Application about Drive Technology - Siemens...Figure 1-1 Mechanical construction of the “cross...

Application about Drive Technology

Technology CPU “Cross Slide”

Extension

Warranty, liability and support

"Cross Slide" Extension ID Number: 24094737

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Note The Application Examples are not binding and do not claim to be complete regarding the circuits shown, equipping and any eventuality. The Application Examples do not represent customer-specific solutions. They are only intended to provide support for typical applications. You are responsible for ensuring that the described products are correctly used. These Application Examples do not relieve you of the responsibility of safely and professionally using, installing, operating and servicing equipment. When using these Application Examples, you recognize that Siemens cannot be made liable for any damage/claims beyond the liability clause described. We reserve the right to make changes to these Application Examples at any time without prior notice. If there are any deviations between the recommendations provided in these Application Examples and other Siemens publications – e.g. Catalogs – then the contents of the other documents have priority.

Warranty, liability and support

We do not accept any liability for the information contained in this document.

Any claims against us – based on whatever legal reason – resulting from the use of the examples, information, programs, engineering and performance data etc., described in this Application Example shall be excluded. Such an exclusion shall not apply in the case of mandatory liability, e.g. under the German Product Liability Act (“Produkthaftungsgesetz”), in case of intent, gross negligence, or injury of life, body or health, guarantee for the quality of a product, fraudulent concealment of a deficiency or breach of a condition which goes to the root of the contract (“wesentliche Vertragspflichten”). However, claims arising from a breach of a condition which goes to the root of the contract shall be limited to the foreseeable damage which is intrinsic to the contract, unless caused by intent or gross negligence or based on mandatory liability for injury of life, body or health. The above provisions do not imply a change in the burden of proof to your detriment.

Copyright© 2007 Siemens A&D. It is not permissible to transfer or copy these Application Examples or excerpts of them without first having prior authorization from Siemens A&D in writing. For questions about this document please use the following e-mail-address:

mailto:[email protected]

mailto:[email protected]

Foreword


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Foreword The application described in this document deals with “single belt application” or “cross slide”. It will be shown how a multidimensional positioning can be realized with a special mechanical system with the aid of the technology CPU. The core element is the use of technology functions of the technology CPU to perform a coordinate transformation. This transformation is used to convert a motion in the Cartesian coordinate system into the coordinate system of the “cross slide”.

Objective of the application This application shows the use of a technological function or of a technology template in the technology CPU.

In order to provide a compact and practical description, the technological function or the technology template to be presented is used in a simple example with HMI connection. This ensures that this application can also be used as a demonstration model.

The application illustrates the following:

• How the used components work together

• Which technological functions are used

• How the application is programmed and parameterized

• How the application can be used as a demonstration system

Main contents of this application This application deals with the following key elements:

• Realization of a coordinate transformation with the technology CPU

• Use of the “Basic Gear Synchronism” technology function

• Use of the “Overlapping Gear Synchronism” technology function

• Use of the “MoveJOG” technology template

• Use of the “Move3D” technology template

Delimitation This application does not include a description of …

• … basic knowledge when using STEP 7

• ... basic knowledge in the field of motion control

• ... the use of technology functions of the technology CPU

• ... the general handling of the technology CPU

Basic knowledge of these topics is required.

Foreword


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Structure of the document The documentation of this application is divided into three documents:

• Introduction

• Extension

• Demonstration In addition, the STEP7 code is available.

The second document, Extension, which you are reading right now, is intended for persons who want to study the detailed functional sequences.

Part Description Introduction Application Description and Principles of Operation

You are provided with a general overview of the contents. You are informed on the used components (standard hardware and software components and the specially created user software).

Extension Principles of Operation and Program Structures in Detail

This part describes the detailed functional sequences of the involved hardware and software components, the solution structures and the specific implementation of this application. It is only required to read this part if you want to familiarize with the interaction of the solution components to use these components, e.g., as a basis for own developments.

Demonstration Structure, Configuration and Operation of the Application

This part takes you step by step through structure, important configuration steps, startup and operation of the application.

An additional component available is the S7 program code.

Part Description

S7 program code The S7 program code includes the code and a user interface which is also suitable as a demonstration system.

Reference to Automation and Drives Service & Support This entry is from the internet application portal of Automation and Drives Service & Support. Clicking the link below directly displays the download page of this document.

http://support.automation.siemens.com/WW/view/en/24094737


Foreword


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Table of Contents

Table of Contents ......................................................................................................... 5

Principles of Operation and Program Structures ...................................................... 8

1 Functional Mechanisms of the “Cross Slide”.............................................. 8 1.1 Design and principle of operation ..................................................................... 8 1.1.1 Mechanical construction ................................................................................... 8 1.1.2 Drive ................................................................................................................. 9 1.2 Development of the coordinate transformation................................................. 9 1.2.1 Definition of the coordinate systems of the “cross slide” ................................ 10 1.2.2 Determination of the mathematical description............................................... 11 1.2.3 The transformation formulae........................................................................... 15 1.2.4 Calculation of the inverse transformation ....................................................... 15 1.2.5 The inverse transformation formulae .............................................................. 17 1.3 Realization of the coordinate transformation in an FB.................................... 17 1.3.1 Performing the coordinate transformation in “real time”.................................. 17 1.3.2 Realization of the multiplication by a constant factor ...................................... 17 1.3.3 Realization of the addition .............................................................................. 18

“Cross Slide” Application Example .......................................................................... 19

2 Structure of the Application Example......................................................... 19 2.1 Overview......................................................................................................... 19 2.2 Coordinate transformation for the “cross slide”............................................... 20 2.2.1 Function .......................................................................................................... 20 2.2.2 Integration into the functional design .............................................................. 20 2.3 The “MoveJog” technology template .............................................................. 22 2.3.1 Function .......................................................................................................... 22 2.3.2 Integration into the functional design .............................................................. 23 2.4 The “Move 3D” technology template............................................................... 23 2.4.1 Function .......................................................................................................... 23 2.4.2 Integration into the functional design .............................................................. 24

3 Program Structure ........................................................................................ 25 3.1 List of used blocks .......................................................................................... 25 3.2 Overview of the program structure ................................................................. 27 3.2.1 Section: Axes / transformation........................................................................ 28 3.2.2 Section: Operation / control ............................................................................ 29 3.2.3 Section: “Move 3D” technology template........................................................ 31 3.3 Sequential control of the application example ................................................ 33 3.3.1 Enable and preparation of the axes................................................................ 33 3.3.2 Control of the manual travel motions .............................................................. 34 3.3.3 Sequential control of the automatic process................................................... 34

Foreword


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Configuration of the Technology CPU...................................................................... 36

4 Configuration in HW Config......................................................................... 36

5 Configuration in S7T Config ........................................................................ 37 5.1 Overview of the configuration ......................................................................... 37 5.2 Creating the necessary axes .......................................................................... 39 5.2.1 Master axes of the “cross slide”...................................................................... 39 5.2.2 Slave axes of the “cross slide”........................................................................ 40 5.2.3 Virtual axes for “Move 3D” .............................................................................. 42 5.2.4 Changing the setting to pseudo real axes ...................................................... 43 5.3 Creating the necessary cam discs for “Move 3D”........................................... 46 5.4 Configuration of the synchronous relationships.............................................. 47 5.4.1 Basic synchronism gear.................................................................................. 48 5.4.2 Overlapping synchronism gear ....................................................................... 49 5.4.3 Basic synchronism cam disc........................................................................... 51 5.5 Setting the necessary technology parameters................................................ 52 5.5.1 Closed-loop control......................................................................................... 52 5.5.2 Mechanics....................................................................................................... 53

Characteristic Features of the “Cross Slide”........................................................... 55

6 Hardware Limit Switches ............................................................................. 55 6.1 Assignment of the hardware limit switches..................................................... 55 6.2 Transmission of the limit switch signals via Profibus ...................................... 56 6.2.1 Basic procedure.............................................................................................. 56 6.2.2 Profibus message frame 390 of the CU320 control unit ................................. 57 6.2.3 Message frame structure in HW Config.......................................................... 57 6.3 Connecting the hardware limit switches to the technology object................... 58

7 Additional Functions of FB “CS_GearIn”................................................... 60 7.1 Reversal of the direction of motion ................................................................. 61 7.2 Fine adjustment of the positioning accuracy................................................... 61 7.3 Using FB 513 “CS_GearIn” in your own applications ..................................... 62 7.3.1 Interface of FB 513 “CS_GearIn”.................................................................... 62 7.3.2 Error codes at the “ErrorID” output ................................................................. 64 7.3.3 Error codes at the “ErrorSource” output ......................................................... 64

8 Absolute Value Encoders ............................................................................ 66 8.1 Advantages of using absolute value encoders ............................................... 66 8.2 Absolute encoder adjustment ......................................................................... 67 8.2.1 Procedure for the absolute encoder adjustment............................................. 68 8.2.2 Necessity of performing an absolute encoder adjustment .............................. 69

Appendix and Literature ............................................................................................ 70

9 Bibliographic References ............................................................................ 70

Foreword


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9.1 Bibliographic references ................................................................................. 70 9.2 Internet links ................................................................................................... 71 9.3 Related documentation................................................................................... 73

10 History ........................................................................................................... 73

Principles of Operation and Program Structures

Functional Mechanisms of the “Cross Slide”


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1 Functional Mechanisms of the “Cross Slide”

1.1 Design and principle of operation

Note Design and principle of operation of the “cross slide” have already been described in the Introduction of this documentation.

1.1.1 Mechanical construction

The mechanical construction of the “cross slide” is shown in the figure below. Figure 1-1 Mechanical construction of the “cross slide”

Y

X

A1 A2

The fixed cross bar forms the base of the “cross slide”. All further components of the system are attached on it. The fixed cross bar is equipped with a guide slide on which the movable slide is moved. This arrangement forms the X-axis of the “cross slide”.

On the movable slide a guide slide is attached vertically to the fixed cross bar on which the moving cross bar can be moved. This arrangement forms the Y-axis of the “cross slide”.

The whole “cross slide” system is connected via the single belt that is guided via the guide pulleys and the free pulley of the moving cross bar. The single belt starts and ends in the tool carrier or in the reference point and is attached to the moving cross bar in this carrier or point.

Movable slide

Fixed cross bar

Moving cross bar

Guide pulleys

Tool carrier or reference point

Single belt

Free pulley




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1.1.2 Drive

Drive 1 and drive 2, which are attached to the fixed cross bar and which cannot be moved, are used exclusively for the drive of the “cross slide”. Figure 1-2 Mechanical construction of the “cross slide”

Y

X

A1 A2

The control of the actual “cross slide” axes in the XY plane is performed via the single belt, the free pulley and the guide pulleys which, however, do not feature a drive and which are only used to guide the single belt.

