Application about Drive Technology

Transcription

1 Application about Drive Technology Technology CPU Palletizer with simply 3D Interpolating Axes Based on Cam Discs Introduction

2 Warranty, liability and support Note The Application Examples are not binding and do not claim to be complete regarding the circuits shown, equipping and any eventuality. The Application Examples do not represent customer-specific solutions. They are only intended to provide support for typical applications. You are responsible for ensuring that the described products are correctly used. These Application Examples do not relieve you of the responsibility of safely and professionally using, installing, operating and servicing equipment. When using these Application Examples, you recognize that Siemens cannot be made liable for any damage/claims beyond the liability clause described. We reserve the right to make changes to these Application Examples at any time without prior notice. If there are any deviations between the recommendations provided in these Application Examples and other Siemens publications e.g. Catalogs then the contents of the other documents have priority. Warranty, liability and support We do not accept any liability for the information contained in this document. Any claims against us based on whatever legal reason resulting from the use of the examples, information, programs, engineering and performance data etc., described in this Application Example shall be excluded. Such an exclusion shall not apply in the case of mandatory liability, e.g. under the German Product Liability Act ( Produkthaftungsgesetz ), in case of intent, gross negligence, or injury of life, body or health, guarantee for the quality of a product, fraudulent concealment of a deficiency or breach of a condition which goes to the root of the contract ( wesentliche Vertragspflichten ). However, claims arising from a breach of a condition which goes to the root of the contract shall be limited to the foreseeable damage which is intrinsic to the contract, unless caused by intent or gross negligence or based on mandatory liability for injury of life, body or health. The above provisions do not imply a change in the burden of proof to your detriment. Copyright 2007 Siemens A&D. It is not permissible to transfer or copy these Application Examples or excerpts of them without first having prior authorization from Siemens A&D in writing. For questions about this document please use the following address: mailto:csweb@ad.siemens.de V /11/07 2/32

3 Foreword Foreword The application described in this document deals with a palletizer with simply 3D interpolating axes. It will be shown how a multidimensional positioning as, for instance, required for a palletizer can be realized using the technology CPU. The core element is the Move3D technology template which generates the cam discs necessary for a three-dimensional motion from an interpolation point table and which moves the axes at a constant path velocity. If you want to obtain further information on the technology template, a separate documentation is available. The reference data for this documentation is listed in the appendix of this document. Objective of the application This application shows the use of one of the technological functions or of a technology template in the technology CPU. In order to provide a compact and practical description, a function frequently used in machines is used in a simple example with HMI connection. This ensures that the application can also be used as a demonstration model. The application illustrates the following: How the used components work together Which technological functions are used How the application is programmed and parameterized How the application can be used as a demonstration system Main contents of this application The following main points are described in this application: Use of the Camming technology function Use of the Move3D technology template Delimitation This application does not include a description of basic knowledge when using STEP 7 basic knowledge in the field of motion control...the use of technology functions of the technology CPU...the general handling of the technology CPU Basic knowledge of these topics is required. V /11/07 3/32

4 Foreword Document structure The documentation of this application is divided into three documents: Introduction Extension Demonstration In addition, the STEP7 code is available. The first document, Introduction, which you are reading right now, is intended for persons who are interested in a quick overview. Part Introduction Application Description and Principles of Operation Extension Principles of Operation in Detail and Program Structures Demonstration Structure, Configuration and Operation of the Application Description This part provides a general overview of the contents. You are informed on the used components (standard hardware and software components and the specially created user software). This part describes the detailed functional sequences of the involved hardware and software components, the solution structures and where useful the specific implementation of this application. It is required to read this part if you want to familiarize with the interaction of the solution components to use these components, e.g., as a basis for your own developments. This part takes you step by step through structure, important configuration steps, startup and operation of the application. An additional component available is the S7 program code. Part S7 program code Description The S7 program code includes the code and a user interface which is also suitable as a demonstration system. Reference to Automation and Drives Service & Support This entry is from the internet application portal of Automation and Drives Service & Support. The link below takes you directly to the download page of this document. V /11/07 4/32

