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Pilz PMCprimo 16 User Manual

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PMotion
Motion Control PMC
User Manual – No. 21472-EN-11
V
1 General Information
1.1 Copyright
Copyright 2012 Pilz GmbH & Co.KG. All rights reserved.
All rights reserved. The implementation of technical changes which improve the performance of the product is subject to change without prior notification! The product or parts of the content may be reproduced or transmitted in any form (by printing, photocopying, microfilm or any other method) or stored, processed, copied or distributed by electronic means without the written permission of Pilz GmbH & Co. KG.
1.2 Notice
Pilz GmbH & Co. KG reserves the right to make amendments to this document at any time.
The examples given serve only as illustrations. No guarantee is given for their suitability in particular applications. Although the utmost care has been taken in the production of this document, no liability can be accepted for any mistakes that it may contain. We welcome any suggestions for the improvement of our products, or documentation.
We reserve the right to make technical changes, which lead to the improvement of the product!
1 General Information
1.3 Previously published editions
ersion Notes
V1-28-06-2002 Initial version: valid from software version 2.03 V2-06-12-2002 Revised version: valid from software version 2.04 V3-10-06-2003 Revised version: valid from software version 2.05 V4-12-05-2004 Revised version: valid from software version 2.06 V5-23-02-2005 Revised version: valid from software version 2.07 V6-23-08-2005 Revised version: valid from software version 2.08 V7-15-11-2005 Revision V8-11-10-2007 Revised version: valid from software version 3.1 V9-05-02-2008 Revised version: valid from software version 3.2 V10-02-03-2010 Revised version: valid from software version 3.3 V11-02-04-2012 Revised version: valid from software version 3.4
2 Contents
2 Contents
1 General Information 2
1.1 Copyright ................................................................................................ 2
1.2 Notice ..................................................................................................... 2
1.3 Previously published editions ................................................................. 2
2 Contents 3 3 Abbreviations and Symbols 5
3.1 Abbreviations .......................................................................................... 5
3.2 Symbols .................................................................................................. 5
4 Safety Guidelines 6 5 About this manual 7 6 Introduction 8
6.1 Installation under Microsoft Windows ..................................................... 8
6.2 Hardware requirements .......................................................................... 8
6.3 General Description ................................................................................ 9
6.3.1Designations ........................................................................................... 9
6.3.2Motion Generator Overview .................................................................... 10
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7 PC based Motion Generator PMotion 12
7.1 Introduction ............................................................................................. 12
7.2 Menus ..................................................................................................... 13
7.2.1Menu "File" ............................................................................................. 13
7.2.2Menu "Edit" ............................................................................................. 13
7.2.3Menu "View" ........................................................................................... 14
7.2.4Menu "Create" ........................................................................................ 15
7.2.5Menu "Programs" ................................................................................... 16
7.2.6Menu "Window" ...................................................................................... 16
7.3 Toolbar ................................................................................................... 17
7.4 Map Settings ........................................................................................... 18
7.4.1Property Page „Map“ .............................................................................. 18
7.4.2Property Page “Master” .......................................................................... 19
7.4.3Property Page “Slave” ............................................................................ 20
7.4.4Property Page "Machine Parameters" .................................................... 21
7.5 Edit Segment parameters ....................................................................... 22
7.6 Create a map .......................................................................................... 24
7.6.1Map Table .............................................................................................. 24
7.6.2Map Sequence ....................................................................................... 24
7.7 Example of using the PC based Motion Generator PMotion .................. 25
8 Internal Motion Generator 28
8.1 Commands for Internal Motion Generator .............................................. 28
8.2 Messages displayed in terminal and in status variable $MSTATUS ....... 29
8.3 Example of using the internal Motion Generator ..................................... 30
9 Segment Types 32
9.1 Segment Type "Constant Position" ......................................................... 33
9.2 Segment Type "Constant Velocity" ......................................................... 34
9.3 Segment Type "Constant Acceleration" .................................................. 35
9.4 Segment Type "Sine-Squared Velocity" and "Cycloidal" ........................ 36
9.5 Segment Type "Modified Trapezoidal" ................................................... 37
9.6 Segment Type "Modified Sine" ............................................................... 38
9.7 Segment Type "Triple Harmonic" ........................................................... 39
9.8 Segment Type "Sinusoidal" .................................................................... 40
9.9 Segment Type "Polynomial" ................................................................... 41
9.10Segment Type "Ramp" ........................................................................... 43
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2 Contents
9.11Segment Type "Throw" ........................................................................... 44
9.12Segment Type "Quadratic Spline" .......................................................... 45
9.13Segment Type "Cubic Spline" ................................................................. 46
9.14Segment Type "Sine-Constant-Cosine" .................................................. 47
9.15Segment Type "Simple Harmonic" ......................................................... 48
10 Motion Generator: Features and Functions 49
10.1Start and End Percentages of a Segment .............................................. 49
10.2Summary of Segment Constraints .......................................................... 50
10.3Summary of Segment Types and their Parameters ................................ 52
10.4Technical Information about the Motion Generator ................................. 53
10.4.1Maximum number of segments .............................................................. 53
10.4.2Variable names used by the internal Motion Generator ......................... 53
11 Index 55
3 Abbreviations and Symbols
3 Abbreviations and Symbols
3.1 Abbreviations
Meaning
CE Communité Europeenne COM Serial interface for a PC DIN Deutsches Institut für Normung ISO International Standardization Organization MB Megabyte PC Personal Computer RAM Volatile memory UL Underwriter Laboratory VDE Verband der Elektrotechnik Elektronik Informationstechnik e.V.
3.2 Symbols
Meaning
This symbol indicates a possible danger, hazard, risk to life and/ or health. Ignorance may seriously affect health and cause dangerous injuries.
•
This symbol indicates an important hint regarding the correct use of the product. Ignorance may affect the performance of the machinery and/or the surrounding.
This symbol indicates special user tips and/or important useful information. These will support optimum use of the product and functions.
Emphasis indicator
See page (cross reference)
⇒
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A
4 Safety Guidelines
Caution!
When commissioning, you must ensure that neither the controllers nor the amplifiers present any risk to persons, plant or machinery.
ppropriate protection and precautionary measures must be put in place. To avoid personal injury and material damage, only qualified, trained personnel should work on the devices.
Only specialist staff with extensive knowledge of drive technology and control engineering should be permitted to program a running drive online. Data stored on data media is not protected from unintended changes by third parties. Data must be checked for accuracy before it is loaded on to the hardware.
Attention! The installation and operating instructions must be read carefully and all safety regulations observed before installation and initial operation as danger to personnel and damage to machinery may be caused.
• Only qualified and well-trained specialists who are familiar with the transportation, installation, initial operation, maintenance and operation of the units as well as with the relevant standards may carry out the corresponding works.
• Technical data and indications (Type tag and documentation) are to be kept absolutely.
4 Safety Guidelines
5 About this manual
5 About this manual
This manual explains how to use the PMotion program, a software tool used to generate motion curves for the control systems
• PMCprimo 16+,
• PMCprimo C,
• PMCprimo Drive2 and
• PMCprimo Drive3
from Pilz. The Motion Generator, which operates internally within the control systems, is also described.
Knowledge of the Microsoft Windows operating system and the use of a PC is assumed. You must follow the safety, installation and commissioning instructions in the installation manual for the servo amplifier that is used.
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6 Introduction
6.1 Installation under Microsoft Windows
The software is installed using the installation program on the "Motion Control Tools". The CD-ROM contains an installation program which makes it easier for you to install the software on your PC. The CD-ROM also has an "AutoPlay" function: once the CD-ROM has been inserted, a dialogue box will open automatically, showing various selection options (program installation, manuals, etc.). This function can also be started manually by calling up the program minstall.exe.
