Siemens Camera Accessories 6AU1900 1AB32 0BA0 User Manual
Preface  
1
2
3
4
Description  
Installing the Software  
Configuring  
Functions  
SIMOTION  
CamTool  
Configuration Manual  
12.2004  
6AU1900-1AB32-0BA0  
Preface  
Contents of manual  
The accompanying manual describes the SIMOTION CamTool option package.  
The document is part of the SIMOTION Engineering System documentation package with  
order number: 6AU1900-1AB32-0BA0, Edition 12.2004  
Scope  
The accompanying manual applies to SIMOTION SCOUT in conjunction with the  
SIMOTION CamTool option package.  
Standards  
The SIMOTION system was developed in accordance with the ISO 9001 quality guidelines.  
Information blocks:  
The following is a description of the purpose and use of the product manual.  
• Description chapter  
This chapter provides a short overview of the basic functions of the SIMOTION CamTool  
and the inclusion in SIMOTION SCOUT.  
• Installation chapter  
This chapter describes how the SIMOTION CamTool is installed and which prerequisites  
must be satisfied to allow the use of SIMOTION CamTool.  
• Configuration chapter  
This chapter describes the basic functions of SIMOTION CamTool. It shows you how to  
process cams with CamTool.  
• Functions chapter  
In this chapter you learn how to create a cam with CamTool.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
iii  
 
Preface  
SIMOTION documentation  
An overview of the SIMOTION documentation is provided in a separate list of references.  
The list of references is supplied on the "SIMOTION SCOUT" CD and is included in each  
print copy order of the documentation package.  
The list of references can be obtained separately under the following MLFB number:  
Order no.: 6AU1900-1AA32-0BA0  
Edition 12.2004  
SIMOTION documentation consists of 10 documentation packages containing approximately  
50 SIMOTION documents and documents on other products (e.g., SINAMICS).  
The following documentation packages are available for SIMOTION V3.2:  
• SIMOTION Engineering System  
• SIMOTION System and Function Descriptions  
• SIMOTION Diagnostics  
• SIMOTION Programming  
• SIMOTION Programming - Reference Lists  
• SIMOTION C230  
• SIMOTION P350  
• SIMOTION D4xx (incl. SINAMICS S120)  
• SIMOTION Supplementary Documentation  
• SIMOTION Function Library  
Hotline  
If you have any questions, please contact our hotline (worldwide):  
• A & D Technical Support: Phone: +49 (180) 50 50 222  
• Fax: +49 (180) 50 50 223  
• E-mail: [email protected]  
If you have any questions, suggestions, or corrections regarding the documentation, please  
fax or e-mail them to the following:  
• Fax: +49 (9131) 98 2176  
• E-mail: [email protected]  
• Fax form: refer to the reply form at the end of the document  
CamTool  
iv  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
Preface  
Additional support  
We also offer introductory courses to help you familiarize yourself with SIMOTION.  
Please contact your regional training center or our main training center at D-90027  
Nuremberg/Germany, phone +49 (911) 895 3202.  
Siemens Internet address  
The latest information on SIMOTION products can be found on the Internet at:  
General information http://www.siemens.com/simotion  
Technical information http://www4.ad.siemens.de/view/cs/de/10805438  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
v
Table of contents  
Preface......................................................................................................................................................iii  
1
2
Description.............................................................................................................................................. 1-1  
Installing the Software ............................................................................................................................ 2-1  
2.1  
2.2  
Installing SIMOTION CamTool .................................................................................................. 2-1  
Deinstalling SIMOTION CamTool.............................................................................................. 2-2  
3
Configuring ............................................................................................................................................. 3-1  
3.1  
Content....................................................................................................................................... 3-1  
3.2  
3.2.1  
3.2.2  
Customizing the Working Area Display ..................................................................................... 3-2  
Changing the representation using the toolbar.......................................................................... 3-2  
Maximizing working area ........................................................................................................... 3-4  
3.3  
Editing a Cam with CamTool ..................................................................................................... 3-5  
Content....................................................................................................................................... 3-5  
Adding a cam to a SCOUT project using CamTool ................................................................... 3-5  
Edit cam created with CamEdit with CamTool........................................................................... 3-7  
Import cam from text file .......................................................................................................... 3-10  
Upload cam from SIMOTION device ....................................................................................... 3-12  
3.3.1  
3.3.2  
3.3.3  
3.3.4  
3.3.5  
3.4  
Save cam ................................................................................................................................. 3-15  
3.5  
Customize the display of the cam............................................................................................ 3-16  
Display the cam ....................................................................................................................... 3-16  
Show/hide diagram .................................................................................................................. 3-16  
Change axis representation parameters.................................................................................. 3-17  
Change diagram representation parameters........................................................................... 3-20  
Change lines and fonts representation parameters................................................................. 3-22  
Displaying auxiliary lines in the diagram.................................................................................. 3-24  
3.5.1  
3.5.2  
3.5.3  
3.5.4  
3.5.5  
3.5.6  
3.6  
Download cam to SIMOTION device....................................................................................... 3-26  
4
Functions................................................................................................................................................ 4-1  
4.1  
4.2  
Content....................................................................................................................................... 4-1  
Structure of a cam...................................................................................................................... 4-2  
4.3  
Fixed point.................................................................................................................................. 4-3  
Fixed Point Definition................................................................................................................. 4-3  
Insert fixed point......................................................................................................................... 4-3  
Change fixed point position........................................................................................................ 4-5  
Changing the velocity at the position of a fixed point: ............................................................... 4-5  
Changing the acceleration at a fixed point position:.................................................................. 4-6  
Delete fixed point ....................................................................................................................... 4-7  
4.3.1  
4.3.2  
4.3.3  
4.3.4  
4.3.5  
4.3.6  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
vii  
Table of contents  
4.4  
Straight line ................................................................................................................................ 4-7  
4.4.1  
4.4.2  
4.4.3  
4.4.4  
4.4.5  
Definition straight line................................................................................................................. 4-7  
Insert straight line....................................................................................................................... 4-8  
Change straight line position...................................................................................................... 4-9  
Changing the velocity along a straight line .............................................................................. 4-10  
Delete straight line ................................................................................................................... 4-11  
4.5  
Sine curve ................................................................................................................................ 4-11  
Insert sine curve....................................................................................................................... 4-11  
Change sine curve position...................................................................................................... 4-13  
Change sine curve definition range ......................................................................................... 4-14  
Delete sine curve ..................................................................................................................... 4-15  
4.5.1  
4.5.2  
4.5.3  
4.5.4  
4.6  
Arc Sine Curve......................................................................................................................... 4-15  
Insert arc sine curve................................................................................................................. 4-15  
Change arc sine curve position................................................................................................ 4-17  
Change arc sine curve definition range ................................................................................... 4-18  
Delete arc sine curve ............................................................................................................... 4-19  
4.6.1  
4.6.2  
4.6.3  
4.6.4  
4.7  
Interpolation point..................................................................................................................... 4-20  
Interpolation Point Definition.................................................................................................... 4-20  
Insert interpolation point........................................................................................................... 4-20  
Changing the interpolation point position................................................................................. 4-21  
Delete interpolation point ......................................................................................................... 4-22  
4.7.1  
4.7.2  
4.7.3  
4.7.4  
4.8  
Optimizing a Cam..................................................................................................................... 4-23  
Optimizing a Cam..................................................................................................................... 4-23  
Optimize transition ................................................................................................................... 4-24  
Interpolation Curve properties.................................................................................................. 4-26  
4.8.1  
4.8.2  
4.8.3  
4.9  
4.9.1  
4.9.2  
Specify parameters for target device ....................................................................................... 4-30  
Specify parameters for target device ....................................................................................... 4-30  
Target device parameters ........................................................................................................ 4-31  
4.10  
Specify simulation settings....................................................................................................... 4-35  
4.10.1 Specify simulation settings....................................................................................................... 4-35  
4.10.2 Simulation settings................................................................................................................... 4-36  
4.11  
4.12  
4.13  
Index  
Edit cam created with CamTool with CamEdit......................................................................... 4-38  
Export cam as text file.............................................................................................................. 4-38  
Print cam.................................................................................................................................. 4-39  
Tables  
Table 2-1  
Table 3-1  
Table 3-2  
Table 3-3  
Table 3-4  
Table 3-5  
Table 3-6  
SIMOTION CamTool system requirements ............................................................................... 2-1  
SIMOTION CamTool toolbar icons ............................................................................................ 3-2  
Parameters in the Master Properties or S Diagram (Slave) Properties................................... 3-18  
Parameters for the V, A or J Diagram Properties windows ..................................................... 3-21  
Representation parameters in the diagrams............................................................................ 3-23  
Parameters in the Line tab....................................................................................................... 3-23  
Parameters in the Font tab....................................................................................................... 3-24  
CamTool  
viii  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
Table of contents  
Table 4-1  
Table 4-2  
Table 4-3  
Table 4-4  
Table 4-5  
Table 4-6  
Table 4-7  
Table 4-8  
Parameters in the Type tab (Interpolation Curve Properties window)..................................... 4-26  
Parameters in the Parameters tab (Interpolation Curve Properties window) .......................... 4-27  
Parameters in the Type tab (Interpolation Curve Properties window)..................................... 4-28  
Parameters in the Coordinates tab (Target Device Parameters window) ............................... 4-31  
Parameters in the Interpolation tab (Target Device Parameters window)............................... 4-32  
Parameters in the Scaling tab (Target Device Parameters window)....................................... 4-33  
Parameters in the Master tab (Simulation Settings window)................................................... 4-36  
Parameters in the Slave tab (Simulation Settings window)..................................................... 4-37  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
ix  
1
Description  
Introduction  
The graphical user interface in SIMOTION CamTool allows you to create, edit and optimize  
cams.  
SIMOTION CamTool is fully integrated in SIMOTION SCOUT. This allows you to also use in  
SIMOTION CamTool information configured in SIMOTION SCOUT (e.g. axis settings).  
Basic functions  
SIMOTION CamTool provides the following basic functions:  
• Insert and edit cams.  
Cams can be added to a SCOUT project using SIMOTION CamTool. In addition, you can  
edit with CamTool a cam created with CamEdit: Cams can also be imported from a text  
file or uploaded from a SIMOTION device.  
• Modifying the representation of the cam in CamTool  
In SIMOTION CamTool, you can show and hide diagrams, change the representation  
parameters of the axes and diagrams, and adapt the lines and fonts. You can also  
represent auxiliary lines in the diagram.  
• Converting cams from SIMOTION CamTool to SIMOTION CamEdit.  
To edit with SIMOTION CamEdit a cam edited in SIMOTION CamTool, the cam must be  
converted.  
• Exporting cams into a text file.  
