SIMIT 7. Basic Library. Reference Manual

Transcription

1 SIMIT 7 Basic Library Reference Manual

2 Edition January 2013 Siemens offers simulation software to plan, simulate and optimize plants and machines. The simulation- and optimizationresults are only non-binding suggestions for the user. The quality of the simulation and optimizing results depend on the correctness and the completeness of the input data. Therefore, the input data and the results have to be validated by the user. Trademarks SIMIT is a registered trademark of Siemens AG in Germany and in other countries. Other names used in this document can be trademarks, the use of which by third-parties for their own purposes could violate the rights of the owners. Copyright Siemens AG 2013 All rights reserved The reproduction, transmission or use of this document or its contents is not permitted without express written authority. Offenders will be liable for damages.all rights, including rights created by patent grant or registration or a utility model or design, are reserved. Siemens AG Industry Sector Industry Automation Division Process Automation SIMIT-HB-V7BL en Exclusion of liability We have checked that the contents of this document correspond to the hardware and software described. However, deviations cannot be entirely excluded, and we do not guarantee complete conformance. The information contained in this document is, however, reviewed regularly and any necessary changes will be included in the next edition. We welcome suggestions for improvement. Siemens AG 2013 Subject to change without prior notice.

3 Contents 1 PREFACE Target group Contents s 1 2 INTRODUCTION Components and controls Component symbols s on the controls Component connectors Connectors for controls Connecting connectors Connecting with connecting lines Connecting by superimposing connectors Implicit connections Setting inputs Properties of components General properties Properties of inputs Properties of the outputs Parameters States Display of vectors Component error messages Properties of controls General properties Properties of connectors 20 3 CONNECTORS Global connectors Input and Output connectors The Unit connector 24 Process Automation Page I

4 4 STANDARD COMPONENTS Analog functions Basic analog functions ADD Addition SUB - Subtraction MUL - Multiplication DIV Division Extended analog functions AFormula analog formula component Characteristic Compare functions DeadTime Dead time element INT Integration Interval Interval check Limiter MinMax minimum and maximum value selection Multiplexer PTn nth order delay Ramp function Selection analog switch Integer functions Basic integer functions ADD_I Addition SUB_I Subtraction MUL_I Multiplication DIV_I Integer division Extended integer functions Compare_I Compare function Interval_I Interval check Limiter_I MinMax_I minimum and maximum value selection Multiplexer_I integer multiplexer Selection_I integer switch Mathematical functions ABS absolute value ABS_I absolute integer value SQRT square root EXP exponential function LN natural logarithm SIN sine function COS cosine function TAN tangent function Binary functions Basic binary functions AND conjunction OR disjunction NOT, NOTc negation XOR non-equivalence 55 Process Automation Page II

5 XNOR equivalence Extended binary functions BFormula binary formula component Counter Up and Down counters Delay On-Off delay Pulse RS_FF flipflop with preferred state of Reset SR_FF flipflop with preferred state of Set Converting values Bit2Byte converting bits into bytes Byte2Bit converting bytes into bits Byte2Word converting bytes into words Word2Byte converting words into bytes Byte2DWord converting bytes into double words DWord2Byte converting double words into bytes Integer2Analog converting from integer to analog Analog2Integer converting from analog to integer Raw2Phys converting from raw to physical Phys2Raw converting from physical to raw Unsigned2Signed converting from unsigned to signed Signed2Unsigned converting from signed to unsigned Real2Byte converting from real to byte Byte2Real converting from byte to real General components in the Misc directory SimulationTime ProjectVersion Special connectors 72 5 DRIVE COMPONENTS Valve drives DriveV1 type 1 valve drive DriveV2 type 2 valve drive DriveV3 type 3 valve drive DriveV4 type 4 valve drive Pump and fan drives DriveP1 type 1 pump drive DriveP2 type 2 pump drive PROFIdrive devices The PROFIdrive Library for the simulation of PROFIdrive devices PROFIdrive - basic function of the PROFIdrive device The state machine The ramp generator Delay element Use of the PROFIdrive component type without extension 88 Process Automation Page III

6 5.3.3 Universal - additions to the PROFIdrive basic function Device-specific PROFIdrive devices DCMaster SIMOREG DC Master power converter Masterdrive SIMOVERT Masterdrive frequency converter Micromaster3 MICROMASTER Type 3 frequency converter Micromaster4 MICROMASTER Type 4 frequency converter Sinamics SINAMICS frequency converter Creation of device-specific components SIMOCODE pro motor control devices Basic functions of SIMOCODE pro components The ramp function Overload behaviour Standard assignments in the control and message data SIMOCOCEpro component s control windows Individual adaptations Specific SIMOCODE pro devices DirectStarter Direct starter ReversingStarter Reversing starter StarDeltaStarter Star-delta starter ReversingStarDelta Star-delta starter with reversal of direction of rotation Dahlander Dahlander starter or pole changer ReversingDahlander Dahlander starter or pole changer with reversal of direction of rotation OverloadRelay - Overload relay CircuitBreaker Circuit breaker Positioner - Slide valve/positioner Valve Solenoid valve SENSOR COMPONENTS SIWAREX U components Linking SIWAREXU components to the gateway Adjustment Zero offset Decimal point shift Limit values Control window of the SIWAREX components COMMUNICATION COMPONENTS Components for SIMATIC ReadMemory reading a memory address area WriteMemory writing to a memory address area ReadDatablock reading a data block WriteDatablock writing to a data block Components for SINUMERIK ADAS AXIS DATA STREAM PER PROFIBUS 125 Process Automation Page IV

7 8 CONTROLS Controls for displaying signal values Binary indicator Analog display Digital display Bar indicator Controls for entering signal values Pushbutton Pushbutton with image Switch Switch with image Stepping switch Stepping switch with image Digital input Slider Miscellaneous controls Signal disconnector The 3D Viewer control Data format requirements Animating the 3D model Animation sensors Scaling objects Changing the colour and transparency of a shape Switching viewpoints Configuring the 3D Viewer control Importing the 3D model Linking the connectors to signals Simulating with the 3D Viewer control Rotating the scene Swivelling the camera Zooming the scene Switching the viewpoint 166 Process Automation Page V

8 Table of Figures Figure 2-1: Breakdown of the component types in the Basic Library 3 Figure 2-2: Control palettes 4 Figure 2-3: Component type preview 4 Figure 2-4: for the component type 5 Figure 2-5: Component symbol with frame 5 Figure 2-6: Moving the component symbol 5 Figure 2-7: Frame with grippers on the left and right 6 Figure 2-8: Adjusting the number of inputs on the component symbol 6 Figure 2-9: Adjusting the number of inputs and the width 6 Figure 2-10: Control preview 7 Figure 2-11: for a control 7 Figure 2-12: Connectors for controls 8 Figure 2-13: Connecting with connecting lines 9 Figure 2-14: Deleting connecting lines 10 Figure 2-15: Connecting by superimposing connectors 10 Figure 2-16: Properties of the inputs of components 11 Figure 2-17: Setting inputs in the connector box 12 Figure 2-18: Setting inputs in the properties dialog 12 Figure 2-19: General properties of components 13 Figure 2-20: Displaying the component name 13 Figure 2-21: Properties of the inputs 14 Figure 2-22: Properties of the inputs while the simulation is running 15 Figure 2-23: Visible input values while simulation is running 15 Figure 2-24: Properties of the outputs 16 Figure 2-25: Properties of the outputs while the simulation is running 16 Figure 2-26: Visible output values while simulation is running 17 Figure 2-27: Properties of the parameters 17 Figure 2-28: Properties of states 17 Figure 2-29: Display of vector elements in the property window 18 Figure 2-30: Vector in collapsed view 18 Figure 2-31: General properties of controls 19 Figure 2-32: Properties of the connectors of controls 20 Figure 3-1: Connector component types in the Basic Library 21 Figure 3-2: Setting the width of connectors 22 Figure 3-3: Global connector 22 Figure 3-4: Global connector as output connector 22 Figure 3-5: Global connector as input connector 22 Figure 3-6: Entering the connector name in the symbol 23 Figure 3-7: Property window of the global connector 23 Figure 3-8: Input and Output connectors 23 Figure 3-9: Parametrization of Input and Output connectors 24 Process Automation Page VI

9 Figure 4-1: Properties dialog for the AFormula component 27 Figure 4-2: AFormula component with three inputs 27 Figure 4-3: Parameters of component type Characteristic 30 Figure 4-4: Characteristic editor 31 Figure 4-5: Selecting the type of interpolation 31 Figure 4-6: Interpolation with step curve 32 Figure 4-7: Interpolation with polyline 32 Figure 4-8: Axis parameters of a characteristic diagram 33 Figure 4-9: Scaling options 33 Figure 4-10: Inserting a control point 34 Figure 4-11: Context menu to insert a control point 34 Figure 4-12: Selecting a control point 34 Figure 4-13: Context menu to remove a control point 34 Figure 4-14: Manual input of coordinates 35 Figure 4-15: Properties dialog of the Compare component 35 Figure 4-16: Representation of the comparison operator in the symbol 36 Figure 4-17: Checking for equality with the comparison component 36 Figure 4-18: Checking for equality with the AFormula formula component 36 Figure 4-19: Step response of dead time element 37 Figure 4-20: Parameter of the DeadTime component 38 Figure 4-21: Step response of the integration function 39 Figure 4-22: Parameter view of the INT component 39 Figure 4-23: Parameter setting for the MinMax component 41 Figure 4-24: Selection in the symbol for the MinMax component 41 Figure 4-25: Step response for the first order delay function 42 Figure 4-26: Parameter of the PTn component 43 Figure 4-27: Parameter of the Ramp component 44 Figure 4-28: Control window for the Ramp component 44 Figure 4-29: Control window for the Ramp component in manual mode 45 Figure 4-30: Property view of the Compare_I component 47 Figure 4-31: Representation of the comparison operator in the symbol 48 Figure 4-32: Parameter setting for the MinMax_I component 49 Figure 4-33: Selection in the symbol for the MinMax_I component 50 Figure 4-34: Parameter setting for the SIN component 53 Figure 4-35: Parameter setting for the COS component 53 Figure 4-36: Parameter setting for the TAN component 54 Figure 4-37: Modelling with the component types NOT and NOTc 55 Figure 4-38: Property view for the BFormula component 57 Figure 4-39: BFormula component with three inputs 57 Figure 4-40: Property view of the Counter Component 58 Figure 4-41: Signal curves at the input and output of the Delay component 59 Figure 4-42: Signal curves at the input and output of the Pulse component 59 Figure 4-43: Property view of the Pulse component 60 Figure 4-44: Property view of the RS_FF component 61 Process Automation Page VII

10 Figure 4-45: Property view of the SR_FF component 61 Figure 4-46: Control window for the Bit2Byte component 63 Figure 4-47: Control window for the Byte2Bit component 64 Figure 4-48: Property view of the Raw2Phys component 66 Figure 4-49: Property view of the Phys2Raw component 67 Figure 4-50: Single precision floating-point number as defined in IEEE Figure 4-51: Single precision floating-point number as defined in IEEE Figure 4-52: Control window for the SimulationTime component 71 Figure 4-53: Operating window for the ProjectVersion component type 72 Figure 4-54: Connector components 72 Figure 4-55: Connecting connectors 73 Figure 4-56: Multiple connections to an input element 73 Figure 4-57: Assigning a default value to several inputs 73 Figure 5-1: Common connections of the component types for valve drives 74 Figure 5-2: Parameters of the components for valve drives 75 Figure 5-3: Control window for the components for valve drives 75 Figure 5-4: Common connections of the component types for pump drives 77 Figure 5-5: Control window for the componentss for pump drives 78 Figure 5-6: al diagram of PROFIdrive devices 81 Figure 5-7: PROFIdrive simulation made up of a header component and a device-specific component 81 Figure 5-8: General PROFIdrive simulation 82 Figure 5-9: SIMATIC configuration of a PROFIdrive device (SINAMICS) 83 Figure 5-10: Gating of process data with PROFIdrive components 83 Figure 5-11: Parameters of the PROFIdrive component 84 Figure 5-12: Control window of the PROFIdrive component 85 Figure 5-13: State diagram for PROFIdrive component 86 Figure 5-14: Block diagram of the ramp function generator 88 Figure 5-15: Block diagram of the delay element 88 Figure 5-16: Signals of component type Universal 89 Figure 5-17: Realisation of device-specific functions with the component Universal 89 Figure 5-18: Block diagram of the PROFIdrive header component and the signal interface of the PROFIdrive connection 95 Figure 5-19: al diagram of the SIMOCODEpro component types 96 Figure 5-20: Connections of the SIMOCODEpro component types 96 Figure 5-21: SIMATIC configuration of a SIMOCODE pro for a Dahlander motor 97 Figure 5-22: Linking of process data with the SIMOCODEpro component in SIMIT 97 Figure 5-23: Ramp function of SIMOCODEpro components 98 Figure 5-24: Parameter Cool_Down_Period in the property view of SIMOCODEpro components 99 Figure 5-25: Overload in the control window of SIMOCODEpro components 99 Figure 5-26: Signals that can be set in the control window of SIMOCODEpro components 100 Process Automation Page VIII

11 Figure 5-27: Control window for SIMOCODEpro components 101 Figure 5-28: Simulation of additional signals in the message data 102 Figure 5-29: Formation of the speed value for the DirectStarter component 103 Figure 5-30: Formation of the speed value for the ReversingStarter component 104 Figure 5-31: Parameter Max_Star_Time for the StarDeltaStarter component 105 Figure 5-32: Formation of the speed value for the StarDeltaStarter component 106 Figure 5-33: Parameter Max_Star_Time for the ReversingStarDelta component 107 Figure 5-34: Formation of the speed value for the ReversingStarDelta component 107 Figure 5-35: Formation of the speed value for the Dahlander component 108 Figure 5-36: Formation of the speed value for the ReversingDahlander component 109 Figure 5-37: Setting of Overload and Restart in the control window of the OverloadRelay component 110 Figure 5-38: Parameter Initial_Value of the OverloadRelay component 110 Figure 5-39: Parameter Initial_Value of the CircuitBreaker component 111 Figure 5-40: Formation of positioning values for the Positioner component 112 Figure 5-41: Formation of positioning values for the Valve component 113 Figure 5-42: Formation of positioning values for the Valve component 114 Figure 6-1: Schematic diagram of SIWAREXU components 116 Figure 6-2: SIMATIC hardware configuration with SIWAREX U 117 Figure 6-3: Linking the data records to a SIWAREXU component 117 Figure 6-4: Parameters of the Unit connector 117 Figure 6-5: SIWAREX U module in the tree view of the Profibus gateway 118 Figure 6-6: Adjustment diagonal of SIWAREX U 118 Figure 6-7: Parameters of the SIWAREXU components and its defaults 119 Figure 6-8: Maximum value exeeded 120 Figure 6-9: Minimum value undershot 121 Figure 6-10: Control window of the SIWAREXU2 component 122 Figure 7-1: Link with the gateway 123 Figure 7-2: Hardware configuration with slave ccadas 126 Figure 7-3: Signals of the Profibus DP gateway for ADAS 127 Figure 7-4: Component ADAS with IO signals 128 Figure 7-5: Parameters for component type ADAS 129 Figure 7-6: Additional paramters for component type ADAS 130 Figure 7-7: Operating window of component type ADAS 130 Figure 8-1: View properties of the Binary Indicator control 131 Figure 8-2: Rectangular and round shapes for the Binary Indicator control 131 Figure 8-3: Changing the size of the Binary Indicator control 132 Figure 8-4: General properties of the Analog Display control 132 Figure 8-5: View properties of the Analog Display control 133 Figure 8-6: Analog Display when the range of values is exceeded 133 Figure 8-7: Angle definition for the Analog Display 133 Figure 8-8: Shape of the Analog Display 134 Figure 8-9: General properties of the Digital Display control 134 Process Automation Page IX

12 Figure 8-10: View properties of the Digital Display control for analog signals 135 Figure 8-11: View properties of the Digital Display control for integer signals 135 Figure 8-12: Effect of different display formats and data widths 136 Figure 8-13: Changing the size of the Digital Display control 136 Figure 8-14: General properties of the Bar Indicator control 137 Figure 8-15: View properties of the Bar Indicator control 137 Figure 8-16: Horizontal and vertical orientation of the Bar Indicator 138 Figure 8-17: Changing the size of the Bar Indicator control 138 Figure 8-18: Properties dialog for setting the type of Pushbutton 139 Figure 8-19: Pushbutton pressed and not pressed 139 Figure 8-20: View properties of the Pushbutton control 139 Figure 8-21: Changing the size of the button for the Pushbutton control 140 Figure 8-22: General properties for setting the Pushbutton with Image type 140 Figure 8-23: Changing the size of the Pushbutton with Image control 140 Figure 8-24: View properties of the Pushbutton with Image control 141 Figure 8-25: General properties of the Switch control 141 Figure 8-26: Switch as Normally closed and Normally open with the default setting On and Off 142 Figure 8-27: Changing the size of Switch control 142 Figure 8-28: General properties for setting the Switch with Image control 143 Figure 8-29: Changing the size of the Switch with Image control 143 Figure 8-30: View properties of the Switch with Image control 143 Figure 8-31: General properties of the Stepping Switch control 144 Figure 8-32: Actuating the Stepping Switch control 144 Figure 8-33: Changing the size of the Stepping Switch control 145 Figure 8-34: General properties of the Stepping Switch with Image control 145 Figure 8-35: View properties of the Stepping Switch with Image control 146 Figure 8-36: Changing the size of the Stepping Switch with Image control 146 Figure 8-37: General properties for the Digital Input 147 Figure 8-38: View properties for the Digital Input for analog signals 147 Figure 8-39: View properties for the Digital Input for integer signals 147 Figure 8-40: Effect of different display formats and data widths 148 Figure 8-41: Changing the size of the Digital Input 148 Figure 8-42: General properties of the Slider control 149 Figure 8-43: Setting the signal value with the Slider 149 Figure 8-44: View properties of the Slider control 150 Figure 8-45: The Slider control with horizontal (a) and vertical (b) orientation 150 Figure 8-46: Changing the size of the Slider control 150 Figure 8-47: Section from a sample program 151 Figure 8-48: Sliders with signal disconnectors 152 Figure 8-49: Connector properties of the Signal Disconnector control 152 Figure 8-50: Connecting the connector of the Signal Disconnector control 152 Figure 8-51: Forcing connectors with the Signal Disconnector 153 Figure 8-52: View properties of the 3D Viewer control 162 Figure 8-53: Connectors in the properties of the 3D Viewer control 162 Process Automation Page X

13 Figure 8-54: Camera menu item 163 Figure 8-55: View of a scene in the 3D Viewer control 163 Figure 8-56: View menu item 164 Figure 8-57: Setting the rotation sensitivity 165 Figure 8-58: Setting the inertia factor 165 Figure 8-59: Setting the zoom sensitivity 166 Figure 8-60: Viewpoints menu 166 Process Automation Page XI

14 List of Tables Table 4-1: Operators in formulae for the AFormula component 28 Table 4-2: Mathematical functions in formulae for the AFormula component 29 Table 4-3: Permitted operators in formulae for the BFormula component 57 Table 4-4: State table for the RS_FF component 60 Table 4-5: State table for the SR_FF component 61 Table 5-1: State table for PROFIdrive component 86 Table 5-2: Structure of control word 87 Table 5-3: Structure of status word 87 Table 5-4: DCMaster-specific evaluation of the control word 90 Table 5-5: DCMaster-specific states 91 Table 5-6: Masterdrive-specific evaluation of the control word 91 Table 5-7: Masterdrive-specific states 91 Table 5-8: Micromaster3-specific evaluation of the control word 92 Table 5-9: Micromaster3-specific states 92 Table 5-10: Micromaster4-specific evaluation of the control word 93 Table 5-11: Micromaster4-specific states 93 Table 5-12: Sinamics-specific evaluation of the control word 93 Table 5-13: Sinamics-specific states 94 Table 5-14: Connection type PROFIdrive 94 Table 5-15: Standard assignments in the control word 99 Table 5-16: Standard assignments in the status word 100 Table 5-17: Supported control functions of the SIMOCODE pro 102 Table 5-18: Control and message data of the DirectStarter component 103 Table 5-19: Control and message data of the DirectStarter component 104 Table 5-20: Control and message data of the StarDeltaStarter component 105 Table 5-21: Control and message data for the ReversingStarDelta component 106 Table 5-22: Control and message data of the Dahlander component 108 Table 5-23: Control and message data of the ReversingDahlander component 109 Table 5-24: Control and message data of the CircuitBreaker component 111 Table 5-25: Control and message data of the Positioner component 112 Table 5-26: Control and message data of the Valve component 113 Table 6-1: Default adjustment parameters 119 Table 6-2: Settings table for decimal point shift 120 Table 6-3: Default adjustment parameters 121 Table 7-1: Error codes for component type ADAS 128 Table 8-1: Shortcut keys for switching the viewing plane 164 Process Automation Page XII

15 Preface 1 PREFACE 1.1 Target group This manual is intended for anyone who uses the SIMIT simulation system. It describes the structure of the library of SIMIT and the component types and controls contained in that Basic Library. The component types and controls form the basis of a simulation with SIMIT. A good knowledge of how they work is essential in order to create and run simulations. This manual provides the necessary information. It assumes knowledge of the basic SIMIT system and a basic knowledge of the mathematics on which the component types are based in addition to an in-depth knowledge of the use of PCs and the Windows user interface. 1.2 Contents This manual primarily describes the component types and controls contained in SIMIT s Basic Library. An introductory chapter 2 first describes the structure of the Basic Library and explains the general properties of the component types and controls. This section is needed in order to understand the descriptions of the individual component types contained in the following chapters 3 to 7. We therefore recommend that you read chapter 2 first. Chapters 3 to 7 may be read independently of one another. Chapter 3 describes the connectors that are provided with the basic SIMIT system. Chapter 4 contains descriptions of the standard component types in SIMIT, while chapters 5 and 6 provide information about the drive and sensor component types contained in the Basic Library. Chapter 7 contains descriptions of components for communication with SIMATIC und SINUMERIK and Chapter 8 finally contains descriptions of the controls. The descriptions of the individual component types and controls are set out so as to clearly illustrate their primary functions. Special features of the implementation are only explained where needed in order to understand how a component works. 1.3 s Particularly important information is highlighted in the text as follows: NOTE Notes contain important supplementary information about the documentation contents. They also highlight those properties of the system or operator input to which we want to draw particular attention. CAUTION This means that the system will not respond as described if the specified precautionary measures are not applied. Process Automation Page 1

16 Preface STOP WARNING This means that the system may suffer irreparable damage or that data may be lost if the relevant precautionary measures are not applied. Process Automation Page 2

