FL Sim H
FL Sim H
FL Sim H
4
Hydraulics
Users Guide
698530 EN
07/08
FluidSIM Hydraulics is the result of a joint research venture between the
Measuring and Control Technology Department of Duisburg University
and the Knowledge-based Systems Department of the University of
Paderborn.
Concept and development of FluidSIM Hydraulics is based on research
work carried out by Dr. Daniel Curatolo, Dr. Marcus Hoffmann, and Dr.
habil. Benno Stein. Mechanical Engineering contributions by Dr. Ralf
Lemmen.
Order No.: 698530
Description: HANDBUCH
Designation: D:FLS-H4-EN
Edition: 08/2007
Author: Art Systems
Layout: Art Systems
Festo Didactic GmbH & Co. KG, D-73770 Denkendorf, 1996-2007
Internet: www.festo-didactic.com
e-mail: [email protected]
Art Systems Software GmbH, D-33102 Paderborn, 1995-2007
Internet: www.art-systems.com, www.uidsim.com
e-mail: [email protected]
Eaton Corporation, USA-Eden Prairie MN, 2001
Internet: www.eatonhydraulics.com
e-mail: [email protected]
The copying, distribution and utilization of this document as well
as the communication of its contents to others without expressed
authorization is prohibited. Offenders will be held liable for the payment
of damages. All rights reserved, in particular the right to carry out
patent, utility model or ornamental design registration.
Contents
1. Welcome! 7
1.1 About FluidSIM 8
1.2 Layout of the Handbook 9
1.3 Conventions 10
2. Getting Started 11
2.1 Technical Requirements 11
2.2 Installation 11
2.2.1 Installation and Online Activation 12
2.2.2 Installation with license connector 13
2.3 Supplied Files 15
2.4 De-installation of a Single-Position License 16
3. Introduction to Simulating and Creating Circuits 17
3.1 Simulating Existing Circuit Diagrams 20
3.2 The Different Simulation Modes 27
3.3 Creating new Circuit Diagrams 28
4. Advanced Concepts in Simulating and Creating Circuits 49
4.1 Congurable Symbols 49
4.2 Additional Editing Functions 61
4.3 Additional Simulation Functions 69
4.4 Linking Components Automatically 71
4.5 Current Path Numbering and Switching Elements Table 72
4.6 Terminal Assignment Diagrams 73
4.7 Displaying Quantity Values 75
4.8 Displaying State Diagrams 79
4.9 Functional diagrameditor 82
4.9.1 Adjust the representation of the diagrams 88
4.10 Supercial Circuit Checking 98
4.11 Coupling Hydraulics, Electrics and Mechanics 100
4.12 Operating Switches 109
4.13 Adjustable Components 114
4.14 Settings for Simulation 115
4.15 Use of the EasyPort-Hardware 118
4.16 OPC and DDE communication with Other Applications 121
4.17 Settings for the EasyPort/OPC/DDE communication 124
4.18 Open-loop and Closed-loop Control 126
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 3
Contents
4.18.1 Open-loop Control 128
4.18.2 Closed-loop Control 131
5. Learning, Teaching, and Visualizing Hydraulics 139
5.1 Information about Single Components 140
5.2 Selecting Didactics Material from a List 144
5.3 Presentations: Combining Instructional Material 147
5.4 Extended Presentations in the Microsoft PowerPoint Format 152
5.5 Playback of Educational Films 154
5.6 Settings for Didactics 157
6. Special Functions 159
6.1 Drawing Layers 159
6.2 Graphic Primitives 160
6.3 Text Components and Identications 165
6.4 Embedding Pictures 168
6.5 Parts Lists 171
6.6 Printing a Windows Contents 175
6.7 TIFF Export 177
6.8 DXF Export 179
6.9 DXF Import 180
6.10 Using and Organizing Component Libraries 183
6.11 Managing Projects 195
6.12 Saving Settings 197
7. GRAFCET 200
7.1 Steps 201
7.2 Actions 202
7.3 Transitions 203
7.4 Stored effective actions (allocations) 205
7.5 Linking GRAFCET with electrics 206
7.6 Quick reference for the FluidSIM-relevant GRAFCET concepts 208
7.6.1 Initialization 208
7.6.2 Sequence rules 208
7.6.3 Sequence selection 209
7.6.4 Synchronization 209
7.6.5 Transient sequence / unstable step 209
7.6.6 Determining the values of GRAFCET variables 209
4 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
Contents
7.6.7 Checking the entries 210
7.6.8 Admissible characters for steps and variables 210
7.6.9 Variable names 210
7.6.10 Access to labels of uidic and electrical components 212
7.6.11 Functions and formula entry 212
7.6.12 Delays / time limits 213
7.6.13 Boolean value of an assertion 214
7.6.14 Target information 214
7.6.15 Partial GRAFCETs 214
7.6.16 Macro-steps 215
7.6.17 Compulsory commands 215
7.6.18 Enclosing step 216
7.6.19 Action when a transition is triggered 216
8. Help and Advanced Tips 217
8.1 The Most Frequently Occurring Problems 217
8.2 Tips for the Advanced User 221
A. FluidSIM Menus 226
A.1 File 226
A.2 Edit 228
A.3 Execute 230
A.4 Library 231
A.5 Insert 232
A.6 Didactics 232
A.7 Project 233
A.8 View 234
A.9 Options 238
A.10 Window 240
A.11 ? 240
B. The Component Library 242
B.1 Hydraulic Components 243
B.2 Electrical Components 270
B.3 Electrical Components (American Standard) 284
B.4 Digital Components 288
B.5 GRAFCET Elements 296
B.6 Miscellaneous 298
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 5
Contents
C. Didactics Material Survey 302
C.1 Applications 302
C.2 Components of a Hydraulic Plant 303
C.3 Symbols 305
C.4 Some Physical Fundamentals 309
C.5 Components of a Power Unit 312
C.6 Fundamentals of Valves 315
C.7 Pressure Valves 317
C.8 Way Valves 324
C.9 Shutoff Valves 334
C.10 Flow Valves 338
C.11 Hydraulic Cylinders and Motors 341
C.12 Gauges 343
C.13 Exercises 344
C.14 Educational Films 355
C.15 Standard Presentations 356
D. Messages 357
D.1 Electrical Errors 357
D.2 Drawing Errors 357
D.3 Operating Errors 359
D.4 Opening and Saving Files 360
D.5 System Errors 361
Index 363
6 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
1. Welcome!
Welcome to FluidSIM !
Thank you for purchasing the FluidSIM Hydraulics training software.
This handbook functions both as an introduction to FluidSIM and as a
reference manual outlining the possibilities, concepts, and operation of
the software package. This handbook, however, is not intended to help
in dening special aspects of hydraulics. Concerns of this nature can be
found in the Festo Didactic GmbH & Co. KG textbook series.
Users of this software are encouraged to contribute tips, criticism, and
suggestions for improvement of the program via email at
[email protected]
[email protected]
Moreover, the newest updates can be found at our Internet site at
www.uidsim.com
www.festo-didactic.com
August 2007 The Authors
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 7
1. Welcome!
1.1
About FluidSIM
FluidSIM Hydraulics is a teaching tool for simulating hydraulics basics
and runs using Microsoft Windows
, Microsoft Windows98
, Microsoft Win-
dowsME
, Microsoft WindowsNT
, Microsoft Windows2000
or Micro-
soft WindowsXP
.
If you intend to draw simple circuit diagrams or to simulate the existing
circuit diagrams, 128 MB RAM is adequate. However, minimum256 MB
RAM is recommended to simulate complex circuit diagrams.
In order to play the educational lms, you will need a CD-ROM drive that
runs at double speed along with hardware for sound.
2.2
Installation
Having purchased the full version of FluidSIM, you received two CD-
ROMs and possibly a license connector. One CD-ROM contains both full
version and student version of FluidSIM. The other provides educational
lms providing the Video-CD format that may also be viewed on
common DVD-players.
The installation procedure is described in the following sections.
The full version of FluidSIM is available in two versions: A version that
supports the automatic online activation and the license connector
version.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 11
2. Getting Started
2.2.1
Installation and Online
Activation
For the online activation you will need a computer with internet access.
During the installation you will be prompted to activate FluidSIM. There
are three ways of doing so:
Automatic Online Activation
This variant requires Internet access from the computer where
FluidSIM is to be activated and realizes a completely automated
procedure.
Indirect Activation
In this variant an activation dialog box is opened that shows an
Internet address (url) and your individual license ID. With this
information you can generate your individual activation key at an
arbitrary computer with Internet access. Then, the activation key
has to be entered in the activation dialog box of the installation PC.
Call Festo to receive your individual activation key
If you dont have Internet access or if the Internet activation fails,
you can call a service employee at weekday ofce hours who will
provide you with your activation code. Please note: The displayed
phone number in Germany is available at European ofce times
only. Depending on the geographical position of your site, you will
nd different telephone numbers for the software activation on the
shipping box.
Import Online Activation
Notes
During the activation of FluidSIM several features of your PC and the
product ID are used to generate an individual activation key. This string
is valid for your PC only. I.e., if your PC is substantially modied or if
you want to use another PC, your FluidSIM license has to be transferred
to the new hardware. Such a transfer requires the deactivation of the
license of the original PC, which is accomplished by uninstalling Fluid-
SIM. The respective uninstallation program can be found in the menu
Start under Deinstallation or in the control panel under Software.
If a deactivation of FluidSIM is not possible because of technical
problems, as an exception your license can be transferred without
deactivation.
12 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
2. Getting Started
Note that a license transfer without a preceding deactivation is possible
only a few times. Also note that if your license has been transferred
to another PC, it cannot be re-activated for the initial PC without
deactivating it before.
2.2.2
Installation with license
connector
Depending on the license model (single-position systems or network),
the license connector is needed only during the Installation of FluidSIM
or must be attached to the so-called license server.
The network license connector denes how many instances of Fluid-
SIM can be running at the same time in the network. If you attempt
to start more instances than the allowed number, an error message is
displayed. If the license server is down or if the license connector has
been removed from the system, all circuits that are already open and
modied can be saved before FluidSIM terminates. If the license server
is up again FluidSIM starts as usual.
Details for a network installation of FluidSIM is given in an addendumof
the FluidSIM package and can also be found as pdf-le net_inst.pdf in
the Doc-Folder of the installation CD.
FluidSIM Full Version:
Installation from CD
If your software needs a license connector, connect the key not until
you are requested by the installation program.
> Switch on your PC and login with administrator permissions.
> Insert the CD.
Usually the installation program starts automatically. Please start it
manually if it doesnt:
> Click Run... in the Start Menu.
A dialog box opens.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 13
2. Getting Started
> Enter the following string in the space provided: d:setup.exe.
Then click OK.
If your CD-ROM drive is congured differently, then be sure to use
the appropriate letter in place of d:.
After a few seconds the startup screen of the installation program
appears. Here you can choose whether to install the student version
or the full version of FluidSIM. When installing the full version, please
select the appropriate license connector (single-position systems or
network). If you got a FluidSIM version for online activation no license
connector is necessary but only your individual product ID is required,
which is printed on the back of the CD cover. Note that the student
version does neither require a license connector nor a product ID.
> Follow the directions as they appear on the screen. If you are
unsure how to answer or are unsure of a question, simply click
Next >>.
14 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
2. Getting Started
2.3
Supplied Files
The directory structure of FluidSIM is demonstrated in the following
gure.
In case you installed FluidSIM for several users, you should not make
any changes to the installation directory. New les and changes of the
existing circuits, symbols and didactic material should be performed in
the directory MyDocuments.
The directory ct contains the supplied circuits for FluidSIM. This is also
the default directory in which all new circuits diagrams are saved. In its
subdirectories the following circuit diagrams have been included:
digital: Circuits including sample circuits regarding digital
technology.
shows: Circuits that can be opened as a bitmap via the Didactics
menu (see section 5).
tp501: Circuits in the workbook Hydraulics Basic Level TP 501.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 15
2. Getting Started
tp502: Circuits in the workbook Hydraulics Advanced Level TP
502.
tp511: Circuits in the workbook Closed-loop Hydraulics TP 511.
tp601: Circuits in the workbook Electrohydraulics Basic Level TP
601.
tp602: Circuits in the workbook Electrohydraulics Advanced Level
TP 602.
tp701: Circuits in the workbook Proportional Hydraulics Basic
Level TP 701.
tp702: Circuits in the workbook Proportional Hydraulics
Advanced Level TP 701.
The directory ppx contains extended PowerPoint presentations.
2.4
De-installation of a
Single-Position License
The following steps are necessary to de-install FluidSIM from your
computer.
> Click on the program icon RemoveFluidSIM-H in the Start Menu
ProgramFiles/FestoDidactic. If the program icon cannot be
found, start the program unwise.exe in the bin-subdirectory of
the FluidSIM directory.
16 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
3. Introduction to Simulating and Creating Circuits
The following chapter is set up in the form of a tutorial to introduce the
user to important FluidSIM functions. At the end the user should be
comfortable designing and simulating circuit diagrams.
> Start FluidSIM via the Start Menu under ProgramFiles/
FestoDidactic.
After a few seconds the main window from FluidSIM should appear on
your screen:
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 17
3. Introduction to Simulating and Creating Circuits
The left-hand side shows the component library of FluidSIM in
its hierarchical view; it contains hydraulic , electrical and digital
components for the designing new circuit diagrams. Using the menu
bar at the top of the window, you may access all functions provided for
designing and simulating circuit diagrams. The toolbar below allows
convenient access to frequently used menu functions.
The toolbar contains the following ten groups of functions:
1.
creating new circuit diagrams, previewing a circuit diagram, opening
and saving circuit diagrams
2.
printing the contents of the window, for example circuit diagrams
and component photos
3.
editing circuit diagrams
4.
alignment of components
5.
rotate and mirror
6.
using a grid
7.
zooming in and zooming out of circuit diagrams, component
pictures, and other windows
8.
supercial circuit checking
9.
simulating circuit diagrams, directing animation (basic level)
10.
simulating circuit diagrams, directing animation (additional
functions)
18 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
3. Introduction to Simulating and Creating Circuits
Only a certain number of the above listed functions will apply to a
specic circuit diagram. FluidSIM recognizes which functions apply
according to the contents of the window, component functions and
context (circuit diagramdesign, animation, circuit diagramsimulation,
etc.), and disables the operations on the toolbar that do not apply.
In many new Microsoft Windows
.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 19
3. Introduction to Simulating and Creating Circuits
3.1
Simulating Existing
Circuit Diagrams
Included with the FluidSIM installation disks are a number of working
circuit diagrams.
Among others, these are circuit diagrams as part of the learning material
and will be discussed in the following workbooks Hydraulics Basic
Level TP 501, Hydraulics Advanced Level TP 502, Electrohydraulics
Basic Level TP 601 and Electrohydraulics Advanced Level TP 602.
These circuit diagrams can be opened and simulated with FluidSIM as
follows:
> Click on or choose Circuit Preview in the File menu.
20 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
3. Introduction to Simulating and Creating Circuits
Previewwindows containing overviews of existing circuit diagrams
should appear:
A previewwindow displays the circuit diagrams of a specic directory
in alphabetical order accompanied by a miniature representation. The
name of the current directory is shown in the title bar of the preview
window; the les of the FluidSIM circuit diagrams contain the extension
ct.
By double clicking a directory icon you go down to the respective
subdirectory.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 21
3. Introduction to Simulating and Creating Circuits
In the ct subdirectory of the fl_sim_h installation additional
subdirectories for diagrams can be created. These subdirectories are
automatically found by FluidSIM, and extra directory icons are created
for them.
