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SIMOTION – An Overview
SIMOTION Siemens AG 2012. All rights reserved.
Date: File:
09.02.2012 MC-SMO-SYS_01.1
Content
SITRAIN Training for Automation and drive technology
Page
Mechatronics and Motion Control – Transformation in Machine Construction .................................. Tasks of a Motion Control System ..................................................................................................... Motion Control – Possibilities in the Automation Area ....................................................................... What is SIMOTION? ........................................................................................................................... SIMOTION Components .................................................................................................................... System Architecture of the Runtime System ..................................................................................... Technology Packages in SIMOTION ................................................................................................. SIMOTION SCOUT Engineering Tools ............................................................................................. Programming Languages in SIMOTION ........................................................................................... MCC – Programming Motion Sequences .......................................................................................... LAD/FBD – Programming Languages for PLC Tasks ....................................................................... ST – High-Level Language for Programming Complex Algorithms ................................................... DCC – Graphic Tool to Generate Charts .......................................................................................... The Various Hardware Platforms ....................................................................................................... Integration in TIA ................................................................................................................................ SIMOTION Documentation ................................................................................................................
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2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17
MC-SMO-SYS SIMOTION – An Overview
Mechatronics and Motion Control – Transformation in Machine Construction Traditional machine construction Mechatronic solution
Central drive technology All motion is derived from mechanical transmission components Machine functions are "mechanically" defined
Distributed drive technology Motion is coordinated by higherlevel control Software simulation of mechanical components Flexible machine functions
Electronics
Coupling
Mechanical system
Gearing Cam controller
Cam
SIMOTION
Line shafts Software
Date: File:
Siemens AG 2012. All rights reserved.
09.02.2012 MC-SMO-SYS_01.2
SITRAIN Training for Automation and drive technology
Previous machine Concepts
In previous machines, mechanical components such as cams gearboxes, couplings, line shafts, etc., were mainly used. This meant it was often costly and time-consuming to make mechanical changes. It was difficult to create flexible solutions. Now the obstacles imposed by mechanical components are being lifted by the use of intelligent automation and drive technology.
Intelligent concepts
Intelligent software solutions are increasingly replacing mechanical components with central drive technology. Machine functions are implemented by means of distributed drive technology. Individual movements are coordinated and synchronized by the higher-level control. Functions which were previously implemented with hardware are now integrated into the software. Changing machine requirements such as format changes can be responded to almost at the touch of a button.
Advent of mechatronics
Today "intelligent components" play a key role in modern machine and production plant construction. These "mechatronic components" comprise mechanical components, sensors, actuators, electronic components and software. Today, mechatronic solutions are indispensable in many sectors. The economic success is not in optimizing the sub systems, but in a complete and holistic system approach. With mechatronics a machine or production plant is regarded not only in mechanical terms but as a complete system that integrates mechanical components, electronics, control engineering and software technology.
SIMATIC and SIMOTION
As technology leader, Siemens offers manufacturers of machines and production plants a system platform providing automation without system interruptions. The associated wide-ranging services portfolio extends from application consultancy by competent specialists – with well-founded sector experience – up to commissioning and maintenance by our service specialists.
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Page 2
MC-SMO-SYS SIMOTION – An Overview
Tasks of a Motion Control System Tasks of a motion control system
HMI
Controlling axis motion - Positioning - Coupling axes (synchronous operations, ...)
MC control
Cyclically calculating setpoint positions (interpolation) Performing closed-loop position control, output of the speed setpoint via PROFIBUS or PROFINET
Other tasks
Processing peripheral (I/O) signals Closed loop control tasks (e.g. closed loop temperature control, etc.) Data processing
Tasks of a drive
I/O
Converting the speed setpoint into the actual speed Closed-loop speed and current control of a drive comprises
- Rectifier/inverter - Motor - Encoder system
Drives
SIMOTION
Date: File:
Siemens AG 2012. All rights reserved.
can also be operated independent of an MC control system
09.02.2012 MC-SMO-SYS_01.3
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MC control
For SIEMENS control systems, the total motion functionality is split up into the actual Motion Control system and the drive system. The MC control has the task of processing the specified (motion) program. Within the motion program, both positioning commands can be issued to individual axes as well as commands to synchronize and coordinate several axes (synchronous operation commands). The setpoint positions (interpolation) resulting from the motion commands are fed into the closed-position control and there, compared with the actual positions supplied from the drive system (closed-loop position control). From the resulting following error, by multiplying with the Kv factor, a new speed setpoint (axis velocity) is calculated and transferred to the drive. The speed setpoint can be transferred to the drive system either digitally via PROFIBUS or PROFINET – or as analog signal (+/- 10 V). In addition to the actual motion control functionality, typical PLC functionality can also be integrated into the MC system. Just the same as for a SIMATIC PLC, digital or analog peripheral (I/O) signals can be read-in, processed and the results output again to the peripherals.
Drive system
The task of the drive system is to convert the received speed information into an actual motor speed. A speed and current controller are integrated in the drive system for this very purpose. The motor moves the axis which is traversed to the required target position with the setpoint speed specified by the motion control system. The drive system consists of an converter, motor and encoder. When coupled to a SIEMENS motion control system, the drive system operates exclusively in what is known as the speed mode. Motion control functionality (basic positioner, etc.) possibly integrated in the drive system, in this particular case, cannot be used. Drive systems can also be operated without a higher-level motion control system. The speed can be entered, for instance via an analog potentiometer.
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Page 3
MC-SMO-SYS SIMOTION – An Overview
Motion Control – Possibilities in the Automation Area SIMATIC
SIMOTION
SINUMERIK
SIMATIC - automates everything for you and that worldwide.
SIMOTION - the motion control system
SINUMERIK – brings machine tools up to speed.
Specifically for machine solutions where there are high demands on the motion control
Specifically for turning, milling, drilling – numerical control at its best.
Powerful control that can be universally used – functionality can be extended by motion control
T-CPU
Our portfolio today: SINAMICS MICROMASTER SIMODRIVE MASTERDRIVES Drive technology
SIMOTION
Date: File:
Siemens AG 2012. All rights reserved.
09.02.2012 MC-SMO-SYS_01.4
SITRAIN Training for Automation and drive technology
Overview
The demands placed on a control system largely depend on the application. Therefore, SIEMENS offers different systems, which have been designed for different application fields:
SIMATIC
SIMATIC is the tried and proven basis automation system for solutions in all sectors of industrial automation. It consists of standard hardware and software components and offers a wide range of possibilities for customized expansions. For SIMATIC S7, motion control functionality can be integrated using function modules, for example. FM modules have a special functionality, which are generally controlled from the SIMATIC user program via function block calls. Complex motion control solutions can be implemented within a SIMATIC system in this fashion.
SINUMERIK
SINUMERIK control systems are specially designed for machine tools, handling systems and special-purpose machines. SINUMERIK offers the optimum solution for every task in the machine tool sector, using CNC control and drives.
SIMOTION
In addition to SIMATIC and SINUMERIK, there is also SIMOTION, the motion control system for applications with complex motion control which integrates motion control and simple control functionality in one unit. SIMOTION combines the complex handling of motion functions in a scalable motion control system. It comprises the SCOUT engineering system, motion control technology packages and a common runtime system for various SIMOTION hardware platforms.
Technology CPU
The technology CPUs 315/317T -2DP and 317TF -2DP (fail-safe control) are located between the SIMATIC and SIMOTION pillars.
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MC-SMO-SYS SIMOTION – An Overview
What is SIMOTION? Motion control Positioning Synchronous operation
+
SIMOTION The fusion of:
Technology functions Temperature controller Pressure controller
Motion control Technology functions Logic Integrated system solutions for machine construction
+ Logic functionality AND, OR Multipliers
SIMOTION
Date: File:
Siemens AG 2012. All rights reserved.
09.02.2012 MC-SMO-SYS_01.5
SITRAIN Training for Automation and drive technology
SIMOTION
SIMOTION offers an optimized system platform for automation and drive solutions with the focus on motion control applications and technological tasks. This is achieved through the new universal motion control system. SIMOTION is an integrated motion control system which has been conceived primarily for the automation of production machines. Uniformity and integration is achieved in engineering, programming, communication, data management, the human-machine interface (HMI) - thus encompassing all system components, and of course all the different hardware platforms.
