hello everyone! Welcome on board. 2
And the current chapter is 29 3
Before we will use camming 4
in simotion first 5
how do you Create 6
cams 7
adn we will examine this chapter cam editor 8
and you will see 9
about online cam handling 10
So 11
Let's go on with our notes 12
Creating Cams in simotion continents are here 13
Creating cam 14
Using interpolation points to 15
Create Cams in cam edit window 16
Using interpolation points to define the basic form of Cam 17
Define interpolation type in cam edit 18
Compilation of the various interpolation types 19
Define the behavior with gaps 20
Define type of Cam Master range 21
Absolute cyclic relative and cycling as Cams 22
Scaling and offsetting 23
Using polynomial to create cams 24
Motion laws In accordance with vdi standards 25
Creating geometry. 26
With the wizard 27
creating cam with cam tool 28
cam tool is an additional program 29
Current versions of Simotion is already integrated but 30
It needs a license to use 31
Define the range of the master and slave axes 32
Inserting elements in cam 33
Simulation of velocity 34
acceleration jerk 35
How to do download and upload of a cam 36
From Cam tool 37
Using interpolation points to create cam 38
Interpreting Cams of setting scaling system where we stand so... 39
This is another important topic 40
Before you use some cam function 41
So here you see using cam on and cam off 42
There's a synchronous to 43
And it is related to its Master axis visual axis and cams 44
To control the following axes 45
Axis traverse with position and velocity profile is possible 46
We are using cams for different purposes you can use the horizontal 47
Horizontal axis as Master position or time you can do 48
Just you comment 49
Time locked or time-based velocity profile to 50
Syncronization your slave axis as velocity according to Time 51
Or 52
with hydraulic access 53
According to pressure and speed or flow 54
You can just characterize your walves 55
It is possible with 56
cam profile 57
So this is the simple view when you're creating a cam 58
Let's see 59
On the left side I've just 60
click and Insert cam with camedit In classical way 61
enter a name and select the type 62
If I said polynomial then I have to continiue with coefficients for polynomial equation 63
If I know 64
More basic way to work with interpolation Point table 65
So 66
How its looks like 67
On the leftsite 68
I've been geometry table 69
I would answer my master and slave 70
Relationship 71
According to this 72
table system will draw 73
The graphic on X Y axis 74
Let's just take a 75
Example 76
So 77
For instance 78
You see if there's a straight line 79
And there is some sample 80
our cams are standard and Technology objects 81
cams can be configured with simotion and download 82
cams can be modified at runtime system using function calls 83
There are some variables 84
Provide information 85
But for your note is not possible to create a cam during runtime 86
So that's fine if you're going to need 87
Possible 10 cams 88
In your application you have to create first then download device 89
after that It's possible to 90
reinterpolate or can you just set an offset or Scale at the current cam 91
It's possible during runtime but you have to create your object and download 92
simotion first 93
you can create with cam edit or cam tool 94
It's possible to convert cams created with camtool to cam edit 95
Or vice versa 96
It's possible to export and import 97
Do external world or from your hard drive 98
So yeah you're just see it the two ways of Designing and 99
Creative cams 100
camedit is a basic tool to describe terms according to standards vdi 101
camtool here position acceleration jerk curves 102
Simultaneously 103
Next page 104
Using interpolation points to create cams as with it 105
You just answer here some interpolation points 106
After that you have to select your options 107
How do you want to 108
Make a progress to interpolation 109
So... 110
If your select draw scale and an offset 111
you see Real shaped with 112
Actual scaled and offset values 113
In the interpolation table normally 114
linear 115
And the other possibilities are cubics and bezier 116
If segments overlap 117
Which word means there are some settings here 118
and interpolation two segments you see here the cam type 119
non cyclic or cyclic absolute and so on 120
That means if you said excited absolute there's a Start point 121
And there's end point of the cam 122
when using rotational axis as your master horizontal 123
Position velocity acceleration set point calculated 124
If the end of cycle and joining the beginning end of cycle and profile will be 125
a little Different 126
Then you should be cyclic absolute 127
If your both axes are 128
Linear and running independently for instance 129
and you're just making a one movement or couple of rotations and 130
You know 131
intermediate stop and so maybe you should use most likely according to your application 132
I'm here you'll see the default setting of Master axis 133
then you get 134
2 Difference curves 135
At the same page 136
This is what I mean about scaling and offset 137
You can just add an offset 138
To your slave axis 139
For instance 10 140
it is adjusted you'll see 141
And let's go 142
So about the fine interpolation type 143
cubic splines Works according to this formula 144
coefficient 0 + 145
1 * x + 146
And so on the for corporations are determined between two interpolation points 147
That means 3rd degree and cubicle splines 148
as polinomial 149
For boundary conditions for position continuity and their derivative 150
bezier splines approximation normally runs along that 151
Interpolation points to Define interpolation points at as attractors... 152