• Downloading cams to a SIMOTION device  
• Printing a cam.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
1-1  
 
2
Installing the Software  
2.1  
Installing SIMOTION CamTool  
Introduction  
SIMOTION CamTool is an option package for SIMOTION SCOUT.  
SIMOTION SCOUT must have been installed on the system on which you want to install  
SIMOTION CamTool. For further information, refer to the system prerequisites.  
Notice  
You require administrator rights for the installation.  
After the installation, every user (also those without administrator rights) can work with  
SIMOTION CamTool.  
System requirements  
The following table provides a detailed overview of the system requirements for  
SIMOTION CamTool.  
Table 2-1  
SIMOTION CamTool system requirements  
Minimum requirement  
•
•
Processor: Intel Pentium II or compatible. 400 MHz (WIN NT 4.0, WIN  
2000)  
Processor: Intel Pentium III or compatible. 500 MHz  
(WIN XP Professional)  
Programming device or  
PC  
•
•
•
•
•
•
•
256 MB RAM; 512 MB recommended  
Screen resolution: 1024 x 768 pixels  
Microsoft Windows NT 4.0 ≥ Service Pack 6 or  
Microsoft Windows 2000 ≥ Service Pack 3  
Microsoft Windows XP Professional ≥ Service 1  
Microsoft Internet Explorer Version 5.0.1  
SIMATIC STEP 7 Version 5.1 ≥ Service Pack 6 or STEP 7 Version 5.2  
(required for SIMOTION D435)  
Operating system  
Software required  
•
SIMOTION SCOUT ≥ Version 2.1  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
2-1  
 
Installing the Software  
2.2 Deinstalling SIMOTION CamTool  
Installing SIMOTION CamTool  
To install SIMOTION CamTool:  
1. Insert the CD with installation software into the CD-ROM drive.  
2. Start Windows Explorer and select the CD-ROM drive.  
3. Open the CamTool\Disk1 directory.  
4. Double-click on setup.exe. The installation program is started.  
5. Run through the installation program. SIMOTION CamTool will be installed.  
2.2  
Deinstalling SIMOTION CamTool  
Deinstalling SIMOTION CamTool  
To deinstall SIMOTION CamTool:  
1. Click Start > Settings > System Control in the Windows taskbar. The System Control  
window appears.  
2. Double-click Add/Remove Programs. The Software Properties window is displayed.  
3. Mark the SIMOTION SCOUT CamTool entry in the Install/Deinstall tab.  
4. Click Add/Remove. The deinstallation program is started.  
5. Run through the deinstallation program. SIMOTION CamTool will be deinstalled.  
Notice  
You require administrator rights for the deinstallation.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
2-2  
3
Configuring  
3.1  
Content  
Overview  
This chapter describes how you work with SIMOTION CamTool. You learn how  
• to customize the display of the working area  
• to edit a cam with CamTool  
• to save a cam  
• to customize the display of the cam  
• to download a cam to a SIMOTION device  
Note  
The following operating instructions primarily describe the operation of  
SIMOTION CamTool using the functions in the menu bar.  
You can also execute the functions from the context menus. In this case, right-click the  
element that you want to edit.  
You can also execute the most import functions using the icons in the  
SIMOTION CamTool toolbar. Pay attention to the tooltip which is displayed when you  
place the mouse pointer on an icon in the toolbar.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
3-1  
 
Configuring  
3.2 Customizing the Working Area Display  
3.2  
Customizing the Working Area Display  
3.2.1  
Changing the representation using the toolbar  
Introduction  
You can show or hide the scaled curve, the V diagram (velocity diagram), the A diagram  
(acceleration diagram) and the J diagram (jerk diagram) via icons in the toolbar. You can use  
the zoom tool to increase or reduce the size of the display or use the hand tool to move the  
display.  
Changing the representation using the toolbar  
To change the representation of the diagrams via the toolbar  
1. When the mouse pointer is placed on an icon in the toolbar, a tooltip is displayed.  
2. Click the icon of the function that you want to use.  
Toolbar icons  
The screen display can be changed using the following functions:  
Table 3-1  
Symbol  
SIMOTION CamTool toolbar icons  
Explanation / instructions  
With this icon, you can activate or deactivate the display of the scaled curve. If you  
have not specified a scaling, the icon is shown grayed-out.  
Note:  
If the scaled curve is displayed, you cannot edit the original curves in the diagram  
displays.  
With this icon, you can show or hide the V diagram (velocity diagram).  
With this icon, you can show or hide the A diagram (acceleration diagram).  
With this icon, you can show or hide the J diagram (jerk diagram).  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
3-2  
Configuring  
3.2 Customizing the Working Area Display  
Symbol  
Explanation / instructions  
With this icon, you can activate or deactivate the zoom tool. You can also deactivate  
the zoom tool using the ESC key.  
You can perform various functions with the activated zoom tool. The function is  
dependent on whether the mouse pointer is on the diagram area or on a coordinate  
axis and whether the SHIFT key is also pressed:  
Zoom tool on the diagram area (zoom in all directions at the same time)  
Left-click to increase the size of the display by the factor 2.  
Right-click to decrease the size of the display by the factor 2.  
Zoom tool on the coordinate axis (zoom in all directions at the same time)  
Left-click to increase the size of the display by the factor 2 in the direction of the  
coordinate axis on which you are pointing.  
Right-click to decrease the size of the display by the factor 2 in the direction of the  
coordinate axis on which you are pointing.  
Zoom tool with pressed SHIFT key  
The mouse pointer is activated as a hand tool while you keep the SHIFT key pressed.  
With activated hand tool, you can move the diagram area with drag&drop. All  
displayed diagrams are adjusted to the move.  
With this icon, you can activate or deactivate the zoom function. You can also  
deactivate the zoom function using the ESC key.  
Zoom function on the diagram area  
With activated zoom function, you can lasso a section of the diagram area that you  
want to enlarge with the mouse button pressed.  
Zoom function on the coordinate axis  
With activated zoom function, you can lasso a section of a coordinate axis that you  
want to enlarge with the mouse button pressed. The enlargement is in the direction in  
which you lasso the section of the coordinate axis.  
With this icon, you can restore the previous zoom setting.  
With this icon, you can activate or deactivate the hand tool. You can also deactivate  
the hand tool using the ESC key.  
With activated hand tool, you can move the diagram area with drag&drop. All  
displayed diagrams are adjusted to the move.  
With this icon, you can restore the whole display to the normal view.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
3-3  
Configuring  
3.2 Customizing the Working Area Display  
3.2.2  
Maximizing working area  
Maximizing the working area  
To set the largest possible working area for SIMOTION CamTool:  
1. In the View menu, click Maximized working area. Detail view and project navigator are  
closed.  
2. Maximize the window with the diagrams of the cam.  
or  
1. Close the project navigator via the menu View > Project navigator.  
2. Close the detail view via the menu View > Detail view.  
3. Maximize the window with the diagrams of the cam.  
Figure 3-1  
Maximized cam diagrams in the SIMOTION SCOUT working area  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
3-4  
Configuring  
3.3 Editing a Cam with CamTool  
3.3  
Editing a Cam with CamTool  
3.3.1  
Content  
Overview  
With SIMOTION CamTool, you can edit a cam that is inserted in a SCOUT project.  
You can use the following methods to insert and edit a cam. You can  
• add a cam to a SCOUT project using SIMOTION CamTool.  
• edit with CamTool a cam created with CamEdit.  
• import and edit a cam from a text file.  
• upload and edit a cam from a SIMOTION device.  
3.3.2  
Adding a cam to a SCOUT project using CamTool  
Requirements  
SIMOTION CamTool is installed as an option package for SIMOTION SCOUT.  
The project, into which you want to insert the cam, is opened in SIMOTION SCOUT. At least  
one SIMOTION device is configured in this project.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
3-5  
Configuring  
3.3 Editing a Cam with CamTool  
Inserting a cam in a SCOUT project  
To insert a cam in a SCOUT project:  
1. In the project navigator, find the SIMOTION device under which you want to insert a new  
cam.  
2. Open the Cams folder and double-click Insert cam with CamTool.  
Figure 3-2  
Inserting a cam with CamTool  
CamTool  
3-6  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
Configuring  
3.3 Editing a Cam with CamTool  
3. The Insert Cam window appears. Under Name, enter a unique name for the cam (all the  
cams existing in the project are displayed under Existing cams).  
Figure 3-3  
Window for inserting a cam  
4. Click OK. A window appears in the working area of SIMOTION SCOUT. The diagrams of  
the cam depending on the settings in the menu Cam > Diagrams are displayed in this  
window.  
Notice  
The following are represented in the cam diagrams:  
•
the master axis in the horizontal direction (X-axis) and  
•
the slave axis in the vertical direction (Y-axis).  
3.3.3  
Edit cam created with CamEdit with CamTool  
Editing a Cam with CamTool  
To edit a cam created with CamEdit with CamTool:  
1. Close the cam in SIMOTION CamEdit.  
2. Find the cam that you want to edit with SIMOTION CamTool in the project navigator.  
3. Right-click the cam and select Convert to CamTool in the displayed context menu. The  
cam is then opened the next time with SIMOTION CamTool.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
3-7  
Configuring  
3.3 Editing a Cam with CamTool  
4. Double-click the cam. The cam is opened with SIMOTION CamTool and displayed.  
Segment limits between individual cam segments are marked in the S diagram (distance  
diagram).  
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Figure 3-4  
Open with CamTool a cam created with CamEdit  
5. Select the cam segment that you want to edit. Note the displayed segment limits.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
3-8  
Configuring  
3.3 Editing a Cam with CamTool  
6. Delete the cam segment by pressing the DEL key. The cam segment is replaced by an  
interpolation curve (transition) by SIMOTION CamTool. If required, fixed points are  
inserted in the curve to maintain the corner points of the original curve.  
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Figure 3-5  
Cam segment replaced by SIMOTION CamTool with fixed point and transition  
(interpolation polynomial)  
7. The cam segment (e.g. fixed point) inserted by SIMOTION CamTool can be edited (e.g.  
change position).  
8. The interpolation curve (transition) inserted by SIMOTION CamTool can be optimized  
(e.g. velocity).  
Notice  
With SIMOTION CamTool, you can edit all cams created with SIMOTION CamEdit.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
3-9  
Configuring  
3.3 Editing a Cam with CamTool  
3.3.4  
Import cam from text file  
Introduction  
You can re-import a cam exported as text file from SIMOTION CamTool back into CamTool  
(e.g. to re-import a cam edited in an external program).  
Notice  
The cam representation in the text file must correspond to the Microsoft Excel CSV format.  
Importing a cam  
To import a cam from a text file:  
1. Open with SIMOTION CamTool the cam in which you want to import the cam from the  
text file.  
or  
Add a new cam in which you want to import the cam from the text file.  