Fusion of PLC and motion control
SIMOTION's innovative approach consists of removing the traditional division between pure automation functions (typically PLCs) and motion functions (motion control). This merging of functionality is implemented in both the hardware and software. With respect to the hardware, this new approach means that the controller must be capable of processing motion functions. On the other hand, a drive system must be able to perform automation tasks. On the software side, the fusion of automation functions and motion functions makes for simpler engineering. This starts with the configuration and continues through parameter assignment and programming. The integration with SIMATIC brings additional advantages as both systems are often operated in one installation. The two systems can be configured and programmed on a standard engineering interface.
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MC-SMO-SYS SIMOTION – An Overview
SIMOTION Components One engineering system for configuring, programming and setting parameters Graphic or textual programming
Different hardware platforms: Controller in the S7 design Industrial PC Drive
Runtime system Synchronous operation Positioning ...
SIMOTION
Date: File:
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09.02.2012 MC-SMO-SYS_01.6
SITRAIN Training for Automation and drive technology
Overview
SIMOTION offers an optimized system platform for automation solutions for machines where motion control applications and technology tasks are in the forefront. The motion control system consists of the engineering system SCOUT, the motion control technology packages and a common runtime system for the various SIMOTION platforms.
SCOUT engineering system
The SCOUT engineering system is used for configuring, programming and setting parameters; it is the same system for all hardware platforms. Configuring, programming and setting parameters is either performed by means of graphics or text.
Technology packages
Technology packages contain the software functions that are required for automation in a wide range of different sectors. They expand the basic functionality of the SIMOTION devices to suit individual requirements. Technology packages can be added according to the machine requirements (e.g. synchronous operation, cam).
Hardware platforms
SIMOTION offers flexible solutions - for all requirements - by running on a range of different platforms. With SIMOTION you can freely select between three different platforms: • SIMOTION C - Controller-based • SIMOTION P - PC-based • SIMOTION D - Drive-based
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MC-SMO-SYS SIMOTION – An Overview
System Architecture of the Runtime System SIMOTION SIMOTION user program
Basis functionality acc. to IEC 61131-3
Function libraries
Motion control technology packages
Additional technology packages
I/Os (sensors, actuators)
SIMOTION
Additional automation components
Date: File:
Siemens AG 2012. All rights reserved.
User program
DCC blocks
SIMOTION kernel (operating system, I/O handling, communication…)
Drives
Tailored SIMOTION application
09.02.2012 MC-SMO-SYS_01.7
+
Function libraries
+
Technology packages
+
Basis functionality
SITRAIN Training for Automation and drive technology
System architecture The most outstanding feature of the new automation approach is its system architecture. This forms the basis for ongoing system development. The system architecture of SIMOTION especially supports concepts – such as decentralization, different target platforms and distributed intelligence. The software is modular and can be flexibly adapted to the widest range of requirements. Basis functionality
The basis functionality of the device (SIMOTION kernel) includes functions for open-loop and closed-loop control as well as logic and arithmetic. Program execution can be cyclical, time- or interrupt-triggered. As a result, the SIMOTION kernel contains the functions needed for virtually all applications and corresponds in essence to a PLC with the IEC 1131-3 command set plus system functions for controlling various components, such as inputs and outputs.
Technology packages
The SIMOTION kernel can be expanded by loading technology packages. Using additional language commands, the technology packages can be accessed in the same way as the SIMOTION kernel from the user program.
Function libraries
The libraries contain standard functions for frequently performed tasks. In addition to the standard functions supplied, users can also create their own blocks and store them in a library. From Version 4.0, the following libraries have also been integrated as function blocks in the system (TP "Cam"), and can now be directly inserted into the user program from the command library: • Standard functions, for instance PID controllers, driver blocks for special I/O modules • Blocks in conformance with PLCopen to control axes (single and multi-axis blocks)
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MC-SMO-SYS SIMOTION – An Overview
Technology Packages in SIMOTION Speed-controlled axis
Actual value processing
Speed setpoint
Output cam functions
Measuring input License TP not required
Positioning axis
Positioncontrolled traversing Referencing Leading axis function
"Cam"
Synchronous axis
Gearing
Camming
Synchronization/desynchronization
Path interpolation
2D/3D linear interpolation
Circular interpolation
Polynomial interpolation
Various kinematics
License not required
TP "Cam_ext" (extended) Date: File:
Siemens AG 2012. All rights reserved.
Temperature control
Adder object
Temperature control
Controller object
Controller optimization
Formula object
Fixed gear
Sensor
License required
TP "Path"
SIMOTION
Expanded technology
09.02.2012 MC-SMO-SYS_01.8
License not required
License required
"TControl"
SITRAIN Training for Automation and drive technology
Technology packages
Technology packages can be loaded in the runtime system to expand the basic functionality of the SIMOTION kernel. In addition to the object types, technology packages provide a wide range of powerful motion control commands, which are required to flexibly solve applications.
TP "CAM"
The "Cam" technology package provides all object types and system commands to control speed, positioning and synchronous axes. In addition to the functionality for the individual axes, TP "Cam" contains the "Measuring input", "Output cam" and "Cam track" functions (from V3.2 and higher) as well as the function blocks in conformance with PLCOpen.
TP "PATH"
The "PATH" technology package provides path functionality. The following are supported: 2D/3D linear, circular and polynomial interpolation. In addition, various kinematics such as 2D/3D gantry, roll, Delta-2D, Delta-3D-Picker, as well as SCARA and articulated arm kinematics
TP "CAM_EXT"
Supplementary technology functions are available with Version 3.2 and higher. • Adder: With adder objects up to four input vectors can be added to one output vector. • Formula: With formula objects, you can apply mathematical operations to scalar (LREAL, DINT) and motion vectors. • Controller: Using the controller object, according to a PID algorithm, scaler variables can be processed and logically combined. • Sensor: The sensor technology object can be used to detect and process scalar measured values, i.e. correspondingly monitored and smoothed. • Fixed gear: For "fixed" synchronous relationships between axes with an adjustable gear factor, however, without specific synchronizing/ desynchronizing strategy.
TP "TControl"
The basis of the temperature controller is a DPID controller which has special functions (threshold monitoring, adaptation of controller parameters, etc.) for easy adaptation to applications (plastics machines).
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MC-SMO-SYS SIMOTION – An Overview
SIMOTION SCOUT Engineering Tools System configuration
SIMOTION SCOUT
ST Structured Text MCC Motion Control Chart
Project navigator
LAD/FBD Axis configuration DCC
CamEdit Drive commissioning
SIMOTION
Test and diagnostics
Date: File:
Siemens AG 2012. All rights reserved.
09.02.2012 MC-SMO-SYS_01.9
CamTool
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Engineering system SCOUT
The SCOUT Project navigator is the common framework for all tools of the. engineering system. This workbench is also the navigation center for the individual engineering steps. It is used to create and manage SIMOTION projects and provides a uniform and integrated view of all data and programs. The essential new feature is the graphic programming of the motion sequence using Motion Control Chart (MCC). From SCOUT V4.1, there is also the optional DCC programming language (Drive Control Chart) to create continuous, closedloop control related circuit diagrams to control drives. The technological tree structure of the project includes • all devices (open-loop control, drives etc.), • all technological objects (axes, output cams, cams etc.) and • user programs in hierarchic views that can be filtered. The navigation in the tree structure opens the parameter assignment or programming tool assigned to the selected object. The SIMOTION SCOUT engineering system is a powerful tool that acts as the PC development environment to optimally support the required engineering steps in a user-friendly way. The SCOUT engineering tool is integrated as optional package to STEP 7 in the SIMATIC environment. When developing SCOUT, special attention was given to optimum usability and a comprehensive, function-oriented view of the automation task.
Note
The SCOUT engineering tool is available in two versions: • as a standalone version, without any connection to STEP 7 • as optional package to STEP 7
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MC-SMO-SYS SIMOTION – An Overview
Programming Languages in SIMOTION
SIMOTION
Date: File:
Siemens AG 2012. All rights reserved.
