How to Easily Implement Siemens Motion Control Solution in the Real World? Presented by Craig Nelson and Kevin Wu Manufacturing in America March

How to Easily Implement Siemens Motion Control Solution in the Real World? Presented by Craig Nelson and Kevin Wu Manufacturing in America March 14-15, 2018

Typical Motion Control Applications

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Motion Control with SIMATIC & SINAMICS Motion Control Applications Cartesian gantries Delta pickers Scara robots,... Synchronized axes Cross cutters Flying shears,... Palletizers,... Hoisting + vertical conveyors Feeder + door control systems Mixers Conveyor belts Auxiliary drives,... Path interpolation Handling Coordination (synchronous operation, cams) Positioning Speed setpoint Speed setpoint Motion Complexity

The Motion Control Market (Cyclic and Continuous) Typical Applications Cartesian gantries Delta pickers SCARA robots,... Synchronized axes Cross cutters Flying shears,... Palletizers,... Lifting and vertical conveyors Feed-in and gate controls Example Characteristics 10 or more highly coordinated objects 15 things turning at once 3-10 axis 1-2 things move + 3-8 additional coordinated Motion Control functions Engineered with TIA Portal Pumps, fans, mixers Conveyor belts Auxiliary drives,... 1-2 things move Not coordinated Cyclic and Continuous Production Processes* *Cyclic: Object is created stage by stage over a series of workstations Continuous: Flow production without interruption CNC applications Basic Midrange High-End Performance Class

Overview of Motion Control functionalities TIA Portal V14 Cartesian gantries Delta pickers SCARA robots,... Synchronized axes Cross cutters Flying shears,... Palletizers,... Lifting and vertical conveyors Feed-in and gate controls Pumps, fans, mixers Conveyor belts Auxiliary drives,... Distributed synchronous operation Kinematic Path interpolation Camming Gearing (absolute) 1) Gearing (relative) 2) Output cam Measuring input Positioning Speed control Motion Control functions Basic Controller Standard CPU Engineered with TIA Portal Advanced Controller Standard CPU Basic Midrange High-End T New Advanced Controller T-CPU SIMOTION Motion Controller 1) Synchronization with specification of the synchronous position; 2) Synchronization without specification of the synchronous position

The scalable SINAMICS Drives Portfolio for Discontinuous Motion Engineered with TIA Portal Performance & drive functions NEW Consistent drive and automation solutions Seamless interaction of all drive components Optimum maintenance and service V90 + 1FL6 S210 + 1FK2 S120 / S120M + 1FK7, 1FT7, 1PH8, 1FG1 Safety Integrated Basic Midrange High-End Technology Integrated

The SIMATIC HMI Portfolio Always the right HMI-System plus integrated added value! Engineered with TIA Portal System performance Basic HMI Key Panels Basic Panels Advanced HMI Panel-based Comfort Panels Mobile Panels PC-based Panel and Box PCs incl. Monitore/ ThinClients Efficient engineering Innovative design Brilliant devices Safety Integrated Security Integrated Application complexity Rapid commissioning

How can we solve your motion needs better than the competition? A New Way of Motion Easy to Program System Simulation Integrated Safety Built-in Diagnostics Overall Solution Motion Control programming in just 3 steps 0110010101 0001100101 0100101101 Simulation tools (PLCSIM) all built in. One system, one programming tool and one network for standard and fail-safe Uniform system diagnostics, automatically generated during device configuration PLCopen Blocks Technology Objects Common Database Drag and Drop Startdrive No hardware required No additional license required Transparent from simulate to real 1500 + 1500F + 1500T/TF Profinet with Profisafe TO + Safety Block function together Drive Safety Library Safety Acceptance Test Diagnostics build into the Firmware

Configuring and programming 3 steps to a motion control application SIMATIC S7-1500 User program The three steps when creating a motion control application Programming commands Technology object Axis S7-1500 firmware SINAMICS Drive parameters STEP 7 Startdrive TIA Portal Properties of the application Configuring the drive

Configuring and programming Project view 1 4 3 Steps when engineering the drive application 1 Insert devices 2 Parameterize and commission the drive (Startdrive) 3 Create TO and assign to drive 2 4 Write the motion program

Configuring and programming Programming using PLCopen Programming motion instructions in the user program Inserting an MC_block from the library 3 2 1 Motion control library with the MC_blocks