17 Introduction 2 INTRODUCTION The Basic Library of SIMIT contains elementary functions for creating simulations, i.e. for modelling plant and machine behaviour with SIMIT. These functions are provided in the form of component types and controls. This manual describes in detail the individual component types and controls contained in the Basic Library. 2.1 Components and controls All component types and controls are provided in the Components and Controls task cards. The component types of the Basic Library are contained on the Components task card in the Basic Components palette. They are subdivided into Connector component types in the CONNECTORS directory Drive component types in the DRIVES directory Sensor component types in the SENSORS directory and Standard component types in the STANDARD directory (see Figure 2-1). Figure 2-1: Breakdown of the component types in the Basic Library A component type can be found in the relevant directory under its name. The names of all component types and other designations of a component type, such as the associated internal names of connectors, parameters, states and messages are all in English. This is needed in order to create an unambiguous and interchangeable basic library for both the German and all the foreign-language versions of SIMIT. Controls are provided on the Controls task card. There are three palettes of controls: Controls for displaying signal values in the Display palette. Controls for entering signal values in the Operate palette and Other controls in the Others palette (see Figure 2-2). Controls can be found in the library under their names. Process Automation Page 3

18 Introduction Figure 2-2: Control palettes 2.2 Component symbols Component types are instantiated as components in order to create a simulation. To do this, simply select the required component type with the mouse and drag it onto a diagram. Every instance of a component is represented by a type-specific symbol on a diagram. The symbol for a component type and its version and ID are displayed in the preview (Figure 2-3). Simply click on the component type in the library to select it. Figure 2-3: Component type preview Every symbol has connectors with names and a label or graphic that clearly shows the function of the components on charts (Figure 2-4). The symbols are designed so that the function of both components and connectors can be understood intuitively. Process Automation Page 4

19 Introduction Figure 2-4: for the component type Components are thus represented by the type-specific symbol in diagrams. Simply click on the relevant symbol to select a component in a diagram. A blue frame then appears around the symbol for the selected component (Figure 2-5). Simply hold down the mouse button to drag the symbol and to move it within the diagram (Figure 2-6). Figure 2-5: Component symbol with frame Figure 2-6: Moving the component symbol Some components have grippers on the frame. These grippers are used to change the size of the symbol. Components such as connectors have grippers on the left and right of the frame (Figure 2-7a). When you roll the cursor over the grippers, its appearance changes as shown in Figure 2-7b. Hold down the left mouse button to move the grippers and thus change the width of the symbol (Figure 2-7c). Process Automation Page 5

20 Introduction Figure 2-7: Frame with grippers on the left and right For components such as ADD, the frame has grippers at the top and bottom. These grippers are used to adjust the height of the symbol to suit the number of inputs. Simply click on the top or bottom gripper, hold down the left mouse button and drag it up or down (see Figure 2-8). Figure 2-8: Adjusting the number of inputs on the component symbol The formula components have grippers on all sides and at every corner of the frame. These allow you to adjust both the width and the number of inputs. The grippers at the corners of the symbol allow you to make these two settings at the same time (Figure 2-9). Figure 2-9: Adjusting the number of inputs and the width 2.3 s on the controls When you create a simulation, you use the controls in the same way as component types, specifically by positioning on a diagram with their symbols. Controls that you selected from the library appear in the preview with their symbol, their designation and a brief description of their function (Figure 2-10). Process Automation Page 6

21 Introduction Figure 2-10: Control preview When the simulation starts, controls act as active elements, so they are then represented accordingly as active controls by their symbols (Figure 2-11b). If there is no active simulation, then the symbols represent quasi-passive controls and are displayed accordingly (Figure 2-11a). Figure 2-11: for a control Controls, like components, are represented by the type-specific symbol in diagrams. Simply click on a symbol to select it. The symbol for the selected control then appears with a blue frame; simply hold down the left mouse button to drag the symbol and move it within the diagram. Grippers on the frame are used to change the size of the symbol. 2.4 Component connectors Component connectors from the Basic Library are inputs or outputs. Inputs (green triangles) are arranged on the left and outputs (red triangles) appear on the right of the symbol. To visually emphasise the direction in which the connectors work, the input triangles point into the symbol, while the output triangles point out of the symbol. Inputs and outputs that belong together from the functional viewpoint are arranged opposite one another in the symbol for a component as far as possible. In the above example of the integrator, these are input X and integrator output Y for example. Inputs and outputs that belong together from the functional viewpoint are also grouped together and are separated from other groups by spaces. This means that the functional interactions created by interconnecting components can be more easily identified on diagrams. The example in Figure 2-4 above illustrates the three following groups: Inputs X and T for calculating the integral value at output Y The limits UL and LL with their binary feedback and Set point SP and set command SET for setting the integrator output. The function described by the integral Process Automation Page 7

22 Introduction 1 Y = T X dt can thus easily be assigned to connectors X, T and Y. Connectors are only given names in the symbol if the function of that connector is not obvious. All inputs and outputs are binary (logical), analog or integer inputs or outputs 1. The values of the binary inputs or outputs are designated by zero and one or, alternatively, by False and True. 2.5 Connectors for controls Operating controls for entering signals have only one output as their connector. This takes the form of a red triangle arranged on the right side of the symbol (Figure 2-12). A green triangle on the left side of the symbol identifies the input to the display controls. The Signal Disconnector control has only one connector which is always invisible. Figure 2-12: Connectors for controls As with controls, the connectors for components are binary (logical), analog or integer inputs or outputs. 2.6 Connecting connectors The connectors for controls and components can be connected to one another if the following rules are observed: 1. Only inputs may be connected to outputs. 2. An output can only ever be connected to one input, while an input may be connected to multiple outputs. 3. Connectors to be connected must be of the same type. Connectors can be connected in different ways: By connecting lines By superimposing connectors and By implicit connections In the first two cases, the connection is made graphically in the working area of the diagram editor. The diagram editor is designed so that the rules for connecting connectors defined above are automatically followed. 1 One exception is the PROFIdrive type connector that is used to connect the header and module in the PROFIdrive library. Process Automation Page 8

23 Introduction Implicit connections are produced by changing settings in the properties of the inputs of components to be connected Connecting with connecting lines If, for example, you want to create a connection between the output of the Selection component and the input T of the integrator, then move the cursor over one of the two connectors. When the cursor changes to a cross (Figure 2-13a), you can click or hold down the mouse button to create the connection. If you then move the cursor, a blue rubber band indicates the connection between the connector and the cursor. Now move the cursor over the connector to be connected. When the connector to be connected is visually highlighted (Figure 2-13b), the connection can be completed. If you held down the mouse button to record the connection, then simply release the button to close the connection. If you recorded the connection with a mouse click, then simply click on the highlighted connector to close the connection. When the connection is closed, the rubber band is automatically replaced with a connecting line with right angles and the triangles of the connected connectors are filled in with colour, as shown in Figure 2-13c. Figure 2-13: Connecting with connecting lines To delete connecting lines, first click on the connecting line to be deleted. The connecting line changes to a thick blue line (Figure 2-14) and can be deleted by selecting Edit / Cut from the menu bar or by pressing the Del delete button. Process Automation Page 9

24 Introduction Figure 2-14: Deleting connecting lines Connecting by superimposing connectors Connecting by superimposing connectors is done by positioning two components and/or controls to be connected on the diagram so that the input of one component lies directly over the output to be connected of the other component. Figure 2-15 compares this type of connection (b) with the connecting line method (a). The two connectors that are connected by superimposition become invisible. Figure 2-15: Connecting by superimposing connectors NOTE If the connectors do not become invisible when they are superimposed, the connectors are not of the same type and thus cannot be connected Implicit connections Implicit connections are produced by changing settings in the properties of the inputs to be connected of components and/or controls. To do this, open the inputs in the properties dialog for the component (Figure 2-16) and then: 1) Make the input to be connected invisible ( ). Click the or symbol to toggle between input visible and invisible. Process Automation Page 10

25 Introduction NOTE An invisible input is not displayed on the symbol for the component, and thus cannot be connected to an output using connecting lines. 2) Select Signal ( ) from the Selection value / signal drop-down list. 3) Enter the output to be connected as a signal with component name (source) and connector name. Figure 2-16: Properties of the inputs of components The procedure is the same for a control. A control does not allow you to select between value and signal, however, so the second step is omitted and the output to be connected may be entered directly after toggling to invisible. 2.7 Setting inputs Unconnected inputs may be preassigned values. You can enter the value in the Connector box for the input on the diagram or in the Properties dialog for the component Double click in the connector box to open the field for entering the value (Figure 2-17). To complete your input, either press Return or click in the diagram outside the connector box. Process Automation Page 11

26 Introduction Figure 2-17: Setting inputs in the connector box To enter a value in the properties dialog, navigate to the relevant input and click in the input field to open it (Figure 2-18). To complete your input, either press Return or click in the properties dialog outside the input field. Figure 2-18: Setting inputs in the properties dialog Input of True / 1 and False / 0 are equivalent for binary parameters. Binary values are always displayed as True or False. You can set inputs in the ways described above even when the simulation has started. In this case, however, the input will only take effect for the duration of the started simulation, i.e. modified input values will be reset to their original values when the simulation ends. 2.8 Properties of components The properties of components can be accessed in the properties dialog. To display the properties of a component in the properties dialog, right or left click on the component. If a simulation is running, you can only display the properties by right-clicking. The properties of a component are divided into: General properties Properties of inputs Properties of outputs Parameters and States Process Automation Page 12

27 Introduction General properties General properties of components are the name and the cycle of the component, the unique identifier (UID) of the component type, the position of the component and the width and height of the symbol (Figure 2-19). Figure 2-19: General properties of components The name must be unique for all components and controls used in the project, i.e. the project must not contain multiple components and/or controls with the same name. When you drag a component from the library onto a diagram, it is automatically assigned a name. This name is made up of the designation of the component type and a number for the component type that is unique across the entire project. Check the Show Name checkbox to display the name of the component on the diagram (Figure 2-20). Figure 2-20: Displaying the component name Properties of inputs Inputs may be visible or invisible and the signal linked to an input or the input value may be set. Figure 2-21 shows the properties dialog with the inputs of a component by way of example. Each input has the following properties: Visibility In the first column, you can toggle between Input visible ( ) and Input invisible ( ). If the input is connected with a connecting line, you cannot toggle between them. In Figure 2-21, the first two inputs X and T are connected by way of example; they thus cannot be set to invisible. Process Automation Page 13

28 Introduction Name The name of the input is displayed right-justified in the second column. References The third column is used to search for references, i.e. for objects that use this input. Selection value or signal The fourth column is used to toggle between value ( ) or signal ( ) as the selection for the input. This selection is not active if the input is connected with a connecting line. Value or signal In the fifth column, the input value is set if value was selected. If signal was selected, then the output connected with the connecting line is displayed or the output to be connected implicitly may be set. Figure 2-21: Properties of the inputs While the simulation is running, the properties display changes as shown in Figure In this case input values are always displayed in place of signals, and it is possible to set each input value. Display On/Off In the first column, the value at the input of the component can be shown ( ) or hidden ( ). When the simulation is started, the display is switched on for nonconnected inputs and switched off for connected inputs. The display cannot be switched on for invisible inputs. Figure 2-23 shows a component in which the display is switched on for all input values, i.e. even for values at connected inputs. Force input In the fourth column you can switch forcing on ( ) or off ( ) for every connected input. Process Automation Page 14

29 Introduction Input value The fifth column is used to display or set the input value. Figure 2-22: Properties of the inputs while the simulation is running Figure 2-23: Visible input values while simulation is running Properties of the outputs Outputs may be visible or invisible. Figure 2-24 shows the properties dialog with the outputs of a component by way of example. Each output has the following properties: Visibility In the first column, you can toggle between Output visible ( ) and Output Invisible ( ). If the output is connected with a connecting line or by superimposing connectors, you cannot toggle between them. Name The name of the output is displayed right-justified in the second column. References The third column is used to search for references, i.e. for objects that use this output. Process Automation Page 15

30 Introduction Figure 2-24: Properties of the outputs While the simulation is running, the properties display changes as shown infigure Display On/Off In the first column, the value at the output of the component can be shown ( hidden ( ). When the simulation starts, the display is switched off for all outputs. The display cannot be switched on for invisible outputs. Figure 2-26 shows a component in which the display is switched on for all output values. Force output In the fourth column you can switch forcing on ( ) or off ( ) for every connected output. Output value The fifth column is used to display or set the output value. ) or Figure 2-25: Properties of the outputs while the simulation is running Process Automation Page 16

31 Introduction Figure 2-26: Visible output values while simulation is running Parameters Every parameter is displayed with its name and value in the properties dialog (Figure 2-27). Figure 2-27: Properties of the parameters States States are displayed with their name and initial values in the properties dialog (Figure 2-28). If the simulation has started, the current values are displayed for each state. Figure 2-28: Properties of states Display of vectors Vectors of inputs, outputs, parameters and states are displayed in the property window in a grouped and also numerically sorted way (Figure 2-29). Process Automation Page 17

32 Introduction Figure 2-29: Display of vector elements in the property window Vector elements can be expanded or collapsed. Figure 2-30 shows a vector in collapsed view. Figure 2-30: Vector in collapsed view 2.9 Component error messages The components are implemented so that critical or nonsense parameters or input values do not cause unstable component behaviour. The component outputs an error message if illegal values are added to the parameter settings or if input signals are not within the specified range. In addition, outputs of the component are set to a defined value in the event of an error to avoid unstable output values. This set value is disabled once more when the error status is eliminated. All error messages from components in the basic library are assigned to the ERROR message category. The error messages can only be displayed in the message window of the SIMIT TME add-on module (Trend & Message Editor). Error messages are generated as coming and going messages. The coming message is sent when the error occurs, while the going message is sent once the error status has been Process Automation Page 18

33 Introduction eliminated. Both messages have the same message text. The only difference is that the text of going messages is placed in round brackets. NOTE If you use the ERROR message category in your own messages that you generate using the Message component from the TME add-on module, for example, you will be unable to distinguish between messages from components from the basic library and your own messages with reference to the message category Properties of controls The properties of controls can be accessed in the properties dialog. To display the properties of a component in the properties dialog, right or left click on the component. If a simulation is running, you can only display the properties by right-clicking. Every control has General properties and Properties for the connector Controls whose representation can be changed also have Properties for the view These properties are explained in the detailed description of each control in chapter General properties General properties of controls (Figure 2-31) are the name and the cycle, the unique identifier (UID), the position as well as the width and height of the control. Figure 2-31: General properties of controls The name of a control must be unique for all controls and components used in the project, i.e. the project must not contain multiple controls and/or components with the same name. When you drag a control from the library onto a diagram, it is automatically assigned a name. This name is made up of the designation of the control and a number for the control that is unique across the entire project. Process Automation Page 19

34 Introduction Check the Show Name checkbox to display the name of the control on the diagram. Controls may also have other specific, general properties. These properties are explained in the detailed description of each control in chapter Properties of connectors Connectors may be visible or invisible. Figure 2-32 shows the properties dialog with the connector of a control by way of example. Each connector has the following properties: Visibility In the first column, you can toggle between Connector visible ( ) and Connector invisible ( ). If the connector is connected with a connecting line or by superimposing connectors, you cannot toggle between them. Name The name of the connector is displayed right-justified in the second column. Signal In the third column, the connected signal is displayed or can be set for invisible connectors. Figure 2-32: Properties of the connectors of controls Process Automation Page 20

35 Connectors 3 CONNECTORS The CONNECTORS directory of the Basic Library contains connectors: one global connector Connector, connectors Input and Output, and the special connector Unit. the connector Topology, which is for use with special SIMIT modules or libraries only, hence is not described here. (see Figure 3-1). Figure 3-1: Connector component types in the Basic Library The Connectors of the Basic Library have the following shared characteristics: The connections of the connector have no type. This means that the connectors assume the connection type of the connected component. NOTE A type check, i.e. a check to identify whether the connections connected via connectors are of the same type, is carried out automatically when the simulation is started. If signals with conflicting types are connected, a message will be shown and starting the simulation is cancelled. The width of the connector symbol on a diagram can be varied and thus matched to the length of the connector name. To set the width of a connector, click on the connector s symbol. A blue frame pops up with grippers on the left and right side of the frame (Figure 3-2a). If you move the cursor on a gripper, the shape of the cursor changes (Figure 3-2b). Then hold down the left mouse button and move the edge to the left or right to the desired width (Figure 3-2c). The connector name is displayed in the connector symbol. Process Automation Page 21

36 Connectors Figure 3-2: Setting the width of connectors 3.1 Global connectors The global connector Connector is used just to link between components and/or controls across the boundaries of individual diagrams. The global connector may be used as output or as input connector. The symbol is illustrated in Figure 3-3. Figure 3-3: Global connector If the clobal connector connects to an output of a component or control, the connection that is placed on the right side of the connector disappears: the connector is now used as an output connector (Figure 3-4). Figure 3-4: Global connector as output connector If the clobal connector connects to an intput of a component or control, the connection that is placed on the left side of the connector disappears: the connector is now used as an input connector (Figure 3-5). Figure 3-5: Global connector as input connector Process Automation Page 22

37 Connectors Links with global connectors simply require a name to be entered for the link. This is the connector name. NOTE Please note that global connector names must be unique throughout the entire simulation project. If you drag the global connector from the library on a diagram, the connector is assigned a name that consists of the term Connector and a unique number. A connector name can be entered directly in the symbol. Double click on the connector to open the input box (Figure 3-6), then press Return or click outside of the input box to confirm your input. Figure 3-6: Entering the connector name in the symbol Alernatively, the connector name can be enterd in the property view (Figure 3-7). The name is the only property of the global connector. Figure 3-7: Property window of the global connector 3.2 Input and Output connectors The components Input and Output produce the link to signals in the SIMIT gateways. These components can produce a link to signals from any SIMIT gateway. There are input and output connectors (Input und Output) as illustrated in Figure 3-8. Figure 3-8: Input and Output connectors Links to signals in the SIMIT gateways can be as follows: a link from one or more Output connectors to a single output signal of a gateway, or a link from an Input connector to a single input signal of a gateway. Process Automation Page 23

38 Connectors The link is established by setting the name of the gateway and the name of the signal in the property view of the connector (Figure 3-9). Figure 3-9: Parametrization of Input and Output connectors If you don t want the name of the gateway to be shown on the diagram, you may deselect the option Display Gateway Name. 3.3 The Unit connector The Unit connector is a special type of connector that can be used in conjunction with SIWAREXU components only. A link between these components and the modules within a Profibus DP gateway is established. Usage and parametrization of a Unit-Connector is described in section Process Automation Page 24

39 Standard components 4 STANDARD COMPONENTS The standard component types in the Basic Library form the Standard Library. They are contained in the STANDARD directory. The component types are broken down according to function into component types with Analog functions Binary functions Integer functions Conversion functions Mathematical functions Various auxiliary functions. 4.1 Analog functions All component types with analog functions are contained in the AnalogBasic and AnalogExtended directory of the Standard Library. AnalogBasic contains the basic analog functions, while AnalogExtended holds the extended analog functions Basic analog functions The four basic analog functions of Addition, Subtraction, Multiplication and Division, i.e. the four basic arithmetic operations, are stored as component types in the AnalogBasic directory of the Standard Library ADD Addition The ADD component type maps the sum of the analog values at the n inputs x 1 to x n onto the output y: n y = xi = x1 + x xn. i= 1 The number of inputs n is variable and can be set to any value between 2 and 32. All inputs are set to zero by default SUB - Subtraction Process Automation Page 25

40 Standard components The SUB component type maps the difference between the analog values at the inputs x 1 and x 2 onto the output y: y = x 1 x 2. All inputs are set to zero by default MUL - Multiplication The MUL component type maps the product of the analog values at the n inputs x 1 to x n onto the output y: n y = x i= 1 i = x x x n. The number of inputs n is variable and can be set to any value between 2 and 32. All inputs are set to one by default DIV Division The DIV component type maps the quotients of the analog values at the inputs x 1 and x 2 onto the output y: x 1 y =. x2 Input x 1 is set to zero by default, while the divisor input x 2 is set to one by default. The value of the divisor x 2 must not be zero. When the simulation is run, if the divisor is zero, the error message "DIV: division by zero (message category ERROR) is generated and the output y is set to zero Extended analog functions The AnalogExtended directory of the Standard Library contains further analog functions in the form of component types. Process Automation Page 26

41 Standard components AFormula analog formula component The AFormula component type allows explicit algebraic functions to be used. This function f calculates a value in relation to the n input values x i. The function value is assigned to the output y: y = f ( x,...,x ). 1 n To define the function, enter the desired formula expression in the Formula parameter that calculates the output y in relation to the inputs x i. First set the required number of inputs and then open the properties dialog for the component in order to enter the formula (see Figure 4-1). The number n of inputs can be varied between 1 and 32. Only the inputs that are available according to the number currently set may be used in the formula. The formula is displayed at the top of the component symbol. Figure 4-2 shows a component with three inputs by way of example. Figure 4-1: Properties dialog for the AFormula component You can make the component wider to allow longer formulae to be displayed in full. To do this, move the cursor over the right-hand edge of the component, hold down the left mouse button and drag the edge to the desired width. Figure 4-2: AFormula component with three inputs The operators listed in Table 4-1 may be used in formulae. Process Automation Page 27

42 Standard components Operator + Addition - Subtraction / Division * Multiplication ( Open bracket ) Close bracket Constant calls Table 4-1: Floating point numbers, also expressed as exponents Standard mathematical functions Operators in formulae for the AFormula component The mathematical functions as listed in Table 4-2 are available as standard mathematical functions. NOTE In the formula component there is no check to determine whether all the set inputs are used in the specified formula. CAUTION There is also no check in the formula component to determine whether the arguments of the formula have valid values. If a divide by zero occurs during the simulation in the formula calculation, then output y will have the value Inf. If an argument of a formula is not determined during the simulation, as in the case of a division of zero by zero, for example, then output y has the value NaN (not a number). These irregular output values will then be propagated in the model in all values that depend on this output. Your simulation will thus enter an undefined state. To avoid this situation, make sure that the inputs of the formula components can only assume values that ensure the validity of the arguments in the formula. Process Automation Page 28

43 Standard components Formula sqrt(x) y = x ; x 0 fabs(x) y = x exp(x) x y = e pow(x, z) y = x ; log(x) Natural logarithm: y ln( x) log10(x) common logarithm: y lg( x) z = ; x > 0 = ; x > 0 ceil(x) Smallest integer greater than or equal to x floor(x) Largest integer less than or equal to x rand() integer random value y, 0 y sin(x) y sin( x) cos(x) y cos( x) tan(x) y tan( x) asin(x) y arcsin( x) acos(x) y arccos( x) atan(x) y arctan( x) atan2(z, x) y arctan( x / z) sinh(x) y sinh( x) cosh(x) y cosh( x) tanh(x) y tanh( x) = ; Angle x in the radian measure = ; Angle x in the radian measure = ; Angle x in the radian measure; x ± ( 2n + 1) π 2 = ; π 2 y π 2 = ; 0 y π = ; π 2 y π 2 = ; π z π = ; Angle x in the radian measure = ; Angle x in the radian measure = ; Angle x in the radian measure Table 4-2: Mathematical functions in formulae for the AFormula component NOTE You may use the function y=rand() to compute random numbers within a specified interval YMIN y YMAX using the formula YMIN+rand()*(YMAX-YMIN)/ Characteristic The Characteristic component type is used to define the mapping of input value x onto output value y defined by a characteristic curve. Process Automation Page 29