09.02.2012 MC-SMO-SYS_01.10
SITRAIN Training for Automation and drive technology
Overview
SIEMENS offers a range of task-oriented programming languages for SIMOTION that allow the user to focus on the actual task at hand. SIMOTION's modular design makes it possible to create modular blocks in different languages according to the individual task requirements.
MCC
MCC is a graphic language for creating operational sequences. In particular, this language offers entry-level users support for quick and transparent creation of sequential program sequences in MotionTasks. Any additional ST code can be integrated in the MMC program via the "ST Zoom" command.
LAD/FBD
These programming languages are unparalleled for programming binary signal gating. In addition to the wide range of options in the area of binary signal gating (edge evaluation, flip-flops, etc.), it integrates many other function such as IECcompliant counter and timer blocks. Almost all system functions can be directly called and tested in a network.
ST
Structured Text is a text-based, high-level language similar to PASCAL. ST contains all typical elements of a high-level language such as operators, expressions, control statements, etc. ST supports in particular programming of mathematical algorithms and data administration tasks. Due to the many control structures it offers, ST is also suitable for programming process sequences.
DCC
The Drive Control Chart (DCC) option is a modular, scalable programming language based on the STEP 7 package CFC (Continuous Function Chart), to develop continuous open-loop or closed-loop control solutions for controlling drives.
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Page 10
MC-SMO-SYS SIMOTION – An Overview
MCC – Programming Motion Sequences Properties of motion control charts • Graphic language to describe motion sequences in the form of a sequence chain • Complex sequences in automation technology are broken down into individual steps • MCC contains graphic commands for: • Axis movements • Processing I/O signals • Control structures for branches and repeat operations
• Comparable with S7 Graph from STEP 7
Advantages of MCC • Motion sequences can be simply and transparently generated • Even entry-level programmers can attain results quickly • In addition to the fast generation, MCC also provides support when it comes to testing and therefore fast commissioning SIMOTION
Date: File:
Siemens AG 2012. All rights reserved.
09.02.2012 MC-SMO-SYS_01.11
SITRAIN Training for Automation and drive technology
Properties of MCC
MCC is a new graphic programming language, designed to significantly simplify the automation of production machines. Many production machines are very complex. They require a control system (SIMOTION) that is capable of handling motion control and technologies with a wide variety of motion functions, as well as PLC functions, arithmetic functions, and data management tasks. MCC is the neutral description tool used to represent a sequence diagram. This sequence diagram is referred to as MCC chart in this document. It provides you with all of the descriptive symbols you will need to define your automation task quickly and efficiently. In addition, MCC offers many ways to structure large automation tasks. Using MCC, programs, function blocks and functions can be generated in compliance with IEC61131-3.
Advantages of MCC
As a graphic programming language, MCC helps you to formulate process and motion sequences easily by creating a sequence of graphic MCC commands. The characteristics of every MCC command can be parameterized individually. Control structures such as IF commands make for easy implementation of alternative branches. Furthermore, each MCC command has its own graphic design, making the functionality of each action within an MCC chart immediately evident. Consequently, the system greatly facilitates the programming of automation tasks and additionally enhances readability. Further, online functions enable you to locate errors quickly or simply help you to keep track of the current states.
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MC-SMO-SYS SIMOTION – An Overview
LAD/FBD – Programming Languages for PLC Tasks Popular language from the PLC area • LAD uses program elements from circuit diagrams • FBD uses elements from Boolean algebra • Compatible to IEC 61131-3 LAD/FBD • Motion control functionality can be best integrated using the function block from the PLCOpen library • Identical to SIMATIC LAD/FBD
Advantages: • Binary logic operations can be simply formulated, for instance, interlocking conditions • Easy to understand and program • Simple testing and commissioning of programs
SIMOTION
Date: File:
Siemens AG 2012. All rights reserved.
09.02.2012 MC-SMO-SYS_01.12
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LAD
LAD stands for ladder diagram. LAD is a graphic programming language. The syntax for the instructions is similar to a circuit diagram. LAD enables simple tracking of the signal flow between conductor rails via inputs, outputs and operations. LAD statements consist of elements and boxes, which are graphically connected to networks (compatible to IEC 61131-3). The LAD programming language provides all elements that are required to generate PLC tasks. LAD features an extensive command set. This includes the various basic operations with a comprehensive range of operands and how to address them. The concept of functions and function blocks allows complex tasks to be clearly structured.
FBD
FBD stands for function block diagram. FBD is a graphics-based programming language that uses the same type of boxes used in boolean algebra to represent logic (compatible to IEC 61131-3). In addition, complex functions (e.g. mathematical functions) can be represented directly in conjunction with the logic boxes. Just like LAD, FBD provides all of the elements that are required for creating PLC tasks.
Advantages and limits
The programming languages are admirably suited to implement open-loop control tasks using binary operands; for instance, interlocking conditions. Programming closed-loop control tasks with analog variables, for instance the speed of a drive or the temperature of a heating boiler etc. is a tedious procedure in LAD/FBD networks. DCC is an expansion to process analog variables. Using the DCC editor, analog variables can be processed and interconnected in a similar way to binary variables in LAD/FBD. However, having said this, LAD/FBD is especially useful as many service personnel feel very comfortable with LAD/FBD programming.
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MC-SMO-SYS SIMOTION – An Overview
ST – High-Level Language for Programming Complex Algorithms High-level language similar to Pascal for formulating complex tasks • Compatible with IEC 61131-3 ST (ST = Structured Text) • Contains all the typical elements of a high-level language, such as operators, expressions, control instructions, etc. • Motion control functionality is integrated by means of system functions and function blocks • Identical to SIMATIC S7 SCL
Advantages: • Formulation and creation of blocks with complex algorithms: • • • •
Closed-loop control tasks Data processing tasks Process optimization Mathematical/statistical evaluation
SIMOTION
Date: File:
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09.02.2012 MC-SMO-SYS_01.13
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Properties of ST
ST is a high-level programming language oriented to PASCAL. The language is based on the IEC 61131-3 standard, which standardizes programming languages for programmable logic controls (PLCs). In addition to open-loop and closed-loop control tasks, modern automation systems must be capable of handling an increasing number of data processing tasks and complex mathematical algorithms (process optimization). ST was developed specifically to address tasks such as these. In addition to the standardized, IEC 61131-3-compliant programming language, SIMOTION ST also includes commands for SIMOTION devices, motion control and technology. Technology objects make an interface available to the user program via which, for example, axes can be positioned or output cams parameterized. These technology commands are the commands provided by technology objects which can be called easily from an ST user program.
Advantages of ST
Programming controls using a high-level language such as ST opens up a wide range of options, especially for the following tasks, such as e.g.: • simple generation of complex open-loop and closed-loop control algorithms, such as e.g. algorithms for process optimization • transparent handling of data management tasks, for example the acquisition and processing of process data (statistical pre-compression of data etc.) • simple communication using standard protocols(TCP/IP, UDP) to other systems, for instance master computer coupling When compared to other high-level languages, for instance C, ST is easy to learn and understand. Especially entry-level personnel, who have no experience with the concepts and techniques of high-level languages, can achieve usable results with ST.
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MC-SMO-SYS SIMOTION – An Overview
DCC – Graphic Tool to Generate Charts DCC (Drive Control Chart) Graphic tool to generate motion control programs • Blocks are placed on a sheet and interconnected • Interconnections are possible: - to I/Os of other blocks - between I/Os of the I/O list - also to I/Os of blocks in other charts
• Sources and targets are managed in the sheet bar • Can be used in SIMOTION and SINAMICS
Advantages • Well-established programming tool for motion control tasks! • Fast generation, testing and commissioning SIMOTION
Date: File:
Siemens AG 2012. All rights reserved.
Overview, DCC
.