Install:
Place the CD-ROM in the CD-ROM drive of your computer. After a few seconds the setup function starts automatically, if "Autoplay" is enabled. Otherwise please start minstall.exe. Choose "Install Motion Control Tools" and follow the on-screen instructions.
6 Introduction
6.2 Hardware requirements
Minimum specification for the PC:
Operating system Hardware Interface
Windows 2000, XP, Vista or 7 Minimum requirements of operating system
one free serial interface Ethernet interface (optional)
6 Introduction
6.3 General Description
The Motion Generator is a software tool which allows the machine designer to create, modify and implement custom positional mapping between two machine axes. It can be used as a tool to design and implement machine cams, but without the limitations of a mechanical cam.
When using the Motion Generator each custom machine motion is called "Map" (one axis is mapped to another). There are a number of terms and phrases associated with the Motion Generator which have specific meanings. Look at the following description (Chapter 6.3.1).
This manual describes the Motion Generator, which operates internally within the controllers, and the PC-based motion generator PMotion, a tool available with the "Motion Control Tools".
• The motion generator interface PMotion runs on the PC and is part of the "Motion Control
Tools" software package that operates under Windows. This component was developed to
enable the graphical generation of movements between two axes for a machine on which the controllers’ axes are regulated. This graphical construction of a motion curve can be loaded and stored on control systems in the form of position mapping (a table of Master/Slave positions). The position mapping can also be loaded into control systems as an executable program (sequence) and can be calculated there using the internal motion generator.
• The motion generator that operates internally within the control systems can be purchased as an accessory. This internal motion generator is a program which reads information about defined variables from special map sequences and can use the values from these variables to calculate tabular values for position mapping in the controller.
6.3.1 Designations
Map Shape The name for the curves displayed on the monitor, for the data stored on the PC and the list of
variables for the internal controller calculation. A map shape is the description of a Master/Slave relationship consisting of a series of segments with the relevant additional parameters for each segment. The data from a map shape can be used to calculate the corresponding slave position for each stated master position.
Map Table The name for a series of position co-ordinates (for Master and Slave), which correspond to the
curves on the PC and originate from the motion generator. The controller uses the position co­ordinates to set up the relative positional relationship between Master and Slave (the points between the co-ordinates are calculated through linear interpolation).
Map Sequence The name for a sequence with which a map can be calculated by the internal Motion Generator
of the controller.
Segment A single section of the map shape. A segment will have a type to define its shape and may
have certain additional parameters which affect its shape.
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6.3.2 Motion Generator Overview
The Motion Generator provides the ability for the user to create complex position mappings between one axis and another. Before using the Motion Generator a number of issues need to be understood:
• You are designing a map shape which relates the position of the slave axis to the position of the master axis at any point along the master axis. This is essentially a cam, although you can do things that a cam could not. During the design of the map shape you will determine the map shape using segments, and setting parameters for these segments.
• Certain restrictions have been applied, by default, to the segment to segment boundaries to ensure that the generated map shape is physically achievable:
Default segment boundary conditions:
Slave Derivative Segment nn to Segment nn+1 boundary conditions (defaults)
Position
Velocity
Acceleration
Jerk
Match with previous: The start position of segment nn+1 will match the end position of segment nn. This cannot be altered.
Match with previous: The start velocity of segment nn+1 will automatically be adjusted to match the end velocity of segment nn. This may have the effect of modifying the shape of segment nn+1 which can lead to unexpected segment shapes. (For certain segment types it is possible, but not advisable, to break this matching.)
No value specified: For all segment types excluding polynomial and cubic spline acceleration at the beginning of segment nn+1 is determined by the segment type. Therefore there may be a step change in acceleration across the nn to nn+1 segment boundary.
Match with previous: A polynomial segment and the cubic spline segment automatically matches their start acceleration to the end acceleration of segment nn. For the polynomial segment alone this matching can be broken.
No value specified: The jerk value at the beginning of segment nn+1 is determined by the segment type. Therefore there may be a step change in jerk across the nn to nn+1 segment boundary.
For the polynomial segment alone it is possible to change this to match with previous or specify the required value.
6 Introduction
6 Introduction
• The map shape wraps round. In other words the last segment connects to the first segment. However the continuity laws across this segment to segment boundary are, by default, different from those on all other segment to segment boundaries:
Last to first default segment boundary conditions:
Slave Derivative Last segment to first segment boundary conditions (defaults)
Position
Velocity
Acceleration
Jerk
• At no instance does a map shape or map table contain any time dependent information. The velocity and acceleration of the slave axis at any point will depend upon the velocity of the master axis. For the PC based Motion Generator PMotion only: to enable you to develop a map shape that is within the physical constraints of your machinery it is possible to enter the number of cycles per minute required. This sets the master velocity at a constant value and allows the motion generator to put figures on the slave velocity and acceleration shapes.
• The default segment type is polynomial. This segment type is the most configurable of all the available types and should be used in preference to another type whenever possible. With the exception of the start of segment position parameter (which must always match the end of the previous segment) it is possible to modify the boundary constraints for all the derivatives at both the start and end of the segment. This means that it can be configured to provide a smooth transition between known points.
Specified value: The end position of the last segment and the start position of the first segment can both be specified. Therefore there can be a step change in position across this boundary. You can manually align the end position of the last segment to match the start position of the first segment if required (linear slave axis).
Match with previous: Normally the start velocity of the first segment will be automatically adjusted to match the end velocity of the last segment. The one exception to this rule is when all segments inherit their velocity from the previous segment: the first segment will then start with zero velocity. In this case use a constant velocity segment to create any required velocity offset.
No value specified: For all segment types excluding polynomial and cubic spline the acceleration at the beginning of the first segment is determined by the segment type. Match with previous: If the first segment is either a polynomial or cubic spline segment then it automatically matches it's start acceleration with the last segment's end acceleration. For the polynomial segment alone this matching can be broken.
No value specified: The jerk value at the beginning of the first segment is determined by the segment type. For the polynomial segment alone this can be changed to matching or start jerk specified.
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7 PC based Motion Generator PMotion
7 PC based Motion Generator PMotion
7.1 Introduction
PMotion is part of Motion Control Tools, which can be used for graphically design of custom
machine motions between two machine axes.
Screen layout:
The Motion Generator window presents the current map shape as a series of segments. In the above picture position, velocity, acceleration and jerk are being viewed. The currently selected segment is highlighted in red and the position of the mouse pointer is given in map coordinates in the status bar.
When PMotion is first started a map consisting of a single segment is displayed. This map can then be edited as required, or a previous session can be loaded from the PC disk. The following sections detail all the menus, dialogue boxes and actions associated with the Motion Generator.
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7.2 Menus
7.2.1 Menu "File"
New Creates a new map with the default segment type "Polynomial". Open Loads a map from the PC disk. Close Closes the current map file. If the file has been changed, the user will
be indicated to save the changes.
Save Saves the current map to the PC disk. Save as Saves the current map on using a different file name. Print Prints the current map. In a dialogue box you can choose the printer. Print Preview Preview a print – see what your program will look like when printed. Printer Setup Printer configuration. Send Send the current map via email. Exit Quits PMotion.
7.2.2 Menu "Edit"
Undo You can undo the last change of your map you are working on. Segment left Selects the segment on the left side of the currently selected segment. Segment right Selects the segment on the right side of the currently selected
segment.
