Song ladies and gentlemen welcome on board 2
Our current chapter number is 12 3
So in my opinion this is one of the most important topics of this course 4
So 5
Attention please! 6
Topic is Central operations gearing and camming 7
Now let's get started 8
I will continue with simotion system 9
Lecture notes you see 10
Related chapter 11
So 12
Contents are structure of operation 13
For simotion 14
camming for simotion 15
Creating Cams 16
Creating synchronous axis 17
Assigning leading axis and cams 18
Settings for synchronous operation 19
parameterizing default settings for synchronous operation 20
gearingi in MCC 21
Absolute and relative gearing 22
Another example 23
Synchronization relative to the leading axis and time 24
Reference points for synchronization 25
deactivating gearing with gear off 26
System variables for synchronization 27
absolute synchronous Operation 28
Relative synchronous operation 29
structure of superimposed synchronous operation 30
Example about this chapter 31
How do you insert a superimposed synchronous objects 32
Structure of distributed sync operation 33
That's it 34
So... 35
First page 36
here You see the structure of sync operation for Simotion 37
At the center this is our technology object as sync operation 38
there are Several items 39
Possible to make an interconnection together 40
For instance a leading axis 41
Or virtual access or external encoder is possible 42
Masters or sync Operation 43
And also your see here 44
And the settings should be Master value 45
Gear ratio between two system 46
Master slave 47
Centralized and decentralized profile you see here 48
The master value and slave value chart 49
So for followin axis technology object is possible to switch 50
servo cycle or IPO cycle 51
There are some restrictions here or monitoring functions 52
So... 53
A leading axis generates a master value which is processed by the sync object 54
According to the specific criteria 55
Parameters 56
The master value Source can be a position axis or sync axis 57
From firmware 3.0 as axis as a master value source is set point or actually 58
For an actual dead time composition of the master value is possible 59
As mechanical model 60
The sync object represents the gearbox with Drive-In drive-out or in 61
conJunction Cam 62
The cam with mechanical Cam and Sensing system 63
The next page 64
camming for simotion 65
you see 66
Your relationship between master and slave value is not linear here that means 67
Your gear ratio is not constant 68
That's why you will see here 69
a curve 70
Let's say a cam profile 71
So 72
Master value can position axis synchronous axis external... 73
Axis possible to make an interconnection 74
First of all we have to select 75
If there's some possibility after that we can use run time this interconnection 76
Later on 77
So sync operation 78
Controls 79
All of these 80
Necessary 81
Settings should be Master value a cam profile scale or offsets 82
scaling at the synchronizing settings 83
It's similar to gear so 84
coupling via cam 85
Is characterized 86
by a variable that should be in the master and following axes is designed so users 87
can program with cam 88
In additional 89
Adaptations for scaling at offset during system running in runtime system 90
From firmware 3.0 and higher distributor as well as superimpose sync 91
Operation are possible 92
For distributed synchronous operation leading axis synchronous operation 93
Go on the following axis you are not on the same simotion device 94
That means an external synchronous operation 95
Distributed over several controls 96
For camming several Cams can be used changeover to another 97
can be in user program at runtime 98
There are some rules 99
sync object and following axis are on the same run time system 100
That means if you 101
select IPO task for sync objects 102
following axis 103
Has to be processed in the IPO cycle 104
Synchronous object and the following access are permanently assigned to each other during configuration 105
Yep. 106
The master value object 107
can be connected with several objects 108
And sync object may be interconnected with several master values or cams 109
It's possible 110
so next page 111
There are some charts and images about creating cams with simotion 112
On the left side that are basic to that cam tool is already integrated in our systems called cam edit 113
You can Define according to vdi standards 114
Is possible to use polynomial or 115
Interpolation Point able to create the cam profile 116
The horizontal axis 117
Afterwards can be the master value 118
Or the time diagram vertical axis value 119
On the right side you'll see the Cam tool 120
with new versions 121
It's already integrated 122
In older versions We have to set up by yourself 123
And 124
camtool requires also additional license 125
For just note you see here the green curve as position 126
Blue curve as velocity and red curve as acceleration 127
If you drag and drop or used toolbox for 128
To do some changes 129
you see online 130
Difference 131
Both graphics for 132
all of the curves Acceleration ... 133
At the same time 134
So that you can easily 135
Make your changes and see how do 136
It's effect to 137
Your 138
Relationship 139
Between master and slave. 140
so cams that were created with cam edit can be converted to Camtool 141
And vice-versa is possible 142
cams can be exported and imported 143
Two methods 144
cannot be combine at same time for same cam 145
But you can use that camedit and camtool for another cam 146
Segments can be created from a fixed point in camtool 147
Straight lines sine curves 148
Interpolation points 149
can becombined here 150
On the left site 151
You can just use polynomial function or interpolation table that's all 152
On the right side you can create your segments 153
That means camtool is a little bit Advance value compared to camedit 154
Users can immediately see effect on real estate 155
When changing the cam settings 156
Okay 157
Creating a Sync access 158
See here there's an operation object under your axis 159
there are some 160
Assignments you have to do 161
Assigning leading access and you'll see here in interconnection section 162
following axis 163
is filler red 164
and master value can be blue axis 165
Next 166
There are some settings for sync operation 167
In configuration screen use some parameters 168
Bi-directional related Dynamic parameters taken into account a direction Independence or Direction indepented 169
it effected 170
here the system variable 171
For absolute sync with a yes jerk is taken into account 172
It's no jerk will not be applied over simplifier 173
smooth via selection 174
overshoot factor for adapter time to catch up a compensate 175
remaining path differents 176
Is important during sync 177
As percentage 178
Refers to the actual Master velocity start Of synchronization 179
Think about that you just executed your gear on command 180
Your master velocity released it 181
The best case scenario is constant for instance 100mm/s 182
But when your synchronizing as slave to your master 183
It's possible 184
To do some change on your Master velocity and you have to 185
Recalculate your sync length or formula 186
Simultaneously 187
and over Short factor is related with this case 188
tolerance for Directions revalsal operation for 189
Direction reversal of Master values 190
Position value in the user unit of Master values 191
You see here 192
Normally is 20% 193
Permit velocity change 194
