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Hello everyone

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Today we will continue in next chapter with simotion

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System and programming course

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So let's check it out

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Turn topic and chapter number is 10

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Technology objects axis and drives measuring input and cam outputs

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So let's start

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I will use first simotion sitrain system lecture notes and

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after that

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i will switch to simotion programming course notes

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Okay.

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So let's start with axes and drives in simotion

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With this chapter you will learn about how do we connect electrical Drive

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symbolic assignment between control and thrive

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Automatic or manual massage frame extension selection

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Structure of standard message frames

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Overview of Drive coupling

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Technology objects

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Axis technology object creating and configuring and axis

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Basic configuration of an axis

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Calling to expert list

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Position control in simotion

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And position control with precontrol and so on

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there are also other topics with next page and the page after the next page

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So

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Let's begin

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Remind before it's possible to connect drive to axis technology

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Object we are several ways

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The profinet or via profibus it is also possible

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For example masterdrives MC units at sinamics

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Or simodrive

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For analog drives and stepping motor controls are so special

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Name is Adi4 and interface module

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im174

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So next page

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After firmware 4.2 we will use

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As default symbol assignment between control and drive

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here the advantage

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Communication between an axis and drive is automatically set up so 

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it's reduces the downtime

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Message frame extension and interconnections in the drive are dependent on selected technology object

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For example safety integrated function

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Depends on our selection

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axes and drives can be independently configures from

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One to another correct

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And so on...

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You see here IOs or interconnection control screen

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So this is the new future in

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4.2

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It's possible to select the old-fashioned way

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manual message frame selection

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That way we can configure or message frame and Communications

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Structures here

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It is up to us

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As Automatically with siemens drives

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So here you'll see a example of structural standard message frame

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There are some words

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For instance message frame 1 message frame 2 without encoder and  message frame

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3 with encoder

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Standard message frame 4 with 2 encoders

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here set point control word

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velocity set point

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here as actual values

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It's auf Deutsch steuerwert

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actual speed

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status word

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HW status words

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Actual speed actual position

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status word 2

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and so on...

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The next page

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it will with continue and message frame 5

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standart message frame telegram 5 used by simatic cpu new series s7-1500 tos

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when you use standart message frame

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It's possible to connect

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Another drives

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For example ABB Servo drives or

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Rockwell Servo drives to simotion

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Yep.

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About drive coupling

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It's an example table given

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So you see here the drive

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consist of Starter

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The family consists of different kind of drives in siemens world

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sinamics

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S120 is the most

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Commonly used these days and new series drives

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simodrive 611 universal profibus drives

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Also

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continiue

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This is an example picture about technology objects of simotion

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You'll see here technology object measuring input there are some alarms

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Related to cam object and system variables

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On the right side you see here the axis technology object with

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Red circle

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Each object has its own configuration data system.

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System function

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And alarms

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So this is a good

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Picture is explaining about axis data types that are four different versions

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speed Controlled axis positioning axis synchronous access and path axes

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Normally positioning axis extended version of speed control axes

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Basically

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there are some common parameters between path interpolation axis and synchronous axis

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But actually there are some different parameters also when you compare the synchronous axis

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and path axes

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with path object it's possible to use ready-to-use packages

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following kinematics are supported like scara robots

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Roll picker that's a delta 2d 3D picture and so on...

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And how do we create and configure an axis you will see here on the left side

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An example of filler red

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it's a real electrical axis in mechanics

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There are some parameters related to Mechanics for example

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load gear, Number of revolution

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number of motor Revolution number of Load Revolution

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On the measuring gear

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it is Selected the motor encoder for position or so there is an external encoder

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On the right side is possible to configure

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When you enter here the lead screw pitch value

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distance for spinner Revolution

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That means when do you rotate your motor for one revolution

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How much distance you will get

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10 milimeters per rotation for example after you see here the expert list

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For the basic configuration of an axis

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We just select

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Cycle clock for processing the technology object default is IPO

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Make an assignment on Drive side

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select an drive actor

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And it is automatically

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The drive interface interconnected

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there are Other options if you want to use for example of Technology object

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data block

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Sinamics safety integrated data

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And so on here you see encoder information

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Under the functions there isn't a response. It's related with

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how do we use The axis objects

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If it is necessary you can select or define specific

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enables will be removed

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In any case of error failure or when do you use

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Emergency stop

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For example

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So...

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Normally

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Axis will be quickstop with off 3 ramp

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When it's not possible maybe you are going to use coast to stop with OFF2

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ramps

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It depends on your application

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So basically your motion control comments will be the same

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But your configuration response the alarm is difference

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Yep

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On the export list we have already make an example

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fore this 

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chapter

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You were supposed to enter mechanical data

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enter gear ratio

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Numerator and denominator

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it stored in configuration data

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of Axis

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Here you'll see the default values

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for velocity and Acceleration

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you will see here Hardware and software limit switches

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in new versions of simotion it's possible to activate and deactivate during run time

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It's required you can also give some filtering to actual value

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master value coupling or the encoder value

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You can activate your PT 1 filter and enter here sometime constants

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from firmware 4.1

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for Closed-loop position control in simotion you should select always Dynamics servo control

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 operation is on.

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You have an KPC Factor controlled via Telegram

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siemens 105

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It's default is 20

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If it's required you can adjust and tune your position control

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with automatic controller setting

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You see an example for position control optimization

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3.3 contoured

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The Green or here is the velocity set points

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System variable name is motionstatedata.commandvelocity

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Can't you see here as a red curve

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velocity curve like s-curve actual velocity

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System variable name is motion state data

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This is unoptimised position controller so

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Too much for the error in velocity

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After you properly adjust your servo gain Factor

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Under the axis technology objects

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Here you will see Optimized position control

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Normally you should begin with the drive side because

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because position control optimization have and

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Less effects than the other controllers

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That's why you should begin with current control optimization after that you should do speed control

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Optimization on the drive side

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This is the last

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So...

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Position control with precontrol with new firmware versions its default selected

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Here you see the advantages

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Weigiting factor is default 100%

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So as default

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You can select here

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Balancing filter active external balanced filter is default option

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with curves it is explained

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command values and actual values

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So you see

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Here with the red circle actual speed

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overShots and undershots

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with pt1 filter when you use external balancing filter

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it is so much better

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So that's why it's default selected

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Then it's possible to optimize your balancing time constant

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These topics are a little bit advanced level so I will suggest you

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To do

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Exercises

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before Go with this topics in later on after you finish the course

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Use the chart or the diagram between simotion

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And the drive

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How do we do the position control with dynamic servo control

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via profibus profidrive

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you will see here the position calculation interpolator is running in simotion side

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Simotion is creating with precontrol set point speeds

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There is a deceleration ramp on the drive side there's a fine interpolation

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Because

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Drive speed controller is running with cycle

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125 microseconds

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It is so much less than simotion position servo cycle

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After that you will see here position controller is calculating

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On the other hand interpolator is

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Creating

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The position set point

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and there is a

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actual Position setpoint feedback from the drive site

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So it's

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here the position difference or following error

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after ramp

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Is calculated together you see here the speed filter

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There's any device preset what is rpm and drive calculated

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speed after that speed controller

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Running to drive

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So....

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This is the idea because the position control cycle is 1 or 2 mili seconds

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So...

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simotion taking feedback from Drive actual speed and actual position

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And the rest of things Drive must handle because

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Controller cycle PID control loops it's so much faster than simotion

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This is the main idea then

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here and example diagram and shows about position

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Controller optimization with precontrol

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i will skip this page

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It's enough for you. you just get the idea

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so When do you use circularity test ?

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from version 4.0 simotion Trace to alsp includes a circularity

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test

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For this test 2 axes are traversed Circle path and the actual path

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Is compared with the program path

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This allows the dynamic response of the synchronous operation Behavior

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Of the axes to be tested

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So...

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if We are using to 2D kinematics for example Cartesian 2D

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Then should Optimize

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Our axis with using circular test

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As you can see on the left side and good Dynamic response at adaptation

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Should be looks like this

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If you're having on the right sides similar diagram on the circularity test

261

00:21:47,648  -->  00:21:53,024
poor Dynamic response adaptation it's going to be like this

262

00:21:55,584  -->  00:21:58,400
So if you do the test

263

00:21:58,656  -->  00:22:04,544
You will optimize your controller for both of exes

264

00:22:08,640  -->  00:22:14,784
important tging you will see position

265

00:22:15,040  -->  00:22:20,160
positioning and Standstill monitoring window under the object

266

00:22:21,440  -->  00:22:27,584
It's has also some influences on your programming sites

267

00:22:27,840  -->  00:22:33,984
It depends on your kinematics and mechanical limits also

268

00:22:34,240  -->  00:22:37,824
Default values are sometimes too low

269

00:22:38,080  -->  00:22:39,616
axes will work

270

00:22:39,872  -->  00:22:46,016
But sometimes you will get some errors standstill monitoring errors

271

00:22:46,528  -->  00:22:52,672
Or positioning monitoring errors so this is the place you should be adjust

272

00:22:52,928  -->  00:22:55,232
Some parameters here

273

00:22:58,560  -->  00:23:04,704
You can read the explanations later on one of the alarm maybe you will face

274

00:23:05,728  -->  00:23:06,752
Is

275

00:23:07,008  -->  00:23:11,360
50107 standstill monitoring

276

00:23:13,408  -->  00:23:14,688
So...

277

00:23:16,992  -->  00:23:21,344
You'll see here horizontal axis is time

278

00:23:21,600  -->  00:23:24,672
Vertical axis is s

279

00:23:24,928  -->  00:23:26,976
Means the position

280

00:23:27,488  -->  00:23:31,840
Blue curve here is the set point and the

281

00:23:32,096  -->  00:23:33,120
turquise

282

00:23:33,376  -->  00:23:35,168
Is the actual

283

00:23:35,424  -->  00:23:37,728
position

284

00:23:40,544  -->  00:23:46,688
Your position controller in IPO cycle is ramp down

285

00:23:50,528  -->  00:23:52,832
and here

286

00:23:53,344  -->  00:23:56,672
Set the end of interpolation bit

287

00:23:57,952  -->  00:24:04,096
For instance or there's a system variable servomonitoring.positionState

288

00:24:04,864  -->  00:24:11,008
This variable is going to set right here and of interpolation

289

00:24:12,544  -->  00:24:15,104
And after that

290

00:24:15,360  -->  00:24:17,664
There is a little time here

291

00:24:20,224  -->  00:24:21,760
This is the

292

00:24:22,016  -->  00:24:24,064
Position tolerence time

293

00:24:24,320  -->  00:24:30,464
It's default 1 seconds and positioning window its before 1mm

294

00:24:33,024  -->  00:24:35,328
There is a dead band

295

00:24:36,864  -->  00:24:38,400
For both sites

296

00:24:38,912  -->  00:24:45,056
after you here this hystheresis band or dead band

297

00:24:48,384  -->  00:24:52,224
You see here the time expired

298

00:24:52,992  -->  00:24:55,296
If your actual

299

00:24:55,552  -->  00:24:57,344
Position vlue

300

00:24:57,856  -->  00:24:59,648
Does not entered

301

00:25:00,416  -->  00:25:02,720
In described time

302

00:25:04,256  -->  00:25:06,304
In tolerance window

303

00:25:06,560  -->  00:25:09,632
Then you would get a positioning error

304

00:25:10,144  -->  00:25:11,168
So...

305

00:25:11,424  -->  00:25:17,056
It depends on encoder type it depends on your kinematics

306

00:25:18,336  -->  00:25:24,224
If your motor inertia is too high or if you're load is

307

00:25:24,480  -->  00:25:30,624
Is too much higher than your motor inertia maybe you will face this kind of problem

308

00:25:30,880  -->  00:25:31,648
so

309

00:25:32,416  -->  00:25:33,440
...