> Open the circuit diagramdemo1.ct by double clicking on its
miniature representation.
Circuit diagrams can also be opened using the File Selector dialog box.
By clicking on or choosing Open... under the File menu, the File
Selector dialog box will appear, in which a circuit diagramcan be opened
by double clicking on its lename.
22 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
3. Introduction to Simulating and Creating Circuits
In either case the circuit diagramis opened and displayed in a new
window:
> Click on or on Execute Start , or press the key
F9
.
FluidSIM switches to the simulation mode and starts the simulation of
the circuit diagram. When in the simulation mode, the mouse cursor
changes to a hand .
During the simulation FluidSIM rst calculates all electrical parameters.
pressure is calculated.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 23
3. Introduction to Simulating and Creating Circuits
This step is followed by formulating a model of the hydraulic circuit and,
based on this model, a continuous distribution for ow and pressure will
be calculated for the circuit.
Formulating models is demanding. Depending on a circuits complexity
and the computers power, a circuits simulation may take considerable
time. Likewise, the real-time completion of the following dynamic
simulation cannot always be guaranteed. The percentage of real-time
achieved is shown in FluidSIM in the status bar at the lower edge of the
main window.
As soon as the results are available, the connection lines will be shown
in color and the cylinders extend in sequence:
24 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
3. Introduction to Simulating and Creating Circuits
The colors of the connection lines have the following meaning:
Color Meaning
Dark red Hydraulic line: pressure 50% of maximum
Ocher Hydraulic line: pressure < 50% of maximum
Light red Electrical line, current owing
You can dene your own mapping between colors and state values
under Options Simulation... . The varying thicknesses of the dark red
connection lines corresponds to the pressure as related to the maximum
pressure. FluidSIM distinguishes between three thicknesses of line:
Thickness Meaning
Pressure 50% and < 75% of maximum
Pressure 75% and < 90% of maximum
Pressure 90% of maximum
The exact numeric values for pressures, ow rates, voltages, and
currents are displayed on the attached measuring instruments.
Section 4.7 describes how you may go about getting values for all or
only selected variables on the circuit diagram, even when measuring
instruments are not present.
Simulation in FluidSIM is based on physical models whose components
match those components found in the Festo Didactic GmbH & Co. KG
equipment set. Therefore, calculated values should closely match
measured values. When comparing results, please acknowledge the
fact that in practice, measurements can be subject to large uctuations.
The reasons for differences range from component tolerances to oil
temperature.
The calculation of variables forms the basis for an exact, real-time
proportional animation of the cylinder.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 25
3. Introduction to Simulating and Creating Circuits
Real-time-proportionality guarantees the following property: If in reality
a cylinder moves twice as fast as another one, the relationship between
these two components is shown in the animation. In other words, the
real-time relationship remains unaltered.
Manually operated valves and switches, found in the circuit diagram,
can be switched by clicking on themwith the mouse:
> Move the mouse cursor to the left switch.
The mouse cursor becomes a hand with index nger and indicates
that the switch may be ipped.
> Click on the switch.
When you click on a manually operated switch, its real behavior is
simulated. In this example the clicked switch becomes closed and
recalculation begins automatically. Following the calculation, the new
pressure and ow values are indicated and the cylinders retract.
The switching of a component is only possible when a simulation is
running ( ) or when a simulation has been set to pause ( ).
In the event that you would like to simulate another circuit diagram,
it is not necessary to close the open one. FluidSIM allows you to have
several circuits open at one time. Furthermore, FluidSIM is able to
simulate multiple circuits simultaneously.
> Click on or Execute Stop to switch the current circuit from
Simulation Mode to Edit Mode.
26 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
3. Introduction to Simulating and Creating Circuits
By switching a circuit from Simulation Mode to Edit Mode, all compo-
nents will automatically be set back to their normal status. In partic-
ular, switches are set to their original position, valves switch to their
normal position, cylinder pistons are set to their previous position, and
all values calculated are deleted.
By clicking on (alternative: Execute Pause or
F8
) you can switch from
Edit Mode to Simulation Mode without starting the simulation. This
feature is useful, if components shall be set before the simulation is
started.
3.2
The Different Simulation
Modes
In addition to the functions of the preceding section ( , , ), there
exist also the following additional functions:
reset and restart of the simulation
simulation in single step mode
simulation to a certain point where a state change happens
Reset and Restart of the
Simulation
By clicking on or under Execute Reset , an already running simulation
or paused simulation can be reset. Immediately following this, the
simulation will be restarted.
Single Step Mode During single step mode, the simulation will stop after a small step.
More exactly, by clicking on or Execute Single Step , the simulation will
begin for just a short time period (approximately 0.01 - 0.1 seconds in
the real system); the system then pauses ( ).
A running simulation can, at any time, be set into single step mode. It is
then possible to focus on key moments during the simulation.
Simulation to a State
Change
By clicking on or under Execute Simulate until State Change the
simulation begins and runs up until a certain point where a state change
happens; the simulation then pauses ( ). The following situations
describe the point at which the simulation pauses:
1. a cylinders piston moves at a stop
2. a valve switches or is operated
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 27
3. Introduction to Simulating and Creating Circuits
3. a relay switches
4. a switch is operated
It is possible to switch from a running simulation into this state change
mode.
3.3
Creating new Circuit
Diagrams
This section contains an introduction to creating and simulating circuit
diagrams using FluidSIM.
28 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
3. Introduction to Simulating and Creating Circuits
> Create an empty drawing area by clicking on or under File New
to open a new window:
Circuit diagrams can only be created or altered in the Edit Mode. The
Edit Mode is indicated with the following mouse cursor .
Each and every newly opened drawing area automatically contains a
name, with which it can be saved. This name is found in the title bar of
the new window.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 29
3. Introduction to Simulating and Creating Circuits
While in basic mode, you will see the available component groups in
the hierarchical viewof the component library. To list the components of
a group, you may list off the group by clicking it. For a better overview
you may also hide non-required elements and subgroups by once more
clicking and hence closing the hierarchy. Component groups may often
contain further subgroups that may also be listed off or closed.
To list off a group including all of its subgroups, you may hold the
Shift-Key while clicking. This will reduce your efforts to list off each
subgroup. You may similarly use the Shift-Key to close all subgroups of
a superordinate group.
> press the Shift-Key, hold it and click Hydraulic.
30 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
3. Introduction to Simulating and Creating Circuits
The entire group of hydrauliccomponents will be listed off. Using the
scrollbars, you may browse through the component library to the left
and right or up and down.
Using the mouse and drag-and-drop you may drag components from
the component library to the drawing area:
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 31
3. Introduction to Simulating and Creating Circuits
> Move the mouse cursor to a component in the library, more
specically to the cylinder.
> Press the left mouse button. While continuing to hold down the
button, move the cursor.
The cylinder is then highlighted (selected) and the mouse cursor
changes to a four way directional cross . The components outline
moves with the mouse cursor.
> Move the cursor to the drawing area and release the button on the
mouse. This action places the cylinder in the drawing area:
32 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
3. Introduction to Simulating and Creating Circuits
In this way it is possible to drag each component from the component
library and place it in the desired position in the drawing area. In the
same way it is possible to rearrange components already in the drawing
area.
> Drag the cylinder to the bottom right hand corner.
In order to simplify the creation of circuit diagrams, the components
automatically snap to grid in the drawing area.
> Try to move the cylinder onto a non-permissible area, for example
outside the window.
Outside a permissible area the mouse cursor changes to the prohibited
sign ; the component cannot be dropped.
> Drag a second cylinder onto the drawing area and notice that the
second cylinder is now highlighted.
> Highlight, say, select the rst cylinder by clicking on it.
> Delete the cylinder by clicking on (cut) or under Edit Delete or by
pressing the
Del
key.
The commands in the Edit menu correspond only to the selected
components.
> Drag onto the drawing area a congurable 4/n-way valve, a pump
unit, and a tank.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 33
3. Introduction to Simulating and Creating Circuits
> Arrange the components in the following manner:
34 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
3. Introduction to Simulating and Creating Circuits
Double click the valve to assign an operation mode to it. A dialog box
appears:
Description of the dialog box:
Left/Right Actuation
For both sides the actuation modes of the valve can be dened
individually; it can be one or more of the categories Manually,
Mechanically, or Hydraulically/Electrically. An operation mode
is set by clicking on the down-arrow at the right-hand side of the
list and selecting a symbol. If for a category no operation mode is
desired, simply choose the blank symbol from the list. Moreover,
for each side of the valve the attributes Spring-returned and
Piloted can be set.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 35
3. Introduction to Simulating and Creating Circuits
Description
Enter here a name for the valve. This name is used in the
state diagramand in the parts list.
Valve Body
A congurable valve has at most four positions. For each of the
positions a valve body element can be chosen individually. Such
an element is set by clicking on the down-arrow at the right-hand
side of the list and selecting a symbol. If for a position no element
is desired, simply choose the blank symbol from the list. The valve
may be marked Reversible to indicate that there is no particular
direction of ow.
Initial Position
This button denes the valves initial position (sometimes also
called normal position or neutral position), which is the position
without having any operation applied to the valve. Note that this
setting is only exploited if it physically does not contradict a spring-
returned setting, possibly dened above.
Dominant Signal
A Dominant signal on the left or right-hand side denes the
overriding signal, in case the valve is addressed from both sides
simultaneously.
Hydraulic Resistance
This is where you dene the hydraulic resistance of the valve.
> Choose from the left-hand side in the topmost list a manual
operation with snap in, and select the Spring-returned option
in the right eld. Close the dialog box via OK.
36 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
3. Introduction to Simulating and Creating Circuits
Now the valve should look as follows:
> Move the mouse cursor over the left cylinder connection .
In Edit Mode, the mouse cursor changes to a cross-wires pointer ,
when it is above a component connection .
> Press the left mouse button while the mouse cursor is above the
cylinder connection. Move the mouse cursor and notice how the
cross-wires pointer gains arrows .
> Keep pressing the mouse button, and move the cross-wires pointer
to the upper left valve connection. Notice how the arrows on the
cross-wires pointer turn inward .
> Release the mouse button.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 37
3. Introduction to Simulating and Creating Circuits
Immediately a line appears between the two chosen connections:
FluidSIM automatically draws a line between the two chosen connec-
tions. The mouse cursor changes to the prohibited sign when it is
not possible to draw a line between two connections.
> Move the mouse cursor to a line.
In the Edit Mode, the mouse cursor changes to a line-selection symbol
, when it is positioned over a line.
> Press the left mouse button and move the line-selection symbol to
the left. Release the mouse button.
38 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
3. Introduction to Simulating and Creating Circuits
Immediately, the line is redrawn:
In the Edit Mode the components and lines can be selected, moved, or
deleted by clicking on Edit Delete or by pressing the
Del
key.
> Connect the remaining components.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 39
3. Introduction to Simulating and Creating Circuits
The circuit diagramshould look somewhat like the following one:
The circuit diagramhas been completely drawn and connected. Attempt
to simulate this circuit.
> Start the simulation by clicking on (or under Execute Start or
with the
F9
key).
40 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
3. Introduction to Simulating and Creating Circuits
During simulation all pressures and ow rates are calculated, all lines
are colored, and the cylinders piston extends.
After the cylinder has been extended, the pressure in the cylinder supply
line must inevitably increase. This situation is recognized by FluidSIM
and the parameters are recalculated; the pressure downstream of the
pump unit increases to the value, as dened by the pump unit safety
guard.
In order to keep the value of the maximumpressure low, the pump unit
must be equipped with a pressure relief valve.
> Activate the Edit Mode by clicking on (or under Execute Stop or
with the
F5
key).
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 41
3. Introduction to Simulating and Creating Circuits
> Drag a pressure relief valve and a second tank into the window.
In reality, to connect a component to an existing line requires a T-
connection . FluidSIM automatically creates a T-connection when you
draw a line from a connection to an existing line.
> Using the cross-wires cursor draw a line between the input
connection of the pressure relief valve to the line connecting the
pump unit and the valve. Notice how the arrows in the cross-wires
turn inwards .
> Release the mouse button.
The T-connection appears on the line at the point where the mouse
button was released.
> Connect the tank to the pressure relief valve.
> If necessary, draw the line so that the wiring diagramis arranged
clearly.
42 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
3. Introduction to Simulating and Creating Circuits
The circuit diagramshould now appear somewhat like the following
diagram:
> Save the circuit by clicking on or File Save . FluidSIM automati-
cally opens the File Selector dialog box, if the title is new; here you
must give the circuit a name.
> Start the simulation by clicking .
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 43
3. Introduction to Simulating and Creating Circuits
The cylinders piston extends. As soon as the piston fully extends, a
new situation arises. This situation is recognized by FluidSIM and is
recalculated. The pressure relief valve opens and the distribution of
pressure is shown:
FluidSIM not only animates manually operated components during
changeover, but nearly all components with multiple states.
The following gure shows a pressure relief valve in closed and open
position:
44 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
3. Introduction to Simulating and Creating Circuits
Recall that in the Simulation Mode, manually operated valves and
switches can be switched with a mouse click:
> Move the mouse cursor over the left-hand side of the valve.
The mouse cursor becomes a hand with an extended index nger and
indicates that the valve can be switched.
> Click on the left side of the valve and hold the mouse button down.
When you click on a valve, the real behavior of the valve is simulated.
In our example the valve is switched to crossover position and a
recalculation is initiated automatically. As a result, the pressure relief
valve closes and the cylinder retracts. As soon as the cylinder reaches its
left stop, the pressure relief valve opens again.
Components whose switching status is not locked remain activated as
long as the mouse button is held down.
> Stop the simulation, which also brings you to Edit Mode. Select
from the component library the state diagramcomponent, and
place it onto the drawing area.
The state diagramrecords the state quantities of important components
and depicts themgraphically.
> Move the state diagramto a free place in the drawing. Drag the
cylinder and drop it onto the state diagram.
A dialog opens where you may choose the desired status variables. In
this particular case only the position is of interest, so you may conrm
the default selection by choosing OK.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 45
3. Introduction to Simulating and Creating Circuits
> Start the simulation and observe the state diagram.
> Set the simulation to Pause-mode and move the mouse curser to
the graph in the diagram.
46 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
3. Introduction to Simulating and Creating Circuits
When resting on the diagramfor approximately one second, the mouse
curser will call a window indicating the exact values of time and of the
applicable status variable. The display will move along and update the
values when you move the mouse alongside the graph.
You may use several status diagrams in one window as well as you
may display several components in the same diagram. By dragging a
component onto the diagramyou will add the component to the status
diagram. A selection dialog will appear where you may choose the
applicable status variables and different colors. A repeated drag onto
the diagramwill open the dialog again, so you may change your choice.
In case no status variable of a component is selected, the component
will be removed from the diagram. The following components and the
applicable status variables may be displayed in the status variable
diagram:
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 47
3. Introduction to Simulating and Creating Circuits
Component State
cylinder position, velocity
acceleration, force
way valve position
pressure meter, accumulator pressure
shutoff valve and throttle valve opening level
pump, motor rpm
semi-rotary actuator position
pressure valve and switching valves state, pressure
ow control valves ow
ow meter ow, volume
pressure or switching valve state
switch state
relay, valve solenoid state
indicator light, buzzer, pressure indicator state
counter state, counter value
function generator, voltmeter voltage
status controller, PID-controller voltage
The example is now nished. Further editing and simulation concepts
are described in the next chapter.