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Figure 3-6  
Cam imported from a text file  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
3-10  
Configuring  
3.3 Editing a Cam with CamTool  
2. Click a diagram to show the Cam menu.  
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Figure 3-7  
Cam segment replaced by SIMOTION CamTool with fixed point and transition  
(interpolation polynomial)  
3. Click the menu Cam > Import. The file selection window is displayed.  
Navigate under Find in to the text file that contains the cam and select the text file. The  
name of the text file is entered under Name.  
4. Click OK in the file selection window. The cam is imported.  
Notice  
When you import a cam from a text file and have previously changed the displayed cam,  
a window appears. You can accept the changed cam into the project via the window. The  
cam is then imported from the text file.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
3-11  
Configuring  
3.3 Editing a Cam with CamTool  
Edit imported cam  
To edit a cam imported into SIMOTION CamTool:  
1. The cam imported from a text file is displayed in SIMOTION CamTool. Segment limits  
between individual cam segments are marked in the S diagram (distance diagram).  
Select the cam segment that you want to edit. Note the displayed segment limits.  
2. Delete the cam segment by pressing the DEL key. The cam segment is replaced by an  
interpolation curve (transition) by SIMOTION CamTool. If required, fixed points are  
inserted in the curve to maintain the corner points of the original curve.  
3. The cam segment (e.g. fixed point) inserted by SIMOTION CamTool can be edited (e.g.  
change position).  
4. The interpolation curve (transition) inserted by SIMOTION CamTool can be optimized  
(e.g. velocity).  
3.3.5  
Upload cam from SIMOTION device  
Requirements  
The cam is opened with SIMOTION CamTool.  
Notice  
If you create a cam and the cam has never been previously downloaded to the SIMOTION  
device, you must first download the entire configuration with the new cam to the SIMOTION  
device.  
Only then can you upload the cam currently opened with SIMOTION CamTool from the  
SIMOTION device. The upload is only possible in ONLINE status.  
CamTool  
3-12  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
Configuring  
3.3 Editing a Cam with CamTool  
Upload cam  
To upload a cam from a SIMOTION device:  
1. Click the menu Project > Connect to target system. The system changes to ONLINE  
status.  
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Figure 3-8  
Cam uploaded from SIMOTION device  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
3-13  
Configuring  
3.3 Editing a Cam with CamTool  
2. Click a diagram to show the Cam menu.  
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Figure 3-9  
Cam segment replaced by SIMOTION CamTool with fixed point and transition  
(interpolation polynomial)  
3. Click the menu Cam > Upload cam. The cam is uploaded from the SIMOTION device.  
4. After the upload, you can change back to OFFLINE status. Click the menu  
Project > Disconnect from target system.  
Notice  
When you upload a cam from the SIMOTION device and have previously changed the  
displayed cam, a window appears. You can accept the changed cam into the project via  
the window. The cam is then uploaded from the SIMOTION device.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
3-14  
Configuring  
3.4 Save cam  
Edit uploaded cam  
To edit a cam uploaded from a SIMOTION device:  
1. The uploaded cam is displayed in SIMOTION CamTool. Segment limits between  
individual cam segments are marked in the S diagram (distance diagram).  
Select the cam segment that you want to edit. Note the displayed segment limits.  
2. Delete the cam segment by pressing the DEL key. The cam segment is replaced by an  
interpolation curve (transition) by SIMOTION CamTool. If required, fixed points are  
inserted in the curve to maintain the corner points of the original curve.  
3. The cam segment (e.g. fixed point) inserted by SIMOTION CamTool can be edited (e.g.  
change position).  
4. The interpolation curve (transition) inserted by SIMOTION CamTool can be optimized  
(e.g. velocity).  
3.4  
Save cam  
Requirements  
The cam is opened with SIMOTION CamTool.  
Notice  
When you exit SIMOTION CamTool and have previously changed the cam, a window  
appears. You can accept the changed cam into the project via the window.  
SIMOTION CamTool is then closed.  
When you upload a cam from a SIMOTION device and have previously changed the  
displayed cam, a window appears. You can accept the changed cam into the project via the  
window. The cam is then uploaded from the SIMOTION device.  
When you import a cam from a text file and have previously changed the displayed cam, a  
window appears. You can accept the changed cam into the project via the window. The cam  
is then imported from the text file.  
Save cam  
To save a cam:  
1. Click the menu Project > Save. The cam is transferred to the SCOUT project.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
3-15  
Configuring  
3.5 Customize the display of the cam  
3.5  
Customize the display of the cam  
3.5.1  
Display the cam  
Diagram display  
The S diagram (distance diagram) of the cam is always displayed in the SIMOTION SCOUT  
working area. You can show or hide the V diagram (velocity diagram), the A diagram  
(acceleration diagram) and the J diagram (jerk diagram) via icons in the toolbar.  
Representation parameters  
You can customize the display parameters (e.g. representation range) for the master axis,  
the slave axis and the individual diagrams. This also includes the fonts and lines used for the  
display.  
3.5.2  
Show/hide diagram  
Requirements  
The cam is opened with SIMOTION CamTool.  
Show/hide diagram  
To show/hide a diagram:  
1. Click a diagram to show the Cam menu.  
CamTool  
3-16  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
Configuring  
3.5 Customize the display of the cam  
2. Click the diagram that you want to show or hide under menu Cam > Diagrams. The  
diagram is shown or hidden.  
Figure 3-10 Show/hide diagrams again  
3.5.3  
Change axis representation parameters  
Requirements  
The cam is opened with SIMOTION CamTool.  
Change axis representation parameters  
To change the representation parameters for the master or slave axis:  
1. Click a diagram to show the Cam menu.  
2. Click the axis whose representation parameters you want to change under  
menu Cam > Representation parameters.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
3-17  
Configuring  
3.5 Customize the display of the cam  
3. Either the window Master Properties (for the master axis) or the window S Diagram  
Properties (Slave) (for the slave axis) is displayed.  
For the master axis, change the representation parameters in the window Master Properties.  
Figure 3-11 Master Properties window  
For the slave axis, change the representation parameters in the window S Diagram (Slave)  
Properties.  
Figure 3-12 Slave Properties window  
Table 3-2  
Parameters in the Master Properties or S Diagram (Slave) Properties  
Field/button  
Explanation/instructions  
Master Range  
(Master Properties)  
You specify the master range (definition range) of the curve  
via start and end points. Cam segments must lie within this  
master range (see also Master range under Target device  
properties in the Coordinates tab).  
Start  
End  
Enter the start point of the curve, or the start of the master  
range of the curve here.  
Enter the end point of the curve, or the end of the master  
range of the curve here.  
CamTool  
3-18  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
Configuring  
3.5 Customize the display of the cam  
Field/button  
Representation range  
Explanation/instructions  
Start  
Specify here the Start point of the representation range.  
(Number of periods deactivated)  
If the Number of periods option has been activated, the  
system will determine the start point.  
End  
Specify here the End point of the representation range.  
(Number of periods deactivated)  
If the Number of periods option has been activated, the  
system will determine the end point.  
Number of periods  
(cyclical absolute,  
cyclical relative)  
If under Target device parameters in the Coordinates tab,  
you have specified the cyclic absolute execution type or the  
cyclic relative execution type, you can select the  
option Number of periods. Enter the number of periods that  
you want to display.  
Grid lines  
Set automatically  
If you activate Set automatically, the grid lines will be  
displayed automatically with an optimum spacing.  
If you deactivate Set automatically, you can use Main line  
spacing or Auxiliary line spacing to specify the grid line  
spacing.  
Main line spacing  
You can activate the display of the grid lines for the main  
line spacing here.  
If you deactivate the Set automatically option, you can  
specify the grid line spacing for the main line spacing.  
Note:  
The spacing that you specify for the grid lines in the main  
line spacing must be a multiple of the spacing that you  
specify for the grid lines in the auxiliary line spacing.  
Auxiliary line spacing  
(Main line spacing activated)  
If the main line spacing option has been activated, you can  
also activate the display of the grid lines for the auxiliary line  
spacing.  
If you deactivate the Set automatically option, you can  
specify the grid line spacing for the auxiliary line spacing.  
Note:  
The spacing that you specify for the grid lines in the main  
line spacing must be a multiple of the spacing that you  
specify for the grid lines in the auxiliary line spacing.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
3-19  
Configuring  
3.5 Customize the display of the cam  
3.5.4  
Change diagram representation parameters  
Requirements  
The cam is opened with SIMOTION CamTool.  
Change diagram representation parameters  
To change the representation parameters for the V diagram (velocity diagram), the A  
diagram (acceleration diagram) or the J diagram (jerk diagram):  
1. Click a diagram to show the Cam menu.  
2. Click the diagram whose representation parameters you want to change under  
menu Cam > Representation parameters.  
3. Either the window V Diagram Properties (for the velocity diagram), the window A Diagram  
Properties (for the acceleration diagram) or the window J Diagram Properties (for the jerk  
diagram) is displayed.  
For the V diagram (velocity diagram), change the representation parameters in the  
window V Diagram Properties.  
Figure 3-13 V Diagram Properties window  
For the A diagram (acceleration diagram), change the representation parameters in the  
window A Diagram Properties.  
Figure 3-14 A Diagram Properties window  
CamTool  
3-20  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
Configuring  
3.5 Customize the display of the cam  
For the J diagram (jerk diagram), change the representation parameters in the  
window J Diagram Properties.  
Figure 3-15 J Diagram Properties window  
Table 3-3  
Parameters for the V, A or J Diagram Properties windows  
Field/button  
Explanation/instructions  
Representation range  
Automatically  
If you activate Automatically, the representation range in the  
Y-direction will be automatically changed to the value range  
of the displayed curve.  
If you deactivate Automatically, you can use maximum  
value and minimum value to specify the representation  
range in the Y-direction.  
Maximum value  
(automatically deactivated)  
Specify here the maximum value of the representation  
range.  
If the Automatically option has been activated, the system  
will determine the maximum value.  
Minimum value  
(automatically deactivated)  
Specify here the minimum value of the representation  
range.  
If the Automatically option has been activated, the system  
will determine the minimum value.  
Grid lines  
Set automatically  
If you activate Set automatically, the grid lines will be  
displayed automatically with an optimum spacing.  
If you deactivate Set automatically, you can use Main line  
spacing or Auxiliary line spacing to specify the grid line  
spacing.  
Main line spacing  
You can activate the display of the grid lines for the main  
line spacing here.  
If you deactivate the Set automatically option, you can  
specify the grid line spacing for the main line spacing.  
