Axis Technology Fct

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Preface

Part I Axis - Overview 1Axis fundamentals 2Configuring an axis 3Part II HydraulicFunctionality 4Fundamentals of hydraulicfunctionality 5Part IIIProgramming/Reference 6Part IV External Encoder -Description 7External EncoderFundamentals 8Programming ExternalEncoders/Reference 9

SIMOTIONMotion ControlTO Axis Electric / Hydraulic,External EncoderFunction Manual

Edition 03/2007


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H Safety Guidelines

This manual contains notices you have to observe in order to ensure your personal safety, as well as to preventdamage to property. The notices referring to your personal safety are highlighted in the manual by a safety alertsymbol, notices referring only to property damage have no safety alert symbol. These notices shown below aregraded according to the degree of danger.

Dangerindicates that death or severe personal injury will result if proper precautions are not taken.Warningindicates that death or severe personal injury may result if proper precautions are not taken.Cautionwith a safety alert symbol, indicates that minor personal injury can result if proper precautions are not taken.

Cautionwithout a safety alert symbol, indicates that property damage can result if proper precautions are not taken.

Noticeindicates that an unintended result or situation can occur if the corresponding information is not taken intoaccount.

If more than one degree of danger is present, the warning notice representing the highest degree of danger willbe used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating toproperty damage.

Qualified PersonnelThe device/system may only be set up and used in conjunction with this documentation. Commissioning andoperation of a device/system may only be performed by qualified personnel. Within the context of the safety notesin this documentation qualified persons are defined as persons who are authorized to commission, ground andlabel devices, systems and circuits in accordance with established safety practices and standards.

Prescribed UsageNote the following:

WarningThis device may only be used for the applications described in the catalog or the technical description and only inconnection with devices or components from other manufacturers which have been approved or recommended bySiemens. Correct, reliable operation of the product requires proper transport, storage, positioning and assemblyas well as careful operation and maintenance.

TrademarksAll names identified by are registered trademarks of the Siemens AG. The remaining trademarks in thispublication may be trademarks whose use by third parties for their own purposes could violate the rights of the

owner.

Disclaimer of LiabilityWe have reviewed the contents of this publication to ensure consistency with the hardware and softwaredescribed. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, theinformation in this publication is reviewed regularly and any necessary corrections are included in subsequenteditions.

Siemens AG

Automation and DrivesPostfach 48 4890437 NRNBERGGERMANY

Order No.:

03/2007

Copyright Siemens AG 2007.

Technical data subject to change


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TO Axis Electric / Hydraulic, External EncoderFunction Manual, Edition 03/2007 3

PrefaceContent

This document is part of the Description of System and Function documentation package.

Area of applicationThis manual applies to SIMOTION SCOUT in association with the SIMOTION Cam orCam_ext technology package for product version 4.1.

Chapters in this manualThe following is a list of chapters included in this manual along with a description of theinformation presented in each chapter.

Part I Axis Overview

This chapter provides the user with an overview of the Axis technology object.

Axis FundamentalsThis chapter explains the basic setting options and functions of the Axis technologyobject.

Configuring an AxisThis chapter explains the configuration procedure with reference to various tasks.

Part II Hydraulic Functionality Overview

This chapter provides the user with an overview of the hydraulic functionality of the Axistechnology object.

Fundamentals of Hydraulic FunctionalityThis chapter explains the basic setting options and functions concerning the hydraulicfunctionality of the Axis technology object.

Part III Programming/Reference This chapter explains the commands and functions in greater detail.


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Preface

TO Axis Electric / Hydraulic, External Encoder4 Function Manual, Edition 03/2007

Part IV External Encoder Description

This chapter provides the user with an overview of the External Encoder technologyobject.

External Encoder FundamentalsThis chapter explains the basic setting options and functions of the External Encodertechnology object.

Programming External Encoders/ReferenceThis chapter explains the commands and functions in greater detail.

Index Keyword index for locating information.

SIMOTION documentationAn overview of the SIMOTION documentation is provided in a separate list of references.

The list of references is supplied on the "SIMOTION SCOUT" CD.

The SIMOTION documentation consists of 9 documentation packages containingapproximately 60 SIMOTION documents and documents on other products (e.g.SINAMICS).

The following documentation packages are available for SIMOTION V4.1:

SIMOTION Engineering System SIMOTION System and Function Descriptions SIMOTION Diagnostics SIMOTION Programming SIMOTION Programming References SIMOTION C2xx SIMOTION P350 SIMOTION D4xx SIMOTION Supplementary Documentation


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Preface


Hotline and Internet addressesIf you have any technical questions, please contact our hotline (worldwide):

A & D Technical Supports:

Phone: +49 (180) 50 50 222

Fax: +49 (180) 50 50 223

E-mail: [email protected]

Internet: http://www.siemens.de/automation/support-request

If you have any questions, suggestions, or corrections regarding the documentation, pleasesend them to the following fax number or e-mail address:

Fax: +49 (9131) 98 63315E-mail: [email protected]

Siemens Internet addressThe latest information about SIMOTION products, product support and FAQs can be foundon the Internet at:

http://www.siemens.de/simotion (German)http://www.siemens.com/simotion (international)

Product support http://support.automation.siemens.com/WW/view/de/10805436

Further assistanceWe also offer introductory courses to help you familiarize yourself with SIMOTION.

Please contact your regional training center or our main training center at D-90027Nuremberg/Germany, phone +49 (911) 895 3202.


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ContentsPreface ...................................................................................................................................................... 3

1 Part I Axis - Overview .............................................................................................................................. 151.1 General information about axes...................................................................................................15

2 Axis fundamentals ................................................................................................................................... 192.1 Axis technologies .........................................................................................................................192.1.1 Overview of axis technologies .....................................................................................................19

2.1.2 Axis-drive relationship..................................................................................................................242.2 Axis types.....................................................................................................................................252.2.1 Overview of axis types.................................................................................................................252.2.2 Setting for the electric axis type ...................................................................................................262.2.3 Setting for the hydraulic axis type................................................................................................282.2.4 Setting for the virtual axis type.....................................................................................................292.2.5 TypeOfAxis configuration data.....................................................................................................30

2.3 Units and accuracies....................................................................................................................31

2.4 Axis settings / drive assignment...................................................................................................332.4.1 Overview of real and virtual axes.................................................................................................332.4.2 Setting as a real axis with analog drive link .................................................................................342.4.3 Setting as a real axis with digital drive coupling ..........................................................................352.4.4 Setting as a real axis with stepper drive C2xx (V3.2 and higher) ................................................402.4.5 Stepper drives on IM174 and stepper drives with PROFIBUS interface .....................................402.4.6 Setting as a real axis with encoder signal simulation (V4.0 and higher) .....................................402.4.7 Setting a non-exclusive drive assignment (V4.1 and higher) ......................................................412.4.8 Setting as a real axis without drive (axis simulation) ...................................................................41

