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welcome my friends

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Another day another topic

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current chapter is 28

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and topic is camming in simotion

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with camming functions you are able to do different

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application

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So let's start

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On the contents of this topic are

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camming difference between gearing and camming

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making assignment the leading axis and cams

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Default settings

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 Master

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And slave relationship

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non-cyclic and cyclic processing of cam

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Enable disable offset

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Reference point selection for synchronization

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Set master point set scaling on Camming

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There are some examples in notes

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Monitoring functions during sync operation

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sync with velocity reduction

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Reporting a sync Operation error to leading access and so on...

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 let's start

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It's the first page you see here

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The relationship

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Of the sync operation to there's a master value there is a slave value

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 classical gearing function in simotion

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here the additional cam profiles to

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calculate The gear ratio time to time in IPO cycle

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Let's say our current gear ratio is

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Related to this profile

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will create an access with synchronous operation it is required

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to do Cam operation

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After that we make an assignment to leading axis select the set point or actual value

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How we have to set it?

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cams and interconnect them to sync operation

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Let's say

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At the last example i will Switch back to scout site

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You'll see here a MCC program for Axis Blue

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Axis Blue is our Master access at this case

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And let's say axis red

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axis red is our slave axis

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Before I go and use

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camming function in interconnection

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I have to say

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Which are possible cams

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Interconnected

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by Scout let's say 1 2 3

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I'm in runtime I can say I'm going to use the cam 2

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with cam on function later on

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So

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Next page

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Settings for sync Operation are the same

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Default settings are camming

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direction Master mode slave mode cam mode and the starting point

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cam for relative camming

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For enable camming  I need to use cam on

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And after that cam off function

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Let's go back to our

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Axis red control MCC program and insert our function here

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cam on

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our slave or following axis is blue sync of operation is this

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Our Master is cam red

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use cam 1 cam direction

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Should be positive

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evaluation of leading axis let's say relative

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and following axis relative processing

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cam processing Just for one cycle

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And after that

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i should enter parameters for sync phase

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Reference to the time

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Or leading aksis

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For the camming

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It's commonly used by leading axis is because we don't want to

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make A strange behavior on the slave

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You have to think about

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2 axes or independently rotatable but

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There's an imaginable a

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Camshaft or some mechanical Part between two axes

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If you want to

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Run

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Both of your axes with cam I think you should use sync with

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position based

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and standart of 

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Synchronization

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maybe should be sync immediately

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And after that I have to end of the length

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Starting point for relative camming it is position dependent

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For the first time practice let's select time based sync.

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And the starting point

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should be zero maybe.

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Direction...

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Maintain direction of following axes

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lets say it is positive

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and when i select time

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i have to enter dynamics response

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This the higher velocity is possible

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It's smooth

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i will enter constant values

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okay velocity maybe 15

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And this is the information message

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The cam one is answered as possible Master set point

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in the configuration

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of axis blue operation

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So I should set up the cam as my slave axis

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Who is my master? axis blue

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okay it was

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editor message with the new version of scout

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At the background interconnections are made by automatic

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I'm int the settings for the older versions We have to do it by manual

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ourselves

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So I need to use another available for cam on

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GBO CAM ON

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In my program red axis control

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red axis is controlled and cam on

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and for

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Next Step

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Why would you cam off function?

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following axis is red

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sync reference maybe time based again

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And position immediately

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It's possible to use following axis value

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then you need to enter the reference points for the sync

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and following axis position

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You may select at end of the cam cycle

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Maintain the direction od following axis the same way

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reference Point for the desync position

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You'll set here the dynamic response because we're setting time

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Maybe it's a little bit higher velocity

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smooth profile same constant value

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And okay

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Another if branch

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with cam off bit

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there are some

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Error message about

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type conflict expression example of position reference

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real to ENUM is not possible

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When I double-clicked I couldn't see the location because MCC is already open then

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close And click again

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Maybe no not possible again

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Then I have to go to right click the MCC unit organized

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compile it again and see the same message after I double click

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I'm able to go to location of the error

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sync of position reference should be ENUM

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Let's say after sync position

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Let's continiue with notes

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I don't use delay program execution at this case just for testing

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so evaluation a master and slave as absolute

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non cyclic processing that means only one profile will be executed

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Absolute camming for both sides it depends on the

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axis zero points at the current action position value of

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Both of axes

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This is the start and end point for sync

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You'll see here length of sync given by user

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green curve

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These are cam profile

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And the red curve is actual slave position

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we assumed right now our master

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velocity is constant and our master

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Position

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it's Rising

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as you can see Start of synchronization parameters selected at leading axis position

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Let's say

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at here some point

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Because the reference point from sync position selected

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There is some kind of delay

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The movements maybe the command executed at this point at this point

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your Synchronization started here

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and Finally

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At this point your sync to your Master axis with this cam profile

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so It's case you lost some position here

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Maybe it is crucial for application that's why maybe you should

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Use to before from synchronizing position

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At the leading axis position or 

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You have to synchronize before start of the movement of your Master axis

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Maybe you should do the sync while your Master axis is

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Standstill

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It depends on your application of course

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so with noncyclic cam processing and processed only once

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with Leading access after your profile finished

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The slave position

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Is should be

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same Constant velocity

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and What happens

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After your profile finished

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You're running as absolute

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From here you will see

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The

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Master axis master pos

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at Horizontal

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and Has vertical here the slave pos

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You should think about what would happen

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If your master pos is already

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100mm as actual pos for instance

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then you executed your cam and master pos is rising

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Your range is here

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And master actual position is out of range and the set point for slave

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Position is this value

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When you use cam off function and its Constant it is case

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A similar on the negative side

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If your master actual value is lower than 0mm

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Then

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Your set point for slave position according to this cam profile and should be

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10mm for instance constant

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If you are running as absolute

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for relative synchronization

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Your access zero is not so important

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Start points

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Used as your reference zero.

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so That's why it's important to try with different parameters

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There are so many possibilities to do

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The synchronization

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there are Different parameters for cover all of the applications

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required  by

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Machine or customer needs

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For another case

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evaluation Master as absolute and slave as relative

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You see here the relation between Green curve

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as cam profile and red curve as slave position

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It just looks like there's an offset

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For slave position

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Maybe

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So slave position most by a precise difference between in Y coordinates

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The beginning and the end

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Syncronization parameters are the same before as before

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and Only one difference is following axis as relative

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so After the cam on command executed the actual position of

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slave axis used as access point or axis home points

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you think.

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On the next case Master is relative

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slave is absolute

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And after you executed cam on comments

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The master position actual position maybe 100 mm is used

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zero point for the cam

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Your slave point

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Used

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Or considered as absolute position

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So at this list it looks like there is an offset

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for the Horizontal axis

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Start position of cam x coordinate is set equal to Leading access position at the

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Time of starting Syncronization task

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if the following setting is immediately 

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With the setting start of synchronization at leading access position plus offset

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is set equal to leading axis position.