5 Foreword Table of Contents Table of Contents... 5 Application Description Basics of Interpolating Axes Automation Problem Palletizer with three interpolating axes Process Analysis Process sequence Core functions Solution structure Automation Solution Solution structure Overview Hardware components Software components Functions Appendix and Bibliographic References Bibliographic References Bibliographic references Internet links Related documentation History V /11/07 5/32

6 Basics of Interpolating Axes Application Description 1 Basics of Interpolating Axes This chapter explains what interpolating axes are, shows where they are used in machines, illustrates their advantages and the problems that can be solved using interpolating axes. What are interpolating axes? The use of interpolating axes 1 is required when several axes are to be moved interdependently on one another and when the travel path has to be calculated, i.e. interpolated. The axes are not moved independently of one another; the motion is coordinated. The number of interpolating axes defines, for example, the number of dimensions. With three axes you can, for instance, approach a point in space. Robot controls are usually provided with 5 or 6 axes since not only the point in space is approached but also the tool is to be turned to a defined direction at this point. A variety of different types and categories of interpolating axes exists. Simpler solutions are limited to the coordinated moving of the axes. The resulting path velocity is then not controlled. When an axis deviates from the setpoint, the system is stopped with an error; a setpoint correction of the other axes is not performed. More complex solutions also enable the user to preset the path velocity. When an axis deviates from the setpoint position, the axis is stopped via a setpoint/actual-value comparison, the following error. The motion in these solutions is controlled. When using numerical controls, not only the travel path, but also the velocity to be complied with when following the travel path can be specified depending on the controller type; this means that the velocity the part to be positioned, e.g. a milling head, is to have is preset. When an axis does not reach its position setpoint, the position values of the other axes are automatically corrected. An active feedback of the active interpolated motion to the controller occurs, i.e. a closed-loop-controlled motion takes place. The application example described in this document belongs to the second category (coordinated motion at a constant path velocity, monitoring the dynamics of the individual axes, the monitoring does not affect the interpolated motion). 1 The combination of inverter (drive), motor and mechanical system controlled in position and/or speed is referred to as an axis. V /11/07 6/32

7 Basics of Interpolating Axes Why coordinated axes? When the motion is uncoordinated, each axis moves independently of the other, i.e. it accelerates to its maximum velocity, then moves and positions until the desired target point is reached. The figure below shows this correlation for a motion from point A to point B. Figure 1-1 Position curve of the uncoordinated and coordinated motion Y-axis Point B (end point) Point A (starting point) X-axis When both axes (X- and Y-axis) have the same maximum velocity, a diagonal motion (green line) ensues first. The Y-axis already reaches its target point and is positioned while the X-axis is still on its way to point B (blue line). When a motion is coordinated, the position control of the Y-axis is adjusted so that X-axis and Y-axis simultaneously reach point B; they thus move on the straight line (yellow line) between point A and point B as shown above. Figure 1-2 Velocity curve of the uncoordinated motion Velocity Y-axis X-axis Time When the motion is uncoordinated, both axes move their own velocity profile, which is started simultaneously but stopped at different times. V /11/07 7/32

8 Basics of Interpolating Axes Figure 1-3 Velocity curve of the coordinated motion Velocity X-axis Y-axis Time When the motion is coordinated, the profiles are adapted in such a way that the motion is on a straight line. Coordination with cam disc The coordination using cam discs additionally allows to follow a travel path, which, for instance, leads around obstacles. The setpoints for both axes are calculated in such a way that the obstacle is bypassed. The travel path is preset via, for example, an interpolation point table or a formula. V /11/07 8/32

9 Basics of Interpolating Axes Figure 1-4 Coordination with cam disc Y-axis Obstacle Point B (end point) Interpolation Point A (starting point) X-axis The interpolation allows to specify the travel path without having to save all points on the path. Only few data are required for the travel path and the controller takes this data as a basis for the calculation interpolation of the other points of the travel path (yellow line). An interpolation point table is an easy way to store this data. Aside from starting and target point (red points), this table includes additional interpolation points to be passed (blue points). The type of the used interpolation decides how the path between the interpolation points is passed. Available types of interpolation are, for example, linear interpolation (blue line) or interpolation with cubic splines (yellow line). As shown in the figure, linear interpolation would not be suitable for this example since the travel motion would lead through the obstacle. Interpolation of several axes The interconnection of several cam discs enables a simple three-dimensional motion at a constant path velocity, the trajectory is defined via interpolation points in an interpolation point table. V /11/07 9/32

