siemens dcb library
TRANSCRIPT
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Applications & Tools Answers for industry.
Cover
GMC library for motion control
Sinamics DCC
Application May 2013
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2DCC GMC Library
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Siemens Industry Online Support
This article is taken from the Siemens Industry Online Support. The following linktakes you directly to the download page of this document:
http://support.automation.siemens.com/WW/view/en/72839973
CautionThe functions and solutions described in this article confine themselves to therealization of the automation task predominantly. Please take into accountfurthermore that corresponding protective measures have to be taken up in thecontext of Industrial Security when connecting your equipment to other parts of theplant, the enterprise network or the Internet. Further information can be foundunder the Item-ID 50203404.
http://support.automation.siemens.com/WW/view/en/50203404
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s
SINAMICS
GMC Library
DCC block extension for motion control
Introduction 1
Block description of theGMC library 2
Installation 3
Requirements 4
Related literature 5
Contact 6
History 7
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– Warranty and liability
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Warranty and liability
Note
The Application Examples are not binding and do not claim to be completeregarding the circuits shown, equipping and any eventuality. The ApplicationExamples do not represent customer-specific solutions. They are only intendedto provide support for typical applications. You are responsible for ensuring thatthe described products are used correctly. These application examples do notrelieve you of the responsibility to use safe practices in application, installation,operation and maintenance. When using these Application Examples, yourecognize that we cannot be made liable for any damage/claims beyond theliability 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 theseapplication examples and other Siemens publications – e.g. Catalogs – thecontents of the other documents have priority.
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 ofthe examples, information, programs, engineering and performance data etc.,described in this Application Example shall be excluded. Such an exclusion shallnot 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 adeficiency or breach of a condition which goes to the root of the contract(“wesentliche Vertragspflichten”). The damages for a breach of a substantialcontractual obligation are, however, limited to the foreseeable damage, typical forthe type of contract, except in the event of intent or gross negligence or injury to
life, body or health. The above provisions do not imply a change of the burden ofproof to your detriment.
Any form of duplication or distribution of these Application Examples or excerptshereof is prohibited without the expressed consent of Siemens Industry Sector.
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– Preface
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Preface
Objective of the Application
The GMC library extends the standard library of Sinamics DCC. The containedblocks are freely interconnectable to realize different drive functions.
Main Contents of the library
• positioning
• compensating motions (master value switchover, offset, catch-up,synchronization)
• electronic gearbox
• cam
• additional logic-, arithmetic- and system functions
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– Table of contents
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Table of contentsWarranty and liability ................................................................................................... 4
Preface .......................................................................................................................... 5
1
Introduction ........................................................................................................ 7
1.1 Introduction to the Drive Control Chart (DCC) ..................................... 7
1.2 Libraries ................................................................................................ 8
1.3
Glossary for blocks ............................................................................... 9
1.4
Block connections .............................................................................. 11
1.5 Byte Ordering ..................................................................................... 11
1.6
Direct interconnection of different data types ..................................... 11
1.7
Initialization of the blocks ................................................................... 12
2
Block description of the GMC library ............................................................ 13
2.1 ADDAZ ............................................................................................... 13
2.2
SPLINE ............................................................................................... 14
2.3
CAMD ................................................................................................. 16
2.4 POSMC .............................................................................................. 19
2.5 OFSSAV ............................................................................................. 23
2.6
OFSGEN ............................................................................................ 24
2.7 GEAR ................................................................................................. 27
2.8 INT_MR .............................................................................................. 29
2.9
WEBSFT............................................................................................. 31
2.10
MDCMP .............................................................................................. 33
2.11 COUPLE ............................................................................................. 38
2.12 SHEAR ............................................................................................... 49
2.13
EDC1 .................................................................................................. 52
2.14 SAMP_TIME ....................................................................................... 57
2.15 NOP_18 .............................................................................................. 58
2.16
AND_W............................................................................................... 59
2.17
OR_W ................................................................................................. 60
3
Installation ........................................................................................................ 61
4
Requirements ................................................................................................... 62
5 Related literature ............................................................................................. 63
5.1
Bibliography ........................................................................................ 63
5.2 Internet l ink specifications .................................................................. 63
6 Contact.............................................................................................................. 63
7
History............................................................................................................... 64
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1 Introduction
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1 Introduction
1.1 Introduction to the Drive Control Chart (DCC)
Drive Control Chart (DCC) for SINAMICS and SIMOTION means graphicconfiguration and expansion of the device functionality by means of freelyavailable control, calculation and logic blocks
Drive Control Chart (DCC) expands the facility for the simplest possible configuringof technological functions both for the SIMOTION motion control system and theSINAMICS drive system. This opens up a new dimension for users for adapting thespecified systems to the specific functions of their machines. DCC has norestriction with regard to the number of usable functions; this is only limited by theperformance capability of the target platform.
Figure 1-1
DCC comprises the DCC editor and the DCB library (block library withstandard DCC blocks).
The user-friendly DCC editor enables easy graphic configuration and a clearrepresentation of control loop structures as well as a high degree of reusability ofexisting charts.
The open-loop and closed-loop control functionality is defined by usingmultiinstance capable blocks (Drive Control Blocks, DCBs) from a pre-definedlibrary (DCB library) that are selected and graphically linked by dragging anddropping. Test and diagnostic functions allow verification of program behavior orthe identification of causes in the event of errors.
The block library contains a large selection of control, arithmetic and logic blocksas well as extensive open-loop and closed-loop control functions.
All commonly used logic functions are available for selection (AND, XOR, On/Offdelay, RS flipflop, counters, etc.) for the logic operation, evaluation and acquisition
of binary signals. Numerous calculation functions, such as summation, division and
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minimum/maximum evaluation are available for monitoring and evaluating numericvariables. In addition to the drive control, axial winder functions, PI controllers,ramp-function generators or sweep generators can be configured simply and
without problem. Almost unlimited programming of control structures is possible in conjunction withthe SIMOTION motion control system. These can then be combined with otherprogram sections to form an overall program.
Drive Control Chart for SINAMICS drives also provides a convenient basis forresolving drive-level open-loop and closed-loop control tasks directly in theconverter. This results in further adaptability of SINAMICS for the tasks set. Localdata processing in the drive supports the implementation of modular machineconcepts and results in an increase in the overall machine performance.
Figure 1-2
1.2 Libraries
Blocks are located in libraries that are imported as technology packages in theDCC editor.
Next to the Standard Sinamics DCC library there is the GMC library.
NOTE To use the GMC library the Standard library also has to be imported to the DCC-Editor!
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1.3 Glossary for blocks
A block is displayed as follows:
ADDAZ
Axis cycle DI AZ YP R Position value shifted
Position actual value 1 R XP1
Position actual value 2 R XP2
1
1
2
2
3
3
Block designator
Connection designator
Connection data type
It is identified using the following attributes:
Block designator
Each data type has its own block type. To simplify differentiation between theblocks for various data types with the same functionality, these are provided with aPostfix corresponding to the data type, whereby Postfix is not usually used for theReal and Bool data types (e.g. MUL_I: Integer-type multiplier, MUL: Real-type
multiplier). The following table lists commonly used extensions:
Table 1-1
Postfix for block designator Data type of the input/output variable
_I Integer
_D Double_Integer
_W Word
_R Real (optional)
_B Bool (optional)
_SI Short Integer
_M Modulo
_BY Byte
_UI Unsigned Integer
_US Unsigned Short Integer
_UD Unsigned Double Integer
_DW Double Word
_LR Long Real
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Connection designator
Table 1-2
Connection designator Application
X, X1, X2… Numeric input variable
Y, Y1, Y2… Numeric output variable
I, I1, I2… Binary input variable
Q, Q1, Q2… Binary output variable
IS Bitstring input (Word)
QS Bitstring outpt (Word)
If further inputs and outputs are used along with the primary input and output
variables (e.g. limit values, time data, substitute values, status displays), thedesignators from the pool of the primary input/output variables are not used. Thefollowing table shows the preferred designators for secondary variables:
Table 1-3
Connection designator Application
LU Input: High limit
LL Input: Lower limit value
SV Input: Setting value
S Input: Setting the setting value
R Input: Resetting the setting valueQU Output: Upper limit reached
QL Output: Lower limit reached
QF Output: Error indicator
QE Output: Y equals input X
QN Inverted binary variable
Connection data type
The abbreviated designators of the data types are listed in the following table.
Table 1-4
Abbreviation Bit width Data type in line
with IEC 61131-3
Description
BO 1 BOOL BOOLEAN
BY 8 BYTE Bitstring, Unsigned Integer
SI 8 SINT Signed Short Integer
DI 32 DINT Signed Double Integer
DW 32 DWORD Bitstring, Unsigned Integer
I 16 INT Signed Integer
R 32 REAL Floating Point Single Precision in line with
IEEE754
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Abbreviation Bit width Data type in line
with IEC 61131-3
Description
LR 64 LREAL Floating Point Double Precision in line withIEEE754
T 32 SDTIME Floating Point Single Precision in line withIEEE754
W 16 WORD Bitstring, Unsigned Integer
AID 32 - Larm ID
1.4 Block connections
Block connections display the interface of the DCBs, via which interconnectionbetween the blocks can be performed. A differentiation is made between
• block output
• block input
here, and these have the following properties:
• Inputs are positioned on the left of the block and are the target of aninterconnection
• Outputs are positioned on the right of the block and are the source of aninterconnection
1.5 Byte Ordering
When interconnecting the blocks, the byte ordering of the data does not have to betaken into consideration. During data type conversions and arithmetic operations,the byte ordering of the target system is implicitly taken into consideration. Anybyte swapping required for handling data beyond the system boundaries is carriedout by the system (e.g. byte swapping may have to be carried out in Big Endian
format before transferring data via Profibus).
