Siemens 6AU1900-1AB32-0BA0 User Manual

SIMOTION CamTool

Configuration Manual

Preface

Description

Installing the Software

Configuring

Functions

12.2004 6AU1900-1AB32-0BA0

Safety Guidelines

This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert symbol, notices referring to property damage only have no safety alert symbol. These notices shown below are graded according to the degree of danger.

Danger

indicates that death or severe personal injury will result if proper precautions are not taken.

Warning

indicates that death or severe personal injury may result if proper precautions are not taken.

Caution

with a safety alert symbol, indicates that minor personal injury can result if proper precautions are not taken.

Caution

without a safety alert symbol, indicates that property damage can result if proper precautions are not taken.

Attention

indicates that an unintended result or situation can occur if the corresponding information is not taken into account.

If more than one degree of danger is present, the warning notice representing the highest degree of danger will be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to property damage.

Qualified Personnel

The device/system may only be set up and used in conjunction with this documentation. Commissioning and operation of a device/system may only be performed by qualified personnel. Within the context of the safety notes in this documentation qualified persons are defined as persons who are authorized to commission, ground and label devices, systems and circuits in accordance with established safety practices and standards.

Prescribed Usage

Note the following:

Warning

This device may only be used for the applications described in the catalog or the technical description and only in connection with devices or components from other manufacturers which have been approved or recommended by Siemens. Correct, reliable operation of the product requires proper transport, storage, positioning and assembly as well as careful operation and maintenance.

Trademarks

All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.

Copyright Siemens AG 2004. All rights reserved. The distribution and duplication of this document or the utiliz ation and transmission of its contents are not permitted without express written permission. Offenders will be liable for damages. All rights, including rights created by patent grant or registration of a utility model or design, are reserved.

Siemens AG Automation and Drives Postfach 4848, 90327 Nuremberg, Germany

Siemens Aktiengesellschaft 6AU1900-1AB32-0BA0

Disclaimer of Liability We have reviewed the contents of this publication to ensure consistency with the hardware and software described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the information in this publication is reviewed regularly and any necessary corrections are included in subsequent editions.

Siemens AG 2004 Technical data subject to change

Preface

Contents of manual

The accompanying manual describes the SIMOTION CamTool option package.

The document is part of the SIMOTION Engineering System documentation package with order number: 6AU1900-1AB32-0BA0, Edition 12.2004

Scope

The accompanying manual applies to SIMOTION SCOUT in conjunction with the SIMOTION CamTool option package.

Standards

The SIMOTION system was developed in accordance with the ISO 9001 quality guidelines.

Information blocks:

The following is a description of the purpose and use of the product manual.

• Description chapter

• Installation chapter

• Configuration chapter

• Functions chapter

This chapter provides a short overview of the basic functions of the SIMOTION CamTool and the inclusion in SIMOTION SCOUT.

This chapter describes how the SIMOTION CamTool is installed and which prerequisites must be satisfied to allow the use of SIMOTION CamTool.

This chapter describes the basic functions of SIMOTION CamTool. It shows you how to process cams with CamTool.

In this chapter you learn how to create a cam with CamTool.

CamTool Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0

iii

Preface

SIMOTION documentation

An overview of the SIMOTION documentation is provided in a separate list of references.

The list of references is supplied on the "SIMOTION SCOUT" CD and is included in each print copy order of the documentation package.

The list of references can be obtained separately under the following MLFB number:

Order no.: 6AU1900-1AA32-0BA0

Edition 12.2004

SIMOTION documentation consists of 10 documentation packages containing approximately 50 SIMOTION documents and documents on other products (e.g., SINAMICS).