44 Standard components y = f (x). C The characteristic to be used is defined using the Characteristic parameter. To do this, open the Parameters section on the components properties view (see Figure 4-3). Figure 4-3: Parameters of component type Characteristic The button associated with the Characteristic Parameter will open an editor to specify the characteristic itself (see Figure 4-4) Process Automation Page 30

45 Standard components Figure 4-4: Characteristic editor In this editor a characteristic is specified by n control points (x i, y i ), i = 1,..., n and by selecting the type of Interpolation between these control points (Figure 4-5). There may be any number n of control points. The type of interpolation may be either constant or linear, in which case the curve will thus take the form of a step curve or a polyline. Figure 4-5: Selecting the type of interpolation Process Automation Page 31

46 Standard components Outside the interpolation range, i.e. the range covered by the control points x coordinates, the output value y is extrapolated. Figure 4-6 and Figure 4-7 show an interpolation with five control points as a step curve and as a polyline by way of example. Figure 4-6: Interpolation with step curve Figure 4-7: Interpolation with polyline The characteristic function for n control points is thus definied as 0.0 for n = 0, as y 1 for n = 1 and for n > 1 as Process Automation Page 32

47 Standard components y y1 for x x1, yi for xi 1 < x xi, i = 2,..., n yn for x > xn = for a step curve and as for a polyline. y2 y1 y1 + ( x x1 ) for x x1 x2 x1 yi yi 1 y = yi 1 + ( x xi 1) for xi 1 < x xi, i xi xi 1 yn yn 1 yn + ( x xn) for x > xn xn xn 1 = 2,..., n For both the horizonal axis x and the vertical axis y of the characteristics diagram you can specify properties as follows (Figure 4-8): minimum and maximum value, scale division and scaling. Both axis default to linear scaling with a scale division of ten, a minimum value of zero and a maximum value of hundret. Figure 4-8: Axis parameters of a characteristic diagram Scaling may be either linear or logarithmic (Figure 4-9). Figure 4-9: Scaling options You can insert new control points in the diagram as well as remove or shift existing control points. Inserting control points: To insert a control point into the diagram, please set the cursor at the desired position. The current coordinates are displayed at the cursor position. A new control point is inserted at the current position with a double click (Figure 4-10). Process Automation Page 33

48 Standard components Figure 4-10: Inserting a control point You can also right click and insert a new control point at the current position using the context menu Insert control point (Figure 4-11). Figure 4-11: Context menu to insert a control point Removing control points: To remove a control point first select it by left clicking, the control point will change its appearance (Figure 4-12): Figure 4-12: Selecting a control point A selected control point can be removed by pressing the Delete key or by using Remove Control point in the point s context menu (see Figure 4-13). Figure 4-13: Context menu to remove a control point Moving control points: To change a control points position select it by left clicking and drag it to the desired position while keeping the left mouse button pressed. A control point can only be moved within the boundaries defined by its left and right neighbor. Process Automation Page 34

49 Standard components You may also edit a selected control point coordinates in the properties field. You can start input by clicking in the input field and enter the desired value (see Figure 4-14). Input is confirmed by pressing Return. Figure 4-14: Manual input of coordinates Exporting and importing control points You can import control points from a file. Using the import command ( ) from the toolbar you can open a dialog and select a file in the Excel csv format. This file must contain the control points with their x- and y-coordinate in one row, with a separator between the two coordinates. When using the dot. as decimal sign the separator between the coordinates is the comma,, when using the comma, as decimal sign the separator is the semicolon ;. Using the export command ( ) from the toolbar you can export your current set of control points into a csv file, e.g. to modify them there. The file will contain one control point per line with the dot. as decimal sign, its coordinates separated by a comma, Compare functions The Compare component type compares analog inputs x 1 and x 2. Binary output b is set to one if the compare expression is true, otherwise b is set to zero. The type of comparison is determined with the Comparison parameter. To set this comparison parameter, open the property view for the component (see Figure 4-15). Figure 4-15: Properties dialog of the Compare component The following comparisons may be set:, if x < Less than comparison (<), i.e. = 1 x b 0, else 1 2 Process Automation Page 35

50 Standard components 1, if x Less than or equal to comparison (<=), i.e. = 1 x2 b 0, else, if x > Greater than comparison (>), i.e. = 1 x b 0, else 1 2 and 1, if x Greater than or equal to comparison (>=), i.e. = 1 x2 b 0, else The selected comparison operator is displayed in the component symbol (see Figure 4-16). The width of the symbol can be changed in order to be able to offset the less than or equal to and greater than or equal to comparison operators slight from the right-hand edge of the symbol. Figure 4-16: Representation of the comparison operator in the symbol In SIMIT, analog variables are mapped onto variables of the type double, so it is not meaningful to compare them directly for equality or inequality. Equality of double variables is only possible within the accuracy defined by the computer (machine accuracy). Equality can be checked with the model illustrated in Figure 4-17, for example. Figure 4-17: Checking for equality with the comparison component Alternatively, a functionally identical model may be applied, using the Aformula formula block, for example (see Figure 4-18). Figure 4-18: Checking for equality with the AFormula formula component The difference between the two variables x 1 and x 2 is calculated. The amount of this difference is then compared against a definable positive limit ε: 1, if x1 x2 < ε b =. 0, else To check for inequality, only the greater than comparison should be used in the comparison component in both of the illustrated models. Process Automation Page 36

51 Standard components NOTE You can easily set up your own components to check for inequality or equality with reference to the above explanatory notes. For example, you can use the SIMIT Macro Component Editor (MCE) add-on module to create suitable macro components or the SIMIT Component Type Editor (CTE) add-on module to create a comparison component that includes these comparisons DeadTime Dead time element The DeadTime component type makes a dead time element available. The analog value on input x is passed to output y with an adjustable delay. A step change in the input value x from zero to one thus gives a curve for the output value y as shown in Figure Figure 4-19: Step response of dead time element The delay time T is adjustable as a Delay_Cycles parameter of the component type in whole multiples n of the cycle time t : T = n t (Figure 4-20). It is set to ten by default and may be set to up to 128. The default cycle time of 100 ms therefore produces a delay of one second. Process Automation Page 37

52 Standard components Figure 4-20: Parameter of the DeadTime component CAUTION If you change the cycle time t in the project properties, you also need to change the selected dead times accordingly. In the component, the input values are saved and delayed and sent to the output according to the selected dead time. The memory is set up for n values according to the configured number of delay cycles. All storage locations are initialised to zero. The binary input CLR can be used to set the output value y and all storage locations n to zero INT Integration The INT component type forms the integral via the time-specific analog input signal x using 1 y = x dt T. The integral value is assigned to the analog output y. For a step-shaped input signal of amplitude one this gives a linear ascending output signal as shown in Figure Process Automation Page 38

53 Standard components Figure 4-21: Step response of the integration function The integral value y is limited to an interval defined by the two limit values UL (upper limit) and LL (lower limit): LL y UL. The binary outputs ULR and LLR indicate when the integral value has reached the lower or upper limit: 1, if y UL ULR = and 0, else 1, if y LL LLR =. 0, else The lower limit must be less than the upper limit. If this condition is violated, the error message INT: limits do not match (message category ERROR) is generated and output y is set to zero. The time constant T for the integration must have a positive value. If T is not positive, the error message INT: zero or negative time constant (message category ERROR) is generated and output y is set to zero. The lower limit is set to zero and the upper limit is set to one hundred by default. The time constant T is set to 1 sec by default. All other inputs are set to zero by default. The component INT only has one parameter - Initial_Value (Figure 4-22). The integration value y is set to this value when the simulation is initialised (started). The parameter is set to zero by default. The binary input SET may be used to set the integration value y to the value at the input SP: if SET is set to one, then the integration value y is set to equal the value at the input SP. Again, the integration value is limited by LL and UL. Figure 4-22: Parameter view of the INT component Process Automation Page 39

54 Standard components Interval Interval check The Interval component type checks whether an input value x is within the closed interval [x min, x max ]. If the input value falls within the set interval, then the binary output is set to one, otherwise it is zero: 1 for xmin x xmax, b =. 0 else An interval from zero to one hundred is set, i.e. x min is preset to zero and x max is preset to one hundred. The upper interval limit must not be less than the lower interval limit. When the simulation is run, if the lower interval limit becomes less than the upper limit, then the error message "Interval: limits do not match (message category ERROR) is generated and output b is set to zero Limiter The Limiter component type maps an input value limited to the range from x min to x max onto the output y: x y = x x max min for x x for x min for x x max < x < x min max The binary outputs b min and b max are set to one when the limiter takes effect, i.e. 1, if x xmax b max = and 0, else 1, if x xmin b min =. 0, else The limit x min is set to zero and x max is set to one hundred by default. The upper limit must not be less than the lower limit. When the simulation is run, if the upper limit becomes less than the lower limit, then the error message "Limiter: limits do not match (message category ERROR) is generated and output y is set to zero. Process Automation Page 40

55 Standard components MinMax minimum and maximum value selection The MinMax component type maps the minimum or maximum of the n inputs x 1 to x n onto the output y: The number of inputs n is variable and can be set to any value between 2 and 32. All inputs are set to zero by default. The type of mapping is determined with the MinMax parameter. To set, open the component property view and set the required value (see Figure 4-23). Figure 4-23: Parameter setting for the MinMax component The MIN or MAX mapping set for a component is displayed in the component symbol as shown in Figure Figure 4-24: Selection in the symbol for the MinMax component Multiplexer The Multiplexer component type switches one of the n different inputs x i in relation to the integer value at the selection input i onto the output y: y = xi for 1 i n. The number n of inputs x i is variable and can be set to any value between 3 and 32. All inputs are set to zero by default. Process Automation Page 41

56 Standard components The value at the selection input i is limited internally to 1 to n, i.e. for values less than one, i is set to one, while for values greater than n, i is set to the value n. In the default setting, the first input x i is therefore enabled at the output y PTn nth order delay The PTn component type provides an n-th order delay. With a first order delay, the function value y at the output follows the value x at the input with a delay equal to the differential equation d y 1 = ( x y). d t T A step change in the input value x from zero to one thus gives an exponential curve for the output value y (step response) as per y =1 e t / T as illustrated in Figure Figure 4-25: Step response for the first order delay function For higher-order delays, the output value y is obtained by concatenating first-order delays: d z i 1 = ( zi 1 zi ), i 1,..., n; dt T = y = z n. Where z i, i = 1,...,n, are the n states of the n-th order delay. To illustrate, an n-th order delay corresponds to n first order delays connected in series. Process Automation Page 42

57 Standard components The order n of the delay can be set as a parameter of the component. It is set to one by default and may be set to up to 32. The Initial_Value parameter set to zero is used to initialise the states of the delay function (Figure 4-26). Figure 4-26: Parameter of the PTn component To prevent the component behaving in an unstable manner for too short delay times, the delay time constant T is limited to values that are greater than or equal to the cycle time of the component. If the values at input T are less than the cycle time, then the error message "PTn: delay time below cycle time (message category ERROR) is generated. The delay time is set to 1 sec by default. All other inputs of the component are set to zero by default. The binary input SET may be used to set the output value y and the status values z i, i = 1,...,n, to the value at the input SP: if SET is set to one, then these values are set to equal the value at the input SP Ramp function The Ramp component type increments or decrements its function value y in every time step of the simulation by the value Δt y = ( UL LL), T where Δ t is the simulation time step width. The ramp value y is incremented by y when the "+" (UP) input is set to one. If the "-" (DOWN) input is set to one, the ramp value y is decremented by y. If both the "+" and the "-" input are set to one, then the ramp value y does not change. The ramp value is limited to an interval defined by the two limit values UL (upper limit) and LL (lower limit): LL y UL. Process Automation Page 43

58 Standard components The binary outputs ULR and LLR indicate when the ramp value has reached the lower or upper limit: 1, if y UL ULR = and 0, else 1, if y LL LLR =. 0, else The lower limit must be less than the upper limit. If this condition is violated, the error message RAMP: limits do not match (message category ERROR) is generated and output y is set to zero. The time constant T must have a positive value. If T is not positive, the error message Ramp: zero or negative time constant (message category ERROR) is generated and output y is set to zero. The lower limit is set to zero and the upper limit is set to one hundred by default. The time constant is set to 10 sec by default. All other inputs are set to zero by default. The component Ramp only has one parameter - Initial_Value. The ramp function value y is set to this value when the simulation is initialised (started). Initial_Value is set to zero by default (Figure 4-27). Figure 4-27: Parameter of the Ramp component The binary input SET may be used to set the ramp value y to the value at the input SP: if SET is set to one, then the ramp value y is set to equal the value at the input SP. Again, the ramp value is limited by LL and UL. The component control window can be used to manually set the ramp function value during a simulation. First open the control window (see Figure 4-28). Figure 4-28: Control window for the Ramp component Use the MANUAL button to switch the ramp function to manual mode. The colour of the border around the button changes to red. You can now press the "-" or "+" button to reduce or increase the ramp function value. The current function value is displayed both as a decimal value and as a percentage (see Figure 4-29). Process Automation Page 44

59 Standard components Figure 4-29: Control window for the Ramp component in manual mode Selection analog switch The Selection component type switches one of the two inputs x 0 or x 1 through to output y in relation to the value of the binary input a. If the selection input a = 0, then input x 0 is switched through, or if the selection input a = 1 then input x 1 is switched through: x0, if a = 0 y =. x1, if a = 1 All inputs are set to zero by default. 4.2 Integer functions All component types with integer functions are contained in the IntegerBasic and IntegerExtended directories of the Standard Library. IntegerBasic contains the basic integer functions, while IntegerExtended holds the extended integer functions Basic integer functions The four basic integer functions of Addition, Subtraction, Multiplication and Division, i.e. the four basic arithmetic operations, are stored as component types in the IntegerBasic directory of the Standard Library. The symbols of these component types are held in blue to distinguish them from analog component types ADD_I Addition Process Automation Page 45

60 Standard components The ADD_I component type maps the sum of the analog values at the n inputs x 1 to x n onto the output y: n y = xi = x1 + x xn. i= 1 The number of inputs n is variable and can be set to any value between 2 and 32. All inputs are set to zero by default SUB_I Subtraction The SUB_I component type maps the difference between the integer values at the inputs x 1 and x 2 onto the output y: y = x 1 x 2. All inputs are set to zero by default MUL_I Multiplication The MUL_I component type maps the product of the integer values at the n inputs x 1 to x n onto the output y: n y = x i= 1 i = x x x n. The number of inputs n is variable and can be set to any value between 2 and 32. All inputs are set to one by default DIV_I Integer division The DIV_I component type maps the quotient of the integer values at the inputs z 1 and z 2 onto the output y as an integer division with remainder R: Process Automation Page 46

61 Standard components z y z + R 1 = 2 The divident at input z 1 is set to zero by default, the divisor input z 2 is set to one by default. The value of the divisor x 2 must not be zero. When the simulation is run, if the divisor is zero, the error message DIV_I: division by zero (message category ERROR) is generated and the output y and remainder R are set to zero Extended integer functions The IntegerExtended directory of the Standard Library contains further integer functions in the form of component types. The symbols of these component types are held in blue to distinguish them from analog component types Compare_I Compare function The Compare_I component compares integer inputs x 1 and x 2. Binary output b is set to one if the compare expression is true, otherwise b is set to zero. The type of comparison is determined with the Comparison parameter. To set this comparison parameter, open the propertiy view (see Figure 4-30). Figure 4-30: Property view of the Compare_I component The following comparisons may be set:, if z < "Less than comparison (<), i.e. b = 0, else 1 1 z2 1, if z 2 "Less than or equal to comparison (<=), i.e. b = 0, else, if z > "Greater than comparison (>), i.e. b = 0, else 1 1 z2 Process Automation Page 47 and 1 z

62 Standard components 1, if z "Greater than or equal to comparison (>=), i.e. = 1 z2 b 0, else 1, if z = Equal to comparison (=), i.e. = 1 z2 b. 0, else 0, if z Not equal comparison(<>), i.e. = 1 z2 b. 1, else The selected comparison operator is displayed in the component symbol (see Figure 4-31). Figure 4-31: Representation of the comparison operator in the symbol The width of the symbol can be changed in order to be able to offset the less than or equal to and greater than or equal to comparison operators slight from the right-hand edge of the symbol Interval_I Interval check The Interval_I component type checks whether an input value z is within the closed interval [z min, z max ]. If the input value falls within the set interval, then the binary output is set to one, otherwise it is zero: 1 for z min z zmax, b =. 0 else An interval from zero to one hundred is set, i.e. z min is preset to zero and z max is preset to one hundred. The upper interval limit must not be less than the lower interval limit. When the simulation is run, if the lower interval limit becomes less than the upper limit, then the error message "Interval_I: limits do not match (message category ERROR) is generated and output b is set to zero (FALSE). Process Automation Page 48

63 Standard components Limiter_I The Limiter_I component type maps an input value limited to the range from z min to z max onto the output y: z y = z z max min for z z for z min for z z max < z < z min max The binary outputs b min and b max are set to one when the limiter takes effect, i.e. 1, if z zmax b max = and 0, else 1, if z zmin b min =. 0, else The limit z min is set to zero and z max is set to one hundred by default. The upper limit must not be less than the lower limit. When the simulation is run, if the upper limit becomes less than the lower limit, then the error message "Limiter_I: limits do not match (message category ERROR) is generated and output y is set to zero MinMax_I minimum and maximum value selection The MinMax_I component type maps the minimum or maximum of the n inputs z 1 to z n onto the output y: The number of inputs n is variable and can be set to any value between 2 and 32. All inputs are set to zero by default. The type of mapping is determined with the MinMax parameter. To set, open the component property view and set the required value (see Figure 4-32). Figure 4-32: Parameter setting for the MinMax_I component Process Automation Page 49

64 Standard components The MIN or MAX mapping set for a component is displayed in the component symbol as shown in Figure Figure 4-33: Selection in the symbol for the MinMax_I component Multiplexer_I integer multiplexer The Multiplexer_I component type switches one of the n different interger inputs x i in relation to the value at the selection input i onto the output y: y = xi for 1 i n. The number n of inputs x i is variable and can be set to any value between 3 and 32. All inputs are set to zero by default. The value at the selection input i is limited internally to 1 to n, i.e. for values less than one, i is set to one, while for values greater than n, i is set to the value n. In the default setting, the first input x i is therefore enabled at the output y Selection_I integer switch The Selection_I component type switches one of the two integer inputs x 0 or x 1 through to output y in relation to the value of the binary input a. If the selection input a = 0, then input x 0 is switched through, or if the selection input a = 1 then input x 1 is switched through: x0, if a = 0 y =. x1, if a = 1 All inputs are set to zero by default. 4.3 Mathematical functions The Math directory of the Standard Library contains the most commonly used mathematical functions in the form of component types: absolute value generation (ABS), square root Process Automation Page 50

65 Standard components extraction (SQRT), natural logarithm (LN) and the exponential function (EXP), plus the trigonometric functions sine (SIN), cosine (COS) and tangent (TAN). NOTE Alternatively, you can use the AFormula component with suitable parameters in place of these components. You can increase the available mathematical functions of this type by creating suitable component types using the SIMIT Component Type Editor (CTE) addon module ABS absolute value The ABS component type maps the absolute value (amount) of input x onto output y: y = x ABS_I absolute integer value The symbol for ABS_I is held in blue to distinguish them from the ABS component. The ABS_I component type maps the absolute value (amount) of integer input x onto output y: y = x SQRT square root The SQRT component type maps the square root of input x onto output y: Process Automation Page 51

66 Standard components y = x. The radicand x must not be negative. If the radicand becomes negative when the simulation is run, the error message "SQRT: invalid argument (message category ERROR) is generated and output y is set to zero EXP exponential function The EXP component type maps the exponential value of input x onto output y: x y = e LN natural logarithm The LN component type maps the natural logarithm of input x onto output y: y = ln(x). The argument x must be positive. If the argument becomes less than or equal to zero when the simulation is run, the error message "LN: invalid argument (message category ERROR) is generated and output y is set to zero. The argument x is set to one by default SIN sine function The SIN component type maps the sine value of input x onto output y: y = sin(x). The unit of measure for the argument x (angle) can be set in radians (rad) or degrees (deg) using the Unit parameter. The default unit of measure is degrees (deg) (see Figure 4-34). Process Automation Page 52

67 Standard components Figure 4-34: Parameter setting for the SIN component COS cosine function The COS component type maps the cosine value of input x onto output y: y = cos(x). The unit of measure for the argument x (angle) can be set in radians (rad) or degrees (deg) using the Unit parameter. The default unit of measure is degrees (deg) (see Figure 4-35). Figure 4-35: Parameter setting for the COS component TAN tangent function The TAN component type maps the tangent value of input x onto output y: y = tan(x). Process Automation Page 53

68 Standard components The unit of measure for the argument x (angle) can be set in radians (rad) or degrees (deg) using the Unit parameter. The default unit of measure is degrees (deg) (see Figure 4-36). Figure 4-36: Parameter setting for the TAN component 4.4 Binary functions All of the functions for processing binary signals are contained in the BinaryBasic and BinaryExtended directories. BinaryBasic contains the basic binary functions, while BinaryExtended holds the extended binary functions Basic binary functions The three basic binary operations of conjunction (AND), disjunction (OR) and negation (NOT), plus equivalence (XNOR) and non-equivalence (XOR), are stored as component types in the BinaryBasic directory AND conjunction The AND component type maps the n binary values at the inputs a i as a conjunction, i.e. using a logical (boolean) AND function, onto the output b: b = n a i i=1 The number of inputs n is variable and can be set to any value between 2 and 32. All inputs are set to one by default OR disjunction Process Automation Page 54

69 Standard components The OR component type maps the n binary values at the inputs a i as a disjunction, i.e. using a logical (boolean) OR function, onto the output b: b = n a i i=1 The number of inputs n is variable and can be set to any value between 2 and 32. All inputs are set to zero by default NOT, NOTc negation Negation is available in two component types NOT and NOTc. These differ only in terms of the symbols used their functions are totally identical. Output b is equal to the negated input a, i.e. b = a. As can be seen in the parts of a model in Figure 4-37, when the NOTc component type is used, the negation can be applied clearly and compactly to the inputs or outputs of components. Figure 4-37: Modelling with the component types NOT and NOTc XOR non-equivalence Process Automation Page 55

70 Standard components The XOR component type maps the n binary values at the inputs a i onto the output b using the exclusive-or function: b is one if an odd number of inputs a i is one, zero otherwise. Thus, for two inputs b = a 1 a 2 which is the non-equivalence or unequal -function. The number of inputs n is variable and can be set to any value between 2 and 32. All inputs are set to zero by default XNOR equivalence The XNOR component type maps the n binary values at the inputs a i onto the output b using the exclusive-not-or function: b is one if an even number of inputs a i is one, zero otherwise. Thus, for two inputs b = a 1 a 2. which is the equivalence or equal -function. The number of inputs n is variable and can be set to any value between 2 and 32. All inputs are set to zero by default Extended binary functions The BinaryExtended directory of the Standard Library contains further binary (logic) functions that go beyond the elementary binary functions in form of component types BFormula binary formula component The BFormula component type allows explicit logic functions to be used. This logic function f calculates a binary value in relation to the n values at the inputs a i. The function value is assigned to the output b: b = f ( a,...,a 1 n ) To define the function, enter the desired logic formula expression in the Formula parameter that calculates the output value b in relation to the input values a i. First set the required number of inputs and then open the property view for the component in order to enter the formula (see Figure 4-38). Process Automation Page 56

