Manual. Program Module MultiMotion Universal, Parameterizable Software Plattform for MOVI-PLC

Transcription

1 Drive Techology \ Drive Automatio \ System Itegratio \ Services Maual Program Module MultiMotio Uiversal, Parameterizable Software Plattform for MOVI-PLC Editio 12/ / EN

2 SEW-EURODRIVE Drivig the world

3 Cotets Cotets 1 Geeral Iformatio About this maual Structure of the safety otes Meaig of the sigal words Structure of the sectio-related safety otes Structure of the embedded safety otes Right to claim uder warraty Exclusio of liability Copyright Other applicable documetatio Safety Notes Geeral iformatio Desigated use Target group Bus systems MultiMotio Program Module Fuctios Fields of applicatio Istallatio Requiremets Procedure Compoets Use Project plaig iformatio System limits Task cofiguratio Coectig axes Cotrol Program Basic structure MultiMotio program User program Task cofiguratio Cotrol cofiguratio Fieldbus Process data assigmet Structure of the MOVILINK parameter chael Global iterface "AxisIterface" to cotrol the axes Global iterface "CamSwitchIterface" to cotrol the cam cotroller Maual MultiMotio 3

4 Cotets 4.9 Other global variables Power fail-safe data Overlayig travel profiles Differetiatio betwee liear ad module axis Liear axis Modulo axis MultiMotio Editor: Start Page Settigs MultiMotio Editor: Cofiguratio i Geeral File storage Startig a cofiguratio User iterface Savig a cofiguratio Add axis Deletig axes Copyig the settigs of a axis to aother axis Addig cam tracks Deletig cam tracks Addig cams to a cam track Deletig cams from a cam track Copyig settigs from oe cam track to aother Master iiterrelatio MultiMotio Editor: Cofigurig a Axis Basic settigs User uits Limit switches System limits Ramps Commuicatio Homig Referece travel, geeral iformatio Zero pulse egative directio Zero pusle positive directio (oly MOVITRAC LTX) Negative ed referece cam Positive ed referece cam Positive limit switch Negative limit switch Settig referece poit with eable (type 5) Referece cam flush with positive limit switch Referece cam flush with egative limit switch Settig referece travel without eable (type 8) Fixed stop positive (oly MOVIAXIS ) Fixed stop egative (oly MOVIAXIS ) Maual MultiMotio

5 Cotets 7.8 Velocity Positioig Camig Geeral Master Start Stop Optios: Camig ad iterpolatio Trackig Touch probe SedObject Basic settigs User uit Calculatio widow MultiMotio Editor: Cofigurig a Cam Track Geeral iformatio Basic settigs Track data MultiMotio Editor: Dowload User iterface Savig the cofiguratio o your PC Savig the cofiguratio o the SD card i MOVI-PLC MultiMotio Editor: Moitor Overview Diagostics User iterface Moitor ad cotrol mode Axis diagostics Geeral iformatio Homig Velocity Positioig PositioigRelative Jog Camig Trackig Touch probe IverterData IO SedObject Cam track diagostics Eablig cam tracks Trace Start ad stop recordig Advaced diagostics Maual MultiMotio 5

6 Cotets 11 Applicatio Examples Velocity Jerk-limited positioig Case 1: a max ad v max are ot reached Case 2: a max is ot reached, v max is reached Case 3: a max is reached, v max is ot reached Case 4: a max is reached, v max is reached Overview of acceleratio profiles User uits Calculatig the scalig factors of a liear axis Calculatig the scalig factors of a modulo axis System limits/ramps Liear axis Modulo axis Chagig cofiguratio data i "camig" axis mode durig rutime Chagig the curve descriptio i "camig" mode Chagig the curve descriptio i "iterpolatio" mode Cam cotroller Switchig behavior Example Iterface POUs Usig the EtherCAT based system bus SBUS plus Idex Maual MultiMotio

7 Geeral Iformatio About this maual 1 1 Geeral Iformatio 1.1 About this maual The maual is part of the product ad cotais importat iformatio. The maual is for everyo workig with this product. The maual must be accessible ad legible. Make sure that persos resposible for the system ad its operatio, as well as persos who work idepedetly with the software ad the coected uits from SEW-EURODRIVE, have read through the maual carefully ad uderstood it. If you are uclear about ay of the iformatio i this documetatio, or if you require further iformatio, cotact SEW-EURODRIVE. 1.2 Structure of the safety otes Meaig of the sigal words The followig table shows the gradig ad meaig of the sigal words for safety otes, otes o potetial risks of damage to property, ad other otes. Sigal word Meaig Cosequeces if disregarded DANGER Immiet dager Severe or fatal ijuries WARNING Possible dagerous situatio Severe or fatal ijuries CAUTION Possible dagerous situatio Mior ijuries NOTICE Possible damage to property Damage to the drive system or its eviromet INFORMATION Useful iformatio or tip: Simplifies the hadlig of the drive system Structure of the sectio-related safety otes Sectio safety otes do ot apply to a specific actio, but to several actios pertaiig to oe subject. The used symbols idicate either a geeral or a specific hazard. This is the formal structure of a sectio safety ote: SIGNAL WORD Type ad source of dager. Possible cosequece(s) if disregarded. Measure(s) to prevet the dager Structure of the embedded safety otes Embedded safety otes are directly itegrated i the istructios just before the descriptio of the dagerous actio. This is the formal structure of a embedded safety ote: SIGNAL WORD Nature ad source of hazard. Possible cosequece(s) if disregarded. Measure(s) to prevet the dager. Maual MultiMotio 7

8 1 Geeral Iformatio Right to claim uder warraty 1.3 Right to claim uder warraty You must observe this maual as the prerequisite for fault-free operatio ad fulfillmet of ay right to claim uder warraty. Therefore, read the documetatio before you start workig with the software ad the coected uits from SEW-EURODRIVE. Make sure that the documetatio is available to persos resposible for the machiery ad its operatio as well as to persos who work idepedetly o the devices. Also esure that the documetatio is legible. 1.4 Exclusio of liability You must observe this maual ad the documetatio of the coected uits from SEW- EURODRIVE to esure safe operatio ad to achieve the specified product characteristics ad performace requiremets. SEW-EURODRIVE assumes o liability for ijury to persos or damage to equipmet or property resultig from o-observace of the documetatio. I such cases, ay liability for defects is excluded. 1.5 Copyright SEW-EURODRIVE. All rights reserved. Copyright law prohibits the uauthorized duplicatio, modificatio, distributio, ad use of this documet, i whole or i part. 1.6 Other applicable documetatio Observe the followig applicable documets: "MOVIAXIS MX Multi-Axis Servo Iverter" operatig istructios "MOVIDRIVE MDX Drive Iverter" operatig istructios "MOVITRAC MC07 Frequecy Iverter" operatig istructios "MOVI-PLC advaced DH.41B" maual "MPLCMotio_MDX ad MPLCMotio_MX Libraries for MOVI-PLC " maual "Libraries for MOVI-PLC Fault Codes" maual "MOVI-PLC Programmig i the PLC Editor" system maual 8 Maual MultiMotio

9 Safety Notes Geeral iformatio 2 2 Safety Notes 2.1 Geeral iformatio The followig basic safety otes must be read carefully to prevet ijury to persos ad damage to property. The operator must esure that the basic safety otes are read ad adhered to. Esure that persos resposible for the machiery ad its operatio as well as persos who work idepedetly have read through the documetatio carefully ad uderstood it. If you are uclear about ay of the iformatio i this documetatio or if you require further iformatio, please cotact SEW-EURODRIVE. The followig safety otes refer to the use of the software. Also take ito accout the supplemetary safety otes i the idividual chapters of this maual ad i the documetatio of the coected devices from SEW-EURODRIVE. Read through this maual carefully before you begi workig with the software. This documet does ot replace the detailed operatig istructios of the coected devices. This maual assumes that the user has access to ad is familiar with the documetatio for all coected devices from SEW-EURODRIVE. 2.2 Desigated use The MultiMotio program module is a uiversal, parameterizable software platform for MOVI-PLC advaced cotrollers from SEW-EURODRIVE. It comprises the followig compoets: "AxisCotrol_MultiMotio.pro" project template The project template provides users with the fuctios explaied i this maual. However, users have to itegrate ow program parts ito the project template to beig able to access these fuctios i the cotrol program. MultiMotio Editor The graphical tool is used for settig the parameters of the fuctios i the MultiMotio program. It is also used for diagostics purposes ad for testig the parameterized fuctios. This meas the MultiMotio program is ot a complete applicatio solutio but a software template to which users have to add their ow program parts. Without these additioal program parts, MultiMotio is ot suited for cotrollig automatic processes i machies. I cotrol mode, users ca directly access the iterface whe testig the parameterized fuctios, which meas they ca directly access the drive fuctios. The iterface is o loger cotrolled by the program parts added by the user so that limits ad ihibits i the user program might o loger be effective. Suitable precautioary measures must therefore be take whe usig cotrol mode. Usig cotrol mode is the sole resposibility of the user. Maual MultiMotio 9

10 2 Safety Notes Target group 2.3 Target group Ay work with the software may oly be performed by adequately qualified persoel. Qualified persoel i this cotext are persos who have the followig qualificatios: Appropriate istructio. Kowledge of this documetatio ad other applicable documetatio. SEW-EURODRIVE recommeds additioal product traiig for products that are operated usig this software. Ay mechaical work o coected uits may oly be performed by adequately qualified persoel. Qualified staff i the cotext of this documetatio are persos familiar with the desig, mechaical istallatio, troubleshootig ad servicig of the product who possess the followig qualificatios: Traiig i mechaical egieerig, e.g. as a mechaic or mechatroics techicia (fial examiatios must have bee passed). Kowledge of this documetatio ad other applicable documetatio. Ay electrical work o coected uits may oly be performed by adequately qualified electricias. Qualified electricias i the cotext of this documetatio are persos familiar with electrical istallatio, startup, troubleshootig ad servicig of the product who possess the followig qualificatios: Traiig i electrical egieerig, e.g. as a electricia or mechatroics techicia (fial examiatios must have bee passed). Kowledge of this documetatio ad other applicable documetatio. I additio to that, they must be familiar with the relevat safety regulatios ad laws, especially with the requiremets of the performace levels accordig to DIN EN ISO ad all other stadards, directives ad laws specified i this documetatio. The above metioed persos must have the authorizatio expressly issued by the compay to operate, program, cofigure, label ad groud uits, systems ad circuits i accordace with the stadards of safety techology. All work i further areas of trasportatio, storage, operatio ad waste disposal must oly be carried out by persos who are traied appropriately. 2.4 Bus systems A bus system makes it possible to adapt frequecy iverters ad/or motor starters to the particulars of the machiery withi wide limits. This results i the risk that a chage of parameters that caot be detected exterally ca result i uexpected, though ot ucotrolled, system behavior. 10 Maual MultiMotio

11 MultiMotio Program Module Fuctios 3 3 MultiMotio Program Module 3.1 Fuctios MultiMotio is a uiversal, parameterizable software platform for the MOVI-PLC cotroller from SEW-EURODRIVE. It provides comprehesive motio cotrol fuctios i particular for techology fuctios, such as: Electroic gear uit / sychroous operatio Cams Iterpolatio Touch probe fuctio Cam cotroller The core of the MultiMotio program module cosists of a MultiMotio program that is desiged as a project template for a cotrol program. The MultiMotio program module icludes the MultiMotio Editor that ca be used for cofiguratio ad diagostics. The graphical tool is itegrated i the comprehesive MOVITOOLS MotioStudio egieerig software package from SEW-EURODRIVE. MultiMotio program module Project template MultiMotio Editor Cotrol program Libraries TSP... MultiMotio program User program Task cofiguratio Cotrol cofiguratio Fieldbus Global iterfaces Maual MultiMotio 11

12 3 MultiMotio Program Module Fuctios The MultiMotio program comprises motio cotrol fuctios ad a stadardized iterface that ca be used to coect user programs. Uder "Cofiguratio" i the MultiMotio Editor, you ca set geeral parameters, such as user uits ad limits as well as techology fuctios, such as sychroous operatio, cam, ad iterpolatio. After cofiguratio, the cofiguratio data are writte as xml files to the memory card of MOVI-PLC. At a restart, the MOVI-PLC reads the data from the memory card. Uder "Diagostics", you ca moitor ad cotrol iterfaces. This meas you ca coveietly test the cofigured fuctios eve if o user programs have bee itegrated yet. MOVI-PLC Cotrol program MultiMotio program Motio cotrol fuctios Egieerig PC MOVITOOLS MotioStudio MultiMotio Editor Cofiguratio Stadardized iterface Diagostics User program MultiMotio is early idepedet of the drive electroics so that all the axes are represeted the same way i the program module irrespective of MOVIDRIVE, MOVIAXIS or MOVITRAC. Also virtual axes behave like real axes, which meas users ca easily test the parameterized motio cotrol fuctios at the desk eve without drive electroics. MultiMotio also provides other fuctios, such as processig exteral ecoders ad overlayig travel profiles as well as itegrated data maagemet for the coected iverters. A special feature of MultiMotio is the optio of obtaiig diagostics iformatio of ogoig applicatios usig the MultiMotio Editor without eedig the programmig tool. Doig so is idepedet of the applicatio to be cotrolled as log as the platform, which cosists of the motio cotrol fuctios, is coected with the stadardized iterface. 12 Maual MultiMotio

13 MultiMotio Program Module Fields of applicatio Fields of applicatio MultiMotio is suited as a software platform for the most various applicatios. The drive fuctios cover the rage from simple speed cotrol to positioig all the way to techology fuctios. MultiMotio lets you implemet i particular the followig fuctios quickly ad coveietly: Sychroized movemet of axes with cams or sychroous operatio Iterpolatio of curve poit tables Chagig curve profiles durig ogoig operatio Virtual axes (e.g. as master axes i machies with sychroized movemet of axes) Touch probe fuctio (e.g. cut legth cotrol) Processig additioal ecoder (e.g. detectig slip or misaligmet) Overlayig travel profiles (e.g. for compesatig slip or misaligmet) Applicatio examples ca accordigly be foud i the most various fields of applicatio: Packagig techology FFS machies with rotatig kife/sealig ad film trasport with cut legth cotrol Cartoizer Carto erectig machie Smart belts Trasport ad logistics Storage/retrieval system with ati-oscillatio drive Multi-axis applicatios, liftig gear or trolleys, such as for idoor craes with several drives Processig machies Flyig saw Rotatig kife Decorators Maual MultiMotio 13

14 3 MultiMotio Program Module Istallatio 3.3 Istallatio Requiremets Hardware Usig the MultiMotio program module requires the followig hardware: MOVI-PLC advaced with techology level T2 ad correspodig firmware versio. The miimum required versio is displayed ad queried uder "Dowload". Software The patch with the latest MultiMotio versio is available as zip file for dowload from the SEW website ( This patch lets you itegrate MultiMotio ito a existig MOVITOOLS MotioStudio istallatio. The followig requiremets apply: MOVITOOLS MotioStudio 5.60 SP1.2 ( ) MultiMotio program module versio 1.0 ad higher Procedure Do the followig to istall the MultiMotio program module: 1. Close MOVITOOLS MotioStudio. 2. Load the MultiMotio patch from the SEW homepage locally to your hard disk. 3. Uzip the zip file of the MultiMotio patch. 4. Click the.exe file ad follow the istructios of the wizard. 14 Maual MultiMotio

15 MultiMotio Program Module Compoets Compoets Oce you have istalled the MultiMotio patch, the MultiMotio program module will be available i MOVITOOLS MotioStudio i the form of 2 compoets: Project templates "AxisCotrol_MultiMotio.pro" ad "AxisCotrol_MultiMotio_Framework.pro" These project templates are part of MOVITOOLS MotioStudio. They ca be selected i the project wizard as program template for the MOVI-PLC. The "AxisCotrol_MultiMotio_Framework.pro" program template icludes additioal programs, which ca be used as template for a program structure to cotrol a machie MultiMotio Editor The cofiguratio ad moitorig tool is available i the cotext meu of MOVI-PLC uder "Techology editors". You fid more iformatio i chapter "Start page" (page 40) Maual MultiMotio 15

16 3 MultiMotio Program Module Use 3.5 Use This sectio describes the steps required for workig with the MultiMotio program module. It is assumed that the SD card of MOVI-PLC already has the proper firmware versio. The miimum required versio is displayed ad queried uder "Dowload". You fid more detailed iformatio o MOVITOOLS MotioStudio i the documetatio of this software. Proceed i the followig order: 1. Coect the egieerig PC/laptop with the MOVI-PLC either via USB or Etheret. Whe carryig out egieerig via Etheret, make sure the IP address of the egieerig iterface ad the coected MOVI-PLC is i the same subet. The default IP address of MOVI-PLC is This meas the IP address of the egieerig iterface should be set to xxx. 2. Supply the MOVI-PLC with voltage. 3. Start MOVITOOLS MotioStudio. 4. Create a ew project i MOVITOOLS MotioStudio (meu item [Project] > [New]. The project file is saved i the specified target directory. 5. Cofigure the egieerig iterface you wat to use for accessig the MOVI-PLC. This ca be USB or Etheret [meu item [Network] > [Commuicatio]). 6. Sca the etwork to fid the MOVI-PLC ([Sca] ico). The cotroller o the iterface is detected ad automatically displayed i the etwork view of MotioStudio. 7. Project the MOVI-PLC, for example by selectig the device ad draggig it to the project view of MotioStudio while keepig the mouse butto pressed. A widow opes ito which you have to eter a device ame. Next, the device parameters are uploaded. The projected device is displayed i the project view. A blue circle idicates that the device has bee projected. Durig project plaig, a subfolder with the device ame is created i the "Devices" subdirectory of the MotioStudio project folder. It is recommeded that you do ot iclude the firmware i the ame, else the save operatio will take loger. You ca make the relevat settig by choosig [Settigs > Optios > Other] from the meu. 8. Create a PLC Editor project usig the project wizard. To do so, right-click the ode of MOVI-PLC. From the cotext meu that opes, select [Programmig > Create ew PLC Editor project]. 9. I the project wizard, select the template "AxisCotrol_MultiMotio". 16 Maual MultiMotio

17 MultiMotio Program Module Project plaig iformatio 3 10.Assig a project ame. Do ot chage the default directory as this is where the MultiMotio Editor searches for the symbol files. The PLC Editor opes. The project template is the basis of the cotrol program to which the user ca add ow program modules. Whe creatig a ew PLC Editor project, the subfolder "PLCEditor" is created i the subdirectory "Devices". This subfolder icludes aother subfolder, which has the ame you have assiged to it, where the project file is saved. This subfolder also icludes the symbol files (.SDB ad.sym). They are absolutely ecessary for the symbolic access whe moitorig ad cotrollig for diagostics purposes. 11.Compile the project ad load it to the MOVI-PLC (from the meu, choose [Olie] > [Log i] ad [Project] > [Compile]). I the first step, the project template ca be started without ay chages. 12.Ope the MultiMotio Editor to cofigure the system. The Editor is described i detail i the subsequet chapters. 3.6 Project plaig iformatio System limits You ca defie a maximum of 24 axes. Virtual axes are treated the same way as real axes ad are therefore couted like real axes. The itegrated cam cotroller supports a maximum of 8 cam tracks with up to 32 cams each Task cofiguratio The travel profiles of the axes are created cetrally o the MOVI-PLC. They are created i the cylic task "TaskPriority". Its cycle time is set to 5 ms by default. Up to 8 axes ca be cotrolled if the cam cotroller is disabled ad o user program is itegrated i the high-priority cyclic tasks. If more tha 8 axes are used, the cycle time of the "TaskPriority" must be icreased. You ca use the followig rule of thumb for this purpose: Cycle time (ms) = 1 ms (base load) + umber of axes x 0.5 ms This meas 16 axes ca be cotrolled with a cycle time of 9 ms. Activatig the cam cotroller or icludig user programs i high-priority cyclic tasks cosumes additioal resources, which ievitably affects the miimum cycle time of the "TaskPriority". It is idispesable for the proper fuctioig of the program module that the profile ca be geerated i the "TaskPriority" without ay problems withi the set cycle time. Users are resposible for distributig the resources of the system i a suitable maer by settig the cycle times accordigly. Commet: The above rule of thumb provides cycle times loger tha 10 ms whe the umber of axes exceeds 19. However, MOVIDRIVE ca process oly a maximum iterpolatio time of 10 ms. This is the reaso why the MultiMotio program module is restricted to cotrol a maximum of 18 MOVIDRIVE iverters. Maual MultiMotio 17

18 3 MultiMotio Program Module Project plaig iformatio Coectig axes Two types of drives are distiguished i the MultiMotio program module: Drives that are coected to MOVIDRIVE or MOVIAXIS. For these drives, a positio profile is geerated cetrally o the MOVI-PLC. The positio setpoit is critical i terms of time; it is set to the iverters cyclically with a as short as possible cycle time ad i a sychroized maer. Drives that are coected to MOVITRAC. For these drives, oly a speed setpoit is specified o the MOVI-PLC. This setpoit is ot time-critical; it is also set to the iverters cyclically (but with loger cycle time) but ot i a sychroized maer. SEW-EURODRIVE recommeds to coect both drive types to separate CAN lies to avoid that the sychroous trasmissio of positio setpoits is uecessarily affected by the trasmissio of speed setpoits. This is especially importat if a great umber of both drive types is to be coected. 18 Maual MultiMotio

19 Cotrol Program Basic structure 4 4 Cotrol Program 4.1 Basic structure The followig figure shows a part of the structure of the cotrol program: Cotrol program MultiMotio program Fieldbus coectio Fieldbus data optioal Cotroller Maagemet - Cofiguratio - Remote cotrol - Data maagemet - Parameter routig User program Stadardized iterface Motio cotrol fuctios Fieldbus coectio: A fieldbus coectio processes fieldbus data. It provides the received fieldbus data i a global data structure, ad fetches the fieldbus data to be set from the global data structure. The mechaism is idepedet of the fieldbus type. This meas it is ot importat whether you use Profibus, DeviceNet, ProfiNet or ay other fieldbus supported by the MOVI-PLC. Fieldbus data: Part of the fieldbus data ca be used to cotrol fuctios, which are summarized uder the desigatio "Cotroller Maagemet". If users do ot wat to cotrol these fuctios via fieldbus, the they ca also use the process data words provided for this purpose for their applicatio program. You fid more iformatio i chapter "Fieldbus" (page 26). Cotroller Maagemet: The cotroller maagemet comprises the followig fuctios: Readig cofiguratio data Cotroller reset via fieldbus Data maagemet of the coected iverters. Routig parameter telegrams from a higher-level cotroller to the lower-level iverters. Maual MultiMotio 19

20 4 Cotrol Program MultiMotio program User program: The user program accesses the fieldbus data i the global variable structure ad provides the cotrol sigals it receives here to the stadardized iterface with the motio cotrol fuctios. Stadardized iterfaces: see below Motio cotrol fuctio: see below 4.2 MultiMotio program The blocks "stadardized iterface" ad "MotioCotrol fuctios" i the previous figure are depicted i more detail i the followig figure: Stadardized iterface AxisIterface AxisIterface.Axis[] CamSwitchIterface CamSwitchIterface.Track[] I Cofig Out I Cofig Out Axis[] Profile geeratio Axis[] Admiistratio Track[] Admiistratio Track[] Cotroller AxisHadler_Priority_ MultiMotio AxisHadler_Mai_ MultiMotio CamSwitchHadler_ Mai CamSwitchHadler_ Priority TaskPriority (cyclically 5 ms) TaskMai (free-ruig) TaskPriorityCamSwitch (cyclically 1 ms) MotioCotrol fuctios The block "stadardized iterface" cosists of 2 global data structures: The global data structure "AxisIterface" is the iterface to all axis fuctios. It icludes a "Axis" array where a separate data structure is assiged to each axis. The data structure cotais iput/output data for cotrollig the axis fuctio ad the associated cofiguratio data. The global data structure "CamSwitchIterface" is the iterface to the cam cotroller. It icludes a "Track" array where a separate data structure is assiged to each cam track. The data structure also cotais iput/output data for cotrollig the cam track ad the associated cofiguratio data. The block "Motio cotrol fuctios" cosists of several programs that are assiged various tasks: The "AxisHadler_Mai_MultiMotio" program is used to maage the cofigured axes. For this purpose, each axis is assiged a istace of a relevat fuctio block, which hadles basic fuctios, such as establishig a commuicatio with the drive electroics, eable, referece travel, error reset, etc. This program is processed i the free-ruig task as these fuctios are ot time-critical. The "AxisHadler_Priority_MultiMotio" program is used to geerate the travel profiles of the axes. Here as well, each axis is assiged a istace of a fuctio block that geerates the profile i the various axis modes, that is i jog mode, while 20 Maual MultiMotio

21 Cotrol Program User program 4 positioig, i sychroous mode, durig iterpolatio, or i cam mode. The profile is geerated i a high-priority cyclic task with a preset cycle time of 5 ms. It might be ecessary to adjust this cycle time depedig o the system cofiguratio. The "CamSwitchHadler_Mai" program is used to maage the cam tracks of the cam cotroller. This program is also processed i a free-ruig task as these fuctios are ot time-critical. The "CamSwitchHadler_Priority" program is used to switch the cam tracks. Each cam track is assiged the istace of the correspodig fuctio block, which calculates the dead-time compesatio, amog others. This program belogs to a task with higher priority with a cycle time of 1 ms because highest accuracy is importat. 4.3 User program Users have various ways of addig ow program modules i the project template of the cotrol program. The followig figure illustrates the processig of programs ad shows where user programs ca be added. Depedig o the program module, the user program must be added at certai poits i program processig. Cotrol program TaskMai (free-ruig) MC_FieldbusHadlerIN TaskPriority (cyclically 5 ms) PRG_TaskPriority TaskPriorityCamSwitch (cyclically 1 ms) CamSwitchHadler_Priority MC_MoviPlcHadlerIN AxisHadler_Priority_MultiMotio PRG_TaskPriority_CamSwitch PRG_TaskMai AxisHadler_Mai_MultiMotio Axis[] Processig SedObjects (e.g. exteral ecoders) CamSwitchHadler_Mai SedObject_UserProgram_ TaskPriority MC_MoviPlcHadlerOUT MC_FieldbusHadlerOUT Axis[]_UserProgram_ TaskPriority Axis[] Profile geeratio TraceHadler Maual MultiMotio 21

22 4 Cotrol Program User program Each task has a program that ca be used to itegrate ow program modules. This program is located as ear as possible to the begiig of program processig: TaskMai (free-ruig): PRG_TaskMai TaskPriority (5 ms cycles): PRG_TaskPriority TaskPriority_CamSwitch (1 ms cycles): PRG_TaskPriority_CamSwitch There are special programs i the "TaskPriority" that are processed at a certai poit durig the sigal flow. SedObject_UserProgram_TaskPriority This program is processed oce all the cyclic, sychroous sigals set by the iverters have bee evaluated. These sigals iclude, amog others, those of the motor ecoder or additioal distace ecoder that are to be used as master sigals, if this was cofigured accordigly. Users ca process these sigals (e.g. by addig a offset or shiftig the phase positio). Axis[]_UserProgram_TaskPriority These programs are processed just before the profile of the respective axis is geerated. For example, they coect the master sigals for the axis modes "Camig" ad "Trackig" which meas the cofigured master value is mapped to the respective master iput. At this poit, master sigals for example ca be preprocessed oce more before they are used for calculatig cams or iterpolatios. This meas users ca flexibly itegrate ow program modules. Of course, ow program modules ca also be itegrated ito a existig or a ewly defied task. Itegratig program modules cosumes system resources, processor capacity i particular, ad cosequetly iflueces task rutimes. Users are resposible for esurig that the system has sufficiet resources available for the costat cyle times required for the geeratio of profiles. Usually, o special measures are required to itegrate program modules. Where ecessary, users have to assess whether to either icrease the cycle time of the "TaskPriority" or to move parts of the ow program modules from high-priority cyclic tasks to the lowpriority free-ruig task. 22 Maual MultiMotio

23 Cotrol Program Task cofiguratio Task cofiguratio The followig figure shows the task cofiguratios i the PLC Editor i the Object Orgaizer o the [Resources] tab: The MultiMotio program module cotais the followig task cofiguratio: TaskMai, free-ruig task, priority 8 (low) Here, the followig programs are icluded: "PRG_Start_MultiMotio" to iitialize MultiMotio "MC_FieldbusHadlerIN" to map the process iputs of the fieldbus "MC_MoviPLCHadlerIN" to read the cofiguratio from the "Axishadlercofig.xml" file, to read the MOVI-PLC iputs, ad to create cotrol words 1 ad 2 i the process image "PRG_UserMappig_IN" optioally to map the fieldbus iput words to the user iput words "PRG_TaskMai" to itegrate additioal program parts programmed by the user "AxisHadler_Mai_MultiMotio" to read the cofiguratio from the "AxisCofigA*.xml" file ad to cotrol the axes "CamSwitchHadler_Mai" to read the cofiguratio from the "CamSwitchCofig.xml" file "MC_MoviPLCHadlerOUT" to output the axis hadler data structure "MC_FieldbusHadlerOUT" to map the process outputs of the fieldbus Maual MultiMotio 23

24 4 Cotrol Program Task cofiguratio TaskPriority, cyclic task, cycle time 5 ms, priority 2 Here, the followig programs are icluded: "PRG_TaskPriority" to itegrate additioal program parts programmed by the user "AxisHadler_Priority_MultiMotio" to calculate the profile geeratio of the axes "TraceHadler" to make the data available for diagostic recordigs TaskPriority_CamSwitch, cyclic task, cycle time 1 ms, priority 1 (highest) The cyclic task "TaskPriority_CamSwitch" icludes the followig programs: "CamSwitchHadler_Priority" to cotrol the cam cotroller "PRG_TaskPriority_CamSwitch" to itegrate additioal user programs If the cam cotroller is ot used, it is recommeded that you delete this task. Whe usig the cam cotroller, users have to observe the cycle time to be set. It might be ecessary to set the cycle time higher tha 1 ms to esure that the other tasks have sufficiet resources. However, the cycle time must ot exceed that of the "TaskPriority". 24 Maual MultiMotio

25 Cotrol Program Cotrol cofiguratio Cotrol cofiguratio The followig figure shows the cotrol cofiguratio i the PLC Editor i the Object Orgaizer o the [Resources] tab: Both CAN iterfaces are set to 1 MBaud ad are precofigured to 24 axes of a deviceidepedet drive type from SEW-EURODRIVE. The cotrol cofiguratio ca be adjusted to the requiremets of the applicatio. This meas you ca delete devices you do ot eed, or itegrate more devices (e.g. MOVI-PLC I/O system to coect further I/O modules). Whe usig the cam cotroller, the outputs of the MOVI-PLC are used. Due to the shorter respose times, these outputs are ot coected via the cyclic process image but by meas of special fuctio POUs (program orgaizatio uits) directly from the program. The object "Digital IO disabled" is selected i the cotrol cofiguratio to suppress the process image. Maual MultiMotio 25