of the master value 195
Parameterizing default settings for synchronous operation 196
Is on the default section 197
And so are you just answer here 198
So for activating gering in MCC 199
You and use this commands the first one here enable 200
You just select 201
The following axes 202
It's sync operation objects 203
At the parameter tab 204
Leading access encoder and external Master value must be selected 205
Specification of leading and following axes 206
gear direction from sign of the gear ratio 207
You see here numerator is one denominator is one that means 208
45 degree in your XY coordinate system when your 209
Master 210
Takes 100 mini meter of distance 211
Also you'll slave will take 150 milimetres because your gear ratio is one 212
It's possible to change type of gear ratio from fraction 213
Two floating points 214
So here you just said it's your gearing reference point it could be absolute or 215
Relative 216
If you said it here in takes place relative to axis zero 217
Then if you select it didn't take place relative to start position 218
That means relative gearing the first one means 219
Absolute 220
axis zero 221
point is use your reference 222
you can use last program setting or default 223
actually that I only just 224
Choices 225
I'm transition Behavior and the delay program execution is similar with other program 226
Reference points type of sync operation selected here 227
For example angle or position sync operation 228
relative synchronous operation you should set it to start position 229
set new master value 230
reset master value setting 231
Using this checkbox relationship is set again 232
The checkbox has not been activated a previous Master resetting steps 233
Yep it's also a detail but important 234
What's the difference between absolute and relative gearing you see 235
Position or angle synchronization when you set a gearing absolute 236
That means gearing is realized refer to axis zero 237
you see the master value at the slave value that are the different 238
so if it is Defined respite order system function call sync 239
On the other hand 240
If you want to use speed gearing or relative gearing you should select 241
Start position 242
and phi is undefined at this case 243
slave value 244
should be G 245
I mean gratio equation 246
There are two options here 247
Activating gear in MCC second TAB synchronisation 248
select here Synchronisation reference 249
It's possible to use leading axis Master axis 250
Or time 251
According to your choice start of synchronization settings are changed 252
There are several options here 253
Start of synchronization 254
Synchronized method in this case 255
Synchronization is initiated 256
ASAP 257
When should I get it takes place relative to access zero 258
Is performed it's not possible to specify and additional phase offset 259
It's leading axis position means synchronization start if the axis 260
Reached a certain position 261
You use this setting with 262
flying saw application for example you wait 263
For some material length 264
After your axis has reached at certain points your slave cutters 265
realised by slave for instance 266
When selecting gearing takes place where 267
Absolute sand composition performed it's not possible to specify phase offsets 268
During sync op of course 269
It leading access position with offsets sync starts if the leading axis 270
reached starting position 271
So in this case 272
An additional phase offset on the specified between leading and following axes 273
sync immediate with offset 274
Is the same thing at first one but you can Define here additional offset 275
Start immediately and sync at Master position 276
At the specified leading axis position following axis is in synchronizing with 277
Leading axis it's not possible to specify an additional phase offset 278
selecting using version 4.0 279
Is not supported 280
At the following axis position 281
Is the following axis has reached a certain position 282
Synchronization start 283
That means you're following axis must be rotating 284
If this case 285
To catch 286
following axis position and execute command 287
It depends on your application actually 288
If you select 289
Leading axis as reference you have to 290
Define synchronization length 291
That's according to this length 292
The function at the background in IPO cycle 293
calculated Set points to following Axis 294
as position and 1st and so on 295
So you can specify sync Direction 296
Positive or negative 297
That's setting also with Look ahead 298
And next page 299
New here 300
When you select relative to Leading access and time 301
Relative syn and time 302
so here 303
The horizontal axis is time axis vertical axis is position 304
Blue curve is position actual position of leading axis and green curve 305
Is actual position of the following axis 306
Anyway you executed your command 307
You selected leading axis 308
So here the following axis 309
Is Standstill just waiting some certain point 310
Use leading axis value 311
after that 312
The following axis 313
Should be catch up 314
It's specified synchronization length according to our settings 315
So 316
All calculations are made 317
Leading axis velocity is constant 318
This is the start point and this is end point of synchronization 319
I'm during this area you will see under System variable of sync 320
Object State and Motion State 321
At this point 322
slave axis is sync to master 323
During synchronization operation is not permissible leading access reverses 324
Otherwise gearing on, interrupted with the error message 325
error while activating and deactivating sync operation 326
there is a system parameter 327
So it depends on your application that are so many possible 328
next page 329
Reference point for sync 330
you will see here 331
as keft Blue Line 332
sync pos 333
We have here a leading axis and following axis 334
as setting 335
symmetrical sync 336
sync position 337
Will be done in the middle of 338
slave axis 339
During sync 340
When was select the gear on command your settings sync 341
before synchronisation position 342
then you are sure 343
Before 344
You're leading axis reached sync position 345
For example 1 mm of before your slave axes will be 346
Started movements from Standstill 347
It's right here at the sync position your slave axis 348
will be synchronized 349
You can see here the reference settings 350
Activating gearing you just use the second command 351
There are some similar parameters 352
You said it following axes and sync operation objects 353
You have to enter here synchronisation reference 354
It's the leading axis actual position 355
You can select the synchronization position with leading axis value 356
Then you have to 357
Describe the synchronization length 358
end the reference points of position can be symmetrical 359
Stop after the sync position 360
Or other options are possible 361
So almost for same gearing off parameters 362
It's the similar operation 363
Or if it's not important for you you can just use the stop axis command 364
Instead of gearing off 365
Yeah 366
Possible 367
There are some system variables for this operation 368
You see here the blue 369
Show us leading access actual position access 370
axis position 371
So start of the syn operation 372
You can read system variable state is right there 373
following motion states should be active 374
Right here 375
Your slave axis must be syn because 376
you see 377
