11/5/2024 8:40 PM | |
Joined: 3/25/2015 Last visit: 1/30/2025 Posts: 96 Rating:
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Hello, I have the following scenario: TIA V19 Upd 3 CPU: 1511T (firmware 3.1) + ET200SP remote I/O module Master Axis: External Encoder 0-360° (modulo) on TM Count module on remote I/O Slave Axis: SINAMICS S210 2Kw (firmware 6.3 HF4) 1FK2 2.85Kw Motor Single Turn Absolute Encoder (1:10 rotary transmission attached to a roll) 0-628mm (modulo) (roll diameter = 200mm, circumference=628mm) The machine cycle should be this: - 1. Slave axis is rotating freely (e.g. MoveVelocity 500mm/s) until some material arrives on it I need to synchronize slave axis with a cam profile like this: 1st segment: Master 0 -> 45° Slave: 0mm -> 0mm (stationary) The most suitable sync method for me I think it would be SyncProfileReference = 0 (sync in advance with dynamic values) because in the first and last part of the cam, the slave is stationary. I'm testing various sync modes, but maybe I'm getting the MC_CamIn instruction wrong. In the cam editor the position specified in the "Following Value" field is intended as absolute or relative position of the slave? I'm asking this because in cycle step 2 (slave standstll) the axis is never at the same position, so as soon as I start the cam-in instruction the slave axis accelerates with maximum speed to reach position = 0 (start of the cam) and trips with Following Error. Sometimes when the slave position is near 0, it gets synchronized and the motion starts correctly. Do I have to use SlaveOffset parameter to shift the cam prior to execute MC_CamIn or do I have to "home" the slave axis to the start slave position of the cam (in this case 0mm)? Based on all these informations, what would be the most suitable SyncProfileReference value for me? Thanks for the help PS. I can't understand completely the various SyncProfileReference methods from Synchronous Operation Function Manual https://support.industry.siemens.com/cs/document/109817888 . The charts look all the same. Is there a more exaustive explanation? |
Last edited by: simonspt at: 11/10/2024 19:48:53Edited title Kind regards |
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11/10/2024 7:46 PM | |
Joined: 3/25/2015 Last visit: 1/30/2025 Posts: 96 Rating:
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I have somehow achieved the synchronization between the two axes using SyncProfileReference = 2 (Direct synchronous setting). Due to the fact that the slave must stay standstill in the first and last part of the cam (couple of degrees or master angle), I've defined a window where the synchronization can occur. The axis gets perfectly synchronized. I have only a question now. To deactivate the CamIn function at standstill , the MC_CamOut is not working because it asks for a SlavePosition target to be reached, so that means that both axes must be running during desynchronization. Because of that, I'm getting a MC Alarm 541 (Target not reached). Should I use a MC_Stop to disable camming between the two axes at standstill? Is there a more suitable method?
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Last edited by: simonspt at: 11/10/2024 19:50:25Kind regards |
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