310

00:25:34,464  -->  00:25:37,024
You have to adjust this parameters

311

00:25:39,072  -->  00:25:43,168
As you can see here that are some other things

312

00:25:44,192  -->  00:25:45,728
deep note

313

00:25:46,752  -->  00:25:52,896
First is the actual value leaves the position of window during in minimum dwell time

314

00:25:53,152  -->  00:25:56,992
The positioning tolerence time is restarted

315

00:25:57,504  -->  00:26:03,648
That means our actual value entered the window right here

316

00:26:03,904  -->  00:26:09,536
At the positioning tolerance time counter or timer is started for one second

317

00:26:11,072  -->  00:26:12,352
On the other side

318

00:26:13,632  -->  00:26:16,192
If it leaves the monitoring window

319

00:26:20,288  -->  00:26:22,592
That means the position of window

320

00:26:23,360  -->  00:26:24,640
On the other side

321

00:26:25,664  -->  00:26:27,456
Timer restarted

322

00:26:28,224  -->  00:26:33,856
Then our speed controller tries to rotate the motor

323

00:26:35,904  -->  00:26:38,208
and Control the position again

324

00:26:39,744  -->  00:26:42,304
You see what's going on

325

00:26:43,584  -->  00:26:46,144
The second thing is

326

00:26:47,168  -->  00:26:53,312
Start of standstill monitoring you will see here it will be started after positioning

327

00:26:53,568  -->  00:26:56,128
Set the motion_done

328

00:26:58,176  -->  00:27:00,992
After positional tolerance time exceeded

329

00:27:01,760  -->  00:27:05,344
Position state set to motion done

330

00:27:06,112  -->  00:27:11,488
So after that standstill window here there's another band

331

00:27:13,024  -->  00:27:14,816
dead band

332

00:27:15,072  -->  00:27:18,144
It's also same as the positioning window

333

00:27:19,424  -->  00:27:21,984
Maybe you will use

334

00:27:22,496  -->  00:27:23,776
And lower

335

00:27:24,800  -->  00:27:27,104
value for example

336

00:27:27,360  -->  00:27:29,152
0.5

337

00:27:30,688  -->  00:27:32,992
So similar logic

338

00:27:34,528  -->  00:27:40,672
standstill window is specify difference between absolute value and target value

339

00:27:45,792  -->  00:27:51,936
so There's also some tolerance time similar to position tolerance time

340

00:27:52,192  -->  00:27:55,776
standstill window tolerance time

341

00:27:58,848  -->  00:28:04,224
in real world after yor Enable your motor

342

00:28:05,504  -->  00:28:08,064
and pulses are enabled on drive side

343

00:28:08,320  -->  00:28:14,464
And you just didn't give an velocity set point or positioning comment

344

00:28:16,256  -->  00:28:17,280
Motor

345

00:28:18,048  -->  00:28:22,400
and drive tries to hold on to current position

346

00:28:23,936  -->  00:28:29,056
Is rotating a little bit left or right maybe

347

00:28:30,336  -->  00:28:33,152
Depends on your gin

348

00:28:34,432  -->  00:28:39,040
And like a PC and PID controller settings

349

00:28:39,808  -->  00:28:44,928
If it's okay it's possible to control your drive

350

00:28:45,184  -->  00:28:46,464
with 0 speed

351

00:28:48,512  -->  00:28:51,072
but on the simotion side

352

00:28:52,096  -->  00:28:56,192
if the standstill window it's too low

353

00:28:57,472  -->  00:28:58,752
you will get

354

00:28:59,776  -->  00:29:03,616
an overshot or there's an overflow

355

00:29:03,872  -->  00:29:09,504
And you leave standstill window and you get the standstill monitoring error

356

00:29:09,760  -->  00:29:12,832
So maybe you have to just

357

00:29:13,600  -->  00:29:17,440
adjust your standstill window a little bit higher

358

00:29:17,696  -->  00:29:19,488
For instance 2 millimeter

359

00:29:20,000  -->  00:29:23,584
Or you have to give you some tolerance time

360

00:29:24,864  -->  00:29:25,632
here

361

00:29:25,888  -->  00:29:30,240
Because your actual values are sometimes oscillating

362

00:29:30,752  -->  00:29:32,544
From the motor encoder

363

00:29:33,312  -->  00:29:37,920
Especially when you are using low-resolution encoders

364

00:29:38,176  -->  00:29:44,320
Or sometimes when you're using external encoders and there is a vibration

365

00:29:44,576  -->  00:29:46,368
On the material

366

00:29:46,624  -->  00:29:52,256
Then you will have to answer hear some higher values as seconds

367

00:29:52,512  -->  00:29:57,632
Because you're actual value is being standstill window as position value

368

00:30:00,192  -->  00:30:06,080
Five parameters here is really important when you are

369

00:30:06,336  -->  00:30:08,896
Programming and commissioning of your system

370

00:30:11,968  -->  00:30:18,112
Possible to trace you actual value out of position window available 

371

00:30:18,368  -->  00:30:20,928
Inside positioning window

372

00:30:21,440  -->  00:30:23,744
test motoring is active

373

00:30:26,560  -->  00:30:31,936
and you will get the necessary information from

374

00:30:32,448  -->  00:30:34,496
Positioning statement

375

00:30:35,520  -->  00:30:36,800
motion state data

376

00:30:41,920  -->  00:30:43,200
Yes.

377

00:30:44,224  -->  00:30:50,368
next page by the way this parameters is

378

00:30:50,624  -->  00:30:55,744
Activated only real axid if you are using a virtual axis

379

00:30:56,256  -->  00:30:59,840
This will not be used because your actual and

380

00:31:00,352  -->  00:31:02,656
Set point position is the same

381

00:31:05,472  -->  00:31:06,496
So...

382

00:31:08,800  -->  00:31:14,944
Open loop speed control motion standstill signals

383

00:31:15,200  -->  00:31:19,552
you will see here timeline actual velocity

384

00:31:21,088  -->  00:31:27,232
There is a parameter velocity threshold standstill signal as 50 mm/s

385

00:31:29,792  -->  00:31:31,584
It's also

386

00:31:32,096  -->  00:31:38,240
Your technology object gets actual value from Drive

387

00:31:38,752  -->  00:31:44,896
and calculate the actual velocity sometimes it's required to

388

00:31:45,152  -->  00:31:49,248
make some filter pt1

389

00:31:49,504  -->  00:31:53,600
Actual value maybe it is oscillating or there is a disturbance

390

00:31:54,112  -->  00:31:55,904
So in that case

391

00:31:56,416  -->  00:31:59,232
If it's over shots

392

00:31:59,488  -->  00:32:04,096
Gets more than 50 mm/s at this case

393

00:32:04,608  -->  00:32:09,216
after 20 milliseconds you will get and standstill

394

00:32:12,032  -->  00:32:12,800
Yep

395

00:32:16,128  -->  00:32:19,968
Following error and velocity error monitoring

396

00:32:22,272  -->  00:32:25,344
Dynamic following error monitoring is active

397

00:32:28,928  -->  00:32:35,072
According to your actual speed of your axes there is an table

398

00:32:36,096  -->  00:32:40,960
You will see here the vertical axis is following error

399

00:32:41,728  -->  00:32:44,544
Normally in higher velocities

400

00:32:44,800  -->  00:32:48,384
you will get higher following errors

401

00:32:48,640  -->  00:32:54,528
You're just enter here two different parameters as milimeter unit

402

00:32:55,296  -->  00:32:59,136
and for the horizontal axis

403

00:33:00,416  -->  00:33:05,792
That means velocity you will enter here 2 difference

404

00:33:06,048  -->  00:33:07,072
parameters

405

00:33:08,864  -->  00:33:11,168
on this direct line

406

00:33:12,192  -->  00:33:13,984
It is calculated

407

00:33:14,240  -->  00:33:15,776
following error

408

00:33:16,800  -->  00:33:19,872
Corresponds the actual speed of your axes

409

00:33:20,384  -->  00:33:24,736
then it is possible to monitor dynamics following error

410

00:33:26,016  -->  00:33:27,552
If it is

411

00:33:28,064  -->  00:33:29,088
Activated

412

00:33:30,368  -->  00:33:35,232
The similar thing you will see here on the velocity error monitoring

413

00:33:35,744  -->  00:33:41,632
You just enter your some value as percent maximum velocity deviation

414

00:33:42,144  -->  00:33:44,704
It is calculated between

415

00:33:45,216  -->  00:33:48,288
Speed set point and actual speed error

416

00:33:49,056  -->  00:33:50,848
It is monitored

417

00:33:52,128  -->  00:33:53,664
Yep

418

00:33:53,920  -->  00:33:59,808
Then you will get this kind of errors and alarms

419

00:34:00,320  -->  00:34:04,928
50102 or 

420

00:34:05,184  -->  00:34:11,072
If you get this alarm and error messages that you have to adjust your parameters here

421

00:34:12,864  -->  00:34:19,008
So next page signal flow representation of the closed loop axis control

422

00:34:19,264  -->  00:34:20,800
Axis Control

423

00:34:22,848  -->  00:34:27,456
This is the one of the advance topics here i will skip right now

424

00:34:31,040  -->  00:34:33,600
You have already looked

425

00:34:33,856  -->  00:34:35,648
and

426

00:34:36,160  -->  00:34:38,208
These functions

427

00:34:38,464  -->  00:34:41,536
Group of axis commands

428

00:34:43,072  -->  00:34:49,216
we used enabled and disabled axis in MCC looks like this picture

429

00:34:59,456  -->  00:35:01,504
so for follow-up motion

430

00:35:02,528  -->  00:35:08,672
No motion comments are executed in the follow-up mode for positioning axes in foloow-up mode

431

00:35:08,928  -->  00:35:15,072
The position control is canceled and the position Set Point tracks the position actual values

432

00:35:17,120  -->  00:35:19,680
This is the special case

433

00:35:21,216  -->  00:35:27,360
After the follow-up mode has been disconnected axis must be re-referenced

434

00:35:27,616  -->  00:35:31,456
In some applications

435

00:35:31,968  -->  00:35:35,040
And you will need this one

436

00:35:35,808  -->  00:35:41,952
That's why there are several features and options for users here

437

00:35:42,208  -->  00:35:48,352
there are alot of Possibilities to enable and disable or  controlling an axis

438

00:35:49,888  -->  00:35:56,032
So how do we simotion process motion comments

439

00:35:56,288  -->  00:35:58,080
Let's see

440

00:35:59,360  -->  00:36:03,712
This is our motion task there is some user program

441

00:36:03,968  -->  00:36:06,272
From start to the end

442

00:36:06,784  -->  00:36:11,904
For instance positioning axis 1 access 2 access 1

443

00:36:15,488  -->  00:36:18,304
On the background in IPO task

444

00:36:19,328  -->  00:36:23,936
4 axis one when we execute this command

445

00:36:25,472  -->  00:36:31,616
entered into command buffer there's an interpolator and fine interpolator after that position

446

00:36:34,688  -->  00:36:36,736
controller

447

00:36:37,248  -->  00:36:39,296
for4 axis 2

448

00:36:39,552  -->  00:36:42,112
It's the similar way

449

00:36:43,392  -->  00:36:45,696
So question is

450

00:36:46,720  -->  00:36:48,000
Which time you need

451

00:36:50,048  -->  00:36:55,168
There's a relation or what's the relation between axes?

452

00:36:59,264  -->  00:37:05,408
for command buffer in order the several commands can be issued to an axis to

453

00:37:06,688  -->  00:37:09,504
Every axis has a command buffer and a motion queue

454

00:37:10,016  -->  00:37:16,160
 this buffer comprises4 command group specific sub buffers 

455

00:37:16,928  -->  00:37:21,280
which can buffer command from the one of the following groups

456

00:37:21,792  -->  00:37:24,864
emergency stop and stop continiue commands

457

00:37:25,376  -->  00:37:31,520
Enable and disable comment / sequential traversing motion / motion and base coordinate system

458

00:37:31,776  -->  00:37:34,848
Superimpose traversing motion

459

00:37:35,104  -->  00:37:39,456
So interpolator of an axis reads out the command from command buffer.

460

00:37:39,712  -->  00:37:41,248
at the command buffer

461

00:37:41,760  -->  00:37:45,344
Possibly interpolated clock cycle

462

00:37:45,600  -->  00:37:51,744
Yes and process it comes from where is command groups are to

463

00:37:52,000  -->  00:37:56,352
What is certain and processed in parallel by the axis TO

464

00:37:57,376  -->  00:38:00,960
That means at the same time in the background

465

00:38:03,264  -->  00:38:09,408
So we have mentioned before about transitional behavior of mode

466

00:38:09,664  -->  00:38:10,688
and motion commands

467

00:38:11,456  -->  00:38:17,600
Then we use attach option as you see here

468

00:38:17,856  -->  00:38:22,208
Last comment is a traversing or position in command

469

00:38:22,464  -->  00:38:25,024
the red curve is the new command

470

00:38:25,280  -->  00:38:27,072
when use attach

471

00:38:29,120  -->  00:38:35,008
When you select in combobox attach and delete pending comments

472

00:38:35,264  -->  00:38:36,544
The last comment

473

00:38:37,312  -->  00:38:43,456
Is deleted at the Motion queue you and our new comment will be executed

474

00:38:46,016  -->  00:38:48,064
When you use substitute

475

00:38:48,576  -->  00:38:54,720
You see here the last motion is common is canceled

476

00:38:54,976  -->  00:39:00,608
immediately new comand executed

477

00:39:01,632  -->  00:39:07,776
So when you use the blending for positioning an axis

478

00:39:10,592  -->  00:39:14,944
You'll see here it's a little bit different than substitute

479

00:39:17,760  -->  00:39:18,784
Yep.

480

00:39:20,832  -->  00:39:23,136
there is a last one superimpose

481

00:39:24,672  -->  00:39:30,560
Your next command is added actually and executed together

482

00:39:31,584  -->  00:39:34,656
here you see the details

483

00:39:35,424  -->  00:39:41,568
As an technology object alarm aborted, it's in The Interpreter

484

00:39:42,080  -->  00:39:43,616
Interpolator

485

00:39:43,872  -->  00:39:47,200
trigger a technological alarm

486

00:39:47,712  -->  00:39:48,480
30002

487

00:39:48,992  -->  00:39:51,296
...