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So it's also some influence in our

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Synchronization settings because

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With consider the master as relative so

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here the relationship on the master axis

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Master relative mode must be selected if after one Cam cycle has been completed

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You want the system the Syncronization as with the nature of the basis of

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Syncronization condition at end of the cam cycle

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and the last case master is relative and slave is relative

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You'll see with the blue

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Interval or arrows

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There are some offset in our both of axes in Y direction

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And the X Direction

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So with these settings

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Interpreted for a cam

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The start position of Cam in X Direction set equal to leading axis position at time

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Starting of synchronization task

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If the following axis selected Syncronization immediately

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With the setting start of synchronization with offset

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It set equal

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Leading axis position entered

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So difference

265

00:25:27,040  -->  00:25:28,064
Behavior

266

00:25:28,320  -->  00:25:34,464
The start position of Cam in Y coordinate is set to equal to following axis position at the time of

267

00:25:34,720  -->  00:25:38,816
Starting the synchronization task

268

00:25:40,096  -->  00:25:42,656
so next page

269

00:25:44,448  -->  00:25:47,520
Three different type of processing

270

00:25:47,776  -->  00:25:50,848
non cyclic processing here

271

00:25:51,872  -->  00:25:57,248
You should think about all both of our axes as absolute

272

00:25:58,784  -->  00:26:02,112
and our cam profile

273

00:26:02,368  -->  00:26:04,672
Just for one cycle

274

00:26:05,184  -->  00:26:06,720
Executed

275

00:26:08,000  -->  00:26:11,072
cyclic absolute

276

00:26:14,144  -->  00:26:17,728
you see here one cycle finished

277

00:26:18,240  -->  00:26:24,384
but At the start and at the end of the cam profile you see here

278

00:26:25,664  -->  00:26:31,808
For the setpoint position of slave Axis or different

279

00:26:32,064  -->  00:26:33,600
so thats why there is a jump

280

00:26:35,648  -->  00:26:41,792
And after that are cam processing still continuous

281

00:26:48,448  -->  00:26:52,800
And if you select the cyclic relative

282

00:26:54,592  -->  00:26:59,712
We will consider the following Axis or slave as relative

283

00:27:00,224  -->  00:27:04,832
At this case master position is still Rising

284

00:27:06,112  -->  00:27:10,976
And it's going to process

285

00:27:11,232  -->  00:27:14,560
In the next cycle on and the next cycle and next cycle

286

00:27:15,840  -->  00:27:18,144
but you see the difference here

287

00:27:18,656  -->  00:27:23,520
Set points shifted

288

00:27:24,544  -->  00:27:27,104
For our slave position

289

00:27:27,360  -->  00:27:29,920
So at this case

290

00:27:30,688  -->  00:27:33,504
cam to Continue is

291

00:27:34,016  -->  00:27:36,064
still Possible

292

00:27:37,344  -->  00:27:42,720
That's why before the we creat a cam

293

00:27:43,488  -->  00:27:46,560
Or interpolation setting we select

294

00:27:46,816  -->  00:27:50,912
Which way we are going to use the cam profile

295

00:27:51,168  -->  00:27:56,032
so if you'r Going to use the same as cyclic absolute

296

00:27:56,544  -->  00:28:02,688
At this case at the beginning and the at the end point of the cam profile

297

00:28:03,456  -->  00:28:05,760
Automatic the interpolated

298

00:28:07,296  -->  00:28:13,440
If the select create cam with cyclic attitudes or interpolate cam with cyclic absolute

299

00:28:19,584  -->  00:28:25,728
Yes next page enable Camming in

300

00:28:25,984  -->  00:28:29,056
MCC program synchronisation tab

301

00:28:29,312  -->  00:28:31,872
And example

302

00:28:32,128  -->  00:28:36,224
Reference selected as leading axis

303

00:28:37,760  -->  00:28:40,576
From synchronization position

304

00:28:41,088  -->  00:28:47,232
and lengths answers 100 mm leading axis position 200mm shortest path

305

00:28:53,120  -->  00:28:59,264
About time related synchronisation here you see blue dashed curve

306

00:28:59,520  -->  00:29:02,336
 constant speed

307

00:29:05,152  -->  00:29:11,296
The Greee curve is cam profile slave position is reddish

308

00:29:16,416  -->  00:29:22,560
And all parameters for cam on command leading axis Syncronization

309

00:29:22,816  -->  00:29:24,864
 profile

310

00:29:25,888  -->  00:29:27,424
length entered

311

00:29:28,704  -->  00:29:31,776
Position is clearly defined

312

00:29:32,544  -->  00:29:34,336
Dynamic parameters

313

00:29:35,104  -->  00:29:37,152
are not active

314

00:29:38,176  -->  00:29:44,320
If I choose to use time-related Syncronization profile I have answered dynamic parameters

315

00:29:47,136  -->  00:29:53,280
But the Syncronization position is of course difficult to determine

316

00:29:53,536  -->  00:29:55,328
it depend our settings

317

00:29:56,864  -->  00:30:03,008
so Maybe the system will finish to synchronize at this point of cam profile

318

00:30:03,776  -->  00:30:09,920
Or maybe it should be Syncronization at this point it depends on your setting

319

00:30:28,864  -->  00:30:35,008
leading axis Synchronisation it's not allowed to reverse

320

00:30:35,264  -->  00:30:39,616
Synchronization procedure

321

00:30:39,872  -->  00:30:42,688
otherwise aborted It's an error message

322

00:30:46,528  -->  00:30:51,136
next page start of synchronization

323

00:30:52,928  -->  00:30:58,048
You should come once or come with executed Start points and points

324

00:30:58,304  -->  00:31:01,120
immediately with offset setting

325

00:31:02,656  -->  00:31:07,264
And leading access position plus offset

326

00:31:09,568  -->  00:31:14,176
here or Master position at the Slave position

327

00:31:16,480  -->  00:31:19,040
When you enter and offsets

328

00:31:19,552  -->  00:31:25,696
and Signs your cam curve for slave set point is shifted on your

329

00:31:25,952  -->  00:31:27,488
Y axis

330

00:31:36,704  -->  00:31:42,848
I'm setting reference point for Syncronization that are three option before

331

00:31:43,104  -->  00:31:45,664
Position symmetrically

332

00:31:45,920  -->  00:31:47,968
from position

333

00:31:51,808  -->  00:31:55,648
So this is your leading axes position

334

00:32:00,512  -->  00:32:06,144
there are 3 Different red colored curves

335

00:32:08,960  -->  00:32:10,496
at this picture

336

00:32:10,752  -->  00:32:14,848
when you select Before synchronization position you are sure

337

00:32:15,104  -->  00:32:20,992
At this point your slave axis is Syncronization to your Master axis

338

00:32:22,272  -->  00:32:26,624
Of course you can shift also left or right

339

00:32:28,160  -->  00:32:34,304
You're leading axes position maybe you should set it at the beginning of your cam profile

340

00:32:37,632  -->  00:32:42,240
so if you select Synchronize symetrically

341

00:32:45,312  -->  00:32:48,128
You can see it this red curve

342

00:32:49,152  -->  00:32:53,248
At this point leading access position

343

00:32:53,760  -->  00:32:57,344
It's in the middle of your symmetrical

344

00:32:57,856  -->  00:33:00,672
and you Syncronization here

345

00:33:02,464  -->  00:33:08,608
The last setting from Syncronization position your movement of

346

00:33:08,864  -->  00:33:15,008
slave axes will be started at this reference Syncronization position

347

00:33:15,264  -->  00:33:18,336
And after the length

348

00:33:19,616  -->  00:33:21,408
Your slave axis

349

00:33:21,664  -->  00:33:22,432
State is

350

00:33:23,200  -->  00:33:25,248
Syncronized

351

00:33:30,368  -->  00:33:36,000
It is possible to set an offset for cam starting points

352

00:33:39,840  -->  00:33:44,960
So you see here the settings are leading axis relative

353

00:33:45,216  -->  00:33:47,008
following axis is Absolute

354

00:33:49,056  -->  00:33:54,176
Start of synchronization at leading axis position

355

00:33:56,480  -->  00:34:00,064
Reference point from sync position

356

00:34:02,624  -->  00:34:08,768
your slave axis at this case inn some value at the minus range