10 Basics of Interpolating Axes Figure 1-5 Three-dimensional motion Component motion X direction X Master Component motion Y direction Y Component motion Z direction Z The figure below shows the realization of the three-dimensional motion in the Palletizer3D application example. Figure 1-6 Example of a three-dimensional motion The interconnection of the cam discs was implemented in the Move3D technology template. In this technology template, the motion of the axes connected to the technology CPU is generated via camming. The required cam discs for synchronizing the individual axes are to be generated from a specified interpolation point table. This requires that the interpolation point table is available prior to the start of the motion for generating the required cam discs. V /11/07 10/32

11 Basics of Interpolating Axes The trajectory between two interpolation points is to be on a straight line. A tolerance range can be defined around the interpolation points within which the trajectory may deviate from the straight line. This enables a smooth motion of the axes and a short-time standstill of the axes at the interpolation points can be avoided. What are the advantages? The coordinated motion allows a multidimensional definition of the travel path, e.g. three-dimensionally in space. Thus not only starting and target point, but also the path in between can be specified. The interpolation enables the user to define the travel path on the basis of only few data, e.g. using an interpolation point table generated with the aid of teach-in. Furthermore, it is also possible to calculate the travel path depending on current values, e.g. to approach different target points. Typical fields of application Table 1-1 Fields of application Machine Figure Problem Palletizer When using a palletizer, the target position is always different. The travel path must be recalculated for each target position. Robot control The travel path is defined using teach-in. The resulting interpolation points are linked through the interpolation to calculate the travel path. V /11/07 11/32

12 Basics of Interpolating Axes Machine Figure Problem High-bay racking Access to the unloading or loading station must only be possible when the lifting axis is in "down" position. The target position (storage position in the warehouse rack) is always different. The travel path must be recalculated for each target position. V /11/07 12/32

13 Automation Problem 2 Automation Problem To show the use of interpolating axes, we have selected the automation problem of a palletizer which uses three interpolating axes to arrange boxes on a pallet. The motion of the three palletizer axes is to be coordinated in space. 2.1 Palletizer with three interpolating axes Boxes are delivered on a conveyor. With the aid of a palletizer, 16 boxes are to be placed on one pallet. The boxes are gripped from the conveyor individually and placed on the pallet. When the pallet is full, it is replaced. Two walls have to be bypassed between conveyor and pallet. In the figure below, these walls are shaded gray (transparent). Figure 2-1 Palletizer 3D X-axis Conveyor Kisten Boxes Z-axis Pallet M Walls auern Y-axis V /11/07 13/32

14 Automation Problem Figure 2-2 Palletizer 3D Interpolation point 6, 7 Interpolation point 5 (hidden) Z-axis Target position Pallet Travel path Y-axis X-axis Interpolation point 4 Conveyor Operator control of the process Kisten Boxes Starting position M Walls auern Interpolation point 3 Interpolation point 1, 2 For operation and presentation purposes, the palletizer features an HMI attached to the application example; this HMI was created with WinCC flexible. The palletizer can be moved in two modes: Setup mode with the functions: Acknowledging errors Jogging: Independent moving of the axis via jog button Homing: Synchronizing the axis with a reference point switch or the setting of the current position. Independent positioning of the axes to a manually defined position (without considering the walls) Process mode with the function: Automatic palletizing of the boxes The replacing of the pallets is simulated with the aid of the HMI. Note For details on operating and presenting the application, please refer to the Demonstration document. V /11/07 14/32

15 Process Analysis 3 Process Analysis This chapter illustrates the technological sequence of the application and the required technologies. The technology is described independently of possible hardware. 3.1 Process sequence Preconditions (initial status) The process can only be started if the palletizer is in its initial position: The gripper is empty The gripper is located above the starting position Operational sequence The sequence that can be monitored is repeated until a pallet is completely filled: The conveyor transports a new box to the starting position. The gripper picks up the new box. The palletizer follows the calculated travel path until it reaches the target position. The target position is the next free position on the pallet. After the gripper has reached the target position, it puts down the box. Following the calculated travel path, the palletizer returns to the initial position. The process is repeated with the next box. When the pallet is full, it is replaced by a new one and the sequence starts from the beginning. 3.2 Core functions The following section describes the technological core components required for the realization. Coordination of the axes To be able to execute a motion along a travel path, it is required to coordinate the axes involved. One option for the coordination is to use a higher-level element from which the position setpoint is calculated for each axis. Since this is the source for the setpoints of the other axes, this element is called master axis or master. When this axis is not a physical axis, it is referred to as virtual master axis or virtual master. V /11/07 15/32