488

00:39:51,808  -->  00:39:53,344
Cummins aborted

489

00:39:53,600  -->  00:39:59,744
After that we will see that you can set or hide

490

00:40:00,000  -->  00:40:03,584
Some of the alarms or in the messages

491

00:40:04,352  -->  00:40:06,912
So next page

492

00:40:08,448  -->  00:40:11,008
Program Advance for motion comments

493

00:40:11,264  -->  00:40:17,408
You see here. delay program execution option and checkbox 

494

00:40:17,664  -->  00:40:21,248
There are several possibilities here

495

00:40:23,808  -->  00:40:24,832
One of them

496

00:40:25,088  -->  00:40:28,416
Skip to next comment immediately

497

00:40:29,440  -->  00:40:31,488
That means

498

00:40:32,768  -->  00:40:36,096
No wait or no delay execution

499

00:40:37,120  -->  00:40:38,144
Yep

500

00:40:38,912  -->  00:40:41,728
The other one is motion start

501

00:40:43,264  -->  00:40:45,568
After the

502

00:40:46,336  -->  00:40:48,128
motion started

503

00:40:48,640  -->  00:40:54,784
You will go to next command execution if you say acceleration

504

00:40:57,088  -->  00:41:01,184
After axis reached to set speed

505

00:41:01,440  -->  00:41:07,584
And state changed to constant velocity this command will be

506

00:41:07,840  -->  00:41:09,376
Executed

507

00:41:10,656  -->  00:41:14,752
If you select start of deceleration phase

508

00:41:15,520  -->  00:41:20,384
Right here the next command then will be executed

509

00:41:21,664  -->  00:41:25,760
if you're going from upto down

510

00:41:26,528  -->  00:41:28,320
On your MCC chart

511

00:41:29,600  -->  00:41:35,744
End of the setpoint interpolation it is related as an axis

512

00:41:36,000  -->  00:41:40,096
 position monitoring starts monitor settings

513

00:41:40,864  -->  00:41:43,168
Couple of minutes ago

514

00:41:43,424  -->  00:41:47,008
And the last one is motion completed

515

00:41:48,800  -->  00:41:52,384
That means position of window reached

516

00:41:52,895  -->  00:41:53,663
Yep

517

00:41:57,503  -->  00:41:59,551
So deep note

518

00:42:00,319  -->  00:42:06,207
When you change your parameters in your axis technology object it's also

519

00:42:06,463  -->  00:42:08,255
Some influences

520

00:42:09,279  -->  00:42:12,351
will be effect your program

521

00:42:16,447  -->  00:42:20,543
Your program is a little bit act

522

00:42:21,055  -->  00:42:22,079
Different

523

00:42:23,103  -->  00:42:24,639
At this point of view

524

00:42:32,063  -->  00:42:37,183
Let's next page synchronous and asynchronous program execution

525

00:42:38,463  -->  00:42:44,607
If you're using motion TASK is possible to use delay and transition

526

00:42:45,375  -->  00:42:46,399
Options...

527

00:42:46,655  -->  00:42:51,519
If you're using in background task you have to use

528

00:42:51,775  -->  00:42:53,823
synchronous operation

529

00:42:57,151  -->  00:43:01,759
Dynamic settings for position, velocity profile

530

00:43:02,015  -->  00:43:04,063
defines

531

00:43:05,343  -->  00:43:07,391
Also both of two options

532

00:43:09,183  -->  00:43:15,327
Starting an axes position control or speed control

533

00:43:15,583  -->  00:43:17,631
we have seen already difference

534

00:43:18,655  -->  00:43:21,983
with diagrams in last chapter

535

00:43:22,239  -->  00:43:24,543
So stopping an axis

536

00:43:27,103  -->  00:43:33,247
there are some other possibilities in Dynamic response for ...

537

00:43:33,503  -->  00:43:36,831
Time for deceleration as 1 millisecond

538

00:43:37,087  -->  00:43:42,719
Sorry one second so simotion automatically calculates

539

00:43:43,999  -->  00:43:46,047
ramp up/down curve

540

00:43:47,583  -->  00:43:49,119
with formula

541

00:43:51,167  -->  00:43:55,007
it is Decided then you will be sure

542

00:43:55,263  -->  00:43:58,079
The access will be stopped in 1 seconds

543

00:44:01,151  -->  00:44:03,199
Continiue motion

544

00:44:03,455  -->  00:44:07,295
After you stop an axis it is possible to continue

545

00:44:10,111  -->  00:44:13,951
homing axis with incremental measuring system

546

00:44:15,487  -->  00:44:17,535
In older times

547

00:44:18,047  -->  00:44:22,911
Usually the servo Motors comes with incremental encoders 

548

00:44:24,191  -->  00:44:28,287
Absolute encoders used as

549

00:44:29,055  -->  00:44:31,359
Much higher these days

550

00:44:31,871  -->  00:44:34,431
So on...

551

00:44:34,943  -->  00:44:39,807
we'll use absolute encoders so much more in current systems

552

00:44:40,063  -->  00:44:44,415
Because there are some Advantage when you just

553

00:44:44,927  -->  00:44:49,023
I adjust absolute encoder offsets once

554

00:44:49,279  -->  00:44:51,327
in real working machine

555

00:44:51,583  -->  00:44:56,447
That it is not required to make the homing procedure again

556

00:44:56,703  -->  00:44:59,007
Given you power off and on

557

00:44:59,775  -->  00:45:00,799
So...

558

00:45:02,591  -->  00:45:06,175
Anyway if you are using incremental measuring system

559

00:45:06,431  -->  00:45:12,575
And if you want to use absolute positioning first of all you have to make homing on your

560

00:45:12,831  -->  00:45:13,599
axis

561

00:45:13,855  -->  00:45:17,439
In this case you have select active homing

562

00:45:19,231  -->  00:45:21,535
for that means

563

00:45:22,047  -->  00:45:27,935
Your motor will be rotated and start the search the home cam or switch

564

00:45:28,703  -->  00:45:34,847
It's a mechanical cam or limit switch or inductive homing sensor whatever

565

00:45:36,895  -->  00:45:40,991
You will Define your homing procedure in your

566

00:45:43,551  -->  00:45:44,575
homing

567

00:45:44,831  -->  00:45:48,159
Screen here under axis config

568

00:45:50,207  -->  00:45:52,511
There are too many possibilities

569

00:45:53,791  -->  00:45:55,839
You will start rotate rights

570

00:45:56,095  -->  00:46:02,239
with linear Axis or you're going to start rotate left you select here

571

00:46:04,287  -->  00:46:10,431
For instance encoder zero mark searching and behind the Homing output cam homing procedures will be started

572

00:46:10,687  -->  00:46:12,991
in positive Direction

573

00:46:14,783  -->  00:46:16,063
If you

574

00:46:16,319  -->  00:46:20,671
Select a different option here your diagram and graphic

575

00:46:22,975  -->  00:46:27,327
will be changed curve here

576

00:46:28,351  -->  00:46:33,983
Positioning profile of your homing procedure ordering your homing procedure

577

00:46:34,239  -->  00:46:40,383
There is an approach velocity and traversed reduced velocity with three different parameters about

578

00:46:40,639  -->  00:46:42,175
homing speed

579

00:46:42,431  -->  00:46:48,575
here on the right side maximum distance to homing output cam Maximum distance

580

00:46:48,831  -->  00:46:50,367
to encoder zeromark

581

00:46:50,879  -->  00:46:52,671
So...

582

00:46:53,695  -->  00:46:58,047
Let's take a closer look at this page

583

00:47:02,655  -->  00:47:03,935
Deep note

584

00:47:04,191  -->  00:47:07,775
there is a homing required combo box yes or no

585

00:47:10,079  -->  00:47:14,175
If I select no here than

586

00:47:14,943  -->  00:47:17,247
For axis jogging

587

00:47:19,039  -->  00:47:25,183
Is it possible I can rotate axis in speed control mode position mode

588

00:47:25,439  -->  00:47:31,583
And it's possible to make and relative positioning

589

00:47:31,839  -->  00:47:33,887
If I select here no

590

00:47:34,399  -->  00:47:38,239
First of all I have to do homing procedure

591

00:47:41,055  -->  00:47:42,591
if I don't

592

00:47:43,103  -->  00:47:48,479
Do homing procedure it is not possible to rotate the axis in anyway

593

00:47:50,015  -->  00:47:51,295
Keep in that in your mind

594

00:47:55,903  -->  00:48:02,047
So next thing is and

595

00:48:06,911  -->  00:48:11,263
homing output cam and encoder zero mark

596

00:48:11,775  -->  00:48:13,567
on the encoder side there is a encoder zero mark

597

00:48:14,079  -->  00:48:16,895
it's a pulse HTL or TTL pulse

598

00:48:17,407  -->  00:48:20,479
only 1 pulse per rotation

599

00:48:22,271  -->  00:48:24,575
here we will check

600

00:48:25,087  -->  00:48:29,439
Both of the output cam and encoder zero mark

601

00:48:30,463  -->  00:48:34,815
So I have to assign the homing cam input here

602

00:48:35,071  -->  00:48:38,399
It's going to be our mechanical cam switch

603

00:48:39,167  -->  00:48:44,799
and you see here the encoder zero mark with red rectangle

604

00:48:45,823  -->  00:48:51,967
And encoder zero mark detection will be behind of outptu cam that means

605

00:48:52,479  -->  00:48:53,759
here

606

00:48:54,527  -->  00:48:56,063
So...

607

00:48:56,319  -->  00:49:01,695
on The left side negative limits and the right side is positive limits

608

00:49:01,951  -->  00:49:08,095
and I'm going to start the Homing procedure in the positive direction so

609

00:49:08,607  -->  00:49:10,655
I will start here

610

00:49:11,167  -->  00:49:16,031
you see and reached my Approach velocity

611

00:49:18,079  -->  00:49:19,871
At this point

612

00:49:21,663  -->  00:49:24,991
The system is detected output cam

613

00:49:25,247  -->  00:49:28,063
assigned here as digital input

614

00:49:28,319  -->  00:49:32,671
Usually we will use fast inputs for that

615

00:49:34,463  -->  00:49:38,559
System automatically reduces speed

616

00:49:40,607  -->  00:49:43,423
you will see here there are 10 milimeter per seconds

617

00:49:44,191  -->  00:49:50,335
At the same direction Motor will be running at reduced speeds

618

00:49:50,591  -->  00:49:55,455
until technology object detects 

619

00:49:55,711  -->  00:49:59,807
encoder zero mark right here and after that

620

00:50:00,575  -->  00:50:04,415
There are some other parameters here homing

621

00:50:04,927  -->  00:50:08,511
Set point and homing offset

622

00:50:11,839  -->  00:50:15,423
so if you enter some value Different than zero

623

00:50:16,447  -->  00:50:18,751
After

624

00:50:19,007  -->  00:50:20,799
The system detects

625

00:50:21,055  -->  00:50:23,359
The encoders remark

626

00:50:23,615  -->  00:50:29,759
you see here the blue curve and arrows direction of rotation

627

00:50:30,527  -->  00:50:31,807
And movement so...

628

00:50:35,903  -->  00:50:42,047
At the positive direction at the same motor wheel rotates with entry velocity

629

00:50:45,631  -->  00:50:48,703
And after the parameter here

630

00:50:48,959  -->  00:50:50,495
homing offset

631

00:50:51,007  -->  00:50:53,311
axis will be traveled

632

00:50:54,079  -->  00:50:55,615
for instance

633

00:50:57,663  -->  00:50:58,943
10 milimeters

634

00:51:02,015  -->  00:51:04,063
and right here

635

00:51:04,319  -->  00:51:06,879
This is the homing points

636

00:51:07,647  -->  00:51:10,207
And if you answer here

637

00:51:10,719  -->  00:51:13,279
homing set point or home set point

638

00:51:13,791  -->  00:51:17,631
100 or -100 Is possible

639

00:51:17,887  -->  00:51:23,007
and your axis actual position is 100 mm right now

640

00:51:28,639  -->  00:51:34,783
Sometimes you're servo motor is running too fast or there are some

641

00:51:35,039  -->  00:51:40,159
Mechanical problems so that's why it's possible to skip

642

00:51:43,231  -->  00:51:44,511
The

643

00:51:45,023  -->  00:51:48,095
output cam or home cam switch

644

00:51:48,351  -->  00:51:54,495
On the Motor encoder site it's not possible to skip the

645

00:51:54,751  -->  00:51:56,799
Encoder zero mark

646

00:51:57,567  -->  00:51:59,615
For instance

647

00:52:01,151  -->  00:52:07,039
We just missed or mechanical can or homing switch

648

00:52:07,551  -->  00:52:13,695
At this case with new versions there is some option use negative

649

00:52:15,743  -->  00:52:21,887
reversing cam or use positive reversing cam after you select this option

650

00:52:22,655  -->  00:52:27,263
It is possible to answer here some additional input

651

00:52:27,775  -->  00:52:33,919
Or if we already defined some negative Hardware limits

652

00:52:34,175  -->  00:52:35,199
switchs

653

00:52:35,711  -->  00:52:38,015
Or positive Hardware limit switch

654

00:52:39,039  -->  00:52:43,903
It's possible to use limits as reversing cam

655

00:52:44,671  -->  00:52:47,743
What will happen after we miss

656

00:52:47,999  -->  00:52:50,303
This homing switch

657

00:52:50,559  -->  00:52:55,423
axis will continue until it hits

658

00:52:55,679  -->  00:52:57,727
The hardware limit switch

659

00:52:58,239  -->  00:53:01,055
If you select this option

660

00:53:01,823  -->  00:53:04,383
motor will be stop this way

661

00:53:04,639  -->  00:53:08,479
and rotates opposite sides

662

00:53:08,735  -->  00:53:13,599
in this case in our case is the negative Direction

663

00:53:14,111  -->  00:53:17,951
After hits the positive limit switch and stops

664

00:53:18,975  -->  00:53:24,095
And starts with approach velocity again on the negative Direction

665

00:53:24,863  -->  00:53:31,007
If it misses or output cam again in that case

666

00:53:31,775  -->  00:53:34,847
it should see the negative limit switch

667

00:53:35,103  -->  00:53:36,383
I stopped again

668

00:53:36,895  -->  00:53:39,455
And starts

669

00:53:39,711  -->  00:53:41,759
Opposite direction

670

00:53:42,527  -->  00:53:45,343
Worst case scenario

671

00:53:45,599  -->  00:53:51,231
You're connected your limit switches in wrong normally open or normally closed contacts

672

00:53:51,999  -->  00:53:56,351
So at this case or your limit switchs is not working

673

00:53:56,607  -->  00:54:01,727
So motor will see on Drive side overcurrent

674

00:54:01,983  -->  00:54:05,567
And you would get an axis error then stopped

675

00:54:07,871  -->  00:54:08,895
Additionally

676

00:54:09,151  -->  00:54:13,759
For user requirements with new versions

677

00:54:14,015  -->  00:54:19,903
There are two different parameters here maximum distance homing output cam

678

00:54:22,975  -->  00:54:27,327
like a watchdog timer in the background procedure

679

00:54:28,607  -->  00:54:33,215
Technology object is calculating the actual

680

00:54:33,727  -->  00:54:35,263
traveling range

681

00:54:35,519  -->  00:54:38,079
if It's exceeds

682

00:54:38,335  -->  00:54:41,151
For instance 100 millimeter

683

00:54:41,407  -->  00:54:45,247
That means you missed already your output cam

684

00:54:45,503  -->  00:54:49,599
Or there is something wrong is going on

685

00:54:50,367  -->  00:54:54,463
axis will stops and throws and

686

00:54:54,719  -->  00:54:55,743
exception

687

00:54:56,767  -->  00:55:00,863
The similar rate distance to encoder zero mark

688

00:55:01,375  -->  00:55:03,167
You can calculate

689

00:55:03,679  -->  00:55:07,007
One rotation of the motor

690

00:55:07,263  -->  00:55:09,055
It is

691

00:55:09,567  -->  00:55:10,847
10 mm

692

00:55:11,871  -->  00:55:15,711
In our case for instance and to here

693

00:55:15,967  -->  00:55:22,111
And if it's not detected maybe your cabling is wrong or defected

694

00:55:22,623  -->  00:55:27,743
Only your encoder zero Mark signal is missing for instance

695

00:55:27,999  -->  00:55:30,303
for incremental HTL or TTL

696

00:55:30,559  -->  00:55:32,863
 datatype encoders

697

00:55:33,887  -->  00:55:40,031
It is possible to stop your axis and throw an error so

698

00:55:40,543  -->  00:55:41,823
In this way

699

00:55:42,079  -->  00:55:44,639
you will control in everything

700

00:55:45,407  -->  00:55:47,711
According to your application

701

00:55:47,967  -->  00:55:54,111
When you take some option you see here the movement procedure

702

00:55:54,623  -->  00:55:57,183
It's very useful screen

703

00:55:57,439  -->  00:55:59,999
Describing the Homing procedure

704

00:56:01,023  -->  00:56:07,167
After that you're just use this function home axis in your program

705

00:56:07,423  -->  00:56:08,959
And that's it

706

00:56:13,823  -->  00:56:15,615
So...

