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Siemens PM 21 · 2017
SIMOTION Motion Control System
Overview of SIMOTION functions
2
SIMOTION Kernel
Execution system
• System tasks for Motion Control
- SERVO (position control cycle)
- IPO (interpolation cycle)
!
!
!
!
- SERVO
Fast
- IPO
Fast
SERVO
Fast
and IPO
Fast
allow axes with differing
dynamic responses to
be assigned to a slow
bus system and a fast
bus system, as well as
especially fast
I/O processing.
High-speed PROFINET
I/O modules are used
for this purpose.
–
–
–
D425-2 DP: –
D425-2
DP/PN: –
D435-2 DP: –
D435-2
DP/PN:
!
D445-2
DP/PN:
!
D455-2
DP/PN:
!
- MotionTasks (sequential)
20
32
32
32
- ServoSynchronousTask
(cyclic, synchronous with the
position control cycle)
1
1
1
1 (2)
1)
• Task structure/program execution
- BackgroundTask
(cyclic)
Adjustable
monitoring time
1
1
1
1
- TimerInterruptTasks
(time-controlled down to 1 ms)
5
5
5
5
- IPOSynchronousTask
(cyclic, synchronous with the
interpolation cycle)
2
2
2
2 (3)
1)
- InterruptTasks (for user)
(event-controlled)
2
2
2
2
- TControlTasks
(temperature control)
5
5
5
5
- StartupTask
(for transition from STOP to RUN)
1
1
1
1
- ShutdownTask
(for transition from RUN to STOP)
1
1
1
1
• Task structure/error processing
(SystemInterruptTasks)
Central troubleshooting
is possible
- ExecutionFaultTask
(starts in the event of an error when
executing a program)
1
1
1
1
- TechnologicalFaultTask
(starts in the event of an error on a
technology object)
1
1
1
1
- PeripheralFaultTask
(starts in the event of an error
on the I/O)
1
1
1
1
- TimeFaultTask
(starts in the event of a
TimerInterruptTask timeout)
1
1
1
1
- TimeFaultBackgroundTask
(starts in the event of a
BackgroundTask timeout)
1
1
1
1
!
Basic version
(function or license is purchased
with the device or SCOUT)
"
Option
(must be acquired as
software/hardware)
–
Not possible
Notes
SIMOTION
C240/C240 PN
SIMOTION
P320-4
SIMOTION
D410-2
SIMOTION
D4x5-2
1)
Values in brackets with SERVO
Fast
and IPO
Fast
activated for D435-2 DP/PN, D445-2 DP/PN and D455-2 DP/PN
© Siemens AG 2017