26 4 Cotrol Program Fieldbus If you wat to use the I/Os of the MOVI-PLC i the user program, you have to distiguish betwee 2 cases: The fuctio of the cam cotroller is ot used I this case, you ca select the object "Digital IO eabled". A process image is created automatically whe you assig variables to the respective addresses "%I" or "%Q" of this object ad whe they are used i the program. The process image is sychroized to the task with the highest priority where the variables are used. The fuctio of the cam cotroller is used As the process image has to remai suppressed i order ot to ifluece the fuctio of the cam cotroller, the I/Os ca oly be accessed by meas of specific fuctio POUs. For write operatios, you have to call "WriteDigitalOutput", for read operatios "ReadDigitalIput". You fid both POUs i the library "MPLCIterface_DigitalIO". 4.6 Fieldbus The followig figure shows the cotrol cofiguratio i the PLC Editor i the Object Orgaizer o the [Resources] tab: Whe usig DHF41B ad DHR41B, the fieldbus iterface is activated with 120 process data. Users ca activate a "Swap" fuctio i the cotrol cofiguratio. The fieldbus data are buffered i the global data structure "Fieldbus". This structure has the followig sub-structures: IN: a array of 120 words where the data received via fieldbus are stored OUT: a array of 120 words where the data to be set via fieldbus are stored Cofig: used by the "PDMoitor" tool HMI: used by the "PDMoitor" tool Status: used by the "PDMoitor" tool 26 Maual MultiMotio

27 Cotrol Program Fieldbus 4 Users ca cotrol certai fuctios, which were prepared i the MOVI-PLC, via process data. Data maagemet ad cotroller restart Two words are reserved i the process data for this purpose. Parameter routig Aother 6 words are reserved for this purpose. The followig process data are reserved depedig o the fuctio you wat to use: If oly the "Data maagemet ad cotroller restart" fuctio is used, process data words 1 to 2 are reserved. If the parameter routig fuctio is used, process data words 1 to 6 are reserved. Whe combiig both fuctios, process data words 1 to 8 are reserved.... Fieldbus.Out[3] Fieldbus.Out[2] Fieldbus.Out[1] Data maagemet Cotroller restart... Fieldbus.IN[3] Fieldbus.IN[2] Fieldbus.IN[1]... Fieldbus.Out[9] Fieldbus.Out[8] Fieldbus.Out[7] Fieldbus.Out[6] Fieldbus.Out[5] Fieldbus.Out[4] Fieldbus.Out[3] Fieldbus.Out[2] Fieldbus.Out[1] Data maagemet Cotroller restart Parameter routig... Fieldbus.IN[9] Fieldbus.IN[8] Fieldbus.IN[7] Fieldbus.IN[6] Fieldbus.IN[5] Fieldbus.IN[4] Fieldbus.IN[3] Fieldbus.IN[2] Fieldbus.IN[1] Variable ame Type Meaig MoviPlcHadler.Cofig.DisableFieldbusMappig BOOL- EAN MoviPlcHadler.Cofig.UseParameterchael BOOL- EAN True: o process data words are reserved for the MOVI-PLC False: Two process data words are reserved for the MOVI-PLC True: o process data words are reserved for the MOVI-PLC False: Six process data words are reserved for the MOVI-PLC Maual MultiMotio 27

28 4 Cotrol Program Fieldbus Process data assigmet The followig table shows the process data assigmet of the MOVI-PLC : Fuctio Process data word Byte Bit Process iput data (PLC -> SEW) Process output data (SEW -> PLC) Bit 0 Dowload dataset Maiteace switch Bit 1 Upload dataset Toggle bit Bit 2 Upload dataset + auto reload RESERVED Bit 3 Simulatio mode off Simulatio/forcig active Cotrol Byte 0 word / PD1 Bit 4 RESERVED (teach cofiguratio) Dataset available status word Bit 5 RESERVED (reset applicatio) Auto reload cofigured Bit 6 Reset system (restart) Warig Bit 7 RESERVED Error Byte 1 Bits 8-15 RESERVED Error code Idex PD2 Bytes 2-3 Bits 1-15 Digital outputs of the MOVI-PLC Digital iputs of the MOVI-PLC Fuctio Process data word The followig table shows the process data assigmet of the MOVI-PLC whe usig the parameter chael: Byte Bit Process iput data (PLC -> SEW) Process output data (SEW -> PLC) Bit 0 Mode 2^0 Mode 2^0 Bit 1 Mode 2^1 Mode 2^1 Bit 2 Mode 2^2 Mode 2^2 Bit 3 Mode 2^3 Mode 2^3 Admiistratio / sub- PD1 Bit 4 RESERVED Data legth 2^0 Byte 0 idex Bit 5 RESERVED Data legth 2^1 Bit 6 Hadshake Hadshake Bit 7 RESERVED Error Byte 1 Bits 8-15 Subidex Subidex Idex PD2 Bytes 2-3 Bits 1-15 Idex Idex Data Routig iformatio Data maagemet ad cotroller restart PD3 Bytes 4-5 Bits 1-15 Write data high Read data high / error code high PD4 Bytes 6-7 Bits 1-15 Write data low Read data low / error code low PD5 PD6 PD7 PD8 Byte 8 Bits 0-7 Subaddress 1 Subaddress 1 Byte 9 Bits 8-15 Subchael 1 Subchael 1 Byte 10 Bits 0-7 Subaddress 2 Subaddress 2 Byte 11 Bits 8-15 Subchael 2 Subchael 2 Bit 0 Dowload dataset Maiteace switch Bit 1 Upload dataset Toggle bit Bit 2 Upload dataset + auto reload RESERVED Byte 12 Bit 3 Simulatio mode off Simulatio/forcig active Bit 4 RESERVED (teach cofiguratio) Dataset available Bit 5 RESERVED (reset applicatio) Auto reload cofigured Bit 6 Reset system (restart) Warig Bit 7 RESERVED Error Byte 13 Bits 8-15 RESERVED Error code Bytes Bits 1-15 Digital outputs of the MOVI-PLC Digital iputs of the MOVI-PLC 28 Maual MultiMotio

29 Cotrol Program Fieldbus Structure of the MOVILINK parameter chael The MOVILINK parameter chael eables access to all drive parameters of the iverter, regardless of the bus i use. Special services are available i this parameter chael to beig able to read differet parameter iformatio. It is made up of a maagemet byte, a reserved byte, a idex word ad four data bytes. PD 1 PD 2 PD 3 PD 4 PD 5 PD 6 Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Byte 9 Byte 10 Byte 11 Idex high Idex low MSB data Data Data LSB data Maagemet Subidex Subaddress 1 Subchael 1 Subaddress 2 Parameter idex 4-byte data Routig iformatio MOVILINK Routig iformatio Subchael 2 Maagemet of the parameter chael (byte 0) The etire procedure for settig parameters is coordiated usig "maagemet" byte 0. This byte provides importat service parameters such as service idetifier, data legth, versio ad status of the service performed. Byte 0: Maagemet MSB LSB Bit: Service idetifier: 0000 = No service 0001 = Read parameter 0010 = Write parameter 0011 = Write parameter volatile 0100 = Read miimum 0101 = Read maximum 0110 = Read default 0111 = Read scale 1000 = Read attribute Data legth: 00 = 1 Byte 01 = 2 Byte 10 = 3 Byte 11 = 4 Byte Hadshake bit Status bit: 0 = No error while executig service 1 = Error while executig service Maagemet byte Bits 0 3 cotai the service idetifier ad defie the service to be executed. Bits 4 ad 5 specify the data legth i bytes; should be set to 4 bytes for all SEW drive iverters. Maual MultiMotio 29

30 4 Cotrol Program Fieldbus Bit 6 is the hadshake bit. It has a differet meaig depedig o the bus system: With SBus 1 (CAN) ad set hadshake bit (= 1), the respose telegram is set after the sychroizatio telegram. With RS485 ad fieldbus, the hadshake bit serves as ackowledgemet bit betwee cliet ad server whe usig the cyclic trasmissio method. As the parameter chael is trasmitted cyclically i this variat, probably with the process data, the implemetatio of the service i the iverter must be triggered by edge cotrol usig hadshake bit 6. For this purpose, the value of this bit is toggled for each ew service to be executed. The iverter uses the hadshake bit to sigal whether the service has bee executed or ot. The service was executed if the hadshake bit received i the cotroller is idetical with the trasmitted hadshake bit. Status bit 7 idicates whether the service was executed properly or whether errors occurred. Idex addressig (bytes 1-3) Data rage (bytes 4-7) Routig iformatio (bytes 8-9) Byte 2 "idex high", byte 3 "idex low", ad byte 1 "subidex" determie the parameter to be read or writte via the fieldbus system. All parameters of the MOVIDRIVE iverter are listed i the MOVIDRIVE MDX60B/61B system maual. Each parameter is assiged a specific umber (idex). This umber is used to read or write the parameter. The data is located i byte 4 to byte 7 of the parameter chael. This meas 4 bytes of data ca be trasmitted per service. The data is always etered with right-justificatio; that is, byte 7 cotais the least sigificat data byte (LSB), byte 4 the most sigificat data byte (MSB). The followig table shows the routig iformatio of bytes 8 ad 9: Subchael 1 (byte 9) Iterface Subaddress 1 (byte 8) Eumeratio i the PLC program 0 MOVI-PLC itself Iverter via DPRAM if i 0 Not supported MDX B 2 EtherCAT X (the EtherCAT address is calculated from: subaddress ) Node_EtherCat (6) 3 SBus1 (X33 ad X26) 1 63 Node_Ca1 (1) 4 SBus2 (X32) 1 63 Node_Ca2 (2) 5 RS485_1 (X34:1/3/5 ad 1 99 Not supported X24) 6 RS485_2 (X34:2/4/6 ) 1 99 Not supported 7 SNI (Sigle Network Istallatio) 0 9 Node_SNI (60) You fid a schematic represetatio of the parameter access to lower-level devices i the maual "MOVI-PLC advaced DHR41B Cotroller Fieldbus Iterfaces EtherNet/ IP, Modbus/TCP ad PROFINET IO". 30 Maual MultiMotio

31 Cotrol Program Global iterface "AxisIterface" to cotrol the axes Global iterface "AxisIterface" to cotrol the axes You fid the global iterface "AxisIterface" to cotrol the axes uder "Global variables > AxisCotrol_MultiMotio". The iterface (AxisIterface) icludes amog others Iput data (I) Output data (Out) Cofiguratio data (Cofig) Axis data (AxisIterface.Axis[]) for each of the 24 possible axes They cotai, amog others, substructures such as "I", "Out" ad "Cofig". Each axis ca be cotrolled idividually via its iterface "AxisIterface.Axis[].I" ad "AxisIterface.Axis[].Out". The followig figure shows the [Resources] tab i the PLC Editor i the Object Orgaizer: Maual MultiMotio 31

32 4 Cotrol Program Global iterface "CamSwitchIterface" to cotrol the cam cotroller 4.8 Global iterface "CamSwitchIterface" to cotrol the cam cotroller You fid the global iterface "CamSwitchIterface" to cotrol the cam cotroller uder "Global variables > AxisCotrol_MultiMotio". The cam cotroller ca cotai 8 tracks with 32 cams each. The structure of each track (track[]) cotais amog others: Geeral data, such as ame, umber of cams, etc. Iput data (I) Output data (Out) Cofiguratio data (Cofig) for up to 32 cams The followig figure shows the [Resources] tab i the PLC Editor i the Object Orgaizer: Maual MultiMotio

33 Cotrol Program Other global variables Other global variables The library "MPLCAxisHadler_MultiMotio" icludes the followig global variables that might be importat i particular whe usig the iterpolatio fuctio: "gstfilebuffer" to buffer the characters whe readig files (e.g. xml or curve poit files) "gstcamiterpolatiobuffer" for maagig curve poit pairs for liear iterpolatio or iterpolatio with a third degree polyomial. "gstsplieiterpolatiobuffer" for maagig coefficiets for splie iterpolatio. For splie iterpolatio, the splie coefficiets must be calculated by meas of the curve poits before carryig out the iterpolatio. The followig figure shows the [Resources] tab i the PLC Editor i the Object Orgaizer: Maual MultiMotio 33

34 4 Cotrol Program Power fail-safe data 4.10 Power fail-safe data For each axis, 10 variables are reserved i the DDB area (Data Distributio Buffer). You fid the variable "DDB_ARRAY" i the PLC Editor uder the global variables. Power failsafe data are stored i the DDB area. These data are required to calculate the correct modulo positio from the positio of a absolute ecoder after switchig the MOVI- PLC off a o agai. Observe the followig poits for accessig the DDB: The DDB must ot be deleted (e.g. usig the correspodig fuctio i the MOVI- PLC parameter tree). The DDB must ot be overwritte (e.g. by backup usig the "system variable backup" tool i MOVITOOLS MotioStudio i the cotext meu of the MOVI-PLC. The respective area i the DDB must be used by the user program of the MOVI- PLC. DDB[ ] = 48 double words reserved for the EffiSRS applicatio module DDB[ ] = 1024 double words reserved for MultiMotio DDB[ ] = 1024 double words reserved for AxisGroupCotrol kiematics Whe replacig the MOVI-PLC (i.e. removig the SD card from the old cotroller ad isertig it ito a ew oe), the values i the DDB will ot be adopted. I this case, referecig is madatory. The followig table describes the data words for MultiMotio: DDB[2048]: Liear positio axis 1 DDB[2049]: Modulo positio axis 1 DDB[2050]: Remaider axis 1 DDB[2051]: Exteral ecoder positio SedObject axis 1 DDB[2052]: Liear positio SedObject axis 1 DDB[2053]: Modulo positio SedObject axis 1 DDB[2054]: Remaider SedObject axis 1 DDB[2055]: Reserved axis 1 DDB[2056]: Reserved axis 1 DDB[2057]: Reserved axis 1 DDB[2058]: Liear positio axis 2 DDB[2059]: Modulo positio axis 2 DDB[2060]: Remaider axis 2 DDB[2061]: Exteral ecoder positio SedObject axis 2 DDB[2062]: Liear positio SedObject axis 2 DDB[2063]: Modulo positio SedObject axis 2 DDB[2064]: Remaider SedObject axis 2 DDB[2065]: Reserved axis 2 DDB[2066]: Reserved axis 2 DDB[2067]: Reserved axis Maual MultiMotio

35 Cotrol Program Overlayig travel profiles 4 DDB[2278]: Liear positio axis 24 DDB[2279]: Modulo positio axis 24 DDB[2280]: Remaider axis 24 DDB[2281]: Exteral ecoder positio SedObject axis 24 DDB[2282]: Liear positio SedObject axis 24 DDB[2283]: Modulo positio SedObject axis 24 DDB[2284]: Remaider SedObject axis 24 DDB[2285]: Reserved axis 24 DDB[2286]: Reserved axis 24 DDB[2287]: Reserved axis Overlayig travel profiles Several operatig modes ca be selected at the same time. The idividual travel profiles are added accordigly. Nearly all possible combiatios are permitted. Oly the "Homig/referecig" mode ca be selected idividually. Velocity Positioig Positioig Relative + Setpoit positio Jog Stop/Rapid Stop Camig Trackig Cosequetly it is possible to have a axis follow a master, for example i the "trackig" operatig mode, ad positio it at the same time usig the "positioig relative" mode. I this way, the slave axis ca be easily offset i relatio to the master. Also, it is possible to overlay a absolute positioig operatio with a relative positioig movemet. Whe revokig the "eable/stop" or "eable/rapid stop" sigals, a stop profile is geerated usig a separate profile geerator based o the defied stop ramps. Maual MultiMotio 35

36 4 Cotrol Program Differetiatio betwee liear ad module axis 4.12 Differetiatio betwee liear ad module axis MultiMotio distiguishes 2 axis types: liear ad modulo axes. The followig criteria are iteded to help you fid the suitable axis type Liear axis Fiite travel rage Roudig of uits coverted from user uits to system uits (e.g. whe represetig o-fiite gear uit reductio ratios) result i iaccurate positioig. This effect ca be miimized by a sufficiet umber of decimal places. Typical applicatio: Pick ad place, flyig saw The iterally used system uits at the summatio poit after the various profile geerators are equal to the motor icremets set to the axis as positio setpoit. The value rage is [ ]. The etire travel rage of a liear axis is 2 31 (e.g. 0 to ). The travel rage of a liear axis whe positioig is max icremets aroud the referece poit. Withi the travel rage, the referece poit ca be located at ay positio: Referece poit Travel rage with max icremets The profile geerator ca create a max. travel profile of 2 31 icremets. If a greater distace is to be covered, the profile geerator will overflow ad MultiMotio geerates a error message. Therefore, the followig guidelies apply: Positioig is possible from the zero poit to the ed positio 2 31 ad back agai. Positioig is also possible from the zero poit to the ed positio ad back agai. However, positioig from ed positio 2 31 to ed positio is ot possible. The factors "umerator" ad "deomiator" calculated at startup take effect before the profile geerators whe covertig positio values from user uits ito system uits. Modulo setpoit ad modulo actual positio are calculated, however the correspodig factors are set to 1 ad the iteral modulo resolutio is set to This meas the modulo positio refers to oe motor revolutio. A value of ca be iterpreted as half a motor revolutio. 36 Maual MultiMotio

37 Cotrol Program Differetiatio betwee liear ad module axis 4 MOVI-PLC : structure of the liear axis Positio (User uit) Numerator Numerator Deomiator Positio (System uit) Deomiator Positio (User uit) Numerator x = Deomiator Positio (System uit) Liear actual positio 1 1 DDB rage fblieartomodulo Iteral.Modul.ActPositio^ Iteral.Modul.Positio^ Iteral.Modul.Rest^ Modulo actual positio Velocity Positioig Positioig Relative + Positio (System uit) Jog Camig 1 1 Trackig Iteral.Modul.LiearPositio Iteral.Modul.ModuloPositio Iteral.Modul.ModuloRest Iteral.Geeral.ActualPositioModulo Liear setpoit positio Modulo setpoit positio fblieartomodulo Out.Geeral.Setpoit.BasicUits Positio PositioModulo axis Maual MultiMotio 37

38 4 Cotrol Program Differetiatio betwee liear ad module axis Modulo axis Ifiite travel rage (turig edlessly) with recurrig value rage Roudigs i the presetatio of ifiite gear uit reductio ratios result i a drift that results i sigificat deviatios after log operatio. This is why (fail-safe) remaider maagemet is required. Typical applicatio: Rotatig kives, trasport chais with defied pitch (carrier) for products The iterally used system uits at the summatio poit behid the various profile geerators correspod to a iteger subarea to which the recurrig value rage of the user uit (e.g. 0 to 360 ) is mapped. The value rage is [0 iteral modulo resolutio]. The factors "umerator" ad "deomiator" calculated at startup take effect after the profile geerators whe covertig positio values i system uits ito motor icremets. 38 Maual MultiMotio

39 Cotrol Program Differetiatio betwee liear ad module axis 4 MOVI-PLC : structure of the modulo axis Positio (User uit) Iteral Modulo Resolutio Iteral Modulo Resolutio ModuloMax Positio (System uit) ModuloMax Positio (User uit) Iteral Modulo Resolutio x = ModuloMax Positio (System uit) Liear actual positio Numerator Deomiator DDB rage fblieartomodulo Iteral.Modul.ActPositio^ Iteral.Modul.Positio^ Iteral.Modul.Rest^ Modulo actual positio Velocity Positioig Positioig Relative + Positio (System uit) Jog Numerator Camig Deomiator Trackig Iteral.Modul.LiearPositio Iteral.Modul.ModuloPositio Iteral.Modul.ModuloRest Iteral.Geeral.ActualPositioModulo Liear setpoit positio Modulo setpoit positio fblieartoliear Out.Geeral.Setpoit.BasicUits Positio PositioModulo axis Maual MultiMotio 39

40 5 MultiMotio Editor: Start Page 5 MultiMotio Editor: Start Page You fid the followig elemets o the start page of the MulitMotio Editor: [1] [2] [3] [4] [5] [1] Navigatio overview The avigatio overview idicates the area you are curretly workig i. These are the followig areas: Start page Cofiguratio Dowload Moitor [2] Cofiguratio buttos The cofiguratio buttos give you access to the "Cofiguratio" area. Uder "Cofiguratio", you ca cofigure axes ad the cam cotroller. Refer to chapter "Cofiguratio" (page 42) for more iformatio. [3] [Diagostics] butto The [Diagostics] butto lets you ope the "Moitor" area. Uder "Moitor", you ca view ad cotrol diagostics data of the idividual axes ad cam cotrollers. Refer to chapter "Moitor" (page 99) for more iformatio. [4] Status iformatio Displays the ame ad versio of the software. Name ad versio of the software Settigs, you fid more iformatio i chapter "Settigs". Status of the coectio betwee software ad MOVI- PLC [5] Footer The buttos i the footer let you browse forward ad backward or ope the start page. 40 Maual MultiMotio

41 MultiMotio Editor: Start Page Settigs Settigs Clickig this ico opes aother widow. Here you ca set that the cofiguratio of the cotroller is oly loaded whe chages have bee made to it. This meas that whe you press the [Ope cotroller cofiguratio] butto, the time stamps of the files "AxisHadlerCofig.xml" o the egieerig PC are first compared with those of the MOVI-PLC. If the time stamps are idetical, the cofiguratio opes o the egieerig PC. If they differ, the cofiguratio o the SD card of the MOVI-PLC opes. Maual MultiMotio 41

42 6 MultiMotio Editor: Cofiguratio i Geeral File storage 6 MultiMotio Editor: Cofiguratio i Geeral 6.1 File storage The cofiguratio data are stored i various files: AxisHadlerCofig.xml: Geeral cofiguratio data of the axis system (e.g. umber of axes) AxisCofigA1.xml... AxisCofigA.xml: Cofiguratio data of the relevat axis 1... CamSwitchHadler.xml: Geeral cofiguratio data of the cam cotroller (e.g. umber of cam tracks) CamSwitchCofigTrack1.xml... CamSwitchCofigTrack.xml: Cofiguratio data of the relevat cam track 1... If preset, files with curve descriptios If preset, files with curve poit tables NOTICE Do ot chage the ame of the xml files. The xml files are stored i the followig directories: Egieerig PC / laptop: The xml files are packed i a zip file. By default, they are stored i the project directory of MotioStudio i the folder " \Devices\<Name_PLC>\UserData". By default, the ame of the zip file is "Multimotio_Date_Time.Multimotio.zip". To create several cofiguratios i oe project, the ame of the zip file ca be adjusted except for the file extesio ".MultiMotio.zip", which must remai the same. SD card o the MOVI-PLC : By default, the upacked xml files are stored i the directory "User\Default\Data\DH.41B\AxisCofig". 6.2 Startig a cofiguratio Do the followig to start the cofiguratio: 1. Ope the MultiMotio Editor. 2. To start a cofiguratio, click oe of the followig buttos o the start page: Create ew cofiguratio: A ew cofiguratio is created ad the wizard for isertig a axis or a cam track opes. Ope cotroller cofiguratio: The cofiguratio data are read from the relevat directory of the SD card i the MOVI-PLC. Ope cofiguratio file: The cofiguratio data are extracted from a zip file o the egieerig PC/laptop. IMPORTANT: Observe chapter "MultiMotio Editor: Cofiguratio i geeral > File storage" (page 42). 42 Maual MultiMotio

43 MultiMotio Editor: Cofiguratio i Geeral User iterface User iterface The user iterface of the "Cofiguratio" scree i MultiMotio Editor looks as follows: [1] [2] [3] [1] Edit bar The edit bar provides the followig icos from left to right to perform the followig fuctios: Add axis or cam track Delete axis or cam track Save cofiguratio Apply settigs of oe axis or cam track to aother Add cam Delete cam Master iterrelatio These fuctios are described i the subsequet chapters. [2] Overview bar of axes/cam tracks The overview bar shows all the cofigured axes ad cam tracks of the cam cotroller. If you select a elemet i this overview, all the iformatio available for this elemet will be displayed i the right-had area. [3] Settigs for axes/cam tracks Here you ca make settigs for a selected axis or cam track. The upper area displays the geeral parameters of the axis (e.g. user uits, limits). The lower area displays parameters of certai axis fuctios (e.g. camig, touch probe). Maual MultiMotio 43

44 6 MultiMotio Editor: Cofiguratio i Geeral Savig a cofiguratio 6.4 Savig a cofiguratio I the MultiMotio Editor, you ca save the cofiguratio for axes ad the cam cotroller as a zip file o your PC. Proceed as follows to do so: 1. Perform the cofiguratio. 2. O the edit bar [1], click the [ Save] ico i the "Cofig" group. A widow opes. 3. Eter a ame with the madatory file extesio ".MultiMotio.zip" ad a storage locatio, ad cofirm your etries. IMPORTANT: Observe chapter "MultiMotio Editor: Cofiguratio i geeral > File storage" (page 42). You ca reame the zip file ad i this way create several cofiguratios i oe project. 6.5 Add axis You ca add up to 24 axes i MultiMotio Editor. Proceed as follows to do so: 1. Ope the cofiguratio. 2. O the edit bar [1], click the [ Add] ico i the "Edit" group. A widow opes where you have the followig optios to add a axis: Add axis without Cofigurator: If you select this radio butto, a ew axis is added ad you will have the view displayed for cofigurig the axis. Add axis with Cofigurator: If you select this radio butto, a wizard will guide you through the process of settig the parameters for the basic axis settig. Next, you will have the view displayed for cofigurig the axis. Use existig axis as template: If you select this radio butto, you ca create a ew axis to which the settigs of a already existig axis apply. A wizard will prompt you to eter the axis you wat to use as template for the ew axis. Next, you will have the view displayed for cofigurig the axis. 3. Now cotiue cofigurig the axis. You fid more iformatio i chapter "Cofigurig a axis" (page 48). 44 Maual MultiMotio

45 MultiMotio Editor: Cofiguratio i Geeral Deletig axes Deletig axes Do the followig to delete a axis from the cofiguratio: 1. O the overview bar [2], click the axis you wat to delete. 2. O the edit bar [1], click the [ Delete] ico i the "Edit" group. The axis is deleted without cofirmatio. 6.7 Copyig the settigs of a axis to aother axis I MultiMotio Editor, you ca copy the settigs of a already cofigured axis to aother axis. Proceed as follows to do so: 1. O the overview bar [2], click the axis from which you wat to copy the settigs. 2. O the edit bar [1], click the [ Copy] ico i the "Axis sets" group. 3. O the overview bar [2], click the axis from which you wat to copy the settigs. 4. O the edit bar [1], click the [ Paste] ico i the "Axis sets" group. All settigs except for the basic settigs of the first axis will be copied to the ew axis. 5. Now cotiue eterig the basic settig for this axis. You fid more iformatio i chapter "Cofigurig a axis > Basic settigs" (page 48). 6.8 Addig cam tracks I MultiMotio Editor, you ca create a maximum of 8 cam tracks to which you ca add aother 32 cams each. Do the followig to create a cam track: 1. Ope the cofiguratio. 2. O the edit bar [1], click the [ Add] ico i the "Edit" group. A widow opes where you have the followig optios to add a cam track: Add cam cotroller track without Cofigurator: If you select this radio butto, a ew cam track is added ad you will have the view displayed for cofigurig the cam track. Add cam cotroller track with Cofigurator: If you select this radio butto, a wizard will guide you through the process of settig the parameters for the basic cam track settig. Next, you will have the view displayed for cofigurig the cam track. 3. Now cotiue cofigurig the cam track. You fid more iformatio i chapter "Cofigurig a cam track" (page 92). Maual MultiMotio 45

46 6 MultiMotio Editor: Cofiguratio i Geeral Deletig cam tracks 6.9 Deletig cam tracks Do the followig to delete a cam track from the cofiguratio: 1. O the overview bar [2], click the cam track you wat to delete. 2. O the edit bar [1], click the [ Delete] ico i the "Edit" group. The cam track is deleted without cofirmatio Addig cams to a cam track You ca add up to 32 cams to each cam track. A etry is geerated as a table lie for every cam i the cam track. Do the followig to add a cam from a cam track: 1. Ope the cam track view where you wat to add the cam. To do so, click the required cam track o the overview bar [2]. 2. O the edit bar [1], click the [ Add] ico i the "Cam track" group. A ew lie for the ew cam will be added i the table. 3. Now you ca cotiue settig the cam. You fid more iformatio i chapter "Cofigurig a cam track" (page 92) Deletig cams from a cam track Do the followig to delete a cam from a cam track: 1. Ope the cam track view where you wat to delete the cam. To do so, click the required cam track o the overview bar [2]. 2. O the edit bar [1], click the [ Delete] item i the "Cam track" group. The last cam i the table will be deleted without cofirmatio Copyig settigs from oe cam track to aother I MultiMotio Editor, you ca copy the settigs of a already cofigured cam track to aother cam track. Proceed as follows to do so: 1. O the overview bar [2], click the cam track from which you wat to copy the settigs. 2. O the edit bar [1], click the [ Copy] ico i the "Track sets" group. 3. O the overview bar [2], click the cam track from which you wat to copy the settigs. 4. O the edit bar [1], click the [ Paste] ico i the "Track sets" group. All settigs except for the basic settigs of the first cam track will be copied to the ew cam track. 5. Now you ca cotiue makig the basic settig of this cam track. You fid more iformatio i the chapter "Cofigurig a cam track > Basic settigs" (page 94). 46 Maual MultiMotio

47 MultiMotio Editor: Cofiguratio i Geeral Master iterrelatio Master iterrelatio I MultiMotio Editor, you ca view ad cofigure the master iterrelatio with all the axes ad cam tracks at a glace. Proceed as follows to do so: 1. O the edit bar, click the [ Master] ico. The followig view opes: [1] [2] [3] [1] Overview of axes/cam tracks The overview shows all the cofigured axes ad cam tracks of the cam cotroller. If you select a elemet i this overview, all the iformatio available for this elemet will be displayed i the right-had area. [2] Master iterrelatio with selected axes/cam tracks Here you ca set the master iterrelatio with a selected axis or cam track. [3] Master iterrelatio i geeral Here you ca view the master iterrelatio for all the axes at a glace. The view shows all axes with slave axes, if preset. A cam track ca oly be a slave. Maual MultiMotio 47