707

00:56:23,039  -->  00:56:26,367
Sometimes it's needed to do passive homing

708

00:56:26,623  -->  00:56:27,903
What does that mean

709

00:56:28,671  -->  00:56:33,791
You just check the encoder zero Mark or external zero mark

710

00:56:35,327  -->  00:56:36,095
and...

711

00:56:37,119  -->  00:56:40,703
Somebody as real rotate motor

712

00:56:43,263  -->  00:56:46,591
or You just detect the external zero mark

713

00:56:47,615  -->  00:56:48,639
By the way

714

00:56:48,895  -->  00:56:51,455
When your motor is rotating

715

00:56:55,807  -->  00:56:57,855
then during movement you can home your axes

716

00:56:59,135  -->  00:57:00,415
in some cases you will use

717

00:57:00,671  -->  00:57:03,743
passive homing

718

00:57:09,631  -->  00:57:15,775
Here is some information for old versions for sinamics

719

00:57:16,031  -->  00:57:20,383
S120 parameter 495

720

00:57:20,639  -->  00:57:24,735
Is external zero Mark for encoder and in addition

721

00:57:25,247  -->  00:57:31,391
and parameter 490 off the control unit to invert the signal

722

00:57:32,415  -->  00:57:33,695
Connected here

723

00:57:37,279  -->  00:57:41,887
because for the older versions than 4.1

724

00:57:42,143  -->  00:57:48,287
We have to do this assignment and signal interconnection as manual

725

00:57:49,311  -->  00:57:54,175
Preferment 4.0 and higher

726

00:57:54,943  -->  00:57:57,759
There's a button accept data from Drive

727

00:57:58,783  -->  00:58:01,087
It's possible to

728

00:58:01,599  -->  00:58:02,623
Set

729

00:58:02,879  -->  00:58:05,439
Homing mode as automatic

730

00:58:07,999  -->  00:58:08,767
Yep

731

00:58:11,583  -->  00:58:17,727
As I said home required to Yes means software limit switchs only 

732

00:58:17,983  -->  00:58:24,127
Become after homing absolute motion and synchronous motion comments are rejected

733

00:58:27,199  -->  00:58:29,759
you will get an error

734

00:58:30,015  -->  00:58:35,903
40108 axis is not homed and relative motion is only permissible

735

00:58:39,999  -->  00:58:46,143
so for for absolute encoders there's an adjusting feature

736

00:58:47,167  -->  00:58:53,311
with Homing you just answer here your absolute homing offset value and that's it

737

00:58:55,103  -->  00:58:59,967
No active forming an no rotation is necessary at this case

738

00:59:01,503  -->  00:59:03,295
Next page

739

00:59:03,551  -->  00:59:09,695
Seting the reference system shifting measuring system is also possible

740

00:59:11,743  -->  00:59:17,887
There are some options in combobox absolute actual value reference absolute set

741

00:59:18,143  -->  00:59:24,287
Superimpose absolute setpoint reference based coordinate system absolute

742

00:59:24,543  -->  00:59:27,103
Set point reference and relative

743

00:59:29,919  -->  00:59:32,991
you will see here the details

744

00:59:34,015  -->  00:59:34,783
Next

745

00:59:36,063  -->  00:59:40,927
Diagnostics of Axis or drives service overview

746

00:59:41,951  -->  00:59:46,559
It is a commonly used screen as service Collegues

747

00:59:47,071  -->  00:59:49,119
For service engineers

748

00:59:49,375  -->  00:59:51,935
To detect the failure

749

00:59:52,447  -->  00:59:54,495
Technology object

750

00:59:55,519  -->  00:59:58,847
you will click target system service overview

751

00:59:59,359  -->  01:00:01,407
It's looks like this

752

01:00:02,175  -->  01:00:06,271
Position control status operational status

753

01:00:06,527  -->  01:00:12,671
There are some information gathered together at the same page when you click

754

01:00:12,927  -->  01:00:16,255
Extended button you see and dialog

755

01:00:18,303  -->  01:00:20,095
Consist of

756

01:00:20,351  -->  01:00:23,679
System variables

757

01:00:24,447  -->  01:00:27,775
Green lamp is Axis is active

758

01:00:28,031  -->  01:00:34,175
Red lamp is there is an error yellow lamp is Axis is motion

759

01:00:35,455  -->  01:00:38,015
Gray and so on...

760

01:00:40,831  -->  01:00:46,975
So of a TO querying a system variable

761

01:00:47,231  -->  01:00:51,839
Actual position of axis

762

01:00:52,351  -->  01:00:58,495
You can see also at the symbol browser here positioning state at your position is the same thing

763

01:01:00,799  -->  01:01:02,591
Yep

764

01:01:05,663  -->  01:01:11,807
So  significance of the service display name and significance here

765

01:01:15,391  -->  01:01:18,463
So technological alarms

766

01:01:19,487  -->  01:01:21,279
There's a red light

767

01:01:21,535  -->  01:01:25,887
That means there is an technological alarm at the axis

768

01:01:27,679  -->  01:01:29,983
For example alarm

769

01:01:30,239  -->  01:01:34,591
40106 software limit switch actuated

770

01:01:41,759  -->  01:01:43,295
In this example

771

01:01:47,135  -->  01:01:53,023
And so and other important topic is configuring alarms

772

01:01:54,047  -->  01:01:55,327
First of all

773

01:01:55,583  -->  01:02:00,959
You just double-click and execution system and second step

774

01:02:01,215  -->  01:02:07,359
You will go to technological fault task there is a button alarm configuration and if

775

01:02:07,615  -->  01:02:09,151
You agree

776

01:02:09,919  -->  01:02:14,015
it will be in the opening window on your screen

777

01:02:14,271  -->  01:02:17,855
The title is configuration technological alarms

778

01:02:18,111  -->  01:02:21,695
Here you see your technology objects

779

01:02:21,951  -->  01:02:28,095
axes and other things you can configure are your alarms as you wish

780

01:02:29,375  -->  01:02:30,655
Let's see

781

01:02:35,519  -->  01:02:37,567
Execution system

782

01:02:39,103  -->  01:02:41,663
Technological fault task

783

01:02:43,199  -->  01:02:44,991
Alarm configuration

784

01:02:45,503  -->  01:02:51,135
Now I have couple of Technology objects measuring input and axis Master

785

01:02:51,391  -->  01:02:53,951
So

786

01:02:54,207  -->  01:02:57,791
in My case if I don't want to see

787

01:02:58,303  -->  01:03:01,119
Comment Aborted note

788

01:03:01,375  -->  01:03:04,703
It's possible to set Hidden

789

01:03:05,471  -->  01:03:07,519
when I click accept

790

01:03:09,055  -->  01:03:10,335
After that

791

01:03:10,591  -->  01:03:16,735
I will no longer see these alarm number in my outptu window

792

01:03:20,319  -->  01:03:21,087
Yep

793

01:03:23,135  -->  01:03:26,207
There are some other error type messages

794

01:03:26,719  -->  01:03:32,095
Some of them I can change from error to warning is possible

795

01:03:44,383  -->  01:03:45,663
So...

796

01:03:46,687  -->  01:03:50,015
at This case you need to be careful about that

797

01:03:50,783  -->  01:03:53,087
You don't want to miss

798

01:03:53,855  -->  01:03:55,647
At the meantime

799

01:03:56,415  -->  01:04:02,559
Some information about the axes because you no longer.

800

01:04:02,815  -->  01:04:05,375
get Comment aborted message

801

01:04:06,911  -->  01:04:12,799
But when your program is not working properly and you want to debug

802

01:04:13,567  -->  01:04:15,615
Maybe you're missing something

803

01:04:16,127  -->  01:04:20,735
On the other hand that's why you need to be careful

804

01:04:27,135  -->  01:04:33,279
Generally alarms occurs in technology object have an impact on the system after creating TO

805

01:04:33,535  -->  01:04:36,607
each Alarm certain behavior is present as default

806

01:04:37,119  -->  01:04:43,263
by specifying error activation it can be defined where the alarm is still be activated

807

01:04:44,287  -->  01:04:46,335
 after repeated

808

01:04:46,847  -->  01:04:51,199
of an error or after certain period of time example...

809

01:04:51,455  -->  01:04:52,479
Yep

810

01:04:56,063  -->  01:05:02,207
Acknowledging technology alarms we have already use the this function

811

01:05:02,463  -->  01:05:04,255
it is Possible to

812

01:05:04,767  -->  01:05:08,863
Acknowledge specific technology objects on

813

01:05:09,631  -->  01:05:15,775
Just one information, command aborted for one technology object for instance is

814

01:05:16,031  -->  01:05:17,311
also possible

815

01:05:19,359  -->  01:05:23,711
Usually after operator presses some button

816

01:05:23,967  -->  01:05:28,575
on Rising Edge on HMI or real hardwired bottom

817

01:05:29,855  -->  01:05:33,951
we will just acknowledged all the technological arms

818

01:05:38,815  -->  01:05:41,887
using technology object trace it is

819

01:05:42,143  -->  01:05:46,495
Different trace than the normal standard system Trace

820

01:05:49,055  -->  01:05:50,847
So...

821

01:05:54,431  -->  01:05:58,783
Here you see technology object trace is on the target system

822

01:05:59,807  -->  01:06:04,159
Your settings first your technology objects

823

01:06:06,719  -->  01:06:10,815
Settings for axis virtual recording once

824

01:06:11,071  -->  01:06:16,703
10 events on the to I can change here the settings

825

01:06:17,983  -->  01:06:19,519
event recording

826

01:06:21,311  -->  01:06:27,455
Once quantity I think it's limited with 1000

827

01:06:33,855  -->  01:06:34,879
No

828

01:06:36,671  -->  01:06:38,207
Hundreds

829

01:06:41,791  -->  01:06:43,071
yes 100

830

01:06:43,327  -->  01:06:44,863
Okay

831

01:06:45,119  -->  01:06:49,727
It's possible to start in trigger a variable

832

01:06:51,519  -->  01:06:57,663
save in device memory card or we will go online and report to my PC

833

01:07:00,991  -->  01:07:07,135
So we use technology object trace for Diagnostics and debug our program do

834

01:07:07,391  -->  01:07:08,927
Run system

835

01:07:10,207  -->  01:07:13,279
we will select your comments

836

01:07:15,071  -->  01:07:18,655
PLC open comments technology object default

837

01:07:19,679  -->  01:07:23,519
All comments selected on configuration data

838

01:07:24,031  -->  01:07:26,847
When are use some Commands

839

01:07:27,103  -->  01:07:30,431
To change the configuration data in my program

840

01:07:31,455  -->  01:07:35,295
I receive here in the technology object

841

01:07:35,551  -->  01:07:40,671
System error when I read or write some system variables

842

01:07:40,927  -->  01:07:47,071
It will be recorded on TO trace and alarms

843

01:07:49,887  -->  01:07:56,031
Here you may finds or with related alarms to axis virtual

844

01:07:57,055  -->  01:08:03,199
If I want to log or debug or Trace technology

845

01:08:03,455  -->  01:08:07,295
Alarms i will select here

846

01:08:08,319  -->  01:08:11,903
and It's possible to record in the device

847

01:08:12,415  -->  01:08:14,207
Or in my PC

848

01:08:14,975  -->  01:08:19,071
We will use this option for debug our system

849

01:08:24,703  -->  01:08:29,055
So here is the procedure activate online connection

850

01:08:29,311  -->  01:08:31,871
Simotion call window

851

01:08:32,895  -->  01:08:36,991
and list selectable trace use the button

852

01:08:38,015  -->  01:08:39,295
Parameterize

853

01:08:39,551  -->  01:08:45,695
And on the individual tabs parameterize to set things into Target system as stop