1.6 Direct interconnection of different data types
When interconnecting blocks, the target and source must be of the same data type.
If the data types are different, there are special conversion blocks available whichallow the data type to be converted.
The following permissible implicit conversions are an exception. The table belowlists the permissible conversions.
The following data types, which can be interconnected without a conversion block,are another exception. In this case, the binary value of the output variable is
transferred unchanged as the input variable.
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Table 1-5
Input Output Description
WORD INT Interconnection of a word variable to an integer variableINT WORD Interconnection of an integer variable to a word variable
DWORD DINT Interconnection of a double word variable to a double integer
variable
DINT DWORD Interconnection of a double integer variable to a double word
variable
BYTE SINT Interconnection of a byte variable to a short integer variable
SINT BYTE Interconnection of a short integer variable to a byte variable
USINT BYTE Interconnection of an unsigned short integer variable to abyte variable
BYTE USINT Interconnection of a byte variable to an unsigned shortinteger variable
USINT SINT Interconnection of an unsigned short integer variable to ashort integer variable
SINT USINT Interconnection of a short integer variable to an unsignedshort integer variable
UINT WORD Interconnection of an unsigned integer variable to a wordvariable
WORD UINT Interconnection of a word variable to an unsigned integervariable
UINT INT Interconnection of an unsigned integer variable to an integer
variable
INT UINT Interconnection of an integer variable to an unsigned integer
variable
UDINT DWORDInterconnection of an unsigned double integer variable to adouble word variable
DWORD UDINT Interconnection of a double word variable to an unsigneddouble integer variable
UDINT DINT Interconnection of an unsigned double integer variable to adouble integer variable
DINT UDINT Interconnection of a double integer variable to an unsigneddouble integer variable
SDTIME REAL Interconnection of an SDTime variable to a real variable
1.7 Initialization of the blocks
Initialization determines the starting condition of the block. It is carried out by thesystem before the cyclical processing of the block. The sequence for initializing theindividual blocks is implemented in line with the configured priority and processsequence. At the time of initialization, the configured interconnections andconstants for a block are already active. At this point, the values from theinterconnection source are already available in a block. Should a block behave in aspecial way during initialization, this is described in the respective block descriptionunder "Initialization". In the case of initialization, the blocks must be assigned in a
time slice (SINAMICS) or to a task (SIMOTION).
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2 Block description of the GMC library
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2 Block description of the GMC library
2.1 ADDAZ
adder with axis cycle limiting
Symbol
ADDAZ
Axis cycle DI AZ YP R Position value shifted
Position actual value 1 R XP1
Position actual value 2 R XP2
Position actual value 3 R XP3
Position actual value 4 R XP4Position actual value 5 R XP5
Position actual value 6 R XP6
Position actual value 7 R XP7
Position actual value 8 R XP8
Brief description
The block adds 8 position values and limits the result to the specified axis cycle.
Mode of operation
The position output YP is obtained as follows
AZ XPiYP
i
mod)(
8
1
∑=
=
Output YP is limited to the range 0 ≤ YP < AZ. For a positive position overflow, YP jumps back
from a high (approx. AZ) to a low value (approx. 0).
I/O
Name Description Default
AZ Axis cycle for the position output and all position inputs (0 means linear
axis)
36000
XP1 ... Position actual values 1 to .. 0.0
... XP8 ... position actual value 8 0.0
YP Position output value: (sum of XP1 to XP8) modulo AZO 0
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2.2 SPLINE
cam disk with 32 points (calculation)
Symbol
SPLINE
Type I TYP FKT DI Result functions (pointer)
Start calculation BO CAL QF BO Input error
Linear sections 1 W LM1
Linear sections 2 W LM2
Abscissa value, point 1 R X1
Ordinate value, point 1 R Y1
Abscissa value, point 2 R X2Ordinate value, point 2 R Y2
• • • Abscissa value, point 31 R X31
Ordinate value, point 31 R Y31
Abscissa value, point 32 R X32
Ordinate value, point 32 R Y32
Brief description
The SPLINE block calculates a characteristic comprising up to 32 points. The result of the
calculation is provided in tabular form as 3rd order functions. This segmentation means that the
complicated calculation can be calculated in slow time sectors, while curve values are accessed
in fast time sectors.
The functions can be evaluated by a type CAMD block. This block accesses up to 31 curve
segments, which are defined by points 1 to 32.
Mode of operation
Up to 32 points along a curve are defined at inputs X1, Y1 to X32, Y32. The X values must be in
an increasing sequence. The first point, whose X value is less than/equal to the X value of the
previous point, defines the number of points which are used. All additional points are ignored.
Example: X5 = 10.0; X6 = 0.0; → 5 points are evaluated.
The block calculates the curves, which connect the points, using a rising edge at input CAL. The
curve order number is defined by the value at input TYP:
Type Curve sections
0 3rd order. The gradient at point Xi is the same as the gradient between the
adjacent points = (Yi+1 - Yi-1) / (Xi+1 - Xi-1 )
1 1st order (straight line)
2 2nd order
3 3rd order. The gradient at point Xi is the same as the average value of the
gradients of the adjacent segments.
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Individual sections can then be defined as straight line using inputs LM1 and LM2, if TYP is not
set to 1. In this case, LM1 and LM2 are evaluated bitwise. Each bit is assigned another curve
section. If the bit is set, then the section is shown as a straight line.
Assignment: For example: Section 7 is the section between points (X7,Y7) and (X8,Y8).
Bit of LM1 or LM2 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Section assigned to LM1 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1
Section assigned to LM2 - 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17
I/O
Name Description Default
CAL The calculation is started with a rising edge. The curve which has beenused up until now remains valid until the calculation has been completed. 0
LM1 Linear section 1. To specify individual straight line sections. 0
LM2 Linear section 2. To specify individual straight line sections. 0
X1,Y1
...
X32,Y32
32 points to specify the curve.
FKT Result function for SPLFKT. This output may only be connected with the
input of block type SPLFKT with the same name. This signals CAMD the
curve specification.
QF Input error. QF is set if X2 <= X1, or if there is not sufficient memory
available.
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2.3 CAMD
cam disk
Symbol
CAMD
Reference position R XP YP R Position reference value
Reference velocity R XV YV R Velocity setpoint
Calculation function DI FKT COR DI Correction value
Axis cycle length, input DI AZI POV BO Positive position overflow
Axis cycle length, output DI AZO NOV BO Negative position overflow
Scaling, input (X axis) R SCX QST BO Stopped for YP = AZO
Scaling, output (Y axis) R SCY QF BO Group errorScaling, derivation R SCV
Absolute output BO ABS
Stop for YP = AZO BO STP
Restart after YP = AZO BO TRG
Enable BO EN
Brief description
The block calculates the ordinate value YP of a cam disk, associated with input quantity XP,
using mathematical functions.
The input position value represents the reference position of a master axis. The output position
YP is the position reference value for a slave drive. Position steps at the input are transferred, in
the absolute output mode, to the slave. In the relative output mode, the slave remains at the
actual position value for a master axis position jump.
Mode of operation
The cam disk function is configured from block SPLI32 from up to 32 points, and provides this
as mathematical functions at output FKT. This output is connected with input FKT of block
SPLFKT.
If another cam disk is to be selected in operation, then this is realized by changing-over input
FKT to another SPLI32 calculation block. In this case, changeover switches or multiplexers are
used.
The input and output position value are normalized using input quantities SCX and SCY
according to the following diagram. The derivative of the curve is output with the actual velocity
XV and the weighting factor SCV as reference velocity YV.
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XP
SCX
SCY
XV
SCV
YV
YP
POV
NOV
COR
AZO
Absolute output
There is a clear assignment between the input and output position values, according the
characteristic of the curve, in the absolute output mode (ABS = 1):
YP = characteristic(XP) modulo AZO
The absolute output is only practical, if:
• • The input and output are systems with linear axis (AZO = AZI = 0)
• • The characteristic values for XP = 0 and XP = AZI are the same.
In both cases, position overflows (position jumps) only occur at position output YP, if it involves
a characteristic value less than 0 or greater than AZO.
Examples for absolute output
Characteristic Y(X)
AZI0
AZI
t
YP
XP
YP
XP AZI
AZO
AZO = 0 or AZO >>YP
t
Special case: YP is limited by AZO
X
Y
YP
XP AZI
AZO
t
Special case: STP = 1 (stop for YP = AZO)
TRGPOV
NOV
Relative output
For the relative output of a curve, the return jump of the input position reference value XP
(sawtooth) is not transferred to the slave axis. This means that it is possible to attach original
characteristics seamlessly together ( i.e.:Y(0) = 0 ).
Example of relative output:
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When the sawtooth jumps back, the characteristic is attached, offset by the value Y(AZI). This
means, that at each cycle, YP grows by the value Y(AZI). If the range 0 ≤ YP < AZO is
exceeded or fallen below, a modulo AZO correction is made, which is designated with outputs
POV or NOV.