48 7 MultiMotio Editor: Cofigurig a Axis Basic settigs 7 MultiMotio Editor: Cofigurig a Axis 7.1 Basic settigs It is madatory that you make the basic settigs for a axis i MultiMotio Editor. You ca chage these settigs at ay time, for example if you wat to chage a real axis ito a virtual axis for test purposes. You ca make the followig etries for the basic settig: [1] [2] [3] [4] [5] [6] [1] Activate Variable umber 0 Value Yes: Axis exists No: Axis is ot preset, but plaed Commet The parameter ca be used if axes have to be activated or deactivated i various applicatios based o a maximum cofiguratio. Example: optioal axes are plaed o a machie. Variable i data structure AxisIterface.Axis[].Eable Value i data structure BOOLEAN [2] Axis ame Variable umber 1 Value Ay ame without spaces or special characters Commet The ame is displayed i the variable structure Variable i data structure AxisIterface.Axis[].AxisName Value i data structure STRING (max. 24 characters) [3] Drive type Variable umber 2 Value Virtual: virtual axis MOVIAXIS : multi-axis servo iverter from SEW-EURODRIVE MOVIDRIVE : drive iverter from SEW-EURODRIVE MOVITRAC B: frequecy iverter from SEW-EURODRIVE MOVIAXIS REPOWER: regeerative power supply uit for MOVIAXIS The regeerative power supply uit for MOVIAXIS is located i the axis system ad occupies a SBus address. This is why it is cofigured accordigly i the MultiMotio Editor. Commet The available drive fuctios deped o the device type. Techology fuctios, such as cams, iterpolatio, or sychroous operatio are therefore oly available with MOVIAXIS or MOVIDRIVE as well as with virtual axes. Variable i data structure AxisIterface.Axis[].DriveType Value i data structure MC_AxisHadler_DriveType: AXISHANDLER_DRIVETYPE_VIRTUAL = 0 AXISHANDLER_DRIVETYPE_MOVIAXIS = 1 AXISHANDLER_DRIVETYPE_MOVIDRIVE = 2 AXISHANDLER_DRIVETYPE_MOVITRAC_07B= 3 *AXISHANDLER_DRIVETYPE_MOVITRAC_LTX= 8 AXISHANDLER_DRIVETYPE_MOVIAXIS_REPOWER = 9 The device types marked with * are curretly ot yet implemeted. 48 Maual MultiMotio

49 MultiMotio Editor: Cofigurig a Axis Basic settigs 7 [4] Axis type Variable umber 3 Value Liear axis: fiite travel rage Roudig of uits coverted from user uits to system uits (e.g. whe represetig o-fiite gear uit reductio ratios) result i iaccurate positioig. This effect ca be miimized by a sufficiet umber of decimal places. Typical applicatio: Pick ad place, flyig saw, feeder, mechaical liear uit Modulo axis: ifiite travel rage (turig edlessly) with recurrig value rage Roudigs i the presetatio of ifiite gear uit reductio ratios result i a drift that results i sigificat deviatios after log operatio. This is why (fail-safe) remaider maagemet is required. Typical applicatio: rotatig kives, trasport chais with defied spacig for products, crak drives Commet The differet axis types "liear axis" ad "modulo axis" iterally correspod to 2 differet program structures. You fid more iformatio i the maual, see chapter "Cotrol program > Differetiatio of liear ad modulo axis". Variable i data structure AxisIterface.Axis[].I.Cofig.AxisType Value i data structure MC_AxisHadler_AxisType: AXISHANDLER_AXISTYPE_LINEAR = 0 AXISHANDLER_AXISTYPE_MODULO = 1 [5] SBUS ode type Variable umber 4 Value Select the system bus for sedig the positio setpoit: Noe SBus 1 SBus 2 SBus 1 & SBus 2 SBus Plus Commet The settig defies the SBUS o which the setpoit assiged to this axis is set. With real axes, this will be the SBUS to which the axis is coected physically. With virtual axes, the setpoit is ofte oly used iterally. This meas it eed ot be set o a SBUS (settig: Noe). I some applicatios, however, the setpoit of a virtual axis has to be set o a SBUS to make it available to a real axis, e.g. as source of a touch probe fuctio. Variable i data structure AxisIterface.Axis[].I.Node Value i data structure NODE_NONE = 0 NODE_CAN_1 =1 NODE_CAN_2 = 2 NODE_ETHERCAT= 6 NODE_VIRTUAL = 100 NODE_VIRTUAL_CAN_1 = 101 NODE_VIRTUAL_CAN_2 = 102 NODE_VIRTUAL_CAN_1_CAN_2 = 103 NODE_VIRTUAL_ETHERCAT = 106 NODE_VIRTUAL_CAN_1_ETHERCAT = 107 NODE_VIRTUAL_CAN_2_ETHERCAT = 108 NODE_VIRTUAL_CAN_1_CAN_2_ETHERCAT = 109 [6] SBUS address Variable umber 5 Value Addresses 1 to 24 are permitted. Commets For each CAN iterface, 24 axes are provided i the cotrol cofiguratio for a device-type idepedet drive type from SEW-EURODRIVE (addresses ). The cotrol cofiguratio ca be adjusted to the specific applicatio based o the project template. This meas that either uecessary axes ca be deleted or addresses of axes i use ca be chaged. Variable i data structure AxisIterface.Axis[].I.SBus_Address Value i data structure UINT Maual MultiMotio 49

50 7 MultiMotio Editor: Cofigurig a Axis User uits 7.2 User uits You ca make the followig etries for user uits: [1] [2] [3] [4] [5] [6] [7] [1] User uit Variable umber 100 Value Name of the user uit without special characters Commet The chose user uit is take as the basis for all positio values (e.g. referece offset, software limit switch). Variable i data structure AxisIterface.Axis[].Cofig. Geeral.UserUits.Uit Value i data structure STRING (max. 40 characters) [2] Time base Variable umber 101 Value mi: Time based o miutes s: Time based o secods Commet The chose time base is used for the followig values: Velocity values are always specified i user uits/time base (e.g. "m/mi" or "mm/s"). Velocity values always result from user uit/time base (e.g. "m/mi/s" or "mm/s/s"). Jerk values result from user uit/time base/s/s. Variable i data structure AxisIterface.Axis[].Cofig.Geeral.UserUits.SpeedTimeBase Value i data structure UINT [3] Numerator Variable umber 102 Value Numerator of the resultig gear ratio (with gear uit, additioal gear, etc.) as a whole umber Commet Depedig o the axis type, the variable has differet effects: With a liear axis, the variable is used whe covertig a positio value from user uits ito system uits (icremets): Positio (user uit) x umerator/deomiator = positio (system uits) With a modulo axis, the variable is used whe covertig the modulo positio from system uits ito motor icremets: Modulo positio (system uits) x umerator/deomiator = positio (motor icremets) Clickig the [Calculate] butto opes a dialog box where you ca eter the gear uit ratios. You fid more iformatio i chapter "Calculatio widow" (page 89). Variable i data structure AxisIterface.Axis[].Cofig.Geeral.UserUits.Numerator Value i data structure DINT 50 Maual MultiMotio

51 MultiMotio Editor: Cofigurig a Axis User uits 7 [4] Deomiator Variable umber 103 Value Deomiator of the resultig gear ratio (with gear uit, additioal gear, etc.) as a whole umber Commet Depedig o the axis type, the variable has differet effects: With a liear axis, the variable is used whe covertig a positio value from user uits ito system uits (icremets): Positio (user uit) x umerator/deomiator = positio (system uits) With a modulo axis, the variable is used whe covertig the modulo positio from system uits ito motor icremets: Modulo positio (system uits) x umerator/deomiator = positio (motor icremets) Clickig the [Calculate] butto opes a dialog box where you ca eter the gear uit ratios. You fid more iformatio i chapter "Calculatio widow" (page 89). Variable i data structure AxisIterface.Axis[].Cofig.Geeral.UserUits.Deomiator Value i data structure DINT [5] Iteral modulo Variable umber 106 resolutio Value Resolutio i whole umbers of the modulo rage i icremets Commet This dialog box oly opes whe "Modulo" was selected for the axis type. The positio of a modulo axis is always withi the rage [ModuloMi..Modulo- Max] i user uits. Iterally, this rage is mapped to the whole-umber rage [0..Iteral modulo resolutio]. This must be take ito accout, for example whe desigig curves with basic uits with the Cam Editor. This meas with modulo axes, the typical master ad slave cycle is i the rage [0 iteral modulo resolutio]. It might therefore be useful to set this parameter to aother value, e.g. to ad the iterpret it as 1/1000 degrees. Variable i data structure AxisIterface.Axis[].Cofig.Geeral.Modulo.IteralModuloResolutio Value i data structure DINT [6] Modulo Variable umber 105 maximum Value Modulo maximum i user uit Commet This dialog box oly opes whe "Modulo" was selected for the axis type. Default: If you use cycles/mi as user uit, it is reasoable to set the modulo maximum to 1. If you use degrees as user uit, it is reasoable to set the modulo maximum to 360. Variable i data structure AxisIterface.Axis[].Cofig.Geeral.Modulo.MaxValue Value i data structure LREAL [7] Modulo Variable umber 104 miimum Value Modulo miimum i user uit Commet This dialog box oly opes whe "Modulo" was selected for the axis type. Default: 0 The modulo miimum is always set to ad caot be chaged. Variable i data structure AxisIterface.Axis[].Cofig.Geeral.Modulo.MiValue Value i data structure LREAL You fid a example of user uits i chapter "User examples" (page 127). Maual MultiMotio 51

52 7 MultiMotio Editor: Cofigurig a Axis Limit switches 7.3 Limit switches You ca make the followig etries for the limit switches: [1] [2] [3] [4] [5] [1] SW limit switch egative [2] SW limit switch positive [3] Limit switch clear speed [4] DI04 & DI05 (HW limit switch) [5] DI03 (referece cam) Variable umber 200 Value Software limit switch i user uits for couter clockwise directio of rotatio (CCW) Commet Default: 0 (correspods to disabled limit switch) Variable i data structure AxisIterface.Axis[].Cofig.Geeral.LimitSwitch.Negative Value i data structure LREAL Variable umber 201 Value Software limit switch i user uit for clockwise directio of rotatio (CW) Commet Default: 0 (correspods to limit switch OFF) Variable i data structure AxisIterface.Axis[].Cofig.Geeral.LimitSwitch.Positive Value i data structure LREAL Variable umber 202 Value Velocity i user uit for movig clear of the limit switch Commet A movig clear velocity must be etered whe software ad hardware limit switches are eabled. Variable i data structure AxisIterface.Axis[].Cofig.Geeral.LimitSwitch.ClearSpeed Value i data structure LREAL Variable umber 203 Value Keep device settigs: Settigs made by the user, e.g. through DriveStartUp, will ot be overwritte Activate: Hardware iputs DI04 for the limit switch i positive directio of rotatio (CW) ad DI05 for the limit switch i egative directio of rotatio (CCW) are eabled Deactivate: Hardware iputs DI04/DI05 are disabled Commet If you wat to use hardware limit switches i the MultiMotio program module, you have to coect them to termials DI04 (limit switch for positive directio of rotatio) ad DI05 (limit switch for egative directio of rotatio). Variable i data structure AxisIterface.Axis[].Cofig.Geeral.LimitSwitch.EableHardwareLimitSwitch Value i data structure BOOLEAN Variable umber 204 Value Activate: Iput DI03 is cofigured as referece cam Deactivate: No iput is cofigured as referece cam, that is the use of iput DI03 remais uchaged Commet If you wat to use a referece cam i the MultiMotio program module, the you have to coect it to termial DI03. Variable i data structure Axisiterface.Axis[].Cofig.Homig.EableRefereceCam Value i data structure BOOLEAN If a hardware limit switch is hit, the axis will sigal a error. After havig ackowledged the error, the axis moves clear of the limit switch i the reverse directio of rotatio. Whe hittig a software limit switch, the axis also stops ad sigals a error. However, the axis does ot move clear automatically after ackowledgemet but triggered by the user, e.g. i "Jog" mode. 52 Maual MultiMotio

53 MultiMotio Editor: Cofigurig a Axis System limits System limits You ca make the followig etries for the system limits: [1] [2] [3] [4] [1] Max. system velocity [2] Max. system acceleratio Variable umber 300 Value Maximum system velocity i user uits Commet This parameter is used to set the maximum speed that is moitored i the MOVI-PLC. Two cases are distiguished for the settig: Value = 0: Moitorig o the MOVI-PLC is disabled. The maximum speed is moitored oly by the iverter usig the values set at startup (default settigs, if ot set otherwise). Value > 0: Moitorig o the MOVI-PLC is eabled. The set value is first coverted from user uits ito the system uits of the relevat iverter ad are the writte to the iverter. The parameter overwrites the followig settigs: MOVIAXIS : Max. positive speed (system limits), idex 9579, subidex 1; max. egative speed (system limits), idex 9579, subidex 10; system uit: revolutios/mi MOVIDRIVE : Maximum speed (P302), idex 8517, subidex 0; system uit: revolutios/mi Variable i data structure AxisIterface.Axis[].Cofig.Geeral.AxisLimits.SystemMaxVelocity Value i data structure LREAL Variable umber 301 Value Maximum acceleratio of the axis i user uits Commet This parameter is used to set the maximum acceleratio that is moitored i the MOVI-PLC. Two cases are distiguished for the settig: Value = 0: Moitorig o the MOVI-PLC is disabled. The maximum acceleratio is moitored oly by the iverter usig the values set at startup (default settigs, if ot set otherwise). Value > 0: Moitorig o the MOVI-PLC is eabled. The set value is first coverted from user uits ito the system uits of the relevat iverter ad are the writte to the iverter. The parameter overwrites the followig settigs: MOVIAXIS : Max. acceleratio (system limits), idex 9573, subidex 1; system uit: revolutios/mi/s MOVIDRIVE : Variable i data structure AxisIterface.Axis[].Cofig.Geeral.AxisLimits.SystemMaxAcceleratio Value i data structure LREAL Maual MultiMotio 53

54 7 MultiMotio Editor: Cofigurig a Axis System limits [3] Max. system deceleratio [4] Lag error widow Variable umber 302 Value Maximum deceleratio of the axis i user uits Commet This parameter is used to set the maximum deceleratio that is moitored i the MOVI-PLC. Two cases are distiguished for the settig: Value = 0: Moitorig o the MOVI-PLC is disabled. The maximum deceleratio is moitored oly by the iverter usig the values set at startup (default settigs, if ot set otherwise). Value > 0: Moitorig o the MOVI-PLC is eabled. The set value is first coverted from user uits ito the system uits of the relevat iverter ad are the writte to the iverter. The parameter overwrites the followig settigs: MOVIAXIS : Max. acceleratio (system limits), idex 9574, subidex 1; system uit: revolutios/mi/s MOVIDRIVE : Variable i data structure AxisIterface.Axis[].Cofig.Geeral.AxisLimits.SystemMaxDeceleratio Value i data structure LREAL Variable umber 303 Value Lag error limit i system uits [icremets] Commet The value is writte ito the iverter as follows: MOVIAXIS : The parameter has a effect o the correspodig parameters of FCB 10 (idex 9966, subidex 4). MOVIDRIVE : The parameter has a effect o parameter P923 (idex 8636), however reduced by factor 16 because moitorig calculates with 4096 icremets per revolutio. Variable i data structure AxisIterface.Axis[].Cofig.Geeral.LagErrorWidow Value i data structure DINT You fid a example of system limits i chapter "Applicatio examples" (page 127). 54 Maual MultiMotio

55 MultiMotio Editor: Cofigurig a Axis Ramps Ramps You ca make the followig etries for ramps: [1] [2] [1] Eable/stop Variable umber 400 Value This parameter is used to set the deceleratio that takes effect whe the "eable/stop" sigal is revoked. This parameter must be set for cofiguratio. The parameter takes effect i the followig 2 differet evets: Revokig the "eable/stop" cotrol sigal at the software iterface: A software ramp is geerated with the deceleratio set i the MOVI-PLC. The iverter uses this ramp. Solely i "Velocity" or "Positioig" axis mode is it possible to accelerate the iverter immediately after havig eabled the "eable/stop" sigal. Revokig the "eable/stop" cotrol sigal at the hardware termial: The iverter adopts a state i which it ca o loger follow the profiles specified by the MOVI-PLC. Uless cotroller ihibit is active, the iverter will brig the drive to a stop. For this purpose, the iverter uses the followig parameters writte by the MOVI-PLC : MOVIAXIS : Max. deceleratio (applicatio limits), idex 9572, subidex 1; system uit: revolutios/mi/s. FCB 13 (stop at applicatio limit) becomes active whe revokig the "eable/stop" sigal. MOVIDRIVE : Ramp t11 dow CCW (P131), idex 8471, subidex 0; Ramp t11 up CCW (P133), idex 8473, subidex 0; system uit: ms (i relatio to 3000 rpm) Commet Default: 0 It is essetial that you set this variable. You have to chage the default value 0! The ramp is used whe the "eable/stop" sigal is revoked o a axis durig ogoig movemet. Variable i data structure AxisIterface.Axis[].Cofig.Geeral.AxisLimits.EableStopDeceleratio Value i data structure LREAL Maual MultiMotio 55

56 7 MultiMotio Editor: Cofigurig a Axis Commuicatio [2] Eable/rapid stop Variable umber 401 Value This parameter is used to set the deceleratio that takes effect whe the "eable/rapid stop" sigal is revoked. This parameter must be set for cofiguratio. The parameter takes effect i the followig 2 differet evets: Revokig the "eable/rapid stop" cotrol sigal at the software iterface: A software ramp is geerated with the deceleratio set i the MOVI- PLC. The iverter uses this ramp. Solely i "Velocity" or "Positioig" axis mode is it possible to accelerate the iverter immediately after havig eabled the "eable/stop" sigal. Revokig the "eable/rapid stop" cotrol sigal at the hardware termial: The iverter adopts a state i which it ca o loger follow the profiles specified by the MOVI-PLC. Uless cotroller ihibit is active, the iverter will brig the drive to a stop. For this purpose, the iverter uses the followig parameters writte by the MOVI-PLC : MOVIAXIS : Emergecy stop deceleratio, idex 9576, subidex 1; system uit: revolutios/mi/s. FCB 14 (emergecy stop) becomes active whe revokig the "eable/rapid stop" sigal. MOVIDRIVE : Stop ramp t13 (P136), idex 8476, subidex 0; emergecy stop ramp t14 (P137), idex 8477, subidex 0; system uit: ms (i relatio to 3000 rpm) Commet Default: 0 It is essetial that you set this variable. You have to chage the default value 0! The ramp is used whe the "eable/rapid stop" sigal is revoked o a axis durig ogoig movemet. Variable i data structure AxisIterface.Axis[].Cofig.Geeral.AxisLimits.EableRapidStopDeceleratio Value i data structure LREAL You fid a example of ramps i chapter "Applicatio examples" (page 127). 7.6 Commuicatio You ca make the followig etries for commuicatio: [1] [2] [3] [1] Refresh time Variable umber 500 Value Refresh time i ms Commet The parameter is to be iterpreted differetly depedig o the device type: MOVIAXIS (MX) / MOVIDRIVE (MDX): Time iterval durig which the iverter seds actual values to the MOVI-PLC. Default: 10 ms This does ot affect the trasmissio of setpoits from the MOVI-PLC to the iverter. With the default settig, the MOVI-PLC seds setpoits to the iverter every 5 ms. MOVITRAC (MC07): Time iterval durig which iverter ad MOVI-PLC exchage data. Default: 25 ms Variable i data structure AxisIterface.Axis[].Cofig.Geeral.RefreshTime Value i data structure UINT 56 Maual MultiMotio

57 MultiMotio Editor: Cofigurig a Axis Commuicatio 7 [2] Offset time Variable umber 501 Value Time for the telegram offset i ms Commet Default: 0 ms Oly relevat with MOVITRAC. If several devices are coected to the SBus, this parameter ca be used to sed the process data telegrams with a offset to avoid that all devices sed their telegrams at the same time. See below for more iformatio. Variable i data structure AxisIterface.Axis[].Cofig.Geeral.OffsetTime Value i data structure UINT [3] Timeout Variable umber 502 Value Timeout i ms Commet Default: 200 ms If commuicatio is disrupted loger tha the time specified for the timeout, the drive will be stopped ad sigals a error. MOVIAXIS : Timeout results i error 68 subcode 5, error message: "Exteral sychroizatio error / Time limit for sychroizatio sigal exceeded" MOVIDRIVE : Timeout results i error 116, error message "Timeout MOVI-PLC / commuicatio timeout MOVI-PLC" MOVITRAC : Timeout results i error 47, error message: "Timeout Sbus #1/ Timeout master-slave system bus (Ca1)" Variable i data structure AxisIterface.Axis[].Cofig.Geeral.CommuicatioTimeOut Value i data structure UINT The followig figure shows data trasmissio of MOVITRAC with ad without offset: MOVIAXIS, MOVIDRIVE ms MOVITRAC ms MOVITRAC + Offset Offset ms By default, the setpoits are set to the MOVIDRIVE ad MOVIAXIS iverters every 5 ms (upper axis i the diagram). Now also the MOVITRAC iverter ad the MOVI-PLC are to exchage data o the same SBus segmet every 25 ms. Without settig a offset time, the data exchage would overlap ad disrupt the sychroous trasmissio of setpoits of MOVIDRIVE ad MOVIAXIS (ceter axis i the diagram). Settig a suitable offset time ca shift the data exchage betwee MOVITRAC ad MOVI-PLC to a time slot where it o loger iterferes (bottom axis i the diagram). Maual MultiMotio 57

58 7 MultiMotio Editor: Cofigurig a Axis Homig 7.7 Homig You ca make the followig etries for the "homig" operatig mode: [1] [2] [3] [4] [5] [1] Referece travel type Variable umber 1000 Value Deactivated Zero pulse egative directio Zero pulse positive directio (oly with MOVITRAC LTX) Negative ed referece cam Positive ed referece cam Limit switch positive Limit switch egative Set referece poit with eable (type 5) Referece cam flush limit switch positive Referece cam flush limit switch egative Set referece poit without eable (type 8) Fixed stop positive Fixed stop egative Commet The referece types are described i the subsequet chapters. Variable i data structure AxisIterface.Axis[].Cofig.Homig.RefereceTravelType Value i data structure UINT [2] Referece to Variable umber 1001 zero pulse Value Yes: Zero pulse is evaluated No: Zero pulse is ot evaluated Commet Variable i data structure AxisIterface.Axis[].Cofig.Homig.ToZeroPulse Value i data structure BOOLEAN [3] Referece offset Variable umber 1002 Value Zero poit offset i user uit Commet Variable i data structure AxisIterface.Axis[].Cofig.Homig.RefereceOffset Value i data structure LREAL [4] Search velocity Variable umber 1003 Value Commet Referece velocity 1 Variable i data structure AxisIterface.Axis[].Cofig.Homig.SearchSpeed Value i data structure LREAL [5] Clear velocity Variable umber 1004 Value Commet Referece velocity 2 Variable i data structure AxisIterface.Axis[].Cofig.Homig.ClearSpeed Value i data structure LREAL 58 Maual MultiMotio

59 MultiMotio Editor: Cofigurig a Axis Homig Referece travel, geeral iformatio For applicatios usig absolute positioig commads, you must defie the referece poit (machie zero). Whe usig absolute ecoders, the referece poit must be defied oce at iitial startup. With all other ecoder types, machie zero must be defied each time the machie is switched o. If referecig is set to the hardware limit switches ad/or the referece cam, these must be set as biary iputs i the cotrol word. If a hardware limit switch is hit durig referece travel type 1 or 2 ad the referece poit has ot yet bee foud, the drive turs ad cotiues referece travel i the other directio. Machie zero = referece poit + referece offset. The status "Refereced" is reset whe the servo iverter is switched off or if error messages relatig to the positio measurig system are issued. A exceptio are absolute ecoders, see below sectio. For Hiperface ad SSI absolute ecoders, the status "refereced" is always set ad is oly reset durig referece travel. The status "ot refereced" remais if the referece travel is caceled. Whe decidig whether to referece to the referece cam or zero pulse, ote the followig poits: The zero pulse shifts whe the motor is replaced. The referece cam could become iaccurate as a result of age, wear or switchig hysteresis. If the referece poit is determied usig the zero pulse ad referece cam, ad the zero pulse is located exactly at the ed of the referece cam, the switchig trasitio of the referece cam might be detected before or after the zero pulse (switchig hysteresis). This ca result i a referece positio that varies by a motor revolutio from oe time to the ext. The situatio ca be remedied by shiftig the referece cam by about half a motor revolutio. Uidirectioal drives ca oly be refereced usig a referece cam. Also ote that there is o defied distace betwee the referece cam ad zero pulse of the ecoder for o-iteger ratios. This meas that i this case oly the ed of the referece cam ca be selected as the referece poit. The legth of the referece cam ad the referece velocities must be selected so the drive ca reliably decelerate to the slower referece velocity (referece velocity 2) o the referece cam. The ed of the referece cam or the closest zero pulse of the ecoder system ca be used as referece poit. The zero pulse ca oly be used as a referece poit whe the ecoder has a zero pulse ad the zero track is coected to the servo iverter. As a optio, travel to the home positio ca be selected after the referece procedure for each referece travel type with offset. This meas the drive ca be moved to ay defied positio idepedet of the referece poit. This dispeses with the cotroller performig a positioig travel procedure. The home positio is set with the "referece offset" parameter. The travel velocity to the home positio is set usig the "Start positio velocity" parameter. Maual MultiMotio 59

60 7 MultiMotio Editor: Cofigurig a Axis Homig Explaatio of symbols used i the "referece travel types" figures H [1] [2] [3] [4] [5] [6] [1] Referece poit [2] Machie zero [3] Stop positio after travel to home positio (optioal) [4] Referece cam [5] Hardware limit switch [6] Fixed stop Zero pulse egative directio For this referece travel type, it is madatory to set the "Referece to zero pulse" parameter to "YES". [1] [2] [1] Movig clear velocity [2] Referece offset The referece positio is the first zero pulse CCW of the startig positio of referece travel. A referece cam is ot required. Oly the "Movig clear velocity" parameter is used for referece travel. 60 Maual MultiMotio

61 MultiMotio Editor: Cofigurig a Axis Homig Zero pulse positive directio (oly MOVITRAC LTX) For this referece travel type, it is madatory to set the "Referece to zero pulse" parameter to "YES". [1] [2] [1] Movig clear velocity [2] Referece offset The referece positio is the first zero pulse CW of the startig positio of referece travel. A referece cam is ot required. Oly the "Movig clear velocity" parameter is used for referece travel Negative ed referece cam The "Referece to zero pulse" parameter is set to "YES". [1] [2] [3] [1] Search velocity [2] Movig clear velocity [3] Referece offset Maual MultiMotio 61

62 7 MultiMotio Editor: Cofigurig a Axis Homig The "Referece to zero pulse" parameter is set to "NO". [1] [2] [3] [1] Search velocity [2] Movig clear velocity [3] Referece offset The referece positio is the egative ed of the referece cam or the first egative zero pulse after the ed of the referece cam. If "Use referece cam" is eabled o the "Limit switches" tab, the iput DI3 is automatically parameterized as referece cam. If the selectio field is disabled, you have to set a iput i the parameter tree to referece cam. The referece travel starts with the search velocity i a egative rotatioal directio up to the first positive edge of the referece cam. Search velocity chages to clear velocity oce the referece cam is detected. The referece poit will the be the fallig edge (egative ed) of the referece cam without "Referecig to zero pulse". If "Referece to zero pulse = yes", the referece poit will be the first zero pulse after the fallig edge of the referece cam. 62 Maual MultiMotio

63 MultiMotio Editor: Cofigurig a Axis Homig Positive ed referece cam The "Referece to zero pulse" parameter is set to "YES". [1] [2] [3] [1] Search velocity [2] Movig clear velocity [3] Referece offset The "Referece to zero pulse" parameter is set to "NO". [1] [2] [3] [1] Search velocity [2] Movig clear velocity [3] Referece offset The referece positio is the positive ed of the referece cam or the first positive zero pulse after the ed of the referece cam. If "Use referece cam" is eabled o the "Limit switches" tab, the iput DI3 is automatically parameterized as referece cam. If the selectio field is disabled, you have to set a iput i the parameter tree to referece cam. Referece travel starts i positive directio. The search velocity is used up to the first positive edge of the referece cam. Search velocity chages to clear velocity oce the referece cam is detected. The referece poit will the be the fallig edge (right ed) of the referece cam without "Referecig to zero pulse". If "Referece to zero pulse = yes", the referece poit will be the first zero pulse after the fallig edge of the referece cam. Maual MultiMotio 63

64 7 MultiMotio Editor: Cofigurig a Axis Homig Positive limit switch [1] [2] [3] [1] Search velocity [2] Movig clear velocity [3] Referece offset The referece positio is the first zero pulse to the left of the CW limit switch. Referece travel starts i positive directio. Search velocity is used up to the fallig edge of the right limit switch, the clear velocity is used. If "Use HW limit switches" is eabled o the "Limit switches" tab, the iput DI4 is automatically parameterized as positive hardware limit switch ad DI5 as egative hardware limit switch. If the selectio field is disabled, you have to set the hardware limit switches i the parameter tree. I this case, automatical movig clear of the hardware limit switches is ot supported Negative limit switch [1] [2] [3] [1] Search velocity [2] Movig clear velocity [3] Referece offset The referece poit is the first zero pulse to the right of the CCW limit switch. Referece travel starts i egative directio. Search velocity is used up to the fallig edge of the left limit switch, the clear velocity is used. If "Use HW limit switches" is eabled o the "Limit switches" tab, the iput DI4 is automatically parameterized as positive hardware limit switch ad DI5 as egative hardware limit switch. If the selectio field is disabled, you have to set the hardware limit switches 64 Maual MultiMotio

65 MultiMotio Editor: Cofigurig a Axis Homig 7 i the parameter tree. I this case, automatical movig clear of the hardware limit switches is ot supported Settig referece poit with eable (type 5) [1] [2] [1] Start positio velocity [2] Referece offset The referece positio is the curret positio. It makes sese to use this type of referece travel with absolute ecoders ad for drives that are to be refereced at stadstill. For example, the positio of a feed axis ca be set to "zero" whe the drive is at stadstill. I this way, the machie operator ca tell where the drive is located withi each feed movemet Referece cam flush with positive limit switch The "Referece to zero pulse" parameter is set to "YES". [1] [2] [3] [1] Search velocity [2] Movig clear velocity [3] Referece offset Maual MultiMotio 65

66 7 MultiMotio Editor: Cofigurig a Axis Homig The "Referece to zero pulse" parameter is set to "NO". [1] [2] [1] Search velocity [2] Referece offset The referece positio is the left ed of the referece cam or the first zero pulse to the left after the ed of the referece cam. If "Use HW limit switches" is eabled o the "Limit switches" tab, the iput DI4 is automatically parameterized as positive hardware limit switch ad DI5 as egative hardware limit switch. If the selectio field is disabled, you have to set the hardware limit switches i the parameter tree. I this case, automatical movig clear of the hardware limit switches is ot supported. Referece travel starts i positive directio. Search velocity is used up to the first positive edge of the referece cam, the clear velocity is used. I cotrast to the type "Left ed referece cam", the drive starts i a CW (right) directio ad turs at the referece cam. Depedig o the settig "Referece to zero pulse", referecig takes place to the fallig edge of the referece cam or to the zero pulse followig the fallig edge of the referece cam. The referece cam must start just before or i lie with the CW hardware limit switch ad must project ito the limit switch. This esures that o cotact is made with the hardware limit switch durig referece travel. 66 Maual MultiMotio