Efficient engineering STEP7 PLCSIM for PLC simulation Simulation of S7-1500 CPUs Axes are automatically switched into the simulation mode No simulation project needed to start application T-CPU incl. motion functions Simulation of the decentralized periphery Recording and playback of manual PLCSIM tag changes (as sequence)

Advanced Controller SIMATIC S7-1500 T-CPU Extended motion control functions with TIA Portal V15 and firmware V2.5 *) Additional motion control functions Kinematic functions Control of kinematics with up to 4 interpolating axes Integrated editors and viewers Cam editor NEW Gearing and camming Synchronization with specifying the synchronous positions of the leading and following axes Setpoint value coupling Actual value coupling with extrapolation Kinematics configurator / Kinematics trace NEW Hardware innovations SIMATIC S7-1500 T-CPUs CPU 1511T, CPU 1511TF, CPU 1515T, CPU 1515TF, CPU 1516T, CPU 1516TF, CPU 1517T, CPU 1517TF Standard-, safety-plc and motion control on one controller Programming Consistent and seamless extension of S7-1500 by S7-1500 T-CPU Web server NEW Diagnostic pages for motion control *) compared to the standard CPU

Camming with 1500T Motion Control

Synchronized axes

Cam Mechanical cam Slave in mm Master in

Cam Principle technology object S7-1500 S7-1500T Technology object cam Defines a non-linear function f(x) by means of interpolation points and/or segments. Can be used for cam synchronous operation Transitions between interpolation and segments are interpolated in the control system

Motion control with SIMATIC S7-1500 T-CPU technology objects Camming Camming with precise position TO synchronous axis and TO cam Positioning axis Leading Synchronization value Cam Synchronized axis Following axis Leading value is setpoint/actual position of a leading axis - or actual position of an external encoder A leading value can be switched over Synchronization to a leading value Synchronization according to specified commands Cam switchover on the fly Leading axis Cam Following axis

Transition segment (interpolated by the system) Working segment Graphic or tabular entry Assignment of real axes

Working segments: 1000 interpolation points and 50 segments System interpolation using cubic or Bezier splines

Interpolation according to VDI 2143

Displaying velocity, acceleration and jerk Selecting and setting the cam views

Motion control with SIMATIC S7-1500 T-CPU technology objects The highlight in the TIA Portal the Cam Disk Editor Feature Graphical & tabular editing of cam disk 1) u Benefit Flexible & efficient input modalities Identical cam disks interpolation at runtime and engineering u Instantaneous analysis of cam behavior at engineering Optimization of cam segments according to u Higher motion quality boundary conditions 2) Calculation and modifying of cam disks at runtime u Higher machine flexibility 1) Via polynomial segments, interpolation points / lines 2) With constant speed or acceleration (jerk-free) and in accordance with the motion laws for cam disks according to VDI 2143 The cam disk tool is also provided as a stand-alone tool (free of charge) u Editing of cam disk independent of the TIA Portal engineering SW

Kinematics in 1500T Motion Control

SIMATIC S7-1500 T-CPU Technology object kinematics What are kinematics? Kinematics Kinematics are freely programmable mechanical systems in which several mechanically coupled axes effect the movement of a working point. Use cases Palletizing, placement and removal Assembly operations Pick & Place in general

STEP 7 Innovations Motion control Kinematics for handling tasks 1/2 S7-1500T S7-1200 Technology object kinematics (TO kinematics) for simple interconnection of positioning axes to form a kinematic unit Predefined 4D kinematics for simple use of standard kinematics (SCARA, Portal, Articulated Arm, Roll Picker, Delta Picker, Cylindrical Robot, Tripod) User transformation as function block for integrating user-defined kinematics Free transformation interface 4D interpolation, linear and circular movement with geometric blending including orientation guidance (e.g. rotation of the gripper) Motion queue programming for advance motion processing with dynamic adaptation EP Polynomial Command 2 AP Command 1

SIMATIC S7-1500 T-CPU Technology object kinematics The kinematics trace: 3D visualization and motion recording 3D visualization of the configured kinematics Recording of movement and display as tracer path Playback, import and export of recordings

SIMATIC S7-1500 T-CPU Technology object kinematics The highlight: kinematics functions in the TIA Portal Feature / Function Predefined 2D to 4D kinematics u Benefit Get started with the typical kinematics right away (Cartesian portal, Roller picker, Delta picker, SCARA robot, Articulated arm, Tripod, Cylindrical robot) User specific transformation u Easy integration of own kinematics Function blocks according to PLCopen u Up to 4 interpolating axes u Zone monitoring u Configuration with graphical support u Kinematics-trace u Programming of kinematic functions in the familiar PLC environment X, Y, Z - Tool movement and orientation easily programmable Avoidance of collision between kinematics and mechanical equipment in the machine Intuitive parameterization of kinematics, coordinate systems, tools and zones Diagnosis of movement by 3D visualization with tracer path recording