Holding brake To prevent a motion of the Y-axis of the “cross slide” in a de-energized state, the motors of the two drives or the guide slide of the Y-axis of the “cross slide” have/has to be equipped with a holding brake.

1.2 Development of the coordinate transformation

The travel of the “cross slide” is located in the XY plane. In this plane, it should be possible to specify the desired target points of the “cross slide” and the actual “cross slide” position should also be displayed here.

But the drive of the “cross slide” is performed via the two drives A1 and A2 via which the “cross slide” motion in the XY plane is initiated. For this reason, a point specified in the XY plane must be assigned to the position of the drives A1 and A2 via a coordinate transformation.

Drive 1 Drive 2

Free pulley

Guide pulleys Single belt




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1.2.1 Definition of the coordinate systems of the “cross slide”

The coordinate systems for the two drives A1 and A2 and for the plane axes X and Y have to be defined as a basis for the mathematical treatment of the “cross slide”.

The coordinate systems are defined as shown in the figure below. Figure 1-3 Definition of the coordinate system of the “cross slide”

Y

X

A1 A2

Drive A1 and drive A2 When viewing the driving pulleys of the single belt from the front, the two drives A1 and A2 move clockwise when the direction of rotation is positive.

Axes of the XY plane When viewing the “cross slide” from the front, the positive X-axis runs to the right and the positive Y-axis runs upwards.

Note In this arrangement, a possibly additionally necessary Z-axis would move towards the viewer from the XY plane according to the right-hand rule.

The graphic representation below shows this arrangement: Y

X

Z




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1.2.2 Determination of the mathematical description

The mathematical description of the “cross slide” motion and thus the coordinate transformation between the drives A1 and A2 and the XY plane is to be represented in the following form.

Matrix form

⎥⎦

⎤⎢⎣

⎡⋅⎥

⎦

⎤⎢⎣

⎡=⎥

⎦

⎤⎢⎣

⎡yx

DCBA

AA

21

Equation form Equivalent to the matrix form, the relationship between the drives A1 and A2 and the XY plane can also be represented with the aid of two equations.

yDxCAyBxAA⋅+⋅=⋅+⋅=

21

Consideration of the motion in the X direction To determine the coefficients A and C of the system of equations, the “cross slide” motion in the X direction is considered. Figure 1-4 Consideration of the motion in the X direction

Y

X

A1 A2

Bisecting line

To ensure that the “cross slide” performs a motion only in the X direction, it is required that the belt length remains identical above and below the bisecting line.

For this reason, the part of the belt in parallel to the moving cross bar has to remain constant during the entire motion to exclude a motion of the reference point in the Y direction.




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The part of the belt in parallel to the fixed cross bar on the left and right of the movable slide varies depending on the distance moved by the reference point in the X direction. Figure 1-5 Consideration of the motion in the X direction

Y

X

A1 A2

a

Bisecting linea

b = constant

c = constantc = constant

b = constant

During the motion of the reference point in the X direction the following processes occur:

• The “cross slide” reference point is moved by the distance a in the positive X direction.

• This requires that the belt below the bisecting line is extended by the distance a on the left side of the movable slide. This distance is taken from the belt length above the bisecting line via drive A1.

This requires that drive A1 moves by the distance a in the negative direction to transport the belt from above the bisecting line to below the bisecting line.

• Simultaneously the belt length has to be reduced by the same measure on the right side of the movable slide below the bisecting line. The necessary distance a is transported from the belt length below the bisecting line via drive A2.

This requires that drive A2 also moves by the distance a in the negative direction to transport the belt from below the bisecting line to above the bisecting line.

• Above the bisecting line the taken distance on the left side of the movable slide must correspond exactly to the transported distance on the right side of the movable slide. Otherwise, a compensating motion in the Y direction would occur.




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This results in the following equations for the coefficients A and C of the system of equations:

⎥⎦

⎤⎢⎣

⎡⋅⎥

⎦

⎤⎢⎣

⎡=⎥

⎦

⎤⎢⎣

⎡yx

DCBA

AA

21

with 0==

yax

and aAaA⋅−=⋅−=

)1(2)1(1

Substituted in the matrix equation and separated into individual equations, this results in:

aCaaAa⋅=⋅−⋅=⋅−

)1()1(

The coefficients A and C of the system of equations result in:

)1()1(

−=−=

CA

Consideration of the motion in the Y direction To determine the coefficients B and D of the system of equations, the “cross slide” motion in the Y direction is considered. Figure 1-6 Consideration of the motion in the Y direction

Y

X

A1 A2

Bisecting line

To ensure that the “cross slide” performs a motion only in the Y direction, it is required that the belt length remains identical on the left and right of the moving cross bar.

The part of the belt in parallel to the fixed cross bar has to remain constant during the entire motion to exclude a motion of the reference point in the X direction.




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The part of the belt in parallel to the moving cross bar above and below the movable slide varies depending on the distance moved by the reference point in the Y direction. Figure 1-7 Consideration of the motion in the Y direction

A1 A2

a

a

Y

X

b = constant

b = constant

c = constant

c = constantBisecting line

During the motion of the reference point in the Y direction the following processes occur:

• The “cross slide” reference point is moved by the distance a in the positive Y direction.

• This requires that the belt above the bisecting line is extended by the distance a on the left side of the movable slide. This distance is taken from the belt length below the bisecting line via drive A1.

This requires that drive A1 moves by the distance a in the positive direction to transport the belt from below the bisecting line to above the bisecting line.

• The same operation has to be performed on the right side of the movable slide. The necessary distance a is transported from the belt length below the bisecting line via drive A2.

This requires that drive A2 moves by the distance a in the negative direction to transport the belt from below the bisecting line to above the bisecting line.

• Below the bisecting line the taken distance must correspond exactly to the transported distance above the bisecting line. Otherwise, a compensating motion in the X direction would occur.




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This results in the following equations for the coefficients B and D of the system of equations:

⎥⎦

⎤⎢⎣

⎡⋅⎥

⎦

⎤⎢⎣

⎡=⎥

⎦

⎤⎢⎣

⎡yx

DCBA

AA

21

with ay

x== 0

and aAaA⋅−=⋅+=

)1(2)1(1

Substituted in the matrix equation and separated into individual equations, this results in:

aDaaBa⋅=⋅−⋅=⋅+

)1()1(

The coefficients A and C of the system of equations result in:

)1()1(

−=+=

DB

1.2.3 The transformation formulae

When you substitute the coefficients determined in the previous chapter in the original equations, you get the transformation formulae for the coordinate transformation of the “cross slide”.

Matrix form

⎥⎦

⎤⎢⎣

⎡⋅⎥

⎦

⎤⎢⎣

⎡−−+−

=⎥⎦

⎤⎢⎣

⎡yx

AA

)1()1()1()1(

21

Equation form Equivalent to the matrix form, the relationship between the drives A1 and A2 and the XY plane can also be represented with the aid of two equations.

yxyxAyxyxA

−−=⋅−+⋅−=+−=⋅++⋅−=

)1()1(2)1()1(1

1.2.4 Calculation of the inverse transformation

To be able to determine the “cross slide” position from the position of the drives A1 and A2, it is required to inversely perform the just determined coordinate transformation. An inverse transformation must be performed.




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Matrix form The matrix form of the transformation formula is the starting point for the determination of the inverse transformation

⎥⎦

⎤⎢⎣

⎡⋅⎥

⎦

⎤⎢⎣

⎡=⎥

⎦

⎤⎢⎣

⎡yx

DCBA

AA

21

This formula can be multiplied from the left by the inverse matrix of the coefficients

⎥⎦

⎤⎢⎣

⎡⋅⎥

⎦

⎤⎢⎣

⎡⋅⎥

⎦

⎤⎢⎣

⎡=⎥

⎦

⎤⎢⎣

⎡⋅⎥

⎦

⎤⎢⎣

⎡−−

yx

DCBA

DCBA

AA

DCBA 11

21

When calculating the individual components of this equation, the following correlations apply

Equation 1: ⎥⎦

⎤⎢⎣

⎡−

−⋅

⋅−⋅=⎥

⎦

⎤⎢⎣

⎡−

ACBD

CBDADCBA

)()(1

1

Equation 2: ⎥⎦

⎤⎢⎣

⎡=⎥

⎦

⎤⎢⎣

⎡⋅⎥

⎦

⎤⎢⎣

⎡−

10011

DCBA

DCBA

Equation 3: ⎥⎦

⎤⎢⎣

⎡=⎥

⎦

⎤⎢⎣

⎡⋅⎥

⎦

⎤⎢⎣

⎡yx

yx

1001

When you substitute the three equations in the formula determined above and interchange the two sides of the equation, you get the equation for the inverse transformation

⎥⎦

⎤⎢⎣

⎡⋅⎥

⎦

⎤⎢⎣

⎡−

−⋅

⋅−⋅=⎥

⎦

⎤⎢⎣

⎡21

)()(1

AA

ACBD

CBDAyx

Equation form By appropriately transforming the transformation equations, the equation form of the inverse transformation can also be determined. Only the final result of these transformations is to be presented here.

( )

( )21)(1

2)(11

AAACCBDA

y

ABADCBDA

x

⋅+⋅−⋅−⋅

=

⋅−+⋅⋅−⋅

=




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1.2.5 The inverse transformation formulae

When you substitute the coefficients of the “cross slide” transformation in the equations of the inverse transformation, you get the inverse transformation formulae which enable to determine the resulting positions in the XY plane from the position of the drives A1 and A2.

Matrix form

⎥⎦

⎤⎢⎣

⎡⋅⎥

⎦

⎤⎢⎣

⎡−+−−

⋅=⎥⎦

⎤⎢⎣

⎡21

)1()1()1()1(

21

AA

yx

Equation form

( ) ( )

( ) ( )21212)1(1)1(

21

21212)1(1)1(

21

AAAAy

AAAAx

−=⋅−+⋅+=

−−=⋅−+⋅−=

1.3 Realization of the coordinate transformation in an FB

To enable an integration of the coordinate transformation into the application example that is as easy as possible, the coordinate transformation is to be performed in an independent function block (FB).

1.3.1 Performing the coordinate transformation in “real time”

Since the coordinate transformation virtually has to be performed in “real time” depending on the actual position of the axes X and y, the formulae determined above must be processed in the technology part of the technology CPU.