48 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating
Circuits
This chapter contains advanced concepts and functions, which can be
used when simulating and creating circuits with FluidSIM.
4.1
Congurable Symbols
FluidSIM is capable of simulating a vast number of different cylinders
and valves. The combination of all part designs and functional types
would lead to displaying many thousands of symbols. Therefore you
will nd, alongside some common part designs in the component
library, congurable and representative components. In order to adapt a
cylinder or a way valve, drag one of these representatives in the circuit
and open the status dialog. Here you will nd settings helping you to
dene layout and function of the component.
Congure Cylinders Double-click the cylinder to dene part design, parameter and external
inuence of a cylinder. The status dialog of the cylinder will open.
The dialog consists of several registers, providing a convenient overview
despite the vast number of settings.
Find descriptions of the dialog boxes of individual registers below.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 49
4. Advanced Concepts in Simulating and Creating Circuits
Register Conguration
Description of the dialog box:
Component Description
You may enter a description for the cylinder into the text eld, it will
show in the state diagramand in the parts list.
Cylinder Type
cylinder type (single-acting, double-acting, spring return)
50 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
Piston Rod Type
piston rod type (quantity, part design, magnet coupling, slide unit)
Properties
More properties of the cylinder (end position cushioning, sensing)
The label you may dene at sensing serves as an interconnection
with the displacement encoder. This is how, e. g. in combination
with proportional valves , controlled systems can be constructed.
Please nd more reference to proportional technology in section
4.18.
Mirror
This is where you may dene whether the cylinder will be mirrored
horizontally or vertically. The effect will be the same as when
mirrored as in Edit Mirror .
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 51
4. Advanced Concepts in Simulating and Creating Circuits
Register Parameter
Description of the dialog box:
Max. Stroke
Maximumcylinder stroke
Piston Position
Piston position at the start of the simulation
52 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
Piston Diameter
Diameter of the Piston
Piston Rod Diameter
Diameter of the piston rod of the cylinder
Mounting Angle
The bracket affects the friction force of the moved load. You may
dene the mass as well as the friction coefcients in the register
external load.
Internal Leakage
This is where you may dene the inner leakage of a cylinder. In
reality there is never an ideal cylinder, since the piston never seals
the chassis perfectly. Thus and despite the cut off cylinder port, the
piston gradually slides under the load.
Calculated Parameters
Piston surface and annular surface will be automatically calculated
from piston diameter and piston rod diameter.
Display Quantities
In the eld Display Quantities you may tick state variables that
are to be displayed alongside the cylinder when the selected-
option is switched on for these state variables in the state variable
box. In case in the state variable dialog box no-option is switched
on, the particular cylinder related state variables will not be
displayed.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 53
4. Advanced Concepts in Simulating and Creating Circuits
Register External Load
Description of the dialog box:
Moving Mass
Please enter the mass of the load here that is supposed to move
cylinder. The mass of the cylinder piston and of the piston rod will
be automatically and appropriately calculated by FluidSIM from the
entered cylinder dimensions; thus the mass in this case refers only
to the external load. Particularly, entering 0 does not conclude in
the moving parts being massless.
54 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
Friction
Static friction and sliding friction determine the friction of the
moving load on a surface. The internal friction inside the cylinder
will be automatically and appropriately calculated by FluidSIM from
the entered cylinder dimensions. Please enter 0 for both values
if the load is lifted or pulled without touching a surface. In reality
it is very difcult to achieve reliable values for friction. Therefore
FluidSIM offers set friction coefcients for some combinations of
material, providing a roundabout orientation. When comparing
other tables of friction values you will notice that the (often
experimentally measured) specications differ in major ways.
Please interpret these carefully and concurrently take into account
the results of simulations generated by friction. Nevertheless, the
variation of the friction values allows you to distinctly notice the
physical inuence of static and sliding friction.
Please note also that the mounting angle inuences the friction
force through the moved load. You may dene the mounting angle
in the register parameter.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 55
4. Advanced Concepts in Simulating and Creating Circuits
Register Force Prole
Description of the dialog box:
Constant Force
Please choose this option and enter a force if a constant force
is meant to take effect for the entire distance of the cylinder
movement.
56 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
Variable Force
Please choose this option if the force changes depending on the
position of the cylinder rod. You may interactively dene applicable
points in the chart eld by clicking the mouse, these applicable
points will be linked to be one lineament. Alternatively, you
may mark an existing applicable point and enter the two values
numerically for piston position and applicable force using the input
eld.
Range
Using this slider you may dene the range of values to be displayed
for the force.
Delete
Deletes the marked applicable point and links the two adjoining
points with one straight line.
Delete all
Deletes all applicable points and denes a constant force. Use this
option to delete an existing lineament without having to delete
each single applicable point.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 57
4. Advanced Concepts in Simulating and Creating Circuits
Register Actuating Labels
This is where you may dene new actuating labels or change existing
ones. This dialog box is identical to the one that is opened when you
double-click on a distance rule.
Conguring Way Valves The body of a valve or its operation concept can be changed by double-
clicking the valve. The following dialog box is opened.
58 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
Description of the dialog box:
Left/Right Actuation
For both sides the actuation modes of the valve can be dened
individually; it can be one or more of the categories Manually,
Mechanically, or Hydraulically/Electrically. An operation mode
is set by clicking on the down-arrow at the right-hand side of the
list and selecting a symbol. If for a category no operation mode is
desired, simply choose the blank symbol from the list. Moreover,
for each side of the valve the attributes Spring-returned and
Piloted can be set.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 59
4. Advanced Concepts in Simulating and Creating Circuits
Description
Enter here a name for the valve. This name is used in the
state diagramand in the parts list.
Valve Body
A congurable valve has at most four positions. For each of the
positions a valve body element can be chosen individually. Such
an element is set by clicking on the down-arrow at the right-hand
side of the list and selecting a symbol. If for a position no element
is desired, simply choose the blank symbol from the list. The valve
may be marked as Reversible to display that it has no particular
direction of ow.
Initial Position
This button denes the valves initial position (sometimes also
called normal position or neutral position), which is the position
without having any operation applied to the valve. Note that this
setting is only exploited if it physically does not contradict a spring-
returned setting, possibly dened above.
Dominant Signal
A Dominant signal to the left-hand or right-hand side denes
which signal will be overriding when the valve is addressed from
both sides simultaneously.
60 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
Hydraulic Resistance
This is where you may dene the hydraulic resistance of the
valve. In reality the hydraulic resistance is often assigned by a
characteristic line resp. by pairs of values (pressure drop/ow).
Using the button
Curve...
you may access a dialog by interactively
clicking on the chart eld or by entering a pair of values and thus
dening the process of the parabola.
Mirror
This is where you may dene whether the valve be mirrored
horizontally or vertically. The effect is the same as when mirrored
using Edit Mirror .
4.2
Additional Editing
Functions
In addition to the commands that were introduced in section 3.3, the
Edit Mode in FluidSIM provides you with a higher level of important
editing functions:
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 61
4. Advanced Concepts in Simulating and Creating Circuits
Setting the Paper Size In Edit Mode the size of the paper is indicated by a red rectangle. The
default setting of the paper size is DIN A4, portrait. The default setting
can be changed in the menu File Drawing Size... .
The size and the orientation of the paper can be set here. If the drawing
size exceeds the paper size of your printer, the total area of several
smaller papers can be tiled with the drawing.
For orientation purposes, under File Properties... additional information
can be stored along with each drawing. The text that is entered in
description is shown in the preview window below the respective
diagram.
62 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
Undoing Editing Steps By clicking on or Edit Undo and with Edit Redo , each step given in
the Edit Mode can be undone in the following manner:
By clicking on ( Edit Undo ), the last editing step that was taken
is undone. FluidSIM recalls the last 128 editing steps, which can be
undone.
The function Edit Redo serves as a way to withdraw the last undone
step. When using to undo an editing step, you may go to far. By
clicking under Edit Redo , the circuit is returned to its original state
before undo was initiated. The function Edit Redo can be invoked
until there are no more undo steps to be redone.
The function Edit Undo applies to all possible editing steps in the Edit
Mode.
Multiple Selection A component can be highlighted, that is to say selected, by clicking on it
with the left mouse button. However, by clicking on another component
with the left mouse button, the rst component is no longer selected,
but the second component is. Only one component at a time may be
selected when clicking with the left mouse button.
If, while you are clicking on components, you hold down the
Ctrl
key,
the components that are already selected will remain so. In addition,
the component underneath the mouse cursor will also be selected, if not
already selected, or de-selected, if already selected. In this sense, the
components state of selection is reversed.
Another efcient concept for selecting multiple components is by using
the rubber band. The rubber band is opened by pressing and holding
down the left mouse button, and then moving the mouse cursor. The
mouse cursor cannot be located directly over a component if the rubber
band shall be opened.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 63
4. Advanced Concepts in Simulating and Creating Circuits
All components enclosed, either partially or fully, by the rubber band,
are selected.
All components and lines of the current circuit diagramcan be selected
by clicking under Edit Select All or typing
Ctrl A
.
Editing functions such as dragging or moving, copying and, deleting
apply to all selected components.
64 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
Right Mouse Button When you click the mouse button on the right in a FluidSIM window,
the appropriate context menu is opened. If the mouse cursor is located
above a component or component connection, the item will become
selected. If this component was not yet selected, then a possibly
existing selection of other components will be de-selected.
Clicking the right mouse button on a component (connection) is actually
a short cut for the following two actions: Clicking the left mouse button
on the component (connection) and opening a menu.
Double Clicking with the
Mouse
Double clicking the left mouse button on a component (connection)
is a short cut for the following two actions: Selecting the component
(connection) and clicking on Edit Properties... .
Copying Selected components can be copied to the clipboard by clicking on
or Edit Copy ; the component can then be inserted in the circuit diagram
by clicking on or Edit Paste . In the same way it is possible to paste
the contents of the clipboard into another graphic or word processing
program.
Within a circuit diagramselected components can also be copied by
holding down the
Shift
key and moving them. The mouse cursor
changes then to the copy symbol .
Copying between Windows Components can simply be copied between windows by selecting the
desired components and dragging themin the other window.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 65
4. Advanced Concepts in Simulating and Creating Circuits
Aligning Objects To align objects, rstly select these objects and then click on the icon
or on the appropriate entry in the Edit Align menu.
Reference object is always the object which lies furthermost in the
desired direction. If, for instance, several components shall become
aligned left, all but one objects are moved to the left so that they align
with the left-most object. Note that hydraulic and electrical components
obey the constraint that their connections must lie on the grid. As a
consequence, an alignment may not always coincide with the symbol
bounding.
Rotate and Mirror Selected components may be rotated by 90, 180 or 270 by using
Edit Rotate . If you wish only one component to be rotated you may
alternatively perform a double-click on the component while holding
the
Ctrl
-key, the component will then be rotated counterclockwise in
90-steps. If you also hold the
Shift
-key in doing so, the component will
be rotated clockwise.
In order to mirror marked objects, please select Edit Mirror . The
applicable objects will be mirrored at its own axis, provided they are
not part of a group. Grouped objects will be mirrored at the central shaft
of the applicable group.
Instead of using the menu entries, you may also rotate or mirror through
the applicable symbols .
Deleting Lines If only one component connection is selected, its connected (but de-
selected) lines can be deleted using Edit Delete or by pressing the
Del
key. This concept provides an alternative way to delete lines.
66 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
Setting Line Type The type of each uidic line can be changed from the standard line type,
Main Line, to the special line type Control Line. Being in Edit Mode,
double clicking on a uidic line or selecting the line and choosing the
menu entry Edit Properties... brings up a dialog box in which you can set
the line type. A control line is shown dashed. Note thataside from
a different appearancechanging line type has no impact respecting
simulation.
Setting Blind Plugs Before starting a simulation, FluidSIM checks for open connections and,
on request, will t a blind plug. You can set or delete such blind plugs in
the Edit Mode by double clicking on the desired hydraulic connection.
A dialog box appears, in which you can either set or remove a blind
plug for the selected connection. Another way to go about changing
blind plugs is to select the desired connection and then click under Edit
Properties... , which will open the desired dialog box.
Hydraulic connections that are tted with a blind plug are indicated
clearly with a crossbar.
Zoom Features The content of windows can be enlarged by clicking on or View
Zoom In or reduced by using or View Zoom Out . The short cut keys
for this function are
>
and
<
respectively. If your mouse device is
equipped with a mouse wheel you can roll the wheel while holding down
the
Ctrl
key to zoom in and out, respectively
If you click on or View Zoom by Rubber Band and then draw a rectangle
with the rubber band, the selected area will be shown enlarged. You
can also switch between the current and previous viewof a window by
clicking on or View Previous View .
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 67
4. Advanced Concepts in Simulating and Creating Circuits
or View Fit to Window ts the entire circuit to the window; or
View Standard Size shows the circuit diagramwithout enlargement or
reduction.
Background Grid By clicking on , the background grid is shown. By clicking under
Options Grid... , a dialog box appears that allows you to select between
grid types and line resolution.
Description of the dialog box:
Width
The grid width denes how close together the lines of the grid
should be. You can choose between Coarse, Medium, or Fine.
Style
There are three types of grid to choose from Point, Cross, or
Line.
Display Grid
This selection displays or hides the background grid.
68 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
Grouping Objects If objects shall be subsumed under a single group, select themand
click Edit Group . Groups can be nested. The objects of a group can
be selected, moved, deleted, or copied only all at once. However,
component properties can be edited individually, as usual, by either
double clicking the object or choosing the respective entry in the
components context menu.
Ungrouping Objects To ungroup a collection of objects, click Edit Ungroup . Note that only the
outermost group is resolved; repeated ungrouping will resolve nested
groups.
4.3
Additional Simulation
Functions
This section describes in detail additional functions that apply to the
simulation of circuit diagrams.
Simultaneous Actuation of
Several Components
During the Simulation Mode, it is sometimes necessary to actuate
more switches or valves simultaneously. It is possible in FluidSIM to
simulate just such an actuation by means of setting a component in a
permanently actuated state. A button (or a manually operated valve) will
become permanently actuated when clicking on it while holding down
the
Shift
key. This permanent actuation will be released by a simple
click on the component.
At times it may be necessary to release several actuated objects at
once. In this case, while clicking the object, hold the
Ctrl
-key instead
of the
Shift
-key. The reversed components will remain actuated until
the
Ctrl
-key is released again; this is how all applicable objects will
simultaneously switch back to their original position.
Switching to the Edit Mode If a component is dragged from the component library to the circuit in
the drawing area, and the simulation has been paused , FluidSIM
automatically switches to the Edit Mode.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 69
4. Advanced Concepts in Simulating and Creating Circuits
Editing and Simulating in
Parallel
In FluidSIM it is possible to open more than one circuit diagramat a
time. Each circuit can either be simulated or edited. This fact means
that the Simulation Mode and the Edit Mode are applied uniquely and
independently to each window containing a circuit diagram.
This concept means that it is possible to edit one circuit diagram, while
other circuits are in the background running in simulation:
70 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
Its in the nature of hydraulics that the simulation of circuits is a
demanding problem. Therefore, when using a lower-performance
computer, the editing of new circuit diagrams often appears jerky
when simulations of other circuits are simultaneously running in the
background. So that working in the Edit Mode goes more smoothly, all
simulations performed in the background should be stopped.
4.4
Linking Components
Automatically
In order to make circuit design efcient, FluidSIM provides more
functions to facilitate component linking.