71 Standard components Figure 4-38: Property view for the BFormula component The number of inputs can be varied between 1 and 32. Only the inputs that are available according to the number currently set may be used in the formula. As shown in Figure 4-39, the formula is displayed on the diagram in the component symbol. Figure 4-39: BFormula component with three inputs You can make the component wider to allow longer formulae to be displayed in full. The operators listed in Table 4-3 may be used in formulae. Operator AND Conjunction (AND function) OR Disjunction (OR function) NOT Negation ( Open bracket ) Close bracket Table 4-3: Permitted operators in formulae for the BFormula component NOTE In the formula component there is no check to determine whether all the set inputs are used in the specified formula Counter Up and Down counters Process Automation Page 57

72 Standard components The Counter component type is used to count the changes in binary signals. When the binary value at the "+" input changes from zero to one, the counter value is incremented at output y. When the binary value at the "-" input changes from zero to one, the counter value is decremented at output y. The values by which the output is decremented or incremented can be set as a parameter (Decrement or Increment, Figure 4-40). Both parameters can be modified on-line, i.e. while the simulation is running. You can set any analog value for the decrement and increment. Both parameters are set to one by default. The counter value is limited to an interval defined by the two limit values UL (upper limit) and LL (lower limit): LL y UL. The binary outputs ULR and LLR indicate when the counter value has reached the lower or upper limit: 1, if y UL 1, if y LL ULR = and LLR =. 0, else 0, else The lower limit must be less than the upper limit. If this condition is violated, the error message Counter: limits do not match (message category ERROR) is generated and the counter value at output y is set to zero. The binary input SET may be used to set the counter value y to the value at the input SP: if SET is set to one, then counter value y is set to equal the value at the input SP. Again, the counter value is limited by LL and UL. The Initial_Value parameter is used to set the counter value when the simulation is initialised (started). Initial_Value is set to zero by default (Figure 4-40). Figure 4-40: Property view of the Counter Component The limits are set to zero for the lower limit and to one hundred for the upper limit by default. All other inputs are set to zero by default Delay On-Off delay Process Automation Page 58

73 Standard components With the Delay component type, the binary signal b at the output is matched to the binary signal a at the input with a delay. If the signal at the input changes from zero to one, the output is set to one once the On delay time T ON has elapsed. If the input signal is reset to zero before the On delay has elapsed, then the output signal remains unchanged at zero. If the signal at the input changes from one to zero, the output is set to zero once the Off delay time T OFF has elapsed. If the output signal is reset to one before the Off delay has elapsed, then the output signal remains unchanged at one. This interaction is illustrated in Figure Input a Output b Figure 4-41: Signal curves at the input and output of the Delay component The delay times must not assume a negative value. If a delay assumes a negative value, then the error message "Delay: on-delay time negative value or "Delay: off-delay time negative value (message category ERROR) is generated and the corresponding delay is set to zero Pulse The Pulse component type sets the output b when an edge change from zero to one occurs at the input a. The output b is reset once the time T has elapsed. A pulse with pulse width T is thus generated at output b (see Figure 4-42). The pulse width can be set via the signal at analog input T. Input a Output b Figure 4-42: Signal curves at the input and output of the Pulse component The pulse width T must not assume a negative value, otherwise the error message Pulse: pulse width negative value (message category ERROR) is generated and output b is set to zero. For pulse widths that are smaller than the simulation cycle time, the output pulse is set to the duration of one simulation cycle. Process Automation Page 59

74 Standard components If the Retriggerable parameter (Figure 4-43), which can be modified on-line, is set to one, the output pulse is restarted whenever the input signal changes from zero to one. The parameter is set to zero by default. Figure 4-43: Property view of the Pulse component RS_FF flipflop with preferred state of Reset The RS_FF component type is the simplest type of flipflop available: an RS flipflop. If the value at the set input S is equal to one, then the output value Q is set to one. If the input value at the reset input R1 is set to one, then the output is reset to zero. The reset input is dominant, i.e. if both inputs are set to one, then the output Q is reset to zero. The output Q always assumes the inverse value of output Q. Table 4-4 lists the possible states of the component type. Input S Input R1 Output Q Output Q 0 0 unchanged unchanged Table 4-4: State table for the RS_FF component When the simulation starts, the output Q is set to the value of the "InitialState" parameter. "InitialState" is set to zero by default (Figure 4-44). Process Automation Page 60

75 Standard components Figure 4-44: Property view of the RS_FF component SR_FF flipflop with preferred state of Set The SR_FF component type simulates an SR flipflop. If the value at the set input S1 is equal to one, then the output value Q is set to one. If the input value at the reset input R is set to one, then the output is reset to zero. The set input is dominant, i.e. if both inputs are set to one, then the output Q is reset to one. The output Q always has the inverse value of output Q. Table 4-5 lists the possible states of the component type. Input S Input R1 Output Q Output Q 0 0 unchanged unchanged Table 4-5: State table for the SR_FF component When the simulation starts, the output Q is set to the value of the InitialState parameter. InitialState is set to zero by default (Figure 4-45). Figure 4-45: Property view of the SR_FF component Process Automation Page 61

76 Standard components 4.5 Converting values The Conv directory of the Standard Library contains component types for converting signals: Bit2Byte for converting bits to a byte value Byte2Bit for converting bytes to bits Byte2Word for converting bytes to a word Word2Byte for converting a word into bytes Byte2DWord for converting bytes to a double word DWord2Byte for converting a double word into bytes Analog2Integer for converting an analog value into an integer value Integer2Analog for converting an integer value into an analog value Raw2Phys for converting a raw value to an analog value Phys2Raw for converting an analog value to a raw value Unsigned2Signed for converting an unsigned value into a signed value Signed2Unsigned for converting a signed value to an unsigned value Real2Byte for converting a floating point value into its binary representation Byte2Real for converting a floating point numbers binary represtation into the floating point value The inputs or outputs of the components for converting from or to bytes, words and double words are integer inputs or outputs. Raw values are integer values too Bit2Byte converting bits into bytes The Bit2Byte component type converts the binary input values b i, i = 0,..., 7, into a byte value B at the integer output as per 7 b i i= 0 B = 2. i In the conversion, b 0 thus represents the least significant bit and b 7 the most significant bit. The individual bits b i may be set individually while the simulation is running in the component control window. To set a bit, open the component control window. Then select the bits that you wish to set manually by pressing the button to the left of those bits. You can then set and reset each bit by pressing the button on the right, i.e. toggle between zero and one. In the control window in Figure 4-46, bits b 0, b 3 and b 7 are selected for setting, while bit b 3 has already been set. Process Automation Page 62

77 Standard components Figure 4-46: Control window for the Bit2Byte component Unset bits are identified by a light blue border, while set bits have a dark blue border Byte2Bit converting bytes into bits The Bit2Byte component type converts a byte value at the integer input B into binary values b i, i = 0,...,7, at the outputs. In the conversion, b 0 is assigned the least significant bit and b 7 the most significant bit of the byte value. The input is limited to the range of values of one byte, i.e. to the range from zero to 255. When the simulation is run, if the input value is not within this range, the message "Byte2Bit: input not a valid byte value (message category ERROR) is generated. The individual output bits b i may be set individually while the simulation is running in the component control window. To set a bit, open the component control window. Then select the bits that you wish to set manually by pressing the button to the left of those bits. You can then set and reset each bit by pressing the button on the right, i.e. toggle between zero and one. In the control window shown in Figure 4-47, bits b 0, b 4 and b 6 are selected for setting, while bit b 4 has already been set. Process Automation Page 63

78 Standard components Figure 4-47: Control window for the Byte2Bit component Byte2Word converting bytes into words The Byte2Word component type combines two byte values B 1, B 0 at the integer inputs to form a word at the integer output W. B 1 is the most significant byte and B 0 is the least significant byte. The values at the input are limited to the range of values of one byte, i.e. to the range from zero to 255. When the simulation is run, if an input value is not within this range, the message "Byte2Word: input not a valid byte value (message category ERROR) is generated Word2Byte converting words into bytes The Word2Byte component type breaks down a word at the integer input W into two byte values B 1, B 0 at the integer outputs. B 1 is the most significant byte and B 0 is the least significant byte. The value at the input is limited to the range of values of one word, i.e. to the range from zero to When the simulation is run, if the input value is not within this range, the message "Word2Byte: input not a valid word value (ERROR message category) is generated. Process Automation Page 64

79 Standard components Byte2DWord converting bytes into double words The Byte2DWord component type combines four byte values B i, i = 0,...,3, at the integer inputs to form a double word in the order B 3 B 2 B 1 B 0 at the integer output DW. B3 is thus the most significant byte and B 0 is the least significant byte. The values at the input are limited to the range of values of one byte, i.e. to the range from zero to 255. When the simulation is run, if an input value is not within this range, the message "Byte2DWord: input not a valid byte value (message category ERROR) is generated DWord2Byte converting double words into bytes The DWord2Byte component type converts a double word at the integer input DW into binary values B i, i = 0,...,3, at the integer outputs. B3 is the most significant byte and B 0 is the least significant byte. The value at the input is limited to the range of values of one double word, i.e. to the range from zero to When the simulation is run, if the input value is not within this range, the message "DWord2Byte: input not a valid double word value (message category ERROR) is generated Integer2Analog converting from integer to analog The Integer2Analog component type converts an integer input into an analog output. Process Automation Page 65

80 Standard components Analog2Integer converting from analog to integer The Analog2Integer component type converts an analog input into an integer output. The integer value is rounded to the nearest Raw2Phys converting from raw to physical The Raw2Phys component type converts an integer value x at the input to an analog output value y using the simple linear transformation y yl yu yl =. x xl xu xl The input value x may be a raw value from an automation system, for example. The output value y is then the value transformed within a defined physical range of values. The transformation intervals are set using the parameters x L (Raw_Lower_Limit), x U (Raw_Upper_Limit), y L (Phys_Lower_Limit) and y U (Phys_Upper_Limit). They may be modified at the simulation run time and have the following default settings: Raw_Upper_Limit: Raw_Lower_Limit: Phys_Upper_Limit: 100 Phys_Lower_Limit: 0 Figure 4-48: Property view of the Raw2Phys component Process Automation Page 66

81 Standard components Phys2Raw converting from physical to raw The Phys2Raw component type converts an analog value x at the input to an integer output value y using the simple linear transformation x xl xu xl =. y yl yu yl The input value x is thus transformed as a measurement of a physical value into the raw value y for an automation system, for example. The transformation intervals are set using the parameters x L (Raw_Lower_Limit), x U (Raw_Upper_Limit), y L (Phys_Lower_Limit) and y U (Phys_Upper_Limit) as can be seen in Figure They may be modified at the simulation run time and have the following default settings: Raw_Upper_Limit: Raw_Lower_Limit: Phys_Upper_Limit: 100 Phys_Lower_Limit: 0 Figure 4-49: Property view of the Phys2Raw component Unsigned2Signed converting from unsigned to signed The Unsigned2Signed component type converts an unsigned integer value x at the input to an signed value y at the output. The parameter Width determines which data width is assigned to the input value: 1 byte, 2 byte or 4 byte. The output value is limited accordingly. The conversion is done as follows: Process Automation Page 67

82 Standard components Data width 1 byte 1, 0, y = 8 x - 2, x, Data width 2 byte 1, 0, y = x - 2 x, 16 Data width 4 byte 1, 0, y = x - 2 x, 32,, if x > 2 1 if x < 0 if x else if if if x else if if if x else 8 > 2 16 x > 2 x < 0 > 2 x > 2 x < 0 > Signed2Unsigned converting from signed to unsigned The Signed2Unsigned component type converts an signed integer value x at the input to an unsigned value y at the output. The parameter Width determines which data width is assigned to the output value: 1 byte, 2 byte or 4 byte. The output value is limited accordingly. The conversion is done as follows: Data width 1 byte 7 2, 7 2-1, y = 8 x + 2, x, Data width 2 byte 15 2, , y = 16 x + 2, x, if if if x x else if if if else 7 < 2 7 > 2-1 x < 0 x x < 2 > 2 x < Process Automation Page 68

83 Standard components Data width 4 byte 31 2, , y = 32 x + 2, x, if if if x x else < 2 > 2 x < Real2Byte converting from real to byte The Real2Byte component type converts the value of an analog signal at the REAL input into the binary representation of a single precision floating-point number as defined in IEEE 754. The converted floating-point number is mapped to the four byte values B i, i = 0,...,3, at the integer outputs, as shown in Figure Figure 4-50: Single precision floating-point number as defined in IEEE 754 NOTE Mapping the analog signal (double precision type) to the single precision number format limits the precision and the value range. Note also that this conversion cannot be used to convert a floating-point number to a whole number (integer). The Analog2Integer component type should be used for that conversion. If you want to transfer analog signals to a Simatic controller, you normally set the data type of the corresponding signal in the gateway to REAL. The analog signal is then converted automatically. A component of the Real2Byte type is necessary, however, if you want to transfer analog signals directly to bit memories or data blocks of a Simatic controller, for example. Process Automation Page 69

84 Standard components Byte2Real converting from byte to real The Byte2Real component type converts the binary representation of a single precision floating-point number as defined in IEEE 754 at the integer inputs B i, i = 0,...,3, to the value of an analog signal at the REAL output, as shown in Figure Figure 4-51: Single precision floating-point number as defined in IEEE 754 NOTE Note that this conversion cannot be used to convert a whole number (integer) to a floating-point number. The Analog2Integer component type should be used for that conversion. If you want to receive floating-point numbers from a Simatic controller, you normally set the data type of the corresponding signal in the gateway to REAL. The conversion to an analog signal then takes place automatically. A component of the Byte2Real type is necessary, however, if you want to transfer floating-point numbers directly from bit memories or data blocks of a Simatic controller, for example. 4.6 General components in the Misc directory The Misc directory of the Standard Library contains some special component types: the SimulationTime component type, the ProjectVersion component type and special connector component types. Process Automation Page 70

85 Standard components SimulationTime The SimulationTime component type outputs the current simulation time at its four outputs. It is output at the Time output as an interger value in milliseconds. The simulation time is available at the H, M, S integer outputs, broken down into hours (H), minutes (M) and seconds (S). The simulation time is the time that is counted at the simulation cycles while the simulation is running. The simulation time is set to zero when a simulation is initialised or started. The simulation time and real time run synchronously if the simulation is running in real-time mode. In slow-motion simulation mode, the simulation time is slower than real time, while in quick-motion simulation mode, the simulation time is faster than real time. If the simulation is paused, then the simulation time is stopped as well. When the simulation is resumed, then the simulation time starts running as well. The simulation time is also displayed in the component control window (Figure 4-52). Figure 4-52: Control window for the SimulationTime component Press the Reset button in the component control window to reset the simulation time to zero ProjectVersion At the outputs of a component of this type the following integer values are available: Process Automation Page 71

86 Standard components ProjectVersion The complete version number coded in numerical form. LicenseNumber The licence number coded in numerical form. TimeStamp The time stamp. MajorVersion The major version. MinorVersion The minor version. The individual version numbers are displayed in readable form in the component's operating window (Figure 4-53). Figure 4-53: Operating window for the ProjectVersion component type Special connectors Three special connector component types - referred to simply as connectors - are available (Figure 4-54): The analog connector component type AConnector, the binary connector component type BConnector, and the integer connector component type IConnector. Figure 4-54: Connector components A connector component transfers the input value to its output without change or delay. They are used, for example, in the following cases: Connectors (input and output connectors or global connectors) cannot be connected directly to each other. As shown in the example in Figure 4-55, connectors can be connected with the aid of connecting components. Process Automation Page 72

87 Standard components Figure 4-55: Connecting connectors An input element, for example a converter, is linked directly to the signal to be set. With the aid of a connector, the input element can influence several components directly. As shown in the example in Figure 4-56, the input signal IN of the connector VB is linked to the input element. Figure 4-56: Multiple connections to an input element Component inputs can be assigned a default value directly. With the aid of a connector, several inputs can be assigned a single default value. As shown in the example in Figure 4-57, a connector is connected to the inputs of the components to be set. The value to be set is then placed on the input of the connector. Figure 4-57: Assigning a default value to several inputs Process Automation Page 73

88 Drive components 5 DRIVE COMPONENTS The Drives Library located in the directory DRIVES of the Basic Library contains component types for the simulation of basic drives. It can thus be used to simulate general drives for valves and pumps. The DriveP1 and DriveP2 types are designed for simulating pump drives, while DriveV1 to DriveV4 types are intended for simulating valve drives. The subdirectory PROFIdrives contains components for the simulation of variable-speed drives corresponding to the PROFIdrive profile. Components for the simulation of SIMOCODE motor management and control devices can be found in the subdirectory SIMOCODEpro. 5.1 Valve drives There are four component types available (DriveV1, DriveV2, DriveV3 and DriveV4) that may be used to simulate valve drives. The outputs and some of the inputs common to all four DriveV1 to DriveV4 component types are illustrated in Figure 5-1. Figure 5-1: Common connections of the component types for valve drives The two analog inputs T Open and T Close indicate the opening and closing times of the drive, i.e. the time that the drive takes to open or close fully. When the simulation is run, if one of the two input values is negative, the message "DriveVx: closing or opening time invalid value (message category ERROR) is generated. The current position value of the drive is output at analog output Y as a percentage, i.e. in the range from zero to one hundred: 0 Y 100. The value zero corresponds to the fully closed valve, while the value one hundred represents the fully open valve. The four binary outputs 100, Hi, Lo and 0 may be interpreted as limit switches for the drive: 0 and 100 as limit switches for the valve fully cloesed or opened, Lo and Hi as pre-limit switches for the valve partially closed or opened. The limit switches for the fully closed or opened valve are permanently set to the position values zero (for the closed valve) and one hundred (for the open valve). Binary outputs 0 and 100 are therefore set to one when the valve is fully closed or open, i.e. when the position Y of the component has the value zero or one hundred. The pre-limit switches can be set using the HI_Limit or LO_Limit parameter (Figure 5-2). The value should be between zero and one hundred. Position values of five (LO_Limit) and 95 (HI_Limit) are set by default. Process Automation Page 74

89 Drive components When the simulation is run, if one of the two parameter values is negative, the message "DriveVx: high and low parameters do not match (message category ERROR) is generated. Figure 5-2: Parameters of the components for valve drives The Initial_Value parameter is used to set the valve drive to the starting position of Closed or Open. The default setting for Initial_Value is Closed. The current position value of the drive is visualised as a bar display in the component control window (Figure 5-3). The button on the left labelled MANUAL is used to change the position value to the desired setting by moving the slider in the control window. Figure 5-3: Control window for the components for valve drives The position value is then no longer derived from the component inputs and tracks the value set using the slider. The set opening and closing times remain active. The four binary outputs 0, Lo, Hi and 100 all remain effective. They are also set as described above if the position value is to be tracked DriveV1 type 1 valve drive The DriveV1 component type simulates a drive unit that sets the position value y at the output in relation to a binary value at the input Open. If the binary input is equal to zero, then the position value y is continuously tracked to zero with the closing time T Close. If the binary input is equal to one, then the position value is continuously tracked to one hundred with the Process Automation Page 75

90 Drive components opening time T Open. The position value thus has only the two steady states of zero and one hundred, i.e. the states "Valve open and Valve closed in relation to the valve function. The drive or the valve is thus opened or closed whenever the binary value at the input changes DriveV2 type 2 valve drive The DriveV2 component type simulates a drive unit that sets the position value y at the output in relation to two binary values and at the Open and Close inputs. If the binary value at input Open is equal to one, then the position value y is continuously tracked to one hundred with the opening time T Open. If the binary value at the input Close is equal to one, then the position value is continuously tracked to zero with the closing time T Close. If both input values Open and Close are set to one or zero at the same time, then the position value remains unchanged. The position value thus only changes if the binary value at either the Open input or the Close input is set to one DriveV3 type 3 valve drive The DriveV3 component type simulates a drive unit that sets the position value y at the output in relation to three binary values at the Open, Close and Stop inputs. If the binary value at the Open input changes from zero to one, then the position value y is continuously tracked to one hundred with the opening time T Open. The position value is tracked continuously to zero with the closing time T Close if the binary value at the Close input changes from zero to one. If the binary value at the Stop input changes from zero to one, then the position value remains unchanged. Opening, closing and stopping of the drive is thus initiated via the edge of the corresponding binary input signal (signal change from zero to one). Process Automation Page 76

91 Drive components DriveV4 type 4 valve drive The DriveV4 component type simulates a drive unit that sets the position value y at the output that continuously tracks the analog value at the Value input. The tracking follows rising position values with the opening time T Open and falling position values with the closing time T Close. The position value is always limited to values from zero to one hundred, even if the input value is outside this interval. 5.2 Pump and fan drives The two component types DriveP1 and DriveP2 may be used in the simulation as drives for pumps, fans or similar units. The outputs and some of the inputs common to the two component types are illustrated in Figure 5-4. Figure 5-4: Common connections of the component types for pump drives The run-up and run-down speeds of the drive are set at the two analog inputs T Up and T Down. T Up is the time it takes the drive to run up from stopped to the nominal speed in seconds, while T Down is the time in seconds taken to run the drive down from nominal speed to stopped. The two times are set to one second by default. When the simulation is run, if one of the two input values is negative, the message "DriveVx: run-up or run-down time invalid value (message category ERROR) is generated. The current speed value of the drive is output at analog output Y as a percentage, i.e. in the range from zero to one hundred: 0 Y 100. The value zero corresponds to the stopped drive, while the value one hundred represents the drive at nominal speed. The direction of rotation of the drive can be set using binary input Dir. This input is set to zero for the positive direction of rotation and is set to one for the negative direction of rotation. This input can therefore be used to defined whether the drive turns clockwise or anti-clockwise, for example. If it turns in the negative direction, the speed is output at output Y as a negative value: 100 Y 0. Process Automation Page 77

