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9

Segment

Types

Page 46

User Manual for PMotion

9.13

Segment Type "Cubic Spline

"

A cubic spline is a special case of a polynomial segment. The
position, velocity and acceleration are continuously to the
previous segment. The length and width of the segment can be
defined. A number of these segments perform a cubic spline
between the data points (end segment coordinates).

Parameters:

•

Segment type $MF

nn

=13

•

Segment start constraints: [P, V und A matched, J not defined]

•

Segment end constraints: [P specified, V, A & J not defined]

•

Master end position $MM

nn

=<value> sets end segment master position

•

Slave end position $MS

nn

=<value> sets end segment slave position

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Содержание PMotion

Страница 1: ...Motion Control PMC PMotion User Manual No 21472 EN 11 ...

Страница 2: ... been taken in the production of this document no liability can be accepted for any mistakes that it may contain We welcome any suggestions for the improvement of our products or documentation We reserve the right to make technical changes which lead to the improvement of the product 1 3 Previously published editions Version Notes V1 28 06 2002 Initial version valid from software version 2 03 V2 0...

Страница 3: ... Property Page Map 18 7 4 2 Property Page Master 19 7 4 3 Property Page Slave 20 7 4 4 Property Page Machine Parameters 21 7 5 Edit Segment parameters 22 7 6 Create a map 24 7 6 1 Map Table 24 7 6 2 Map Sequence 24 7 7 Example of using the PC based Motion Generator PMotion 25 8 Internal Motion Generator 28 8 1 Commands for Internal Motion Generator 28 8 2 Messages displayed in terminal and in stat...

Страница 4: ...5 Segment Type Simple Harmonic 48 10 Motion Generator Features and Functions 49 10 1 Start and End Percentages of a Segment 49 10 2 Summary of Segment Constraints 50 10 3 Summary of Segment Types and their Parameters 52 10 4 Technical Information about the Motion Generator 53 10 4 1 Maximum number of segments 53 10 4 2 Variable names used by the internal Motion Generator 53 11 Index 55 ...

Страница 5: ...lektrotechnik Elektronik Informationstechnik e V 3 2 Symbols Meaning This symbol indicates a possible danger hazard risk to life and or health Ignorance may seriously affect health and cause dangerous injuries This symbol indicates an important hint regarding the correct use of the product Ignorance may affect the performance of the machinery and or the surrounding This symbol indicates special us...

Страница 6: ... running drive online Data stored on data media is not protected from unintended changes by third parties Data must be checked for accuracy before it is loaded on to the hardware Attention The installation and operating instructions must be read carefully and all safety regulations observed before installation and initial operation as danger to personnel and damage to machinery may be caused Only ...

Страница 7: ... systems PMCprimo 16 PMCprimo C PMCprimo Drive2 and PMCprimo Drive3 from Pilz The Motion Generator which operates internally within the control systems is also described Knowledge of the Microsoft Windows operating system and the use of a PC is assumed You must follow the safety installation and commissioning instructions in the installation manual for the servo amplifier that is used ...

Страница 8: ...ing various selection options program installation manuals etc This function can also be started manually by calling up the program minstall exe Install Place the CD ROM in the CD ROM drive of your computer After a few seconds the setup function starts automatically if Autoplay is enabled Otherwise please start minstall exe Choose Install Motion Control Tools and follow the on screen instructions ...

Страница 9: ...le program sequence and can be calculated there using the internal motion generator The motion generator that operates internally within the control systems can be purchased as an accessory This internal motion generator is a program which reads information about defined variables from special map sequences and can use the values from these variables to calculate tabular values for position mappin...

Страница 10: ...nd position of segment nn This cannot be altered Velocity Match with previous The start velocity of segment nn 1 will automatically be adjusted to match the end velocity of segment nn This may have the effect of modifying the shape of segment nn 1 which can lead to unexpected segment shapes For certain segment types it is possible but not advisable to break this matching Acceleration No value spec...

