Siemens SIMOTION Parts list manual

SIMOTION
Motion control
Output Cams and Measuring Inputs
Function Manual
Valid as of Version 4.4
04/2014
Preface
1
Fundamental safety
instructions
2
Output Cam TO - Part I
3
Cam Track TO - Part II
4
Measuring Input TO - Part III
5

Legal information
Warning notice system
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.
DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.
WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.
CAUTION
indicates that minor personal injury can result if proper precautions are not taken.
NOTICE
indicates that property damage can result if proper precautions are not taken.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will be
used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to property
damage.
Qualified Personnel
The product/system described in this documentation may be operated only by personnel qualified for the specific
task in accordance with the relevant documentation, in particular its warning notices and safety instructions. Qualified
personnel are those who, based on their training and experience, are capable of identifying risks and avoiding
potential hazards when working with these products/systems.
Proper use of Siemens products
Note the following:
WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant technical
documentation. If products and components from other manufacturers are used, these must be recommended or
approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and
maintenance are required to ensure that the products operate safely and without any problems. The permissible
ambient conditions must be complied with. The information in the relevant documentation must be observed.
Trademarks
All names identified by ® are registered trademarks of Siemens AG. The remaining trademarks in this publication
may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software described.
Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the information in
this publication is reviewed regularly and any necessary corrections are included in subsequent editions.
Siemens AG
Industry Sector
Postfach 48 48
90026 NÜRNBERG
GERMANY
Copyright © Siemens AG 2014.
All rights reserved

Table of contents
1 Preface.........................................................................................................................................................7
1.1 SIMOTION Documentation...........................................................................................................8
1.2 Hotline and Internet addresses.....................................................................................................9
2Fundamental safety instructions.................................................................................................................11
2.1 General safety instructions..........................................................................................................11
2.2 Industrial security........................................................................................................................12
3 Output Cam TO - Part I..............................................................................................................................13
3.1 Overview of Output Cam TO.......................................................................................................13
3.1.1 General information about the Output Cam TO..........................................................................13
3.1.2 Functionality................................................................................................................................14
3.1.3 Comparison of Output Cam TO and Cam Track TO...................................................................16
3.2 Output cam TO basics.................................................................................................................18
3.2.1 Output cam type..........................................................................................................................18
3.2.1.1 Software cam..............................................................................................................................18
3.2.1.2 Hardware cam.............................................................................................................................18
3.2.1.3 Position-based cam.....................................................................................................................19
3.2.1.4 Time-based output cam...............................................................................................................20
3.2.1.5 Unidirectional output cam............................................................................................................21
3.2.1.6 Counter cam................................................................................................................................22
3.2.1.7 Cam output types........................................................................................................................22
3.2.1.8 Exact time setting of an output, exact time output cams (as of V4.1).........................................27
3.2.2 Cam parameters..........................................................................................................................29
3.2.2.1 Reaction, effective direction........................................................................................................29
3.2.2.2 Hysteresis....................................................................................................................................30
3.2.2.3 Derivative-action times (activation/deactivation time).................................................................32
3.2.2.4 Logical operation.........................................................................................................................34
3.2.2.5 Simulation....................................................................................................................................35
3.2.2.6 Inversion......................................................................................................................................35
3.2.3 Configure Units............................................................................................................................35
3.3 Configuring the Output Cam technology object...........................................................................37
3.3.1 Insertion of Output Cam..............................................................................................................37
3.3.2 Parameterize Output Cam technology object..............................................................................37
3.3.3 Using the expert list for output cams...........................................................................................38
3.3.4 Output cam configuration............................................................................................................38
3.3.5 Defining output cam defaults.......................................................................................................43
3.3.6 Determining derivative-action times for output cams (dead time compensation)........................45
3.3.7 Configuring cams on SIMOTION D4xx onboard.........................................................................47
3.3.8 Configuring output cams on SIMOTION D410-2.........................................................................50
3.3.9 Configuring cams on SIMOTION D4x5-2 onboard......................................................................52
3.3.10 Configuring an output cam on a TM15/TM17 High Feature........................................................53
3.3.11 Configuring cams on SIMOTION C240.......................................................................................55
3.3.12 HW enable for Output Cam TO...................................................................................................55
Output Cams and Measuring Inputs
Function Manual, 04/2014 3