Insert Segment Inserts a segment to the left of the currently selected segment. The
new segment will be 1000 counts long and of a polynomial type. The master cycle length will be stretched automatically.
Split Segment Splits a Segment into two parts. Append Segment Adds a segment to the end of your map shape. The new segment will
be 1000 counts long and of a polynomial type. The master cycle length will be stretched automatically.
Delete Segment Deletes the currently selected segment. You cannot delete the
segment if it is the only one in a map shape.
Segment parameters Opens a dialogue bar on the left side of the view, where you can
configure the currently selected segment settings.
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Map Settings Opens a dialogue box, where you can configure the map shape
settings.
Map variables Shows a dialogue box in which you can edit the map variables. Colours and Lines Adjustment of colours and lines for the motion view. Show comparison map Show/Hide a further map in the motion view. Select a map in the
following dialog to compare it to the current map.
7.2.3 Menu "View"
Position Shows or hides the view „Position“. Velocity Shows or hides the view „Velocity“. Acceleration Shows or hides the view „Acceleration“. Jerk Shows or hides the view „Jerk“. Toolbar Shows or hides the toolbar. Status bar Shows or hides the status bar.
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7.2.4 Menu "Create"
Create Map Table Creates the current map shape as a map table in a ptf-file (ptf = PMC
text file). With the text editor PEdit you can download this map to the controller.
Create Map Sequence Creates the current map shape as a map sequence in a ptf-file (ptf =
PMC text file). With the text editor PEdit you can download this sequence to the controller. The internal Motion Generator on the controller is able to generate maps from this sequence during runtime.
Download map table Downloads the current map shape as a map table directly to the
controller.
Download map sequence
Downloads the current map shape as a controller sequence directly to the controller. The internal Motion Generator on the system is able to generate maps from this sequence during runtime.
Import map
Active map from system
Imports the last map sequence to be executed (XS command) from
the connected controller.
Map sequence from system
Imports a map from a map sequence saved on a controller.
Map sequence from file
Imports a map from a map sequence saved in a ptf file.
If values in the map sequence are defined as variables, you can enter a value for these during import for showing the map.
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Exports the current map (map table or map sequence) as a function block for the system integrated Software PLC.
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7.2.5 Menu "Programs"
PTerm Starts the terminal program PTerm. PDrive Starts the setup software PDrive. PScope Starts the scope function PScope. PEdit Starts the text editor PEdit.
7.2.6 Menu "Window"
New window Opens a further window for the current document. Cascade Arranges all the windows you are editing in a neat, cascaded, pile. Tile Tiles all the windows you are editing horizontally across the screen. Arrange icons Arranges all icons in the bottom area of the window.
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7 PC based Motion Generator PMotion
7.3 Toolbar
With the toolbar you have direct access to important functions of the program.
Creates a new map.
Opens an existing map.
Saves the current map file.
Displays full pages of the current map before printing.
Prints the current map.
Selects the segment on the left side of the currently selected segment.
Selects the segment on the right side of the currently selected segment.
Inserts a new segment to the left side of the currently selected segment.
Splits a segment into two parts.
Adds a segment to the end of your map shape.
Deletes the currently selected segment.
Opens a dialogue bar on the left side of the view to configure the segment settings.
Creates a map table in a ptf-file (ptf = PMC text file).
Creates a map sequence in a ptf-file (ptf = PMC text file).
Downloads a map table to the controller.
Downloads a map sequence to the controller.
Starts the terminal program PTerm.
Starts the setup software PDrive.
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Starts the scope function PScope.
Starts the text editor PEdit.
Opens the “About” dialog.
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7.4 Map Settings
The map settings dialogue is presented when the menu option "Edit" -> "Map Settings" is chosen. The dialogue consists of four property pages:
7.4.1 Property Page „Map“
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Map Name:
Number of Steps:
Cycle Length (Master):
Each map has its unique name on the controller. The name consists of an alphanumeric expression with a maximum of 20 characters. This identifier will be used for the map table when it is downloaded into the controller.
When a map shape is turned into a map table the Motion Generator needs to know what resolution you require. The more map steps the greater the resolution of the map table, but also the larger the memory space for saving the table in the Flash EPROM. The maximum number of steps is 65536.
The master length is the length of the map shape along the master axis (horizontal) in position units. If this value is changed the whole map is scaled and all the master and slave positions are affected. The length of the master axis and the machine’s cycle speed are used to calculate the curves.
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7.4.2 Property Page “Master”
Scaling / Unit
Offset
PMotion can work with user defined units. Therefore it needs the name of the chosen unit and the scaling factor (numerator and denominator) for the conversion between the new unit and the standard encoder counts. This factor is necessary, because the internal position values of the controller must be defined in increments (encoder counts).
A offset of master position can be entered to shift the map horizontally. Attention: The offset will not be transmitted to the motion control system. Use the command
“MB” to shift a map on the system.
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7.4.3 Property Page “Slave”
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Scaling / Unit
Show maximum values
Like the master axis user defined units are also possible on the slave axis. Therefore PMotion needs the name of the chosen unit and the scaling factor (numerator and denominator) for the conversion between the new unit and the standard encoder counts. This factor is necessary, because the internal position values of the controller must be defined in increments (encoder counts).
The maximum values for position, velocity, acceleration and jerk can be defined. These maximum values will be displayed as horizontal lines in the diagrams. The colour can be changed in the dialog box “Colours and lines”.
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7.4.4 Property Page "Machine Parameters"
Cycles/Minute
A map shape does not contain any time information. For a correct calculation of the derivations and considering the mechanical limits of the machine you can set the machine cycles per minute in this property page. This determines the constant velocity of the master axis and allows PMotion to put a scale to the slave velocity, acceleration and jerk.
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7.5 Edit Segment parameters
The parameters of a segment are shown in the toolbar on the left side of the PMotion window. This toolbar can be toggled by using the button „Segment parameters“ in the menu „Edit“.
The parameter bar is used to set all the parameters for the selected segment. If you change segment selection the parameter bar is updated automatically.
The toolbar remains on the screen while editing the map or using other menu commands. This feature allows you to perform quickly changes of the map shape and analyse certain points.
Parameter changes can be applied by pressing the “Return” button or the “Apply” button on the bottom of the parameter bar. With this update method it is possible to analyse the current segment and make quickly changes.
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Segment ...
Segment Type
Start / End Master position
The available setting options are divided into various subsections by borders and title descriptions.
Number of the current selected segment in the motion view.
In the „Segment type“ box you can select the mathematical function for the segment. It is possible to choose from up to 16 different mathematical functions, which are described in chapter 9 („Segment types).
There are extra settings for some segment types when pressing the button „Type parameters“. These parameters depend on the selected segment type and can define the mathematical function in more detail.
The default segment type is polynomial, which has no extra parameter settings.
The length of a segment is specified by the absolute start and end master position values. The master start position corresponds to the end position of the previous segment. If you change the start position of a segment, the end position of the previous segment will be updated automatically. Equally changing the master end position of a segment will influence the start position of the next segment. Attention: If the next segment is not able to accommodate the position change, a message box appears indicating that the values have to be entered again.
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Start / End Slave
Passage conditions
Apply
Depending on the current selected derivative of mathematical function the slave display refer to position, velocity, acceleration or jerk. You can change from one derivative to another by pressing the horizontal arrow buttons. If the text entry boxes are activated it is possible to specify new slave values. This is especially the case if the passage condition „value as specified“ is selected. Altering slave positions modifies the current segment and the next segment.
Attention: If the next segment is not able to accommodate the changes, a message box appears indicating that the values have to be entered again.