Страница 11: ... the segment type Match with previous If the first segment is either a polynomial or cubic spline segment then it automatically matches it s start acceleration with the last segment s end acceleration For the polynomial segment alone this matching can be broken Jerk No value specified The jerk value at the beginning of the first segment is determined by the segment type For the polynomial segment ...

Страница 12: ...ape as a series of segments In the above picture position velocity acceleration and jerk are being viewed The currently selected segment is highlighted in red and the position of the mouse pointer is given in map coordinates in the status bar When PMotion is first started a map consisting of a single segment is displayed This map can then be edited as required or a previous session can be loaded f...

Страница 13: ...t change of your map you are working on Segment left Selects the segment on the left side of the currently selected segment Segment right Selects the segment on the right side of the currently selected segment Insert Segment Inserts a segment to the left of the currently selected segment The new segment will be 1000 counts long and of a polynomial type The master cycle length will be stretched aut...

Страница 14: ...Adjustment of colours and lines for the motion view Show comparison mapShow Hide a further map in the motion view Select a map in the following dialog to compare it to the current map 7 2 3 Menu View Position Shows or hides the view Position Velocity Shows or hides the view Velocity Acceleration Shows or hides the view Acceleration Jerk Shows or hides the view Jerk Toolbar Shows or hides the toolb...

Страница 15: ...as a map table directly to the controller Download map sequence Downloads the current map shape as a controller sequence directly to the controller The internal Motion Generator on the system is able to generate maps from this sequence during runtime Import map Active map from system Imports the last map sequence to be executed XS command from the connected controller Map sequence from system Impo...

Страница 16: ...ve PScope Starts the scope function PScope PEdit Starts the text editor PEdit 7 2 6 Menu Window New window Opens a further window for the current document Cascade Arranges all the windows you are editing in a neat cascaded pile Tile Tiles all the windows you are editing horizontally across the screen Arrange icons Arranges all icons in the bottom area of the window ...

Страница 17: ...selected segment Inserts a new segment to the left side of the currently selected segment Splits a segment into two parts Adds a segment to the end of your map shape Deletes the currently selected segment Opens a dialogue bar on the left side of the view to configure the segment settings Creates a map table in a ptf file ptf PMC text file Creates a map sequence in a ptf file ptf PMC text file Down...

Страница 18: ...nloaded into the controller Number of Steps When a map shape is turned into a map table the Motion Generator needs to know what resolution you require The more map steps the greater the resolution of the map table but also the larger the memory space for saving the table in the Flash EPROM The maximum number of steps is 65536 Cycle Length Master The master length is the length of the map shape alo...

Страница 19: ...merator and denominator for the conversion between the new unit and the standard encoder counts This factor is necessary because the internal position values of the controller must be defined in increments encoder counts Offset A offset of master position can be entered to shift the map horizontally Attention The offset will not be transmitted to the motion control system Use the command MB to shi...

Страница 20: ... numerator and denominator for the conversion between the new unit and the standard encoder counts This factor is necessary because the internal position values of the controller must be defined in increments encoder counts Show maximum values The maximum values for position velocity acceleration and jerk can be defined These maximum values will be displayed as horizontal lines in the diagrams The...

Страница 21: ...does not contain any time information For a correct calculation of the derivations and considering the mechanical limits of the machine you can set the machine cycles per minute in this property page This determines the constant velocity of the master axis and allows PMotion to put a scale to the slave velocity acceleration and jerk ...

Страница 22: ...ent Number of the current selected segment in the motion view Segment Type In the Segment type box you can select the mathematical function for the segment It is possible to choose from up to 16 different mathematical functions which are described in chapter 9 Segment types There are extra settings for some segment types when pressing the button Type parameters These parameters depend on the selec...

Страница 23: ...e next segment Attention If the next segment is not able to accommodate the changes a message box appears indicating that the values have to be entered again Passage conditions The available passage conditions at the start and the end of a segment depend on the selected segment type You can toggle between Start Segment and End Segment by pressing the horizontal arrow buttons The following passage ...

Страница 24: ...map to generate a map table or a map sequence sequence for internal calculation of a map 7 6 1 Map Table A map table can be created by pressing the button Create map table in the menu Create This function generates an ASCII table of position values and saves it into a text file extension ptf PMC text file This file can be opened in the text editor PEdit and transmitted to the controller 7 6 2 Map ...