Angle under the 2 curves are the same 378
sync state 379
it's active and sync monitoring and sync States must be active 380
So in the background or after executive gear on command, you can check this variable 381
How to program or build up your structure for programming 382
So... 383
next thing is 384
When you select relative to leading axis 385
How do absolute sync operation work 386
This is the output of a Trace 387
The orange color is 388
Set point of axis 389
Set point position of master 390
You should see your the brown one 391
Set point position of other axis 392
You see slave Axis position 393
So green one is sync States 394
Available 395
and the dark blue one is 396
master axis velocity 397
Light blue one is 398
Slave setpoint vel gear in settings gear ratio is 1:1 399
sync immediately and length is 30 millimeters 400
Absolute 401
Relative to axis zero 402
so at this case... 403
Actual position of slave axis is 0 404
And the actual position of Master axis is rising 405
Right here 406
You see the synchronization procedure has started 407
There's a 408
overshoot of slave velocity 409
Third degree polynomial 410
Slave axis is trying to catch up 411
That's why the slave vel it is 412
1l box 413
multiply 2 414
25 mm/s 415
at top 416
After that you see here the slave vel at this point is the same with 417
master vel 10 mm/s 418
At this point you see the statsu sync is set 419
sync state 420
As velocity of course 421
Synchronization 422
For leading axis 423
Should be under 20 424
What you see here the setting is immediately your at this point you just executed your comment 425
When you want to measure the distance here 426
You can see the timeline 427
sync length must be 30 millimeters 428
Let's say you're a master and 20 they say here in almost 429
50 so 30mm 430
Correct 431
So think about that 432
Right now or slave axis actual position is zero i assume 433
What will happen when slave axis actual position 434
What's difference for instance 435
100mm or -100 mm 436
Maybe you will try as an example 437
So 438
abs sync operation relative to time 439
The settings are here gearing absolute 440
Directions shortest distance that mean it's possible 441
Rotational axis positive or negative system will automatically detect 442
Shortest distance 443
sync from the leading axis position not before from 444
vel 200% using acceleration and jerk setting 445
when you select relative the time you have to define the 446
Dynamic parameters what is the acceleration vel jerk... 447
So let's see 448
Orange curve you see the slave velocity 449
master velocity constant with light blue 100% 450
You see here the set position. 451
master set position and purple one is slave set position 452
at this point 453
This is our sync state curve 454
At the beginning 455
Actual pos of slave is 0 456
And sync from leading axis position 150mm 457
so The movement of slave axis is started here according to 458
Parameters and maximum velocity reached 200 millimeters per second 459
and there is a ramp down 460
At this point 461
Our slave velocity 462
Is 100% 463
You can Define and calculate the time 464
It's 465
Nearly 466
3 seconds 467
If you want to measure the 468
actual position 469
It should be 150 mm 470
We just see here to velocity only 471
So 472
Sequence from specified vel and acceleration following axis constant vel 473
sync operation following axis calculated profile relative to time 474
Synchronization of the following actions is start at the beginning of 475
his position of 150mm 476
It should be 150 mm right here 477
After the jerk phase following axes acc at the program with acc ramp and vel 478
after const vel phase possible 479
If it's possible sometimes when your jerks are too much 480
You couldn't reach on slave axis to set velocity phase to so 481
slave vel could be like this 482
Like and hill or the top 483
dynamics response values specified parameters okay 484
Another possibility 485
The relative synchronous operation relative to Leading axis 486
The parameters are gear ratio 1:1 487
Relative gearing 488
sync immediate and length 30mm 489
Let's try orange color is set point of 490
Master 491
Axis 492
yes brown curve is set point position of slave axis 493
At the beginning it's zero 494
Master is nearly zero I assume it's zero dark blue 495
Is set point speed of Master axis and the light blue is 496
Setpoint velocity of 497
slave axis you see here the Green curve as sync States 498
red curve state under your access system variables 499
At this point the gearing, executed and states 500
Changed 501
immediately to active 502
At this point sync State is active and axis sync 503
each velocity equals to each other 504
So you see here trapezoidal velocity profile 505
at this case 506
You're just entered the sync length of 30 millimeters 507
So you can see on the vertical axis 508
It's nearly 509
15 millimeters 510
At the start and it's and it's near 45 45 - 15 = 30mm 511
Iand slave vel listed calculated according to 512
These parameters 513
linear acceleration ramp is used to ramp up the velocity 514
Yeah at this case 515
What's the difference when you compare at the 516
Example 517
This is the absolute sync operation 518
This is the 519
relative sync Operation 520
if You want to use jerk your maybe you should set it 521
This case 522
Okay 523
Structure of superimposed sync operation 524
there are 2 Synchronous object at this case it's possible to connect different cams 525
leading axis 526
followin axis 527
sholud Be calculated together 528
Basic sync object is standard superimposed sync object is 529
The other one 530
from version 3.0 531
Is possible to do that 532
Only one relationship can be configured to leading axis it's not permissible to configure a 533
Relationships to the same leading axes from the basis of superimposed 534
so There's an example filling chocolate molds on the conveyor belt 535
so There's a sensor for detection of product 536
Those are external encoder to calculate the actual position 537
conveyor axis 1 rotating Direction 538
in Horizontal 539
From left to right 540
Axis 2 Movement Direction 541
Is positive from 542
That way and otherwise negative 543
conveyor belt is not traversed from simotion so we can detect that position of 544
With external encoder 545
In that case 546
Filled chocolate molds 547
Forward 548
and backward during conveyor belt movement 549
With different shapes 550
So at this case 551
Maybe you should superimpose sync operation 552
Because your conveyor is running constantly it doesn't stop 553
At the meantime you have to 554
Synchronize 555
Your axes 556
Actually to the conveyor 557
On the other hand 558
You have to move to create your shapes here 559
How do you insert a superimposed sync subject 560
Just right. click 561
on axes on expert list 562
Context you inserta oject 563
Let's Check 564
I'm going to delete this CPU 565
Okay 566
And my axis Master is 567
Positioning axis 568
Let's try right click export 569
Insert external synchronous operation is possible but its position axis 570
Let's select following axes sync operation right here 571
So... 572
The object 573
following axis when I click export list 574
Is possible to insert superimpose sync object 575
Can you see here 576
To sync operation 577
You can use the first one and my interconnection to axis master and 578
Use the second one make interconnection to convert for example 579
I'm in yourMSSy program or structure text 580
when you use ger on off commands 581