16 Process Analysis No drive is assigned to the virtual master axis, it is merely used as a reference variable of the axes to be coordinated. The position value of the virtual master axis the master value is used to calculate the position setpoint of each slave axis. Calculation of the individual setpoints To calculate the position setpoints for the slave axes from the position value of a master axis, either fixed factors or, in case of a nonlinear ratio, cam discs are used. A cam disc generates a slave value from a master value. In figurative terms, the slave value is determined with the aid of a chart: Starting from the current master value on the horizontal axis, the point where the red line intersects with the curve profile is searched for. From there the associated slave value is determined along the blue line. The slave value can be read at the intersection with the vertical axis. Figure 3-1 Cam disc The curve profile can be described in different ways. In most cases, interpolation point tables and functional equations are used. The curve profile can also be stored in segments and each segment can be stored in a different type of description. Originally, this function was realized mechanically through a cam disc on a rotating line shaft. The term cam disc has remained, although the mechanical cam disc has been replaced by a mathematical calculation within the automation. Synchronization of the axes via the cam discs When two axes are synchronized via a cam disc, one axis is defined as a master axis while the second axis, the slave axis, follows the master axis via the mapping specification of the cam disc. V /11/07 16/32

17 Process Analysis Figure 3-2 Synchronization of axes via a cam disc Master axis Cam disc Slave axis Position slave axis VM Cam X X X Slave Cam disc Position master axis Master Slave VM Master Synchronization of axes in the Move3D technology template The technology template for simple 3D interpolation with the aid of cam discs is based on a unique synchronization of axes and cam discs in the integrated technology of the technology CPU. Three real axes and one to two virtual axes are required. The real axes perform the function of the slave axes and represent the three Cartesian axes X, Y and Z. The virtual axes are used as master axes for the cam disc synchronizations. The synchronization of the individual axes requires up to four cam discs. Figure 3-3 Configuration of the axis synchronization via cam discs Master Interpolation Slaves VM Cam X Cam Y X Y Cam Z Z The Cartesian axes X, Y and Z of the machine are controlled via individual cam discs Cam X, Cam Y and Cam Z in which the respective part of the Cartesian axis in the desired interpolated motion is stored. A virtual axis in the integrated technology of the CPU is used as a master axis for all three cam discs. The virtual axis VM is the master axis for the arrangement for the three-dimensional interpolated motion. It is moved from a starting point to an end point at a constant velocity and consequently provides the necessary input value for the cam discs. V /11/07 17/32

18 Process Analysis If a motion with limited acceleration is desired, an additional cam disc and an additional virtual axis have to be used. The virtual axis Master provides the master values to cam disc Cam VM that adapts the velocity of the virtual axis VM. VM then controls the Cartesian axes X, Y and Z for the interpolated motion via the cam discs Cam X, Cam Y and Cam Z. Figure 3-4 Configuration of the axis synchronization with velocity adaptation Master Velocity adaptation Interpolation Slaves Cam X X Master Cam VM VM Cam disc calculation Since the target position on the pallet changes with each box, the cam discs for the palletizer axes have to be recalculated for each box. In this application, an interpolation point table with seven interpolation points is created for defining the cam discs. The values for the coordinates of the X, Y and Z position and the radius around the interpolation point are stored for each interpolation point. By specifying a tolerance range around the interpolation point, the Move3D technology template can adjust the travel motion in such a way that a constant path velocity is enabled. Cam Y Cam Z Y Z Figure 3-5 Correlation of travel path and cam discs Tolerance range P2 Tolerance range= 0 P4 P5 Tolerance range = 0 P1 X Y Z Radius P2 Tolerance range P1 Tolerance range P3 P3 P4 V /11/07 18/32

