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1 SIMATIC TECHNOLOGY NEWS

2 SIMATIC TECHNOLOGY NEWS Highlights Path interpolation Pressure/Force Control and Limiting Firmwareupdate PLC 317TF-2DP New SINAMICS Drives Licensing Sales information SIZER V3.4

3 Highlights 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 Page 3/

4 Typical Kinematics in Handling-Applications The used kinematics determines the transformation equation and is subdivided into the following groups: In T-CPU integrated Kinematics (3-Axes-Interpolation) SCARA Articulatedarm Serial Kinematics Cartesian Portal 2D / 3D Roll - Picker Delta 2D Delta 3D Parallel Kinematics Page 4/

5 SIMATIC TECHNOLOGY NEWS Highlights Path interpolation Pressure/Force Control and Limiting Firmwareupdate PLC 317TF-2DP New SINAMICS Drives Licensing Sales information SIZER V3.4

6 What is Path interpolation? Z Y X 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 Using in e.g. at handling systems Page 6/

7 Highlights Path interpolation with S7-Technology Z Y X 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 Page 7/

Path interpolation: Basic functions Linear Circular Polynomial AxisGroup MoveLinear Done AxisGroup MoveCircular Done AxisGroup MovePolynom Done Execute.

8 Path interpolation: Basic functions Linear Circular Polynomial AxisGroup MoveLinear Done AxisGroup MoveCircular Done AxisGroup MovePolynom Done Execute... Execute... Execute... Pos XYZ Data ErrorID Pos XYZ Data ErrorID Pos XYZ Data ErrorID Velocity Velocity Velocity DynamicAdpt DynamicAdpt DynamicAdpt Page 8/

9 Path interpolation: transition behavior, e.g. MoveLinear Y Radius Pos1 Pos2 Execute - MoveLinear Pos2 Execute - MoveLinear Pos1 Pos0 Radius or predetermined polynomial Event: Drive to Pos2 Mode1: Append command Mode2: Overlay the command (Radius, Polynomial) Mode3: Substitute the command immediately (Radius, Polynomial) X Page 9/

10 Path interpolation via path planning - MovePath MovePath AxisGroup Done From the point table to the motion Execute PathNr Velocity DynamicAdpt DB-Path POS X POS Y POS Z Radius Override Zwischenhalt M_FCT Busy ActualSegment M_Fct ErrorID P2 P1 P4 P3 Radius M_Fkt + stop point P P P P Focus : Standard Handling Applications Flexible path for motion for Pick & Place Applications Stacking and Palletizing 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 Page 10/

11 Path planning with the MovePath in detail Path definition POS X POS Y POS Z Radius Override Stop Point P M_FCT P P P v variable velocity profile Ovr=70 Ovr=100 Ovr=40 Ovr=100 P1 P2 P3 P4 P t transition area - Radius P3 P2 Z P4, stop point - M_Fct100 Y P1, stop point - M_Fct99 X Page 11/

12 PLCopen Path Function Blocks PathSelect + MovePath PathSelect FB 489 MC_PathSelect MovePath FB 488 MC_MovePath AxesGroup Done AxesGroup Done Execute Busy Execute Busy PathData Error SegmentNr Active Segment ErrorID Direction CommandAborted Direction ErrorID2 Velocity Error PathDescription ErrorID3 Acceleration ErrorID PathLength Deceleration Code path definition 1 POS X POS Y POS Z Radius Override *Zwischenhalt M_FCT P P P P Jerk CoordSystem BufferMode DynamicAdaption ActualSector Stop P P3 Überschleifbereich - Radius path definition n POS X POS Y POS Z Radius Override *Zwischenhalt M_FCT P Z P2 P4, Zwischenhalt - M_Fct100 P P P Y P1, Zwischenhalt - M_Fct99 X P Page 12/

13 Path interpolation and Kinematics Cartesian Space unequal kinematics same path 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. Page 14/

14 Kinematics - Transformation Basic coordinate system The path planning is in the Cartesian coordinate system or the shifted object coordinate system. Machine coordinate system The machine coordinate system consists of each axis and joint positions Z Y TCP Back transformation Calculate the necessary joint angles and the axis position from the (TCP-) position. A1 A0 Transformation A2 X Calculate the (TCP-) position in space from the real axis position and the joint angles The conversion between two different coordinate systems is called Transformation. The Cartesian coordinate system is a cube, which we can visualize. Page 15/

15 The used coordinate systems Basic- (BCS), Object- (OCS) and Machine coordinate system (MCS) MCS: Machine coordinate system BCS: Basic coordinate system OCS: Object coordinate system Page 16/

Programmable displacement of the PCS Technological Function FB480 MC_SetCartesianTransform FB 480 MC_SetCartesianTransform AxesGroup Done TrackingAxis Execute Busy Active Transformation of the