You should select it which synchronization you want to make 582
You can also 583
Used 2 gear on comments 1 for this 1 for that 584
Is possible to calculate on superimpose 585
Set position and velocity for slave axis axis virtual 586
It's special cases that kind of function simotion will provide for you 587
So another thing structure of distributed sync operation 588
you will see here 589
profibus slave 590
Another unit 591
And another profibus slave 592
profibus master 593
consider about this is in machine this is another machine 594
Another CPU 595
One master with 2 slave 596
from version 3.0 and higher it's possible 597
This function allows a Master value Source and synchronous axes to be created on different devices 598
coupling between leading access or encoder and the leading 599
leading axis realize profibus DP 600
or profinet 601
Using distributive sync operation function groups can be formed in project modular machine 602
Especially in printing industrial because there are a lot of 603
servo axes 604
when axes running is sync that no longer have to be counted on 605
Central system 606
It's can be to distribute or several models 607
so that way You can just sync 608
CPUs together 609
via communication Network 610
And here there's a leading axis 611
there are following axes here 612
The following axis on the profibus slave 613
could synchronize two leading axis on a profibus master 614
This is the idea 615
So how do we do that 616
This the right college and expertise and insult external synchronous operation 617
at this case we have to Define 618
The coupling type of input output address for the other CPUs 619
it is possible 620
You see here the conflagration 621
And you should use some system functions to synchronize your profinet network 622
To do that 623
At the same way for master axis your master axis will be slave 624
Okay 625
Next topic 626
External encoder Cam outputs and measuring inputs 627
Yep 628
Contents are here 629
Example project is mechanical press 630
Which options 631
Order for connecting an external encoder configuration steps 632
Parameterizing mechanics actually and homing 633
Continues 634
Measuring inputs and outputs on the other side 635
lets begin 636
outputCams high speeds output cams so 637
Here you see an application example that are some picker 638
pick some parts 639
From the bunker or the destack puts 640
2D Cartesian whatever 641
after picker puts on Parts with this conveyor 642
there is an electrical motor maybe it's controlled by another system 643
So there is an external encoder the for position feedback 644
Our system 645
You'll see here the light barrier to detecting parts 646
And there is a glue application 647
after glue a cartoons or whatever 648
There's a ram 649
To shape up or parts and 650
Pushes parts 651
down sites into another conveyor beltl here 652
And process will continiue afterwards 653
This is our case 654
for developer program to run the application 655
So... 656
In that case 657
we use measuring inputs and outputs cams 658
Because there's a really fast 659
Application running conveyor 660
specially on cartooners maybe over 400 metres per minute 661
So if you have to glue it really fast 662
Specific points 663
Why are parts running under your nozzle 664
So ligt barrier is connected to our measuring inputs 665
CPU 666
And glue nozzle outputs are connected to fast outputs 667
The name as output cams 668
of modules of simotion integrated IOs 669
Next page 670
External encoder on a mechanical press 671
There's a main driver 672
in conventional systems there's a big flywheel 673
belt controlled 674
On the other sites that are some Clutch and Brake system 675
with couple of rotation on the motor side there is a 1 stroke 676
And here encoder to sense the position 677
and stRock number 678
As degrees 679
To convert into actual position or 680
actual stroke rate 681
There's a roll feeder here 682
There's a decoiler here maybe 683
It should be a loop 684
perhaps 685
So 686
die setup 687
this image belongs to a standard Progressive press especially high speed presses 688
progressive presses 689
So this is my idea 690
As you can see here an example of options for connecting external encoder 691
possible directly 692
via drive cliq 693
simotion or sinamics control units 694
You can use control based smotion that are for external encoders 695
it's possible 696
There's another special device 697
analog digital interface for looks like this 698
There's an Old module looks like a simatic model interface mode 699
IM174 700
Nearly the same functionality 701
on simodrive 611 Universal 702
It's possible to connect One external encoder to your drive 703
Also there are some other profibus or profiNets sensors 704
on siemens sites on TR electronic or whatever 705
TTL HTL or SSI 706
It depends on your configuration 707
And if it's possible you should isochronous 708
Sensors that means 709
Supporting message frame 81 or 83 710
It could be 711
Better for you than you can easily 712
Adapt external encoder 713
To your technology object and 714
You should select 715
The IRT type 716
The next page 717
When your insert 718
click insert external encoder here 719
For instance 720
You're just you a name 721
okay 722
You select encoder type 723
Which way do you want to use linear or rotary 724
linear type 725
And here 726
You have to decide 727
You can make your assignment later 728
Or you can select the input address your module 729
Or is there is some encoder 730
On your drive cliq on your sinamics side is possible to connect 731
simotion d 732
There is no integrated encoder port 733
D425 you use 734
Control the bass motion you should see here 735
4 different encoder is possible to connect 736
So... 737
Define assignment later 738
You have to choose your encoder if type absolute or incremental 739
So basically 740
That's it. 741
rotary type should always be selected if position detected in angular 742
Units for example rotary table 743
indexing table or in this case mechanical process 744
If you say linear you should consider the conveyor or transport sistem or... 745
So that you can configure your needs as millimeter or centimeter 746
Blah blah blah... 747
at the last step you assign an actor 748
to your encoder 749
select type 750
Then it's finished 751
That you have your external and colder if your Click in configuration 752
You see that are some parameters under your encoder to configuration 753
And it has its own expert list it similar to your axes 754
But much more simple 755
In mechanics you define 756
Your encoder is there 757
And when run your motor 758
Rotates once 759
How many rotations your 760
Both sides 761
load here for your encoder to calculate 762
The lead screw pitch value for 763
The distance from spindle Revolution together 764
Is possible to use modulo more than one 765
with Rotary encoders specially used 766
So... 767
Actual value tab is 768
Important at some application 769
you see you're actually an extrapolation used as master value 770
in sync group 771
Actual value sometimes 772
It is required to be smooth or extrapolated with the extrapolation 773
Is used to compensate the dead times which are when 774
Acquiring the actual as result of bus communication in the system 775
When you don't use the IRT support encoders 776
Extrapolation is set on leading axis encoder 777
There's a small calculation program in your folder 778
So filtering exposition 779
From version 780
4.0 781