Insertion of T-connections
FluidSIM automatically inserts a T-connection when a line is drawn from
a component connection . to an already existing line. This functionality
applies to hydraulic as well as electrical and digital lines.
Connecting Components in
Series
In major circuits several components are often connected in series. To
reduce the effort of connection in such a serial connection you may
place components without a distance and on the same level in such way
one after another that neighboring in or outputs will meet; this is how
FluidSIM automatically establishes the connections of these inputs and
outputs.
These connections will be visible by displaying lines when you move the
components away from each other.
FluidSIM will only establish the connections of components once a
simulation is started or when a circuit is checked graphically (see
Section 4.10).
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 71
4. Advanced Concepts in Simulating and Creating Circuits
4.5
Current Path Numbering
and Switching Elements
Table
The automatic generation of current paths simplies the identication of
switches and relays when constructing electrical circuits. Along with
the generated switching element tables FluidSIM makes it easy to
understand which switches are controlled by which relays. To make
the automatic labeling feature a satisfactorily working concept, the
following points should be obeyed.
The +24V current path should form the top horizontal line.
The 0V current path should form the bottom horizontal line.
The electric make/break/changeover switches should be placed
above the relays.
The relays should be placed closed to the bottom 0V current path.
All connections of a vertical current path should align.
The horizontal distances between the paths should be equal and of
reasonable distance.
If the automatic numbering or the label positions are not entirely
satisfying, a manual adjustment of a few lines or components will yield
the desired layout quality in most cases. If two separated electrical
circuits cause an unfavorable numbering, try to increase the distance
between these circuits.
The automatic current path numbering can enabled or disabled via View
/ Display current path numbering and switching elements table .
72 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
4.6
Terminal Assignment
Diagrams
The automatic establishment of terminal assignment diagrams will
help you with the clear wiring of external switches, sensors and state
indicators outside the control cabinet with the relays and switches
inside. FluidSIM automatically and appropriately numbers the terminals
in the electrical part of the circuit as soon as you place the component
terminal assignment diagram in the circuit.
Using Options Terminal Assignment Diagram... you may dene several
presettings:
Description of the dialog box:
Optimize
You may choose either a better overview or a reduced number of
terminals for an optimization goal.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 73
4. Advanced Concepts in Simulating and Creating Circuits
Wire up
Please choose whether FluidSIM is to commit to the logical order
when numbering the terminals or, if possible, whether it is to
privilege bridges, even if this causes to disturb the strict order of
numbering.
Terminal Designation
Denes which convention will rule the designation of the terminals
in the electrical circuit.
Please leave plenty of space in the electrical circuit between the
components and towards the voltage supply paths to give enough room
for the automatically inserted terminal connections as well as their
designation to be seen.
FluidSIM starts a new terminal strip for each partial circuit that provides
no connection with other electrical circuits. These are numbered by
X1, X2, X3, etc. Each terminal allocation list may either show all
terminal strips or a single one. In order to do this please open the status
dialog of the terminal allocation list by double-clicking it:
74 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
Description of the dialog box:
Selection
Denes for which electrical partial circuit the allocation will be
listed in this table.
Layer
In this selection list you will select the drawing layer of the diagram.
The drawing layer may be set by clicking on the downward arrow on
the right-hand side of the list and choosing a layer.
Depending on the setting of the drawing layers, the rectangle may
happen to be non-displayed or to be non-editable. To make the
object visible or to change the settings, you need to temporarily
activate the drawing layer in the menu View Layers... .
4.7
Displaying Quantity
Values
The values for all or only selected quantities of a circuit can also be
displayed without measuring instruments.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 75
4. Advanced Concepts in Simulating and Creating Circuits
> Click under the View menu on Quantity Values... to open the dialog
box for the display of quantities:
For each of the listed quantities (Velocity, Pressure, ...) a display
mode can be chosen.
The display of pressure, ows and force values allows the choice of
different units. This settings inuence the display of state variables of
connections, components and state diagrams.
76 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
Description of the dialog box:
None
No values are displayed for this quantity.
Particular
Values are displayed at those connections that the user has
previously chosen.
All
Values are displayed at all connections for this quantity.
Display Measurement Units
Enable this option if both state values and the related units shall be
displayed.
For each quantity there is a key short cut for toggling between the three
display modes. The Shortcut column of the dialog box for the quantity
display shows the appropriate keys.
Selecting connections for the display of single parameters is explained
here:
> Open a circuit diagram.
> Change into the Edit Mode and double click on a component
connection, or click under the Edit menu on Properties... .
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 77
4. Advanced Concepts in Simulating and Creating Circuits
A dialog box with the connection settings opens. The eld Show
Values denes the state values to be displayed when the selected-
option in the state values dialog box is chosen. However, if the no-
option in the state values dialog box is chosen, even the checked state
values are not displayed.
The settings for the display behavior for state values belong to
the current circuit diagramonly. Hence, for several open circuit
diagrams, different view options can be dened. By clicking on Options
Save Settings Now , the view option settings of the current circuit are saved
and serve as default for newly opened circuit diagrams.
Special Features of the
Quantity Display
Vector quantities are characterized by an absolute value along with a
direction. To indicate the direction within a circuit diagramthe signs +
(into or toward a component) and (out of or away from a component)
are used. An arrow may also be used to display direction. FluidSIM uses
both representations:
Quantity Direction indicator
Flow Sign, arrow
Velocity Sign
Force Sign
Current Sign
The arrow as a direction of ow indicator can be turned on or off by
clicking under View Display Flow Direction . The arrow for the direction of
ow will be shown clear the component connection, that is, as long as
the ow is other than zero.
If the total value of a quantity is extremely near to zero (< 0.0001), no
numerical value will be displayed. Rather, the symbol > 0 for a small
positive value or < 0 for a small negative value is shown.
78 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
4.8
Displaying State
Diagrams
The state diagramrecords the state quantities of important components
and depicts themgraphically.
You may use several state diagrams in one window as well as to display
several components in the same diagram. By dragging a component
on the diagramyou will add the component to the state diagram. A
selection dialog will open where you may select the state variables to
be logged as well as to dene different colors. Dragging on the diagram
again will reopen the dialog, allowing you to change your choice. In case
no state variable of a component is selected, the component will be
removed from the diagram.
> When in edit mode please double-click the state diagramor select
the menu option Edit Properties... .
The following dialog box opens:
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 79
4. Advanced Concepts in Simulating and Creating Circuits
Description of the dialog box:
Display Interval
This is where you may enter starting point and terminal point of
the interval, dening how the state variables be logged. Prior
to the simulation, you dont need to necessarily know when the
interesting events are going to happen; the display interval may
also be changed after the simulation, since FluidSIM internally logs
all values all the time of the simulation.
If you select the eld adjust automatically, the dened limits will
be ignored and the time axis will be scaled in such way that the
entire period of the simulation can be displayed.
Activate the eld run automatically, if the diagramis to the last
n seconds. In this case, the time axis will be displaced to the left-
hand side once the simulation period exceeds the dened time
window. In the input eld you may dene how many seconds are to
be displayed in the applicable time window.
Log File
The state values be written to a le. To enable this option enter the
complete path of a le and set a reasonable step width.
Note that a large amount of data can be written the step width is
very small. Hence, if necessary, shorten the simulation interval or
increase the step width.
If the option Record state changes only is enabled, FluidSIM lists
only values if at least one state variable incurred a state change.
This option simplies the detection of interesting simulation points-
80 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
Color
Denes the color of the diagram. It is set by clicking on the down-
arrow at the right-hand side of the list and selecting a color.
Fill Area
Denes whether the entire diagramor only its frame is lled with
specied the color.
Line Thickness
This is where you dene whether curves in the diagramare to be
thick or thin. Thin lines are appropriate for exact reading of the
values, thick lines are appropriate for spotting the curve from a
distance.
Diagram Columns
This is where you select the columns to be displayed at the
left-hand side of the diagram. The columns Description,
Designation and Quantity value can be combined to your
choice.
Layer
Sets the drawing layer of the diagram. It is set by clicking on the
down-arrow at the right-hand side of the list and selecting a layer.
Depending on drawing layer the diagrammay be invisible or not
selectable. In such a case the drawing layer must be activated via
View Layers... before the diagramcan be modied.
State quantities of the following components can be recorded and
displayed in the state diagram:
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 81
4. Advanced Concepts in Simulating and Creating Circuits
Component State
Cylinder Position
Way valve Position
Pressure Meter, Accumulator Pressure
Shutoff Valve and Flow Control Valve Opening Level
Pump, Engine Speed
Swivel Cylinder Position
Pressure and Switching Valves Status, Pressure
Flow Control Valves Flow
Flow meter Flow, Volume
Switch Status
Relay, Valve Solenoid Status
Indicator Light, Buzzer, Pressure Indicator Status
Counter Status, Counter Value
Function Generator, Voltmeter Voltage
Status Controller, PID-Controller Voltage
4.9
Functional diagram editor
Using the functional diagrameditor, you may easily generate function
diagrams, such as e. g. distance-step diagrams.
By dragging the window edges, the window can be resized. It is also
possible to maximize the window.
The tool bar buttons are used to edit a functional diagram. With the
following six buttons you can chose an operation mode.
Edit mode
Draw diagramcurves
Insert signal elements
Insert text boxes
Draw signal lines and insert signal connections
Insert additional nodes into signal lines
82 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
The chosen mode is pointed out in white. for example indicates
that signal lines are drawn by clicking into the diagramarea.
If the mouse pointer remains for more than one second on a button, a
short description appears on the screen.
Edit mode This mode is used to adjust the objects in the functional diagram.
You can move elements in the diagram. The size of text boxes can be
changed in this mode only.
Move- and resize operations can be aborted with the
Esc
button.
If you move the mouse pointer out of the window area by keeping the
left mouse button pressed, the viewis scrolled automatically.
A double-click on a diagramelement (diagramrow, text, signal element,
etc.) opens a dialog box where the requested adjustments can be made.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 83
4. Advanced Concepts in Simulating and Creating Circuits
Set up diagramproperties A click on the button opens a dialog box in which you can
set up the diagramproperties.
Text columns Number
If the number of the text columns is changed, all tables text boxes
are distributed equally in a horizontal direction.
Text columns Width
If the width of the text columns is changed, all table-text boxes are
distributed equally in a horizontal direction.
Diagramcolumns Number
The diagramcolumns are located on the right side of the functional
diagram. In this area the diagramcurves can be drawn. The number
of diagramcolumns can also be changed by moving the mouse on
the right margin of the diagram.
Diagram columns Width
84 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
Color
Color used for drawing the grid lines in the diagramarea.
Row height
Determines the height of all rows.
Table text boxes On the left side of the functional diagramthe tables text boxes are
located.
A double-click on a table text box opens the corresponding dialog box.
Font size
Font size of the text to be represented.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 85
4. Advanced Concepts in Simulating and Creating Circuits
Color
Choice between sixteen standard colors for the text to be
represented.
Width
The width of the table column you have chosen can also be changed
by moving the mouse.
Height
The height of the table column you have chosen can also be
changed by moving the mouse.
Horizontal adjustment
Following adjustments are available: Left, Centered and
Right.
Vertical adjustment
Following adjustments are available: Top, Centered and
Bottom.
86 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
Table-like adjustment within a table cell
In order to get a table-like adjustment of text within a text box,
tabulators are inserted between the separate parts of the text.
The text is represented in the text box according to the number of
tabulators and the dened horizontal and vertical adjustments.
In order to set tabulators within a text eld of a dialog box it is
necessary to keep the
Ctrl
button pressed.
Examples:
1.
2.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 87
4. Advanced Concepts in Simulating and Creating Circuits
4.9.1
Adjust the representation
of the diagrams
On the right side of a diagramrow you can nd the area in which the
curves can be drawn.
A double-click on this area opens a corresponding dialog box. You can
determine the appearance of the drawing area with it. Please make
sure that there is no diagramelement under the mouse like e.g. a signal
element.
States Number
The entry denes the number of states and by that the number of
horizontal lines in the diagramrow.
88 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
States Base state
Horizontal lines through the base state are drawn with a thin pen.
Numbering Start column
The start column indicates at which column the numbering is to
begin.
Numbering Start number
The start number indicates with which number the numbering is to
begin.
Numbering Number
The number indicates how many steps are to be numbered.
Numbering Step width
Denes the step width between two numbers.
Numbering Loop
If this eld is marked, an equals sign and the start number display
additionally after the last number.
Representation Display arrows
If this eld is marked, two arrows display.
Representation Display grid
If this eld is marked, the background grid displays.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 89
4. Advanced Concepts in Simulating and Creating Circuits
Representation Display text 1
If this eld is marked, a text box displays. It can be used for marking
purposes. This text box belongs to the row you have chosen and
cannot be shifted into another row.
Representation Display text 2
If this eld is marked, an additional text box displays. It can be used
for marking purposes. This text box belongs to the row you have
chosen and cannot be shifted into another row.
Representation Line color
Denes the color of the diagramlines.
Draw diagramcurve In this mode you can draw the diagramcurves. Nodes can only be
inserted on the grid. Every left mouse click creates a newnode.
1. 2. 3. 4.
If you keep the left mouse button pressed, nodes can be moved like in
the edit mode.
Marked nodes are shown in gray color. With the
Del
button a marked
node is deleted.
Insert signal elements In this mode you can insert signal elements with a left-click.
1. 2.
If you keep the left mouse button pressed, signal elements can be
moved like in the edit mode.
90 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
Marked signal elements are shown in gray color. With the
Del
button a
marked signal element is deleted.
A double-click on a signal element in the edit mode opens a correspond-
ing dialog box. You can adjust the representation of the signal element
with it.
Signal type
Display text
If this eld is marked, a text which can be used to mark the signal
element displays.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 91
4. Advanced Concepts in Simulating and Creating Circuits
Color
This is the color showing the signal element.
Insert text boxes In this mode you can insert text boxes by a left mouse button click.
1. 2. 3.
Marked text boxes are shown in gray color. With the
Del
button a
marked text box is deleted.
In the edit mode the size and position of a text box can be changed with
the mouse.
Adjust size:
1. 2. 3.
Move text box:
1. 2. 3.
92 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
A double-click on a text box in the edit mode opens a corresponding
dialog box. You can adjust the representation of the text box with it.
Font size
Font size of the text to be represented.
Color
Choice between sixteen standard colors for the text which can be
represented.
Frame
If this eld is marked, the text box is drawn with a frame.
Width
The width of the text box.
Height
The height of the text box.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 93
4. Advanced Concepts in Simulating and Creating Circuits
Horizontal adjustment
Following adjustments are available: Left, Centered and
Right.
Vertical adjustment
Following adjustments are available: Top, Centered and
Bottom.
Draw signal lines and
insert signal connections
In this mode signal lines can be drawn arbitrarily or can be
transferred automatically by signal elements.
Draw signal lines arbitrarily
Every left-click creates an additional node. You can stop this operation
by clicking on the present line and keeping the
Ctrl
button pressed, by
pressing the
Esc
button or by changing the operation mode. With the
Del
button a marked signal line is deleted. If only one node is marked,
just this node is removed from the line.
In the edit mode you can move the nodes of the signal lines. If you
keep the
Shift
button pressed when you place or move nodes, the
corresponding node is adjusted vertically and horizontally, respectively.
94 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
Change the representation of the lines in the edit mode with a double-
click.
Display description
A framed description on the line and a description next to the
framed description displays.
The framed description can be moved freely on the line. The
additional description can be moved freely.
Start with arrow
An arrow displays at the beginning of the line. The arrow can be
moved freely on the line.
