Mc-Smo-Sys 01 04

SIMOTION An Overview
SIMOTION Date: 09.02.2012 SITRAIN Training for

Automation and drive technology
Siemens AG 2012. All rights reserved. File: MC-SMO-SYS_01.1
Content Page
Mechatronics and Motion Control Transformation in Machine Construction .................................. 2
Tasks of a Motion Control System ..................................................................................................... 3
Motion Control Possibilities in the Automation Area ....................................................................... 4
What is SIMOTION? ........................................................................................................................... 5
SIMOTION Components .................................................................................................................... 6
System Architecture of the Runtime System ..................................................................................... 7
Technology Packages in SIMOTION ................................................................................................. 8
SIMOTION SCOUT Engineering Tools ............................................................................................. 9
Programming Languages in SIMOTION ........................................................................................... 10
MCC Programming Motion Sequences .......................................................................................... 11
LAD/FBD Programming Languages for PLC Tasks ....................................................................... 12
ST High-Level Language for Programming Complex Algorithms ................................................... 13
DCC Graphic Tool to Generate Charts .......................................................................................... 14
The Various Hardware Platforms ....................................................................................................... 15
Integration in TIA ................................................................................................................................ 16
SIMOTION Documentation ................................................................................................................ 17
SITRAIN Training for MC-SMO-SYS

Automation and Drive Technology Page 1 SIMOTION An Overview
Mechatronics and Motion Control Transformation in Machine
Construction
Traditional machine construction Mechatronic solution
Central drive technology Distributed drive technology
All motion is derived from Motion is coordinated by higher-
mechanical transmission level control
components Software simulation of
Machine functions are mechanical components
"mechanically" defined Flexible machine functions
Electronics
Coupling Mechanical system
Gearing
Cam
controller
Line shafts
Cam
Software

Previous In previous machines, mechanical components such as cams gearboxes,

machine Concepts couplings, line shafts, etc., were mainly used.
This meant it was often costly and time-consuming to make mechanical
changes. It was difficult to create flexible solutions. Now the obstacles imposed
by mechanical components are being lifted by the use of intelligent automation
and drive technology.
Intelligent Intelligent software solutions are increasingly replacing mechanical components

concepts with central drive technology. Machine functions are implemented by means of
distributed drive technology. Individual movements are coordinated and
synchronized by the higher-level control.
Functions which were previously implemented with hardware are now integrated
into the software. Changing machine requirements such as format changes can
be responded to almost at the touch of a button.
Advent of Today "intelligent components" play a key role in modern machine and
mechatronics production plant construction. These "mechatronic components" comprise
mechanical components, sensors, actuators, electronic components and
software.
Today, mechatronic solutions are indispensable in many sectors. The economic
success is not in optimizing the sub systems, but in a complete and holistic
system approach. With mechatronics a machine or production plant is regarded
not only in mechanical terms but as a complete system that integrates
mechanical components, electronics, control engineering and software
technology.
SIMATIC and As technology leader, Siemens offers manufacturers of machines and

SIMOTION production plants a system platform providing automation without system
interruptions. The associated wide-ranging services portfolio extends from
application consultancy by competent specialists with well-founded sector
experience up to commissioning and maintenance by our service specialists.

Tasks of a Motion Control System
Tasks of a motion control system

HMI Controlling axis motion
- Positioning
- Coupling axes (synchronous operations, ...)
MC control Cyclically calculating setpoint positions
(interpolation)
Performing closed-loop position control, output
of the speed setpoint via PROFIBUS or
PROFINET
Other tasks
Processing peripheral (I/O) signals
Closed loop control tasks (e.g. closed loop
temperature control, etc.)
Data processing
Tasks of a drive
Converting the speed setpoint into the actual
I/O speed
Closed-loop speed and current control
of a drive comprises
- Rectifier/inverter
- Motor
- Encoder system
Drives
can also be operated independent of an MC
control system

MC control For SIEMENS control systems, the total motion functionality is split up into the
actual Motion Control system and the drive system.
The MC control has the task of processing the specified (motion) program.
Within the motion program, both positioning commands can be issued to
individual axes as well as commands to synchronize and coordinate several
axes (synchronous operation commands).
The setpoint positions (interpolation) resulting from the motion commands are
fed into the closed-position control and there, compared with the actual positions
supplied from the drive system (closed-loop position control). From the resulting
following error, by multiplying with the Kv factor, a new speed setpoint (axis
velocity) is calculated and transferred to the drive.
The speed setpoint can be transferred to the drive system either digitally via
PROFIBUS or PROFINET or as analog signal (+/- 10 V).
In addition to the actual motion control functionality, typical PLC functionality can
also be integrated into the MC system. Just the same as for a SIMATIC PLC,
digital or analog peripheral (I/O) signals can be read-in, processed and the
results output again to the peripherals.
Drive system The task of the drive system is to convert the received speed information into an
actual motor speed. A speed and current controller are integrated in the drive
system for this very purpose.
The motor moves the axis which is traversed to the required target position with
the setpoint speed specified by the motion control system.
The drive system consists of an converter, motor and encoder. When coupled to
a SIEMENS motion control system, the drive system operates exclusively in
what is known as the speed mode. Motion control functionality (basic positioner,
etc.) possibly integrated in the drive system, in this particular case, cannot be
used.
Drive systems can also be operated without a higher-level motion control
system. The speed can be entered, for instance via an analog potentiometer.

Motion Control Possibilities in the Automation Area
SIMATIC SIMOTION SINUMERIK
SIMATIC - automates SIMOTION - the motion SINUMERIK brings

everything for you and that control system machine tools up to speed.
worldwide.
Specifically for machine Specifically for turning,
Powerful control that can be solutions where there are milling, drilling
universally used high demands on the numerical control at its
functionality can be T-CPU motion control best.
extended by motion control
Our portfolio today:

SINAMICS
MICROMASTER
SIMODRIVE
MASTERDRIVES
Drive technology

Overview The demands placed on a control system largely depend on the application.
Therefore, SIEMENS offers different systems, which have been designed for
different application fields:
SIMATIC SIMATIC is the tried and proven basis automation system for solutions in all
sectors of industrial automation.
It consists of standard hardware and software components and offers a wide
range of possibilities for customized expansions. For SIMATIC S7, motion
control functionality can be integrated using function modules, for example.
FM modules have a special functionality, which are generally controlled from the
SIMATIC user program via function block calls. Complex motion control
solutions can be implemented within a SIMATIC system in this fashion.
SINUMERIK SINUMERIK control systems are specially designed for machine tools, handling
systems and special-purpose machines.
SINUMERIK offers the optimum solution for every task in the machine tool
sector, using CNC control and drives.
SIMOTION In addition to SIMATIC and SINUMERIK, there is also SIMOTION, the motion
control system for applications with complex motion control which integrates
motion control and simple control functionality in one unit.
SIMOTION combines the complex handling of motion functions in a scalable
motion control system. It comprises the SCOUT engineering system, motion
control technology packages and a common runtime system for various
SIMOTION hardware platforms.
Technology CPU The technology CPUs 315/317T -2DP and 317TF -2DP (fail-safe control) are
located between the SIMATIC and SIMOTION pillars.

What is SIMOTION?
Motion control
Positioning
Synchronous
operation
Technology functions
+ SIMOTION
The fusion of:
Motion control
Temperature controller Technology functions
Pressure Logic
controller
Integrated
+ system solutions for
machine construction
Logic functionality
AND, OR
Multipliers

SIMOTION SIMOTION offers an optimized system platform for automation and drive
solutions with the focus on motion control applications and technological tasks.
This is achieved through the new universal motion control system.
SIMOTION is an integrated motion control system which has been conceived
primarily for the automation of production machines. Uniformity and integration
is achieved in engineering, programming, communication, data management,
the human-machine interface (HMI) - thus encompassing all system
components, and of course all the different hardware platforms.
Fusion of SIMOTION's innovative approach consists of removing the traditional division

PLC and motion between pure automation functions (typically PLCs) and motion functions
control (motion control). This merging of functionality is implemented in both the
hardware and software.
With respect to the hardware, this new approach means that the controller must
be capable of processing motion functions. On the other hand, a drive system
must be able to perform automation tasks.
On the software side, the fusion of automation functions and motion functions
makes for simpler engineering. This starts with the configuration and continues
through parameter assignment and programming.
The integration with SIMATIC brings additional advantages as both systems are
often operated in one installation. The two systems can be configured and
programmed on a standard engineering interface.

SIMOTION Components
One engineering system

for configuring, programming
and setting parameters
Graphic or textual
programming
Different
Runtime system hardware platforms:
Synchronous operation Controller in the S7 design
Positioning Industrial PC
... Drive

Overview SIMOTION offers an optimized system platform for automation solutions for
machines where motion control applications and technology tasks are in the
forefront.
The motion control system consists of the engineering system SCOUT, the
motion control technology packages and a common runtime system for the
various SIMOTION platforms.
SCOUT engineering The SCOUT engineering system is used for configuring, programming and
system setting parameters; it is the same system for all hardware platforms.
Configuring, programming and setting parameters is either performed by means
of graphics or text.
Technology Technology packages contain the software functions that are required for
packages automation in a wide range of different sectors. They expand the basic
functionality of the SIMOTION devices to suit individual requirements.
Technology packages can be added according to the machine requirements
(e.g. synchronous operation, cam).
Hardware SIMOTION offers flexible solutions - for all requirements - by running on a

platforms range of different platforms. With SIMOTION you can freely select between
three different platforms:
SIMOTION C - Controller-based
SIMOTION P - PC-based
SIMOTION D - Drive-based

System Architecture of the Runtime System
SIMOTION Tailored
SIMOTION
user Function SIMOTION
program libraries
application
Motion
control Additional DCC User program
technology technology blocks
Basis function- packages
ality acc. to packages
IEC 61131-3 + Function libraries
SIMOTION kernel
(operating system, I/O handling, communication) + Technology packages
+ Basis functionality
Drives I/Os Additional automation
(sensors, actuators) components

System architecture The most outstanding feature of the new automation approach is its system
architecture. This forms the basis for ongoing system development. The system
architecture of SIMOTION especially supports concepts such as
decentralization, different target platforms and distributed intelligence.
The software is modular and can be flexibly adapted to the widest range of
requirements.
Basis functionality The basis functionality of the device (SIMOTION kernel) includes functions for
open-loop and closed-loop control as well as logic and arithmetic. Program
execution can be cyclical, time- or interrupt-triggered.
As a result, the SIMOTION kernel contains the functions needed for virtually all
applications and corresponds in essence to a PLC with the IEC 1131-3
command set plus system functions for controlling various components, such as
inputs and outputs.
Technology The SIMOTION kernel can be expanded by loading technology packages. Using
packages additional language commands, the technology packages can be accessed in
the same way as the SIMOTION kernel from the user program.
Function The libraries contain standard functions for frequently performed tasks.
libraries In addition to the standard functions supplied, users can also create their own
blocks and store them in a library.
From Version 4.0, the following libraries have also been integrated as function
blocks in the system (TP "Cam"), and can now be directly inserted into the user
program from the command library:
Standard functions, for instance PID controllers, driver blocks for special
I/O modules
Blocks in conformance with PLCopen to control axes (single and
multi-axis blocks)

Technology Packages in SIMOTION
Expanded Temperature
Speed-con- Positioning Synchronous Path inter- technology control
trolled axis axis axis polation
Adder Temperature
Actual value Position- Gearing 2D/3D linear object control
processing controlled interpolation
Camming Controller Controller
Speed traversing Circular
Synchroni- object optimization
setpoint Referen- interpolation
zation/de- Formula
Output cam cing synchroni- Polynomial object
functions Leading zation interpolation
Fixed gear
Measuring axis Various
function Sensor
input kinematics
License TP "Cam" License
not required required
License License
TP "Path" not required required
License
not required "TControl"
TP "Cam_ext" (extended)

Technology Technology packages can be loaded in the runtime system to expand the basic
packages functionality of the SIMOTION kernel. In addition to the object types, technology
packages provide a wide range of powerful motion control commands, which are
required to flexibly solve applications.
TP "CAM" The "Cam" technology package provides all object types and system commands
to control speed, positioning and synchronous axes.
In addition to the functionality for the individual axes, TP "Cam" contains the
"Measuring input", "Output cam" and "Cam track" functions (from V3.2 and
higher) as well as the function blocks in conformance with PLCOpen.
TP "PATH" The "PATH" technology package provides path functionality. The following are
supported: 2D/3D linear, circular and polynomial interpolation. In addition,
various kinematics such as 2D/3D gantry, roll, Delta-2D, Delta-3D-Picker, as
well as SCARA and articulated arm kinematics
TP "CAM_EXT" Supplementary technology functions are available with Version 3.2 and higher.
Adder: With adder objects up to four input vectors can be added to one
output vector.
Formula: With formula objects, you can apply mathematical operations to
scalar (LREAL, DINT) and motion vectors.
Controller: Using the controller object, according to a PID algorithm, scaler
variables can be processed and logically combined.
Sensor: The sensor technology object can be used to detect and process
scalar measured values, i.e. correspondingly monitored and smoothed.
Fixed gear: For "fixed" synchronous relationships between axes with an
adjustable gear factor, however, without specific synchronizing/
desynchronizing strategy.
TP "TControl" The basis of the temperature controller is a DPID controller which has special
functions (threshold monitoring, adaptation of controller parameters, etc.) for
easy adaptation to applications (plastics machines).
SIMOTION SCOUT Engineering Tools
System ST Structured Text

configuration SIMOTION SCOUT
MCC
Project navigator Motion Control Chart
LAD/FBD
Axis configuration
DCC
CamEdit
Drive Test and diagnostics

CamTool
commissioning

Engineering system The SCOUT Project navigator is the common framework for all tools of the.
SCOUT engineering system. This workbench is also the navigation center for the
individual engineering steps. It is used to create and manage SIMOTION
projects and provides a uniform and integrated view of all data and programs.
The essential new feature is the graphic programming of the motion sequence
using Motion Control Chart (MCC). From SCOUT V4.1, there is also the optional
DCC programming language (Drive Control Chart) to create continuous, closed-
loop control related circuit diagrams to control drives.
The technological tree structure of the project includes
all devices (open-loop control, drives etc.),
all technological objects (axes, output cams, cams etc.) and
user programs in hierarchic views that can be filtered.
The navigation in the tree structure opens the parameter assignment or
programming tool assigned to the selected object.
The SIMOTION SCOUT engineering system is a powerful tool that acts as the
PC development environment to optimally support the required engineering
steps in a user-friendly way.
The SCOUT engineering tool is integrated as optional package to STEP 7 in the
SIMATIC environment. When developing SCOUT, special attention was given to
optimum usability and a comprehensive, function-oriented view of the
automation task.
Note The SCOUT engineering tool is available in two versions:

as a standalone version, without any connection to STEP 7
as optional package to STEP 7

Programming Languages in SIMOTION

Overview SIEMENS offers a range of task-oriented programming languages for

SIMOTION that allow the user to focus on the actual task at hand. SIMOTION's
modular design makes it possible to create modular blocks in different
languages according to the individual task requirements.
MCC MCC is a graphic language for creating operational sequences. In particular, this
language offers entry-level users support for quick and transparent creation of
sequential program sequences in MotionTasks.
Any additional ST code can be integrated in the MMC program via the "ST
Zoom" command.
LAD/FBD These programming languages are unparalleled for programming binary signal
gating. In addition to the wide range of options in the area of binary signal gating
(edge evaluation, flip-flops, etc.), it integrates many other function such as IEC-
compliant counter and timer blocks.
Almost all system functions can be directly called and tested in a network.
ST Structured Text is a text-based, high-level language similar to PASCAL.

ST contains all typical elements of a high-level language such as operators,
expressions, control statements, etc. ST supports in particular programming of
mathematical algorithms and data administration tasks.
Due to the many control structures it offers, ST is also suitable for programming
process sequences.
DCC The Drive Control Chart (DCC) option is a modular, scalable programming
language based on the STEP 7 package CFC (Continuous Function Chart), to
develop continuous open-loop or closed-loop control solutions for controlling
drives.

