simatic technology news

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SIMATIC TECHNOLOGY NEWS


SIZER V3.4

Sales information

Licensing

New SINAMICS Drives

PLC 317TF-2DP

Firmwareupdate

Pressure/Force Control and Limiting

Path interpolation

Highlights S7-Technology V4.2

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Industry Sector/52 08.11.2011

S7-Technology V4.2

3D-path interpolation

Support of PLC 317 TF-2DP

Pressure controlled hydraulic axes

New Starter / SINAMICS

Licensing

SIMATIC T-PLC - the perfect integration of motion into the SIMATIC

S7-Technology V4.2

Highlights



S7-Technology V4.2

Typical Kinematics in Handling-Applications

The used kinematics determines the transformation equation and is subdivided into the

following groups:

Serial Kinematics Parallel Kinematics

SCARA Articulated-

armDelta 2D Delta 3DRoll -

Picker

Cartesian Portal

2D / 3D

In T-CPU integrated Kinematics (3-Axes-Interpolation)


SIZER V3.4

Sales information

Licensing

New SINAMICS Drives

PLC 317TF-2DP

Firmwareupdate


Path interpolation


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The most important features:

All path axes move synchronized to each other

All axes arrive at the same time at the target position

The path movement will be done with constant velocity (if the

dynamic limit is not exceeded)

The slowest axis defines the maximal path dynamics

S7-Technology V4.2What is Path interpolation?

X

Z

Y

Using in e.g. at handling systems



Linear, circular or polynomial interpolation in 2D or 3D with up to 3

axes.

Technological object (TO) for adaption to the kinematic

Several kinematics available in the system

Path synchronised axis for rotating, CAM switching, measuring

Easy parameter setting of the mechanics (Kinematics) via graphical

editor

Path dynamics can be defined via dynamic profile

Path interpolation and path planning via point table

Protecting zones

Conveyor Tracking

S7-Technology V4.2Highlights Path interpolation with S7-Technology

X

Z

Y



S7-Technology V4.2 Path interpolation: Basic functions

Linear PolynomialCircular

Done

...

ErrorID

AxisGroup

Execute

Pos XYZ Data

Velocity

...

...

DynamicAdpt

MoveLinear

AxisGroup

Execute

Pos XYZ Data

Velocity

...

...

DynamicAdpt

MoveCircular

Done

...

ErrorID

AxisGroup

Execute

Pos XYZ Data

Velocity

...

...

DynamicAdpt

MovePolynom

Done

...

ErrorID



S7-Technology V4.2 Path interpolation: transition behavior, e.g. MoveLinear

X

Y

Pos2Pos1

Pos0

Execute -

MoveLinear

Pos2

Execute -

MoveLinear

Pos1

Radius

Event: Drive to Pos2

Mode1: Append command

Mode2: Overlay the command (Radius, Polynomial)

Mode3: Substitute the command immediately

(Radius, Polynomial)

Radius or predetermined polynomial



S7-Technology V4.2Path interpolation via path planning - MovePath

Highlights :

Easy handling

Velocity change is possible for each segment

Definition of the stop point is possible

M_Fkt output

Up to 240 points per table

Interpolated synchronous axis

Focus :

Standard Handling Applications

Flexible path for motion

for

Pick & Place Applications

Stacking and Palletizing

From the point table

to the motion

POS X POS Y POS Z Radius Override Zwischenhalt M_FCT

P1 0 0 0 0 70 1 99

P2 0 0 500 100 100 0 0

P3 600 400 500 100 80 0 0

P4 600 400 200 0 100 1 100

P1

P2P3

P4

Radius

M_Fkt +

stop point

DB-Path

M_Fct

Done

Busy

ActualSegment

ErrorID

AxisGroup

Execute

PathNr

Velocity

...

...

DynamicAdpt

MovePath



S7-Technology V4.2 Path planning with the MovePath in detail

X

Y

Z

POS X POS Y POS Z Radius Override Stop Point M_FCT

P1 0 0 0 0 70 1 99

P2 0 0 500 100 100 0 0

P3 600 400 500 100 40 0 0

P4 600 400 200 0 100 1 100

... ... ... ... ... ... ... ...

P32 600 400 200 0 100 0 100

P2

P3

P4, stop point - M_Fct100

transition area - Radius

P1, stop point - M_Fct99

v

t

Ovr=70 Ovr=100 Ovr=40 Ovr=100

variable velocity profilePath definition

P1 P2 P3 P4



PLCopen Path Function BlocksPathSelect + MovePath

POS X POS Y POS Z Radius Override *Zwischenhalt M_FCT

P1 0 0 0 -1 70 1 99

P2 0 0 500 100 100 0 0

P3 600 400 500 100 40 0 0

P4 600 400 200 -1 100 1 100

... ... ... ... ... ... ... ...