2.5 Encoders and encoder parameters .............................................................................................432.5.1 Overview of encoders and encoder parameters..........................................................................432.5.2 Encoder for position .....................................................................................................................432.5.3 Encoder for velocity .....................................................................................................................452.5.4 Encoder assignment and terminology .........................................................................................452.5.5 Encoder list ..................................................................................................................................482.5.6 Onboard encoder interface on SIMOTION C2xx.........................................................................48

2.5.7 Encoder interface using the PROFIdrive message frame ...........................................................492.5.8 Encoder interface as a direct value in the I/O area......................................................................542.5.9 Encoder value via system variable ..............................................................................................552.5.10 Non-exclusive encoder assignment (V4.1 and higher) ................................................................552.5.11 Diagnostic features ......................................................................................................................55

2.6 Input limits, technological limiting functions .................................................................................56

2.7 Setting for axis and encoder mechanics......................................................................................572.7.1 Overview of setting options for axis and encoder mechanics......................................................572.7.2 Inversion of actual position value.................................................................................................582.7.3 Boundary conditions for mechanics settings for modulo axes (long-term stability) .....................59

2.8 Defaults ........................................................................................................................................61


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2.9 Homing........................................................................................................................................ 622.9.1 Overview of homing .................................................................................................................... 622.9.2 Terminology ................................................................................................................................63

2.9.3 Homing types ..............................................................................................................................642.9.4 Active homing..............................................................................................................................652.9.5 Passive homing/on-the-fly homing.............................................................................................. 732.9.6 Direct homing/setting the home position..................................................................................... 742.9.7 Relative direct homing/relative setting of home position (V3.2 and higher)................................ 742.9.8 States that require a new homing procedure for incremental encoders ..................................... 742.9.9 Absolute encoder homing / absolute encoder adjustment.......................................................... 752.9.10 Homing mark monitoring ............................................................................................................. 782.9.11 Homing output monitoring ........................................................................................................... 782.9.12 Displaying actual value change during homing (V4.0 and higher).............................................. 782.9.13 Traversing with a non-homed axis .............................................................................................. 782.9.14 Differential position measurement (V3.2 and higher) ................................................................. 79

2.10 Monitoring/limiting functions........................................................................................................ 802.10.1 Overview of monitoring/limiting functions (block diagram).......................................................... 802.10.2 Dynamic monitoring of following errors ....................................................................................... 802.10.3 Positioning and standstill monitoring........................................................................................... 822.10.4 Standstill signal ........................................................................................................................... 842.10.5 Manipulated variable monitoring ................................................................................................. 852.10.6 Manipulated variable limiting (backstop) (V3.1 and higher)........................................................ 852.10.7 Hardware limit monitoring ........................................................................................................... 862.10.8 Software limit monitoring............................................................................................................. 872.10.9 Encoder limit frequency monitoring............................................................................................. 882.10.10 Velocity error monitoring ............................................................................................................. 882.10.11 Measuring system differential/slip monitoring............................................................................. 88

2.11 Positioning axis with position control .......................................................................................... 89

2.11.1 Overview of positioning axis with position control....................................................................... 892.11.2 Position control............................................................................................................................ 902.11.3 Dynamic Servo Control (DSC) .................................................................................................... 952.11.4 Fine interpolation......................................................................................................................... 982.11.5 Dynamic controller data .............................................................................................................. 992.11.6 Setpoint superimposition........................................................................................................... 1002.11.7 Dynamic response adaptation .................................................................................................. 1022.11.8 Actual value measurement / actual value system..................................................................... 1032.11.9 Preparation of manipulated variables for electric axis .............................................................. 1062.11.10 Manipulated variable superimposition....................................................................................... 1062.11.11 Manipulated variable filtering (V4.1 and higher) ....................................................................... 1072.11.12 Drift/offset compensation .......................................................................................................... 1072.11.13 Static friction compensation ...................................................................................................... 108

2.11.14 Backlash on reversal compensation ......................................................................................... 1092.11.15 Traversing of the positioning axis without position control........................................................ 1132.11.16 Stepper drives ........................................................................................................................... 1142.11.17 Encoder signal output (V4.0 or later) ........................................................................................ 115

2.12 Commissioning the position controller of positioning axes ....................................................... 1172.12.1 Overview of commissioning the position controller of positioning axes .................................... 1172.12.2 Configuration data.....................................................................................................................1182.12.3 Example of commissioning a proportional-action controller with precontrol ............................. 120

2.13 Command variable calculation.................................................................................................. 1242.13.1 Velocity profiles .........................................................................................................................1242.13.2 Defining accelerations and decelerations ................................................................................. 1262.13.3 Override.....................................................................................................................................127


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2.13.4 Default settings for dynamic response parameters ...................................................................1282.13.5 Dynamic limiting functions .........................................................................................................1292.13.6 Stopping with preassigned braking ramp...................................................................................130

2.13.7 Traversing the axis via velocity specifications ...........................................................................1312.13.8 Positioning..................................................................................................................................1322.13.9 Positioning with blending ...........................................................................................................1322.13.10 Superimposed positioning..........................................................................................................1342.13.11 Traversing with specific motion profiles .....................................................................................1342.13.12 Traversing according to motion vectors (V3.2 and higher) ........................................................134

2.14 Superimposed motion ................................................................................................................136

2.15 Torque limiting via torque reduction...........................................................................................1382.15.1 Overview of torque limiting via torque reduction........................................................................1382.15.2 Conversion of torque/force.........................................................................................................142

2.16 Travel to fixed endstop...............................................................................................................143

2.17 Technology data ........................................................................................................................1462.18 Torque limiting B+/B- (V3.2 and higher) ....................................................................................149

2.19 Additive set torque (V3.2 and higher) ........................................................................................151

2.20 Force/pressure control ...............................................................................................................1522.20.1 Overview of force/pressure control ............................................................................................1522.20.2 Configuration of the actual force/pressure value sensors .........................................................1542.20.3 Controller for force/pressure control ..........................................................................................1552.20.4 Monitoring functions / limiting functions / emergency strategies with active force/pressure

control ........................................................................................................................................1572.20.5 Activating the force/pressure control .........................................................................................1582.20.6 Force/pressure setpoint specification ........................................................................................1582.20.7 Commissioning procedure for force/pressure control ................................................................1592.20.8 Force/pressure control with velocity limiting ..............................................................................159