1.3.2 Realization of the multiplication by a constant factor

The Gear Synchronization technology function is suitable for realizing a multiplication by a constant factor in the technology part of the technology CPU.




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Figure 1-8 Gear Synchronization technology function

Master axis Slave axis

1:2

Positionmaster axis

Positionslave axis

Synchronousrelationship

The gear ratio is the multiplication factor between master and slave axis. This multiplication is performed in the technology virtually in “real time”.

1.3.3 Realization of the addition

The Overlapping Gear Synchronism technology function is suitable for realizing an addition in the technology part of the technology CPU. Figure 1-9 Overlapping Gear Synchronism technology function

Positionslave axis

Basicsynchronousrelationship

Overlappingsynchronousrelationship

+

Positionmaster axis 1

Positionmaster axis 2

The basic gear synchronism forms a multiplication of position 1 of master axis 1 by the gear ratio of the basic gear synchronism. And the overlapping gear synchronism forms a multiplication of the position of master axis 2 by the gear ratio of the overlapping synchronous relationship.

The “multiplications” of the two synchronism types are performed in independent coordinate systems.

The position of the slave axis, which is generated via the basic gear synchronism and the overlapping gear synchronism depending on the two master axes, results as a resulting motion of the two synchronism types. This motion is the sum of the two slave axis positions in the individual coordinate systems.

The addition of the two “multiplications” of basic gear synchronism and overlapping gear synchronism is achieved via this function.

“Cross Slide” Application Example

Structure of the Application Example


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2 Structure of the Application Example

The “cross slide” application example consists of several different functional components that will be described in this chapter.

2.1 Overview

The coordinate transformation determined in the previous chapter is used for the motion of the “cross slide”. This coordinate transformation enables to specify the desired position of the “cross slide” via the axes X and Y. The transformation then ensures the consistent control of the drives A1 and A2 of the “cross slide” to reach the desired position.

The coordinate transformation of the “cross slide” is the functional core of this application example. Figure 2-1 Structure of the application example

AxisX

AxisY

“Cross slide”transformation

-1

+1

-1

-1

AxisA1

AxisA2

“MoveJOG”technology template

Axis X

“MoveJOG”technology templateAxis Y

“Move 3D”technology template

Axis X / Y(Axis Master, VM)

Mode:Manual

Mode:Automatic

Coordinate transformation“cross slide”

Furthermore, the application example features two modes that are independent of each other:

• Manual mode: Jog buttons can be used to move the “cross slide” in the positive and negative X and Y direction. Individual instances of the “MoveJOG” technology template controlling the axes X and Y and thus manually moving the “cross slide” are used for the motion in one axis direction.

• Automatic mode: The “cross slide” performs an automatic motion, as required, for example, for a pick and place process. The target position of the pick and place process is varied within three different target coordinates.




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To perform the automatic motion, the “Move 3D” technology template is used, which also acts on the axes X and Y.

2.2 Coordinate transformation for the “cross slide”

2.2.1 Function

The coordinate transformation between the axes X and Y and the drives of the “cross slide” drive A1 and drive A2 is performed in the technology part of the technology CPU.

The technology functions “MC_GearIn” and “MC_GearInSuperImposed”, which enable a multiplication by a constant factor and the simultaneous addition of the results of the multiplication via a synchronization of the axes, are used for the primary control of the individual drives depending on the position of the axes X and Y. Figure 2-2 Coordinate transformation for the “cross slide”

AxisX

AxisY


-1

+1

-1

-1

AxisA1

AxisA2

FB 420 “MC_GearIn”

FB 440 “MC_GearInSuperImposed”



2.2.2 Integration into the functional design

To be able to use the full functional scope of the “cross slide” within the application, different functions are required which will now be explained in greater detail.

Synchronization of master and slave axes A specific motion of the “cross slide” in the XY plane requires to ensure that the axes X and Y as master axes are always synchronized to the slave axes drive A1 and drive A2 of the “cross slide”.

The “cross slide” is exclusively moved via the motion of the master axes X and Y.




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The synchronization of master and slave axes via the technology functions FB 420 “MC_GearIn” and FB 440 “MC_GearInSuperImposed” is performed as a relative synchronization. This avoids a compensating motion of the drives A1 and A2 of the “cross slide” during the synchronization process. For this reason, the slave axes drive A1 and drive A2 do not have an absolute position reference to the master axes X and Y; this requires a calibration of the master to the slave axes to match the two coordinate systems to one another.

Calibration of the coordinate systems The calibration of the coordinate systems is performed with the aid of the inverse transformation determined in the previous section. This ensures that the actually set factors for the gear synchronism synchronization of the master to the slave axes performing the coordinate transformation are also applied to the inverse transformation.

The position of the master axes in the XY plane is determined from the current position of the slave axes drive A1 and drive A2 of the “cross slide” with the aid of the inverse transformation. Figure 2-3 Inverse transformation of the “cross slide” for the calibration of the coordinate

systems

AxisX

AxisY


-1

+1

-1

-1

AxisA1

AxisA2

-0.5

-0.5

+0.5

-0.5

ReTransformation

When adjusting the position values of the individual axes for the calibration of the coordinate systems, the following specific characteristics of the gear synchronism with relative synchronization have to be observed:




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• When synchronized, the FB 403 “MC_Home” technology function can be used to adjust the position of the drives A1 and A2 without causing a compensating motion or change of position of the axes X and Y. The FB 403 “MC_Home” technology function can be used to reset the actual position of the drives A1 and A2 in mode 3 or an absolute encoder adjustment can be performed in mode 5 if the “cross slide” features real drives with absolute value encoders.

• The actual position can only be set on the axes X and Y via FB 403 “MC_Home” in mode 3 when the master axes are not synchronized. Otherwise, an immediate compensating motion of the slave axes would occur.

For these reasons, the calibration of the coordinate systems has to be performed in the following order to achieve the greatest possible accuracy. Table 2-1 Calibration of the coordinate systems

No. Action Remark

1. Enabling the slave axes drive A1 and drive A2 via the FB 401 “MC_Power” technology function.

The drives of the “cross slide” are closed-loop-controlled and do not change their current actual position.

2. Determining the X and Y position of the “cross slide” depending on the actual position of the drives A1 and A2.

Applying the inverse transformation according to the inverse transformation formulae.

3. Setting the determined X and Y position on the master axes X and Y with the aid of the FB 403 “MC_Home” technology function in mode 3.

The axes X and Y have not yet been enabled via the FB 401 “MC_Power” technology function.

4. Synchronization of the slave axes drive A1 and drive A2 of the “cross slide” to the master axes X and Y.

The slave axes are synchronized to the master axes via the technology functions FB 420 “MC_GearIn” and FB 440 “MC_GearInSuperImposed”.

5. Enabling the master axes X and Y via the FB 401 “MC_Power” technology function.

The “cross slide” is now ready for the control via the master axes in the XY plane.

2.3 The “MoveJog” technology template

2.3.1 Function

The “MoveJOG” technology template is used for the manual control of the “cross slide”.

Jog buttons can be used to initiate a manual motion of the master axes X and Y. The axis only moves as long as the jog button for the corresponding direction is kept pressed.




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Note A separate documentation is available for the “MoveJOG” technology template in which the function of the template is explained in detail.


In “manual” mode of the application example the “MoveJOG” technology template can be used for the manual motion of the axes X and Y.

A separate instance of the technology template is used for each axis. This enables to realize a motion of the “cross slide” in the positive and negative X or Y direction.

For a diagonal motion of the “cross slide”, the corresponding inputs of both instances are simultaneously controlled. Figure 2-4 Integration of the “MoveJOG” technology template


AxisX

AxisY

“Cross slide” transformation

-1

+1

-1

-1

AxisA1

AxisA2


JOG_Pos

JOG_Neg

JOG_Pos

JOG_Neg

2.4 The “Move 3D” technology template

2.4.1 Function

The “Move 3D” technology template is used for the automatic control of the “cross slide”.

In the application example, the desired travel motion is specified via four interpolation points. The “Move 3D” technology template performs an interpolation on the basis of this interpolation point table and generates the necessary travel path.

An additional option is to specify a tolerance radius R in the interpolation point table within which the travel motion may deviate from the specified interpolation points.




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Figure 2-5 Defining travel motion via interpolation points and tolerance radii

Y

XP1

P2 P3

P4

R3R2

Note A separate documentation is available for the “Move 3D” technology template in which the function of the template is explained in detail.


In “automatic” mode of the application example the “Move 3D” technology template can be used for the automatic motion of the axes X and Y.

The required interpolation point table is automatically generated in “automatic mode” within the application example.

The “Move 3D” technology template interpolates this interpolation point table and, from this information, generates cam discs for the synchronization of the internal axes Axis Master and Axis VM of the technology template to the axes X and Y of the “cross slide”.

The generation of the cam discs, the synchronization of the axes and the execution of the interpolated motion are automatically executed within the template.


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Figure 2-6 Integration of the “Move 3D” technology template


CamVM

AxisX

AxisY

AxisZ

AxisVM

AxisMaster

CamY

CamZ

CamX


-1

+1

-1

-1

AxisA1

AxisA2

Not used in theapplication example

In addition, the “Move 3D” technology template also provides the option to control a third Cartesian axis Z; this axis, however, is not used in this application example.

3 Program Structure

3.1 List of used blocks

The “cross slide” application example includes the following program blocks which are listed in the table below with their symbolic names and the function within the application example. Table 3-1 List of used blocks

Block Symbolic name Function

Blocks of the control program OB 1 MainCycle Cyclic call of the blocks of the application

example and of the technology templates “Move3D” and “MoveJOG”.

OB 100 Complete_Restart Initialization of the application example during startup of the CPU.

FB 50 Control_General Higher-level mode control of the application example for changing between manual and automatic mode.

FB 60 Control_Axis_Manual Control of the application example’s axes in manual mode. The “MoveJOG” technology template is used for the control.


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FB 70 Control_Axis_Auto Control of the automatic process of the application example. The “Move 3D” technology template is used for the control.

FB 100 AxesControl Enable of the axes and acknowledgement of error messages on the axes of the application example. Activation of the coordinate transformation of the “cross slide”. Realization of an enable sequence for the safe synchronization of the “cross slide” axes during the coordinate transformation.

FB 513 CS_GearIn “Cross slide”: Coordinate transformation management for the control of the drives A1 and A2 of the “cross slide” via a selection of a position in the XY plane.

FB 900 HMI Encapsulation of all functions to provide the data for the function and display on the HMI of the application example.