Actual position value for sync operation can be filter separately for extrapolation using 782
pt1 filter 783
The filter of position actual value of axis set using the option 784
with 2 time constants 785
Sometimes it's necessary 786
The position is extrapolated based on filter or average velocity 787
actual velocity 788
It depends on your Hardware on your system 789
Sometimes you have to adjust the parameters here to do a proper sync 790
Transition 791
Because your encoder is going to be a master 792
For another slave axis 793
If you have some problem in your master actual value 794
Then it influences your set point position and velocity to your slaves 795
Your slaves then 796
Will be work out properly 797
perhaps 798
parameterizing external encoder homing tab 799
default settings at homming 800
As default 801
With or without encoder the zero Max selected 802
External zero marks pos Direction homing cam input 803
It's possible to select 804
Ye simotional support various centralizing for external encoders 805
direct passive flying homing... 806
when your encoder rotates 807
sets executive Home passive homing 808
It's is done 809
when your sensor logic level is high 810
So it depends on your application also 811
You just take a feedback of actual at this case 812
External encoder as leading value 813
When it's homing necessary 814
For external encoder is possible 815
Similar way with axis 816
next page display of the encoder signal flow 817
signal flow 818
You can monitor the actual you 819
There are some 820
In what setting normalization positioning filter 821
Adjust T1 T2 822
This is the same to you enter here 823
Position actuator 824
T1 T2 825
This is a flow chart 826
you see here actualvelocity value smoothing filter or velocity filter 827
Extrapolation and fine interpolation 828
there is a tolerence windows 829
so on... 830
on velocity filter or position filter 831
In real life 832
during commissioning 833
You just test your program and Trace the 834
Actual position speed master and slave 835
Arrange you some parameters to 836
Set your machine running properly 837
Sometimes you have to adjust 838
Sistem commands for external encoders you'll see here the first 3 839
External encoder on or off and synchronize external encoder you just select it here 840
Technology objects 841
Which synchronize means do the homming 842
similar to do homing of an axis 843
If you select passive homing for next axis motion according to set things on the homing tab 844
axis synchronize to work first wait for homing mark 845
axis means external encoder 846
Setting of position value 847
You just enter home position coordinate is transferred into current axis coordinates 848
when use absolute encoder adjustment the selection is available for only absolute encoders 849
Of course. 850
I've been configured with absolute in this case of state 851
When you execute the comment 852
So next topic measuring input and measuring length of cutouts 853
Measuring input means on the positive or negative Edge 854
Of the sensor 855
we will take a snapshot of an encoder 856
That's fine you will see 857
measuring inputs and output camp under 858
The folder of Technology object external encoder 859
So that means there's a relationship between 860
This objects 861
encoder 862
axes similar way 863
So... 864
It's not possible or meaningless used measuring input by itself 865
So a measuring input save the actual axis position 866
value can be for the process in user program after take a snapshot 867
We can do with this value whatever we want 868
maybe we will 869
Make a buffer and add the 870
Positions of the 871
Parts 872
Running on the conveyor 873
and after 10 meters that is a kicker 874
pnomatical control device to 875
kick some part 876
Maybe the part is defective so that way we can spare 877
Let's see which global and local measuring input connection option 878
So here you see 879
Some terminal modules is connected via Drive. 880
And when we just use the measuring input it should be.global 881
when we use simotion or sinamics 882
it should be the local or Global measuring inputs 883
Here you see 884
Which number of measuring impulse can be connected to simotion CPU 885
On the right side on controller-based 886
2 or 4 input possible to connect 887
ADI4 and interface module 174 there are 2 measuring input 888
On the old sinamics drive system there is only one input 889
These are local measuring Inputs 890
That's means processed in drive or in modul itself 891
After with a Time step 892
The controller takes into account over communication line 893
Yep. 894
Local measurements fast Response input of encoder system will be used 895
when al appropriate edge is detected encoder value saved and transferred 896
via message frame 897
Options are available fast input of sinamics 898
Controller base simotion 899
Other modules on the right side 900
For Global measurement 901
Initially the position is not acquired but at timestamp 902
The timestamp 903
signal 904
simotion using a special message frame and Telegram 905
From this time stamp and cyclic transfer actual positions simotion calculus 906
Interpolation 907
So simotion calculate everything when we use Global input 908
With global measurements position of axes can be determined which supply cyclic actual values 909
overall system 910
For example external encoder connected sinamics profibus 911
so 912
Global measurements are supported on the following models 913
On the leftside 914
So... 915
measuring input at 916
D425 - 2 local measurements 917
We are going to create 918
Like this 919
go in configuration 920
Let's say IPO cycle 921
Axis number 1 922
Is the 923
Motor encoder usually 924
The first one 925
Correction value for timestamp is a parameter can be 926
Definable 927
When you select your drive related that means local measuring input 928
and say number one 929
so in our case 930
Use the virtual axis so you have to look and real axes 931
So I want to open the 932
Other projects 933
This is the first project 934
Yes 935
For we have an example project 936
test no simotion sys prog 937
right here let's open it. 938
it's pgen test 939
So 940
Let's take a look on the drive side 941
That is 2 drives 942
conveyor and Ejector 943
conveyor belt is attached with the drive 944
measuring input lets create a new one 945
Okay 946
The drive related measuring input 947
When you select Global measuring input you have to assign an input 948
AS Global 949
When you selected drive related you just answered the number of measuring input 950
Because 951
It will be already taken via message frame 952
localmeasuring input are axis related and mainly implemented in Drive 953
The number one or number two of measuring input 954
Use as well as the number of encoder system of 3 and go to create 955
The assignment of measuring input actually use drive is realized 956
assigned drive IO 957
Parameter 488 958
On the drive 959
Right here 960
488 961
Hey did you see hear the measuring input 1 962
and 2 963
The encoder 1-2-3 964
Then you have to assign your digital input 965
Of the control units 966
Terminal connection for instance 967
If you remember I told you before the bidirectional configurable 968
Digital input output terminals or 969
Fast 970
And used for measuring input and cam outputs so if you want to use 971
Digital input 8 972
Then you have to say that here 973
For instance 974
You have to go 975
to your control unit input and outputs to find the bidirection of IOs 976
Then you have to change the setting 977