Characteristic Y(X)
AZI0 X
Y AZO
t
YP
XP
POV
Y(AZI)
I/O
Name Description Default
XP Reference position of a master axis 0.0
XV Reference velocity of a master axis 0.0
FKT Link to characteristic definition (block type SPLI32) 0
AZI Axis cycle for the reference position (O = linear axis) 36000
AZ0 Axis cycle for the output position reference value (O = linear axis) 36000
SCX Reference position scaling ( characteristic: X = XP / SCX ). 1.0
SCY Position reference value YP scaling ( characteristic: YP = Y(X) ⋅ SCY ) 1.0
SCV Scaling the derivative of the curve ( YV = dy/dx ⋅ XV ⋅ SCV ) 1.0
ABS Absolute output of the curve: 0 = relative output; 1 = absolute output 0STP Stop for YP = AZO. For STP = 1 0
TRG Restart after the axis cycle limit AZO has been reached for STP = 1 0
EN Enable. For EN = 0 (not enabled), YP = 0 and YV = 0 1
YP Position reference value 0.0
YV Velocity setpoint 0.0
COR Correction value for jumps at YP due to limiting to the axis cycle for rotary
axis systems.
0
POV For the position correction YP = YP - COR, POV is set to 1 for the duration
of a processing cycle (position overflow for a positive direction of rotation).
0
NOV For the position correction YP = YP + COR, NOV is set to 1 for the
duration of a processing cycle (position overflow for a negative direction ofrotation).
0
QST Indicates that a stop was made for YP = AZO (to continue: TRG = 0 →1). 0
QF Group error : Not sufficient memory space or curve not valid 0
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2.4 POSMC
positioning block
Symbol
POSMC
Position actual value R XP YP R Reference position
Velocity actual value R XV YV R Reference velocity
Target position R XPD YA R Reference acceleration
Following error window R DXE COR DI Correction value
Target window R DYE POV BO Positive position overflow
Max. velocity R VMX NOV BO Negative position overflow
Max. acceleration R AMX QP BO Positioning activeJerk R JRK DON BO Position actual value in the target window
Position normalization R NFX QXE BO Following error exceeded
Velocity normalization R NFV QF BO Group error
Axis cycle DI AZ
Forwards BO FWD
Backwards BO BWD
Absolute/relative positioning BO ABS
Start BO STR
Stop BO HLT
Accept actual values BO SET
Enable BO EN
Brief description
The POSMC block is a setpoint generator for position and velocity for positioning with either
linear or rotary axes. The setpoint characteristics are obtained as a result of the target position,
maximum velocity, maximum acceleration and their derivatives (jerk). The velocity and position
are calculated, under this secondary condition so that when the target position is reached,
velocity and acceleration go to zero.
The positioning operation within an axis cycle can either be absolute or, over any distances,
relative.
The acceleration parameters AMX and JRK should be selected, so that the drive can follow the
setpoints with the minimum following error. Under this prerequisite, precision positioning is
possible without overshoot.
Mode of operation
The block is de-activated for EN = 0; outputs YP and YV are zero. For SET = 1, the block is
transparent, i.e.: YP = XP and
YV = XV. The acceleration is calculated from the change of XV.
Every positioning operation starts with a 0→1 edge at start input STR (start pulse). YP is set to
XP by the start pulse. Positioning starts with the actual velocity and acceleration values.
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Absolute positioning
For the absolute positioning, the position reference value YP runs from the initial value XP to the
target position XPD. The distance moved through is always less than the axis cycle length. Thedirection of motion for rotary axis systems is defined by inputs FWD and BWD:
AZ FWD BWD Direction of motion ( ABS = 1; * means any)
> 0 0 0 Shortest distance (when position from the motion, the next
possible standstill position is decisive)
> 0 0 1 Backwards
> 0 1 * Forwards
0 * * No alternatives, as it involves a linear axis
Relative positioning
For relative positioning, the position reference value YP changes by XPD with respect to the
initial value. XDP can be any size, which also means that positioning operations can be
executed over several axis cycles. The direction of motion is obtained from the sign of XPD. The
inputs FWD and BWD are not effective for relative positioning!.
Position overflows (YP > AZ) or underflows (YP < 0) are displayed at outputs POV and NOV,
and are corrected by the modulo AZ calculation in the range 0 ≤ YP < AZ.
t
Reference position YP
Ref. speed YV
dt
Reference
acceleration
AMX
VMX
Rounding-off (da/dt)=
dt
AMX
Changes during positioning
The input quantities can change during positioning. In this case, a new start pulse must be
generated. After this, an equalization operation takes place as transition into the new positioning
operation.
Jogging
Jogging mode is activated using inputs JGF or JGB. Positioning is not possible while jogging.
I/O
Name Description Default
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XP Position actual value (normalization NFX). This is transferred, for SET=1,
to output YP. This is used when starting positioning as initial position of
YP.
0.0
XV Velocity actual value. Accepted at output YV for SET=1. When starting
positioning, XV is the initial velocity.
0.0
XPD Absolute positioning: Target position
Relative positioning: Positioning distance
0.0
DXE Following error window (refer to QXE) 100
DYE Target window (refer to DON) 10.0
VMX Maximum velocity when positioning. This value must be > 0. Normalization
NFV applies. If the initial velocity is greater than VMX, an equalization
operation takes place. YV is > VMX during this operation.
10.0
AMX Max. acceleration. Value must be > 0.
Units: Rotary axis [1/s²]; linear axis [m/s²]
10.0
Jerk = change in the acceleration per unit time for equalization.This value must be ≥ 0. JRK = 0 means that there is no rounding-off.
Units: Rotary axis [1/s³] linear axis [m/s³]
1000.0
NFX Position normalization:
Rotary axis: Number of LU per revolution
Linear axis: Number of LU per meter
Detailed description refer to Normalization NFX
36000
NFV Velocity normalization: Factor to convert the user-specific speed
normalization into [rev./min] for a rotary axis or [m/min] for a linear axis.
This means that NFV is the speed in [RPM], which is to be displayed as
1.0. Examples:
User normalization Conversion NFV
1/s 60 s/min 60.0
mm/s 0.001 m/mm ⋅ 60 s/min 0.06
Detailed description refer to Normalization NFV
1.0
AZ Axis cycle for input and output position value 36000
VJG Velocity for jogging operation 0.0
JGF Jogging forwards (YV = VJG) 0
JGB Jogging backwards (YV = -VJG). JGB is only effective for JGF = 0. 0
FWD Forwards motion for absolute positioning and rotary axis (refer to the table
above)
1
BWD Backwards motion for absolute positioning, rotary axis and FWD = 0 0
ABS 0: Relative positioning
1: Absolute positioning
0
STR Positioning start with a positive edge 0
SET For SET = 1, YP is set to XP and YV is set to XV. Any positioning
operation running is immediately cancelled. If SET = 0, positioning is not
continued.
0
EN Enable input. For EN = 0, YP = 0 and YV = 0. 1
YP Output, reference position 0.0
YV Output, reference velocity 0.0
YA Output, reference acceleration
Rotary axis: in [1/s²]; linear axis: in [m/s²]
0.0
COR Correction values for jumps in the position reference value 0
POV Positive position reference value overflow (COR was subtracted) 0
NOV Negative position reference value overflow (COR was added) 0
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QP 0: Positioning completed (YP = target position; YV = YA = 0)
1: Positioning
0
DON 0: Positioning or position actual value outside the target window
1: Positioning completed and the position actual value in the target
window
0
QXE 1: Setpoint/actual value deviation greater than the following error
window ( |XP - YP| > DXE )
0
QF Group error: Initialization: Not sufficient working memory; during operation:
Inputs VMX, AMX, NFX, NFV must be > 0; JRK must be ≥ 0
0
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2.5 OFSSAV
offset calculation
Symbol
OFSSAV
Position actual value R XP YPD R Position difference XPS - XP
Position reference value R XPS YPM R Shortest path
Axis cycle DI AZ
Save offset BO S
Brief description
The block is used to sense the position offset. It generates the deviation between the reference
and actual position and the shortest path between two position values for rotary axis systems.
Mode of operation
The difference between the reference and actual position is calculated with a rising edge at
input S
( 0 → 1).
YPD = XPS - XP for S = 0 → 1
At the same time, the shortest position change is calculated, in order to reach the reference
position from the actual position.
Examples ( AZ = 360 ):
XPS XP YPD YPM
350 10 340 -20
190 270 -90 -90
10 340 -330 30
I/O
Name Description Default
XP Position actual value 0.0
XPS Position reference value 0.0
AZ Axis cycle for input and output position values 36000
S Calculate offset with rising edge 0
YPD Position difference (this is saved for S = 0 → 1) 0.0
YPM Shortest path between the position actual value and position reference
value.
0.0
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2.6 OFSGEN
offset input
Symbol
OFSGEN
Offset setpoint R XP YP R Offset / position offset
Velocity for compensation R VMX YV R Reference velocity
Acceleration for compensation R AMX COR DI Corrective value
Jerk R JRK POV BO Positive position overflow
Position normalization R NFX NOV BO Negative position overflow
Velocity normalization R NFV DON BO Compensation ended
Axis cycle DI AZ QF BO Group error
Setting value R SV Accept setting value BO S
Start offset change BO STR
Absolute / relative offset BO ABS
Compensation using forwards motion BO FWD
Compensation using backwardsmotion
BO BWD
Enable BO EN
Brief description
The block is used to generate or change a position offset in the setpoint (reference value)
channel. The position offset is used to offset position reference values of other synchronous
operation functions.
