Commissioning (software)
4.11 Configuring technology objects and I/O variables
SIMOTION D410
132 Commissioning Manual, 02/2012
4.11.3 Configuring output cams / cam tracks
Overview
The type of cam output must be selected during the configuration of the TO outputCam and
TO camTrack. The following output types are possible:
Table 4- 9 TO outputCam / TO camTrack output types
Cam output on... Explanation
Cam output (CAM) The cam output is performed on the basis of an internal time stamp. The temporal resolution of
the cam output depends on the hardware used.
Supported hardware:
• SIMOTION D4x5-2 (terminal X142): Resolution 1 μs
• TM17 High Feature: Resolution 1 μs
• TM15: Typical resolution 125 μs (DRIVE-CLiQ cycle clock)
• SIMOTION D410-2 (DI/DO 8 to 15): Resolution of current controller clock cycle (typ. 125 μs
for servo drive)
High-speed digital output
(DO)
The cam output is performed via onboard outputs of the SIMOTION CPU. The output is via a
hardware timer, whereby the cam output is achieved with a resolution with respect to time <
servo cycle clock.
Supported hardware:
• SIMOTION D410 (terminal X121)
• SIMOTION D4x5 (terminal X122, X132)
• SIMOTION C240, C240 PN (terminal X1)
Standard digital output
(DO)
The output cam calculations are performed in the processing cycle (IPO or IPO2 cycle or in the
servo cycle). The actual cam output is performed in the servo cycle. The resolution with
respect to time of the cam output is generally reduced by the output cycle of the I/O used.
The resolution is therefore dependent as follows:
• For the standard I/O (e.g. TMC, ET 200), on the cycle time of the bus system
(PROFIBUS DP / PROFINET IO)
• For the TM15 / TM17, on the cycle time of the bus system (PROFIBUS Integrated /
PROFIBUS DP / PROFINET IO)
• For the TM15 DI/DO, TM31, TM41, TB30, on the configured sampling time:
– cu.p0799 (CU inputs/outputs sampling time) for the TB30 and onboard outputs
– p4099 (TMxx inputs/outputs sampling time) for TM15 DI/DO, TM31 and TM41
Supported hardware:
• Onboard outputs (SIMOTION D, controller extension CX, SINAMICS control unit CU3xx)
• Centralized I/O (SIMOTION C)
• Distributed I/O via PROFIBUS DP / PROFINET I/O (e.g. TMC, ET 200, etc.)
• Drive-related I/O (TM15, TM15 DI/DO, TM17 High Feature, TM31, TM41, TB30)
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