MCC Programming Motion Sequences
Properties of motion control charts
Graphic language to describe motion
sequences in the form of a sequence chain
Complex sequences in automation technolo-
gy are broken down into individual steps
MCC contains graphic commands for:
Axis movements
Processing I/O signals
Control structures for branches and
repeat operations
Comparable with S7 Graph from STEP 7
Advantages of MCC
Motion sequences can be simply and
transparently generated
Even entry-level programmers can attain
results quickly
In addition to the fast generation, MCC also provides support
when it comes to testing and therefore fast commissioning

Properties MCC is a new graphic programming language, designed to significantly simplify

of MCC the automation of production machines.
Many production machines are very complex. They require a control system
(SIMOTION) that is capable of handling motion control and technologies with a
wide variety of motion functions, as well as PLC functions, arithmetic functions,
and data management tasks.
MCC is the neutral description tool used to represent a sequence diagram. This
sequence diagram is referred to as MCC chart in this document. It provides you
with all of the descriptive symbols you will need to define your automation task
quickly and efficiently.
In addition, MCC offers many ways to structure large automation tasks.
Using MCC, programs, function blocks and functions can be generated in
compliance with IEC61131-3.
Advantages of MCC As a graphic programming language, MCC helps you to formulate process and
motion sequences easily by creating a sequence of graphic MCC commands.
The characteristics of every MCC command can be parameterized individually.
Control structures such as IF commands make for easy implementation of
alternative branches.
Furthermore, each MCC command has its own graphic design, making the
functionality of each action within an MCC chart immediately evident.
Consequently, the system greatly facilitates the programming of automation
tasks and additionally enhances readability.
Further, online functions enable you to locate errors quickly or simply help you
to keep track of the current states.

LAD/FBD Programming Languages for PLC Tasks
Popular language from the PLC area
LAD uses program elements from circuit
diagrams
FBD uses elements from Boolean algebra
Compatible to IEC 61131-3 LAD/FBD
Motion control functionality can be best integrated
using the function block from the PLCOpen
library
Identical to SIMATIC LAD/FBD
Advantages:
Binary logic operations can be simply formulated,
for instance, interlocking conditions
Easy to understand and program
Simple testing and commissioning of programs

LAD LAD stands for ladder diagram. LAD is a graphic programming language. The
syntax for the instructions is similar to a circuit diagram. LAD enables simple
tracking of the signal flow between conductor rails via inputs, outputs and
operations.
LAD statements consist of elements and boxes, which are graphically
connected to networks (compatible to IEC 61131-3).
The LAD programming language provides all elements that are required to
generate PLC tasks. LAD features an extensive command set. This includes the
various basic operations with a comprehensive range of operands and how to
address them. The concept of functions and function blocks allows complex
tasks to be clearly structured.
FBD FBD stands for function block diagram. FBD is a graphics-based programming
language that uses the same type of boxes used in boolean algebra to represent
logic (compatible to IEC 61131-3). In addition, complex functions (e.g. mathe-
matical functions) can be represented directly in conjunction with the logic
boxes.
Just like LAD, FBD provides all of the elements that are required for creating
PLC tasks.
Advantages and The programming languages are admirably suited to implement open-loop
limits control tasks using binary operands; for instance, interlocking conditions.
Programming closed-loop control tasks with analog variables, for instance the
speed of a drive or the temperature of a heating boiler etc. is a tedious
procedure in LAD/FBD networks.
DCC is an expansion to process analog variables. Using the DCC editor, analog
variables can be processed and interconnected in a similar way to binary
variables in LAD/FBD.
However, having said this, LAD/FBD is especially useful as many service
personnel feel very comfortable with LAD/FBD programming.

ST High-Level Language for Programming Complex Algorithms
High-level language similar to Pascal
for formulating complex tasks
Compatible with IEC 61131-3 ST
(ST = Structured Text)
Contains all the typical elements of a
high-level language, such as operators,
expressions, control instructions, etc.
Motion control functionality is integrated
by means of system functions and
function blocks
Identical to SIMATIC S7 SCL
Advantages:
Formulation and creation of blocks with
complex algorithms:
Closed-loop control tasks
Data processing tasks
Process optimization
Mathematical/statistical evaluation

Properties ST is a high-level programming language oriented to PASCAL. The language

of ST is based on the IEC 61131-3 standard, which standardizes programming
languages for programmable logic controls (PLCs).
In addition to open-loop and closed-loop control tasks, modern automation
systems must be capable of handling an increasing number of data processing
tasks and complex mathematical algorithms (process optimization). ST was
developed specifically to address tasks such as these.
In addition to the standardized, IEC 61131-3-compliant programming language,
SIMOTION ST also includes commands for SIMOTION devices, motion control
and technology.
Technology objects make an interface available to the user program via which,
for example, axes can be positioned or output cams parameterized. These
technology commands are the commands provided by technology objects which
can be called easily from an ST user program.
Advantages of ST Programming controls using a high-level language such as ST opens up a wide

range of options, especially for the following tasks, such as e.g.:
simple generation of complex open-loop and closed-loop control algorithms,
such as e.g. algorithms for process optimization
transparent handling of data management tasks, for example the acquisition
and processing of process data (statistical pre-compression of data etc.)
simple communication using standard protocols(TCP/IP, UDP) to
other systems, for instance master computer coupling
When compared to other high-level languages, for instance C, ST is easy to
learn and understand. Especially entry-level personnel, who have no experience
with the concepts and techniques of high-level languages, can achieve usable
results with ST.

DCC Graphic Tool to Generate Charts
DCC (Drive Control Chart)
Graphic tool to generate
motion control programs
Blocks are placed on a sheet and
interconnected
Interconnections are possible:
- to I/Os of other blocks
- between I/Os of the I/O list
- also to I/Os of blocks in
other charts
Sources and targets are managed in
the sheet bar
Can be used in SIMOTION and
SINAMICS
Advantages
Well-established programming tool for
motion control tasks!
Fast generation, testing and
commissioning
Overview, DCC DCC (Drive Control Chart) offers a modular, scalable technology option, which
has chiefly been developed for drive-related, continuous open-loop and closed-
loop control tasks. The DCC technology option for SIMOTION controllers and
SINAMICS drives can be configured graphically using the Drive Control Chart
editor (DCC editor), which is based on SIMATIC S7 CFC.
As a consequence, extensive closed-loop control related structures can be
programmed in SIMOTION. These can then be combined with other program
sections to form an overall program. The time slices: T1 .. T5 of the blocks can
be freely selected and combined in SIMOTION. The run environment in
SIMOTION ensures consistent data transfer between blocks with different
sampling times
. In SINAMICS, using the DCC-Editor, drive-related tasks can be directly
implemented in the converter. SINAMICS BICO technology is used to access
drive parameters.
Procedure When a new chart is created, the block types are first taken from the device-
specific block library and inserted in the DCC editor's block manager.
Using the DCC Editor, charts are subsequently created, in which blocks are
inserted from the library, parameterized and interconnected. The charts are then
compiled and an intermediate code generated; this is then loaded into the
SIMOTION and/or the drive unit using SCOUT /STARTER.
Advantage DCC can be used from very simple up to extremely complex applications.
Communication between the blocks can be configured in a user-friendly fashion
using a straightforward interconnection system. It is not necessary to manually
handle and manage the machine resources.
Comprehensive test tools with simple display, diagnostics and trace functions
ensure fast testing and in turn fast commissioning of the user program.

The Various Hardware Platforms
SIMOTION C230-2 / C240 / C240 PN
SIMATIC S7-300 mechanical design
Drive link analog (4 channels onboard, not C240 PN)
or via PROFIBUS-DP or 3 x PROFINET
(only C240 PN)
Interfaces 2 x PROFIBUS-DP, 1 x Ethernet (100 MBit/s)
SIMOTION P350-3 / P320-3

Design: P350-3: PC-Box with Windows XP PRO
P320-3: Embedded PC with Windows
Embedded Standard 2009
Processor: Intel Pentium 2 GHz / Intel Core2 Solo 1.2 GHz,
Memory: 2 GB RAM, 40 GB HD / 2 GB RAM, 4 GB CF card
Drive link: PROFIBUS-DP or PROFINET / 3 x PROFINET
Interfaces 1 x COM, 4 USB, 2 x Ethernet / 1 x Ethernet, 4 x USB
SIMOTION D425 / 435 / 445-2 / 455-2 + D410

Design SINAMICS drive system
Drive link Three PROFIBUS master systems:
one internal, two external
Interfaces: 2 x PROFIBUS DP
2 x Ethernet (100 MBit/s)
3 x PROFINET only D445-2 and D455-2

What is C2xx is a motion control module for controlling servo drives via PROFIBUS-DP
SIMOTION C? (PROFINET for C240 PN) and four onboard drive interfaces (only C230-2 and
C240).
SIMOTION C is a powerful module for independent single-axis positioning or for
axis group motion. It supports operation of both rotary and linear axes.
The engineering system is used for configuration, parameterization,
commissioning, programming and diagnostics of the SIMOTION C.
What is SIMOTION P is a PC-based motion control system. Control, motion control and
SIMOTION P? HMI functions run concurrently on this PC.
For P350-3, the drive coupling and the connection of distributed I/O can either
be realized using an IsoPROFIBUS board with two PROFIBUS interfaces
(isochronous) or via an MCI-PN board (4 x PROFINET).
The P320-3 combines PC technology with the advantages of a maintenance-
free an embedded-PC solution without any rotating parts. It can be operated
without any display/monitor, or with a monitor connected via a DVI interface.
The drive is connected through 3 integrated PROFINET interfaces
What is SIMOTION D combines SIMOTION functionality and the drive functionality of a

SIMOTION D? drive system to form one single drive hardware system. This results in a system
which is both highly compact and with fast response times.
SIMOTION D is always used when a compact machine concept and high
performance for motion control tasks are required in combination with high-
speed I/Os. SIMOTION D is offered in the performance versions D425 (low-end
performance range), D435 (medium performance range), D445-2 (high-end
performance range) and D455-2 (highest performance range).
From V4.1 and higher, the D410 single-axis system is available to expand
SIMOTION D systems in a modular fashion.

Integration in TIA
Shared HMI use
Shared communication:
PROFIBUS, PROFINET, Ethernet
C230-2/C240/C340 PN
P350-3/P320-3
D4x5/D410
Shared use of
distributed I/O and
drives via PROFIBUS
and PROFINET

Totally Integrated TIA with SIMATIC contains all technologies, such as PLC, PC-based control,
Automation automation computer, distributed I/O, HMI systems, communication networks
and process control systems which are required in an automation environment.
TIA allows you to implement the solution that is technically required and makes
economic sense from a complete and integrated modular system. SIMOTION is
completely integrated in the TIA concept.
PROFIBUS DP Standard PROFIBUS DP with DP/V1 functionality

For connecting distributed I/Os
For connecting a higher-level automation system
For connecting HMI devices
For connection to the SCOUT engineering system
All standard DP slaves (e.g. distributed I/Os, drives) can be connected to
PROFIBUS.
Industrial Ethernet Fast Industrial Ethernet that can be used for the following purposes:
Connecting HMI devices
Connecting to the SCOUT engineering system
Communication with TCP/IP and UDP (User Datagram Protocol)
PROFINET PROFINET is the innovative and open Industrial Ethernet standard (IEC 61158)
for industrial automation. With PROFINET, devices can be linked up from the
field level through to the management/supervisory level.
With PROFINET, drives can be controlled isochronously via a network and
communication that is not critical from a time perspective (e.g. TCP/IP) can be
established between automation components.

SIMOTION Documentation

SIMOTION SIMOTION printed documentation comprises individual documentation

documentation packages, which are contained in more than 50 SIMOTION documents and
other documents (e.g. SINAMICS).
The documentation packages are organized according to functionalities and
contents. The documentation is available in various languages on the
SIMOTION CD.
The following SIMOTION document packages are available:
1_Engineering system_handling: comprises 4 documents and describes the
handling of the SIMOTION SCOUT engineering system and the CamTools.
2_ System_and_function description: describes the technical operational
sequences for the SIMOTION system and explains the technology objects
3_Programming: describes the three programming languages MCC, ST,
LAD/FBD and DCC.
3_Programming_references: includes all of the reference lists required for
programming as well as a description of how the drives and other I/O are
connected to the SIMOTION system
3_ Service_and_diagnostics: describes TO alarms, project comparison,
upgrading devices and the trace functionality task.
3_SIMOTION_IT: describes the functionality of the web browser interface
from SIMOTION
4_Additional documentation: contains descriptions of all product information,
as well as the connection of additional hardware components to SIMOTION,
for example ADI4, TM15 and TM17,
5_SIMOTION C: describes the C230-2 / C240 /C240 PN hardware platform
5_SIMOTION D: describes the hardware platform D4xx and the plat
form SINAMICS S120
5_SIMOTION P: describes the hardware platform P350-3 and P320-3

Axes and Drives in SIMOTION

Automation and Drive Technology
Content Page
Connecting Electrical Drives ............................................................................................................... 4
Symbolic Assignment Between Control and Drive ............................................................................. 5
Automatic or Manual Message Frame Selection ................................................................................ 6
Structure of Standard Message Frames (1) ....................................................................................... 7
Structure of Standard Message Frames (2) ....................................................................................... 8
Overview: Drive Coupling ................................................................................................................... 9
Technology Objects (TO) in SIMOTION ............................................................................................ 10
The "Axis" Technology Object ........................................................................................................... 11
Creating and Configuring an Axis ...................................................................................................... 12
The Basic Configuration of an Axis .................................................................................................... 13
Selectively Removing Drive Enable Signals ................................................................................... 14
Calling the Expert List ......................................................................................................................... 15
Specifying Mechanical Data ............................................................................................................... 16
Parameterizing Default Settings ......................................................................................................... 17
Specifying Limit Switches and Maximum Velocities .......................................................................... 18
Specifying the Maximum Acceleration and Jerk ................................................................................ 19
Filtering the Actual Value for Master Value Coupling ......................................................................... 20
Position Control in SIMOTION ........................................................................................................... 21
Position Controller Optimization without Precontrol ........................................................................... 22
Position Control with Precontrol ........................................................................................................ 23
Selecting a Suitable Balancing Filter Type ......................................................................................... 24
Optimizing the Balancing Time Constant (vTc) ................................................................................. 25
Position Control with DSC the PROFIdrive DSC Structure ............................................................ 26
Position Controller Optimization with Precontrol and DSC ................................................................ 27

Automation and drive technology Page 1 Axes and Drives in SIMOTION

Content Page
Dynamic Adaptation for Synchronous Axes ...................................................................................... 28
Checking the Dynamic Adaptation Using the Circularity Test ............................................................ 29
Positioning and Standstill Monitoring ................................................................................................. 30
Open-Loop Speed Controlled Motion - Standstill Signal .................................................................... 31
Following Error and Velocity Error Monitoring ................................................................................... 32
Signal Flow Representation of the Closed-Loop Axis Control ........................................................... 33
Programming Traversing Motion ....................................................................................................... 34
Enabling and Disabling Axes ............................................................................................................. 35
Processing Motion Commands .......................................................................................................... 36
Transitional Behavior of Motion Commands ..................................................................................... 37
Program Advance for Motion Commands .......................................................................................... 38
Synchronous and Asynchronous Program Execution ........................................................................ 39
Dynamic Settings for the Positioning Command ............................................................................... 40
Start axis, Closed-Loop Position or Speed Controlled ...................................................................... 41
Stop Axis ........................................................................................................................................... 42
Continue Motion ................................................................................................................................. 43
Homing Axes with Incremental Measuring Systems ........................................................................ 44
Active Homing with/without Zero Mark . . . ........................................................................................ 45
Passive Homing with/without Zero Mark . . . ..................................................................................... 46
Adjusting an Absolute Encoder ......................................................................................................... 47
Setting the Reference System .......................................................................................................... 48
Diagnostics of Axes or Drives - Service Overview ......................................................................... 49
Diagnostics of a TO - Querying the System Variables ...................................................................... 50
Significance of the Service Display ................................................................................................... 51