P32 600 400 200 0 100 0 100

X

Y

Z

P2

P3

P4, Zwischenhalt

- M_Fct100

Überschleifbereich - Radius

P1, Zwischenhalt - M_Fct99

path definition 1

FB 489 „MC_PathSelect“

AxesGroup

Execute

PathData

Segment

Direction

PathDescription

Busy

Done

ErrorID3

ErrorID2

PathLength

ErrorID

Error

FB 488 „MC_MovePath“

AxesGroup

Execute

SegmentNr

Direction

Velocity

Acceleration

CommandAborted

Active

Busy

Done

Deceleration

Jerk

CoordSystem

BufferMode

DynamicAdaption

ErrorID

Error

Code

ActualSector

Stop

POS X POS Y POS Z Radius Override *Zwischenhalt M_FCT

P1 0 0 0 -1 70 1 99

P2 0 0 500 100 100 0 0

P3 600 400 500 100 40 0 0

P4 600 400 200 -1 100 1 100

... ... ... ... ... ... ... ...

P32 600 400 200 0 100 0 100

path definition n

PathSelect MovePath


Industry SectorPage 14/52 08.11.2011

S7-Technology V4.2Path interpolation and Kinematics

User plans his motion in Cartesian space.

The kinematics are handled automatically!

User wishes to plan the path of the TCP (Tool Center Point) and he wants to define the

motion path to this goal.

unequal kinematics

same path

Cartesian Space



Basic coordinate system

The path planning is in the Cartesian coordinate system

or the shifted object coordinate system.

S7-Technology V4.2

Kinematics - Transformation

A0

A1

A2

Z

X

Y

TCP

Machine coordinate system

The machine coordinate system consists of each axis

and joint positions

Transformation

Calculate the (TCP-) position

in space from the real axis

position and the joint angles

Calculate the necessary joint

angles and the axis position from

the (TCP-) position .

Back transformation

The conversion between two different coordinate systems is called Transformation.

The Cartesian coordinate system is a cube, which we can visualize.



S7-Technology V4.2 The used coordinate systemsBasic- (BCS), Object- (OCS) and Machine coordinate system (MCS)

MCS: Machine coordinate system

BCS: Basic coordinate system

OCS: Object coordinate system



S7-Technology V4.2 Programmable displacement of the PCS

Shift and Rotation of

OCS to BCS

FB 480„MC_SetCartesianTransform“

AxesGroup

Execute

TransX

TransY

CommandAborted

Active

Busy

Done

ErrorID

Error

TrackingAxis

TransZ

RotX

RotY

RotZ

Technological Function FB480 “MC_SetCartesianTransform”

Transformation of the picking position

Picking

position

PLCopen command for Coordinate transformation.



S7-Technology V4.2

Synchronous motion on the path

Additional motion is often required along the path. These path synchronous motions are carried out along part of the

path or over the entire path length. If the path is stopped, the synchronous axis will also stop.

Example: Gripper orientation, position of working bodies, Format change (delay) on the gripper

Gripper head with

alternating orientation

SCARA

top viewXZ

Y

Orientation 0° Orientation -90°



Fixed filing positions on a

pallet

S7-Technology V4.2

Conveyor tracking

The handling device must follow the moving products by conveyor tracking (also called Line tracking or Belt tracking)

for pick up or process. Additionally, an object coordinate system can be defined, which can be continuously moved

with a conveyor system. The TCP is synchronized to the conveyor movement. The object coordinate system can be

arbitrarily arranged in space.

Z

X

TCP

Z

X

Y

Y

Moving pick-up position on the

conveyor belt

Basic coordinate system

Product coordinate system



S7-Technology V4.2Conveyor tracking - GroupSyncConveyorBelt

FB 494„MC_GroupSyncConveyorBelt“

AxesGroup

Execute

SyncMode

SyncPosition

Active

Busy

InSync

Error

ErrorID

Velocity

Acceleration

Deceleration

Jerk

CommandAborted

FB 495

„MC_RedefineTrackingPos“

AxesGroup

Execute

Distance

Mode CommandAborted

Active

Busy

Done

ErrorID

Error



S7-Technology V4.2Zone concepts

Different zones can be defined by the user and the system is monitoring at the starting or during

the movement

Monitoring collision between TCP (or product zone) and the blocking zone.

On collision the motion will be stopped at the border of the zone.