19 Process Analysis The following table shows the correlations of the interpolation points and the function of the system. Table 3-1 Interpolation point in the palletizer Interpolation point Function 1 The axes X, Y, Z are in the starting position. After the start of the application the box is picked up 2 The box was lifted. The interpolation point is located above the starting position 3 1 st position on the travel path 4 2 nd position on the travel path 5 3 rd position on the travel path 6 The box is located above the put down position. The interpolation point is located above the end position 7 The axes X, Y, Z are in the end position. The box is placed on the pallet. The values of the cam disc between the interpolation points are determined by interpolation. Since each box has a different target position on the pallet, the 6 th and the 7 th interpolation point of the cam discs are always different. The figure below shows the cam discs for a horizontal row on the pallet one on top of the another. Figure 3-6 Effect of the target position on the interpolated cam discs y Target position x Interpolation point 6, 7 Start (1) Target (7) t Interpolation point 5 y Interpolation point 4 Start (1) Target (7) t x Interpolation point 3 z Starting position Interpolation point 1, 2 Start (1) Target (7) t V /11/07 19/32

20 Process Analysis When replacing the time axis by the values of the master value generated by the virtual master, you obtain the cam discs, that is one for each axis. The cam disc is the mapping specification from the master position to the slave position. The figure below shows the synchronization between the master axis and the axes X, Y and Z. In the simplified representation, the master axis corresponds to the virtual master axis. The interpolation points for the motional sequence are read from the interpolation point table and the cam disc for the synchronization of the master axis to the slave axis is calculated from this data. The calculation is performed within the Move3D technology template. The figure below shows the position curve for the values displayed in the interpolation point table. Figure 3-7 Cam disc and interpolation point table Master / master value Start (1) Target (7) x Start (1) Target (7) y Start (1) Target (7) Interpolation point tables: Virtual master for slave axis for box 1 Master value X Y Z z Start (1) Target (7) 3.3 Solution structure The following section describes the structure of the solution. Aside from physical components, logical components are also shown in this figure. V /11/07 20/32

21 Process Analysis Figure 3-8 Functional structure HMI Main Control Template Control positioning axis MoveCam positioning cam function DB CalcCam interpolation velocity correction Ma Sl P X Y Z import point tables interpolation interpolation interpolation axis position synchronous operation axis cam function cam function cam function Pallet Control Gripper Control Technology object PLCopen object Program part Technology template Program signals Technology signals Ma Sl synchronous operation SINAMICS S120 training case axis x axis y axis z axis synchronous axis synchronous axis operation operation axis x Ma Sl axis y M G M G Sequence of the overall process In setup mode, the palletizer can first be moved to an initial position via HMI. The axes are not coordinated and can be moved independently of one another. After selecting process mode, the automatic palletizing process can be started and the axes are moved coordinated to one another. Via the HMI, the path velocity and an override can be preset for the master axis. The Template Control of the Move3D template takes the control of the travel motion, starts the calculation of the cam discs in the CalcCam function block and thus specifies the motional sequence and the velocity of the slave axes. The MoveCam function block controls the actual slave axes X, Y and Z. The MoveCam function block starts the master axis in the respectively specified direction. Via the first cam disc, the master axis synchronizes the virtual master axis and this axis synchronizes the axes X, Y and Z (axis x, axis y, axis z) via the three further cam discs Cam X, Cam Y and Cam Z. The axis x and axis y function blocks can be connected to the SINAMICS S120 training case and operated as real axes. Ma Sl V /11/07 21/32

22 Process Analysis The automatic palletizing process includes the following functions: If there is a box at the starting position, the gripper is closed via the Gripper Control program part Simultaneously, the interpolation point table with the coordinates of the target position on the pallet is generated. The target coordinates are supplied by the Pallet Control program part. This program part manages the pallet changes and the target positions on the pallet. The Move3D technology template is supplied with the data of the interpolation point tables and started. Within the Move3D technology template the CalcCam function block is called and the cam discs of the axes X, Y and Z (axis x, axis y, axis z) are interpolated depending on the transferred interpolation points. After calculating the cam discs, the MoveCam function block synchronizes the master axis with the virtual master axis and the axes X, Y and Z via the cam discs. Subsequently, the master axis is started. When the target position is reached, the gripper is opened via the Gripper Control. The Move3D technology template receives the job to return to the initial position along the same interpolation points. The sequence, transferring the interpolation point table, interpolating the cam discs and starting the master axis, is again processed as described above. After returning to the starting position, the next box can, if necessary, be palletized provided that end of process mode has not been selected in the HMI. V /11/07 22/32