So if you're going to write browser and search bezier 153
and 154
You'll see here 155
Some useful information on Wikipedia 156
Or 157
After you look that are several videos 158
As far as I know 159
It's used also the Citroen 160
This equation curves 161
Make a design of the shapes of the car parts 162
So here there are some lecture notes about this topic 163
If you see if you want to get more information there are some animation 164
All the equations are work that are some 165
Intermediate points like this 166
in our case similar 1 2 3 4 5 or 6 167
Eventually 168
You will never get on the point intermediate point you just pass through 169
Nearly 170
so that means in Some case you are not 171
Available to get to destination 172
At the intermediate points 173
But there are some advantages with using bezier curves 174
That means there's no positioning or shorts or where is the overshoot 175
Your profile maybe must be smoother than when you use 176
Fifth degree polynomial example 177
It's possible to use 3rd degree polynomial 178
When you select cubical splines 179
Turn your calculations are similar but sometimes you get some overshots 180
in your velocity 181
There are some advantages and disadvantages of course 182
So next page comperation of the various interpolation types 183
see here after your cam is calculated background 184
Is background color at the curve 185
cubic splines like this 186
You are you sure about your passing through 187
On your points intermediate points at your shapes looks like this 188
There's overshoot or undershoot. It's your 189
positioning setpoints 190
A long way to go 191
That's why maybe your servo motor 192
or your 193
mechanical shafts 194
Suppress a little bit higher than the bezier supplies 195
After you see your the path is 196
So much shorter 197
when you compate here 198
But you're not to be sure you're just passing through in some points 199
Only the first point you just 200
Going through 201
If this case 202
So to visualize actual curve in online mode 203
You download select cam at interpolation table 204
That means that you're offline 205
You just see only the liner interpolation type 206
if you use 207
cubic splines you have to download 208
It says it's only possible plans or the starter System So... 209
That's what I here download CPU first 210
The create the technology object with cams 211
And system will calculate and interpolate canm object 212
lets download 213
download it 214
cubic splines 215
So after I upload from system I received the online cam curve 216
It's like this 217
basic form and scaled and offset 218
As you remember my point passing through right here 219
Right here 220
Here 221
As a disadvantage Maybe 222
My point table switched 223
To automatically 224
Because I used 3rd degree polynomials 225
If I close the cameditor 226
Re-open again 227
I see the offline camview of course 228
Let's try the bezier supplies download 229
and upload 230
to see return shape 231
Okay 232
now its looks like so much different than the other one 233
Just a 234
Shortly 235
Between the intermediate points 236
Before I hit the accept button then that means I will upload it and 237
I'm going to save the curve with the current settings to my project 238
Let's try I hit accept it okay 239
After I close the cam window it says cam has been changed would you like 240
save changes in Project 241
i will close all windows 242
Open again 243
Then I'll see the last state of my cam 244
So... 245
Let's create another one 246
As interpolation Point table and CAM 2 247
okay, Define behavior according to your data 248
given as table cam edit window there might be 249
some gaps 250
Or missing spaces 251
inside this tab 252
Interpolation as expert mode 253
You just Define here 254
How is going to work 255
with gaps on Master value the maintain gaps 256
Less than this value 257
Match points 258
So you lived to see at this case 259
The two points will be merged 260
to avoid 261
prevent the gaps 262
Or 263
Second thing is gaps greater than 264
First 265
then interpolate with cubic splines 266
If your gaps is too high 267
Done this value 268
Additional segment with 3rd degree polynomial 269
Calculated to fill the gap 270
So these are the details right now 271
with gaps 272
On the next page you will Define the type of cam and the master range 273
non cyclic application you just use one 274
Your profile if you are running cyclic 275
relatively You should send it 276
com relative for your cam profile 277
Avoid the jumps on set position or set velocity 278
If you are running absolute 279
Think about there's a modulo and your rotational axis 280
Is running from 0 degree to 360 degree at this point because of what issue 281
You set to zero again and sore so you can use cyclic absolute 282
to Calculate properly your profile 283
So... 284
On the next page you will see 285
The example pictures original cam with cubic Supply interpolation 286
Looks like this 287
cyclic absolute 288
It should be 289
Looks like this 290
there is a Coordination 291
Related to beginning of the cam and at the end of the cam profile 292
So you can see without gap 293
with cyclic absolute of operation 294
It's 295
Almost similar with original selection 296
And the last one cyclic relative 297
There's a little 298
Interconnection 299
To continue with cyclic relative 300
Scaling and offset on cams 301
your see here 302
Black curvet as basic curve and the blue curve as draw scale and offset 303
Another way to create cam in camedit that you can use polynomial 304
At this case you have to know the coefficiants 305
According to your equations 306
If you are using a drawing program in your PC 307
For instance your program can provide 308