92 Drive components Positive values for Y thus identify speeds in the positive direction, while negative values indicate speeds in the negative direction. The change in direction of rotation only takes effect if the drive is stopped. The binary input Speed is used to toggle the speed between nominal speed (full speed) and a partial speed (low speed). If Speed is one, the nominal speed was selected, otherwise the partial speed was selected. The default setting for the Speed binary input is one. The partial speed is specified as a numerical value (percentage) at the analog input x LSp : 0 x 100. LSp The default setting for the partial speed is 50, i.e. half the nominal speed. If the partial speed is not within the defined range, the message "DrivePx: low speed invalid value (message category ERROR) is generated. The binary output Run is then only set to one if the drive has reached the preset speed value in the positive or negative direction of rotation, i.e. only if the absolute value at the analog output y is equal to one hundred (nominal speed) or is equal to the partial speed set at the input x LSp. The feedback signal for the selected speed is available at the binary output Speed. The binary output is only set to one if the drive has reached its nominal speed in the positive or negative direction of rotation. The value at the binary output Dir takes the form of a feedback signal for the current direction of rotation of the drive. The binary output is zero if the drive is turning in the positive direction and the value is one if the drive is turning in the negative direction. The current speed value of the drive is visualised as a bar display in the component control window (Figure 5-5). The button on the left labelled MANUAL is used to change the speed value to the desired setting by moving the slider in the control window. Figure 5-5: Control window for the componentss for pump drives The speed value is then no longer derived from the component inputs and tracks the value set using the slider. The set run-up and run-down times remain active. The binary outputs Run, Dir and Speed also remain effective. They are also set as described above if the speed value is to be tracked. Process Automation Page 78

93 Drive components DriveP1 type 1 pump drive The DriveP1 component type simulates a drive unit that is switched on and off via the binary value at the Run input. The drive is switched on while the Run input value is set to one. If the input value is set to zero, then the drive is switched off DriveP2 type 2 pump drive The DriveP2 component type simulates a drive unit that is switched on and off via the two binary inputs Start and Stop. If the binary value Start changes from zero to one, then the drive is switched on. If the binary value Stop changes from zero to one, then the drive is switched off. Switching the drive on and off is thus initiated via the edge of the corresponding binary input signal (signal change from zero to one). Process Automation Page 79

94 Drive components 5.3 PROFIdrive devices Many variable-speed drives are connected directly to the automation system via PROFIBUS DP. To standardise the configuring of such drives, a profile called PROFIdrive was created by the Profibus users' organisation (PNO). The PROFIdrive profile defines how a drive matching this profile behaves on the PROFIBUS DP with regard to some of its more important functions. The following power converters or frequency changers from the Siemens range fulfil the requirements of a PROFIdrive: SIMOREG DC Master, SIMOVERT Masterdrive, Micromaster and Sinamics. A common feature of all PROFIdrive devices is that they are activated by a control word (STW) and provide feedback in a status word (ZSW). In addition, the drives receive a speed setpoint from the automation system and provide the actual speed as feedback. The functionality of a PROFIdrive can be divided roughly into two blocks: state machine and ramp generator The state machine defines the transitions from one status to another. A change in status is triggered by a particular bit in the control word. The current status can be seen from the status word. The purpose of the ramp generator of a PROFIdrive is to convert jumps in the speed setpoint into linear ramp increases with an adjustable gradient. In addition to this basic function, PROFIdrive devices can of course offer considerably more functions and configuration options. These additional functions, etc. are, however, no longer included in the PROFIdrive profile The PROFIdrive Library for the simulation of PROFIdrive devices All component types for the simulation of PROFIdrive devices can be found in the PROFIdrive directory of the Drives Library: The PROFIdrive header component type PROFIdrive and the device-specific PROFIdrive component types DCMaster, Masterdrive, Micromaster3, Micromaster4, Sinamics and a special component Universal. These component types make up the PROFIdrives Library. The status generator and ramp generator functions contained in all PROFIdrive devices are emulated in the PROFIdrive component type. In addition, the ramp function value is maintained by a first order delay element with an adjustable delay time (Figure 5-6) in order to at least partially simulate the inertia of the drive. Process Automation Page 80

95 Drive components Figure 5-6: al diagram of PROFIdrive devices Some of the bits in the control and status words are not defined in the PROFIdrive profile. Bits 11 to 15 in the control and status word can be device-specific and may therefore have different meanings according to the type of drive. For the SIMOVERT MASTERDRIVE, SINAMICS and MICROMASTER AC inverters and the SIMOREC DC-Master DC inverter, these device-specific functions are emulated in the corresponding components. These device-specific components are simply attached to the PROFIdrive header component, as illustrated in Figure 5-7. Figure 5-7: PROFIdrive simulation made up of a header component and a device-specific component Process Automation Page 81

96 Drive components The device-specific component types in the PROFIdrive library contain standardised emulations of different PROFIdrive devices. A detailed description can be found in section The meaning of the device-specific bits can be changed by configuring the inverter systems and may therefore deviate from the standard configuration illustrated here. If this is the case, you can use the special Universal component type (see section 0). This component type provides you with bits 11 to 15 of the control and status word as component inputs and outputs, which can be connected as required to other components in the Basic Library (Figure 5-8). Figure 5-8: General PROFIdrive simulation In addition to the control and status word and the speed setpoint and actual values, PROFIdrive devices can exchange other information with the automation system. In SIMIT, these additional I/O signals are available via the PROFIBUS DP gateway as normal I/O signals, and can therefore be used to adapt a drive for a specific simulation PROFIdrive - basic function of the PROFIdrive device The component type PROFIdrive emulates the state machine with the ramp function generator according to the PROFIdrive profile (Technical Specification, Version 4.1, Status: May 2006). A first order delay element is used for the simple emulation of the inertia of the drive. alities for Application Class 1 (AC1) are emulated: "Standard Drive Speed Control Mode". Process Automation Page 82

97 Drive components Starting point for configuring a PROFIdrive component is the controller s access to the input and output signals of a PROFIdrive device. Access to signals is configured for each drive within a defined address range of the controller s input and output data. A drive s input and output signals are assigned to a PROFIdrive component as follows: the control word (first process data word of the controller s outputs) is connected to the integer input STW1 and the status word (first process data word of the controller s inputs) is connected to the integer output ZSW1. The speed setpoint and actual values are passed in the second process data word. Accordingly, the integer input NSOLL_A is connected to the setpoint speed value. The integer output NIST_A is connected to the speed actual value of the automation system. In Figure 5-9, an example of a SIMATIC configuration for SINAMICS is shown. Figure 5-10 shows the PROFIdrive components and the associated process data. Figure 5-9: SIMATIC configuration of a PROFIdrive device (SINAMICS) Figure 5-10: Gating of process data with PROFIdrive components The process data speed values, i.e. NSOLL_A and NIST_A are raw values in the range zero to The value corresponds to the nominal speed. Other process data, for example instantaneous or actual current values, are not taken into account in this type of component. The time in seconds can be specified on inputs T Up and T Down. These are the times the ramp generator takes to run up to the nominal speed, or to run down to a standstill from the nominal speed. T Up and T Down each have default values of three seconds. T Delay is the delay with which the speed actual value tracks the effective setpoint value (ramp function generator value) via the delay function. The default delay time is half a second. Process Automation Page 83

98 Drive components The reference value on analog input RefVal is a percentage speed value. If the speed actual value exceeds the reference value, then bit 10 of the status word (ZSW1.10) is set to one. The default reference value is five percent. The switchover of this signal is performed using a configurable hysteresis. This is also stated as a percentage speed value in the Hysteresis parameter (Figure 5-11). The default hysteresis value is three percent. On analog output Y, the speed actual value of the drive is output as a percentage, i.e. in the range from zero to one hundred: 0 Y 100. A value of zero therefore means that the drive is stationary. A value of one hundred corresponds to the nominal speed (raw speed value 16384). The nominal speed in rpm can be specified on analog input n N. The actual speed in rpm is output on analog output n. The default in N is 3000 rpm. The parameter Tolerance is a speed value as a raw value. If the speed actual value and the ramp generator value deviate by more than the value specified in Tolerance, bit 8 of the status word (ZSW1.8) is set to one. Tolerance has a default value of 50. Figure 5-11: Parameters of the PROFIdrive component The individual bits that make up the contents of the control word and status word are displayed in the control window of the component type (Figure 5-12). In addition, the setpoint speed value NSOLL_A, the ramp generator value NIST_RFG, and the speed actual value NIST_A, are displayed as percentage values and in rpm. Bits 4 and 8 in the status word (ZSW1.3 - Fault and ZSW1.7 - Warning) can be set to one using a toggle switch. Process Automation Page 84

99 Drive components Figure 5-12: Control window of the PROFIdrive component A specific connection called Drive on the bottom of the component is used to connect to a module as illustrated in Figure 5-7. This connection is of the PROFIdrive type. It cannot be connected to the analog, binary or binary connections of components The state machine The state machine is described in detail in the PROFIdrive specification. The state graph implemented in the PROFIdrive component type is illustrated in Figure 5-13: Process Automation Page 85

100 Drive components Figure 5-13: State diagram for PROFIdrive component The control bits shown in Table 5-2 are used to control the state machine (status transitions). Depending on the current status, the corresponding status bits are set as illustrated in Table 5-1. Status State Description ZSW1 (bit sequence 15 0) S1: Switching On Inhibited 1 Off dddd dmsm a1ss a000 S2: Ready For Switching On 2 Ready dddd dmsm a0ss a001 S3: Switched On 3 Switched on dddd dmsm a0ss a011 S4: Operation 4 Normal operation dddd dmsm a0ss a111 S5: Switching Off (Ramp Stop) 5 Stops motor ramp dddd dmsm a0ss a011 S6: Switching Off (Quick Stop) 6 Motor quick stop dddd dmsm a0ss a011 Table 5-1: State table for PROFIdrive component The individual bits in status word ZSW1 shown in Table 5-1 have the following meaning: d device-specific (specific component) s derived directly from STW1 m model-specific (here: delay) a can be set in the control window Process Automation Page 86

101 Drive components Name STW1.Bit Description Use On/Off (Off1) STW1.0 Switch off drive Yes No Coast Stop (Off2) STW1.1 No coast stop of drive Yes No Quick Stop (Off3) STW1.2 No quick stop of drive Yes Enable Operation STW1.3 Drive moves to setpoint Yes Enable Ramp Generator STW1.4 RFG is used Yes Unfreeze Ramp Generator STW1.5 RFG frozen Yes Enable Setpoint STW1.6 NSOLL as input for RFG Yes Fault Acknowledge STW1.7 Fault acknowledgement from PLC Yes Jog 1 On STW1.8 not implemented No Jog 2 On STW1.9 not implemented No Control by PLC STW1.10 DO IO data valid Yes Device-specific STW specific component Table 5-2: Structure of control word The meaning of all the status word bits is described in Table 5-3. Name ZSW1.Bit Description Source Ready To Switch On ZSW1.0 Power supply switched on state machine Ready To Operate ZSW1.1 No fault present state machine Operation Enabled ZSW1.2 Operation authorised state machine Fault Present ZSW1.3 drive faulty/out of service Control window Coast Stop Not Active ZSW1.4 No coast stop of drive STW1.1 Quick Stop Not Active ZSW1.5 No quick stop of drive STW1.2 Switching On Inhibited ZSW1.6 Switch-on inhibitor state machine Warning Present ZSW1.7 Warning present/out of service Control window Speed Error Within Tolerance ZSW1.8 Setpoint/actual deviation in tolerance range Control Requested ZSW1.9 Control requested/local operation STW1.10 Speed Reached ZSW1.10 Reference speed reached PT1 Device-specific ZSW Device-specific Additional component/0 PT1 Table 5-3: Structure of status word The ramp generator The ramp function generator (RFG) is controlled by bits 4, 5 and 6 of the control word (STW1.4, STW1.5, STW1.6) (Figure 5-14). Bit 6 sets the input of the generator to NSOLL_RFG. The generator then ramps up or down to this setpoint value in a linear manner using the time values T Up and T Down, assuming the generator is enabled via bit 5. Otherwise, the last output value of the generator is retained. Finally, bit 4 determines whether the ramp generator value (actual value) NIST_RFG is output to the PT1 element. Forwarding of the actual value to the delay element can only be carried out in state S4. Otherwise the actual ramp value 0 is output to the delay element. Process Automation Page 87

102 Drive components Figure 5-14: Block diagram of the ramp function generator Delay element The speed actual value NIST_PT1 follows the ramp generator value NIST_RFG after a delay by means of the delay element (Figure 5-15). This at least partly simulates the behaviour of the drive under load. The delay time constant T Delay can be set on the component type input. Be setting the delay time constant to zero, T Delay = 0, the delay element can to all intents and purposes be deactivated. The speed actual value then corresponds to the ramp generator value. Figure 5-15: Block diagram of the delay element Use of the PROFIdrive component type without extension The PROFIdrive component type implements the standard functions according to the PROFIdrive profile. The PROFIdrive component can therefore be used to simulate PROFIdrive devices with this basic function, without being connected to a module. Devicespecific bits in the control word are then ignored and device-specific bits in the status word are set to zero. The speed variables are linked as follows: NSOLL_RFG = NSOLL_A and NIST_A = NIST_PT Universal - additions to the PROFIdrive basic function The component type Universal can only be meaningfully used in combination with the component type PROFIdrive. It enables device-specific functions to be realised in addition to the basic PROFIdrive functions. Process Automation Page 88

103 Drive components Bits 11 to 15 of the control word (STW ), the speed setpoint value NSOLL_A and the speed actual value NIST (NIST_PT1) are placed on the outputs of the component type. Via appropriate logical and arithmetical operations, bits 11 to 15 of the status word, the speed setpoint value NSOLL (NSOLL_RFG), and the speed actual value NIST_A are placed on the inputs of the component type. The signal gating resulting from the connection of the component type Universal to the component type PROFIdrive is illustrated in Figure Figure 5-16: Signals of component type Universal Figure 5-17 illustrates an example of how the device-specific functions for the Type 3 Micromaster can be realised with the aid of the component Universal. Figure 5-17: Realisation of device-specific functions with the component Universal Process Automation Page 89

104 Drive components Device-specific PROFIdrive devices For some PROFIdrive devices, the additional device-specific functions are implemented in the form of device-specific component types. The component types for these can be found in the PROFIdrives Library: DCMaster, Masterdrive, Micromaster3, Micromaster4 and Sinamics. As illustrated in Figure 5-7, these components are always linked to the PROFIdrive component. Like the special component type Universal, these device-specific component types can therefore only be meaningfully used in combination with the PROFIdrive component type. As can be seen in the following detailed descriptions of these component types, the component types DCMaster, Masterdrive, Sinamics and Micromaster 4 are functionally identical. However, to clearly depict in the simulation how the components are assigned to the drives used in the system, all the component types are contained in the library DCMaster SIMOREG DC Master power converter The specific additional functions for the SIMOREG DC Master power converter are implemented in the component type DCMaster. The implementation is coordinated with the processing stages contained in the function block SIMO_DCM from the function block library DriveES-PCS7. The setpoint value of the ramp function generator NSOLL_RFG is derived from the devicespecific bits 11 and 12 of the control word and the setpoint value NSOLL_A as shown in Table 5-4. STW1.11 Enable positive direction of rotation STW1.12 Enable negative direction of rotation NSOLL_RFG NSOLL_A 1 0 NSOLL_A 1 1 NSOLL_A Table 5-4: DCMaster-specific evaluation of the control word The speed actual value NIST_A and bits 12 and 14 of the status word are set according to the relationships listed in Table 5-5. Process Automation Page 90

105 Drive components NIST_PT1 NIST_A ZSW1.12 Main contactor requirement ZSW1.14 Positive direction of rotation NIST_PT1 > 0 NIST_PT1 1 1 NIST_PT1 = NIST_PT1 < 0 NIST_PT1 1 0 Table 5-5: DCMaster-specific states Masterdrive SIMOVERT Masterdrive frequency converter The specific additional functions for the SIMOVERT Masterdrive frequency converter are implemented in the component type Masterdrive. The implementation is coordinated with the processing stages contained in the function block SIMO_MD from the function block library DriveES-PCS7. The setpoint value of the ramp function generator NSOLL_RFG is derived from the devicespecific bits 11 and 12 of the control word and the setpoint value NSOLL_A, as illustrated in Table 5-6. STW1.11 Enable positive direction of rotation STW1.12 Enable negative direction of rotation NSOLL_RFG NSOLL_A 1 0 NSOLL_A 1 1 NSOLL_A Table 5-6: Masterdrive-specific evaluation of the control word The speed actual value NIST_A and bits 12 and 14 of the status word are set according to the relationships listed in Table 5-7. NIST_PT1 NIST_A ZSW1.12 Main contactor requirement ZSW1.14 Positive direction of rotation NIST_PT1 > 0 NIST_PT1 1 1 NIST_PT1 = NIST_PT1 < 0 NIST_PT1 1 0 Table 5-7: Masterdrive-specific states Process Automation Page 91

106 Drive components Micromaster3 MICROMASTER Type 3 frequency converter The specific additional functions for the MICROMASTER Type 3 frequency converter are implemented in the component type Micromaster3. The implementation is coordinated with the processing stages contained in the function block SIMO_MM3 from the function block library DriveES-PCS7. The setpoint value of the ramp function generator NSOLL_RFG is derived from bit 14 of the control word and the setpoint value NSOLL_A (Table 5-8). STW1.14 Clockwise rotation NSOLL_RFG 0 - NSOLL_A 1 NSOLL_A Table 5-8: Micromaster3-specific evaluation of the control word The speed actual value NIST_A and bit 14 of the status word are set according to the relationships listed in Table 5-9. NIST_PT1 NIST_A ZSW1.14 Clockwise rotation NIST_PT1 >= 0 NIST_PT1 1 NIST_PT1 < 0 NIST_PT1 0 Table 5-9: Micromaster3-specific states Micromaster4 MICROMASTER Type 4 frequency converter The specific additional functions for the MICROMASTER Type 4 frequency converter are implemented in the component type Micromaster4. The implementation is coordinated with the processing stages contained in the function block SIMO_MM4 from the function block library DriveES-PCS7. The setpoint value of the ramp function generator NSOLL_RFG is derived from bit 11 of the control word and the setpoint value NSOLL_A (Table 5-10). Process Automation Page 92

107 Drive components STW1.11 Inversion of setpoint value NSOLL_RFG 0 NSOLL_A 1 - NSOLL_A Table 5-10: Micromaster4-specific evaluation of the control word The speed actual value NIST_A and bit 11 of the status word are set according to the relationships listed in Table NIST_PT1 NIST_A ZSW1.11 Positive direction of rotation NIST_PT1 >= 0 NIST_PT1 1 NIST_PT1 < 0 NIST_PT1 0 Table 5-11: Micromaster4-specific states Sinamics SINAMICS frequency converter The specific additional functions for the SINAMICS frequency converter are implemented in the component type Sinamics. The implementation is coordinated with the processing stages contained in the function block SINA_GS from the function block library DriveES-PCS7. The setpoint value of the ramp function generator NSOLL_RFG is derived from bit 11 of the control word and the setpoint value NSOLL_A (Table 5-12). STW1.11 Inversion of setpoint value NSOLL_RFG 0 NSOLL_A 1 - NSOLL_A Table 5-12: Sinamics-specific evaluation of the control word The speed actual value NIST_A and bit 11 of the status word are set according to the relationships listed in Table Process Automation Page 93

108 Drive components NIST_PT1 NIST_A ZSW1.11 Positive direction of rotation NIST_PT1 >= 0 NIST_PT1 1 NIST_PT1 < 0 NIST_PT1 0 Table 5-13: Sinamics-specific states Creation of device-specific components Further device-specific components can be created with the SIMIT add-on module CTE. A PROFIdrive connection must be used to connect the component to the PROFIdrive header component. A connection of this type must be created on the device-specific component as an Inlet. The PROFIdrive connection type is defined with five signals in the forwards direction and four signals in the backwards direction (Table 5-14). Signal Data type Signal Data type (Forward) (Backward) NSOLL_A double ZSW1 double NIST double connected logical State double NSOLL double NominalSpeed double NIST_A double STW1 double Table 5-14: Connection type PROFIdrive The individual signals have the following meanings: NSOLL_A: Low resolution speed setpoint value (one word); NIST: Speed actual value delayed by the delay element (NIST_PT1); State: State of the PROFIdrive state machine as a numerical value (1 to 6); NominalSpeed: Nominal speed; input nn of the PROFIdrive component; STW1: Control word; ZSW1: Status word (Table 5-1Table 5-1); the bits 11 to 15 of the devicespecific component are combined with bits 0 to 10 in the header block. connected: This logical value must be set to one in the module. In the PROFIdrive header component this signal indicates that a device-specific component is connected; NSOLL: Speed setpoint value formed in the device-specific component; NIST_A: Speed actual value formed in the device-specific component; The use of the signals in the PROFIdrive header component that is connected with a devicespecific component is shown in Figure Process Automation Page 94

109 Drive components Figure 5-18: Block diagram of the PROFIdrive header component and the signal interface of the PROFIdrive connection It is recommended that the functionalities shown in the device-specific components as II, III, IV and V are each produced in separate blocks (BLOCK... END_BLOCK). When generating the executable simulation (code generation), the overall functionality of the header and device-specific component can be introduced into the calculation sequence I to VII without disrupting the calculation cycle. 5.4 SIMOCODE pro motor control devices SIMOCODE pro motor management and control devices are used to switch motors on and off and to monitor the resulting currents. As an option, SIMOCODE pro can also be used to record other measured values and to access comprehensive statistical evaluations. A SIMOCODE pro device is connected to the automation system as an individual PROFIBUS- DP slave. By configuring the device accordingly, a SIMOCODE pro can be employed for very different tasks. For example, as a direct starter, reversing starter, star-delta starter with or without reversal of rotation, pole switching device with or without reversal of rotation, as well as a positioner, solenoid valve drive, overload relay or power circuit breaker. The directory SIMOCODEpro in the Drives Library contains component types that emulate the various control functions of SIMOCODE pro. These components form the SIMOCODEpro Library of SIIMIT Basic functions of SIMOCODE pro components Each component type of the SIMOCODEpro Lirary contains, as a basic function, a simple emulation of the motor together with the logic for switching the motor on and off (Figure 5-19). Process Automation Page 95

110 Drive components Figure 5-19: al diagram of the SIMOCODEpro component types The corresponding connections of the SIMOCODEpro component types can be seen in the symbols depicted in Figure Figure 5-20: Connections of the SIMOCODEpro component types All SIMOCODE pro devices are accessed via control data and return their current status to the automation system in message data. The content of the control and message data depends on which control function is implemented. Only the cyclical control and message data is processed by the SIMOCODEpro component types; non-cyclic data, e.g. statistical data, is ignored. The components can interface with the automation system in the following ways: The control data word (2 bytes of the controller s outputs) is connected to the analog input STW of the component. The first data word of the message data (controller s inputs) contains the binary feedback and is connected to the analog output ZSW. Analog message data, e.g. the actual current value, is transferred to the automation system in the second data word. This configuration corresponds to SIMOCODE pro C or, in the case of SIMOCODE pro V, to basic type 2. Figure 5-21 illustrates an example of a SIMATIC configuration for a Dahlander motor. Figure 5-22 shows the SIMOCODEpro component and the associated process data. Process Automation Page 96