Content Page
Technological Alarms ....................................................................................................................... 52
Configuring Technological Alarms ..................................................................................................... 53
Acknowledging Technological Alarms ............................................................................................... 54
Using the Technology Object Trace (1) ............................................................................................ 55
Using the Technology Object Trace (2) ............................................................................................ 56
If You Want to Know Even More ........................................................................................................ 57
Using Axis Data Sets ........................................................................................................................ 58
2. Adding an Encoder to an Axis ....................................................................................................... 59
Basic Configuration - Encoder Type and Mode ................................................................................. 60
Mode of Operation of an Incremental, Optical Sin/Cos Encoder ...................................................... 61
Settings for Incremental Encoders - "Cyclic Actual Value" ................................................................ 62
Mode of Operation of an Absolute Encoder ...................................................................................... 63
Settings for Absolute Encoders - "Absolute Actual Value" ................................................................ 64
Settings for Absolute Encoders - Encoder Type ............................................................................... 65
Settings for Travel to Fixed Endstop ................................................................................................. 66
Travel to Fixed Endstop - "Determining the Reference Torque" ...................................................... 67
Travel to Fixed Endstop - "Settings in the Command" ...................................................................... 68

Connecting Electrical Drives
For example
....via PROFIBUS-DP
MASTERDRIVES
MC
... via PROFINET

SINAMICS
S120
... via analog or stepping

motor interface
SIMODRIVE
611U

Interface to the The functional interface to the drive is the speed setpoint interface.
drive Digital as well as analog, electric drives can be directly connected to a
SIMOTION C2xx. For SIMOTION P350 and SIMOTION D4x5, digital drives can
be directly connected via PROFIBUS or PROFINET and analog drives via
ADI4 or IM174.
Drives on With connection via PROFIBUS or PROFINET all data between the drive
PROFIBUS/ system and SIMOTION are exchanged via this medium. Standard message
PROFINET frames are used to enter the setpoint for digital drives connected to PROFIBUS
as well as the feedback data from the encoder.
It goes without saying that the drive must also support the selected message
frame type. The type of selected message frame defines the maximum
supported functionality of an axis. It goes without saying that in SIMOTION, the
axis can only execute the functions, which the connected drive also supports.
Axes that are operated in the positioning mode must be connected via the
isochronous PROFIBUS or via PROFINET IRT to ensure correct functioning. It
is sufficient for simple speed-controlled applications to be connected to a "not
isochronous" PROFIBUS DP or a PROFINET RT. In this way you can connect
all standard DP slaves that do not support isochronous operation.
Analog drives/ analog drives can be directly connected at C2xx or via PROFIBUS at the ADI4
stepping motors or IM174. In this case the speed controllers are supplied with +/- 10 V via the
analog outputs.
The position actual values can either be taken from the encoder connected to
SIMOTION C or ADI4, or from the pulse encoder emulation of the converter.
The corresponding digital I/Os are available for feedback signals and controller
enable signals.
From V3.2 and higher, stepping motors can also be directly connected to the
C2xx.

Symbolic Assignment Between Control and Drive
Advantages
Communication between an axis and drive is
automatically set up (PROFIdrive axis message
frames as well as addresses)
Message frame extensions and interconnections
in the drive are dependent on the selected TO
technology (e.g. SINAMICS Safety Integrated)
Axes and drives can be independently
configured from one another
Communication connections are automatically
established when configuring I/O on
SINAMICS I/Os
The assignment is kept even for address
offsets
Activating/deactivating via the menu command:
Interconnection control
Project -> using a symbolic assignment

New in V4.2 The most significant innovation in the SIMOTION SCOUT engineering system is
the significantly simplified connection to the SINAMICS drive system. With this
step, users are supported as a result of the essentially automated integration of
drives and their associated elements in SIMOTION SCOUT.
Up until now, to connect drives according to PROFIdrive, users had to configure
the appropriate communication, both on the drive side as well as on the control
side. As result of the new symbolic assignment of technology objects (TOs) and
I/Os to drive objects (Drive Objects/DOs), users no longer have to involve
themselves in the PROFIdrive communication with message frames and
addresses. The engineering system now takes care of all this.
For "Save and compile changes" or at the latest before a download, message
frames and addresses are automatically generated. Users only have to
download the project data into the target system.
New control The symbolic assignment is now realized using a new interconnection control.
It is supported by technology objects axis, external encoder, cams, cam track
and measuring input. Further, the onboard I/Os of the devices SIMOTION D,
CX32/CX32-2, Control Units for SINAMICS S120 as well as the Terminal
Modules and TB30 can now be symbolically assigned.
In this dialog, all pass-capable partners are hierarchically listed; connections are
realized symbolically by simply selecting the components to be interconnected.
SINAMICS drives and/or devices and terminal modules with their available I/Os
can be selected in the control. In this case, only the pass-capable elements are
listed with symbolic identifiers; whereby even the terminal designations of the
modules are listed.
Note If a project is upgraded to SIMOTION device firmware version V4.2 SP1, then
the symbolic assignment can be subsequently selected. The assignments are
automatically determined from the logical addresses. Individual TOs and DOs
can be excluded from the symbolic assignment (refer to the next page)

Automatic or Manual Message Frame Selection

PROFIBUS/ With the coupling via PROFIBUS/PROFINET, all information between the drive
PROFINET system and SIMOTION is exchanged using standard message frames
coupling according to the PROFIDRIVE profile V4.0. The structure and type of the
information being exchanged uniquely defines the number of the message
frame.
Message frame In the "Settings for ....." dialog, you can switch over to automatic or user-defined
selection PROFIdrive message frame setting and/or automatic message frame extension
for the selected drive object.
Automatic PROFIdrive message frame setting: This setting (standard) is
selected if the drive unit is to participate in the "Symbolic assignment" with
SIMOTION. A PROFIdrive message frame (including message frame extension)
is automatically determined with "Save and compile".
You must configure PROFIsafe message frames yourself; the configuration of
the safety data block (SIDB) however is performed automatically.
User-defined: The following options are available for the user-defined setting of
the process data transfer:
Semi-automatic message frame configuration (selection: "Automatic
message frame extension" and "Permit automatic address adaptation".
With this setting, the PROFIdrive message frame is selected, necessary
message frame extensions and address adaptations are performed by the
system when "Save and compile" is selected.
Manual message frame configuration: With this setting, you select the
PROFIdrive message frame and the message frame extension yourself, but
leave the address adaptation to the system (select. "Permit automatic
address adaptation").

Structure of Standard Message Frames (1)
PZD number 1 2 PSD number 1 2 3 4
Setpoint CW 1 NSET_A Setpoint CW 1 NSET_B CW 2
PZD number 1 2 PSD number 1 2 3 4

Actual value STW 1 NACT_A Actual value STW 1 NACT_B STW 2
Standard message frame 1 (16 bit nset) Standard message frame 2 (32 bit nset, without encoder)
PSD number 1 2 3 4 5
Setpoint CW 1 NSET_B CW 2 Enc1_CW
PSD number 1 2 3 4 5 6 7 8 9
Actual value STW 1 NACT_B STW 2 Enc1_STW Enc1_XACT 1 Enc1_XACT 2
Standard message frame 3 (32 bit nset, with encoder)
PSD number 1 2 3 4 5 6
Setpoint CW 1 NSET_B CW 2 Enc1_CW Enc2_CW
PSD number 1 2 3 4 5 6 7 8 9
. . .
10 11 12 13 14
. . . Enc2_STW Enc2_XACT 1 Enc2_XACT 2
Standard message frame 4 (32 bit nset, with 2 encoders)

Standard Is designed for simple speed-controlled applications. The message frame

message frame 1 has a control and a status word via which the basic functionality regarding
activation, deactivation, pulse and controller enable is handled. A 16-bit data
word is used for transferring the speed setpoint. The actual speed value is also
transferred back from the drive in 16 bits.
In SIMOTION, this message frame can only be used for the "speed axis"
function.
Standard Is designed for more complex speed-controlled applications. In addition to

message frame 2 the control and status word, the speed setpoint is transferred using a 32-bit data
word. The actual speed value is also transferred back from the drive in 32 bits.
In addition this message frame has a second control and status word which
handles the "travel to fixed endstop" functionality (clamping torque must be
configured in the drive, is not used in this form by SIMOTION for the "travel to
fixed endstop" function).
In SIMOTION, this message frame can only be used for the "speed axis"
function.
Standard Is designed for positioning applications. It also has an encoder control word,
message frame3 an encoder status word and a 4-word interface to a measuring system.
SIMOTION functions, such as reference point approach and measuring input,
can be implemented via this encoder control word.
In SIMOTION, this message frame can be used for the "positioning axis"
function.

Structure of Standard Message Frames (2)
PSD number 1 2 3 4 5 6 7 8 9
Setpoint CW 1 NSET_B CW 2 Enc1_CW XERR KPC
PSD number 1 2 3 4 5 6 7 8 9
Standard message frame 5 (32 bit nset, with 1 encoder + DSC)
PSD number 1 2 3 4 5 6 7 8 9 10
Setpoint CW 1 NSET_B CW 2 E1_CW E2_CW XERR KPC
PSD number 1 2 3 4 5 6 7 8 9
Actual value STW 1 NACT_B STW 2 E1_STW E1_XACT 1 E1_XACT 2 . . .
10 11 12 13 14
Standard message frame 6 (32 bit nset, . . . E2_STW E2_XACT 1 E2_XACT 2
with 2 encoders + DSC)
PSD number 1 2 3 4 5 6 7 8 9 10
Setpoint CW 1 NSET_B CW 2 MOMRW E1_CW XERR KPC
PSD number 1 2 3 4 5 6 7 8 9 10
Actual value STW 1 NACT_B STW 2 MSGW E1_STW E1_XACT 1 E1_XACT 2
SIEMENS message frame 105 (32 bit nset, with 1 encoder + DSC + torque reduction)

Standard This message frame is designed for connecting a second encoder. It is used in
message frame 4 SIMOTION for coupling positioning axes with a 2nd measuring system.
Standard Is intended, just like standard message frame 3 for positioning applications.
message frame 5 However, it has two additional double words in the setpoint for transferring the
following error and the servo gain (KPC gain).
In SIMOTION, this extension is required for the DSC functionality (dynamic
servo control). When this function is selected, the dynamic part of the position
controller is transferred from SIMOTION to the drive and calculated with the
sampling frequency of the speed controller. As part of this process, the following
error (XERR) and servo gain KPC are transferred from SIMOTION to the drive.
Due to the higher sampling frequency in the drive, the position control can now
be operated with a higher servo gain.
Standard Like standard message frame 4 with DSC, or standard message frame 5 with a
message frame 6 2nd encoder. This is used in SIMOTION for coupling positioning axes with a 2nd
measuring system.
SIEMENS SIEMENS message frames 102 to 106 are created from the associated
message frame standard message frames 2 to 6 by inserting an additional word in the setpoint
102 . . . 106 (after control word STW2) or a word in the actual value (after status word
ZSW2).
This extension is required for the dynamic torque reduction at the drive. The
torque limit is specified in the setpoint; in the actual value the drive among
others returns whether the torque limit (current limit) was reached or not.
This extension is used in SIMOTION to implement the functions "Travel with
torque limit" and "Travel to fixed endstop".

Overview: Drive Coupling
MICROMASTER/
ADI4 SINAMICS SIMODRIVE MASTERDRIVE
SINAMICS G120
Analog Posmo
S120 611U MC MM410/420/440
drives S/CA/CD
PROFIBUS DP standard
Isochronous on PROFIBUS DP(DRIVE)
interface slave
1ms, 0.5 ms
DP cycle clock 1ms, 0.5 ms granular 3 ms
granular
Speed-controlled
TO connection Speed-controlled
- axis, positioning, synchronism, cam
axis
Preferred
3 105 105 5 1
message frame
Proprietary Starter SimoComU Drive monitor Starter

Drive
configuration
Drive ES

Drives on The following applies to drives connected to PROFIBUS DP: On an isochronous

PROFIBUS MC PROFIBUS MC, only drives can be operated in the isochronous mode that also
comply with PROFIDRIVE-profile V4.0.
All other drives (standard slaves) can be connected to the isochronous
PROFIBUS MC - but not operated in the isochronous mode.
The following drives are integrated in the STEP 7 project via the hardware
configuration:
SINAMICS S120
SIMODRIVE 611U
SIMODRIVE POSMO CA
SIMODRIVE POSMO CD
SIMODRIVE POSMO SI
ADI4
MASTERDRIVE MC
MASTERDRIVE VC
MICROMASTER 420/430/440
COMBIMASTER 411
MICROMASTER 420/430/440 and SINAMICS S120 can be configured,
assigned parameters and commissioned directly with SIMOTION SCOUT.

Technology Objects (TO) in SIMOTION
Configu-
ration
Configu- System data
ration variable
data
Syn- System
Cam chronous func-
System
operation tions
func- Configu-
System tions ration
variable data Alarms Configu-
Alarms
ration
data
Encoder System
func-
System tions Axis
Configu- variable System
System Alarms
ration func- func-
data tions System tions
variable
Alarms
Measuring
Configu-
input
ration
data
System Alarms
variable Output
cam System
func-
System tions
variable
Alarms

Technology objects The technology objects in SIMOTION are provided in the form of technology
packages that can be loaded. Each of these technology packages provides
complete functionality for the technology in question. For instance, the "Position"
technology package includes all of the functions, which are required to traverse
and position axes.
In SIMOTION, for each "physical" automation object, for example, an axis, an
external encoder, a measuring input etc., an appropriate technology object (TO)
is created (instantiated). Each TO in SIMOTION encompasses:
Configuration data: Using configuration data, the created objects are adapted
to the requirements of the specific task or application.
System data: In the system data, a TO provides information about its present
state. The system data of an axis TO will therefore display information such
as position setpoint, actual position value, following error etc.
Using system variables, standard values and settings can also be read or
entered.
System functions: Using system functions, the user program accesses the
functionality to control the associated "physical" object. For example, for an
axis TO, there are powerful system functions available for positioning,
reference point approach, stopping etc. of an axis.
For example, the motion sequences of an axis are specified using motion
commands issued to that axis. The user program can be used to query the
motion status at any time and to control specific aspects of the motion.
Motions can be aborted, overridden, appended, or superimposed.
Alarms:If an event (error, note) occurs on a technology object, the TO issues
a technological alarm.
The TO alarms cause subsequent responses in the system. For each alarm,
certain effects are set as default. However, these settings can be adapted to
the specific requirements.

The "Axis" Technology Object
4 versions
Speed-controlled axis
Synchronous Motion with speed setpoint
axis Specification of a velocity
profile (time-controlled)
Positioning Traversing with torque limiting
axis
Positioning axis
Positioning via
Speed- Positioning command or via profile
controlled input (velocity, position)
axis Traversing to a fixed endstop
Path Synchronous axis

interpolation Following axis in gearing or
axis camming operation
Path axis
Linear, circular and polynomial
interpolation in 2D and/or 3D
support of various kinematics

Axis TO The axis motion control functionality is implemented in SIMOTION using the
technology object (TO) axis. When creating an axis with SIMOTION SCOUT, a
distinction is made between the following axis technologies:
Speed-controlled axis: Motion control is performed using a speed setpoint
without position control. The actual speed is monitored if an encoder is
configured for the axis.
Positioning axis: Motion control for position-controlled axes. The position
as well as the dynamics of the axis are specified. The operation is realized in
the closed-loop position controlled mode. The functionality of the speed-
controlled axis is included in the positioning axis.
The positioning axis in SIMOTION has a position controller. With electrical
axes, the speed controller is implemented in the drive.
Synchronous axis: The functionality is identical with that of a positioning axis.
In addition, additional functions are available for the master value coupling in
the form of gearing and camming
Path axis: From Version V4.1, SIMOTION provides path interpolation
functionality. This functionality encompasses that of the positioning axis.
Additionally up to 3 path axes can be traversed along paths. In addition,
a position axis can be traversed synchronously with the path. Paths can be
combined from segments with linear, circular, and polynomial interpolation in
2D and 3D.
Further, using this technology, the following kinematics are supported:
- Cartesian linear aches
- SCARA
- Roller picker
- Delta 2D /3 D picker
- Articulated arm
The "Axis" technology object can be used for axes with electric drives, with
stepping motors, hydraulic actuators/valve (hydraulic axis) and on virtual axes.