67 MultiMotio Editor: Cofigurig a Axis Homig Referece cam flush with egative limit switch The "Referece to zero pulse" parameter is set to "YES". [1] [2] [3] [1] Search velocity [2] Movig clear velocity [3] Referece offset The "Referece to zero pulse" parameter is set to "NO". [1] [2] [1] Search velocity [2] Referece offset The referece positio is the right ed of the referece cam or the first zero pulse to the right after the ed of the referece cam. If "Use HW limit switches" is eabled o the "Limit switches" tab, the iput DI4 is automatically parameterized as positive hardware limit switch ad DI5 as egative hardware limit switch. If the selectio field is disabled, you have to set the hardware limit switches i the parameter tree. I this case, automatical movig clear of the hardware limit switches is ot supported. Referece travel starts i egative directio. Search velocity is used up to the first positive edge of the referece cam, the clear velocity is used. I cotrast to the type "Right ed referece cam", the drive starts i a CCW directio (left) ad turs at the referece cam. Depedig o the settig "Referece to zero pulse", referecig takes place to the fallig edge of the referece cam or to the zero pulse followig the fallig edge of the referece cam. Maual MultiMotio 67

68 7 MultiMotio Editor: Cofigurig a Axis Homig The referece cam must start just before or i lie with the CW hardware limit switch ad must project ito the limit switch. This esures that o cotact is made with the hardware limit switch durig referece travel Settig referece travel without eable (type 8) [1] [1] Referece offset The referece positio is the curret positio. This referece travel type allows for referecig without eable Fixed stop positive (oly MOVIAXIS ) This referece travel type is oly available for MOVIAXIS. [1] [2] [1] Movig clear velocity [2] Referece offset The referece positio is the right fixed stop. The machie must be desiged so that the fixed stop withstads the impact of the respective velocity without ay damage. For this referece travel type, you have to set additioal parameters i the parameter tree of MOVIAXIS : "Referece travel torque" parameter (idex 9654, subidex 4): This parameter defies the torque whe hittig the fixed stop. "Referece dwell time" parameter (idex 9655, subidex 1): This parameter defies the duratio at which the set torque has to be maitaied whe hittig the fixed stop before referecig is fiished. 68 Maual MultiMotio

69 MultiMotio Editor: Cofigurig a Axis Homig 7 The followig optioal settigs ca be made: "Hardware limit switch for velocity chageover" parameter (idex 9657, subidex 1): Whe set to default "without", referece travel will start with movig clear velocity i positive directio of rotatio ad maitai this velocity util the fixed stop is reached. If set to aother value, referece travel will start with search velocity i positive directio ad chage to movig clear velocity oce the set hardware limit switch is reached Fixed stop egative (oly MOVIAXIS ) This referece travel type is oly available for MOVIAXIS. [1] [2] [1] Movig clear velocity [2] Referece offset The referece positio is the left fixed stop. The machie must be desiged i such a way that it is ot damaged whe the fixed stop is reached at the respective speed. For this referece travel type, you have to set additioal parameters i the parameter tree of MOVIAXIS : "Referece travel torque" parameter (idex 9654, subidex 4): This parameter defies the torque whe hittig the fixed stop. "Referece dwell time" parameter (idex 9655, subidex 1): This parameter defies the duratio at which the set torque has to be maitaied whe hittig the fixed stop before referecig is fiished. The followig optioal settigs ca be made: "Hardware limit switch for velocity chageover" parameter (idex 9657, subidex 1): Whe set to default "without", referece travel will start with movig clear velocity i egative directio of rotatio ad maitai this velocity util the fixed stop is reached. If set to aother value, referece travel will start with search velocity i egative directio ad chage to movig clear velocity oce the set hardware limit switch is reached. Maual MultiMotio 69

70 7 MultiMotio Editor: Cofigurig a Axis Velocity 7.8 Velocity You ca make the followig etries for the "velocity" operatig mode: [1] [2] [1] Stop at positio Variable umber 2000 Value No: Whe revokig the start sigal i "Velocity" axis mode, the travel profile stops immediately with the specified deceleratio. Absolute: Revokig the start sigal i "Velocity" axis mode geerates a travel profile that stops the axis at the positio defied by the "stop positio" parameter. This settig is useful, for example, whe a modulo axis always has to be i a defied positio (e.g. at the begiig of the cycle) oce the movemet has stopped. Relative: Revokig the start sigal i "Velocity" axis mode geerates a travel profile that stops the axis at the relative positio defied by the "stop positio" parameter. Referece positio is the setpoit positio of the axis specified by the profile geerator at the momet of the fallig edge of the start sigal. Commet The parameters "Velocity", "Acceleratio" ad "Deceleratio" are used whe creatig the travel profile to the relevat target positio. Overshootig might occur depedig o the coditios (e.g. whe the target positio is exceeded durig deceleratio because the specified deceleratio value is too small). It is particularly importat for modulo axes that you have selected a modulo mode that matches the required behavior. Variable i data structure AxisIterface.Axis[].Cofig.Velocity.StopAtPositio Value i data structure AXISHANDLER_STOPMODE_OFF AXISHANDLER_STOPMODE_ABSOLUTE AXISHANDLER_STOPMODE_RELATIVE [2] Stop positio Variable umber 2001 Value Defies the stop positio belogig to the "Stop at positio" parameter i user uit. Commet With a modulo axis, the stop positio might lie withi a modulo cycle if "Stop at positio" is set to "absolute". Variable i data structure AxisIterface.Axis[].Cofig.Velocity.StopPositio Value i data structure LREAL 70 Maual MultiMotio

71 MultiMotio Editor: Cofigurig a Axis Positioig Positioig You ca make the followig etries for the "positioig" operatig mode: [1] [1] Positioig without refereced ecoder Variable umber 3000 Value No: Positioig without refereced axis is ot permitted Yes: Positioig without refereced axis is allowed Commet Variable i data structure AxisIterface.Axis[].Cofig.Positioig.WithoutReferecedEcoder Value i data structure BOOLEAN Maual MultiMotio 71

72 7 MultiMotio Editor: Cofigurig a Axis Camig 7.10 Camig It is plaed for the future to implemet trasitio fuctios i the "camig" operatig mode. They will eable the followig fuctios: Positio or time depedet egagig to move i syc with a movig master Positio or time depedet disegagig from a movig master Positio or time depedet trasitios whe chagig betwee various curve descriptios Sychroous operatio i the "camig" operatig mode differs from sychroous operatio i the "trackig" operatig mode. There will be o trasitio fuctios i "trackig" mode Geeral The "Geeral" tab lets you make the etries described below. Depedig o what values you have selected, ot all variables will be available at ay time: [1] [2] [3] [4] [1] Mode Variable umber 4000 Value Gearig: implemets sychroous operatio by defiig a straight sectio i the curve descriptio Camig: allows for processig cams based o a curve descriptio i xml format. Iterpolatio: allows for processig curve poit tables with various iterpolatio methods. Whe you select this value, you have to choose the method from the "iterpolatio mode" list box. Commet Gearig: I cam mode, movemet takes place with a fixed ratio betwee master axis ad slave axis. The gear ratio ca be adjusted via umerator ad deomiator. If umerator/deomiator = 1/1, the a master cycle correspods to a slave cycle. Camig: The slave follows the master axis accordig to the defied curve. The curve ca cosist of 20 curve segmets. The curve descriptio file is either itegrated as xml file i this case, the relevat parameters are copied to the "CamDescriptio" variables or the "CamDescriptio" variables are cofigured accordigly by the PLC program. The curve coordiates are etered i icremets. Iterpolatio: You ca choose from the followig types of iterpolatio: Liear Polyomial 3 Splie Variable i data structure AxisIterface.Axis[].Cofig.Camig.Mode Value i data structure MC_AxisHadler_CamigType: AXISHANDLER_CAMINGTYPE_GEARING AXISHANDLER_CAMINGTYPE_CAMING AXISHANDLER_CAMINGTYPE_INTERPOLATION 72 Maual MultiMotio

73 MultiMotio Editor: Cofigurig a Axis Camig 7 [2] Preset value Variable umber 4001 Value Iterally used iitializatio value for the profile geerator i "camig" mode. The value is applied whe activatig the "preset" iput ad is ot visible to the outside. Commet Default: 0 Variable i data structure AxisIterface.Axis[].Cofig.Camig.CamCofiguratio.PresetValue Value i data structure LREAL [3] File ame Variable umber 4002 Value Here you ca eter the ame of a file that cotais a curve descriptio or curve poit table. The "Camig" mode expects a file of the type *.camcurve, the "Iterpolatio" mode a file of the type *.txt or *.csv. You ca ope a wizard to search for the required file. The selected file ca be loaded to the SD card together with the cofiguratio data. Commet You ca create curve descriptios usig, for example, the "Cam Editor" tool ad the export them. Durig export, a file of the type *.camcurve is created for each curve. You ca create curve poit tables usig Excel, for example, or a simple ASCII editor. By default, the files are stored o the SD card i the directory "User\Default\Data\DH.41B\CurveCofig". The umber of characters for a file ame of curve descriptio files must ot exceed 50 characters icludig the path ame based o the metioed default directory. Variable i data structure Value i data structure STRING [4] Iterpolatio mode Variable umber 4003 Value Liear: Liear iterpolatio (up to 1024 curve poits) Polyomial 3: Iterpolatio with 3rd degree polyomial (up to 1024 curve poits) Splie: Splie iterpolatio (up to 64 curve poits) Commet This list box appears oly if you have chose "Iterpolatio" from the "Mode" list box. Liear: The user has 1024 poit pairs ("...Cofig.Camig.CamPoitList") available for master ad slave. Liear iterpolatio is carried out betwee the poits. The MOVI-PLC ca read the poit pairs from a txt or csv file, or they ca be described directly i the variable structure. Polyomial 3: The user has 1024 poit pairs ("...Cofig.Camig.Cam- PoitList") available for master ad slave. Iterpolatio with a 3rd degree polyomial is carried out betwee the poits. Splie: The user has 64 poit pairs ("...Cofig.Camig.SpliePoitList") available for master ad slave. Splie iterpolatio is carried out betwee the poits. Variable i data structure AxisIterface.Axis[].Cofig.Camig.IterpolatioMode Value i data structure MC_AxisHadler_IterpolatioType: AXISHANDLER_INTERPOLATIONTYPE_LINEAR AXISHANDLER_INTERPOLATIONTYPE_POLYNOM3 AXISHANDLER_INTERPOLATIONTYPE_SPLINE Example of a file i xml format (camig): Files i xml format ca be created with the Cam Editor usig the "Export" fuctio. I these files, each segmet of the curve is defied usig the followig xml descriptio: <Segmet Fuctio="10" Mode="1"> <Descriptio xsi:type="xsd:strig" /> <Number xsi:type="xsd:it">2</number> <X1 xsi:type="xsd:usigedit">16384</x1> <Y1 xsi:type="xsd:double">0</y1> <V1 xsi:type="xsd:double">0</v1> <A1 xsi:type="xsd:double">0</a1> Maual MultiMotio 73

74 7 MultiMotio Editor: Cofigurig a Axis Camig <X2 xsi:type="xsd:usigedit">32768</x2> <Y2 xsi:type="xsd:double">65536</y2> <V2 xsi:type="xsd:double">0</v2> <A2 xsi:type="xsd:double">0</a2> The fuctio type, iterval limits ad the fuctio values at the limits are defied. I "camig" mode, oly cams ca be processed that were created usig the Cam Editor. The shape of these curves is limited by the available mathematical fuctios of this Editor. I "iterpolatio" mode, however, you ca desig ay curve by specifyig curve poits usig other programs, such as excel or text editor. Example of a file i txt or csv format (iterpolatio): Files i txt or csv format must have the followig structure: 5,00 0,00;0, ,00;8192, ,00;32768, ,00;57344, ,00;65536,00 The first lie is a character strig that is to be iterpreted as whole umber ad that specifies the umber of curve poit pairs. It is followed by a correspodig amout of umber pairs. The first umerical value is the master value, the secod umerical value is the associated slave value. Master ad slave values are separated by semicolo. The above text of the txt file cosequetly has the followig meaig: Number of curve poits: 5 1. Master curve poit: 0; 1. Slave curve poit: 0 2. Master curve poit: 16384; 2. Slave curve poit: Master curve poit: 32768; 3. Slave curve poit: Master curve poit: 49152; 4. Slave curve poit: Master curve poit: 65536; 5. Slave curve poit: The correspodig files ca be created with ay tool or with the Cam Editor tool usig the "Save" or "Save as" fuctios. Usig these fuctios, a csv file for each defied curve will be automatically stored i the selected directory. The file with the curve poit values is also writte to the SD card i the MOVI-PLC. 74 Maual MultiMotio

75 MultiMotio Editor: Cofigurig a Axis Camig Master The "Master" tab lets you make the followig etries: [1] [2] [3] [6] [7] [5] [4] [1] Master source Variable umber 4100 Value User program: The master source is assiged i the user program. Cofigured axis: The master source is the setpoit positio of a cofigured axis. The setpoit positio is always assiged i basic uits (icremets). You the have to set the respective axis i the list box of the "Master axis" parameter. SedObject: The master source is set cyclically by a cofigured axis (e.g. a exteral ecoder coected to a iverter of this axis). Commet Whe the master source is assiged i the user program, the correspodig assigmet to the variable "AxisIterface.Axis[].I.Camig.MasterPositio" must be programmed. This assigmet must be processed i the same cycle as the profile geeratio, that is i the "TaskPriority" task. You ca use the followig programs for this purpose: Axis_UserProgram_TaskPriority PRG_TaskPriority SedObject_UserProgram_TaskPriorit Variable i data structure AxisIterface.Axis[].Cofig.Camig.MasterSource Value i data structure MC_AxisHadler_MasterSource: AXISHANDLER_MASTERSOURCE_USERPROGRAM AXISHANDLER_MASTERSOURCE_CONFIGUREDAXIS AXISHANDLER_MASTERSOURCE_EXTERNALENCODER [2] Master axis Variable umber 4101 Value Whe you have selected "Cofigured axis" from the "Master source" list box, this value defies which of the cofigured axes is the master axis of the cofigured fuctio. The slave axis itself must ot be selected. Commet The parameter is oly displayed whe "Cofigured axis" is selected i the "Master source" list box. Variable i data structure AxisIterface.Axis[].Cofig.Camig.MasterAxisNumber Value i data structure UNIT [3] Axis type Variable umber 4102 Value Liear axis: fiite travel rage Modulo axis: ifiite travel rage (turig edlessly) with recurrig value rage. Whe selectig a modulo axis, the modulo miimum ad maximum must be set. Commet The parameter is oly displayed whe "Cofigured axis" or "SedObject" is selected i the "Master source" list box. I both cases, the cofiguratio defies the axis types. The axis type must oly be specified whe "User program" was selected. Variable i data structure AxisIterface.Axis[].Cofig.Camig.MasterType Value i data structure MC_AxisHadler_AxisType: AXISHANDLER_AXISTYPE_LINEAR AXISHANDLER_AXISTYPE_MODULO Maual MultiMotio 75

76 7 MultiMotio Editor: Cofigurig a Axis Camig [4] Modulo miimum Variable umber 4103 Value Modulo miimum of the master sigal i user uit Commet Default: 0 The modulo miimum is always set to ad caot be chaged. Variable i data structure AxisIterface.Axis[].Cofig.Camig.CamCofiguratio.CamSettigs.Master. ModuloMi Value i data structure LREAL [5] Modulo Variable umber 4104 maximum Value Modulo maximum of the master sigal i user uit Commet Default: Variable i data structure AxisIterface.Axis[].Cofig.Camig.CamCofiguratio.CamSettigs.Master. ModuloMax Value i data structure LREAL [-] Master cycle Variable umber 4105 Value Master cycle optioally i system uits, i.e. i icremets Commet With a modulo axis, the master cycle is determied by the modulo maximum value ad therefore eed ot be etered. Whe a curve descriptio with all segmets is available, this etry is ot ecessary either. I this case, the master cycle correspods to the master ed value of the last segmet. If the actual master cycle is loger tha specified i the curve descriptio, you ca eter it explicitly. The master cycle has to be defied if the master sigal is created by the user program. Variable i data structure AxisIterface.Axis[].Cofig.Camig.CamCofiguratio.CamSettigs.Master. MasterCycle Value i data structure LREAL [6] Numerator Variable umber 4106 Value Numerator of the relatio betwee master ad slave icremets durig sychroous operatio (AxisMode "Camig" i "Gearig" mode) Commet This parameter is oly visible whe "Gearig" mode is selected i the "Camig" AxisMode. The "Calculate" butto is available whe the same user uits are set for master ad slave axis. Clickig the [Calculate] butto opes a dialog box where you ca eter the gear uit ratios ad calculate the two parameters "Numerator"/"Deomiator". You fid more iformatio i chapter "Calculatio widow" (page 89). Variable i data structure AxisIterface.Axis[].Cofig.Camig.Numerator Value i data structure DINT [7] Deomiator Variable umber 4107 Value Deomiator of the relatio betwee master ad slave icremets durig sychroous operatio (AxisMode "Camig" i "Gearig" mode) Commet This parameter is oly visible whe "Gearig" mode is selected i the "Camig" AxisMode. The "Calculate" butto is available whe the same user uits are set for master ad slave axis. Clickig the [Calculate] butto opes a dialog box where you ca eter the gear uit ratios ad calculate the two parameters "Numerator"/"Deomiator". You fid more iformatio i chapter "Calculatio widow" (page 89). Variable i data structure AxisIterface.Axis[].Cofig.Camig.Deomiator Value i data structure DINT 76 Maual MultiMotio

77 MultiMotio Editor: Cofigurig a Axis Camig Start The "Start" tab lets you make the followig etries: [1] [2] [3] [4] [5] [1] Start evet Variable umber 4200 Value Start risig edge: The axis follows the curves immediately with the risig edge of the start sigal of the "Camig" mode. Start master cycle: The axis follows the curve profile as soo as the ext cycle begis, that is sychroously with the positios of the master axis. A requiremet for this is a modulo axis as master axis with positios always i the rage betwee [0 iteral modulo resolutio]. Start with master value: Curretly yet without fuctio It is plaed as a geeralizatio of the case "Start of master cycle" where curve processig begis whe the master positio = 0. With this fuctio, curve processig ca be sychroized to ay master positio. The correspodig positio value ca be specified as "Master value" parameter. Commet Variable i data structure AxisIterface.Axis[].Cofig.Camig.CamCofiguratio.CamSettigs.Start.Evet Value i data structure MC_CAM_MANAGER_START_EVENT: MC_CAM_MANAGER_ENABLE_RISING_EDGE MC_CAM_MANAGER_START_MASTERCYCLE MC_CAM_MANAGER_START_MASTERVALUE [-] Master value Variable umber 4201 Value Commet Curretly yet without fuctio Variable i data structure AxisIterface.Axis[].Cofig.Camig.CamCofiguratio.CamSettigs.Start.MasterValue Value i data structure LREAL [2] Delay Variable umber 4202 Value Commet Curretly yet without fuctio Variable i data structure AxisIterface.Axis[].Cofig.Camig.CamCofiguratio.CamSettigs.Start.Delay Value i data structure LREAL Maual MultiMotio 77

78 7 MultiMotio Editor: Cofigurig a Axis Camig [3] Start mode Variable umber 4203 Value Relative: The curve mode is processed i a "relative" maer. This meas the curve profile is simply added to the positio profile of the axis based o the actual axis positio. The curve profile always begis at the left-had margi. This meas the absolute positio of the axis might be offset compared to that of the curve profile. A phase shift compared to the master sigal is also possible. Absolute: The curve profile is processed i a "absolute" maer. This meas the absolute positio of the axis ad the positio of the curve profile must match. It is therefore usually ecessary to adjust the axis to the curve positio prior to curve processig by meas of the "AdjustToMaster" fuctio. Curve profile processig begis at the poit curretly assiged to the actual master positio (ot at the left margi as is the case with the "relative" method). This meas the correct phase positio is esured. Commet Variable i data structure AxisIterface.Axis[].Cofig.Camig.CamCofiguratio.CamSettigs.Start.Mode Value i data structure MC_CAM_MANAGER_START_MODE: MC_CAM_MANAGER_START_RELATIVE MC_CAM_MANAGER_START_ABSOLUTE [4] Trasitio mode Variable umber 4204 Value Commet Curretly yet without fuctio Variable i data structure AxisIterface.Axis[].Cofig.Camig.CamCofiguratio.CamSettigs.Start.TrasitioParameter.CamType Value i data structure MC_CAM_MANAGER_CAM_TYPE: MC_CAM_LINEAR: = 0, CAM profiles with costat speed MC_CAM_SINE: = 2, sie CAM profiles MC_CAM_POLYNOM_3: = 3, CAM profiles follow a 3rd degree polyomial MC_CAM_INCLINED_SINE: = 4, iclied sie CAM profiles MC_CAM_TRAPEZOID: = 5, modified acceleratio trapezoid CAM profiles MC_CAM_POLYNOM_5: = 10, CAM profiles follow a 5th degree polyomial MC_CAM_MODIFIED_SINE: = 11, modified sie CAM profiles MC_CAM_LINEAR_INTERPOLATION: = 101, Lieare iterpolatio MC_CAM_POLYNOM_INTERPOLATION: = 102, 3rd degree polyomal iterpolatio MC_CAM_LINEAR_INTERPOLATION: = 103, Splie iterpolatio MC_CAM_LPG1: = 104, Lieare profile geeratio with limitatio of max. velocity ad max. acceleratio MC_CAM_LPG2: = 105, lieare profile geeratio with limitatio of max. acceleratio [-] Trasitio time Variable umber 4205 Value Commet Curretly yet without fuctio Variable i data structure AxisIterface.Axis[].Cofig.Camig.CamCofiguratio.CamSettigs.Start.Duratio Value i data structure LREAL [-] Trasitio distace Variable umber 4206 Value Commet Curretly yet without fuctio Variable i data structure AxisIterface.Axis[].Cofig.Camig.CamCofiguratio.CamSettigs.Start.MasterDistace Value i data structure LREAL 78 Maual MultiMotio

79 MultiMotio Editor: Cofigurig a Axis Camig 7 [5] offset Variable umber 4207 Value Commet Curretly yet without fuctio Variable i data structure AxisIterface.Axis[].Cofig.Camig.CamCofiguratio.CamSettigs.Start.Offset Value i data structure LREAL Stop The "Stop" tab lets you make the followig etries: [1] [2] [3] [4] Maual MultiMotio 79

80 7 MultiMotio Editor: Cofigurig a Axis Camig [1] Stop evet Variable umber 4300 Value "Start" fallig edge: The axis stops the curve profile immediately with the fallig edge of the start sigal of "Camig" mode. The positio profile is froze at the last positio. Ed of the master cycle: The axis follows the curve profile util the ed of the curve. Importat! This is a basic differece betwee start ad stop behavior. With "Start master cycle", the curve processig sychroizes to the positio profile of the master axis, which therefore has to be a modulo axis. With "Ed master cycle", the system does ot refer to the positio profile of the master axis but to the curve that is at preset beig processed. It is processed util the ed ad the positio profile is froze at the last positio value. It is ot relevat whether the master axis is a modulo axis or a liear axis. The "Ed master cycle" fuctio ca also be used with liear axes as master axes. Of course, most applicatios with modulo axes as master axes are desiged i such a way that the curves of the slave axes correspod to a modulo cycle. Ed with master value: Curretly yet without fuctio Is plaed as a geeralizatio of the case "Ed master cycle" where curve processig begis whe the master positio = 0. With this fuctio, curve processig ca be eded with ay master positio. The correspodig positio value ca be specified as "Master value" parameter. Commet Variable i data structure AxisIterface.Axis[].Cofig.Camig.CamCofiguratio.CamSettigs.Stop.Evet Value i data structure MC_CAM_MANAGER_STOP_EVENT: MC_CAM_MANAGER_ENABLE_FALLING_EDGE MC_CAM_MANAGER_END_MASTERCYCLE MC_CAM_MANAGER_STOP_MASTERVALUE [-] Master value Variable umber 4301 Value Commet Curretly yet without fuctio Variable i data structure AxisIterface.Axis[].Cofig.Camig.CamCofiguratio.CamSettigs.Stop.MasterValue Value i data structure LREAL [2] Delay Variable umber 4302 Value Commet Curretly yet without fuctio Variable i data structure AxisIterface.Axis[].Cofig.Camig.CamCofiguratio.CamSettigs.Stop.Delay Value i data structure LREAL 80 Maual MultiMotio

81 MultiMotio Editor: Cofigurig a Axis Camig 7 [3] Trasitio mode Variable umber 4303 Value Commet Curretly yet without fuctio Variable i data structure AxisIterface.Axis[].Cofig.Camig.CamCofiguratio.CamSettigs.Stop.TrasitioParameter.CamType Value i data structure MC_CAM_MANAGER_CAM_TYPE: MC_CAM_LINEAR: = 0, CAM profiles with costat speed MC_CAM_SINE: = 2, sie CAM profiles MC_CAM_POLYNOM_3: = 3, CAM profiles follow a 3rd degree polyomial MC_CAM_INCLINED_SINE: = 4, iclied sie CAM profiles MC_CAM_TRAPEZOID: = 5, modified acceleratio trapezoid CAM profiles MC_CAM_POLYNOM_5: = 10, CAM profiles follow a 5th degree polyomial MC_CAM_MODIFIED_SINE: = 11, modified sie CAM profiles MC_CAM_LINEAR_INTERPOLATION: = 101, Liear iterpolatio MC_CAM_POLYNOM_INTERPOLATION: = 102, 3rd degree polyomal iterpolatio MC_CAM_LINEAR_INTERPOLATION: = 103, Splie iterpolatio MC_CAM_LPG1: = 104, Liear profile geeratio with limitatio of max. velocity ad max. acceleratio MC_CAM_LPG2: = 105, liear profile geeratio with limitatio of max. acceleratio [-] Trasitio time Variable umber 4304 Value Commet Curretly yet without fuctio Variable i data structure AxisIterface.Axis[].Cofig.Camig.CamCofiguratio.CamSettigs.Stop.Duratio Value i data structure LREAL [-] Trasitio Variable umber 4305 distace Value Commet Curretly yet without fuctio Variable i data structure AxisIterface.Axis[].Cofig.Camig.CamCofiguratio.CamSettigs.Stop.MasterDistace Value i data structure LREAL [4] Offset Variable umber 4306 Value Commet Curretly yet without fuctio Variable i data structure AxisIterface.Axis[].Cofig.Camig.CamCofiguratio.CamSettigs.Stop.Offset Value i data structure LREAL Maual MultiMotio 81

82 7 MultiMotio Editor: Cofigurig a Axis Camig Optios: Camig ad iterpolatio The "Optios: Camig & iterpolatio" tab lets you make the followig etries: [1] [2] [3] [4] [5] [1] Chage evet Variable umber 4400 Value Direct: The ew curve descriptio is loaded directly. Chage to the begiig of the ew curve descriptio. The trasitio is covered with the settigs made for "trasitio mode". With master cycle: Chage to the ew curve descriptio is carried out i a defied maer With master value: Chage to the ew curve descriptio is carried out with the correspodig master value. The curve starts from the begiig. Commet At preset, oly the evet "direct" is implemeted. The other evets are plaed fuctio expasios. Variable i data structure AxisIterface.Axis[].Cofig.Camig.CamCofiguratio.CamSettigs.Chage.Evet Value i data structure MC_CAM_MANAGER_CAM_CHANGE_EVENT: MC_CAM_MANAGER_CHANGE_DIRECT MC_CAM_MANAGER_CHANGE_WITH_MASTERCYCLE MC_CAM_MANAGER_CHANGE_WITH_MASTERVALUE [-] Master value Variable umber 4401 Value Commet Curretly yet without fuctio Variable i data structure AxisIterface.Axis[].Cofig.Camig.CamCofiguratio.CamSettigs.Chage.MasterValue Value i data structure LREAL [2] Cycle mode Variable umber 4402 Value Multiple: the curve profile is followed edlessly. It is ot relevat whether the master is a modulo or liear axis. Couted: the curve profile is followed for a defied umber of times. The value of the "preset couter" parameter specifies the umber of how ofte the slave curve is followed. Commet Variable i data structure AxisIterface.Axis[].Cofig.Camig.CamCofiguratio.CamSettigs.Mode Value i data structure MC_CAM_MANAGER_CYCLEMODE: MC_CAM_MANAGER_MULTIPLE_CYCLES, MC_CAM_MANAGER_COUNTED_CYCLES [3] Preset couter Variable umber 4408 Value If you have selected "couted" i the "cycle mode" list box, you have to specify how ofte the slave curve is to be followed. Commet Variable i data structure AxisIterface.Axis[].Cofig.Camig.CamCofiguratio.CamSettigs.Preset- Couter Value i data structure DINT 82 Maual MultiMotio

83 MultiMotio Editor: Cofigurig a Axis Camig 7 [4] Trasitio mode Variable umber 4403 Value Direct: direct chage to "camig" mode Master based: master-depedet chage. With this settig, you ca eter the master distace at which the slave is to chage. Time based: time-depedet chage Cam curve: the trasitio is ru through with a specified curve Commet Curretly yet without fuctio Variable i data structure AxisIterface.Axis[].Cofig.Camig.CamCofiguratio.CamSettigs.Chage.Trasitio Value i data structure MC_CAM_MANAGER_TRANSITION_MODE: MC_CAM_MANAGER_TRANSITION_DIRECT MC_CAM_MANAGER_TRANSITION_MASTERBASED MC_CAM_MANAGER_TRANSITION_TIMEBASED MC_CAM_MANAGER_TRANSITION_CAM_CURVE [-] Trasitio time Variable umber 4404 Value Commet Curretly yet without fuctio Variable i data structure AxisIterface.Axis[].Cofig.Camig.CamCofiguratio.CamSettigs.Chage.Duratio Value i data structure [-] Master distace Variable umber 4405 Value Commet Curretly yet without fuctio Variable i data structure AxisIterface.Axis[].Cofig.Camig.CamCofiguratio.CamSettigs.Chage.MasterDistace Value i data structure [-] Slave distace Variable umber 4406 Value Commet Curretly yet without fuctio Variable i data structure AxisIterface.Axis[].Cofig.Camig.CamCofiguratio.CamSettigs.Chage.SlaveDistace Value i data structure LREAL [5] Offset Variable umber 4407 Value Cam descriptio shifted i y directio. This correspods to the directio of the slave. Commet Variable i data structure AxisIterface.Axis[].Cofig.Camig.CamCofiguratio.CamSettigs.Chage.Offset Value i data structure LREAL Maual MultiMotio 83