09.02.2012 MC-SMO-SYS_01.14
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DCC (Drive Control Chart) offers a modular, scalable technology option, which has chiefly been developed for drive-related, continuous open-loop and closedloop control tasks. The DCC technology option for SIMOTION controllers and SINAMICS drives can be configured graphically using the Drive Control Chart editor (DCC editor), which is based on SIMATIC S7 CFC. As a consequence, extensive closed-loop control related structures can be programmed in SIMOTION. These can then be combined with other program sections to form an overall program. The time slices: T1 .. T5 of the blocks can be freely selected and combined in SIMOTION. The run environment in SIMOTION ensures consistent data transfer between blocks with different sampling times In SINAMICS, using the DCC-Editor, drive-related tasks can be directly implemented in the converter. SINAMICS BICO technology is used to access drive parameters.
Procedure
When a new chart is created, the block types are first taken from the devicespecific block library and inserted in the DCC editor's block manager. Using the DCC Editor, charts are subsequently created, in which blocks are inserted from the library, parameterized and interconnected. The charts are then compiled and an intermediate code generated; this is then loaded into the SIMOTION and/or the drive unit using SCOUT /STARTER.
Advantage
DCC can be used from very simple up to extremely complex applications. Communication between the blocks can be configured in a user-friendly fashion using a straightforward interconnection system. It is not necessary to manually handle and manage the machine resources. Comprehensive test tools with simple display, diagnostics and trace functions ensure fast testing and in turn fast commissioning of the user program.
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MC-SMO-SYS SIMOTION – An Overview
The Various Hardware Platforms SIMOTION C230-2 / C240 / C240 PN
SIMATIC S7-300 mechanical design Drive link analog (4 channels onboard, not C240 PN) or via PROFIBUS-DP or 3 x PROFINET (only C240 PN) Interfaces 2 x PROFIBUS-DP, 1 x Ethernet (100 MBit/s)
SIMOTION P350-3 / P320-3
Design:
Processor: Memory: Drive link: Interfaces
P350-3: PC-Box with Windows XP PRO P320-3: Embedded PC with Windows Embedded Standard 2009 Intel Pentium 2 GHz / Intel Core2 Solo 1.2 GHz, 2 GB RAM, 40 GB HD / 2 GB RAM, 4 GB CF card PROFIBUS-DP or PROFINET / 3 x PROFINET 1 x COM, 4 USB, 2 x Ethernet / 1 x Ethernet, 4 x USB
SIMOTION D425 / 435 / 445-2 / 455-2 + D410
Design Drive link
Interfaces:
SINAMICS drive system Three PROFIBUS master systems: one internal, two external 2 x PROFIBUS DP 2 x Ethernet (100 MBit/s) 3 x PROFINET only D445-2 and D455-2
SIMOTION
Date: File:
Siemens AG 2012. All rights reserved.
09.02.2012 MC-SMO-SYS_01.15
SITRAIN Training for Automation and drive technology
What is SIMOTION C?
C2xx is a motion control module for controlling servo drives via PROFIBUS-DP (PROFINET for C240 PN) and four onboard drive interfaces (only C230-2 and C240). SIMOTION C is a powerful module for independent single-axis positioning or for axis group motion. It supports operation of both rotary and linear axes. The engineering system is used for configuration, parameterization, commissioning, programming and diagnostics of the SIMOTION C.
What is SIMOTION P?
SIMOTION P is a PC-based motion control system. Control, motion control and HMI functions run concurrently on this PC. For P350-3, the drive coupling and the connection of distributed I/O can either be realized using an IsoPROFIBUS board with two PROFIBUS interfaces (isochronous) or via an MCI-PN board (4 x PROFINET). The P320-3 combines PC technology with the advantages of a maintenancefree an embedded-PC solution without any rotating parts. It can be operated without any display/monitor, or with a monitor connected via a DVI interface. The drive is connected through 3 integrated PROFINET interfaces
What is SIMOTION D?
SIMOTION D combines SIMOTION functionality and the drive functionality of a drive system to form one single drive hardware system. This results in a system which is both highly compact and with fast response times. SIMOTION D is always used when a compact machine concept and high performance for motion control tasks are required in combination with highspeed I/Os. SIMOTION D is offered in the performance versions D425 (low-end performance range), D435 (medium performance range), D445-2 (high-end performance range) and D455-2 (highest performance range). From V4.1 and higher, the D410 single-axis system is available to expand SIMOTION D systems in a modular fashion.
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MC-SMO-SYS SIMOTION – An Overview
Integration in TIA
Shared HMI use
Shared communication: PROFIBUS, PROFINET, Ethernet
C230-2/C240/C340 PN P350-3/P320-3 D4x5/D410
Shared use of distributed I/O and drives via PROFIBUS and PROFINET SIMOTION
Date: File:
Siemens AG 2012. All rights reserved.
09.02.2012 MC-SMO-SYS_01.16
SITRAIN Training for Automation and drive technology
Totally Integrated Automation
TIA with SIMATIC contains all technologies, such as PLC, PC-based control, automation computer, distributed I/O, HMI systems, communication networks and process control systems which are required in an automation environment. TIA allows you to implement the solution that is technically required and makes economic sense from a complete and integrated modular system. SIMOTION is completely integrated in the TIA concept.
PROFIBUS DP
Standard PROFIBUS DP with DP/V1 functionality • For connecting distributed I/Os • For connecting a higher-level automation system • For connecting HMI devices • For connection to the SCOUT engineering system All standard DP slaves (e.g. distributed I/Os, drives) can be connected to PROFIBUS.
Industrial Ethernet
Fast Industrial Ethernet that can be used for the following purposes: • Connecting HMI devices • Connecting to the SCOUT engineering system • Communication with TCP/IP and UDP (User Datagram Protocol)
PROFINET
PROFINET is the innovative and open Industrial Ethernet standard (IEC 61158) for industrial automation. With PROFINET, devices can be linked up from the field level through to the management/supervisory level. With PROFINET, drives can be controlled isochronously via a network and communication that is not critical from a time perspective (e.g. TCP/IP) can be established between automation components.
SITRAIN Training for Automation and Drive Technology
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MC-SMO-SYS SIMOTION – An Overview
SIMOTION Documentation
SIMOTION
Date: File:
Siemens AG 2012. All rights reserved.
SIMOTION documentation
09.02.2012 MC-SMO-SYS_01.17
SITRAIN Training for Automation and drive technology
SIMOTION printed documentation comprises individual documentation packages, which are contained in more than 50 SIMOTION documents and other documents (e.g. SINAMICS). The documentation packages are organized according to functionalities and contents. The documentation is available in various languages on the SIMOTION CD. The following SIMOTION document packages are available: • 1_Engineering system_handling: comprises 4 documents and describes the handling of the SIMOTION SCOUT engineering system and the CamTools. • 2_ System_and_function description: describes the technical operational sequences for the SIMOTION system and explains the technology objects • 3_Programming: describes the three programming languages MCC, ST, LAD/FBD and DCC. • 3_Programming_references: includes all of the reference lists required for programming as well as a description of how the drives and other I/O are connected to the SIMOTION system • 3_ Service_and_diagnostics: describes TO alarms, project comparison, upgrading devices and the trace functionality task. • 3_SIMOTION_IT: describes the functionality of the web browser interface from SIMOTION • 4_Additional documentation: contains descriptions of all product information, as well as the connection of additional hardware components to SIMOTION, for example ADI4, TM15 and TM17, • 5_SIMOTION C: describes the C230-2 / C240 /C240 PN hardware platform • 5_SIMOTION D: describes the hardware platform D4xx and the plat form SINAMICS S120 • 5_SIMOTION P: describes the hardware platform P350-3 and P320-3
SITRAIN Training for Automation and Drive Technology
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MC-SMO-SYS SIMOTION – An Overview
SIMOTION Siemens AG 2012. All rights reserved.
Date: File:
09.02.2012 MC-SMO-SYS_01.1
Content
SITRAIN Training for Automation and drive technology
Page
Mechatronics and Motion Control – Transformation in Machine Construction .................................. Tasks of a Motion Control System ..................................................................................................... Motion Control – Possibilities in the Automation Area ....................................................................... What is SIMOTION? ........................................................................................................................... SIMOTION Components .................................................................................................................... System Architecture of the Runtime System ..................................................................................... Technology Packages in SIMOTION ................................................................................................. SIMOTION SCOUT Engineering Tools ............................................................................................. Programming Languages in SIMOTION ........................................................................................... MCC – Programming Motion Sequences .......................................................................................... LAD/FBD – Programming Languages for PLC Tasks ....................................................................... ST – High-Level Language for Programming Complex Algorithms ................................................... DCC – Graphic Tool to Generate Charts .......................................................................................... The Various Hardware Platforms ....................................................................................................... Integration in TIA ................................................................................................................................ SIMOTION Documentation ................................................................................................................