23 Automation Solution 4 Automation Solution This chapter shows the reader how the automation problem can be solved with the technology CPU. 4.1 Solution structure Overview Technological tasks with medium to high PLC performance and medium motion control requirements can easily be realized with the technology CPU. Figure 4-1 Overview PG/PC Technology CPU SINAMICS S120 training case Note WinCC flexible The automation solution presented in this document is available as a STEP 7 archive with virtual axes, i.e. without real drive. However, the connection of a SINAMICS S120 training case can later be performed based on the provided STEP 7 archive Hardware components The following hardware components are necessary for realizing the application; two solutions exist: Controller solution Hardware configuration of the application example with technology controllers of the SIMATIC S7-300 series. Embedded PC solution Hardware configuration of the application example with the Microbox 42x-T as an embedded PC variant of the technology CPU. V /11/07 23/32

24 Automation Solution Hardware components of the controller solution The following hardware components are required to realize the controller solution of the application example. Figure 4-1 Hardware components controller solution Hardware element Picture MLFB/order number and functions Controller DIN rail PS307 2A power supply 6ES7390-1AE80-0AA0 The DIN rail is the mechanical rack of an S7-300 and required to set up the controller. 6ES BA00-0AA0 The power supply provides the required 24VDC Technology CPU CPU 317T-2 DP 40-pin front connector The technology CPU executes the user program and the technological functions. 6ES7317-6TJ10-0AB0 Hardware product version: 02 Firmware revision level: V Integrated main memory: 512KB Max. block size: 64KB 6ES7392-1AM00-0AA0 The front connector enables the easy and user-friendly connection of the sensors and actuators to the signal modules. It is plugged to the module and covered by the front door Micro Memory Card 4MB Communication and communication via DP(Drive) (optional) PROFIBUS connector plug up to 12 Mbps 6ES7953-8LM11-0AA0 The S7 program is stored on the MMC. 6ES7972-0BA41-0XA0 The plugs are used to connect PG and technology CPU and technology CPU and SINAMICS S120 training case (optional) V /11/07 24/32

25 Automation Solution Hardware element Picture MLFB/order number and functions PROFIBUS cable 6XV1830-0EH10 (sold by the meter, min. 20m) The cable is used to connect PG and technology CPU and technology CPU and SINAMICS S120 training case (optional) Hardware components of the embedded PC solution The following hardware components are required to realize the embedded PC solution of the application example. Figure 4-2 Hardware components PC-based solution Hardware element Picture MLFB/order number and functions Controller Standard mounting rail SITOP Modular 5A power supply Technology CPU Microbox 420-T 6ES5710-8MA11 SIMATIC 35mm standard mounting rail with a length of 483mm for 19 control cabinets. 6EP1333-3BA00 The power supply provides the required 24VDC The technology CPU executes the user program and the technological functions. 6ES7675-3AG30-0PA0 Hardware product version: 01 Firmware revision level: V 1.0 Communication SIMATIC NET cable Processor: P III 933MHz Main memory: 512MB RAM Compact Flash: 2GB Operating system: Windows XP Embedded Controller: WinAC T 6XV1850-2HH20 Crossed Industrial Ethernet cable TP XP Cord CAT6, 2xRJ45, length: 2m The Ethernet cable connects the Microbox 42x-T and the PG/PC. V /11/07 25/32