Creating and Configuring an Axis
Using
parameter
screens
Using
expert list

Configuration You will need to work through several steps before you can use technology
of TOs objects. In the first step, the configuration creates an instance of the TO. A TO is
configured using the SCOUT engineering system. You are supported by the
corresponding Wizards (parameterizing screen forms) to create an object and
configure it.
Inserting an axis instance is implemented in the Project Navigator in the
directory Axes, by double-clicking on the entry "Insert axis". The axis wizard
then automatically starts and helps the user create and configure an axis.
Certain object-specific properties are determined in the first configuration (e.g.
speed-controlled axis, positioning axis, synchronized axis). This definition also
determines the "size", i.e. the number of configuration and system variables of
the technology object.
It is therefore not possible to subsequently change properties such as speed-
controlled axis, positioning axis, etc. If a speed-controlled axis TO is to be
converted into a positioning TO, it is necessary to delete the original speed-
controlled TO and insert a new positioning axis TO.
Configuration data generally determines the static properties of a TO. Certain
properties determined by the configuration can also be changed during the
runtime.

The Basic Configuration of an Axis
Configuration
Name and technology

of the axis
Associated drive
Associated encoder

Basic configuration The basic properties of the axis are defined in the basic configuration of an axis.
The following settings can be adapted in this basic configuration.
Technology/processing cycle: The execution level for axis interpolation is
defined in this selection box. The following can be selected:
IPO for dynamic axes
IPO2 for auxiliary axes which have low dynamic requirements
Servo for axes demanding a high dynamic performance
From V4.2 and higher, for axes connected to PROFINET (these are generally
hydraulic axes) the following level is also available:
fast IPO
fast servo
Axis type: Under this dialog, axis type changes can be made (linear or rotary
and electrical, hydraulic or virtual).
In addition, control options can be adapted, for example, standard or standard
+ pressure/force.
Drive assignment: Under drive assignment, the connection to the associated
drive object can be changed.
Function: This part involves settings to an additional technology data block in the
message frame between the TO axis and drive object A technology data block is
required for the "Winder" technology.
Further, settings can be made to withdraw enable signals for critical TO alarms
(refer to the next page).
Further, settings can be made for extended safety functions that are integrated
in the drive.

Selectively Removing Drive Enable Signals

Settings to the Here, there is the option, for technology alarms with local alarm response
drive RELEASE_DISABLE (withdraw enable), to specifically withdraw the enable
signals in STW1 of the corresponding standard message frame.
This means, for example, when implementing a brake control in the drive, for
_disableAxis() as well as for RELEASE_DISABLE as a result of a fault
response, e.g. initially to withdraw OFF3 (STW1.Bit2), and then when the drive
is stationary and the brake is closed, the power is disconnected (OFF2)
(STW1.Bit1).
Also when using the extended Safety Integrated function, an adaptation is
absolutely necessary at the drive. For an integrated stop response of the drive,
withdrawing the AUS2 bit must be prevented, as otherwise the drive will coast
down in an uncontrolled fashion.
Stop modes for For a digital drive coupling, the Drive Technology profile provides the following
PROFIdrive stop modes:
STW1 bit 0 = 0 (OFF1): Stop with ramp.
The drive travels with a speed ramp with adjustable deceleration to zero
velocity. The stopping process can be interrupted and the drive switched on
again. After stopping, the pulses are suppressed and the status changes to
ready to start.
STW1 bit 1 = 0 (OFF2): Coast down
The drive immediately goes to pulse suppression and the status changes to
switch-on inhibit.
STW1 bit 2 = 0: Quick stop
The drive travels to zero velocity at the torque limit. The stopping process
cannot be interrupted. After stopping, the pulses are suppressed and the
status changes to switch-on inhibit.

Calling the Expert List

General After the configuration the next step is to set the parameters for the technology
object. Parameterization involves defining numerous functions in detail.
Like the configuration, parameterization is carried out using the SCOUT
engineering system. Below the object in the project navigator window, there are
the appropriate entries, via which the individual screen forms can be called for
parameterization (making the appropriate parameter settings).
The result of the parameter assignment is stored in configuration data and
system variables for the object and included in the download to the target
system.
Expert List In addition to access to the configuration data and system variables via the
wizards and parameter screen forms, you can also access the data directly via
an expert list. The expert list for an object can be called via the entry "Expert list"
of the axis TO.
Within the "Expert list", lists for the following parameters can be selected using
the tab symbol:
Configuration data: Configuration data are used to parameterize the
properties of a machine. As a consequence, mechanical properties, for
example, gearbox ratios, hardware limit switches, maximum dynamic values,
closed-loop control parameters, etc. are defined.
System variables: System variables are generally used to display status
information about the selected TO. For axes, this involves positions,
velocities etc. From the user perspective, such data can only be read. Using
system variables that can be written to, a basic parameterizing interface to
the TO is also implemented. These include, for example, velocity override,
preassigned values (default values) of velocity, acceleration etc. for
traversing commands
User-defined lists: From V4.0 and higher, there are user-defined expert lists
and the option of calling default lists with the most important configuration
data and system variables.

Specifying Mechanical Data
Load gear: Measuring gear:

transmission ratio transmission ratio
Automatically adapted; if
TypeOfAxis.DriveControlConfig.dataAdaption = YES
TypeOfAxis.NumberOfEncoders.Encoder_1.dataAdaption = YES
TypeOfAxis.NumberOfEncoders.Encoder_1.encoderMode = PROFIDRIVE

General After the configuration the next step is to set the parameters for the technology
object. Parameterization involves defining numerous functions in detail.
Like the configuration, parameterization is carried out using the SCOUT
engineering system. Below the object in the project navigator window, is a row
of tabs for displaying the individual screens for parameter settings.
The result of the parameter assignment is stored in configuration data and
system variables for the object and included in the download to the target
system.
Mechanical When controlling a drive by means of the "Axis" technology object, SIMOTION
Properties uses only the speed setpoint interface and not the positioning interface. The
drive therefore has no information about traversing paths, etc. All mechanical
data regarding lengths, leadscrew pitch, etc., must be defined in SIMOTION.
Automatic Using automatic adaptation, from V4.2 SP1, the relevant drive data (drive and
adaptation encoder data, as well as reference variables, maximum variables, torque limits,
and the selectivity associated with torque reduction of the SINAMICS S120 from
v2.6.2) are transferred into the TO configuration when the CPU boots and do not
have to be manually set.
For a "Copy current data to RAM" or "Copy RAM to ROM", in a dialog, it is
possible to load the adapted values to the PG and therefore into the offline
project.
If required, the adaptation can be activated in the expert list using the following
Config data:
TypeOfAxis.DriveControlConfig.dataAdaption = YES
TypeOfAxis.NumberOfEncoders.Encoder_1.dataAdaption = YES
TypeOfAxis.NumberOfEncoders.Encoder_1.encoderMode = PROFIDRIVE

Parameterizing Default Settings

Default value for The system always uses the default values if, when calling the system functions,
Dynamic response USER_DEFAULT is specified.
This means that the dynamic values for each axis can be defined centrally just
once and do not have to be re-entered whenever the system function is called.
The following dynamic variables of an axis can be assigned as default values in
this dialog
Velocity
Acceleration
Deceleration
Jerk
Velocity profile
Stopping time
Stopping Time The time specified under Stopping time applies if a moving axis is stopped via
"Emergency stop in pre-defined time", for example.
Velocity The velocity profile defines the axis response during approach, braking, and
profile velocity changes.
You can choose between the following profiles:
Trapezoidal: The trapezoidal profile is used for linear acceleration in a
positive and negative direction of travel.
Smooth: The profile displays a smooth acceleration character and the jerk
characteristic is controllable.
Presetting the Depending on the settings for maximum dynamic response, dynamic response
dynamic response values can be preset as default values in the system. You specify the settings
regarding maximum dynamic response using "Maximum velocity" and "Ramp-
up/acceleration time up to maximum velocity".

Specifying Limit Switches and Maximum Velocities
Assign

Hardware Traversing range limits are monitored by means of digital inputs and limit
limit switches switches. Hardware limit switches are always NC contacts and should always
be active outside the permissible travel range. When a limit switch is
approached, a technology alarm is triggered.
The logical address of the input which the hardware limit switch for negative/
positive direction of travel is connected to is entered in "Hardware limit switch".
The address must be outside the process image (>= 64). With the bit number,
the input is specified to which the hardware limit switch for negative/positive
direction of travel is connected.
From V4.2 and higher, the inputs for the hardware limit switches can also be
easily connected with the inputs of the CU of SINAMICS_Integrated. By clicking
on the "" button, the assignment dialog is opened, in which the interconnection
with the CU inputs can be made.
"Save and compile" is used to create the necessary message frames between
the CU and SIMOTION.
Software Software limit switches can be specified and activated. They are activated via
limit switches system variables (Swlimit.State). You can also specify in the "Homing" tab in the
configuration data: Homing.referencingNecessary whether the software limit
switch is always active, or only after referencing/homing:
Homing.referencingNecessary = NO software limit switch always active
Homing.referencingNecessary = YES switch active after referencing/homing
Maximum In SIMOTION there are two velocity limits. SIMOTION automatically reduces to
velocities the minimum of the two values
Maximum velocity (configuration data): Defines the maximum axis velocity as a
result of the mechanical system and the drive.
Maximum programmed velocity (system variable): Permits a product-dependent
reduction of the maximum velocity.

Specifying the Maximum Acceleration and Jerk

Acceleration, SIMOTION makes a distinction for acceleration and jerk between hardware
jerk limits in configuration data and software limits in system variables, which, for
example depending on the product, can be easily overwritten from the user
program.
For programmed motion, the TO automatically reduces the acceleration and/or
the jerk to the minimum from the limits specified by the hardware and/or
software. Jerk limiting is only active for jerk-controlled motion, i.e. motion
sequences with continuous acceleration.
If the "Direction dependent dynamic response" option is activated, then different
limits for acceleration and jerk can be entered depending on the direction of
motion.
Stopping with The set value is effective, if a moving axis is stopped in the "EMERGENCY OFF
pre-parameterized mode" with the setting "Quick stop with actual value-related emergency stop
braking ramp ramp".
Time constant ... From V4.0 and higher, a time constant can be entered for smoothing the
manipulated variable changes as a result of controller switching operations.
This switchover smoothing filter is active for all status transitions/switchovers in
which an offset in the manipulated variable can occur due to the switchover.
Gearbox change operations in the data block are not smoothed

Filtering the Actual Value for Master Value Coupling

Master value For a synchronous group within a control system, synchronous operation is
coupling via realized taking into account the master value position, the velocity and
actual value acceleration. For distributed synchronous operation, the master value position
and master value velocity are transferred between the master value and
synchronous object. At the synchronous object, acceleration is generated
through differentiation
If an encoder actual value is used as master value, then the measured actual
value can be smoothed and extrapolated in order to compensate deadtimes.
Deadtimes, occur when acquiring the actual values through bus communication
in the system and as result of the finite processing duration within the system.
Filtering the From V 4.1, the actual position value for the synchronous operation can be
actual position filtered separately for the extrapolation using a PT2 filter. The filter for the
position actual value of the axes is set using the option "Filter on the actual
position value" and the two time constants "T1" and "T2".
The filter acts on the actual position for the extrapolation before the
differentiation of the position for the extrapolation velocity.
Filtering the The position is extrapolated based on the filtered or averaged velocity actual
actual velocity value. This filter can be activated using the option "Filter on the actual velocity
value": The time for the average value generation or the PT1 filter time is
entered under "Time constant.
The time for the extrapolation is entered under "Extrapolation time".
Extrapolation is not performed if 0.0 is entered.
The extrapolated values (position and velocity) can be monitored in the system
variable extrapolationData....
In addition, the velocity master value can be optionally generated from the
extrapolated position master value through differentiation or the extrapolated
velocity master value can be used for synchronous operation.

Position Control in SIMOTION
DSC operation
Servo gain factor
IPO
Feedforward control

Interpolator The interpolator processes the traversing commands which are issued e.g. from
the user program to an axis. In each IPO cycle it calculates the position setpoint
of the axis while including the dynamic values such as acceleration, velocity etc.
in its calculation. This position setpoint is then entered into the position controller
after fine interpolation.
Fine interpolation If there is a different sampling ratio between interpolator and position controller,
the fine interpolator (FIPO)'s task is to generate intermediary setpoints.
For the configuration you can select in the "Fine interpolation" box between no,
linear and constant speed interpolation.
Position control The position controller is responsible for controlling the actual position of the
axis. It is usually designed as P controller for electrical axes. The difference
between the position setpoint and position actual value is used as the control
deviation value (following error). Multiplied with the servo gain factor, the result
the velocity setpoint of the axis is output at the position controller output.
The dynamic response and therefore the rise time in the position control loop is
determined in this case by the servo gain factor (or more precisely: 1/sg = rise
time). The maximum possible servo gain depends on the dynamic properties of
the drive (e.g. rise time, etc.) and mechanical properties of the axis (moment of
inertia, backlash, etc.) as well as on the set position control cycle (sampling
theorem).

Position Controller Optimization without Precontrol
Unoptimized position control
Velocity setpoint:
motionstatedata.commandvelocity
Actual velocity:
motionstatedata.actualvelocity
Optimized position control

Servo gain factor

Optimizing the Prerequisite for optimizing the position controller is that the current and speed
position controller controller have already been optimized for the drive. Then the setpoint and
actual velocity of the axis can be optimized for the position controllers using
trace recording.
The axis can be moved via an MCC program or via the function generator of the
trace tool. The axis should accelerate, alternating between positive and negative
velocity. The axis acceleration should be selected so that the current limit is not
reached.
The position control can then be optimized by increasing the servo gain factor.
Good optimization of the servo gain was achieved if the actual velocity follows
the specified setpoint velocity during axis acceleration without any overshoot.
In this case the setpoint and actual velocity/actual velocity and following error of
axis can be recorded in the trace tool via the following system variables:
<Axis>.motionstatedata.commandvelocity
<Axis>.motionstatedata.actualvelocity
<Axis>.positioningstate.differencecommandtoactual
These system values are determined in the interpolation. In particular, this
means that all values which refer to the actual position/velocity are outdated
compared to the associated values of the position control.

Position Control with Precontrol
servoData.compensatedServoCommandValue Feedforward control servoData.preControlValue
Velocity
* KPC
Interpolator setpoint
balancing nset
Position filter - SA * KV +
setpoint servoData.controllerOutput
servoData.followingerror servoData.controllerDifference
Expert mode servoData.symmetricServoCommandVelocity
Symmetrization servoData.symmetricServoCommandPosition
time constant O
sensorData.sensorData[1].actual velocity
sensorData.sensorData[1].position
Act. position val.
Dead time (transfer on

PROFIBUS, rise time, ...)
Configurationdata.TypeOfAxis.NumberOfDataSets.DataSet_1.DynamicData.velocityTimeConstant
= vTc (velocityTimeConstant)

Precontrol The conventional position control concept (P controller) always requires a

deviation (following error = FE) between position setpoint and actual position
value. This deviation can lead to unwanted axis behavior, e.g. contour errors, poor
dynamics (performance characteristics during rise time) etc.
The task of the precontrol is to compensate these disadvantages. The precontrol
calculates the axis (setpoint) velocity directly from the position setpoints by
differentiation, multiplies it with the KPC factor, then transfers it directly to the
position controller output. In the best case, the precontrol setpoint will cause the
axis to move at the velocity calculated by the interpolator.
If the actual axis position was immediately returned to the position controller, then
the following error would be 0. The position controller would then only have to deal
with the task of correcting disturbance-induced fluctuations of the real actual axis
position with respect to the position setpoint.
Delay times Unfortunately, data processing and transfer as well as the rise time of the drive
lead to delay times which have a considerable negative impact on the
conventional position control concept with precontrol.
There is a time lapse which cannot be neglected between supplying the position
setpoint to the following error and returning the first actual position values to the
position control. This delay time is mainly as a result of:
The dead times for transferring the setpoint/act. value (2xDPcycles + Ti + To)
Equivalent time for the speed control loop of the drive (approx. 1-5 ms).
If this time delay would not be compensated in one form or another, then the
speed setpoint output to the drive when the axis starts would be too high. This
excessive speed setpoint would result in overshoot and/or unstable performance
characteristics during drive rise time.
The increased speed setpoint is a result of the speed setpoint of the precontrol
and a component originating from the position setpoint supplied to the following
error. The actual value "missing" at the beginning of the motion will inevitably
result in an increase of the following error and therefore output of an additional
speed setpoint.

