offset setpoint Local velocity Max. equalization velocity Acceleration when equalizing Jerk Position normalization Velocity normalization Axis cycle R R R R R R R R R R DI XP XV XPS DYP VLC VMX AMX JRK NFX NFV AZ Position setting value Set position Stop as fast as possible Hold for XPS Synchronous operation (YP=XP) Speed synchronism Local operation Over control permitted Forwards Backwards Enable R BO BO BO BO BO BO BO BO BO BO SV S HLT STP SYP SYN LOC OVD FWD BWD EN Brief description YP YV COR POV NOV QSY QLC QST QTR DON QF R R DI BO BO BO BO BO BO BO BO Position reference value output Reference velocity output Correction value Positive position overflow Negative position overflow Synchronous operation Local velocity reached Standstill Equalization sequence active Equalization sequence completed Group fault 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. 10-60 Function Blocks - SIMADYN D Edition 12.2001 GMC blocks 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): Mode of operation Prior ity S HLT STP SYP SYN LOC Operating mode Input 1 1 * * * * * Setting function: YP = SV - 2 0 1 * * * * Shutdown (as fast as possible; any position) - 3 0 0 1 * * * Hold at the shutdown position XPS XPS 4 0 0 0 1 * * Synchronous operation with YP = XP+DYP DYP 5 0 0 0 0 1 * Synchronous operation with undefined offset between XP and YP 6 0 0 0 0 0 1 Operation with local velocity VLC 7 0 0 0 0 0 0 Shutdown (as a mode is not active) VLC - 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. Function Blocks - SIMADYN D Edition 12.2001 10-61 10 GMC blocks 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. I/O 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. AMX Maximum acceleration/deceleration for the transition states. Units: Rotary axis [1/s] Linear axis [ 1/m] JRK Jerk (da/dt time derivative of the acceleration) Units : Rotary axis 1/s] 1000.0 50.0 2000.0 Linear axis [m/s]). m 50 2 da s = 2000 m = dt 25ms s3 Example: This means that for JRK = 2000, an acceleration of 50m/s is reached after 25 ms. NFX Position normalization: Rotary axis: Number of LU per revolution Linear axis: Number of LU per meter 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. 360000 1.0 Examples: User normalization 1 1.0 = 1 /s mm 1.0 = 1 /s Conversion 1 1 1 /s = 60 /min mm m 1 /s = 0.06 / min NFV 60.0 0.06 AZ Axis cycle for the input and output position value (O = linear axis) SV Setting value for the position. This is accepted for S = 1. S Setting position YP = SV. 10-62 36000 0.0 0 Function Blocks - SIMADYN D Edition 12.2001 GMC blocks HLT Stopping as quickly as possible: For HLT=1 the speed setpoint is ramped down to zero. 0 STP Hold at XPS: For STP = 1 the reference position remains stationary at XPS. For OVD = 1, the axis positions to XPS. 0 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. 0 SYN Synchronous operation for undefined offset between YP and XP. When the operating mode is activated, YV immediately ramps-up to XV. 0 LOC Local velocity input VLC. When VLC is changed, the setpoint speed follows via ramps. 0 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! 0 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) 0 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 0 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 Configuring data Can be loaded online Yes Computation time [s] T400, PM5: PM6, FM458 Can be configured in Interrupt tasks 23 7,5 Cyclic tasks Computed in: Function Blocks - SIMADYN D Edition 12.2001 Normal mode 10 10-63 GMC blocks 10.23SHEAR cross-cutter/cross sealer Symbol SHEAR Material position Format (product length) Shears circumference Synchronous operation [degrees] Velocity normalization Axis cycle output Cut enable Enable block R R R R R DI BO BO XP FMT CIR SYR NFV AZO CUT EN YP YV YFR YFI COR POV NOV QST R R R DI DI BO BO BO Position, shears Speed, shears Format actual value (floating point) Format actual value (integer) Correction value Positive overflow Negative overflow Standstill QCO BO Cutting operation active QF BO Group fault Brief description 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. Mode of 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. YP YP AZO AZO Characteristic for FMT = CIR AZO AZO 2 2 CIR FMT Transfer characteristic for a large format (FMT > CIR) XP Characteristic for FMT = CIR FMT CIR XP Transfer characteristic for a small format (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. 10-64 Function Blocks - SIMADYN D Edition 12.2001 GMC blocks Cutting is either enabled or inhibited using the CUT input. In the inhibited state, the shears are in the quiescent position and 1/2 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 YP FMT XP(t) AZO YP(t) t CUT t Cut YV Cut range t Behavior when cutting is enabled Format change 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) GEAR XP AZI AZO SHEAR YP Format XP YP FMT YFI 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). 10 Function Blocks - SIMADYN D Edition 12.2001 10-65 GMC blocks I/O Pre-assign. XP 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) 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. CUT Enables cutting operation. For CUT = 0 the shears come to a standstill at AZO/2 0 EN Block enable 1 YP Position of the shears ( 0 ... AZO) 0 YV 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 0 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. 0 QF Group fault 0 Configuring data 0.0 36000 Can be loaded online Yes Computation time [s] T400, PM5 PM6, FM458 Can be configured in Interrupt tasks 17 5,5 Cyclic tasks Computed in: 10-66 Normal mode Function Blocks - SIMADYN D Edition 12.2001 GMC blocks 10.24 EDC1 engager/disengager Symbol EDC1 Reference position Referencing velocity Axis cycle, input Axis cycle, output Coupling position Engage/disengage length Ramp length Rounding-off (percentage) R R DI DI R R R R XP XV AZI AZO XCP DXL RMP DRP Position setting value Set position Start/stop trigger Start/stop continuous Engage/disengage Enable R BO BO BO BO BO SV S SST SSC ED EN Brief description YP YV COR POV NOV QSY QST QF R R DI BO BO BO BO BO Position reference value, slave Reference velocity, slave Correction value Positive position overflow Negative position overflow Synchronous operation Standstill Group fault 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. Engaged operation 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. Engaging operation YV XV YV YP Engaging operation with post triggering YP 2 DXL DXL SST SST Post trigger range Function Blocks - SIMADYN D Edition 12.2001 XV Post trigger range 10-67 10 GMC blocks 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 Disengaging operation 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. Disengaging operation YV Disengaging operation with post triggering YV XV XV YP YP 2 DXL DXL SST SST Post trigger range Post trigger range During disengaging, the master axis travels through a distance given by dXP = disengaging length + ramp length = DXL + RMP Negative speed 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. Continuous operation 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: * 10-68 a system with linear axis is involved, Function Blocks - SIMADYN D Edition 12.2001 GMC blocks * 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. Continuous engaging operation Intermittent engaging operation YV YV 0 XCP 0 XCP 0 XCP SSC XP 0 XCP 0 XCP 0 XCP SSC For systems with rotary axis and one engaging/disengaging length DXL < AZ - RMP Intermittent operation 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 YP RMP 2 Rounding-off DRP RMP 2 DRP = 0 % YV DRP = 50 % dYV dt DRP Ramps, roundingoff 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. Function Blocks - SIMADYN D Edition 12.2001 10-69 10 GMC blocks I/O Pre-assign. XP Reference position 0.0 XV 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) 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 % SV Position setting value S 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 01 edge is output within the post trigger range. 0 SSC Level-dependent starting of an engaging or disengaging operation for continuous or intermittent operation. 0 ED Mode selection: 0: Disengaging 0 EN Enabled. For EN = 0 (not enable) YP = 0 and YV = 0 YP Position reference value for the slave drive 0.0 YV 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. 0 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). 0 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). 0 QSY Synchronous operation: This signal indicates that the master axis and slave axis are operating in angular synchronism with respect to one another 0 QST Standstill: Indicates that the slave velocity YV = 0. 0 QF Group fault; this is always set if YFC is not equal to zero. 0 10-70 0.0 0.0 1: Engaging 1 Function Blocks - SIMADYN D Edition 12.2001 GMC blocks Configuring data Can be loaded online Yes Computation time [s] T400, PM5 FM458, PM6 Can be configured in Interrupt tasks 27 9 Cyclic tasks Computed in: Normal mode 10.25 MCSB generating motion sequences (basis block) Symbol MCSB Start position Start velocity Start acceleration End position End velocity End acceleration Time inputs Max. velocity Max. deceleration R R R R R R R R R X0 V0 A0 XE VE AE TX VMX AMX Jerk Position normalization Velocity normalization No. sequence blocks Motion command Update curve R R R I I BO JRK NFX NFV NFB CMD UPD Brief description FKT DSO YDT YTT YAZ QVM QAM QF YFC DI DI R R DI BO BO BO I Calculation function Cascade output Duration of the section Total duration Total duration (rounded-off) Vmax exceeded Amax exceeded Group fault Fault code 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. Mode of operation Different limit velocities and accelerations can be entered for each section. Function Blocks - SIMADYN D Edition 12.2001 10-71 10 GMC blocks 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 ABS = 1 SCV = (de-activate scaling) (absolute output of the characteristic) 60000 NFX NFV (scaling of the velocity) **Supplem entary FB Basis-FB MCSB DSO DSI MCSS DSO MCSS FKT YAZ YTT Cam FKT AZI XP INT X = 1000 TI = 1 s 60000 NFX * NFV CAMD 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. 