26 Automation Solution Hardware element Picture MLFB/order number and functions USB keyboard Fujitsu-Siemens S26381-K340-V120 USB/PS2 keyboard KBPC-PX D The inputs for Windows are made on the Microbox 42x-T via the keyboard. A keyboard is required for commissioning the Microbox 42x-T. USB mouse Fujitsu-Siemens S26381-K352-L100 TOUCHBIRD Optical Mouse MB The mouse facilitates the operation of Windows during commissioning. Communication via DP(Drive) (optional) PROFIBUS connector plug up to 12 Mbps PROFIBUS cable 6ES7972-0BA41-0XA0 The plugs are used to connect the Microbox 42x-T and the SINAMICS S120. 6XV1830-0EH10 (sold by the meter, min. 20m) The cable is used to connect the Microbox 42x-T and the SINAMICS S120. Hardware components for both solutions The following hardware components are required to realize both possible solutions of the application example. Table 4-3 Hardware components for both solutions Hardware element Picture MLFB/order number and functions HMI PG/PC with MPI and Ethernet interface - The PG/PC is used for configuring and for executing the HMI Drive (optional) SINAMICS S120 training case 6ZB2480-0BA00 The SINAMICS S120 training case consists of standard components (drives and motors) and offers two axes. They are used to demonstrate the application. The case is completely configured and wired and is connected to the controller via PROFIBUS. V /11/07 26/32

27 Automation Solution Software components The following software components are required to realize the application. Standard software If the technological functions of the application are to be reconstructed, the following SIEMENS standard software components are necessary: Table 4-4 Software components STEP7 V5.4 SP1 Component MLFB / order number Functions S7 Technology V3.0 SP2 WinCC flexible 2005 Advanced incl. ServicePack 1 and Hotfix 7 WinCC flexible 2005 Runtime incl. ServicePack 1 and Hotfix 7 with 256 PowerTags 6ES7810-4CC08-0YA7 6ES7864-1CC30-0YX0 6AV6613-0AA01-1CA5 incl. S79220-A7890-F 6AV6613-1DA01-1CA0 incl. S79220-A7890-F STEP 7 is the basic package for the other software packages and used for programming the SIMATIC S7 Tool for parameterizing and programming the technology objects of the technology CPU WinCC flexible is used to program the HMI. Without this software it is not possible to modify the HMI. WinCC flexible Runtime enables the use of a PG/PC or the Microbox 42x-T (with screen, mouse & keyboard) as an operator panel. Standard software for presentation If the application is only to be presented, it is sufficient to install the following software components on the demonstration PG/PG. However, it is required that the application has already been loaded into the CPU, e.g. with another PG/PC. Table 4-5 Software components required for presentation Component MLFB / order number Functions WinCC flexible 2005 Runtime incl. ServicePack 1 and Hotfix 7 with 512 PowerTags 6AV6613-1DA01-1CA0 incl. S79220-A7890-F WinCC flexible Runtime enables the use of a PG/PC or the Microbox 42x-T (with screen, mouse & keyboard) as an operator panel. Application software The application software is an archived Step 7 project that contains the code of the application for the respective technology CPU. V /11/07 27/32

28 Automation Solution Table 4-6 Application software for use without drives File _CPU317T_Palletizer_v_CODE_v30.zip _MicroboxT_Palletizer_v_CODE_v30.zip Functions Archived Step 7 project for the CPU 317T-2 DP with virtual axes, does not require drives Archived Step 7 project for the Microbox 42x-T with virtual axes, does not require drives 4.2 Functions PG/PC Operator control and monitoring of the Palletizer 3D is performed via a WinCC flexible 2005 user interface on the PG/PC. The PG/PC can also be used for loading the programs for the technology CPU and for parameterizing the optional SINAMICS S120 training case. Technology CPU The technology CPU features a control unit like each conventional CPU and an integrated technology. The following tasks are realized in the control unit: Realization of the program flow with a step sequence Management of the modes Communication with HMI Management and coordination of the technology jobs Call of the technology jobs via motion control blocks according to the PLCopen standard The technology part performs the following tasks: Implementing the technology jobs Motion control of the axes Motion monitoring Drive As a drive system for tests, the optional SINAMICS S120 training case with two axes takes over the axis functions. It is completely wired so that it can be directly used for this application example. The training case is equipped with a clocked Profibus interface via which the drive is connected to the controller. V /11/07 28/32