84 7 MultiMotio Editor: Cofigurig a Axis Trackig 7.11 Trackig Trackig is suitable to implemet simple sychroous operatio. Trackig is comparable with gearig based o the assumptio that the axes are adjusted while the master is at stadstill. Next, the axes are switched to trackig ad will be simply "take alog" by the master. I this case as well, the master source ca be obtaied from a user program, a cofigured axis, or a SedObject. You ca make the followig etries for the "trackig" operatig mode: [1] [2] [5] [6] [4] [3] [1] Master source Variable umber 5000 Value User program: The master source is assiged i the user program. Cofigured axis: The master source is the setpoit positio of a cofigured axis. The setpoit positio is always assiged i basic uits (icremets). You the have to set the respective axis i the list box of the "Master axis" parameter. SedObject: The master source is set cyclically by a cofigured axis (e.g. a exteral ecoder coected to a iverter of this axis). Commet Whe the master source is assiged i the user program, the correspodig assigmet to the variable "AxisIterface.Axis[].I.Trackig.MasterPositio" must be programmed. This assigmet must be processed i the same cycle as the profile geeratio, that is i the "TaskPriority" task. You ca use the followig programs for this purpose: Axis_UserProgram_TaskPriority PRG_TaskPriority SedObject_UserProgram_TaskPriority Variable i data structure AxisIterface.Axis[].Cofig.Trackig.MasterSource Value i data structure MC_AxisHadler_MasterSource: AXISHANDLER_MASTERSOURCE_USERPROGRAM AXISHANDLER_MASTERSOURCE_CONFIGUREDAXIS AXISHANDLER_MASTERSOURCE_EXTERNALENCODER [-] Master axis Variable umber 5001 Value Accordig to the list box Commet Variable i data structure AxisIterface.Axis[].Cofig.Trackig.MasterAxisNumber Value i data structure UINT 84 Maual MultiMotio

85 MultiMotio Editor: Cofigurig a Axis Trackig 7 [2] Axis type Variable umber 5002 Value Liear axis: fiite travel rage Modulo axis: ifiite travel rage (turig edlessly) with recurrig value rage. Whe selectig a modulo axis, the modulo miimum ad maximum must be set. Commet The parameter is oly displayed whe "Cofigured axis" or "SedObject" is selected i the "Master source" list box. I both cases, the cofiguratio defies the axis types. The axis type must oly be specified whe "User program" was selected. Variable i data structure AxisIterface.Axis[].Cofig.Camig.MasterType Value i data structure MC_AxisHadler_AxisType: AXISHANDLER_AXISTYPE_LINEAR AXISHANDLER_AXISTYPE_MODULO [3] Modulo Variable umber 5003 miimum Value Commet Default: 0 The modulo miimum is always set to ad caot be chaged. Variable i data structure AxisIterface.Axis[].Cofig.Trackig.MasterMi Value i data structure DINT [ ] [4] Modulo Variable umber 5004 maximum Value Commet Value rage: Variable i data structure AxisIterface.Axis[].Cofig.Trackig.MasterMax Value i data structure DINT [ ] [5] Numerator Variable umber 5005 Value Numerator of the relatio betwee master ad slave icremets durig travel with activated "trackig" AxisMode. Commet The "Calculate" butto is available whe the same user uits are set for master ad slave axis. Clickig the [Calculate] butto opes a dialog box where you ca eter the gear uit ratios ad calculate the two parameters "Numerator"/"Deomiator". You fid more iformatio i chapter "Calculatio widow" (page 89). Variable i data structure AxisIterface.Axis[].Cofig.Trackig.Numerator Value i data structure DINT [ ] [6] Deomiator Variable umber 5006 Value Deomiator of the relatio betwee master ad slave icremets durig travel with activated "trackig" AxisMode. Commet The "Calculate" butto is available whe the same user uits are set for master ad slave axis. Clickig the [Calculate] butto opes a dialog box where you ca eter the gear uit ratios ad calculate the two parameters "Numerator"/"Deomiator". You fid more iformatio i chapter "Calculatio widow" (page 89). Variable i data structure AxisIterface.Axis[].Cofig.Trackig.Deomiator Value i data structure DINT [ ] Maual MultiMotio 85

86 7 MultiMotio Editor: Cofigurig a Axis Touch probe 7.12 Touch probe You ca make the followig etries for the "Touch probe" operatig mode: [1] [2] [3] [4] [1] Activate Variable umber 6000 Value No: Without touch probe Yes: With touch probe Commet Variable i data structure AxisIterface.Axis[].Cofig.TouchProbe.Activate Value i data structure BOOLEAN [2] Source Variable umber 6001 Value Ecoder 1: MOVIDRIVE : Motor ecoder (X15) / MOVIAXIS : Ecoder 1 Ecoder 2: MOVIDRIVE : Exteral ecoder (X14) / MOVIAXIS : Ecoder 2 Ecoder 3: MOVIDRIVE : SSI ecoder (via optio card) / MOVIAXIS : ecoder 3 Virtual axis: Touch probe for the virtual axis (oly possible with MOVIAXIS!) I the "Virtual axis umber" list box, you have to specify the virtual axis for which you wat to have the fuctio activated as there might be several virtual axes. Commet If you set "Ecoder 2" or "Ecoder 3" as source, you also have to set a SedObject with the same source for this axis. Otherwise the touch probe positio caot be coverted correctly ito the associated modulo positio. Variable i data structure AxisIterface.Axis[].Cofig.TouchProbe.Source Value i data structure AXISHANDLER_MOTOR_ENCODER_1 AXISHANDLER_EXTERNAL_ENCODER_2 AXISHANDLER_EXTERNAL_ENCODER_3 AXISHANDLER_VIRTUAL_AXIS [3] Evet Variable umber 6002 Value Risig edge: Touch probe respods to risig edge Fallig edge: Touch probe respods to fallig edge Risig ad fallig edge: Touch probe respods to risig ad fallig edge Commet The followig iputs are used as iterrupt iput for touch probe: MOVIDRIVE : Iput DI02 / termial X13.3 MOVIAXIS : Iput DI02 / termial X10.3 Variable i data structure AxisIterface.Axis[].Cofig.TouchProbe.Evet Value i data structure MC_AxisHadler_TouchProbeEvet: AXISHANDLER_TOUCHPROBE_POS_EDGE AXISHANDLER_TOUCHPROBE_NEG_EDGE AXISHANDLER_TOUCHPROBE_BOTH_EDGE [4] Virtual axis umber Variable umber 6003 Value If you have selected the virtual axis from the "Source" list box, you have to specify the virtual axis for which you wat to have the fuctio activated as there might be several virtual axes. Commet Default: 1 Variable i data structure AxisIterface.Axis[].Cofig.VirtualAxisNumber Value i data structure UINT 86 Maual MultiMotio

87 MultiMotio Editor: Cofigurig a Axis SedObject SedObject A SedObject ca be cofigured to sed ecoder iformatio of the iverters cyclically to the MOVI-PLC. This sigal is the further processed i the MOVI-PLC, for example as master sigals for axes i "trackig" or "camig" mode Basic settigs You ca make the followig etries o the "Basic settigs" tab for the "SedObject" operatig mode: [1] [2] [3] [4] [5] [1] Activate Variable umber 7000 Value No: Without SedObject Yes: With SedObject Commet If a SedObject is preset, it is automatically set cyclically. The cycle time correspods to that set i the "TaskPriority". Variable i data structure AxisIterface.Axis[].Cofig.SedObject.Activate Value i data structure BOOLEAN [2] Source Variable umber 7001 Value Ecoder 1:MDX: Motor ecoder (X15) / MX: Ecoder 1 Ecoder 2: MDX: Exteral ecoder (X14) / MX: Ecoder 2 Ecoder 3: MDX: SSI ecoder (via optio card) / MX: ecoder 3 Commet Variable i data structure AxisIterface.Axis[].Cofig.SedObject.Source Value i data structure MC_AxisHadler_Source AXISHANDLER_MOTOR_ENCODER_1 AXISHANDLER_EXTERNAL_ENCODER_2 AXISHANDLER_EXTERNAL_ENCODER_3 [3] Axis type Variable umber 7002 Value Liear: The source is a liear ecoder value Modulo: The source is a modulo ecoder value Commet Variable i data structure AxisIterface.Axis[].Cofig.SedObject.SedObjectType Value i data structure MC_AxisHadler_Source AXISHANDLER_AXISTYPE_LINEAR AXISHANDLER_AXISTYPE_MODULO [3] Referece offset Variable umber 7003 Value Referece offset of the exteral ecoder Commet Variable i data structure AxisIterface.Axis[].Cofig.SedObject.RefereceOffset Value i data structure LREAL Maual MultiMotio 87

88 7 MultiMotio Editor: Cofigurig a Axis SedObject [3] Ecoder resolutio Variable umber 7004 Value Ecoder resolutio i system uits Commet Variable i data structure AxisIterface.Axis[].Cofig.SedObject.EcoderResolutio Value i data structure DINT Example This example illustrates how a exteral ecoder sigal, for example, is set to the MOVI-PLC with SedObject. With the X14-X14 couplig o MOVIDRIVE, the iformatio of the motor ecoder of the master axis (axis 1) is automatically set to the slave axis (axis 2). This meas that from perspective of axis 2 there is a exteral ecoder coected to X14. This ecoder sigal is ow to be set cyclically to the MOVI-PLC. To do so, make the followig cofiguratio o the "SedObject > Basic settigs" tab: Activated: Yes Source: Ecoder User uit You ca make the followig etries o the "User uit" tab for the "SedObject" operatig mode: [1] [2] [3] [4] [5] [6] [7] [1] User uit Variable umber 7100 Value Text, ay user uit with a maximum legth of 40 characters Commet Variable i data structure AxisIterface.Axis[].Cofig.SedObject.Uit Value i data structure STRING (max. 40 characters) [2] Time base Variable umber 7101 Value rpm 1/s Commet Variable i data structure AxisIterface.Axis[].Cofig.SpeedTimeBase Value i data structure UINT [3] Numerator Variable umber 7102 Value Default: 1 Commet Clickig the [Calculatio] butto opes a dialog box where you ca eter the gear uit ratios. You fid more iformatio i chapter "Calculatio widow" (page 89). Variable i data structure AxisIterface.Axis[].Cofig.Numerator Value i data structure DINT [ ] 88 Maual MultiMotio

89 MultiMotio Editor: Cofigurig a Axis Calculatio widow 7 [4] Deomiator Variable umber 7103 Value Default: 1 Commet Clickig the [Calculatio] butto opes a dialog box where you ca eter the gear uit ratios. You fid more iformatio i chapter "Calculatio widow" (page 89). Variable i data structure AxisIterface.Axis[].Cofig.Deomiator Value i data structure DINT [ ] [5] Iteral modulo Variable umber 7106 resolutio Value Default: Commet Variable i data structure AxisIterface.Axis[].Cofig.SedObject.IteralModuloResolutio Value i data structure DINT [ ] [6] Modulo miimum [7] Modulo maximum Variable umber 7104 Value Default: 0 The modulo miimum is always set to ad caot be chaged. Commet Variable i data structure AxisIterface.Axis[].Cofig.SedObject.MiValue Value i data structure LREAL Variable umber 7105 Value Default: Commet Variable i data structure AxisIterface.Axis[].Cofig.SedObject.MaxValue Value i data structure LREAL 7.14 Calculatio widow Clickig the [Calculatio] butto opes a widow where you ca make the followig etries for a liear axis: [1] [2] [3] [4] Numerator ad deomiator are calculated accordig to the followig formula with the greatest commo divisor beig caceled: Numerator / deomiator = i gear uit x i additioal gear uit x resolutio ecoder / shaft revolutio Maual MultiMotio 89

90 7 MultiMotio Editor: Cofigurig a Axis Calculatio widow Clickig the [Calculatio] butto opes a widow where you ca make the followig etries for a modulo axis: [1] [2] [3] [4] Numerator ad deomiator are calculated accordig to the followig formula with the greatest commo divisor beig caceled: Numerator / deoiator = i gear uit x i additioal gear x resolutio ecoder / resolutio modulo X shat revolutio 5/40 = 3/1 1/ / (2 x 20/1) [1] Ecoder resolutio [1] Modulo resolutio [2] i gear uit umerator [2] i gear uit deomiator [2] i additio gear umerator Variable umber Value Commet Default: ( 2 16 ) This is oly a display field. Variable i data structure AxisIterface.Axis[].Cofig.Geeral.EcoderResolutio Value i data structure DINT Variable umber Value Commet Default: ( 2 16 ), correspods to the iteral modulo resolutio for 1 modulo Variable i data structure AxisIterface.Axis[].Cofig.Geeral.IteralModuloResolutio Value i data structure DINT Variable umber Value Numerator for gear uit Commet The value is oly saved i the user iterface ad the xml file. Gear uit stages must be combied. Variable i data structure Value i data structure Variable umber Value Deomiator for gear uit Commet The value is oly saved i the user iterface ad the xml file. Gear uit stages must be combied. Variable i data structure Value i data structure Variable umber Value Numerator for additioal gear Commet The value is oly saved i the user iterface ad the xml file. Variable i data structure Value i data structure 90 Maual MultiMotio

91 MultiMotio Editor: Cofigurig a Axis Calculatio widow 7 [2] i additioal gear deomiator [3] User uit umerator Variable umber Value Deomiator for additioal gear Commet The value is oly saved i the user iterface ad the xml file. Variable i data structure Value i data structure Variable umber Value Numerator to set the ratio for a modulo accordig to the user uit Commet The value is oly saved i the user iterface ad the xml file. Variable i data structure Value i data structure [3] User uit Variable umber deomiator Value Deomiator to set the ratio for a modulo accordig to the user uit Commet The value is oly saved i the user iterface ad the xml file. Variable i data structure Value i data structure [3] User uit factor Variable umber Value Correspods to modulo maximum Commet Variable i data structure Value i data structure [3] User uit Variable umber Value Commet Variable i data structure Value i data structure [4] Numerator Variable umber Value Numerator of the gear ratio as a whole umber Commet Clickig the [Calculatio] butto calculates omiator ad deomiator. Variable i data structure AxisIterface.Axis[].Cofig.Geeral.UserUits.Numerator Value i data structure DINT [4] Deomiator Variable umber Value Deomiator of the gear ratio as a whole umber Commet Clickig the [Calculatio] butto calculates omiator ad deomiator. Variable i data structure AxisIterface.Axis[].Cofig.Geeral.UserUits.Deomiator Value i data structure DINT Chages made to the iput parameters must be applied by clickig the [Calculatio] butto so that umerator ad deomiator are recalculated. After calculatio, you ca close the widow by clickig [OK]. Commet: Whe you chage the set user uits ad the axis is cofigured as master axis, you have to ru the master cofiguratio of the slave axis agai with trackig ad curve mode. The settigs are ot adopted automatically. You fid examples about this topic i chapter "Applicatio examples" (page 127). Maual MultiMotio 91

92 8 MultiMotio Editor: Cofigurig a Cam Track Geeral iformatio 8 MultiMotio Editor: Cofigurig a Cam Track 8.1 Geeral iformatio The MultiMotio package provides a cofigured cam cotroller with 8 tracks i total. The outputs of the MOVI-PLC are used for this purpose. The assigmet betwee tracks ad outputs is fixed: MOVI-PLC Track 1 DIO0 X31.3 X31 Track 2 DIO1 X Track 3 DIO2 X Track 4 DIO3 X Track 5 DIO4 X Track 6 DIO5 X Track 7 DIO6 X31.9 Track 8 DIO7 X31.10 IMPORTANT! Adhere to the istallatio otes i the maual "MOVI-PLC advaced Cotrollers DHE41B/DHF41B/DHR41B". Apply a voltage of +24 V to termial X31.1 ad the relevat referece potetial to termial X31.2. The output of the MOVI-PLC ca be loaded with a maximum of 150 ma. Each track ca be assiged a maximum of 32 cams. The limits are specified i system uits (i.e. icremets) with referece to the assiged master axis. The cam cotroller is processed i the "CamSwitchHadler_Priority" program. This program is called i a cyclic task at a cycle time of 1 ms. This meas the jitter of the cam cotroller is 1 ms. The cam cotroller is processed cyclically with 1 ms. The travel profiles are geerated with a cycle time of 5 ms. If such a travel profile is defied as master sigal of a track, the cam cotroller ca oly operate accurately whe the master sigals are iterpolated accordigly. A liear iterpolatio method is implemeted for this purpose. The positio of the cam of the first track i the cam cotroller ca be modified durig ogoig operatio. To do so, the cofiguratio settigs stored i the global variable "CamSwitchIterface" must be modified. You fid them o the [Ressources] tab i the PLC Editor of the Object Orgaizer i the "AxisCotrol_MultiMotio" library. 92 Maual MultiMotio

93 MultiMotio Editor: Cofigurig a Cam Track Geeral iformatio 8 If the limits of the cam are adjusted as illustrated, the cam will ot switch at the begiig of each cycle but i the middle: Maual MultiMotio 93

94 8 MultiMotio Editor: Cofigurig a Cam Track Basic settigs 8.2 Basic settigs A maximum of 8 cam tracks ca be created i the MultiMotio Editor. Up to 32 cams ca be created for a cam track. I MultiMotio, each cam is etered as a table lie. You ca make the followig basic settigs for a cam track: [1] [2] [3] [4] [5] [6] [8] [7] [1] Track ame Variable umber Value The cam track ca be assiged ay ame without space or apostrophe, ad without the word CamSwitch. Commet Variable i data structure CamSwichIterface.Track[].CamTrackName Value i data structure STRING (max. 40 characters) [2] Dead time Variable umber Value Dead time compesatio for the cam track i μs Commet Settig rage: µs to µs, step width 100 µs Variable i data structure CamSwichIterface.Track[].Cofig.DeadTime Value i data structure DINT [ ] [3] Hysteresis Variable umber Value Hysteresis of the switch poits i icremets Commet If the master accidetally stops o the cam, the hysteresis prevets the drive from permaetly switchig off ad o agai. If a actual value jitters about the startup trasitio of a cam, the switchig result jitters as well. To elimiate this usually udesired behavior, each cam track has a hysteresis value. This value specifies a widow aroud the active switchig trasitio, e.g. left cam limit value - hysteresis to left cam limit value + hysteresis. This widow is determied ad activated oce the switchig results of a track have bee chaged. As log as the value of the data source is i this widow, the track is ot re-evaluated. The limit values are withi the hysteresis widow. Variable i data structure CamSwichIterface.Track[].Cofig.Hysteresis Value i data structure DINT [ ] 94 Maual MultiMotio

95 MultiMotio Editor: Cofigurig a Cam Track Basic settigs 8 [4] Master source Variable umber Value User program: The master source is assiged i the user program. Cofigured axis: The master source is the setpoit positio of a cofigured axis. The setpoit positio is always assiged i basic uits (icremets). You the have to set the respective axis i the list box of the "Master axis" parameter. SedObject: The master source is set cyclically by a cofigured axis (e.g. a exteral ecoder coected to a iverter of this axis). Commet Whe the master source is assiged i the user program, the correspodig assigmet to the variable "CamSwitchIterface.Track[].I.MasterPositio" must be programmed. This assigmet must be processed i the same cycle as the profile geeratio, that is i the "TaskPriority" task. You ca use the followig programs for this purpose: Axis_UserProgram_TaskPriority PRG_TaskPriority SedObject_UserProgram_TaskPriorit Variable i data structure CamSwitchIterface.Track[].MasterSource Value i data structure MC_AxisHadler_MasterSource: AXISHANDLER_MASTERSOURCE_USERPROGRAM AXISHANDLER_MASTERSOURCE_CONFIGUREDAXIS AXISHANDLER_MASTERSOURCE_EXTERNALENCODER [5] Master axis Variable umber Value Whe you have selected "cofigured axis" from the "Master source" list box, you have to set the respective axis here. Commet Variable i data structure CamSwitchIterface.Track[].MasterAxisNumber Value i data structure UINT [6] Axis type Variable umber Value Liear axis: fiite travel rage Modulo axis: ifiite travel rage (turig edlessly) with recurrig value rage. Whe selectig a modulo axis, the modulo miimum ad maximum must be set. Commet The parameter is oly displayed whe "Cofigured axis" or "SedObject" is selected i the "Master source" list box. I both cases, the cofiguratio defies the axis types. The axis type must oly be specified whe "User program" was selected. Variable i data structure CamSwitchIterface.Track[].Cofig.CompareMode Value i data structure T_CamTrackCompareMode (UINT): ecamtrackcmpmode_stadard ecamtrackcmpmode_modulo [7] Modulo Variable umber miimum Value Commet Oly eeds to be set for a modulo axis whe the master is assiged by the user program. With a liear axis, o settig is required. The value is automatically assiged whe a master axis was cofigured. Variable i data structure CamSwitchIterface.Track[].Cofig.MiModuloValue Value i data structure DINT [ ] [8] Modulo Variable umber maximum Value Commet Oly eeds to be set for a modulo axis whe the master is assiged by the user program. With a liear axis, o settig is required. The value is automatically assiged whe a master axis was cofigured. Variable i data structure CamSwitchIterface.Track[].Cofig.MaxModuloValue Value i data structure DINT [ ] Maual MultiMotio 95

96 8 MultiMotio Editor: Cofigurig a Cam Track Track data 8.3 Track data I the table below, you fid a etry as table lie for each cam. Up to 32 cams ca be created for a cam track. You ca make the followig settigs for a cam: [1] [2] [3] [1] Limit left Variable umber Value Left switchig poit Commet Variable i data structure CamSwitchIterface.Track[].Cofig.aCamData[].32LeftLimit Value i data structure DINT [ ] [2] Limit right Variable umber Value Right switchig poit Commet Variable i data structure CamSwitchIterface.Track[].Cofig.aCamData[].32RightLimit Value i data structure DINT [ ] [3] Activatio directio Variable umber Value Both: Switchig poits take effect i both directios Positive: Effective directio of switchig poits for left "o" ad right "off" Negative: Effective directio of switchig poits for right "o" ad left "off" Off: Cam is disabled Commet Variable i data structure CamSwitchIterface.Track[].Cofig.aCamData[].activatioDirectio Value i data structure CAM_DIRECTION_OFF CAM_DIRECTION_LEFT CAM_DIRECTION_RIGHT CAM_DIRECTION_BOTH You fid a example of cam tracks i chapter "Applicatio examples" (page 127). 96 Maual MultiMotio

97 MultiMotio Editor: Dowload User iterface 9 9 MultiMotio Editor: Dowload 9.1 User iterface The "Dowload" scree of the MultiMotio Editor looks as follows: [1] [2] [3] [1] [Save cofiguratio] ico Clickig this butto lets you save the cofiguratio as a zip file o your computer. You fid more iformatio i the ext chapter (page 97). [2] [Dowload] butto This butto lets you load the cofiguratio either with or without firmware to the SD card i the MOVI-PLC. You fid more iformatio i the ext chapter (page 98). [3] "Firmware dowload" group Idicates the firmware versio of the MOVI-PLC. The radio buttos let you choose whether the firmware is to be loaded with the cofiguratio o the SD card i the MOVI- PLC. 9.2 Savig the cofiguratio o your PC I the MultiMotio Editor, you ca save the cofiguratio for axes ad the cam cotroller as a zip file o your PC. Proceed as follows to do so: 1. Perform the cofiguratio. 2. Ope the "Dowload" sectio. 3. Click the [ Save cofiguratio] ico [1]. A widow opes. 4. Eter a ame with the madatory file extesio ".MultiMotio.zip" ad a storage locatio, ad cofirm your etries. The file extesio ".MultiMotio.zip" is created automatically. IMPORTANT: Observe chapter "MultiMotio Editor: Cofiguratio i geeral > File storage" (page 42). You ca reame the zip file ad i this way create several cofiguratios i oe project. Maual MultiMotio 97

98 9 MultiMotio Editor: Dowload Savig the cofiguratio o the SD card i MOVI-PLC 9.3 Savig the cofiguratio o the SD card i MOVI-PLC CAUTION Dowload while the plat is ruig. Ijury ad damage to property. Set the plat to a safe state. Log out of the PLC Editor I the MultiMotio Editor, you ca save the cofiguratio for axes ad the cam cotroller o the SD card i the MOVI-PLC. The MultiMotio Editor uses the symbol files of the PLC project whe accessig the MOVI-PLC. The are geerated after you have created the project, compiled it, ad loaded it to the MOVI-PLC. You ca choose whether you wat to load the firmware to the MOVI-PLC with the cofiguratio. The firmware dowload is usually ot required because the MOVI-PLC is geerally delivered with the proper firmware. The miimum required versio is displayed ad queried uder "Dowload". Do the followig to save the cofiguratio: 1. Perform the cofiguratio. 2. Ope the "Dowload" sectio. 3. I the "Firmware dowload" [3] group, choose whether you wat to load the firmware to the MOVI-PLC i additio to the cofiguratio. IMPORTANT: The MultiMotio Editor deletes all the files ad cofiguratios o the MOVI-PLC whe dowloadig firmware. The firmware dowload ca take several miutes. 4. To save the cofiguratio o the SD card i the MOVI-PLC, click the [Dowload] butto [2]. IMPORTANT: Observe chapter "MultiMotio Editor: Cofiguratio i geeral > File storage" (page 42). I MotioStudio, you ca ope ad edit the files o the MOVI-PLC by makig a right mouse click o the MOVI-PLC etry i the etwork view ad choosig [Diagostics > File System Moitor] from the cotext meu. 5. The MOVI-PLC has to be restarted to process the ew cofiguratio data after the dowload. This is why there is a accordig query before the cofiguratio is saved. 6. After successful dowload ad restart of the MOVI-PLC, you ca switch to "Moitor". 98 Maual MultiMotio

99 MultiMotio Editor: Moitor Overview MultiMotio Editor: Moitor 10.1 Overview The [Overview] tab provides a overall view of the cofigured system. [1] [2] [3] [4] [1] Coectio status Idicates the coectio status of the software with MOVI- PLC. [2] Tabs Use the tabs to jump back ad forth betwee the moitor sectios: Overview Diagostics Trace Advaced diagostics [3] Axes Shows all the cofigured axes. Axes that are disabled i the cofiguratio are show without axis ame. [4] System clock Shows the system clock of the MOVI-PLC. Clickig the [Set] butto opes a widow where you ca set the time ad date ad write it to the cotroller. Maual MultiMotio 99

100 10 MultiMotio Editor: Moitor Diagostics 10.2 Diagostics The [Diagostics] tab lets you view diagostics data of a axis or cam cotroller ad cotrol them by eablig iputs User iterface The [Diagostics] tab looks as follows: [1] [2] [3] [4] [5] [6] [7] [1] Coectio status Idicates the coectio status of the software with the MOVI- PLC. [2] Tabs Use the tabs to jump back ad forth betwee the moitor sectios: Overview Diagostics Trace Advaced diagostics [3] Edit bar The edit bar provides the followig icos from left to right to perform the followig fuctios: [Moitor active / Cotrol active] butto: Here you ca toggle betwee moitor ad cotrol mode. Refer to chapter "Moitor ad cotrol mode" (page 101) for more iformatio. Clickig the [Reset] ico lets you ackowledge a axis or module error. Clickig the [Stop] ico lets you stop all axes at the same time. [4] Overview bar of axes/cam tracks The overview bar shows all the cofigured axes ad cam tracks of the cam cotroller. If you select a elemet i this overview, all the iformatio available for this elemet will be displayed i the right-had area. [5] Settigs for axes/cam tracks Here you ca view the diagostics data of a selected axis ad cotrol them. 100 Maual MultiMotio

101 MultiMotio Editor: Moitor Diagostics 10 [6] Iputs The first half displays the iputs of a selected axis or cam track. [7] Outputs The secod half displays the outputs of a selected axis or cam track Moitor ad cotrol mode Two operatig modes are available for diagostics purposes: Moitor mode: Moitor mode displays the diagostics data of the selected axes/ cam tracks. The moitor oly has read access to the respective iterfaces. [Moitor active] is idicated o the top left-had butto whe you are i moitor mode. Clickig this butto lets you chage to cotrol mode. IMPORTANT: The system must be i a safe coditio whe chagig to cotrol mode. You have to cofirm a relevat message. I moitor mode, the bit "AxisHadler.HMI.HMICotrol" is reset i the global variable structure. Cotrol mode: I cotrol mode, the moitor has write ad read access to the iterfaces of axes/cam tracks. It is possible to set or reset cotrol sigals directly o the iterface ad to set variable values, such as positio or velocity. [Cotrol active] is idicated o the top left-had butto whe you are i cotrol mode. Clickig this butto lets you chage to moitor mode agai. Before you ca exit the moitor area to chage to the cofiguratio area, for example, you have to disable cotrol mode agai. Whe cotrol mode is active, the bit "AxisHadler.HMI.HMICotrol" is set i the global variable structure. Observe the followig poits whe programmig the user program: I cotrol mode, there is a coflict whe accessig the iterface of axes/cam tracks because both the user program ad the moitor perform a write operatio to the iterface. The sigals from the moitor might be overwritte by the cyclic processig of the user program. As a result, cotrol is o loger possible. There are two ways to avoid this coflict: Whe programmig the user program, the write access to the iterface of a axis/ cam track is performed directly by allocatio to the relevat variable. These allocatios should be processed coditioally by queryig the bit "AxisHadler.HMI.HMICotrol". Whe programmig the user program, the access to the iterface of a axis is performed idirectly via so-called iterface program orgaizatio uits (POUs). These POUs evaluate the "AxisHadler.HMI.HMICotrol" bit iterally ad oly assig values to the iterface whe the bit is ot set, that is whe cotrol mode is disabled. You fid examples about this topic i chapter "Applicatio examples" (page 127). Maual MultiMotio 101

102 10 MultiMotio Editor: Moitor Diagostics The followig diagram depicts cotrol mode ad how the iterface POUs are used: Iterface module Cotrol program User program MOVITOOLS MotioStudio MultiMotio Editor Diagostics (Moitor ad cotrol mode) AxisHadler.HMI.HMICotrol I AxisIterface.Axis[] Out Axis[] MultiMotio program Maual MultiMotio