854

01:08:45,951  -->  01:08:47,231
START to you trace

855

01:08:49,279  -->  01:08:54,911
So basically we will go online to real system or simulation

856

01:08:58,495  -->  01:09:00,031
Okay

857

01:09:00,799  -->  01:09:04,895
i will download my settings for visual axis

858

01:09:05,663  -->  01:09:09,247
And starter starter to trace

859

01:09:10,271  -->  01:09:14,879
It's switch to recorded data while Trace is active

860

01:09:15,647  -->  01:09:16,671
Right now

861

01:09:20,255  -->  01:09:24,607
Should reach the 100 events

862

01:09:24,863  -->  01:09:29,215
After that it's possible to get some messages

863

01:09:29,471  -->  01:09:31,775
There's a button to upload data

864

01:09:32,031  -->  01:09:36,895
There's no message right now because no come with execute it there's nothing

865

01:09:38,431  -->  01:09:39,455
So

866

01:09:39,967  -->  01:09:41,759
Let's try again

867

01:09:42,015  -->  01:09:44,831
I would acknowledge some data

868

01:09:45,087  -->  01:09:50,463
It was related with the other axis so I've stopped start again

869

01:09:51,231  -->  01:09:55,839
Let's use our watch table for Axiss virtual

870

01:09:58,399  -->  01:10:04,287
Let's say enable axis virtual to true

871

01:10:11,455  -->  01:10:17,599
I made some modifications that's why I have download my program

872

01:10:23,231  -->  01:10:29,375
Abortion is possible to download three grown and Technology objects will bo loaded

873

01:10:30,143  -->  01:10:34,239
I have to set it permits restart on technology object

874

01:10:35,007  -->  01:10:36,543
To activate

875

01:10:37,055  -->  01:10:39,359
New configuration. data

876

01:10:39,615  -->  01:10:40,639
Yes

877

01:10:41,663  -->  01:10:46,271
it will be do this operation in Run mode

878

01:10:47,551  -->  01:10:48,831
If it's possible

879

01:10:54,463  -->  01:10:57,791
so in that case it is not possible simotion could not create to running States

880

01:10:58,815  -->  01:11:03,935
Yeah edits to TOs so let's download in stop mods

881

01:11:22,367  -->  01:11:24,415
error during trace

882

01:11:26,719  -->  01:11:27,743
No problem

883

01:11:29,535  -->  01:11:30,815
Yes

884

01:11:33,887  -->  01:11:36,703
Let's try again

885

01:11:39,263  -->  01:11:40,287
No

886

01:11:42,079  -->  01:11:44,895
Recording 4

887

01:11:47,455  -->  01:11:48,735
Recording 1

888

01:11:48,991  -->  01:11:51,039
Recording 5

889

01:11:52,063  -->  01:11:53,855
Yeah

890

01:11:55,135  -->  01:11:57,183
So let's modify

891

01:11:57,439  -->  01:11:59,487
Enable axis virtual

892

01:12:00,511  -->  01:12:02,815
It's active disabled

893

01:12:03,327  -->  01:12:05,631
This disabled

894

01:12:06,911  -->  01:12:07,679
Okay

895

01:12:09,215  -->  01:12:12,287
now i will see some events

896

01:12:12,543  -->  01:12:18,687
here the timestamp technology object and events and current status

897

01:12:21,503  -->  01:12:26,879
You'll see here the enabling Act is going to return value is 0

898

01:12:27,903  -->  01:12:31,999
Parameters are here in the data grid View

899

01:12:33,023  -->  01:12:35,583
All of the details

900

01:12:36,863  -->  01:12:37,887
Is

901

01:12:41,215  -->  01:12:45,055
it should effective completed or canceled

902

01:12:45,311  -->  01:12:51,455
time stamps and you see here in MCC with one in programming

903

01:12:51,711  -->  01:12:55,039
MC axis control on block

904

01:12:55,551  -->  01:12:58,111
35 line 30

905

01:12:58,623  -->  01:13:01,695
called from this position

906

01:13:02,719  -->  01:13:07,327
It's an really good detailed information for

907

01:13:07,583  -->  01:13:08,863
DEBUG

908

01:13:10,655  -->  01:13:11,679
So...

909

01:13:15,263  -->  01:13:21,407
If you want to know even more that are couple of pages using axis data sets

910

01:13:22,175  -->  01:13:28,063
When you want to your second encoder than you have to create another axis data set

911

01:13:28,575  -->  01:13:31,391
In configuration

912

01:13:32,159  -->  01:13:37,791
Encoder configuration create a new encoder and Select the encoder

913

01:13:40,351  -->  01:13:42,143
You will change

914

01:13:42,655  -->  01:13:43,935
The type

915

01:13:48,031  -->  01:13:54,175
there is a page related mode of operation and incremental or sin/cos encoder

916

01:13:55,967  -->  01:13:58,527
It depends on your machine

917

01:13:59,039  -->  01:14:00,575
Sometimes if

918

01:14:01,343  -->  01:14:07,231
Your motor is too far away from your drive or sensor module

919

01:14:09,535  -->  01:14:15,423
Maybe it's better to use a HTL encoder instead of 5 volts TTL

920

01:14:15,935  -->  01:14:22,079
 encoders or if the resolution is important

921

01:14:22,847  -->  01:14:26,431
Of course the sin/cos encoders

922

01:14:26,687  -->  01:14:31,039
Are analog signals in higher frequencies

923

01:14:31,807  -->  01:14:32,319
It's

924

01:14:33,087  -->  01:14:34,111
For provide

925

01:14:34,367  -->  01:14:36,159
Fine resolution

926

01:14:37,183  -->  01:14:40,511
Here you see and classical

927

01:14:40,767  -->  01:14:45,119
Optical transmitter and receiver here there's a light source

928

01:14:46,143  -->  01:14:50,751
There's a scanning plate on other side that are some photo elements

929

01:14:51,519  -->  01:14:53,567
Just getting

930

01:14:53,823  -->  01:14:59,199
signal here and convert into

931

01:15:00,223  -->  01:15:03,551
Fine resolution at the drive site

932

01:15:04,319  -->  01:15:07,135
you see Here sinus curve

933

01:15:07,391  -->  01:15:10,975
or cosinus curve still together

934

01:15:13,535  -->  01:15:18,399
So it depends on your projects and

935

01:15:18,911  -->  01:15:21,983
at Field conditions sometimes

936

01:15:22,495  -->  01:15:28,639
sin cos encoder is a better way especially if there are some disturbance

937

01:15:28,895  -->  01:15:34,015
And other signals in your system

938

01:15:35,551  -->  01:15:37,343
Next page

939

01:15:37,599  -->  01:15:43,743
settings  for incremental encoders and cyclic actual values sometimes

940

01:15:43,999  -->  01:15:49,887
You have to enter here your encoder pulse per Revolution and fine reservation

941

01:15:52,191  -->  01:15:53,471
with

942

01:15:53,983  -->  01:15:56,799
SMC modules or different drive

943

01:15:57,311  -->  01:16:03,455
And fine solution is also default is 11 and 9 bits in

944

01:16:03,711  -->  01:16:06,015
drive side of sinamics

945

01:16:08,319  -->  01:16:10,111
named as

946

01:16:10,367  -->  01:16:11,647
GN

947

01:16:12,415  -->  01:16:16,767
Geber1 auf deutsch

948

01:16:17,023  -->  01:16:20,095
Actual value of encoder meaning

949

01:16:23,167  -->  01:16:29,311
mode of operation on absolute encoder here some coded disc

950

01:16:29,823  -->  01:16:33,407
Different layers a little bit

951

01:16:34,943  -->  01:16:41,087
Produced in advance that are some hall effect elements and coded disc

952

01:16:42,111  -->  01:16:45,951
you will see here the multi turn functionality

953

01:16:46,975  -->  01:16:53,119
so with this way is possible to calculate the resolution

954

01:16:54,143  -->  01:16:59,263
4096 revolutions as mechanical in

955

01:17:03,359  -->  01:17:06,175
and endat interface another

956

01:17:06,431  -->  01:17:11,039
Common communication interface in automation industry

957

01:17:12,063  -->  01:17:18,207
like profibus encoders and profinet encoders that are are so different types

958

01:17:18,463  -->  01:17:19,231
drive cliq

959

01:17:19,487  -->  01:17:23,839
encoders of siemens or TR electronic

960

01:17:24,607  -->  01:17:29,215
So next thing is settings for absolute encoders

961

01:17:30,495  -->  01:17:36,639
Enter here pulse per Revolution resolution

962

01:17:36,895  -->  01:17:39,711
512

963

01:17:40,991  -->  01:17:47,135
Fine resolution of absolute value GN_XIS_1 is to

964

01:17:47,391  -->  01:17:51,743
This from drive site should be the same for calculation correct

965

01:17:52,767  -->  01:17:58,143
data width of absolute value without finel resolution

966

01:18:02,751  -->  01:18:07,359
This is the main formation settings for absolute encoders

967

01:18:07,615  -->  01:18:11,455
You should select absolute encoders with cycling surface

968

01:18:12,735  -->  01:18:14,271
What's the difference

969

01:18:14,527  -->  01:18:18,367
When the Overflow of multi turn information

970

01:18:18,623  -->  01:18:24,767
I'm not saved in simotion when switched off with absolute encoder setting.

971

01:18:25,535  -->  01:18:31,423
If you want to calculate after the simotion switch off You should set it

972

01:18:31,679  -->  01:18:33,215
cyclic absolute

973

01:18:35,007  -->  01:18:36,287
Yep

974

01:18:39,871  -->  01:18:46,015
Setting for travel to fixed end stop functionality that are some settings here following

975

01:18:46,271  -->  01:18:47,551
error Detection

976

01:18:48,063  -->  01:18:51,647
Position tolerance after and stop detection

977

01:18:51,903  -->  01:18:53,183
here

978

01:18:55,231  -->  01:18:58,303
you see here maximum torque variable

979

01:18:58,815  -->  01:19:04,447
It's not writable on simotion side that because is interconnected via Telegram

980

01:19:04,703  -->  01:19:09,567
Automatic symbolic mode on the drive side

981

01:19:10,335  -->  01:19:16,479
when It's not enough or it is not good for you you can just change

982

01:19:16,735  -->  01:19:22,879
parameter 1520 on the driver side

983

01:19:24,159  -->  01:19:25,695
Yep

984

01:19:26,719  -->  01:19:28,255
and...

985

01:19:28,511  -->  01:19:33,119
you can call travel to fix a stop function

986

01:19:34,399  -->  01:19:35,679
with

987

01:19:35,935  -->  01:19:39,007
Different options is possible to

988

01:19:39,775  -->  01:19:43,359
Set a clamping volume as percent

989

01:19:43,615  -->  01:19:47,711
That is a calculation formula

990

01:19:48,479  -->  01:19:49,503
So...

991

01:19:50,527  -->  01:19:52,831
So far so good

992

01:19:55,391  -->  01:19:58,719
We are here at chapter

993

01:19:58,975  -->  01:20:03,071
Technology objects axis and drives

994

01:20:03,327  -->  01:20:06,911
We have already talked about the axis and drives

995

01:20:07,423  -->  01:20:13,567
So I will switch to programming side and programming 

996

01:20:13,824  -->  01:20:14,848
motion of axis

997

01:20:15,872  -->  01:20:20,480
We will continue with this Topic

998

01:20:20,736  -->  01:20:26,880
But first just take it coffee break so see you then

999

01:20:28,928  -->  01:20:33,024
So welcome my friends

1000

01:20:33,536  -->  01:20:36,352
current chapter number is 10

1001

01:20:36,864  -->  01:20:43,008
And we will continue to work with technology objects

1002

01:20:43,264  -->  01:20:49,408
Axis and drives and you will learn about how do you use

1003

01:20:49,664  -->  01:20:54,528
Axis functions and motion comments in simotion

1004

01:20:55,808  -->  01:21:01,952
So let's continue with our sitrain programming

1005

01:21:02,208  -->  01:21:03,488
Notes

1006

01:21:07,072  -->  01:21:10,400
And are topics

1007

01:21:14,496  -->  01:21:19,104
Simotion axis and drives technology objects

1008

01:21:19,360  -->  01:21:22,688
Creating and configuring an access

1009

01:21:23,200  -->  01:21:26,528
Changing configuration data via Scout

1010

01:21:26,784  -->  01:21:31,136
Collecting and activating configuration.

1011

01:21:31,648  -->  01:21:37,536
Using restart command to activate configuration data

1012

01:21:38,304  -->  01:21:41,376
Programming and traversing

1013

01:21:41,888  -->  01:21:44,704
General structure of commands

1014

01:21:45,216  -->  01:21:49,568
motion buffers of an axis

1015

01:21:51,360  -->  01:21:57,504
Translation of motion comments Blending motion of

1016

01:21:57,760  -->  01:21:58,784
asis

1017

01:21:59,040  -->  01:22:02,112
superimposed motion commands and so on...

1018

01:22:07,232  -->  01:22:10,560
So let's start with first page

1019

01:22:11,840  -->  01:22:17,216
Here you see simotion axes and drive chart

1020

01:22:18,496  -->  01:22:19,776
basic view

1021

01:22:22,336  -->  01:22:23,616
You

1022

01:22:23,872  -->  01:22:28,992
We have selected linear or rotary axis type

1023

01:22:29,248  -->  01:22:33,088
Default unit as millimeter and degrees

1024

01:22:36,160  -->  01:22:42,304
here with green color access one blue code access 2 and red color axis 3

1025

01:22:44,096  -->  01:22:45,888
Message frames

1026

01:22:46,144  -->  01:22:47,680
Speed set points

1027

01:22:47,936  -->  01:22:50,496
encoder actual values and so on.