111 Drive components Figure 5-21: SIMATIC configuration of a SIMOCODE pro for a Dahlander motor Figure 5-22: Linking of process data with the SIMOCODEpro component in SIMIT The actual current I is communicated to the automation system as a percentage value of the current setting (rated motor current). The current value on input I is switched through as the actual current to the output I, provided that the motor is switched on. The input has a default value of 100%, i.e. the actual current equals the current setting. The switching on and off of the motor is controlled by a ramp function. The relationship between current and motor load is not taken into account. This can easily be added in the simulation, e.g. by not setting the current as a constant but by using suitable functions to make it dependent on the motor speed or what's happening in the process instead. An example of this can be seen in section The speed of the motor is available as a percentage value on output Y of a SIMOCODEpro component. The run-up and run-down times of the motor are set on the two analog inputs T Up and T Down. T Up is the time in seconds it takes the motor to run up from standstill to the nominal speed, T Down is the time in seconds it takes for the motor to run down to a standstill from the nominal speed. Both times have a default value of one second. If one of the input values is negative when the simulation runs, the message "x: run-up or run-down time invalid value" (message category ERROR) is generated. Process Automation Page 97

112 Drive components NOTE In the case of positioners and solenoid valves, the run-up and run-down times mean the opening and closing time T Up and T Down of the valve. The speed of the motor is not specified by the automation system nor recorded by the SIMOCODE pro devices. The speed value is therefore not communicated to the automation system. Its sole purpose is to provide another source of input for the simulation. Consequently, the run-up and run-down times are only of minor importance. Switchover pauses and interlock times are ignored by the SIMOCODEpro component types. Corresponding feedback for the automation system is not generated The ramp function The motor speed is formed using a ramp function. The most general form of this ramp for a drive with two speeds in two directions of rotation is illustrated in Figure The increase and decrease times of the ramp correspond to the run-up and run-down times T Up and T Down of the motors. Depending on how SIMOCODE pro is configured, the motor speed is generated as a percentage value in the range -100% to 100%. Figure 5-23: Ramp function of SIMOCODEpro components Overload behaviour Overload can be set using the Overload switch in the control window of a component. The motor is switched off in the event of an overload. A thermal switch-on inhibitor determines when the motor can be switched on again (cooling down time). The cooling down period begins when the overload no longer exists. The cooling down time is set in the Cool_Down_Period parameter and has a default value of 300 seconds (Figure 5-24). The Process Automation Page 98

113 Drive components cooling down time still remaining is displayed in the Cool down field of the control window (Figure 5-25). During this time the drive is disabled, i.e. it cannot be restarted. Figure 5-24: Parameter Cool_Down_Period in the property view of SIMOCODEpro components Figure 5-25: Overload in the control window of SIMOCODEpro components The thermal switch-on inhibitor is reset by setting the emergency start (EM-Start, STW.12) bit. The drive can be restarted immediately. The advance warning for overload (I>115%, ZSW.11) is set as soon as the input current exceeds 115% Standard assignments in the control and message data The functions shown in Table 5-15 are used as standard for bits 11 to 15 of the control word (STW. 11 to STW.14) in all SIMOCODEpro component types. 2 Name Control data Test1 Test function: reset after 5 seconds STW.11 EM-Start Emergency start STW.12 Remote Operating mode switch S1 STW.13 Reset Reset device STW.14 Table 5-15: Standard assignments in the control word The test function Test1 resets the SIMOCODE pro device five seconds after setting the signal. The motor is switched off. 2 The Emergency Start function does not apply to solenoid valves. Process Automation Page 99

114 Drive components Setting EM-Start resets the thermal switch-on inhibitor if it has been triggered by an overload. The motor can then be switched on again immediately. The Remote command only displays the automation system default for operation mode switch S1. This command has no functional effect on the simulation. The SIMOCODE pro device is reset using the Reset command. This switches the motor off. Table 5-16 provides an overview of the standard message data for all SIMOCODEpro component types. 3 Name Message data I>115% Overload advance warning ZSW.11 Remote Remote operating mode ZSW.13 Fault General fault ZSW.14 Warning General warning ZSW.15 Table 5-16: Standard assignments in the status word If the current value rises above 115 percent, bit ZSW.11 is set as advance warning of an overload. The Remote, Fault and Warning signals can be set in the control window of the component (Figure 5-26). The Remote signal has a default value of one.e. the switch is closed. Figure 5-26: Signals that can be set in the control window of SIMOCODEpro components SIMOCOCEpro component s control windows All SIMOCODEpro components have a control window in which the signals of the control and status word are displayed. The names of the control word signals used by each component are shown in the control window. The same applies to the message data signals that are influenced by the components. Signals indicated by numbers have no function in the component and are only displayed in the control window. Figure 5-27 shows the control window for the component of type ReversingDahlander. The control windows for the components of other types are laid out accordingly. 3 The overload advance warning does not apply to solenoid valves. Process Automation Page 100

115 Drive components Figure 5-27: Control window for SIMOCODEpro components Individual adaptations Depending on how a SIMOCODE pro device has been configured, signals in the control and message data can have meanings that are not present in the SIMOCODEpro Library components. However, these signals can be included in the simulation by a simple connection to other components from the SIMIT Basic Library. In the example of a ReversingDahlander component illustrated in Figure 5-28, the interlocking time and the change-over pause can be set manually. Both signals are not set in the component. Here, the status word on the output of the component has been divided into its individual signals by the conversion components (Word2Byte, Byte2Bit). The signals set in the component are converted into a word again by the signals linked via the global connectors, and communicated to the EW516 signal input of the automation system. An example is also shown of how the current on the input of the ReversingDahlander component can be mapped from the speed of the motor on output Y of the ReversingDahlander component using a suitable curve function (Characteristic) and adjusted as required. Process Automation Page 101

116 Drive components Figure 5-28: Simulation of additional signals in the message data Specific SIMOCODE pro devices The SIMOCODEpro Library contains ten different SIMOCODEpro component types. These component types emulate the various control functions of a SIMOCODE pro. Each control function is emulated by a component type. The simulation function of the component types is coordinated with the corresponding address variants (function blocks) in PCS7 (see Table 5-17). SIMIT component types Control function PCS7- FB DirectStarter Direct starter SMC_DIR ReversingStarter Reversing starter SMC_REV StarDeltaStarter Star-delta starter SMC_STAR ReversingStarDelta Reversing star-delta starter SMC_REVS Dahlander Dahlander / pole changer SMC_DAHL ReversingDahlander Dahlander / pole changer with reversal of direction of rotation SMC_REVD Valve Solenoid valve SMC_VAL Positioner Slide valve SMC_POS OverloadRelay Overload SMC_OVL CircuitBreaker Circuit breaker SMC_CB Table 5-17: Supported control functions of the SIMOCODE pro Process Automation Page 102

117 Drive components DirectStarter Direct starter The component type DirectStarter simulates drives that have a single direction of rotation and can be switched on and off directly. Table 5-18 provides an overview of the relevant control data STW and message data ZSW for this application. Name Control data Message data Off Switch off drive STW.9 Drive switched off ZSW.9 On Switch on drive STW.10 Drive switched on ZSW.10 Table 5-18: Control and message data of the DirectStarter component The commands "Switch off drive" (Off, STW.9) and Reset (RESET, STW.14) have priority over the command "Switch on drive" (On, STW.10). The actual value of the current on output I is set to the value on the current input I as soon as the drive is switched on. If the drive is switched off, it is set to zero. The speed value on the output Y is formed as a percentage value with the help of the ramp function (Figure 5-29): 0 Y 100. Figure 5-29: Formation of the speed value for the DirectStarter component Process Automation Page 103

118 Drive components ReversingStarter Reversing starter The component type ReversingStarter simulates drives with two directions of rotation, which can be switched on and off directly in both directions. Table 5-19 provides an overview of the relevant control data STW and message data ZSW for this application. Name Control data Message data On< Switch on anticlockwise rotation STW.8 Anticlockwise rotation switched on ZSW.8 Off Switch off drive STW.9 Drive switched off ZSW.9 On> Switch on clockwise rotation STW.10 Clockwise rotation switched on ZSW.10 Table 5-19: Control and message data of the DirectStarter component The commands "Switch off drive" (Off, STW.9) and Reset (RESET, STW.14) have priority over the command "Switch on anticlockwise rotation" or "Switch on clockwise rotation" (On<, STW.8 or On>, STW.10). Simultaneous switch-on commands for both directions of rotation do not alter the status of the drive, they are effectively ignored. The actual value of the current on output I is set to the value on the current input I as soon as the drive is switched on in one of the two directions of rotation. If the drive is switched off, the actual current value is set to zero. The speed value on the output Y is formed as a percentage value with the help of the ramp function (Figure 5-30): 100 Y 100. Figure 5-30: Formation of the speed value for the ReversingStarter component Process Automation Page 104

119 Drive components StarDeltaStarter Star-delta starter The component type StarDeltaStarter simulates drives with star-delta switchover. Table 5-20 provides an overview of the relevant control data STW and message data ZSW for this application. Name Control data Message data Off Switch off drive STW.9 Drive switched off ZSW.9 On Switch on drive STW.10 Delta mode switched on ZSW.10 Table 5-20: Control and message data of the StarDeltaStarter component The commands "Switch off drive" (Off, STW.9) and Reset (RESET, STW.14) have priority over the command "Switch on drive" (On, STW.10). The maximum time for star mode is set in the parameter "Max_Star_Time". The default is 15 seconds (Figure 5-31). The switchover to delta mode (ZSW.10) is performed if the maximum star mode time has been reached, or if a value of less than 90% is present on the current input. Figure 5-31: Parameter Max_Star_Time for the StarDeltaStarter component The actual value of the current on output I is set to the value on the current input I as soon as the drive is switched on. If the drive is switched off, the actual current value is set to zero. The speed value on the output Y is formed as a percentage value with the help of the ramp function (Figure 5-32): 0 Y 100. Process Automation Page 105

120 Drive components Figure 5-32: Formation of the speed value for the StarDeltaStarter component ReversingStarDelta Star-delta starter with reversal of direction of rotation The component type ReversingStarDelta simulates drives with star-delta switchover in both directions of rotation. Table 5-21 provides an overview of the relevant control data STW and message data ZSW for this application. Name Control data Message data On< Switch on anticlockwise rotation STW.8 Anticlockwise delta mode switched on ZSW.8 Off Switch off drive STW.9 Drive switched off ZSW.9 On> Switch on clockwise rotation STW.10 Clockwise delta mode switched on ZSW.10 Table 5-21: Control and message data for the ReversingStarDelta component The commands "Switch off drive" (Off, STW.9) and Reset (RESET, STW.14) have priority over the command "Switch on anticlockwise rotation" or "Switch on clockwise rotation" (On<, STW.8 or On>, STW.10). Simultaneous switch-on commands for both directions of rotation do not alter the status of the drive, they are effectively ignored. The maximum time for star mode is set in the parameter "Max_Star_Time". The default is 15 seconds (Figure 5-33). The direction-dependent switchover to delta mode (ZSW.10 or ZSW.8) is performed if the maximum star mode time has been reached, or if a value of less than 90% is present on the current input. Process Automation Page 106

121 Drive components Figure 5-33: Parameter Max_Star_Time for the ReversingStarDelta component The actual value of the current on output I is set to the value on the current input I as soon as the drive is switched on in one of the two directions of rotation. If the drive is switched off, the actual current value is set to zero. The speed value on the output Y is formed as a percentage value with the help of the ramp function (Figure 5-34): 100 Y 100. Figure 5-34: Formation of the speed value for the ReversingStarDelta component Dahlander Dahlander starter or pole changer The component type Dahlander simulates drives with a single direction of rotation and two speeds: full speed and low speed. Table 5-22 provides an overview of the relevant control data STW and message data ZSW for this application. Process Automation Page 107

122 Drive components Name Control data Message data On>> Switch drive to full speed STW.8 Drive switched to full speed ZSW.8 Off Switch off drive STW.9 Drive switched off ZSW.9 On> Switch drive to low STW.10 Drive switched to low ZSW.10 speed speed Table 5-22: Control and message data of the Dahlander component The commands "Switch off drive" (Off, STW.9) and Reset (RESET, STW.14) have priority over the command "Switch to full speed" (On>>, STW.8) or "Switch to low speed" (On>, STW.10). Simultaneous switch-on commands for both speeds do not alter the status of the drive, they are effectively ignored. The actual value of the current on output I is set to the value on the current input I as soon as the drive is switched to one of the two speeds. If the drive is switched off, the actual current value is set to zero. The low speed n Low is set as a percentage value on the input Low speed. The default value is 50%. The speed value on the output Y is formed as a percentage value with the help of the ramp function (Figure 5-35): 0 Y 100. Figure 5-35: Formation of the speed value for the Dahlander component ReversingDahlander Dahlander starter or pole changer with reversal of direction of rotation Process Automation Page 108

123 Drive components The component type ReversingDahlander simulates drives with two speeds of rotation in two directions. Table 5-23 provides an overview of the relevant control data STW and message data ZSW for this application. Name Control data Message data On<< On< On>> On> Switch drive to full speed anticlockwise Switch drive to low speed anticlockwise Switch drive to full speed clockwise Switch drive to low speed clockwise STW.0 STW.2 STW.8 STW.10 Drive switched to full speed anticlockwise Drive switched to low speed anticlockwise Drive switched to full speed clockwise Drive switched to low speed clockwise ZSW.0 ZSW.2 ZSW.8 ZSW.10 Off Switch off drive STW.9 Drive switched off ZSW.9 Table 5-23: Control and message data of the ReversingDahlander component The commands "Switch off drive" (Off, STW.9) and Reset (RESET, STW.14) have priority over the switch on commands "Full speed anticlockwise" (On<<, STW.0), "Low speed anticlockwise" (On<, STW.2), "Full speed clockwise" (On>>, STW.8) and "Low speed clockwise" (On>, STW.10). Several simultaneous switch-on commands do not alter the status of the drive, they are effectively ignored. The actual value of the current on output I is set to the value on the current input I as soon as the drive is switched on. If the drive is switched off, the actual current value is set to zero. The low speed n Low is set as a percentage value on the input Low speed. The default value is 50%. The speed value on the output Y is formed as a percentage value with the help of the ramp function (Figure 5-36): 100 Y 100. Figure 5-36: Formation of the speed value for the ReversingDahlander component Process Automation Page 109

124 Drive components OverloadRelay - Overload relay The component type OverloadRelay simulates drives with overload monitoring. The Overload command triggers an overload, i.e. the drive is switched off. The Restart command switches the drive on. The commands can only be set in the control window of the component (Figure 5-37). Figure 5-37: Setting of Overload and Restart in the control window of the OverloadRelay component The drive can be initialised as switched on or switched off using the Initial_Value parameter: switched on with the value "Closed", switched off with the value "Open". The default value for "Initial_Value" is "Closed" (Figure 5-38). Figure 5-38: Parameter Initial_Value of the OverloadRelay component The actual value of the current on output I is set to the value on the current input I as soon as the drive is switched on. If the drive is switched off, the actual current value is set to zero. The speed value on the output Y is set to hundred if the drive is on and to zero if the drive is off. Process Automation Page 110

125 Drive components CircuitBreaker Circuit breaker The component type CircuitBreaker simulates drives with switching characteristics. Table 5-24 provides an overview of the relevant control data STW and message data ZSW for this application. Name Control data Message data Off Open switch STW.9 Switch opening / open ZSW.9 On Close switch STW.10 Switch closing / closed ZSW.10 Table 5-24: Control and message data of the CircuitBreaker component The commands "Open switch" (Off, STW.9) and Reset (RESET, STW.14) have priority over the closing command (On, STW.10). The switch can be initialised as closed or open using the "Initial_Value" parameter: closed with the value Closed, opened with the value Open. The default value for Initial_Value is Closed (Figure 5-39). Figure 5-39: Parameter Initial_Value of the CircuitBreaker component The actual value of the current on output I is set to the value on the current input I as soon as the switch closes. If the switch is opened, the actual current value is set to zero. The speed value on the output Y is set to hundred if the drive is on and to zero if the drive is off. Process Automation Page 111

126 Drive components Positioner - Slide valve/positioner The component type Positioner simulates positioning drives for slide valves, adjusting valves, etc. Table 5-25 provides an overview of the relevant control data STW and message data ZSW for this application. The commands "Switch off drive" (Off, STW.9) and Reset (RESET, STW.14) have priority over the opening and closing commands (Open, STW.10 and Close, STW.8). Simultaneous switch-on commands for both speeds of rotation do not alter the status of the drive, they are effectively ignored. Name Control data Message data Close Close slide valve STW.8 Slide valve closed ZSW.8 Slide valve closes ZSW.2 Stop Stop slide valve STW.9 Slide valve stops ZSW.9 Open Open slide valve STW.10 Slide valve open ZSW.10 Slide valve opens ZSW.0 Table 5-25: Control and message data of the Positioner component The actual value of the current on the output "I" is set to the value on the current input "I" as long as the slide valve is opening (ZSW.0) or closing (ZSW.2). The actual value of the current is set to zero if the slide valve is stationary, and if it is closed or open. The position value on the output Y is formed as a percentage value with the help of a ramp function (Figure 5-40): 0 Y 100 The value zero represents a closed slide valve, the value one hundred an opened slide valve. The default opening and closing times of the slide valves are both set to one second. Figure 5-40: Formation of positioning values for the Positioner component Process Automation Page 112

127 Drive components Valve Solenoid valve The component type Valve simulates drives for solenoid valves. Table 5-26 provides an overview of the relevant control data STW and message data ZSW for this application. Name Control data Message data Close Close valve STW.9 Valve closing / closed ZSW.9 Open Open valve STW.10 Valve opening / opened ZSW.10 Table 5-26: Control and message data of the Valve component The commands "Close valve" (Close, STW.9) and Reset (RESET, STW.14) have priority over the opening command (Open, STW.10 and Close, STW.8). The valve can be initialised as closed or open using the Initial_Value parameter: closed with the value Closed, opened with the value Open. The default value for Initial_Value is Closed (Figure 5-41). Figure 5-41: Formation of positioning values for the Valve component The setting value on the output Y is formed as a percentage value with the help of a ramp function: 0 Y 100 (Figure 5-42). The value zero represents a closed valve, the value one hundred an opened valve. Process Automation Page 113

128 Drive components Figure 5-42: Formation of positioning values for the Valve component The default opening and closing times of the solenoid valve are zero, i.e. opening and closing of the valve is done with a high gradient. The component type Valve does not have a current monitoring function and therefore no overload behaviour, neither does it have a current input or a current output. Process Automation Page 114

129 Sensor components 6 SENSOR COMPONENTS In the directory SENSORS off the SIMIT Basic Library you will find sensor component types. These component types form the Sensor Library. In the subdirectory SIWAREX there are component types for the simulation of SIWAREX U weighing modules. 6.1 SIWAREX U components The SIWAREX U weighing system is used, for example, to measure fill levels in silos and bunkers, to monitor crane loads and for overload protection of industrial lifts. In all these applications, weights are detected with sensors such as load cells or force transducers and transferred to the controller as measured values. Pressure-sensitive sensors deliver a voltage proportional to the weight which is converted by an analog/digital converter into a numerical value, processed and sent to the controller. The voltage signal is converted and prepared with the help of the SIWAREX U module. SIWAREX U modules can be connected to the PROFIBUS DP via ET 200M or used as a module of the SIMATIC S The aim of simulation with SIWAREXU components is to send measured values - which in the real system are transferred to the controller with the SIWAREX U weighing system - to the controller as simulated values. In the SIWAREX directory of the Sensors Library there are two component types for simulating the SIWAREX U weighing module: SIWAREXU1 and SIWAREXU2. These two component types simulate basic functions of the single and dual channel versions of the SIWAREX U weighing module. The function is the same for both component types SIWAREXU1 and SIWAREXU2. Type SIWAREXU2 merely has one additional measuring channel compared with type SIWAREXU1. The following detailed descriptions for the one channel of the SIWAREXU1 thus apply to both channels of the SIWAREXU2 component type. The following functions of the SIWAREX U weighing system are simulated in the component types: Linear characteristic curve of the weighing system (adjustment diagonal) Zero offset Decimal point shift Two configurable limit values. A schematic diagram of a measuring channel of the component type is shown in Figure 6-1. Process Automation Page 115

130 Sensor components Figure 6-1: Schematic diagram of SIWAREXU components In the SIWAREX U weighing system, the weight to be measured is first converted by a pressure sensor into an electrical voltage and then by an analog/digital converter into a numerical value. In the simulation the numerical value of a weight is already available as the result of a model calculation. The electrical signal transfer between the weighing sensor and the SIWAREX U module is therefore irrelevant for the simulation: the calculated weight value is applied directly to input PV of a SIWAREXU component as a physical measured variable. The low pass filtering and sliding averaging which take place in the SIWAREX U module to suppress disturbances of the electrical voltage signal are not required in the simulation either. Therefore neither function is included in the component types. The weight value is available as Digits as a scaled numerical value limited to the range of zero to 65,535. Scaling is carried out with the help of the linear characteristic curve of the weighing system (adjustment diagonals). Furthermore, after any decimal point shift and zero offset, the weight value Gross is an integer value limited to the range of -32,768 to +32, Linking SIWAREXU components to the gateway Both component types SIWAREXU1 and SIWAREXU2 are designed for communcation type SFC/SFB/FB for SIMATIC S7/PCS7. All communication between the automation system and the simulation takes place exclusively via data records. Therefore, the SIWAREXU components have no inputs and outputs that can be connected to signals of a gateway (I/O signals). Instead SIWAREXU components have to be linked to data records. The communication via data records is a property of the SIMIT s Profibus DP gateway. If you import a hardware configuration into the Profibus DP gateway that contains SIWAREX U modules, the data records that are required to communicate with the controller are Process Automation Page 116

131 Sensor components automatically created in the gateway. These data records are linked to SIWAREXU components by use of the Unit connector. Figure 6-2 shows the SIMATIC hardware configuration with a SIWAREX U module as an example: A SIWAREX U module is assigned to the Slave with Profibus address 40 at slot 4. Figure 6-2: SIMATIC hardware configuration with SIWAREX U A SIWAREXU1 component is linked to that module by connecting a Unit connector to the Unit input of the component (see Figure 6-3) and by setting the parameters in the property view of the Unit connector: the name of the Gateway and the slave address and the module s slot number in the form Slv#:Slt# as Addressing. For the above shown example hardware configuration this is Slv40:Slt4 (Figure 6-4). Figure 6-3: Linking the data records to a SIWAREXU component Figure 6-4: Parameters of the Unit connector Process Automation Page 117

132 Sensor components A second way to link a SIWAREXU component to a SIWAREX U module is provided by the Profibus gateway itself. To do it this way, open the Profibus DP gateway with its property view and select the SIWAREX U module that should be linked to the SIWAREXU component in the left sided tree view with a left mouse button click (Figure 6-5). Drag this module with the left mouse button pressed onto the diagramm that contains the SIWAREXU component. If it is dropped on the diagramm a Unit connector with the right parameters is automatically created. You can now connect this Unit connector with the Unit input of the component. Figure 6-5: SIWAREX U module in the tree view of the Profibus gateway Adjustment Conversion of a weight value to a scaled digit value is done using a adjustment diagonal defined by two points (see Figure 6-6). Figure 6-6: Adjustment diagonal of SIWAREX U The first adjustment point is defined by the unloaded (empty) balance with only its inherent weight, the second point by the chosen adjustment weight. The corresponding scaled numerical values are stored in the weighing module as adjustment digit 0 and adjustment digit 1. In the simulation, adjustment is carried out by setting the adjustment parameters. Table 6-1 lists the adjustment parameters of the two component types SIWAREXU1 and SIWAREXU2 and their default values. Process Automation Page 118