10-72 Function Blocks - SIMADYN D Edition 12.2001 GMC blocks The input CMD defines the required motion sequence version. 9 versions are available: CMD CMD Command End position End velocity End acceleration 0 No function X0 V0 A0 1 Absolute positioning XE VE AE 2 Relative positioning X0 + XE VE AE 3 Absolute positioning and wait until t > TX X0 0 0 4 Relative positioning and wait until t > TX X0 + XE 0 0 5 Traverse to velocity VE undefined VE 0 6 Traverse to velocity VE and hold this velocity for duration TX undefined VE 0 7 Traverse to velocity VE and hold this velocity until t >TX undefined VE 0 8 Positioning 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 Maintaining VMX, AMX 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/s, 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. Function Blocks - SIMADYN D Edition 12.2001 10-73 10 GMC blocks Updating the UPD curve 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! Rotary/linear axis MSCB and MCSS are designed to generate time characteristics (position = (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. Example, rotary axis 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). Fault codes 10-74 YFC Significance 0 NO fault 1 Illegal input value (VMX, AMX, NFV, NFX must be greater than 0) 2 Illegal command, CMD 3 Incorrect number of subsequent blocks configured 4 Insufficient memory available for supplementary blocks inserted online! Restart required. 5 Insufficient memory available 6 Sequence 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; 9) Function Blocks - SIMADYN D Edition 12.2001 GMC blocks I/O Pre-assign. X0 Start position (initial position) with reference to CMD = 8 ) 0.0 V0 Start velocity (initial velocity with respect to CMD = 8 ) 0.0 A0 Start acceleration (initial acceleration with respect to CMD = 8 ) 0.0 XE Final position 0.0 VE Final velocity 0.0 AE Final acceleration 0.0 TX 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/m] Linear axis [m/s] 10.0 JRK Jerk = Change in the acceleration per unit time. Units: Rotary axis [1/m] Linear axis [m/s] JRK = 0, means no rounding-off. 1000.0 NFX Position normalization: 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. Rotary axis: Linear axis: Number of LU per revolution Number of LU per meter 60.0 Examples: User normalization m 1.0 = 1 /s mm 1.0 = 1 /s Conversion m m 1 /s = 60 /min mm m 1 /s = 0.06 / min NFV 60.0 0.06 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. 0 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) 0 DSO Cascade output to extend the curve using subsequent blocks. This output should be connected with input DSI (block MCSS) 0 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. 0 QVM Alarm: Vmax exceeded. The alarm indicates that the motion inputs will cause the maximum velocity VMX to be exceeded. 0 QAM Alarm: Amax exceeded. The alarm indicates that the motion inputs will cause the maximum acceleration AMX to be exceeded. 0 QF Group fault 0 YFC Fault code (refer to the table above) 0 Function Blocks - SIMADYN D Edition 12.2001 10 10-75 GMC blocks Configuring data Can be loaded online Yes Computation time [s] T400, PM5 FM458, PM6 Can be configured in Interrupt tasks 20 (... 300) 7 (... 100) 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) Symbol MCSS Cascade input Final position Final velocity Final acceleration Time input Max. velocity Max. acceleration DI R R R R R R Motion command I Brief description DSI XE VE AE TX VMX AMX DSO YDT YTE QVM QAM QF YFC DI R R BO BO BO I Cascade output Section duration Time at section end Vmax exceeded Amax exceeded Group fault Fault code CMD 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). Mode of operation 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. CMD 10-76 Input CMD defines the motion sequence version required. 