Monitoring TCP in a user defined area.

FB 492 „MC_ZoneCheck“

AxesGroup

Execute

Mode

ZoneData CollisionKinLimitZone

Active

Busy

Collision

CollisionWorkingZone

CollisionProductZone

CollisionBlockZone

CollisionWatchZone

Error

ErrorID

ErrorID2

Workingzone

Kinematic monitoring

zone

Productzone



S7-Technology V4.2Overview new PLCopen function blocks for path interpolation

Path command Description

MC_PathSelect Path selection for handling

MC_MovePath Path command for handling

MC_GroupInterrupt Interrupt the motion on the path

MC_GroupContinue Continue the interrupted motion on the path

MC_GroupStop Abort path

MC_MoveLinearAbsolute Linear absolute motion on the path

MC_MoveLinearRelative Linear relative motion on the path

MC_MoveCircularAbsolute Circular absolute motion on the path

MC_MoveCircularRelative Circular relative motion on the path

MC_MoveCircles Circular motion

MC_MovePolynomialAbsolute Polynomial absolute motion on the path

MC_MovePolynomialRelative Polynomial relative motion on the path

MC_ZoneCheck Collision monitoring (e.g. for Handling)

MC_GroupSyncConveyorBelt Synchronization to a running conveyor

MC_RedefineTrackingPos New definition of the pick-up position on the

conveyor belt



Y (OCS)

10

40

30 5020 40 60 80 10070

90

Y (BCS)

10

20

30

50

60

70

100

90

80

R

R

40

90

20

30

50

60

70

100

80

10

110

120

130

X (BCS)

X (OCS)

10 30 5020 40 60 80 10070 90 110 130 150120 140 160 180170 210 230220 240190 200

110 130 150120 140 160 190170 180 200

Path InterpolationPath movements with single commands (MoveLinear, MoveCircles)

P0

P1/7(0,0) P2(0,40,R=10)

P3(4040) P4(80,40)=20

=40

P5(120,80)P6(0,80, R=10)



X

Y

P1/9/17

100

200

300

400

500

600

100 200 300 400 500 600 700 800 900 1000

P2/8/10/16

P12/14

P5

P3/7/11/15 P4/6

P13(100,50,R=-1,M=0)

(100,300,R=0,M=0)

(600,50,R=-1,M=1)

(300,500,R=50,M=0) (600,500,R=150,M=0) (800,500,R=150,M=0)

(800,50,R=-1,M=2)

Override=50%

HandlingPalletizer with “MovePath”



Path InterpolationSimple contours with “MovePath”

P0

Y (BCS)

40

90

20

30

50

60

70

100

80

10

110

120

130

X (BCS)

10 30 5020 40 60 80 10070 90 110 130 150120 140 160 180170 210 230220 240190 200

P1 P2

P3P4

P5P6

P7P8

110 130 150120 140 160 190170 180

Y (OCS)

10

40

30 5020 40 60 80 10070

90

10

20

30

50

60

70

100

90

80

X (OCS)P1/9(0,0) P2(170,0,R=30)

P3(100,80,R=10)P4(70,80,R=10)

P5(70,50,R=10)P6(40,50,R=10)

P7(40,80,R=10)P8(0,80,R=10)



No Tool Compensation

No G-Code

No NC- Editor

No „Look Ahead“ (important for constant path speed on

contours with short segments)

S7-Technology V4.2Important delimitation to an typical NC-Controller

X

Z

Y

The usability of the Technology CPU on applications with very fine

contours has to be double-checked in advance !



S7-Technology V4.2Projecting handling applications in 3 Steps

Step 1:

Defining Axes

Step 3:

Programming in STEP7

Embedding in standard-PLC-Programs

Using of predefined function blocks

FB- Supporting for monitoring collisions.

Step 2:

Selecting mechanics and parametrize Kinematic-Parameters

Construction of the machine Selecting the Kinematic

with S7-Technology

Parametrize the mechanical

parameters with S7-Technology



S7-Technology V4.2 Handling with CPU31xT-2DP – Customer benefits

SIMATIC CPU 31xT-2DP - the clever „All in one - solution“

Reducing development costs by using predefined Handling function blocks

Standardization by consistent automation concept

Reduced Set up time by simplified test and diagnosis

Investment protection by re-use of know how already existing


SIZER V3.4

Sales information

Licensing

New SINAMICS Drives

PLC 317TF-2DP

Firmwareupdate


Path interpolation


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S7-Technology V4.2Pressure/Force control and limiting