The available passage conditions at the start and the end of a segment depend on the selected segment type. You can toggle between “Start Segment” and “End Segment” by pressing the horizontal arrow buttons. The following passage conditions can be selected:
No value specified: The value is fixed by the selected segment type.
Value as specified: The value can be altered in a text entry box.
Match with previous: The start value of the current selected segment corresponds to the end value of the previous segment.
The changes are applied. The map shape is updated.
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7.6 Create a map
The number of steps is an important factor for creating a map. This parameter sets the resolution of a map table (maximum 65536 steps). The higher the resolution of the table, the smoother the motion will be, the more memory space is allocated in the flash EPROM of the system. The number of map steps can be altered in the dialog box “Map Settings”. Furthermore there are some relevant parameters for the creation of a map like master cycle length and complexity of the calculated map.
There are two possibilities to create a map, to generate a map table or a map sequence (sequence for internal calculation of a map).
7.6.1 Map Table
A map table can be created by pressing the button „Create map table“ in the menu „Create”. This function generates an ASCII table of position values and saves it into a text file (extension ptf = PMC text file). This file can be opened in the text editor PEdit and transmitted to the controller.
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7.6.2 Map Sequence
A map sequence can be created by pressing the button „Create map sequence“ in the menu „Create”. This function generates a sequence with special variables, which represent all relevant map parameters and saves it into a file. The controller can generate map tables at runtime by executing this sequences. The generated ASCII file can be opened in the text editor PEdit and transmitted to the controller.
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7.7 Example of using the PC based Motion Generator PMotion
In the following example representing a printing machine a web is drawn through the machine by using tension control. It is required to print on the web in dependence of existing print marks. The circumference of the printing drum is not the same as the distance between the marks. The speed of the drum has to match with the speed of the web while printing and to accelerate or decelerate for the rest of the cycle for compensating the deviation between the drum circumference and the print mark distance. The position data of the web is measured by an encoder and of the drum by the encoder emulation of the motor amplifier.
A typical map for the print drum (Y-axis is slave) dependent on the web (X-axis is master) is:
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Segment 1 and 3 are constant velocity segments to reach an exact printing result, segment 2 is a sine-squared velocity segment for catching up or pausing. The master cycle length is 23874 increments (300 mm with a resolution of 79.58 inc. per mm). The print area is 80 mm either side of zero from position 17508 to 6336. The circumference of the print drum is 374 mm and the encoder resolution is 27.76 inc. per mm. This indicates that the cycle length of the slave axis is 10382 inc. and the printing area of slave axis is from position 8155 through zero to 2210 inc.
How to create the map:
• Start the motion design tool PMotion. A default map with a polynomial segment appears in the motion screen.
• Insert two segments by using the function „Append Segment“ in the menu „Edit“. The new segments are polynomials, the default length is 1000 inc. The master cycle length is matched automatically when inserting new segments.
• Open the dialog box “Map Settings“ in the menu „Edit“ or press „CTRL+M“. Type in a name for the map in the text box „Map Name” or retain the default name. The default value of number of steps (1000) can be kept on. Enter the master cycle length of 23874 increments. When applying the new value a message box appears with the question, if the map should be extended or the last segment has to be adapted. Please choose “Yes” for extending the map.
• In the toolbar „Segment parameters“ on the left side of the window the segments can be configured. Choose the segment types and edit the required master and slave values. To change selection of segments click with the left mouse button into the area of a segment or use the arrow buttons in the toolbar for segment navigation.
The velocity of slave axis in the area “Constant velocity” is calculated from the master velocity (0.349 * V
). The result is 8328 increments per second.
master
Segment 1:
- Select segment type „Constant velocity“
- Enter master end position: 6336 inc.
- Select „Slave velocity“ by switching the right arrow button in the dialog „Slave“, select
„Value as specified“ for „Start segment“ in the dialog „Passage Conditions“ and enter the slave velocity of 8328 inc./sec. in the text entry box „Slave start“. To apply the changes press enter or the button “Apply” on the bottom of the segment parameters toolbar.
Segment2:
- Select segment type „Sine-squared velocity“
- Enter master end position: 17508 inc. (start printing)
- Enter slave end position: 8155 inc. (start printing)
Segment3:
- Select segment type „ Constant velocity “
- Enter master end position: 23874 inc. (= master cycle length)
- Select „Slave velocity“ by switching the right arrow button in the dialog „Slave“, select
„Value as specified“ for „Start segment“ in the dialog „Passage Conditions“ and enter the slave velocity of 8328 inc./sec. in the text entry box „Slave start“. To apply the changes press enter or the button “Apply“ on the bottom of the segment parameters toolbar.
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• Save the map into a pmo-file.
• Create the map by using the functions „Create map table“ or „Create map sequence“ in the
menu „Create“. Open the generated file with the text editor PEdit and download it to the controller. For testing, execute the map on the system using two axes in virtual mode. For analysing the movement, the scope function PScope can be used.
Example to start the map:
CH0.2;VM1;SB23874;SV20000;SA300000;DC300000;PC;VC+ (master axis) CH0.1;VM1;SB10376;ML0.2;MW01000001;TMMap_01;XMMap_01 (slave axis)
The scope function can be used to show channel 1 demand position, channel 2 demand position and channel 1 demand speed.
• If the map was created as a sequence, it can be calculated on the controller at runtime by executing the map sequence as followed: CH0.1;XS map_01.
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8 Internal Motion Generator
The controller internal motion generator is a calculation engine for map tables. The map is defined using specific variables (see chapter 10.4.2). The internal motion generator reads these variables and calculates the corresponding map.
For initially creation of a map the PC based motion generator PMotion should be used. For generating a map by the internal motion generator, a map sequence has to be created and downloaded to the controller. If the sequence is present in the system, the calculation routine of the internal motion generator has to be started. This is done using the command $MSTART=1 (often the last line in the map sequence). A message will be displayed in the terminal program indicating that calculation process has been started. Success or failure of map creation is indicated by further messages. If calculation has been finished successful, the new map table will exist on the system.
An important feature of the internal motion generator is the possibility to modify the map immediately by editing the specific variables from external systems, e. g. operators panel or PLC. Thereby a change between master and slave positions can be realized very quickly, e. g. to modify product lengths.
8.1 Commands for Internal Motion Generator
8 Internal Motion Generator
The following commands are significant for calculating a map in the internal motion generator:
• $MSTART is a trigger variable to start the generation of a map.
• $MRESET is a trigger variable to set all variables to their default values.
• $MNAME contains the name of the appropriate map table.
• $MREADY is a trigger variable used to indicate the end of map generation. During the map
calculation the variable is set to 0, when the map calculation is finished it is set to 1.
• $MNPT is used to define the number of map steps.
• $MSAVE is used to save the map on the controller ($MSAVE=1) after generating or not
($MSAVE=0).
8 Internal Motion Generator
8.2 Messages displayed in terminal and in status variable $MSTATUS
The internal motion generator reports progress and errors (or warnings) of map generation by displaying messages in the terminal program. Furthermore coded message numbers are saved in the status variable $MSTATUS.
The following error messages can occur during generation of a map:
Error
No.
0 Map generation successful. 1 Error, too less values defined. 2 Slave position information missing. 3 Segment type information missing. 4 Map name missing. 5 Map is currently active. 6 Master start value must be zero.. 7 Master values are not strictly monotonic increasing. 8 Segment type index not found. 9 Variable $MWn not defined.
