Beckhoff TE1510 User Manual
Manual | EN
TE1510
TwinCAT 3 | CAM Design Tool
2020-10-09 | Version: 1.1
Table of contents
Table of contents
1 Foreword ....................................................................................................................................................5
1.1 Notes on the documentation..............................................................................................................5
1.2 Safety instructions .............................................................................................................................6
2 Introduction................................................................................................................................................7
3 Licensing..................................................................................................................................................13
4 The Properties of the Master ..................................................................................................................14
5 The Properties of the Slave ....................................................................................................................16
6 Graphic Window ......................................................................................................................................18
7 Tables Window.........................................................................................................................................20
8 Commands ...............................................................................................................................................23
9 Examples..................................................................................................................................................26
9.1 Overview..........................................................................................................................................26
9.2 Example 1........................................................................................................................................26
9.3 Example 2........................................................................................................................................28
9.4 Example 3........................................................................................................................................29
9.5 Example 4........................................................................................................................................31
9.6 Example 5........................................................................................................................................33
9.7 Example 6........................................................................................................................................36
9.8 Example 7........................................................................................................................................38
TE1510 3Version: 1.1
Table of contents
TE15104 Version: 1.1
Foreword
1 Foreword
1.1 Notes on the documentation
This description is only intended for the use of trained specialists in control and automation engineering who
are familiar with applicable national standards.
It is essential that the documentation and the following notes and explanations are followed when installing
and commissioning the components.
It is the duty of the technical personnel to use the documentation published at the respective time of each
installation and commissioning.
The responsible staff must ensure that the application or use of the products described satisfy all the
requirements for safety, including all the relevant laws, regulations, guidelines and standards.
Disclaimer
The documentation has been prepared with care. The products described are, however, constantly under
development.
We reserve the right to revise and change the documentation at any time and without prior announcement.
No claims for the modification of products that have already been supplied may be made on the basis of the
data, diagrams and descriptions in this documentation.
Trademarks
Beckhoff®, TwinCAT®, EtherCAT®, EtherCAT G®, EtherCAT G10®, EtherCAT P®, Safety over EtherCAT®,
TwinSAFE®, XFC®, XTS® and XPlanar® are registered trademarks of and licensed by Beckhoff Automation
GmbH.
Other designations used in this publication may be trademarks whose use by third parties for their own
purposes could violate the rights of the owners.
Patent Pending
The EtherCAT Technology is covered, including but not limited to the following patent applications and
patents:
EP1590927, EP1789857, EP1456722, EP2137893, DE102015105702
with corresponding applications or registrations in various other countries.
EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany
Copyright
© Beckhoff Automation GmbH & Co. KG, Germany.
The reproduction, distribution and utilization of this document as well as the communication of its contents to
others without express authorization are prohibited.
Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a
patent, utility model or design.
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Foreword
1.2 Safety instructions
Safety regulations
Please note the following safety instructions and explanations!
Product-specific safety instructions can be found on following pages or in the areas mounting, wiring,
commissioning etc.
Exclusion of liability
All the components are supplied in particular hardware and software configurations appropriate for the
application. Modifications to hardware or software configurations other than those described in the
documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG.
Personnel qualification
This description is only intended for trained specialists in control, automation and drive engineering who are
familiar with the applicable national standards.
Description of symbols
In this documentation the following symbols are used with an accompanying safety instruction or note. The
safety instructions must be read carefully and followed without fail!
DANGER
Serious risk of injury!
Failure to follow the safety instructions associated with this symbol directly endangers the life and health of
persons.
WARNING
Risk of injury!
Failure to follow the safety instructions associated with this symbol endangers the life and health of persons.
CAUTION
Personal injuries!
Failure to follow the safety instructions associated with this symbol can lead to injuries to persons.
NOTE
Damage to the environment or devices
Failure to follow the instructions associated with this symbol can lead to damage to the environment or
equipment.
Tip or pointer
This symbol indicates information that contributes to better understanding.
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Introduction
2 Introduction
A cam plate editor is used to design the motions for a cam plate.