Technology templates FB 512 MC_MoveJog MoveJOG:

Technology template for the realization of a manual axis motion using jog button control.

FB 505 Move3D Move3D: Technology template for the realization of an interpolated three-dimensional motion with constant path velocity. This block takes over the control of the blocks FB 508 and FB 509 for the realization of subfunctions of the template.

FB 508 MoveCam Move3D: Synchronizing the axes via cam disc synchronism and moving the axes with the aid of the virtual master.

FB 509 MC_CalcCam Move3D: Generation of the cam discs required for the interpolated motion with the interpolation point table. This block uses the technology functions FB 581, FB 582 and FB 583.


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FB 581 CamClear Move3D: Technology function for resetting the cam discs.

FB 582 CamInterpolate Move3D: Technology function for interpolating the calculated cam discs.

FB 583 CamSectorAdd Move3D: Technology function for adding calculated sectors to the cam discs.

FC 505 Check_Axes_and_Cams Move3D: Checking the axes and cam discs defined at the inputs of FB 505.

Technology function blocks FB 401 MC_Power Enabling / disabling axis FB 402 MC_Reset Acknowledging errors / alarms FB 403 MC_Home Homing axis / setting position /

performing absolute encoder adjustment FB 405 MC_Halt Stopping axis with normal stop FB 407 MC_WriteParameter Changing parameters FB 410 MC_MoveAbsolute Absolute positioning, i.e., moving an axis

to a defined position FB 414 MC_MoveVelocity Moving axis with speed specification FB 420 MC_GearIn Starting gear synchronism FB 421 MC_CamIn Starting cam disc synchronism FB 438 MC_GetCamPoint Reading out point at a specific position

from a cam disc. FB 440 MC_GearInSuper-

Imposed Starting overlapping gear synchronism

System function blocks SFC 20 BLKMOV Copying a memory area. SFC 24 TEST_DB Checking a data block. SFC 46 STP Setting CPU to stop.

3.2 Overview of the program structure

The figure provides an overview of the call structure of the blocks of the application example’s overall control program.

The program is divided into three sections:

• Axes / transformation: This section enables the axes of the application and ensures the necessary synchronization of the axes for the realization of the coordinate transformation to control the “cross slide”.


Program Structure


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• Operation / control: The higher-level control of the application example is performed in this section. It is possible to use the HMI to intervene in the functional sequence of the application.

• “Move 3D” technology template: Here the “Move3D” technology template is integrated in the program. It is used for the interpolated motion in the XY plane. The technology template is parameterized and controlled via the “Operation/control” section.

The individual sections will again be explained in greater detail in the following chapters. The technology function blocks used in this process will also be explained in these chapters. Figure 3-1 Overview of the program structure (without technology FBs)

STL

FB 505 “Move3D”DB 505 “idb_Move3D”

STL

STLOB 1 “MainCycle”

OB 100 “Complete_Restart”

STL

STL

STL

FB 100 “AxesControl”DB 100 “idb_AxesControl”

FB 900 “HMI”DB 900 “idb_HMI”

FB 50 “Control_General”DB 50 “idb_Control_General”

STL

FB 70 “Control_Axis_Auto”DB 70 “idb_Control_Axis_Auto”

STL

FB 60 “Control_Axis_Manual”DB 60 “idb_Control_Axis_Manual”

SFC 46 “STP”

Operationandcontrol

Axes / transformation

STL

STL

FB 509 “MC_CalcCam”

FB 508 “MoveCam”

STL

FB 512 “MC_MoveJOG”Axis X

STL

FC 512 “MC_MoveJOG”Axis Y

“Move 3D”technologytemplate

STLFB 513 “CS_GearIn”

SFC 46 “STP”

3.2.1 Section: Axes / transformation

In the “Axes / transformation” section, all axes of the application example are enabled and, if required, reset. In addition, the synchronization of the axes for performing the coordinate transformation is realized in this section.

FB 100 “Axes_Control” manages the technology function calls for enabling the axes via the FB 401 “MC_Power” technology function and resetting the axes via FB 402 “MC_Reset”. This block is also used to manage the reset jobs for the internal axes of the “Move3D” technology template. An additional option of this block is to preset a defined position


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value for the “cross slide” axes with the aid of the FB 403 “MC_Home” technology function.

FB 513 “CS_GearIn” is used for the synchronization of the master and slave axes of the “cross slide” to realize the coordinate transformation. The master and slave axes of the “cross slide” are synchronized via the technology functions FB 420 “MC_GearIn” and FB 440 “MC_GearInSuperImposed”.

Before synchronizing the master and slave axes, the inverse transformation in FB 513 “CS_GearIn” is additionally applied. The position of the master axes X and Y is determined from the positions of the slave axes A1 and A2 of the “cross slide”. The corresponding position is then preset for the axes X and Y via the FB 403 “MC_Home” technology function. Figure 3-2 Structure of FB 100 “Axes_Control”

STL

FB 100 “Axes_Control”DB 100 “idb_Axes_Control”

STL

FB 513“CS_GearIn”

FB 401 “MC_Power”

SFC 46 “STP”

FB 402 “MC_Reset”

Coordinate transformation “cross slide”

FB 403 “MC_Home”


FB 405 “MC_Halt”



3.2.2 Section: Operation / control

In the “Operation / control” section, the inputs are converted via the HMI and the sequential control of the application example is realized from this data.

FB 50 “Control_General” enables to change between the two modes manual and automatic.

FB 900 “HMI” is used for the conversion of inputs via the HMI into the numerical formats expected by the sequential program and the provision of data from the sequential program which are to be displayed on the HMI.


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Figure 3-3 Structure of FB 50 “Control_General”

STL

FB 50 “Control_General”DB 50 “idb_Control_General”

STL

FB 900 “HMI”DB 900 “idb_HMI”

STL

FB 60 “Control_Axis_Manual”DB 60 “idb_Control_Axis_Manual”

SFC 46 “STP”


FB 414 “MC_MoveVelocity”

STL

FB 70 “Control_Axis_Auto”DB 70 “idb_Control_Axis_Auto”

FB 401 “MC_Power”

SFC 46 “STP”

FB 410 “MC_MoveAbsolute”

Mode: Manual

Mode: Automatic

STL

FB 512 “MC_MoveJOG”Axis X


FB 414 “MC_MoveVelocity”STL

FB 512 “MC_MoveJOG“Axis Y

“MoveJOG” technology template

“MoveJOG” technology template

“Manual” mode In manual mode block FB 60 “Control_Axis_Manual” is active via which the two virtual axes Axis X and Axis Y can be controlled. To control the axes, a corresponding multi-instance of the “MoveJOG” template is used, which is integrated in the program via block FB 512 “MC_MoveJOG”.

The respective axis can be moved in the positive and negative direction via FB 512 “MC_MoveJOG”. When controlling the direction inputs of the block, the axis is set in motion via the FB 414 “MoveVelocity” technology function. When the direction input of the block is reset, the FB 405 “MC_Halt” technology function is used to stop the axis.

“Automatic” mode In automatic mode block FB 70 “Control_Axis_Auto” is active via which the “Move 3D” technology template is activated to control the automatic motion of the axes Axis X and Axis Y with the interpolation point table of the travel motion. The interpolation points for the interpolation of the travel motion are also provided in this block for the “Move 3D” technology template.

The internal axes of the “Move 3D” technology template for the automatic motion of the axes are enabled via the FB 401 “MC_Power” technology function in this block. But the actual processing of the “Move 3D” technology template within the program execution occurs in the ““Move 3D” technology template” section, which will be explained in greater detail in the next chapter.

However, the automatic motion of the axes Axis X and Axis Y via the “Move 3D” technology template can only be started if the axes are within a specific tolerance range. If this is not the case, block FB 70 “Control_Axis_Auto”


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offers the option to move the axes to the corresponding position via FB 410 “MC_MoveAbsolute”.

3.2.3 Section: “Move 3D” technology template

In the ““Move 3D” technology template” section, the automatic travel motion is realized in automatic mode of the application example.

At this point of the program execution the “Move 3D” technology template is called to be able to influence the internal axes of the template by FB 505 “Move3D” also in the event of an error.

To perform the automatic travel motion, the interpolation point table of the desired motion is transferred to FB 505 “Move3D” and the block is started. The block calls FB 509 “MC_CalcCam” which generates the cam discs necessary for the travel motion with the technology template from the interpolation point table. Subsequently, FB 508 “MoveCam” is called which synchronizes the internal template axes to Axis X and Axis Y of the “cross slide” via the cam discs and starts the travel motion. Figure 3-4 Structure of FB 505 “Move3D”

STL

FB 505 “Move3D”DB 505 “idb_Move3D”

STL

FB 509“MC_CalcCam”

SFC 46 “STP”

FB 581 “CamClear”

FB 582 “CamInterpolate”

STL

FB 508“MoveCam”


SFC 46 “STP”


Providing the necessarycam discs

“Move3D” technology template


FB 407 “MC_WriteParameter”

FB 410 “MC_MoveAbsolute”

FB 421 “MC_CamIn”

FB 438 “MC_GetCamPoint”

SFC 24 “TEST_DB”

FB 583 “CamSectorAdd”

SFC 20 “BLKMOV”

STL

FC 505“Check_Axes_and_Cams” SFC 24 “TEST_DB”

Performing the interpolated motion via the calculated cam discs

Providing the necessary cam discs The provision of the necessary cam discs is realized by block FB 509 “MC_CalcCam”. The interpolation point table that is stored in a data block is used as a basis. From this table the block calculates the required parameters to generate the desired cam discs for the axes Axis X and Axis Y. For this purpose, the cam discs are reset via FB 581 “CamClear”. Cam disc segments are added to the newly generated cam discs via


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FB 583 “CamSectorAdd” and the thus generated cam discs are then interpolated for the use by the “Move 3D” technology template via FB 582 “CamInterpolate”.

Performing the interpolated motion via the calculated cam discs The actual interpolated motion is performed with the aid of block FB 508 “MoveCam”. FB 403 “MC_Home” is used to set the internal axes of the technology template to a defined position and FB 438 “MC_GetCamPoint” is used to determine the setpoint position of the axes X and Y in order to be able to perform the tolerance check before performing the motion.

If the axes are in the tolerance range, the axes are synchronized with the aid of the cam discs via FB 421 “MC_CamIn”. Subsequently, the internal axis Axis Master is started via FB 410 “MCMoveAbsolute” and the interpolated motion of the axes Axis X and Axis Y is performed. At the end of the motion the synchronization of the axes is disabled via FB 405 “MC_Halt” and all axes return to idle status.

Additional functions of FB 505 “Move3D” Additional blocks for special checks or additional functions are called from FB 505 “Move3D”.

If an error occurs, the axes can be stopped and the synchronization between the axes can be disabled via FB 405 “MC_Halt”.

After starting FB 505 “Move3D”, the defined axes and cam discs are checked with the aid of FC 505 “Check_Axes_and_Cams” to avoid malfunctions.

The override function of the interpolated motion is additionally realized via the FB 407 “MC_WriteParameter” technology function. With the aid of the technology function the selected velocity percentage is cyclically transferred to the override function of the integrated technology of the technology CPU.

Note A separate documentation is available for the “Move3D” technology template in which the functional sequence within the template is explained in detail.


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3.3 Sequential control of the application example

The graphic representation below illustrates the basic sequence of the application example. The sequences in the individual functions will be described in greater detail in the following chapters. Figure 3-5 Sequential control of the application example

Error

Start Mode selection

Mode:Manual

Enable and

preparation ofthe axes

Mode:Automatic

Acknowledge

FB 50 “Control_General”FB 100 “AxesControl”

If an error occurs during the execution of the application example, a change to the “Error” status is possible from each function. In this status, the axes of the application example are stopped. Use “Acknowledge” to return to the execution.

3.3.1 Enable and preparation of the axes

To activate the “cross slide”, the following functions are executed for “enable and preparation of the axes” Figure 3-6 Enable and preparation of the axes

Start Enableaxis X / Y

Enabledrive A1 / A2

Calculation ofinverse

transformation

Calibration ofaxis X / Y

Synchronizationof

axes

End

FB 100 “AxesControl”

FB 1000 “CS_GearIn”

First, the drives A1 and A2 of the “cross slide” are enabled. If the drives are closed-loop-controlled, the synchronization process is started.


Program Structure


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When synchronizing, the inverse transformation is calculated first and the position of the drives A1 and A2 is used to determine the position of the axes X and Y from this data. The axes X and Y are then calibrated with this position. After calibrating, the slave axes drive A1 and drive A2 are synchronized to the master axes X and Y via the technology functions “Gear Synchronization” and “Overlapping Gear Synchronism”.

After a successful synchronization the master axes X and Y are enabled and the “cross slide” is ready.

3.3.2 Control of the manual travel motions

In “manual” mode the travel motion is controlled exclusively via the “MoveJOG” technology template. No further sequential control is required.

Jog buttons that are directly transferred to the technology template are used to control the template from the HMI.

3.3.3 Sequential control of the automatic process

The sequential control of the automatic process is fully realized in FB 70 “Control_Axes_Auto” and illustrated in the graphic representation below. Figure 3-7 Sequential control of the automatic process (FB 70 “Control_Axes_Auto”)

Error

Start Preparestart

Quit: Execute 0 1

End

Generateinterpolationpoint table

Move tostartingposition

Travelmotionforward

Wait

Travelmotionreverse

Wait

During the preparations for the start the technology functions of the block are reset.

In the next step the interpolation point table is prepared for performing the travel motion. During each execution the target position of the travel motion is newly adjusted so that a pick and place motion is simulated in the application example.


Program Structure


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Then the travel motion is started in the forward direction by means of the interpolation point table. If the axes X and Y are outside the tolerance range for the start of the travel motion, they can be moved to the starting position via a separate status. In this case, the travel motion in the forward direction is subsequently restarted.

The waiting at the target point of the travel motion lasts approx. 2 seconds.

Then the travel motion in the reverse direction is started by means of the same interpolation point table.

The waiting at the end of the travel motion again lasts approx. 2 seconds. The automatic process of the “cross slide” can be stopped here. Otherwise, the sequential control returns to the “Generate interpolation point table” status and the execution restarts.

Configuration of the Technology CPU

Configuration in HW Config


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This section explains the basic configuration steps in the SIMATIC Manager and in S7T Config that are included in the “cross slide” application example.

4 Configuration in HW Config

The “cross slide” application example does not require particular configuration steps in HW Config.

The Technology CPU 317T-2 DP is to be configured as CPU in HW Config. Due to the block size of the “Move 3D” technology template, the use of the Technology CPU 315T-2 DP is not possible.

The configuration of PROFIBUS on the DP(DRIVE) interface of the technology CPU is optional and can, if required, be used to connect a real drive such as the SINAMICS S120 training case. Figure 4-1 Configuration in HW Config

When using the technology CPU, it has to be observed that the system data of the integrated technology are generated. Double-click Technology to open the configuration dialog box and in the Technology System Data tab, check Generate technology system data.


Configuration in S7T Config


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Figure 4-2 Generating system data of the integrated technology

Subsequently, the hardware configuration has to be saved and compiled before HW Config can be closed.

5 Configuration in S7T Config

To control the “cross slide” from the integrated technology of the technology CPU, different configurations and settings have to be made in S7T Config which will be explained in greater detail in this chapter.

These configurations are already included in the “cross slide” application example. This chapter informs you on the backgrounds of the settings and characteristic features and deviations from the standard setting.

5.1 Overview of the configuration

The complete configuration of the “cross slide” in S7T Config requires the following configuration steps which will be explained in detail in the following chapters.

• Creating the necessary axes To use the axes in the application example, a suitable configuration in S7T Config is required.




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– Master axes of the “cross slide” The axes X and Y are the master axes of the “cross slide” and are created as virtual synchronized axes in S7T Config to provide the option to control these axes via the “Move 3D” technology template.

– Slave axes of the “cross slide” The slave axes of the “cross slide” form the connection to the drives A1 and A2 and are configured as synchronized axes in S7T Config. In the application example, these axes are virtual axes. However, real axes with a connected mechanical system can also be used here.

– Virtual axes for “Move 3D” These axes are the internal axes of the “Move 3D” technology template and have to be created as virtual axes in S7T Config according to template specification. Axis Master is to be created as a positioning axis and Axis VM as a synchronized axis.

– Changing the setting to pseudo real axes To enable to provide the “cross slide” axes with hardware limit switches, the virtual master axes X and Y must be set to pseudo real axes so that the limit switch signals can be transferred in the X and Y direction to these axes.

• Configuration of the synchronous relationships To perform the coordinate transformation of the “cross slide”, master and slave axes have to be connected in the integrated technology via synchronous relationships. This requires the creation of synchronous objects for basic gear synchronism and overlapping gear synchronism.

– Basic gear synchronism Connection between master and slave axes in the basic coordinate system. The axes X and Y have to be entered as possible master axes.

– Overlapping gear synchronism Connection between master and slave axes in the overlapping coordinate system. The axes X and Y have to be entered as possible master axes.

• Setting the necessary technology parameters The configuration of the master and slave axes of the “cross slide” requires additional settings in the technology parameters of the axes X and Y, or A1 and A2.

– Closed-loop control Since the pseudo real axes X and Y feature a control loop, the control parameters have to be adapted to the properties of these axes.

– Mechanics The settings of the “cross slide” slave axes have to be adjusted to the mechanical system so that the desired travel motions of the “cross slide” can be achieved via the drives A1 and A2.




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5.2 Creating the necessary axes

To configure and parameterize the individual axes of the application example, the following technology objects have to the created in S7T Config: Figure 5-1 Axes of the “cross slide” application example

Slave axes / drives of the “cross slide”

Master axes of the “cross slide”

Internal axes of “Move 3D”

5.2.1 Master axes of the “cross slide”

The master axes of the “cross slide”, the axes X and Y, provide the master values for the coordinate transformation with the aid of the Gear Synchronism technology functions. For this reason, they are created as virtual axes. Figure 5-2 Axis configuration master axes – virtual axis




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Note The axis type setting is changed to “electrical axis” when the axis is set to a pseudo real axis!

When newly creating the master axes of the “cross slide”, the “virtual axis” setting has to be selected.

In addition, it also has to be possible to control the axes X and Y as slave axes to be able to operate the “cross slide” via the “Move 3D” technology template, for example, in “automatic” mode. For this reason, the axis is created as a synchronized axis. Figure 5-3 Axis configuration master axes – synchronized axis

5.2.2 Slave axes of the “cross slide”

For the coordinate transformation, the slave axes of the “cross slide”, the drives A1 and A2, are synchronized to the master axes via the Gear Synchronism technology functions. For this reason, they are created as synchronized axes.




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Figure 5-4 Axis configuration slave axes – synchronized axis

In the application example, these axes are also created as virtual axes. If, however, a real “cross slide” is to be operated, these axes have to be created as real electrical axes. Figure 5-5 Axis configuration slave axes – virtual / electrical axis




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5.2.3 Virtual axes for “Move 3D”

The internal axes of the “Move 3D” technology template are created as virtual axes in S7T Config. Figure 5-6 Virtual axes of the “Move 3D” template


CamVM

AxisX

AxisY

AxisZ

AxisVM

AxisMaster

CamY

CamZ

CamX


-1

+1

-1

-1

AxisA1

AxisA2

Axis Master is only used as a master axis for the internal execution of the “Move 3D” technology template and can consequently be created as a positioning axis. Figure 5-7 Axis configuration Move 3D – positioning axis

Virtual positioning axis

Virtual synchronized axis Axis not created in

the application example.

Leitachsen des „Cross Slide“

Master axes of the “cross slide”




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Axis VM is simultaneously Axis Master and master axis for the coordinate axes Axis X and Axis Y so that this axis has to be created as a synchronized axis.

5.2.4 Changing the setting to pseudo real axes

Due to the coordinate transformation of the “cross slide”, there is no direct link between the motion of the “cross slide” in the XY plane and the (real) drives A1 and A2.

A hardware limitation of the operating range of the “cross slide” by hardware limit switches is not possible by assigning the limit switches to the drives A1 and A2. In the integrated technology, the travel of the drives A1 and A2 cannot be uniquely assigned to a direction of motion of the “cross slide” in the XY plane.

Example:

The inverse transformation formula shows that the “cross slide” position in the X direction depends on both the position of drive A1 and the position of drive A2.

⎥⎦

⎤⎢⎣

⎡⋅⎥

⎦

⎤⎢⎣

⎡−+−−

⋅=⎥⎦

⎤⎢⎣

⎡21

)1()1()1()1(

21

AA

yx

or

( )

( )2121

2121

AAy

AAx

−=

−−=

For example, a limitation of the travel of drive A1 does not directly cause a limitation of the travel of the “cross slide” in the X direction since the X position additionally depends on the position of drive A2. Depending on the position of drive A2, the “cross slide” could still be in the permissible travel range in the X direction or not.