103 MultiMotio Editor: Moitor Axis diagostics Axis diagostics Geeral iformatio The followig iputs ad outputs are available for geeral axis fuctios: [1] [4] [2] [3] [5] [6] [7] [1] / [4] Geeral iputs ad outputs [1] Iputs: AxisIterface.Axis[].I.Geeral Name Type Meaig IverterIhibit BOOLEAN Activate cotroller ihibit Eable_RapidStop BOOLEAN Eable axis Whe you disable the iput, the axis is stopped usig the set rapid stop ramp. Eable_Stop BOOLEAN Axis eabled Whe you disable the iput, the axis is stopped usig the set stop ramp. Reset BOOLEAN Ackowledge axis error with positive edge IgoreSoftware- LimitSwitch BOOLEAN Disable software limit switches ModuloMode MC_MODULO_MODE MODULO_OFF: Modulo disabled MODULO_SHORT: Shortest distace MODULO_CW: Clockwise MODULO_CCW: Couterclockwise MODULO_RELATIVE: Oly permitted i "PositioigRelative" axis mode. The directio is CW whe the target positio is positive, ad CCW whe it is egative. AxisMode MC_AXISHANDLER_- AXISMODE For more iformatio, refer to chapter "Iputs "AxisMode" / outputs "ActualAxisMode"" (page 104). [4] Outputs: AxisIterface.Axis[].Out.Geeral Name Type Meaig FBError BOOLEAN Module error durig executio FBErrorID DWORD See global variable error idetifier Library_11_System\MPLCSytem_ErrorCode [5] Outputs: AxisIterface.Axis[].Out.Geeral Other outputs are displayed i MultiMotio Editor but ot i the POU. Name Type Meaig Coected BOOLEAN Axis is coected with the MOVI-PLC. Data betwee axis ad MOVI-PLC are oly exchaged whe the coectio has bee established. Powered BOOLEAN Axis is powered IGear BOOLEAN Axis has egaged (display i "camig" ad "trackig" modes) SWLS_Positive BOOLEAN Positive software limit switch hit Maual MultiMotio 103

104 10 MultiMotio Editor: Moitor Axis diagostics [5] Outputs: AxisIterface.Axis[].Out.Geeral Name Type Meaig SWLS_Negative BOOLEAN Negative software limit switch hit UserUits / BasicUits (Setpoit) ActualAxisMode ST_AXISHANDLER_GEN ERAL_SETPOINT MC_AXISHANDLER_AXIS MODE [5] Outputs: AxisIterface.Axis[].Out.Geeral.IverterData Name Type Meaig Refereced BOOLEAN Axis is refereced Error BOOLEAN Iverter error is displayed [5] Outputs: AxisIterface.Axis[] Name Type Meaig Drive Type MC_AXISHANDLER_DRIV ETYPE Drive type is displayed [5] Outputs: AxisIterface.Axis[].Cofig.Geeral Name Type Meaig Axis type MC_AXISHANDLER_AXIS The set axis type is displayed TYPE For more iformatio, refer to chapter "Outputs "BasisUit" / outputs "UserUit"" (page 106). For more iformatio, refer to chapter "Iputs "AxisMode" / outputs "ActualAxisMode"" (page 104). [2] / [7] Iputs "AxisMode" / outputs "ActualAxisMode" Select the required operatig mode from the "AxisMode" list box, for example positioig. This mode is writte to the variable "AxisIterface.Axis[].I.Geeral.AxisMode". You ca select various modes at the same time ad overlay them i this way. A exceptio is "homig" mode. This mode ca oly be selected if o other mode is active. The "ActualAxisMode" field displays the curretly active operatig mode. It is read from the variable "AxisIterface.Axis[].Out.Geeral.ActualAxisMode". The file type of variables "AxisIterface.Axis[].I.Geeral.AxisMode" [2] ad "AxisIterface.Axis[].Out.Geeral.ActualAxisMode" [7] is MC_AxisHadler_AxisMode. This type is a eumeratio with the values listed i the followig table: Type: MC_AxisHadler_AxisMode Eumeratio Biary Dec AXISHANDLER_AM_DEFAULT 2#0000_0000_0000_ AXISHANDLER_AM_USER_PROGRAM 2#0000_0000_0000_ AXISHANDLER_AM_HOMING 2#0000_0000_0000_ AXISHANDLER_AM_VELOCITY 2#0000_0000_0000_ AXISHANDLER_AM_POSITIONING 2#0000_0000_0000_ AXISHANDLER_AM_VEL_POS 2#0000_0000_0000_ AXISHANDLER_AM_POSITIONINGRELATIVE 2#0000_0000_0001_ AXISHANDLER_AM_VEL_REL 2#0000_0000_0001_ AXISHANDLER_AM_POS_REL 2#0000_0000_0001_ AXISHANDLER_AM_VEL_POS_REL 2#0000_0000_0001_ AXISHANDLER_AM_JOG 2#0000_0000_0010_ AXISHANDLER_AM_VEL_JOG 2#0000_0000_0010_ AXISHANDLER_AM_POS_JOG 2#0000_0000_0010_ AXISHANDLER_AM_VEL_POS_JOG 2#0000_0000_0010_ AXISHANDLER_AM_REL_JOG 2#0000_0000_0011_ Maual MultiMotio

105 MultiMotio Editor: Moitor Axis diagostics 10 Type: MC_AxisHadler_AxisMode Eumeratio Biary Dec AXISHANDLER_AM_VEL_REL_JOG 2#0000_0000_0011_ AXISHANDLER_AM_POS_REL_JOG 2#0000_0000_0011_ AXISHANDLER_AM_VEL_POS_REL_JOG 2#0000_0000_0011_ AXISHANDLER_AM_CAMING 2#0000_0000_0100_ AXISHANDLER_AM_VEL_CAM 2#0000_0000_0100_ AXISHANDLER_AM_POS_CAM 2#0000_0000_0100_ AXISHANDLER_AM_VEL_POS_CAM 2#0000_0000_0100_ AXISHANDLER_AM_REL_CAM 2#0000_0000_0101_ AXISHANDLER_AM_VEL_REL_CAM 2#0000_0000_0101_ AXISHANDLER_AM_POS_REL_CAM 2#0000_0000_0101_ AXISHANDLER_AM_VEL_POS_REL_CAM 2#0000_0000_0101_ AXISHANDLER_AM_JOG_CAM 2#0000_0000_0110_ AXISHANDLER_AM_VEL_JOG_CAM 2#0000_0000_0110_ AXISHANDLER_AM_POS_JOG_CAM 2#0000_0000_0110_ AXISHANDLER_AM_VEL_POS_JOG_CAM 2#0000_0000_0110_ AXISHANDLER_AM_REL_JOG_CAM 2#0000_0000_0111_ AXISHANDLER_AM_VEL_REL_JOG_CAM 2#0000_0000_0111_ AXISHANDLER_AM_POS_REL_JOG_CAM 2#0000_0000_0111_ AXISHANDLER_AM_VEL_POS_REL_JOG_CAM 2#0000_0000_0111_ AXISHANDLER_AM_TRACKING 2#0000_0000_1000_ AXISHANDLER_AM_VEL_TRACK 2#0000_0000_1000_ AXISHANDLER_AM_POS_TRACK 2#0000_0000_1000_ AXISHANDLER_AM_VEL_POS_TRACK 2#0000_0000_1000_ AXISHANDLER_AM_REL_TRACK 2#0000_0000_1001_ AXISHANDLER_AM_VEL_REL_TRACK 2#0000_0000_1001_ AXISHANDLER_AM_POS_REL_TRACK 2#0000_0000_1001_ AXISHANDLER_AM_VEL_POS_REL_TRACK 2#0000_0000_1001_ AXISHANDLER_AM_JOG_TRACK 2#0000_0000_1010_ AXISHANDLER_AM_VEL_JOG_TRACK 2#0000_0000_1010_ AXISHANDLER_AM_POS_JOG_TRACK 2#0000_0000_1010_ AXISHANDLER_AM_VEL_POS_JOG_TRACK 2#0000_0000_1010_ AXISHANDLER_AM_REL_JOG_TRACK 2#0000_0000_1011_ AXISHANDLER_AM_VEL_REL_JOG_TRACK 2#0000_0000_1011_ AXISHANDLER_AM_POS_REL_JOG_TRACK 2#0000_0000_1011_ AXISHANDLER_AM_VEL_POS_REL_JOG_TRACK 2#0000_0000_1011_ AXISHANDLER_AM_CAM_TRACK 2#0000_0000_1100_ AXISHANDLER_AM_VEL_CAM_TRACK 2#0000_0000_1100_ AXISHANDLER_AM_POS_CAM_TRACK 2#0000_0000_1100_ AXISHANDLER_AM_VEL_POS_CAM_TRACK 2#0000_0000_1100_ AXISHANDLER_AM_REL_CAM_TRACK 2#0000_0000_1101_ AXISHANDLER_AM_VEL_REL_CAM_TRACK 2#0000_0000_1101_ AXISHANDLER_AM_POS_REL_CAM_TRACK 2#0000_0000_1101_ AXISHANDLER_AM_VEL_POS_REL_CAM_TRACK 2#0000_0000_1101_ AXISHANDLER_AM_JOG_CAM_TRACK 2#0000_0000_1110_ AXISHANDLER_AM_VEL_JOG_CAM_TRACK 2#0000_0000_1110_ AXISHANDLER_AM_POS_JOG_CAM_TRACK 2#0000_0000_1110_ Maual MultiMotio 105

106 10 MultiMotio Editor: Moitor Axis diagostics Type: MC_AxisHadler_AxisMode Eumeratio Biary Dec AXISHANDLER_AM_VEL_POS_JOG_CAM_TRACK 2#0000_0000_1110_ AXISHANDLER_AM_REL_JOG_CAM_TRACK 2#0000_0000_1111_ AXISHANDLER_AM_VEL_REL_JOG_CAM_TRACK 2#0000_0000_1111_ AXISHANDLER_AM_POS_REL_JOG_CAM_TRACK 2#0000_0000_1111_ AXISHANDLER_AM_VEL_POS_REL_JOG_CAM_TRACK 2#0000_0000_1111_ AXISHANDLER_AM_VELOCITYSWITCH 2#0000_0001_0000_ [6] Outputs "BasisUit" / outputs "UserUit" The [User Uit] ad [Basic Uit] tabs show the followig values: Whe the axis is eabled: the setpoit positios of the travel profile geerated o the MOVI-PLC ad the resultig setpoit velocities. Whe the axis is disabled: the relevat actual values The [User Uit] tab shows the positio i the selected user uit ad the velocity i the user uit i relatio to the set time base. The [Basic Uit] tab shows the positio i motor icremets ad the velocity i revolutios per miute. The axis seds the actual positio cyclically to the MOVI-PLC. However, this does ot happe at the same time iterval as sedig the setpoits so the bus is ot affected uecessarily. The time iterval for sedig the setpoits is set to 5 ms by default, which correspods to the cycle time of the "TaskPriority" i which the profiles are geerated. The time iterval for sedig the actual values is set via the "Refresh time" of the cotrol cofiguratio (default: 10 ms). [6] Outputs: AxisIterface.Axis[].Out.Geeral.Setpoit.BasicUits Name Type Meaig Positio DINT Setpoit positio displayed i system uits PositioModulo DINT Setpoit modulo positio displayed i system uits Velocity LREAL Velocity displayed i system uits Acceleratio LREAL Acceleratio displayed i system uits [6] Outputs: AxisIterface.Axis[].Out.Geeral.Setpoit.UserUits Name Type Meaig Positio LREAL Setpoit positio displayed i user uits PositioModulo LREAL Setpoit modulo positio displayed i user uits Velocity LREAL Velocity displayed i user uits Acceleratio LREAL Acceleratio displayed i user uits 106 Maual MultiMotio

107 MultiMotio Editor: Moitor Axis diagostics 10 Startig axis Do the followig to start a axis: 1. Switch to cotrol mode by clickig the [Moitor active] butto. You have ow switched to cotrol mode ad the butto idicates [Cotrol active]. 2. Eable the axis by eablig the iputs "Eable/RapidStop" ad "Eable/Stop". IMPORTANT: The axis must be eabled at the termials! The "Iv.Ihibit" iput must ot be eabled. The "Powered" output is eabled. 3. With a modulo axis, you have to set the correspodig modulo mode. You ca select oe of the followig optios: OFF: The modulo fuctio is disabled. Short: The axis moves to the specified positio usig the shortest distace. Oly oe positio is permitted withi the modulo rage. You must ot eter the modulo maximum. The error code is hexf60015 "Target positio ot withi permitted rage". (Modulo miimum setpoit positio > modulo maximum) CW: The positio is approached i clockwise directio. (Modulo miimum setpoit positio > modulo maximum) CCW: The positio is approached i couterclockwise directio. (Modulo miimum setpoit positio > modulo maximum) RELATIVE: Oly permitted i "PositioigRelative" axis mode. The directio is CW whe the target positio is positive, ad CCW whe it is egative. 4. Choose the required axis mode from the "AxisMode" list box. The "ActualAxisMode" field displays the curretly active mode. You ca overlay various modes. A exceptio is "homig" mode. This mode ca oly be selected if o other mode is active. Maual MultiMotio 107

108 10 MultiMotio Editor: Moitor Axis diagostics Homig The followig iputs ad outputs are available for "homig" mode: [1] [2] [1] Iputs: AxisIterface.Axis[].I.Homig Name Type Meaig Start BOOLEAN Start job of module with risig edge [2] Outputs: AxisIterface.Axis[].Out.Homig Name Type Meaig Doe BOOLEAN Referece travel fiished Active BOOLEAN Module activated Stopped BOOLEAN Axis is stopped FBError BOOLEAN Module error durig executio FBErrorID DWORD See global variable error idetifier Library_11_System\MPLCSytem_ErrorCode Do the followig to start a axis i "homig" mode: 1. Switch to cotrol mode by clickig the [Moitor active] butto. You have ow switched to cotrol mode ad the butto idicates [Cotrol active]. 2. Eable the axis by eablig the iputs "Eable/RapidStop" ad "Eable/Stop". IMPORTANT: The axis must be eabled at the termials! The "Powered" output is eabled. 3. Choose "Homig" from the "AxisMode" list box. The axis goes to "homig" axis mode. The output is eabled i the "ActualAxisMode" field. 4. Start the axis mode by eablig the "Start" iput. Referece travel starts. Oce the fuctio is fiished, the "Doe" output is eabled. The positio of the axis chages to the referece positio. 108 Maual MultiMotio

109 MultiMotio Editor: Moitor Axis diagostics Velocity The followig iputs ad outputs are available for "velocity" mode: [1] [2] [1] Iputs: AxisIterface.Axis[].I.Velocity Name Type Meaig Start BOOLEAN Start job of POU with risig edge RapidStop BOOLEAN Activate rapid stop of the axis Velocity LREAL Specified velocity [UserUit/mi] or [UserUit/s]. Chagig the iput value whe the module is active will apply directly. Acceleratio LREAL Acceleratio ramp [UserUit/(mi*s)] or [UserUit/s 2 ]. Chagig the iput value whe the module is active will apply directly. Deceleratio LREAL Deceleratio ramp [UserUit/(mi*s)] or [UserUit/s 2 ]. Chagig the iput value whe the module is active will apply directly. Jerk LREAL Jerk [UserUit/(mi*s 2 )] or [UserUit/s 3 ]. Chagig the iput value whe the module is active will apply directly. [2] Outputs: AxisIterface.Axis[].Out.Velocity Name Type Meaig IVelocity BOOLEAN Velocity reached / axis turs at specified speed Active BOOLEAN Module activated Stopped BOOLEAN Axis is stopped FBError BOOLEAN Module error durig executio FBErrorID DWORD See global variable error idetifier Library_11_System\MPLCSytem_ErrorCode Do the followig to start the axis i "velocity" mode: 1. Switch to cotrol mode by clickig the [Moitor active] butto. You have ow switched to cotrol mode ad the butto idicates [Cotrol active]. 2. Eable the axis by eablig the iputs "Eable/RapidStop" ad "Eable/Stop". IMPORTANT: The axis must be eabled at the termials! The "Powered" output is eabled. 3. Choose "Velocity" from the "AxisMode" list box. The axis goes to "velocity" axis mode. The output is eabled i the "ActualAxisMode" field. 4. Set the dyamic parameters. The velocity ad the ramps must be specified to have the axis tur. The uit used for the ramps depeds o the cofiguratio. Not a ramp time but a ramp value is etered. Jerk is the chage i time of the acceleratio, the 2d temporal derivatio of the velocity, or the 3rd temporal derivatio of the distace. Jerk limitatio ca be selected Maual MultiMotio 109

110 10 MultiMotio Editor: Moitor Axis diagostics with the variable "jerk". Jerk limitatio is disabled whe 0 is etered. Whe activatig jerk, it is recommeded to begi with high values as the travel profile exteds accordigly. 5. Start the axis mode by eablig the "Start" iput. The movemet starts. Oce the axis has reached its velocity, the output "I Velocity" is activated. The actual positio ad velocity are displayed i user uits ad i icremets (basic uit). The "RapidStop" iput ca be used to iterrupt the movemet Positioig The followig iputs ad outputs are available for "positioig" mode: [1] [2] [1] Iputs: AxisIterface.Axis[].I.Positioig Name Type Meaig Start BOOLEAN Start job of POU with risig edge Whe the "start" iput is disabled durig ogoig positioig, the positioig process is iterrupted. The axis stops usig the set deceleratio ramp. RapidStop BOOLEAN Activate rapid stop of the axis Positio LREAL Specified positio [UserUit]. If the positio is chaged durig ogoig positioig while the "start" iput is active, the ew positio will be approached. Velocity LREAL Specified velocity [UserUit/mi] or [UserUit/s]. Chagig the iput value whe the module is active will apply directly. Acceleratio LREAL Acceleratio ramp [UserUit/(mi*s)] or [UserUit/s 2 ]. Chagig the iput value whe the module is active will apply directly. Deceleratio LREAL Deceleratio ramp [UserUit/(mi*s)] or [UserUit/s 2 ]. Chagig the iput value whe the module is active will apply directly. Jerk LREAL Jerk [UserUit/(mi*s 2 )] or [UserUit/s 3 ]. Chagig the iput value whe the module is active will apply directly. [2] Outputs: AxisIterface.Axis[].Out.Positioig Name Type Meaig IPositio BOOLEAN The axis has reached the specified target positio Active BOOLEAN Module activated Stopped BOOLEAN Axis is stopped FBError BOOLEAN Module error durig executio FBErrorID DWORD See global variable error idetifier Library_11_System\MPLCSytem_ErrorCode 110 Maual MultiMotio

111 MultiMotio Editor: Moitor Axis diagostics 10 Do the followig to start the axis i "positioig" mode: 1. Switch to cotrol mode by clickig the [Moitor active] butto. You have ow switched to cotrol mode ad the butto idicates [Cotrol active]. 2. Eable the axis by eablig the iputs "Eable/RapidStop" ad "Eable/Stop". IMPORTANT: The axis must be eabled at the termials! The "Powered" output is eabled. 3. Select the required value for a module axis from the "Modulo mode" list box. The etry is madatory. You have the followig optios: OFF: Ivalid settig Short: The axis moves to the specified positio usig the shortest distace. Oly oe positio is permitted withi the modulo rage. You must ot eter the modulo maximum. The error code is hexf60015 "Target positio ot withi permitted rage". (Modulo miimum setpoit positio > modulo maximum) CW: The positio is approached i clockwise directio. (Modulo miimum setpoit positio > modulo maximum) CCW: The positio is approached i couterclockwise directio. (Modulo miimum setpoit positio > modulo maximum) RELATIVE: The etry is ot permitted for this operatio mode. The error code is hexfa0071 "ivalid selectio". 4. Choose "Positioig" from the "AxisMode" list box. The axis goes to "positioig" axis mode. The output is eabled i the "ActualAxis- Mode" field. 5. Set the dyamic parameters. The velocity, the ramps, ad a target positio must be specified to have the axis tur. Jerk limitatio ca be activated by eterig the jerk value i the "jerk" parameter. 6. Start the axis mode by eablig the "Start" iput. The movemet starts. Oce the axis has reached its positio, the output "I Positio" is activated. The actual positio ad velocity are displayed i user uits ad i icremets (basic uit). You ca iterrupt positioig by eablig the "RapidStop" iput. Positioig is cotiued oce you disable the "RapidStop" iput. You ca chage the positio whe the mode is eabled ad the "Start" iput is set. It is approached i a absolute maer accordig to modulo mode. Chagig parameters (e.g. positio) whe the "Start" iput is eabled takes effect immediately. This meas the axis positios to aother positio. Maual MultiMotio 111

112 10 MultiMotio Editor: Moitor Axis diagostics PositioigRelative The followig iputs ad outputs are available for "PositioigRelative" mode: [1] [2] [1] Iputs: AxisIterface.Axis[].I.PositioigRelative Name Type Meaig Start BOOLEAN Start job of POU with risig edge Whe the "start" iput is disabled durig ogoig positioig, the positioig process is iterrupted. The axis stops usig the set deceleratio ramp. If the "Start" iput is eabled agai, the distace is covered relative to the curret positio. RapidStop BOOLEAN Activate rapid stop of the axis Distace LREAL Positio differece [UserUit]. Chagig the distace durig ogoig positioig while the "start" iput is active does ot have ay effect. The ew positio is oly adopted with the positive edge of the "start" iput. Velocity LREAL Specified velocity [UserUit/mi] or [UserUit/s]. Chagig the iput value whe the module is active will apply directly. Acceleratio LREAL Acceleratio ramp [UserUit/(mi*s)] or [UserUit/s 2 ]. Chagig the iput value whe the module is active will apply directly. Deceleratio LREAL Deceleratio ramp [UserUit/(mi*s)] or [UserUit/s 2 ]. Chagig the iput value whe the module is active will apply directly. Jerk LREAL Jerk [UserUit/(mi*s 2 )] or [UserUit/s 3 ]. Chagig the iput value whe the module is active will apply directly. [2] Outputs: AxisIterface.Axis[].Out.PositioigRelative Name Type Meaig IPositio BOOLEAN The axis has reached the specified target positio Active BOOLEAN Module activated Stopped BOOLEAN Axis is stopped FBError BOOLEAN Module error durig executio FBErrorID DWORD See global variable error idetifier Library_11_System\MPLCSytem_ErrorCode 112 Maual MultiMotio

113 MultiMotio Editor: Moitor Axis diagostics 10 Do the followig to start the axis i "PositioigRelative" mode: 1. Switch to cotrol mode by clickig the [Moitor active] butto. You have ow switched to cotrol mode ad the butto idicates [Cotrol active]. 2. Eable the axis by eablig the iputs "Eable/RapidStop" ad "Eable/Stop". IMPORTANT: The axis must be eabled at the termials! The "Powered" output is eabled. 3. Select the required value for a module axis from the "Modulo mode" list box. The etry is madatory. I "PositioigRelative" axis mode, positios ca be specified beyod the modulo cyle. You have the followig optios: OFF: Ivalid settig Short: The etry is ot permitted for this operatio mode. The error code is hexfa0071 "ivalid selectio". CW: Positive ad egative values are approached i clockwise directio. The sig is igored. CCW: Positive ad egative values are approached i couterclockwise directio. The sig is igored. RELATIVE: Positive values are approached i clockwise directio ad egative values i couterclockwise directio. The sig is evaluated. 4. Choose "PositioigRelative" from the "AxisMode" list box. The axis goes to "PositioigRelative" axis mode. The output is eabled i the "ActualAxisMode" field. 5. Set the dyamic parameters. The velocity, the ramps, ad a target positio must be specified to have the axis tur. Jerk limitatio ca be activated by eterig the jerk value i the "jerk" parameter. 6. Start axis mode by eablig the "Start" iput. The movemet starts. Oce the axis has reached its positio, the output "I Positio" is eabled. The actual positio ad velocity are displayed i user uits ad i icremets (basic uit). Whe chagig the positio, the axis does ot move. The movemet is always started with the "start" iput. The movemet is carried out relative to the curret positio. This meas, if the positio is set to 1 cycle (modulo mode = CW), the axis moves forward by oe cycle each time the "start" iput is eabled. The "start" iput must be eabled util the movemet is fiished. It is recommeded to query the "IPositio" bit. You ca iterrupt positioig by eablig the "RapidStop" iput. Positioig is cotiued oce you disable the "RapidStop" iput. Maual MultiMotio 113

114 10 MultiMotio Editor: Moitor Axis diagostics Jog The followig iputs ad outputs are available for "jog" mode: [1] [2] [1] Iputs: AxisIterface.Axis[].I.Jog Name Type Meaig JogPos BOOLEAN Start job of POU with risig edge The axis moves i positive directio with the set dyamic parameters. Whe the iput is revoked, the axis stops accordig to the set deceleratio ramp. JogNeg BOOLEAN Start job of POU with risig edge. The axis moves i egative directio with the set dyamic parameters. Whe the iput is revoked, the axis stops accordig to the set deceleratio ramp. RapidStop BOOLEAN Activate rapid stop of the axis Velocity LREAL Specified velocity [UserUit/mi] or [UserUit/s]. Chagig the iput value whe the module is active will apply directly. Acceleratio LREAL Acceleratio ramp [UserUit/(mi*s)] or [UserUit/s 2 ]. Chagig the iput value whe the module is active will apply directly. Deceleratio LREAL Deceleratio ramp [UserUit/(mi*s)] or [UserUit/s 2 ]. Chagig the iput value whe the module is active will apply directly. Jerk LREAL Jerk [UserUit/(mi*s 2 )] or [UserUit/s 3 ]. Chagig the iput value whe the module is active will apply directly. [2] Outputs: AxisIterface.Axis[].Out.Jog Name Type Meaig Doe BOOLEAN The axis turs at the specified velocity (IVelocity) Active BOOLEAN Module is beig processed; the velocity has ot yet bee reached Stopped BOOLEAN Axis is stopped. The axis stops whe selectig JogPos ad JogNeg. FBError BOOLEAN Module error durig executio FBErrorID DWORD See global variable error idetifier Library_11_System\MPLCSytem_ErrorCode Do the followig to start the axis i "jog" mode: 1. Switch to cotrol mode by clickig the [Moitor active] butto. You have ow switched to cotrol mode ad the butto idicates [Cotrol active]. 2. Eable the axis by eablig the iputs "Eable/RapidStop" ad "Eable/Stop". IMPORTANT: The axis must be eabled at the termials! The "Powered" output is eabled. 3. Choose "Jog" from the "AxisMode" list box. The axis goes to "jog" axis mode. The output is eabled i the "ActualAxisMode" field. 4. Set the dyamic parameters. The velocity ad the ramps must be specified to have the axis tur. Jerk limitatio ca be activated for job mode by eterig the jerk value i the "jerk" parameter. 114 Maual MultiMotio

115 MultiMotio Editor: Moitor Axis diagostics Start the axis mode by eablig the "Start" iput. The movemet travel starts i positive directio. The "Doe" iput is eabled oce the axis has reached the specified velocity. The actual positio ad velocity are displayed i user uits ad i icremets (basic uit). Ay chage of dyamic parameters takes effect immediately. The movemet starts i egative directio whe the "JogNeg" iput is eabled. The movemet is carried out util the "JogPos" or "JogNeg" iput is eabled. If both iputs are eabled, the axis stops. You ca iterrupt the movemet by eablig the "RapidStop" iput. The movemet is cotiued oce you disable the "RapidStop" iput Camig The followig iputs ad outputs are available for "camig" mode: [1] [2] [3] [4] [1] Iputs: AxisIterface.Axis[].I.Camig Name Type Meaig Start BOOLEAN Start job of POU with risig edge Curve mode is started accordig to the start cofiguratio. Revokig the iput quits curve mode accordig to the stop cofiguratio. MasterPositio DINT Positio of the master axis assiged to the "camig" axis mode Preset BOOLEAN Apply iterally used iitializatio value for the profile geerator i "camig" mode The iitializatio value is ot visible to the outside. CamDataChaged BOOLEAN Apply cam data [2] Outputs: AxisIterface.Axis[].Out.Camig Name Type Meaig Doe BOOLEAN The axis turs at the specified velocity Active BOOLEAN Movemet is beig processed; the velocity has ot yet bee reached Stopped BOOLEAN Axis is stopped. The axis stops whe selectig JogPos ad JogNeg. FBError BOOLEAN Module error durig executio FBErrorID DWORD See global variable error idetifier Library_11_System\MPLCSytem_ErrorCode Positio DINT See global variable error idetifier Library_11_System\MPLCSytem_ErrorCode State MC_CAM_MANAGER_S MC_CAM_MANAGER_INACTIVE: Camig ot active TATE MC_CAM_MANAGER_WAITING_FOR_START_CYCLE: Camig active, the cam maager waits for the start coditio waitig for start of cycle" MC_CAM_MANAGER_ACTIVE: Cam mode active MC_CAM_MANAGER_WAITING_FOR_STOP_CYCLE: Camig active, the cam maager waits for the stop coditio waitig for ed of cycle" MC_CAM_MANAGER_ERROR_STATE: Cam maager error Maual MultiMotio 115

116 10 MultiMotio Editor: Moitor Axis diagostics [3] Iputs: AxisIterface.Axis[].I.Camig.AdjustToMaster Name Type Meaig Start BOOLEAN Start positioig to adjust the slave to the master Velocity LREAL Specified velocity for the adjustmet fuctio [UserUit/mi] or [UserUit/s]. Chagig the iput value whe the module is active will apply directly. Acceleratio LREAL Acceleratio ramp for the adjustmet fuctio [UserUit/(mi*s)] or [UserUit/ s 2 ]. Chagig the iput value whe the module is active will apply directly. Deceleratio LREAL Deceleratio ramp for the adjustmet fuctio [UserUit/(mi*s)] or [UserUit/ s 2 ]. Chagig the iput value whe the module is active will apply directly. Jerk LREAL Jerk for the adjustmet fuctio [UserUit/(mi*s 2 )] or[useruit/s 3 ]. Chagig the iput value whe the module is active will apply directly. [4] Outputs: AxisIterface.Axis[].Out.Camig.AdjustToMaster Name Type Meaig IPositio BOOLEAN Axis has reached positio Active BOOLEAN Module is beig processed. Positioig is active but the positio has ot yet bee reached. Stopped BOOLEAN Axis is stopped Do the followig to start the axis i "camig" mode: 1. Switch to cotrol mode by clickig the [Moitor active] butto. You have ow switched to cotrol mode ad the butto idicates [Cotrol active]. 2. Eable the axis by eablig the iputs "Eable/RapidStop" ad "Eable/Stop". IMPORTANT: The axis must be eabled at the termials! The "Powered" output is eabled. 3. Choose "Camig" from the "AxisMode" list box. The axis goes to "camig" mode. The output is eabled i the "ActualAxisMode" field. 4. You have to set the dyamic parameters whe you wat to adjust the axis usig the "AdjustToMaster" fuctio. 5. Start the "AdjustToMaster" fuctio by eablig the "start" iput. The axis performs absolute positioig to the cam positio that correspods to the master positio ad i this way adjusts itself to the stopped master. A requiremet for doig so is that the "start mode" parameter is set to "absolute" whe cofigurig the "camig" axis mode. You fid more iformatio i chapter "Cofigurig a axis > Camig > Start" (page 77). If the start coditio is "start master cycle", the axis adjusts to the positio of the begiig of the curve. Jerk limitatio ca be activated for the "AdjustToMaster" fuctio by eterig the jerk value i the "jerk" parameter. 6. Start the axis mode by eablig the "Start" iput. Whether the axis chages directly to CamMaagerState "active" depeds o the respective cofiguratio. Whe the "start mode" parameter is set to "absolute", the axis remais i "iactive" cam state util the axis has bee adjusted. It the automatically chages to "active" cam state. If "start with master cycle" is set as start coditio, the "waitig for start cycle" cam state is idicated. The axis goes to "active" cam state oce the ext master cyclebegis. If you exit the "camig" tab i the meatime, you will have to eable the "start" iput of the "AdjustToMaster" fuctio agai. 116 Maual MultiMotio

117 MultiMotio Editor: Moitor Axis diagostics Trackig The "trackig" axis mode is used to follow a travel profile that is ot geerated i the profile geeratio of the respective axis but somewhere else. There are 2 typical cases: Simple sychroous operatio Whe a travel profile of aother axis is used here, you ca implemet simple sychroous operatio i this way. Customer-specific travel profiles If a travel profile is used that is calculated i a separate fuctio POU, you ca i this way implemet special (customer-specific) travel profiles. A major feature of this axis mode is that there are o trasitio fuctios. The axis follows the travel profile without geeratig ay trasitios, for example for sychroizig purposes. It is the resposibility of the user to make sure that suitable profiles are used without velocity or positio jumps. The ame "simple sychroous operatio" refers to this feature as the missig trasitio fuctios let you sychroize a axis to a master axis oly whe master ad slave are at stadstill. The followig iputs ad outputs are available for "trackig" mode: [1] [2] [1] Iputs: AxisIterface.Axis[].I.Trackig Name Type Meaig Start BOOLEAN Start job of POU with risig edge Trackig is started accordig to the start cofiguratio. Revokig the iput quits trackig mode accordig to the stop cofiguratio. MasterPositio DINT Positio of the master axis assiged to the "camig" axis mode [2] Outputs: AxisIterface.Axis[].Out.Trackig Name Type Meaig Active BOOLEAN Module is beig processed; the velocity has ot yet bee reached Stopped BOOLEAN Axis is stopped FBError BOOLEAN Module error durig executio FBErrorID DWORD See global variable error idetifier Library_11_System\MPLCSytem_ErrorCode Do the followig to start the axis i "trackig" mode: 1. Switch to cotrol mode by clickig the [Moitor active] butto. You have ow switched to cotrol mode ad the butto idicates [Cotrol active]. 2. Eable the axis by eablig the iputs "Eable/RapidStop" ad "Eable/Stop". IMPORTANT: The axis must be eabled at the termials! The "Powered" output is eabled. Maual MultiMotio 117

118 10 MultiMotio Editor: Moitor Axis diagostics 3. Choose "Trackig" from the "AxisMode" list box. The axis goes to "trackig" mode. The output is eabled i the "ActualAxisMode" field. 4. Start the axis mode by eablig the "Start" iput. The "active" output is eabled. The axis follows the master, which is set i the cofiguratio, sychroously takig accout of the gear ratio factors. Trackig ca also be referred to as simple sychroous operatio Touch probe The followig iputs ad outputs are available for touch probe: [1] [2] [1] Iputs: AxisIterface.Axis[].I.TouchProbe Name Type Meaig Start BOOLEAN Activates the touch probe fuctio accordig to the cofiguratio ad the set mode. Mode MC_AxisHadler_Touch- MULTIMOTION_TOUCHPROBE_DISABLE: Disable touch probe. Couter ProbeMode ad positio outputs are set to zero. MULTIMOTION_TOUCHPROBE_ENABLE_SINGLE: Activate sigle touch probe MULTIMOTION_TOUCHPROBE_ENABLE_REPEAT: Activate automatic, repeatig touch probe. The touch probe is performed with each edge accordig to the cofiguratio of the touch probe iput. The followig iputs are used as iterrupt iput for touch probe: MOVIDRIVE : Iput DI02 / termial X13.3 MOVIAXIS : Iput DI02 / termial X10.3 [2] Outputs: AxisIterface.Axis[].Out.TouchProbe Name Type Meaig Active BOOLEAN Touch probe eabled Busy BOOLEAN Cofiguratio eabled FBError BOOLEAN Module error durig executio FBErrorID DWORD See global variable error idetifier Library_11_System\MPLCSytem_ErrorCode Couter DWORd Couter of touch probe evets Positio_BasicUit DINT Last recorded touch probe positio i basic uit (icremets) Positio_UserUit LREAL Last recorded touch probe positio i user uits 118 Maual MultiMotio

119 MultiMotio Editor: Moitor Axis diagostics 10 Do the followig to start a touch probe: 1. Switch to cotrol mode by clickig the [Moitor active] butto. You have ow switched to cotrol mode ad the butto idicates [Cotrol active]. 2. Choose the required value for the "mode" iput: Disable: Touch probe is disabled. Eable_Sigle: The touch probe positio is saved oce whe the evet set i the cofiguratio occurs. The "couter" output is icremeted by 1. Ay ecoder positio or virtual positio ca be captured. Eable_Repeat: The touch probe positio is saved each time the evet set i the cofiguratio occurs. 3. Start the touch probe by eablig the "Start" iput. The "Active" output is eabled. Maual MultiMotio 119

120 10 MultiMotio Editor: Moitor Axis diagostics IverterData The [IverterData] tab shows the most importat iputs ad outputs of the iverters ad the selected axis. [1] [2] [3] [1] 7-segmet display / error state: GlobalVar_AxisCotrol_Multimotio.AxisIterface.Axis[].Out.Geeral.IverterData Name Type Meaig RePower_ReadyforPower BOOLEAN Displayed oly with MXR Device for switchig o the lie cotactor Iverter Status UINT Displays the value of the 7-segmet display Error status DWORD Error message Suberror status DWORD Suberror message. [2] Status word: GlobalVar_AxisCotrol_Multimotio.AxisIterface.Axis[].Out.Geeral.IverterData Name Type Meaig Error BOOLEAN Error bit IverterReady BOOLEAN Iverter ready Motor stadstill BOOLEAN Motor stopped Refereced BOOLEAN Motor ecoder is refereced IPositio BOOLEAN Setpoit positio reached OutputStageO BOOLEAN Output stage O SafeStop 1 BOOL Safe stop 1 SafeStop 2 BOOLEAN Safe stop 2 StadbyOperatio24V BOOLEAN Axis is i 24 V operatio ProcessdataNotReady BOOLEAN Process data ot yet received BrakeReleased BOOLEAN Brake released [3] Additioal iformatio: GlobalVar_AxisCotrol_Multimotio.AxisIterface.Axis[].Out.Geeral.IverterData3 Name Type Meaig ActualFCB LREAL Curretly selected FCB ActualPositio LREAL Positio i user uit ActualModuloPositio LREAL Modulo positio i user uit ActualSpeed LREAL Actual speed i user uits ActualCurret: LREAL Actual curret ActualTorque LREAL Actual torque Touchprobe1Positio LREAL Touch probe positio Touchprobe2Positio LREAL Touch probe positio Maual MultiMotio

121 MultiMotio Editor: Moitor Axis diagostics IO The [IO] tab shows the most importat hardware sigals of the selected axis. [1] [2] [1] Iputs: GlobalVar_AxisCotrol_Multimotio.AxisIterface.Axis[].IO.Iputs Name Type Meaig Digital WORD Iput word of basic uit Aalog1 WORD Aalog iput 1 Aalog2 WORD Aalog iput 2 DigitalOptio1 WORD Iput word of digital optio card 1 DigitalOptio2 WORD Iput word of digital optio card 2 AalogOptio1 WORD Iput word of aalog optio card 1 AalogOptio2 WORD Iput word of aalog optio card 2 [2] Outputs: GlobalVar_AxisCotrol_Multimotio.AxisIterface.Axis[].IO.Outputs Name Type Meaig Digital WORD Output word of basic uit Aalog1 WORD Aalog iput 1 Aalog2 WORD Aalog iput 2 DigitalOptio1 WORD Output word of digital optio card 1 DigitalOptio2 WORD Output word of digital optio card 2 AalogOptio1 WORD Output word of aalog optio card 1 AalogOptio2 WORD Output word of aalog optio card 2 Maual MultiMotio 121

122 10 MultiMotio Editor: Moitor Axis diagostics SedObject The followig iputs ad outputs are available for SedObject: [1] [3] [2] [4] [1] Iputs: AxisIterface.Axis[].I.SedObject Name Type Meaig StartHomig BOOLEAN Sets the positio of the SedObject to the offset set i the cofiguratio [2] Outputs: AxisIterface.Axis[].Out.SedObject Name Type Meaig Active BOOLEAN SedObject eabled FBError BOOLEAN Module error durig executio FBErrorID DWORD See global variable error idetifier Library_11_System\MPLCSytem_ErrorCode ActualValues ST_AXISHANDLER_GE NERAL_SETPOINT See the tables below. [3] Outputs: AxisIterface.Axis[].Out.SedObject.ActualValues.BasicUits Name Type Meaig Positio DINT Setpoit positio displayed i system uits PositioModulo DINT Setpoit modulo positio displayed i system uits Velocity LREAL Velocity displayed i system uits Acceleratio LREAL Acceleratio displayed i system uits [4] Outputs: AxisIterface.Axis[].Out.SedObject.ActualValues.UserUits Name Type Meaig Positio LREAL Setpoit positio displayed i user uits PositioModulo LREAL Setpoit modulo positio displayed i user uits Velocity LREAL Velocity displayed i user uits Acceleratio LREAL Acceleratio displayed i user uits Maual MultiMotio

123 MultiMotio Editor: Moitor Cam track diagostics Cam track diagostics The followig iputs ad outputs are available for the cam tracks: [1] [2] [1] Iputs: CamSwitchIterface.Track[].I Name Type Meaig Eable BOOLEAN Eablig the track MasterPositio DINT Positio of the master axis assiged to this cam track i the cofiguratio. ForceTrackOutPut FALSE BOOLEAN The output is permaetly overwritte to logical 0 The output is disabled permaetly ForceTrackOutPut TRUE BOOLEAN The output is permaetly overwritte to logical 1 The output is eabled permaetly [2] Outputs: CamSwitchIterface.Track[].Out Name Type Meaig Active BOOLEAN Track is active Busy BOOLEAN Cofiguratio i process Stopped BOOLEAN Cam track output stopped Busy BOOLEAN Cofiguratio active. Error BOOLEAN Module error durig executio ErrorID DWORD See global variable error idetifier library_11_system\mplcsytem_errorcode. TrackOutput BOOLEAN Displays the output Eablig cam tracks Do the followig to eable a cam track: 1. Switch to cotrol mode by clickig the [Moitor active] butto. You have ow switched to cotrol mode ad the butto idicates [Cotrol active]. 2. Activate the cam track by eablig the "eable" iput. The "Active" output is eabled. Maual MultiMotio 123

124 10 MultiMotio Editor: Moitor Trace 10.5 Trace The [Trace] tab lets you record travel profiles of axes as well as switchig sigals of cams. The user iterface looks as follows: [1] [2] [3] [4] [5] [1] Coectio status Displays the coectio status betwee software ad MOVI- PLC ad the time settig of the MOVI-PLC. [2] Tabs Use the tabs to jump back ad forth betwee the moitor sectios: Overview Diagostics Trace Advaced diagostics [3] 4 chaels Here you ca select the display of specific sigals for 4 chaels: Record variable: This is where you select the required sigal, e.g. positio or velocity Axis o.: Here you select the required axis. Time base: Choose the sample rate. [4] Display This widow graphically displays the 4 chaels with the selected sigals. [5] [Record] butto Use this butto to start ad stop recordig. 124 Maual MultiMotio

125 MultiMotio Editor: Moitor Trace kva i P f Hz Start ad stop recordig Do the followig to start ad edit a recordig: 1. Start the fuctio you wat to record, for example via cotrol mode i the [Moitor > Diagostics] tab. 2. Select the record variables (e.g. positio, velocity etc.) for the chaels ad the time base. 3. Click [Record] [4]. Recordig starts ad the correspodig variables are displayed i the trace widow [3]. 4. Do the followig to specify values for the trace variables: Switch to the process data moitor or the module diagostics. Specify the values i cotrol mode. Whe you have fiished makig your etries, quit cotrol mode ad retur to the [Trace] tab. 5. To stop recordig, click [Record] agai. 6. Place the cursor i the trace widow to edit the record if required: I the cotext meu (right click): Copy Prit Reset scalig Click the mouse wheel: Shift the displayed curve sectio to the right or left. Draw a rectagle (left click): Scale the recordig INFORMATION The maximum recordig time is limited to 10 miutes. Maual MultiMotio 125

126 10 kva i P f Hz MultiMotio Editor: Moitor Advaced diagostics 10.6 Advaced diagostics The [Advaced diagostics] tab displays the curret state of importat data structures: [1] [2] [3] [4] [5] [1] Coectio status Idicates the coectio status of the software with the MOVI- PLC. [2] Tabs Use the tabs to jump back ad forth betwee the moitor sectios: Overview Diagostics Trace Advaced diagostics [3] Overview bar PLC Editor structure All variables of the PLC Editor are displayed that are icluded i the followig structures: AxisIterface CamSwitchIterface MoviPLCHadler Fieldbus User [4] Variable This is where the variables of the global iterfaces are displayed with the etered values. [5] [Copy variable ame] butto Click this butto to copy the path of the variable i the data structure to the buffer memory. 126 Maual MultiMotio

127 Applicatio Examples Velocity kva i P f Hz Applicatio Examples 11.1 Velocity The followig example shows a liear axis for which the value "relative" is set for the "stop at positio" parameter. Revokig the start sigal (var 0 i the trace recordig below) determies the remaiig distace to be covered. The axis performs positioig usig the specified ramps. Notice! Whe usig a liear axis with a relative stop positio, the axis might move backwards whe the value selected for the stop positio is too small. The followig figure shows the trace recordig i the PLC Editor i the Object Orgaizer o the [Resources] tab: Maual MultiMotio 127

128 11 kva i P f Hz Applicatio Examples Jerk-limited positioig 11.2 Jerk-limited positioig The followig profiles are show for a positioig process for a symmetric, jerk-limited travel profile: j: Jerk profile a: Acceleratio profile v: Velocity profile The followig parameters are specified: s: Distace differece betwee start ad target positios v max : Maximum velocity a max : Maximum acceleratio j max : Maximum jerk Positioig cosists of 3 phases: Acceleratio phase (icreasig velocity) Costat travel phase (costat velocity) Deceleratio phase (decreasig velocity) The profile is determied by the followig 3 times: t v : Time of costat velocity t a : Time of costat acceleratio t j : Time util a max is reached j a v j max a max v max t j t a t v t [1] Acceleratio [2] Costat travel [3] Deceleratio [1] [2] [3] Jerk j is the first derivatio of the acceleratio ad is therefore a measuremet for the chage i acceleratio. The smaller you set jerk j max, the loger will it take util the maximum acceleratio a max is reached ad the smoother will acceleratio take place. "Pulses" of j max are always switched i the travel profile durig acceleratio ad deceleratio phases. 128 Maual MultiMotio

129 Applicatio Examples Jerk-limited positioig kva i P f Hz 11 A settig of j max = 0 is iterpreted as ifiite jerk. The result of this settig is that the acceleratio chages suddely; the time t j becomes 0, ad the acceleratio profile becomes rectagular. Depedig o the peripheral coditios s, v max, a max, j max, the settig of t j, t a ad/or t v ca be 0 so that phases with costat acceleratio ad/or costat velocities, for example, do ot occur. The followig applies i geeral to the distace differece betwee start ad target positios: Δs = jmax t ( t + t ) t + 2t + t ( ) j a j a j v Case 1: a max ad v max are ot reached I the ideal case (shortest positioig time), the phases with costat acceleratio ad costat velocity do ot occur, i.e. the limits a max ad v max are ot reached (for example whe positioig across very short distaces). a v t j t [1] Acceleratio [2] Deceleratio [1] [2] The followig applies: Δs = 2 jmax t j Δs t j = 3 2 jmax After the time t j, the max. acceleratio must ot be reached: jmax tj amax Maual MultiMotio 129

130 11 kva i P f Hz Applicatio Examples Jerk-limited positioig Besides, the max. velocity must ot be exceeded at the ed of the acceleratio phase (after 2 t j ): The total duratio will the be: 2 j j t v max max Δs ttotal = jmax Case 2: a max is ot reached, v max is reached I this case, the acceleratio profile remais triagular (this meas a max is ot reached), however the result will be a phase with costat velocity because the limit v max is effective. a v v max t j t v t [1] Acceleratio [2] Costat travel [3] Deceleratio [1] [2] [3] The time t j is determied by the max. velocity v max : vmax t j = jmax Of course, the max. acceleratio a max must ot be reached: jmax tj amax The time t v the results from the distace differece to be covered s betwee start ad target positios: ( ) 2 j j v Δs = j t 2t + t max Maual MultiMotio

131 Applicatio Examples Jerk-limited positioig kva i P f Hz 11 The total duratio will the be: t v = j max Δs t 2 j Δs 2t j = 2 v max v j max max Δs ttotal = + 2 vmax vmax jmax Case 3: a max is reached, v max is ot reached I this case, the acceleratio profile becomes trapezoidal because the limit a max is reached. However, o phase with costat velocity occurs (v max is ot reached). a v a max t j t a t [1] [2] [1] Acceleratio [2] Deceleratio The time t j is determied by the max. acceleratio a max : t j = a j max max The time t a results from the distace differece s to be covered betwee start ad target positios: Δs = jmax t ( t + t ) t + 2t ( ) j a j a j a 2 s j ta = j + + max 3 1 Δ max max a max Maual MultiMotio 131

132 11 kva i P f Hz Applicatio Examples Jerk-limited positioig I this case, the max. velocity v max must ot be reached at the ed of the acceleratio phase: The total duratio will the be: j t t + t v max ( ) j a j max a s j ttotal = + + max max Δ jmax 3 a max This case usually occurs whe positioig at short distaces. If you icrease the max. jerk j max to reduce the cycle time, the resultig limit value (mi. cycle time) with rectagular acceleratio profile looks as follows: tmi = 2 Δs amax Example It is typical for this case that v max ad a max are comparably great compared to s. Distace differece s = 100 mm v max = 1000 mm/s a max = 1000 mm/s Maual MultiMotio

133 Applicatio Examples Jerk-limited positioig kva i P f Hz 11 We first have a look at the ideal profile (j max = 0) with rectagular acceleratio profile Positioig lasts t total = t mi = s ad is calculated usig the followig formula: tmi = 2 Δs amax Maual MultiMotio 133

134 11 kva i P f Hz Applicatio Examples Jerk-limited positioig Next, a jerk of j max = m/s 3 is specified. This meas the value for the jerk is greater by factor 10 tha the value for the acceleratio Positioig lasts t total = s ad is calculated usig the followig formula: a s j ttotal = + + max max Δ jmax 3 a max It ca be said that the duratio t total s s s ad that it has exteded accordig to the followig approximatio formula: amax Δs amax ttotal tmi jmax amax jmax This approximatio results from covertig the formula for t total : amax amax 4 s ttotal = + + Δ j 2 j a max Whe j max >> a max, the square term uder the root ca be eglected. This results i the approximatio formula. max 2 max 134 Maual MultiMotio

135 Applicatio Examples Jerk-limited positioig kva i P f Hz Case 4: a max is reached, v max is reached This is the most complex case because both max. acceleratio a max ad max. velocity v max are reached. This meas there is a phase with costat acceleratio ad a phase with costat velocity. a a max v max v t j t a t v t [1] [2] [3] The time t j is determied by the max. acceleratio a max : t j = a j max max The time t a results from the max. velocity v max, which is reached at the ed of the acceleratio phase: t a = v a max max The time t v is calculated from the give distace differece s betwee start ad target positios: a j max max Δs = jmax t ( t + t ) t + 2t + t ( ) j a j a j v The total duratio will the be: s v a tv = Δ v max a j max max max max Δs vmax a ttotal = + + v a j max max max max Maual MultiMotio 135

136 11 kva i P f Hz Applicatio Examples Jerk-limited positioig This case usually occurs whe positioig over great distaces. If you icrease the max. jerk j max to reduce the cycle time, the resultig limit value (mi. cycle time) with rectagular acceleratio profile looks as follows: t mi Δs v = + v a max max max Example It is typical for this case that s is comparably great compared to v max ad a max. Distace differece s = mm v max = 1000 mm/s a max = 1000 mm/s 2 We first have a look at the ideal profile (j max = 0) with rectagular acceleratio profile Positioig lasts t total = t mi = 11 s ad is calculated usig the followig formula: t mi Δs v = + v a max max max Maual MultiMotio

137 Applicatio Examples Jerk-limited positioig kva i P f Hz 11 Next, a jerk of j max = 1000 m/s 3 is specified. This meas the value for jerk lies i the rage of the acceleratio value Positioig lasts t total = 12 s ad is calculated usig the followig formula: Δs vmax a ttotal = + + v a j max max max max I this case, the followig applies without approximatio: a ttotal = tmi + j This meas the positioig time icreases always by the value a max / j max. max max Maual MultiMotio 137

138 11 kva i P f Hz Applicatio Examples Jerk-limited positioig Overview of acceleratio profiles The followig table gives a overview of the various cases: a max ot reached a max reached Case 1 Case 3 v max ot reached t j t j t a Δs ttotal = 4 3 a s j 2 j t max total = + + max max Δ jmax 3 a max Case 2 Case 4 v max reached t j t v t j t a t v Δs ttotal = + 2 vmax vmax jmax Δs vmax a ttotal = + + v a j max max max max 138 Maual MultiMotio

139 Applicatio Examples User uits kva i P f Hz User uits Calculatig the scalig factors of a liear axis This chapter describes how to calculate the scalig factors of liear axes. The calculated scalig factors are used to covert a positio specified i user uits ito system uits (icremets). You fid more iformatio i chapter "Differece betwee liear ad modulo axes" (page 36). Numerator Positio( User uit) = Positio( Systemuit) Deomiator Example 1 The first example describes a real liear axis with a gear uit (i = 7) that drives a drive wheel with a diameter of d = 35 mm without additioal gear. The user uit is "mm" ad the time base "mi". The cofiguratio looks as follows: Followig explaatios are iteded to ehace uderstadig the iput mask: "Shaft revolutio" refers to oe revolutio of the last rotatig shaft i the mechaical chai of motor via gear uit ad additioal gear through to the drive compoets (e.g. drive wheel, toothed belt, etc.). Most mechaical systems ca be divided i this way. I the upper part, you eter the gear ratios up to this last rotatig shaft. The reaso is to detect how may revolutios are required o the motor for oe revolutio of this shaft. I the bottom part, you defie how oe revolutio of the last rotatig shaft ca be mapped to the selected user uit. You ca eter floatig poit umbers; they must be represeted as a fractio. The accuracy is defied by the umber of processed places. Maual MultiMotio 139

140 11 kva i P f Hz Applicatio Examples User uits I this example, the umber π was approximated by the fractio 31416/ I the bottom part, the correlatio betwee oe revolutio of the last rotatig shaft ad the selected user uits is defied by meas of the circumferece of the drive wheel (π x d). The two scalig factors are calculated as follows (result caceled by the greatest commo divisor): Numerator NumeratorGear uit = Numerator Exteral Deomiator DeomiatorGear uit DeomiatorExteral Numerator Deomiator = = NumeratorUser uit DeomiatorUser uit Ecoder resolutio User uit Example 2 I the secod example, a real liear axis is give with a gear uit (i = 15.31). The gear uit is located o a shaft that drives a gear wheel with 40 teeth ad a toothed belt with a pitch of 5 mm. The user uit is "mm". The cofiguratio looks as follows: The gear ratio is specified by the fractio 1531/100. Ad the umber of teeth ad pitch of the toothed belt are also displayed. The two scalig factors are calculated as follows (result caceled by the greatest commo divisor): Numerator NumeratorGear uit = Numerator Exteral Deomiator DeomiatorGear uit DeomiatorExteral Numerator Deomiator = = NumeratorUser uit DeomiatorUser uit Ecoder resolutio User uit Maual MultiMotio

141 Applicatio Examples User uits kva i P f Hz Calculatig the scalig factors of a modulo axis This chapter describes how to calculate the scalig factors of modulo axes. The calculated scalig factors are used to covert the positio from system uits ito motor icremets. You fid more iformatio i chapter "Differece betwee liear ad modulo axes" (page 36). Numerator Positio( Systemuit) = Positio( Motor icremets) Deomiator Example 1 I the first example, a simple cycle chai is give with a gear uit (i = 10.49). It drives a shaft oto which a gear wheel with 19 teeth is mouted. A ½ ich chai rus over the gear wheel. 10 chai liks correspod to a pitch i which oe product is trasported each. Oe ich correspods to 25.4 mm. This meas a pitch correspods to 254/ 2 = 127 mm. The cofiguratio looks as follows, for example: It is importat that you eter the exact gear ratio (ot rouded). Floatig poit umbers must be represeted as a fractio. The gear ratio of = 1049/100 is defied exactly by the umber of teeth of the idividual reductio stages, i this case by specifyig 10962/1045 (the umber of teeth of a SEW gear uit is available o request). Oe revolutio of the last rotatig shaft correspods to 19/10 of the pitch, that is 19/10 of 127 mm (correspods to the value set for "modulo maximum"). Maual MultiMotio 141

142 11 kva i P f Hz Applicatio Examples User uits The two scalig factors are calculated as follows (result caceled by the greatest commo divisor): Numerator Deomiator Numerator Deomiator NumeratorGear uit = Numerator Exteral DeomiatorGear uit DeomiatorExteral = = NumeratorUser uit DeomiatorUser uit Ecoder resolutio Modulo resolutio Example 2 The secod example is a virtual modulo axis used as master axis i may cyclically operatig machies. The axis should geerate a cyclic sigal assiged to the machie cycle Master Sigal 1 Uit The machie speed is cotrolled by adjustig the speed. Usually, "Cycle" is used as user uit ad "mi" as time base because the machie speed ca the be easily set i "cycles/mi". The cofiguratio looks as follows, for example: The scalig factors are 1/1. This meas the axis geerates a cyclic sigal i the rage of [0 1] i user uits, ad i the rage of [ ] i system uits. This sigal ca ow be set as master sigal to the coected real axes. 142 Maual MultiMotio

143 Applicatio Examples System limits/ramps kva i P f Hz System limits/ramps As described i chapters "MultiMotio: Cofigurig a axis > System limits" (page 53) ad "< Ramps" (page 55), several parameters are writte to the iverter whe settig system limits ad ramps. The parameters are set i user uits durig cofiguratio with MultiMotio, however, other uits are used o the iverter itself. This coversio is described i the followig sectio Liear axis A liear axis is give with gear uit (i = 15,31) that drives a shaft with a gear wheel (40 teeth) ad a toothed belt with a pitch of 5 mm. The user uit is "mm" ad the time base "s". The cofiguratio with settigs for system limits ad ramps looks as follows: These settigs are trasmitted to the device. Coversio ito other uits is required depedig o the device. Maual MultiMotio 143

144 11 kva i P f Hz Applicatio Examples System limits/ramps MOVIAXIS I MOVIAXIS, all speeds are specified i "RPM" (revolutios per miute) ad all acceleratios i "RPM/s". Accordigly, the specified parameters have to be coverted as follows. The followig applies to the system speed: User uits Numerator V s Deo ator 60 mi Ecoder resolutio = V( RPM) = 2296RPM The followig applies to the max/mi system acceleratio ad the stop ramps: User uits Numerator 60 a 2 s Deo ator a RPM mi Ecoder resolutio = s Max./mi. system acceleratio: Stop ramp eable/stop: = 9186 RPM s Stop ramp eable/rapid stop: = RPM s = 6890 RPM s Maual MultiMotio

145 Applicatio Examples System limits/ramps kva i P f Hz 11 You fid the parameters at the followig positio i the parameter tree of MOVIAXIS : MOVIDRIVE I MOVIDRIVE, all speeds are specified i "RPM" (revolutios per miute) ad all acceleratios as ramps with a ramp time i relatio to 3000 RPM. The coversios looks as follows: The followig applies to the system velocity: User uits Numerator V s Deo ator 60 mi Ecoder resolutio = V( RPM) = RPM The max/mi system acceleratio is ot writte to the iverter. The followig applies to the stop ramps: t( ms) Numerator 60 Acceleratio Deomiator Ecoder resolutio Maual MultiMotio 145

146 11 kva i P f Hz Applicatio Examples System limits/ramps Stop ramp eable/stop: Stop ramp eable/rapid stop: = 065. s = 044. s You fid the parameters at the followig positio i the parameter tree of MOVIDRIVE : Maual MultiMotio

147 Applicatio Examples System limits/ramps kva i P f Hz Modulo axis A simple cycle chai is give with a gear uit (i = 10.49). It drives a shaft oto which a gear wheel with 19 teeth is mouted. A ½ ich chai rus over the gear wheel. 10 chai liks correspod to a pitch i which oe product is trasported each. Oe ich correspods to 25.4 mm. This meas a pitch correspods to 254/2 = 127 mm. The cofiguratio looks as follows, for example: These settigs are writte to the device. The followig coversios are required Maual MultiMotio 147

148 11 kva i P f Hz Applicatio Examples System limits/ramps MOVIAXIS I MOVIAXIS, all speeds are specified i "RPM" (revolutios per miute) ad all acceleratios i "RPM/s". Accordigly, the specified parameters have to be coverted as follows. The followig applies to the system velocity: User uits Numerator Mod V s 60 Modulo maximum Deomiator ulo resolutio Ecoder resolutio = V( RPM) = 2608RPM The followig applies to the max/mi system acceleratio ad the stop ramps: User uits 60 Numerator Mo a 2 s Modulo maximum Deomiator dulo resolutio a RPM Ecoder resolutio = s Max/mi system acceleratio: Stop ramp eable/stop: = RPM s Stop ramp eable/rapid stop: = 5217 RPM s = 7825 RPM s Maual MultiMotio

149 Applicatio Examples System limits/ramps kva i P f Hz 11 You fid the parameters at the followig positio i the parameter tree of MOVIAXIS : MOVIDRIVE I MOVIDRIVE, all speeds are specified i "RPM" (revolutios per miute) ad all acceleratios as ramps with a ramp time i ms i relatio to 3000 RPM. The coversios look as follows: The followig applies to the system velocity: User uits Numerator Mod V s 60 Modulo maximum Deomiator ulo resolutio Ecoder resolutio = V( RPM) = 2608RPM The max/mi system acceleratio is ot writte to the iverter. The followig applies to the stop ramps: t( ms) User uits Iteral ulo resolutio a 2 s mod Numerator 60 Ecoder resolutio Deomiator Modulo maximum Maual MultiMotio 149

150 11 kva i P f Hz Applicatio Examples System limits/ramps Stop ramp eable/stop: Stop ramp eable/rapid stop: = s = s You fid the parameters at the followig positio i the parameter tree of MOVIDRIVE : Maual MultiMotio