Mode of operation
Compensation is started with a rising edge at start input STR. In this case, the position offset
output YP is transitioned to the new offset value, comparable with a positioning operation. The
characteristic for the compensation operation is specified by the maximum velocity VMX, the
maximum acceleration AMX and jerk JRK.
Absolute (ABS = 1)
In the ‘absolute’ mode (ABS =1), for compensation, the offset YP changes towards the new
offset setpoint XP. For rotary-axis systems, the absolute offset is limited to the axis cycle (XP
modulo AZ is used).
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For applications with rotary axis (AZ > 0) and ‘absolute’ operating mode (ABS = 1), there are
three compensation versions which can be selected:
AZ FWD BWD Direction of motion ( * means any)
> 0 0 0 Shortest distance
> 0 0 1 Backwards
> 0 1 * Forwards
0 * * Shortest distance
Relative (ABS = 0)
In the ‘relative’ mode (ABS = 0), the new offset value is given by
YP(new) = YP(old) + XP
taking into account the axis cycle for rotary axis systems. If a new compensation operation is
started during compensation which is already running, then the old operation is extended by the
value XP. For the relative mode, XP is not restricted by the axis cycle.
I/O
Name Description Default
XP Offset setpoint (absolute or relative) 0.0
VMX Maximum velocity for compensation. 1.0
AMX Maximum acceleration for compensation.
Units: Rotary axis [1/s²] linear axis [m/s²]
1.0
JRK Jerk = change in the acceleration per unit time for compensation.
Units: Rotary axis [1/s³] linear axis [m/s³]
JRK = 0 means no rounding-off.
10.0
NFX Position normalization:
Rotary axis: Number of LU per revolution
Linear axis: Number of LU per meter
Detailed description refer to Normalization NFX
36000
NFV Velocity normalization: Factor to convert the application-specific
speed normalization into [rev./min] for a rotary axis or [m/min] for a
linear axis. This means that NFV is the speed in [RPM], which is to be
displayed as 1.0. Examples:
User normalization Conversion NFV1/s 60 s/min 60.0
mm/s 0.001 m/mm ⋅ 60 s/min 0.06
Detailed description refer to Normalization NFV
1.0
AZ Axis cycle for input and output offset values 36000
SV Setting value for the offset 0.0
S For S = 1, the offset is set to the setting value. A compensation operation
which is already running, is cancelled. The setting function is also effective
for EN = 0.
0
STR The offset change is started with a 0→1 edge at STR 0
FWD Compensation operation always forwards; dominant over BWD 1
BWD Compensation operation always backwards 0
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EN 1: Enable offset input
0: No offset compensation for S = 0: YP = 0; YV = 0 for S = 1: YP = SV;
YV = 0
1
YP Position offset, added in the setpoint channel 0.0
YV Output, velocity setpoint during compensation 0.0
COR Correction value for steps/jumps in the position reference value 0
POV Positive position reference value overflow (COR was subtracted) 0
NOV Negative position reference value overflow (COR was added) 0
DON 0: Compensation operation running
1: Compensation operation completed
0
QF Group error: Initialization: Not sufficient working memory; during operation:
Inputs VMX, AMX, NFX, NFV must be > 0; JRK must be ≥ 0
0
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2.7 GEAR
gearbox block
Symbol
GEAR
Reference position R XP YP R Position reference value
Reference velocity R XV YV R Reference velocity
YV correction factor R CYV COR DI Correction value
Axis cycle, input DI AZI POV BO Positive position overflow
Axis cycle, output DI AZO NOV BO Negative position overflow
Ratio, numerator DI NM QF BO Group error
Ratio, denominator DI DNSetting value R SV
Set position BO S
Enable BO EN
Brief description
The gearbox block is used to convert speeds and/or axis cycles.
Mode of operationThe output speed YV (gradient of YP) is obtained from:
YV = XV ⋅ CXV ⋅ NM / DN
The ratio and axis cycles can be changed in operation. When changing the ratio, the output
speed jumps according to the formula shown above. If this is to be prevented, the ratio must be
varied via a ramp-function generator.
AZI AZO
CautionFor the case AZI ≠ AZO, the normalization for the reference velocity can change.
This depends on the interpretation of the position values, and is therefore
application-specific.
Example: DN = NM = 1; AZI = 360; AZO = 720
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2.8 INT_MR
virtual master
Symbol
INT_MR
Reference velocity R XV YP R Position reference value
Position normalization R NFX YV R Reference velocity
Velocity normalization R NFV COR DI Correction value
Axis cycle DI AZ POV BO Positive position overflow
Setting value R SV NOV BO Negative position overflow
Set position BO S QF BO Group error
Hold position BO HLDEnable BO EN
Brief description
The virtual master generates a position reference value for linear or rotary axis systems from a
specified reference velocity (which is entered via a ramp-function generator!).
Mode of operation
The inter-relationship between position and velocity is specified using the normalization inputsNFX and NFV.
I/O
Name Description Default
XV Reference velocity of the master axis 0.0
NFX Position normalization:
Rotary axis: Number of LU per revolution
Linear axis: Number of LU per meter
Detailed description refer to Normalization NFX
36000
NFV Velocity normalization: Factor to calculate the user-specific speed
normalization into [rev./min] for a rotary axis or [m/min] for a linear axis.
This means that NFV is the speed in [RPM], which is to be displayed as
1.0. Examples:
User normalization NFV
1/s 60.0
mm/s 0.06
Detailed description refer to Normalization NFV
1.0
AZ Axis cycle for an output position reference value (O = linear axis) 36000
SV Setting value for the position output YP 0.0
S Set position YP (level-active) 0
HLT Hold position (level-active) 0
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EN Enable. For EN = 0 (not enabled), YP = 0 and YV = 0 1
YP Position reference value 0.0
YV Velocity reference value 0.0COR Correction value for jumps at YP due to limiting to the axis cycle for rotary-
axis systems.
0
POV For the position correction YP = YP - COR, POV is set to 1 for the duration
of a processing cycle (position overflow for a positive direction of rotation).
0
NOV For the position correction YP = YP + COR, NOV is set to 1 for the
duration of a processing cycle (position overflow for a negative direction of
rotation).
0
QF Group error : Not sufficient memory space available 0
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2.9 WEBSFT
measured value offset
Symbol
WEBSFT
Position actual value R XP YP R Measured value offset (shift)
Measured value 1 R XM1 QV BO Output YP valid (pulse)
Measured value 2 R XM2 QF BO Group error
Position offset R DX YPD R Difference of measured values
Max. measured value number I NMX MWY R average of measured values
Axis cycle DI AZ
Save measured value BO SAVDelete measured value memory BO CLR
Enable BO EN
Brief description
The WEBSFT block is used for material tracking, especially to track measured offset values. In
this case, the measured value is first saved, and after the material web has been moved
through the required distance, is output again.
Mode of operation
The difference (XM1 - XM2) is saved as the measured value. This means, e.g. that a offset
actual value is formed from a reference and actual position.
This is saved with the rising edge at input SAV. After the position XP has changed by more than
DX, the measured value is output at YM. At the same time, QV is set to 1 for one processing
cycle.
This block can save up to NMX measured values. If more than NMX values are saved within the
shift range, then measured values are lost!
If the position offset DX is changed, this also affects the already saved measured values.
Measured values are output in the same sequence in which they were saved. This guarantees
the consistency of the output data.
Measured values should only be saved, as long as the machine moves in the same direction. In
all of the other cases, no values should be saved, or values, which are of no practical use,
should be deleted by deleting the measured value memory (CLR).
At the output YPD the block gives the difference to the last measured value (new value – old
value).
At the output MWY the block gibes the mean value of all measured values.
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I/O
Name Description Default
XP Position actual value 0.0
XM1 Measured value 1 0.0
XM2 Measured value 2 0.0
DX Position offset (shift) 0.0
NMX Maximum number of measured values (initialization input) 32
AZ Axis cycle for output position reference value (O = linear axis) 36000
SAV Save measured value (edge-active; with an increasing edge at input SAV) 0
CLR Delete measured value memory (level-active) 0
EN Enable. For EN = 0 (not enabled), YP = 0.0. 1
YP Position reference value 0.0
YPD Difference: new value – old value 0.0
MWY Mean value of all measurements 0.0
QV Output YP valid. QV is set to 1 for one cycle for a valid YP value. 0
QF Group error : Not sufficient memory space available or more measured
values saved than specified with NMX
0
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2.10 MDCMP
basic and equalization functions for Motion Control
Symbol
MDCMP1
1. Position ref. value R XP1 YP R Reference position
1. Velocity setpoint R XV1 YV R Reference velocity
2. Position ref. value R XP2 COR DI Correction value
2. Velocity setpoint R XV2 POV BO Positive position overflow
Channel selection BO SEL NOV BO Negative position overflow
Setting value, position R SV DON BO Equalization completed
Dynamic position offset R OFS QRF BO ReferencedCorrection value for the position act.
valueR XCP QER BO Enable referencing
Relative velocity for equalization R VMX QST BO Standstill
Relative acceleration for equalization R AMX QF BO Group fault
Jerk R JRK
Position normalization R NFX
Velocity normalization R NFV
Axis cycle DI AZ
Set position BO S
Correct position actual value BO CP
Static offset compensation BO SOC
Equalization using forwards motion BO FWD
Equalization using reverse motion BO BWD
Hold BO HLT
Jog velocity R VJG
Jogging forwards BO JGF
Jogging backwards BO JGB
Referencing velocity R VRF
Referencing mode I MDR
Referencing BO REF
Reference point detected BO SYN
Initial position R XHM
Traverse to the initial position BO POS
Brief description
This block generates the setpoint/reference values for various basic functions for closed-loop
position controlled operation of a drive. In this case, this includes the "local operating modes" -
jogging, referencing and positioning, to an output position.