SITRAIN Training for Automation and Drive Technology
Page 1
2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17
MC-SMO-SYS SIMOTION – An Overview
Mechatronics and Motion Control – Transformation in Machine Construction Traditional machine construction Mechatronic solution
Central drive technology All motion is derived from mechanical transmission components Machine functions are "mechanically" defined
Distributed drive technology Motion is coordinated by higherlevel control Software simulation of mechanical components Flexible machine functions
Electronics
Coupling
Mechanical system
Gearing Cam controller
Cam
SIMOTION
Line shafts Software
Date: File:
Siemens AG 2012. All rights reserved.
09.02.2012 MC-SMO-SYS_01.2
SITRAIN Training for Automation and drive technology
Previous machine Concepts
In previous machines, mechanical components such as cams gearboxes, couplings, line shafts, etc., were mainly used. This meant it was often costly and time-consuming to make mechanical changes. It was difficult to create flexible solutions. Now the obstacles imposed by mechanical components are being lifted by the use of intelligent automation and drive technology.
Intelligent concepts
Intelligent software solutions are increasingly replacing mechanical components with central drive technology. Machine functions are implemented by means of distributed drive technology. Individual movements are coordinated and synchronized by the higher-level control. Functions which were previously implemented with hardware are now integrated into the software. Changing machine requirements such as format changes can be responded to almost at the touch of a button.
Advent of mechatronics
Today "intelligent components" play a key role in modern machine and production plant construction. These "mechatronic components" comprise mechanical components, sensors, actuators, electronic components and software. Today, mechatronic solutions are indispensable in many sectors. The economic success is not in optimizing the sub systems, but in a complete and holistic system approach. With mechatronics a machine or production plant is regarded not only in mechanical terms but as a complete system that integrates mechanical components, electronics, control engineering and software technology.
SIMATIC and SIMOTION
As technology leader, Siemens offers manufacturers of machines and production plants a system platform providing automation without system interruptions. The associated wide-ranging services portfolio extends from application consultancy by competent specialists – with well-founded sector experience – up to commissioning and maintenance by our service specialists.
SITRAIN Training for Automation and Drive Technology
Page 2
MC-SMO-SYS SIMOTION – An Overview
Tasks of a Motion Control System Tasks of a motion control system
HMI
Controlling axis motion - Positioning - Coupling axes (synchronous operations, ...)
MC control
Cyclically calculating setpoint positions (interpolation) Performing closed-loop position control, output of the speed setpoint via PROFIBUS or PROFINET
Other tasks
Processing peripheral (I/O) signals Closed loop control tasks (e.g. closed loop temperature control, etc.) Data processing
Tasks of a drive
I/O
Converting the speed setpoint into the actual speed Closed-loop speed and current control of a drive comprises
- Rectifier/inverter - Motor - Encoder system
Drives
SIMOTION
Date: File:
Siemens AG 2012. All rights reserved.
can also be operated independent of an MC control system
09.02.2012 MC-SMO-SYS_01.3
SITRAIN Training for Automation and drive technology
MC control
For SIEMENS control systems, the total motion functionality is split up into the actual Motion Control system and the drive system. The MC control has the task of processing the specified (motion) program. Within the motion program, both positioning commands can be issued to individual axes as well as commands to synchronize and coordinate several axes (synchronous operation commands). The setpoint positions (interpolation) resulting from the motion commands are fed into the closed-position control and there, compared with the actual positions supplied from the drive system (closed-loop position control). From the resulting following error, by multiplying with the Kv factor, a new speed setpoint (axis velocity) is calculated and transferred to the drive. The speed setpoint can be transferred to the drive system either digitally via PROFIBUS or PROFINET – or as analog signal (+/- 10 V). In addition to the actual motion control functionality, typical PLC functionality can also be integrated into the MC system. Just the same as for a SIMATIC PLC, digital or analog peripheral (I/O) signals can be read-in, processed and the results output again to the peripherals.
Drive system
The task of the drive system is to convert the received speed information into an actual motor speed. A speed and current controller are integrated in the drive system for this very purpose. The motor moves the axis which is traversed to the required target position with the setpoint speed specified by the motion control system. The drive system consists of an converter, motor and encoder. When coupled to a SIEMENS motion control system, the drive system operates exclusively in what is known as the speed mode. Motion control functionality (basic positioner, etc.) possibly integrated in the drive system, in this particular case, cannot be used. Drive systems can also be operated without a higher-level motion control system. The speed can be entered, for instance via an analog potentiometer.
SITRAIN Training for Automation and Drive Technology
Page 3
MC-SMO-SYS SIMOTION – An Overview
Motion Control – Possibilities in the Automation Area SIMATIC
SIMOTION
SINUMERIK
SIMATIC - automates everything for you and that worldwide.
SIMOTION - the motion control system
SINUMERIK – brings machine tools up to speed.
Specifically for machine solutions where there are high demands on the motion control
Specifically for turning, milling, drilling – numerical control at its best.
Powerful control that can be universally used – functionality can be extended by motion control
T-CPU
Our portfolio today: SINAMICS MICROMASTER SIMODRIVE MASTERDRIVES Drive technology
SIMOTION
Date: File:
Siemens AG 2012. All rights reserved.
09.02.2012 MC-SMO-SYS_01.4
SITRAIN Training for Automation and drive technology
Overview
The demands placed on a control system largely depend on the application. Therefore, SIEMENS offers different systems, which have been designed for different application fields:
SIMATIC
SIMATIC is the tried and proven basis automation system for solutions in all sectors of industrial automation. It consists of standard hardware and software components and offers a wide range of possibilities for customized expansions. For SIMATIC S7, motion control functionality can be integrated using function modules, for example. FM modules have a special functionality, which are generally controlled from the SIMATIC user program via function block calls. Complex motion control solutions can be implemented within a SIMATIC system in this fashion.
SINUMERIK
SINUMERIK control systems are specially designed for machine tools, handling systems and special-purpose machines. SINUMERIK offers the optimum solution for every task in the machine tool sector, using CNC control and drives.
SIMOTION
In addition to SIMATIC and SINUMERIK, there is also SIMOTION, the motion control system for applications with complex motion control which integrates motion control and simple control functionality in one unit. SIMOTION combines the complex handling of motion functions in a scalable motion control system. It comprises the SCOUT engineering system, motion control technology packages and a common runtime system for various SIMOTION hardware platforms.
Technology CPU
The technology CPUs 315/317T -2DP and 317TF -2DP (fail-safe control) are located between the SIMATIC and SIMOTION pillars.
SITRAIN Training for Automation and Drive Technology
Page 4
MC-SMO-SYS SIMOTION – An Overview
What is SIMOTION? Motion control Positioning Synchronous operation
+
SIMOTION The fusion of:
Technology functions Temperature controller Pressure controller
Motion control Technology functions Logic Integrated system solutions for machine construction
+ Logic functionality AND, OR Multipliers
SIMOTION
Date: File:
Siemens AG 2012. All rights reserved.
09.02.2012 MC-SMO-SYS_01.5
SITRAIN Training for Automation and drive technology
SIMOTION
SIMOTION offers an optimized system platform for automation and drive solutions with the focus on motion control applications and technological tasks. This is achieved through the new universal motion control system. SIMOTION is an integrated motion control system which has been conceived primarily for the automation of production machines. Uniformity and integration is achieved in engineering, programming, communication, data management, the human-machine interface (HMI) - thus encompassing all system components, and of course all the different hardware platforms.