133 Sensor components Parameter Default CH1_Dig_0 CH2_Dig_0 Adjustment digit CH1_Dig_1 CH2_Dig_1 Adjustment digit CH1_Adj_W CH2_Adj_W Adjustment weight Table 6-1: Default adjustment parameters The parameters for the adjustment digits are preset to values that correspond to a balance with "theoretical adjustment" without zero offset. The adjustment weight is preset to a value of weight units (Figure 6-7). Figure 6-7: Parameters of the SIWAREXU components and its defaults As the balance simulated with the component types SIWAREXU1 and SIWAREXU2 is calibrated by setting permanently valid parameters, the simulated balances are always deemed to be calibrated. Therefore a balance adjustment process initiated by the controller is pointless in the simulation. Any such commands of the controller are ignored by the component types Zero offset When a SIWAREXU component receives the "Set to zero" command via the control word CMD, the weight value applied at that moment is saved as a new zero point. Consequently the zero value is now output as a gross value. All subsequent measurements then relate to this value, i.e. the difference between the current weight value and the zero value last saved is output as the gross value. The zero value used on starting the simulation can be set as a digit value in the CH1_Zero parameter of the component. A default digit value of 2427 is set, corresponding to a weight value of the unloaded balance assumed to be zero. Process Automation Page 119

134 Sensor components Decimal point shift A decimal point shift can be configured to increase the resolution of the gross value to be transferred to the controller. This means that the measured gross value is multiplied by a factor of 10, 100, 1000, 10,000 or 100,000. The decimal point shift is defined by the parameter CH1_Adjust according to Table 6-2. The default value is 65, i.e. no decimal point shift. Number of decimal places Factor Parameter CH1_Adjust , , Table 6-2: Settings table for decimal point shift CAUTION If you change the default setting of the CH1_Adjust parameter in SIMIT, you must also change the C1ADJUST parameter in the instance data block of the controller Limit values SIWAREX U has two adjustable limit values whose switch-on and switch-off points can be freely specified in weight units. The setting "on-value > off-value" leads to a message if the value is exceeded (see Figure 6-8), while the setting "off-value > on-value" leads to a message if the value is undershot (see Figure 6-9). Figure 6-8: Maximum value exeeded Process Automation Page 120

135 Sensor components Figure 6-9: Minimum value undershot In the special case where the limit values for OFF and ON are equal, limit value 1 reports an overshoot of this value while limit value 2 reports an undershoot of the set value. The limit values for the first channel are specified with the parameters CH1_ON_L1 and CH1_OFF_L1 for the first limit value and with the parameters CH1_ON_L2 and CH1_OFF_L2 for the second limit value. The default values are shown in Table 6-3. Parameter Default CH1_ON_L1 CH2_ON_L CH1_OFF_L1 CH2_OFF_L CH1_ON_L2 CH2_ON_L CH1_OFF_L2 CH2_OFF_L Table 6-3: Default adjustment parameters The status of the limit values is available as part of the status information State of the component type Control window of the SIWAREX components The control window of a SIWARXU component shows which limit values have been reached and which gross value is transferred to the controller as a weight value. The gross value (Gross in Figure 6-10) is shown without decimal point shift to make it easier to read. In the functional diagram above this is the Displayed value. Process Automation Page 121

136 Sensor components Figure 6-10: Control window of the SIWAREXU2 component The Justified status indicator is always active. This indicates that the simulated balance is always calibrated. Process Automation Page 122

137 Communication components 7 COMMUNICATION COMPONENTS The COMMUNICATION directory contains component types which provides specific functions for communication between SIMIT and SIMATIC or SINUMERIK. 7.1 Components for SIMATIC The PLCSIM and PRODAVE gateway enable access to the memory address and data block areas. This access is not carried out by a cyclic communication between the controller and signals that are listet in the gateway editor, but via components which read or write a specified address area of the controller on a trigger signal. The required component types can be found in the basic library in the directory COMMUNICATION SIMATIC. The components must be provided with a Unit connector at their Gateway input as shown in Figure 7-1. You link the components with the relevant gateway simply by entering in the properties window of the unit connector the name of the PLCSIM or PRODAVE gateway that you want to access using this component. Entering the address in the unit connector is of no significance in this case. Figure 7-1: Link with the gateway To use this access method for a gateway, you must have already saved the gateway. Open the gateway in the editor and define, for example, an input or output signal and then save the gateway ReadMemory reading a memory address area The ReadMemory component type enables one or more successive bytes from the memory address area of a controller to be read. Enter the address of the first byte to be read on the input MB. The read operation is executed when a rising edge occurs on the Trigger input, i.e. a change from False to True. The number N of outputs can be varied by "dragging" the component onto a diagram. You can specify a maximum of 32 outputs, i.e. you can read a maximum of 32 bytes with a component of this type. The bytes that are read are output on Y1 to YN. Process Automation Page 123

138 Communication components Exactly one read operation is started while the simulation is being initialised. Thus, after initialisation, initial values from the memory address area are available, even though no trigger signals have been sent WriteMemory writing to a memory address area The WriteMemory component type allows you to write to one or more successive bytes in the memory address area of a controller. Enter the address of the first byte to be written to on the input MB. The write operation is executed when a rising edge occurs on the Trigger input, i.e. a change from False to True. The number N of inputs can be varied by "dragging" the component onto a diagram. You can specify a maximum of 32 inputs, i.e. you can write to a maximum of 32 bytes in the memory address area with a component of this type. The bytes to be written should be made available on inputs X1 to XN. Exactly one write operation is started while the simulation is being initialised. Initial values can therefore be written to the memory address area during the initialisation process, even though no trigger signals have been sent ReadDatablock reading a data block The ReadDatablock component enables one or more successive bytes from a data block of a controller to be read. Enter the data block number on the DB input and the address of the first byte to be read on the DBB input. The read operation is executed when a rising edge occurs on the Trigger input, i.e. a change from False to True. The number N of outputs can be varied by "dragging" the component onto a diagram. You can specify a maximum of 32 outputs, i.e. you can read a maximum of 32 bytes with a component of this type. The bytes that are read are output on Y1 to YN. Exactly one read operation is started while the simulation is being initialised. Thus, after initialisation, initial values from the data block are available, even though no trigger signals have been sent. Process Automation Page 124

139 Communication components WriteDatablock writing to a data block The WriteDatablock component allows you to write to one or more successive bytes in the data block of a controller. Enter the data block number on the DB input and the address of the first byte to be written on the DBB input. The write operation is executed when a rising edge occurs on the Trigger input, i.e. a change from False to True. The number N of inputs can be varied by "dragging" the component onto a diagram. You can specify a maximum of 32 inputs, i.e. you can write to a maximum of 32 bytes in the data block with a component of this type. The bytes to be written should be made available on inputs X1 to XN. Exactly one write operation is started while the simulation is being initialised. Initial values can therefore be written to the data block during the initialisation process, even though no trigger signals have been sent. 7.2 Components for SINUMERIK The COMMUNICATION SINUMERIK directory of the Basic Library contains a component type to communicate axis value from SINUMERIK to SIMIT ADAS AXIS DATA STREAM PER PROFIBUS The component type ADAS is used for parametrizing and postprocessing of axis values, that are transferred to SIMIT via Profibus DP from a SINUMERIK PLC using the software package ADAS. Process Automation Page 125

140 Communication components NOTE The software package ADAS is not part of the SIMIT product and needs to be acquired separately (order no. 6FC5251-0AF44-0AA0). In order to transfer axis values you need to insert the profibus slave ccadas into the hardware configuration of the SINUMERIK (Figure 7-2). The GSD file of the ccadas slave can be found on the SIMIT installation CD in the folder Tools/ADAS. Figure 7-2: Hardware configuration with slave ccadas This slave has 8 bytes input and output for communication and additional 4 bytes for each axis value (Figure 7-3). Process Automation Page 126

141 Communication components Figure 7-3: Signals of the Profibus DP gateway for ADAS In the gateway I/O data are configured as double words and need to be connected to the SIMIT component (QA, QB, Q1.. Qn and IA und IB) as shown in Figure 7-4. Process Automation Page 127

142 Communication components Figure 7-4: Component ADAS with IO signals The analog outputs TRACKi, i = 2,, N of a component of type ADAS make the transferred axis values available. The number N of available channels can be specified by scaling the component. The maximum value is 28 channels. The outputs TRACKi can be used e.g. by connecting them to the 3D viewer control in SIMIT in order to animate the 3D view of the machine with current axis values. NOTE The number of transferred axis values is specified by parametrizing the slave ccadas. You should set the number in the ADAS component to the same value as defined in the slave in order to use all channels within the component. In case of communication failure the integer output Error provides provides information about possible causes (Table 7-1). Error Cause 0 No error 1 No reply to configuration of Track 1 2 No reply to configuration of Track No reply to configuration of Track No reply to Reset command 101 No reply to Set Communication command Table 7-1: Error codes for component type ADAS Process Automation Page 128

143 Communication components Parameters The ADAS component has parameter vectors AxisType and AxisNumber, which have as many elements as the specified number of channels. This allows for each channel to specify which axis of the SINUMERIK-NC is to be transferred and whether the axis defines a rotation or a linear move. AxisType Depending on this parameter axis values are provided in mm (translational), angle degrees (rotatory grad) oder angle radiants (rotatory rad). AxisNumber This parameter specifies which axis is to be transferred on the corresponding ADAS channel. Figure 7-5shows the parameters together with their default values: Figure 7-5: Parameters for component type ADAS VORSICHT Please note that parametrization will be effective only if the Config button on the operating window or on the basic symbol is used to transfer the configuration to the SINUMERIK while the simulation is running and the SINUMERIK PLC is connected. As an alternative, you may also specify these settings in the machine data of the SINUMERIK.. Additional parameters The additional parameter TimeOut allows you to specify the period of time after which communication with the SINUMERIK will be canceled in case the command to transfer the configuration receives no reply from the SINUMERIK. Figure 7-6 shows the additional parameters together with their default values. Process Automation Page 129

144 Communication components Figure 7-6: Additional paramters for component type ADAS Operating window In the operating window of the ADAS component type (Figure 7-7) the transfer of the configuration to the SINUMERIK can be triggered using the Config button. While transfer is in progress, the two displays Ok and Fault are not active. Successful transfer is indicated by the green display Ok, errors are indicated by the red display Fault. Figure 7-7: Operating window of component type ADAS The same operating and display elements can be found on the basic symbol and provide the same function. Process Automation Page 130

145 Controls 8 CONTROLS Controls are provided on the Controls task card. There are three palettes of controls: The Display palette with controls for displaying signal values The Operate palette with controls for entering signal values and The Miscellaneous palette (see Figure 2-2). 8.1 Controls for displaying signal values The Display palette provides four controls for displaying signal values: A binary indicator An analog display A digital display and A bar indicator Binary indicator The Binary Indicator control is used to display a binary value. The colour and shape of the control can be defined in the view properties (Figure 8-1). Figure 8-1: View properties of the Binary Indicator control You can select any colour for the signal Off state (signal value zero) and On state (signal value one). You can also toggle the shape of the control between Rectangular and Round in a drop-down box (Figure 8-2). Figure 8-2: Rectangular and round shapes for the Binary Indicator control Process Automation Page 131

146 Controls You can change the size of the control as required using the width and height grippers on the frame (Figure 8-3). To change the size using the corner gripper, hold down the Shift key and the size of the control will increase or reduce proportionately. Figure 8-3: Changing the size of the Binary Indicator control Analog display The Analog Display control is used to display an analog or integer value in the form of a dial. The Data Type of the signal to be displayed can be toggled between Analog and Integer in the control s general properties (Figure 8-4). Figure 8-4: General properties of the Analog Display control Other settings for the analog display can be changed individually in the view properties. Figure 8-5shows the properties dialog with the default settings. Process Automation Page 132

147 Controls Figure 8-5: View properties of the Analog Display control The range of values and the scale, labels and colour can all be set as required: Range of values The range of values is determined by the minimum and maximum values. If the value to be displayed is outside the set range of values, then the pointer on the analog display appears in red (Figure 8-6). Figure 8-6: Analog Display when the range of values is exceeded Scale Initial Angle and Final Angle identify the start and end of the scale. The initial angle displays the minimum value and the final angle the maximum value. The angle is defined as degrees from the horizontal axis in the anticlockwise direction (Figure 8-7). Decimal Places indicates the subdivision for values on the scale. Scale values are displayed with the specified number of decimal places. Figure 8-7: Angle definition for the Analog Display Process Automation Page 133

148 Controls Label You can enter a text in the Label property box that will appear in the analog display in the set Font Size. Color The border, scale and texts are displayed in the set, uniform foreground colour. The background colour can also be set as the filler colour for the control. You can change the size and thus the round shape of the control as required using the width and height grippers on the frame (Figure 8-8). To change the size using the corner gripper, hold down the Shift key and the size of the control will increase or reduce proportionately. Figure 8-8: Shape of the Analog Display Digital display The Digital Display control is used to display the value of an analog or integer signal. The Data Type of the signal to be displayed can be toggled between Analog and Integer in the control s general properties (Figure 8-9). Figure 8-9: General properties of the Digital Display control Process Automation Page 134

149 Controls For analog signals you can set the Font Size and the number of Decimal Places to be displayed in the View properties dialog (Figure 8-10). Figure 8-10: View properties of the Digital Display control for analog signals For integer signals you can set the Font Size, the Display format and the Data size in the View properties dialog (Figure 8-11). Figure 8-11: View properties of the Digital Display control for integer signals Decimal numbers can be positive or negative. In hexadecimal notation negative numbers are always represented as a two's complement. When converting to hexadecimal numbers you need to specify how many bytes are to be included (1, 2, 4 or 8 bytes). As hexadecimal numbers are displayed with a fixed number of characters, this setting also determines the number of hexadecimal characters displayed (2, 4, 8 or 16 places). In the Characters display format only the specified number of bytes are included, starting with the least significant byte, resulting in a display of 1, 2, 4 or 8 characters. A character corresponding to the coding of the (extended) ASCII code is displayed if it is a displayable character. NOTE The data width setting is also relevant for the display of decimal numbers. If the data width is set to less than 8, the actual value of an integer input variable may not be displayed in some circumstances. Figure 8-12 shows examples of the effect of different display formats and data widths. Process Automation Page 135

150 Controls Figure 8-12: Effect of different display formats and data widths You can change the size of the symbol as required, and thus modify the set font size, using the width and height grippers on the frame (Figure 8-13). To change the size using the corner gripper, hold down the Shift key and the size of the control will increase or reduce proportionately. Figure 8-13: Changing the size of the Digital Display control Bar indicator The Bar Indicator is used to display an analog or integer signal in the form of a bar graph. The Data Type of the signal to be displayed can be toggled between Analog and Integer in the control s general properties (Figure 8-14). Process Automation Page 136

151 Controls Figure 8-14: General properties of the Bar Indicator control Other settings for the bar indicator view can be changed individually in the properties dialog (Figure 8-15). Figure 8-15: View properties of the Bar Indicator control The following properties can be set: Scale The displayed range of values is defined by the Start Value and the End Value. You can toggle the scale display on and off with the Show Scale checkbox. Orientation The possible orientations for the control are Horizontal (Figure 8-16a) and Vertical (Figure 8-16b). Bar value display Use the Show Value checkbox to toggle the additional numerical bar value display on or off. Process Automation Page 137

152 Controls Figure 8-16: Horizontal and vertical orientation of the Bar Indicator You can change the size of the symbol using the grippers on the frame. This allows you to make the horizontally-aligned bar indicator wider, for example (Figure 8-17). Figure 8-17: Changing the size of the Bar Indicator control 8.2 Controls for entering signal values The Operate palette provides controls for entering signal values: A pushbutton A switch A stepping switch A digital input and A slider There is another control that allows any images to be used for the pushbutton, switch and stepping switch. These controls have the following labels Pushbutton with Image Switch with Image and Stepping switch with image in the Operate palette Pushbutton Process Automation Page 138

153 Controls The Pushbutton control is used to enter a binary signal. The pushbutton can be defined as Normally Open or Normally Closed in the general properties (Figure 8-18). The default setting is Normally Open. Figure 8-18: Properties dialog for setting the type of Pushbutton To activate the pushbutton while the simulation is running, simply click the button. Figure 8-19a shows the pushbutton not pressed, while Figure 8-19b shows it pressed. Figure 8-19: Pushbutton pressed and not pressed As can be seen in the properties view (Figure 8-20), you can enter a text that will appear on the pushbutton in the set font size. Figure 8-20: View properties of the Pushbutton control The grippers on the button frame can be used to change the size and thus adjust the size of the specified text, for example (Figure 8-21). The text is aligned centrally in the button (both horizontally and vertically). Process Automation Page 139

154 Controls Figure 8-21: Changing the size of the button for the Pushbutton control Pushbutton with image The Pushbutton with Image is used to enter a binary signal, and images are used to represent the button position. The pushbutton can be defined as Normally Open or Normally Closed in the general properties (Figure 8-22). The default setting is Normally Open. Figure 8-22: General properties for setting the Pushbutton with Image type To activate the pushbutton while the simulation is running, simply click the symbol. The size of the symbol and thus the size of the sensitive area can be changed using grippers on the frame (Figure 8-23). Figure 8-23: Changing the size of the Pushbutton with Image control Process Automation Page 140

155 Controls In the properties dialog you can specify images that represent the unpressed (Off) and pressed (On) pushbutton while the simulation is running (Figure 8-24). Click to open the dialog for selecting suitable graphic files. Click to delete the selection. Figure 8-24: View properties of the Pushbutton with Image control The Adapt to Image Size checkbox is unchecked by default. The selected images will then be adapted to the size of the button, i.e. the width and height are scaled accordingly. If the checkbox is checked, the size of the button is matched to the size of the graphic for Image (off) Switch The Switch is used to switch a binary signal. The switch can be defined as Normally Open or Normally Closed in the Off or On position in the general properties (Figure 8-25). It is set to Normally Open in the Off position by default. The selected position takes effect as the Default when the simulation starts. Figure 8-25: General properties of the Switch control Process Automation Page 141

156 Controls To activate the switch while the simulation is running, simply click the button. The closed switch is represented by a dark-blue border. Figure 8-26shows the switch as Normally closed and Normally open with the default setting Off (a) and On (b). Figure 8-26: Switch as Normally closed and Normally open with the default setting On and Off Grippers on the button frame are used to change the size (Figure 8-27). Figure 8-27: Changing the size of Switch control Switch with image The Switch with Image is used to switch a binary signal. It contains an image to represent the switch position. The switch can be defined as Normally Open or Normally Closed in the Off or On position in the general properties (Figure 8-28). It is set to Normally Open in the Off position by default. The selected position takes effect as the Default when the simulation starts. Process Automation Page 142

157 Controls Figure 8-28: General properties for setting the Switch with Image control To activate the switch while the simulation is running, simply click the symbol. The size of the symbol and thus the size of the sensitive area can be changed using grippers on the frame (Figure 8-29). Figure 8-29: Changing the size of the Switch with Image control In the properties dialog you can specify images that represent the two possible switch states - Off and On - while the simulation is running (Figure 8-30). Click to open the dialog for selecting suitable graphic files. Click to delete the selection. Figure 8-30: View properties of the Switch with Image control The Adapt to Image Size checkbox is unchecked by default. The selected images will then be adapted to the size of the button, i.e. the width and height are scaled accordingly. If the checkbox is checked, the size of the button is matched to the size of the graphic for Image (off). Process Automation Page 143

158 Controls Stepping switch The Stepping Switch is used to step through the switching of an integer value. The numerical value is increased or reduced by one every time it is switched. The minimum and maximum values for the switched signal are defined in the general properties (Figure 8-31). The default setting is a ten-step switch with a range of values from zero to ten, starting with the switch value zero. Figure 8-31: General properties of the Stepping Switch control To activate the stepping switch while the simulation is running, simply click the top ( ) or the bottom ( ) button. The currently-set switch value is displayed in the symbol (see Figure 8-32). Figure 8-32: Actuating the Stepping Switch control The size of the symbol and thus the size of the two buttons can be changed using grippers on the frame (Figure 8-33). Process Automation Page 144

159 Controls Figure 8-33: Changing the size of the Stepping Switch control Stepping switch with image The Stepping Switch with Image is used to step through the switching of an integer value. It contains an image to represent the switch position. The switch value from which the stepping switch starts is set in the general properties (Figure 8-34). The default setting is zero. The numerical value of the switched signal is increased or reduced by one every time it is switched. Figure 8-34: General properties of the Stepping Switch with Image control The number of switching steps is defined by the number of images. The images are set in the view properties (Figure 8-35). They change for every step while the simulation is running in the order set in the Images list. Click to open the dialog for selecting suitable graphic files. The selected image is added to the list. The order of the images can be changed by swapping an image with the image before it ( ) or the image after it ( ) in pairs. Click to delete an image. Process Automation Page 145

160 Controls Figure 8-35: View properties of the Stepping Switch with Image control To activate the stepping switch while the simulation is running, simply click the symbol. The Switch-Over can be set using the checkbox, by clicking either Up-Down or Right-Left. Grippers on the frame are used to change the size of the symbol (Figure 8-36). Figure 8-36: Changing the size of the Stepping Switch with Image control The Adapt to Image Size checkbox is unchecked by default. The images will then be adapted to the size of the button, i.e. the width and height are scaled accordingly. If the checkbox is checked, the size of the button is matched to the size of the graphic for the first image Digital input The Digital Input is used to enter an analog or integer signal value in digital form. The Data Type of the signal can be set to Analog or Integer in the general properties (Figure 8-37). The Default signal value can also be set. It is set to zero by default. Process Automation Page 146

161 Controls Figure 8-37: General properties for the Digital Input For analog signals you can set the Font Size and the number of Decimal Places to be displayed in the View properties dialog (Figure 8-38). Figure 8-38: View properties for the Digital Input for analog signals For integer signals you can set the Font Size, the Display format and the Data size in the View properties dialog (Figure 8-39). Figure 8-39: View properties for the Digital Input for integer signals If you enter values using the Digital Input control, you must use the specified display format. If the syntax used does not correspond to the specified display format, the input is interpreted as zero. Decimal numbers can be positive or negative. In hexadecimal notation negative numbers are always represented as a two's complement. When converting to hexadecimal numbers you need to specify how many bytes are to be included (1, 2, 4 or 8 bytes). As hexadecimal numbers are displayed with a fixed number of characters, this setting also determines the number of hexadecimal characters displayed (2, 4, 8 or 16 places). Process Automation Page 147