Position-Feedback

IM174

FPressure/Force Feedback

Setpoint

ET200S HS

CPU317TF



New function blocks New engineering masks

S7-Technology V4.2Pressure controlled hydraulic axes



S7-Technology V4.2Pressure/Force limiting - New technological function

HydraulicPresses

FB 470

„MC_ForceLimiting“

Axis

Execute

Mode

ConditionMode

CommandAborted

Busy

ForceLimited

Done

ErrorID

Error

ForceLimitingProfile

ForceValue

ForceDerivedValue



S7-Technology V4.2Pressure/Force limiting - New technological function



S7-Technology V4.2Pressure/Force control - New technological function

FB 471

„MC_ForceControl“

Axis

Execute

Mode

ConditionMode

CommandAborted

Busy

InForceControl

Done

ErrorID

Error

ForceControlProfile

InputNumber

CompareMode

ConditionValue

ForceValue

ForceDerivedValue

VelocityLimitingValue



S7-Technology V4.2Pressure/Force control - New technological function


SIZER V3.4

Sales information

Licensing

New SINAMICS Drives

PLC 317TF-2DP

Firmwareupdate


Path interpolation


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The following PLCs get after FW-

update the new features of S7-

Technology V4.2:

PLC 315T, 256 KB 6ES7315-6TH13-0AB0

PLC 317T, 1024 KB 6ES7317-6TK13-0AB0

FW update will be available as a download

after delivering release in Prodis.

S7-Technology V4.2Firmwareupdate

SIMATIC CPU 317TF-2 DP – the clever „All in one - solution“


SIZER V3.4

Sales information

Licensing

New SINAMICS Drives

PLC 317TF-2DP

Firmwareupdate


Path interpolation


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SIMATIC PLC S7-317TF-2DP

Integrated Motion Control functions and Safety

The SIMATIC PLC S7-317TF-2DP integrates

Standard functions, Motion Control and Safety

in one S7-PLC with the engineering toolset

S7-Technology 4.2

Features:

Hydraulic axes

Path interpolation as system function

Fail safe user program for the realization of safety

concepts (emergency stop, light curtains,

door contacts, ...)

Use and activation of drive integrated safety functions



SIZER V3.4

Sales information

Licensing

New SINAMICS Drives

PLC 317TF-2DP

Firmwareupdate


Path interpolation


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Support of new drives via SSP:

SSP SINUMERIK SINAMICS S120 V2.6.2

SSP SINAMICS DC Master V1.x

SSP SINAMICS G120 V4.3.x

SSP SINAMICS V4.3.x

S7-Technology V4.2Support of new SINAMICS drives


SIZER V3.4

Sales information

Licensing

New SINAMICS Drives

PLC 317TF-2DP

Firmwareupdate


Path interpolation


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Floating License:

The software can be installed on any number

of devices within a company. At any point of

time only one user per license may use the

software.Use begins with the start of the

software and ends when the software is

closed.

Trial License:

Only one installation of the software is

permitted. The use of the software is restricted

to 14 days. The software is used for testing

and evaluation purposes.

S7-Technology V4.2Licensing

Starting with S7-Technology V4.2 it‘s

needed a license for engineering

Technology :


SIZER V3.4

Sales information

Licensing

New SINAMICS Drives

PLC 317TF-2DP

Firmwareupdate


Path interpolation


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SIMATIC Technology

S7-Technology V4.2 6ES7864-1CC42-0YA5

Upgrade S7-Technology V4.2 6ES7864-1CC42-0YE5

Sales InformationS7-Technology




SIMATIC Technology-PLC

CPU 315T, 256 KB 6ES7315-6TH13-0AB0

CPU 317T, 1024 KB 6ES7317-6TK13-0AB0

CPU 317TF, 1,5 MB 6ES7317-6TF14-0AB0

Sales InformationT-CPU



SIZER V3.4

Sales information

Licensing

New SINAMICS Drives

PLC 317TF-2DP

Firmwareupdate


Path interpolation


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New Features:

Performance calculation T-CPU with PROFIdrive drives

Supporting CPU 317TF-2 DP

Performance calculation for Path interpolation

Delivery release: 10/2010

SIZER V3.4



Fast and easy performance calculation via PROFIdrive drive

SIZER V3.4 Performance calculation with PROFIdrive Drive



Performance calculation (Motion) for the new CPU 317TF-2 DP

SIZER V3.4 Supporting CPU 317TF-2DP



Performance calculation (Motion) for Path interpolation

SIZER V3.4 Path interpolation


Siemens AG

I IA AS FA PS 5

90475 Nürnberg

Gleiwitzer Str.555

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Thank you for your attention!

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