357

00:34:10,816  -->  00:34:14,912
Leading axis position here

358

00:34:15,936  -->  00:34:17,472
and the offset

359

00:34:17,728  -->  00:34:19,520
for cam Starting point

360

00:34:20,032  -->  00:34:22,592
at the left Direction here

361

00:34:27,456  -->  00:34:30,528
and now when use cam relative

362

00:34:31,040  -->  00:34:32,576
You see here

363

00:34:33,344  -->  00:34:36,672
The green curve as cam profile

364

00:34:38,464  -->  00:34:41,024
Is shifted by offset

365

00:34:41,792  -->  00:34:43,328
On the leftsite

366

00:34:48,192  -->  00:34:53,824
dynamics response settings for enable camming you have already checked

367

00:34:55,104  -->  00:34:59,456
and the last tab for expert for enable camming comments

368

00:35:00,480  -->  00:35:03,552
able to give command ID for

369

00:35:04,576  -->  00:35:10,720
Maybe the return value of set master set point on Camming on

370

00:35:11,744  -->  00:35:14,560
You can track with other comments

371

00:35:18,144  -->  00:35:24,288
I'm for disabled camming that are similar for my test need to be entered

372

00:35:24,544  -->  00:35:26,080
by User

373

00:35:28,128  -->  00:35:30,176
Reference

374

00:35:30,944  -->  00:35:32,224
Position

375

00:35:32,736  -->  00:35:35,296
DeSyncronization position

376

00:35:35,808  -->  00:35:39,136
length Direction and So on...

377

00:35:41,440  -->  00:35:47,584
enabling command looks like this in structured

378

00:35:47,840  -->  00:35:48,864
Text

379

00:35:52,960  -->  00:35:58,336
Disabling comments it's looks like this

380

00:35:59,616  -->  00:36:05,760
and for gearing also used set master set point Commons

381

00:36:07,040  -->  00:36:11,136
Master value for the following axes

382

00:36:11,392  -->  00:36:14,208
And the transition Behavior

383

00:36:14,720  -->  00:36:19,072
will be the programmable Dynamic values should be a smooth transition

384

00:36:20,864  -->  00:36:25,984
It's direct there might be some jumps

385

00:36:26,240  -->  00:36:29,312
On your position or velocity

386

00:36:31,104  -->  00:36:36,992
and another comment set scaling on camming

387

00:36:38,016  -->  00:36:42,624
This function scale of the master of slave range

388

00:36:42,880  -->  00:36:44,928
relative cam

389

00:36:45,952  -->  00:36:52,096
parameter can be used to define the time when scaling is to be applied

390

00:36:52,608  -->  00:36:58,752
this cam or Next cam weather selection function affect just active cam

391

00:36:59,008  -->  00:37:02,080
or Subsequent commands

392

00:37:02,592  -->  00:37:08,736
scaling Operation that act on the active command as well as scaling operation

393

00:37:08,992  -->  00:37:15,136
But that also stored and act on the subsequent command can be read from

394

00:37:15,392  -->  00:37:18,720
camming Adjustment system variable

395

00:37:19,744  -->  00:37:25,888
Sometimes there is a requirement to set an offset and cam

396

00:37:26,144  -->  00:37:28,704
during system is running

397

00:37:29,216  -->  00:37:31,776
correct something

398

00:37:32,544  -->  00:37:34,592
On your machine

399

00:37:38,944  -->  00:37:43,296
Next page

400

00:37:44,064  -->  00:37:49,184
Examples to understand whether the set on Syncronization is object

401

00:37:49,952  -->  00:37:52,768
So when was set it

402

00:37:53,024  -->  00:37:55,328
It's next cycle

403

00:37:55,584  -->  00:37:57,632
And set scale comments

404

00:37:57,888  -->  00:37:59,936
Is executed here

405

00:38:01,472  -->  00:38:03,264
For the slave axis

406

00:38:04,800  -->  00:38:09,408
You see your cycle processing cam

407

00:38:10,432  -->  00:38:14,016
There's a scaling for slave axis

408

00:38:14,272  -->  00:38:19,904
After the cam profile and and the next cycle

409

00:38:20,672  -->  00:38:23,232
you see with the blue curve

410

00:38:24,000  -->  00:38:28,864
Relationship between master and slave your comment is

411

00:38:29,376  -->  00:38:30,400
Active

412

00:38:31,424  -->  00:38:35,264
If you select immediately on active Command

413

00:38:36,032  -->  00:38:39,104
execute set scaling right this point

414

00:38:40,384  -->  00:38:46,528
And cam profile is activated and executed by scaling

415

00:38:47,552  -->  00:38:48,832
Immediately

416

00:38:51,648  -->  00:38:55,744
after any other enable Camming command executed

417

00:38:57,024  -->  00:39:03,168
Because of You selected on active come with only and the next time scaling is

418

00:39:03,424  -->  00:39:04,704
Ignored

419

00:39:05,984  -->  00:39:09,056
And the last setting is

420

00:39:09,312  -->  00:39:14,688
On active comments and the following comments with immediately means

421

00:39:14,944  -->  00:39:21,088
when you Execute your set scale command once it is active on your running cam

422

00:39:23,904  -->  00:39:27,488
This cycle and next cycle

423

00:39:27,744  -->  00:39:33,120
and after you reenable or reused again the camming command

424

00:39:33,376  -->  00:39:36,704
You're see it's always

425

00:39:36,960  -->  00:39:40,032
active with following comments

426

00:39:41,824  -->  00:39:45,920
You can see and monitor

427

00:39:46,176  -->  00:39:47,712
The currentstate under camming adjustment

428

00:39:47,968  -->  00:39:51,808
master scale

429

00:39:52,576  -->  00:39:54,112
Slave scale

430

00:39:59,488  -->  00:40:03,328
Set offset on camming

431

00:40:03,840  -->  00:40:07,680
You just enter here your following axes

432

00:40:10,240  -->  00:40:15,360
and range slave or master range

433

00:40:15,872  -->  00:40:17,664
enter the offsets

434

00:40:18,176  -->  00:40:21,248
You select the mode absolute or relative

435

00:40:21,504  -->  00:40:27,648
At the command will be effective immediately or at the end of the next cycle

436

00:40:33,536  -->  00:40:39,680
There are some examples about scaling and offset on Syncronization objects

437

00:40:44,544  -->  00:40:49,408
It is possible to make your scale with

438

00:40:50,176  -->  00:40:53,504
coefficients or factor 2.0

439

00:40:54,784  -->  00:40:59,904
On the master leading axis your see your cam profile is

440

00:41:00,416  -->  00:41:02,464
Adjusted and scaled

441

00:41:03,232  -->  00:41:05,792
Another

442

00:41:06,560  -->  00:41:12,704
Example you see the scale with Factor 2.0 on slave range

443

00:41:17,568  -->  00:41:22,176
This is on the left side are origin of Cam profile

444

00:41:22,688  -->  00:41:26,016
And at this case we are running with

445

00:41:26,784  -->  00:41:29,344
Cyclic slave cam

446

00:41:31,136  -->  00:41:33,184
As relative

447

00:41:34,208  -->  00:41:37,280
There's a compensated motion here

448

00:41:39,328  -->  00:41:45,472
For instance we executed are offset common for slave range with 20 mm

449

00:41:45,728  -->  00:41:50,336
It's offset to up on the slave Range

450

00:41:51,360  -->  00:41:55,711
If you use offset command for the master range

451

00:41:55,967  -->  00:41:56,735
with

452

00:41:56,991  -->  00:42:03,135
20 mm There's a compensating motion

453

00:42:03,647  -->  00:42:05,951
On the leading site

454

00:42:14,655  -->  00:42:19,519
There are some monitoring functions during Syncronization operation

455

00:42:22,079  -->  00:42:28,223
Here at this picture will see sync TO leading access and following

456

00:42:28,479  -->  00:42:29,503
axis

457

00:42:39,743  -->  00:42:45,887
so there are some parameters like current master.