To solve this problem, the virtual master axes of the “cross slide”, Axis X and Axis Y, are set to pseudo real axes. The axes then act as real axes without real drive. This enables to directly connect the hardware limit switches in the XY plane to the master axes Axis X and Axis Y of the “cross slide”. These axes are directly linked to the “cross slide” motion in this plane, which enables to easily assign the limit switches to the axis directions.

For safety reasons, it must be additionally ensured that a motion of the “cross slide” slave axes cannot occur without a motion of the master axes. This is provided by the exclusive synchronization of the slave axes to the master axes via the coordinate transformation and the enable sequence of the axes in the application example.

Characteristic features of a pseudo real axis Pseudo real axes have the following characteristic features:

• These axes are virtual axes which are not equipped with real drives.




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• By changing the setting, the virtual axis receives a position control with definable control parameters.

• The drive for the pseudo real axis is simulated by a PT1 low pass with a time constant of 10ms.

• Homing options as for a real axis exist for these axes.

• For this axis, hardware limit switches can be defined whose signals can be read into the controller via inputs of the distributed I/O on the DP(Drive) interface of the technology CPU (logical address must be ≥64).

Procedure for changing the setting of a virtual axis To change the axis setting of the virtual axes to a pseudo real axis, proceed as described in the following table: Table 5-1 Changing the setting of a virtual axis to a pseudo real axis

No. Instruction

1. Use the context menu of the corresponding virtual axis to call the expert list of this axis.




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No. Instruction

2. Select Configuration data and set the parameters listed below in the shown order.

3. Set the axis type: TypeOfAxis.typeOfAxis = REAL_AXIS

4. Set the drive interface:

TypeOfAxis.SetPointDriverInfo.mode = SIMULATION TypeOfAxis.SetPointDriverInfo.outputNumberOnDevice =0




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No. Instruction

5. Configure the encoder of the drive: TypeOfAxis.NumberOfEncoders. Encoder_1.encoderIdentification = SIMULATION

6. Set the driver information for the encoder interface: TypeOfAxis.NumberOfEncoders. Encoder_1.DriverInfo.encoderNumberOnDevice = 0

ATTENTION After the axis has been set to “pseudo real”, the Wizzard for the axis configuration must no longer be called or run since otherwise the configuration of this axis as “pseudo real” is lost!

5.3 Creating the necessary cam discs for “Move 3D”

To use the “Move 3D” technology template in the application example, three cam discs have to be additionally created in S7T Config.




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Figure 5-8 Cam discs of the “cross slide” application example

Cam disc for velocity adaptation

Cam discs of the motion components in X and Y

When creating a new cam disc, set the Interpolation point table type. All further settings and the generation of the necessary cam discs are performed by the “Move 3D” technology template. Figure 5-9 Creating the cam discs for “Move 3D”

5.4 Configuration of the synchronous relationships

The following synchronous relationships have to be configured for the coordinate transformation of the “cross slide” and the automatic axis motion via the “Move 3D” technology template:




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Figure 5-10 Configuration of the synchronous relationships


CamVM

AxisX

AxisY

AxisZ

AxisVM

AxisMaster

CamY

CamZ

CamX

“Cross slide”transformation“

-1

+1

-1

-1

AxisA1

AxisA2

5.4.1 Basic synchronism gear

The basic synchronism gear for performing the coordinate transformation of the “cross slide” is called via Configuration of the synchronous object of the corresponding slave axis (here: Axis A1) of the “cross slide”. Figure 5-11 Configuration of the basic synchronism gear

The slave axis Axis A1 of the “cross slide” is connected to the master axes Axis X and Axis Y of the “cross slide” via setpoint coupling.

Basis-Gleichlauf Kurvenscheibe

Basis-Gleichlauf Kurvenscheibe

Basic synchronism cam disc

Überlagerter Gleichlauf Getriebe

Overlapping synchronism gear

Basis-Gleichlauf Getriebe

Basic synchronism gear




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Further connection options do not have to be configured since this axis is always controlled via the coordinate transformation of the “cross slide” and consequently always via the axes Axis X and Axis Y. Figure 5-12 Definition of possible master axes

The configuration of the basic synchronism gear now has to be repeated for Axis A2.

5.4.2 Overlapping synchronism gear

Before the overlapping synchronism gear can be configured, a superimposed synchronous object has to be inserted via the context menu of the slave axis Axis A1. Figure 5-13 Inserting a superimposed synchronous object




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Subsequently, the overlapping synchronism gear for performing the coordinate transformation of the “cross slide” can be called via Configuration of the superimposed synchronous object of the slave axis (here: Axis A1) of the “cross slide”. Figure 5-14 Configuration of the overlapping synchronism gear

Also in the overlapping synchronism gear, the slave axis Axis A1 is connected to the master axes Axis X and Axis Y via setpoint coupling.

No further connection options have to be configured. Figure 5-15 Definition of possible master axes

The configuration of the overlapping synchronism gear now has to be repeated for Axis A2.




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5.4.3 Basic synchronism cam disc

Finally, the coupling types in basic synchronism cam disc have to be defined for the slave axes of the “Move 3D” technology template.

The setpoint coupling settings shown in the figures have to be made for the axes Move3D_Axis_VM and Axis_X_PseudoReal and Axis_Y_PseudoReal.

Figure 5-16 Definition of possible master axes and cam discs – Move3D_Axis_VM

Figure 5-17 Definition of possible master axes and cam discs – Axis_X




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Figure 5-18 Definition of possible master axes and cam discs – Axis_Y

5.5 Setting the necessary technology parameters

To complete the configuration of the “cross slide” in S7T Config, additional settings are required on the created technology objects.

5.5.1 Closed-loop control

By changing the setting to pseudo real axes, the virtual axes Axis_X_PseudoReal and Axis_Y_PseudoReal have received a position control loop with definable control parameters. The parameters of this position control loop of these axes now have to be adjusted so that the behavior of these axes readapts to a virtual axis without position control.

To achieve this, the servo gain factor of the position control loop in the Closed-Loop-Control section must be set to a value that is as large as possible for these axes to achieve fast reactions of the axis to changes of the input variables. However, it has to be observed that no oscillating system is generated via the position control loop.




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Figure 5-19 Setting the servo gain factor for pseudo real axes

5.5.2 Mechanics

If the “cross slide” is not, as in the application example, to be operated as a virtual machine but with real axes, the leadscrew pitch has to be set in the Mechanics section for the drives A1 and A2.

The covered distance of the axis per motor revolution is defined via the leadscrew pitch. For the “cross slide”, the length of the single belt has to be entered which is transported per motor revolution of the drive.

In general, this information corresponds to the circumference of the drive wheel which can be calculated using the following formula:

ππ ⋅=⋅⋅= DritchLeadscrewP 2 r

D

LeadScrewPitch




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Figure 5-20 Mechanics section – setting the leadscrew pitch

Characteristic Features of the “Cross Slide”

Hardware Limit Switches


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All notes and characteristic features listed in this section refer to a realization of a “cross slide” with real axes and real mechanics. This chapter is intended to provide support for the realization of a real system with technology CPU, SINAMICS S120 drive system and real “cross slide” mechanics.

6 Hardware Limit Switches

The hardware limit switches are used to protect the “cross slide” mechanics and to limit the travel paths of the “cross slide” in the XY plane.

Particular attention has to be paid to the attachment of the hardware limit switches to the “cross slide” mechanics, to the signal transmission to the integrated technology of the technology CPU and the connection of the limit switch signals to the technology objects in the integrated technology.

6.1 Assignment of the hardware limit switches

The limit switches of the “cross slide” limit the travel ranges of the movable slide in the X direction and of the moving cross bar in the Y direction.

The graphic representation below shows the assignment of the hardware limit switches to the corresponding axis direction, particular attention has to be paid to the attachment of the limit switches in the Y direction. Figure 6-1 Assignment of the hardware limit switches

Y

X

A1 A2

Hardware limit switch Y-

Hardware limit switch X+

Hardware-Endschalter X-

Hardware limit switch Y+




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6.2 Transmission of the limit switch signals via Profibus

The hardware limit switches are to be evaluated in the integrated technology of the technology CPU; this requires that the switching signals have to be transmitted to the technology CPU via DP(Drive).

This ensures that the limit switches can be connected to the DP(Drive) interface via a distributed I/O module or directly to the digital inputs of the CU320 control unit of the SINAMICS S120 drive system.

This chapter explains the direct connection to the drive in greater detail.

6.2.1 Basic procedure

The hardware limit switches are connected to the integrated digital inputs of the CU320 of SINAMICS S120 with negative logic. The use of the negative logic increases the safety, e.g., in the event of a wire break.

The switching signals are transferred from the CU320 to the integrated technology of the technology CPU via Profibus. Profibus message frame 390 of the CU320 is used.

The integrated technology then evaluates the switching signals of the hardware limit switches and supplies them to the correspondingly configured technology object. Figure 6-2 Basic design for the interfacing of hardware limit switches

Y

X

A1 A2X- X+

Y-

Y+

A1 A2

Note The I/O addresses of the input signals of the hardware limit switches in the technology CPU must be ≥64 since only these address ranges can be configured in the integrated technology of the technology CPU.




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6.2.2 Profibus message frame 390 of the CU320 control unit

The manufacturer-specific Profibus message frame 390 of the CU320 control unit of SINAMICS S120 directly provides the functionality for the signal transmission of the digital inputs and outputs of the SINAMICS S120 control unit from or to the technology CPU.

The second word of Profibus message frame 390 from the drive to the CPU (set values) includes the status of the digital inputs (DIx) of the CU320 control unit of SINAMICS S120. Figure 6-3 Structure of Profibus message frame 390

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0CU_STW (CU control word) O_DIGITAL

Reserved DO15

DO14

DO13

DO12

DO11

DO10

DO9

DO8ReservedReserved

Sign of life master

Message frame390

CUdigital IOs

Reset fault Synchronization flag (synchronize system time)

SETPOINT

PZD 0 PZD 1

ACTUAL 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0CU_ZSW (CU status word) I_DIGITAL

Reserved DI15

DI14

DI13

DI12

DI11

DI10

DI9

DI8

DI7

DI6

DI5

DI4

DI3

DI2

DI1

DI0

ReservedSign of life

slave

Message frame390

CUdigital IOs

Warning effective

Fault effective

System time synchronized

PZD 0 PZD 1

When assigning the digital input signals representing the hardware limit switches, it has to be observed in S7T Config that the words and doublewords on Profibus are transferred in big endian format. This means that always the low-order bits are sent in the high-order byte of the message frame word.

