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This command enables simulation mode on the drive as configured.
Additional command +mcSET_GEN_ONLY sets it so that only setpoint generation is active (controller, motor, encoder, load, etc. are not simulated).
Additional command +mcSET_GEN_ONLY is not possible for ACOPOSsim and SDC axes.
Switching between mcSIMULATION_ON and mcSIMULATION_ON+mcSET_GEN_ONLY is possible when the controller is switched off. After switching over, the controller must be switched on and the axis must be homed again in order to be able to start movements.
This command disables simulation mode on the drive.
The following points must be taken into account when disabling simulation mode:
•Incorrect parameters for the real machine
Most parameters set in simulation mode continue having an effect even after simulation is disabled. These parameters may be unsuitable for a real machine, e.g. excessive limit values, disabled monitoring, unstable controller settings, etc.
•Initialization to actual values
After simulation is disabled, certain simulated values have to be reinitialized to actual sensor values and encoder positions. This initialization procedure leads to transient effects and jumps.
•High load on computing time
A number of initializations have to take place when disabling simulation mode. In addition, operations configured during simulation are still subject to cyclic processing. These operations include things like ACOPOS function block connections, cyclic communication to/from the drive and cam automat processes running in the background. This load on computing time can lead to a violation of the maximum cycle time (error 1016).
This command is used to initialize simulation mode by transferring the simulation mode parameters from the axis structure to the drive.
This command is used to read the simulation mode parameters from the drive and write them to the axis structure.