1028

01:22:50,752  -->  01:22:53,824
it is Adopted by System

1029

01:22:54,080  -->  01:23:00,224
You see here communication with Drive and simotion

1030

01:23:00,736  -->  01:23:03,296
So this is the driver side

1031

01:23:04,064  -->  01:23:06,624
drive objects are current control

1032

01:23:06,880  -->  01:23:13,024
Speed control power mode motor and encoder and so on

1033

01:23:18,400  -->  01:23:24,544
On other sites already examined this chart

1034

01:23:24,800  -->  01:23:28,384
Some expert list

1035

01:23:28,640  -->  01:23:34,784
Consists of configuration data and system variable different kind of

1036

01:23:35,040  -->  01:23:36,320
tech objects

1037

01:23:40,928  -->  01:23:41,952
Okay

1038

01:23:47,072  -->  01:23:49,120
So we will change

1039

01:23:49,376  -->  01:23:52,960
Configuration data

1040

01:23:53,472  -->  01:23:56,544
you will see effectiveness

1041

01:23:58,336  -->  01:24:02,176
The Columns here there are 3

1042

01:24:02,688  -->  01:24:05,504
Let's search for simotion

1043

01:24:12,416  -->  01:24:16,512
Where are see right now only offline value column them

1044

01:24:16,768  -->  01:24:18,816
with configuration data

1045

01:24:20,352  -->  01:24:21,888
Let's go online

1046

01:24:33,152  -->  01:24:38,272
I said it first before I have to start the simulation

1047

01:24:54,656  -->  01:24:56,960
now we are Online

1048

01:24:58,240  -->  01:25:03,360
You see here there is no actual value

1049

01:25:04,128  -->  01:25:07,968
This is because we didn't download

1050

01:25:08,480  -->  01:25:09,760
our project

1051

01:25:10,016  -->  01:25:11,296
To CPU

1052

01:25:11,808  -->  01:25:16,672
If there's a conflict or

1053

01:25:16,928  -->  01:25:20,512
Difference between online and offline project

1054

01:25:21,024  -->  01:25:24,864
So you're not able to see the actual values

1055

01:25:25,376  -->  01:25:26,144
Because

1056

01:25:27,680  -->  01:25:32,288
Templates or variable list doesn't match so

1057

01:25:37,152  -->  01:25:39,968
You will see the same thing on the watch table

1058

01:25:41,760  -->  01:25:43,040
Same reason

1059

01:25:43,296  -->  01:25:46,112
so i will download with my project

1060

01:25:52,512  -->  01:25:55,328
cpu goes to stop mode

1061

01:25:56,864  -->  01:26:03,008
This is information I will take notes object trace results are not being saved

1062

01:26:03,264  -->  01:26:04,032
How to save

1063

01:26:04,544  -->  01:26:05,568
This

1064

01:26:06,080  -->  01:26:11,712
It was said at XML file to my folder

1065

01:26:13,504  -->  01:26:16,576
Your face

1066

01:26:16,832  -->  01:26:18,112
Test 1

1067

01:26:23,488  -->  01:26:28,352
All of the traces are exportable and importable

1068

01:26:46,528  -->  01:26:48,320
So...

1069

01:26:48,576  -->  01:26:49,600
Took long

1070

01:26:50,624  -->  01:26:56,768
we see and expert list of Master configuration data

1071

01:26:58,560  -->  01:27:04,704
Execution level configured value and next value

1072

01:27:08,288  -->  01:27:09,824
for modulo

1073

01:27:13,408  -->  01:27:19,040
This parameter change will be activated after TO restart

1074

01:27:20,832  -->  01:27:23,648
TO restart is possible

1075

01:27:24,160  -->  01:27:24,928
with

1076

01:27:26,208  -->  01:27:32,352
This button activity or stopped or via system varible

1077

01:27:38,752  -->  01:27:41,568
Or via system command

1078

01:27:49,760  -->  01:27:52,576
You see here the variable

1079

01:27:53,088  -->  01:27:56,672
if you write from your program

1080

01:27:57,184  -->  01:28:00,256
This available activate restart

1081

01:28:00,512  -->  01:28:03,584
Technology object will be restarts

1082

01:28:04,096  -->  01:28:06,400
You can do it

1083

01:28:07,168  -->  01:28:13,312
As default you see here. restart axis condition axis must be disabled in future

1084

01:28:13,568  -->  01:28:15,616
if you change this to standstill

1085

01:28:17,408  -->  01:28:23,552
You can restart your to while your axis is pulse enabled and Standstill

1086

01:28:23,808  -->  01:28:27,392
If you select option with NO_CONSTRAINTS

1087

01:28:29,184  -->  01:28:34,560
Restart of axis to be possible whenever you want

1088

01:28:34,816  -->  01:28:35,584
It's

1089

01:28:35,840  -->  01:28:38,912
Depends on your application

1090

01:28:39,424  -->  01:28:41,728
It is necessary

1091

01:28:44,032  -->  01:28:45,824
to do restart axis

1092

01:28:46,336  -->  01:28:52,480
While motor is running rotating in positive direction for instance more than

1093

01:28:53,504  -->  01:28:56,064
1000 rpms

1094

01:28:57,088  -->  01:29:03,232
Maybe you have to do that you need to change the modulo

1095

01:29:03,744  -->  01:29:09,888
Length for example it's possible

1096

01:29:10,144  -->  01:29:14,496
by default You are able to do your restart

1097

01:29:15,264  -->  01:29:17,568
When axis is disabled

1098

01:29:18,080  -->  01:29:24,224
There are different ways possibilities to do that where user program

1099

01:29:24,480  -->  01:29:26,528
You can just right here

1100

01:29:27,296  -->  01:29:28,576
This variable

1101

01:29:29,088  -->  01:29:35,232
So activate restart or you can use the comment Library technology

1102

01:29:36,512  -->  01:29:39,072
drive axis or position axis

1103

01:29:42,144  -->  01:29:45,472
You receive here

1104

01:29:49,056  -->  01:29:50,336
Library

1105

01:29:56,480  -->  01:29:57,760
Let's check

1106

01:30:00,832  -->  01:30:01,856
You...

1107

01:30:02,368  -->  01:30:03,648
Reset axis

1108

01:30:04,928  -->  01:30:10,560
Yep and on the MCC program

1109

01:30:10,816  -->  01:30:12,352
There is a command

1110

01:30:12,608  -->  01:30:14,656
You have already used

1111

01:30:16,192  -->  01:30:17,984
here reset object

1112

01:30:23,360  -->  01:30:24,896
And you select

1113

01:30:25,152  -->  01:30:26,688
Axis

1114

01:30:27,200  -->  01:30:29,760
axis virtual

1115

01:30:30,528  -->  01:30:32,064
if you do

1116

01:30:33,600  -->  01:30:35,648
initialize system variables

1117

01:30:36,416  -->  01:30:38,976
Initialize by default values

1118

01:30:39,488  -->  01:30:43,072
when you call this command for reset axis

1119

01:30:43,840  -->  01:30:46,912
in your program TO will be restarted

1120

01:30:59,200  -->  01:31:02,272
Let's go to continiue with notes

1121

01:31:03,552  -->  01:31:07,904
There's an example

1122

01:31:08,160  -->  01:31:12,256
I have said that there are three different columns

1123

01:31:18,400  -->  01:31:23,008
And one column is configurated value

1124

01:31:23,520  -->  01:31:26,080
The other one is current value

1125

01:31:27,104  -->  01:31:33,248
This is the set config data structure this is the active

1126

01:31:35,296  -->  01:31:36,832
config data This is the

1127

01:31:37,600  -->  01:31:40,672
config data as offline

1128

01:31:41,696  -->  01:31:43,488
readable and writable

1129

01:31:45,536  -->  01:31:47,584
Intermediate area

1130

01:31:47,840  -->  01:31:49,120
of TO

1131

01:31:51,168  -->  01:31:52,448
So...

1132

01:31:54,752  -->  01:32:00,384
it is selected here 

1133

01:32:00,640  -->  01:32:02,176
Is this actually 100

1134

01:32:02,688  -->  01:32:04,224
kv as P controller gain factor

1135

01:32:05,504  -->  01:32:11,648
Originally it was 150

1136

01:32:13,696  -->  01:32:17,792
Effectiveness is immediately so

1137

01:32:18,048  -->  01:32:20,352
This is available for

1138

01:32:25,216  -->  01:32:27,776
User variable axis 1

1139

01:32:29,056  -->  01:32:31,104
active config data

1140

01:32:31,616  -->  01:32:36,992
This column type of axis number of the data set 1

1141

01:32:37,248  -->  01:32:38,784
Control structure

1142

01:32:39,552  -->  01:32:42,112
kV controller kV

1143

01:32:44,160  -->  01:32:50,304
We use this as with data and how do you write the data

1144

01:32:51,328  -->  01:32:56,448
Program axis one set config data

1145

01:32:57,728  -->  01:32:59,776
we right here

1146

01:33:02,336  -->  01:33:05,152
during online run time

1147

01:33:05,408  -->  01:33:07,968
Type of axis number of data sets

1148

01:33:08,480  -->  01:33:09,760
data set 1

1149

01:33:11,040  -->  01:33:12,832
and Set 200

1150

01:33:15,904  -->  01:33:18,976
Let's find our kV here

1151

01:33:19,232  -->  01:33:20,512
Search

1152

01:33:21,792  -->  01:33:23,584
There are several gains

1153

01:33:27,936  -->  01:33:32,544
In structure and Array elements

1154

01:33:34,592  -->  01:33:35,360
No

1155

01:33:38,688  -->  01:33:40,224
So let's check

1156

01:33:45,088  -->  01:33:50,720
Oh, by the way I'm using virtual axis names of some parameters are

1157

01:33:50,976  -->  01:33:53,536
Not available and in virtual axis

1158

01:33:55,328  -->  01:33:57,376
So that's why

1159

01:34:03,008  -->  01:34:04,544
you can filter here

1160

01:34:05,056  -->  01:34:07,360
Your list

1161

01:34:09,664  -->  01:34:12,224
For instance

1162

01:34:15,808  -->  01:34:18,368
Yep.

1163

01:34:18,624  -->  01:34:24,768
Now I will change the maximum jerk and maximum value for this axis

1164

01:34:25,024  -->  01:34:27,328
For instance i enter here

1165

01:34:29,120  -->  01:34:31,168
10000

1166

01:34:31,680  -->  01:34:34,240
You see it's automatically added to current value

1167

01:34:34,496  -->  01:34:40,640
This is active config data

1168

01:34:40,896  -->  01:34:42,944
This is the set config data

1169

01:34:43,456  -->  01:34:46,528
Actually during run-up

1170

01:34:47,296  -->  01:34:52,672
You'll see kid original project it's will be copied

1171

01:34:52,928  -->  01:34:54,720
Two intermediate area

1172

01:34:55,232  -->  01:34:58,816
This is the on line with you this is the offline values

1173

01:34:59,584  -->  01:35:00,608
So...

1174

01:35:02,144  -->  01:35:05,728
now I did some changes

1175

01:35:06,240  -->  01:35:07,776
in Online mode

1176

01:35:08,032  -->  01:35:14,176
so Next time when I download the project old config data offline values

1177

01:35:18,016  -->  01:35:22,624
will be written 20000  to new active config data

1178

01:35:23,136  -->  01:35:26,976
 so what should I do?

1179

01:35:27,744  -->  01:35:33,888
First of all I have to do if I want to take all online changes

1180

01:35:34,144  -->  01:35:38,240
to Do my offline project I have to do an uploads

1181

01:35:38,496  -->  01:35:44,640
Load CPU drive unit to my projects that are several options

1182

01:35:45,664  -->  01:35:47,456
you see...

1183

01:35:47,712  -->  01:35:53,856
Only load configuration PG selected

1184

01:35:54,112  -->  01:35:55,392
that means simotion scout will be take

1185

01:35:57,184  -->  01:36:03,328
only the Configuration all of the TO of Technology axis

1186

01:36:03,584  -->  01:36:09,728
Go to my PC

1187

01:36:10,240  -->  01:36:13,824
note that likely there might be changed current data

1188

01:36:14,080  -->  01:36:17,920
in target device this is our case you can transfer this

1189

01:36:18,176  -->  01:36:22,528
prior to loading copy current data to ram

1190

01:36:26,112  -->  01:36:28,672
I have to select it

1191

01:36:31,744  -->  01:36:33,792
To do a proper upload

1192

01:36:37,376  -->  01:36:38,400
Okay

1193

01:36:45,312  -->  01:36:51,200
copy ram 2 rom executed first than my project

1194

01:36:51,968  -->  01:36:53,504
config data changed

1195

01:36:54,528  -->  01:36:59,648
now i see when I go to offline States

1196

01:37:00,928  -->  01:37:07,072
My maximum jerk available is the new value

1197

01:37:08,608  -->  01:37:11,680
10000 mm/s3

1198

01:37:14,496  -->  01:37:16,032
Yes.

1199

01:37:23,456  -->  01:37:26,528
I'm connected again

1200

01:37:26,784  -->  01:37:28,576
Everything's looks

1201

01:37:29,600  -->  01:37:31,136
Consistent

1202

01:37:31,904  -->  01:37:38,048
Let's see the other choice during load of CPU 2 PG

1203

01:37:38,304  -->  01:37:44,448
When I select load target  device to PG

1204

01:37:44,960  -->  01:37:51,104
For Successfully loading to PG additional data I must have been stored on the target system

1205

01:37:51,360  -->  01:37:52,128
that means Settings

1206

01:37:52,384  -->  01:37:56,992
We have to download the source codes of our projects

1207

01:37:58,528  -->  01:38:04,672
Object in the offline project are overwritten objects that are only present

1208

01:38:04,928  -->  01:38:07,488
Offline or deleted so...

