Pilz PMCprimo 16 User Manual

PMotion

Motion Control PMC

User Manual – No. 21472-EN-11

1 General Information

1	General Information

1.1Copyright

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.

1.2Notice

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!

1.3Previously published editions

Version	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

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User Manual for PMotion

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
	6.3.1	Designations...........................................................................................	9
	6.3.2	Motion Generator Overview....................................................................	10
	7	PC based Motion Generator PMotion	12
	7.1	Introduction.............................................................................................	12
	7.2	Menus.....................................................................................................	13
	7.2.1	Menu "File" .............................................................................................	13
	7.2.2	Menu "Edit".............................................................................................	13
	7.2.3	Menu "View" ...........................................................................................	14
	7.2.4	Menu "Create" ........................................................................................	15
	7.2.5	Menu "Programs" ...................................................................................	16
	7.2.6	Menu "Window" ......................................................................................	16
	7.3	Toolbar ...................................................................................................	17
	7.4	Map Settings...........................................................................................	18
	7.4.1	Property Page „Map“ ..............................................................................	18
	7.4.2	Property Page “Master” ..........................................................................	19
	7.4.3	Property Page “Slave” ............................................................................	20
	7.4.4	Property Page "Machine Parameters" ....................................................	21
	7.5	Edit Segment parameters.......................................................................	22
	7.6	Create a map..........................................................................................	24
	7.6.1	Map Table ..............................................................................................	24
	7.6.2	Map 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
	9.10	Segment Type "Ramp" ...........................................................................	43
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		2 Contents
9.11	Segment Type "Throw"...........................................................................	44
9.12	Segment Type "Quadratic Spline" ..........................................................	45
9.13	Segment Type "Cubic Spline".................................................................	46
9.14	Segment Type "Sine-Constant-Cosine"..................................................	47
9.15	Segment Type "Simple Harmonic" .........................................................	48
10	Motion Generator: Features and Functions	49
10.1	Start and End Percentages of a Segment ..............................................	49
10.2	Summary of Segment Constraints..........................................................	50
10.3	Summary of Segment Types and their Parameters................................	52
10.4	Technical Information about the Motion Generator.................................	53
10.4.1	Maximum number of segments ..............................................................	53
10.4.2	Variable names used by the internal Motion Generator.........................	53
11	Index	55

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3 Abbreviations and Symbols

3 Abbreviations and Symbols

3.1Abbreviations

	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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4 Safety Guidelines

4	Safety Guidelines

Caution!

When commissioning, you must ensure that neither the controllers nor the amplifiers present any risk to persons, plant or machinery.

Appropriate 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.

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User Manual for PMotion

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 Introduction

6.1Installation 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.

6.2Hardware requirements

Minimum specification for the PC:

Operating system	Windows 2000, XP, Vista or 7
Hardware	Minimum requirements of operating system
Interface	one free serial interface
	Ethernet interface (optional)

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User Manual for PMotion

6 Introduction

6.3General 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.

6.3.1Designations

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 co-
	ordinates 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 Introduction

6.3.2Motion 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	Match with previous: The start position of segment nn+1 will match
	the end position of segment nn. This cannot be altered.
Velocity	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.)
Acceleration	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.
Jerk	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.

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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	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).
Velocity	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.
Acceleration	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.
Jerk	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.

•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.

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7 PC based Motion Generator PMotion

7	PC based Motion Generator PMotion

7.1Introduction

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 PC based Motion Generator PMotion

7.2Menus

7.2.1Menu "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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	7 PC based Motion Generator PMotion
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 mapShow/Hide a further map in the motion view. Select a map in the following dialog to compare it to the current map.

7.2.3Menu "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 PC based Motion Generator PMotion

7.2.4Menu "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.

Export map as FB for SoftPLC

Exports the current map (map table or map sequence) as a function block for the system integrated Software PLC.

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		7 PC based Motion Generator PMotion
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.

7.2.6Menu "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

7.3Toolbar

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.

Starts the scope function PScope.

Starts the text editor PEdit.

Opens the “About” dialog.

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