The following documentation packages are available for SIMOTION V3.2:

• SIMOTION Engineering System

• SIMOTION System and Function Descriptions

• SIMOTION Diagnostics

• SIMOTION Programming

• SIMOTION Programming - Reference Lists

Hotline

• SIMOTION C230

• SIMOTION P350

• SIMOTION D4xx (incl. SINAMICS S120)

• SIMOTION Supplementary Documentation

• SIMOTION Function Library

If you have any questions, please contact our hotline (worldwide):

• A & D Technical Support: Phone: +49 (180) 50 50 222

• Fax: +49 (180) 50 50 223

• E-mail: ad.support@siemens.com

If you have any questions, suggestions, or corrections regarding the documentation, please fax or e-mail them to the following:

• Fax: +49 (9131) 98 2176

• E-mail: motioncontrol.docu@erlf.siemens.de

• Fax form: refer to the reply form at the end of the document

CamTool

iv Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0

Preface

Additional support

We also offer introductory courses to help you familiarize yourself with SIMOTION.

Please contact your regional training center or our main training center at D-90027 Nuremberg/Germany, phone +49 (911) 895 3202.

Siemens Internet address

The latest information on SIMOTION products can be found on the Internet at:

General information http://www.siemens.com/simotion

Technical information http://www4.ad.siemens.de/view/cs/de/10805438

CamTool Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0

Preface ...................................................................................................................................................... iii

1 Description.............................................................................................................................................. 1-1

2 Installing the Software ............................................................................................................................ 2-1

2.1 Installing SIMOTION CamTool .................................................................................................. 2-1

2.2 Deinstalling SIMOTION CamTool ..............................................................................................2-2

3 Configuring ............................................................................................................................................. 3-1

3.1 Content....................................................................................................................................... 3-1

3.2 Customizing the Working Area Display ..................................................................................... 3-2

3.2.1 Changing the representation using the toolbar.......................................................................... 3-2

3.2.2 Maximizing working area ........................................................................................................... 3-4

3.3 Editing a Cam with CamTool ..................................................................................................... 3-5

3.3.1 Content....................................................................................................................................... 3-5

3.3.2 Adding a cam to a SCOUT project using CamTool ................................................................... 3-5

3.3.3 Edit cam created with CamEdit with CamTool........................................................................... 3-7

3.3.4 Import cam from text file .......................................................................................................... 3-10

3.3.5 Upload cam from SIMOTION device ....................................................................................... 3-12

3.4 Save cam ................................................................................................................................. 3-15

3.5 Customize the display of the cam ............................................................................................ 3-16

3.5.1 Display the cam ....................................................................................................................... 3-16

3.5.2 Show/hide diagram .................................................................................................................. 3-16

3.5.3 Change axis representation parameters.................................................................................. 3-17

3.5.4 Change diagram representation parameters ........................................................................... 3-20

3.5.5 Change lines and fonts representation parameters................................................................. 3-22

3.5.6 Displaying auxiliary lines in the diagram.................................................................................. 3-24

3.6 Download cam to SIMOTION device ....................................................................................... 3-26

4 Functions................................................................................................................................................ 4-1

4.1 Content....................................................................................................................................... 4-1

4.2 Structure of a cam...................................................................................................................... 4-2

4.3 Fixed point.................................................................................................................................. 4-3

4.3.1 Fixed Point Definition ................................................................................................................. 4-3

4.3.2 Insert fixed point......................................................................................................................... 4-3

4.3.3 Change fixed point position........................................................................................................ 4-5

4.3.4 Changing the velocity at the position of a fixed point: ............................................................... 4-5

4.3.5 Changing the acceleration at a fixed point position: .................................................................. 4-6

4.3.6 Delete fixed point ....................................................................................................................... 4-7

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vii

Table of contents

4.4 Straight line ................................................................................................................................ 4-7

4.4.1 Definition straight line................................................................................................................. 4-7

4.4.2 Insert straight line....................................................................................................................... 4-8

4.4.3 Change straight line position...................................................................................................... 4-9

4.4.4 Changing the velocity along a straight line .............................................................................. 4-10

4.4.5 Delete straight line ................................................................................................................... 4-11

4.5 Sine curve ................................................................................................................................ 4-11

4.5.1 Insert sine curve....................................................................................................................... 4-11

4.5.2 Change sine curve position...................................................................................................... 4-13

4.5.3 Change sine curve definition range ......................................................................................... 4-14

4.5.4 Delete sine curve ..................................................................................................................... 4-15