The cam plate editor is a flexible tool that provides optimum user support. The responsibility for the choice of
parameters lies with you (the user). You should check carefully whether the start and end points meet the
specification. The graphic display options provide optimum support for controlling velocities, accelerations
and jerk.
Notwithstanding the wide range of options, please bear in mind the limits to possible motions imposed by
physical constraints.
The CAM Design Tool is the cam plate editor of TwinCAT. It is integrated into the XAE engineering
environment based on Visual Studio™. In the user interface it can be found under the System Manager
(see diagram).
Cam plates that have been designed with the tool are stored in the respective project file. When the system
is started, the cam plates are automatically transferred to the eXtended Automation Runtime (XAR).
eXtended Automation (XA) architecture
In XAR, the NC includes the functionalities required for coupling cam plates. These extensive functionalities
can be called by the PLC with the TC-NC Camming library (TF5050). In addition to the standard function
blocks of PLC Open, the library also contains compatible function blocks with extended functionalities. The
following overview illustrates the options available through interaction of the CAM Design Tool with the NC
and the PLC.
It is also possible, for example, to upload cam plates generated by the PLC, which were loaded into the NC
via a function block, into the CAM Design Tool.
A user interface (HMI) can be connected via the PLC.
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Introduction
Generate CAM offline: CAM Design Tool Generate CAM online: PLC Code
Engineering: For designing a cam plate.
• Motions are defined segment by segment.
• The position, velocity and acceleration can be
checked.
Information about the TF5050 PLC library can be found here.
PLC open Motion Control
The function blocks listed in the PLC library are based on:
Technical Specification
• PLCopen - Technical Committee 2 - Task Force
• Function blocks for motion control
PLC: For use in the production machine.
• A touch probe option is available.
• The format can be changed via the HMI.
• Facilitates checking of characteristic values, if
required.
Create project
A license is required to access the full functionality of the TE1510 CAM Design Tool, see Licensing
[}13].
The cam plate editor integrated in TwinCAT 3 can be found in a Twin CAT project under MOTION > Tables.
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Introduction
Here you can insert additional Masters and below that corresponding Slaves by right-clicking.
Click the Master in the structure tree to open the property pages. Not only the properties of the Master
[}14] but also those of the associated Slaves [}16] can be set on these pages.
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Introduction
The general procedure for designing a cam plate is based on VDI Guideline 2143. The rough design of the
motion - the motion plan - defines the start and end points of the motion section. However, the cam plate
editor does not differentiate between the motion sketch and the motion diagram containing the detailed
motion description.
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Introduction
The user's interface to the cam plate editor is largely graphic. Following interactive graphic entry of the points
in the graphic window, the co-ordinates of the points are displayed in the table window above it.
New points can only be inserted in the graph, and it is only possible to delete existing points via the graph.
The properties of the points - the co-ordinate values or their derivatives - can also be interactively
manipulated in the table window.
The following parameters can be displayed in the graphical area:
• position,
• velocity,
• acceleration,
• jerk.
Change display
ü The mouse pointer is in the graphic window.
1. Right-click.
2. Select the desired views in the menu window.
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Introduction
ð For example, a separate graphic window [}18] is created for each derivative.
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Licensing
3 Licensing
The functionality of the CAM Design Tool is included in the XAE of TwinCAT, which means there is no need
to download an additional software module. A license is required to save a cam plate in a project file. See
"Ordering and activation of TwinCAT 3 standard licenses".
Once a cam plate has been created in a project it cannot be changed, but it remains in the project. A license
is only required on the workstations on which cam plates are designed or modified.
If no license is available at the workstation, a message is displayed the first time a new cam plate is created,
which the user must confirm:
Required licenses:
TE1510 CAM Design Tool
Although this license must be activated on the target system, it is an engineering license. For testing
purposes, a demo mode simulation can be used without a license.
Restrictions in the demo version
Cam plates generated without a license can be loaded into the XAR. However, they are ignored when the
project is saved.
TE1510 13Version: 1.1
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