Technology objects for motion control
•TOs are software objects in the controller
•TOs represent the mechanical components
•TOs encapsulate technological functions
•TOs are configured and parameterized in a standard way
•TOs permit motion control to be seen in a simple way
How is a TO integrated in the system?
Technology objects for motion control
•TOs for speed, positioning and synchronous axes, cams, output cams, measuring inputs and external encoders/sensors
•A TO data block contains all of the configuration data, setpoint/actual values and status information of the TO
•TOs communicate with the drive and I/O Drive data are automatically adapted
•TOs control (open-loop and closed-loop) a drive or drive group
•TOs are programmed via the user program using PLCopen function blocks
•Position values with higher resolution (6 decimal places) à Highest accuracy for calculations in the application
Axis types
Control loop ‒ Position control in the controller
•Position control in the controller in the servo clock cycle (MC servo)
•Speed and current control in the drive
•Velocity precontrol (feedforward control) minimizes velocity-dependent following errors of the position control
•Balancing (symmetrizing) filters delay the position setpoint with reference to the velocity precontrol
Synchronized axis – Gearing
Gearing with angular synchronism
•TO synchronous axis
•Leading value is
•Setpoint of a leading axis
•Setpoint/actual position of a leading axis (T-CPU only)
•Actual position of an external encoder (T-CPU only)
•A leading value can be switched over
•Synchronizing to moving or static leading values
•Synchronizing without specifying the synchronous position
•Synchronizing with specifying the synchronous position (T-CPU only)
•Synchronization according to specified commands
•Desynchronizing with specifying the stop position (T-CPU only)
•Gear ratio can be changed by a new synchronization command
Synchronous axis – Gearing ‒ Synchronization
Options for synchronisation
Synchronization without specifying a synchronous position “Relative” synchronism •Synchronization using MC_GearIn •At the start of the command, the following axis immediately synchronizes – with the specified dynamic response – to the leading axis à travel with synchronous velocity and acceleration •The synchronous positions result at synchronizing, and cannot be specified in advance | Synchronization with specifying a synchronous position “Absolute” synchronism (S7-1500 T-CPU only) •Synchronization using MC_GearInPos •Leading synchronization using a specified leading value distance or dynamic parameter •Trailing synchronization using a specified leading value distance •The TO independently decides when synchronization begins in order to comply with the specified criteria Desynchronization with specifying a stop position (S7-1500 T-CPU only) •Desynchronization using a specified leading value distance or dynamic parameter • |
SIMATIC S7-1500 T-CPU ‒ Technology objects
Synchronous axis – Gearing ‒ Synchronization
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