In addition to the local mode, there is also a synchronous operation mode, where, the position
reference value and speed setpoint at the block input (if required, with constant offset) are
switched through to the output. The setpoints can be switched-over, jerk-free to each of the two
external sources.
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All transition functions are subject to the specified velocity and acceleration values.
Mode of operation
To select the actual block mode, the following priority list applies (* = any; DOC and SOC can
occur simultaneously):
Priority S HLT JGF JGB REF POS SOC Operating mode
1 1 * * * * * * Setting function
2 0 1 * * * * * Stopping
3 0 0 1 * * * * Jog with speed VRF
4 0 0 0 1 * * * Jog with speed -VRF
5 0 0 0 0 1 * * Referencing
6 0 0 0 0 0 1 * Position after XHM7 0 0 0 0 0 0 0→1 Static offset compensation for synchronous operation
(aligning)
8 0 0 0 0 0 0 0 Synchronous operation (if require with internal offset
between YP and XP)
Local operation
For HLT = 1, the reference (setpoint) velocity is ramped-down to standstill corresponding to
AMX, JRK. Standstill is displayed at output QST (QST=1).
In the jogging mode, for JGF = 1, the reference (setpoint) velocity is ramped-up to the values
specified at VJG; for JGB = 1 to the value -VJG. When changing the value VJG the new velocityis tracked via ramps (AMX, JRK).
For POS=1, the position reference value is positioned to the initial position XHM. The maximum
velocity for positioning is VMX. If XHM is changed, the system positions to the new output
position. When stationary, XHM should be a constant position value (i.e. not entered from an
analog channel) in order to avoid continually initiating new positioning operations. This would
result in an unnecessarily high processor loading of the module.
The referencing mode is activated by REF=1. At the start of referencing, outputs QRF=0 (not
referenced) and QER=1 (enable referencing) are set. After this, the velocity ramps-up to VRF.
When the reference point is reached, this must be displayed as rising edge at input SYN.
Output QER is then set to 0 and QRF set to 1.
There are 4 different versions of the referencing procedure which are selected at input MDR.
MDR Behavior when referencing
0 Referencing not possible. Set this mode when using absolute value encoders.
1 The reference velocity remains, also after passing the reference point to VRF to
REF=0, or another mode is activated.
2 After the reference point has been passed the drive remains stationary.
3 After passing the reference point the drive continues to traverse to the initial
position XHM where it then remains stationary.
4 After passing the reference point, the drive positions itself to the initial position
XHM. Positioning also depends on the data entered at inputs VMX, AMX, JRK,
FWD and BWD.
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Direction of the equalization operation
For rotary axis application (AZ > 0) three equalization sequence operations are available. The
inputs FWD and BWD are evaluated for static offset compensation (SOC), when the setpointchannel is changed (SEL), positioning (POS) and referencing in the mode MDR=4.
AZ FWD BWD Motion direction ( * means any)
> 0 0 0 Shortest distance
> 0 0 1 Backwards
> 0 1 * Forwards
0 * * Shortest distance
XCP, CP
If the position actual value and position reference value are changed as step function, thenconnections I/O XCP and CP become active. At the same time as the setpoint step, the position
change is entered at XCP and is transferred as correction to the position actual value with a
rising edge at CP. This function is, e.g. required, if for "flying referencing", the setpoint is to be
simultaneously adapted.
I/O
Name Description Default
XP1 1st position reference value. Evaluated when SEL=0 0.0
XV1 1st velocity setpoint. Evaluated when SEL=0 0.0
XP2 2nd position reference value. Evaluated when SEL=1 0.0
XV2 2nd velocity setpoint. Evaluated when SEL=1 0.0
SEL Selects the setpoint channel: SEL=0 selects XP1, XV1 0
SV Setting value, position 0.0
OFS Dynamic position offset 0.0
XCP Correction value for the position actual value. For a rising edge at CP, the
position actual value is increased by XCP as correction (outputs COR,
POV, NOV).
0.0
VMX Max. relative velocity for the equalization sequence (XV). The equalization
sequence is superimposed on the synchronous operation YV. This means
that the sum of XV and dv act at output YV which means that values
greater than the rated drive velocity can be obtained!
100.0
AMX Max. relative acceleration for the equalization sequence. The effective
acceleration is the sum of the equalization and synchronous operation.
Units: Rotary axis [1/s²] Linear axis [m/s²]
100.0
JRK Jerk = Change in the acceleration per unit time for the equalization
sequence.
Units: Rotary axis [1/s³] Linear axis [m/s³]
JRK = 0 means no rounding-off.
1000.0
NFX Position normalization:
Rotary axis: Number of LU per revolution
Linear axis: Number of LU per meter
Detailed description refer to Normalization NFX
36000
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NFV Velocity normalization: Factor to convert the application-specific speed
normalization in [RPM] for the rotary axis or [m/min] for the linear axis. NFV
is the velocity in m/min (rotary axis: Speed in RPM), which should be
displayed as 1.0. This is effective for connections I/O XV, YV, VJG, VRF,VMX.
Examples:
User normalization Conversion NFV
1.0 = 11/s 1
1/s = 60
1/min 60.0
1.0 = 1mm
/s 1mm
/s = 0.06m/ min 0.06
Detailed description refer to Normalization NFV
1.0
AZ Axis cycle for the input and output position value 36000
S Set position. For S = 1, equalization sequences which have not been
completed, are cancelled.
0
CP Correct the position actual value. The position actual value is increased by
XCP with a rising edge.
0
SOC Static offset compensation, edge triggered 0
FWD Equalization sequence, always forwards; dominant with respect to BWD 1
BWD Equalization sequence, always backwards 0
HLT Hold. For HLT=1, the reference velocity goes to zero. 0
VJG Velocity for jogging 0.0
JGF Jogging with velocity VJG 0
JGB Jogging with velocity - VJG 0
VRF Velocity for referencing 0.0
MDR Mode for the behavior after passing the reference point (refer to the table
above)
0
REF Enable referencing 0
SYN A rising edge at SYN signals that the reference point is passed in the
referencing mode.
0
XHM Initial position. This position is approached when positioning or when
referencing (MDR=3 or MDR=4).
0.0
POS Positioning as long as POS = 1, the initial position XHM is approached. 0
YP Output, position reference value 0.0
YV Output, velocity setpoint 0.0
COR Correction value for steps in the position reference value 0
POV Positive overflow of the position setpoint (COR is subtracted) 0
NOV Negative overflow of the position reference value (COR is added) 0
DON 0: Equalization sequence (dynamic or static offset compensation or modechangeover active)
1: Equalization sequence completed
0
QRF Referenced. This is used, for example, to enable a position controller. 1
QER Enable referencing. This is used, e.g. to enable synchronization
(input SP at block NAVMC)
0
QST Standstill: Indicates that the reference speed YV=0. 0
QF Group fault: Initialization: Insufficient working memory; during operation:
Inputs VMX, AMX, NFX, NFV must be > 0; JRK must be ≥ 0.
0
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2.11 COUPLE
engage/disengage (coupling)
Symbol
COUPLE
Reference position R XP YP R Position setpoint
Speed actual value R XV YV R Setpoint speed
Stall position R XPS YDT R Transient duration
Position offset setpoint R DYP COR DI Positioning correction value
Local speed R VLC POV BO Positive overflow
Transient speed R VMX NOV BO Negative overflow
Transient acceleration R AMX QSY BO Synchronous operationJerk R JRK QLC BO Local operation
Normalization factor position R NFX QST BO Stand still
Normalization faktor speed R NFV QTR BO Transient operation
Axis cycle DI AZ DON BO Transient finished
axis cycle DI CV QF BO Group error
Correction value BO CP YF W StatusInfo Block
Set value position R SV
Set YP=SV BO S
Stop immediately BO HLT
Stop at XPS BO STP
Synchronous operation (YP=XP) BO SYP
Speed sychronous operation BO SYN
Local operation BO LOC
Overdrive permitted BO OVD
Forwards BO FWD
Backwards BO BWD
Enable BO EN
Brief description
This block is used to engage or disengage a drive from a drive group. In the disengaged
condition (clutch open), the drive run with any local velocity, which can also be zero.
The transition from local operation to synchronous operation (engaging) or vice versa
(disengaging) is realized using specified jerk and acceleration values.
The block calculates the selected transitions and outputs these corresponding to its configured
sampling time. These values are used as pure setpoint values for the subordinate (lower level)
drives in open-loop controlled operation. Drive actual values that are read back are not taken
into account (closed-loop controlled operation).
The block can be operated either position or speed dependent. In the speed-dependent mode,
engaging and disengaging are realized as fast as possible. The position at standstill and the
offset between the input position XP and the output position YP are randomly obtained in
speed-dependent operation.
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In the position-dependent mode, the engaging and disengaging functions are superimposed
with positioning. The drive then comes to a standstill at the standstill position or after engaging,
there is offset DYP between XP and YP.