151 Applicatio Examples Chagig the cofiguratio data i "camig" axis mode durig rutime kva i P f Hz Chagig the cofiguratio data i "camig" axis mode durig rutime As described i chapter "Cofigurig a axis > Camig > Geeral iformatio" (page 72), the "camig" axis mode distiguishes betwee "camig" ad "iterpolatio" mode. The curve profile of a axis is described i a differet way i both modes. These curve descriptios ca be modified durig rutime to dyamically adjust the curve profiles of the axes. The followig sectio describes how this is achieved. I "camig" mode, the curve descriptio is based o a xml file. This file is read whe the cotroller is booted ad the data are stored accordig to the xml descriptio i the gobal data structure "AxisIterface.Axis[].Cofig.Camig.CamCofiguratio.CamDescriptio". You ca chage the curve descriptio i 2 ways: Chage the data by directly accessig the global data structure Chage the data by readig i a ew xml file I "iterpolatio" mode, the curve descriptio is based o a table with curve poits. They are also read i whe the cotroller is booted ad are stored i the respective structure. Depedig o the type of iterpolatio, various iterpolatio data are created from the structure. Here as well, you ca chage the curve descriptio i 2 ways: Chage the data by directly accessig the curve poit table Chage the data by readig i a ew curve poit table Maual MultiMotio 151

152 11 kva i P f Hz Applicatio Examples Chagig the cofiguratio data i "camig" axis mode durig rutime Chagig the curve descriptio i "camig" mode The curve descriptios are stored i the global data structure "AxisIterface". The data structure comprises a substructure for every axis. All cofiguratio data are combied i the "Cofig" substructure. The curve descriptio that maily reflects the xml descriptio of the cam editor is summarized i the global variable "AxisIterface.Axis[].Cofig.Camig.CamCofiguratio.CamDescriptio". This is where the variable "NumberOfSegmets" is stored, which defies the umber of segmets. It also icludes a array with up to 20 segmets where the curve descriptio is stored i segmets. The followig example shows a curve that cosists of 3 segmets: 1st segmet: 5th degree polyomial 2d segmet: Straight 3rd segmet: 5th degree polyomial The followig figure shows the curve i the cam editor Maual MultiMotio

153 Applicatio Examples Chagig the cofiguratio data i "camig" axis mode durig rutime kva i P f Hz 11 I the cam editor, every segmet is defied by the mathematical fuctio ad the segmet limits. The followig figure shows this data structure: Every segmet cotais the followig descriptio data: CAMType: Defies the type of the mathematical fuctio (data type: MC_CAM_MANAGER_CAM_TYPE) Left: Value at the left limit Right: Value at the right limit Maual MultiMotio 153

154 11 kva i P f Hz Applicatio Examples Chagig the cofiguratio data i "camig" axis mode durig rutime The limits are determied by the followig parameters: X: Master positio Y: Slave positio V: Slave velocity (1st derivatio of the fuctio: dy/dx) A: Slave acceleratio (2d derivatio of the fuctio: d 2 Y/dX 2 ) I "camig" AxisMode, "camig" mode, the curve descriptio is processed as follows: The preset curve descriptio is copied iterally with the risig edge of the start sigal. This copy is the basis for curve processig. Chages made to the above metioed parameters of the curve descriptio do ot have ay effect. The ew curve data are applied with the ext risig edge of the start sigal. As soo as the curve defied i the curve descriptio has bee ru through, the bit "GetNewCamDescriptio" is queried oce at the begiig of the ext curve cycle. The bit is also located i the cofiguratio structure uder "AxisIterface.Axis[].Cofig.Camig.CamCofiguratio". Whe this bit is set, it is assumed that a ew curve descriptio is preset. Agai, the ew curve descriptio is copied iterally ad serves as basis for curve processig. The bit "GetNewCamDescriptio" is reset automatically as soo as the copy was accepted. If you wat to chage the curve descriptio durig rutime, the easiest way of doig so is the followig: Adjust the curve descriptio segmet by segmet by settig the parameters "CAMType", "Left" ad "Right". It is your resposibility to make sure that the trasitios are smooth. Not oly make sure that the trasitios are smooth from oe segmet to the other but also whe switchig from the last segmet of the old curve descriptio to the first segmet of the ew curve descriptio. Use parameter "NumberOfSegmets" to set the umber of defied segmets. Whe the ew curve descriptio is complete, you fialy set the bit "GetNewCamDescriptio". The ew curve descriptio is accepted with the begiig of the ext curve cycle. The bit "GetNewCamDescriptio" is reset automatically as ackowledgemet. I this way, you ca ot oly chage the parameters of a give curve descriptio from oe cycle to the ext but also process completely ew curve descriptios. 154 Maual MultiMotio

155 Applicatio Examples Chagig the cofiguratio data i "camig" axis mode durig rutime kva i P f Hz 11 The "MPLCTecMultiMotio" library icludes fuctio POUs that ca be used to describe the curve descriptio i the cofiguratio data. The POUs share the followig features: The structure of a CamCofiguratio must be trasferred as VAR_IN_OUT. I this structure, the module describes the specified segmet with the specified data. The umber of the segmet to be described is defied with the iput variable "SegmetNo". Other parameters required for the descriptio must be specified as iput variable. The values at the right limit are specified as output variable so that a subsequet module ca use these values to describe the ext curve segmet to esure a smooth curve profile. The parameters of the curve profile are cosistetly desigated as follows: Values at the left segmet limit: Xa: Master positio Ya: Slave positio Va: Slave velocity Aa: Slave acceleratio Values at the right segmet limit: Xa: Master positio Ya: Slave positio Va: Slave velocity Aa: Slave acceleratio Maual MultiMotio 155

156 11 kva i P f Hz Applicatio Examples Chagig the cofiguratio data i "camig" axis mode durig rutime The followig table gives a overview of the POUs used for describig the curve: Brief descriptio of the POU MC_CofigureCAMProfile_Liear Liear curve segmet Va = Ve Aa = Ae = 0 History MC_CofigureCAMProfile_RestToRest_Polyom5 Curve segmet with 5th degree polyomial Rest => Rest Va = Ve = 0 Aa = Ae = 0 MC_CofigureCAMProfile_RestToVelocity_Polyom5 Curve segmet with 5th degree polyomial Rest => velocity Va = 0 Ve 0 Aa = Ae = 0 MC_CofigureCAMProfile_VelocityToRest_Polyom5 Curve segmet with 5th degree polyomial Velocity => rest Va 0 Ve = 0 Aa = Ae = 0 MC_CofigureCAMProfile_VelocityToVelocity_Polyom5 Curve segmet with 5th degree polyomial Velocity => velocity Va 0 Ve 0 Aa = Ae = 0 MC_CofigureCAMProfile_Uiversal_Polyom5 Curve segmet with 5th degree polyomial Velocity => velocity Va 0 Ve 0 Aa 0 Ae 0 The purpose of all the metioed POUs is to defie the descriptio of a curve segmet, that is to defie exactly the above-metioed parameters "CAMType" (type of the mathematical fuctio), "Left" (values of the left limit) ad "Right" (values of the right limit) i the cofiguratio structure. 156 Maual MultiMotio

157 Applicatio Examples Chagig the cofiguratio data i "camig" axis mode durig rutime kva i P f Hz 11 Aother POU is available for cofigurig the curve descriptio that ca be used to set how the cofigured curve is to be processed. The ame of the POU is "MC_CofigureCamMaager". It ca be used to defie, for example, whether a modulo master is to be processed, what its modulo miimum ad maximum values are, ad what evet is used to start or stop curve processig. It also defies the umber of segmets that make up the curve descriptio. The iput variables of the module are assiged to the followig cofiguratio parameters: AxisIterface.Axis[].Cofig.Camig.CamCofiguratio. PresetValue.PresetValue ModuloMi.CamSettigs.Master.ModuloMi ModuloMax.CamSettigs.Master.ModuloMax MasterCycle.CamSettigs.Master.MasterCycle PresetCouter.CamSettigs.PresetCouter CammigMode.CamSettigs.Mode StartEvet.CamSettigs.Start.Evet StopEvet.CamSettigs.Stop.Evet NumberOfSegmets.CamDescriptio.NumberOfSegmets These parameters are part of the parameters described i chapter "Cofigurig a axis > Camig > Geeral iformatio" (page 72). This is where you fid more iformatio. Maual MultiMotio 157

158 11 kva i P f Hz Applicatio Examples Chagig the cofiguratio data i "camig" axis mode durig rutime The followig brief example explais the hadlig of the POUs. If you defie the previously show curve cosistig of 3 segmets by meas of the POUs, the correspodig program code looks as follows, for example: First, the POUs are called that are used to defie the curve descriptio. Oce it has bee processed without errors, a istace of the POU "MC_CofigureCamMaager" is triggered ad used to defie the iformatio for curve processig. The followig settigs are made i the example: A modulo master is processed with ModuloMi = 0 ad ModuloMax = Curve processig starts with the risig edge of the start sigal (MC_CAM_MANAGER_ENABLE_RISING_EDGE). Curve processig eds with the fallig edge of the start sigal (MC_CAM_MANAGER_ENABLE_FALLING_EDGE). The curve is processed edlessly (MC_CAM_MANAGER_MULTIPLE_CYCLES). 158 Maual MultiMotio

159 Applicatio Examples Chagig the cofiguratio data i "camig" axis mode durig rutime kva i P f Hz 11 Oce the parameters to be trasferred to the "MC_CofigureCamMaager" module have bee set, it also sets the bit "GetNewCamDescriptio". This meas the ew cofiguratio takes effect at the ed of the preset cycle. If aother curve descriptio from a xml file is to be read i durig rutime, you ca use the "MC_GetCamDescriptioFromFile" module. This module tries to read a curve descriptio from the file defied by "FileName". The data are copied ito the global data structure "AxisIterface.Axis[].Cofig.Camig.CamCofiguratio.CamDescriptio". The followig parameters are to be trasferred to the module: FileName: Name of the file icludig the path. The etry must ot exceed 80 characters. The default directory is "/User/Default/Data". TimeMax: Defies how much time i ms per PLC cycle is to be used for readig i the file. If you do ot specify a value, ms are set by default. This meas the PLC cycle of the relevat task ca last up to 16 s loger. I order to reduce the load o the PLC cycle whe readig a file, you ca trasfer a value you deem suitable (mi. 1 ms). CamDescriptio: Target structure ito which the curve descriptio is copied. ASCII_Buffer: A structure that cosists of the followig compoets: Accessed (UINT): Access variable that regulates the access right i the evet of competig accesses. c (ARRAY [ ] OF BYTE): Character buffer where the cotet of the file (ASCII characters) is buffered. A predefied global variable "gstfilebuffer" is available that ca be used as buffer for several fuctio POUs. Access is regulated via the "accessed" variable. Prior to accessig the buffer, all POUs usig this buffer check the access status via the "accessed" variable. The hadlig is described i the followig program example: Fially the istace of the "MC_CofigureCamMaager" module is called. As a result, the bit "GetNewCamDescriptio" is set ad the ew curve descriptio will take effect whe the ext cycle begis. Maual MultiMotio 159

160 11 kva i P f Hz Applicatio Examples Chagig the cofiguratio data i "camig" axis mode durig rutime Chagig the curve descriptio i "iterpolatio" mode Depedig o the type of iterpolatio, the curve poit tables have to be stored i two differet structures. Liear iterpolatio / polyomial iterpolatio: CamPoitList: ARRAY[1..MC_CAM_MAX_CAM_POINTS] OF CAM_POINT A correspodig buffer is available i the global cofiguratio data for every axis ("AxisIterface.Axis[].Cofig.Camig.CamPoitList"). The buffer cosists of 1024 elemets, each with "x" ad "y" values. Splie iterpolatio: SpliePoitList: ARRAY[1.. C_CAM_MAX_SPLINE_POINTS] OF SPLINE_POINT_EXT I this case as well, a respective buffer is available i the global cofiguratio data for every axis ("AxisIterface.Axis[].Cofig.Camig.SpliePoitList"). The buffer cosists of 64 elemets, each with "x" ad "y" values. The curve poits are read usig the followig fuctio POUs: Liear iterpolatio / polyomial iterpolatio: MC_GetCamPoitsFromFile Splie iterpolatio: MC_GetSpliePoitsFromFile The curve poits are available i the relevat buffers oce they have bee read from a file. The iterpolatio data are created based o these curve poits usig other fuctio POUs ad are stored i the relevat buffers. The followig POUs are available for this purpose: Liear iterpolatio: MC_CofigureLiearIterpolatio Polyomial iterpolatio: MC_CofigureLiearIterpolatio Splie iterpolatio: MC_CofigureSplieIterpolatio You fid all the metioed POUs i the "MPLCTecMultiMotio" library. The buffers cosist of 2 elemets each so that chages ca be made durig rutime. For every axis, a buffer is predefied for each type of iterpolatio as global variable i the "MPLCAxisHadler_MultiMotio" library: Liear iterpolatio / polyomial iterpolatio: gstcamiterpolatiobuffer: ARRAY [1..AXISHANDLER_MAX_NUMBER_OF_AXIS] OF ST_CamIterpolatioBuffer Splie iterpolatio: gstsplieiterpolatiobuffer: ARRAY [1..AXISHANDLER_MAX_NUMBER_OF_AXIS] OF ST_SplieIterpolatioBuffer 160 Maual MultiMotio

161 Applicatio Examples Chagig the cofiguratio data i "camig" axis mode durig rutime kva i P f Hz 11 Curve poits are iterpolated as follows: The curve poit table is made available i the correspodig structure. You ca either read the file usig the metioed POUs or directly access the table i the variable structure. The required iterpolatio is cofigured usig the correspodig POUs. The POUs fulfill the followig fuctios: Provide the iterpolatio data i the correspodig buffer Cofigure the curve descriptio Set the variable "ActiveData" that is used to defie i which of the two buffers the valid iterpolatio data are stored. Chagig the rutime cosequetly requires the followig steps: Modify the curve poit table by directly accessig it or by readig i a ew table Cofigure the required iterpolatio so that the iterpolatio data are prepared i the iactive buffer, the curve descriptio is adjusted, ad the variable "ActiveData" is chaged. The followig figures illustrate the data flow. The followig two cases are distiguished: Liear iterpolatio / polyomial iterpolatio Splie iterpolatio Maual MultiMotio 161

162 11 kva i P f Hz Applicatio Examples Chagig the cofiguratio data i "camig" axis mode durig rutime The followig figure shows the data flow of a liear iterpolatio/polyomial iterpolatio: AxisIterface.Axis[].Cofig.Camig CamPoitList File MC_GetCamPoitsFromFile CamPoitList[1].x CamPoitList[1].y... CamPoitList[1024].x CamPoitList[1024].y MC_CofigureLiear Iterpolatio MC_CofigurePolyom Iterpolatio Segmet[].CAMType.Left.Right.CamIterpolatio.Data.ActiveData gstcamiterpolatiobuffer[].camiterpolatio.data.numberofpoits Buffer[1].CamIterpolatio.Data.pPoits[1] Buffer[2].CamIterpolatio.Data.pPoits[2] File: Segmet[]: CamPoitList: SplieIterpolatio.Data.pSplieCoeff[1]: SplieIterpolatio.Data.pSplieCoeff[2]: gstsplieiterpolatiobuffer[]: File with a maximum of 1024 curve poits Curve descriptio Curve poit table Poiter to buffer[1] Poiter to buffer[2] Iterpolatio data 162 Maual MultiMotio

163 Applicatio Examples Chagig the cofiguratio data i "camig" axis mode durig rutime kva i P f Hz 11 The followig figure shows the data flow of a splie iterpolatio: AxisIterface.Axis[].Cofig.Camig File MC_GetSpliePoitsFromFile SpliePoitList SpliePoitList[1].x SpliePoitList[1].y... SpliePoitList[64].x SpliePoitList[64].y MC_CofigureSplie Iterpolatio Segmet[].CAMType.Left.Right.SplieIterpolatio.Data.ActiveData gstsplieiterpolatiobuffer[].splieiterpolatio.data.numberofpoits Buffer[1].SplieIterpolatio.Data.pSplieCoeff[1] Buffer[2].SplieIterpolatio.Data.pSplieCoeff[2] File: Segmet[]: CamPoitList: SplieIterpolatio.Data.pSplieCoeff[1]: SplieIterpolatio.Data.pSplieCoeff[2]: gstsplieiterpolatiobuffer[]: File with a maximum of 64 curve poits Curve descriptio Curve poit table Poiter to buffer[1] Poiter to buffer[2] Iterpolatio data The followig program example shows how to chage the curve descriptio by modifyig the curve poit table. You fid the curve poit table i the structure "AxisIterface.Axis[].Cofig.Camig.SpliePoitList". I the example, a periodic splie iterpolatio is cofigured. Next, callig the istace of the module "MC_CofigureCamMaager" sets the bit "GetNewCamDescriptio" so that the ew curve descriptio takes effect whe the ext cycle begis. I this case as well, it is the Maual MultiMotio 163

164 11 kva i P f Hz Applicatio Examples Chagig the cofiguratio data i "camig" axis mode durig rutime resposibility of the user to esure that the trasitios i terms of positio, velocity ad acceleratio are smooth whe the ew curve descriptio is applied If you wat to read i a ew curve poit table from a file, you first have to call the respective POU: Maual MultiMotio

165 Applicatio Examples Cam cotroller kva i P f Hz Cam cotroller Switchig behavior This chapter explais the effect of the parameters "hysteresis" ad "activatio directio" o the switchig behavior of the cams at the cam limits. The followig settigs are used i the example: Limit left: Limit right: Hysteresis: 1000 You ca use the hysteresis parameter to suppress flickerig of the cam output i the evet that the master value remais at the cam limit. Activatio directio "positive" The cam is to switch whe the master value moves i positive directio beyod the left cam limit. I the respective parameter of the data structure, this settig correspods to the eumeratio value "CAM_DIRECTION_LEFT". [1] [1] Hysteresis The cam output switches whe the master exceeds the value If the master reverses withi the cam limits, the cam output switches off as soo as the master values becomes smaller tha the left cam limit mius the hysteresis. Boucig the output at the right cam limit is ot possible because the cam output does ot switch whe the master moves i egative directio beyod the right cam limit. Maual MultiMotio 165

166 11 kva i P f Hz Applicatio Examples Cam cotroller Activatio directio "egative" The cam is to switch whe the master value moves i egative directio beyod the right cam limit. I the respective parameter of the data structure, this settig correspods to the eumeratio value "CAM_DIRECTION_RIGHT". [1] [1] Hysteresis The cam output switches whe the master falls below the value If the master reverses withi the cam limits, the cam output switches off as soo as the master values becomes greater tha the right cam limit plus the hysteresis. Boucig the output at the left cam limit is ot possible because the cam output does ot switch whe the master moves i positive directio beyod the left cam limit. Activatio directio "both" The cam is to switch i both cases: Whe the master value moves i positive directio beyod the left cam limit Whe the master value moves i egative directio beyod the right cam limit I the respective parameter of the data structure, this settig correspods to the eumeratio value "CAM_DIRECTION_BOTH". [1] [1] [1] Hysteresis I this case, observe that the cam output does ot switch off util the master value leaves the hysteresis rage. This meas the cam limits will shift by the hysteresis value whe the cam output is switched off. 166 Maual MultiMotio

167 Applicatio Examples Cam cotroller kva i P f Hz Example The followig example shows the effective directio of the switchig poits. The followig parameters are give i the example: Whe the master axis is moved i clockwise directio, oly cams "CamData2" ad "CamData4" switch Maual MultiMotio 167

168 11 kva i P f Hz Applicatio Examples Iterface POUs Whe the master axis is moved i couterclockwise directio, oly cams "CamData3" ad "CamData4" switch Iterface POUs As metioed i chapter "Moitor > Diagostics > Moitor ad cotrol mode" (page 101), you ca use so-called iterface POUs whe accessig the iterface of a axis. They esure that the sigals of the moitor o the iterface of a axis are ot overwritte by the user program whe moitor mode is eabled. A iterface module is available for each axis mode that accesses the iterface of the respective mode (e.g. "homig", "velocity", etc.). I additio, there are iterface POUs that serve the iterface i the "Geeral" substructure. The iterface POUs are structured accordig to the followig priciple: The iputs of the substructure to be served correspod as far as possible to the iputs of the POU. The outputs of the substructure to be served correspod to the outputs of the POU. The POUs evaluate the variable "AxisHadler.HMI.HMICotrol" iterally. This variable is set whe cotrol mode is eabled. I this case, the sigals o the iput of the iterface POU are ot writte to the iputs of the substructure to be served. A "AxisNumber" variable must be trasferred. It defies the umber of the axis i the global data structure "AxisIterface.Axis[]" the iterface of which is to be addressed. The POUs that address a certai AxisMode have a additioal "ActivateMode" variable. It is used to eable or disable the respective axis mode. The POUs are desiged as programs which meas istatiatio is ot ecessary. 168 Maual MultiMotio

169 Applicatio Examples Iterface POUs kva i P f Hz 11 Importat: This causes the value of the last called variable to be writte to the iterface if o iput variable was explicitly assiged. It is recommeded to always assig all variables o the iput side. You fid the iterface POUs i the "MPLCAxisHadler" uder "Iterface" library. This is where the followig iterface POUs are available: IterfaceGeeral IterfaceGeeral_I IterfaceGeeral_Out IterfaceHomig IterfaceJog IterfacePositioig IterfacePositioigRelative IterfaceTouchProbe Iterface_Trackig Iterface_Velocity The library "MPLCAxisHadler_MultiMotio" icludes aother POU: IterfaceCamig Maual MultiMotio 169

170 11 kva i P f Hz Applicatio Examples Iterface POUs The followig program example illustrates the hadlig of the POUs: Maual MultiMotio

171 Applicatio Examples Usig the EtherCAT based system bus SBUSplus kva i P f Hz 11 A part of the iterface of axis 1 (AxisNumber) is mapped to the process data usig the iterface POUs. I this way, axis 1 ca be cotrolled via process data. I this case the axis ca be refereced ad positioed via process data. The process data assigmet used for this purpose is depicted below. Of course, you ca assig ot oly fieldbus data to the iterface POU but also ay variable. 13: ActivatePositioig 12: ActivateHomig 9: RapidStop 8: Start 3: Reset 2: Eable/Stop 1: Eable/RapidStop 0: Ihibit Fieldbus.IN[1] Fieldbus.IN[2] Fieldbus.IN[3] Fieldbus.IN[4] Setpoit positio Velocity Acceleratio 2: IGear 1: Powered 0: Coected Fieldbus.OUT[1] Usig the EtherCAT based system bus SBUS plus If you wat to use the MultiMotio program module o a MOVI-PLC to which axes are coected via the EtherCAT based system bus SBUS plus, you have to make the followig adjustmets i the program template: I the cotrol cofiguratio, eable the EtherCAT system bus by replacig the object "SEW system bus disabled". Add the axes coected to the bus accordigly by settig the addresses begiig from I the task cofiguratio, add the followig programs to the "TaskPriority": MC_SycMaager_EtherCaT (at the first positio) MC_CommuicatioTask_EtherCaT (at the last positio) Maual MultiMotio 171

172 11 kva i P f Hz Applicatio Examples Usig the EtherCAT based system bus SBUSplus Fast commuicatio via EtherCAT occupies a large amout of resources. It is therefore importat to set the task cycle times with sufficiet reserves. Oe optio is to cofigure the "TaskMai" as cyclic task ad set its cycle time i such a way that it is higher (at least 5 ms) tha the mea cycle time of the free-ruig task. Followig a example with 8 MOVIAXIS axes o EtherCAT. The figure below shows the settigs i the cotrol cofiguratio: The figure below shows the settigs i the task cofiguratio: The "TaskMai", which was origially cofigured as free-ruig task, is set as cyclic task with a cycle time of 30 ms. The cycle time of the "TaskPriority" is 10 ms. The task "TaskPriority_CamSwitch" was deleted. 172 Maual MultiMotio

173 Idex Idex A Acceleratio profiles, examples Achse Start i moitor Add cam...46 Applicatio example Acceleratio profiles Cam cotroller...92, 165 Chagig curve descriptio Jerk-limited positioig Power fail-safe data...34 SBUS plus typical applicatios...13 User uit Velocity Applicatio examples Iterface POUs Applicatio uit Example Applicatios, typical...13 Axis Add...44 Basic settigs...48 Cofiguratio...48 Copy settigs...45 Delete...45 Axis limits, cofiguratio...53 AxisCotrol_MultiMotio.pro...15 Axis()_UserProgram_TaskPriority...22 B Basic settigs Axis...48 Cam track...94 SedObject...87 buffer memory, variable Bus system...10 C Calculatio widow, cofiguratio...89 Cam cotroller Applicatio example...92 Example Moitor Cam track Add...45 Add cam...46 Basic settigs...94 Cofiguratio...92 Copy settigs...46 Delete...46 Moitor Track data...96 Camig Cofiguratio, geeral...72 Cofiguratio, Master...75 Cofiguratio, Optios...82 Cofiguratio, Start...77 Cofiguratio, Stop...79 Example of curve descriptio Moitor Cam, see camig Commuicatio, cofiguratio...56 Compoets, MultiMotio...15 Cofiguratio Axis...48 Axis limits...53 Basic axis settigs...48 Cam track...92 Camig...72 Commuicatio...56 Geeral i MultiMotio Editor...42 Homig...58 Limit switches...52 load oto MOVI-PLC...98 Positioig...71 Ramps...55 Save o computer...97 Savig...44 SedObject...87 Start...42 System limits...53 Touch probe...86 Trackig...84 Use uit...50 Velocity...70 Coectio status...99 Cotrol cofiguratio...25 Cotrol mode Cotrol program...19 Maual MultiMotio 173

174 Idex Cotroller Maagemet...19 Cotroller restart...27 Copyright...8 Curve, chage durig rutime D Data maagemet...27 DDB, see power fail-safe Delete cam...46 Diagostics, see Moitor Dowload...97 Cofiguratio o MOVI-PLC...98 Firmware...98 MultiMotio Editor...97 E Edit bar...43, 100 Effective directio of cams, example Embedded safety otes...7 EtherCAT based system bus Example, see applicatio examples Exclusio of liability...8 EXE, file...14 Homig Cofiguratio...58 Moitor I Istallatio...14 Iterface AxisIterface...31 CamSwitchIterface...32 Other...33 Iterface POUs Iterfaces...20 Iterpolatio, example IverterData, Moitor IO, Hardware sigals, moitor I/O Axis diagostics Iverter diagostics Use together with cam cotroller...26 J Jerk-limited positioig, example Jog, Moitor F Fieldbus...26 Fieldbus coectio...19 Fieldbus data...19 File Create cofiguratio...42 EXE...14 Savig cofiguratio as zip...97 XML...12 ZIP...14 File storage...42 Firmware Dowload...98 MOVI-PLC...14 Fixed stop egative...69 Fixed stop positive...68 Footer...40 G Global iterface, see iterface H Home, see start page L Liability...8 Liability for defects...8 Limit switch Negative...64 Positive...64 Limit switches Cofiguratio...52 Liear axis Differetiatio to the modulo axis...36 Example of ramps Example of scalig factors Example of system limits Liear iterpolatio, example M Master...47 Modulo axis Differetiatio to the liear axis...36 Example of ramps Example of scalig factors Example of system limits Maual MultiMotio

175 Idex Moitor Advaced diagostics Axis diagostics Cam track diagostics Camig Diagostics Homig IverterData IO, Hardware sigals Jog mode MultiMotio Editor...99 Overview...99 Positioig PositioigRelative SedObject TouchProbe Trace Trackig Velocity Motio cotrol fuctio...20 MotioStudio Use...16 Versio...14 MOVIAXIS...12 MOVIDRIVE...12 MOVILINK parameter chael...29 MOVI-PLC Firmware...14 Memory card...12 Techology level...14 MOVITOOLS, see MotioStudio MOVITRAC...12 MultiMotio Compoets...15 Editor...15 Editor, cofiguratio...42 Editor, Dowload...97 Editor, Moitor...99 Editor, start page...40 Patch...14 Program...20 Program module...11 N Negative ed referece cam...61 No referece travel...65 No referece travel (type 8)...68 Notes Desigatio i the documetatio...7 O Ope, cofiguratio...42 Overlayig travel profiles...35 Overview, Moitor...99 P Parameter chael MOVILINK...29 Parameter routig...27 Patch Dowload...14 Versio...14 Polyomial iterpolatio, example Positioig Cofiguratio...71 Moitor Positioig with jerk limit, example PositioigRelative, Moitor Positive ed referece cam...63 Power fail-safe data...34 Process data...27 Program module, MultiMotio...11 Project plaig...17 Project template...15 R Ramps Example Ramps, cofiguratio...55 Recordig travel profile Recordig, see trace Referece cam Flush with egative limit switch...67 Flush with positive limit switch...65 Referece travel...58 Fixed stop egative...69 Fixed stop positive...68 Negative ed referece cam...61 Negative limit switch...64 Positive ed referece cam...63 Positive limit switch...64 Referece cam flash with egative limit switch.67 Referece cam flush with positive limit switch...65 Set referece poit without eable (type 8)...68 Set referece travel with eable (type 5)...65 Zero pulse egative directio...60 Zero pulse positive directio...61 Maual MultiMotio 175

176 Idex Relative stop positio S Safety otes...9 Desigatio i the documetatio...7 Structure of the embedded safety otes...7 Structure of the sectio-related safety otes...7 Save Cofiguratio o computer...97 Cofiguratio o MOVI-PLC...98 Savig Cofiguratio...44 SBUS plus Scalig factor Example of a liear axis Example of a modulo axis Sectio-related safety otes...7 SedObject Basic settigs...87 Cofiguratio...87 Moitor User uit...88 SedObject_UserProgram_TaskPriority...22 Settigs...41 Sigal words i the safety otes...7 Speed, see velocity Splie iterpolatio, example Start page, MultiMotio Editor...40 Start, cofiguratio...42 Stop positio, relative Structure of the cotrol program...19 Structure, see structure Swap fuctio...26 System limits Cofiguratio...53 Example T Target group...10 Task cofiguratio...23 TaskMai...22, 23 TaskPriority...22, 24 TaskPriority_CamSwitch...22, 24 Techology level, MOVI-PLC...14 Touch probe Cofiguratio...86 TouchProbe Moitor Trace, Moitor Track data, cam track...96 Trackig Cofiguratio...84 Moitor Travel profiles, overlay...35 U User iterface Cofiguratio...43 Diagostics Dowload...97 User program...21 User uit Axis i geeral...50 Ramps SedObject...88 System limits Use, desigated...9 V Variable, i buffer memory Velocity Applicatio example Cofiguratio...70 Moitor Versio MotioStudio...14 Patch...14 X XML file...12 Z Zero pulse egative directio...60 Zero pulse positive directio...61 ZIP file...14, segmet display Maual MultiMotio

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