458

00:42:47,423  -->  00:42:49,471
data value current slave data value

459

00:42:49,727  -->  00:42:52,543
That you see here the relationship

460

00:42:53,055  -->  00:42:56,639
Between two objects during system running

461

00:43:01,759  -->  00:43:05,343
Sometimes at the following axis

462

00:43:05,599  -->  00:43:09,183
Some error may occur like alarm

463

00:43:10,207  -->  00:43:16,351
40201 Syncronization Operation tolerance exceeded on gear axis

464

00:43:17,887  -->  00:43:19,167
That means

465

00:43:19,679  -->  00:43:23,519
current slave data value

466

00:43:23,775  -->  00:43:26,079
Is greater than

467

00:43:26,335  -->  00:43:30,175
gearing pos tolereance command value tol.

468

00:43:30,943  -->  00:43:33,503
It depends on your cam profile

469

00:43:35,295  -->  00:43:37,599
Or other Chase

470

00:43:37,855  -->  00:43:43,999
40202 Dynamic response of the Syncronization op setpoints

471

00:43:44,255  -->  00:43:50,399
can not be achieved that means

472

00:43:50,655  -->  00:43:52,191
current slave data value is 

473

00:43:53,727  -->  00:43:58,847
Greater than maximum velocity of the following axes

474

00:44:03,967  -->  00:44:05,503
Yep

475

00:44:06,783  -->  00:44:11,391
I'm the Syncronization Operation to controls

476

00:44:12,671  -->  00:44:13,951
The phase

477

00:44:16,511  -->  00:44:19,071
There's a system variable

478

00:44:19,839  -->  00:44:21,887
gearingpostolerance

479

00:44:22,655  -->  00:44:26,495
Enable error reporting

480

00:44:28,287  -->  00:44:34,431
If it is selected properly than another alarm will be triggered on

481

00:44:34,687  -->  00:44:36,223
leading axis

482

00:44:36,991  -->  00:44:40,831
error triggered on slave during Syncronization operation

483

00:44:43,903  -->  00:44:50,047
Add some case it is good to know during your machine running Syncronization several

484

00:44:50,303  -->  00:44:51,583
Axis

485

00:44:51,839  -->  00:44:57,983
Maybe there is a failure occurred in your following axis so

486

00:44:58,239  -->  00:45:00,031
Syncronization

487

00:45:00,799  -->  00:45:02,335
Operation to 

488

00:45:03,103  -->  00:45:04,639
Is possible to

489

00:45:04,895  -->  00:45:08,991
Control leading axis and trigger an alarm

490

00:45:10,783  -->  00:45:16,927
On the other hand if you close these Diagnostics or select the other way

491

00:45:17,183  -->  00:45:23,327
You'll have to write your own program to control all of the axis during your

492

00:45:23,583  -->  00:45:27,935
Synchronization or sync of operation

493

00:45:34,079  -->  00:45:37,919
You can select Monitor and function

494

00:45:38,687  -->  00:45:43,039
Syncronization operation of Axes

495

00:45:52,511  -->  00:45:55,071
That are some parmenters here

496

00:45:58,655  -->  00:46:03,775
Activate setpoint monitoring without jerk

497

00:46:05,055  -->  00:46:07,359
Setpoint tolerance

498

00:46:08,383  -->  00:46:11,711
Activate actually monitoring yes or no

499

00:46:12,223  -->  00:46:14,271
Report error to master

500

00:46:14,527  -->  00:46:15,551
Set points

501

00:46:16,063  -->  00:46:17,343
actual points

502

00:46:17,855  -->  00:46:20,927
all errors or no

503

00:46:30,143  -->  00:46:34,495
If you're faced with this kind of errors

504

00:46:35,007  -->  00:46:36,287
For example

505

00:46:37,055  -->  00:46:43,199
error 40201 Syncronization operation monitoring

506

00:46:43,455  -->  00:46:49,599
Dialog box can be used to enable setpoint monitoring

507

00:46:50,623  -->  00:46:56,767
At the end of the synchronization procedure calculate by the Syncronization operation to

508

00:46:57,023  -->  00:47:02,911
sync state said yes and configured operation and function enabled

509

00:47:03,935  -->  00:47:10,079
axes reports in dynamic responsible

510

00:47:10,335  -->  00:47:15,711
setpoint operation can not here set

511

00:47:23,903  -->  00:47:29,279
The response to this are also depends on the configuration of course

512

00:47:30,559  -->  00:47:34,655
And the next error 40110

513

00:47:36,191  -->  00:47:42,335
In addition you can make a setting to specify whether or not an error should be reported to the leading axis to

514

00:47:47,455  -->  00:47:48,223
Here

515

00:47:56,415  -->  00:48:02,559
This message is disabled no notifications is sent to leading master

516

00:48:04,351  -->  00:48:07,167
and leading axis carry on moving

517

00:48:07,423  -->  00:48:12,031
It's quite a place I want to go following access has been stopped

518

00:48:12,799  -->  00:48:16,383
So if the report error axis

519

00:48:17,151  -->  00:48:19,199
Function is enabled

520

00:48:19,455  -->  00:48:24,831
Syncronization Operation error report to the leading axis triggers an alarm

521

00:48:25,087  -->  00:48:26,879
error on slave

522

00:48:27,391  -->  00:48:31,999
The response to this also depends on your configuration

523

00:48:32,255  -->  00:48:37,119
and after that leading axis maybe stopped

524

00:48:39,423  -->  00:48:40,959
So next page

525

00:48:42,495  -->  00:48:47,871
Syncronization with velocity reduction

526

00:48:49,919  -->  00:48:54,271
Here you see the trace of the Scout system

527

00:48:56,319  -->  00:49:00,159
The orange curve here and the

528

00:49:00,415  -->  00:49:03,999
Y axis is actual Master position

529

00:49:09,631  -->  00:49:13,727
You will see here the Syncronization state is synchronized here

530

00:49:22,431  -->  00:49:27,295
There is brown axis the set point position of the slave

531

00:49:36,255  -->  00:49:40,095
You see here the slave velocity

532

00:49:48,031  -->  00:49:52,127
And another thing another curve with purple color

533

00:49:52,639  -->  00:49:55,967
Setpoint difference between master and slave

534

00:49:56,223  -->  00:49:57,759
Position

535

00:50:06,719  -->  00:50:08,511
Okay

536

00:50:09,791  -->  00:50:15,423
And the light blue is the set point

537

00:50:16,447  -->  00:50:18,751
speed for slave

538

00:50:20,543  -->  00:50:26,687
there is a vel limitation at this case with 20 millimeter per second

539

00:50:33,599  -->  00:50:39,743
so normally During Syncronization your slave velocity profile and actual slave should be like this

540

00:50:41,023  -->  00:50:47,167
But at this case there's limitation at your slave still couldn't reach

541

00:50:51,007  -->  00:50:57,151
Maybe the 15mm/s so it's limited right here

542

00:50:57,407  -->  00:50:59,711
It's going like this

543

00:51:05,343  -->  00:51:09,695
So that's why you see there's a lack

544

00:51:10,719  -->  00:51:12,767
Or there are some delay

545

00:51:13,535  -->  00:51:15,071
due to following error as curve

546

00:51:17,119  -->  00:51:21,983
you see Set point difference

547

00:51:23,263  -->  00:51:29,407
gearing set to absolute ratio is 1:1 Syncronization immediately