16 Programmable displacement of the PCS Technological Function FB480 MC_SetCartesianTransform FB 480 MC_SetCartesianTransform AxesGroup Done TrackingAxis Execute Busy Active Transformation of the picking position TransX TransY CommandAborted Error Shift and Rotation of OCS to BCS TransZ ErrorID RotX RotY RotZ Picking position PLCopen command for Coordinate transformation. Page 17/

17 Synchronous motion on the path Gripper head with alternating orientation Y Orientation 0 Z X Orientation -90 SCARA top view 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 Page 18/

18 Conveyor tracking Z TCP Fixed filing positions on a pallet Moving pick-up position on the conveyor belt Y Z X Basic coordinate system X Y Product coordinate system 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. Page 19/

19 Conveyor tracking - GroupSyncConveyorBelt FB 495 MC_RedefineTrackingPos AxesGroup Done FB 494 MC_GroupSyncConveyorBelt AxesGroup InSync Execute Busy Execute Busy Distance Active SyncMode Active Mode CommandAborted SyncPosition CommandAborted Error Velocity Error ErrorID Acceleration ErrorID Deceleration Jerk Page 20/

Zone concepts FB 492 MC_ZoneCheck AxesGroup Collision Kinematic monitoring zone Execute Mode Busy Active ZoneData CollisionKinLimitZone CollisionWorkingZone Productzone CollisionProductZone

20 Zone concepts FB 492 MC_ZoneCheck AxesGroup Collision Kinematic monitoring zone Execute Mode Busy Active ZoneData CollisionKinLimitZone CollisionWorkingZone Productzone CollisionProductZone CollisionBlockZone CollisionWatchZone Workingzone Error ErrorID ErrorID2 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. Page 21/

21 Overview new PLCopen function blocks for path interpolation Path command MC_PathSelect MC_MovePath MC_GroupInterrupt MC_GroupContinue MC_GroupStop MC_MoveLinearAbsolute MC_MoveLinearRelative MC_MoveCircularAbsolute MC_MoveCircularRelative MC_MoveCircles MC_MovePolynomialAbsolute MC_MovePolynomialRelative MC_ZoneCheck MC_GroupSyncConveyorBelt MC_RedefineTrackingPos Page 22/ Description Path selection for handling Path command for handling Interrupt the motion on the path Continue the interrupted motion on the path Abort path Linear absolute motion on the path Linear relative motion on the path Circular absolute motion on the path Circular relative motion on the path Circular motion Polynomial absolute motion on the path Polynomial relative motion on the path Collision monitoring (e.g. for Handling) Synchronization to a running conveyor New definition of the pick-up position on the conveyor belt

22 Path Interpolation Path movements with single commands (MoveLinear, MoveCircles) Y (BCS) Y (OCS) P6(0,80, R=10) P5(120,80) P3(4040) R=20 P4(80,40) R= P0 10 P1/7(0,0) Page 23/ P2(0,40,R=10) X (OCS) X (BCS)

23 Handling Palletizer with MovePath Y 600 (300,500,R=50,M=0) (600,500,R=150,M=0) (800,500,R=150,M=0) 500 P3/7/11/15 P4/6 P12/ P2/8/10/16 (100,300,R=0,M=0) 200 Override=50% 100 P1/9/17 (100,50,R=-1,M=0) (600,50,R=-1,M=1) P5 (800,50,R=-1,M=2) P Page 24/ X

24 Path Interpolation Simple contours with MovePath Y (BCS) Y (OCS) 100 P8(0,80,R=10) 90 P8 80 P7(40,80,R=10) P7 P4 P4(70,80,R=10) P3 P3(100,80,R=10) P6 P P6(40,50,R=10) P1/9(0,0) P1 P5(70,50,R=10) P2(170,0,R=30) P2 X (OCS) X (BCS) P Page 25/

25 Important delimitation to an typical NC-Controller Z Y X No Tool Compensation No G-Code No NC- Editor No Look Ahead (important for constant path speed on contours with short segments) The usability of the Technology CPU on applications with very fine contours has to be double-checked in advance! Page 26/

Projecting handling applications in 3 Steps Step 1: Defining Axes Step

Construction of the machine Selecting the Kinematic with S7-Technology

of predefined function blocks FB- Supporting for monitoring collisions.