Note:  
The spacing that you specify for the grid lines in the main  
line spacing must be a multiple of the spacing that you  
specify for the grid lines in the auxiliary line spacing.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
3-21  
Configuring  
3.5 Customize the display of the cam  
Field/button  
Explanation/instructions  
Auxiliary line spacing  
(Main line spacing activated)  
If the main line spacing option has been activated, you can  
also activate the display of the grid lines for the auxiliary line  
spacing.  
If you deactivate the Set automatically option, you can  
specify the grid line spacing for the auxiliary line spacing.  
Note:  
The spacing that you specify for the grid lines in the main  
line spacing must be a multiple of the spacing that you  
specify for the grid lines in the auxiliary line spacing.  
3.5.5  
Change lines and fonts representation parameters  
For the representation of the diagrams, default parameters are used for the lines and fonts.  
You can change these default settings.  
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Figure 3-16 Representation parameters in the diagrams (line for the scaling not shown)  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
3-22  
Configuring  
3.5 Customize the display of the cam  
Table 3-4  
Representation parameters in the diagrams  
Representation parameters  
Note  
Main grid line  
Type and color of the line can be changed.  
Type and color of the line can be changed.  
Type, color and width of the line can be changed.  
Type, color and width of the line can be changed.  
Color and width of the line can be changed.  
Color and width of the line can be changed.  
Color and width of the line can be changed.  
Auxiliary grid lines  
Auxiliary line  
Line at physical limit  
X-coordinate axis  
Y-coordinate axis  
Line for simulated interpolation  
The line for simulated interpolation is used to  
display a transition interpolated by the target  
device.  
Interpolation curve in the distance diagram  
Velocity curve  
Color and width of the line can be changed.  
Color and width of the line can be changed.  
Color and width of the line can be changed.  
Color and width of the line can be changed.  
Color and width of the line can be changed.  
Color and width of the line can be changed.  
Acceleration curve  
Jerk curve  
Line for cam segments  
Line for scaling  
The line for scaling is used to display a scaled  
and offset curve.  
Requirements  
The cam is opened with SIMOTION CamTool.  
Change lines and fonts representation parameters  
To change the representation parameters for lines and fonts:  
1. Click a diagram to show the Cam menu.  
2. Click Lines and fonts under menu Cam > Representation parameters.  
3. The Lines and Fonts window appears.  
You can change the representation parameters for the lines in the Line tab.  
Table 3-5  
Line type  
Parameters in the Line tab  
Field/button  
Explanation/instructions  
Select the line type that you want to specify here.  
Under Settings, the associated parameters are displayed  
and the line type shown.  
Settings  
Type  
Note:  
Grayed-out parameters cannot be changed.  
Specify the type of the line.  
The line type is displayed in the Preview.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
3-23  
Configuring  
3.5 Customize the display of the cam  
Field/button  
Explanation/instructions  
Specify the color of the line.  
Color  
The line is displayed in the Preview.  
Specify the thickness of the line.  
Width  
The line type is displayed in the Preview.  
Preview  
Under Preview, the line type specified via type, color and  
width is shown.  
You can change the representation parameters for the fonts in the Font tab.  
Table 3-6  
Parameters in the Font tab  
Field/button  
Explanation/instructions  
Select the font here.  
Settings  
Font  
The font is displayed in the Preview.  
Select the font style here.  
Font style  
The font is displayed in the Preview.  
Select the font size here.  
The font is displayed in the Preview.  
Font size  
Preview  
Under Preview, the font specified via font, font style and font  
size is shown.  
3.5.6  
Displaying auxiliary lines in the diagram  
You can represent horizontal and vertical auxiliary lines in the individual diagrams. You can,  
for example, determine the position of individual points of the curve via auxiliary lines.  
Requirements  
The cam is opened with SIMOTION CamTool.  
Representing a horizontal auxiliary line in a diagram  
To represent a horizontal auxiliary line (in the direction of the x-coordinate) in a diagram:  
1. Click in the diagram, in which you want to represent a horizontal auxiliary line, on the x-  
coordinate and keep the mouse button pressed. The current position of the auxiliary line  
is displayed in the position window.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
3-24  
Configuring  
3.5 Customize the display of the cam  
2. Drag the auxiliary line to the position at which you want to represent the auxiliary line and  
release the mouse button. The auxiliary line and the position window with the current  
position are displayed in the diagram.  
Figure 3-17 Displaying a horizontal auxiliary line  
Representing vertical auxiliary lines in all displayed diagrams  
To represent a vertical auxiliary line (in the direction of the y-coordinate) in all displayed  
diagrams:  
1. Click in a diagram on the y-coordinate axis and keep the mouse button pressed. The  
current position of the auxiliary line is displayed in the position window.  
2. Drag the auxiliary line to the position at which you want to represent the auxiliary line and  
release the mouse button. The auxiliary line and the position window with the current  
position are both displayed in all the displayed diagrams.  
Figure 3-18 Displaying a vertical auxiliary line  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
3-25  
Configuring  
3.6 Download cam to SIMOTION device  
Moving the position window along an auxiliary line  
To move a position window with the current position of the auxiliary line along the horizontal  
or vertical auxiliary line:  
1. Point at the position window. The mouse pointer shows the direction in which you can  
move the window. Drag the window with the current position with drag&drop to the new  
position.  
Figure 3-19 Moving the position window horizontally  
Deleting an auxiliary line in a diagram  
To delete a horizontal or vertical auxiliary line in a diagram:  
1. Select the auxiliary line that you want to delete.  
2. Press the DEL key. The auxiliary line is deleted.  
3.6  
Download cam to SIMOTION device  
Requirements  
The cam is opened with SIMOTION CamTool.  
Notice  
If you create a cam and the cam has never been previously downloaded to the SIMOTION  
device, you must first download the entire configuration with the new cam to the SIMOTION  
device.  
Only then can you download the cam independent of the other technology objects in the  
SIMOTION device. The download is only possible in ONLINE status.  
CamTool  
3-26  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
Configuring  
3.6 Download cam to SIMOTION device  
Download cam to SIMOTION device  
To download a cam to a SIMOTION device:  
1. Click the menu Project > Connect to target system. The system changes to ONLINE  
status.  
2. Click a diagram to show the Cam menu.  
3. Click the menu Cam > Download cam. The cam is downloaded to the SIMOTION device.  
4. After the download, you can change back to OFFLINE status. Click the menu  
Project > Disconnect from target system.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
3-27  
4
Functions  
4.1  
Content  
Overview  
In this chapter you learn how you can use SIMOTION CamTool to create and optimize a  
cam, and to make the simulation settings. In addition, you learn how you can use CamTool  
to edit a cam created with CamEdit and how you can export a cam as a text file.  
Note  
The following operating instructions primarily describe the operation of SIMOTION CamTool  
using the functions in the menu bar.  
You can also execute the functions from the context menus. In this case, right-click the  
element that you want to edit.  
You can also execute the most import functions using the icons in the SIMOTION CamTool  
toolbar. Pay attention to the Tooltip which is displayed when you place the mouse pointer on  
an icon in the toolbar.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
4-1  
 
Functions  
4.2 Structure of a cam  
4.2  
Structure of a cam  
Introduction  
Create the cam in the S diagram (distance diagram). The curve represents the path-related  
dependency between the master axis (X-axis in the diagram) and the slave axis (Y-axis in  
the diagram).  
Structure of a cam  
The cam consists of individual cam segments.  
Under SIMOTION CamTool, you can use fixed points, straight lines, sine curves, arc sine  
curves and interpolation points as cam segments.  
SIMOTION CamTool calculates interpolation curves between the individual cam segments  
and displays the V diagram (velocity diagram), the A diagram (acceleration diagram) and the  
J diagram (jerk diagram).  
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Figure 4-1  
Example of a cam with interpolation curves  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
4-2  
Functions  
4.3 Fixed point  
4.3  
Fixed point  
4.3.1  
Fixed Point Definition  
Definition  
The cam consists of individual cam segments. Under SIMOTION CamTool, you can use  
fixed points, straight lines, sine curves, arc sine curves and interpolation points as cam  
segments.  
A fixed point is a specified position of the slave axis for a certain position of the master axis.  
You can specify the velocity and acceleration at the fixed point position.  
Notice  
With a fixed point, you define a single fixed position. The transitions between adjacent cam  
segments are optimally calculated by CamTool.  
If you want to specify an arbitrary characteristic, you must use interpolation points. The  
individual interpolation points are connected by CamTool with cubic splines in order to  
generate a curve specified by the interpolation points which is as exact as possible.  
4.3.2  
Insert fixed point  
Requirements  
The cam is opened with SIMOTION CamTool.  
Insert fixed point  
To insert a fixed point:  
1. Click in the S diagram (distance diagram) to activate the diagram.  
2. Click under menu Cam > Insert at fixed point. The mouse pointer changes.  
3. With the changed mouse pointer, click the position in the S diagram (distance diagram) at  
which you want to insert the fixed point.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
4-3  
Functions  
4.3 Fixed point  
The fixed point is displayed in the diagram. The position of the fixed point shown in the  
tooltip.  
Figure 4-2  
Insert fixed point  
Notice  
Once the function Cam > Insert > Fixed point is activated, you can insert fixed points in  
the S diagram (distance diagram) until  
•
•
•
you press the ESC key,  
you press the right mouse button (this activates the selection tool in the toolbar) or  
you activate another cam segment (straight line, sine curve, arc sine curve, interpolation point)  
for insertion.  
CamTool  
4-4  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
Functions  
4.3 Fixed point  
4.3.3  
Change fixed point position  
Requirements  
The cam is opened with SIMOTION CamTool.  
Change fixed point position  
To change the position of a fixed point:  
1. Select the fixed point in the S diagram (distance diagram). The position of the fixed point  
shown in the tooltip.  
2. Move the fixed point with drag&drop to the new position.  
or  
1. Double-click the fixed point. The Fixed Point Properties window appears.  
2. Enter the new x- or y-position of the fixed point in the Position tab and click OK. The  
representation of the fixed point in the diagram will be updated and displayed at the new  
position.  
4.3.4  
Changing the velocity at the position of a fixed point:  
Requirements  
The cam is opened with SIMOTION CamTool.  
Change velocity at fixed point  
To change the velocity at the fixed point position:  
1. The velocity at a fixed point position is represented by a handle in the V diagram (velocity  
diagram).  
Select the handle. The mouse pointer shows the direction in which you can move the  
handle.  
2. Move the handle with drag&drop to the new position.  
or  
1. Double-click the fixed point. The Fixed Point Properties window appears.  
2. Enter the new velocity as specified in the following table in the Dynamic response tab and  
click OK. The handle in the V diagram (velocity diagram) is shown at the new position.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
4-5  
Functions  
4.3 Fixed point  
Field/button  
Explanation/instructions  
v =  
a =  
Under v =, the current velocity at the position of the fixed point is  
displayed.  
