本书介绍基于西门子机电一体化概念设计（NX MCD）模块的生产线数字孪生制作与调试技术，主要内容分为两部分：第壹部分（第1~6
章）为机电一体化概念设计建模技术，包括简单几何体的三维建模、机电对象运动设置，以及过程控制与协同设计等技术，涵盖了基本机电对象、运动副、耦合副、传感器、运行时参数、运行时表达式、运行时行为、信号、仿真序列、代理对象和协同设计等的创建与应用；第二部分（第7、8章）为虚拟调试技术，包括硬件在环虚拟调试和软件在环虚拟调试，主要涉及虚拟调试系统软、硬件环境的搭建技术，以及通过OPC接口组件实现NX MCD虚拟设备与PLC信号连接的控制调试技术。书中的各个项目均保留了制作与调试过程的详细信息，尽可能让读者能够零基础地按步骤重复操作。
本书可作为高职高专院校智能控制技术、电气自动化技术和机电一体化技术等相关专业的教材，也可供从事工业生产数字化应用开发、调试与现场维护的工程技术人员参考。

第1章　绪论···············································1

1.1　数字孪生技术概述···································1
1.1.1　数字孪生的概念·························1
1.1.2　西门子数字双胞胎技术简介······2
1.1.3　西门子数字双胞胎的
实施工具·····································3
1.1.4　数字双胞胎技术中的
虚拟调试·····································4
1.2　机电一体化概念设计概述························4
1.2.1　机电一体化概念设计简介·········4
1.2.2　机电一体化概念设计的特点······5
1.2.3　数字双胞胎与机电一体化
概念设计·····································6
1.3　机电一体化概念设计的技术优势············7
1.4　机电一体化概念设计流程······················10
1.5　机电一体化概念设计案例······················11
1.6　本章小结·················································12
习题··································································12
第2章　 机电一体化概念设计
软件简介·····································13

2.1　软件环境简介·········································13
2.1.1　进入机电一体化概念设
计软件环境·······························13
2.1.2　主菜单命令·······························15
2.1.3　工具栏命令·······························19
2.1.4　“带条”工具栏命令···············23
2.2　软件故障处理·········································26
2.3　本章小结·················································28
习题··································································28
第3章　基本机电对象与执行器·············31

3.1　基本机电对象与执行器概述··················31
3.2　创建机电一体化概念设计训练平台··············31
3.2.1　创建步骤···································32
3.2.2　视图操作···································33
3.3　基本机电对象·········································36
3.3.1　刚体··········································36
3.3.2　碰撞体·······································43
3.3.3　传输面·······································51
3.3.4　对象源·······································55
3.3.5　碰撞传感器·······························59
3.3.6　对象收集器·······························60
3.3.7　对象变换器·······························65
3.3.8　碰撞材料···································68
3.4　执行器·····················································71
3.4.1　速度控制···································71
3.4.2　位置控制···································73
3.5　本章小结·················································75
习题··································································76
第
4
章　 机电一体化概念设计的
运动仿真···································77

4.1　 机电一体化概念设计运动仿真概述······77
4.2　运动副·····················································78
4.2.1　铰链副·······································78
4.2.2　固定副·······································81
4.2.3　滑动副·······································85
4.2.4　柱面副·······································89
4.2.5　球副··········································91
—· VII ·—


4.2.6　螺旋副·······································93
4.2.7　平面副·······································95
4.2.8　弹簧副·······································96
4.2.9　弹簧阻尼器·······························99
4.2.10　限制副···································101
4.2.11　点在线上副···························103
4.2.12　路径约束运动副···················103
4.2.13　线在线上副···························105
4.3　耦合副···················································107
4.3.1　齿轮副·····································107
4.3.2　机械凸轮副·····························113
4.3.3　电子凸轮·································120
4.4　传感器···················································122
4.4.1　碰撞传感器·····························122
4.4.2　距离传感器·····························122
4.4.3　位置传感器·····························124
4.4.4　通用传感器·····························125
4.4.5　限位开关·································126
4.4.6　继电器·····································127
4.5　约束·······················································128
4.5.1　断开约束·································128
4.5.2　防止碰撞·································131
4.6　变换对象属性·······································132
4.6.1　显示更改器·····························132
4.6.2　变换对象·································134
4.7　 物理定义转换—概念模型替换为
详细模型···············································135
4.8　本章小结···············································138
习题································································139
第
5
章　 仿真的过程控制与
协同设计·································141

5.1　过程控制与协同设计简述····················141
5.2　运行时参数与运行时表达式················141
5.2.1　运行时参数·····························141
5.2.2　运行时表达式·························143
5.2.3　虚拟轴运动副·························148
5.3　信号与运行时行为·······························150
5.3.1　信号与信号适配器·················150
5.3.2　运行时行为·····························157
5.4　仿真序列···············································164
5.5　代理对象···············································169
5.6　使用标记表读写参数····························186
5.7　协同设计···············································189
5.7.1　MCD 的SCOUT 协同设计····189
5.7.2　使用SIMOTION SCOUT
工具编辑·································197
5.7.3　通过SIZER 选择电动机········201
5.8　本章小结···············································211
习题································································211
第
6
章　简单生产线的仿真制作·········213

6.1　生产线模型简介···································213
6.2　部件模型的制作···································214
6.3　机电概念设计·······································217
6.4　知识拓展···············································251
6.5　本章小结···············································256
习题································································256
第
7
章　虚拟调试技术·························257

7.1　虚拟调试概述·······································257
7.2　硬件在环虚拟调试·······························259
7.2.1　项目一：TIA + PLC+
KEPServerEX 硬件在环虚拟
调试········································259
7.2.2　项目二：TIA + PLC+ SIMATIC
NET 硬件在环虚拟调试·········274
7.2.3　项目三：TIA + PLC1500
（OPC UA）硬件在环
虚拟调试·································298
7.3　软件在环虚拟调试·······························305
7.3.1　项目四：TIA + PLCSIM
—· VIII ·—


Advanced（SOFTBUS）软件在
环虚拟调试·····························305

7.3.2　项目五：TIA + PLCSIM
Advanced（OPCUA）软件在环
虚拟调试·································313
7.3.3　项目六：TIA + PLCSIM+Net
ToPLCsim+KEPServerEX 软件
在环虚拟调试·························323
7.4　本章小结 ··············································339
习题································································340
第
8
章　流水灯虚拟调试项目·············341

8.1　流水灯虚拟调试项目概述····················341
8.2　项目一：流水灯全回路虚拟调试········341
8.2.1　流水灯项目简介·····················341
8.2.2　创建各个部件的三维模型·····343
8.2.3　机电一体化概念设计
测试模型·································348
8.3　 项目二：基于仿真序列的PLC
程序
生成与调试···········································361
8.4　本章小结···············································383
习题································································383
参考文献·················································384