For digital input 8 978
Right now is input okay if you create you switch to output 979
Then you can here connect 980
Something 981
Okay 982
For the correction stamp here. Are data transferred dead times or filter smoothing times 983
measuring input can be compensated 984
The enter is significant for global measurement 985
because simotion calculates everything 986
Maybe there's some delay on your bus system 987
So at this case I think drive related local music input 988
Works faster than the global mission inputs 989
monitoring actual status if the checkbox is activated short pulses are suppressed 990
If the input is activated and if under edge 991
rising Edge was selected result is only signaled if the measuring input 992
had a State of one 993
for a min 1 basic cycle servo cycle 994
here current status 995
mointor current status 996
Is preventing some 997
clips 998
Or you no disturbances 999
Activation time of the measuring input range another setting 1000
so Nice picture. What should we do on Drive side 1001
For Activation time you can Define a measuring input range 1002
For command distance could be 1003
Restricted or unrestricted by start and end position 1004
when axis reached to start position or range specific configuration 1005
depend Transmission time is elapsed on measuring input is activated 1006
and so on transmission time could be compensated by activation time 1007
Which transmission type of profibus internal processing in drive system 1008
Usually simotion will sent activation command to the drive system 1009
Before the axis has actually reached stop and position of the measuring range 1010
This is also another deep note 1011
For parameterizing on the driver side 1012
measuring inputs 1 or 2 used 1013
encoder system actual digital input driver parameters 1014
You're just select from the drop-down list 1015
terminal X122 or X132 1016
The inputs connector 1017
X142 only simotion can 1018
Used for Global measurements 1019
Another deep note 1020
And next page 1021
Measuring input at simotion for Global measurement 1022
And this case 1023
First of all on the drive sites 1024
You have to choose the 1025
Input of control units 1026
At this case 1027
For controlled by simotion measuring input 1028
And after that 1029
At the second step 1030
You will have to assign 1031
In your measuring input configuration 1032
You said a standard global measuring input 1033
And you can easily 1034
Go to control units and select your 1035
free digital input so simotion will use Drive telegram 390 and automatically 1036
Calculate adjusted telegrams between sinamics control unit and 1037
simotion CPU and this is possible 1038
After firmware version 4.2 1039
With older versions you have to do it yourself 1040
By manual 1041
So you see your something's going on on the background 1042
after compile when I go to 1043
Communication site of sinamics and check what just happened 1044
you will see here at the telegram configuration for control unit 1045
Siemens telegram 391 is 1046
Adjusted 1047
If you want to go interconnections and Diagnostics 1048
for transmit Direction 1049
You see here an additional Central measuring probe parameter 1050
is Attached 1051
profidrive telegram 1052
when i click 1053
Status word of measuring input probes 1054
You see here possible 8 probes there 1055
So it is adjusted as automatically 1056
And other possibility to use 1057
X142 1058
with simotion 1059
Let's go there 1060
You have to set it 1061
Which way 1062
Do you want to use your terminal connections 1063
Digital input input output or output measuring input 1064
you can define filtering time here 1 microsec 1065
Your can invert here 1066
Also that you can just select 1067
Your input here as Global Inputs 1068
Under your new device here 1069
This is also another possibility 1070
So... 1071
It's looks like this 1072
The correction time evaluate timestamp 1073
In the real world sometimes it is necessary to calculate the timestamp 1074
Because there's some delay 1075
hardware delay times at measuring input can be taken from 1076
Device manuals 1077
Or values shorter than 125 microsec can neglected 1078
hardware delay times with a positive sign 1079
Measurements are performed it real axes done for this timestamp technique 1080
Time TI must also be taken into account the time interval TI define time 1081
Sometime before start of dp cycle which the drive system latch up 1082
axis position to simotion 1083
This time time must be answered with a negative sign 1084
So when you said I drive related later than you have to 1085
You should answer here correction values as minus 1086
For instance 1087
at our case 1088
It's too low as Microsec 1089
Maybe 1090
Like this 1091
And this page configure and measuring input monitoring a measuring input 1092
so... 1093
There's a third option here monitoring measuring inputs 1094
Must be connected 1095
to an original measuring input in interconnection 1096
Interconnectable input interface of the technology object or listed following you can enter the interconnection 1097
Output interface of other technology objects in the TO 1098
For reference and Acceptance 1099
at Project 1100
Let's create another measuring input 1101
It should be 1102
Global measuring input 1103
Okay 1104
Describe another one 1105
you will see here just monitoring measuring input 1106
Actual value reference that are three options here with consideration of TI 1107
Should be better 1108
and... 1109
In your interconnections 1110
You have to select 1111
It's already interconnected at your new device 1112
measuring input 1 or 2 1113
2 event transfer 1114
So that's it 1115
next page selected event transfer 1116
monitoring meas Function 1117
from version 4.0 using this function a global measuring input event 1118
can also be Detected at the same time from several TO measuring inputs 1119
evaluated For example 1120
when an original measuring input have and effect 1121
you can Snapshot several ext encoders or several axis at measuring input at the same time 1122
This functionality is only possible with Global inputs 1123
only these input Support necessary timestamp functionality 1124
In the first step you should have the original to measuring input interconnected 1125
is usual at this origin input the measuring operation is activated using commands 1126
ok 1127
Activation at deactivation commands are not executed 1128
Or return with an error 1129
You can just monitor this measuring input 1130
In the Second Step additional to measuring inputs are configured as monitoring are interconnected 1131
With the original TO 1132
in event interconnection 1133
uunder the entry event transfer 1134
So we have already did 1135
Some notes 1136
Activating and deactivating measuring input process only possible original TO 1137
ok 1138
These comments are not effective monitoring measuring inputs 1139
measuring input area and edge selection are only possible at origin TO yes 1140
monitoring TO measuring input must have been correctly configured at instant 1141
At the measurements 1142
measuring input does not have its own inputs cannot perform measurement 1143
Yes 1144
The IPO cycles of the TO machine input on monitor to measure input can be different 1145
This is done have a negative impact on accuracy 1146
So this is very detailed information 1147
In some rare cases you have to use this way 1148
next page you see the to the calculate the activation time for measuring inputs 1149