(see note below)  
Under a =, the current acceleration at the position of the fixed  
point is displayed.  
(manual input activated)  
If Manual input is deactivated, the acceleration value is  
calculated by the system. The jerk diagram (J diagram) is  
smooth at the position of the fixed point.  
If Manual input is activated, you can enter an acceleration value.  
To change the acceleration, enter the new acceleration under a =  
and click Accept or OK. The display of the fixed point in the  
diagrams is refreshed.  
Manual input  
If you activate Manual input, you can enter an acceleration value  
under a =.  
If you deactivate Manual input, the acceleration value is  
calculated by the system. The jerk diagram (J diagram) is  
smooth at the position of the fixed point.  
Notice  
To specify an absolute slave velocity, you must select an absolute master velocity for  
calculations in the Simulation Settings window.  
4.3.5  
Changing the acceleration at a fixed point position:  
Requirements  
The cam is opened with SIMOTION CamTool.  
Change acceleration at fixed point  
To change the acceleration at the fixed point position:  
1. Right-click the fixed point and select Direct entry for acceleration in the displayed context  
menu.  
2. The acceleration at a fixed point position is represented by a handle in the A diagram  
(acceleration diagram).  
Select the handle. The mouse pointer shows the direction in which you can move the  
handle.  
3. Move the handle with drag&drop to the new position.  
or  
CamTool  
4-6  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
Functions  
4.4 Straight line  
1. Double-click the fixed point. The Fixed Point Properties window appears.  
2. In the Dynamic response tab, activate the option Manual input and enter the new  
acceleration.  
3. Click OK. The handle in the A diagram (acceleration diagram) is shown at the new  
position.  
Notice  
To specify an absolute slave acceleration, you must select an absolute master velocity  
for calculations in the Simulation Settings window.  
4.3.6  
Delete fixed point  
Requirements  
The cam is opened with SIMOTION CamTool.  
Delete fixed point  
To delete a fixed point:  
1. Select the fixed point that you want to delete.  
2. Press the DEL key. The fixed point is deleted and the representation of the cam adjusted  
in all diagrams.  
4.4  
Straight line  
4.4.1  
Definition straight line  
Definition  
The cam consists of individual cam segments. Under SIMOTION CamTool, you can use  
fixed points, straight lines, sine curves, arc sine curves and interpolation points as cam  
segments.  
A straight line defines a synchronous distance in the cam. You can specify the velocity along  
the straight line.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
4-7  
Functions  
4.4 Straight line  
4.4.2  
Insert straight line  
Requirements  
The cam is opened with SIMOTION CamTool.  
Insert straight line  
To insert a straight line:  
1. Click in the S diagram (distance diagram) to activate the diagram.  
2. Click Straight line under menu Cam > Insert. The mouse pointer changes.  
With the changed mouse pointer, click the position in the S diagram (distance diagram) at  
which you want to insert the straight line. The straight line is inserted with a default size.  
The current position of the straight line is shown in the tooltip.  
Figure 4-3  
Insert straight line  
CamTool  
4-8  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
Functions  
4.4 Straight line  
Notice  
Once the function Cam > Insert > Straight line is activated, you can insert straight lines in  
the S diagram (distance diagram) until  
•
•
•
you press the ESC key,  
you press the right mouse button (this activates the selection tool in the toolbar) or  
you activate another cam segment (fixed point, sine curve, arc sine curve, interpolation point)  
for insertion.  
4.4.3  
Change straight line position  
Requirements  
The cam is opened with SIMOTION CamTool.  
Change straight line position  
To change the position of a straight line:  
1. Select the straight line in the S diagram (distance diagram). The position of the straight  
line is shown in the tooltip.  
2. The straight line is shown with handles. Move the handles of the straight line with  
drag&drop to the new positions.  
or  
1. Select the straight line in the S diagram (distance diagram). The position of the straight  
line is shown in the tooltip.  
2. Move the whole straight line with drag&drop to the new position.  
Figure 4-4  
or  
Change the position of all straight lines  
1. Double-click the straight line. The Straight Line Properties window appears.  
2. Enter the new positions in the Position tab (left: x1 and y1, right: x2 and y2), and click OK.  
The representation of the straight lines in the diagram will be updated and displayed at  
the new positions.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
4-9  
Functions  
4.4 Straight line  
4.4.4  
Changing the velocity along a straight line  
Requirements  
The cam is opened with SIMOTION CamTool.  
Change velocity along a straight line  
To change the velocity along a straight line:  
1. The velocity along a straight line is represented by a line in the V diagram (velocity  
diagram).  
Select the line. The mouse pointer shows the direction in which you can move the line.  
2. Move the line with drag&drop to the new position. The S diagram (distance diagram) is  
automatically adjusted.  
Figure 4-5  
or  
Changing the velocity along a straight line  
1. Double-click the straight line. The Straight Line Properties window appears.  
2. Enter the new velocity in the Dynamic response tab and click OK. The line in the V  
diagram (velocity diagram) is shown at the new position. The S diagram (distance  
diagram) is automatically adjusted.  
Notice  
To specify an absolute slave velocity, you must select an absolute master velocity for  
calculations in the Simulation Settings window.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
4-10  
Functions  
4.5 Sine curve  
4.4.5  
Delete straight line  
Requirements  
The cam is opened with SIMOTION CamTool.  
Deleting a straight line  
To delete a straight line:  
1. Select the straight line that you want to delete.  
2. Press the DEL key. The straight line is deleted and the representation of the cam  
adjusted in all diagrams.  
4.5  
Sine curve  
4.5.1  
Insert sine curve  
Requirements  
The cam is opened with SIMOTION CamTool.  
Insert sine curve  
To insert a sine curve:  
1. Click in the S diagram (distance diagram) to activate the diagram.  
2. Click Sine under menu Cam > Insert > Functions. The mouse pointer changes.  
3. With the changed mouse pointer, click the position in the S diagram (distance diagram) at  
which you want to insert the sine curve. The sine curve is inserted with a default size.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
4-11  
Functions  
4.5 Sine curve  
The current position of the sine curve is shown in the tooltip.  
Figure 4-6  
Insert sine curve  
Notice  
Once the function Cam > Insert > Sine is activated, you can insert sine curves in the S  
diagram (distance diagram) until  
•
•
•
you press the ESC key,  
you press the right mouse button (this activates the selection tool in the toolbar) or  
you activate another cam segment (fixed point, straight line, arc sine curve, interpolation point)  
for insertion.  
CamTool  
4-12  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
Functions  
4.5 Sine curve  
4.5.2  
Change sine curve position  
Requirements  
The cam is opened with SIMOTION CamTool.  
Change sine curve position  
To change the position of a sine curve:  
1. Select the sine curve in the S diagram (distance diagram).  
The current position of the sine curve is shown in the tooltip.  
2. The sine curve is shown with handles. Point to a handle. The mouse pointer shows the  
direction in which you can move the handle.  
3. Move the handles with drag&drop to the new positions.  
Figure 4-7  
or  
Change sine curve position  
1. Select the sine curve in the S diagram (distance diagram).  
The current position of the sine curve is shown in the tooltip.  
2. Move the whole sine curve with drag&drop to the new position.  
Figure 4-8  
or  
Changing the position of the complete sine curve  
1. Double-click the sine curve. The Fx Sine Properties window appears.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
4-13  
Functions  
4.5 Sine curve  
2. Enter the new position in the Position tab and click OK. The sine curve is shown at the  
new position.  
Figure 4-9  
Position (Fx Sine Properties) tab  
4.5.3  
Change sine curve definition range  
Requirements  
The cam is opened with SIMOTION CamTool.  
Change sine curve definition range  
To change the definition range of a sine curve:  
1. Select the sine curve in the S diagram (distance diagram).  
The current position of the sine curve is shown in the tooltip.  
2. The sine curve is shown with handles. The handles for the definition range are shown in  
green. Point to a green handle. The mouse pointer shows the direction in which you can  
move the handle.  
3. Move the green handles with drag&drop to the new positions. While moving, the current  
value of the respective limit of the definition range is displayed in the tooltip.  
Figure 4-10 Change sine curve definition range  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
4-14  
Functions  
4.6 Arc Sine Curve  
4.5.4  
Delete sine curve  
Requirements  
The cam is opened with SIMOTION CamTool.  
Delete sine curve  
To delete a sine curve:  
1. Select the sine curve that you want to delete.  
2. Press the DEL key. The sine curve is deleted and the representation of the cam adjusted  
in all diagrams.  
4.6  
Arc Sine Curve  
4.6.1  
Insert arc sine curve  
Requirements  
The cam is opened with SIMOTION CamTool.  
Notice  
The arc sine curve is calculated as an interpolation point table. The number of interpolation  
points can be specified in the Fx Arc Sine Properties window. Double-click the arc sine curve  
to show the window.  
Insert arc sine curve  
To insert an arc sine curve:  
1. Click in the S diagram (distance diagram) to activate the diagram.  
2. Click Arc sine under menu Cam > Insert > Functions. The mouse pointer changes.  
3. With the changed mouse pointer, click the position in the S diagram (distance diagram) at  
which you want to insert the arc sine curve. The arc sine curve is inserted with a default  
size.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
4-15  
Functions  
4.6 Arc Sine Curve  
The current position of the arc sine curve is shown in the tooltip.  
Figure 4-11 Insert arc sine curve  
Notice  
Once the function Cam > Insert > Arc sine is activated, you can insert arc sine curves in  
the S diagram (distance diagram) until  
•
•
•
you press the ESC key,  
you press the right mouse button (this activates the selection tool in the toolbar) or  
you activate another cam segment (fixed point, straight line, sine curve, interpolation point) for  
insertion.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
4-16  
Functions  
4.6 Arc Sine Curve  
4.6.2  
Change arc sine curve position  
Requirements  
The cam is opened with SIMOTION CamTool.  
Change arc sine curve position  
To change the position of an arc sine curve:  
1. Select the arc sine curve in the S diagram (distance diagram).  
The current position of the arc sine curve is shown in the tooltip.  
2. The arc sine curve is shown with handles. Point to a handle. The mouse pointer shows  
the direction in which you can move the handle.  
3. Move the handles with drag&drop to the new positions.  
Figure 4-12 Change arc sine curve position  
or  
1. Select the arc sine curve in the S diagram (distance diagram).  
The current position of the arc sine curve is shown in the tooltip.  
2. Move the whole arc sine curve with drag&drop to the new position.  
Figure 4-13 Changing the position of the complete arc sine curve  
or  
1. Double-click the sine curve.  
The Fx Arc Sine Properties window appears.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
4-17  
Functions  
4.6 Arc Sine Curve  
2. Enter the new position and the number of interpolation points in the Position tab and  
click OK. The arc sine curve is shown at the new positions. The arc sine curve is saved  
by the system as an interpolation point table.  