10
Start velocity (segment type 1) not defined. 11 Slave position at segment start must be matched. 12 Percentage for start value of a segment missing (Seg. type 2 or 3). 13 Percentage for end value of a segment missing (Seg. type 2 or 3). 14 Percentage for start value must be less than for end value (Seg. type 2 or 3). 15 Percentage for start value must be less than 50% (Seg. type 3). 16 Percentage for end value must be greater than 50% (Seg. type 3). 17 Start velocity (Seg. type 3) not defined. 18 Start acceleration (Seg. type 4) not defined. 19 Start jerk (Seg. type 4) not defined. 20 End velocity (Seg. type 4) not defined. 21 End acceleration (Seg. type 4) not defined. 22 End jerk (Seg. type 4) not defined. 23 Sine % (Seg. type 5) must be defined by $MA. 24 Constant % (Seg. type 5) must be defined by $MB. 25 Cosine % (Seg. type 5) must be defined by $MC. 26 Sum of Sine %, Constant % and Cosine % (Seg. type 5) must be 100 %. 27 $MNPT not defined.
Error messages
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8.3 Example of using the internal Motion Generator
This example refers to the example already described in section 7.7 on page 25. The internal controller calculation of the tabular values is designed so that entries made via an operator panel will influence the map. In this example, the print length and the distance between the print marks are modified. It is assumed that the print length will be entered via the operator panel in the variable $LEN in mm, and that the distance between the print markers will be entered in variable $REG, also in mm. The dimensions stated in mm must be converted into increments. In variables $ECM and $PCM, the conversion factors are increments/mm x 100. The corresponding messages are output to the operator panel with the variables $MSG. The command line for starting the motion generator is normally part of a program which is stored in the controller’s Flash-EPROM. This program is called up when the map is to be recalculated. The variables $REG and $LEN are written via the operator panel!
$REG=300 # Registration distance, mm $LEN=150 # Print length, mm $ECM=7958 # Web Encoder Counts x 100 $PCM=2776 # Print Drum Encoder Counts x 100
# Sequence for map calculation: ES Map_01 $MSG=3 # Operators Panel Message „Calculating Map“ $MRESET=1 # Reset map variables $MNAME=Map_01 # Map name # Master $MM0=0 # Master start position $MM1=((($LEN/2+5)*$ECM)/100) # Half print distance (+5mm window) $MM3=($REG*($ECM/100)) # Registration distance $MM2=($MM3-$MM1) # Start of print # Slave $MS0=0 # Slave start position $MS1=((($LEN/2+5)*$PCM)/100) # Half print distance (+5mm window) $MS3=(374*($PCM/100)) # Cycle length slave $MS2=($MS3-$MS1) # Start of print # Segment 1: Constant Velocity $MF1=1 # Constant velocity for printing $MA1=348831 # Start velocity $MW1=21000000 # Velocity matched with previous segment # Segment 2: Sine-squared velocity $MF2=3 # Sine-squared velocity for catching up / pausing $MX2=0 # Start at 0% $MY2=100000000 # End at 100% $MW2=22001000 # End position segment 2 defined # Segment 3: Constant velocity $MF3=1 # Constant velocity for printing $MW3=22000000 # Velocity matched with previous segment $MNPT=1000 # Number of steps (points) $MSTART=1 # Trigger internal motion generator NS
8 Internal Motion Generator
8 Internal Motion Generator
Downloading and testing map sequence:
• Download the map sequence to a controller by using the text editor PEdit and generate the map by entering the command line “XS Map_01” into terminal program. The variable $MSTART=1 at the end of the sequence starts the map calculation. The messages „Mapgenerator started!“ while generating and “Mapgenerator ready!” when finished map generation are displayed in the terminal program.
• The generated map can be tested by using two axes in virtual mode analysed by using scope function PScope to record movements.
Example to start the map:
CH0.2;VM1;SB$MM3;SV20000;SA300000;DC300000;PC;VC+ (master axis) CH0.1;VM1;SB$MS3;ML0.2;MW01000001;TMMap_01;PC;XMMap_01 (slave axis)
The scope function can be used to show channel 1 demand position, channel 2 demand position and channel 1 demand speed.
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9 Segment Types
The following segment types are available in the motion generator (The index number refers to the value that would be saved in the map variable $MFnn):
Index
0 Constant Position
1 Constant Velocity
2 Constant Acceleration
3 Sine-Squared Velocity
4 Cycloidal
5 Modified Trapezoidal
6 Modified Sine
7 Triple Harmonic
8 Sinusoidal
9 Polynomial
10 Ramp
11 Throw
12 <reserved>
13 Quadratic Spline
14 Cubic Spline
15 Sine-Constant-Cosine
16 Simple Harmonic
9 Segment Types
Segment Type
In the following sections all segment types are described in more detail. The description contains guidelines for using the segments and what parameters can be modified. Furthermore a list of specific variables depending on the different segment types is given out.
The units of parameters refer to the controller internal motion generator. The following abbreviations are used in the description:
P: Position $: Variable
V: Velocity nn: Segment number: 01 to 100 is possible
A: Acceleration [...]: Parameters not alterable
J: Jerk
$MMnn und $MSnn must be entered in increments!
9 Segment Types
9.1 Segment Type "Constant Position"
This segment type is a polynomial segment with both the
velocity and the acceleration fixed to zero. The slave position remains constant throughout at the end value of the previous segment. This means that only the position is matched from the previous segment, which can lead to an instantaneous change in velocity.
Parameters:
• Segment type $MFnn=0
• Segment start constraints: [P matched, V, A & J not defined]
• Segment end constraints: [P, V, A & J not defined]
• $MWnn=20000000
• Master end position $MMnn=<value> sets end segment master position
Slave end position $MSnn=<value> will be identical in value to $MSnn-1
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9.2 Segment Type "Constant Velocity"
This segment type is a polynomial segment with the acceleration fixed at zero. The velocity is constant throughout and is determined either by the end velocity of the previous segment or by a specific value. The slave position change depends on both the velocity value for the segment and the value of the master increment.
Parameters:
• Segment type $MFnn=1
• Segment start constraints: [P matched], V matched ($MWnn=22000000) or specified
($MWnn=21000000), [A & J not defined]
• Segment end constraints: [P, V, A & J not defined]
• Master end position $MMnn=<value> sets end segment master position
• Slave end position $MSnn=<value> will be correct for map as saved
• Start velocity $MAnn=<value> sets start velocity if $MWnn=21000000. Scaling of $MAnn is
as a polynomial segment.
9 Segment Types
9 Segment Types
9.3 Segment Type "Constant Acceleration"
In this segment type the acceleration is fixed at a constant value. For the first half of the segment the acceleration is positive, for the second half it is negative. The difference between start and end positions determines the value of the acceleration and deceleration.
Parameters:
• Segment type $MFnn=2
• Segment start constraints: [P matched], V matched ($MWnn=22000000) or not matched
($MWnn=20000000), [A & J not defined]
• Segment end constraints: [P specified, V, A & J not defined]
• Master end position $MMnn=<value> sets end segment master position
• Slave end position $MSnn=<value> sets end segment slave position
• Percentage of segment used: Start at $MXnn=<value> & end at $MYnn=<value> (see
chapter 10.1 page 49)
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9 Segment Types
9.4 Segment Type "Sine-Squared Velocity" and "Cycloidal"
Mathematically both the “Sine-Squared Velocity” segment type and the “Cycloidal” segment type are identical. The acceleration profile is one cycle of a sine wave, the length is set by the master position increment and the magnitude is set by the slave position change across the segment.