548

00:51:30,431  -->  00:51:31,199
next page

549

00:51:37,855  -->  00:51:41,439
So you can read about the detail

550

00:51:43,999  -->  00:51:50,143
The reduction in the velocity of the following axis leads to

551

00:51:50,399  -->  00:51:54,751
Error Dynamic response cannot be achieved

552

00:51:57,311  -->  00:52:00,895
no response configured for this alarm as default

553

00:52:01,151  -->  00:52:05,759
That's why system will continue to catch up

554

00:52:06,015  -->  00:52:07,551
The Master axis

555

00:52:09,855  -->  00:52:15,999
tihs reduction Result in a discrepancy between slave profile

556

00:52:16,255  -->  00:52:21,375
calculated by Syncronization op and actual set position of following axis

557

00:52:22,911  -->  00:52:29,055
You can monitor the difference commadn value with system variable

558

00:52:29,567  -->  00:52:35,711
At the end of the Syncronization procedure calculated by synchronous operation

559

00:52:36,991  -->  00:52:39,807
after Syncronization State is set to yes

560

00:52:40,319  -->  00:52:43,903
master and slave axis are not Syncronization at the point

561

00:52:44,415  -->  00:52:45,695
time

562

00:52:45,951  -->  00:52:50,047
Syncronization operation monitoring functions as enabled

563

00:52:52,863  -->  00:52:54,911
You'll see it right here

564

00:53:00,287  -->  00:53:01,311
Status

565

00:53:01,823  -->  00:53:05,407
Syncronization is set to yes

566

00:53:05,663  -->  00:53:07,199
but Actually

567

00:53:07,455  -->  00:53:11,807
It's not the Syncronization do to velocity limits

568

00:53:12,063  -->  00:53:14,367
You have to keep it in your mind

569

00:53:15,647  -->  00:53:21,791
due to that set point actually monitoring is disabled for Syncronization operation

570

00:53:22,815  -->  00:53:28,959
There's no response at this time restrictions

571

00:53:29,215  -->  00:53:32,031
That's the only Syncronization later

572

00:53:37,407  -->  00:53:39,967
Actually at this point

573

00:53:42,015  -->  00:53:43,551
or right here okay

574

00:53:45,343  -->  00:53:51,487
next page with another case setpoint

575

00:53:51,743  -->  00:53:54,559
Monitoring during Syncronization

576

00:53:54,815  -->  00:54:00,447
And this is also related with gearing and of course for camming

577

00:54:05,823  -->  00:54:11,967
as green curve you'll see the here the actual Master position

578

00:54:12,735  -->  00:54:18,879
and blue curve actual slave position as a light

579

00:54:19,135  -->  00:54:20,159
Blue

580

00:54:22,719  -->  00:54:27,071
Set point speeds of the axes

581

00:54:28,863  -->  00:54:32,703
And is it

582

00:54:33,215  -->  00:54:36,287
brown color slave velocity

583

00:54:39,359  -->  00:54:42,175
And the purple is the same

584

00:54:42,431  -->  00:54:44,735
Set point difference between slave

585

00:54:46,015  -->  00:54:49,599
Synchronization slave position

586

00:54:51,391  -->  00:54:56,511
From our equation or cam profile or whatever

587

00:54:57,535  -->  00:55:03,679
So let's see what's going on gearing is absolute

588

00:55:03,935  -->  00:55:05,983
ratio 1:1

589

00:55:06,495  -->  00:55:12,639
command Executives right here as immediately should be

590

00:55:12,895  -->  00:55:14,687
30mm so...

591

00:55:22,367  -->  00:55:25,439
Maximum slave velocity

592

00:55:27,487  -->  00:55:30,303
Sets here

593

00:55:30,559  -->  00:55:32,351
With different values

594

00:55:33,631  -->  00:55:35,167
So...

595

00:55:37,215  -->  00:55:40,543
normally vel of slave axis it should be like this

596

00:55:41,823  -->  00:55:46,175
at this case is limited to here

597

00:55:46,687  -->  00:55:52,831
and after your sync state set to true

598

00:55:53,087  -->  00:55:55,647
Normally

599

00:55:55,903  -->  00:55:59,231
Without any speed reduction or limitation

600

00:56:00,255  -->  00:56:05,375
slave axis and master should be Syncronization right here

601

00:56:06,399  -->  00:56:10,239
So unfortunately it couldn't happened

602

00:56:10,495  -->  00:56:15,359
And system stop procedure

603

00:56:15,615  -->  00:56:18,943
Then trigger and alarm right here

604

00:56:19,967  -->  00:56:21,759
so Let's see

605

00:56:23,039  -->  00:56:29,183
In this case Syncronization operation monitoring functions activated

606

00:56:35,583  -->  00:56:38,655
setpoint monitoring without jerk.

607

00:56:40,447  -->  00:56:44,799
and option report error to leading axis.

608

00:56:52,479  -->  00:56:55,807
For the procedure

609

00:56:56,319  -->  00:57:01,439
Syncronization TO uses position of leading axis to calculate

610

00:57:01,695  -->  00:57:06,303
Corresponding position or velocity  profile for following axis

611

00:57:06,559  -->  00:57:10,655
As in the previous example velocity reduce

612

00:57:10,911  -->  00:57:17,055
By following axis and trigger an alarm in slave axis TO

613

00:57:18,335  -->  00:57:24,479
At the end of Syncronization procedure calculated by Syncronization TO

614

00:57:27,039  -->  00:57:30,879
when sync state set to yes

615

00:57:31,647  -->  00:57:33,183
after that monitoring

616

00:57:34,207  -->  00:57:37,023
Enabled

617

00:57:38,303  -->  00:57:44,447
following axis detects duration between position

618

00:57:44,959  -->  00:57:48,543
Calculate the sync TO

619

00:57:48,799  -->  00:57:54,175
IPO exceeds specific performance as a result

620

00:57:54,431  -->  00:57:58,271
following Access to to triggers an error

621

00:57:58,527  -->  00:58:03,647
Syncronization operation tolerence  exceed on gearing axes

622

00:58:04,671  -->  00:58:10,815
Because motion emergency about has been set as default

623

00:58:11,071  -->  00:58:15,167
following axis motion is stoped and synchronous operation is aborted

624

00:58:16,191  -->  00:58:19,519
To outputs info simple message, that aborted

625

00:58:19,775  -->  00:58:25,151
Because of report error on leading access is disabled

626

00:58:25,407  -->  00:58:28,479
This stop doesn't affect leading axis

627

00:58:28,735  -->  00:58:34,879
If you said it all errors also the master access will be stopped

628

00:58:36,415  -->  00:58:39,231
or Depends on your choice

629

00:58:39,743  -->  00:58:42,815
It's maybe carry on traveling at defined velocity

630

00:58:44,607  -->  00:58:50,751
So several cases on the next one reporting

631

00:58:51,007  -->  00:58:54,335
Syncronization operation error to leading access

632

00:58:57,151  -->  00:59:02,527
by The way you see here Motion emergency abort as default