Страница 25: ...he circumference of the printing drum is not the same as the distance between the marks The speed of the drum has to match with the speed of the web while printing and to accelerate or decelerate for the rest of the cycle for compensating the deviation between the drum circumference and the print mark distance The position data of the web is measured by an encoder and of the drum by the encoder em...

Страница 26: ...t has to be adapted Please choose Yes for extending the map In the toolbar Segment parameters on the left side of the window the segments can be configured Choose the segment types and edit the required master and slave values To change selection of segments click with the left mouse button into the area of a segment or use the arrow buttons in the toolbar for segment navigation The velocity of sl...

Страница 27: ...system using two axes in virtual mode For analysing the movement the scope function PScope can be used Example to start the map CH0 2 VM1 SB23874 SV20000 SA300000 DC300000 PC VC master axis CH0 1 VM1 SB10376 ML0 2 MW01000001 TMMap_01 XMMap_01 slave axis The scope function can be used to show channel 1 demand position channel 2 demand position and channel 1 demand speed If the map was created as a ...

Страница 28: ...tion is indicated by further messages If calculation has been finished successful the new map table will exist on the system An important feature of the internal motion generator is the possibility to modify the map immediately by editing the specific variables from external systems e g operators panel or PLC Thereby a change between master and slave positions can be realized very quickly e g to m...

Страница 29: ...not found 9 Variable MWn not defined 10 Start velocity segment type 1 not defined 11 Slave position at segment start must be matched 12 Percentage for start value of a segment missing Seg type 2 or 3 13 Percentage for end value of a segment missing Seg type 2 or 3 14 Percentage for start value must be less than for end value Seg type 2 or 3 15 Percentage for start value must be less than 50 Seg ty...

Страница 30: ...d up when the map is to be recalculated The variables REG and LEN are written via the operator panel REG 300 Registration distance mm LEN 150 Print length mm ECM 7958 Web Encoder Counts x 100 PCM 2776 Print Drum Encoder Counts x 100 Sequence for map calculation ES Map_01 MSG 3 Operators Panel Message Calculating Map MRESET 1 Reset map variables MNAME Map_01 Map name Master MM0 0 Master start posit...

Страница 31: ... messages Mapgenerator started while generating and Mapgenerator ready when finished map generation are displayed in the terminal program The generated map can be tested by using two axes in virtual mode analysed by using scope function PScope to record movements Example to start the map CH0 2 VM1 SB MM3 SV20000 SA300000 DC300000 PC VC master axis CH0 1 VM1 SB MS3 ML0 2 MW01000001 TMMap_01 PC XMMa...

Страница 32: ...erved 13 Quadratic Spline 14 Cubic Spline 15 Sine Constant Cosine 16 Simple Harmonic In the following sections all segment types are described in more detail The description contains guidelines for using the segments and what parameters can be modified Furthermore a list of specific variables depending on the different segment types is given out The units of parameters refer to the controller inte...

Страница 33: ...he end value of the previous segment This means that only the position is matched from the previous segment which can lead to an instantaneous change in velocity Parameters Segment type MFnn 0 Segment start constraints P matched V A J not defined Segment end constraints P V A J not defined MWnn 20000000 Master end position MMnn value sets end segment master position Slave end position MSnn value w...

Страница 34: ...n change depends on both the velocity value for the segment and the value of the master increment Parameters Segment type MFnn 1 Segment start constraints P matched V matched MWnn 22000000 or specified MWnn 21000000 A J not defined Segment end constraints P V A J not defined Master end position MMnn value sets end segment master position Slave end position MSnn value will be correct for map as sav...

Страница 35: ... and end positions determines the value of the acceleration and deceleration Parameters Segment type MFnn 2 Segment start constraints P matched V matched MWnn 22000000 or not matched MWnn 20000000 A J not defined Segment end constraints P specified V A J not defined Master end position MMnn value sets end segment master position Slave end position MSnn value sets end segment slave position Percent...