2.21 Force/pressure limiting...............................................................................................................1602.21.1 Overview of force/pressure limiting............................................................................................1602.21.2 Positioning with active force/pressure limiting (V3.2 and higher) ..............................................1612.21.3 Increase limiting for pressure profiles and pressure limiting (V3.2 and higher).........................163

2.22 Data set......................................................................................................................................1642.22.1 Data set overview ......................................................................................................................1642.22.2 Data set switchover / encoder switchover.................................................................................164

2.23 Traversing with user-defined motion and force/pressure profiles..............................................1672.23.1 Overview of traversing with user-defined motion and force/pressure profiles ...........................1672.23.2 Profile reference.........................................................................................................................169

2.23.3 Profile types ...............................................................................................................................1702.23.4 Behavior at the end of the profile (V3.2 and higher) ..................................................................172

2.24 Motion commands......................................................................................................................1732.24.1 Motion execution/interpolator.....................................................................................................1732.24.2 Command groups ......................................................................................................................1742.24.3 Changing motion commands into the interpolator.....................................................................1782.24.4 Motion transitions.......................................................................................................................1792.24.5 Conditions for command advance .............................................................................................1802.24.6 State model/axis status..............................................................................................................181

2.25 Data exchange between Axis technology object and DCC .......................................................184


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2.26 Support of SINAMICS Safety Integrated Extended Functions on the Axis technologyobject (V4.1 and higher)............................................................................................................ 185

3 Configuring an axis ................................................................................................................................ 1913.1 Linking digital drives.................................................................................................................. 1913.1.1 Overview of linking digital drives ............................................................................................... 1913.1.2 Configuring PROFIBUS DP in HW Config to optimize run-time ............................................... 191

3.2 Linking analog drives to SIMOTION ......................................................................................... 192

3.3 Axis with stepper motor connection .......................................................................................... 194

3.4 Using the expert list for an axis ................................................................................................. 196

3.5 Automatic controller setting....................................................................................................... 1973.5.1 Overview of automatic controller setting (V4.1 and higher) ...................................................... 1973.5.2 Automatic speed controller setting (V4.1 and higher) ............................................................... 1983.5.3 Automatic position controller setting (V4.1 and higher) ............................................................ 201

3.6 SIMOTION measuring functions ............................................................................................... 204

3.7 Axis control panel......................................................................................................................211

4 Part II Hydraulic Functionality ................................................................................................................ 2134.1 Hydraulic functionality overview................................................................................................ 213

5 Fundamentals of hydraulic functionality................................................................................................. 2155.1 Axis settings / drive assignment................................................................................................ 2155.1.1 Overview of axis settings / drive assignment............................................................................ 2155.1.2 Setting as a real axis with hydraulic functionality ...................................................................... 2165.1.3 Setting as a real axis with Q valve only .................................................................................... 2175.1.4 Setting as a real axis with Q valve + P valve/F output.............................................................. 220

5.1.5 Setting an axis as a real axis with P valve only (V3.2 and higher) ........................................... 2215.1.6 Setting an axis as a real hydraulic axis without a valve (axis simulation)................................. 222

5.2 Input limits, technological limiting functions .............................................................................. 223

5.3 Settings for axis and encoder mechanics ................................................................................. 223

5.4 Defaults .....................................................................................................................................223

5.5 Homing...................................................................................................................................... 2245.5.1 Overview of homing ..................................................................................................................2245.5.2 Differential pressure measurement (V3.2 and higher) .............................................................. 2245.5.3 Differential position measurement (V3.2 and higher) ............................................................... 225

5.6 Monitoring/limiting functions...................................................................................................... 225

5.7 Motion profiles...........................................................................................................................225

5.8 Hydraulic axis with position control/velocity control .................................................................. 2265.8.1 Position control for setting a positioning axis with hydraulic functionality................................. 2265.8.2 Velocity controller when setting speed-controlled axis with hydraulic functionality .................. 2275.8.3 Preparation of manipulated variables for axis with hydraulic functionality................................ 2295.8.4 Compensations that are active only on the axis with hydraulic functionality ............................ 2315.8.5 Consideration of valve characteristic when specifying a hydraulic axis ................................... 2325.8.6 Access to the same final controlling element from multiple axes ............................................. 235

5.9 Travel to fixed endstop.............................................................................................................. 236

5.10 Force/pressure control with hydraulic axes with Q valve only .................................................. 236

5.11 Force/pressure limiting with hydraulic axes with Q valve only.................................................. 236


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5.12 Force/pressure limiting with hydraulic axes with P valve...........................................................237

5.13 Force/pressure control with hydraulic speed-controlled axes with Q valve only .......................237

5.14 Force/pressure limiting with hydraulic speed-controlled axes with Q valve only (V4.0 andhigher) ........................................................................................................................................238

5.15 Velocity limiting with hydraulic axes...........................................................................................239

6 Part III Programming/Reference ............................................................................................................ 2416.1 Overview of commands .............................................................................................................2416.1.1 Overview of commands .............................................................................................................2416.1.2 Commands for specification and control of motion on the axis .................................................2426.1.3 Command properties .................................................................................................................246

6.2 Enables, stop and continue commands, resets .........................................................................2476.2.1 Setting and canceling the axis enables .....................................................................................2476.2.2 Enabling force/pressure control depending on switchover conditions.......................................252

6.2.3 Stopping motions with _stopEmergency() .................................................................................2536.2.4 Stopping motions with _stop()....................................................................................................2556.2.5 Stopping position-controlled axes in speed-controlled mode (V3.1 and higher) .......................2556.2.6 Resuming motions .....................................................................................................................2566.2.7 Reset axis ..................................................................................................................................2566.2.8 Resetting an axis error...............................................................................................................2586.2.9 Canceling/deleting an axis command (V4.1 and higher) ...........................................................258

6.3 Commands for axis motions ......................................................................................................2596.3.1 Homing.......................................................................................................................................2596.3.2 Moving........................................................................................................................................2616.3.3 Positioning..................................................................................................................................2626.3.4 Starting a time-related velocity profile........................................................................................2636.3.5 Starting a position-related velocity profile ..................................................................................2646.3.6 Positioning with user-definable position profile..........................................................................2656.3.7 Enabling and disabling torque limiting .......................................................................................2666.3.8 Enable force/pressure limiting with position-related force/pressure limiting profile ...................2676.3.9 Enabling force/pressure limiting with time-related motion profile ..............................................2686.3.10 Starting the time-related force/pressure profile..........................................................................2696.3.11 Starting the position-related force/pressure profile ....................................................................2706.3.12 Enabling/disabling force/pressure limiting .................................................................................2716.3.13 Enabling/disabling velocity limiting ............................................................................................2726.3.14 Enabling velocity limiting with position-related velocity limiting profile ......................................2736.3.15 Enabling velocity limiting with time-related velocity limiting profile ............................................2736.3.16 Travel to fixed endstop...............................................................................................................273