Parameters:
• Segment type $MFnn=3 for sine-squared velocity and $MFnn=4 for cycloidal
• Segment start constraints: [P matched], V matched ($MWnn=22000000) or not specified
($MWnn=20222222), [A & J not defined]
• Segment end constraints: [P specified, V, A & J not defined]
• Master end position $MMnn=<value> sets end segment master position
• Slave end position $MSnn=<value> sets end segment slave position
• Percentage of segment used: Start at $MXnn=<value> & end at $MYnn=<value> (see
chapter 10.1 page 49)
9 Segment Types
9.5 Segment Type "Modified Trapezoidal"
For this segment type the magnitude of the acceleration profile is set by the master position increment and the slave position change across the segment. This type of segment is useful for heavy, stiff systems running at low or medium speeds.
Parameters:
• Segment type $MFnn=5
• Segment start constraints: [P matched], V matched ($MWnn=22000000) or not specified
($MWnn=20000000), [A & J not defined]
• Segment end constraints: [P specified, V, A & J not defined]
• Master end position $MMnn=<value> sets end segment master position
• Slave end position $MSnn=<value> sets end segment slave position
• Percentage of segment used: Start at $MXnn=<value> & End at $MYnn=<value> (see
chapter 10.1 page 49)
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9.6 Segment Type "Modified Sine"
For this segment type the magnitude is set by the master position increment and the slave position change across the segment. This type of segment is useful for systems with some backlash and for medium or high speeds.
9 Segment Types
Parameters:
• Segment type $MFnn=6
• Segment start constraints: [P matched], V matched ($MWnn=22000000) or not specified
($MWnn=20000000), [A & J not defined]
• Segment end constraints: [P specified, V, A & J not defined]
• Master end position $MMnn=<value> sets end segment master position
• Slave end position $MSnn=<value> sets end segment slave position
• Percentage of segment used: Start at $MXnn=<value> & End at $MYnn=<value> (see
chapter 10.1 page 49)
9 Segment Types
9.7 Segment Type "Triple Harmonic"
This segment will always start and finish with zero velocity and acceleration (the possibility to match velocity has been switched off for this segment). The acceleration profile is defined by following parameters: Three normalised amplitudes for the harmonics used to construct the curve. These values form the three coefficients of a three term fourier series. Example: set the first harmonic to 2*Pi and both the second and third harmonics to zero, then the acceleration profile will be identical to a cycloidal segment. Usually only the first two harmonics have to be specified and the third is calculated to satisfy the constraints from the neighbouring segments.
Parameters:
• Segment type $MFnn=7
• Segment start constraints: [P matched], V matched ($MWnn=22000000) or not specified
($MWnn=20000000), [A & J not defined]
• Segment end constraints: [P specified, V, A & J not defined]
• Master end position $MMnn=<value> sets end segment master position
• Slave end position $MSnn=<value> sets end segment slave position
• Amplitudes for the three harmonics are $MAnn<value>, $MBnn<value> and
$MCnn<value> in normalised units of a three term fourier series x 10
6
.
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9.8 Segment Type "Sinusoidal"
This segment type is a sine wave in master – slave position. Start position (in terms of degrees), Amplitude (in slave axis units) and the number of sine wave cycles used for the segment can be set. These three parameters determine the slave end position and the velocity and acceleration within the segment. Due to the default setting “velocity matched with previous segment“ the curve often looks like a „S“ instead of a sine wave. This is because a sine wave doesn’t start with zero velocity and the end velocity of other segments is zero.
Parameters:
• Segment type $MFnn=8
• Segment start constraints: [P matched], V matched ($MWnn=22000000) or not specified
($MWnn=20000000), [A & J not defined]
• Segment end constraints: [P specified, V, A & J not defined]
• Master end position $MMnn=<value> sets end segment master position
• Slave end position $MSnn=<value> sets end segment slave position, value will be ignored
by the motion generator, because end position is determined by other parameters.
• Amplitude of sine wave $MAnn<value> in encoder counts (inc.).
• Cycle start angle $MBnn<value> in degrees x 10
• Number of sine wave cycles $MCnn<value> (no units x 10
9 Segment Types
6
.
6
).
9 Segment Types
9.9 Segment Type "Polynomial"
This segment type can be used multilaterally and is the most adjustable segment. Therefore it is the default segment type. A polynomial segment is a shape which fits various boundary constraints.
Parameters:
• Segment type $MFnn=9
• Segment start and end constraints: The segment type „Polynomial“ determines its shape
by applying boundary constraints. The variable $MWnn is used for setting these constraints and has the following format:
A eight digit decimal number contains the constraints for each of the four derivatives at both ends of the segment. Each digit represents a boundary constraint and can have one of the following three values:
0 No value specified: The boundary constraint will not be applied.
1 Value as specified: This boundary constraint will be specified by the relevant variable
(see below).
2 Matched with previous: This boundary constraint can only be used at segment start.
The start value of the segment matches equivalent with the end boundary value of the previous segment.
$MWnn
Entry
Digit 8 Digit 7 Digit 6 Digit 5
Digit 4 Digit 3 Digit 2 Digit 1
Therefore the default setting for the variable $MWnn of a polynomial segment is 22201110.
Example: $MWnn=21101110 indicates that the start velocity and the start acceleration along with the end velocity and acceleration have been specified. The variables $MAnn, $MBnn, $MXnn and $MYnn contain the relevant values and need to be present for this segment.
Segment
boundary
Start
End
Boundary Constraint Default value
Position Velocity
Acceleration
Jerk
Position Velocity
Acceleration
Jerk
2 (matched with previous) cannot be changed 2 (matched with previous) 2 (matched with previous) 0 (no value specified) 1 (value as specified) cannot be changed 1 (value as specified) 1 (value as specified) 0 (no value specified)
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The format of this constraint word applies to all segment types, though different segments have different limitations for the boundary constraints.
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9 Segment Types
• Master end position $MMnn=<value> sets end segment master position
• Slave end position $MSnn=<value> sets end segment slave position
• Derivative specification parameters are used when the segment constraint specifies that
the particular derivative is specified:
Segment
Boundary
Start
End
Derivative Variable Units:
Slave encoder counts (inc.) per
Velocity
Acceleration
Jerk
Velocity
Acceleration
Jerk
$MAnn $MBnn $MCnn
$MXnn $MYnn $MZnn
6
Master counts
1x10
8
Master counts
1x10 1x109 Master counts3
1x106 Master counts
8
Master counts
1x10 1x109 Master counts3
2
2
Examples: For every master position count:
$MAnn=1000000 means that slave position increases by 1 count.
$MAnn=-24000000 means that slave position decreases by 24 counts.
$MAnn=50000 means that slave position increases by 0.05 counts.
$MBnn=50000000 means that slave velocity increases by 0.5 counts per master count (equivalent to a increase in $MAnn of 500000).
$MZnn=-2000000000 means that slave acceleration decreases by 2 counts per master count (equivalent to a decrease in $MYnn of 200000000).
9 Segment Types
9.10 Segment Type "Ramp"
The profile of a ramp segment is shown in the diagram. The width of the acceleration and deceleration pulses can be set (here acceleration set to 20% and deceleration set to 40%).
Parameters:
• Segment type $MFnn=10
• Segment start constraints: [P matched], V matched ($MWnn=22000000) or not specified
($MWnn=20000000), [A & J not defined]
• Segment end constraints: [P specified, V, A & J not defined]
• Master end position $MMnn=<value> sets end segment master position
• Slave end position $MSnn=<value> sets end segment slave position
• Length of acceleration pulse at segment start $MAnn<value> and of deceleration pulse at
segment end $MBnn<value> in percent x 10 100%).