Fusion of PLC and motion control
SIMOTION's innovative approach consists of removing the traditional division between pure automation functions (typically PLCs) and motion functions (motion control). This merging of functionality is implemented in both the hardware and software. With respect to the hardware, this new approach means that the controller must be capable of processing motion functions. On the other hand, a drive system must be able to perform automation tasks. On the software side, the fusion of automation functions and motion functions makes for simpler engineering. This starts with the configuration and continues through parameter assignment and programming. The integration with SIMATIC brings additional advantages as both systems are often operated in one installation. The two systems can be configured and programmed on a standard engineering interface.
SITRAIN Training for Automation and Drive Technology
Page 5
MC-SMO-SYS SIMOTION – An Overview
SIMOTION Components One engineering system for configuring, programming and setting parameters Graphic or textual programming
Different hardware platforms: Controller in the S7 design Industrial PC Drive
Runtime system Synchronous operation Positioning ...
SIMOTION
Date: File:
Siemens AG 2012. All rights reserved.
09.02.2012 MC-SMO-SYS_01.6
SITRAIN Training for Automation and drive technology
Overview
SIMOTION offers an optimized system platform for automation solutions for machines where motion control applications and technology tasks are in the forefront. The motion control system consists of the engineering system SCOUT, the motion control technology packages and a common runtime system for the various SIMOTION platforms.
SCOUT engineering system
The SCOUT engineering system is used for configuring, programming and setting parameters; it is the same system for all hardware platforms. Configuring, programming and setting parameters is either performed by means of graphics or text.
Technology packages
Technology packages contain the software functions that are required for automation in a wide range of different sectors. They expand the basic functionality of the SIMOTION devices to suit individual requirements. Technology packages can be added according to the machine requirements (e.g. synchronous operation, cam).
Hardware platforms
SIMOTION offers flexible solutions - for all requirements - by running on a range of different platforms. With SIMOTION you can freely select between three different platforms: • SIMOTION C - Controller-based • SIMOTION P - PC-based • SIMOTION D - Drive-based
SITRAIN Training for Automation and Drive Technology
Page 6
MC-SMO-SYS SIMOTION – An Overview
System Architecture of the Runtime System SIMOTION SIMOTION user program
Basis functionality acc. to IEC 61131-3
Function libraries
Motion control technology packages
Additional technology packages
I/Os (sensors, actuators)
SIMOTION
Additional automation components
Date: File:
Siemens AG 2012. All rights reserved.
User program
DCC blocks
SIMOTION kernel (operating system, I/O handling, communication…)
Drives
Tailored SIMOTION application
09.02.2012 MC-SMO-SYS_01.7
+
Function libraries
+
Technology packages
+
Basis functionality
SITRAIN Training for Automation and drive technology
System architecture The most outstanding feature of the new automation approach is its system architecture. This forms the basis for ongoing system development. The system architecture of SIMOTION especially supports concepts – such as decentralization, different target platforms and distributed intelligence. The software is modular and can be flexibly adapted to the widest range of requirements. Basis functionality
The basis functionality of the device (SIMOTION kernel) includes functions for open-loop and closed-loop control as well as logic and arithmetic. Program execution can be cyclical, time- or interrupt-triggered. As a result, the SIMOTION kernel contains the functions needed for virtually all applications and corresponds in essence to a PLC with the IEC 1131-3 command set plus system functions for controlling various components, such as inputs and outputs.
Technology packages
The SIMOTION kernel can be expanded by loading technology packages. Using additional language commands, the technology packages can be accessed in the same way as the SIMOTION kernel from the user program.
Function libraries
The libraries contain standard functions for frequently performed tasks. In addition to the standard functions supplied, users can also create their own blocks and store them in a library. From Version 4.0, the following libraries have also been integrated as function blocks in the system (TP "Cam"), and can now be directly inserted into the user program from the command library: • Standard functions, for instance PID controllers, driver blocks for special I/O modules • Blocks in conformance with PLCopen to control axes (single and multi-axis blocks)
SITRAIN Training for Automation and Drive Technology
Page 7
MC-SMO-SYS SIMOTION – An Overview
Technology Packages in SIMOTION Speed-controlled axis
Actual value processing
Speed setpoint
Output cam functions
Measuring input License TP not required
Positioning axis
Positioncontrolled traversing Referencing Leading axis function
"Cam"
Synchronous axis
Gearing
Camming
Synchronization/desynchronization
Path interpolation
2D/3D linear interpolation
Circular interpolation
Polynomial interpolation
Various kinematics
License not required
TP "Cam_ext" (extended) Date: File:
Siemens AG 2012. All rights reserved.
Temperature control
Adder object
Temperature control
Controller object
Controller optimization
Formula object
Fixed gear
Sensor
License required
TP "Path"
SIMOTION
Expanded technology
09.02.2012 MC-SMO-SYS_01.8
License not required
License required
"TControl"
SITRAIN Training for Automation and drive technology
Technology packages
Technology packages can be loaded in the runtime system to expand the basic functionality of the SIMOTION kernel. In addition to the object types, technology packages provide a wide range of powerful motion control commands, which are required to flexibly solve applications.
TP "CAM"
The "Cam" technology package provides all object types and system commands to control speed, positioning and synchronous axes. In addition to the functionality for the individual axes, TP "Cam" contains the "Measuring input", "Output cam" and "Cam track" functions (from V3.2 and higher) as well as the function blocks in conformance with PLCOpen.
TP "PATH"
The "PATH" technology package provides path functionality. The following are supported: 2D/3D linear, circular and polynomial interpolation. In addition, various kinematics such as 2D/3D gantry, roll, Delta-2D, Delta-3D-Picker, as well as SCARA and articulated arm kinematics
TP "CAM_EXT"
Supplementary technology functions are available with Version 3.2 and higher. • Adder: With adder objects up to four input vectors can be added to one output vector. • Formula: With formula objects, you can apply mathematical operations to scalar (LREAL, DINT) and motion vectors. • Controller: Using the controller object, according to a PID algorithm, scaler variables can be processed and logically combined. • Sensor: The sensor technology object can be used to detect and process scalar measured values, i.e. correspondingly monitored and smoothed. • Fixed gear: For "fixed" synchronous relationships between axes with an adjustable gear factor, however, without specific synchronizing/ desynchronizing strategy.
TP "TControl"
The basis of the temperature controller is a DPID controller which has special functions (threshold monitoring, adaptation of controller parameters, etc.) for easy adaptation to applications (plastics machines).
SITRAIN Training for Automation and Drive Technology
Page 8
MC-SMO-SYS SIMOTION – An Overview
SIMOTION SCOUT Engineering Tools System configuration
SIMOTION SCOUT
ST Structured Text MCC Motion Control Chart
Project navigator
LAD/FBD Axis configuration DCC
CamEdit Drive commissioning
SIMOTION
Test and diagnostics
Date: File:
Siemens AG 2012. All rights reserved.
09.02.2012 MC-SMO-SYS_01.9
CamTool
SITRAIN Training for Automation and drive technology
Engineering system SCOUT
The SCOUT Project navigator is the common framework for all tools of the. engineering system. This workbench is also the navigation center for the individual engineering steps. It is used to create and manage SIMOTION projects and provides a uniform and integrated view of all data and programs. The essential new feature is the graphic programming of the motion sequence using Motion Control Chart (MCC). From SCOUT V4.1, there is also the optional DCC programming language (Drive Control Chart) to create continuous, closedloop control related circuit diagrams to control drives. The technological tree structure of the project includes • all devices (open-loop control, drives etc.), • all technological objects (axes, output cams, cams etc.) and • user programs in hierarchic views that can be filtered. The navigation in the tree structure opens the parameter assignment or programming tool assigned to the selected object. The SIMOTION SCOUT engineering system is a powerful tool that acts as the PC development environment to optimally support the required engineering steps in a user-friendly way. The SCOUT engineering tool is integrated as optional package to STEP 7 in the SIMATIC environment. When developing SCOUT, special attention was given to optimum usability and a comprehensive, function-oriented view of the automation task.
Note
The SCOUT engineering tool is available in two versions: • as a standalone version, without any connection to STEP 7 • as optional package to STEP 7
SITRAIN Training for Automation and Drive Technology
Page 9
MC-SMO-SYS SIMOTION – An Overview
Programming Languages in SIMOTION
SIMOTION
Date: File:
Siemens AG 2012. All rights reserved.
