Lenze PLC Designer PLC-Designer (R2-x) SoftMotion - Manual (Page 84)

L-force | PLC Designer - SoftMotion
CAM editor
Definition of a cam for SoftMotion
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DMS 5.2 EN 03/2011 TD17
5 CAM editor
The SoftMotion cam profiler (CAM editor) is integrated in the »PLC Designer«
programming interface. It can be used to program electronic cams and tappet control units
in graphic and tabular format, which the "PLC Designer" will use to automatically generate
global data structures »PLC Designer«(CAM data) during project compilation. These
structures can be accessed by the IEC program.
Standardised PLCopen POUs are used for cam conversion in the IEC program
(SM_PLCOpen.lib library).
(See also the
SoftMotion programming examples
( 267)
)
5.1 Definition of a cam for SoftMotion
In simple terms, a cam describes the functional dependence of one value (slave) on another
(master).
To describe this dependence, the master axis is divided into various intervals. The »PLC
Designer« provides two options for each interval [a, b] to facilitate the functional mapping
of the master axis on the slave axis:
 Line: The dependence is described by a linear image. In this interval the first derivative
(velocity) is constant, in accordance with the slope of the line; the second derivative
(acceleration) is 0.
 Fifth order polynomial: In this interval the dependence is described by a fifth order
polynomial. Thus the first and the second derivative become fourth and third order
polynomials.
The functions in these intervals must be concatenated in such a way that at the point of
transition from one function to the next, both the function value and at least the first and
second derivatives are consistent.
Individual interpolation points and lines can be set in the CAM editor. The remaining
intermediate intervals will be filled up automatically by the editor with fifth order
polynomials, thereby meeting requirements in respect of consistency and differentiation.
The function value, the first derivative (velocity, in this case constant) and the second
derivative (acceleration, in this case always 0) are defined along a line. A point however can
be defined with any first and second derivative.
Users can also place tappets, i.e. binary position switches, on cams.

Note!
The CAM editor will only be available if ...
• The SoftMotion add-on has been installed and
• An automation system with the SoftMotion add-on has been selected in the
Target Settings dialog box.