6
(range 0 to 100%; $MAnn+$MBnn <=
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9.11 Segment Type "Throw"
The segment type “Throw” starts with a smooth motion profile and ends with both velocity and acceleration at zero, with a slave position change of zero. The magnitude of the position change at the midpoint of the segment is changeable. The segment is symmetrical about the midpoint and should only be used in preference to two sequential ramp segments.
Parameters:
• Segment type $MFnn=11
• Segment start constraints: [P matched], V matched ($MWnn=22000000) or not specified
($MWnn=20000000), [A & J not defined]
• Segment end constraints: [P, V, A & J not defined]
• Master end position $MMnn=<value> sets end segment master position
• Slave end position $MSnn=<value> sets end segment slave position, value will be ignored
by the motion generator (value is identical with $MSnn-1).
• Extent of throw $MAnn<value> in slave position units.
9 Segment Types
9 Segment Types
9.12 Segment Type "Quadratic Spline"
A quadratic spline is a special case of a polynomial segment. The position and velocity are both continuously to the previous segment. The length and width of the segment can be defined. A number of these segments perform a quadratic spline between the data points (end segment coordinates).
Parameters:
• Segment type $MFnn=12
• Segment start constraints: [P und V matched, A & J not defined]
• Segment end constraints: [P specified, V, A & J not defined]
• Master end position $MMnn=<value> sets end segment master position
• Slave end position $MSnn=<value> sets end segment slave position
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9.13 Segment Type "Cubic Spline"
A cubic spline is a special case of a polynomial segment. The position, velocity and acceleration are continuously to the previous segment. The length and width of the segment can be defined. A number of these segments perform a cubic spline between the data points (end segment coordinates).
Parameters:
• Segment type $MFnn=13
• Segment start constraints: [P, V und A matched, J not defined]
• Segment end constraints: [P specified, V, A & J not defined]
• Master end position $MMnn=<value> sets end segment master position
• Slave end position $MSnn=<value> sets end segment slave position
9 Segment Types
9 Segment Types
9.14 Segment Type "Sine-Constant-Cosine"
The „Sine-Constant-Cosine“ type is a very adjustable segment type and is often be used in place of other segment types with sine and cosine acceleration profiles. The acceleration profile is a sine wave followed by a constant area and a cosine wave. It is possible to modify the segment portions by changing the relevant percentage values and so to create very complex shapes. The magnitude of the acceleration is set by the master increment and the slave position change.
Parameters:
• Segment type $MFnn=14
• Segment start constraints: [P matched], V matched ($MWnn=22000000) or not defined
($MWnn=20000000), [A & J not defined]
• Segment end constraints: [P specified, V, A & J not defined]
• Master end position $MMnn=<value> sets end segment master position
• Slave end position $MSnn=<value> sets end segment slave position
6
• Length of sine acceleration at segment start $MAnn<value> in percent x 10
(range 0 to
100%).
• Length of constant acceleration in the middle of the segment $MBnn<value> in percent x
6
10
(range 0 to 100%).
6
• Length of cosine acceleration at segment end $MCnn<value> in percent x 10
(range 0 to
100%).
• Percentage of segment used: Start at $MXnn=<value> & End at $MYnn=<value> (see
chapter 10.1 page 49) Note: $MAnn + $MBnn + $MCnn = 100%
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9 Segment Types
9.15
Segment Type "Simple Harmonic"
This segment type has an acceleration profile of the first half of a cosine wave. The magnitude of the acceleration profile is set by the master position increment and the slave position change. It is possible to use only parts of the segment by entering start and end percentage values. This segment type is useful for systems with some backlash at low to medium speeds.
Parameters:
• Segment type $MFnn=15
• Segment start constraints: [P matched], V matched ($MWnn=22000000) or not defined
($MWnn=20000000), [A & J not defined]
• Segment end constraints: [P specified, V, A & J not defined]
• Master end position $MMnn=<value> sets end segment master position
• Slave end position $MSnn=<value> sets end segment slave position
• Percentage of segment used: Start at $MXnn=<value> & End at $MYnn=<value> (see
chapter 10.1 page 49).
10 Motion Generator: Features and Functions
10
10.1
Motion Generator: Features and Functions
This section contains detailed explanations of certain features of the motion generator and some summaries of the information contained in the previous section (Segment types).
Start and End Percentages of a Segment
For the following segment types it is possible to define, which part of the segment is used:
2: Constant Acceleration 3: Sine-Squared Velocity 4: Cycloidal 5: Modified Trapezoidal 6: Modified Sine 10: Ramp 14: Sine-Constant-Cosine 15: Simple Harmonic
The entry of the percentage values is done by using the variables $MXnn und $MYnn for the controller internal motion generator and in PMotion by pressing the button „Type parameters“ in the segment parameters toolbar.
Scaling:
• PC based motion generator (PMotion): Required percentage values, entered directly in the text entry boxes in the dialog „Type parameters“.
• Controller internal motion generator: Required percentage values x10 100%).
The following diagram illustrates the effect of setting both the start and end percentages to values ≠ 0 for the segment type „Constant acceleration“.
$MXnn Anfang [%]
$MYnn Ende [%]
6
, into variables $MXnn and $MYnn ($MXnn+$MYnn ≤
User Manual
By changing the start and end percentage special segment profiles can be created, e. g. a modified sine profile with no deceleration and with an acceleration ≠ 0 at the end of the segment.
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10.2 Summary of Segment Constraints
Segment Type Segment start constraints
10 Motion Generator: Features and Functions
0: Constant Position
1: Constant Velocity
2: Constant Acceleration 3: Sine-Squared Velocity 4: Cycloidal 5: Modified Trapezoidal 6: Modified Sine 7: Triple Harmonic 8: Sinusoidal 10: Ramp 11: Throw 14: Sine-Constant-Cosine 15: Simple Harmonic
9: Polynomial
12: Quadratic Spline
13: Cubic Spline
P
matched
V A J not specified
P
matched
V matched or specified, A J
not specified
P matched V matched or not specified A J
not specified
P matched V A J
matched or specified or not specified
P V matched A J not specified
P V A matched J not specified
Legend:
P: Position V: Velocity A: Acceleration J: Jerk
• Matched means that the derivative value doesn’t change from the
end of one segment to the beginning of the next (matched with previous).
• Specified means that the derivative value can be set at that point
on the segment (value as specified).
• Not specified means that the derivative value cannot be altered at that point of the
segment (no value specified).
10 Motion Generator: Features and Functions
Segment Type Segment end constraints
0: Constant Position 1: Constant Velocity 8: Sinusoidal 11: Throw
2: Constant Acceleration 3: Sine-Squared Velocity 4: Cycloidal 5: Modified Trapezoidal 6: Modified Sine 7: Triple Harmonic 10: Ramp 13: Quadratic Spline 14: Cubic Spline 15: Sine-Constant-Cosine 16: Simple Harmonic
9: Polynomial
Legend:
P: Position V: Velocity A: Acceleration J: Jerk
• Matched means that the derivative value doesn’t change from the end of one segment to
the beginning of the next (matched with previous).
P V A J not specified
P matched V A J not specified
P matched V A J specified or not specified
• Specified means that the derivative value can be set at that point on the segment (value
as specified).
• Not specified means that the derivative value cannot be altered at that point of the
segment (no value specified).