3.4 Programming/references of Output Cam TO..............................................................................56
3.4.1 Programming...............................................................................................................................56
3.4.2 Commands..................................................................................................................................57
3.4.3 Process Alarms...........................................................................................................................58
3.4.4 Output Cam TO menus...............................................................................................................59
3.4.4.1 Output cam menu........................................................................................................................59
3.4.4.2 Output cam context menu...........................................................................................................59
4 Cam Track TO - Part II...............................................................................................................................61
4.1 Overview of TO Cam Track.........................................................................................................61
4.1.1 General information about Cam Track TO..................................................................................61
4.1.2 Functionality................................................................................................................................62
4.1.3 Comparison of Output Cam TO and Cam Track TO...................................................................64
4.2 TO Cam Track basics..................................................................................................................66
4.2.1 Cam track features......................................................................................................................66
4.2.2 Output cam types of the single output cams on a track..............................................................67
4.2.2.1 Software cam..............................................................................................................................67
4.2.2.2 Hardware cam.............................................................................................................................67
4.2.2.3 Position-based cam.....................................................................................................................68
4.2.2.4 Time-based output cam...............................................................................................................69
4.2.2.5 Time-based cam with maximum ON length................................................................................70
4.2.2.6 Cam output types........................................................................................................................71
4.2.3 Cam track parameters.................................................................................................................76
4.2.3.1 Track length.................................................................................................................................76
4.2.3.2 Effective direction and behavior..................................................................................................76
4.2.3.3 Hysteresis....................................................................................................................................77
4.2.3.4 Derivative-action times (activation time/deactivation time)..........................................................79
4.2.3.5 Cam track activation....................................................................................................................81
4.2.3.6 Cam track deactivation................................................................................................................81
4.2.3.7 Leave cam track active in the axis range (as of V4.1).................................................................82
4.2.3.8 Start mode and stop mode..........................................................................................................83
4.2.3.9 Output activation mode...............................................................................................................85
4.2.3.10 Axis reference position and cam track offset...............................................................................85
4.2.3.11 Simulation....................................................................................................................................86
4.2.4 Configure Units............................................................................................................................86
4.2.5 Mapping a cam track onto an axis...............................................................................................87
4.2.5.1 Basics of cam track mapping......................................................................................................88
4.2.5.2 Mapping output cams onto the cam track...................................................................................88
4.2.5.3 Mapping onto negative axis positions (e.g. linear axes)..............................................................89
4.2.5.4 Relation of track length, modulo length and activation mode in mapping...................................90
4.2.6 Cam track operating behavior.....................................................................................................93
4.2.6.1 Changing output cams on a cam track during runtime................................................................93
4.2.6.2 Changing the track length during operation................................................................................94
4.2.6.3 Changing the axis configuration when a cam track is active.......................................................95
4.2.6.4 Calling up the status of cam tracks and single output cams.......................................................95
4.2.7 Inverting a cam track...................................................................................................................95
4.2.8 Effect of cam track parameters on mapping................................................................................96
4.2.8.1 Basic mapping of a simple cam track..........................................................................................96
4.2.8.2 Advanced mappings with shifted output cam positions...............................................................97
4.3 Configuring the TO Cam Track...................................................................................................99
4.3.1 Inserting cam tracks....................................................................................................................99
Table of contents
Output Cams and Measuring Inputs
4Function Manual, 04/2014