Selecting a Suitable Balancing Filter Type
Selection in the input field "Balancing filter"
"Extended balancing filter active"
or via expert list (configuration data):
TypeOfAxis.NumberOfDataSets.DataSet_1.ControllerStruct.
PVController.balancedFilterMode
nact
-
PT1- filter Command value
Mode_1 Actual value

+
time time
nact
Extended Command value

balancing
filter
Actual value
Mode_2 time
time

Balancing time Delay in returning the actual position value output compared to input of the
vTc position setpoint in the following error and resulting undesirable increase in the
output speed setpoint which can be compensated by means of delayed input of
the position setpoint to the following error.
The delay (balancing time vTc) of the input of the position setpoint to the
following error should exactly compensate for the delay in the return of the
actual position. This is the approximately the case if the balancing time vTc is
set to the same value as the calculated delay time Tequiv.
Filter mode In the first version of SIMOTION, a pure PT1 filter was used This type has the
disadvantage, that when accelerating, the delayed setpoints at the output do not
match the characteristics of the actual values returned from the encoder.
In the initial phase of the acceleration, a PT1 filter already supplies setpoints;
however there are still no actual values from the encoder as a result of the
deadtime in the position control loop. As a consequence, there is a small
positive following error at the output, and therefore an additional and positive
value added to the speed setpoint that is output.
Vice versa, in the final acceleration phase, the actual values of the encoder
system have already been fed back into the position control, while the PT1 filter
is still delaying the setpoints that are applied. As a consequence, in the final
phase, there is a negative contribution added to the following error, and
therefore a negative contribution added to the speed setpoint that is output.
The result is generally an overshoot or undershoot of the speed setpoint that is
output, and therefore the velocity actual value that cannot be resolved through
optimization.
Expanded In SIMOTION, an additional filter was integrated, which better matches the
balancing filter characteristics of the actual values returned from the encoder system. Using this
filter (expanded balancing filter or Mode_2) the undesirable undershoot or
overshoot issue can, to a large extent, be avoided.

Optimizing the Balancing Time Constant (vTc)
KV = 80/s
vTc = 7.5 ms
Without DSC
sensorData.sensorData[1].actual velocity
servoData.symmetricServoCommandVelocity
motionstatedata.actualvelocity vTc optimum
KV = 80/s
vTc = 1 ms
Without DSC
vTc too small
KV = 80/s
sensorData.sensorData[1].actual velocity vTc = 25 ms
servoData.symmetricServoCommandVelocity Without DSC
vTc too large

Continuation The filter can be activated using the following configuration data in the expert
list:
<Axis>.NumberOfDataSets.DataSet[1].ControllerStruct.PV_Controller.
balanceFilterMode = Mode_2
With "Mode_2", a dead time + PT1 filter is used, while Mode_1 uses a pure PT1
filter.
Type of fine For selecting the precontrol, constant velocity fine interpolation must also be
Interpolation selected. The type of fine interpolation is set in the dialog "Axis -> Fine
interpolation" in the "Fine interpolator" selection field:
"Fine interpolator = constant velocity interpolation"
If "No interpolation" or "Linear interpolation" would be selected, undesired speed
jumps would take place at the drive in the acceleration phase of the axis.
Determining the Then, the start values for the balancing filter time can be determined. These
start values for vTc times essentially depend on whether DSC operation has been selected or not:
without DSC operation:
vTc = 2 x DP cycle time + Ti +To + rise time of the drive
with DSC operation:
vTc = rise time of the drive (equivalent time of the speed control loop)
Optimizing Then you can proceed to optimize the servo gain Kv for the axis in the usual
vTc manner. However, if an optimum rise time behavior is not achieved, then this
must be compensated by modifying vTc.
Axis not dynamic enough: In this case, vTc must be reduced. Selecting
vTc to be equal to Tequiv is only a first approximation.
Axis overshoots: In this case, vTc must be increased.

Position Control with DSC the PROFIdrive DSC Structure
n set
Position nset (precontrol)
Deceleration Fine interpolation Position Speed Speed
calculation (1 DP cycle) controller filter controller
(interpolator) xset xDiff ndrive
xact,SIMOTION
Speed
calculation
3
2 xact, drive
1
Xact,SIMOTION
Tpc Tpc Tsc
xact,motor
Zero offset
and compensations
Speed controller cycle 125 us
SIMOTION Drive
Position controller cycle 1-2 ms

Dynamic Servo With the "Dynamic Servo Control" function, the dynamically active part of the
Control (DSC) position controller is transferred to the drive and performed using the sampling
time of the speed control loop.
This allows a higher servo gain factor and consequently greater dynamic response
in the position control loop. Better dynamic performance is achieved both for the
command variable and for eliminating disturbances.
The structure of the DSC contains 3 branches for the feedback of the actual
position (nos. 1, 2 and 3). The feedback no.2 totally compensates the actual value
Xact, which is transferred from SIMOTION to the drive (no. 1). Therefore the only
relevant feedback of the actual position is branch no. 3.
The DSC structure allows a dynamic switchover between conventional position
control and operation with DSC. All monitoring functions as well as knowledge
about the actual position (reference point) must be - independent of DSC -
implemented only in SIMOTION.
SIMODRIVE 611 U DSC is supported by MASTERDRIVES (standard message frames 5 and 6

MASTERDRIVES PROFIdrive) and SIMODRIVE 611U or SINAMICS S120 (in addition, message
SINAMICS S120 frames 105 and 106).
Scripts on the AddOn - CD (4_Accessories\Masterdrives\Scripts) are available to
support commissioning of MASTERDRIVES.
Compensations The DSC function is not only used in the SIMOTION system, but also in all of the
SIEMENS motion control systems, for example SINUMERIK. The SINUMERIK
system uses, in the actual value branch, a wide range of compensations, for
example spindle pitch error, sag compensation etc. This means that in the position
control loop of SINUMERIK, actual values from the drive are not directly input, but
an actual value that is compensated according to tables.
The DSC function has now been designed, so that these compensations can be
kept in their original form. Precisely, branch number 2 only compensates the non-
compensated actual value in the following error, i.e. the compensation "survives".

Position Controller Optimization with Precontrol and DSC
Settings:
Activate precontrol,
Weighting factor: KPC = 100
Activate DSC operation
Activate expanded balancing filter (FilterMode = Mode_2)
Balancing time vTc = equivalent time of the speed control loop
servoData. precontrolvalue
sensorData.sensorData[1].actual velocity KV = 200/s

servoData.symmetricServoCommandVelocity vTc = 2.5 ms
with DSC
motionstatedata.actualvelocity

Start value for VTc Using DSC and precontrol, it is only necessary to take into account the
with DSC operation equivalent time constant of the lower-level speed control loop. In this case, delay
times resulting from data processing or transfer are not included in the balancing
time constant.
vTc = rise time of the drive (equivalent time of the speed control loop)
Optimizing The optimum performance characteristics during rise time can be achieved by
vTc changing vTc. vTc is set to the optimum value if the actual velocity of the axis
(<Axis>.servodata.actualvelocity) follows the "delayed" setpoint velocity
(<Axis>.servodata.symmetricservocommandvelocity) by approx. 2 DP cycles.
The servo gain Kv can then be optimized in the usual manner.

Dynamic Adaptation for Synchronous Axes
servoData.compensatedServoCommandValue Precontrol
servoData.TotalServoCommandValue
Dynamic * KPC
Interpolator adaptation T1, T2
Sym. n set
and deadtime - SA * KV +
filter
Dead time
Position actual value

Dead time
Configuration data.TypeOfAxis.NumberOfDataSets.DataSet_1.DynamicComp.enable = activation

Configuration data.TypeOfAxis.NumberOfDataSets.DataSet_1.DynamicComp.T1 = time constant T1
Configuration data.TypeOfAxis.NumberOfDataSets.DataSet_1.DynamicComp.T2 = time constant T2
Configuration data.TypeOfAxis.NumberOfDataSets.DataSet_1.DynamicComp.deadTime = dead time

Dynamic adaptation If, for the position controller optimization of axes, that will be subsequently
for synchronous operated in a synchronous group, different time constants were set, then the
axes resulting time difference must be compensated; if this is not done, then the
actual axis contours will differ in synchronous operation.
These different time constants can be caused by:
different balancing times vTc for 100% precontrol
different servo gain factors without precontrol
In the first case, the position difference is a sequence of different time delays
when entering the position setpoints into the position control. For example, the
position actual value of an axis in the constant velocity phase would always be
obtained so that in the position controller the resulting system deviation is equal
to 0, i.e. the delayed position setpoint fed in minus the position actual value.
In a second case, the difference is caused by different servo gain factors. Thus,
for example in the constant velocity phase, the actual position of the axis always
moves a time 1/Kv = TLR after the position setpoint.
Further, it must always be observed, that either all axes are traversed in the
synchronous group with DSC or without DSC.
T1, T2, TRes As a result of the dynamic adaptation, a delay is created in the position setpoint
of the axis. The delay is caused by two PT1 elements and a resulting dead time.
Using the configuration data:
TypeOfAxis.NumberOfDataSets.DataSet_1.DynamicComp.enable
the dynamic adaptation can either be activated or deactivated.
As resulting total time constant TRes the equivalent time constant of the axis with
the poorest dynamic performance is selected. T1, T2 and/or the dead time must
then be set, so that the resulting equivalent time TRes is identical for all axes in
the synchronous group, i.e.:
TRes = T1 + T2 + dead time + vTc (1st case)
TRes = T1 + T2 + dead time + TLR (2nd case)

Checking the Dynamic Adaptation Using the Circularity Test
Programmed
radius
"good" dynamic response adaptation
"Actual"
radius
"Poor" dynamic response adaptation

Circularity test From V4.0, the SIMOTION trace tool also includes a circularity test. For a
circularity test, two axes are traversed along a circular path and the actual path
is compared with the program path. This allows the dynamic response and the
synchronous operating behavior of the axes to be tested.
Essentially, the circularity test can be executed in the two following
configurations:
The two axes interpolating with one another are real positioning axes:
The deviation between the programmed and actual radius provides a
measure of the following error (pythagoras). A deviation from a pure circular
shape (rotated ellipse) indicates different following errors of the two axes
when interpolating and therefore a poor dynamic response adaptation.
A good dynamic performance adaptation has been achieved, if the actual
path keeps its circular shape.
One of the axes is a real positioning axes, the other axis is a virtual axis.
In this particular case, the dynamic response of the real positioning axes is
tested. The best setting is achieved, if the resulting path is a circle where
the programmed radius is the same as the actual radius.
This can only be achieved, if the axis precisely traverses without any
following error even in the acceleration phase.

Positioning and Standstill Monitoring
servoMonitoring.positioningState
ACTUAL_VALUE_OUT_OF_POSITIONING_WINDOW
ACTUAL_VALUE_INSIDE_POSITIONING_WINDOW
STANDSTILL_MONITORING_ACTIVE

Positioning At the end of the positioning movement the movement of the axis into the
monitoring pre-defined position is monitored on the basis of a positioning window.
A positioning window and a time interval are used for this purpose.
At the end of position setpoint interpolation, a timer is started with the runtime
specified in "Positioning tolerance time". After the timer has expired, the actual
position value and the setpoint position value are compared. If the deviation is
greater than the value specified in the tolerance window "Positioning tolerance
window", then fault message "Fault 50106: position monitoring" is output.
Standstill Standstill monitoring monitors the actual position of the axis at the end of a
monitoring traversing movement. Two time windows and a tolerance window are provided
for standstill monitoring.
At the end of position setpoint interpolation, if the actual position of the axis has
reached the tolerance window for position monitoring, a timer is started with the
"Minimum dwell time" runtime. After the time has expired, the standstill
monitoring is active and the motion is considered as having been completed
(MOTION_DONE).
Now, the position actual value is compared with the setpoint position. If the
actual position leaves the "standstill window" for longer than the time specified in
"Tolerance time", then the error message: "Alarm 50107: Standstill monitoring"
is output. If the time intervals for "Minimum dwell time" and "Tolerance time" are
equal to 0, the tolerance position window for standstill monitoring must be
greater than or equal to the tolerance window for position monitoring.
Note From V4.1 and higher, in the system variables servoMonitoring.positioningState

the status of the axis position is displayed during positioning:
INACTIVE (motion is active)
ACTUAL_VALUE_OUT_OF_POSITIONING_WINDOW
ACTUAL_VALUE_INSIDE_POSITIONING_WINDOW
STANDSTILL_MONITORING_ACTIVE

Open-Loop Speed Controlled Motion - Standstill Signal

Standstill signal For traversing motion of speed-controlled, positioning and synchronous axes,
the standstill signal (motionStateData.stillstandVelocity = ACTIVE) is generated,
if the actual velocity is less than a configured velocity threshold for, as a
minimum, the duration of the delay time.
For an Emergency Stop, below this velocity, motion is stopped with setpoint 0
without an emergency stop ramp. If the command with "Attach" is
parameterized, then the transition is realized with the output of the standstill
signal.

Following Error and Velocity Error Monitoring
Dynamic following error

monitoring
Velocity error
monitoring

Dynamic The task of the following error monitoring is to monitor for changes to the
following error following error in the traversing phase. Particularly noticeable changes occur
monitoring when e.g. the axis unintentionally moves against an obstacle.
The following error monitoring on the position-controlled axis is performed using
the calculated following error. The maximum permissible following error is
calculated from the setpoint speed and the straight lines parameterized in the
dialog box above. If this limit is exceeded, "Error 50102: dynamic following error
monitoring window was exceeded" is triggered.
With velocities less than the specifiable minimum velocity, a parameterizable
constant following error is monitored.
If several data sets are configured on the axis, the setting for the following error
monitoring must be identical in all data sets.
Velocity The velocity error monitoring monitors for possible deviations between the
error monitoring programmed setpoint and actual velocity. This monitoring function is active for
speed-controlled axes or for speed-controlled motion of positioning or
synchronous axes. For this monitoring function, an encoder must be connected
to the axis and be configured.
A PT1 model is emulated to monitor the controlled system. The input of the PT1
element is supplied with the programmed setpoint velocity. The emulated
"velocity actual value" is available at the output. The monitoring function is
initiated if the deviation between the emulated "velocity actual value" and the
actual velocity value is greater than the value that has been entered under
"Maximum velocity deviation".
The time constant for the PT1 model is set during axis configuration in the
configuration data dynamicData.velocityTimeConstant or for hydraulic axes in
dynamicQFData.velocityTimeConstant.
When the velocity error monitoring response, "Alarm 50101 Window for
reference model monitoring exceeded" is output.

