Technology CPUs: Technology Template "Simple 3D-Interpolation with cam disks"
This technology template helps you realize an interpolated motion with up to three axes with constant path velocity using the Technology CPU, the trajectory is specified via an interpolation table.
The motion of the axes connected to the Technology CPU is to be generated via a cam disc synchronism. The required cam discs for synchronizing the individual axes are to be generated from a specified interpolation table. This requires that the interpolation table is available prior to the start of the motion for generating the required cam discs.
The trajectory between two interpolation points is to be in a straight line. A tolerance range can be defined around the interpolation points within which the trajectory may deviate from the straight line. This enables a smooth motion of the axes and a short-time standstill of the axes at the interpolation points can be avoided.
The Technology Template can directly be used for generating an interpolated motion, the path curve to be followed is specified via an interpolation table. The interpolation table is transferred to the technology template and the template subsequently takes over the generation of the required cam discs and the following of the resulting interpolated path curve.
Simple interpolating motions with path velocity mainly occur in
the following applications:
• Handling machines…
… for exact movement of workpieces or tools on specified paths in a smooth motion at constant speed.
• Pick and place machines…
… for careful transport of workpieces from a pick up position to a defined destination position which may require to bypass existing obstacles.
• Palletizing machines…
… for palletizing workpieces according to a specified palletizing strategy, the workpieces have to be moved on a defined path between pick up position and destination position.
This Technology Template can not be used with the CPU 315T-2 DP with order number 6ES7315-6TG10-0AB0.
|09/2005||Adjustment of documentation (V1.1), because the Template is not working with the Technology-CPU 315T-2DP with order number 6ES7315-6TG10-0AB0|
|03/2006||Added Compact Documentation|
|08/2005||V3.0 of templates for use with S7-Technology V2.0 und V3.0|
|03/2008||V3.1, Correction of the Override-Handling in FB505|
|10/2008||V4.1 of templates for use with S7-Technology V4.1|
|12/2008||Downloads of examples
- Missing variable connections corrected in WinCC flexible
- Recompiled complete project to avoid inconsistency
|03/2009||V4.11, removed UDT check, template is now independend from S7-Technology version|