4.3.2 Parameterizing the Cam Track technology object.....................................................................100
4.3.3 Using expert list for cam tracks.................................................................................................100
4.3.4 Configuring a cam track............................................................................................................101
4.3.5 Defining cam track defaults.......................................................................................................105
4.3.5.1 Track data.................................................................................................................................105
4.3.5.2 Output cam data........................................................................................................................108
4.3.6 Configuring cam tracks on SIMOTION D4xx onboard..............................................................109
4.3.7 Configuring cam track on the SIMOTION D410-2.....................................................................111
4.3.8 Configuring cam tracks on SIMOTION D4x5-2 onboard...........................................................113
4.3.9 Configuring cam tracks on a TM15/TM17 High Feature...........................................................114
4.3.10 Configuring cam tracks on SIMOTION C240............................................................................116
4.3.11 Determining derivative-action times for cam tracks (dead time compensation)........................116
4.3.12 Using HW enable for cam tracks...............................................................................................118
4.3.12.1 Absolute level-controlled (TM17 High Feature).........................................................................119
4.3.12.2 Absolute edge-controlled (TM17 High Feature)........................................................................120
4.3.12.3 Setting (overriding) the enable via a program...........................................................................121
4.3.12.4 Relative edge-controlled............................................................................................................122
4.4 Programming/References of TO Cam Track.............................................................................123
4.4.1 Programming.............................................................................................................................123
4.4.2 Commands................................................................................................................................124
4.4.3 Process Alarms.........................................................................................................................125
4.4.4 TO Cam Track menus...............................................................................................................126
4.4.4.1 Cam track menu........................................................................................................................126
4.4.4.2 Cam track context menu...........................................................................................................126
5 Measuring Input TO - Part III....................................................................................................................129
5.1 Overview of Measuring Input TO...............................................................................................129
5.1.1 General information about the Measuring Input TO..................................................................129
5.2 Fundamentals of Measuring Input technology object................................................................131
5.2.1 Measuring input types - local and global measuring inputs.......................................................131
5.2.2 Hardware for measuring inputs.................................................................................................132
5.2.3 Interconnections........................................................................................................................133
5.2.3.1 Measuring input connection options..........................................................................................134
5.2.3.2 Several Measuring Input TOs on one axis/encoder (as of V3.2)...............................................135
5.2.3.3 More than one measuring input TO on a single measuring input (C230-2/C240 only).............136
5.2.3.4 Measuring one measurement event on several axes - Listening measuring input (V4.0 and
later)..........................................................................................................................................136
5.2.4 Measurement............................................................................................................................139
5.2.4.1 One-time measurement.............................................................................................................139
5.2.4.2 Cyclic measurement (as of V3.2)..............................................................................................141
5.2.4.3 Lost edges during cyclic measurement.....................................................................................144
5.2.4.4 Measurement activation times...................................................................................................147
5.2.5 Measuring range.......................................................................................................................148
5.2.6 Configure Units..........................................................................................................................151
5.2.7 Simulation..................................................................................................................................152
5.3 Configuring the Measuring Input technology object..................................................................153
5.3.1 Inserting Measuring Inputs........................................................................................................153
5.3.2 Parameterization of the Measuring Input technology object.....................................................153
5.3.3 Use Expert List for Measuring Inputs........................................................................................154
5.3.4 Measuring Input Configuration..................................................................................................154
5.3.4.1 Measuring Input Configuration..................................................................................................154
Table of contents
Output Cams and Measuring Inputs
Function Manual, 04/2014 5

5.3.4.2 Time stamp correction value.....................................................................................................159
5.3.5 Measuring input defaults...........................................................................................................160
5.3.6 Local measuring........................................................................................................................163
5.3.6.1 Local measuring on C230-2, C240 (not C240 PN)....................................................................163
5.3.6.2 Local measurement on D4xx, D410-2, D4x5-2 (X122/X132), CX32, CX32-2, CU310,
CU310-2, CU320 and CU320-2................................................................................................163
5.3.6.3 Local measuring on other drives (MASTERDRIVES MC, SIMODRIVE 611U, etc.).................163
5.3.7 Global measuring......................................................................................................................164
5.3.7.1 Global measuring on TM15/TM17 High Feature.......................................................................164
5.3.7.2 Global measuring on C240/C240 PN (B1-B4)...........................................................................167
5.3.7.3 Global measurement on D4xx, D410-2, D4x5-2 (X122/X132), CX32, CX32-2, CU310,
CU310-2, CU320 and CU320-2................................................................................................167
5.3.7.4 Global measuring on D4x5-2 (X142).........................................................................................170
5.3.8 Configuring and interconnecting a listening Measuring Input TO.............................................174
5.3.9 Measuring input with hardware enable (TM17 High Feature)...................................................175
5.4 Measuring Input technology object programming/references...................................................177
5.4.1 Programming.............................................................................................................................177
5.4.2 Commands................................................................................................................................178
5.4.3 Process Alarms.........................................................................................................................179
5.4.4 Measuring input menus.............................................................................................................179
5.4.4.1 Measuring Input technology object menu..................................................................................179
5.4.4.2 Measuring input TO context menu............................................................................................180
Index.........................................................................................................................................................183
Table of contents
Output Cams and Measuring Inputs
6Function Manual, 04/2014