6.2.3 Message frame structure in HW Config

When integrating the message frame for the transmission of the hardware limit switch signals into HW Config, the basic message frame sequence for the data transmission from or to the drive objects has to be observed.

The message frame structure and thus the message frame sequence is shown in the graphic representation below. Figure 6-4 Message frame structure

Controlunit Smart

linemodule

Doublemotor

module

X1 X2

Message frame structure

Header Activeinfeed

Servo 1(X1)

Servo 2(X2)

Terminalboard

Controlunit Trailer

Omittedin this

configuration

Omittedin this

configuration




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Since the configuration of the cross slide for SINAMICS S120 includes neither an active line module as power supply nor a terminal board for the I/O expansion, these parts of the message frame can be omitted.

For this reason, first the message frames for the drives A1 and A2 (message frame 105) and finally the message frame for the CU320 control unit (message frame 390) have to be configured in HW Config. Figure 6-5 Message frame structure in HW Config (sequence of the message frames)

6.3 Connecting the hardware limit switches to the technology object

After configuring, the I/O addresses of the limit switch signals have to be determined. The address range of message frame 390 can be read either in HW Config or in S7T Config in the SINAMICS S120 configuration. Figure 6-6 Determining I/O addresses of the message frame – HW Config




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Figure 6-7 Determining I/O addresses of the message frame – SINAMICS S120

The address of the digital inputs on SINAMICS S120, to which the hardware limit switches are connected, now has to be determined observing big endian format. This is illustrated by the graphic representation below. Figure 6-8 Bit address of the hardware limit switches

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0CU_ZSW (CU status word) I_DIGITAL

Reserved DI15

DI14

DI13

DI12

DI11

DI10

DI9

DI8

DI7

DI6

DI5

DI4

DI3

DI2

DI1

DI0

ReservedSign of life

slave

Message frame390

CUdigital IOs

Warning effective

Fault effective

System time synchronized

ACTUAL

PZD 0 PZD 1

Address 296 297 298 299

Limit switch X+

Limit switch X-

Limit switch Y+

Limit switch Y-

7 6 5 4 3 2 1 0

298.0298.1

298.2298.3

I/O addresses

Bit 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0

In S7T Config, the determined I/O addresses can now be entered on the axes Axis_X_PseudoReal and Axis_Y_PseudoReal in the Limits section and activated. Figure 6-9 Connecting the hardware limit switches


Additional Functions of FB “CS_GearIn”


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7 Additional Functions of FB “CS_GearIn”

Function block FB 513 “CS_GearIn”, which performs the coordinate transformation of the cross slide, can be used as a template for your own applications with special kinematics. Particularly for the cross slide application, this block offers several additional functions that can be used to adjust the transformation to a real mechanical system.

These additional functions can be accessed via variables in the instance data block of FB 513 “CS_GearIn”. Figure 7-1 Interfaces of FB 513 “CS_GearIn”


Execute All_InGearBusyCommandAbortedErrorErrorIDErrorSource

Axis_Master_X

Axis_Master_Y

Axis_Slave_A1

Axis_Slave_A2

ChangeDirection_X

ChangeDirection_Y

AdjustNumerator_X

AdjustNumerator_Y

Multi-instancesand

internal variables

DBW 8

DBW 10

DBW 12

DBW 14

DBX 16.0

DBW 18

DBX 16.1

DBW 20

Instance data block

Block outputs

Block inputs

DBX 0.0

DBX 2.0

DBW 22

The following functions can be set via the variables of the instance data block:

• Definition of the master and slave axes of the “cross slide”: Via this area of the instance data block, the numbers of the technology objects can be defined which represent the master and slave axes of the “cross slide”.

• Reversal of the direction of motion: These bits enable to reverse the direction of motion between the master axis and the actual “cross slide” motion via the slave axes.

• Fine adjustment of the positioning accuracy: Via these variables, a fine adjustment of the positioning accuracy of the “cross slide” can be performed via the gear ratios of the synchronization functions “MC_GearIn” and “MC_GearInSuperImposed”.




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7.1 Reversal of the direction of motion

The direction of motion of the “cross slide” in the XY plane can be adjusted via the bits Change_Direction_X and Change_Direction_Y.

If the corresponding bit is set to “True”, a negative factor is activated for the selected direction which affects the gear ratios of the respective synchronous coupling. The position value of the virtual master axis Axis_X or Axis_Y is thus invertedly output to the slave axes Axis A1 and Axis A2; due to this, a reversal of the direction of motion of the “cross slide” is achieved. Figure 7-2 Principle of the reversal of the direction of motion

AxisX

AxisY


-1

+1

-1

-1

AxisA1

AxisA2

+1-1

+1-1

ChangeDirection_X

ChangeDirection_Y

Note The reversal of the direction of motion by setting or resetting the corresponding bits in the instance data block is only activated after desynchronizing and resynchronizing the master and slave axes of the “cross slide” by FB 513 “CS_GearIn”.

7.2 Fine adjustment of the positioning accuracy

Via the variables AdjustNumerator_X and AdjustNumerator_Y, the numerators of the factors for the basic gear synchronism and the overlapping gear synchronism can be additively adjusted in a display as a fraction.

In FB 513 “CS_GearIn”, the value specified at the input is added to the numerator of the basic gear ratio that is specified via the transformation formula.

The gear ratio can be increased via positive factors and it can be decreased via negative factors.




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Figure 7-3 Principle of the fine adjustment of the positioning accuracy

AxisX

AxisY


AxisA1

AxisA2

AdjustNumerator_X

AdjustNumerator_Y

2000

1000 + __

2000

1000 + __

2000

1000 + __

2000

1000 + __

The fine adjustment of the gear ratios is used for adjusting the “cross slide” transformation to possible inaccuracies in the mechanical system.

If the “cross slide” does not reach the specified position when positioning to an absolute value, the motion of the “cross slide” can be adjusted via the fine adjustment.

Note The fine adjustment of the “cross slide” is only activated after resynchronizing the “cross slide” axes.

When the fine adjustment is changed, the synchronization of the “cross slide” has to be disabled by resetting and again setting the Execute bit of block FB 513 “CS_GearIn” and reactivated.

7.3 Using FB 513 “CS_GearIn” in your own applications

If FB 513 “CS_GearIn” is to be used as a template for your own applications, a precise description of the block interface and the error messages output by the block is available here.

Since the block is not protected, it can be used as a basis for your own function extensions.

7.3.1 Interface of FB 513 “CS_GearIn”

Function block FB 513 “CS_GearIn”, which performs the coordinate transformation of the “cross slide”, provides the following interface:




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Figure 7-4 Interfaces of FB 513 “CS_GearIn”


Execute All_InGearBusyCommandAbortedErrorErrorIDErrorSource

Table 7-1 Block interface

Parameter Data type Initial value Description

Input parameter Execute BOOL False Synchronizing and

desynchronizing the axes of the “cross slide” If Execute is set, the axes are synchronized via the synchronism functions. If Execute is reset when the axes are synchronized, the synchronization of the axes is disabled.

Output parameter All_InGear BOOL False The synchronization of the

axes is active and the “cross slide” can be moved via the master axes.

Busy BOOL False Execute = True: The synchronization of the axes was triggered or the axes are synchronized. Execute = False: The desynchronization of the axes is not yet completed.

CommandAborted BOOL False The execution of an internal technology function was aborted by another technology function. ErrorSource provides more detailed information on the technology function.




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Parameter Data type Initial value Description

Error BOOL False An error has occurred during the execution of an internal technology function. The occurred error code can be read via ErrorID. ErrorSource provides more detailed information on the technology function.

ErrorID WORD 0 Error code of the technology function or of block “CS_GearIn”.

ErrorSource WORD 0 Precise definition of the error source where an error has occurred or which technology function has been replaced by another technology function.

7.3.2 Error codes at the “ErrorID” output

The ErrorIDs 00xxHEX and 8xxxHEX correspond to the warning and error messages of the technology functions and are not further explained in this table. Table 7-2 Error codes at the “ErrorID” output

ErrorID [HEX]

Meaning Note

0000 No error 9000 “Division by 0” when calculating the

inverse transformation. The divisor of the inverse transformation is less than 0.001. For this reason, a division is not possible.

7.3.3 Error codes at the “ErrorSource” output

Table 7-3 Error codes at the “ErrorSource” output

ErrorSource [HEX]

Meaning Note

0000 No error Step 1: Calculation of the inverse transformation

F101 Error: “Division by 0” when calculating the inverse transformation.




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ErrorSource [HEX]

Meaning Note

Step 2: Performing the inverse transformation via “MC_Home” X/Y F201 Error: Performing the inverse transformation

via “MC_Home” on Axis X FB 403 “MC_Home”

F202 Error: Performing the inverse transformation via “MC_Home” on Axis Y


F203 CommandAborted: Performing the inverse transformation via “MC_Home” on Axis X


F204 CommandAborted: Performing the inverse transformation via “MC_Home” on Axis Y


Step 3: Synchronization via “MC_GearIn” F301 Error: Synchronization of the slave axis Axis

A1 via “MC_GearIn” FB 420 “MC_GearIn”

F302 Error: Synchronization of the slave axis Axis A2 via “MC_GearIn”


F303 CommandAborted: Synchronization of the slave axis Axis A1 via “MC_GearIn”




Step 4: Synchronization via “MC_GearInSuperImposed” F401 Error: Synchronization of the slave axis Axis

A1 via “MC_GearInSuperImposed” FB 440 “MC_GearIn-SuperImposed”

F402 Error: Synchronization of the slave axis Axis A2 via “MC_GearInSuperImposed”

FB 440 “MC_GearIn-SuperImposed”

F403 CommandAborted: Synchronization of the slave axis Axis A1 via “MC_GearInSuperImposed”




Step 5: Axes synchronized F501 Error: Synchronization of the slave axis Axis

A1 via “MC_GearIn” FB 420 “MC_GearIn”

F502 Error: Synchronization of the slave axis Axis A2 via “MC_GearIn”







Absolute Value Encoders


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ErrorSource [HEX]

Meaning Note









Step 6: Desynchronizing the axes via “MC_Halt” F601 Error: Desynchronizing the axes via

“MC_Halt” to Axis X FB 405 “MC_Halt”

F602 Error: Desynchronizing the axes via “MC_Halt” to Axis Y


F603 Error: Desynchronizing the axes via “MC_Halt” to Axis A1


F604 Error: Desynchronizing the axes via “MC_Halt” to Axis A2


F605 CommandAborted: Desynchronizing the axes via “MC_Halt” to Axis X


F606 CommandAborted: Desynchronizing the axes via “MC_Halt” to Axis Y


F607 CommandAborted: Desynchronizing the axes via “MC_Halt” to Axis A1


F608 CommandAborted: Desynchronizing the axes via “MC_Halt” to Axis A2


8 Absolute Value Encoders

When really installing a “cross slide”, we recommend using absolute value encoders on the drives A1 and A2. The basis of this recommendation will be explained in the following chapters.

