All SIMOTION controllers feature basic functions which are predefined by the SIMOTION Kernel. The scope of the language is compatible with the IEC 61131-3 standard and contains all of the necessary PLC commands for I/O management, process or machine control.

Additional functions such as positioning, synchronous operation, cams and temperature channels are available with loadable technology packages.

These technology packages permit the generation of technology objects which provide you with a very simple and uniform view of the functions of the technology packages.

There are many technology objects, but all are generated, configured and parameterized in the same way.

In addition, the technology objects have programming interfaces through which you can use the functionality from application programs.

Working with technology objects

A brief description of the individual engineering steps will be given using the example of the technology object "Axis".

Generating

A new axis object is generated by double-clicking the "Insert New Axis" tab.

Configuration

A wizard helps to specify object properties such as:

• Name of the axis
• Functionality
  (e.g. positioning axis or synchronous axis)
• Connection to the drive
  (e.g. SINAMICS S120 over PROFINET IO or PROFIBUS DP or an analog drive on SIMOTION C240)

After the axis has been generated or configured, it is displayed in the project tree under its name along with additional tabs for parameterizing the axis and an option for generating other technological objects associated with the axis (e.g. cam paths, measuring inputs).

Parameter assignment

By double-clicking the "Referencing" tab, for example, all parameters for referencing can be set.

The "axis" object generated in this way also has a specified number of system variables which can be shown in a structured display in the detailed view when the axis is selected in the project tree.

The system variables are mainly used to visualize axis states such as:

• Display of the following error
• Target position to be reached
• Motion status
  (axis is accelerating, braking, motionless, etc.)

These system variables can also be used for:

• Online diagnostics
• Display on HMI
• Logging with the SIMOTION trace function
• Application programming through querying/comparing these system variables

Application programs access the axis functionality with system functions (selected from the command library), which are part of the "axis" object when it is generated.

The command _pos (axis:=Axis_X, position:=100, velocity:=123) would cause axis "Axis_X" to move to Position 100 at Velocity 123 (example of system function in Structured Text).