Preface 1
This document is part of the
System and Function Descriptions documentation package.
Scope
This manual applies to SIMOTION SCOUT in connection with the SIMOTION Cam, Path or
Cam_ext technology package for product version V4.4.
Chapters in this manual
This manual provides information about the functions, operation, command execution, and
technology alarms of the technology objects.
●Output Cam technology object (part I)
Functions and operation
●Cam Track technology object (part II)
Functions and operation
●TO measuring input (part III)
Functions and operation
●Index
Keyword index for locating information
Output Cams and Measuring Inputs
Function Manual, 04/2014 7

1.1 SIMOTION Documentation
An overview of the SIMOTION documentation can be found in the SIMOTION Documentation
Overview document.
This documentation is included as electronic documentation in the scope of delivery of
SIMOTION SCOUT. It comprises ten documentation packages.
The following documentation packages are available for SIMOTION V4.4:
● SIMOTION Engineering System Handling
● SIMOTION System and Function Descriptions
● SIMOTION Service and Diagnostics
● SIMOTION IT
● SIMOTION Programming
● SIMOTION Programming - References
● SIMOTION C
● SIMOTION P
● SIMOTION D
● SIMOTION Supplementary Documentation
Preface
1.1 SIMOTION Documentation
Output Cams and Measuring Inputs
8Function Manual, 04/2014

1.2 Hotline and Internet addresses
Additional information
Click the following link to find information on the the following topics:
● Ordering documentation / overview of documentation
● Additional links to download documents
● Using documentation online (find and search manuals/information)
http://www.siemens.com/motioncontrol/docu
Please send any questions about the technical documentation (e.g. suggestions for
improvement, corrections) to the following e-mail address:
[email protected]
My Documentation Manager
Click the following link for information on how to compile documentation individually on the
basis of Siemens content and how to adapt it for the purpose of your own machine
documentation:
http://www.siemens.com/mdm
Training
Click the following link for information on SITRAIN - Siemens training courses for automation
products, systems and solutions:
http://www.siemens.com/sitrain
FAQs
Frequently Asked Questions can be found in SIMOTION Utilities & Applications, which are
included in the scope of delivery of SIMOTION SCOUT, and in the Service&Support pages
in Product Support:
http://support.automation.siemens.com
Technical support
Country-specific telephone numbers for technical support are provided on the Internet under
Contact:
http://www.siemens.com/automation/service&support
Preface
1.2 Hotline and Internet addresses
Output Cams and Measuring Inputs
Function Manual, 04/2014 9

Fundamental safety instructions 2
2.1 General safety instructions
WARNING
Risk of death if the safety instructions and remaining risks are not carefully observed
If the safety instructions and residual risks are not observed in the associated hardware
documentation, accidents involving severe injuries or death can occur.
● Observe the safety instructions given in the hardware documentation.
●Consider the residual risks for the risk evaluation.
WARNING
Danger to life or malfunctions of the machine as a result of incorrect or changed
parameterization
As a result of incorrect or changed parameterization, machines can malfunction, which in
turn can lead to injuries or death.
● Protect the parameterization (parameter assignments) against unauthorized access.
●Respond to possible malfunctions by applying suitable measures (e.g. EMERGENCY
STOP or EMERGENCY OFF).
Output Cams and Measuring Inputs
Function Manual, 04/2014 11