633

00:59:04,319  -->  00:59:07,903
It should be located in your axis

634

00:59:08,159  -->  00:59:09,951
As default values

635

00:59:23,775  -->  00:59:27,103
or In any case of error

636

00:59:38,367  -->  00:59:41,439
maybe check later on

637

00:59:46,303  -->  00:59:52,447
and next case similar curves with same colors

638

00:59:53,471  -->  00:59:56,031
Master position in green curve

639

00:59:56,799  -->  01:00:00,639
And the slave position as dark blue

640

01:00:01,919  -->  01:00:06,271
And light blue limited following access velocity

641

01:00:06,527  -->  01:00:12,671
As a purple curve the set point difference between synchronously position and slave position

642

01:00:14,207  -->  01:00:16,255
At this case

643

01:00:16,767  -->  01:00:20,607
due to velocity limitation on following axis

644

01:00:21,119  -->  01:00:24,191
After sync. States set to True

645

01:00:24,447  -->  01:00:26,751
Both of axis has stopped

646

01:00:27,519  -->  01:00:29,567
That's the difference

647

01:00:30,335  -->  01:00:34,687
and so after that exercises

648

01:00:35,711  -->  01:00:41,599
Let's try on some practice with Scout example program

649

01:00:54,399  -->  01:00:59,007
So let's start

650

01:00:59,263  -->  01:01:01,055
simosim

651

01:01:04,639  -->  01:01:07,711
and go online

652

01:01:11,039  -->  01:01:16,927
And download our program

653

01:01:37,407  -->  01:01:42,527
Maybe we should try with different cam profile

654

01:01:48,159  -->  01:01:50,463
Yes

655

01:01:50,719  -->  01:01:56,863
Let's see our cam1

656

01:01:57,119  -->  01:01:58,399
Looks like this

657

01:02:01,727  -->  01:02:03,775
cam 2 is empty

658

01:02:04,031  -->  01:02:06,591
Are going to enter some value

659

01:02:13,759  -->  01:02:17,855
Like this

660

01:02:30,911  -->  01:02:33,727
cyclic Relative maybe

661

01:03:05,983  -->  01:03:12,127
So with new firmware version it is possible to download the to modification during runtime

662

01:03:13,151  -->  01:03:15,199
After that

663

01:03:15,711  -->  01:03:19,295
You should select permit restart on technology objects

664

01:03:19,551  -->  01:03:21,343
to be Effective

665

01:03:21,599  -->  01:03:27,743
Because that are some parameters has changed during the modification of the cam profile

666

01:03:28,511  -->  01:03:30,559
Such as restart

667

01:03:35,679  -->  01:03:37,215
Okay

668

01:03:37,727  -->  01:03:39,775
Let's start a trace

669

01:03:50,783  -->  01:03:53,343
On the 1st

670

01:04:01,279  -->  01:04:05,375
Set control enable

671

01:04:08,191  -->  01:04:09,983
Enable

672

01:04:10,239  -->  01:04:13,567
For the Red axis

673

01:04:13,823  -->  01:04:18,943
During both of us I want to use the cam on

674

01:04:20,991  -->  01:04:23,551
Okay

675

01:04:27,135  -->  01:04:28,159
here you see a little Movement

676

01:04:28,927  -->  01:04:35,071
actual position of slave set 25

677

01:04:38,911  -->  01:04:40,191
Why?

678

01:04:40,447  -->  01:04:42,239
Because

679

01:04:42,751  -->  01:04:46,335
Master axis position is 0

680

01:04:46,847  -->  01:04:49,407
And corresponding value

681

01:04:50,943  -->  01:04:53,503
He's right here is 25

682

01:04:55,039  -->  01:05:00,671
According to our synchronization setting in our program

683

01:05:00,927  -->  01:05:03,487
with immediate time profile

684

01:05:05,023  -->  01:05:11,167
You can measure the ramp-up and the speed we have answered here on the velocity

685

01:05:11,423  -->  01:05:12,959
of slave axis

686

01:05:13,215  -->  01:05:15,007
50 mm/s

687

01:05:16,543  -->  01:05:21,663
Now our axis is synchronized right here

688

01:05:24,991  -->  01:05:31,135
and cam on command executed standstill accelerate constant move decelerate

689

01:05:32,927  -->  01:05:34,207
Standstill

690

01:05:34,463  -->  01:05:40,607
Are function states on following objects

691

01:05:40,863  -->  01:05:43,935
Change from inactive to camming

692

01:05:45,727  -->  01:05:49,823
After you see it this point our access synchronized

693

01:05:50,847  -->  01:05:54,175
So...

694

01:05:54,431  -->  01:06:00,575
Right now I want to start my Master axis blue with

695

01:06:00,831  -->  01:06:02,623
jog Positive function

696

01:06:09,535  -->  01:06:15,679
So there's some alarm Syncronization operation tolerence has exceeded

697

01:06:15,935  -->  01:06:18,239
gearing axis

698

01:06:19,263  -->  01:06:21,055
and

699

01:06:21,311  -->  01:06:26,431
For the axis blue error Triggers on the slave

700

01:06:27,199  -->  01:06:31,551
both of my axes

701

01:06:32,831  -->  01:06:35,391
Stop this case

702

01:06:35,647  -->  01:06:39,487
You see here there's a movement

703

01:06:41,535  -->  01:06:47,167
Actual speed of my Axis Blue

704

01:06:50,495  -->  01:06:55,615
and Actual velocity it is in the negative Direction

705

01:07:02,527  -->  01:07:05,855
why ? According to my parameters

706

01:07:06,367  -->  01:07:08,159
Under the settings

707

01:07:10,719  -->  01:07:12,511
On the leftsite

708

01:07:13,023  -->  01:07:15,071
master axis and red axis

709

01:07:16,607  -->  01:07:18,143
Default

710

01:07:18,911  -->  01:07:20,191
Not default

711

01:07:21,215  -->  01:07:23,263
Configuration

712

01:07:27,359  -->  01:07:30,431
Let's say monitoring

713

01:07:30,687  -->  01:07:33,503
Syncronization operation you see here

714

01:07:33,759  -->  01:07:35,295
all errors

715

01:07:35,551  -->  01:07:38,623
without jerk and set point difference so

716

01:07:39,647  -->  01:07:44,511
That's what triggers an alarm let's change and see what will happen

717

01:07:46,303  -->  01:07:47,839
red axis

718

01:07:49,631  -->  01:07:54,495
Normally i should do that in offline mode

719

01:07:54,751  -->  01:07:56,287
So let's switch

720

01:07:59,359  -->  01:08:02,175
Reports of master axis no 

721

01:08:02,687  -->  01:08:06,783
And let's say no

722

01:08:07,807  -->  01:08:11,903
I thought I would try again with this parameter

723

01:08:42,879  -->  01:08:45,439
And set the thoughts

724

01:08:49,023  -->  01:08:52,607
download again. set to start

725

01:08:55,935  -->  01:09:00,287
restart trace. Enable

726

01:09:03,359  -->  01:09:04,895
Enable

727

01:09:06,175  -->  01:09:09,759
Let's say

728

01:09:11,295  -->  01:09:17,439
At this case the variable jog positive that's why it's

729

01:09:17,695  -->  01:09:19,487
Let's stop

730

01:09:23,839  -->  01:09:27,935
let's set true to cam on bit

731

01:09:30,239  -->  01:09:33,567
slave axis

732

01:09:33,823  -->  01:09:39,967
May the movements and now lets start Again the jog positive