YP = XP + DYP
Every operating mode can be activated using an input, whereby the operating data are
staggered according to priority. It is not possible to re-calculate equalization motion in order to
enter changed limit values for speed (VMX), acceleration (AMX) or jerk (JRK).
The remaining duration of the actual equalization motion in seconds is calculated in advance
and is available at output YDT.
Mode of operation
The block has several operating modes. To activate a mode, the associated input should be set
to 1. The control inputs are prioritized according to the following table (* = any input; 1 has thehighest priority):
Priority S HLT STP SYP SYN LOC Operating mode Input
1 1 * * * * * Setting function: YP = SV -
2 0 1 * * * * Shutdown (as fast as possible; any position) -
3 0 0 1 * * * Hold at the shutdown position XPS XPS
4 0 0 0 1 * * Synchronous operation with YP = XP+DYP DYP
5 0 0 0 0 1 * Synchronous operation with undefined offset between XP and
YP
-
6 0 0 0 0 0 1 Operation with local velocity VLC VLC
7 0 0 0 0 0 0 Shutdown (as a mode is not active) -
For several operating modes, an associated input is continuously monitored (refer to the table
above). If this input quantity changes, a new operating point is automatically approached.
Example:
Operation in local velocity is active (LOC = 1). After VLC has been changed, the output velocity
YV transitions to the new value YV = VLC according to the specified dynamic response (AMX,
JRK).
Example – catching-up in synchronous positioning operation (SYP):
The transition from one operating mode into a closed-loop position controlled operating mode(SYP or STP) is realized in an equalization operation; this is specified by the maximum velocity
VMX, the maximum acceleration AMX and jerk JRK.
For operating modes with a defined end position, (SYP or STP) for OVD = 0, the transition state
is delayed long enough so that after the equalization operation has been completed, the
required position has been reached.
Caution! If, when catching-up in synchronous positioning operation, the leading (master) axis is
stationary then the following (slave) axis remains in the previous operating mode until the
leading (master) axis has reached a velocity that is not equal to zero.
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SYP = TRUE
SYP = TRUE
Position of the leading (master) axis (XP)
Position of the following (slave) axis (YP)
XP YP
tLOC = TRUE
AZ
tLOC = TRUE
Velocity of the leading (master) axis (XV)
Velocity of the following (slave) axis (YV)
XV YV
VLC
Transition from local operation into synchronous operation with OVD = FALSE
When overcontrol is enabled (OVD = 1) then the operating mode is changed as quickly as
possible into the new operating mode. In this particular case, speed increases of up to VMX are
possible. Further, it is also possible that during the transition operation, the axis direction
changes. Catching-up is even possible with a stationary leading (master) axis.
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Position of the leading (master) axis (XP)
Position of the following (slave) axis (YP)
XP YP
tLOC = TRUE SYP = TRUE
AZ
tLOC = TRUE SYP = TRUE
Velocity of the leading (master) axis (XV)
Velocity of the following (slave) axis (YV)
XV YV
VLC
Transition from local operation into synchronous operation with OVD = TRUE
Data at connections BDW and FWD have no significance for pure catching-up in synchronous
positioning operation (SYP).
Example – offset change in synchronous positioning operation (SYP):
If, in synchronous operation, the value at input DYP changes, then equalization motion takes
place; after this has been completed, the new offset DYP is present between YP and XP.
The values at inputs FWD and BWD are only effective for a transition at a rotary axis (AZ not
equal to 0), where the velocity beforehand and afterwards remains the same (positioning from
standstill after standstill; offset change DYP in synchronous positioning operation).
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C o p y r i g h t S
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A c
t u a l
p o s i t i
o n
a t t h e s t a r t o
f
t h e t r a
n s i t i
o n
S e t p o i n t p o s i t i o n
a t t h e e n d o f t h e
t r a n s i t i o n
A c t u a l p
o s i t i
o n
a t t h
e s t a r t o
f
t h e t r a
n s i t i
o n
S e t p o i n t p o s i t i o n
a t t h e e n d o f t h e
t r a n s i t i o n
Offset equalization backwards (BWD=1) Offset equalization forwards (FWD=1)
0°
90°270°
180°
0°
90°270°
180°
The travel direction for forwards (FWD) and backwards (BWD) is defined as follows:
FWD = positive velocity
BWD = negative velocity
If both inputs (FWD and BWD) are TRUE, then the travel direction forwards (FWD) is dominant.
Overdrive OVD=1 disables the FWD / BWD evaluation and searches for the shortest distance
from the actual position to the setpoint position - i.e. the fastest possible transition.
Example – stopping at the stopping position (XPS) from synchronous operation:
In synchronous operation, the drive should be held at position XPS. The drive continues to run
in synchronous operation until the distance to the target is precisely the same as the braking
travel. It then brakes and remains stationary at XPS.
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Position of the leading (master) axis (XP)
Position of the following (slave) axis (YP)
XP YP
tSYP = TRUE STP = TRUE
AZ
t
SYP = TRUE STP = TRUE
Velocity of the leading (master) axis (XV)
Velocity of the following (slave) axis (YV)
XV YV
XV
XPS
Transition, stopping at the stopping position with OVD = TRUE
Example:
The system should change from the disengaged mode to the synchronous mode. However, the
master axis (XP, XV) is presently at a standstill. For OVD = 0, the system waits (any length of
time!), until the master axis starts. The drive is only synchronized after the standstill position has
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been exceeded. However, for OVD = 1, the drive is immediately positioned to the stationary
master axis.
Maximum velocity VMX
When changing the operating mode from the closed-loop speed controlled mode (HLT, SYN,
LOC) into the closed-loop position controlled mode (STP, SYP), the equalization velocity (YV) is
limited to the maximum velocity (VMX). Further, the maximum velocity limit is effective for
equalization operations in the closed-loop position controlled mode (STP, SYP) – e.g. an offset
change. However, the following two exceptions must be taken into account:
4. 1. The max. velocity can only be maintained if, during equalization, the leading (master)
axis does not accelerate any further (XV = constant or lower).
5. 2. The max. velocity can only be maintained if the velocity of the leading (master) axis is
less than the maximum velocity (VMX) of the following (slave) axis.
In the closed-loop speed controlled operating modes, the output velocity YP is not limited by the
maximum velocity (VMX).
VMX not relevant
V M X n o t r e l e v a n t
VMX not relevant
Vmax = f(VMX, XV)
Closed-loop speed controlled
Closed-loop position
controlled
VMX not relevant
Vmax = f(VMX, XV) = max{VMX, XV + 0.05*VMX}
Vmax = f(VMX, XV)
V m a x = f
( V M X , X V )
Vmax = f(VMX, XV)
V M X n o t r
e l e v a n
t
LOC
SYNHLT
SYPSTP
V m a x =
f ( V M X
, X V ) V
m a x = f ( V
M X ,
X V )
V M X
n o t
r e l e
v a n t
V M X n o t r e l e v a n t
VMX not relevant
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Behavior for non-specific dynamic values / Emergency Stop when there is a fault
As soon as the block identifies a fault, then it signals this at its QF output. At the same time, a
fault cause is signaled at output YF. The fault identification is deleted (cleared) if the cause ofthe fault has been removed. It is not necessary to acknowledge the fault.
CAUTION The dynamics of the motion with which the block executes changes in thevelocity and acceleration are defined using the characteristic quantities ofJRK, AMX, VMX and normalization factors NFV and NFX. If one of theparameters is not valid due to an incorrect entry, then this automaticallymeans that the complete dynamics of the motion are undefined. As aconsequence - if characteristic quantities are incorrectly entered, operatingsituations can arise in which the block outputs a setpoint so that the drivecontinues to accelerate – even beyond the corresponding limits - ordoesn’t come to a standstill at the required position.
This is the reason that the block includes an emergency strategy that must be initiated by the
user program: If a stop command is to be initiated (HLT = 1) during an identified fault situation,
then the block immediately and suddenly stops any motion (issues a setpoint of zero). When
there is a fault there is no complete information about the required dynamics of the motion. This
is the reason that a stop - initiated by the block’s emergency strategy - is executed without
taking into account the specified dynamic parameters!
After an Emergency Stop has been executed the block enable MUST BE withdrawn. When the
block is re- enabled it is in a clearly defined state.
Fehlercodes YF
Value (hex) Description
0001 Velocity VMX is exceeded
0002 Incorrect parameterization at AMX
AMX must be greater than zero. Please check the value at AMX
0004 Incorrect parameterization at JRK
JRK must be greater or equal than zero. Please check the value at JRK
0008 Incorrect parameterization at NFX
NFX may neither be zero nor negative. Please check the value at NFX
0010 Incorrect parameterization at NFVNFV may neither be zero nor negative. Please check the value at NFV
I/O
Name Description Default
XP Reference position 0.0
XV Referencing velocity 0.0
XPS Shutdown position (disengaging position) for disengaging in position-
controlled operation (PN = 1)
0.0
DYP Offset reference value for synchronous operation in the closed-loopposition controlled mode (PN = 1) 0.0
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VLC Local reference velocity for the local operation. When changed, output YV
tracks the ramp, defined by AMX and JRK.
0.0
VMX Maximum velocity when equalizing the offset. 100
AMX Maximum acceleration/deceleration for the transition states.
