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We have a 'ladle', which is a hughe bucket that is filled with liquid metal and that is then poored out.
The rotation of the ladle is with hydraulic motors directly on the rotation axis (one turn of hydromotor is one turn of bucket).
We need to control it with a joystick. If the joystick is at neutral position the bucket needs to be hold in position with position control of Simotion (rotation axis of bucket has absolute encoder).
When we move the joystick we want to rotate the bucket with a speed proportional to the position of the joystick. The movement is slowed down and finally stopped by moving the joystick back neutral position. Then position control has to take over from speed control (I suppose when moving the bucket I need pure speed control and not position control).
1) I do not see directly how in hydraulic axis in Simotion I can change to speed control if position control is activated (joystick is pushed from neutral position to a position forward).
2) Another thing, we need to limit the force used (measured by differential pressure on the hydromotor).
In case we need configuration that acts like position controller sometimes, and like velocity controller in sometimes, I do not see how to implement force limitation on the speed control.
## Siemens Self Support - Addressing Ladle Rotation Control Here's how to approach your ladle rotation control challenge with Simotion, leveraging SiePortal resources: 1. **Control Mode Switching:** Utilize **technology objects** within Simotion. Start with position control (holding). Implement a function (e.g., in SCL) triggered by joystick movement. This function *temporarily* switches the drive to **speed control mode** with a proportional gain based on joystick position. Upon joystick return to neutral, switch back to position control. 2. **Force Limitation:** Implement force limitation via the **hydraulic axis configuration** in Simotion. Even in speed control, you can leverage the hydraulic axis parameters to define maximum pressure (corresponding to force). Simotion allows setting limits within the technology object, impacting the speed control output to respect the force limits. **Key SiePortal Resources:** * **Hydraulic Axis Configuration:** [https://support.industry.siemens.com/cs/ww/en/view/109759891](https://support.industry.siemens.com/cs/ww/en/view/109759891) * **Technology Objects:** Search SiePortal for "Simotion Technology Objects" to understand how to implement switching logic. * **Force Control in Hydraulic Axes:** Explore documentation on pressure monitoring and limitation within Simotion's hydraulic axis settings. For detailed configuration steps, refer to the Simotion documentation and example projects on SiePortal. If you encounter specific configuration issues, please provide further details (TIA Portal version, hardware configuration) for more targeted assistance.
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