26 Projecting handling applications in 3 Steps Step 1: Defining Axes Step 2: Selecting mechanics and parametrize Kinematic-Parameters Construction of the machine Selecting the Kinematic with S7-Technology Step 3: Programming in STEP7 Embedding in standard-plc-programs Using of predefined function blocks FB- Supporting for monitoring collisions. Parametrize the mechanical parameters with S7-Technology Page 27/

Handling with CPU31xT-2DP Customer benefits Reducing development costs by using predefined Handling function blocks Standardization by consistent automation concept Reduced Set

27 Handling with CPU31xT-2DP Customer benefits 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 SIMATIC CPU 31xT-2DP - the clever All in one - solution Page 28/

28 SIMATIC TECHNOLOGY NEWS Highlights Path interpolation Pressure/Force Control and Limiting Firmwareupdate PLC 317TF-2DP New SINAMICS Drives Licensing Sales information SIZER V3.4

29 Pressure/Force control and limiting CPU317TF IM174 ET200S HS Pressure/Force Feedback F Setpoint Position-Feedback Page 30/

30 Pressure controlled hydraulic axes New function blocks New engineering masks Page 31/

31 Pressure/Force limiting - New technological function Axis FB 470 MC_ForceLimiting Done ForceLimitingProfile ForceLimited HydraulicPresses Execute Mode Busy CommandAborted ConditionMode Error ForceValue ErrorID ForceDerivedValue Page 32/

32 Pressure/Force limiting - New technological function Page 33/

33 Pressure/Force control - New technological function Axis FB 471 MC_ForceControl Done ForceControlProfileInForceControl Execute Mode ConditionMode InputNumber Busy CommandAborted Error ErrorID CompareMode ConditionValue ForceValue ForceDerivedValue VelocityLimitingValue Page 34/

34 Pressure/Force control - New technological function Page 35/

35 SIMATIC TECHNOLOGY NEWS Highlights Path interpolation Pressure/Force Control and Limiting Firmwareupdate PLC 317TF-2DP New SINAMICS Drives Licensing Sales information SIZER V3.4

36 Firmwareupdate The following PLCs get after FWupdate the new features of S7- Technology V4.2: PLC 315T, 256 KB PLC 317T, 1024 KB 6ES7315-6TH13-0AB0 6ES7317-6TK13-0AB0 FW update will be available as a download after delivering release in Prodis. SIMATIC CPU 317TF-2 DP the clever All in one - solution Page 37/

37 SIMATIC TECHNOLOGY NEWS Highlights Path interpolation Pressure/Force Control and Limiting Firmwareupdate PLC 317TF-2DP New SINAMICS Drives Licensing Sales information SIZER V3.4

38 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 SIMATIC CPU 317TF-2 DP the clever All in one - solution Page 39/

39 SIMATIC TECHNOLOGY NEWS Highlights Path interpolation Pressure/Force Control and Limiting Firmwareupdate PLC 317TF-2DP New SINAMICS Drives Licensing Sales information SIZER V3.4

40 Support of new SINAMICS drives 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 Page 41/

41 SIMATIC TECHNOLOGY NEWS Highlights Path interpolation Pressure/Force Control and Limiting Firmwareupdate PLC 317TF-2DP New SINAMICS Drives Licensing Sales information SIZER V3.4

42 Licensing Starting with it s needed a license for engineering Technology : 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. Page 43/

43 SIMATIC TECHNOLOGY NEWS Highlights Path interpolation Pressure/Force Control and Limiting Firmwareupdate PLC 317TF-2DP New SINAMICS Drives Licensing Sales information SIZER V3.4

44 Sales Information S7-Technology SIMATIC Technology Upgrade 6ES7864-1CC42-0YA5 6ES7864-1CC42-0YE5 SIMATIC CPU 317TF-2 DP the clever All in one - solution Page 45/

45 Sales Information T-CPU SIMATIC Technology-PLC CPU 315T, 256 KB CPU 317T, 1024 KB CPU 317TF, 1,5 MB 6ES7315-6TH13-0AB0 6ES7317-6TK13-0AB0 6ES7317-6TF14-0AB0 SIMATIC CPU 317TF-2 DP the clever All in one - solution Page 46/

46 SIMATIC TECHNOLOGY NEWS Highlights Path interpolation Pressure/Force Control and Limiting Firmwareupdate PLC 317TF-2DP New SINAMICS Drives Licensing Sales information SIZER V3.4

47 SIZER V3.4 Delivery release: 10/2010 New Features: Performance calculation T-CPU with PROFIdrive drives Supporting CPU 317TF-2 DP Performance calculation for Path interpolation Page 48/

48 SIZER V3.4 Performance calculation with PROFIdrive Drive Fast and easy performance calculation via PROFIdrive drive Page 49/

49 SIZER V3.4 Supporting CPU 317TF-2DP Performance calculation (Motion) for the new CPU 317TF-2 DP Page 50/

50 SIZER V3.4 Path interpolation Performance calculation (Motion) for Path interpolation Page 51/

51 Thank you for your attention! Siemens AG I IA AS FA PS Nürnberg Gleiwitzer Str.555

Service & Support. How can a Simple Palletizer be realized with the FB 488 MC_MovePath Technology Function? Technology CPU.

Service & Support. How can a Simple Palletizer be realized with the FB 488 MC_MovePath Technology Function? Technology CPU. Cover How can a Simple Palletizer be realized with the FB 488 MC_MovePath Technology Function? Technology CPU FAQ March 2011 Service & Support Answers for industry. Question This entry is from the Service&Support