09.02.2012 MC-SMO-SYS_01.10
SITRAIN Training for Automation and drive technology
Overview
SIEMENS offers a range of task-oriented programming languages for SIMOTION that allow the user to focus on the actual task at hand. SIMOTION's modular design makes it possible to create modular blocks in different languages according to the individual task requirements.
MCC
MCC is a graphic language for creating operational sequences. In particular, this language offers entry-level users support for quick and transparent creation of sequential program sequences in MotionTasks. Any additional ST code can be integrated in the MMC program via the "ST Zoom" command.
LAD/FBD
These programming languages are unparalleled for programming binary signal gating. In addition to the wide range of options in the area of binary signal gating (edge evaluation, flip-flops, etc.), it integrates many other function such as IECcompliant counter and timer blocks. Almost all system functions can be directly called and tested in a network.
ST
Structured Text is a text-based, high-level language similar to PASCAL. ST contains all typical elements of a high-level language such as operators, expressions, control statements, etc. ST supports in particular programming of mathematical algorithms and data administration tasks. Due to the many control structures it offers, ST is also suitable for programming process sequences.
DCC
The Drive Control Chart (DCC) option is a modular, scalable programming language based on the STEP 7 package CFC (Continuous Function Chart), to develop continuous open-loop or closed-loop control solutions for controlling drives.
SITRAIN Training for Automation and Drive Technology
Page 10
MC-SMO-SYS SIMOTION – An Overview
MCC – Programming Motion Sequences Properties of motion control charts • Graphic language to describe motion sequences in the form of a sequence chain • Complex sequences in automation technology are broken down into individual steps • MCC contains graphic commands for: • Axis movements • Processing I/O signals • Control structures for branches and repeat operations
• Comparable with S7 Graph from STEP 7
Advantages of MCC • Motion sequences can be simply and transparently generated • Even entry-level programmers can attain results quickly • In addition to the fast generation, MCC also provides support when it comes to testing and therefore fast commissioning SIMOTION
Date: File:
Siemens AG 2012. All rights reserved.
09.02.2012 MC-SMO-SYS_01.11
SITRAIN Training for Automation and drive technology
Properties of MCC
MCC is a new graphic programming language, designed to significantly simplify the automation of production machines. Many production machines are very complex. They require a control system (SIMOTION) that is capable of handling motion control and technologies with a wide variety of motion functions, as well as PLC functions, arithmetic functions, and data management tasks. MCC is the neutral description tool used to represent a sequence diagram. This sequence diagram is referred to as MCC chart in this document. It provides you with all of the descriptive symbols you will need to define your automation task quickly and efficiently. In addition, MCC offers many ways to structure large automation tasks. Using MCC, programs, function blocks and functions can be generated in compliance with IEC61131-3.
Advantages of MCC
As a graphic programming language, MCC helps you to formulate process and motion sequences easily by creating a sequence of graphic MCC commands. The characteristics of every MCC command can be parameterized individually. Control structures such as IF commands make for easy implementation of alternative branches. Furthermore, each MCC command has its own graphic design, making the functionality of each action within an MCC chart immediately evident. Consequently, the system greatly facilitates the programming of automation tasks and additionally enhances readability. Further, online functions enable you to locate errors quickly or simply help you to keep track of the current states.
SITRAIN Training for Automation and Drive Technology
Page 11
MC-SMO-SYS SIMOTION – An Overview
LAD/FBD – Programming Languages for PLC Tasks Popular language from the PLC area • LAD uses program elements from circuit diagrams • FBD uses elements from Boolean algebra • Compatible to IEC 61131-3 LAD/FBD • Motion control functionality can be best integrated using the function block from the PLCOpen library • Identical to SIMATIC LAD/FBD
Advantages: • Binary logic operations can be simply formulated, for instance, interlocking conditions • Easy to understand and program • Simple testing and commissioning of programs
SIMOTION
Date: File:
Siemens AG 2012. All rights reserved.
09.02.2012 MC-SMO-SYS_01.12
SITRAIN Training for Automation and drive technology
LAD
LAD stands for ladder diagram. LAD is a graphic programming language. The syntax for the instructions is similar to a circuit diagram. LAD enables simple tracking of the signal flow between conductor rails via inputs, outputs and operations. LAD statements consist of elements and boxes, which are graphically connected to networks (compatible to IEC 61131-3). The LAD programming language provides all elements that are required to generate PLC tasks. LAD features an extensive command set. This includes the various basic operations with a comprehensive range of operands and how to address them. The concept of functions and function blocks allows complex tasks to be clearly structured.
FBD
FBD stands for function block diagram. FBD is a graphics-based programming language that uses the same type of boxes used in boolean algebra to represent logic (compatible to IEC 61131-3). In addition, complex functions (e.g. mathematical functions) can be represented directly in conjunction with the logic boxes. Just like LAD, FBD provides all of the elements that are required for creating PLC tasks.
Advantages and limits
The programming languages are admirably suited to implement open-loop control tasks using binary operands; for instance, interlocking conditions. Programming closed-loop control tasks with analog variables, for instance the speed of a drive or the temperature of a heating boiler etc. is a tedious procedure in LAD/FBD networks. DCC is an expansion to process analog variables. Using the DCC editor, analog variables can be processed and interconnected in a similar way to binary variables in LAD/FBD. However, having said this, LAD/FBD is especially useful as many service personnel feel very comfortable with LAD/FBD programming.
SITRAIN Training for Automation and Drive Technology
Page 12
MC-SMO-SYS SIMOTION – An Overview
ST – High-Level Language for Programming Complex Algorithms High-level language similar to Pascal for formulating complex tasks • Compatible with IEC 61131-3 ST (ST = Structured Text) • Contains all the typical elements of a high-level language, such as operators, expressions, control instructions, etc. • Motion control functionality is integrated by means of system functions and function blocks • Identical to SIMATIC S7 SCL
Advantages: • Formulation and creation of blocks with complex algorithms: • • • •
Closed-loop control tasks Data processing tasks Process optimization Mathematical/statistical evaluation
SIMOTION
Date: File:
Siemens AG 2012. All rights reserved.
09.02.2012 MC-SMO-SYS_01.13
SITRAIN Training for Automation and drive technology
Properties of ST
ST is a high-level programming language oriented to PASCAL. The language is based on the IEC 61131-3 standard, which standardizes programming languages for programmable logic controls (PLCs). In addition to open-loop and closed-loop control tasks, modern automation systems must be capable of handling an increasing number of data processing tasks and complex mathematical algorithms (process optimization). ST was developed specifically to address tasks such as these. In addition to the standardized, IEC 61131-3-compliant programming language, SIMOTION ST also includes commands for SIMOTION devices, motion control and technology. Technology objects make an interface available to the user program via which, for example, axes can be positioned or output cams parameterized. These technology commands are the commands provided by technology objects which can be called easily from an ST user program.
Advantages of ST
Programming controls using a high-level language such as ST opens up a wide range of options, especially for the following tasks, such as e.g.: • simple generation of complex open-loop and closed-loop control algorithms, such as e.g. algorithms for process optimization • transparent handling of data management tasks, for example the acquisition and processing of process data (statistical pre-compression of data etc.) • simple communication using standard protocols(TCP/IP, UDP) to other systems, for instance master computer coupling When compared to other high-level languages, for instance C, ST is easy to learn and understand. Especially entry-level personnel, who have no experience with the concepts and techniques of high-level languages, can achieve usable results with ST.
SITRAIN Training for Automation and Drive Technology
Page 13
MC-SMO-SYS SIMOTION – An Overview
DCC – Graphic Tool to Generate Charts DCC (Drive Control Chart) Graphic tool to generate motion control programs • Blocks are placed on a sheet and interconnected • Interconnections are possible: - to I/Os of other blocks - between I/Os of the I/O list - also to I/Os of blocks in other charts
• Sources and targets are managed in the sheet bar • Can be used in SIMOTION and SINAMICS
Advantages • Well-established programming tool for motion control tasks! • Fast generation, testing and commissioning SIMOTION
Date: File:
Siemens AG 2012. All rights reserved.