6.4 Commands for defining the coordinate system .........................................................................274

6.4.1 Resetting the set and actual positions .......................................................................................2746.5 Simulation commands................................................................................................................2766.5.1 Enabling/disabling program simulation ......................................................................................276

6.6 Information functions / command buffers...................................................................................2776.6.1 Overview of information functions/command buffer...................................................................2776.6.2 Reading the execution status of a motion command.................................................................2776.6.3 Reading current phase of motion...............................................................................................2776.6.4 Saving the Command ID............................................................................................................2796.6.5 Canceling saving of Command ID .............................................................................................2796.6.6 Reading the status of a specific error on the axis......................................................................2796.6.7 Reading out pending alarms (V4.0 and higher) .........................................................................2796.6.8 Reading the status of the motion buffer on the axis ..................................................................279


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6.6.9 Clearing the motion buffer on the axis ...................................................................................... 2806.6.10 Activating data sets ...................................................................................................................2806.6.11 Writing a data set ......................................................................................................................281

6.6.12 Reading a data set.................................................................................................................... 2816.6.13 Writing the force/pressure-specific data of a data set............................................................... 2816.6.14 Reading the force/pressure-specific data of a data set ............................................................ 2826.6.15 Writing the data of the data set (hydraulic functionality only) ................................................... 2826.6.16 Reading the force/pressure-specific data of the data set (hydraulic functionality only)............ 2836.6.17 Command for calculating a braking distance............................................................................ 283

6.7 Assigning automatic controller optimization.............................................................................. 284

6.8 Technological alarms ................................................................................................................ 2886.8.1 Alarm reactions .........................................................................................................................2886.8.2 Assignable reaction in the case of RELEASE_DISABLE alarm ............................................... 2916.8.3 Toleration of the failure of an encoder not involved in closed-loop control (V4.0 and

higher) .......................................................................................................................................292

6.8.4 Alarms .......................................................................................................................................2927 Part IV External Encoder - Description .................................................................................................. 2937.1 External encoder overview........................................................................................................ 293

8 External Encoder Fundamentals............................................................................................................ 2958.1 Encoders that can be connected .............................................................................................. 295

8.2 Mounting type............................................................................................................................296

8.3 Encoder for position .................................................................................................................. 297

8.4 Encoder for velocity...................................................................................................................298

8.5 Encoder assignment and terminology....................................................................................... 299

8.6 Encoder list ...............................................................................................................................302

8.7 Onboard encoder interface on SIMOTION C2xx ...................................................................... 302

8.8 Encoder interface using the PROFIdrive message frame ........................................................ 303

8.9 Encoder interface as a direct value in the I/O area................................................................... 308

8.10 Overflow bit for modulo counting .............................................................................................. 309

8.11 Actual value smoothing.............................................................................................................309

8.12 Actual value extrapolation ......................................................................................................... 309

8.13 Standstill signal .........................................................................................................................309

8.14 Monitoring functions ..................................................................................................................3108.15 Synchronization / Homing ......................................................................................................... 3118.15.1 Overview of synchronization / homing ...................................................................................... 3118.15.2 Synchronization/homing with incremental encoders................................................................. 3118.15.3 Synchronization/homing with absolute encoders...................................................................... 312

9 Programming External Encoders/Reference.......................................................................................... 3139.1 Commands................................................................................................................................313

9.2 Technological alarms ................................................................................................................ 3149.2.1 Possible alarm reactions ........................................................................................................... 314

Index...................................................................................................................................................... 317


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TablesTable 2-1 Axis functions - Overview.............................................................................................................20Table 2-2 Motor type options .......................................................................................................................26Table 2-3 Options for the axis type ..............................................................................................................27Table 2-4 Options for the mode ...................................................................................................................27Table 2-5 Options for the motor type ...........................................................................................................27Table 2-6 Options for the valve type ............................................................................................................28Table 2-7 Closed-loop control options .........................................................................................................28Table 2-8 Technologies and message frame types supported for real axis with digital drive link...............37Table 2-9 Message frame types...................................................................................................................38Table 2-10 Settings in the configuration data ................................................................................................42Table 2-11 Definable encoder mode depending on the encoder type...........................................................45Table 2-12 Default settings for fine resolutions in SIMOTION.......................................................................47Table 2-13 Settings ........................................................................................................................................50Table 2-14 Settings ........................................................................................................................................51Table 2-15 Setting the encoder data..............................................................................................................51Table 2-16 Description of parameters............................................................................................................60Table 2-17 Other default values that can be set via the expert list... .............................................................61Table 2-18 System variables for determining the modulo revolutions.........................................................105Table 2-19 Setting via movingMode parameter in command ......................................................................113Table 2-20 Configuration data in the axis data set ......................................................................................118Table 2-21 Configuration data that are not included in the axis data set.....................................................119Table 2-22 Parameters for setting the reference speed ..............................................................................121Table 2-23 Online storage functions ............................................................................................................123Table 2-24 Status display variables .............................................................................................................141Table 2-25 System data ...............................................................................................................................141Table 2-26 System variables for travel to fixed endstop ..............................................................................144Table 2-27 BICo interconnections................................................................................................................148Table 2-28 System variables for torque limiting...........................................................................................150Table 2-29 System variables for the additive set torque..............................................................................151Table 2-30 Data set (data set changeover activated)..................................................................................165Table 2-31 Parameter NumberOfDataSets.changeMode............................................................................166Table 2-32 Possible assignments ................................................................................................................168Table 2-33 Possible commands for reference to a position interconnected via MotionIn ...........................169Table 2-34 Assignable behaviors.................................................................................................................172Table 2-35 Allocation of commands to the command buffers......................................................................175