You can find the 1150
Excel file in your 1151
Application utilities folder 1152
You have to fill the input 1153
DP cycle as milliseconds 1154
servo cycle IPO cycle 1155
Processing cycle clock and edge type 1156
and 1157
time TO set point transfer in your Hardware configuration 1158
As a result you will see here 1159
measuring input range and activation time 1160
Then you can answer this one as ms within your measuring input 1161
Correction value 1162
or Activation time for measuring range on the measuring inputs 1163
So this one when use measuring range 1164
For activating and deactivating measuring input commands that are 1165
Activate 1166
You're just select here axis or encoder related measuring input 1167
Is possible to activate cyclic measuring or just once 1168
You can take your Rising edge or falling edge or both ages 1169
If you're setting activate measuring range as measuring in specific range you can define 1170
range starts of a measuring range and end of a measuring range 1171
Otherwise you just detect the 1172
Edge of your sensor 1173
And there is a comment for the deactivating measuring inputs 1174
With this, you just select your axes encoder and the related 1175
measuring inputs 1176
so when measuring input events received the measuring input position is saved in the system variable 1177
of measuring input 1178
You see here at the state variable trigger occured 1179
You should using wizard 1180
settings for range 1181
If you select 1182
activate measuring input range and only Rising edges 1183
The state variable is set to trigger occured 1184
first measuring input value is acquired 1185
Additionally each new measuring input event could be result from a system variable actual input step 1186
Because 1187
For the second and third even is not possible to 1188
I understand from the state variable 1189
You have to look at the actual infostud as level 1190
It's 1191
can set to be positive or negative 1192
after a Successful measurement performed it was saved to system variables 1193
these are linked with counter variable about 1 and 2 1194
Automatically incremented at each measurement entry 1195
Measurement task is active until it's terminated using deactivate measuring input command 1196
So... 1197
You have to make an array or some buffer to get the values 1198
When you're using active cyclic measuring because 1199
For the next cycle for the second edge Rising Edge 1200
overwritten values 1201
If you don't want to miss 1202
you have to make your own program to detect 1203
The values cyclically 1204
Next page synchronizing measuring system 1205
the 3rd command for measuring input 1206
You just said it to your axes 1207
and you will select here number of measuring system to be synchronized 1208
You can use current measuring input system as reference 1209
Then you enter here differential variable 1210
For using this command 2 measuring systems can be synchronized with one another 1211
Or difference of specified measuring system results read out and saved with new user varible 1212
during sync is only possible to change the value of measuring input system if it's 1213
not currently used for position control 1214
That means maybe the other system should be not enabled and standstill 1215
it's Rarely used but sometimes you need this kind of functionality 1216
So... 1217
Next topic output cam control application 1218
You'll see here at external encoder detecting actually of 1219
Running material Metal Sheets or cartoon for example and there are four different type 1220
of gluers 1221
we want to 1222
Make it glue tracks 1223
Glue should be applied to wooden boards 1224
For instance 1225
controller based simotion 1226
Shows cams for output cams like this 1227
Four controller side 1228
Does a 8 high speed output cams on board 1229
conventional DP slave 1230
4 drive based simotion there are 8 high speed output cams on board 1231
Yep 1232
high speed output cams can be following digital outputs... 1233
you will see here 1234
output cam types can be position based cam 1235
time based cam or unidirectional output cam 1236
According to access actual position 1237
how do we configure a output cam and insert an output 1238
in your Configuration you select cycle clock 1239
default IPO can to change type 1240
That case acm is time-based 1241
set points or actual points 1242
then you can activate the output than 1243
Connect the cam output to a real hard wire digital output 1244
or fast digital output or standard digital output is possible 1245
You can just set it 1246
linking output cams to logical OR AND gate 1247
hard gate maybe. So lets see... 1248
for 1249
here 1250
So let's see 1251
in IPO config 1252
IPO position Based cam 1253
Type of output cam values can be 1254
also actual value of axis 1255
Set point reference 1256
set point interpolator set point on Drive 1257
Before the fine point interpreter that are so minor changes but it depends 1258
On your application 1259
for gluer or maybe it's not so important 1260
What when you're cutting some glass 1261
Is micromilimeters are this is important so maybe you should select the 1262
reference to set point on the drive 1263
You have to test it 1264
After you activate the output there are three choices 1265
So logical AND 1266
logical or 1267
You have to assign the output 1268
it can be cam output is here 1269
Or the standard output here this is the fast output 1270
So... 1271
Logical operation if several output cams are switched to the same output using two logical 1272
Operation parameter example 1273
and gates 1274
Or gate so that means if I insert a additional output cam 2 1275
Then I considered the same output for this job 1276
With different configuration 1277
After I actiavte with output 1278
i can select the same output 1279
This one 1280
It's possible that when I select logical AND 1281
Two outputs must be logic level high 1282
set the real output to 1283
Logic level high 1284
when I've changed here it's been automatically 1285
I have to do as manual 1286
So you can configure your system 1287
Depending on your requirements 1288
lets compile 1289
Of course over years technology objects developed 1290
and 1291
Getting advance and Advance day by day with new firmware versions 1292
At the beginning 1293
Maybe 1294
It was not so complicated but by the time passing 1295
According to customer an application needs and requirements 1296
Research and development team 1297
Is 1298
added some new features so... 1299
These days there are so many possibilities you have to just select 1300
which feature 1301
you need 1302
So high speed output cams for simotion we'll select here cam output 1303
You can write here TM timer or terminal modules 1304
it is possible 1305
It should be 1306
cam output 1307
According to choice 1308
It should be the cam output it's not standard digital output 1309
Yep 1310
You can see here in already to do this steps 1311
After that we have to download the project 1312
when you select fast digital output 1313
Then you're going to use your sinamics based outputs 1314
Settings 1315
First 1316
The output of the control unit in sinamics integrated 1317
On bidirectional tab 1318
you can choose 1319
For instance this one 1320
Output as output 1321
And it will be used by simotion as digital output 1322
Digital output 1323
Okay 1324
It's really fast digital outputs 1325
from firmware version 4.2 and higher this configuration is automatically executed as I said 1326
High-speed onboard output cams initially 1327