End with arrow
An arrow displays at the end of the line. The arrow can be moved
freely on the line.
Color
Line color.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 95
4. Advanced Concepts in Simulating and Creating Circuits
If you click on a nished signal line in the mode draw signal lines , a
signal connection is inserted. This connection node can be moved freely
on the line.
1. 2. 3. + 4.
In the edit mode the representation of the signal connection can be
changed by a double-click:
Draw signal lines from signals onwards
In the mode draw signal lines , signal lines can be drawn from
signals onwards. Click with the left mouse button on a signal and keep
the mouse button pressed. Move the mouse to a position which you
have chosen as the end point of a signal line. After having released the
mouse button, the signal line is being drawn.
96 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
1. 2. 3.
Draw signal lines from diagram-nodes onwards
In the mode draw signal lines , signal lines can be drawn from curve
nodes onwards. Click with the left mouse button on a node and keep the
mouse button pressed. Move the mouse on a second node. After having
released the mouse button on top of the second node, the signal line is
being drawn.
1. 2. 3.
Insert additional nodes
into signal lines
In the mode insert additional nodes into signal lines , additional
nodes can be inserted into existing signal lines.
1. 2. 3.
Add row By clicking on the button
Add row
, a new diagramrow is inserted
on top of the current selection. If there is no selection on a cell, a new
line is added to the end of the diagram.
Delete row By clicking on the button Delete row , a selected diagramrow is
deleted. If nothing is selected, the button is disabled.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 97
4. Advanced Concepts in Simulating and Creating Circuits
Additional functions
Zoom
With the button 1:1 view the view is reset to the standard zoom
level.
With the button the view is enlarged in size.
With the button the view is reduced in size.
Undo actions
With the button undo , you can undo the last 50 actions.
With the button redo , the actions you have undone before can be
redone.
4.10
Supercial Circuit
Checking
Before a simulation is started, the circuit diagramcan be checked to see
if there are any graphic drawing mistakes present. The mistakes that
lead to errors include the following:
1. objects outside of the drawing area
2. lines that cross through components
3. superimposed lines
4. superimposed components
5. superimposed connections or connections that do not go together
6. open hydraulic connections
7. components that have the same identication assigned
8. mismatched labels (see section 4.11)
9. lines that cross through connections to which they are not
connected
98 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
The following circuit diagramcontains mistakes of type 2, 3, 4, and 6:
> Click on or Execute Check Supercially .
Message boxes should now appear, which inform the user of the graphic
mistakes.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 99
4. Advanced Concepts in Simulating and Creating Circuits
After the instructions, you may decide if the circuit should be simulated
anyway:
In the case that you start a circuit with open hydraulic connections Fluid-
SIM automatically closes these connection with blind plugs.
4.11
Coupling Hydraulics,
Electrics and Mechanics
In the same way FluidSIM allows you to create hydraulic circuit
diagrams, the software also allows you to design electrical circuits. The
components for the electrical circuits can be found in the component
library and dragged from there to be inserted on the drawing area.
Electrical components are connected in the same way that uidic
components are.
100 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
The following illustration shows a small example:
> Create this circuit diagramon your computer.
> Start the simulation and observe that the indicator light is
illuminated.
There are also electrical components that link electrical circuits with
hydraulic circuits. These linking components include switches that are
hydraulically operated and solenoids that control directional valves.
Electrical circuits are drawn independently of hydraulic circuits.
Therefore, there needs to be a way to create denite links between
electrical components (such as a control solenoid) and hydraulic
components (such as a directional valve). So-called labels bridge the
difference and link both circuit diagrams together.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 101
4. Advanced Concepts in Simulating and Creating Circuits
A label has a specic name and can be assigned to a component. If
two components have the same label name they are linked together,
although no apparent line is visible between them.
Entering a label takes place in a dialog box, which can be opened
by either double clicking on the desired component or selecting the
component and then clicking Edit Properties... . Labels can be established
on the left and right sides of an electrically operated valve by double
clicking on the appropriate side, as opposed to clicking in the middle of
the component.
The following example explains how labels can be used in FluidSIM.
> Activate the Edit Mode by clicking on or Execute Stop .
> Create the circuit diagramas shown in the following gure:
102 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
So that the valve can be controlled by the solenoid, you have to link the
components with a label.
> Double click on the control solenoid or simply select the control
solenoid and click under Edit Properties... .
The following dialog box appears:
Description of the dialog box:
Label
This text eld gives the label its name. A label can be up to 32
characters in length consisting of letters, numbers, and symbols.
> Enter a name for this label, for example Y1.
> Double click on the outside of the valve solenoid to open the dialog
box for the label name.
> Input the same label name as for the solenoid, for example Y1.
The solenoid is now linked to the valve.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 103
4. Advanced Concepts in Simulating and Creating Circuits
In practice the valve solenoid would not be directly controlled by the
switch, rather via an intermediate relay. This component has been
neglected here for the sake of simplicity.
> Start the simulation.
The electrical current as well as the pressure and ow distribution are
computed; the pressures are shown in color.
If you want to see the exact values of the quantities at hand, you
can mark themby clicking under View Quantity Values... . The marked
quantities are displayed next to the components connections. Section
4.7 applies here.
> Operate the electrical switch.
As a result the valve switches and the cylinders piston extends:
104 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
Aside from a manual or electrical operation, valves can be controlled
mechanically, either through a cylinder piston or a magnet mounted
at the piston. Such a coupling is realized in the same way an electrical
coupling is established: By means of labels, which are assigned to the
cylinders distance rule and the mechanical valve connection.
> Draw a congurable valve on the drawing area and furnish it with a
mechanical actuator.
> Double click the mechanical actuator.
A dialog opens where a string for the related label can be entered. If
the same label is assigned to the cylinders distance rule, the valve
will become actuated mechanically if the cylinder piston reaches its
predened position.
A particular form of interconnection is presented by the connection of a
cylinder with a displacement encoder. This is how, e. g. in combination
with proportional valves, you may create controlled systems. You will
nd further advice on proportional technology in section 4.18.
> Double-click a cylinder.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 105
4. Advanced Concepts in Simulating and Creating Circuits
A dialog box opens where you may dene the cylinder properties.
Please make sure to have the register Conguration in the foreground
if applicable.
> Activate the box Sensing and add a label.
106 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
> Insert the displacement encoder from the component library in the
circuit and double-click to open the properties dialog. Please enter
the same label here as for the cylinder.
At the output the displacement encoder system provides a voltage
proportional to the piston position of the interconnected cylinder. This
voltage will be at its dened minimumwhen the cylinder is retracted
completely; the voltage will be at its dened maximumwhen the
cylinder is advanced completely.
Display Styles for Labels If a label shall be displayed framed, similar to the display of component
descriptions, click onto View Labels... .
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 107
4. Advanced Concepts in Simulating and Creating Circuits
The following dialog box opens:
In the dialog box for each label of the circuit its style, framed or not
framed, can be dened.
FluidSIM will place the labels automatically in such order that they will
usually be at an appropriate position near the component resp. near
the connection. Instead, you may also move the labels using the mouse
or the keyboard. To do this, please click the label and move it to the
desired position. To change the position using the keyboard, please
mark the label (or the applicable connection) and move it with the curser
keys.
FluidSIM keeps you from moving the label too far away from the
applicable component or the connection. Once a particular distance
is exceeded, you wont be able to move the label any further away in
that particular direction.
108 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
4.12
Operating Switches
This section describes how to operate switches by means of cylinders,
relays, pressure, or other switches.
Switches at Cylinders Limit switches, proximity switches, and mechanically operated valves
can be activated by the piston of the cylinder. Therefore, it is necessary
to use a distance rule at the cylinder to position the switches correctly:
> Drag a cylinder and a distance rule to the drawing area.
> Drag the distance rule near to the cylinder.
When the distance rule is dropped near the cylinder, it automatically
snaps in the right position. Move the cylinder just slightly and the
distance rule moves with it. If you move the cylinder more than a
centimeter in distance, the connection between distance rule and
cylinder is broken, and the distance rule does not travel with.
The correct position for a distance rule depends on the type of cylinder.
Distance rules can be set above the cylinder, before the cylinder (on the
moving piston), or at both positions at the same time:
> Double click on the distance rule.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 109
4. Advanced Concepts in Simulating and Creating Circuits
The following dialog box appears:
Description of the dialog box:
Label
The text insertion elds on the left are for naming labels from
proximity switches or limit switches in electrical circuits, which
are actuated by the movement of the cylinders piston.
Position
The description elds on the right-hand column dene the precise
begin and end positions of the switches and of the limit switch at
the cylinder.
110 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
> At the rst line, please enter 35 for both labels Y1 and for begin
and end position, then please close the dialog box by clicking OK.
Immediately following, a mark with the appropriate label appears
beneath the distance rule:
I.e., this cylinder activates the switch or the valve with the label Y1,
when its piston has moved 35 mm, provided the switch in the electrical
part of the circuit resp. the mechanical connection of the valve was
given the same label.
Once the cylinder in the above example has exceeded the position 35
mm, the switch will be put to off. If you wish the activation of the switch
to last over a longer distance, please enter the applicable begin and end
positions in the dialog.
To place labels for electrical switches, please double-click the compo-
nent; valves with mechanical actuation come with a particularly de-
signed connection, e. g. at the end of the stem, or at the center of the
roller. If the component or the connection has already got a label you
may double-click the label straight away instead of the connection in
order to change the designation.
Relays By using relays, more than one switch can be actuated simultaneously.
It is therefore necessary to couple the relay with the appropriate
switches. Thus in FluidSIM also relays possess labels, which can be
used to couple relays and switches in the previously described way. By
double clicking on a relay, the dialog box for a label name appears.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 111
4. Advanced Concepts in Simulating and Creating Circuits
The following illustration shows an electrical circuit in which a relay
operates two break switches and two make switches at the same time:
Besides simple relays, relays with switch-on delay, relays with switch-off
delay, and relay counter exist. These relays are used when the linked
switch should be actuated after a preset time interval or a number
of pulses received. By double clicking on these relays, a dialog box
appears where the appropriate values can be entered.
Coupling Mechanical
Switches
To mechanically couple mechanical (manually operated) switches in Flu-
idSIM, you have to use labels. When more than one mechanical switch
has the same label, all these switches operate with the switching of only
one.
112 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
Automatic Switch Altering FluidSIM recognizes delay switches, limit switches, and pressure
switches by the nature of their usage and by their labels and supplies
the corresponding symbol for the switch in the electrical circuit: for
switch-on delayed, for switch-off delayed, for mechanical operated
switches, and for pressure operated switches. The representation of
switches that are actuated by cylinders can be determined by selecting
the corresponding switch type in the components properties dialog:
This means that there do not exist special symbols for these switches in
the FluidSIM component library. Instead the symbols for simple switches
can be utilized:
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 113
4. Advanced Concepts in Simulating and Creating Circuits
4.13
Adjustable Components
Certain components contain parameters that can be set in the Edit
Mode. A number of these components have been discussed in earlier
sections.
The dialog box for setting these parameters can be opened with a
double click or Edit Properties... .
During the simulation, some components may be adjusted in the same
way as in reality. Thus e. g. the delivery rate of the pump or the opening
level of the throttle allow to be continuously changed. To do so, it is not
necessary to open the properties dialog and to subsequently close it
using OK ; instead a simple click on the component is enough to open
a window providing slide controllers. Changes will effect the simulation
immediately. Once you click another component or a blank area in the
window, the properties dialog will disappear automatically.
When in simulation mode and moving the mouse across a component,
the mouse curser will change to the slider symbol if the applicable
real-time settings are available.
To help with precision adjustment some controllers provide an optional
control range. You may alternatively enter the numeric value using the
input eld.
114 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
4.14
Settings for Simulation
By clicking Simulation... or Sound... under the Options menu, parameters
and options can be set for simulation.
Simulation Parameters
By clicking under Options Simulation... a dialog box appears with
parameters for simulation:
Description of the dialog box:
Line Colors
During simulation the electrical, the hydraulic and the digital lines
get colored, depending on their state. The mapping from a state to
a color is set by clicking on the down-arrow at the right-hand side of
the list and selecting a color.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 115
4. Advanced Concepts in Simulating and Creating Circuits
Maintain Real Time
Using the option Maintain Real Time will attempt the cylinder
movement to move as fast as in reality. Please note that real time
movement requires a computer with sufcient computing power.
MaximumSpeed
The option maximumspeed utilizes the entire computing power.
The aimis to run the simulation as fast as possible. The actual
acceleration of the simulation depends on the performance of the
computer. If your computer does not at least achieve real-time,
the simulation cannot be accelerated to any higher speed.
Slow-motion Factor
The slow-motion factor controls whether the simulation should go
more slowly then it would in reality. With a slow-motion factor of
1:1, the simulation should proceed in real-time.
Label designation
By default, FluidSIM does not distinguish between uppercase
and lowercase characters in label identiers of mechanical or
electrical connections. I. e., label identiers are automatically
converted to uppercase. Now, using the option Display uppercase
and lowercase, label identiers are treated case sensitively.
Case sensitivity can be enabled for both display purposes and a
more strict label identity checking. In the former case, upper- and
lowercase characters, say, for instance a and A, are displayed as
such, but treated as the same character. In the latter case, which
is enabled by the option Distinguish between uppercase and
lowercase, a and A are treated as different labels.
116 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
Digital Technique (Compatibility with Siemens LOGO!Soft)
It is a useful convention in the eld of digital technology setting
open input ports of AND, NAND, and NOT components to "Hi".
Otherwise, e. g. an AND gate with three input ports would
not function as expected if only two of its input ports were
connected. Many constant "Hi" connections may clutter up a circuit
unnecessarily, and hence FluidSIM can be congured to set open
input ports of the respective components always to "Hi". This
option can be disabled of course. If open input ports have been
detected at the start of the simulation, FluidSIM issues a warning
message. The display of this message can also be disabled.
Sound Parameters
By clicking under Options Sound... a dialog box appears with parameters
for sound settings:
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 117
4. Advanced Concepts in Simulating and Creating Circuits
Description of the dialog box:
Enable Sound
An acoustic signal can be activated or deactivated for each of the
following four component types: switch, relay, valve, cylinder, and
buzzer.
If there is no sound hardware, the settings can be set but not applied.
4.15
Use of the
EasyPort-Hardware
FluidSIM can directly address the EasyPort that is connected to the
serial port your computer. No other drivers or software tools are
required. The interconnection is effected by implementing special
electrical in/out components that provide both eight inputs and
outputs. The components are the same as the ones used for the
interconnection via OPC or DDE. The operation mode of these input and
output components is dened by the use of the menu option Options
EasyPort/OPC/DDE Connection... .
The EasyPort-hardware may also be addressed by using OPC-
communication. This is how you may also address remote EasyPort-
modules that are not connected locally (e. g. using a LAN-connection).
Provided the EasyPort-modules are connected locally to the simulating
computer, you are recommended to dene a direct connection.
> Initially, please select the option direct EasyPort-connection in the
menu Options EasyPort/OPC/DDE Connection... .
> Please drag an input or output component from the component
library in the circuit diagramwindow and open the properties dialog
by double-clicking or by accessing menu Edit Properties... .