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Table 2-36 The axis status is indicated in: .................................................................................................. 181Table 2-37 The following commands and functions are active in the individual states of the axis:.... ........ 182Table 2-38 Terminology overview ...............................................................................................................185Table 2-39 Meaning of the bits.................................................................................................................... 187Table 3-1 Available measuring functions based on the axis type............................................................. 204Table 3-2 Possible signal types................................................................................................................. 209Table 3-3 Possible superimposition points (internalServoSettings.~ structure)........................................ 209Table 5-1 Setting the control .....................................................................................................................217Table 5-2 Setting the control .....................................................................................................................220Table 5-3 Setting the control .....................................................................................................................222Table 6-1 Overview of commands for specification and control of motion on the axis ............................. 242Table 6-2 SingleAxis functions for the axis (V4.0 and higher) .................................................................. 244Table 6-3 MultiAxis functions for the axis (V4.0 and higher)..................................................................... 244Table 6-4 Functions for external encoder (V4.1 and higher) .................................................................... 245Table 6-5 System variables.......................................................................................................................249Table 6-6 System variable for _stopEmergency command....................................................................... 253Table 6-7 System variables for the _resetAxis() command....................................................................... 257Table 6-8 System variables for the _resetAxisError() command .............................................................. 258Table 6-9 System variables for the _homing() command.......................................................................... 260Table 6-10 System variables for moving with _move() ............................................................................... 261Table 6-11 Possible specifications for direction in the _pos( ) command ................................................... 262Table 6-12 System variables for superimposed positioning........................................................................ 263Table 6-13 System variables for torque limiting.......................................................................................... 266Table 6-14 System variables for force/pressure limiting ............................................................................. 271Table 6-15 System variables for velocity limiting ........................................................................................ 272Table 6-16 System variables for program simulation.................................................................................. 276Table 6-17 System variables for activating data sets.................................................................................. 280Table 8-1 Definable encoder mode depending on the encoder type........................................................ 299Table 8-2 Default settings for fine resolutions in SIMOTION .................................................................... 301Table 8-3 Settings .....................................................................................................................................304Table 8-4 Settings .....................................................................................................................................305Table 8-5 Setting the encoder data........................................................................................................... 305


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Part I Axis - Overview 11.1 General information about axes

The instantiable Axis technology object (TO) is downloaded to the SIMOTION device with atechnology package, thus providing the function for activating and monitoring an actuator(drive, motor, valve, etc.). From V3.2 onwards, the Axis technology object (TO) is included inthe Cam and Cam_ext technology packages.The functionality is set by configuration and parameter assignment/programming.

The Axis technology object can be applied to an axis with an electric drive (axis) or an axiswith a hydraulic final controlling element / valve (hydraulic functionality).

Any number of axes may be generated, based on the CPU processing power.

When programming in SIMOTION SCOUT (e.g. with MCC), an Axis technology object canbe accessed via system functions or system variables. For example, to traverse an axis at aspecified velocity to a certain position, you specify the velocity and position via systemfunctions. All other functions (e.g. monitoring of limit values) are specified via theconfiguration data and system variables of the Axis technology object.

The following axis technologies are distinguished during the configuration phase:

Speed-controlled axisMotion control is implemented through a speed specification without position control.

Choosing this axis technology provides the minimum functionality for an axis.

The speed-controlled axis is referred to by the data type driveAxis in reference lists andwhen programming.

Positioning axisMotions are position-controlled.

The positioning axis is referred to by the data type posAxis in reference lists and whenprogramming.

Synchronous axisThe synchronous axis creates a grouping of the slave axis and synchronous object.Functions such as master value coupling, synchronization and desynchronization, andgearing and camming are provided via the synchronous object. The synchronous objectcan be interconnected with different master values.

See the Technology Objects Synchronous Operation, Cammanual for information aboutthe use of the synchronous object.

The slave axis is referred to by the data type followingAxis and the synchronous object byfollowingObject in reference lists and when programming.


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Part I Axis - Overview

1.1 General information about axes


Path axisThe path axis type can be interconnected with a path object.

The path object can be used to calculate and traverse a linear, circular, or polynomialpath in the 2D/3D coordinate system for at least two path axes and up to three path axes.A synchronous axis can be traversed in parallel to this.

The Technology Object Path Interpolationmanual describes how to use the path axiswith the path object.

The path axis is referred to by the data type pathAxis in reference lists and whenprogramming.

All axis types can also be configured as virtual axes, i.e., they do not control a real drive butare used as auxiliary axes for calculations, e.g., as a master axis for several slave axes (lineshaft).

Axis operation in SIMOTION Any necessary settings can be made by means of configuration data on the axis. States are displayed and standard values and settings can be read and entered by

means of system variables on the axis.

Axis motion sequences are specified by means of motion commands on the axis. Theuser program can be used to check the motion status at any time and to control specificaspects of the motion. Motions can be aborted, overridden, appended, or superimposed.

Errors and technological alarms are displayed by means of alarms on the axis.

Advanced functionsAdvanced functions on the axis include path interpolation, synchronous operation,measuring inputs, and output cams. For more information refer to the manuals: TechnologyObject Path Interpolation, Technology Object Synchronous Operation, and TechnologyObjects for Output Cams and Measuring Inputs.

Functional interface to the driveThe functional interface to the drive is the speed setpoint interface.

The functional interface to a hydraulic valve is the analog flow rate setpoint and, if available,the analog force limiting or pressure limiting value.

It is possible to connect both analog drives and digital drives as well as stepper drives.Standardized protocols are used for setpoint specification for digital drives and foracknowledgements of encoder information.

NoteSIMOTION only allows the axis to execute functions that are supported by the connecteddrive. For further information, refer to the relevant product descriptions.


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Part I Axis - Overview

1.1 General information about axes


Programming commands/functions for the Axis technology objectThe MCC and ST programming languages are available for programming axes.

See the SIMOTION MCC Motion Control Chartand SIMOTION ST Structured TextProgramming Manuals.

NoteAxis functions can also be addressed via the PLCopen blocks of the SIMOTION functionlibrary (up to V3.2) and the SCOUT command library (V4.0 or later). This can also beaccomplished in the LAD and FBD programming languages.

See the PLCopenProgramming Manual.


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Axis fundamentals 22.1 Axis technologies

2.1.1 Overview of axis technologiesThe Axis technology object can be configured as a speed-controlled axis, positioning axis,synchronous axis, or path axis. The various axis technologies differ according to thefunctionality provided on the axis.

Figure 2-1 Axis technology setting in SIMOTION SCOUT


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2.1 Axis technologies


Possible axis functions in relation to the axis typeTable 2-1 Axis functions - Overview

Function Speed-controlledaxisPositioningaxis Synchronousaxis Pathaxis

Speed or velocity specification X X X X

Traversing with torque limitation X X X X

Motion according to thespecifications on the MotionIninterface

X X X X

Positioning X X X

Travel to fixed endstop X X X

Homing X X X

Advanced functionsMeasuring input X X X

Output cam (camType) X X X

Cam track (camTrackType) X X X

Gearing X X

Camming X X

Path interpolation X

Operating modes Follow-up mode

The setpoint is corrected to the actual value in follow-up mode. The actual position /actual speed values are updated. Tracking is then possible when the axis is moved byexternal effects.

Motion commands are not accepted / executed.

Program simulation modeThe axis and position controller are active in program simulation mode. The setpointvalues are calculated according to the programming, but are not sent to the positioncontroller. The position controller setpoint values remain set at their values prior toswitching to simulation mode.