1209

01:38:08,768  -->  01:38:10,560
If there are several axes

1210

01:38:11,072  -->  01:38:15,424
In my offline project and if there other axis

1211

01:38:15,936  -->  01:38:22,080
Different than my project in online CPU it will be automatically

1212

01:38:22,336  -->  01:38:25,152
arranged By the scout

1213

01:38:25,920  -->  01:38:27,712
Doing load

1214

01:38:28,480  -->  01:38:29,760
The targets

1215

01:38:30,272  -->  01:38:36,416
to pc so this can result in the project can no longer be compiled

1216

01:38:36,672  -->  01:38:38,720
after the loading to PG

1217

01:38:39,488  -->  01:38:43,840
If there's some mistake or there is something missing

1218

01:38:44,352  -->  01:38:48,960
It is therefore recommended its be saved before running

1219

01:38:49,728  -->  01:38:53,824
Yeah you have to take your back up

1220

01:38:54,336  -->  01:38:57,664
Before you go online and do until such as changes

1221

01:38:58,432  -->  01:39:04,576
Is the target device contains dcc charts by the way it's not possible to upload

1222

01:39:04,832  -->  01:39:06,880
DCC Charts source

1223

01:39:09,184  -->  01:39:13,536
Next time if you want to use this

1224

01:39:14,304  -->  01:39:18,144
Available you have to download the source of DCC chart

1225

01:39:18,400  -->  01:39:24,544
The project is automatically saved after loading 2 PG in its recovery

1226

01:39:24,800  -->  01:39:28,384
That's you create a backup copy of your project

1227

01:39:29,664  -->  01:39:30,432
Yes.

1228

01:39:31,712  -->  01:39:34,528
Open editors are closed

1229

01:39:34,784  -->  01:39:36,064
without saving

1230

01:39:36,320  -->  01:39:42,464
Yeah this is so important so before the upload you have to save the project

1231

01:39:45,536  -->  01:39:48,864
reCommanded to take a backup

1232

01:39:49,376  -->  01:39:55,008
Save before loading to PG will do this job for you

1233

01:39:55,520  -->  01:39:58,080
overwrite Available libraries

1234

01:39:58,336  -->  01:40:03,456
It's going to be check also index of CF cards in which library is available

1235

01:40:04,224  -->  01:40:08,064
Similar to technology package and

1236

01:40:08,320  -->  01:40:10,880
Will be overwritten

1237

01:40:13,440  -->  01:40:14,464
So..

1238

01:40:14,976  -->  01:40:18,816
in our case we will use only the configuration up.

1239

01:40:27,008  -->  01:40:29,056
Yep.

1240

01:40:31,104  -->  01:40:32,896
Let's go in here

1241

01:40:41,600  -->  01:40:46,720
Collecting and activating changed configuration data

1242

01:40:50,304  -->  01:40:56,448
The effectiveness of change can be controlled with the system variable about the technology object system variable

1243

01:40:56,704  -->  01:41:02,592
Activation mode change it change

1244

01:41:03,104  -->  01:41:07,712
Meant to configuration data are to be activated so...

1245

01:41:08,736  -->  01:41:11,808
If it is required

1246

01:41:12,064  -->  01:41:16,672
I will change couple of variables more than one

1247

01:41:16,928  -->  01:41:22,816
Four or five different variables and after that I don't want to lose time

1248

01:41:23,072  -->  01:41:26,656
Or I have to end my function

1249

01:41:27,168  -->  01:41:28,192
then

1250

01:41:28,448  -->  01:41:33,568
only once Restart my axis to

1251

01:41:34,592  -->  01:41:35,872
Otherwise

1252

01:41:36,896  -->  01:41:38,432
When I change

1253

01:41:39,200  -->  01:41:42,528
Some Parmenter and needs to restart

1254

01:41:45,088  -->  01:41:47,904
It should be corrected by the system

1255

01:41:50,976  -->  01:41:53,536
So...

1256

01:41:54,048  -->  01:41:59,936
There's a system variable for that

1257

01:42:00,704  -->  01:42:02,752
For restart

1258

01:42:03,008  -->  01:42:09,152
Restart by System variable and command or restart by Command

1259

01:42:09,408  -->  01:42:12,480
you can define also restart possibility

1260

01:42:14,528  -->  01:42:20,672
So on the restart structure you see system available restart

1261

01:42:20,928  -->  01:42:22,464
Activation setting

1262

01:42:24,512  -->  01:42:27,584
What is default?

1263

01:42:27,840  -->  01:42:28,608
There.

1264

01:42:35,008  -->  01:42:41,152
Yes I'm in your system variables activation mode

1265

01:42:44,736  -->  01:42:47,808
Activate change config data

1266

01:42:48,064  -->  01:42:50,368
With this buttons

1267

01:42:51,392  -->  01:42:57,536
Actually you overwrite this parameter changes

1268

01:42:58,048  -->  01:42:59,584
now

1269

01:42:59,840  -->  01:43:05,984
If I make a modification the system will be collect first all the modifications

1270

01:43:06,240  -->  01:43:11,872
And after I click activate changes system will be

1271

01:43:12,128  -->  01:43:14,688
Activate all of the changes at once

1272

01:43:22,112  -->  01:43:24,672
This is important for

1273

01:43:24,928  -->  01:43:28,512
if Effectiveness is immediate

1274

01:43:31,072  -->  01:43:37,216
and You see here the system variables there's only one column

1275

01:43:39,008  -->  01:43:43,360
and In configuration data there are three different columns

1276

01:43:46,176  -->  01:43:47,712
So...

1277

01:43:49,248  -->  01:43:55,392
when system variable activation mode change to activate change config data

1278

01:43:55,648  -->  01:43:59,232
modified config data becomes Effective immediately

1279

01:43:59,488  -->  01:44:05,632
if the system variable is set to this whether data collected up this point also activated

1280

01:44:06,656  -->  01:44:08,448
As soon as possible

1281

01:44:08,704  -->  01:44:14,848
when the system varible activation

1282

01:44:17,664  -->  01:44:20,736
mode changed config data 

1283

01:44:20,992  -->  01:44:22,784
is Set and activated as together

1284

01:44:23,040  -->  01:44:24,832
Activation happens

1285

01:44:25,344  -->  01:44:26,624
when

1286

01:44:26,880  -->  01:44:28,416
Is data set

1287

01:44:28,672  -->  01:44:34,816
Activate changed config data again values of collected configuration data can be delayed

1288

01:44:35,072  -->  01:44:41,216
without Activation by calling corresponding TO system

1289

01:44:41,472  -->  01:44:46,848
There is a buffer when we change

1290

01:44:47,360  -->  01:44:51,200
Config data by online by user program

1291

01:44:51,968  -->  01:44:56,064
In any case we are able to

1292

01:44:56,320  -->  01:45:02,464
Reset or config data buffer so we can just decide to not todo

1293

01:45:05,280  -->  01:45:07,328
config data change

1294

01:45:10,656  -->  01:45:13,472
So this is important!

1295

01:45:13,984  -->  01:45:20,128
Once the data config modified configuration data item it is written it will take some time for change

1296

01:45:22,176  -->  01:45:28,320
take effects even if the setting is activate change config data.

1297

01:45:29,856  -->  01:45:36,000
timeout Likely in the task in particular when it would change

1298

01:45:36,256  -->  01:45:40,352
Are meant to multiple configuration data item

1299

01:45:40,608  -->  01:45:46,752
Simultaneous that means I have to use this kind of comments in my motion task

1300

01:45:47,008  -->  01:45:52,128
Not in background task to prevent to overflow

1301

01:45:52,896  -->  01:45:59,040
It's not possible to use wait commands in background because there are some more watchdog timers

1302

01:46:00,320  -->  01:46:06,464
If you want to change multiple configuration data items simultaneously it's their advisable to collect

1303

01:46:06,720  -->  01:46:09,280
First

1304

01:46:10,048  -->  01:46:13,120
and then activate as whole

1305

01:46:13,888  -->  01:46:15,424
To reduce the time

1306

01:46:17,984  -->  01:46:19,008
By the way

1307

01:46:19,776  -->  01:46:21,824
Yep.

1308

01:46:22,592  -->  01:46:28,736
Using restart to activate configuration. here a button

1309

01:46:28,992  -->  01:46:30,528
to activate restart

1310

01:46:33,088  -->  01:46:35,648
that calls are function

1311

01:46:35,904  -->  01:46:37,952
resetart axis yo

1312

01:46:39,232  -->  01:46:45,376
here as orange background color modified data

1313

01:46:46,912  -->  01:46:53,056
It just needed to resttart the to when you press this button

1314

01:46:55,616  -->  01:46:59,712
your current value will be changed

1315

01:47:00,224  -->  01:47:06,368
from yes you can use just restart activation system

1316

01:47:06,624  -->  01:47:11,232
variable to set activate restart with two possibilities

1317

01:47:18,400  -->  01:47:24,544
So let's make this exercise

1318

01:47:25,056  -->  01:47:29,152
I'm going to change a couple of

1319

01:47:30,176  -->  01:47:34,272
Configuration data in modulo for instance

1320

01:47:35,040  -->  01:47:40,672
mechanics using your modulo is disabled

1321

01:47:40,928  -->  01:47:44,000
In the page I cannot

1322

01:47:44,256  -->  01:47:46,304
Set a record this here

1323

01:47:46,816  -->  01:47:51,168
Because it's a configuration data

1324

01:47:51,680  -->  01:47:57,824
it Request axis restart and I can do that in expert list

1325

01:47:58,080  -->  01:48:03,456
So let's try

1326

01:48:03,968  -->  01:48:05,504
First I will

1327

01:48:06,016  -->  01:48:08,064
hit The collect changes

1328

01:48:11,392  -->  01:48:13,952
I want the select one

1329

01:48:14,464  -->  01:48:16,768
immediate effectiveness variable

1330

01:48:17,536  -->  01:48:20,096
it can be

1331

01:48:22,144  -->  01:48:25,984
Actual acceleration monitoring maybe

1332

01:48:26,752  -->  01:48:32,896
Or maximum velocity as maximum. Okay

1333

01:48:33,920  -->  01:48:35,712
let say

1334

01:48:36,736  -->  01:48:38,272
22

1335

01:48:38,784  -->  01:48:39,808
Thousands

1336

01:48:40,064  -->  01:48:42,368
You'll see the orange color

1337

01:48:45,696  -->  01:48:46,464
Yep

1338

01:48:48,768  -->  01:48:49,792
So

1339

01:48:50,048  -->  01:48:52,608
I want to set the modulo

1340

01:48:53,120  -->  01:48:56,448
I want to change the length

1341

01:48:59,520  -->  01:49:02,592
2000 start value

1342

01:49:02,848  -->  01:49:05,152
-2000

1343

01:49:05,408  -->  01:49:07,968
State be active

1344

01:49:09,504  -->  01:49:12,832
So when I press the

1345

01:49:13,088  -->  01:49:14,368
Activate

1346

01:49:26,144  -->  01:49:32,288
You see here a message and alarm information axis master

1347

01:49:32,544  -->  01:49:36,128
a restart is required to activate the config data

1348

01:49:37,664  -->  01:49:43,040
At this point it is possible to detect

1349

01:49:43,296  -->  01:49:47,392
When user goes here and do some changes

1350

01:49:47,904  -->  01:49:54,048
Set the background I can check in my user program if it is required

1351

01:49:54,304  -->  01:49:55,840
The restart of axis

1352

01:49:56,864  -->  01:50:03,008
We are able to get ID number of alarm number in my user program

1353

01:50:04,032  -->  01:50:08,896
When I hit that button activates your restartt

1354

01:50:11,200  -->  01:50:12,736
you see here

1355

01:50:12,992  -->  01:50:18,880
The color is white background and current value of configuration. data

1356

01:50:19,136  -->  01:50:20,672
The changed

1357

01:50:23,488  -->  01:50:24,512
Yep.

1358

01:50:24,768  -->  01:50:29,376
Couple of mili seconds at this case

1359

01:50:32,448  -->  01:50:38,592
So let's check on Mechanic screen

1360

01:50:38,848  -->  01:50:39,616
now we see it is effective

1361

01:50:44,992  -->  01:50:48,576
we did this with my hands

1362

01:50:48,832  -->  01:50:50,368
In the real machine

1363

01:50:50,880  -->  01:50:57,024
Sometimes it's required to activate Modulo and the activity so

1364

01:50:57,280  -->  01:51:03,424
You have to program your function to take care of this procedure

1365

01:51:05,472  -->  01:51:06,240
Yep

1366

01:51:08,800  -->  01:51:14,944
So now what will happen if I go in offline mode?

1367

01:51:25,952  -->  01:51:32,096
you will see here the old values before I did not do load to PG procedure so

1368

01:51:34,144  -->  01:51:38,496
What would happen if I download my project again

1369

01:51:38,752  -->  01:51:40,032
to Real system

1370

01:51:46,176  -->  01:51:47,200
Let's try

1371

01:51:59,488  -->  01:52:02,048
You see here the same values

1372

01:52:02,304  -->  01:52:06,144
last current settings is off active

1373

01:52:06,912  -->  01:52:10,496
Let's try to stop and restart CPU

1374

01:52:11,776  -->  01:52:12,800
Stop

1375

01:52:16,384  -->  01:52:17,920
Restart it

1376

01:52:22,784  -->  01:52:26,624
and last values

1377

01:52:26,880  -->  01:52:28,672
Still there

1378

01:52:28,928  -->  01:52:30,720
It wasn't initialized

1379

01:52:31,744  -->  01:52:33,536
Let's try this

1380

01:52:34,304  -->  01:52:37,120
Power on off and reset

1381

01:52:39,936  -->  01:52:41,216
Yes.