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10 Motion Generator: Features and Functions
10.3 Summary of Segment Types and their Parameters
The following table summaries the variables used for each segment type in the controller internal motion generator:
Segment Type
$MMnn $MSnn $MFnn $MAnn $MBnn $MCnn $MXnn $MYnn $MZnn $MWnn
Constant Position
Constant Velocity
Constant Acceleration
Sine-Squared Velocity
Cycloidal
Modified Trapezoidal
Modified Sine
Triple Harmonic
Sinusoidal
Polynomial
Ramp
Throw
> >
> >
> >
> > > >
> > > >
>
r
> >
> > > >
0
1 Start
2 Start % End %
3 Start % End %
4 Start % End %
5 Start % End %
6 Start % End %
7 1.
8 Amplitude Cycle
9 Start
10 Start % End %
11 Extent of
Velocity
Harmonic
Velocity
Throw
*
2.
Harmonic
Start
Start
Accel.
3.
Harmonic
No. of
Cycles
Start Jerk
End
Velocity
End
Accel.
End Jerk
>
>
>
> >
> >
>
>
> >
Quadratic Spline
Cubic Spline
Sine-Constant­Cosine
Simple Harmonic
> > > > > >
> >
13
14
15 Sin % Constant % Cosine % Start % End %
16 Start % End %
> Standard definition applies
r Variable may be present (and standard definition applies), but will not be used
<blank> The variable does not apply to the segment type <text> Short description of the meaning of the variable specific to the segment type * Start velocity will only be required for segment type „Constant Velocity“ if the velocity is not matched with previous segment.
>
>
10 Motion Generator: Features and Functions
10.4
Technical Information about the Motion Generator
This section details some technical information about the motion generator.
10.4.1 Maximum number of segments
The maximum number of segments of a map is limited by memory to 100 in both the PC based motion generator PMotion and the controller internal motion generator.
10.4.2 Variable names used by the internal Motion Generator
Map start coordinates:
• $MM0: Master position (range ±4000000 inc.)
• $MS0: Slave position (range ±4000000 inc.)
For each segment (nn is 1 to 100 inclusive, leading zero when appropriate):
• $MFnn: Segment type (range 0 to15 inclusive, no units)
• $MMnn: Master position (range ±4000000 inc.).
• $MSnn: Slave position (range ±4000000 inc.).
• $MWnn: constraint word:
$MWnn – Entry Segment boundary
Boundary constraint
Digit 8 Digit 7 Digit 6 Digit 5
Digit 4 Digit 3 Digit 2 Digit 1
Each digit can be 0 (no value specified), 1 (value as specified) or 2 (matched with previous).
Valid entries will depend on the segment type.
• $MMSB: contains the master cycle length after calculation.
• $MSSB: contains the slave cycle length after calculation.
Start
End
Position Velocity
Acceleration
Jerk
Position Velocity
Acceleration
Jerk
User Manual
for PMotion
Page 53
10 Motion Generator: Features and Functions
• $MAnn, $MBnn, $MCnn, $MXnn, $MYnn & $MZnn: The meaning of the variables is dependent on the segment type, as shown in the following table:
Segment
Variables
Description
Type
1 $MAnn Start velocity, required only when „Value as
specified“ is selected using $MWnn.
2 $MXnn & $MYnn Start & End percentages x 106
3 $MXnn & $MYnn Start & End percentages x 106
4 $MXnn & $MYnn Start & End percentages x 106
5 $MXnn & $MYnn Start & End percentages x 106
6 $MXnn & $MYnn Start & End percentages x 106
7 $MAnn, $MBnn & $MCnn Normalised amplitudes of the three harmonics of
a three term fourier series x 10
8 $MAnn, $MBnn & $MCnn Amplitude (inc.), Cycle start angle (degrees x 106)
and No. of cycles (no units x 10
9 $MAnn, $MBnn
$MCnn, $MXnn
Start & End derative values (when applicable with $MWnn).
6
6
)
$MYnn & $MZnn
10 $MAnn & $MBnn Start & End percentages x 106
11 $MAnn Extent of throw (inc.)
13 $MAnn Slave end position (inc.)
15 $MAnn, $MBnn,
$MCnn,
$MXnn & $MYnn
Percentage x 106 of sine-, constant- or cosine portion of the segment.
Start & End percentages x 10
6
16 $MXnn & $MYnn Start & End percentages x 106
• $MNAME specifies the name of the map.
• $MNPT specifies the number of points saved in the map table (max. 65536).
• $MSTART is a trigger variable to start calculation of a map. This variable is usually set to 1
at the end of a map sequence to start calculation.
• $MREADY is a trigger variable to indicate the status of map calculation. The variable is set to 0 while calculating and to 1 when calculation is finished.
• $MSTATUS is a status variable used to return success or failure of map generation: Zero indicates success, a non-zero value indicates failure (See chapter 8.2 Page 29).
• $MRESET is a trigger variable to set all variables to their default values.
• $MSAVE is used to save the map on the controller ($MSAVE=1) after generating or not
($MSAVE=0).
11 Index
11 Index
$
$MA ................................................................................. 54
$MB ................................................................................. 54
$MC ................................................................................. 54
$MF ................................................................................. 53
$MM ................................................................................. 53
$MMSB ............................................................................ 53
$MNAME ................................................................... 28, 54
$MNPT ...................................................................... 28, 54
$MREADY ................................................................. 28, 54
$MRESET .................................................................. 28, 54
$MS ................................................................................. 53
$MSAVE .................................................................... 28, 54
$MSSB ............................................................................ 53
$MSTART ........................................................................ 54
$MSTATUS ............................................................... 29, 54
$MW ................................................................................ 53
$MX ................................................................................. 54
$MY ................................................................................. 54
$MZ ................................................................................. 54
A
About this manual .............................................................. 7
C
Create a map ................................................................... 24
Map-Sequence ........................................................... 24
Map-Table .................................................................. 24
D
Designations ...................................................................... 9
E
Error messages ............................................................... 29
Example of using the internal Motion Generator ............. 30
Example of using the PC based Motion Generator ......... 25
F
Features and Functions ................................................... 49
G
General Description ........................................................... 9
Introduction ......................................................................12
M
Map-Sequence ...................................................................9
Map-Settings ....................................................................18
Map-Shape .........................................................................9
Map-Table ..........................................................................9
Maximum number of segments ........................................53
Messages displayed in the terminal .................................29
Motion Generator Overview .............................................10
P
PMotion
Introduction .................................................................12
Menus .........................................................................13
Create ....................................................................15
Edit ........................................................................13
File .........................................................................13
Programs ...............................................................16
View .......................................................................14
Window ..................................................................16
Toolbar ........................................................................17
S
Segment .............................................................................9
Segment Types
Constant Acceleration .................................................35
Constant Velocity ........................................................34
Cubic Spline ................................................................46
Modified Sine ..............................................................38
Modified Trapezoidal ..................................................37
Polynomial ..................................................................41
Quadratic Spline .........................................................45
Simple Harmonic ........................................................48
Sine-Constant-Cosine .................................................47
Sine-Squared Velocity ................................................36
Sinusoidal ...................................................................40
Throw ..........................................................................44
Triple Harmonic ..........................................................39
Segment Types ................................................................32
Constant Position ........................................................33
Segment-parameters .......................................................22
Segmenttypen
Cycloidal .....................................................................36
Start and End Percentages of a Segment ........................49
Summary of Segment Constraints ...................................50
Summary of Segment Types and their Parameters .........52
H
Hardware requirements ..................................................... 8
I
Installation ......................................................................... 8
Internal Motion Generator
Commands ................................................................. 28
Internal Motion Generator ............................................... 28
User Manual
for PMotion
T
Technical Information about the Motion Generator ..........53
Toolbar .............................................................................17
V
Variable names ................................................................53
Page 55
© Pilz GmbH & Co. KG, 2011
21472-EN-11, 2012-04 Printed in Germany
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