162 Controls In the Characters display format only the specified number of bytes are included, starting with the least significant byte, resulting in a display of 1, 2, 4 or 8 characters. A character corresponding to the coding of the (extended) ASCII code is displayed if it is a displayable character. The data width does not affect the input of a value as the effective value is not limited. However, the way the value is displayed will depend on the data width setting. NOTE The data width setting is also relevant for the display of decimal numbers. If the data width is set to less than 8, the actual value of an integer input variable may not be displayed in some circumstances. Figure 8-40 shows examples of the effect of different display formats and data widths. Figure 8-40: Effect of different display formats and data widths You can change the size of the symbol as required, and thus modify the set font size, using the width and height grippers on the frame (Figure 8-41). To change the size using the corner gripper, hold down the Shift key and the size of the control will increase or reduce proportionately. Figure 8-41: Changing the size of the Digital Input Process Automation Page 148

163 Controls The signal values appear right-justified in the symbol while the simulation is running Slider The Slider is used to set an analog or integer signal. The default setting for the signal value is set in the general properties (Figure 8-42). The Default is zero. Figure 8-42: General properties of the Slider control The slider is moved with the mouse while the simulation is running. Simply position the mouse pointer over the button of the slider (Figure 8-43), hold down the left mouse button and move the button to the desired position. You can also click to the right or left of the button to increase or reduce the set value by one step. Figure 8-43: Setting the signal value with the Slider Other settings for the slider view can be changed individually in the properties dialog (Figure 8-44). Process Automation Page 149

164 Controls Figure 8-44: View properties of the Slider control The following properties can be set: Scale The scale is determined by the Start Value, the End Value and the Step. Orientation The possible orientations for the control are Horizontal (Figure 8-45a) and Vertical (Figure 8-45b). Bar value display Use the Show Value checkbox to switch the additional numerical signal value display on or off. Figure 8-45: The Slider control with horizontal (a) and vertical (b) orientation You can change the size of the symbol using the grippers on the frame (Figure 8-46). Figure 8-46: Changing the size of the Slider control 8.3 Miscellaneous controls A Signal Disconnector is provided under Miscellaneous controls. Process Automation Page 150

165 Controls Signal disconnector The Signal Disconnector is used to force, i.e. to set, values at the inputs and outputs of components or coupling signals while the simulation is running using any of the Operate controls. As described in sections and 2.8.3, the forcing of inputs and outputs is already available in the properties dialog for all component inputs (see Figure 2-22) and outputs (see Figure 2-25). The Signal Disconnector control also allows you to force inputs and outputs using any Operate control, as described below by way of example. NOTE You can use the Signal Disconnector without an assigned Operate control and connect it to the input or output to be forced of a component, for example. In this case, the signal disconnector will perform the same function as the signal disconnector in the properties of the input or output. Figure 8-47 shows a section from a diagram containing an adder, the output of which is connected to the inputs of two PTn elements. Figure 8-47: Section from a sample program If you want to implement the forcing of the adder output and the two inputs of the PTn elements using sliders, then add a slider and a signal disconnector to a diagram for each input and output to be forced (see Figure 8-48). Process Automation Page 151

166 Controls Figure 8-48: Sliders with signal disconnectors Then open the properties dialog for the first slider, set its connector to invisible and enter the output of the adder as the connected signal. Then open the connector properties for the associated signal disconnector. Its connector is always invisible, as can be seen in Figure Figure 8-49: Connector properties of the Signal Disconnector control Again, enter the adder output as the signal (Figure 8-50). Figure 8-50: Connecting the connector of the Signal Disconnector control Connect the other two sliders and signal disconnectors to the inputs of the two PTn elements in the same way. You can now force the output and the inputs as shown in Figure 8-51, for example, while the simulation is running. Process Automation Page 152

167 Controls Figure 8-51: Forcing connectors with the Signal Disconnector The signal disconnectors for the two controls Slider#1 and Slider#2 are switched on ( ). Forcing of the adder output and of the input to PTn#1 is thus activated via the two sliders. The signal disconnector for Slider#3 is not switched on ( ), so the input PTn#3 cannot be forced in this way. Slider#3 is shown as inactive and is also identified with the overlay. Values for the output and input can now be set using the first two sliders. In the example, the adder output is set to the value 25 and the input of PTn#1 is set to the value 40. The input of PTn#2 is connected to the adder output, and thus assumes its value (25). The (inactive) Slider#3 displays the value of the input connected to it. The following points should thus be noted when using signal disconnectors: The signal disconnector and the associated Operate control should be linked to the input or output to be forced. Forcing is not activated for signal disconnectors that are not switched on. The associated input control is shown as inactive and identified by the overlay. It indicates the value of the connected input or output. Switching on the signal disconnector activates the forcing. 8.4 The 3D Viewer control The graphical editor in SIMIT allows you to clearly visualise the behaviour of a machine using simple graphical basic elements. Two-dimensional graphics can be used to draw a machine and to show movements of the machine by animating relevant parts of this drawing. The 3D Viewer control gives you the added option of incorporating three-dimensional animated views of a machine in your simulation. The representation of the machine is then clearer, and the movements of the machine are displayed more realistically. In order to use the 3D Viewer control you must have a 3-dimensional geometry model of the machine, and this 3D model must be made kinematic, i.e. it must be designed in such a way that it can be linked to signals from the functional simulation and then execute the animations controlled by these signals in the simulation. The kinematic 3D model includes elements that are evaluated by the 3D Viewer control and converted into animations of the 3D model. Like the other controls in the basic library, the 3D Viewer control is inserted in a diagram and programmed accordingly. It also has connectors with which it can be connected to signals of the functional model. A special feature of the 3D Viewer control is a menu that can be used to adapt the view of 3D model by means of commands. Process Automation Page 153

168 Controls Data format requirements In order to use the 3D Viewer control you need a three-dimensional geometry model in VRML V2.0 format. This VRML format can be exported from most CAD systems. In some cases, however, you will also need to restructure the VRML model after export in order to be able to identify and capture the shapes or shape groups that are to be animated as kinematic simulation points. In terms of the size of a model exported from CAD systems, it is also worth reducing it by eliminating details of the geometry model that are not necessary for visualisation. To restructure the 3D model and make it kinematic, you can use a suitable VRML editor that shows the geometric structure of the 3D model and allows you to modify the VRML code. Information on editing environments for VRML can be found on the web pages of the Web3D Consortium, for example: Animating the 3D model The 3D Viewer control allows you to animate individual shapes or shape groups of the 3D model in various ways. You can Move and rotate shapes or shape groups in space (translational and rotational movement) Reshape shapes or shape groups (size scaling) Change the colour and transparency of individual shapes In order to perform these operations, you need to assign appropriate elements or identifiers to the individual shapes or shape groups in the 3D model: For movement animations specific motion sensors are added to the 3D model For reshaping and changes to the surface of a shape appropriate identifiers are added to the shape definition The next section describes how the various motion sensors work and looks at other options for modifying models. Examples are used to show how the various sensors and identifiers can be added to a VRML file Animation sensors A 3D model usually uses sensors to respond to user actions. Sensors in the 3D Viewer control, on the other hand, are routed to connectors. This means you can connect the connectors of the 3D Viewer control to signals from your functional model. In this way movements are calculated by the functional model during the simulation and visualised by the 3D Viewer control. The 3D Viewer control supports the following sensors for animating the 3D model: Plane sensors for the translational movement of objects Cylinder sensors for rotating objects about the local coordinate axes Sphere sensors for rotating objects about a vector For each motion sensor of the 3D model the following applies: At least one higher-level Transform node must exist for a sensor. The sensor can be placed anywhere in the Transform node. Process Automation Page 154

169 Controls The position of the sensor alone determines which shape or shape group will be moved: The Transform node to which the sensor is assigned and all its child nodes are moved by the sensor. Routes to sensors are not necessary and are not evaluated. For each sensor a specific number of connectors is made available in the control's connector properties. Connect the connectors that perform the desired movement in the 3D model to the corresponding signals in your functional model. Faulty sensors, i.e. sensors that are not assigned to a Transform node, are interpreted as not being present. For that reason no animation connectors are available for faulty sensors in the 3D Viewer control's properties PlaneSensor A plane sensor is used to translate an object, i.e. a shape or a shape group. In the VRML standard plane sensors can be used to move objects in two spatial directions in the X- and Y-direction of the local coordinate system. The 3D Viewer control allows a translation in all three spatial directions at each plane sensor. A plane sensor is placed in the VRML model with the keyword PlaneSensor. Once the VRML file has been loaded into the 3D Viewer control, there are three analog connectors available for a plane sensor in the control's properties: Sensorname#TX Sensorname#TY Sensorname#TZ for translating the object in the X-direction for translating the object in the Y-direction for translating the object in the Z-direction If no Sensorname is defined for a plane sensor, then TranslationN is set as the sensor name, where N is a sequential number for the plane sensor, i.e. N = 1, 2,... The example below defines a cone assigned to a plane sensor called ConeSensor: #VRML V2.0 utf8 DEF ConeTransform Transform { children [ DEF Cone Shape { appearance Appearance { material Material {} } geometry Cone {} } DEF ConeSensor PlaneSensor {} ] } Once this VRML file has been loaded into the 3D Viewer control, the following three analog connectors for translating the cone are available in the 3D Viewer control's properties: ConeSensor#TX (translation in X-direction) ConeSensor#TY (translation in Y-direction) Process Automation Page 155

170 Controls ConeSensor#TZ (translation in Z-direction) You can now connect each of these connectors to an analog signal of your functional model in order to animate the desired movement of the cone. For connectors that have not been connected to signals, no movement of the cone occurs in the corresponding direction CylinderSensor Cylinder sensors are used to rotate an object, i.e. a shape or shape group, about one of the three local coordinate axes. Cylinder sensors should be used as follows to rotate objects about the local coordinate axes X, Y or Z. A cylinder sensor is placed in the VRML model with the keyword CylinderSensor. The angle of rotation for an axis is given in degrees. Once the VRML file has been loaded into the 3D Viewer control, there are three analog connectors available for a cylinder sensor in the control's properties: Sensorname#RX Sensorname#RY Sensorname#RZ for rotating the object about the local X-axis for rotating the object about the local Y-axis for rotating the object about the local Z-axis If no Sensorname is defined for a cylinder sensor, then RotationN is set as the sensor name, where N is a sequential number for the cylinder sensor, i.e. N = 1, 2,... The example below defines a cone assigned to a cylinder sensor called ConeSensor: #VRML V2.0 utf8 DEF ConeTransform Transform { children [ DEF Cone Shape { appearance Appearance { material Material {} } geometry Cone {} } DEF ConeSensor CylinderSensor {} ] } Once this VRML file has been loaded into the 3D Viewer control, the following three analog connectors for rotating the cone are available in the 3D Viewer control's properties: ConeSensor#RX (rotation about the X-axis) ConeSensor#RY (rotation about the Y-axis) ConeSensor#RZ (rotation about the Z-axis) You can now connect each of these connectors to an analog signal of your functional model in order to animate the desired rotation of the cone. For connectors that have not been connected to signals, no rotation of the cone occurs about the corresponding axis. Process Automation Page 156

171 Controls SphereSensor Sphere sensors resolve the restriction associated with cylinder sensors of only being able to rotate about coordinate axes. For sphere sensors a direction vector about which the shape is to be rotated is specified. A sphere sensor is placed in the VRML model with the keyword SphereSensor. The angle of rotation is given in degrees. Once the VRML file has been loaded into the 3D Viewer control, there are three analog connectors available for a sphere sensor in the control's properties: Sensorname#R Sensorname#X Sensorname#Y Sensorname#Z Angle of rotation X-coordinate of the direction vector Y-coordinate of the direction vector Z-coordinate of the direction vector If no Sensorname is defined for a sphere sensor, then SphereSensorN is set as the sensor name, where N is a sequential number for the sphere sensor, i.e. N = 1, 2,... The example below defines a cone assigned to a sphere sensor called ConeSensor: #VRML V2.0 utf8 DEF ConeTransform Transform { children [ DEF Cone Shape { appearance Appearance { material Material {} } geometry Cone {} } DEF ConeSensor SphereSensor {} ] } Once this VRML file has been loaded into the 3D Viewer control, the following three analog connectors for rotating the cone are available in the 3D Viewer control's properties: ConeSensor#R Angle of rotation ConeSensor#X X-coordinate of the direction vector ConeSensor#Y Y-coordinate of the direction vector ConeSensor#Z Z-coordinate of the direction vector You can now connect each of these connectors to an analog signal of your functional model in order to set the direction vector and animate the desired rotation of the cone Scaling objects If you wish to scale the size of an object, i.e. a shape or shape group, you need to modify the name of the Transform node to which the object is assigned or the Transform node Process Automation Page 157

172 Controls containing the object to be scaled: Prefix the name of the Transform node with the identifier SCALE. Negative scale values flip the object in the scaling axis. CAUTION A scale value of zero in two degrees of freedom, i.e. in two directions, will cause the object to disappear from the animation. Once the VRML file has been loaded into the 3D Viewer control, there are three analog connectors available for a scaled Transform node in the control's properties: SCALETransformname#SX for scaling in the X-direction SCALETransformname#SY for scaling in the Y-direction SCALETransformname#SZ for scaling in the Z-direction Transformname is the name of the Transform node. The example below shows a VRML model with a box for which a scale has been defined: #VRML V2.0 utf8 DEF SCALEBoxTransform Transform { children [ Shape { appearance Appearance { material Material {} } geometry Box {} } ] } Once this VRML file has been loaded into the 3D Viewer control, the following three analog connectors for scaling the box are available in the 3D Viewer control's properties: SCALEBoxTransform #SX (scaling in X-direction) SCALEBoxTransform #SY (scaling in Y-direction) SCALEBoxTransform #SZ (scaling in Z-direction) You can now connect each of these connectors to an analog signal of your functional model in order to animate the desired reshaping of the box. For connectors that have not been connected to signals, no scaling of the box occurs in the corresponding axis Changing the colour and transparency of a shape In VRML a shape is defined by a Shape node. In order to change the colour or transparency properties of a shape, the name of the shape must be modified. Prefix the name of the Shape node with the identifier RGBT. Process Automation Page 158

173 Controls Once the VRML file has been loaded into the 3D Viewer control, there are four analog connectors available for a Shape node prefixed with the identifier RGBT in the control's properties: RGBTShapename#CT RGBTShapename#CR RGBTShapename#CG RGBTShapename#CB Shapename is the name of the Shape node. for the shape's transparency value for the red component of the shape's colour for the green component of the shape's colour for the blue component of the shape's colour The shape's colour is determined by appropriate values for the red, green and blue component. Valid values for a colour component are in the range 0,..., 1. The values for the shape's transparency are also in the range 0,..., 1. The transparency value 1 means that the shape is transparent and therefore invisible, the transparency value 0 means that the shape is not transparent. The following example constructs a cylinder for which an animation of the colour and transparency is defined: #VRML V2.0 utf8 Transform { children [ DEF RGBTCylinder Shape { appearance Appearance { material Material {} } geometry Cylinder {} } ] } Once this VRML file has been loaded into the 3D Viewer control, the following four analog connectors for the transparency and colour of the cylinder are available in the 3D Viewer control's properties: RGBTCylinder #CT (transparency of the shape) RGBTCylinder #CR (red component of the shape) RGBTCylinder #CG (green component of the shape) RGBTCylinder #CB (blue component of the shape) You can now connect each of these connectors to an analog signal of your functional model in order to animate the desired colour and transparency of the cylinder. If you only want to animate the visibility of a shape, then simply connect connector #CT to a signal. The shape is then displayed in its original colour (as defined in the VRML file) and you can switch its visibility off and on by means of the signal values zero and one. Process Automation Page 159

174 Controls NOTE An invisible shape remains invisible even if you change the colour values. Only changing the transparency value makes it visible again. To make an entire group of shapes invisible, use the scaling operations described in section Move the group to a new transformation node and scale the node in two axis directions to zero or one. If you want to assign the same colour to several shapes and animate it, you can utilise the inheritance of properties. The material property of a primary shape can be passed onto any number of other shapes. The primary shape includes the RGBT identifier in its name. The resulting four connectors of the primary shape can be used to switch the colour (and also the visibility/transparency) of all other shapes that inherit this material property. This is illustrated by the following example. Two cylinders change colour at the same time, but only one has the RGBT identifier. #VRML V2.0 utf8 Transform { children [ DEF RGBTCylinder Shape { appearance Appearance { # Definition of primary material property material DEF CylinderColour Material { diffusecolor } } geometry Cylinder {} } ] Translation } Transform { children [ Shape { appearance Appearance { # Material property is inherited material USE CylinderColour } geometry Cylinder {} Process Automation Page 160

175 Controls } ] } Translation Switching viewpoints If viewpoints are included in a VRML file, they can be switched both dynamically in the simulation and also by manual operation of the 3D Viewer control. If a VRML file is loaded into the 3D Viewer control, then the integer VIEWPOINT connector appears in the 3D Viewer control's connector properties, provided that viewpoints have been defined in the file. The VIEWPOINT connector can be set in the value range 1,..., N, where N is the number of defined viewpoints. The example below shows the syntax for two viewpoints called Main view and Front view: DEF MainView Viewpoint { position e e3 orientation e description "Main view" } DEF FrontView Viewpoint { position e e3 orientation e-2 description "Front view" } To switch viewpoints, connect the VIEWPOINT connector to an integer signal whose values you can use to switch to the corresponding viewpoint Configuring the 3D Viewer control In order to display a 3D model in the 3D Viewer control and modify it dynamically, you need to add a 3D Viewer control to the simulation project. In the control's view properties select the VRML file that describes the 3D model. Once you have selected the VRML file, all degrees of freedom of the 3D model are available to you in the control's properties as connectors for animating the model. You can then link the connectors to simulation signals from the Signals task card, using drag and drop for example Importing the 3D model The 3D Viewer control is located in the Controls task card in the Others palette. To add a 3D model to the simulation, you need to place an instance of the 3D Viewer control on a diagram. As with all other controls, this is done by dragging and dropping it from the Controls task card. The size of the control on the diagram and hence the size of the 3D model can be changed using the width and height sizing handles on the frame. You can then load the VRML file containing the description of the 3D model in the control's view properties (Figure 8-52). Process Automation Page 161

176 Controls Figure 8-52: View properties of the 3D Viewer control The Operable property allows you to make the 3D Viewer control operable even if the simulation is not running and to adjust the view of the 3D model using the commands described in section The scene settings (camera settings) are saved with the diagram and restored when you open the diagram Linking the connectors to signals When the VRML file is loaded, all the sensors and modifications defined in the file are recorded and made available as connectors in the connector settings (Figure 8-53). Figure 8-53: Connectors in the properties of the 3D Viewer control The connectors that can be used for translating, rotating, scaling, hiding or changing the colour of shapes all have a button next to them. Clicking this button starts an explanatory animation for this connector, making it easy to identify the animated object or its movement axis in the 3D scene. Then simply link the connectors that execute the animations you require to the corresponding signals of the Signals task card using drag and drop. NOTE Of the connectors of a sphere sensor, only connector #R, which is used to animate the angle of rotation, has an button. When this button is activated, a rotation of the object about the X-axis is animated Simulating with the 3D Viewer control Once the simulation has started you can adjust the view of the 3D model in the 3D Viewer control by means of commands. You can rotate, move or zoom the scene (camera settings) and switch to defined viewpoints. You can also make the same adjustments to the scene before starting the simulation by setting the Operable view property for the 3D Viewer control. Process Automation Page 162

177 Controls The standard view can be restored at any time by executing the Camera Reset menu command (Figure 8-54) or by pressing the Home key. Figure 8-54: Camera menu item Rotating the scene You can rotate the scene manually using the mouse or keyboard. Move the mouse pointer over a point on the scene and press the left mouse button. The centre of rotation, which is also the viewpoint as seen by the observer (camera), appears in the centre of the scene (Figure 8-55). Hold down the mouse button and rotate the scene in the direction you want. Alternatively you can also rotate the scene vertically or horizontally using the arrow keys. Figure 8-55: View of a scene in the 3D Viewer control You can reset the centre of rotation/viewpoint by double-clicking an element of the scene. The view cube in the bottom right corner of the 3D Viewer control shows you the current viewing direction of the 3D scene. Click one side of the cube to reset the scene to the corresponding viewing plane. Double-click to set the opposite viewing plane. You can switch Process Automation Page 163

178 Controls the view cube display on or off by means of the View Show View Cube menu item (Figure 8-56). Figure 8-56: View menu item You can also use the shortcut keys listed in Table 8-1 to switch the viewing plane. Viewing plane Abbreviation Shortcut key Front view F (Front) Ctrl-F Back view B (Back) Ctrl-B Left view L (Left) Ctrl-L Right view R (Right) Ctrl-R Top view T (Top) Ctrl-T Bottom view B (Bottom) Ctrl-B Table 8-1: Shortcut keys for switching the viewing plane The bottom left corner of the 3D Viewer controls shows the coordinate system with the three axes X, Y and Z. You can switch the coordinate system display on or off by means of the View Show Coordinate System menu item (Figure 8-56). NOTE The viewing planes are defined in the VRML specification: a Cartesian, lefthanded, three-dimensional coordinate system is used in which the positive Y- axis points upwards and the viewer looks from the positive Z-axis towards the negative Z-axis. When you create the 3D model or export it to a VRML file, make sure that the Y- axis is pointing upwards in accordance with the VRML specification. You can influence how the scene responds to being rotated with the mouse or arrow keys by means of the Camera Rotation Sensitivity and Camera Inertia Factor menu items. The sensitivity (Figure 8-57) and inertia factor (Figure 8-58) can be reduced or increased by means of a slider. The default setting for both sliders is 1. Process Automation Page 164

179 Controls Figure 8-57: Setting the rotation sensitivity Figure 8-58: Setting the inertia factor Swivelling the camera By swivelling the camera you can move the scene in the 3D Viewer control window, i.e. move the scene away from or into the centre of the window. In contrast to a rotation, if you swivel the camera the position of the viewer (camera) remains constant, only the viewpoint (target) changes. The operating instructions for swivelling the scene are the same as for a rotation (see section ), except that you also need to hold down the shift key Zooming the scene In order to view parts of a scene in more detail you can zoom in or out as required using the Page Up and Page Down keys. The same effect is achieved if your turn the mouse wheel or drag with the left mouse button while holding down the Ctrl key. If you press the Ctrl and shift key at the same time and hold down the left mouse button, you can draw an area to be zoomed. Using the View Zoom to Extents menu item (Figure 8-56) you can adjust the zoom at any time so that the complete scene fills the 3D Viewer control window. All other camera settings remain unchanged. You can influence how the scene responds to zooming by means of the Camera Zoom Sensitivity and Camera Inertia Factor menu items. The sensitivity (Figure 8-59) and inertia factor (Figure 8-58) can be reduced or increased by means of a slider. The default setting for both sliders is 1. Process Automation Page 165

180 Controls Figure 8-59: Setting the zoom sensitivity Switching the viewpoint A viewpoint describes a particular viewing position. All the viewpoints defined in the VRML file are listed in the 3D Viewer control in the Viewpoints menu with their name and a sequential number (see Figure 8-60). If a viewpoint does not have a name, it is listed with the identifier "-". You can switch to a different viewpoint by selecting it in this menu. Figure 8-60: Viewpoints menu Process Automation Page 166