this coefficients related to curve 309
That you want to draw for example 310
a 2D Cartesian and you're planning to program a plotter 311
You're drawing some shapes that you can use 312
this type of 313
cams with polynomial equations 314
It's possible 315
Normally here you can see the equation should be like this 316
Assign function with amplitude. And phase 317
cam will used 318
Arguments X from definition range 319
next page motion laws 320
accordance with VDI 321
So you see here the master value and slave value that are some segments 322
this area 323
Define as are is the dwell time 324
velocity acceleration is zero 325
This area named SG constant velocity 326
reversal motion 327
This area is reverse emotion 328
This area is the same name as our 329
And you define segments and interpolated that are some gaps 330
It will be interpolated online when you use 331
Related functions 332
make your profile 333
to usable 334
So... 335
Vdi 2143 standard describes the entire cam characteristic by putting 336
Together 337
About motion transitions 338
So 339
wizard provideds motion segments 340
60 motion transitions 341
Creating the geometry data with the vdi wizards as possible 342
We have here 343
Another cam I'm created first I'm going to download 344
There's a value as you can see 345
It's not available right now 346
So vdi wizard provides user-friendly creating of Geometry 347
data 348
You just said 349
In my case I think is not enabled 350
maybe it is related by firmware version 351
Let's try again with different firmware version 352
VDI wizard for type of motion 353
Is possible in online 354
In both of the versions 355
It's version 4.5 via Click right 356
VDI wizard 357
you see 358
16 transitions 359
And two special cases 360
Type of motion to dwell time 361
You're just answer here the start point and endpoint setting 362
X-coordinate must be greater than a last coordinate 363
Okay that's a 364
Transition type with 3 365
See here the segment 366
polinomial inserts yes 367
you see 368
here CAM 1 369
And it's not activated I think while your cam editor is opened 370
Let s close and say yes 371
after you right today it's on again with vdi wizard 372
Let's say transition from dwell to 373
constant vel 374
Reversal 375
For the motion 376
Let's say constant vel 377
Polynomial 5th order 378
Okay 379
startpoint 0 to 10 380
Is it okay to 10 again 381
valocity should 382
10 instance 383
What's the current must not be equal to what at the ends 384
The second motion transition contains at turning point that are for modified sine curve should be used 385
Do you wish to continue say yes 386
Subsequent optimization as velocity 387
you can see here of the settings menu click preview you will see the 388
some Reverse the direction movement 389
Let's say okay 390
Also I reopen 391
I should see normally 392
So let's try again 393
vdi wizard const vel next 394
Okay let's preview 395
okay you got your starting point 396
endpoint settings 397
So as you can see it's a hard way to do 398
According to standards list say okay 399
What's there's a better way 400
creating cams with camtool 401
It's more flexible and user-friendly 402
Let's try 403
I'm going to delete the old CPU 404
lets say insert cam 405
camtool 406
And here is information as I said you need a license for that 407
And this is the main page you can add other 408
curves to click here 409
So 410
What are some tools on your toolbox fix points 411
Straight line interpolation points 412
Sine 413
and so on... 414
Just add here 415
eom fixed points 416
Some intermediate points 417
after to you 418
Enter 419
Or creates 420
Your plans you see here 421
The latest curve 422
You can zoom in or zoom out with your mouse 423
Or like this 424
zoomtool 425
so It's can use this as a scrollbar 426
The green curve is your position relation between master and slave 427
you can simultanously 428
see changes velocity profile as blue curve 429
Or red color acceleration profile 430
jerk there are some jumps gaps and so on... 431
So if you want to Define range of Master and slave you just right click 432
Also been saying that you can insert your object is fixed point red light and so on the display 433
On Target device parameters your answer here the master and start and end point 434
You can set up the execution type 435
for interpolation 436
you can select a way 437
or gap settings 438
Or scaling and offset is the same as the cam edit 439
settings 440
You can take 441
Settings from axes 442
Or you can select the properties for linear axis rotary axis 443
modulo router access 444
for master 445
and slave 446
You can set limits on the slave with minimum 447
And 448
maximum values 449
for presentation 450
There are some parameters related to master 451
slave and so on... 452
Midstate range is -100 and 100 453
You're just it just here 454
On the master 455
If you want to adjust your 456
Slave 457
Then maybe you should set it 458
Representation slave 459
For instance Maybe 460
That you can zoom in or zoom our 461
Like this 462
So next page 463
inserting elemens in cam 464
click 465
drag and drop 466
Treat your mouse 467
You can just drag and drop just intermediate points 468
If you're double click your consent 469
The position values as X and Y 470
simulation of velocity and acceleration or jerk 471
You can adjust your setting for master and slave 472
master velocity for calculations is using defiance 473
It's here maybe 474
10 475
According to this value you get the velocity and real values 476
So next page downloading and uploading cam from camtool 477
Let's try 478
downloading... 479
set to run 480
Okay cam is downloaded if you right-click your cam 481
Which is created with camtool you can convert back to Camedit 482