4.6 Arc Sine Curve ......................................................................................................................... 4-15

4.6.1 Insert arc sine curve................................................................................................................. 4-15

4.6.2 Change arc sine curve position................................................................................................ 4-17

4.6.3 Change arc sine curve definition range ................................................................................... 4-18

4.6.4 Delete arc sine curve ............................................................................................................... 4-19

4.7 Interpolation point..................................................................................................................... 4-20

4.7.1 Interpolation Point Definition .................................................................................................... 4-20

4.7.2 Insert interpolation point........................................................................................................... 4-20

4.7.3 Changing the interpolation point position................................................................................. 4-21

4.7.4 Delete interpolation point ......................................................................................................... 4-22

4.8 Optimizing a Cam..................................................................................................................... 4-23

4.8.1 Optimizing a Cam..................................................................................................................... 4-23

4.8.2 Optimize transition ................................................................................................................... 4-24

4.8.3 Interpolation Curve properties.................................................................................................. 4-26

4.9 Specify parameters for target device ....................................................................................... 4-30

4.9.1 Specify parameters for target device ....................................................................................... 4-30

4.9.2 Target device parameters ........................................................................................................ 4-31

4.10 Specify simulation settings....................................................................................................... 4-35

4.10.1 Specify simulation settings....................................................................................................... 4-35

4.10.2 Simulation settings ................................................................................................................... 4-36

4.11 Edit cam created with CamTool with CamEdit......................................................................... 4-38

4.12 Export cam as text file .............................................................................................................. 4-38

4.13 Print cam .................................................................................................................................. 4-39

Index

Tables

Table 2-1

Table 3-1 SIMOTION CamTool toolbar icons ............................................................................................ 3-2

Table 3-2 Parameters in the Master Properties or S Diagram (Slave) Properties................................... 3-18

Table 3-3 Parameters for the V, A or J Diagram Properties windows ..................................................... 3-21

SIMOTION CamTool system requirements ............................................................................... 2-1

Table 3-4 Representation parameters in the diagrams............................................................................ 3-23

Table 3-5 Parameters in the Line tab ....................................................................................................... 3-23

Table 3-6 Parameters in the Font tab....................................................................................................... 3-24

CamTool

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Table of contents

Table 4-1 Parameters in the Type tab (Interpolation Curve Properties window) ..................................... 4-26

Table 4-2 Parameters in the Parameters tab (Interpolation Curve Properties window) .......................... 4-27

Table 4-3 Parameters in the Type tab (Interpolation Curve Properties window) ..................................... 4-28

Table 4-4 Parameters in the Coordinates tab (Target Device Parameters window) ............................... 4-31

Table 4-5 Parameters in the Interpolation tab (Target Device Parameters window) ............................... 4-32

Table 4-6 Parameters in the Scaling tab (Target Device Parameters window)....................................... 4-33

Table 4-7 Parameters in the Master tab (Simulation Settings window) ................................................... 4-36

Table 4-8 Parameters in the Slave tab (Simulation Settings window) ..................................................... 4-37

CamTool Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0

Description

Introduction

The graphical user interface in SIMOTION CamTool allows you to create, edit and optimize cams.

SIMOTION CamTool is fully integrated in SIMOTION SCOUT. This allows you to also use in SIMOTION CamTool information configured in SIMOTION SCOUT (e.g. axis settings).

Basic functions

SIMOTION CamTool provides the following basic functions:

• Insert and edit cams.

• Modifying the representation of the cam in CamTool

• Converting cams from SIMOTION CamTool to SIMOTION CamEdit.

Cams can be added to a SCOUT project using SIMOTION CamTool. In addition, you can edit with CamTool a cam created with CamEdit: Cams can also be imported from a text file or uploaded from a SIMOTION device.

In SIMOTION CamTool, you can show and hide diagrams, change the representation parameters of the axes and diagrams, and adapt the lines and fonts. You can also represent auxiliary lines in the diagram.

To edit with SIMOTION CamEdit a cam edited in SIMOTION CamTool, the cam must be converted.