Number of Axes, Performance, and USA List Price Quantity structure and cycle times (orientation values) CPU 1511T CPU 1511TF USD $1,485 USD $1,850 Maximum number of axes: 10 positioning axes Motion Control cycle: 2 ms Typical number of axes: 5 positioning axes in 4 ms *) CPU 1515T CPU 1515TF USD $4,140 USD $4,715 Maximum number of axes: 30 positioning axes Motion Control cycle: 1 ms Typical number of axes: 7 positioning axes in 4 ms *) CPU 1516T CPU 1516TF USD $6,678 USD $7,370 Maximum number of axes: 80 positioning axes Motion Control cycle: 1 ms Typical number of axes: 55 positioning axes in 4 ms *) CPU 1517T CPU 1517TF USD $8,905 USD $9,790 Maximum number of axes: 128 positioning axes Motion Control cycle: 500 µs Typical number of axes: 70 positioning axes in 4 ms *) *) For approx. 35 % CPU load!

SINAMICS S210 Servo Drive System USA Launch

SINAMICS S210 Servo Drive System, Positioning within SINAMICS Discontinuous Motion Portfolio NEW Basic: SINAMICS V90 Servo Drive System Single axis AC/AC drive with basic performance and functionality Midrange: SINAMICS S210 Servo Drive System Single axis AC/AC drive with high dynamic performance for motion applications in the mid range segment. High-End: SINAMICS S120 Servo Drive Modular DC/AC multi axis system with most advanced drive based technology and connectivity to high end numeric and motion controllers

Top highlights SINAMICS S210 & SIMOTICS S-1FK2 The new midrange servo drive system Feature / Function Benefit 1FK2 motors w/ 20 bit abs enc. Current controller 62.5us PROFINET IRT (250 µs) u High Dynamic Increased performance Safety integrated functions via PROFIsafe u Fulfills high demands for safety Integrated Webserver One Button Tuning TIA Portal (via GSD) *) u Easy engineering One-Cable-Connection (OCC) u Safes time on installation 1AC 230V (200-240V) UL Certification 0.05-0.75kW u Ready for various markets

SINAMICS S210 Servo Drive System The drive for high dynamic performance applications Packaging, Printing, Converting, Plastics Packaging machines Printing machines Labeling machines Handling, Moving Pick and Place machines Rotary tables Stacking machines General Machine Building Assembling machines Chip sorting machines Bonding machines

SINAMICS S210 WEB Server 1 st start up of drive system First start up, go online, create Administrator Password.... Connect your PC and the SINAMICS S210 via the service interface (X127). Power up the SINAMICS S210. Open your internet browser and get go online to the drive (Standard-IP- Address: 169.254.11.22.). On first commissioning to get access to the drive you must define an administrator password. Please type in the Password (minimum 8 digits) and confirm the password again. For this class lets also use Administrator as the password Now the mask will change to the log in page. Please log in as Administrator and type your password to get Access to the Sinamics S210 Web pages to do the commissioning. A WLAN access point could also be used

SINAMICS S210 WEB Server Log on landing page Enter our log in info Administrator Alternatively for monitoring you can just type in: SINAMICS and no password Administrator

SINAMICS S210 WEB Server

Efficient engineering Lab Exercises Lab Exercises

Efficient engineering Lab Exercises Step by Step with PLCSIM (OFFLINE) ü ü ü ü ü ü Create the project Configure the T-CPU Create the drive and Technology Objects Create Cam TO, then Cam Editor profile Program the motion with PLCOpen Blocks Download to PLCSIM and run Trace Step by Step with Real T-CPU ü ü Download the same PLCSIM Project (no changes required) to the Real Physical T-CPU hardware Run Trace

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Seminar and Workshop Slides After MiA, seminar and workshop slides will be available at: http://www.usa.siemens.com/mia-seminars

Questions? Craig Nelson Sinamics S Product Manager Norcross, Georgia Phone: (770)871-3868 E-mail: craig.nelson@siemens.com Kevin Wu Motion Controller Product Manager Norcross, Georgia Phone: (770)871-3982 E-mail: wu.kevin@siemens.com