9 versions are available. In the table, the meanings are as follows: Function Blocks - SIMADYN D Edition 12.2001 GMC blocks 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) Updating curves CMD 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). Command Final position Final velocity Final acceleration 0 No function X0 V0 A0 1 Absolute positioning XE VE AE 2 Relative positioning X0 + XE VE AE 3 Absolute positioning and wait until t > TX X0 0 0 4 Relative positioning and wait until t > TX X0 + XE 0 0 5 Traverse to velocity VE Undefined VE 0 6 Traverse to velocity VE and maintain velocity for duration TX Undefined VE 0 7 Traverse to velocity VE and maintain velocity to t >TX Undefined VE 0 8 Positioning at the initial position X0 V0 A0 9 Positioning 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 Maintaining VMX, AMX 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). Function Blocks - SIMADYN D Edition 12.2001 10-77 10 GMC blocks YFC Fault codes Significance 0 No fault 1 Illegal input value (VMX, AMX, NFV, NFX must be greater than 0) 2 Illegal command CMD 3 Incorrect number of subsequent blocks configured 4 Insufficient memory available for supplementary blocks inserted online. Restart required! 5 Insufficient memory 6 Sequence not possible within the time entered at TX or, the end of the previous section is after TX (involves CMD = 3; 4; 7; 9) 7 Input DSI is not connected with a valid predecessor block (upstream block) 8 Predecessor block has signaled a fault I/O Pre-assign. DSI Cascade input (connect to DSO of the predecessor block) XE Final position 0.0 VE Final velocity 0.0 AE Final acceleration 0.0 TX 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).. 0.0 Units: Rotary axis [1/m] 0 Linear axis [m/s] 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) 0 DSO Cascade output to extend the curve using additional subsequent blocks. 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. 0 QAM Alarm: Amax exceeded. The alarm signifies that the specified motion causes the maximum acceleration AMX to be exceeded. 0 QF Group fault 0 YFC Fault code (refer to the table above) 0 10-78 0 Function Blocks - SIMADYN D Edition 12.2001 GMC blocks Configuring data Can be loaded online Yes Computation time [s] T400, PM5 FM458, PM6 Can be configured in Interrupt tasks 9 (... 300) 3 (... 100) 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 Symbol CAMSW1 Time since the curve start Refer to the curve definition Curve value switch-in Deadtime switch-in [ms] R DI R R XP FKT Y1 DT1 Start, search range switch-in Curve value, switch-out Deadtime, switch-out [ms] Start search range, switch-out Shift mode Update inputs Enable R R R R BO BO BO XS1 Y2 DT2 XS2 TSM UPD EN Q QN QF YFC BO BO BO I Cam active Cam inverse Group fault Fault code Brief description 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. Mode of operation 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. 10 Function Blocks - SIMADYN D Edition 12.2001 10-79 GMC blocks Characteristic YP(t) Search direction for XS1 < 0 XS1 > 0 Search direction for XS2 < 0 Y1 Y2 XP = t Example 1: XS1>0; XS2 < 0; DT1 = DT2 = 0 Example 2: DT1 = 20 ms DT2 = -20 ms |XS2| |XS1| Q(t) XP = t Q(t) XP = t 20 ms 20 ms Switch-in threshold 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|. Deadtime 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. Switch-out An independent curve point Y2, search range XS2 and time offset DT2 apply for the switch-out instant. Shift mode 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. Computation time 10-80 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. Function Blocks - SIMADYN D Edition 12.2001 GMC blocks 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 Fault codes Significance 0 No fault 1 Curve presently not valid (no points have been defined) 2 Input FKT not connected to a valid curve 3 Insufficient memory 4 Search range lies outside the curve (the search starts after the curve and the search direction is increasing) 5 Point not found (Y1or Y2 are not located on the curve) I/O Pre-assign. XP 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! FKT Reference to the curve function. Connect the input with output FKT of the curve generation (block MCSB). Y1 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 Y2 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: UPD Activates the automatic input monitoring. For UPD = 1 changes to the switching inputs are immediately evaluated. 1 EN Enables the block 1 0.0 0 0: only within the curve 1: beyond the curve limit (periodic mode) Configuring data Can be loaded online Yes Computation time [s] T400, PM5 FM458, PM6 Can be configured in Interrupt tasks 0 11 (... 168) 3.5 (... 56) 10 Cyclic tasks Computed in: Normal mode The computation times in brackets apply once after the switching thresholds have been changed. Function Blocks - SIMADYN D Edition 12.2001 10-81 GMC blocks 10-82 Function Blocks - SIMADYN D Edition 12.2001