• Exporting cams into a text file.

• Downloading cams to a SIMOTION device

• Printing a cam.

CamTool Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0

1-1

Installing the Software

2.1 Installing SIMOTION CamTool

Introduction

SIMOTION CamTool is an option package for SIMOTION SCOUT.

SIMOTION SCOUT must have been installed on the system on which you want to install SIMOTION CamTool. For further information, refer to the system prerequisites.

Notice

You require administrator rights for the installation.

After the installation, every user (also those without administrator rights) can work with SIMOTION CamTool.

System requirements

The following table provides a detailed overview of the system requirements for SIMOTION CamTool.

Table 2-1 SIMOTION CamTool system requirements

Minimum requirement

Programming device or PC

Operating system

Software required

• Processor: Intel Pentium II or compatible. 400 MHz (WIN NT 4.0, WIN

2000)

• Processor: Intel Pentium III or compatible. 500 MHz (WIN XP Professional)

• 256 MB RAM; 512 MB recommended

• Screen resolution: 1024 x 768 pixels

• Microsoft Windows NT 4.0 ≥ Service Pack 6 or

• Microsoft Windows 2000 ≥ Service Pack 3

• Microsoft Windows XP Professional ≥ Service 1

• Microsoft Internet Explorer Version 5.0.1

• SIMATIC STEP 7 Version 5.1 ≥ Service Pack 6 or STEP 7 Version 5.2

(required for SIMOTION D435)

• SIMOTION SCOUT ≥ Version 2.1

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2-1

Installing the Software

2.2 Deinstalling SIMOTION CamTool

Installing SIMOTION CamTool

To install SIMOTION CamTool:

1. Insert the CD with installation software into the CD-ROM drive.

2. Start Windows Explorer and select the CD-ROM drive.

3. Open the CamTool\Disk1 directory.

4. Double-click on setup.exe. The installation program is started.

5. Run through the installation program. SIMOTION CamTool will be installed.

2.2 Deinstalling SIMOTION CamTool

Deinstalling SIMOTION CamTool

To deinstall SIMOTION CamTool:

1. Click Start > Settings > System Control in the Windows taskbar. The System Control window appears.

2. Double-click Add/Remove Programs. The Software Properties window is displayed.

3. Mark the SIMOTION SCOUT CamTool entry in the Install/Deinstall tab.

4. Click Add/Remove. The deinstallation program is started.

5. Run through the deinstallation program. SIMOTION CamTool will be deinstalled.

Notice

You require administrator rights for the deinstallation.

CamTool

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Configuring

3.1 Content

Overview

This chapter describes how you work with SIMOTION CamTool. You learn how

• to customize the display of the working area

• to edit a cam with CamTool

• to save a cam

• to customize the display of the cam

• to download a cam to a SIMOTION device

Note

The following operating instructions primarily describe the operation of SIMOTION CamTool using the functions in the menu bar.

You can also execute the functions from the context menus. In this case, right-click the element that you want to edit.

You can also execute the most import functions using the icons in the SIMOTION CamTool toolbar. Pay attention to the tooltip which is displayed when you place the mouse pointer on an icon in the toolbar.

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3-1

Configuring

3.2 Customizing the Working Area Display

3.2.1 Changing the representation using the toolbar

Introduction

You can show or hide the scaled curve, the V diagram (velocity diagram), the A diagram (acceleration diagram) and the J diagram (jerk diagram) via icons in the toolbar. You can use the zoom tool to increase or reduce the size of the display or use the hand tool to move the display.

Changing the representation using the toolbar

To change the representation of the diagrams via the toolbar

Toolbar icons

1. When the mouse pointer is placed on an icon in the toolbar, a tooltip is displayed.

2. Click the icon of the function that you want to use.

The screen display can be changed using the following functions:

Table 3-1 SIMOTION CamTool toolbar icons

Symbol Explanation / instructions

With this icon, you can activate or deactivate the display of the scaled curve. If you have not specified a scaling, the icon is shown grayed-out.