Страница 36: ...gnitude is set by the slave position change across the segment Parameters Segment type MFnn 3 for sine squared velocity and MFnn 4 for cycloidal Segment start constraints P matched V matched MWnn 22000000 or not specified MWnn 20222222 A J not defined Segment end constraints P specified V A J not defined Master end position MMnn value sets end segment master position Slave end position MSnn value ...

Страница 37: ...ful for heavy stiff systems running at low or medium speeds Parameters Segment type MFnn 5 Segment start constraints P matched V matched MWnn 22000000 or not specified MWnn 20000000 A J not defined Segment end constraints P specified V A J not defined Master end position MMnn value sets end segment master position Slave end position MSnn value sets end segment slave position Percentage of segment ...

Страница 38: ... some backlash and for medium or high speeds Parameters Segment type MFnn 6 Segment start constraints P matched V matched MWnn 22000000 or not specified MWnn 20000000 A J not defined Segment end constraints P specified V A J not defined Master end position MMnn value sets end segment master position Slave end position MSnn value sets end segment slave position Percentage of segment used Start at M...

Страница 39: ...d and third harmonics to zero then the acceleration profile will be identical to a cycloidal segment Usually only the first two harmonics have to be specified and the third is calculated to satisfy the constraints from the neighbouring segments Parameters Segment type MFnn 7 Segment start constraints P matched V matched MWnn 22000000 or not specified MWnn 20000000 A J not defined Segment end const...

Страница 40: ...e wave This is because a sine wave doesn t start with zero velocity and the end velocity of other segments is zero Parameters Segment type MFnn 8 Segment start constraints P matched V matched MWnn 22000000 or not specified MWnn 20000000 A J not defined Segment end constraints P specified V A J not defined Master end position MMnn value sets end segment master position Slave end position MSnn value...

Страница 41: ...with previous This boundary constraint can only be used at segment start The start value of the segment matches equivalent with the end boundary value of the previous segment MWnn Entry Segment boundary Boundary Constraint Default value Digit 8 Digit 7 Digit 6 Digit 5 Start Position Velocity Acceleration Jerk 2 matched with previous cannot be changed 2 matched with previous 2 matched with previous...

Страница 42: ...s 1x10 8 Master counts 2 1x10 9 Master counts 3 End Velocity Acceleration Jerk MXnn MYnn MZnn 1x10 6 Master counts 1x10 8 Master counts 2 1x10 9 Master counts 3 Examples For every master position count MAnn 1000000 means that slave position increases by 1 count MAnn 24000000 means that slave position decreases by 24 counts MAnn 50000 means that slave position increases by 0 05 counts MBnn 50000000...

Страница 43: ...ment type MFnn 10 Segment start constraints P matched V matched MWnn 22000000 or not specified MWnn 20000000 A J not defined Segment end constraints P specified V A J not defined Master end position MMnn value sets end segment master position Slave end position MSnn value sets end segment slave position Length of acceleration pulse at segment start MAnn value and of deceleration pulse at segment e...

Страница 44: ...al about the midpoint and should only be used in preference to two sequential ramp segments Parameters Segment type MFnn 11 Segment start constraints P matched V matched MWnn 22000000 or not specified MWnn 20000000 A J not defined Segment end constraints P V A J not defined Master end position MMnn value sets end segment master position Slave end position MSnn value sets end segment slave position...

Страница 45: ...e length and width of the segment can be defined A number of these segments perform a quadratic spline between the data points end segment coordinates Parameters Segment type MFnn 12 Segment start constraints P und V matched A J not defined Segment end constraints P specified V A J not defined Master end position MMnn value sets end segment master position Slave end position MSnn value sets end se...

Страница 46: ...The length and width of the segment can be defined A number of these segments perform a cubic spline between the data points end segment coordinates Parameters Segment type MFnn 13 Segment start constraints P V und A matched J not defined Segment end constraints P specified V A J not defined Master end position MMnn value sets end segment master position Slave end position MSnn value sets end segm...