Signal Flow Representation of the Closed-Loop Axis Control

Signal flow The dialogs under the "Signal flow" entry provide a functional view of the closed-
loop control and the parameters of the SIMOTION TO "Axis".
Using the individual screen forms, the path from the setpoint position calculated
by the interpolator and the actual position sensed by the encoder system can be
tracked via the position control up to the manipulated variable output. The
variables prepared in the individual intermediate steps, for example positions,
velocities, speed etc., are displayed in the various screen forms.
The names of the associated system variables from the expert list are displayed
at the cursor tool tip (this is important for trace recordings). Further, the
parameter settings (configuration data), relevant for the control, can be directly
entered in the screen forms.
The functional view of the control in SIMOTION provides:
Identical visualization of the SIMOTION and SINAMICS functionality
A better understanding of the internal functions
Parameterization and online diagnostics in a functional view

Programming Traversing Motion
Single-axes commands to traverse axes

Set axis enable
Withdraw axis enable
Positioning to a target position
Start axis speed-controlled
Start axis position-controlled
Stop an axis
Reference an axis

Overview To traverse the axes that have been created, what are known as single-axis
commands are available in SCOUT. These commands can be inserted in the
MCC chart via the associated toolbar in the MCC editor.
The group of single-axis commands especially includes the commands for open-
loop or closed-loop controlled traversing of axes, as well as commands to
enable axes, reference axes etc.
The commands to activate and deactivate cams as well as handle external
encoders are also included in this group.

Enabling and Disabling Axes

Switching axis This command switches the enable signals at the axis. The axis goes into
enables signals the follow-up mode if any of the enable signals are missing. Following enable
signals can be switched.
Position controller enable: The position controller enable activates position
control for the axis. You can query the state of the position control using the
system variable <axis>.servoMonitorings.controlState.
The position controller enable is ignored for speed-controlled axes.
Switch drive enable: This checkbox switches the drive enable. You can query
the state of the current drive enable for real axes using the the system variable
<axis>.actorMonitorings.driveState.
Switch pulse enable: This checkbox switches the pulse enable in the drive
module. You can query the state of the current pulse enable for real axes using
the system variable <axis>.actorMonitorings.power.
The enable signals in STW1 according to the PROFIdrive profile can be
individually switched. All of the enable signals must be set for position-controlled
drive operation.
Follow-up mode An axis can be switched into the follow-up mode using this check box. No
motion commands are executed in the follow-up mode. For positioning axes, in
the follow-up mode, the position control is canceled and the position setpoint
tracks the position actual value. After the follow-up mode has been deselected,
the axes must be re-referenced.
Traversing mode The axis can be enabled for position or speed controlled operation via the
traversing mode. In the speed-controlled mode, the axis can be traversed if an
encoder fails.
Remove axis This command automatically removes the position control enable for the
enable selected axis. In addition you can specify whether the drive enable and pulse
enable are to be removed too. In the selection box "Follow-up mode", follow-up
mode for the axis can be activated.

Processing Motion Commands
MotionTask 1
Start
Axis 1
? Pos(axis1)
Axis 2
Command

buffer
Command
Pos(axis2) buffer
?
Interpolator
Pos(axis1)
Interpolator
Fine
interpolator
Fine
End interpolator
Position
controller
Position
controller

General Commands can be issued from all user program tasks of the system. The
execution time of a command at the technology object is the only factor that
determines whether the command is effective.
A technology object does not have a task context, and therefore the priority of
the task, which issued the command, has no significance for actually executing
the command. If commands are issued from multiple tasks, the user program
must ensure a consistent sequence of the processing.
Command buffer In order that several commands can be issued to an axis TO, every axis has a
command buffer. This buffer actually comprises four command group-specific
subbuffers, which can buffer a command from the one of the following command
groups
Emergency Stop and Stop Continue commands
Enable and disable commands
Sequential traversing motion (motion in the basis coordinate system)
Superimposed traversing motion (motion in the superimposed coordinate
system)
The interpolator at the axis reads out the command at the command buffer
(possibly in the interpolator clock cycle) and processes it. Commands from
various command groups are, to a certain extent, processed in parallel by the
axis TO.

Transitional Behavior of Motion Commands
Position axis
Attach
Attach - delete
pending command
Substitute
Blending
Transitional behavior
Superimpose

Transitional If a motion command is issued from a MCC chart and if a traversing motion is
behavior already active, you can specify in the "Transition behavior" parameter how to
process the issued motion command.
Substitute: The motion specified in the issued command becomes active
immediately. The motion command being interpolated is interrupted.
If the command buffer contains a command, it is cleared.
Attach and discard existing command: The issued command is entered in
the command buffer. If the command buffer contains a command, it is
cleared. The active traversing motion (interpolator) is not affected.
Attach: The issued command is entered if the command buffer is empty.
If the command buffer already contains a command, the call waits until the
command buffer is empty and enters the command.
Blending: (like attach) blending is a particular form of two consecutive
positioning movements. Contrary to substitution, the motion in the previous
command is traversed at the programmed velocity until the target position is
reached, the transition takes place in the target position of the previous
movement.
The setpoint velocity specified in the command for the respective movement
is adhered to at all times.
Superimpose: The issued motion is executed as a superimposed movement.
Superimposed movements are independent movements that can cancel
each other and can be independently stopped/resumed.
The superimposed motion is carried out in a superimposed coordinate
system as relative or absolute movement depending on how it was
programmed. Analogously, the basic movement is carried out in the basic
coordinate system as relative or absolute movement depending on how it
was programmed.
TO Alarm Aborted commands in the interpolator trigger a technological alarm "30002

Command aborted".

Program Advance for Motion Commands
Position axis Step to next command

immediately
Motion start
Acceleration end
Start of
decleration phase
Setpoint
End of the setpoint
Delay program execution Actual
interpolation
Setpoint
Motion completed,
Actual i.e. position window
reached

Program To synchronize programmed sequence and command processing in the

advance logical object, using the parameter "one command advance" it can be specified
as to when, after the command is issued, the program execution should be
continued. In this way, the system can wait until the motion has been partially or
completely executed.
Do not wait: If, for a pos command in an MCC chart, the checkbox for the
option "Delay program execution" is not selected, only when selecting the
transition behavior "Substitute" does the system advance to the next
command.
If "Attach - delete pending command", "Blending" or "Superimpose" is
selected in the transition behavior "Attach", then the system waits until the
issued command has been entered in the command buffer.
When the option "Wait for program execution" is selected, the following settings
are available:
Start motion
End of acceleration
Start of braking phase
End of setpoint interpolation
Motion completed, i.e. position window reached
Notes The full control over the immediate advance after issuing a motion command
is only possible using the system function calls in the ST language.
Interrogating the state of the command buffer is also only possible with ST
calls (system function:_getstateofmotionbuffer(...)).
In MCC the command buffer can be cleared using the "Clear command
queue" command.

Synchronous and Asynchronous Program Execution
Task x
POS (axis1,...) Start of axis positioning; Synchronous execution

Task x: wait e.g. until motion (e.g. for MotionTasks)
POS (axis2,...) has been completed
Task x
Asynchronous execution
(e.g. for BackgroundTask, Start of axis positioning;
IPOSynchronousTask, etc.) POS (axis1,...) Program changes to the next
command, without waiting for
positioning to be completed
POS (axis2,...)

Asynchronous For asynchronous execution, program processing and the process sequences
processing are synchronized with one another. After a motion command is issued, then the
next command in the program is immediately executed.
This type of programming must be taken into account in all cyclic tasks, for
example, the BackgroundTask. When issuing a motion command, the
monitoring of the task run time is not withdrawn. If a program is generated using
motion commands, then in this case, the programmer must ensure that all of the
calls issued immediately advance to the next command.
In the ST language, this is relatively simple, as each motion command has its
own "nextCommand" parameter, which controls the advance to the next
command. Using the setting (nextCommand := IMMEDIATELY) it is reliably
ensured that the system immediately advances to the next command. In MCC,
the immediate advance is only ensured for substituting-type transition behavior.
Note If a program with motion is generated for a cyclic task, then instead of the
motion commands from the toolbar the blocks in conformance with PLC-OPEN,
available in the library supplied, should be used. These blocks have been
specifically designed for use in cyclic tasks.
Synchronous For synchronous execution, program processing and the sequences of the
processing processes are synchronized with one another in some form. After issuing a
motion command, the system waits until a special state has occurred in the
process (e.g. position reached, velocity reached, etc.) and only then does the
program advance to the next command.
This type of program generation is only possible in tasks, which are not subject
to any runtime monitoring MotionTasks, UserInterruptTasks, etc.
MCC with its diagnostic functions specially supports this type of "event-
triggered" programming. Further, this programming style as a whole has a
higher level of performance than cyclic programming, as waiting for "events"
does not use up any unnecessary CPU time.

Dynamic Settings for the Positioning Command
Velocity profile
Smooth
Trapezoidal

Velocity You can select a velocity profile for the programmed axis motion. The velocity
profile profile defines the transitions between the individual motion phases. The
following are available:
Smooth: In this case the acceleration and jerk can be specified.
Trapezoidal (default setting): With this velocity profile you can only specify
the acceleration. The input fields for the jerk are grayed out.
The selectable velocity profiles influence the motion transitions between the
start and end of the acceleration phase, between constant velocity and
acceleration phase/deceleration phase, and the transitions from start and end of
the deceleration phase.
In addition to direct input of the velocity profile, you can also select from the
following options:
Last programmed: The last programmed command becomes effective
with this velocity profile
Default: The velocity profile configured in the "Default" dialog when
commissioning becomes effective for the command. You can overwrite the
default setting of the velocity profile using the MCC command "Set axis
parameter".
Entries for Jerk You can define the jerk and acceleration values via the individual combo boxes.
and acceleration boxes. In addition to the two options "Last programmed" and "Default" freely
editable values or variables can be directly entered or as expression (formula).
You can use drag and drop to copy variables from the symbol browser to the
input field or copy commands and functions from the command library to the
input field.
In the selection list you can select whether the programmed jerk or the
acceleration should be effective in the configured unit or as a % referred to the
standard value.

Start Axis, Position Contolled or Speed Controlled
Time

Start axis Using this command, positioned controlled traversing of an axis started.
position controlled A velocity is entered. The axis traverses in this motion, until it is replaced by
another motion or is stopped. Time limiting is possible as an alternative.
Time duration Under the "Dynamics" tab, the checkbox can be activated to parameterize a
duration. A time can be entered in the "Time" entry field. The time refers to the
start of the constant velocity phase up to the start of the deceleration phase.
If no time is specified, then the axis moves until it receives a new command.
Speed input An axis is traversed, speed controlled, with this command. A setpoint is entered
to which the axis can be ramped up via a velocity profile.
Also in this case, a time can be entered just the same as for the "Start axis
position-controlled" command. If no time is specified, then the axis moves until it
receives a new command.

Stop Axis
Stop mode
Selection

Stop Axis The command stops the axis moving. It can be used both for positioning and
speed movements. The motion can be stopped with Normal stop or Quick stop.
You define this in the "Stop mode" dropdown list.
Normal Stop With a normal stop, the motion is decelerated along the parameterized
deceleration ramp.
Without Abort: The motion can be resumed with the MCC command "Resume
motion". In this case, no other commands can be issued to the axis between the
stop command and the resume command.
With Abort: The motion cannot be continued.
With a normal stop you can also define whether the entire motion, the basic
motion or only the superimposed motion should be stopped. You define this in
the "Selection" dropdown list.
Quick stop With quick stop the axis is stopped by the interpolator and is not switched into
the follow-up mode. The motion cannot be continued. In addition, the axis is
disabled for further motion commands. This state can be removed using
"Remove axis enable" or "Reset object".
Quick stop within defined period: The motion is stopped within the
parameterized time frame (tab: "Dynamics", parameter: "Time for deceleration").
Quick stop with actual value-related emergency stop ramp: The motion is
stopped by the interpolator via the Emergency OFF ramp (dialog box: "Limits",
tab: "Dynamic response", parameter: "Stop with preconfigured ramp").
A following error is taken into account before stopping.
Quick stop with maximum deceleration: The motion is stopped by the
interpolator with the max. dynamic values (dialog box "Limits", tab "Dynamic
response", parameter "Acceleration").
Quick stop with dynamic values: The motion is stopped with the parameterized
dynamic values (tab: "Dynamics").

Continue Motion
Selection
All motion
Basic motion
Superimposed motion

Continue Using the "Continue motion" command, interrupted motion can be resumed. It is
motion only possible to resume motion, which was stopped using the stop mode
"Normal stop without abort".
You can choose whether to resume all motion, only the basic motion or only the
superimposed motion. The axis must not receive any new motion commands
between interruption and resumption of the motion.

Homing Axes with Incremental Measuring Systems
Homing type
Active homing
Passive homing
Set home position
Set home position relative

Home axis In the case of an incremental measuring system, the machine must be homed
every time it is switched on. Homing is initiated with the "Home axis" command.
Additional settings can be made in the "Homing" dialog for the axis configuration
An axis is allocated the homed status, if the axis coordinate system of the
control was aligned with the homing signal.
Homing type For incremental measuring systems, the command selects the following homing
types:
Active homing (default value) In this case, via the configuration in the wizards for
the axis configuration (Dialog: "Homing") it is defined which of the three
following homing types will be executed (see the next page):
Homing only with zero mark
Homing with reference cam and zero mark
Homing only with external zero mark
Setting the current position value: The current axis position is assigned to the
value of the home coordinates. No active traversing motion takes place.
Relative direct homing: In this particular case, the axis coordinate system is
shifted by the value of the home position coordinate. The axis does not move.
Passive homing: Contrary to active homing, as a result of the homing command,
no active traversing motion takes place. In fact, the homing command is now
effective in parallel to the traversing commands, which must be issued from the
user program. The motion command can be triggered before or after the homing
command.
If the conditions for detecting the homing mark are fulfilled, then the axis is
homed corresponding to the sequence defined when configuring.

Active Homing with/without Zero Mark . . .
Travel range
Left travel Right travel

Homing mode limit limit
Homing output cam and

encoder zero mark
Position encoder
Zero mark only Zero marker
External zero mark only

Homing mode With active homing of an incremental measuring system the settings in the axis
configuration are evaluated. You can choose from the following possibilities in
the "Homing mode" selection box:
Homing with homing output cam and zero mark: The homing command initiates
motion towards the homing cam. After passing the reference cam, SIMOTION
synchronizes with the next encoder zero mark. After this, the axis is traversed
through the home position offset and then the actual position is set to the
"homing position coordinate) .
When homing with "Bero and reference cam" the homing cam signal must be
connected to an input on the control (outside the process image, i.e. >= 64).
The homing cam is "1"- active.
Homing with zero mark only: This type of homing is valid for axes with only one
zero mark over the complete traversing range (usually rotary axes). The homing
command initiates motion towards the homing cam. When the zero mark is
passed, the measuring system of the axis is synchronized.
After this, the axis is traversed through the home position offset and then the
actual position is set to the "homing position coordinate".
Homing with external zero mark: The homing command triggers a movement.
The measuring system of the axis is synchronized once the parameterized edge
of the external zero mark signal is detected. The axis is then moved by the
amount of the home position offset.
When referencing with "External zero mark only", the signal must be connected
there where the encoder value is also detected, i.e. at the drive, at the ADI4 or
at the intended Bero inputs of the C2xx.
Reversing cams From V4.1, for active homing it can be selected as to whether a dedicated
reversing cam is used or the hardware limit switch is used as reversing cam.
If, when homing, the axis reaches the reversing cam, then the axis is
automatically traversed in the opposite direction.