require high speed 1328
bidirectional designs 1329
ok 1330
then we just go 1331
In our output cam section and select first digital output 1332
assigned interface is the wrong pipe 1333
Yes I know I have changed 1334
Then I have to save first 1335
That maybe I can sell it from the list 1336
Not possible okay let's say save and compile 1337
I think the hardware telegram is updated 1338
Or you can you set up communication for symbolic assignment again 1339
Alignment of the drive to Hardware config updated fast IO relationships 1340
Or here that is a function 1341
for fast IO 1342
Create new configuration or delete new configuration is related with this topic 1343
After that I will try again 1344
It's not possible 1345
So let's try another one 1346
output cams 1347
Position Based cam setpoints reference points activate outputs 1348
At the control units 1349
new device 1350
This should be the 1351
cam output 1352
i will select logical OR 1353
So I couldn't see 1354
Let's try again 1355
Fast IO create new configuration 1356
Still not visible 1357
Read the following expected for another assignment on sinamics drive 1358
sinamics inputs as outputs 1359
simotion is inputs listed by continue 1360
Message frames 390 up to 1361
Up to 2 measuring inputs 1362
outputs 1363
save compile 1364
step number 3 1365
Okay 1366
Let's save and compile sinamics side 1367
create procedure is successful 1368
lets say 1369
save and recompile all yes 1370
fast IO telegrams notes sinamics integrated updated 1371
Okay 1372
So it's not possible that I have to use standard digital output 1373
Then I considered my digital outputs 1374
I think there's something changed during firmware versions 1375
That's why is the lecture notes 1376
are not consistent 1377
here you can see also the output cam or normal output 1378
These are really fast output cams 1379
So 1380
in telegram settings 1381
It should be automatically adopted 1382
for Terminal Port I'm not using terminal board. 1383
Yes 1384
Okay 1385
next page activating the output cam in the user program 1386
you select here axis encoder and output cam 1387
You just answer here in parameter section start position and position 1388
So it's a position based you can enter here minus or plus activation time 1389
hysteresis 1390
Sometimes the actual encoder value maybe 1391
Is the opposite direction 1392
Then you can just here deadbands you don't want to go 1393
Your encoder high-level and low-level you don't want to blink at your output 1394
And effective Direction 1395
you can set 1396
Then you're output is set only 1397
Your access is rotated in positive direction 1398
If you use here invert your output its digital output is inverted 1399
You can set a cam counter 1400
For counting by technology object 1401
it stored in a system variable here 1402
we may see 1403
tech object 1404
output cam 1405
control active / reactive 1406
and 1407
effective data cam data start value... 1408
Current account and starting count 1409
as parameter effective data, activation time is everything is there 1410
You can read your return States is an on / off 1411
So you just use here to 1412
Switch output cam off comments and select axis encoder and related cam 1413
If your click output cam set to permanently on 1414
If assign output cam should remain permanently on after has been disabled 1415
check box it is not activated. 1416
disabled output cam. 1417
Sometimes you need it 1418
Setting at high speed cam from user program switch output cam 1419
signal 1420
type Offset and cam status 1421
command is available from version 4.1 and higher of simotion 1422
command allow you switch output cam on or off 1423
On or off 1424
The output cam signal is available in a system variable state 1425
Set the digital output this terminates cam processing was started 1426
overwrite cam command 1427
Is the output cam configured with a high speed of cam 1428
The following applies 1429
assign digital output precise times during 1430
Cycle clokc of output cam 1431
The type depend output relay. 1432
Just use this switch output your signal to test the altered really is 1433
Working or not 1434
On the other hand you can use to set for time off set during 1435
cam on command still processing 1436
configuring TO output cam track 1437
Is the next type of output cam 1438
You can configure a cam track. first position or time based 1439
Type of cam should set point or actual value 1440
leave non cyclic activated cam track outside of track range... 1441
Yep 1442
Does an expert this similar to cam type that are some default parameters 1443
when you use cam on cam off 1444
I'm going to describe your 1445
output cam data to start position and position as a table 1446
32 different values 1447
Cam table 1448
is possible 1449
If you're using the scope you can see here usually for single cam settings 1450
array and validity start position and end position 1451
so... At the first segment here 1452
track data You can just select activation mode 1453
cyclic cam track or non-cyclic cam track. 1454
start mode stop mode 1455
you can set us with a track length 1456
And axis reference position activation duration time 1457
Hysteresis 1458
You can just make a train and track data 1459
For glue application with this way 1460
You can enter some position here or output cam data TO 1461
You can use this table also with conventional flywheel presses for electrical 1462
cam outputs instead of mechanical cam discs for example 1463
with high speed cam outputs Of course 1464
You can just enable or disable from here on the scope 1465
The last two comments or enabling and disabling for the output cam track. 1466
So... 1467
So far so good I think this chapter was a little bit therocal. 1468
but as basically we have talked about almost 1469
all of the 1470
technology Objects right now 1471
So it makes chapter 1472
camming and gearing we will do 1473
Some exercises and examples related to this topics 1474
here It's important for you to understand the main logic 1475
What's the measuring input and what's the cam output? 1476
How do you counter a program or application here you can use cam tracks 1477
For this application 1478
when there is a cycle or pattern 1479
You can program here in the table so that way we technology objects 1480
no matter your Hardware is you can just use controller-based Siemens products 1481
simotion 1482
siemens drives 1483
It's written scalable and flexible solution 1484
The hardware is not so important 1485
You can just easily configure in your system 1486
with Scout and for the program site 1487
It takes less time 1488
It's easy to program in MCC 1489
You can just use some 1490
Comments from your table 1491
Ready-to-use 1492
At this case 1493
You'll see here commands for external encoder 1494
measuring input 1495
cam output on off 1496
cam output on 1497
You're just select here 1498
As described in 1499
Lecture notes 1500
axis and cam 1501
You can create another job 1502
enter parameters or leave it as default 1503
You can write your own logic 1504
You can use the system variables here 1505
to Create your structure for program control statements 1506
Everything is up to you 1507
So... 1508
That's all guys 1509
This is the end of this chapter 1510
We're completed sync operation gearing and camming 1511
a little bit it Is related with this chapter 1512
Next chapter continue with gearring and camming 1513
cam editor creating cam disks and so on... 1514
See you next time.