Страница 47: ...slave position change Parameters Segment type MFnn 14 Segment start constraints P matched V matched MWnn 22000000 or not defined MWnn 20000000 A J not defined Segment end constraints P specified V A J not defined Master end position MMnn value sets end segment master position Slave end position MSnn value sets end segment slave position Length of sine acceleration at segment start MAnn value in pe...

Страница 48: ...ntering start and end percentage values This segment type is useful for systems with some backlash at low to medium speeds Parameters Segment type MFnn 15 Segment start constraints P matched V matched MWnn 22000000 or not defined MWnn 20000000 A J not defined Segment end constraints P specified V A J not defined Master end position MMnn value sets end segment master position Slave end position MSn...

Страница 49: ...rcentage values is done by using the variables MXnn und MYnn for the controller internal motion generator and in PMotion by pressing the button Type parameters in the segment parameters toolbar Scaling PC based motion generator PMotion Required percentage values entered directly in the text entry boxes in the dialog Type parameters Controller internal motion generator Required percentage values x1...

Страница 50: ...sine 15 Simple Harmonic P matched V matched or not specified A J not specified 9 Polynomial P matched V A J matched or specified or not specified 12 Quadratic Spline P V matched A J not specified 13 Cubic Spline P V A matched J not specified Legend P Position V Velocity A Acceleration J Jerk Matched means that the derivative value doesn t change from the end of one segment to the beginning of the ...

Страница 51: ...14 Cubic Spline 15 Sine Constant Cosine 16 Simple Harmonic P matched V A J not specified 9 Polynomial P matched V A J specified or not specified Legend P Position V Velocity A Acceleration J Jerk Matched means that the derivative value doesn t change from the end of one segment to the beginning of the next matched with previous Specified means that the derivative value can be set at that point on ...

Страница 52: ...iple Harmonic 7 1 Harmonic 2 Harmonic 3 Harmonic Sinusoidal r 8 Amplitude Cycle Start No of Cycles Polynomial 9 Start Velocity Start Accel Start Jerk End Velocity End Accel End Jerk Ramp 10 Start End Throw 11 Extent of Throw Quadratic Spline 13 Cubic Spline 14 Sine Constant Cosine 15 Sin Constant Cosine Start End Simple Harmonic 16 Start End Standard definition applies r Variable may be present an...

Страница 53: ...4000000 inc MS0 Slave position range 4000000 inc For each segment nn is 1 to 100 inclusive leading zero when appropriate MFnn Segment type range 0 to15 inclusive no units MMnn Master position range 4000000 inc MSnn Slave position range 4000000 inc MWnn constraint word MWnn Entry Segment boundary Boundary constraint Digit 8 Digit 7 Digit 6 Digit 5 Start Position Velocity Acceleration Jerk Digit 4 D...

Страница 54: ...h MWnn 10 MAnn MBnn Start End percentages x 10 6 11 MAnn Extent of throw inc 13 MAnn Slave end position inc 15 MAnn MBnn MCnn MXnn MYnn Percentage x 10 6 of sine constant or cosine portion of the segment Start End percentages x 106 16 MXnn MYnn Start End percentages x 10 6 MNAME specifies the name of the map MNPT specifies the number of points saved in the map table max 65536 MSTART is a trigger v...

Страница 55: ... 9 Map Settings 18 Map Shape 9 Map Table 9 Maximum number of segments 53 Messages displayed in the terminal 29 Motion Generator Overview 10 P PMotion Introduction 12 Menus 13 Create 15 Edit 13 File 13 Programs 16 View 14 Window 16 Toolbar 17 S Segment 9 Segment Types Constant Acceleration 35 Constant Velocity 34 Cubic Spline 46 Modified Sine 38 Modified Trapezoidal 37 Polynomial 41 Quadratic Splin...

Страница 56: ... details or contact our headquarters InduraNET p Pilz PIT PMCprotego PMI PNOZ Primo PSEN PSS PVIS SafetyBUS p SafetyEYE SafetyNET p the spirit of safety are registered and protected trademarks of Pilz GmbH Co KG in some countries We would point out that product features may vary from the details stated in this document depending on the status at the time of publication and the scope of the equipme...

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