You can export your geometry 483
export raw data or as polynomial equations 484
Or import is possible 485
for upload picture you have to connect the target system 486
the hit upload the cam 487
so if you upload a cam from target device previosu may change display window opens 488
If I make changes cam effective in your project 489
Using interpolation points to create cams at one time that are some several system functions for that 490
If you use reset cam commands to reset the download it looks like 491
in your ST 492
Then you can clear curve or profile 493
There are some settings 494
you can use add point to cam function to add some point in your cam table 495
It's possible to add polynomials segments or equations in your cam table 496
At your cam curve 497
in Advance 498
You have to interpolate your cam before you use it 499
Because maybe there are some gaps or your segments are not connected yet 500
So you have to 501
Interpolate your cam and it takes some time that's why we are 502
Using the cam function in motion task 503
Not in background task 504
It depends on your profile 505
How many seconds maybe it's required to interpolate 1 cam 506
Maybe it take one second to another cam on your 507
Equation table and settings 508
So next page is related how do we make an offset a scaling 509
in cams with MCC 510
You'll see the comments 511
Is grouped under gearing and camming comments at the last 512
Is possible to change 513
scaling Factor and offsets after you interpolate cam 514
You can use this settings when your cam is not active 515
That means you cannot interprolate your cam 516
When the cam is in use 517
but on the fly 518
offset and scaling is possible 519
it could be effective on the same time or the next time it depends on 520
On you. 521
Set cam offset and set cam scale functions 522
Looks like this in your ST editor 523
Next page 524
There are also some comments for reading 525
cam value 526
get cam following volume or get cam leading value for example 527
Next page 528
here some useful system variables for Cams 529
in your symbol browser 530
cam 1 maybe 531
axis state 532
Could be active or inactive you can detect 533
If your check-in is use or not definition state 534
Not empty that it means data in your cam table 535
So error is related about cam technology object 536
You can see here that following settings 537
offset and scale 538
You've got reasons right leading right settings 539
Okay 540
So 541
And this is the next chapter 12 542
Basicaly if it's needed by your application 543
then 544
You have to adjust your cam profile during run time that's why you have to use this 545
Describe of system function 546
For instance you are programming a rotary knife 547
and your cam profile 548
Should be modified 549
Because the length of your product is 550
Changeable 551
Or will be changed with different kind of setups or recipes 552
Maybe your knife count 553
in your rotary system will be two or three depends on the size of 554
The product or your machine so that means you have to get 555
This parameter from HMI operator has to answer it 556
After that you have to calculate your cam profile during runtime 557
maybe even Your machine is running with some Cam 558
And you're slave axis 559
Is camming to a master 560
It is a requirement in real world 561
This one by experts in a APC erlangen Library developed 562
And the name is cam handling 563
There are some useful 564
Functions for experts 565
As program was here 566
Such as create cam calculator minimum maximum values 567
calculate axis dynamics 568
This user-defined functions also consists of 569
some command Library functions located 570
under the folder technology object 571
cam Geometry 572
For example of a add segment interpolation a so... 573
with this function you can create your own library or 574
You can choose the way 575
To use this 576
function blocks 577
to Create a cam profile for example 578
so It's the second step maybe you should check your minimum and maximum values 579
as Position 580
That means 581
Before to start your movement on slave axis before you execute the cam on command 582
Is it possible to execute 583
It's a better way to check 584
You reach or overshoot softlimit of an axis for instance 585
For 3rd step maybe you should use calculate access Dynamics function to get 586
Minimum and maximum requirements 587
Dynamics at your velocity or acceleration deceleration ramps 588
Then maybe you should compare with your axis 589
Blue for instance 590
Limits as acceleration and deceleration 591
Then you will be sure about your mechanics is able to do this kind of 592
camming function 593
Even before you started your movement 594
This the 3rd step 595
last state Maybe 596
You should calculate your required torque 597
And the current of your motor 598
then... 599
You should take consider of your energy consumption 600
That maybe you think about your 601
Smart Line module 602
Is quite good enough to handle this kind of current consumption 603
You have to calculate your inertia 604
According to your application 605
specially for such as big rotary knifes in industrial metal cutting 606
There are some such as 607
usefull functions you may see later on in siemens released application 608
Example packages like rotary knife 609
And so son... 610
For step-by-step maybe you will develope your application and you 611
some function and see what's the response of the system 612
If you adjust design is simple machine 613
And it is not required to change your cam profile. 614
then It's the basic 615
But you should know that it's possible to do anything during run time depends on your case. 616
Next time we will learn about the functions caming on and off 617
See you then bye bye