Units: Rotary axis [1/s²] Linear axis [ m/s²]
100
JRK Jerk (da/dt time derivative of the acceleration)
Units : Rotary axis 1/s³] Linear axis [m/s³]).
3
2
200025
50
s
m
ms
s
m
dt
da==
Example: This means that for JRK = 2000, an acceleration of 50m/s² is
reached after 25 ms.
JRK equal zero means infinite jerk
1000
NFX Position normalization:Rotary axis: Number of LU per revolution
Linear axis: Number of LU per meter
Changes are only take over at non - enabled status (EN = 0)
Detailed description refer to Normalization NFX
360000
NFV Velocity normalization: Factor to convert the application-specific speed
normalization in [RPM] for a rotary axis or [m/min] for a linear axis. NFV is
the velocity in m/min (rotary axis: Speed in RPM), which should be
displayed as 1.0. This is effective for connections I/O XV, YV, VMX.
Examples:
User normalization Conversion NFV
1.0 = 11/s 1
1/s = 60
1/min 60.0
1.0 = 1mm
/s 1mm
/s = 0.06m/ min 0.06
Changes are only take over at non - enabled status (EN = 0)Detailed description refer to Normalization NFV
1.0
AZ Axis cycle for the input and output position value (O = linear axis) 36000
SV Setting value for the position. This is accepted for S = 1. 0.0
CV Correction value for position correction 0
CP Correct the position by the position correction value (CV) 0
S Setting position YP = SV. 0
HLT Stopping as quickly as possible: For HLT=1 the speed setpoint is ramped
down to zero.
0
STP Hold at XPS: For STP = 1 the reference position remains stationary at
XPS.
For OVD = 1, the axis positions to XPS.
0
SYP Synchronous operation with a defined offset (DYP) between YP and XP.
When the mode is activated, ramp-up is delayed until YP can "engage"
with the required offset.
0
SYN Synchronous operation for undefined offset between YP and XP. When the
operating mode is activated, YV immediately ramps-up to XV.
0
LOC Local velocity input VLC. When VLC is changed, the setpoint speed follows
via ramps.
0
OVD Overcontrol permitted. For OVD = 1, the new state is approached as
quickly as possible. In this case, the equalization can be faster than the
reference velocity or opposite to the direction of motion!
For OVD = 1, positioning in the forwards and backwards direction is always
enabled – independent of how FWD and BWD are connected.
0
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FWD Equalization motion is made in the forwards direction (refer to the table
above)
For OVD = 1, the input value is irrelevant.
0
BWD Equalization motion is made in the backwards direction (refer to the table
above)
For OVD = 1, the input value is irrelevant.
0
EN Enable. For EN = 0 (not enabled) YP = 0 and YV = 0 1
YP Position ref. value, output quantity 0.0
YV Reference velocity, output quantity 0.0
YDT Duration of the equalization operation in seconds 0.0
COR Correction values for steps in the position reference value 0
POV Positive overflow of the position reference value (COR was subtracted) 0
NOV Negative overflow of the position reference value (COR was added) 0
QSY Synchronous operation: This is set to 1 as soon as XP and YP run in
synchronism
0
QLC Local velocity reached. 0
QST Standstill signal. 0
QTR 1: Equalization operation running 0
DON 1: Equalization operation completed 1
QF Group fault
Initialization: Not sufficient working memory during operation: Inputs VMX,
AMX, NFX, NFV must be > 0; JRK must be ≥ 0.
0
YF Status info block (refer to the table "Fault codes YF") 0
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2.12 SHEAR
cross-cutter/cross sealer
Symbol
SHEAR
Material position R XP YP R Position, shears
Format (product length) R FMT YV R Speed, shears
Shears circumference R CIR YFR R Format actual value (floating point)
Synchronous operation [degrees] R SYR YFI DI Format actual value (integer)
Velocity normalization R NFV COR DI Correction value
Axis cycle output DI AZO POV BO Positive overflow
Cut enable BO CUT NOV BO Negative overflowEnable block BO EN QST BO Standstill
QCO BO Cutting operation active
QF BO Group fault
Brief description
The block calculates the reference position and speed for rotary shears or a cross-sealing
device as a function of the material position and product length. During operation, the shears
can be shutdown at the quiescent position, which is located with a 180° offset with respect to
the cut/sealing position. The product length can be changed during operation.
Mode of operation
Under steady-state operating conditions, the block behaves like a characteristic which emulates
the material position with respect to the position of the shears. The cut is made at position XP =
0 (this corresponds to XP = FMT). The gradient (rate of rise) within the cutting range is 1, i.e.
the circumferential velocity of the shears is the same as the material velocity. In the cutting
range, the shears are in synchronism with the material. The synchronous range width is
specified in degrees at input SYR. The gradient outside the cutting range is a function of the
ratio between cross cutter circumference and the product length.
AZO
AZO
2
FMTXP
YP
Transfer characteristic for a large format
(FMT > CIR)
AZO
AZO
2
FMTXP
YP
Transfer characteristic for a small format
(FMT < CIR)
CIR CIR
Characteristic for
FMT = CIRCharacteristic for
FMT = CIR
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For large formats, the shears brakes down to standstill (estimated value: From product lengths
FMT > 2⋅ CIR; dependent on SYR). On the other hand, for product lengths less than CIR
outside the cutting range, the speed of the shears is higher than the material velocity.
Cutting is either enabled or inhibited using the CUT input. In the inhibited state, the shears are
in the quiescent position and ½ AZO. If cutting is then enabled with CUT = 1, the shears
accelerate up to the material velocity and then cut according to the selected product length.
XP(t)
XP
Behavior when cutting is enabled
YP(t)
t
CUT
YV
t
t
Cut
Cut range
YP
FMT AZO
Format change
If the cut format is changed (product length), then this only becomes effective after the next cut.
The change must be synchronized with the axis cycle for the material position. XP must
maintain the old axis cycle limits until the new format has been accepted (old value of FMT)
AZO
AZI
GEAR
YPXP
SHEAR
XP
FMT
YP
YFIFormat
For practical purposes, the format change is made as follows. In this case, output YFI (currently
valid format length) is used to define the axis cycle for the material position, by entering the axis
cycle of a gearbox block or a virtual master (INT_MR).
I/O
Name Description Default
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XP Material position. Position actual value of the products or the endless
material which is either cut using the shears or is transversely sealed using
the sealing device. (Position normalization as FMT)
0.0
FMT Cutting format. Clearance between two products. The material position
must have axis cycle FMT. XP, FMT and CIR must have the same position
normalization!
20000.0
CIR Circumferential scope of the shears/sealing device. (Position
normalization: As for FMT)
50000.0
SYR Synchronous range in degrees. 10.0
NFV Speed normalization for the shears speed YV.NFV is the reference speed,
i.e. the speed in RPM, which should be displayed as YV = 1.0.
(NFV must be > 0 )
Detailed description refer to Normalization NFV
1.0
AZO Axis cycle for the shears position. This means a default value of 36000
increments per revolution. (AZO must be > 0)
36000
CUT Enables cutting operation. For CUT = 0 the shears come to a standstill at
AZO/2
0
EN Block enable 1
YP Position of the shears ( 0 ... AZO) 0
YV Speed of the shears (normalization according to NFV) 0.0
YFR Actually used format length as floating-point value. 0.0
YFI Actually used format length as 32-bit integer value. 0
COR Correction value through which YP jumps if the range 0 ≤ YP < AZ is to be
exceeded or fallen below
0
POV For a positive position overflow, POV is set to 1 for one processing cycle. 0
NOV For a negative position overflow, NOV is set to 1 for one processing cycle. 0QST Shears standstill 0
QCO Cutting operation active. After the cut enable has been withdrawn
(CUT = 0), QCO is set to 0 when the shears come to a standstill.
0
QF Group fault: Invalid values for inputs CIR, FMT, SYR, AZO or NFV 0
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2 Block description of the GMC library
52DCC GMC Library
1.0, Item-ID: 72839973
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2.13 EDC1
engager/disengager
Symbol
EDC1
Reference position R XP YP R Position reference value, slave
Referencing velocity R XV YV R Reference velocity, slave
Axis cycle, input DI AZI COR DI Correction value
Axis cycle, output DI AZO POV BO Positive position overflow
Coupling position R XCP NOV BO Negative position overflow
Engage/disengage length R DXL QSY BO Synchronous operation
Ramp length
R RMP QST BO StandstillRounding-off (percentage) R DRP QF BO Group fault
Position setting value R SV
Set position BO S
Start/stop trigger BO SST
Start/stop continuous BO SSC
Engage/disengage BO ED
Enable BO EN
Brief descriptionThis block is used to couple-in or couple-out a drive from a drive group, as a function of the
position, when a trigger condition is available. The position actual value XP at the input
represents the reference position of a master drive. Output YP is the position reference value for
a slave drive.
Engaged operation
In the engaged mode, the initial slave status is standstill. Engaging (coupling-in) is activated
using a trigger signal (SST or SSC). If the master XP has the coupling position XCP, the slave
(YP) moves through the engaging length (coupling-in length) DXL and it then remains
stationary.
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SST
XVYV
Engaging operation
YP
Post trigger range
DXL
SST
YV XV
ngag ng operat on w t post
triggering
YP
Post trigger range
2 ⋅ DXL
The engaging sequence can be extended by one or several additional engaging lengths if there
are additional trigger edges (SST = 0 → 1) during triggering. The trigger edges must lie within
the post trigger range. After the start of the deceleration operation, the trigger event is only
effective after passing-over the next coupling position, whereby a new coupling position is only
taken into account after standstill has been reached.