118 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
The following dialog box will open:
Description of the dialog box:
EasyPort Assignment
This is where you may dene which serial port the hardware uses
to connect to your computer, which EasyPort-module and which
port number is assigned to the i/o module. If you dont know
exactly which number is used by the serial interface, please use
automatically setting, FluidSIM will scan all COM-ports for
connected EasyPorts.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 119
4. Advanced Concepts in Simulating and Creating Circuits
By standard the EasyPort-hardware comes with a serial interface, which
has proved to work well for years in the world of computers as well
as in the world of industrial use. Modern computers and most of all
mobile ones tend to leave out this interface more and more. Still, you
may inexpensively and simply add a serial interface by using a USB-
serial converter, enabling you to use the EasyPort. The converters own
software denes a virtual COM-port that will be assigned a number
higher than the existing physical interfaces (usually COM 5). This virtual
port will enable you to address the hardware as usual.
Connection Color
Denes the color of the connection indicator for the i/o component
when either the EasyPort-connection is active or when the
connection is not available or out of order.
The color may be dened by clicking the downward arrow on the
right-hand side of the list and then select a color.
If FluidSIM doesnt nd the EasyPort hardware on starting the simula-
tion, a related warning will be shown. The simulation can still be started,
but until the end or until restarting the simulation FluidSIM will not
attempt to detect any EasyPorts. If the connection fails during the sim-
ulation, (e. g. due to unintentionally removing connecting cable), the
simulation will continue without EasyPort-interconnection, but Fluid-
SIM will attempt to reestablish the connection. Once the hardware is
again available at the dened interface, the connection will once again
be established and the simulation will continue including the EasyPort-
communication.
120 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
4.16
OPC and DDE
communication with Other
Applications
FluidSIM can exchange data with other applications; thus it may coupled
with programmable logic controllers, PLC, for instance. Prerequisite
for such a coupling is the ability of the partner application to provide
an OPC interface and to act as a so-called DDE client, respectively.
From within a FluidSIM circuit the DDE coupling is realized by means of
two electrical DDE components, each of which providing eight inputs
and outputs respectively.
Further information and examples regarding the DDE communication
can be found on the FluidSIM-CD in the DDE directory.
> Firstly, enable the option OPC mode in the Options
EasyPort/OPC/DDE Connection... .
> Drag an input (or output) component from the component library
and open the property dialog box by double clicking the component
or by clicking on Edit Properties... .
The following dialog box opens:
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 121
4. Advanced Concepts in Simulating and Creating Circuits
Description of the dialog box:
OPC Server
Enter the OPC server here or click on
Select ...
and select a server
from the list.
Item
Enter the data itemhere or click on
Select ...
and select an itemfrom
the list.
Reverse Function
Inverts the logical values of the DDE components. Normally, current
ow corresponds to a logical 1.
> Select the option Use DDE by clicking Options
EasyPort/OPC/DDE Connection... .
> Select a DDE component from the library, place it onto the drawing
area, and open its property dialog box by either double clicking or
via Edit Properties... .
122 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
The following dialog box opens:
Description of the dialog box:
Label
Label of the DDE component. This label is used from within the
partner application to request or to set values in FluidSIM via DDE.
FPC Address
If FluidSIM is coupled with an application that also provides FPC
addressing support, the addresses of assembly, word, and byte can
be entered here. These settings are necessary only if the option
FPC mode is active.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 123
4. Advanced Concepts in Simulating and Creating Circuits
Reverse Function
Inverts the logical values of the DDE components. Normally, current
ow corresponds to a logical 1.
4.17
Settings for the
EasyPort/OPC/DDE
communication
Clicking on Options EasyPort/OPC/DDE Connection... opens the following
dialog box with settings for the EasyPort, OPC, and DDE communication:
Description of the dialog box:
Do not apply remote control
Please click this eld if you dont wish FluidSIM to communicate
with connected EasyPorts or other applications. If this option is
activated, FluidSIM may ignore any connected EasyPort-module
and may neither respond to other applications trying to establish an
OPC or DDE connection.
124 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
Direct EasyPort-Connection
Select this option if you wish to interconnect FluidSIM with other
locally connected EasyPort-modules.
Enable event buffer
Enable this eld, if FluidSIM shall buffer all events and process
themin a rst-in-rst-out manner. If this option is disabled, events
that occur during high computational load may go lost.
Synchronize input and output
Using this option you will dene whether FluidSIM is to check,
with every change of bit pattern at an output, for the status of
the inputs. This may be useful if the output values, by means of
a circuit that involves the EasyPort-module, inuence the status
of the inputs. Please note that the operation mode may massively
reduce the simulation speed, since FluidSIM may occasionally need
to wait, with every step, for an answer of the connected EasyPorts.
OPC mode
Choose this option, if FluidSIM shall be coupled with other
applications via OPC.
DDE mode
Choose this option, if FluidSIM shall be coupled with other
applications via DDE.
Server
Denes the name under which name FluidSIM logs on the partner
application. As the case may be, this name must be told the partner
application as the server name.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 125
4. Advanced Concepts in Simulating and Creating Circuits
Topic
A topic is necessary to agree upon a common label for the data
exchange. As the case may be, the topic must be told the partner
application.
FPC Addressing Mode
This option must be checked if FluidSIM is coupled with an
application that also provides FPC addressing support.
You will nd notes on interconnecting FluidSIM with EasyPort hardware
in chapter 4.15, handling the OPC or DDE interface is described in
chapter 4.16.
4.18
Open-loop and
Closed-loop Control
Among simple way valves with only discrete switching positions, Fluid-
SIM also provides a number of continuous valves. These are particularly
interesting because they may represent continuous intermediate
positions. These components are addressed - in the same way as
electrically operated way valves - by using a proportional amplier or
a valve solenoid. These are represented by specic symbols:
The individual proportional valve solenoid is used with position
controlled continuous valves that integrate the controller and amplier
part in their valve.
If you unintentionally link a way valve with a proportional valve solenoid
or vice versa a proportional valve with a simple valve solenoid by using a
label, FluidSIM will show a warning.
126 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
The following two sections will introduce you to the possibilities of
open-loop control and closed-loop control with FluidSIM. The term
open-loop control means here that an output variable changes
depending on an input variable. In detail the voltage represents the
input variable at the proportional valve solenoid or at the amplier.
Depending on the value (and on the direction) of the electrical current
caused by the voltage (assisted by an amplier), the valve piston of the
proportional valve will more or less be deected to one direction. This is
the output variable. In the case of a constant pressure at the valve port
you may therefore manage the ow. Instead, in the case of a constant
ow, the pressure drop will change depending on the opening level that
is dened by the valve position.
We speak of closed-loop control when the output variable or a
state variable inuenced by this output variable itself serves as an
input variable. In the course of this several output variables as well
as pending state variables may well be combined with further input
variables when a calculation rule is used. A classical example is
represented by a position control that denes a particular position
to be reached by a cylinder. In this case the valve will be electrically
addressed in such a way that the cylinder travels. The position of the
cylinder (in consequence of the travel depending on the valve position)
will again be used as an input value while the deviation from the desired
position of the cylinder is considered. Once the cylinder has reached its
target position, the deviation is 0 and the valve returns to mid-position
(closed position). Thus the cylinder stops. Should the cylinder, by inertia
or because of outside malfunction or interference, pass the target
position, the valve will switch to the opposite side and will reverse the
direction of ow; the cylinder travels back. This already represents the
simplest form of controlling, the so-called P-control.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 127
4. Advanced Concepts in Simulating and Creating Circuits
4.18.1
Open-loop Control
In order to understand the mode of operation of the continuous
components, please reconstruct the following circuit (voltage supply,
function generator, voltmeter, proportional valve solenoid, continuous
valve):
In the case of the four hydraulic connections of the valve, please dont
forget to seal themby using blind plugs , to avoid warnings issued by
FluidSIM.
> Please launch the simulation and observe the continuous valve.
The function generator generates a signal between 10 and 10 volts.
This varying voltage is converted in the valve by using a proportional
amplier to assign an applicable current to activate the proportional
valve solenoid; converted in such way that the linked valve can be
deected to a maximumto both sides according to the applied signal
voltage.
128 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
In order to be deected less, the valve needs to have less maximum
voltage. We may achieve this by double-clicking and therefore opening
the properties dialog of the function generator.
> Please dene 4 for an amplitude, close the dialog and launch the
simulation again.
Now the voltage will alternate between 4 and 4 volt. This will still
cause the valve to swing symmetrically, but it will show less deection
around the mid-position.
> Please open the properties of the function generator again and
dene 2 for the y-offset.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 129
4. Advanced Concepts in Simulating and Creating Circuits
The function generator now supplies a voltage between 2 and 6 volts,
causing the valve to deect more to the left-hand side than to the right-
hand side.
> Please open the properties of the function generator and dene
Constant for a type of signal.
The slider of the function generator for Frequency and Amplitude
provide no function for the type of signal Constant. Therefore we may
model a manually adjustable potentiometer.
> Please launch the simulation and click (by a single click) on the
function generator.
A window will open showing the slider of the function generator.
> Gradually change the y-offset and observe how the valve moves
subject to the controller setting.
130 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
4.18.2
Closed-loop Control
Now a simple position control is to be put into practice. Please change
the circuit according to the following illustration. Please note that
you need to remove the blind plugfrom the valve connection before
you may dene connections. Instead of the function generator,
the displacement encoder now supplies the input voltage for the
proportional valve solenoid. To dene the label for the cylinder, please
choose the option Sensing in the register Conguration of the
properties dialog.
> Please launch the simulation and observe how the cylinder retracts
and how the valve moves further in the closed position.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 131
4. Advanced Concepts in Simulating and Creating Circuits
This is how the cylinder gradually becomes slower until the moment
it nally and entirely retracted. Strictly speaking this does not exactly
represent a position control because the cylinder would have ended its
movement at the at the stop anyhow. Now we will therefore change the
correlation between piston position of the cylinder and output voltage
in the displacement encoder. If the cylinder is e. g. to stop in the middle,
the valve needs to be exactly in closed position when the cylinder has
reached this position. Since the output voltage changes proportionally
to the piston position, it will be easy to calculate how the voltages at the
two limits (cylinder retracted / cylinder advanced) are to be dened so
that 0 volts are about at the moment of half of the cylinder stroke:
> Please launch the simulation and observe that the cylinder stops
when it reaches half of the distance.
Now we wish to expand the circuit in such way that the cylinder may
arrive, as rapidly as possible and still exactly, at any desired position
that we dene during the simulation by adjusting a controller. For this
we will use a PID-controller.
> Please construct the following circuit and adjust the parameter
values of the PID-controller as indicated.
132 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
Please note that the pump unit and the tank, according to the above
example, are situated in reversed positions.
> Launch the simulation and gradually change the y-offset of the
function generator between 10 and 10 .
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 133
4. Advanced Concepts in Simulating and Creating Circuits
The cylinder will travel until it has found its desired position and will
stop there. The target position of the cylinder acts proportionally to
the dened voltage at the function generator: 10 volts correspond to
entirely retracted, 10 volts correspond to entirely advanced. The
value 0 is therefore the mid-position of the cylinder piston. In the course
of this the position from which the cylinder begins to travel is irrelevant,
it will still stop at the desired target position.
> Change the initial piston position and observe how accurately the
cylinder reaches its target position each time.
To achieve a more precise analysis of the control procedure we will
observe the travel and the speed of the cylinder until it reaches its
desired position. Therefore we include a state diagram, scale it to an
adequate size and drag the cylinder on the diagram. A dialog will open
where we choose the two state variables Position and Velocity.
> Please adjust the y-offset of the function generator to 0 and the
start position of the cylinders piston rod to 0 and then launch the
simulation.
134 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
The cylinder travels as far as the middle and gradually decreases its
speed until it stops.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 135
4. Advanced Concepts in Simulating and Creating Circuits
It often may be desirably to make a cylinder travel by maximum
speed until it reaches its desired position, and to make it stop most
spontaneously. To achieve this we can amplify the position signal of
the displacement encoder and therefore accelerate the reversing of the
control valve. In doing so we make use of the fact that the PID-controller
limits the output voltage of the proportional valve magnet to 10 volts.
136 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
4. Advanced Concepts in Simulating and Creating Circuits
> Please adjust the proportional coefcient of the PID-controller to
10 and launch the simulation.
It is clear that cylinder now travels at a constant speed over a long
distance. It will then be rmly slowed down and will quicklystop
completely.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 137
4. Advanced Concepts in Simulating and Creating Circuits
If instead the cylinder had to actuate a load, it would, because of its
inertia, slightly pass the target and would need to travel back and
forth a few times until it came to rest. These vibrations around the
desired position are typical for such a basic control. In reality one would
attempt, by trimming the additional parameter of the PID-controller
or the status controller, to cushion the vibrations. At this point we
wish to stay with the basics and would like to draw your attention
to the advanced literature on proportional technology and control
technology.
138 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
5. Learning, Teaching, and Visualizing Hydraulics
Beside the creation and simulation of electro-hydraulic circuit diagrams,
FluidSIM also supports teaching basic hydraulic knowledge. This
knowledge is presented in the form of texts, overview pictures, sectional
views, exercises, and educational lms. Functions that realize the
selection of this instruction material are found under the Didactics menu.
One group of these functions refers to information about single,
selected components. Another group of functions refers to ordered
overviews of the didactics material, allowing the selection of an
interesting topic. Finally, it is also possible to select and link together
arbitrary topics into so-called presentations.
Appendix B, The Component Library, and C, Didactics Material
Survey, offer a complete and concise summary of the instructional
material in FluidSIM.
The following sections contain a description of the functions found
under the Didactics menu.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 139
5. Learning, Teaching, and Visualizing Hydraulics
5.1
Information about Single
Components
The rst three entries under the Didactics menu refer to selected
components and are context sensitive. More precisely:
When a component in the current circuit diagramwindow is selected,
or all selected components are of the same type, the menu entry
Component Description will be enabled.
Component Descriptions All components possess a page with a technical description. This page
contains the diagramsymbol for the component according to the DIN
standard (Deutsche Industrienorm), a textual description of the
components function, the designations of the connections, and a listing
of the adjustable parameters along with their value ranges.
You will nd a photograph of the real-life part provided for most
components. In the case that a component cannot exist singularly in
a real system, FluidSIM displays a photo of the assembly group that
this component belongs to. Examples for such components include the
indicator light, relays, switches, and the electrical power supply.
Components, that do not exist in reality, simply have no photo.
Examples include the text component and the distance rule.
> Select the throttle check valve, and click on the menu item
Component Description under the Didactics menu.
140 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
5. Learning, Teaching, and Visualizing Hydraulics
The following page opens:
Under the heading Related Topics, but also when appropriate in
the component description, cross references for related instruction
material and components are dened. By clicking on a cross reference,
the related page will automatically be displayed.
Component Illustrations Component illustrations provide useful information relating a compo-
nents function. This may include a sectional viewof the component,
but also illustrations of the components usage within a circuit diagram.
For several components, their sectional viewcan be animated like a
cartoon.
> Select a 4/2-way hand-lever valve and click on Component Description
under the Didactics menu.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 141
5. Learning, Teaching, and Visualizing Hydraulics
The following dialog box appears:
142 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
5. Learning, Teaching, and Visualizing Hydraulics
> Please click the line with the relevant topic [104] 4/2-way
valve, two pistons (1).
The following picture appears:
Often it is easier to understand the functional nature of a component,
when its behavior is visualized through the use of animation. For
this reason, several components possess different sectional views
showing the component at different states. These sectional views can be
animated in much the same way as a ip book.
> Please mark a 3-way pressure reducing valve and click the menu
option Didactics Component Description to open the window with
the component description. Now click the link with the function
illustration [84] 3-way pressure reducing valve
This function illustration can be animated.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 143
5. Learning, Teaching, and Visualizing Hydraulics
> Click on or Execute Start to start the animation.