Note:

If the scaled curve is displayed, you cannot edit the original curves in the diagram displays.

With this icon, you can show or hide the V diagram (velocity diagram).

With this icon, you can show or hide the A diagram (acceleration diagram).

With this icon, you can show or hide the J diagram (jerk diagram).

CamTool

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Configuring

3.2 Customizing the Working Area Display

Symbol Explanation / instructions

With this icon, you can activate or deactivate the zoom tool. You can also deactivate the zoom tool using the ESC key.

You can perform various functions with the activated zoom tool. The function is dependent on whether the mouse pointer is on the diagram area or on a coordinate axis and whether the SHIFT key is also pressed:

Zoom tool on the diagram area (zoom in all directions at the same time)

Left-click to increase the size of the display by the factor 2.

Right-click to decrease the size of the display by the factor 2.

Zoom tool on the coordinate axis (zoom in all directions at the same time)

Left-click to increase the size of the display by the factor 2 in the direction of the coordinate axis on which you are pointing.

Right-click to decrease the size of the display by the factor 2 in the direction of the coordinate axis on which you are pointing.

Zoom tool with pressed SHIFT key

The mouse pointer is activated as a hand tool while you keep the SHIFT key pressed. With activated hand tool, you can move the diagram area with drag&drop. All displayed diagrams are adjusted to the move.

With this icon, you can activate or deactivate the zoom function. You can also deactivate the zoom function using the ESC key.

Zoom function on the diagram area

With activated zoom function, you can lasso a section of the diagram area that you want to enlarge with the mouse button pressed.

Zoom function on the coordinate axis

With activated zoom function, you can lasso a section of a coordinate axis that you want to enlarge with the mouse button pressed. The enlargement is in the direction in which you lasso the section of the coordinate axis.

With this icon, you can restore the previous zoom setting.

With this icon, you can activate or deactivate the hand tool. You can also deactivate the hand tool using the ESC key.

With activated hand tool, you can move the diagram area with drag&drop. All displayed diagrams are adjusted to the move.

With this icon, you can restore the whole display to the normal view.

CamTool Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0

3-3

Configuring

3.2 Customizing the Working Area Display

3.2.2 Maximizing working area

Maximizing the working area

To set the largest possible working area for SIMOTION CamTool:

1. In the View menu, click Maximized working area. Detail view and project navigator are closed.

2. Maximize the window with the diagrams of the cam.

1. Close the project navigator via the menu View > Project navigator.

2. Close the detail view via the menu View > Detail view.

3. Maximize the window with the diagrams of the cam.

Figure 3-1 Maximized cam diagrams in the SIMOTION SCOUT working area

CamTool

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Configuring

3.3 Editing a Cam with CamTool

3.3.1 Content

Overview

With SIMOTION CamTool, you can edit a cam that is inserted in a SCOUT project.

You can use the following methods to insert and edit a cam. You can

• add a cam to a SCOUT project using SIMOTION CamTool.

• edit with CamTool a cam created with CamEdit.

• import and edit a cam from a text file.

• upload and edit a cam from a SIMOTION device.

3.3.2 Adding a cam to a SCOUT project using CamTool

Requirements

SIMOTION CamTool is installed as an option package for SIMOTION SCOUT.

The project, into which you want to insert the cam, is opened in SIMOTION SCOUT. At least one SIMOTION device is configured in this project.

CamTool Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0

3-5

Configuring

3.3 Editing a Cam with CamTool

Inserting a cam in a SCOUT project

To insert a cam in a SCOUT project:

1. In the project navigator, find the SIMOTION device under which you want to insert a new cam.

2. Open the Cams folder and double-click Insert cam with CamTool.

Figure 3-2 Inserting a cam with CamTool

CamTool

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Configuring

3.3 Editing a Cam with CamTool

3. The Insert Cam window appears. Under Name, enter a unique name for the cam (all the

cams existing in the project are displayed under Existing cams).

Figure 3-3 Window for inserting a cam

4. Click OK. A window appears in the working area of SIMOTION SCOUT. The diagrams of

the cam depending on the settings in the menu Cam > Diagrams are displayed in this window.