During the engaging operation, the master axis (reference position) moves through the distance
given by
dXP = engaging length + ramp length = DXL + RMP
Disengaging operation
For disengaging operation, the slave is initially in synchronous operation with the master drive.If, after the trigger event, the master goes past the coupling position, the slave decelerates and
then re-accelerates back to the synchronous velocity. After each disengaging operation
(coupling-out) the offset between the master and slave increases by the disengaging length
DXL.
Post triggering is possible up to the start of the synchronizing operation in order to implement an
offset by additional disengaging lengths.
SST
XVYV
Disengaging operation
YP
Post trigger range
DXL
SST
YVXV
Disengaging operation with post triggering
YP
Post trigger range
2 ⋅ DXL
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During disengaging, the master axis travels through a distance given by
dXP = disengaging length + ramp length = DXL + RMP
Negative speed
Engaging and disengaging operation is also possible when reversing the drive (negative
speeds). In this case, the operation is started when the coupling position is not reached. In this
case, the engaging/disengaging length acts in the opposite direction. This means that for XV < 0
and for
DXL = 90°, the slave moves through -90° when engaging.
Continuous operation
In addition to the previously-described edge-triggered operation (with SST), continuous
operation is also possible. Continuous operation is active as long as SSC is set to 1.Furthermore, the following prerequisites must be fulfilled:
• a system with linear axis is involved,
• or, the coupling position is passed a second time before the engaging/disengaging
operation has been completed.
In both of these cases, the engaging/disengaging operation is continually extended by the value
DXL until SSC is set to 0.
0
YV
0 0XCP XCP XCP
SSC
Continuous engaging operation
XP
0
YV
0 0XCP XCP XCP
SSC
Intermittent engaging operation
For systems with rotary axis and one engaging/disengaging length
Intermittent operation
DXL < AZ - RMP
intermittent operation is involved. This means that the engaging/disengaging operation has
been completed before the coupling position is again passed. In this particular case, a
sequence of individual engaging/disengaging operations is obtained which always start when
the coupling position is exceeded. The sequence is continued as long as SSC = 1.
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Ramp length and rounding-off YP
YV
dYV
dt
RMP
2
RMP
2
DRP
Rounding-off DRP
DRP = 0 %
DRP = 50 %
DRP = 100 %
Ramps, rounding-off
The signal characteristics of YP and YV are dependent on input quantities XP and XV (distance
dependent; not time dependent!). This means that acceleration and rounding-off are defined as
distant-dependent quantities. The acceleration ramp specifies the component of the distance
where the slave drive accelerates or decelerates (ramp length). The rounding-off defines what
percentage of the acceleration ramp is used to establish the torque.
I/O
Name Description Default
XP Reference position 0.0
XV Referencing velocity 0.0
AZI Axis cycle for the input position value (0 = linear axis) 36000
AZO Axis cycle for the output position value (0 = linear axis) 36000
XCP Coupling position. An engaging/disengaging operation is started if XP
exceeds these position values (or falls below, for a negative speed)
0.0
DXL Engaging/disengaging length. Engaging operation: For each engaging
operation, the slave is moved through DXL in the actual direction of
motion. Disengaging operation: The offset between master and slave
increases by DXL.
36000
RMP Component of the distance which is used for acceleration or deceleration.
For each acceleration/deceleration operation, the master moves through
distance RMP; the slave only moves through the half, RMP/2.
(Caution: Occurs twice per engaging/disengaging operation)
12000
DRP Component of the acceleration/deceleration ramp as a percentage, which
is used to establish and reduce to the maximum acceleration.
Permissible range 0 ≤ DRP ≤ 100
10 %
SV Position setting value 0.0
S Set position reference value YP to SV 0
SST Edge-triggered starting of an engaging or disengaging operation. This can
be used to extend the operation if a new 0→1 edge is output within the
post trigger range.
0
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SSC Level-dependent starting of an engaging or disengaging operation for
continuous or intermittent operation.
0
ED Mode selection:
0: Disengaging
1: Engaging
0
EN Enabled. For EN = 0 (not enable) YP = 0 and YV = 0 1
YP Position reference value for the slave drive 0.0
YV Reference velocity for the slave drive 0.0
COR Correction value for steps at YP due to limiting the axis cycle for systems
with rotary axis.
0
POV For the position correction YP = YP - COR, POV is set to 1 for the duration
of a processing/machining (position overflow for positive direction of
rotation).
0
NOV For the position correction YP = YP + COR, NOV is set to 1 for the
duration of a processing/machining (position overflow for negativedirection of rotation).
0
QSY Synchronous operation: This signal indicates that the master axis and
slave axis are operating in angular synchronism with respect to one
another
0
QST Standstill: Indicates that the slave velocity YV = 0. 0
QF Group fault; this is always set if YFC is not equal to zero. 0
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2.14 SAMP_TIME
Sample time
Symbol
Brief description
The block gives the sampling time in which it is calculated in milliseconds.
Name Description Default
TIME Sample time in ms 0.0
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2.15 NOP_18
blind block for 18 values of different data types
Symbol
NOP_18
Input variable 1..8 (BOOL) BO BOOL_ IN1..8
BOOL_ OUT1..
8
R Output variable 1..8 (BOOL)
Input variable 1..5 (REAL) R REAL_IN1..5
REAL_ OUT1..
5
DI Output variable 1..5 (REAL)
Input variable 1..5 (DINT) DI DINT_IN1..5
DINT_ OUT1..
5
DI Output variable 1..5 (DINT)
Brief description
The block gives the input values directly to the output Pins.
There are:
• 8 boolean values
• 5 REAL values
• 5 DINT values
Connections
Name Description Default
BOOL_I
N1..8
8 Boolean inputs 0
REAL_IN
1..5
5 inputs of Type REAL 0.0
DINT_IN
1..5
5 inputs of Type DINT 0
BOOL_OUT1..8
8 Boolean outputs 0
REAL_O
UT1..5
5 outputs of Type REAL 0.0
DINT_O
UT1..5
5 outputs of Type DINT 0
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2.16 AND_W
wordwise and
Symbol
AND_W
Input word W I QS W Output word
Q BO Feedback
Brief description
The block is anding up to 4 words bit by bit and gives the result to the output word QS.
If at least one bit of the result has the value “1”, the output bit Q is set to “1”.
Connections
Name Description Default
I 2 up to 4 input words 0
QS Output word; result of anding the input words 0
Q Feedback; is 1, if a least one bit of the result is 1 0
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2.17 OR_W
wordwise OR
Symbol
OR_W
Input word W I QS W Output word
Q BO Feedback
Brief description
The block links up to 4 input words bit by bit with logical OR and gives the result to the outputword QS.
If at least one bit of the result has the value “1”, the output bit Q is set to “1”.
Connections
Name Description Default
I 2 up to 4 input words 0
QS Output word; result of the ORing of all input words 0
Q Feedback; is 1 if at least one bit of the result is 1 0
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3 Installation
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3 Installation
Installation of the library
The .zip file of the GMC library has to be installed in STARTER.
Therefor all projects have to be closed. Under “Options -> Installation of librariesand technology packages…” please choose under “Add…” the .zip file of thelibrary. The installation will start automatically. This can take several minutes.
Loading the library onto the drive
Go online with the drive and choose in the context menue “Select technologypackages…”.
Select “Load in target system” and execute the action.
Usage of the library in DCC-Editor
Import the GMC library when inserting a drive control chart. The standard library
also has to be imported!
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4 Requirements
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4 Requirements
Hardware requirements:
• Control Unit CU3x0-2 with FW 4.6 HF3 or higher
License requirements:
• SINAMICS DCB Extension (MLFB: 6SL3077-0AA00-0AB0)
NOTE To use the library a runtime license is necessary. If there is no license and thelibrary is loaded onto the target a warning will appear.
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5 Related literature
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5 Related literature
5.1 Bibliography
This list is not complete and only represents a selection of relevant literature.
Table 5-1
Subject Title
/1/ SINAMICS S120
Drive functions
Function Manual “SINAMICS S120 Drive Functions”Edition 01/2013
6SL3097-4AB00-0BP3
/2/ SINAMICS S120/S150
Parameters, functiondiagrams, faults andalarms
“SINAMICS S List Manual” Edition 01/2013
6SL3 097-4AP00-0BP3
/3/ Programming withDCC, integrating DCCin SINAMICS S120
Programming and operating manual “SINAMICS /SIMOTION Editor Description DCC”
Edition 02/2012
6SL3097-4AN00-0BP1
/4/ Block description forDCC blocks
Function Manual “SINAMICS/SIMOTION
Description of DCC standard blocks”
Edition 02/2012
6SL3097-4AQ00-0BP2
5.2 Internet link specifications
This list is not complete and only represents a selection of relevant information.
Table 5-2
Subject Title
\1\ Reference to theentry
http://support.automation.siemens.com/WW/view/en/72839973
\2\ Siemens IndustryOnline Support
http://support.automation.siemens.com
6 Contact
Siemens AG
Industry SectorI DT MC PMA APCFrauenauracher Straße 80D - 91056 Erlangenmailto: [email protected]
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7 History
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7 History
Table 7-1
Version Date Modifications
V1.0 05/2013 First version