8.1 Advantages of using absolute value encoders

Since a “cross slide” motion in the XY plane cannot be directly assigned to the drives A1 and A2 on the “cross slide”, a homing procedure of the drives A1 and A2 is very difficult.




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We recommend equipping the drives A1 and A2 with absolute value encoders. When switching on the supply voltage, the current position value of the drives is available immediately. A homing procedure of the drive is omitted. Figure 8-1 Drives of the “cross slide”

Y

X

A1 A2

The use of absolute value encoders on the drives A1 and A2 of the “cross slide” offers the following advantages:

• No homing procedure of the drives A1 and A2 necessary: The current position of the “cross slide” is available immediately after switching on the supply voltage.

• Adjustment of the drives A1 and A2 via absolute encoder adjustment: Defined positions can be assigned to the absolute value encoders of the drives A1 and A2 via a special mode of FB 403 “MC_Home”. This enables to store the position of the “cross slide” in the XY plane in the absolute value encoders with the aid of the transformation formula.

• Synchronization of the X-and Y-axis: Via the absolute position of the drives A1 and A2, the position of the X- and Y-axis can be synchronized with the aid of the inverse transformation formula. This enables to synchronize the coordinate systems of the X- and Y-axis and of the drives A1 and A2 without motion of the “cross slide” and the current position of the “cross slide” in the XY plane is known immediately.

8.2 Absolute encoder adjustment

The absolute encoder adjustment has to be performed via the FB 403 “MC_Home” technology function. If FB 403 “MC_Home” is executed with the Mode=5 setting, the value of the Position parameter is assigned to the current axis position. This requires that the axis is in position-controlled mode.

Drive A1 Drive A2




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Figure 8-2 FB 403 “MC_Home” technology function

FB 403“MC_Home”

Axis

PositionMode

DoneFlag

DoneBusyCommandAborted

Execute

ErrorErrorID

During the absolute encoder adjustment a positional shift that is also retained after turning off the CPU is stored in the technology parameters of the integrated technology of the technology CPU to correct the current axis position.

The positional shift is stored in the following parameter of the integrated technology:

TypeOfAxis/NumberOfEncoders/Encoder_1/AbsHomingEncoder/absShift

8.2.1 Procedure for the absolute encoder adjustment

You can perform the absolute encoder adjustment on the “cross slide” according to the description of procedure in the following table: Figure 8-1 Absolute encoder adjustment on the “cross slide”

No. Instruction Comment

1. Activate the synchronization of the “cross slide” axes via block FB 513 “CS_GearIn”.

The “cross slide” is set to a mode that makes it ready for travel.

2. In the XY plane, position the “cross slide” to the position at which the absolute encoder adjustment is to be performed.

3. Use the transformation formulae to determine the position of the drives A1 and A2 that correspond to the approached position of the axes in the XY plane.

With the transformation formula you calculate the position of the axes A1 and A2 from the position of the axes Axis X and Axis Y.

4. When synchronized, perform the absolute encoder adjustment for both drives A1 and A2 with the calculated position.

The position of the drives A1 and A2 is adjusted by the absolute encoder adjustment. Due to the relative synchronization of the axes, however, no compensating motion and thus no uncontrolled travel motion of the “cross slide” occurs.

Mode 5 Absolute encoder adjustment

Adjustment position




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No. Instruction Comment

5. The correction of the current position is stored in the technology parameters of the technology CPU and is also available after the CPU has been turned off.

This enables to tune the axes Axis X and Axis Y to the axes A1 and A2 via the inverse transformation the next time the axes of the “cross slide” are synchronized.

8.2.2 Necessity of performing an absolute encoder adjustment

To be able to use the option to match the coordinate systems in the XY plane and the drives A1 and A2 via the absolute value encoders of the drives A1 and A2, an absolute encoder adjustment is required in the following cases:

• First startup of the “cross slide” If the “cross slide” is started up for the first time and if an absolute encoder adjustment has not yet been performed on the drives A1 and A2, the drives must be calibrated to the XY plane.

• Replacement of a drive A1 / A2 or of the single belt If the drives A1 or A2 are replaced or if the single belt of the “cross slide” is exchanged, an absolute encoder adjustment is required to conform the position of the drive encoders to the position of the “cross slide” in the XY plane.

• Reloading the user program into the technology CPU If the complete user program is again transferred to the technology CPU, the absolute encoder adjustment entry in the integrated technology of the CPU is lost. The correction factor of the absolute encoder adjustment is overwritten with a standard value.

• Calibrating the “cross slide” to the XY plane If the position of the “cross slide” is to be recalibrated to the X Y plane, it is again required to perform an absolute encoder adjustment.

Appendix and Literature

Bibliographic References


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9 Bibliographic References

9.1 Bibliographic references

This list is by no means complete and only provides a selection of appropriate sources. Table 9-1

Topic Title /1/ STEP7 Automating with STEP7 in STL and SCL

Hans Berger Publicis MCD Verlag - 2004 ISBN 3-89578-242-4

/2/ Technology CPU

SIMATIC – S7-300 CPU Data: CPU 317T-2DP Siemens Manual Edition 12/2005 MLFB: A5E00251769-04

/3/ Technology CPU

SIMATIC – Microbox T: Installing Microbox 420-T Siemens Manual Edition 06/2006 MLFB: A5E00495804-01

/4/ Technology CPU

SIMATIC – Microbox T: Operating Microbox 420-T Siemens Operating Instructions Edition 06/2006 MLFB: A5E00495966-01

/5/ Technology CPU

SIMATIC – S7 Technology Siemens Manual Edition 12/2005 MLFB: A5E00251797-04

/6/ SINAMICS S120

SINAMICS S120 – Installation and Start-Up Manual (IH1) Manufacturer / Service Documentation Edition 06/2005 MLFB: 6SL3097-2AF00-0AP3

/7/ SINAMICS S120

SINAMICS S120 – Equipment Manual (GH1) Control Units and Additional System Components Edition 06/2005 MLFB: 6SL3097-2AH00-0AP2

/8/ SINAMICS S120

SINAMICS S120 – Equipment Manual (GH2) Booksize Power Sections Edition 06/2005 MLFB: 6SL3097-2AC00-0AP2




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Topic Title /9/ SINAMICS

S120 SINAMICS S – List Manual (LH1) Manual Edition 06/2005 MLFB: 6SL3097-2AP00-0AP3

/10/ SINAMICS S120

SINAMICS S120 – Function Manual (FH1) Function Manual Drive Functions Manufacturer / Service Documentation Edition 06/2005 MLFB: 6SL3097-2AB00-0AP1

9.2 Internet links

This list is by no means complete and only provides a selection of appropriate sources. Table 9-2

Topic Title \1\ Reference to

the entry http://support.automation.siemens.com/WW/view/en/20208582

\2\ Siemens A&D Customer Support

www.ad.siemens.de/support

\3\ Siemens A&D Applications & Tools


\4\ Application examples for the technology CPU (a selection)

Feeder for a Press: http://support.automation.siemens.com/WW/view/en/21363677 Flying Shears with Print-Mark Synchronization Based on Gear Synchronism: http://support.automation.siemens.com/WW/view/en/21063352 Palletizer with simply Interpolating Axes Based on Cam Discs http://support.automation.siemens.com/WW/view/en/21062269 Parameterization of the “Gear Synchronization” Technology Function (SyncOp Guide) http://support.automation.siemens.com/WW/view/en/23577545



http://www.ad.siemens.de/support














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Topic Title \5\ Technology

CPU manual http://www.ad.siemens.de/support Select “Product Support” Open the following directories in the Product Information tree: • Automation systems • SIMATIC Industrial Automation Systems • PLC • SIMATIC S7 • S7-300/S7-300F • CPUs Click the Manual tab to open a list with related documents or click the following links: S7 Technology: http://support.automation.siemens.com/WW/view/en/22639716 CPU manual 317T-2 DP: http://support.automation.siemens.com/WW/view/en/17993483 CPU manual 315T-2 DP: http://support.automation.siemens.com/WW/view/en/21362915

\6\ SINAMICS S120 instruction manual

http://www.ad.siemens.de/support Select “Product Support” Open the following directories in the Product Information tree: • Drive Technology • AC Converter • Low voltage converters • Built-in and cabinet system SINAMICS S120 Click the Manual tab in the right window to open a list with related documents or click this link: http://www.automation.siemens.com/doconweb/content.asp?item=20&cd=sinamics_0905_e&scope=all or http://www.automation.siemens.com/doconweb

\7\ FAQ CPU 317T-2 DP applicable encoders

Applicable encoders for the technology CPU 31xT in connection with the drive systems SIMODRIVE 611U, MASTERDRIVES MC http://support.automation.siemens.com/WW/view/en/19968954









http://www.automation.siemens.com/doconweb/content.asp?item=20&cd=sinamics_0905_e&scope=all

http://www.automation.siemens.com/doconweb/content.asp?item=20&cd=sinamics_0905_e&scope=all

http://www.automation.siemens.com/doconweb




History


V 3.1 31/01/2007 73/73

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Topic Title \8\ FAQ

CPU 317T-2 DPversion overview

Which versions of the S7 Technology option package are available and which SINAMICS S120 drive firmware can you use with which of these versions? http://support.automation.siemens.com/WW/view/en/23411204

9.3 Related documentation

This list includes a summary of related documentations for the technology templates that are used in this application.

A technology template is a software object or a code block with a defined interface, which can be easily integrated into other software projects without extra work and which performs a precisely defined technological task in these projects. Table 9-3

Topic Title /A/ Technology

template “Move3D” Technology Template Technology CPU – Documentation ID number: 21364022 http://support.automation.siemens.com/WW/view/en/21364022

/B/ Technology template

“MoveJog” Technology Template Technology CPU – Documentation ID number: 21365191 http://support.automation.siemens.com/WW/view/en/21365191

10 History Table 10-1 History

Version Date Modification

V3.1 31/012007 First edition







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