An animation can be frozen with or by clicking on Pause in the
Execute menu. or Execute Stop stops an animation, whereas or
Execute Reset restarts an animation.
5.2
Selecting Didactics
Material from a List
The entries Tutorial , Component Library , and Didactics Material under the
Didactics menu present the didactics material of FluidSIM organized in
the form of overview pages. From these pages topics can be chosen
and viewed independently of the current window and possibly selected
components.
Tutorial Below this menu option you can launch the tutorial Simulating with
FluidSIM, which contains a variety of interesting experiments and an
excursus. By means of these useful examples you will get to know the
possibilities of simulating with FluidSIM. Furthermore, for the most
important components the mathematic models used in FluidSIM are
also described.
144 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
5. Learning, Teaching, and Visualizing Hydraulics
> Please click the menu option Didactics Tutorial to open the tutorial.
On the right-hand side the hierarchical directory is displayed. By double-
clicking the directory symbols you may list off or close the applicable
subsections. Clicking a page symbol will display the contents of the
page in the open window.
Component Library Below the menu option Component Library you will nd descriptions and
photos of all FluidSIM-components.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 145
5. Learning, Teaching, and Visualizing Hydraulics
> Click a menu option Didactics Component Library to open the help
pages of the component library.
Didactics Material FluidSIM, alongside the tutorial and the component reference, contains
further didactics material particularly useful for group work.
Moreover, here you will nd educational lms, provided you have copied
themonto the hard disk during the installation. If you havent installed
the lm les, you may choose a chapter via the menu option Didactics
Educational Film... to view the applicable lmfrom the included video-CD.
146 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
5. Learning, Teaching, and Visualizing Hydraulics
> Click the menu option Didactics Didactics Material to open the
overview of the didactics material.
5.3
Presentations: Combining
Instructional Material
Sometimes you may want to examine a topic from different angles or
combine individual topics into a lesson. For this purpose FluidSIM offers
the concept entitled presentation.
There are a number of already prepared presentations, which can be
found on the FluidSIM installation disks. However, editing presentations
or creating new presentations is also possible with FluidSIM. All
presentations can be found under Presentation... in the Didactics menu.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 147
5. Learning, Teaching, and Visualizing Hydraulics
> Click on Didactics Presentation... .
The following dialog box appears:
Description of the dialog box:
Available Presentations
This eld contains a list of already created presentations.
New Presentation...
Clicking on New Presentation... opens a second dialog box for the
creation of a new presentation.
148 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
5. Learning, Teaching, and Visualizing Hydraulics
Edit Presentation...
Clicking on Edit Presentation... opens a second dialog box to
begin editing a presentation.
Preview
When the Preview setting is activated, the picture that pertains to
the selected presentation appears underneath the topics list.
> Click on New Presentation to open the following dialog box.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 149
5. Learning, Teaching, and Visualizing Hydraulics
Description of the dialog box:
Description
In this text eld a short description of the presentation can be
entered. This text may consist of up to 128 characters and will
appear with the other presentations, the next time the presentation
dialog box is opened.
Available Topics
This eld contains a list of all available topics dealing with
Hydraulic Basics, Working Principles, and Exercises.
Moreover, there exist two pictures that can be used to announce
a refreshment and a lunch break respectively. A double click on a
line in the Available Topics list inserts this line in the Selected
Topics list above the highlighted bar. In this way a presentation
can be created or altered.
Moreover, a user can integrate his own circuit diagrams, DXF les,
BMP- and WMF-picture les, or even multimedia les such as
sounds or video clips. To do so, click on User File...: A dialog
box opens that allows for the selection of the desired data source
on the le system.
Selected Topics
This eld contains a list of topics chosen for the current
presentation.
Insert
Clicking on Insert is the same as double clicking a line in the
Available Topics list: The selected line in Available Topics will be
inserted in the Selected Topics list.
150 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
5. Learning, Teaching, and Visualizing Hydraulics
Delete
Clicking on Delete deletes the selected line of the Selected
Topics list.
Preview
When the Preview setting is activated, the picture that pertains to
the selected topic appears underneath the respective list.
Within both topics lists the highlighted bar can be moved using the
arrow keys. Maybe it will be necessary to click and select the list you
want to work with.
After creating a new presentation and closing the dialog box by clicking
on OK, FluidSIM asks you to name the presentation le. Presentation
les have the extension .shw and are located in the subdirectory shw
under the fl_sim_h directory.
The structure of a presentation le is described more thoroughly in
section 8.2.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 151
5. Learning, Teaching, and Visualizing Hydraulics
5.4
Extended Presentations in
the Microsoft PowerPoint
Format
FluidSIM 3 contains an additional large set of presentations written
in the Microsoft PowerPoint Format. To use these presentations,
PowerPoint must not be installed on your PC since FluidSIM installs
the necessary viewer at its installation time.
> Click on Extended Presentation... to open the dialog box of a
presentation.
> Select the item Actuators to open the related presentation in full
screen mode.
Most of the topics form a picture sequence, which can be viewed in a
single-step manner using the left mouse button or the spacebar.
152 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
5. Learning, Teaching, and Visualizing Hydraulics
> Move two single steps forward in the current presentation.
When clicking the right mouse button, a context menu is opened by
which, among others, the presentation can be closed or particular
pictures picked out.
The les of the extended presentations are in the subdirectory ppx of
the FluidSIM installation. You can add new PowerPoint presentations on
your own by copying the related les (format: ppt or pps) into the
ppx-directory.
Like the other didactics material (illustrations of function, component
photos, circuit drawings, educational lms, etc.), the PowerPoint
presentations can linked and used within presentations (cf. Section 5.3).
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 153
5. Learning, Teaching, and Visualizing Hydraulics
5.5
Playback of Educational
Films
The FluidSIM CD-ROM contains 15 educational lms, which last between
1 to 10 minutes in length and cover a specic area of electro-hydraulics.
Provided you have copied the lmles onto the hard disk during the
installation, this menu option will not appear; in this case the lms are
not available directly at Didactics Didactics Material .
> Click on Didactics Educational Film... to open the dialog box that
contains a list of the educational lms.
154 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
5. Learning, Teaching, and Visualizing Hydraulics
Description of the dialog box:
Available Educational Films
This eld contains a list of available educational lms. By double
clicking on a line in the list, the dialog box closes and the media
playback starts playing the selected lm.
Preview
When the Preview setting is activated, a typical scene from the
lm appears underneath the list of titles.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 155
5. Learning, Teaching, and Visualizing Hydraulics
> Click on The Hydraulic Power Unit to start the playback of
the selected lm:
Underneath the window for the media playback, you will the nd the
control elements to start, stop, and wind the lm. A detailed description
of the media playback is available under the standard Microsoft Win-
dows
help.
156 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
5. Learning, Teaching, and Visualizing Hydraulics
5.6
Settings for Didactics
By clicking on Didactics... Options , a dialog box appears that contains the
settings for didactics:
Description of the dialog box:
Animation Speed
This setting denes the speed at which the animations should run.
Spool Presentation
A presentation in FluidSIM can be set to automatically run. For this
the setting Automatically after ...Seconds must be activated. The
time span that can be entered denes how long FluidSIM waits
before switching to the next topic of the presentation. By clicking
on , the presentation will immediately change to the next topic in
the presentation. With the setting set to Manually, no automatic
switching will take place during the presentation.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 157
5. Learning, Teaching, and Visualizing Hydraulics
Loop
Denes whether a running presentation is reset and started over
again after all topics have been displayed. This is known as loop
mode.
158 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
6. Special Functions
This chapter develops further concepts and functions of FluidSIM.
6.1
Drawing Layers
Components in FluidSIM that cannot be simulated, such as texts, DXF
import data, rectangles, circles, state diagrams, and parts lists, can be
assigned to one of eight drawing layers. Each layer can be shown or
hidden as well as set locked or unlocked. These properties are dened
under View Layers... ; here also a layer can be given a name. Components
of FluidSIM that can be simulated are always on layer 1.
Description
The layer name is displayed in the dialog box of an objects
properties instead of the layer number.
Display
If the option Show is disabled, the respective drawing layer is
invisible, and, of course, can not be edited.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 159
6. Special Functions
Edit
If the option Edit is disabled, the respective drawing layer is still
visible but cannot be edited. I. e., the objects that belong to such a
locked layer can neither be selected, nor moved or deleted. By this
concept e. g. a drawing frame can be protected. To edit objects on a
locked layer, rst unlock the layer.
The identiers of components and connections in FluidSIMs standard
circuit library stand on drawing layer two. By disabling the Show-
option for this layer, the identiers are made invisible.
6.2
Graphic Primitives
Rectangles
By selecting a rectangle and clicking on Edit Properties... , or by simply
double clicking it, its property dialog box is opened.
Description of the dialog box:
x
Denes the x-coordinate of the rectangle. Instead of providing a
number, the rectangle can also be moved with the mouse.
160 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
6. Special Functions
y
Denes the y-coordinate of the rectangle. Instead of providing a
number, the rectangle can also be moved with the mouse.
Width
Denes the width of the rectangle. Instead of providing a number,
the rectangle can also be resized by dragging the mouse: If the
mouse pointer is moved onto the rectangles border, the mouse
pointers becomes a resize indicator, , , or . Now the
rectangle can be resized as indicated by holding down the left
mouse button.
Height
Denes the height of the rectangle. Instead of providing a number,
the rectangle can also be resized by dragging the mouse: If the
mouse pointer is moved onto the rectangles border, the mouse
pointers becomes a resize indicator, , , or . Now the
rectangle can be resized as indicated by holding down the left
mouse button.
Color
Denes the color of the rectangles border. A color is set by clicking
on the down-arrow at the right-hand side of the list and selecting a
color.
Fill Area
Denes whether the entire area or only the border of the rectangle
is colored.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 161
6. Special Functions
Line Style
Denes the line style of the rectangle. A line style is set by clicking
on the down-arrow at the right-hand side of the list and selecting a
style.
Layer
Denes the drawing layer of the rectangle. The drawing layer is set
by clicking on the down-arrow at the right-hand side of the list and
selecting a layer.
Depending on the settings of drawing layer, the rectangle may not
be visible or may not be selectable. To display an invisible rectangle
or to change its properties in such a case, the drawing layer must
be activated via the menu View Layers... .
162 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
6. Special Functions
Ellipses
By selecting an ellipse and clicking on Edit Properties... , or by simply
double clicking it, its property dialog box is opened.
Description of the dialog box:
Center x
Denes the x-coordinate of the ellipse center. Instead of providing a
number, the ellipse can also be moved with the mouse.
Center y
Denes the y-coordinate of the ellipse center. Instead of providing a
number, the ellipse can also be moved with the mouse.
Radius rx
Denes the x-radius of the ellipse. Instead of providing a number,
the ellipse can also be resized by dragging the mouse: If the mouse
pointer is moved onto the ellipses border, the mouse pointers
becomes a resize indicator, , , or . Now the ellipse can be
resized as indicated by holding down the left mouse button.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 163
6. Special Functions
Radius ry
Denes the y-radius of the ellipse. Instead of providing a number,
the ellipse can also be resized by dragging the mouse: If the mouse
pointer is moved onto the ellipses border, the mouse pointers
becomes a resize indicator, , , or . Now the ellipse can be
resized as indicated by holding down the left mouse button.
Starting Angle
Denes the ellipses start angle, specied in degree. A value of zero
degree corresponds to the three oclock watch hands position.
Ending Angle
Denes the ellipses end angle, specied in degree. A value of zero
degree corresponds to the three oclock watch hands position.
Color
Denes the color of the ellipses border. A color is set by clicking
on the down-arrow at the right-hand side of the list and selecting a
color.
Fill Area
Denes whether the entire area or only the border of the ellipse is
colored.
Line Style
Denes the line style of the ellipse. A line style is set by clicking
on the down-arrow at the right-hand side of the list and selecting a
style.
164 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
6. Special Functions
Layer
Denes the drawing layer of the ellipse. The drawing layer is set
by clicking on the down-arrow at the right-hand side of the list and
selecting a layer.
Depending on the settings of drawing layer, the ellipse may not be
visible or may not be selectable. To display an invisible ellipse or
to change its properties in such a case, the drawing layer must be
activated via the menu View Layers... .
6.3
Text Components and
Identications
The concept of text components in FluidSIM gives the user a way in
which to describe components in diagrams, assign identication texts,
or to provide commentary on the diagram. The text and the appearance
of text components can be customized to the users liking.
Text components function in much the same as other uidic or electrical
components in FluidSIM. The dummy text component Text can be found
in the component library, and it can be dragged onto the drawing area.
However, text components contain no connections.
As long as the setting Options Protect Text Components remains switched
off, the text components can be marked, dragged, deleted, and rotated
in the same way that other components are handled. When this setting
is activated, the text components can neither be marked nor moved or
deleted. This concept allows the text components to be anchored in the
background. They are out of the way and cannot interfere with changes
or manipulations made to the circuit diagramwhile in the Edit Mode.
> Drag the text component from the component library to the drawing
area.
> Make sure that Options Protect Text Components is switched off.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 165
6. Special Functions
> Double click on the text component or click under Edit Properties...
to open the dialog box for entering new text.
Description of the dialog box:
Text
In this eld the text to be displayed is entered. A new line is entered
by holding down the Ctrl-key while hitting the
Return
key.
Alignment
Activates horizontal text alignment.
Font...
By clicking on Font..., a Microsoft Windows
and FluidSIM.
You are getting negative values for pressure.
Negative values for pressure mean that from a physical standpoint, the
power supply unit is not providing the necessary output. Often, the
reason is that there is a too high tensile load on a cylinder. In reality this
situation can lead to different reactions, depending on apparent loads
and the power supply unit involved. For this reason FluidSIM simply
indicates a negative pressure value.
218 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
8. Help and Advanced Tips
The pressure drop on a pressure relief valve is higher than its preset
targeted nominal value.
There is really no mistake here: A pressure relief valve has a preset
nominal pressure threshold, which is related to a certain pressure ow.
If the ow should increase beyond this value, a larger pressure drop
will occur, according to the resistance characteristics of the valve. The
pressure relief valve is also not in the position to guarantee a certain
pressure in all circumstances.
Components cannot be marked.
Please ensure that the option Protect Text Components is not activated and
that the edit mode for the applicable drawing layer is activated.
Certain editing functions are not available in the context menu.
The context menu contains a practical subset of possible editing
functions. Probably the operation that you would like to utilize applies
only to one component at a time; if this is the case check to see that
only one component is selected.
There is no pressure drop in the circuit, although a T-connection is
apparently open.
T-connections are considered to be different from other connections: As
an aid in drawing, they must not be provided with blind plugs because
they are automatically closed if no line is connected.
The simulation time runs irregularly, although the slow-motion
factor has been set to 1:1, and Keep real-time has been activated.
Both a complex circuit diagramand a slow computer could be reasons
for the inability of FluidSIM to guarantee adherence to real-time.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 219
8. Help and Advanced Tips
At certain connections arrows for the ow direction are not
displayed. The option Display Flow Direction has been activated.
The arrows only appear when a connection actual has a ow passing
through it. This situation is not to be confused with a high pressure at a
connection.
The animation is not repeated, although the Loop option has
been activated.
The Loop option only applies to an animation that is not contained in
part of a presentation.
FluidSIM is not behaving as expected, and you have already exited
Microsoft Windows
then will nd
the bitmap when pasting from the clipboard.