Program simulation mode is used to test the programmed sequences in the controller andthe interaction between various axes on the basis of trace recordings without moving theaxis.

This operating mode is only useful for real axes.

See also Enabling/disabling program simulation (Page 276) .

Axis simulation modeIt is possible to switch a real axis to Axis simulation status even if the drive is notconnected.

Setpoint modeSetpoint mode is the "normal" mode of the axis, in which motion commands are acceptedand executed.

The operating modes are set via commands.


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Speed-controlled axisThe speed-controlled axis type is used when the position of the axis is of no importance.

Only the speed of rotation or velocity of an axis is specified, controlled and monitored.The speed is monitored if an encoder is configured on the axis; otherwise, the speed is notmonitored.

The position of the drive axis is not monitored or controlled.

The speed of rotation is indicated in a unit of velocity, such as rpm.

Operating modes Speed-controlled/speed specification (setpoint mode) Simulation Follow-up modeFunctions Speed of rotation or velocity setting via

Programmable velocity profile

Free velocity profile (time-related)

Traversing with torque limitation Force/pressure control, force/pressure limiting (for hydraulic functions only)

Positioning axisThe positioning axis type is used to specify, control and monitor the position of the axis.

The axis is moved to a programmed target position, which can be specified as a relative or

absolute value. The direction of movement/direction of rotation can be specified for moduloaxes.

For position-controlled positioning axes, position control is possible in the CPU or in thedrive, provided the drive supports the dynamic servo control (DSC) method.

The positioning axis in SIMOTION does not have a velocity controller. The speed controllerfor an electric axis is in the drive.

The positioning axis can be interconnected with a path object for the path-synchronousmotion.

Operating modesAs for speed-controlled axis plus additionally

Position controlFunctions Speed of rotation or velocity setting via


Free velocity profile (time- or position-related)

Traversing with torque limitation Position setting via


Free velocity profile (time-related)


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Travel to fixed endstop Homing Force/pressure control, force/pressure limiting Synchronization of encoder values Positioning axis with path-synchronous motion (see path interpolation)

Synchronous axisThe synchronous axis type is used to determine the axis setpoint from a master valueaccording to a law of transmission.

The synchronous object and slave axis are separate objects, but together they form asynchronous axis.

The "Axis" and "Synchronous Operation" technology objects have a reciprocal effect on eachother depending on their operating statuses and the effectiveness of the commands used.

For example, errors in the "Axis" technology object will directly affect the synchronousfunctionality. When an axis stop response is triggered, the synchronous motion is stopped aswell.

Operating modesAs for positioning axis

Functions in addition to the positioning axis functions that are available via the synchronousobject: Gearing Camming Velocity gearing Dynamic synchronization/desynchronizationOther functions associated with the Synchronous Operation technology object can be foundin the SIMOTION Technology Objects for Synchronous Operation, Cam manual.

Path axisThe path axis type is used to travel along a path on the path object together with at least oneadditional path axis on the path object.

Via the path object, a path can be generated for at least two and up to three path axes.The setpoints generated for the axis on the path object are limited on the axis to themaximum dynamic values of the axis.

The "Path axis" and "Path object" technology objects have a reciprocal effect on each otherdepending on their operating statuses and the effectiveness of the commands used.

For example, errors in the "Path axis" technology object will directly affect the generation ofmotion on the path object. When a stop response is initiated on the axis, the path motion isstopped as well.


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Operating modesAs for positioning axis

Functions besides the positioning axis functions that are available via the path object: Linear path interpolation Circular path interpolation Polynomial path interpolationThe path axis contains the functionality of the synchronous axis.

Other functions associated with the Path Interpolation technology object can be found in theSIMOTION Technology Object Path Interpolationmanual.

See alsoSetting as a real axis without drive (axis simulation) (Page 41)

Enabling/disabling program simulation (Page 276)

Setting and canceling the axis enables (Page 247)


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2.1.2 Axis-drive relationshipThe Axis technology object provides the user with the technological functionality and the

interface to the drive/actuator. It executes control and motion commands and indicatesstatuses and actual values.

The Axis technology object communicates with an actuator (drive or hydraulic valve) via afield bus system (PROFIBUS or PROFINET via PROFIdrive protocol) or via a direct setpointinterface (analog 10 V or pulse/direction).

Figure 2-2 Axis-drive relationship

Functional interface to the driveThere are various functional interfaces to the drive available.

Analog drives, hydraulic valves or stepper drives can be operated at the direct setpointinterface.

Digital drives or interface modules for analog drives and/or stepper motors can be connectedvia PROFIBUS/PROFINET using the PROFIdrive profile.

Setpoint specifications and acknowledgements (incl. encoder information) for drivesconnected to a field bus are made via standardized protocols (standard message frames inaccordance with the PROFIdrive profile).


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2.2 Axis types


2.2 Axis types

2.2.1 Overview of axis typesThere are different axis types that differ according to their axis mechanism. The axis typealso determines the units used to calculate axis variables such as position, velocity, etc.

Linear axesLinear axes have coordinates that are specified in a unit of length. The position profile iscontinuous within the traversing range. Motion instructions are specified in units of length,e.g., in mm.

Rotary axesRotary axes have coordinates that are specified in a unit of rotation. The position profile iscontinuous within the traversing range. Motion instructions are specified in units ofrotation, e.g., in degrees or radians.

Defining a linear axis or rotary axis as a modulo axisModulo axes have an unlimited traversing range and their position is mapped to arepeating modulo traversing range. The modulo range is defined by the start value andthe modulo length.

If the position value or axis position overshoots the modulo length, the position value isreset to the modulo start value. If the position value undershoots the modulo startposition, the position value is reset to the modulo start value plus the modulo length.

Like rotary axes, linear axes can also be defined as modulo axes (linear modulo axis,

rotary modulo axis).

Axis type settingThe following settings are available for the axis type: Linear Rotaryand

Electric Hydraulic VirtualThe electric, hydraulic, orvirtual setting affects the subsequent menu content.

See alsoActual value measurement / actual value system (Page 103)


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2.2.2 Setting for the electric axis type

Figure 2-3 Axis type setting for an electric speed-controlled axis in SIMOTION SCOUT

Table 2-2 Motor type options

Motor type DescriptionStandard motor Rotary motor whose characteristics are described using the corresponding

physical units, such as speed of rotation and torque.

Linear motor Motor whose characteristics are described using the corresponding physicalunits, such as velocity and force.

NoteThere is no force/pressure control for the electric speed-controlled axis. In this case, the

mode is preset to Standard and cannot be changed.


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2.2 Axis types


Figure 2-4 Axis type setting for an electric positioning or synchronous axis in SIMOTION SCOUT

Table 2-3 Options for the axis type

Axis type DescriptionLinear Setting as linear axis

Rotary Setting as rotary axis

Table 2-4 Options for the mode

Mode DescriptionStandard Position control

Standard + pressure Position control and pressure control/pressure limiting

Standard + force Position control and force control/force limiting

Table 2-5 Options for the motor type

Motor type DescriptionStandard motor Rotary motor whose characteristics are described using the corresponding

physical units, such as speed of rotation and torque.

Linear motor Motor whose characteristics are described using the corresponding physicalunits, such as velocity and force.


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See alsoOverview of force/pressure control (Page 152)

Overview of force/pressure limiting (Page 160)Overview of axis types (Page 25)

TypeOfAxis configuration data (Page 30)

2.2.3 Setting for the hydraulic axis type

Figure 2-5 Axis type setting for a hydraulic positioning or synchronous axis in SIMOTION SCOUT

Table 2-6 Options for the valve type

Valve type DescriptionQ valve Axis with Q valve (volumetric flow control)

P valve1 Axis with P valve (force/pressure control)

P+Q valve Axis with P+Q valve

(1) Additional choice for speed-controlled axis

Table 2-7 Closed-loop control options

Closed-loop control DescriptionStandard Position control only

Standard + pressure Position control and pressure control

Standard + force Position control and force control


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2.2 Axis types


See alsoOverview of force/pressure control (Page 152)

Overview of force/pressure limiting (Page 160)Hydraulic functionality overview (Page 213)

TypeOfAxis configuration data (Page 30)

Setting as a real axis with Q valve only (Page 217)

Setting as a real axis with Q valve + P valve/F output (Page 220)

Setting an axis as a real axis with P valve only (V3.2 and higher) (Page 221)

2.2.4 Setting for the virtual axis type

Figure 2-6 Axis type setting for a virtual positioning or synchronous axis in SIMOTION SCOUT


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2.2.5 TypeOfAxis configuration dataThe axis type is entered according to the axis type parameter assignments under the

TypeOfAxis configuration data in the axis wizard. The following table shows which axiswizard parameter setting corresponds to which value underTypeOfAxis.Assignment ofTypeOfAxis based on the current axis wizard configuration:


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Axis fundamentals

2.3 Units and accuracies



Figure 2-7 Setting the units and resolution in SIMOTION SCOUT

With the SIMOTION technology objects, such as the Axis technology object, physicalvariables such as position, velocity, acceleration, time, force, and torque are represented inthe SI or US system of units (metric or imperial). The unit can be defined for all variables onthe relevant technology object during configuration, for example, for:

Unit of length mm

m

km

inch

Unit of force N

kN

tfm

ton force (metric), or tonne force (metric), metric unit tfs

ton force (short) or ton force (US), US unit

The defined units are used to represent system variables and configuration data.

Changing the unit settings converts the current values of the system variables andconfiguration data from the engineering system to the new units.


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NoteValues in the command parameters are interpreted in the defined unit on the technologyobject.

Numerical values in user programs (e.g. in the motion commands) are not converted to thenew units when the unit settings are changed!

In compound variables, e.g., controller gains, the units may differ from the units of theindividual variables, e.g., force in [kN] and force/time in [N]/[sec].

The internal computational accuracy and internal representation of the position can also bedefined in the unit configuration. It defines, among other things, the accuracy with which

specifications in system variables, configuration data, and command parameters areaccepted, processed, and displayed by the system.

This definition refers to a specific basic unit of the position, depending on the axis type.

Linear axis: Increments/mm Rotary axis/speed-controlled axis: Increments/degreeThe controller performs internal calculations in increments with reference to these basicunits. Prior to processing, values are converted to the internal representation.

Example 1The following configuration has been defined: Linear axis Position unit: m Increments/position: 1000/unit (1000/mm)Calculation of setpoint accuracy during positioning:Position: 1000/mm corresponds to 0.001mm = 10-6m

Example 2The following configuration has been defined: Linear axis Position unit: mm Increments/position: 1000/unit (1000/mm) Leadscrew pitch: 10.3334 mm Modulo length: 20.3335Determination of the effective leadscrew pitch and modulo length:Position accuracy: 0.001 mm

Effective leadscrew pitch: 10.333 mm Effective modulo length: 20.333 mm


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2.4 Axis settings / drive assignment



2.4.1 Overview of real and virtual axesIn SIMOTION, you can define the axes as:

Real axisThis axis features motion control, as well as drive and encoder interfaces

Real axis with force/pressure controlThis axis features motion control, drive and encoder interfaces, and an interface forforce/pressure measurement and closed-loop control.

For force/pressure control, the input for the force/pressure measurement must also beconfigured.

Virtual axisThis axis features reference variable generation, but does not have closed-loop control ora drive or encoder interface. The setpoints and actual values are always identical. Avirtual axis is generally used as an auxiliary axis, in order to generate the setpoints forseveral real axes as the master axis, for example.

The controller-specific enables are set by default.

Figure 2-8 Difference between real and virtual axis (positioning axis example)

For real axes, the interface to the drives/final controlling elements is set.

For the hydraulic functionality, the analog output is set for manipulated variable value Q (flowrate) and, if applicable, for manipulated variable value F (force/pressure limiting). This makesit possible to connect valves with an analog manipulated variable.

If DSC (Dynamic Servo Control) is set for digital drives with a PROFIdrive interface, aposition controller is executed in the drive (e.g., in the closed-loop speed control cycle clock).


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2.4.2 Setting as a real axis with analog drive link

Figure 2-9 Setting for analog drive link to C2xx

For interconnection of the axis-specific inputs/outputs (encoder, analog output, enables), seethe C2xx operating instructions.

In addition to the option of operating analog axes on the onboard inputs of the C2xx, thePROFIBUS ADI4 and IM 174 modules are available for use in all platforms as interfaces foranalog drive connections. From the SIMOTION perspective, these modules behave likedigital drive links.

The enable signal to the drive is activated with _enableAxis() (enableMode:=ALL); theenable is displayed by the system variables actormonitoring.driveState= ACTIVE andactormonitoring.power = ACTIVE.

See alsoSetting as a real axis with digital drive coupling (Page 35)


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2.4.3 Setting as a real axis with digital drive couplingCommunication with digital drives via PROFIBUS/PROFINET conforms to the PROFIdrive

specification, Version 3.Analog axes can be linked to all platforms with the ADI4 and IM 174 modules.

Drive enables are set in conformity with PROFIdrive Profile V3.1 via STW1.