Figure 4-14 Position tab  
4.6.3  
Change arc sine curve definition range  
Requirements  
The cam is opened with SIMOTION CamTool.  
Change arc sine curve definition range  
To change the definition range of an arc sine curve:  
1. Select the arc sine curve in the S diagram (distance diagram).  
The current position of the arc sine curve is shown in the tooltip.  
2. The arc sine curve is shown with handles. The handles for the definition range are shown  
in green. Point to a green handle. The mouse pointer shows the direction in which you  
can move the handle.  
CamTool  
4-18  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
Functions  
4.6 Arc Sine Curve  
3. Move the green handles with drag&drop to the new positions. While moving, the current  
value of the respective limit of the definition range is displayed in the tooltip.  
Figure 4-15 Change arc sine curve definition range  
4.6.4  
Delete arc sine curve  
Requirements  
The cam is opened with SIMOTION CamTool.  
Delete arc sine curve  
To delete an arc sine curve:  
1. Select the arc sine curve that you want to delete.  
2. Press the DEL key. The arc sine curve is deleted and the representation of the cam  
adjusted in all diagrams.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
4-19  
Functions  
4.7 Interpolation point  
4.7  
Interpolation point  
4.7.1  
Interpolation Point Definition  
Definition  
The cam consists of individual cam segments. Under SIMOTION CamTool, you can use  
fixed points, straight lines, sine curves, arc sine curves and interpolation points as cam  
segments.  
An interpolation point is a specified position in the S diagram (distance diagram).  
4.7.2  
Insert interpolation point  
Requirements  
The cam is opened with SIMOTION CamTool.  
Notice  
With a fixed point, you define a single fixed position. The transitions between adjacent cam  
segments are optimally calculated by CamTool.  
If you want to specify an arbitrary characteristic, you must use interpolation points. The  
interpolation points are connected by CamTool with cubic splines in order to generate a  
curve specified by the interpolation points which is as exact as possible.  
Insert interpolation point  
To insert an interpolation point:  
1. Click in the S diagram (distance diagram) to activate the diagram.  
2. Click Interpolation point under menu Cam > Insert. The mouse pointer changes.  
3. With the changed mouse pointer, click the position in the S diagram (distance diagram) at  
which you want to insert the interpolation point.  
CamTool  
4-20  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
Functions  
4.7 Interpolation point  
The interpolation point is displayed in the diagram. The position of the interpolation point  
is shown in the tooltip.  
Figure 4-16 Insert interpolation point  
Notice  
Once the function Cam > Insert > Interpolation point is activated, you can insert  
interpolation points in the S diagram (distance diagram) until  
•
•
•
you press the ESC key,  
you press the right mouse button (this activates the selection tool in the toolbar) or  
you activate another cam segment (fixed point, straight line, sine curve, arc sine curve) for  
insertion.  
4.7.3  
Changing the interpolation point position  
Requirements  
The cam is opened with SIMOTION CamTool.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
4-21  
Functions  
4.7 Interpolation point  
Changing an Interpolation Point Position  
To change the position of an interpolation point:  
1. Select the interpolation point in the S diagram (distance diagram). The position of the  
interpolation point is shown in the tooltip.  
2. Move the interpolation point with drag&drop to the new position.  
or  
1. Double-click the interpolation point. The Interpolation Point Properties window appears.  
2. Enter the new position in the Position tab and click OK. The interpolation point is  
displayed at the new position.  
Figure 4-17 Position tab  
4.7.4  
Delete interpolation point  
Requirements  
The cam is opened with SIMOTION CamTool.  
Delete interpolation point  
To delete an interpolation point:  
1. Select the interpolation point that you want to delete.  
2. Press the DEL key. The interpolation point is deleted and the representation of the cam  
adjusted in all diagrams.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
4-22  
Functions  
4.8 Optimizing a Cam  
4.8  
Optimizing a Cam  
4.8.1  
Optimizing a Cam  
Introduction  
Create the cam in the S diagram (distance diagram). The curve represents the path-related  
dependency between the master axis (X-axis in the diagram) and the slave axis (Y-axis in  
the diagram).  
Structure of a cam  
The cam consists of individual cam segments.  
Under SIMOTION CamTool, you can use fixed points, straight lines, sine curves, arc sine  
curves and interpolation points as cam segments.  
SIMOTION CamTool calculates interpolation curves between the individual cam segments  
and displays the V diagram (velocity diagram), the A diagram (acceleration diagram) and the  
J diagram (jerk diagram).  
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Interpolation curve  
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Figure 4-18 Example of a cam with interpolation curves  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
4-23  
Functions  
4.8 Optimizing a Cam  
4.8.2  
Optimize transition  
Requirements  
The cam is opened with SIMOTION CamTool.  
Optimize transition  
To optimize a transition:  
1. Right-click the transition that you want to optimize and select Properties in the displayed  
context menu.  
Figure 4-19 Selecting the transition to be optimized  
2. The Interpolation Curve Properties window appears. Specify the parameters in the Type  
tab.  
3. Click the Parameters tab and specify the parameters.  
CamTool  
4-24  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
Functions  
4.8 Optimizing a Cam  
4. Click the Limits tab to display the minimum and maximum values of the interpolation  
curve.  
Notice  
For the slave axis, you can take over the settings of an axis already existing in the project  
via the menu Cam > Simulation settings and specify the limits of the axis. These  
simulation settings for the slave axis are used for the calculation of the percentage values  
which are displayed in the Limits tab.  
or  
1. Use the handles, which are dependent on the settings in the Interpolation Curve  
Properties window, to optimize the cam.  
2. The mouse pointer shows the direction in which you can move the handle.  
3. Move the handle with drag&drop to the new position. The display of the cam is adjusted  
in all diagrams.  
Figure 4-20 Optimizing a cam with handle using drag&drop  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
4-25  
Functions  
4.8 Optimizing a Cam  
4.8.3  
Type  
Interpolation Curve properties  
You can specify the type of the interpolation curve for the transition here.  
You can set the following parameters:  
Table 4-1  
Transition  
Parameters in the Type tab (Interpolation Curve Properties window)  
Field/button  
Explanation/instructions  
The type of transition is displayed here.  
Allow interpolation by target device  
If you activate this option, the system does not generate an interpolation  
curve. The transition is interpolated by the target device. The  
representation of the transition is refreshed in the diagrams when you  
click Accept or OK.  
Optimize for  
(allow interpolation by target device  
deactivated)  
Do not optimize  
If you select this option, all the interpolation curves which are suitable for  
the transition are displayed under Applicable motion rules.  
Velocity  
If you select this option, all the interpolation curves which are suitable for  
the transition for the optimization of the velocity are displayed under  
Applicable motion rules.  
Acceleration  
Jerk  
If you select this option, all the interpolation curves which are suitable for  
the transition for the optimization of the acceleration are displayed under  
Applicable motion rules.  
If you select this option, all the interpolation curves which are suitable for  
the transition for the optimization of the jerk are displayed under  
Applicable motion rules.  
Applicable motion rules  
(allow interpolation by target device  
deactivated)  
The applicable motion rules are displayed here. Select the motion rule  
that you want to use for the transition. The representation of the  
transition is refreshed in the diagrams when you click Accept or OK.  
Depending on the motion rule used, you can specify further parameters  
in the Parameters tab.  
CamTool  
4-26  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
Functions  
4.8 Optimizing a Cam  
Parameters  
You can specify the parameters of the interpolation curve for the transition here.  
You can set the following parameters:  
Table 4-2  
Parameters in the Parameters tab (Interpolation Curve Properties window)  
Field/button  
Explanation/instructions  
Jerk at boundary point  
(allow interpolation by target device  
deactivated)  
(for 6th degree polynomial)  
Automatically  
If you activate Automatically, the jerk value at the boundary points is  
calculated by the system. A polynomial of the 5th degree is used for the  
calculation.  
Note:  
You can activate this function via the context menu in the diagram  
representation: Right-click the transition and select Automatic jerk  
characteristic in the context menu.  
Left  
If you activate Left, you can specify the jerk at the left boundary point of  
the interpolation curve. Enter the jerk value in the input field.  
(automatically deactivated)  
Right  
(automatically deactivated)  
(Jerk value)  
If you activate Right, you can specify the jerk at the right boundary point  
of the interpolation curve. Enter the jerk value in the input field.  
If you activate the option Left or the option Right, you can enter the jerk  
value here.  
Note:  
(automatically deactivated)  
To specify an absolute jerk value, you must select an absolute master  
velocity for calculations in the Simulation Settings window.  
Curve point of inflexion  
(allow interpolation by target device  
deactivated)  
(for inclined sine curve)  
(for modified sine curve)  
(for modified acceleration trapezoid)  
(for harmonic combination)  
Valid values are between 0 and 1  
Optimum value  
You can enter the turning point of the curve here.  
If you click this button, the optimum value for the turning point of the  
curve is calculated by the system and entered under Valid values are  
between 0 and 1.  
Note:  
You can activate this function via the context menu in the diagram  
representation: Right-click the transition and select Optimum value in the  
context menu.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
4-27  
Functions  
4.8 Optimizing a Cam  
Limit values  
The limits of the interpolation curve for the transition are displayed here.  
You can set the following parameters:  
Table 4-3  
Position  
Parameters in the Type tab (Interpolation Curve Properties window)  
Field/button  
Explanation/instructions  
Min  
The minimum value is displayed here as absolute value and as  
percentage value depending on the physical limit.  
If the physical limit is undershot, the minimum value is displayed with a  
red background.  
Max  
The maximum value is displayed here as absolute value and as  
percentage value depending on the physical limit.  
If the physical limit is exceeded, the maximum value is displayed with a  
red background.  
Velocity  
Min  
The minimum value is displayed here as absolute value and as  
percentage value depending on the physical limit.  
If the physical limit is undershot, the minimum value is displayed with a  
red background.  
Max  
The maximum value is displayed here as absolute value and as  
percentage value depending on the physical limit.  
If the physical limit is exceeded, the maximum value is displayed with a  
red background.  
Acceleration (v > 0)  
Min  
The minimum value is displayed here as absolute value and as  
percentage value depending on the physical limit.  
If the physical limit is undershot, the minimum value is displayed with a  
red background.  
Max  
The maximum value is displayed here as absolute value and as  
percentage value depending on the physical limit.  
If the physical limit is exceeded, the maximum value is displayed with a  
red background.  
Acceleration (v < 0)  
Min  
The minimum value is displayed here as absolute value and as  
percentage value depending on the physical limit.  
If the physical limit is undershot, the minimum value is displayed with a  
red background.  
Max  
The maximum value is displayed here as absolute value and as  
percentage value depending on the physical limit.  