Overview, DCC
.
09.02.2012 MC-SMO-SYS_01.14
SITRAIN Training for Automation and drive technology
DCC (Drive Control Chart) offers a modular, scalable technology option, which has chiefly been developed for drive-related, continuous open-loop and closedloop control tasks. The DCC technology option for SIMOTION controllers and SINAMICS drives can be configured graphically using the Drive Control Chart editor (DCC editor), which is based on SIMATIC S7 CFC. As a consequence, extensive closed-loop control related structures can be programmed in SIMOTION. These can then be combined with other program sections to form an overall program. The time slices: T1 .. T5 of the blocks can be freely selected and combined in SIMOTION. The run environment in SIMOTION ensures consistent data transfer between blocks with different sampling times In SINAMICS, using the DCC-Editor, drive-related tasks can be directly implemented in the converter. SINAMICS BICO technology is used to access drive parameters.
Procedure
When a new chart is created, the block types are first taken from the devicespecific block library and inserted in the DCC editor's block manager. Using the DCC Editor, charts are subsequently created, in which blocks are inserted from the library, parameterized and interconnected. The charts are then compiled and an intermediate code generated; this is then loaded into the SIMOTION and/or the drive unit using SCOUT /STARTER.
Advantage
DCC can be used from very simple up to extremely complex applications. Communication between the blocks can be configured in a user-friendly fashion using a straightforward interconnection system. It is not necessary to manually handle and manage the machine resources. Comprehensive test tools with simple display, diagnostics and trace functions ensure fast testing and in turn fast commissioning of the user program.
SITRAIN Training for Automation and Drive Technology
Page 14
MC-SMO-SYS SIMOTION – An Overview
The Various Hardware Platforms SIMOTION C230-2 / C240 / C240 PN
SIMATIC S7-300 mechanical design Drive link analog (4 channels onboard, not C240 PN) or via PROFIBUS-DP or 3 x PROFINET (only C240 PN) Interfaces 2 x PROFIBUS-DP, 1 x Ethernet (100 MBit/s)
SIMOTION P350-3 / P320-3
Design:
Processor: Memory: Drive link: Interfaces
P350-3: PC-Box with Windows XP PRO P320-3: Embedded PC with Windows Embedded Standard 2009 Intel Pentium 2 GHz / Intel Core2 Solo 1.2 GHz, 2 GB RAM, 40 GB HD / 2 GB RAM, 4 GB CF card PROFIBUS-DP or PROFINET / 3 x PROFINET 1 x COM, 4 USB, 2 x Ethernet / 1 x Ethernet, 4 x USB
SIMOTION D425 / 435 / 445-2 / 455-2 + D410
Design Drive link
Interfaces:
SINAMICS drive system Three PROFIBUS master systems: one internal, two external 2 x PROFIBUS DP 2 x Ethernet (100 MBit/s) 3 x PROFINET only D445-2 and D455-2
SIMOTION
Date: File:
Siemens AG 2012. All rights reserved.
09.02.2012 MC-SMO-SYS_01.15
SITRAIN Training for Automation and drive technology
What is SIMOTION C?
C2xx is a motion control module for controlling servo drives via PROFIBUS-DP (PROFINET for C240 PN) and four onboard drive interfaces (only C230-2 and C240). SIMOTION C is a powerful module for independent single-axis positioning or for axis group motion. It supports operation of both rotary and linear axes. The engineering system is used for configuration, parameterization, commissioning, programming and diagnostics of the SIMOTION C.
What is SIMOTION P?
SIMOTION P is a PC-based motion control system. Control, motion control and HMI functions run concurrently on this PC. For P350-3, the drive coupling and the connection of distributed I/O can either be realized using an IsoPROFIBUS board with two PROFIBUS interfaces (isochronous) or via an MCI-PN board (4 x PROFINET). The P320-3 combines PC technology with the advantages of a maintenancefree an embedded-PC solution without any rotating parts. It can be operated without any display/monitor, or with a monitor connected via a DVI interface. The drive is connected through 3 integrated PROFINET interfaces
What is SIMOTION D?
SIMOTION D combines SIMOTION functionality and the drive functionality of a drive system to form one single drive hardware system. This results in a system which is both highly compact and with fast response times. SIMOTION D is always used when a compact machine concept and high performance for motion control tasks are required in combination with highspeed I/Os. SIMOTION D is offered in the performance versions D425 (low-end performance range), D435 (medium performance range), D445-2 (high-end performance range) and D455-2 (highest performance range). From V4.1 and higher, the D410 single-axis system is available to expand SIMOTION D systems in a modular fashion.
SITRAIN Training for Automation and Drive Technology
Page 15
MC-SMO-SYS SIMOTION – An Overview
Integration in TIA
Shared HMI use
Shared communication: PROFIBUS, PROFINET, Ethernet
C230-2/C240/C340 PN P350-3/P320-3 D4x5/D410
Shared use of distributed I/O and drives via PROFIBUS and PROFINET SIMOTION
Date: File:
Siemens AG 2012. All rights reserved.
09.02.2012 MC-SMO-SYS_01.16
SITRAIN Training for Automation and drive technology
Totally Integrated Automation
TIA with SIMATIC contains all technologies, such as PLC, PC-based control, automation computer, distributed I/O, HMI systems, communication networks and process control systems which are required in an automation environment. TIA allows you to implement the solution that is technically required and makes economic sense from a complete and integrated modular system. SIMOTION is completely integrated in the TIA concept.
PROFIBUS DP
Standard PROFIBUS DP with DP/V1 functionality • For connecting distributed I/Os • For connecting a higher-level automation system • For connecting HMI devices • For connection to the SCOUT engineering system All standard DP slaves (e.g. distributed I/Os, drives) can be connected to PROFIBUS.
Industrial Ethernet
Fast Industrial Ethernet that can be used for the following purposes: • Connecting HMI devices • Connecting to the SCOUT engineering system • Communication with TCP/IP and UDP (User Datagram Protocol)
PROFINET
PROFINET is the innovative and open Industrial Ethernet standard (IEC 61158) for industrial automation. With PROFINET, devices can be linked up from the field level through to the management/supervisory level. With PROFINET, drives can be controlled isochronously via a network and communication that is not critical from a time perspective (e.g. TCP/IP) can be established between automation components.
SITRAIN Training for Automation and Drive Technology
Page 16
MC-SMO-SYS SIMOTION – An Overview
SIMOTION Documentation
SIMOTION
Date: File:
Siemens AG 2012. All rights reserved.
SIMOTION documentation
09.02.2012 MC-SMO-SYS_01.17
SITRAIN Training for Automation and drive technology
SIMOTION printed documentation comprises individual documentation packages, which are contained in more than 50 SIMOTION documents and other documents (e.g. SINAMICS). The documentation packages are organized according to functionalities and contents. The documentation is available in various languages on the SIMOTION CD. The following SIMOTION document packages are available: • 1_Engineering system_handling: comprises 4 documents and describes the handling of the SIMOTION SCOUT engineering system and the CamTools. • 2_ System_and_function description: describes the technical operational sequences for the SIMOTION system and explains the technology objects • 3_Programming: describes the three programming languages MCC, ST, LAD/FBD and DCC. • 3_Programming_references: includes all of the reference lists required for programming as well as a description of how the drives and other I/O are connected to the SIMOTION system • 3_ Service_and_diagnostics: describes TO alarms, project comparison, upgrading devices and the trace functionality task. • 3_SIMOTION_IT: describes the functionality of the web browser interface from SIMOTION • 4_Additional documentation: contains descriptions of all product information, as well as the connection of additional hardware components to SIMOTION, for example ADI4, TM15 and TM17, • 5_SIMOTION C: describes the C230-2 / C240 /C240 PN hardware platform • 5_SIMOTION D: describes the hardware platform D4xx and the plat form SINAMICS S120 • 5_SIMOTION P: describes the hardware platform P350-3 and P320-3
SITRAIN Training for Automation and Drive Technology
Page 17
MC-SMO-SYS SIMOTION – An Overview
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