2.2 Industrial security
Note
Industrial security
Siemens provides products and solutions with industrial security functions that support the
secure operation of plants, solutions, machines, equipment and/or networks. They are
important components in a holistic industrial security concept. With this in mind, Siemens’
products and solutions undergo continuous development. Siemens recommends strongly
that you regularly check for product updates.
For the secure operation of Siemens products and solutions, it is necessary to take suitable
preventive action (e.g. cell protection concept) and integrate each component into a holistic,
state-of-the-art industrial security concept. Third-party products that may be in use should
also be considered. For more information about industrial security, visit http://
www.siemens.com/industrialsecurity.
To stay informed about product updates as they occur, sign up for a product-specific
newsletter. For more information, visit http://support.automation.siemens.com
WARNING
Danger as a result of unsafe operating states resulting from software manipulation
Software manipulation (e.g. by viruses, Trojan horses, malware, worms) can cause unsafe
operating states to develop in your installation which can lead to death, severe injuries and/
or material damage.
●Keep the software up to date.
Information and newsletters can be found at:
http://support.automation.siemens.com
●Incorporate the automation and drive components into a state-of-the-art, integrated
industrial security concept for the installation or machine.
For more detailed information, go to:
http://www.siemens.com/industrialsecurity
● Make sure that you include all installed products into the integrated industrial security
concept.
Fundamental safety instructions
2.2 Industrial security
Output Cams and Measuring Inputs
12 Function Manual, 04/2014

Output Cam TO - Part I 3
3.1 Overview of Output Cam TO
3.1.1 General information about the Output Cam TO
The Output Cam technology object
● Generates position-dependent switching signals
● Can be assigned to positioning axes, synchronous axes, path axes or external encoders
● The axes can be real or virtual.
Different switching signals distinguish different types of output cam:
●Software cam
Switching signals are used internally in the user program by evaluating the relevant state
system variable.
●Hardware cam
Switching signals are output externally on I/O devices by assigning a digital output to the
Output Cam TO. For example, digital output modules from the ET 200 I/O system can be
used for the cam output.
([WHUQDOHQFRGHU$[LV2XWSXW&DP722XWSXW&DP722XWSXW2XWSXW
Figure 3-1 Interconnection options for the output cam TO
Output Cams and Measuring Inputs
Function Manual, 04/2014 13

A range of output cam types with different switching behaviors are available.
●Position-based cam
The switching signal is supplied between the switch-on position and the switch-off position.
●Time-based cam
The switching signal is supplied for a specified time period after the switch-on position is
reached.
●Unidirectional output cam
The switching signal is supplied when the axis reaches the switching position and is then
reset by the user.
●Counter cam
Counter cams are not a separate output cam type, but rather position-based or time-based
type cams. Counter cams can be configured so that they are output for every switching or
for every nth switching. They can only be programmed and activated in the user program.
●Cam output types
While output cams are usually output in the IPO cycle clock or the position control cycle
clock, high-speed output cams provide better output accuracy than the position control
cycle clock because the switching edges are positioned within the position control cycle
clock.
3.1.2 Functionality
It is possible to define an effective direction for the Output Cam TO, i.e. the output cam is only
active when the direction of motion of the axis is the same as the effective direction.
The output cam can be calculated in servo cycles, IPO cycles, or IPO_2 cycles.
Note
With modules D435-2 DP/PN, D445-2 DP/PN, and D455-2 DP/PN, cam calculation can be
performed in Servo_fast or IPO_fast. For more information, see the chapter Second servo
cycle clock (Servo_fast) in the Motion Control Basic Functions manual.
The reference values of the output cam depend on the axis type or the external encoder:
Table 3-1 Reference to the actual or set position
Technology object Reference to actual position
possible
Reference to set position possible
Real drive axis - -
Real position axis X X
Real synchronized axis X X
Virtual axes - X
External encoder X -
Possible configuration of the cams with actual value reference:
Output Cam TO - Part I
3.1 Overview of Output Cam TO
Output Cams and Measuring Inputs
14 Function Manual, 04/2014