Passive Homing with/without Zero Mark . . .
Homing mode
External zero mark only
Parameterization on the drive:

P495: Encoder 1 substitute zero mark:
e.g. DI 9

Note For a digital coupling, drive homing is initiated via the encoder control word_1.
Drive parameters are used to define whether the drive synchronizes to the
encoder zero mark or to an external signal at the drive.
SINAMICS S120: P495[n]: External zero mark for encoder n
In addition, P490 of the CU to invert the signal
SIMODRIVE 611U: P879.13, in addition P660 = 79 (I0.n external zero mark).
Data transfer From V4.0 and higher, by pressing the button "Accept data from the drive",
from the drive parameter settings from SINAMICS drives can be transferred from the offline
data management all the "Start to" into SIMOTION SCOUT.
Depending on the setting of parameter P495, the associated selection in the
homing mode to zero mark or external zero mark is set.
Homing Homing required "Yes": Software limit switches only become active after
required homing. Absolute motion and synchronous motion commands are rejected
(error 40108: Axis not homed. Relative motion is permissible.
Homing required "No": Software limit switches are always active (if activated).
All motion and synchronous motion commands are permissible.
System variables In the system variable <axis>.positioningState.homed it can be queried as to

whether an axis was homed with incremental encoder. For axes with absolute
encoders, this system variable is statically set to "Yes" Using this system
variable, it is not possible to evaluate whether an absolute encoder was
adjusted.
TO restart Using a TO restart, the axis is reset to the state:

<axis>.positioningState.homed = no
Such a restart can be initiated from the user program or from SIMOTION
SCOUT using the following system variable:
<axis>.restartactivation = activateRestart

Adjusting an Absolute Encoder
Homing type
Absolute encoder adjustment
with specification of the
position value Absolute encoder offset
Absolute encoder adjustment

Absolute encoder When commissioning the axis, if it was assigned an encoder type "Absolute
adjustment encoder" or "Absolute encoder, cyclic absolute", then the "Absolute encoder
adjustment" entry can be selected in the selection field "Homing type". When
issuing this command, the absolute encoder offset from the "Homing" tab is
taken into account in the instantaneous encoder actual value.
For the "Absolute encoder calibration with specification of the position value",
the specified position actual value is calculated with the actual axis position. The
difference is saved as absolute encoder offset in the retentive memory area.
There is no active traversing motion.
The adjustment must generally be repeated in the following situations:
After an OVERALL RESET of the control
After downloading the relevant access configuration data
When the offset data is lost, e.g. when the battery voltage fails (D4x5, )
After separating the mechanical connection between encoder and load,
if the connection could not be reproduced exactly.
System variables Using the following system variables it can be evaluated as to whether an
adjustment was performed for an axis with absolute encoder:
<axis>. AbsoluteEncoder.AbsoluteEncoder[1]. ActivationState
Further, in the following system variables, the total offset that has been included
can be read out
<axis>. AbsoluteEncoder.AbsoluteEncoder[1]. TotalOffsetValue
Notes In the "Homing" dialog it can be set whether the value has been taken into
account in absolute terms or in addition ("Absolute encoder offset is used").
An axis with absolute encoder should not be homed using the function
"Setting the position actual value" as the offset between the encoder value
and the position actual value is not saved in the retentive data and displayed
in the corresponding system variables as is the case for the absolute
encoder adjustment.
Setting the Reference System
Shift measuring system
Reference system
Setpoint reference
Actual value reference
Relative

Shift Using the command, shift measuring system, you can redefine the actual and
measuring system setpoint position of an axis. The command can either be programmed, referred
to the actual value or the setpoint. Both values are always changed.
Axis Here, the axis is specified, for which the position should be newly set. All
positioning and synchronous axes, which are configured on the device are
listed.
Position The new position value is entered here. The value can be directly entered or as
a variable or formula.
Typ The position type is selected here.

absolute / actual value reference
The programmed position is set as a new actual value, and the setpoint is
corrected, taking into account the following error, and set.
absolute/setpoint reference (default value)
The programmed position is set as a new setpoint, and the actual value is
corrected, taking into account the following error, and set.
relative
The programmed position is added to the actual setpoint or actual value.
Note By setting the actual value system using the command "Shift measuring
system", contrary to the command "homing, set the actual position value", the
original positions of the software limit switch are not changed.
The permissible traversing range therefore remains unchanged.

Diagnostics of Axes or Drives - Service Overview
Target system -> Service overview
Extended...

Service Overview With this function it is possible in the online mode to quickly obtain an overview
of the state of all configured axes. Selected system variables are displayed here
together with their respective status. The status is displayed using colored
lamps.
Green lamp: Axis (system variable) is active/on or axis is stopped.
Red lamp: An error is present.
Yellow lamp: Axis is in motion (constant velocity, acceleration, deceleration) or
an alarm is present.
Gray (no LED): Axis (system variable) is not active.
Example: Status of the position control (servomonitoring.controlstate):

Green lamp: position control is active
Gray: Position control is not active
Extended... A list with additional system variables is displayed when you click the
"Expanded..." button. You can select additional system variables from this list for
which you want to display the status in the "Service overview".
You can select them in the open screen by checking the checkbox in front of the
system variable.

Diagnostics of a TO - Querying the System Variables
1. Select axis
2. Symbol browser

System Variables You can monitor and modify system variables via the symbol browser. You can
query for example the entire status of a command execution or of an axis motion
via system variables. This allows you to carry out a detailed analysis of all types
of motion and execution, in particular if you use it together with the trace
function.
You can access system variables:
Within the SIMOTION device from all programs
From HMI devices
System variables can be monitored and controlled via the symbol browser.
System variables can be also combined in separate application-specific watch
tables, for example when commissioning.
Procedure To monitor the actual values of system variables of the technology object,
proceed as follows:
1. Switch SIMOTION SCOUT into the online mode.
2. Select the required technology object in the project navigator.
3. Select the "Symbol browser" in the detail view. The system variables are
displayed for the TOs.
Online Help You can display the associated online help for the individual system variables.
To do that, proceed as follows:
1. Press the key combination <Shift> + <F1>.
A question mark is displayed next to the mouse cursor.
2. Now click on the row with the system variable for which you required
extended help.
The online help for the selected system variable is displayed.

Significance of the Service Display
Name Significance
Position control status Green: position control is active for the axis
(servomonitoring.controlstate): Gray: position control is not active. Setpoint at the pos. control output is 0.
Operational status Green: axis can be moved by motion commands
(control) Gray: axis is in follow-up mode
Technological alarm on axis Red: Technological alarm present on the axis
(error) Gray: There is no technological alarm
Cycl. drive interface active Green: cyclic data transmission to drive active via PROFIBUS
(actormonitoring.cyclicinterface) Gray: drive is not in cyclic operation
Drive enable Green: drive enable (ramp-function generator) is active
(actormonitoring.drivestate) Gray: no drive enable
Power enable Green: power enable (enable OFF1, OFF2 and OFF3 and operation)
(actormonitoring.power) Gray: no power enable
Drive error Red: error on drive (error active/power-on disable)
(actormonitoring.driveerror) Gray: no error on drive
Status of axis motion Green: axis is not moving

(motionstatedata.motioncommand) Yellow: axis is moving
Velocity-related standstill signal Green: axis is not moving (signal mainly used for speed-controlled axes)
(motionstatedata.Stillstandvelocity) Gray: axis is moving
Axis homing status Green: axis is homed (only for axes with incremental encoders)
(positioningstate.homed) Gray: Axis is not homed

System Variables In the system variables a technology object, e.g. an axis, provides information
about its current status. The system data of an axis TO will therefore display
information such as position setpoint, actual position value, following error in
what is referred to as system variables.
In addition to the above listed system variables, additional information is
displayed about the setpoint and actual positions or following error. Further,
clicking on the "Extended..." button displays more information about the axes.
Actual Position Displays the current actual position of the axis. The actual position is derived
from the actual value transferred by the encoder system of the drive.
Setpoint Position Displays the setpoint position of the axis as calculated by the interpolator. The
difference between setpoint and actual position is called following error. The
following error is the reference variable within the position controller for
calculating the speed setpoint.
Difference between Displays the following error within the interpolator level.
Setpoint and
Actual Position

Technological Alarms
Alarm display and

acknowledgement:
Display and acknowledge in
SCOUT
Display and acknowledge via
HMI
Acknowledge via the user
program
Query and evaluate in the user
program
Software limit switch Alarm 40106: SW limit switch reached

Alarms
Position encoder (linear scale)

General The complete technological functionality of SIMOTION is provided in the form of

TOs. For example, the TO positioning axis has the complete functionality for the
position control of an axis.
To use this functionality in the user program, the TO provides various system
functions (commands), e.g. "Position axis" to position an axis.
In this constellation, two basic fault possibilities can occur:
The command at a TO cannot be executed.
In this case, the return value of the function provides information about the
cause.
When processing the command, the TOA itself identifies when the function
required by the application cannot be executed or not completely and then
returns certain events or states.
In this case, a TO alarm is generated.
Example:
50102: Following error monitoring window has been exceeded" (fault)
50006: Activation/deactivation of synchronous operation executed directly"
(note)
Technological If an event (fault, note) occurs at a technology object, then this outputs a
alarms "Technological Alarm". TO alarms can be evaluated and acknowledged in
different ways:
Displaying and acknowledging in the online mode of SIMOTION SCOUT
Displaying and acknowledging via HMI
Acknowledging via the user program
Querying and evaluating in the user program (TechnologicalFaultTask).

Configuring Technological Alarms
2. TechnologicalFaultTask
3. Alarm configuration
4. Select TO
5. Configure alarm
1. Execution system

Alarm configuration Generally, alarms that occur at a technology object have an impact on the
system. After creating the technology object, for each alarm a certain behavior is
preset (default setting).
Depending on the TO alarm, it is possible to modify the preset behavior. For the
TO alarms, a distinction is made between effects on the technology object itself
(local behavior) and the effects on other technology objects and/or the execution
system (global behavior).
By specifying the error activation it can be defined as to whether the alarm is to
be activated immediately, after repeated occurrences of an error or after a
certain period of time. Some alarms can be completely suppressed, for example
to suppress unimportant messages.
Example: Alarm: 30002: Command aborted.
Local behavior With the local behavior you define how the technology object involved should
behave when an alarm occurs and how additional commands for the TO should
be handled.
When an alarm response occurs (except for NONE), the command decoder is
always stopped. Any programmed commands issued subsequently are rejected.
Command execution can continue after the alarm has been acknowledged in
cases where the global error response for the alarm does not automatically
require a Power ON.
Global behavior With the global behavior, the impact of a TO alarm on the execution systems
described. The following actions can be set depending on the respective TO
alarm.
NONE: no response
START TechnologicalFaultTask With this task, the user can respond to the
TO alarm with an application-specific response. If there is no program
assigned to this task, the system switches to the STOP state.
STOP: All technology objects and the user program are inactive.
STOPU: Only the user program is inactive.

Acknowledging Technological Alarms
Acknowledge specific
TO alarms
Acknowledge TO alarms

Acknowledge This command can be used to acknowledge all alarms of one or more
TO alarm technology objects (such as axes, cams, etc.).
You can specify the axes, cams, etc. for which the alarms are to be
acknowledged via checkboxes in the individual parameter dialogs.
Several objects can be simultaneously selected.
All of the objects, which are defined on the device, can be selected.
The checkbox "Acknowledge all alarms" means that all alarms for all
technological objects can be acknowledged.
Acknowledge The command acknowledges all or one specific alarm at a technology

specific TO alarm object.
With alarm-specific acknowledgement, you can enter the required alarm number
in the "Alarm No." entry field. The associated alarm text is then automatically
displayed in the "Alarm text" dropdown list.
Conversely, you can also select an alarm text from the alarm list. The
corresponding number is then automatically displayed in the "Alarm No." box.
Note From V4.0, using the system function _getAxisErrorState(..) alarms present at a
TO axis can be read out. This function provides information on whether axis
alarms have occurred and how many. Further, supplementary information on
this error are returned as LREAL value.

Using the Technology Object Trace (1)
TO trace
Start trace Event selection, TO trace

recording

TO trace The commands at a technology object and accesses to system variables and
configuration data of the technology object can be traced using the TO trace
function.
In SIMOTION, technology objects can be influenced by configuration data,
system variables, and commands during runtime. With the new TO trace, all
events affecting a technology object can be recorded in real-time and displayed
in detail in a chronological sequence in SIMOTION SCOUT. This results in a
significantly improved detection of sporadic errors in the application and as a
consequence, commissioning is speeded up.
Procedure 1. Activate an online connection to the target system and select the required
SIMOTION device in the project navigator.
2. Call the window of the TO trace from the entry "TO Trace" of the context
menu or using the corresponding button in the toolbar.
3. In the "Technology object" list, select the required TOs for the trace
recording.
4. Using the button: . . . at the end of the line for each TO, the dialog to
parameterize the trace function can be opened.
5. Under the individual tabs, parameterize: settings, commands, configuration
data and system variables, how many and which events are to be recorded.
Commands, configuration data, and system variables are always selected as
the default setting. Signals can be deselected at the individual tabs.
6. Load the parameterization into the target system and start the trace by
pressing the "Start TO trace" button.

Using the Technology Object Trace (2)
Uploading trace data

Continued 7. Select the "Recorded data" tab to be able to evaluate the recorded events.
Load the recorded data into SIMOTION SCOUT by pressing the "Upload
data" button.
The events (writing configuration data or system variables, commands to the
TO) are displayed in the correct sequence with timestamp and actual
execution status.
Note When displaying the execution status of a command, pay special attention to the
following:
As command execution advances, the more information can be read out
concerning the relevant commands. This means that for commands that have
already been completed, the execution status (EXECUTED or ABORTED) and a
possible error code can be determined.
As the TO trace takes a snapshot, this information is based on the situation at
the time that data is read out. The status is not updated automatically once the
command has been completed. The status can be updated by reading out
again.

If You Want to Know Even More

Note The following pages either contain additional information or are used as
reference to complete a specific topic.

Using Axis Data Sets
Configuration -> axis data sets

Axis data sets For the TO axis, SIMOTION supports the concept of data sets as well as data
set changeover. Various data sets are used, if during the runtime:
the actual encoder must be changed
parameter settings of the controller data must be changed
The configuration data, which belong to the axis data set(ADS), can be viewed
under the axis data sets of the configuration dialog of the axis tab.
Data sets must be defined and activated as a group because some data, for
example, controller data, can only be activated simultaneously in groups to
ensure consistency of the controller and function.
When configuring, several data sets can be created for one axis. Further, it can
be defined as to which data set should be active after powering up.
Activate data set Using the ST system function _setAxisDataSetActive() or the MCC function
"other data sets can be selected during the runtime. If another encoding is
assigned in the new data set, then the system changes over to the active
measuring system. From this point in time, the actual positions of the position
control are supplied from the new encoder system.
Using the system function _setAndGetEncoderValue() or using the MCC
function "Synchronize measuring systems", both measuring systems can be
synchronized before the changeover. This will avoid unwanted compensating
motion of the position controller if differences in position are identified.
If the encoder systems are not adapted, then the resulting speed setpoint step
(jump) at the position control output via the time constant "Time constant for
smoothing of manipulated variable changes as a result of controller switchover"
will be smoothed in the dialog box "Axis_n -> Limits -> Dynamic response".

Adding an Encoder to an Axis
Configuration -> Encoder configuration
3. Assign encoder
1. Add
2. Create new encoder

Encoder Frequently, a data set changeover is required, if, for an axis, various encoders
configuration are used, for example.
Motor measuring system (motor encoder)
Additional direct measuring systems (linear scale)
This means that up to 8 encoders can be created for the axis. All of the created
encoders are internally active, and the measured values are updated cyclically.
Using the "Encoder number" entry, in the axis data sets you can define which
encoder is used for the position control.
Automatic The adaptation of relevant drive and encoder data is, from SIMOTION V4.2 in
adaptation conjunction with SINAMICS S120 from V2.6.2 and higher, automatically
activated. The encoder parameters are automatically determined and adapted
during the runtime.
This is not possible for "older" drives (SIMODRIVE, MASTERDRIVES) or for
encoders that are directly connected to PROFIBUS DP, and which are supplied
via message frame 81 (see the above example). In this case, the encoder must
be manually configured.
Add 2nd encoder To create a 2nd encoder for an axis, to start a message frame must have been
configured with the encoder values for the encoder in HW Config. This can
either be done by directly inserting a PROFIBUS encoder (for example
SIMODRIVE sensor isochrone via message frame 81) from the HW catalog or
providing additional encoder values via one of the message frames (message
frames) 4, 6, 106, to a drive system with a 2nd encoder.
A 2nd encoder is configured in SIMOTION SCOUT using the screen form:
Configuration -> Encoder configuration. A new encoder can be added to the axis
TO using the "Add" button. The new encoder can be connected with the
message frame data in HW Config via the "Assign encoder" dialog.
For encoders, which cannot be automatically adapted during the runtime, then
the necessary settings must be made for the encoder type, mode and encoder
resolution (see the following pages).