If the physical limit is exceeded, the maximum value is displayed with a  
red background.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
4-28  
Functions  
4.8 Optimizing a Cam  
Field/button  
Explanation/instructions  
Jerk (v > 0)  
Min  
The minimum value is displayed here as absolute value and as  
percentage value depending on the physical limit.  
If the physical limit is undershot, the minimum value is displayed with a  
red background.  
Max  
The maximum value is displayed here as absolute value and as  
percentage value depending on the physical limit.  
If the physical limit is exceeded, the maximum value is displayed with a  
red background.  
Jerk (v < 0)  
Min  
The minimum value is displayed here as absolute value and as  
percentage value depending on the physical limit.  
If the physical limit is undershot, the minimum value is displayed with a  
red background.  
Max  
The maximum value is displayed here as absolute value and as  
percentage value depending on the physical limit.  
If the physical limit is exceeded, the maximum value is displayed with a  
red background.  
Notice  
For the slave axis, you can take over the settings of an axis already existing in the project via  
the menu Cam > Simulation settings and specify the limits of the axis. These simulation  
settings for the slave axis are used for the calculation of the percentage values which are  
displayed in the Limits tab.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
4-29  
Functions  
4.9 Specify parameters for target device  
4.9  
Specify parameters for target device  
4.9.1  
Specify parameters for target device  
Via the parameters for the target device, you can adjust the cam to the SIMOTION device  
(e.g. scale cam).  
Requirements  
The cam is opened with SIMOTION CamTool.  
Specify parameters for target device  
To specify the parameters for the target device:  
1. Click a diagram to show the Cam menu.  
2. Click the menu Cam > Target device parameters. The Target Device Parameters window  
appears.  
Figure 4-21 Target Device Parameters window  
3. Specify the parameters in the Coordinates tab.  
4. Click the Interpolation tab and specify the parameters.  
5. Click the Scaling tab and specify the parameters.  
CamTool  
4-30  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
Functions  
4.9 Specify parameters for target device  
Notice  
If you specify a scaling, you can show and hide the scaled curve via the menu  
Cam > Representation parameters > Display scaling.  
If the scaled curve is displayed, you cannot edit the original curve in the diagram  
displays.  
4.9.2  
Target device parameters  
coordinates  
Specify the coordinates for the target device here.  
You can set the following parameters:  
Table 4-4  
Parameters in the Coordinates tab (Target Device Parameters window)  
Field/button  
Explanation/instructions  
Master Range  
You specify the master range (definition range) of the curve via start and  
end points. Cam segments must lie within this master range (see also  
Master range under S Diagram (Master) properties).  
Start  
End  
Enter the start point of the curve, or the start of the master range of the  
curve here.  
Enter the end point of the curve, or the end of the master range of the  
curve here.  
Execution type  
Non-cyclic  
The Execution type specifies the interpolation of the cam by the target  
device at the boundary points of the master range.  
If you select the Non-cyclic execution type. The cam cycle ends when  
the end value of the curve is reached. The function values of the cam  
(slave position) at the start and end point of the master range are  
normally different.  
Note:  
If you activate Non-cyclic, the master range in the horizontal direction is  
displayed once.  
Cyclic absolute  
If you select the cyclic absolute execution type, a return is made from the  
end value of the slave axis to the start point of the slave axis and the  
cam is repeated. The function values of the cam (slave position) at the  
start and end point of the master range are identical. Possibly an  
identical value (average value) is forced from the target device.  
Note:  
If you activate Cyclic absolute, the master range in the horizontal  
direction can be displayed repeatedly.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
4-31  
Functions  
4.9 Specify parameters for target device  
Field/button  
Explanation/instructions  
Cyclic relative  
If you select the cyclic relative execution type, the cam will be repeated  
starting at the end value of the slave axis. The first derivation of the cam  
(velocity) in the start and end point of the master range are identical.  
Possibly an identical value (average value) is forced from the target  
device.  
Note:  
If you activate Cyclic relative, the master range in the horizontal and  
vertical direction can be displayed repeatedly. You can optimize the  
display via the parameters Cycle start (slave) and Cycle length (slave).  
Cycle start (slave)(Cyclic relative  
activated)  
Under Cycle start (slave), enter the start point for the display in the  
vertical direction.  
Cycle length (slave)(Cyclic relative Under Cycle length (slave), enter the length of the displayed range in the  
activated) vertical direction.  
Interpolation  
Specify the interpolation for the target device here.  
You can set the following parameters:  
Table 4-5  
Parameters in the Interpolation tab (Target Device Parameters window)  
Field/button Explanation/instructions  
Interpolation type  
The curve in the master range can be made up of individual segments.  
Gaps may occur between the curve segments. If the gaps are greater  
than the maximum specified gap size, interpolation for the target device  
is performed between the end points of the curve segments.  
Under Interpolation type, specify the type of target device for which the  
interpolation is to be performed between the gaps.  
Linear  
If you select the interpolation type Linear, there is a smooth closure of  
the gap through the insertion of a straight line segment between the  
interpolation points.  
Cubic splines  
Bezier splines  
If you select the interpolation type Cubic splines, there is a smooth  
differentiable closure of the gap. The curve runs through the specified  
interpolation points.  
If you select the interpolation type Bezier splines, the approximation  
curve runs along the specified interpolation points.  
With gaps up to  
Master  
Leave gaps  
Gaps may occur between the curve segments of the master axis. Here  
you can specify up to which size the gaps are maintained.  
Merge points  
Gaps may occur between the curve segments of the master axis. Here  
you can specify up to which size the gaps are closed by merging the end  
points.  
Slave  
Leave gaps  
Gaps may occur between the curve segments of the slave axis. Here  
you can specify up to which size the gaps are maintained.  
Merge points  
Gaps may occur between the curve segments of the slave axis. Here  
you can specify up to which size the gaps are closed by merging the end  
points.  
CamTool  
4-32  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
Functions  
4.9 Specify parameters for target device  
Scaling  
You can specify the scaling for the target device here.  
Notice  
To display the scaled curve, select menu Cam > Representation parameters > Display  
scaling.  
If the scaled curve is displayed, you cannot edit the original curve. To edit the original curve  
again, reselect menu Cam > Representation parameters > Display scaling.  
You can set the following parameters:  
Table 4-6  
Parameters in the Scaling tab (Target Device Parameters window)  
Field/button  
Explanation/instructions  
Master axis  
Basic scaling  
Enter the basic scaling of the master axis here. The center of the scaling  
is always the coordinate origin.  
Note:  
Do not use any scaling values which are greater than 5. Greater values  
cause a roughness in the curve characteristic.  
Scalings  
You can specify the scalings of two ranges of the master axis here. The  
center of the scaling is the start point of the scaling range.  
Note:  
If you specify two ranges, the ranges cannot overlap.  
(Range1)  
Under From and To, enter the range that you want to scale. Under  
Factor, enter the scaling factor.  
Note:  
Do not use any scaling values which are greater than 5. Greater values  
cause a roughness in the curve characteristic.  
(Range2)  
Under From and To, enter the range that you want to scale. Under  
Factor, enter the scaling factor.  
Note:  
Do not use any scaling values which are greater than 5. Greater values  
cause a roughness in the curve characteristic.  
Offset  
You can enter a factor for the offset of the master axis here. If you have  
specified a scaling, the offset applies to the scaled curve. If you have not  
specified a scaling, the offset applies to the unscaled curve.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
4-33  
Functions  
4.9 Specify parameters for target device  
Field/button  
Slave axis  
Explanation/instructions  
Basic scaling  
Enter the basic scaling of the slave axis here. The center of the scaling is  
always the coordinate origin.  
Note:  
Do not use any scaling values which are greater than 5. Greater values  
cause a roughness in the curve characteristic.  
Scalings  
You can specify the scalings of two ranges of the slave axis here. The  
center of the scaling is the start point of the scaling range.  
Note:  
If you specify two ranges, the ranges cannot overlap.  
(Range1)  
Under From and To, enter the range that you want to scale. Under  
Factor, enter the scaling factor.  
Note:  
Do not use any scaling values which are greater than 5. Greater values  
cause a roughness in the curve characteristic.  
(Range2)  
Under From and To, enter the range that you want to scale. Under  
Factor, enter the scaling factor.  
Note:  
Do not use any scaling values which are greater than 5. Greater values  
cause a roughness in the curve characteristic.  
Offset  
You can enter a factor for the offset of the slave axis here. If you have  
specified a scaling, the offset applies to the scaled curve. If you have not  
specified a scaling, the offset applies to the unscaled curve.  
CamTool  
4-34  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
Functions  
4.10 Specify simulation settings  
4.10  
Specify simulation settings  
4.10.1  
Specify simulation settings  
You can take over the axis settings of the master and slave axes from the axes configured in  
the SCOUT project or specify them independently.  
Requirements  
The cam is opened with SIMOTION CamTool.  
Specify simulation settings  
To specify the simulation settings:  
1. Click a diagram to show the Cam menu.  
2. Click the menu Cam > Simulation settings. The Simulation Settings window appears.  
Figure 4-22 Simulation Settings window  
3. Specify the parameters in the Master tab.  
4. Click the Slave tab and specify the parameters.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
4-35  
Functions  
4.10 Specify simulation settings  
4.10.2  
Simulation settings  
Master tab  
You specify here the simulation settings for the Master tab.  
You can set the following parameters:  
Table 4-7  
Parameters in the Master tab (Simulation Settings window)  
Field/button Explanation/instructions  
Setting  
•
(Axis)  
Accept from axis  
When you create the cam for an axis that already exists  
in the project, you can select the axis here. The  
configured values are taken over and displayed. You  
can change the master velocity for calculations.  
•
(External encoder)  
When you create the cam for an external encoder that  
already exists in the project, you can select the external  
encoder here. The configured values are taken over and  
displayed.  
•
•
None  
If you select None, you can specify all parameters.  
Time axis  
If you select Time axis, you can specify the unit of  
measure under Properties.  
Properties  
(Setting: None)  
(Setting: Time axis)  
Linear axis  
If you select this option, you simulate the master axis as a  
linear axis.  
(Setting: None)  
Rotary axis  
(Setting: None)  
Modulo rotary axis  
(Setting: None)  
Type  
If you select this option, you simulate the master axis as a  
rotary axis.  
If you select this option, you simulate the master axis as a  
modulo rotary axis.  
Here you select the axis type.  
(Setting: None)  
Unit of measure  
(Setting: None)  
(Setting: Time axis)  
Here you specify the unit of measure for the axis. Select a  
unit of measure or enter the unit of measure. The  
representation of the unit of measure is refreshed in the  
diagrams when you click Accept or OK.  