●Reference to the actual value on the encoder without considering Ti. Reference to the actual
position in the controller before the position filter.
●Reference to the actual value after the position filter. Reference to the actual position in the
controller after the position filter.
●Reference to the actual value on the encoder. Ti is taken into account. Reference to the
actual value on the encoder module / drive. The transmission time Ti from the encoder
module / drive to the controller is taken into account by the system.
Possible configuration of the cams with setpoint reference:
●Reference to the setpoint after the fine interpolator. The cam switch points are calculated
as if the setpoints will already have been reached at the end of this IPO cycle, e.g. if a
setpoint is calculated for the IPO cycle clock with the virtual axis and also displayed at the
end of the cycle. Reference is made directly to the setpoint applicable at the end of the
cycle.
●Reference to the setpoint after the fine interpolator. The cam switch points are calculated
as if the setpoint calculated in the interpolator will be output completely in the following
cycle and the calculated position setpoint will therefore be reached at the end of the
following cycle.
●Reference to the setpoint on the drive. Calculation of the cam switch points according to
the setpoint output with the current settings on the drive.
In this case, the output cam functionality can be applied to axes or external encoders with or
without modulo properties.
The output cam is also effective for axes that have not been homed.
The Output Cam technology object is assigned to exactly one output during configuration.
Output can be achieved via:
● Onboard I/O
● Drive I/O (e.g. TB30, TM31, TM1x)
● SIMOTION C centralized I/O
● Distributed I/O; PROFIBUS DP I/O (e.g. ET 200M)
However, the output must not be in the process image.
The switching accuracy is dependent on the following:
● Output accuracy of the I/O
● How the output cam is allocated in the task system
● How constant delay times are compensated
Several Output Cam TOs can be connected to the same output (see Chapter Logical
operation). Alternatively, the Cam Track TO can be used for this purpose.
Example
Lines of glue are applied to a wooden board. The output cams are assigned to an external
encoder. Output cams assigned to outputs Q 0 to Q 4 are switched on and off at specified
positions.
Output Cam TO - Part I
3.1 Overview of Output Cam TO
Output Cams and Measuring Inputs
Function Manual, 04/2014 15

'LJLWDORXWSXWVWULJJHUUHVSRQVHV2XWSXWFDPIXQFWLRQDOLW\/LQHVRIJOXH&RQYH\RUGLUHFWLRQ(QFRGHUVHQVHVSRVLWLRQRID[LV
Figure 3-2 Example of an electronic cam control
See also
Logical operation (Page 34)
3.1.3 Comparison of Output Cam TO and Cam Track TO
Depending on the application, it may be practical to use either the Cam Track TO or one or
more Output Cam TOs. The table below should help you to decide which TO should be used
in which case.
Table 3-2 Comparison of Output Cam TO and Cam Track TO
Features Output Cam TO Cam Track TO
Availability ● As of Version 1.0 ● As of Version V3.2
Supported output cams ● Position-based cam
● Time-based output cam
●Unidirectional output cam
● Counter cam
● Exact time setting of an output, exact
time output cams (as of V4.1)
● Position-based cam
● Time-based output cam
● Time-based cam with maximum ON length
Several output cams on one
output
● Via logical operation (AND/OR) ● Maximum 32 output cams of the same
type in one track
● No cam track logical operations (AND/OR)
Output Cam TO - Part I
3.1 Overview of Output Cam TO
Output Cams and Measuring Inputs
16 Function Manual, 04/2014

Features Output Cam TO Cam Track TO
Different types of output cam
on one output
● Via AND/OR ● Not available
Output cam definition ● Related to axis
●Via system variables
● Related to cam track (cam track can be
mapped as required on axis)
● Via system-variables array
Hysteresis ● Available ● Available
Effective direction ● Available ● Not available
Derivative-action times ● Separate for power ON/power OFF ● Separate for power ON/power OFF
Deactivation time for time-
based cam
● As of Version V3.2 ● As of Version V3.2
Activation/deactivation types ● Active immediately ● Start and stop mode parameterizable
Types of output ● Cyclic ● Cyclic
●Once
Output cam status ● System variable ● Status of single output cams over one
array of byte
Output cam enable ● Via_enableOutputCam ● via_enableCamTrack
● Validity of single output cams configurable
via system variables
Performance ● Depends on number of single output
cams
● When 5 or more output cams are used in
one output cam track instead of 5 single
output cams, the output cam track
performs better. This performance
advantage amounts to at least a factor of
2 for 32 single output cams.
MCC command available ● Available ● Available (V4.0 and higher)
Output Cam TO - Part I
3.1 Overview of Output Cam TO
Output Cams and Measuring Inputs
Function Manual, 04/2014 17