1382

01:52:43,776  -->  01:52:48,128
Simulation did the power on procedure that's why you go offline

1383

01:52:49,152  -->  01:52:50,944
Let's go online again

1384

01:53:02,464  -->  01:53:07,584
So I didn't use the copy ram 2 rom function

1385

01:53:07,840  -->  01:53:13,984
That's why off the power off and on I lost the project data let's download again

1386

01:53:25,760  -->  01:53:27,296
It takes

1387

01:53:27,552  -->  01:53:29,088
A few minutes

1388

01:53:49,312  -->  01:53:51,872
You are configuring value

1389

01:53:53,664  -->  01:53:59,552
it Is back to project setting so don't forget to load your online configuration

1390

01:54:00,064  -->  01:54:03,648
to Your system it's important

1391

01:54:08,512  -->  01:54:11,840
So let's continue

1392

01:54:16,448  -->  01:54:22,592
Programming traversing that means using different kind of motion comments

1393

01:54:23,616  -->  01:54:29,760
to make sequence and step program for axis motion control you see here

1394

01:54:31,808  -->  01:54:34,624
The possible MC command

1395

01:54:34,880  -->  01:54:38,208
Continue enable disable axis

1396

01:54:39,488  -->  01:54:40,768
home move pos stop

1397

01:54:45,888  -->  01:54:48,704
In structure text

1398

01:54:49,216  -->  01:54:54,592
MC Command looks like this that are some input

1399

01:54:54,848  -->  01:54:59,712
inout and output variables need to be connected

1400

01:55:00,992  -->  01:55:03,808
As available or as reference

1401

01:55:04,064  -->  01:55:05,856
First

1402

01:55:06,112  -->  01:55:09,184
you need to describe your to axis

1403

01:55:09,440  -->  01:55:11,488
Direction or velocity

1404

01:55:11,744  -->  01:55:13,024
and so on...

1405

01:55:14,816  -->  01:55:20,960
And there's an Return of the command

1406

01:55:22,752  -->  01:55:28,640
This is the dynamic response section there are several parameters for

1407

01:55:28,896  -->  01:55:30,944
Acceleration deceleration jerk

1408

01:55:34,016  -->  01:55:37,856
Is some parameters for execution control

1409

01:55:39,136  -->  01:55:41,440
delay or

1410

01:55:41,696  -->  01:55:43,488
For transition

1411

01:55:44,768  -->  01:55:49,632
and command ID reader used for identification

1412

01:55:50,144  -->  01:55:53,984
System has a function named

1413

01:55:54,240  -->  01:56:00,384
Gets command ID or set command ID during runtime there is some double word

1414

01:56:02,432  -->  01:56:03,456
variable

1415

01:56:06,272  -->  01:56:08,064
when you execute

1416

01:56:08,320  -->  01:56:11,136
new motion command a new ID regenerated

1417

01:56:13,440  -->  01:56:14,464
So

1418

01:56:14,720  -->  01:56:20,864
You can check that way if your motion command is executed

1419

01:56:21,120  -->  01:56:27,008
Or cancelled or it's done or if is there is some error

1420

01:56:28,032  -->  01:56:32,896
this case it is possible to program

1421

01:56:33,152  -->  01:56:36,480
In backgrounds

1422

01:56:38,528  -->  01:56:42,112
motion buffer of an axis

1423

01:56:46,464  -->  01:56:51,072
This is the main logic all the axis TO works

1424

01:56:51,584  -->  01:56:53,888
with motion buffer queue

1425

01:57:02,592  -->  01:57:08,224
So we have already talked about the behavior transmission of motion comments

1426

01:57:21,280  -->  01:57:24,608
You see more detailed information

1427

01:57:25,120  -->  01:57:30,240
As graphically what will happen when we use superimpose

1428

01:57:31,520  -->  01:57:32,800
or for

1429

01:57:33,056  -->  01:57:35,616
The other choices

1430

01:57:36,896  -->  01:57:40,480
Settings for delay program execution

1431

01:57:44,576  -->  01:57:48,416
Yeah it's possible to use command tracking

1432

01:57:48,672  -->  01:57:50,720
with command id

1433

01:57:54,816  -->  01:58:00,960
There's a system function get state of axis command it returns an

1434

01:58:01,216  -->  01:58:03,008
enumeration variable there is another command for 

1435

01:58:03,264  -->  01:58:08,128
get motion state of axes commands

1436

01:58:08,640  -->  01:58:11,968
So that way we can program

1437

01:58:12,480  -->  01:58:14,528
Cyclic programs

1438

01:58:15,808  -->  01:58:18,112
We don't have to use motion tasks

1439

01:58:20,928  -->  01:58:22,976
and We can check

1440

01:58:23,488  -->  01:58:29,632
If our Command is executed or is in motion buffer queue or it's

1441

01:58:29,888  -->  01:58:35,008
Canceled by the user or its substituted by

1442

01:58:35,264  -->  01:58:39,616
Any other new command is possible to track

1443

01:58:40,896  -->  01:58:44,480
command via command id.

1444

01:58:48,576  -->  01:58:50,880
so there is a return value

1445

01:58:51,904  -->  01:58:58,048
there active or Existent

1446

01:58:58,816  -->  01:59:02,656
not active or executed or aborted depends type of axis, you see here

1447

01:59:08,288  -->  01:59:13,408
And buffering and deleting the comment In the TO is also possible

1448

01:59:13,920  -->  01:59:16,224
With other system commands

1449

01:59:22,624  -->  01:59:28,512
for evaluation of the motion status with command ID

1450

01:59:29,024  -->  01:59:30,560
You would use here

1451

01:59:31,072  -->  01:59:33,632
Get Motion state of axis commands

1452

01:59:34,400  -->  01:59:39,008
There are several return reviews not existence

1453

01:59:39,264  -->  01:59:41,568
That means commadn ID is wrong

1454

01:59:41,824  -->  01:59:43,616
At least not now

1455

01:59:43,872  -->  01:59:47,200
Buffer in execution

1456

01:59:47,712  -->  01:59:49,504
In acceleration

1457

01:59:49,760  -->  01:59:51,296
in deceleration

1458

01:59:52,576  -->  01:59:57,184
Axis homed or axis synchronize or interpolation.done

1459

01:59:57,952  -->  02:00:03,328
For positioning comments for instance for homming comments for instance

1460

02:00:03,840  -->  02:00:09,984
For move commands for instance

1461

02:00:10,240  -->  02:00:11,520
state of current

1462

02:00:12,032  -->  02:00:13,312
Motion command

1463

02:00:13,568  -->  02:00:19,200
Then this is the another way more advanced way to use

1464

02:00:20,224  -->  02:00:24,320
To program sequence of motion

1465

02:00:25,600  -->  02:00:29,184
Than like in MCC

1466

02:00:29,696  -->  02:00:31,488
You don't have to

1467

02:00:32,512  -->  02:00:38,144
Use acyclically the program execution for instance

1468

02:00:39,680  -->  02:00:43,776
This way is so much easier

1469

02:00:44,544  -->  02:00:48,128
As usual you're just selecting here

1470

02:00:49,664  -->  02:00:53,760
in other way you have to use your comments here

1471

02:00:54,016  -->  02:00:55,040
For instance

1472

02:00:55,296  -->  02:00:58,880
Do you need to create another MCC

1473

02:00:59,904  -->  02:01:06,048
asisgn Another Motion task or you need to create A ST program or ladder program whatever

1474

02:01:06,304  -->  02:01:07,584
in Your background tasks

1475

02:01:07,840  -->  02:01:13,984
You have to use this comments to track your account ID for detect

1476

02:01:15,008  -->  02:01:16,288
It is

1477

02:01:17,056  -->  02:01:19,872
In execution or

1478

02:01:20,128  -->  02:01:25,760
Your axis is in the deceleration and it takes longer time

1479

02:01:26,016  -->  02:01:30,624
when you compare but this is a cyclic programming so

1480

02:01:31,136  -->  02:01:33,440
This has

1481

02:01:34,464  -->  02:01:36,512
Some advantages

1482

02:01:43,680  -->  02:01:45,472
Yep.

1483

02:01:48,544  -->  02:01:54,688
Evolution of motion status with system variables you see here the system variable

1484

02:01:54,944  -->  02:01:56,480
motion state data dat

1485

02:01:56,736  -->  02:01:58,016
motion state

1486

02:02:00,320  -->  02:02:06,464
And it's the blue curve is for trapezoidal motion profile

1487

02:02:06,720  -->  02:02:10,560
And the other one needs

1488

02:02:11,072  -->  02:02:17,216
Smooth s curvce accelerated started here

1489

02:02:20,544  -->  02:02:21,824
you see

1490

02:02:22,848  -->  02:02:24,384
constant move

1491

02:02:24,896  -->  02:02:26,176
This here

1492

02:02:26,432  -->  02:02:30,272
decelerated started at this point

1493

02:02:31,808  -->  02:02:36,416
and end of interpolation

1494

02:02:37,440  -->  02:02:41,024
at this area and motion done

1495

02:02:41,536  -->  02:02:43,328
From this point

1496

02:02:43,840  -->  02:02:47,680
We have already tried in the trace diagram

1497

02:02:48,448  -->  02:02:50,240
and you see the difference

1498

02:02:52,032  -->  02:02:57,408
For stopping an axis that are several options we talked about

1499

02:02:59,456  -->  02:03:05,344
For emergency stop there is another commands stop that are some

1500

02:03:05,600  -->  02:03:11,744
Options stop in different time or stop with maximum acceleration

1501

02:03:12,000  -->  02:03:13,024
deceleration

1502

02:03:13,536  -->  02:03:14,560
And so on

1503

02:03:15,328  -->  02:03:21,472
Resuming a stop-motion to last it is possible

1504

02:03:21,728  -->  02:03:24,800
with continiue to your comment

1505

02:03:26,848  -->  02:03:32,480
Setting and shifting coordinate system or axis position

1506

02:03:32,736  -->  02:03:35,040
Redefine is possible

1507

02:03:36,064  -->  02:03:40,160
During running even axis

1508

02:03:40,416  -->  02:03:44,512
Rotating reset axis to you

1509

02:03:45,024  -->  02:03:50,400
With this command is possible to activate configuration data

1510

02:03:51,424  -->  02:03:54,496
It's possible to activate

1511

02:03:54,752  -->  02:03:56,288
TO restart

1512

02:03:58,592  -->  02:03:59,872
So...

1513

02:04:02,176  -->  02:04:08,320
If that's what you can change your config data in MCC program or insert

1514

02:04:08,576  -->  02:04:09,856
structure text

1515

02:04:13,952  -->  02:04:20,096
Reset axis error acknowledge errors in axis to your when operator hits some

1516

02:04:20,352  -->  02:04:22,144
Reset button for instance

1517

02:04:26,240  -->  02:04:32,384
For reading out of Errors on axis to your there's another function get axis error state

1518

02:04:32,640  -->  02:04:35,968
You see here the structure

1519

02:04:36,480  -->  02:04:40,576
Return variable function results

1520

02:04:40,832  -->  02:04:43,904
error state and number of errors

1521

02:04:44,160  -->  02:04:48,512
parameters about error number 1 or error number 2 and so on

1522

02:04:49,280  -->  02:04:52,864
It is possible to get 8 different

1523

02:04:53,120  -->  02:04:57,472
error or alarm numbers at same time with this function

1524

02:04:58,496  -->  02:05:04,128
so get State yes or no number of errors

1525

02:05:08,736  -->  02:05:14,624
Enabling axis command, you'll see the parameters

1526

02:05:15,392  -->  02:05:16,928
Enable mode

1527

02:05:17,952  -->  02:05:23,072
in mcc is easy to do that you just

1528

02:05:25,120  -->  02:05:27,936
Use enable function and select

1529

02:05:29,216  -->  02:05:32,032
From Combo box whatever you want

1530

02:05:33,056  -->  02:05:34,080
Yep.

1531

02:05:37,152  -->  02:05:40,992
in ST language you have to

1532

02:05:41,760  -->  02:05:45,088
AsSign by writing in your keyboard

1533

02:05:49,440  -->  02:05:54,048
so For disabling axis the similar way

1534

02:05:58,144  -->  02:06:00,192
That's it for now

1535

02:06:03,776  -->  02:06:09,920
now we learn about technology objects axis and a little bit of drives

1536

02:06:10,176  -->  02:06:11,968
how do Connect to Drive site.

1537

02:06:15,808  -->  02:06:21,952
so Maybe you should follow the exercises in lecture notes and

1538

02:06:22,976  -->  02:06:25,280
For to understand

1539

02:06:26,304  -->  02:06:32,448
I recommend you to make some exercise and create your own program

1540

02:06:32,704  -->  02:06:35,776
and test it with simulation

1541

02:06:36,544  -->  02:06:40,640
After a couple of chapters in the next time

1542

02:06:40,896  -->  02:06:43,456
We will see us.

1543

02:06:43,712  -->  02:06:47,040
Some example projects with simotion

1544

02:06:47,296  -->  02:06:53,440
Running machines projects from running machines or process from real automation world

1545

02:06:56,512  -->  02:07:02,400
We will go into detail and examine how do we program The Machine

1546

02:07:07,264  -->  02:07:12,128
You may see the tips and tricks for better programming

1547

02:07:13,152  -->  02:07:14,688
For guidelines

1548

02:07:15,712  -->  02:07:21,856
And here if there's another chapter how to use lecture notes and exercises

1549

02:07:22,112  -->  02:07:25,696
Exercises if you're confused with

1550

02:07:25,952  -->  02:07:28,256
Exercises or lecture notes

1551

02:07:28,768  -->  02:07:30,816
I try to explain

1552

02:07:31,072  -->  02:07:32,864
How do we use

1553

02:07:33,888  -->  02:07:34,912
The Notes

1554

02:07:35,680  -->  02:07:41,824
so Step by step we will continue to learn the simotion together

1555

02:07:43,104  -->  02:07:44,640
I see you next time