3/20/2019 8:01 AM | |
Posts: 4 Rating: (3) |
Hello, I have an issue with electronic camming . Hardware configuration
I need to cam 2 slave axis to 1 master axis. Master axis is a belt that moves continuously , always with same direction of rotation. On this belt there are carrying plates , each plate is 800 mm long. Therefore the master axis is a Modulo axis which can range from 0 to 800 mm (once it reaches 800mm it resets to 0, but direction of movement never changes). The 2 slave axis is similar to a robot arm that at specific point must come down on the belt and cut the material that is transported. The cut motion takes place within 40 mm movement of the master, The position of the cut points is given by operator in the recipe. Therefore I must create the camming profile at runtime. For this I am using the library provided by Siemens : LCamHdl_CreateCamAdvanced https://support.industry.siemens.com/cs/ww/en/view/105644659 I define the camming profile using segments and the predefined polynomial 5 profile. I am doing the cam synchronization at standstill using also a library provided by Siemens: LCISSM_CamInStandStillMultiple https://support.industry.siemens.com/cs/ro/en/view/109745764 Issue 1: The slave axis is in the middle of the motion when the Master axis goes from 800 to 0. How to make sure that I do not get jerking movement in the slave axis when transitioning from 800 to 0 mm on master axis? Right now the closest solution I have found is to split the movement in two linear velocity movements with the same velocity . This is working ok at the transition from 800 to 0 but the linear movement is creating vibration when it reaches final position . Is there a way to define a continuous motion ( polynomial 5 profile ) that passes through the 800 to 0 point ? Right now the camming profile looks like the file attached. Issue 2: Right now the cam is defined from 0-800mm of the definition range, but the actual cutting movement is the same at everyone of the cut points. What is different is the distance between cut points. Is there a way that I can define the cam only for the cut movement ( |40 mm of definition range) and the trigger the cam only when I need it ? Example: Master axis is at 20 mm -> trigger slave axis to start the cut motion -> cut motion takes place between 20 mm and 60 mm. Then Master axis is at 80 mm -> trigger slave axis to start the cut motion-> cut motion takes place between 80 mm and 120 mm. Then Master axis is at 780 mm -> trigger slave axis to start the cut motion-> cut motion takes place between 780 mm and 20 mm. I have looked in the help and the documentation but the MC_Camin parameters are unclear to me. I have tried various combinations and come up with different errors: 80AD being the most common one. Can anyone help with some suggestions ? Thank you |
Last edited by: Jen_Moderator at: 3/20/2019 9:29:09 AMOptimized links. |
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3/20/2019 10:05 AM | |
Joined: 4/28/2015 Last visit: 9/20/2024 Posts: 397 Rating: (56)
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Hello, did you have a look to the motion control manual about the use of parameter "ApplicationMode":
Parameter "ApplicationMode" to use the cam:
I think, for you the setting 1 or 2 is useful... On the other side, maybe the following application example is also helpful, to get more information about using a cam:
Or have a look at the topic page of "SIMATIC Technology":
There you will find an application example of "Flying saw basic", which is closed to the functionality of your application:
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Last edited by: Mister T at: 3/20/2019 10:06:18 AM |
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