Note:  
The unit of measure is only used for the display. If the unit  
of measure is changed, the represented values are not  
converted.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
4-36  
Functions  
4.10 Specify simulation settings  
Field/button  
Master velocity for calculations  
(Setting (axis))  
Explanation/instructions  
(Setting: None)  
Gear ratio (relative)  
If you activate this option, all calculations are based on  
relative values (values relative to the master axis).  
Use standard velocity  
(Setting (axis))  
If you activate this option, the configured standard velocity  
of the axis which you specified under Accept from axis is  
accepted. All calculations are based on absolute values.  
User-defined  
If you activate this option, you must enter a velocity under  
V master. All calculations are based on absolute values.  
V Master  
(User-defined activated)  
If you activate user-defined, you must enter the master  
velocity under V master.  
Slave tab  
You specify here the simulation settings for the Slave tab.  
You can set the following parameters:  
Table 4-8  
Parameters in the Slave tab (Simulation Settings window)  
Field/button Explanation/instructions  
Setting  
•
(Axis)  
Accept from axis  
When you create the cam for an axis that already exists  
in the project, you can select the axis here. The  
configured values are taken over and displayed.  
•
None  
If you select None, you can specify all parameters.  
Properties  
(Setting: None)  
Linear axis  
If you select this option, you simulate the slave axis as a  
linear axis.  
Rotary axis  
If you select this option, you simulate the slave axis as a  
rotary axis.  
Modulo rotary axis  
If you select this option, you simulate the slave axis as a  
modulo rotary axis.  
Type  
Here you select the axis type.  
Unit of measure  
Here you specify the unit of measure for the axis. Select a  
unit of measure or enter the unit of measure. The  
representation of the unit of measure is refreshed in the  
diagrams when you click Accept or OK.  
Note:  
The unit of measure is only used for the display. If the unit  
of measure is changed, the represented values are not  
converted.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
4-37  
Functions  
4.11 Edit cam created with CamTool with CamEdit  
Field/button  
Limit  
Explanation/instructions  
(Setting: None)  
Minimum  
Enter the minimum limit of the slave axis here.  
Enter the maximum limit of the slave axis here.  
Maximum  
Modulo values  
(Setting: None)  
(Simulation of slave axis as modulo  
rotary axis activated)  
Base  
If the simulation of slave axis as modulo rotary axis is  
activated, you must enter the modulo base here.  
Length  
If the simulation of slave axis as modulo rotary axis is  
activated, you must enter the modulo length here.  
4.11  
Edit cam created with CamTool with CamEdit  
Convert a cam created with CamTool for CamEdit  
To edit a cam created with CamTool with CamEdit:  
1. Close the cam in SIMOTION CamTool.  
2. Find the cam that you want to edit with SIMOTION CamEdit in the project navigator.  
3. Right-click the cam and select Convert to CamEdit in the displayed context menu. The  
cam is then opened the next time with SIMOTION CamEdit.  
Notice  
With SIMOTION CamEdit, you can edit all cams that contain only polynomials or only  
interpolation points. In general, those are all the cams created with SIMOTION CamTool  
that do not contain any cam segments with arc sine curves.  
4.12  
Export cam as text file  
You can export a cam created with SIMOTION CamTool as a text file (e.g. to edit the cam in  
an external program).  
Notice  
The cam is shown in the text file in Microsoft Excel CSV format.  
CamTool  
4-38  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
Functions  
4.13 Print cam  
Export cam as text file  
To export a cam as text file:  
1. Open the cam with SIMOTION CamTool.  
2. Click a diagram to show the Cam menu.  
3. Click the menu Cam > Export. The file selection window is displayed.  
4. Under Save as, select the destination for the text file and enter a name for the text file  
under Name.  
5. Click OK in the file selection window. The cam is saved as a text file at the selected  
destination under the entered name.  
4.13  
Print cam  
You can print a cam opened with SIMOTION CamTool via SIMOTION SCOUT. The  
individual parameters and the diagrams of the cam are printed.  
Notice  
The diagrams of the cam are printed as they are in the screen view.  
Print cam  
To print a cam:  
1. Open the cam with SIMOTION CamTool.  
2. Click a diagram to show the Cam menu.  
3. Activate the diagrams that you want to display via the menu Cam > Diagrams. The  
diagrams are displayed.  
4. Click the menu Project > Print. The printer selection window is displayed.  
5. Specify the printer, printing range and number of copies.  
6. Click OK. The cam is printed.  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
4-39  
Index  
Insert fixed point, 4-3  
Insert interpolation point, 4-20  
Insert sine curve, 4-11  
Insert straight line, 4-8  
Interpolation curves, 4-2, 4-23  
Optimize transition, 4-24  
Optimizing the handles, 4-25  
Printing, 4-39  
A
Arc Sine Curve  
Changing the definition range, 4-18  
Delete, 4-19  
Insert, 4-15  
Repositioning objects, 4-17  
Auxiliary line  
Save, 3-15  
Specify simulation settings, 4-35  
Specifying the target device parameters, 4-30  
Cam segments, 4-23  
Structure, 4-2  
Deleting a horizontal auxiliary line, 3-26  
C
Cam  
Changing the acceleration  
Fixed point position, 4-6  
Changing the definition range  
Arc Sine Curve, 4-18  
Sine curve, 4-14  
Display horizontal auxiliary line, 3-24  
Cam  
Cam segments, 4-2  
Upload cam from SIMOTION device;SIMOTION  
device, 3-13  
Changing the representation parameters  
Lines and fonts, 3-23  
Diagram, 3-20  
Change acceleration at fixed point, 4-6  
Change arc sine curve definition range, 4-18  
Change arc sine curve position, 4-17  
Change fixed point position, 4-5  
Change sine curve definition range, 4-14  
Change sine curve position, 4-13  
Change straight line position, 4-9  
Change velocity at fixed point, 4-5  
Changing the interpolation point position, 4-22  
Changing the velocity along a straight line, 4-10  
Creating, 4-2, 4-23  
Axis, 3-17  
Changing the velocity  
Along a straight line, 4-10  
At fixed point position, 4-5  
Creating  
Cam, 4-2  
Creating  
Cam, 4-23  
Delete arc sine curve, 4-19  
Delete fixed point, 4-7  
D
Definition  
Straight line, 4-7  
Delete  
Arc Sine Curve, 4-19  
Fixed point, 4-7  
Horizontal auxiliary line, 3-26  
Interpolation point, 4-22  
Sine curve, 4-15  
Straight line, 4-11  
Diagram  
Delete interpolation point, 4-22  
Delete sine curve, 4-15  
Delete straight line, 4-11  
Deleting a horizontal auxiliary line, 3-26  
Download to SIMOTION device, 3-27  
Edit uploaded cam, 3-15  
Edit with SIMOTION CamEdit, 4-38  
Editing an imported cam, 3-12  
Export as text file, 4-39  
Importing a cam from a text file, 3-10  
Insert, 3-6  
Insert arc sine curve, 4-15  
Display horizontal auxiliary line, 3-24  
Zoom tool, 3-3  
Diagram  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
Index-1  
Index  
Note: master axis unit of measure, 4-36  
Master axis basic scaling, 4-33  
Note: slave axis unit of measure, 4-37  
Representation, 3-16  
Master axis scaling (Range1), 4-33  
Master axis scaling (Range2), 4-33  
Master axis scaling ranges, 4-33  
Master axis unit of measure, 4-36  
Optimize transition (absolute jerk value), 4-27  
Optimize transition (curve point of inflexion), 4-27  
Optimize transition (optimum value), 4-27  
Print cam, 4-39  
Representation parameters, 3-16  
E
Edit  
CamEdit cam with CamTool, 3-7  
CamTool cam with CamEdit, 4-38  
Exporting  
Cam as text file, 4-39  
Slave axis basic scaling, 4-34  
Slave axis scaling (Range1), 4-34  
Slave axis scaling (Range2), 4-34  
Slave axis scaling ranges, 4-34  
Slave axis unit of measure, 4-37  
F
Fixed point  
Definition, 4-3  
Repositioning objects, 4-5  
Fixed point  
P
Printing  
Cam, 4-39  
Changing fixed point position acceleration, 4-6  
Changing the velocity at a position, 4-5  
Insert cam, 4-3  
R
Repositioning objects  
Arc Sine Curve, 4-17  
Fixed point, 4-5  
H
Interpolation point, 4-22  
Sinuslinie, 4-13  
Hand tool  
Moving the diagram area, 3-3  
Straight line, 4-9  
Horizontal auxiliary line  
Representation  
Moving the position window, 3-26  
Representing in a diagram, 3-24  
Diagram show/hide, 3-16  
Maximizing the working area, 3-4  
I
S
Import  
SIMOTION CamEdit  
Editing a cam created with CamTool, 4-38  
SIMOTION CamTool  
Basic functions, 1-1  
Deinstall, 2-2  
Cam from a text file, 3-10  
Editing an imported cam, 3-12  
Insert  
Cam, 3-6  
Interpolation point  
Delete, 4-22  
Editing a cam created in CamEdit, 3-7  
Installing, 2-2  
Insert, 4-20  
Repositioning objects, 4-22  
SIMOTION device  
Download cam, 3-27  
Sine curve  
Delete, 4-15  
N
Notice  
Insert, 4-11  
Sinus curve  
Edit CamTool cam with CamEdit, 4-38  
Grid line spacing, 3-19, 3-21, 3-22  
Master area, cyclic absolute execution type, 4-31  
Master area, cyclic relative execution type, 4-32  
Master area, non-cyclical execution type, 4-31  
Repositioning objects, 4-13  
Specify simulation settings, 4-35  
Straight line  
Changing the velocity, 4-10  
Definition, 4-7  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
Index-2  
Index  
Delete, 4-11  
Insert, 4-8  
Repositioning objects, 4-9  
System requirements, 2-1  
T
Target device  
Specifying the target device parameters, 4-30  
Text file  
Importing a cam, 3-10  
Toolbar  
Changing the representation using the toolbar, 3-2  
Transition  
Note: Curve point of inflexion (optimize), 4-27  
Note: Optimum value (optimize), 4-27  
Optimize, 4-24  
Optimizing the handles, 4-25  
Warning: Absolute jerk value (optimize), 4-27  
Z
Zoom  
in all directions at the same time, 3-3  
Zoom  
Increasing the size of an area, 3-3  
Restoring the normal view, 3-3  
Restoring the previous zoom setting, 3-3  
Zoom function on the coordinate axis, 3-3  
Zoom function on the diagram area, 3-3  
Zoom tool  
Hand tool with the SHIFT key, 3-3  
Zoom in all directions at the same time, 3-3  
Zoom in the direction of the coordinate axis, 3-3  
CamTool  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  
Index-3  
Index  
CamTool  
Index-4  
Configuration Manual, 12.2004, 6AU1900-1AB32-0BA0  

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