733

01:09:48,415  -->  01:09:52,255
Right now there's no alarm

734

01:09:54,559  -->  01:09:58,911
And our slave axis

735

01:09:59,167  -->  01:10:00,191
Processed

736

01:10:00,703  -->  01:10:04,031
The cam profile for one cycle

737

01:10:05,823  -->  01:10:09,151
You may see here

738

01:10:26,559  -->  01:10:29,375
And still running

739

01:10:31,423  -->  01:10:37,055
velocity of Master axis is too low

740

01:10:37,567  -->  01:10:39,103
It should reach

741

01:10:39,615  -->  01:10:42,943
Plus 350 mm

742

01:10:46,783  -->  01:10:50,879
Okay at this point or

743

01:10:51,135  -->  01:10:57,279
cam profile processing is finished and you see

744

01:10:57,535  -->  01:10:59,839
Syncronization status set to false

745

01:11:05,215  -->  01:11:08,799
camming and inactive

746

01:11:09,055  -->  01:11:13,663
Status of access motion Standstill

747

01:11:13,919  -->  01:11:16,479
Accelerating decelerating

748

01:11:18,527  -->  01:11:24,671
You see here the actual velocity of axis

749

01:11:25,695  -->  01:11:27,743
Is really

750

01:11:29,535  -->  01:11:35,679
it's 2 mm/s nearly -2 mm/s

751

01:11:37,727  -->  01:11:40,543
Or actual position

752

01:11:45,407  -->  01:11:50,783
If I Syncronization here it was 25

753

01:11:52,831  -->  01:11:56,159
After I restart my

754

01:11:56,415  -->  01:11:58,463
Blue Master axis

755

01:11:59,231  -->  01:12:01,023
It goes to zero

756

01:12:02,815  -->  01:12:05,119
and 78

757

01:12:05,375  -->  01:12:07,423
19 + so on...

758

01:12:09,215  -->  01:12:11,519
At this point it's zero again

759

01:12:15,871  -->  01:12:17,407
Okay

760

01:12:18,943  -->  01:12:23,551
According to axis setting

761

01:12:28,415  -->  01:12:33,279
in axis red control

762

01:12:35,327  -->  01:12:38,655
following Access is red master blue

763

01:12:38,911  -->  01:12:40,703
cam direction

764

01:12:40,959  -->  01:12:41,983
Positive

765

01:12:42,239  -->  01:12:46,335
Relative for both axes no cycling processing

766

01:12:46,591  -->  01:12:50,431
Start points for relative caming

767

01:12:50,687  -->  01:12:53,247
According to the settings

768

01:12:54,783  -->  01:12:59,391
And let's try again with a different sample

769

01:13:00,671  -->  01:13:03,743
with cam2 maybe

770

01:13:03,999  -->  01:13:08,863
Direction should be positive

771

01:13:09,119  -->  01:13:11,423
cyclic processing

772

01:13:11,679  -->  01:13:17,823
That's means cyclic relative so Syncronization is the same

773

01:13:18,847  -->  01:13:21,663
immediately by time profile

774

01:13:23,711  -->  01:13:28,831
The direction should be the shortest path

775

01:13:33,951  -->  01:13:37,535
At this case I didn't used

776

01:13:37,791  -->  01:13:38,815
cam off command

777

01:13:40,607  -->  01:13:45,471
Because my profile is already ended

778

01:13:47,775  -->  01:13:49,823
and Executed so

779

01:13:50,591  -->  01:13:53,919
Normally we use cam on comments

780

01:13:55,711  -->  01:14:01,855
when its required to stop the slave axis in the middle of processing cycle

781

01:14:12,607  -->  01:14:18,751
Let's start with different curve enable both of axis

782

01:14:21,311  -->  01:14:24,127
And I will start the trace

783

01:14:29,759  -->  01:14:32,831
Let's say for the red axis cam on

784

01:14:36,927  -->  01:14:37,951
Okay

785

01:14:38,207  -->  01:14:43,327
There's a little movement now Exposition is - 0

786

01:14:44,863  -->  01:14:46,911
why?

787

01:14:48,703  -->  01:14:52,287
Because

788

01:14:54,079  -->  01:14:55,359
Normally

789

01:14:57,151  -->  01:14:58,431
Let's say

790

01:15:04,831  -->  01:15:10,719
Actual position of Master aksis is

791

01:15:11,487  -->  01:15:13,279
0 right here

792

01:15:14,815  -->  01:15:18,911
Let's say

793

01:15:25,823  -->  01:15:28,127
To start the Master axis

794

01:15:33,503  -->  01:15:34,783
to cam on

795

01:15:40,671  -->  01:15:43,231
already executed okay

796

01:15:46,303  -->  01:15:52,191
I have to jog positive for the master

797

01:15:53,983  -->  01:15:58,847
Now both of axes are running

798

01:16:10,623  -->  01:16:16,767
It will take some time

799

01:16:30,847  -->  01:16:35,967
And if you continue with the next time cycle

800

01:16:44,159  -->  01:16:46,975
cyclically actual position is reached to

801

01:16:47,487  -->  01:16:49,023
1500

802

01:16:50,047  -->  01:16:51,327
In cam profile

803

01:16:51,583  -->  01:16:53,631
The value is minus

804

01:16:53,887  -->  01:16:56,959
1000 + 12000

805

01:17:12,063  -->  01:17:15,903
So all synchronization still running

806

01:17:26,143  -->  01:17:31,007
We are almost at the middle of the cam profile

807

01:17:31,263  -->  01:17:32,287
Yes

808

01:17:40,223  -->  01:17:43,039
and now after that

809

01:17:43,295  -->  01:17:46,623
here slave axis is going back

810

01:17:46,879  -->  01:17:48,927
And processing

811

01:17:49,951  -->  01:17:53,791
cam profile this is the first cycle

812

01:17:56,863  -->  01:18:02,239
Maybe I should change or Master Axis velocity to a little bit

813

01:18:08,127  -->  01:18:10,687
with 20 perhaps

814

01:18:20,159  -->  01:18:26,303
our cam profile still processing

815

01:18:27,583  -->  01:18:31,679
It is both of axes are a little bit

816

01:18:31,935  -->  01:18:34,239
Faster

817

01:18:35,519  -->  01:18:41,663
So we are coming end of the first cycle of cam profile

818

01:18:44,223  -->  01:18:45,759
Yes

819

01:18:46,015  -->  01:18:52,159
And after that as you can see the next cycle of cam processing started

820

01:18:56,767  -->  01:18:58,559
and you see the

821

01:18:58,815  -->  01:19:02,143
same Profile of our cam

822

01:19:03,423  -->  01:19:09,567
Here are change the activity of the master that's why

823

01:19:09,823  -->  01:19:12,127
System automatically adopted

824

01:19:12,639  -->  01:19:14,687
Set points to the slave

825

01:19:18,015  -->  01:19:21,087
So it should be going on and on again

826

01:19:21,855  -->  01:19:27,999
until i executive of cam off comments or any kind of other comments

827

01:19:29,791  -->  01:19:35,935
In my case according to cam off setting

828

01:19:36,959  -->  01:19:43,103
I said time profile I supposed to at the end of the same cycle

829

01:19:45,919  -->  01:19:48,991
You can set it may be the leading access here

830

01:19:49,247  -->  01:19:52,319
Stop after this Syncronization position

831

01:19:52,831  -->  01:19:56,927
Or stop before the synchronization position

832

01:19:57,951  -->  01:19:59,999
You should see some length

833

01:20:00,255  -->  01:20:06,399
Some length of the current cam profile perhaps maybe 100mm

834

01:20:10,495  -->  01:20:13,567
lets try system int running mode

835

01:20:21,760  -->  01:20:26,112
So with the settings maybe I want to be sure

836

01:20:28,160  -->  01:20:29,952
the Endpoint

837

01:20:30,464  -->  01:20:34,048
Or the deSyncronization length of the cam

838

01:20:34,304  -->  01:20:39,424
Usually it's a need in the real machines

839

01:20:42,752  -->  01:20:44,544
Okay it's downloaded

840

01:20:47,616  -->  01:20:51,200
Let's change the speed a little bit

841

01:21:02,976  -->  01:21:07,840
That's your position is rising of the master and slave