Basic Configuration - Encoder Type and Mode
Encoder type:
Absolute encoder
Absolute encoder, cyclic absolute
Incremental encoder
Encoder mode
Square wave TTL
Resolvers
Sine/cosine
Endat
For incorrect parameterization (compare with r979 in the drive):
Error 20005: Device type: 2, log.address: 1234 faulty. (Bit: 0, reason: 0x80h)

Encoder type From V4.2 and higher, for SINAMICS drives it is possible to directly align the
encoder configuration dynamically with the encoder settings for SINAMICS during
the runtime. This is not possible for "older" drive systems, for example
SIMODRIVE and MASTERDRIVES or for third-party drives. In this case, the
encoder must be manually configured.
The required encoder type must first be selected:
Absolute encoder
Incremental encoder
Encoder mode The actual encoder type is set in the "Encoder mode" selection field. The following
settings are available for absolute encoders:
Endat encoder (encoder data interface)
SSI encoder (synchronous serial interface)
The following incremental encoders are supported:
Sine/cosine encoder
Square-wave TTL encoder
Resolvers
Endat encoder
Alarm for incorrect If the encoder parameterization in SIMOTION and in the drive differ from one
parameterization another, the following technology alarm is triggered as soon as an online
connection is established between the control and drive/encoder and the TO is
loaded to the control.
"Error 20005: Device type: 2, log.address: 1234 faulty. (Bit: 0, reason: 0x80h)"
The comparison of the parameterization for drives is realized according to the
PROFIdrive via a parameter: r979 (SensorFormat). For drives, which do not
support parameter r979, the configuration without alarm is considered to be valid.

Mode of Operation of an Incremental, Optical Sin/Cos Encoder
Output signals:
Capacitor Indexing disk
Scanning plate
Photo elements 2048 periods per revolution
Spur A
ERN 1381
Light source
Spur B
ERN 1387
Spur R
Spur C
Type: ERN 1387 Reference
ERN 1381 mark "Raw signal" Spur D
Additional inverted tracks A, B, R, C , D
8 ramps per cycle

2048 cycles Each ramp is subdivided into 256 steps
Spur A
Resolution with SINAMICS S120 : 2048 * 8 * 256 4 million

Spur B

Principle The optical encoder is based on the following principle. Parallel light passes
through the lattice grid of a scanning plate opposite the light source onto the grid
serving as the measuring standard. The lattice grid distribution on the scanning
plate and on the indexing disk are identical
The lattice grid on the scanning plate is split up into 4 fields, which, regarding
the grid distribution, have spatial offsets of 0, 90, 180 and 270. For relative
motion, a bright-dark modulation is created due to the alternating coverage.
This modulation is evaluated using 4 photo elements (4 field scanning). These
photo elements supply currents that are proportional to the illumination intensity.
If the 0 and 180, as well as the 90 and 270 signals are combined, then 2 sin
or cos sequences are obtained.
Raw signals Encoder output signals, which supply a voltage that can be evaluated (raw
voltage signals) have 1 Vpp - raw current signals supply 11App.
Resolution Internally an additional resolution is realized through interpolation (2048 pulses

per period).
For interpolation with 2048 subdivisions, the resolution is again 11 bits, i.e. 22
bits, which means 222 = 4194.304 signals per revolution.
Example: Ballscrew 10mm pitch, no gear,
2048 pulses per revolution x 2048 sinusoidal oscillation /10mm, i.e.
419 signals/m or 0.0023 m/pulse.
However, this resolution is only required when determining the actual speed for
the closed-speed control inside the drive. In this case, even at low speeds (up to
1 revolution/minute) it must be possible to sensibly determine the actual speed.
However, this high-resolution is transferred to SIMOTION (refer to the next
page).

Settings for Incremental Encoders - "Cyclic Actual Value"
Number of pulses per revolution
Fine resolution
G1_XIST 1
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Overflows: 0 - 1023 Encoder pulse number: 2048 Fine resolution: 2048

Cyclic actual value The cyclic actual value in Gn_XIST_1 (n = 1 or 2, encoder number) is used by
incremental as well as absolute encoders to send the actual position value of the
axis in cyclic operation to SIMOTION. SIMOTION cyclically calculates the actual
position value of the axis from this value, the leadscrew pitch and the reference
point value (with incremental encoders) or the absolute value, which is passed on
by absolute encoders after activation.
After the converter has been switched on, Gn_XIST_1 = 0 is always output
independent of the actual position of the axis. Each traversing movement of the
axis is passed on via Gn_XIST_1.
SIMOTION interprets the bits in this Gn_XIST_1 in accordance with the settings in
"encoder pulse number" and "fine resolution". This interpretation is correct only if
the settings in SIMOTION correspond to the settings for Gn_XIST_1 in the
converter and, of course, also correspond to the actual data of the encoder.
Fine resolution The converter does not only output the information on the pulse number to
Gn_XIST_1 but also increases the total resolution of the connected encoder by
internally sampling the sin/cos signal with sin/cos encoders or resolvers.
Resolution: Encoder pulses x 2n (n: fine resolution, no. of bits for internal
multiplication
The following applies for the No. of encoder marks:
Encoder marks = number of sine signal periods (sine/cos encoder with 1 Vpp)
No. of encoder marks = 1024 x pole pair no. (resolver with 12 bit resolution)
No. of encoder marks = 4096 x pole pair no. (resolver with 14 bit resolution)
The pulse number and fine resolution are entered in parameters in the
converter.
The fine resolution for the cyclic actual value Gn_XIST_1 in the converter must
be entered in SIMOTION as value = 2n in the input field.
An input value of 0 is interpreted as standard multiplication factor of 211 =
2048. In this case 0 is equal to 2048.

Mode of Operation of an Absolute Encoder
Capacitor
Indexing disk Hall-effect
element
Photo-
couples
Light source
Scanning plate
Coded disk
Gear box
Resolution: Resolution: Resolution:

Binary coding of a
Incremental tracks 16 256 4096
mechanical revolution
revolutions revolutions revolutions
with 8192 positions
Motor
speed
Singleturn encoder 16:1 16:1 16:1
Multiturn absolute encoder Type: EQN 1325

Principle The optical design corresponds to a sin/cos encoder. In addition, the disks have
binary coded tracks, which can be interpreted as coded number of pulses in the
incremental track.
For 2048 pulses, then at least 11 additional tracks are required, in order to code
the position within one revolution (single turn encoder). The absolute traversing
distance that can be measured is therefore too low for most applications (for
example, 10 mm for a ballscrew with 10 mm pitch/revolution and directly
mounted onto the motor).
This is the reason that the measuring range has been extended using a 3-stage
gearbox. Every step down stage has a ratio of 16:1. As a consequence, the
position information only repeats itself after 4096 revolutions or after a traversing
distance of 40.96m. The position of the gear wheels in the gearbox are
evaluated using Hall elements.
EnDat interface In order that the traversing distance through the 4096 revolutions can be
uniquely represented, the following information must be known.
Gearbox position: 3 x 4 bits (16 x 16 x 16 = 4096 revolutions)
Pulse number: 11 binary tracks
When the control system is switched on, this 23-bit information is transferred
from the encoder using the EnDat protocol (EncoderData Protocol).
The precise position information is retrieved using the interpolation technique
described for sin/cos encoders.

Settings for Absolute Encoders - "Absolute Actual Value"
Number of pulses per revolution

Fine resolution for act. value in Gn_XIST_1
Fine resolution for act. value in Gn_XIST_2
Number of bits for multiturn resolution
+ no. of encoder pulses
Gn_XIST 2
not Encoder pulse

Multiturn resolution: 4096 number: 512 Fine resolution: 512
eval-
uated
Number of data bits: 21

Absolute When an absolute encoder is connected, SIMOTION retrieves the absolute

actual value position of the axis via Gn_XIST_2 (n = 1 or 2, encoder number) after the
control/converter has been switched on. From the transmitted value or the
stored overflows of the multiturn information, SIMOTION calculates the actual
position value of the axis.
SIMOTION interprets the bits in Gn_XIST_2 in accordance with the settings for
"Data width of absolute value without fine resolution" and the "Fine resolution of
absolute value in Gn_XIST2".
Number of data bits The "Data width absolute value without fine resolution" is obtained from the total
of the bits for multiturn resolution and encoder pulse number. The settings in
SIMOTION must match the corresponding settings in the converter, otherwise
the actual position will not be calculated and displayed correctly after switch on.
Fine resolution Just the same as for "cyclic actual value", the converter not only transmits
information about the number of encoder revolutions (for multiturn encoders)
and the encoder pulse number to the higher-level control, but also performs fine
resolution. This fine resolution is lower with the "absolute actual value" than with
the "cyclic actual value" as the entire information must be stored in a 32-bit
double word.
This means only 9 bits, i.e. a factor of 512, remain for the fine resolution for
standard multiturn encoders with a multiturn resolution of 4096 (12 bits) and an
encoder pulse number of 2048 (11 bits). This is the reason that for the "Fine
resolution absolute value in Gn_XIST_2" an entered value of 0 is interpreted as
a multiplication factor of 29 = 512.
Note The encoder position word Gn_XIST_2 is used not only for transferring the
absolute actual value after switch on but also for transferring the position in the
functions: "Measuring input" and "Homing". In this case, however, the position
value is coded in accordance with the format settings for the "cyclic actual
value", i.e. in accordance with the multiplication factor for the cyclic actual value.

Settings for Absolute Encoders - Encoder Type
Encoder type:
"Absolute encoder"
Overflows of the multiturn information are not saved in
SIMOTION when it is switched off
"Absolute encoder, cyclic absolute":
Overflows of the multiturn information are saved in
SIMOTION when it is switched off
....
Encoder pulses
Multiturn resolution per revolution Fine resolution
Overflows of multiturn information
Number of data bits: 23
Encoder information in Gn_XIST 2

Encoder mode The following two settings are available in the "Axis configuration - Encoder
assignment" dialog box in the "Encoder type" field:
Absolute encoder:
With this setting, the entire overflows of the absolute actual value, i.e. over-
flows of the multiturn information are not saved when the SIMOTION is
switched off.
The next time SIMOTION is switched on, the actual position value is
formed from the absolute actual value which is passed from the converter in
Gn_XIST_2 to SIMOTION.
With a multiturn resolution of 4096 and a leadscrew pitch of 10mm/rev. The
result is always a value between 0 m and approx. 40 m.
With this setting, at switched off, the overflows of the multiturn information
are stored in the retentive memory area of SIMOTION. The next time
SIMOTION is switched on, this information is taken into account for
calculating the actual position value.
This setting must be made if the absolute encoder with it's multiturn
resolution does not cover the complete traversing range of the axis or if, as a
result of an unfavorable mounting of the absolute encoder, overflows of the
multiturn information occur within the traversing range.
Note The overflows of the multiturn information and the value for the absolute
encoder adjustment of an axis are deleted in the following situations:
OVERALL RESET of SIMOTION
Download of modified configuration data for the encoder settings for the axis.

Settings for Travel to Fixed Endstop
Maximum motor torque --> TypeOfAxis.SetPointDriverInfo.DriveData.maxTorque

Travel to As a result of the "travel to fix stop" command, the monitoring of "traversing
fixed endstop to fixed endstop" is activated in parallel to axis motion started using a motion
command. In addition, the maximum torque at the drive is restricted to the value
specified in the command. Further, the active following error monitoring usual for
traversing motion is deactivated.
The "Travel to fixed endstop" function assumes that the torque limiting at the
drive is supported, i.e. this function can only be performed when using one of
the message frames 103, 104, 105, or 106.
The command also ensures that a specific clamping torque is maintained after
the fixed endstop has been reached. This command can also be used to switch
over the clamping torque during active clamping.
Fixed endstop In the dialog "Limits", "Fixed endstop" tab, in the "Fixed endstop detection" field,
detection it can be selected as to how it can be detected when the fixed endstop is
reached:
when the following error is exceeded. In this case, in the entry field
"Following error to the fixed endstop detection", the required value should be
entered, which results in the status "Fixed endstop reached".
when the torque is exceeded: In this case, when reaching the torque
programmed at the command for the status "Fixed endstop reached".
If the criterion "Fixed endstop reached" is reached, then the interpolator is
stopped; however the position control remains active. The axis is now clamped
with the torque programmed at the command. The usual traversing commands
in the same direction are rejected by the TO, only traversing commands in the
opposite direction are permitted.
In the system variables moveToEndStopCommand. ClampingState the state
"Fixed endstop reached" is displayed. The state "Fixed endstop reached" is
canceled if the actual axis position deviates by more than the value specified in
the "Position tolerance after fixed endstop detection" (e.g. because the clamping
force is overcome, traversing command in the direction opposite to the clamping
direction).

Travel to Fixed Endstop - "Determining the Reference Torque"
Max. drive torque--> TypeOfAxis.SetPointDriverInfo.DriveData.maxTorque

Determining the For SINAMICS from V2.6.2 and higher, the reference torque of the motor
reference torque is automatically adapted by SIMOTION and entered into the corresponding
configuration data.
<Axis>.TypeOfAxis.SetPointDriverInfo.driveData.maxTorque
All of the reference variables of an axis are listed in the screen form:
Configuration -> Reference variables.
Resolution For the resolution of the torque reduction, from V4.0 two options are available.
The setting in SIMOTION is made in the configuration data
SetPointDriverInfo.driveData.torqueReductionGranularity (standard motor)
or in
SetPointDriverInfo.linearMotorDriveData.forceReductionGranularity
(linear motor).
1. Setting: "STANDARD" (default setting) - resolution 0.006 %
The value of 4000H or 16384 (dec.) in the message frame corresponds to a
torque reduction of 100%.
In SINAMICS, P1544 must be set to 100 (default setting).
2. Setting: "BASIC" - resolution 1 %
The value of 64H or 100 (dec.) in the message frame corresponds to a
torque reduction of 100%.
In SINAMICS, P1544 must be set to 16384.

Travel to Fixed Endstop - "Settings in the Command"
For linear axes:

F = Torquemotor x 2 x x (spindle/ S) x (motor revolution / load revolution)
F : Force in N
Torquemotor : Motor torque in Nm
spindle : Efficiency of the spindle (no dimensions)
S: Spindle pitch in m

Clamping value The clamping value is entered in the force unit for the particular axis type,
(without unit) i.e. in N, kN, ... (Newton) for linear axes or in Nm, kNm for rotary axes.
If a linear axis is implemented using a standard motor and a ballscrew, then the
motor reference torque must be converted to the "reference force" of the linear
axis. The following relationship is used for the conversion:
F = torquemotor x 2 x x (spindle / S) x (motor revolution/load revolution)
F = force
M = torque
S = spindle pitch (leadscrew.pitchVal)
= spindle efficiency (leadScrew.efficiency)
Motor revolution (Gear.numFactor)
Load revolution (Gear.denFactor)
Example In the following example, the reference torque 3.68 Nm of a motor is converted
into a reference torque. In this example, the conversion is made without any
additional load gearbox, the spindle pitch is assumed to be 10 mm/revolution
F = 3.68 Nm x 6.28 / 0.01 m = 2312, 21 N
When 231.22 is entered as clamping value in the command, this corresponds to
a torque reduction of 90% in the message frame. As a consequence, the drive
generates a maximum torque of 0.368 Nm at the motor.
Clamping value When selecting the clamping value as a %, the required max. torque at the
(as a percentage %) drive can be directly entered in units of 0.01. The required maximum torque at
the drive of 0.37 Nm then corresponds to an input of 37.
When implementing a linear axes via a ballscrew at the motor, then a value of
628.0 must be entered into the system variable
userdefaultclamping.clampingvalue.


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