Media Playback Provided the video les have been copied to the hard disk during the
installation, they will played within the FluidSIM window.
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 221
8. Help and Advanced Tips
Launching playback of the FluidSIM-educational lms manually from the
video-CD will open the Media Player. Further hints are described in
the Microsoft Windows
refuses
access to the le. Either the le does not exist or is locked by another
application.
abc does not exist. Create?
You have tried to open a le that does not exist. However, the le can be
opened as a new le.
The le abc can not be deleted.
You have tried to delete a le that does not exist or is write-protected.
360 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
D. Messages
Circuit abc is already opened. Close this window before?
You want to save a circuit diagramunder another name. There is,
however, already another open window with this name. If you close
this window, the le will be replaced.
D.5
System Errors
Simulation aborted. The circuit is too large.
The size of circuit diagrams that can be simulated is bound. You must
reduce the number of components.
Internal capacity of FluidSIM exceeded.
The previous action exceeded the capacity of the internal memory. The
action cannot be completed.
No more windows available.
Microsoft Windows
programs that are running. Then attempt to run the simulation again.
When there is no other possibility to free up memory, the virtual memory
can be increased. Microsoft Windows
, and restart.
The circuit filename.ct has not been saved when the last
FluidSIM session was terminated improperly. Shall this le be
recovered?
FluidSIM has been terminated in an unexpected manner. However, a
backup le was written from which an actual version of the unsaved
circuit can be constructed. If the question is answered with Yes a
window with the recovered circuit is opened; however, the original
circuit remains unchanged. You then can decide if to whether the
recovered circuit shall be saved under the original name.
362 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
Index
Symbols 29
32
65
33
37
37
37
38
23
26
29, 226
20, 227
226
43, 226
175, 228
63, 228
33, 228
65, 228
65, 228
68
234
234
234
235
235
235
99, 230
26, 230
23, 230
27, 230
230
231
231
231
66, 229
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 363
Index
229
66
67
67
67
67
67
67
2/n way valve
congurable 247
3/n way valve
congurable 247
4/3-way proportional valve 261
4/3-way regulating valve 261
4/n way valve
congurable 247
5/n way valve
congurable 247
6/n way valve
congurable 247
8/n way valve
congurable 248
A accumulator 245
Action 202, 297
Action (stored effective) 205
activation 11
actuation
of switches 26
of valves 45
without detent 69
without lock 45
actuators
DC motor 272
Admissible characters 210
364 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
Index
alignment 66
Allocation 205
ammeter 273
ampere meter 273
amplier 299
AND
digital 290
animation
component 143
of diagramsymbols 44
Asynchronous Pulse Generator
digital 295
B background grid
default setting 198
display/hide 68
set type 68
bialog box
picture le 168
bitmap 168
Bitmap 301
blind plug
delete 67
t automatically 100, 358
set manually 67
Boolean value of an assertion 214
C cam switch 300
cartridge valve
closing 258
opening 257
CD-ROM drive 11
check valve 252
pilot to close 253
spring loaded 252
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 365
Index
with pilot control 252
Checking the entries 210
circle 301
circuit diagram
backup 197
creation 28
current 198, 226
default directory 197
drawing mistake 98
load 20
print 175
save 360
simulate 23
supercial checking 98
too large 361
click, see mouse click 1
clipboard
data format 221
general 65
closed-loop control 126
command line 222
comparator 282
compatibility
LOGO 117
component
actuation 69
animation 143
animation within circuit 44
connect 37
copy 65
delete 33, 359
description 140
in clipboard 65
in selection 63
insert 65
366 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
Index
mirror 66
mirror selection 66
move 33
permanent actuation 69
properties 102, 114, 166
rotate 66
rotate selection 66
sectional view 141, 157
select 33
superimposed 98, 358
usage in circuit 141
with label 103
component library
build 188
create 188
display 183
folder view 183
new 188
rearrange 185
tree view 183
using 183
component parameter
adjustable 114
general 114
components
group 69
same description 358
series connection 71
ungroup 69
Compulsory command 215
computer power 24, 71
congurable symbols 49
conguration
cylinder 50
congure
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 367
Index
cylinder 50
symbols 49
connection
close 77
digital 117, 289
electrical 271
general 37
hydraulic 246
incompatible 357
mechanical 298
open 67, 98, 357, 358
properties 77
quantities 77
superimposed 98, 357
context menu 19, 65
context sensitive 140
continuous valve 128
continuous valves 126
control technology 126
controller
comparator 282
PID controller 282
status controller 283
cooler 246
counter
electrical 281
counteracting valve 255
current limiter 281
current path
numbering 72
cycle 163
cylinder
congurable 265
distance rule problem 359
double acting 266, 267
368 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
Index
single acting 267
D DC motor 272
DDE
communication 121, 124
in 283
options 124
out 283
de-installation 16
default directory 197
Delay 213
delay switches 274, 285
detent switch
break 278
changeover 278
make 278
diagram
new 62
print tiled 62
dialog
diagramproperties 84
drawing area 88
functional diagrameditor 82
line options 95
project 196
signal connection 96
signal elements 91
text options 85
dialog box
bitmap 168
cylinder 50
diagram 62
drawing layers 159
drawing size 62
DXF symbol 182
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 369
Index
ellipse 163
exporting parts lists 174
exporting TIFF le 178
import DXF le 180
label 108
paper size 62
parts list 172
rectangle 160
valve editor 35, 59
diaphragmaccumulator 245
didactics
animation speed 157
applications 302
component description 140
cylinder 341
educational lm 154, 355
exercises 344
ow valves 338
gauge 343
hydraulic plant 303
motor 341
physical fundamentals 309
power unit 312
presentation 147
presentations 356
pressure valves 317
sectional view 141, 157
settings 157
shutoff valves 334
symbols 305
tutorial 144
valves 315
way valves 324
differential pressure gauge 268
Digital Basic Functions 290
370 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
Index
Digital Components 288
Digital Constants and Connectors 288
Digital module 291
Digital Special Functions 291
DIN standard 140
directional valves
manually actuated 248250
3/2-way 248
4/2-way 248, 249
4/3-way 249, 250
solenoid 250, 251
4/2-way 250
4/3-way 250, 251
stem-actuated
2/2-way 248
directories of FluidSIM 15
displacement encoder 273
distance rule
general 299
problem 359
usage 109
dongle 11
drag-and-drop 31, 222
drawing
new 62
print tiled 62
size 62
drawing area
objects outside 357
drawing layers 159
drawing mistake 98
DXF
export 179
import 180
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 371
Index
E EasyPort 118
communication 124
options 124
Edge-triggered AND
digital 290
Edge-triggered Wiping Relay
digital 294
edit
redo 63
several circuits 70
undo 63
Edit Mode
activate 69
exit 23
educational lm
CD-ROM drive 11
general 154
overview 355
electrical components 270
american standard 284
ladder diagramstyle 284
electro-hydraulics 100
ellipse 163, 301
Enclosing step 216
error
fatal 362
message 357
exercise
bending machine 345
clamping device 350
drilling machine 354
drying oven 349
embossing press 347
feed control 352
grinding machine 344
372 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
Index
hydraulic crane 351
ladle 348
planing machine 353
roller conveyor 346
Explorer 222
external load
cylinder 54
F le
create 360
delete 360
open 222, 360
replace 360
save 360
save as... 361
unknown format 360
lm, see educational lm 1
lter 245
xed displacement pump 243
ow control valve 260
ow direction indicator
default setting 198
general 78
ow divider valve 260
ow meter 269, 273
analog 269
force prole
cylinder 56, 58
Formula entry 212
Frequency Threshold Trigger
digital 295
function generator 128, 270
function illustration
general 145
functional diagram 300
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 373
Index
functional diagrameditor 300
Functions 212
G GRAFCET 200
Action 202, 297
Action (stored effective) 205
Action when a transition is triggered 216
Admissible characters 210
Boolean value of an assertion 214
Checking the entries 210
Compulsory command 215
Delay 213
Electrical part 206
Enclosing step 216
Formula entry 212
Functions 212
Initialization 208
Labels 212
Macro-step 215
Operative connection 214
Partial GRAFCETs 214
Reference 208
Sequence rules 208
Sequence selection 209
Step 201, 216, 296
Synchronization 209, 297
Target information 214
Time limit 213
Transition 203, 296
Variable names 210
Variable value 209
GRAFCET Elements 296
GRAFCET-I/O 298
graphic primitives 160
cycle 163
374 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
Index
ellipse 163
rectangle 160
square 160
grid, see background grid 1
group
components 69
objects 69
H heater 246
help on problems 217
HI
digital 289
hose 244
hydraulic motor 268
hydraulic reservoir 245
I Initialization 208
Input
digital 288
insert
parts list 171
search 192
installation
FluidSIM 11
FluidSIM in network 224
L label
at component 101
at distance rule 110
display style 108
duplicate 358
frame 108
incompatible 358
Labels 212
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 375
Index
ladder diagram 284
large mouse cursor
activate/deactivate 197
Latching Relay
digital 293
license 362
license connector 11
limit switches 276, 286
line
automatic creation 71
color 25, 115
crosses connection 358
delete 66
digital 289
draw 37
electrical 272
hydraulic 246
move 38
set type 67
superimposed 98, 357
thickness 25
through component 358
LO
digital 289
LOGO
compatibility 117
loop mode
presentation 158
M Macro-step 215
main memory
minimum 11
reorganization 222
small 71
manometer 268
376 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
Index
maximumspeed 116
measuring devices 268
measuring instruments
ammeter 273
voltmeter 273
media playback 156, 221
Media Player 221
memory
exceeded 361
out of 362
Memory bits
digital 288
menu
context sensitive 140
messages 357
miscellaneous 298
model formulation 24
motor 272
mouse click
double 22, 65, 67, 77, 102, 103, 109, 111, 112, 114, 166
double with
Ctrl
key 66
left 10
right 19, 65
with
Ctrl
key 63
with
Shift
key 69
N NAND
digital 290
NAND With Edge Evaluation
digital 290
network
default directory 197
installation 224
option 197, 224
NOR
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 377
Index
digital 290
NOT
digital 291
nozzle 259
numbering
current path 72
O objects
alignment 66
group 69
ungroup 69
Off delay
digital 292
On delay
digital 292
On/Off delay
digital 292
one-way ow control valve 259
online help 240
OPC
communication 121, 124
in 283
options 124
out 283
open-loop control 126
Operative connection 214
options 238
OR
digital 290
orice 259
adjustable 259
Output
digital 288
378 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
Index
P paper
size 62
parameter
cylinder 52
Partial GRAFCET 297
Partial GRAFCETs 214
parts list 171, 172, 300
export 173
picture 168
picture le 168
PID controller 282
potentiometer 130
power supply
connection (0V) 270, 284
connection (24V) 270, 284
presentation
creation 148
edit 149
le format 223
loop mode 158
play 147
topic switching 157
presentations
overview 356
pressure compensator
closing 256
opening 256, 257
pressure indicator 269
pressure reducing valve 255
adjustable 255
proportional 264
pressure relief valve
misbehavior 219
proportional 262, 263
with pilot control 254
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 379
Index
without pilot control 254
pressure sensor 273
analog 269
pressure switches 258, 279, 287
print
circuit diagram 175
preview 175
setup 176
window contents 175
Printer
select 176
project 195
adding les 196
opening les 196
properties 196
removing les 196
property, see component or connection 1
proportional amplier 299
Proportional pressure reducing valve
piloted 264
Proportional pressure relief valve 262
piloted 263
proportional pump 244
proportional technology 126
proportional throttle valve 262
proportional valve
4/3-way 261
proportional valve solenoid 128, 298
proximity switches 280
Pulse Relay
digital 293
pump 243, 244
pump unit 243
simplied 243
within circuit 41
380 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
Index
pushbutton
break 277, 286
changeover 278, 286
make 277, 286
Q quantity
close to zero 78
default settings 198
display 75, 198
units of measure 10
quit
unexpected 362
R RAM, see main memory 1
real-time 116
real-time proportional 25
recover
circuit 362
rectangle 160, 301
registration 362
regulating valve
4/3-way 261
relay
counter 281
delay time 112
general 111
number of pulses 112
simple 281, 287
starting current limiter 281
switch-off delayed 281, 287
switch-on delayed 281, 287
reservoir 245
Retentive On delay
digital 293
rubber band 63, 67
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 381
Index
S scrollbar 19
sectional view 145
semi-rotary actuator 268
sensors
displacement encoder 273
ow meter 273
pressure sensor 273
Sequence rules 208
Sequence selection 209
service components 243
Setpoint value card 271
settings
circuit diagramspecic 197
didactics 157
global 197
save 78, 197
save on exit 198
simulation 115
window specic 197
short circuit 357
shutoff valve 252, 255
shuttle valve 253
signal devices
buzzer 272
indicator light 272
simulation
DDE 121
different modes 27
digital technique 117
EasyPort 118
existing circuits 20
label designation 116
line color 115
maximumspeed 116
OPC 121
382 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
Index
parallel 70
precision 25
real-time 116
settings 115
slow-motion factor 116
start 358
Simulation Mode
activate 23
exit 26, 69
pause 27
reseting parameters 27
slow-motion factor 116
sound
activate 115
change le 223
square 160, 301
starting current limiter 281
state diagram 300
state values
diagram 79
recording 79
status bar
display/hide 197
of FluidSIM 19
status controller 283
status indicator 299
Step 201, 296
supercial checking 98
switch
at cylinder 109
automatic altering 113
capacitive 280
coupling 111, 112
general
break 274, 284
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 383
Index
changeover 274
make 274, 284
inductive 280
limit
break 276, 286
changeover 277
make 276, 286
manually actuated
break 277, 278, 286
changeover 278, 286
make 277, 278, 286
optical 280
pressure 279
break 279, 287
changeover 279
hydraulic symbol 258
make 279, 287
reed contact 276, 277
Reed contact 276
solenoid 280
switch-off delayed
break 275, 285
changeover 275
make 275, 285
switch-on delayed
break 274, 285
changeover 275
make 274, 285
with roll 276, 277
switching element
table 72
symbol
DXF 182
symbols
congurable 49
384 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
Index
Symmetric Clock Generator
digital 295
Synchronization 209, 297
T T-connection 42, 71
T-junction
digital 289
electrical 272
hydraulic 246
table
switching element 72
tank 244
Target information 214
Terminal assignment diagram 300
terminal assignment diagrams 73
text component
general 165, 300
protect 165
throttle valve 259
proportional 262
TIFF export 177
Time limit 213
Timer Switch
digital 294
toolbar
display/hide 197
of FluidSIM 18
Transient sequence 209
Transition 203, 296
tutorial 144
two-pressure valve 253
U undo 63
ungroup
components 69
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 385
Index
objects 69
units, see quantity 1
Unstable step 209
Up/Down Counter
digital 294
V value range
exceeded 359
valve
congurable 247, 248
editor 35, 59
valve solenoid 298
American standard 299
valves
congurable 247
directional 248
ow control 259
pressure 254
shutoff 252
way valves 247
variable displacement pump 244
Variable names 210
Variable value 209
video, see educational lm 1
Virtual triggering 209
voltmeter 128, 273
W warning message 357
way valve
congurable 247, 248
window
arrange 240
not available 361
print contents 175
Wiping Relay
386 Festo Didactic GmbH & Co. KG and Art Systems FluidSIM
Index
digital 293
X XOR
digital 291
Z zoom
circuit diagram 67
component library 67
time-distance diagram 67
with rubber band 67
Festo Didactic GmbH & Co. KG and Art Systems FluidSIM 387