_enableAxis() (enableMode:=DRIVE) is used to set Bit4 - Bit6 in STW1, while _enableAxis()(enableMode:=POWER) is used to set Bit0 - Bit3 in STW1.enableMode:=ALL is used to set the DRIVE and POWER bits.From V3.2 onwards, it is also possible to specify Bit0 - Bit6 in STW1, specifically via_enableAxis() (enableMode:=BY_STW_BIT) and _disableAxis()(disableMode:=BY_STW_BIT). Each bit to be set/canceled is then specified in theSTWBitSet parameter.

In V4.0 and higher, it is possible to cancel the enables specifically with the local alarmresponse RELEASE_DISABLE. When implementing a brake control in the drive, forexample, OFF3 (STW1.Bit2) should be canceled first for_disableAxis() and forRELEASE_DISABLE. It is then possible to cancel the power (cancel STW1.Bit1) when thebrake is closed. For information on defining the reaction to technological alarms, refer also toSection Assignable reaction in the case of RELEASE_DISABLE alarm (Page 291) .

Information on brake control can also be found on the Utilities & Applications CD under2_FAQ.

Enable signals (e.g. OFF3) should be wired to the control unit, if necessary, and switched tothe specific drive via the application, since signals that are executed directly on the drive andthe resulting drive behavior (e.g., OFF3=0) are evaluated as drive errors in the control unit.And in this case, the drive enables and, thus, also the drive power are immediately canceled

in the default setting.The status in actorMonitoring.driveState is displayed as per the specifications in STW1.The status in actorMonitoring.power is displayed as specified in STW1 in versions up to andincluding V3.1. In V3.2 and higher, it is displayed as per Bit0 - Bit2 in ZSW1.

n-actual from the drive protocol is displayed in the actorData.driveVelocity system variable(V4.0 and higher).


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Status diagram

S1: Switching On InhibitedZSW1 bit 6=true; 0,1,2,"p.e."

1)=false

Ramp stop

Simotion Servo Enable

S3: Switched OnZSW1 bit 0,1=true; 2,6,"p.e."=false

Quick StopS2: Ready For Switching On

ZSW1 bit 0=true; 1,2,6,"p.e."=false

Power supply on

STW1 bit0=falseAND STW1 bit1=trueAND STW1 bit2=true

STW1 bit1=falseOR

STW1 bit2=false

STW1 bit0=true STW1 bit0=false

STW1 bit3=true STW1 bit3=false

STW1 bit1=falseOR

STW1 bit2= false

Coast Stop

STW1 bit1=false

Coast Stop

STW1 bit1=false

Standstill detectedOR

STW1 bit3=false

S5:Switching OffZSW1 bit 0,1=true

bit 2,6=false"p.e." =true

Quick StopSTW1 bit 2=false

Quick Stop

STW1 bit 2=false

STW1 bit0=trueRamp Stop

STW1 bit0=false

Standstill detectedOR

STW1 bit3=false

enableAxis POWEROR

enableAxis ALL

power = active

power = inactive

Simotion: State ALL

Simotion: State POWER

ZSW1 bit10=false

disableAxis POWEROR

disableAxis ALLOR

S4: OperationZSW1 bit 0,1,2=true

bit 6= false

"p.e."=true

disableAxis DRIVEOR

STW1 bit4=false ORSTW1 bit5=false ORSTW1 bit6=false

enableAxis DRIVEOR

STW1 bit4=true ANDSTW1 bit5=true ANDSTW1 bit6=true

Simotion: Waiting forZSW1.bit10=false

(n=0)

disableAxis ALL

The drivestate system variable

Figure 2-10 General state diagram in SIMOTION


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You can find a detailed description of the bits in status and control words in the SINAMICSlist manuals.

Stop modes with PROFIdrive Profile Drive Technology STW1 bit 0 = 0: Ramp stop

The drive travels to zero velocity with the deceleration that can be defined on thedrive.

The stopping process can be interrupted and the drive switched on again.

After stopping, a pulse suppression is carried out and the status changes to ready tostart.

STW1 bit 1 = 0: Coast stop The drive immediately goes to pulse suppression and the status changes to switch-on

disable.

The drive coasts to a standstill.

STW1 bit 2 = 0: Quick stop The drive travels to zero velocity with the torque limit that can be defined on the drive.

The stopping process cannot be interrupted.

After stopping, a pulse suppression is carried out and the status changes to switch-ondisable.

Technologies and message frame typesTable 2-8 Technologies and message frame types supported for real axis with digital drive link

Drive Technology Message frame typeSIMODRIVE 611U universal

SIMODRIVE 611U universal HR

All 1 to 6, 101, 102, 103, 105, 106 1)

SIMODRIVE POSMO CA/CD All 1 to 6, 101, 102, 103, 105, 106

SIMODRIVE POSMO SI All 1, 2, 3, 5, 101, 102, 105

SIMODRIVE sensor isochronous External encoder 81

MASTERDRIVES MC All 1 to 6 2)

MASTERDRIVES VC Speed-controlled axis 1, 2

MICROMASTER 4xx Speed-controlled axis 1

SINAMICS S120 All 1 to 6, 101, 102, 103, 105, 106, 116 3)

SINAMICS integrated (SIMOTION D) All 1 to 6, 101, 102, 103, 105, 106, 116 3)

SINUMERIK ADI4, SIMATIC IM174 All 3

1) For further details, see also the SIMOTION SCOUT Configuring Manual and the accompanying 611U productdescription

2) For further details, see also the SIMOTION SCOUT Configuring Manual and the accompanying MD-MC productdescription.

3) Axis technology object uses SIEMENS message frame 106 instead of 116


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Table 2-9 Message frame types

Message frame type Brief descriptionStandard message frames

1 n-set interface, 16-bit, without encoder

2 n-set interface, 32-bit, without encoder

3 n-set interface, 32-bit, with encoder 1

4 n-set interface, 32-bit, with encoder 1 and encoder 2

5 n-set interface, 32-bit, with DSC and encoder 1

6 n-set interface, 32-bit, with DSC, encoder 1 and encoder 2

Siemens message frames

101 n set interface102 n-set interface with encoder 1 and torque limiting

103 n-set interface with encoder 1, encoder 2 and torque limiting

105 n-set interface with DSC, encoder 1 and torque limiting

106 n-set interface with DSC, encoder 1, encoder 2 and torque limiting

Information on the activation of technology data blocks can be found in the Technology Datasection.

Separation of reference value and maximum value (V4.0 and higher)For digital drive coupling, the reference value for transmitting the speed or velocity to thedrive can be configured independently of the maximum value in V4.1 and higher.Alternatively, the maximum speed/velocity can still be used as the reference value. This canbe defined accordingly in the driveData.speedReference orlinearMotorDriveData.speedReference configuration data element.When a new axis is created and coupled with a digital drive, the normalization speed/velocityis pre-selected as t

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