3.2 Output cam TO basics
3.2.1 Output cam type
3.2.1.1 Software cam
Switching signals are used internally in the user program by evaluating the relevant state
system variable.
3.2.1.2 Hardware cam
Description
Switching signals are output externally on I/O devices by assigning a digital output to the Output
Cam TO.
The following can be used as digital outputs:
● Onboard outputs (SIMOTION C, D, ...)
● Centralized I/O (SIMOTION C)
● Distributed I/Os via PROFIBUS DP (e.g. ET 200M) and PROFINET IO (e.g. ET 200S)
● Drive I/O (for example, TM15 and TM17 High Feature terminal modules)
Hardware for output cams
Cam output on cam output (I/O channel is configured as CAM)
● SIMOTION D410-2
● SIMOTION D4x5-2
● TM15, TM17 High Feature
Cam output on high-speed output with direct access (I/O channel is configured as DO)
● SIMOTION D4xx / D4x5-1
● SIMOTION C240, C240 PN
Cam output on standard output (I/O channel is configured as DO)
● SIMOTION C/D/CX onboard I/O
● SINAMICS onboard I/O
● TM15, TM15 DI/DO, TM17 High Feature, TM31, TM41, TB30
● Standard DO (SIMATIC ET200, ...)
Output Cam TO - Part I
3.2 Output cam TO basics
Output Cams and Measuring Inputs
18 Function Manual, 04/2014

For more information, see cam output types. (Page 22)
3.2.1.3 Position-based cam
Direction-neutral switching
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Figure 3-3 Position-controlled output cam with start position less than end position
Limits imposed by start and end positions
The output cam is activated:
● Axis position is within the switch-on area
●Axis position value is shifted into the switch-on area of the output cam
The position value of the interconnected object can change abruptly, for example, when it
is homed or when its coordinate system is shifted with the _redefinePosition command.
The output cam is switched off:
● When the axis position is outside the start or end position
● When the axis position value is shifted outside the switch-on area
● When commands are issued that deactivate the output cam, e.g. _disableOutputCam,
_setOutputCamState, and _resetOutputCam
Switch-on area
The switch-on area of the output cam is defined from the start position to the end position in
a positive counting direction, i.e. within a range between the start position and the end position.
If the end position is greater than the start position, the switch-on area is defined by the start
and end positions (see figure above).
The switch-on area is outside the area between the end and start positions if the end position
is less than the start position (see figure below).
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Figure 3-4 Position-controlled output cam with end position less than start position
Output Cam TO - Part I
3.2 Output cam TO basics
Output Cams and Measuring Inputs
Function Manual, 04/2014 19

Note
This definition of the switch-on area is possible for all modulo and non-modulo axes.
ON duration
The ON duration of the output cam depends on the velocity at which the axis traverses the
output cam length.
Direction-dependent switching
The output cam is activated:
● When the axis position is between the start and end positions, and the axis is moving in
the programmed effective direction
The output cam is switched off:
●When the axis position is outside the start or end position
● When the motion direction is not the same as the assigned effective direction
● When the axis position value is shifted outside the switch-on area
● When commands are issued that deactivate the output cam, e.g. _disableOutputCam,
_setOutputCamState, and _resetOutputCam
3.2.1.4 Time-based output cam
Direction-neutral switching
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Figure 3-5 Time-controlled output cam
Limits imposed by starting position and ON duration
The output cam is switched on:
● At the starting position.
If the starting position is overrun again during the ON duration, the time-based cam is not
switched on again. It is not possible to retrigger a time-based cam.
The output cam is switched off:
●When the assigned time period expires
● When commands are issued that deactivate the output cam, e.g. _disableOutputCam,
_setOutputCamState and _resetOutputCam
Output Cam TO - Part I
3.2 Output cam TO basics
Output Cams and Measuring Inputs
20 Function Manual, 04/2014