842

01:21:13,728  -->  01:21:19,872
Actual velocity of the slave is really low due to cam profile

843

01:21:20,640  -->  01:21:22,432
Is divided by 10

844

01:21:22,688  -->  01:21:23,712
perhaps

845

01:21:24,480  -->  01:21:28,320
So let's try to cam off

846

01:21:29,344  -->  01:21:30,880
for axis red

847

01:21:31,136  -->  01:21:32,928
control cam off

848

01:21:33,952  -->  01:21:34,976
then

849

01:21:38,048  -->  01:21:43,168
now i Executed my comments and

850

01:21:44,192  -->  01:21:49,312
at end of the cam cycle I'm expecting my slave axis

851

01:21:49,824  -->  01:21:51,104
deSynchronized

852

01:21:51,616  -->  01:21:54,432
400 millimeters

853

01:21:56,992  -->  01:21:59,552
And as you can see right here

854

01:22:01,344  -->  01:22:04,928
slave axis Stopped

855

01:22:14,656  -->  01:22:17,984
At the -5mm

856

01:22:19,520  -->  01:22:23,360
And synchronization status

857

01:22:23,872  -->  01:22:26,688
You may go and zoom

858

01:22:27,200  -->  01:22:28,992
you can measure

859

01:22:33,344  -->  01:22:37,440
At this point and at this point

860

01:22:39,744  -->  01:22:41,024
and

861

01:22:42,816  -->  01:22:47,680
Let's say the actual position of the Master axis

862

01:22:47,936  -->  01:22:51,008
You'll see here or deSyncronization length

863

01:22:53,568  -->  01:22:54,848
It was camming 

864

01:22:55,872  -->  01:23:01,248
 right here and camming is inactive

865

01:23:02,784  -->  01:23:04,320
At this point

866

01:23:05,344  -->  01:23:08,672
Axes were synchronized yes

867

01:23:09,184  -->  01:23:10,464
and after

868

01:23:10,720  -->  01:23:15,328
DeSyncronization started his immediately is set to no

869

01:23:16,608  -->  01:23:22,752
So with the system variables you are able to determine or understand the first

870

01:23:23,008  -->  01:23:25,312
current Situation of the axis

871

01:23:32,224  -->  01:23:36,576
And this is basically how it works

872

01:23:37,856  -->  01:23:44,000
You can try with the different setting and see how the system works according to your

873

01:23:45,024  -->  01:23:46,304
Requirements

874

01:23:55,008  -->  01:23:56,800
Let's try

875

01:24:01,408  -->  01:24:03,712
With the

876

01:24:04,224  -->  01:24:06,016
time Profile

877

01:24:07,040  -->  01:24:09,344
immediately

878

01:24:13,440  -->  01:24:17,536
okay for the cam on with

879

01:24:18,048  -->  01:24:19,840
Same perimeter

880

01:24:21,120  -->  01:24:25,216
time immediately

881

01:24:40,064  -->  01:24:46,208
Now our Master blue axis is running at the positive let's try the cam on command

882

01:24:46,464  -->  01:24:51,840
And see what will happen to our slave axis position

883

01:24:52,352  -->  01:24:55,424
and see the trace

884

01:24:55,680  -->  01:24:57,472
For diagnose

885

01:24:59,008  -->  01:25:01,056
Are blue axis is running

886

01:25:03,616  -->  01:25:07,712
Let's cam on axis

887

01:25:08,736  -->  01:25:12,832
And our slave is trying to catch up

888

01:25:13,088  -->  01:25:15,904
now Syncronization at this point

889

01:25:16,416  -->  01:25:21,792
By given Dynamic borders that's why it's

890

01:25:22,048  -->  01:25:25,888
Not predictable which position

891

01:25:27,168  -->  01:25:30,496
Axis is Syncronized so

892

01:25:32,800  -->  01:25:34,592
Is going up

893

01:25:39,456  -->  01:25:40,992
It all takes

894

01:25:48,160  -->  01:25:50,464
Take the two seconds

895

01:25:50,976  -->  01:25:52,256
Nearly

896

01:25:57,632  -->  01:26:01,728
So let's try the cam off

897

01:26:02,496  -->  01:26:08,640
And after I set the logic one with cam off bit and executed command

898

01:26:12,224  -->  01:26:17,856
So you see in the middle of cam processing command executed

899

01:26:20,160  -->  01:26:22,720
And the speed is

900

01:26:22,976  -->  01:26:25,024
Also really low

901

01:26:28,096  -->  01:26:32,192
velocity of slave axis was

902

01:26:32,960  -->  01:26:34,752
4 mm/s

903

01:26:35,776  -->  01:26:41,920
It's right here it's executed according to Dynamic values

904

01:26:42,176  -->  01:26:46,528
constant zero

905

01:26:47,296  -->  01:26:49,856
System is deSyncronized

906

01:26:50,112  -->  01:26:52,416
It's right here

907

01:26:56,512  -->  01:27:02,656
Is inactive and status is motion as standstill

908

01:27:04,704  -->  01:27:10,848
There's a little bit difference access tested and cam inactive so maybe that is

909

01:27:11,104  -->  01:27:14,432
IPO cycle or servo cycle

910

01:27:14,944  -->  01:27:17,760
3 or

911

01:27:18,784  -->  01:27:21,344
4 milliseconds

912

01:27:25,440  -->  01:27:30,304
It's 6 miliseconds nearly

913

01:27:34,912  -->  01:27:39,520
The twice time of servo cycle

914

01:27:40,544  -->  01:27:42,592
Should be

915

01:27:43,616  -->  01:27:46,688
Okay

916

01:27:47,200  -->  01:27:53,344
So what we learn about simotion camming at this chapter

917

01:27:53,600  -->  01:27:56,160
how do we Use cams?

918

01:27:56,416  -->  01:28:01,280
how do we make assignments and interconnection to

919

01:28:01,792  -->  01:28:03,840
Make configuration

920

01:28:04,096  -->  01:28:06,400
But also several options to

921

01:28:07,168  -->  01:28:10,240
Satisfying customer needs

922

01:28:10,752  -->  01:28:12,800
I think

923

01:28:13,312  -->  01:28:19,456
With your own you should try with different parameters of a cam on and cam off

924

01:28:20,224  -->  01:28:22,016
Functions

925

01:28:22,784  -->  01:28:25,856
According to our notes

926

01:28:26,112  -->  01:28:27,648
As you can see

927

01:28:29,696  -->  01:28:32,000
and Already learned

928

01:28:32,768  -->  01:28:38,912
A little bit about that are also other comments s scaling on cam

929

01:28:39,168  -->  01:28:43,264
And set offset switch Master set point

930

01:28:43,520  -->  01:28:46,080
parameterize cam

931

01:28:47,872  -->  01:28:51,712
Maybe you should try yourself to check

932

01:28:52,224  -->  01:28:55,040
online with simulation of CPU

933

01:28:55,552  -->  01:29:00,416
and learn into more detail

934

01:29:00,928  -->  01:29:04,512
In the future you might need

935

01:29:04,768  -->  01:29:07,072
Some kind of information

936

01:29:08,096  -->  01:29:11,936
It's always good to know

937

01:29:19,872  -->  01:29:22,176
Thank you for watching.

938

01:29:22,432  -->  01:29:25,248
See you next chapter