29 Appendix and Bibliographic References Bibliographic References Appendix and Bibliographic References 5 Bibliographic References 5.1 Bibliographic references This list is by no means complete and only provides a selection of appropriate sources. Table 5-1 Topic Title /1/ STEP7 Automating with STEP7 in STL and SCL Hans Berger Publicis MCD Verlag ISBN /2/ Technology CPU /3/ Technology CPU /4/ Technology CPU /5/ Technology CPU /6/ Technology CPU /7/ Technology CPU /8/ Technology CPU SIMATIC S7-300 CPU Data: CPU 315T-2DP Siemens Manual Edition 11/2006 MLFB: A5E SIMATIC S7-300 CPU Data: CPU 317T-2DP Siemens Manual Edition 11/2006 MLFB: A5E SIMATIC S7 Technology Siemens Manual Edition 11/2006 MLFB: A5E Installing SIMATIC Microbox 420-T Siemens Manual Edition 06/2006 MLFB: A5E Operating SIMATIC Microbox 420-T Siemens Manual Edition 06/2006 MLFB: A5E CPU 317T-2DP: Controlling a SINAMICS S120 Getting Started Edition 11/2006 MLFB: A5E CPU 317T-2DP: Controlling a virtual axis Getting Started Edition 11/2006 MLFB: A5E V /11/07 29/32

30 Appendix and Bibliographic References Bibliographic References Topic /9/ Technology CPU /10/ SINAMICS S120 /11/ SINAMICS S120 /12/ SINAMICS S120 /13/ SINAMICS S120 /14/ SINAMICS S120 Title CPU 317T-2DP: Controlling a physical axis Getting Started Edition 11/2006 MLFB: A5E SINAMICS S120 Installation and Start-Up Manual (IH1) Manufacturer / Service Documentation Edition 04/2006 MLFB: 6SL AF00-0AP5 SINAMICS S120 Equipment Manual (GH1) Control Units and Additional System Components Edition 03/2006 MLFB: 6SL3097-2AH00-0AP3 SINAMICS S120 Equipment Manual (GH2) Booksize Power Sections Edition 03/2006 MLFB: 6SL3097-2AC00-0AP3 SINAMICS S List Manual (LH1) Manual Edition 03/2006 MLFB: 6SL AP00-0AP4 SINAMICS S120 Function Manual (FH1) Function Manual Drive Functions Manufacturer / Service Documentation Edition 03/2006 MLFB: 6SL AB00-0AP2 5.2 Internet links This list is by no means complete and only provides a selection of appropriate sources. Table 5-2 Topic \1\ Reference to the entry \2\ Siemens A&D Customer Support \3\ Siemens A&D Applications & Tools Title V /11/07 30/32

31 Appendix and Bibliographic References Bibliographic References Topic \4\ Application examples for the technology CPU (a selection) \5\ Technology CPU manual \6\ SINAMICS S120 instruction manual Title Feeder for a Press: Flying Shears with Print-Mark Synchronization Based on Gear Synchronism: Select Product Support Open the following directories in the Product Information tree: Automation systems SIMATIC Industrial Automation Systems PLC SIMATIC S7 S7-300/S7-300F CPUs Click the Manual tab to open a list with related documents or click the following links: S7 Technology: CPU manual 317T-2 DP: CPU manual 315T-2 DP: Installing Microbox 420-T: Operating Microbox 420-T: Select Product Support Open the following directories in the Product Information tree: Drive technology AC Converter Low voltage converters Built-in and cabinet system SINAMICS S120 Click the Manual tab in the right window to open a list with related documents or select the following link: V /11/07 31/32

32 Appendix and Bibliographic References Topic \7\ FAQ CPU 317T-2 DP applicable encoders \8\ FAQ technology CPU version overview Title Applicable encoders for the technology CPU 31xT in connection with the drive systems SIMODRIVE 611U, MASTERDRIVES MC Which versions of the S7 Technology option package are available and which SINAMICS S120 drive firmware can you use with which of these versions? Related documentation This list includes a summary of related documentations which you can obtain from Siemens Customer Support or your Siemens contact person. Table 5-3 /A/ 6 History Topic Technology template Title Move3D Technology Template Technology CPU Documentation ID number: Table 6-1 History Version Date Modification V3.1 12/05/06 Adaptation of the documentation to the S7 Technology V3.0 SP1 technology package. Adding of the Microbox 420-T. V3.2 09/11/07 Adaptation of the documentation to the S7 Technology V3.0 SP2 technology package. Adding of the Microbox 420-T. Adding of Runtime. V /11/07 32/32