Notice

The following are represented in the cam diagrams:

• the master axis in the horizontal direction (X-axis) and

• the slave axis in the vertical direction (Y-axis).

3.3.3 Edit cam created with CamEdit with CamTool

Editing a Cam with CamTool

To edit a cam created with CamEdit with CamTool:

1. Close the cam in SIMOTION CamEdit.

2. Find the cam that you want to edit with SIMOTION CamTool in the project navigator.

3. Right-click the cam and select Convert to CamTool in the displayed context menu. The

cam is then opened the next time with SIMOTION CamTool.

CamTool Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0

3-7

Configuring

3.3 Editing a Cam with CamTool

4. Double-click the cam. The cam is opened with SIMOTION CamTool and displayed. Segment limits between individual cam segments are marked in the S diagram (distance diagram).

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Figure 3-4 Open with CamTool a cam created with CamEdit

5. Select the cam segment that you want to edit. Note the displayed segment limits.

CamTool

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Configuring

3.3 Editing a Cam with CamTool

6. Delete the cam segment by pressing the DEL key. The cam segment is replaced by an

interpolation curve (transition) by SIMOTION CamTool. If required, fixed points are inserted in the curve to maintain the corner points of the original curve.

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Figure 3-5 Cam segment replaced by SIMOTION CamTool with fixed point and transition

(interpolation polynomial)

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7. The cam segment (e.g. fixed point) inserted by SIMOTION CamTool can be edited (e.g.

change position).

8. The interpolation curve (transition) inserted by SIMOTION CamTool can be optimized

(e.g. velocity).

Notice

With SIMOTION CamTool, you can edit all cams created with SIMOTION CamEdit.

CamTool Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0

3-9

Configuring

3.3 Editing a Cam with CamTool

3.3.4 Import cam from text file

Introduction

You can re-import a cam exported as text file from SIMOTION CamTool back into CamTool (e.g. to re-import a cam edited in an external program).

Importing a cam

Notice

The cam representation in the text file must correspond to the Microsoft Excel CSV format.

To import a cam from a text file:

1. Open with SIMOTION CamTool the cam in which you want to import the cam from the text file.

Add a new cam in which you want to import the cam from the text file.

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Figure 3-6 Cam imported from a text file

CamTool

3-10 Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0

Configuring

3.3 Editing a Cam with CamTool

2. Click a diagram to show the Cam menu.

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Figure 3-7 Cam segment replaced by SIMOTION CamTool with fixed point and transition

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3. Click the menu Cam > Import. The file selection window is displayed.

Navigate under Find in to the text file that contains the cam and select the text file. The name of the text file is entered under Name.

4. Click OK in the file selection window. The cam is imported.

Notice

When you import a cam from a text file and have previously changed the displayed cam, a window appears. You can accept the changed cam into the project via the window. The cam is then imported from the text file.

CamTool Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0

3-11

Configuring

3.3 Editing a Cam with CamTool

Edit imported cam

To edit a cam imported into SIMOTION CamTool:

1. The cam imported from a text file is displayed in SIMOTION CamTool. Segment limits between individual cam segments are marked in the S diagram (distance diagram).

Select the cam segment that you want to edit. Note the displayed segment limits.

2. Delete the cam segment by pressing the DEL key. The cam segment is replaced by an interpolation curve (transition) by SIMOTION CamTool. If required, fixed points are inserted in the curve to maintain the corner points of the original curve.

3. The cam segment (e.g. fixed point) inserted by SIMOTION CamTool can be edited (e.g. change position).

4. The interpolation curve (transition) inserted by SIMOTION CamTool can be optimized (e.g. velocity).

3.3.5 Upload cam from SIMOTION device

Requirements

The cam is opened with SIMOTION CamTool.

Notice

If you create a cam and the cam has never been previously downloaded to the SIMOTION device, you must first download the entire configuration with the new cam to the SIMOTION device.

Only then can you upload the cam currently opened with SIMOTION CamTool from the SIMOTION device. The upload is only possible in ONLINE status.

CamTool

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