Cover. Technology Template MC_MoveJOG. Technology CPU. Documentation March Applikationen & Tools. Answers for industry.

Transcription

1 Cover Technology Template Technology CPU Documentation March 2009 Applikationen & Tools Answers for industry.

2 Warranty, liability and support 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 in ensuring that the described products are correctly used. These application examples do not relieve you of the responsibility in safely and professionally using, installing, operating and servicing equipment. When using these application examples, you recognize that we 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. 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 does not imply a change in the burden of proof to your detriment. It is not permissible to transfer or copy these application examples or excerpts of them without first having prior authorization from Siemens Industry Sector in writing. For questions about this document please use the following address: online-support.automation@siemens.com 2 V4.1, Beitrags-ID:

3 Foreword Foreword Objective of the technology template A technology template is a software object or a code block with defined interface, which can easily be integrated into other software projects without extra work and which performs a precisely defined technological task in these projects. Main contents of this technology template This technology template deals with the following key elements: Manual operation of individual axes using jog buttons Adjusting velocity, acceleration and jerk via input parameters Delimitation This technology template does not contain a description...of the use of technology functions and technology objects with the technology CPU....of the programming of the technology CPU in STEP 7. Basic knowledge of these topics is required. Structure of the document The documentation of this technology template is divided into the following main parts. Part Description of the technology template Integration of the technology template Program Description of the technology template Appendix Description This part of the documentation provides you with basic information on the requirements for using the technology template, the application options and the structure and function of this technology template. This part of the documentation provides detailed information on the procedures for integrating this technology template into new or already existing projects and on the control of the technology template by a user program. This part provides detailed information on the structure and the setup of the technology template enabling you to individually adapt this technology template to your application. This part of the documentation provides a description of the test program of the technology template and further information, e.g. bibliographic references, glossaries, etc. V4.1, Item-ID:

4 Foreword Industry Automation und Drives Technologies Service & Support Portal This entry is from the internet service portal of Siemens AG, Industry Automation and Drives Technologies. Clicking the link below directly displays the download page of this document. 4 V4.1, Beitrags-ID:

5 Table of Contents Table of Contents Description of the technology template Basic Information Requirements Target group Previous knowledge Technical environment Objective and purpose of this technology template Task Advantages of the technology template Components included in the technology template Application Options Applications Authorized and required hardware and software components Tasks which can be solved with the technology template Properties of the technology template MC_MoveJog Constraints Structure and Function Structure of the technology template Function principle Transmitting motion jobs Checking the motion at the block Reaction of the block to error events Replacing the technology template MC_MoveJog Behavior of MC_MoveJog Controlling the direction inputs Acceleration and deceleration of the travel motions Program Environment and Interfaces Call environment Interfaces Block interface of FB 512 MC_MoveJog Integration of the technology template Integration of the technology template Preparations Retrieving the technology template Integration of the technology template into your STEP 7 project Integration of the technology template into your application Call of the function block in STL and FBD Assignment of the instance data block Integration of FB 512 MC_MoveJog into the processing sequence V4.1, Item-ID:

6 Table of Contents Program Description of the technology template Program structure General information Program flow Functions of the individual networks of the block Network 1: Direction / Clear Output Signals Network 2: Do JOG -> MoveVelocity Network 3: No JOG or ERROR Network 4: Call Technology Functions Network 5: Error-Handle Network 6: CommandAborted-Handle Netzwerk 7: Interface OUT-Parameter Appendix and Literature Warnings and Error Messages Test Program for the MC_MoveJog Template Tasks of the test program Requirements for running the test program HMI of the test program Overview General functions of the controls and display elements Operation and parameterization of the MC_MoveJog block Operation of the test program Manual moving of the axis using the jog buttons Replacing the template block by a PLC-Open block Generating an error message at the template block Literature Bibliographic references Internet links History V4.1, Beitrags-ID:

7 Description of the technology template 1 Basic Information 1.1 Requirements Content This part of the documentation provides you with basic information on the requirements for using the technology template, the application options and the structure and function of this technology template. The display of the program environment and of the available interfaces facilitates the estimation of the application options of the technology template in your application. 1 Basic Information 1.1 Requirements Target group The technology template is intended for all programmers and users of technology CPUs who easily and quickly want to realize a function for the manual operation of individual axes using jog buttons (MoveJog) in a technology CPU Previous knowledge For the use of this technology template, you should be familiar with STEP 7 and the application of technology objects and technology function calls in the integrated technology of the technology CPUs. This documentation is not an introduction to these topics and focuses on the specifications for use of this template Technical environment This technology template can be used unaltered only in connection with the Technology CPU: Technology CPU 317T-2 DP Technology CPU 315T-2 DP 1.2 Objective and purpose of this technology template Task It is to be possible to move the axes connected to the technology CPU for manual positioning and retracting individually and without extra work in positive and negative direction. V4.1, Item-ID:

8 1 Basic Information 1.2 Objective and purpose of this technology template The direction specifications and the travel commands are to be entered using individual jog buttons and the axis is to move in the specified direction only as long as the jog button remains clicked. In addition, velocity, acceleration and deceleration of the axis and the jerk are be adjustable via input parameters at the block. Figure 1-1 Function principle of the MC_MoveJog template Problem solving using the technology template The technology template presented in this document helps solve the displayed tasks and develop a manual control of the axes connected to the technology CPU as quickly as possible. To ensure this, the technology template is provided with all required program flows to set an axis in motion and return it to standstill. The setpoint velocity of the axis and the setpoint acceleration and decelaration and the setpoint of the jerk can be set via input parameters at the block. Via the user program, the template now only has to be assigned to an axis and supplied with the respective button signals. Furthermore, the option of setting the motion parameters is to be provided if required. Test program for checking the functions of the technology template In addition to the technology template MC_MoveJog, a test program for the template block with which the ability of the technology template for the required problem solving can be tested is also available. 8 V4.1, Beitrags-ID:

9 1.2.2 Advantages of the technology template 1 Basic Information 1.3 Components included in the technology template Using the technology template offers the following advantages to the user: Quick program generation The technology template enables an easy and quick realization of a manual motion of the axes connected to the technology CPU. The block available in the template can quickly and easily be applied to the application to be created by copying. Additionally required configuration steps are explained in these instructions on the technology template. Parameter capability All parameters necessary for the manual motion control of the axes at the technology CPU, such as setpoint velocity, setpoint acceleration and deceleration as well as setpoint of the jerk can either be taken from the basic settings of the respective axes or they can be set directly at the block via the user program. Adaptation option The technology template MC_MoveJog includes all source codes in commented form. This ensures that the template can be expanded quickly and easily with own functions. This documentation also includes an explanation of the program flow for expansion of the template. 1.3 Components included in the technology template The technology template is a software package which contains all STEP 7 blocks required for the realization of a manual motion of axes in jog mode. Figure 1-2 Components of the technology template MC_MoveJog Technology Template S7-Tech Funktionsbaustein Instanzdatenbaustein FB 405 MC_Halt FB 414 MC_MoveVelocity FB 512 z.b. DB 512 idb_movejog_1 z.b. DB 522 idb_movejog_2 This ensures that the MC_MoveJog template can be integrated quickly and easily into self-created user projects. V4.1, Item-ID:

10 2 Application Options of the technology template 2.1 Applications 2 Application Options of the technology template 2.1 Applications Authorized and required hardware and software components Hardware components Figure 2-1 Hardware components Component No. MLFB / Order Number Note CPU 317T-2 DP 1 6ES7317-6TJ10-0AB0 or 6ES7317-6TK13-0AB0 The CPU processes the user program and the technological functions. Micro Memory Card 4MB or alternatively Figure 2-2 Hardware components Firmware: V2.6 / V ES7953-8LM11-0AA0 The S7 program is stored on the MMC. Component No. MLFB / Order Number Note CPU 315T-2 DP 1 6ES7315-6TG10-0AB0 or 6ES7315-6TH13-0AB0 Micro Memory Card 4MB The CPU processes the user program and the technological functions. Firmware: V2.6 / V ES7953-8LM11-0AA0 The S7 program is stored on the MMC. Standard software components Table 2-3 Standard software components Component No. MLFB / Order Number Note STEP 7 1 6ES7810-4CC08-0YA7 STEP 7 is the basic package for all optional Version: V5.4 software packages and it is used for programming the SIMATIC S7. S7-Technology 1 6ES7864-1CC41-0YX0 Tool for parameterizing and programming the Version: V4.1 technology objects of the technology CPU 10 V4.1, Beitrags-ID:

11 Software components required for the test program Table 2-4 Software components required for the test program 2 Application Options of the technology template 2.1 Applications Component No. MLFB / Order Number Note WinCC flexible Runtime 1 6AV6613-1DA51-3CA0 The Runtime software of WinCC flexible is Version: 2008 required for operating the HMI of the test program. WinCC flexible 1 6AV6613-0AA51-3CA5 The engineering software of WinCC Version: 2008 flexible is only required if the HMI of the test program is to be modified. Example files and projects The following list includes all files and archives used in this technology template. Table 2-5 Files and STEP 7 archives of the technology template Component _CPU31xT_MoveJog_CODE_v41.zip _CPU31xT_MoveJog_Exp_ CODE_v41.zip _CPU31xT_MoveJog_ DOKU_v41_e.zip Note This STEP 7 archive contains only the blocks associated to the technology template for integration into a user program. This STEP 7 archive contains the blocks associated to the technology template for integration into a user program as well as a test program for checking the parameterization options and functions of the technology template. This document. Required PLC-Open blocks from the S7-Tech V4.1 library The list below includes all PLC-Open blocks from the S7-Tech V4.1 library used for technology function calls in this technology template. The S7-Tech V4.1 library is included in the S7-Technology software component listed above. Table 2-6 Required PLC-Open blocks PLC-Open blocks FB 405 MC_Halt FB 414 MC_MoveVelocity Function Stopping axis motions. Move an axis with specification of rotational speed. V4.1, Item-ID:

12 2 Application Options of the technology template 2.2 Constraints Tasks which can be solved with the technology template This technology template is used for the manual control of the axes connected to the technology CPU in jog mode for moving axes manually retracting, e.g. after activating a limit switch Properties of the technology template MC_MoveJog The following properties were considered during the realization of the technology template: Selection of the direction of motion via separate inputs The direction of motion of the axis can be set via two separate inputs at the technology template MC_MoveJog. The corresponding axis is only moved as long as one of the two inputs is controlled. If the input is reset the axis is decelerated to standstill. Parameterization option of the motion directly at the block The parameters of the axis motion by the technology template MC_MoveJog can either be configured via the settings of the respective axis in S7T-Config or they can be directly preset via the parameter inputs of the block. Display of the axis motion job directly at the block If an axis motion is triggered via the template this fact is reported to the user program via the Busy output of the block. The Busy output remains set until the axis returns to standstill, until the block is replaced by another PLC-Open block or until an error occurs at the block. Acknowledging message when reaching the setpoint velocity If the axis reaches the set setpoint velocity the block displays this information at the InVelocity output. 2.2 Constraints The following properties were not considered during the realization of the technology template: Monitoring limit switches and limitations Limit switches and limitations of the axes are not monitored by the MC_MoveJog template. A possibly desired monitoring has to be configured for the respective axis via S7T-Config. Monitoring the axis enable The enable of the axis, which is to be controlled via the MC_MoveJog template, cannot be monitored using the template and is not displayed at any output of the template. 12 V4.1, Beitrags-ID:

13 3 Structure and Function 3.1 Structure of the technology template 3 Structure and Function 3.1 Structure of the technology template The technology template MC_MoveJog encapsulates all necessary functions and function processes for manual motion of a real or virtual axis connected to a technology CPU. The desired motion can be initiated via two direction-dependent inputs directly at the template. If the motion job is reset via the direction-dependent inputs the axis is decelerated to standstill via the configured deceleration ramp. Figure 3-1 General structure of FB 512 MC_MoveJog 3.2 Function principle Controlling the axes and transmitting motion jobs by the technology template MC_MoveJog follows the function principle described below: Transmitting motion jobs A motion job can be activated at the MC_MoveJog template by controlling a direction input. This also determines the direction of motion of the respective axis. Figure 3-2 Function process at the technology template MC_MoveJog JOG_Pos / JOG_Neg MC_MoveVelocity MC_Halt Velocity ActualVelocity Acceleration Deceleration V4.1, Item-ID:

14 3 Structure and Function 3.2 Function principle If a motion job is pending, a motion job with speed specification is transmitted via the technology function block FB 414 MC_MoveVelocity. The job remains as long as one of the direction inputs is controlled. If the control of the direction input is reset the stop of the axis is initiated via the technology function block FB 405 MC_Halt. A controlled deceleration of the axis to standstill of the axis is performed Checking the motion at the block The axis motion can be checked directly at the technology template MC_MoveJog via special outputs. The Busy output indicates that a motion job was transmitted to the axis. In addition, the InVelocity output indicates that the axis has reached the set setpoint velocity. Figure 3-3 Checking the axis motion directly at the technology template MC_MoveJog JOG_Pos / JOG_Neg Busy InVelocity Velocity MC_MoveVelocity MC_Halt ActualVelocity Reaction of the block to error events If an error occurs during the transmission of motion jobs by the technology function blocks, this error is displayed at the Error output of the MC_MoveJog template. The respective error code can be read at the ErrorID output of the template. The Error output and ErrorID also continue to be set if the control of the direction input is reset. The Error output and ErrorID are reset if a new motion job is transmitted at the inputs JOG_Pos or JOG_Neg. 14 V4.1, Beitrags-ID:

15 3 Structure and Function 3.2 Function principle Figure 3-4 Reaction of the block to error events Error and ErrorID are also reset without a motion job via a simultaneous control of the inputs JOG_Pos and JOG_Neg. Figure 3-5 Reset of the error displays without motion job Replacing the technology template MC_MoveJog If the technology function blocks used in the technology template MC_MoveJog are replaced by other technology function block calls V4.1, Item-ID:

16 3 Structure and Function 3.3 Behavior of MC_MoveJog outside the template, the CommandAborted output of the MC_MoveJog template is set. In this case, the technology template MC_MoveJog completely gives up the control of the axis. Possibly, the axis can also not be stopped by resetting the direction input.! Danger If the CommandAborted output is set by the technology template MC_MoveJog the corresponding axis can no longer be controlled via the technology template! In this case, stopping an axis in motion via the template is no longer possible! The CommandAborted output also continues to be set if the control of the direction input is reset. Figure 3-6 Replacement of the MC_MoveJog block The signal at the CommandAborted output is only reset by transmitting a new motion job or by simultaneously controlling the inputs JOG_Pos and JOG_Neg without transmitting a new motion job. 3.3 Behavior of MC_MoveJog Controlling the direction inputs Depending on the control of the two direction inputs of the technology template and depending on the current motion status of the axis, the following reactions of the technology template ensue: 16 V4.1, Beitrags-ID:

17 3 Structure and Function 3.3 Behavior of MC_MoveJog Figure 3-1 Behavior of the technology template MC_MoveJog JOG_Pos JOG_Neg Reaction of the template False False The axis is at standstill: The MC_MoveJog template does not perform reactions. The axis is in motion: The axis is decelerated to standstill and stopped. True False The axis is at standstill: The axis is accelerated to the set velocity in positive direction. The axis moves in positive direction: The motion in positive direction is continued. The axis moves in negative direction: The axis is decelerated to standstill and subsequently accelerated to the set velocity in positive direction. False True The axis is at standstill: The axis is accelerated to the set velocity in negative direction. The axis moves in negative direction: The motion in negative direction is continued. The axis moves in positive direction: The axis is decelerated to standstill and subsequently accelerated to the set velocity in negative direction. True True The axis is at standstill: The signals possibly present at the outputs CommandAborted and Error or ErrorID are cleared without activating an axis motion. The axis is in motion: The axis is decelerated to standstill and stopped. The signals possibly present at the outputs CommandAborted and Error or ErrorID are cleared without activating an axis motion. V4.1, Item-ID:

18 3 Structure and Function 3.3 Behavior of MC_MoveJog Figure 3-7 Behavior of the technology template when operating both direction inputs JOG_Pos JOG_Neg MC_MoveVelocity MC_Halt Busy Velocity ActualVelocity Note To avoid unintentional motions of the axis during resetting the signals at the outputs CommandAborted, Error and ErrorID, it has to be ensured that both direction inputs are reset simultaneously Acceleration and deceleration of the travel motions The setpoints for acceleration, deceleration and jerk parameterized at the block inputs are used for acceleration and deceleration of the travel motions. If a negative setpoint is selected the default value set in S7T-Config for the corresponding axis is used. Changed parameters are accepted at the block only after again clicking JOG_Pos or JOG_Neg. 18 V4.1, Beitrags-ID:

19 4 Program Environment and Interfaces 4.1 Call environment 4 Program Environment and Interfaces 4.1 Call environment Block FB 512 MC_MoveJog of the technology template has to be called cyclically in the user program. It can be called directly in an OB or within a cyclically processed FB. Figure 4-1 Call environment of FB 512 MC_MoveJog! Danger The technology object (axis) influenced by block FB 512 MC_MoveJog must only be influenced by the user program if the axis is no longer influenced by the technology template MC_MoveJog. Otherwise situations may occur in which the axis can no longer be brought to a standstill by the technology template. If the CommandAborted output of the template is set the axis can no longer be controlled via the technology template! In this case, stopping an axis in motion via the technology template is no longer possible! 4.2 Interfaces Block interface of FB 512 MC_MoveJog For manual control of an axis by the technology template MC_MoveJog, the following interfaces are available at the block: V4.1, Item-ID:

20 4 Program Environment and Interfaces 4.2 Interfaces Axis JOG_Pos JOG_Neg Velocity Acceleration Decelration Jerk FB 512 MC_MoveJog InVelocity Busy CommandAborted Error ErrorID Table 4-1 Interfaces of FB 512 MC_MoveJog Parameter Data type Initial value Description Input parameters Axis INT 0 At this input, the number of the technology data block of the axis has to specified which is to be influenced via the MC_MoveJog block. JOG_Pos BOOL False A manual motion of the axis in positive direction is activated via this input. The motion is continued as long as this input remains set. JOG_Neg BOOL False A manual motion of the axis in negative direction is activated via this input. The motion is continued as long as this input remains set. Velocity REAL -1.0 Setting the setpoint velocity during motion of the axis. Negative values activate the default setting of the axis in S7T-Config. Acceleration REAL -1.0 Setting the setpoint acceleration of the axis. Negative values activate the default setting of the axis in S7T-Config. Deceleration REAL -1.0 Setting the setpoint deceleration of the axis. Negative values activate the default setting of the axis in S7T-Config. 20 V4.1, Beitrags-ID:

21 4 Program Environment and Interfaces 4.2 Interfaces Parameter Data type Initial value Description Jerk REAL -1.0 Setting the setpoint of the jerk of the axis. Negative values activate the default setting of the axis in S7T-Config. Output parameters InVelocity BOOL False The axis has reached the set setpoint velocity. Busy BOOL False A motion job was transmitted by activating a direction input. The output continues to be set until the axis is completely stopped or until the travel job is terminated by an error or replaced by an external job to the axis. CommandAborted BOOL False Indicates that the travel job was replaced by an external job to the axis. Attention: If this output is set the MC_MoveJog block has completely given up the influence on the corresponding axis. The axis can no longer be controlled via the block! Error BOOL False Signals that an error has occurred during the execution of the motion job. ErrorID WORD 0 Displays the error code connected with the Error output for localization of the cause of the error.! Danger If the CommandAborted output of the template is set the axis can no longer be controlled via the template! In this case, stopping an axis in motion via the template is no longer possible! V4.1, Item-ID:

22 5 Integration of the technology template 5.1 Preparations Integration of the technology template Content This part of the documentation provides detailed information on the procedures for integrating this technology template into new or already existing projects and on the control of the technology template by a user program. 5 Integration of the technology template 5.1 Preparations Retrieving the technology template The technology template is delivered as STEP 7 archive. To use the template, it is required to first retrieve this archive via STEP 7. You can use the STEP 7 archive of the technology template which only contains the blocks required for the integration of the template into a user program Abbildung 5-1 Blocks of the technology template (without test program) or choose the STEP 7 archive which contains a test program in addition to the blocks of the template. 22 V4.1, Beitrags-ID:

23 5 Integration of the technology template 5.2 Integration of the technology template into your application Figure 5-2 Blocks of the test program for the technology template (incl. template) Integration of the technology template into your STEP 7 project For easy and quick transfer of the technology template to your STEP 7 project, you should proceed as described below. Transfer of the complete S7 program folder Copy the complete S7 program folder from the STEP 7 archive of the technology template to the root directory of your STEP 7 project. Now all blocks required for the technology template are directly available in your user program. Integration of the elements of the technology template into your STEP 7 project To integrate the elements of the technology template, you now only have to copy the individual blocks of the template from the copied S7 program folder to the block folder of your application. Subsequently, you can use the technology template in your user program by a simple call of block FB 505 Move3D. 5.2 Integration of the technology template into your application After transferring all blocks included in the delivery of the technology template to your STEP 7 project, you can now use the functions provided by the technology template in your user program. V4.1, Item-ID:

24 5 Integration of the technology template 5.2 Integration of the technology template into your application Call of the function block in STL and FBD The call of the function block of the technology template in the programming languages STL and FBD is shown below as an example: Table 5-1 Call of the function block of the technology template STL FBD FB 512 MC_MoveJog Assignment of the instance data block For each axis which is to be executed simultaneously to another axis using FB 512 MC_MoveJog, a separate instance data block or an area in a multi-instance data block has to be assigned to the function block FB 512 MC_MoveJog Integration of FB 512 MC_MoveJog into the processing sequence The function block FB 512 MC_MoveJog of the technology template is integrated into the processing sequence of the user program by a simple block call and the transfer of the required parameters. The block has to be called in a cyclically starting OB or FB. A timer interrupt-controlled processing (e.g in OB 35) is not necessary but it is possible. 24 V4.1, Beitrags-ID:

25 5 Integration of the technology template 5.3 Program structure Program Description of the technology template Content This part provides detailed information on the structure and the setup of the technology template enabling you to individually adapt this technology template to your application. 5.3 Program structure General information The MC_MoveJog technology template consists of the block FB 512 MC_MoveJog which was created in the STEP7 language STL. The block is functionally divided into individual networks and each network is assigned to a specific function of the block. The instance data blocks of the technology function blocks used in the block FB 512 MC_MoveJog are integrated into the instance data block of FB 512 MC_MoveJog as multi-instances Program flow The block FB 512 MC_MoveJog of the technology template uses the PLC-Open technology function blocks FB 405 MC_Halt and FB 414 MC_MoveVelocity for the generation of the desired motion processes. If one of the two direction inputs of the MC_MoveJog block is activated the necessary signals for controlling FB 414 MC_MoveVelocity are generated block-internally and the motion process of the axis is initiated via this block. If the activation of the direction inputs is reset the parameters for FB 405 MC_Halt are generated block-internally and the axis is decelerated to standstill via this block. 5.4 Functions of the individual networks of the block Network 1: Direction / Clear Output Signals In this network, the inputs of the travel commands JOG_Pos and JOG_Neg are evaluated and the parameter direction for the block FB 414 MC_MoveVelocity is generated. Positive travel direction: direction = 1 Negative travel direction: direction = 3 In addition, this network includes the option to clear the output signals CommandAborted and Error as well as a possibly issued error code ErrorID by simultaneously operating the two direction inputs. V4.1, Item-ID:

26 5 Integration of the technology template 5.4 Functions of the individual networks of the block Network 2: Do JOG -> MoveVelocity If the activation of a travel job is detected in network 1, the Execute input of FB 414 MC_MoveVelocity is set in this network for the execution of the travel command and a possibly present stop command is reset. In addition, the block-internal indicator variable InMove is set to make a possible axis motion recognizable in the block. The outputs CommandAborted and Error are also reset by transmitting a new travel job Network 3: No JOG or ERROR If the activation of the direction inputs was reset in network 1 and if the axis is in motion, the Execute input of FB 414 MC_MoveVelocity is reset in this network and the Execute input of FB 405 MC_Halt is set to initiate the stop of the axis. After the axis has returned to standstill the Execute input of FB 405 MC_Halt and the block-internal indicator variable InMove are automatically reset Network 4: Call Technology Functions The actual call of the two PLC-Open function blocks FB 414 MC_MoveVelocity and FB 405 MC_Halt is performed in this network. The two blocks are called in an individual cyclically processed network to enable to continuously monitor the output variables of the blocks within FB 512 MC_MoveJog Network 5: Error-Handle In this network, the Error output is set in case of an error and the respective error code of the PLC-Open block in which the error has occurred is output via the ErrorID output. In addition, the Execute bit of the block and the InMove variable of the template are reset in case of an error at the function block FB 405 MC_Halt Network 6: CommandAborted-Handle If the template block FB 512 MC_MoveJog is replaced by another PLC- Open block the Execute bits of the function blocks FB 414 MC_MoveVelocity and FB 405 MC_Halt are reset in this network Netzwerk 7: Interface OUT-Parameter In this network, the outputs of the template block FB 512 MC_MoveJog are set or reset depending on the current status of the block. 26 V4.1, Beitrags-ID:

27 6 Warnings and Error Messages Appendix and Literature 6 Warnings and Error Messages The FB 512 MC_MoveJog technology template does not output specific warnings or error messages. All error codes output at the ErrorID block output correspond to the error codes of the PLC-Open blocks of the technology CPU. The cause of the error can be determined using the ErrorID in the documentation on the technology function blocks for the technology CPU. 7 Test Program for the MC_MoveJog Template 7.1 Tasks of the test program! Attention For the first tests prior to the integration of the MC_MoveJog technology template into a user program, a test program is available which offers the option to supply the interfaces of the block with values and consequently to extensively test the reactions and options of the template via an operatorfriendly HMI. No real machine axes are required for the test program. The test requires a technology CPU. The machine axes are simulated on the CPU as virtual axes. The test program is used to familiarize with the principle of operation and the reactions of the technology template. This program is not intended for use in real machines and consequently not released. The test program is available as independent STEP 7 archive with all required technology objects and STEP 7 blocks. 7.2 Requirements for running the test program To start up the test program, the following requirements have to be met: The STEP 7 project of the test program was correctly loaded to the technology CPU The CPU is in RUN and no alarm is present CPU and programming device are connected via an MPI/DP connection. (A PROFIBUS line and a transmission rate of 12 Mbaud is recommended) WinCC flexible Runtime 2008 is installed and runnable. V4.1, Item-ID:

28 7 Test Program for the MC_MoveJog Template! Warning Before changing the interface speed, check the maximum speed of your used CP or adapter. If the maximum speed is not 12 Mbit/s and if you load the application to the CPU without prior changes, you can no longer access the CPU! For this reason, it is required to set the baud rate of all MPI busses in the project to the maximum transmission rate possible before downloading the application. 7.3 HMI of the test program Overview Operation of the axis Activation of an additional travel job Via the HMI of the technology template MC_MoveJog, the functions of the technology template can be performed and tested in a convenient way. Figure 7-1 Operator displays of the test program for the MC_MoveJog template Operation of the block Simulation of the axis 28 V4.1, Beitrags-ID:

29 7 Test Program for the MC_MoveJog Template General functions of the controls and display elements The controls and display elements available on the HMI of the test program provide the following functions: Table 7-1 General function of the controls and display elements Element Function Description Setting and resetting boolean inputs Status display for boolean outputs. Input boxes Output boxes The status of a boolean input is displayed by the color of the control. If the control is green the input is set. The status of a boolean output is displayed by the color of the control. Green or red signals that the output is set. Parameter values can be set in these boxes. Output values are displayed in these boxes Operation and parameterization of the MC_MoveJog block Axis number The inputs and outputs of FB 512 MC_MoveJog can be parameterized and monitored via the block symbol of the user interface of the test program. Figure 7-2 Operation and parameterization of FB 512 MC_MoveJog Display of the current block status Operation of the direction inputs Parameteriza tion of the motion settings at the block Output of the error code V4.1, Item-ID:

30 7 Test Program for the MC_MoveJog Template Characteristic features of the operator buttons The buttons of the user interface for controlling the direction inputs of the block have the following function: Table 7-2 General function of the controls and display elements Element Function Description Jogging Set / Reset Jogging both inputs 7.4 Operation of the test program Jog buttons for positive and negative movement with non-lockable functionality. The input remains set as long as the button is kept pressed. The status of the input is indicated via the color of the button. Green signals that the input is set. The input is set and continues to be set by clicking the button once. Another click of the button resets the input. Green signals that the input is set. With this button, both inputs of the block can be set simultaneously. The inputs remain set as long as the button is kept pressed. Green signals that the inputs are set. To generate the desired motion processes there are several buttons available, activating the same functions at the function block. Figure 7-3 Verfahren der Achsen über die Tipp-Tasten Jog buttons for positive and negative movement with lockable and non-lockable functionality. In the figures below the operation of the test program at the function block is shown. 30 V4.1, Beitrags-ID:

31 7 Test Program for the MC_MoveJog Template Manual moving of the axis using the jog buttons Table 7-3 Manual moving of the axis using jog buttons No. Instruction HMI 1 Start Runtime of the HMI interface of the test program. 2 Enable the positioning axis by clicking power button. 3 Quit all errors by clicking the reset button 4 Move the axis in positive or negative direction using the jog buttons Replacing the template block by a PLC-Open block Table 7-4 Replacing the template block by a PLC-Open block No. Instruction HMI 1 Set a permanent travel command for the axis using the S/R button. 2 Click the Execute another PLC-Open Block button to replace the template block by an MC_MoveRelative command. 3 As soon as the template block is replaced by MC_MoveRelative, the CommandAborted output is set and MC_MoveJog no longer controls the axis. V4.1, Item-ID:

32 7 Test Program for the MC_MoveJog Template Generating an error message at the template block Table 7-5 Setting the MC_MoveJog template to automatic mode No. Instruction HMI 1 Deactivate the enable of the axis by clicking power. 2 Issue a travel job at the template block using a jog button. 3 The Error output of the template block is set and the ErrorID signals that the axis is not enabled. 4 If necessary, delete the error message by clicking the Both button without outputting a travel command to the axis. 32 V4.1, Beitrags-ID:

33 8 Literature 8 Literature 8.1 Bibliographic references This list is by no means complete and only gives a selection of appropriate sources. Table 8-1 Literature Topic Title /1/ STEP 7 Automating with STEP7 in STL and SCL Hans Berger Publicis MCD Verlag - 4 th edition 2004 ISBN /2/ STEP 7 SIMATIC Programming with STEP 7 V5.4 Siemens Manual Edition 03/2006 MLFB: 6ES7810-4CA08-8BW0 /3/ STEP 7 SIMATIC System Software for S7-300/400 System and Standard Functions Siemens Reference Manual Edition 03/2006 MLFB: 6ES7810-4CA08-8BW1 /4/ STEP 7 SIMATIC Statement List (STL) for S7-300/400 Siemens Reference Manual Edition 03/2006 MLFB: 6ES7810-4CA08-8BW1 /5/ Technology CPU SIMATIC S7-300 CPU 31xT Siemens Manual Edition 03/2008 MLFB: A5E /6/ Technology CPU SIMATIC S7 Technology Siemens Manual Edition 03/2008 MLFB: A5E Internet links This list is by no means complete and only gives a selection of appropriate sources. Table 8-2 Internet links Topic \1\ Reference to the entry Title / link V4.1, Item-ID:

34 8 Literature Topic \2\ Sector Industry Service & Support \3\ Application examples for the Technology CPU (selection) \4\ technology templates for the Technology CPU (selection) \5\ Manual Technology-CPU Title / link Palletizer with Simply Interpolating Axes Based on Cam Discs: Feeder for a press based on static cam disks: Cross Slide / Single Belt Application Simple 3D-Interpolation with cam disks: Hydraulics Characteristics : MoveCircel2D Flying Shears Select Product Support and 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: 161/ S7-Technology: CPU-Data 317T-2 DP: CPU-Data 315T-2 DP: V4.1, Beitrags-ID:

35 9 History 9 History Table 9-1 History Version Date Modification V1.0 04/27/2005 First edition V /21/2006 Publishing the compact documentation of the technology template V4.1 03/10/2009 Update of the technology template to version V4.1 of S7 Technology V4.1, Item-ID: