Siemens SIMATIC S7-1500T, SIMATIC S7-1500 Getting Started

___________________

SIMATIC

S7-1500 S7-1500T Getting Started with Kinematics

Getting Started

12/2018

A5E46089528

-AA

Warranty and liability

Preface

Description

Preparing the project

Adding and configuring technology objects

Adding PLC tags and data types

Add a global data block for HMI tags

Create program for manual mode

Create a program for automatic mode

Main organization block Main [OB1]

Testing the user program

Siemens AG Division Digital Factory Postfach 48 48 90026 NÜRNBERG GERMANY

A5E46089528-AA

Ⓟ

01/2019 Subject to change

Legal information

Warning notice system

This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are graded according to the degree of danger.

DANGER

indicates that death or severe personal injury will result if proper precautions are not taken.

WARNING

indicates that death or severe personal injury may result if proper precautions are not taken.

CAUTION

indicates that minor personal injury can result if proper precautions are not taken.

NOTICE

indicates that property damage can result if proper precautions are not taken.

If more than one degree of danger is present, the warning notice representing the highest degree of danger will be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to property damage.

Qualified Personnel

The product/system described in this documentation may be operated only by personnel qualified for the specific task in accordance with the relevant documentation, in particular its warning notices and safety instructions. Qualified personnel are those who, based on their training and experience, are capable of identifying risks and avoiding potential hazards when working with these products/systems.

Proper use of Siemens products

Note the following:

WARNING

Siemens products may only be used for the applications described in the catalog and in the relevant technical

documentation. If products and components from other manufacturers are used, these must be recommended or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and maintenance are required to ensure that the products operate safely and without any problems. The permissible

ambient conditions must be complied with. The information in the relevant documentation must be observed.

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Table of contents

1 Warranty and liability ............................................................................................................................... 5

1.1 Security information .................................................................................................................. 6

2 Preface ................................................................................................................................................... 7

3 Description .............................................................................................................................................. 8

3.1 Requirements ............................................................................................................................ 8

3.2 Function scope .......................................................................................................................... 8

3.3 Task .......................................................................................................................................... 9

3.4 User program .......................................................................................................................... 10

3.5 Coordinate systems and positions .......................................................................................... 14

3.6 Program blocks ....................................................................................................................... 15

3.7 PLC tags ................................................................................................................................. 16

3.8 PLC data types ....................................................................................................................... 16

4 Preparing the project ............................................................................................................................. 20

5 Adding and configuring technology objects ............................................................................................ 21

5.1 Adding a kinematics technology object ................................................................................... 21

5.2 Configuring the kinematics technology object ........................................................................ 23

6 Adding PLC tags and data types ........................................................................................................... 25

7 Add a global data block for HMI tags ..................................................................................................... 26

8 Create program for manual mode .......................................................................................................... 27

8.1 Prepare function block ............................................................................................................ 27

8.2 Move kinematics to defined position ....................................................................................... 28

8.3 Controlling the axes ................................................................................................................ 34

8.4 Control of gripper .................................................................................................................... 36

9 Create a program for automatic mode ................................................................................................... 38

9.1 Prepare function block ............................................................................................................ 38

9.2 Querying preconditions ........................................................................................................... 40

9.3 Product type query .................................................................................................................. 43

9.4 Program section product type 1 .............................................................................................. 43

9.5 Program section product type 2 .............................................................................................. 49

9.6 Error handling in automatic mode ........................................................................................... 53

Table of contents

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10 Main organization block Main [OB1] ...................................................................................................... 54

11 Testing the user program ...................................................................................................................... 59

11.1 Preparing the watch table and the kinematics trace .............................................................. 59

11.2 Perform test ............................................................................................................................ 61

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Note

The Application Examples are not binding and do not claim to be complete regarding the circuits or equipment shown, or every eventuality. The Application Examples do not represent customer

-specific solutions. They are only intended to provide support for typical

applications. You are responsible for ensuring that the described products are used correctly. These Application Examples do not relieve you of the responsibility to use safe practices in application, installation, operation and maintenance. When us

ing these

Application Examples, you recognize that we cannot be made liable for any damage/claims beyond the liability clause described. We reserve the right to make changes to this Application Example at any time without prior notice. If there are any dev

iations between the

recommendations provided in this Application Example and other Siemens publications

–

e.g. catalogs

– the contents of the other documents have priority.

We do not accept any liability for the information contained in this document. Our liability for damages resulting from using the examples, notes, programs, configuration and performance data, etc. described in this Application Example regardless of the legal background is excluded unless required by law, e.g. in cases of willful misconduct, gross negligence, personal injury or death, failure to achieve guaranteed characteristics, fraudulent concealment of a defect or in case of breach of fundamental contractual obligations. The damages for breach of a substantial contractual obligation are, however, limited to foreseeable damage, typical for the type of contract, except in the event of intent or gross negligence or injury to life, body or health. The above provisions do not imply a change of the burden of proof to your detriment.

Any form of duplication or distribution of these Application Examples or excerpts hereof is prohibited without the express consent of Siemens AG.

Warranty and liability

1.1 Security information

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1.1 Security information

Siemens provides products and solutions with industrial security functions that support the secure operation of plants, systems, machines and networks.

In order to protect plants, systems, machines and networks against cyber threats, it is necessary to implement – and continuously maintain – a holistic, state-of-the-art industrial security concept. Siemens’ products and solutions constitute one element of such a concept.

Customers are responsible for preventing unauthorized access to their plants, systems, machines and networks. Such systems, machines and components should only be connected to an enterprise network or the internet if and to the extent such a connection is necessary and only when appropriate security measures (e.g. firewalls and/or network segmentation) are in place.

For additional information on industrial security measures that can be implemented, please visit (https://www.siemens.com/industrialsecurity).

Siemens' products and solutions undergo continuous development to make them more secure. Siemens strongly recommends that product updates are applied as soon as they are available and that the latest product versions are used. Use of product versions that are no longer supported, and failure to apply the latest updates may increase customers' exposure to cyber threats.

To stay informed about product updates, subscribe to the Siemens Industrial Security RSS Feed visit (https://www.siemens.com/industrialsecurity).

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Purpose of the documentation

This Getting Started leads you step-by-step through the configuration of a kinematics technology object and the creation of the program for the automation task using a specific example.

Basic knowledge required

The following knowledge is required to understand the Getting Started:

● General knowledge of automation engineering

● General knowledge in the field of drive engineering and motion control

Scope of validity of the documentation

This documentation is valid for the S7-1500 product range.

Additional support information

● The range of technical documentation for the individual SIMATIC products and systems is available on the Internet (http://support.industry.siemens.com/cs/ww/en/view/109742705).

● The online catalog and online ordering system are available on the Internet (http://mall.industry.siemens.com/).

Conventions

During the configuration of the technology objects, only the parameters required for the example from the Getting Started are described.

Only the parameters used in the instructions are shown in the figures. Unused parameters are hidden in the program.

The comments on the tags are optional and are used for the purpose of orientation.

Example project

The example described in this Getting Started is provided as a complete TIA Portal project.

In addition, all program blocks, technology objects, PLC tags, PLC data types and the watch table are made available as master copies. You can load and use these as global library.

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3.1 Requirements

Software

You need the following software to run the Getting Started:

● SIMATIC STEP 7 Professional V15.1 and higher

● SIMATIC S7-PLCSIM V15.1 and higher

As an alternative to simulation via the SIMATIC S7 PLCSIM, you can perform the Getting Started using a real controller SIMATIC S7-1500T (as of firmware version 2.5).

It may be necessary to adjust the application cycle of the "MC_Servo" organization block.

3.2 Function scope

Introduction

In this Getting Started example we show you how to create and configure a kinematics technology object. The programming section shows you how to apply instructions for the different functionalities of the kinematics technology object. The result is a complete user program that consists of the described and applied functionalities.

Overview of functionalities

The following functionalities are covered in the Getting Started:

● Instructions for controlling the kinematics technology object

● Querying the job sequence

● Comparison of the coordinates and coordinate systems

● Travel with and without dynamic adaptation

Description

3.3 Task

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3.3 Task

Different products are transported on a conveyor belt and are to be distributed onto two different product pallets by a cylindrical robot.

The products first reach the pickup position over a chute at the end of the conveyor belt. At the pickup position, the products are picked up by the robot and transported to the respective pallet.

The transport routes should be as follows, depending on the product type:

● Products of product type 1 are stored on pallet 1. On its way to the parking position, pallet 2 is bypassed with the help of additional intermediate destinations.

● Products of product type 2 are stored on pallet 2. The parking position is approached directly and without intermediate destinations.

Layout of the work area

①

Pallet 1 (OCS1, for product type 1)

②

Pallet 2 (OCS2, for product type 2)

③

Pickup position (OCS3)

④

Cylindrical robot 3D (KCS)

The different objects and their position in the workspace (WCS) are to be defined by means of different coordinate systems and frames.

The kinematics coordinate system (KCS) is connected to the kinematics. The position of the KCS within the kinematics is fixed.

The product pallets and their position, as well as the pickup position are to be defined with the user-defined object coordinate systems OCS1, OCS2 and OCS3. This means that the reference for the target position and the target orientation of the kinematics motions to one of the product pallets or the pickup position is directly specified on the respective OCS.

Description

3.4 User program

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3.4 User program

Overview

A user program with the following operating modes is implemented for the described task:

● No-load operation (machine in idle state)

● Manual mode

● Automatic mode

● Fault

The user program executes all sequences of the task in automatic mode. The products are picked up individually in automatic mode and transported to the parking position. The sequence is repeated until automatic mode is exited.

In manual mode you set the various parameters and use individual functions from automatic mode.

Description

3.4 User program

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Manual mode

Before you start automatic mode, make all the necessary settings in manual mode.

● Enable connected axes

● Define home position and home interconnected axes

● Define the coordinates of the defined positions

● Move the kinematics to the waiting position (= start position for automatic mode).

In manual mode, you can also move the kinematics to the defined positions using individual motion instructions or change the coordinates.

You can test the gripper function by individually opening or closing the gripper (simulation).

The dynamic parameters allow you to observe the behavior of the kinematics motion when dynamic adaptation is activated and deactivated.

Automatic mode

When automatic mode is called, the following prerequisites for further processing of the program are first queried.

● Cyclic queries in automatic mode:

– Is the communication to the drive system available?

– Is the drive switched on?

– Are all axes homed?

● Queries during start of automatic mode:

– Is the kinematics in the waiting position?

– Is the job sequence empty?

– Is the size of the job sequence set sufficiently?

When all starting conditions are fulfilled, the program checks whether a new product is available and what type of product it is. With the information about the product type, the kinematics moves to the pickup position and picks up the product.

The subsequent motions between the pickup position and one of the two parking positions are defined as follows, depending on the product type:

●

Product type 1

Two transition positions are defined for the distance between the pickup position and parking position. Three motion instructions are used to move the kinematics between the pickup position and the parking position. The three motion instructions are executed via the job sequence both for moving to the parking position and for returning to the waiting position.

●

Product type 2

The kinematics moves with a motion between the pickup and the parking position.

Description

3.4 User program

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The product is parked when the parking position is reached. The kinematics then executes a motion to the waiting position.

Description

3.4 User program

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Motion instructions used

The following instructions are used for the respective moves:

Motion

Instructions Start

Destination

Waiting position Pickup position prod-

uct type 1 / product type 2

"MC_MoveLinearAbsolute" to pickup position Product type 1 / Product type 2

Pickup position with offset for product type 1

Parking position on pallet 1

1. "MC_MoveCircularAbsolute" to the transition position 1

2. "MC_MoveLinearAbsolute" to the transition position 2

3. "MC_MoveCircularAbsolute" to the OCS1

Pickup position with offset

for product type 2

Parking position on pallet 2 "MC_MoveCircularAbsolute" to the

OCS2

Parking position on pallet 1 Waiting position

1. "MC_MoveCircularAbsolute" to the transition position 2

2. "MC_MoveLinearAbsolute" to the transition position 1

3. "MC_MoveCircularAbsolute" to the waiting position

Parking position on pallet 2 Waiting position "MC_MoveCircularAbsolute" to the

waiting position

Definition of the circular path ("CircMode") for the instructions "MC_MoveCircularAbsolute"

With the "CircMode" parameter, you specify the definition of the circular path. In the example project, the default setting "CircMode" = "0" is used for all circular motions and the circular path is calculated using the start, intermediate and end points. With the auxiliary point of the circular path ("AuxPoint"), you specify a point on the circular path via which the end point is to be approached.

The function block "ModeAutomatic" shows an option for calculating the auxiliary points of the circular path. The auxiliary points of the circular path are determined from the distance between the start and end position and are thus in the middle of the distance. The intermediate point is therefore consistent in each case with the specified start and end points.

Description

3.5 Coordinate systems and positions

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3.5 Coordinate systems and positions

Kinematics and object coordinates

The values for the kinematics and object coordinates are entered in the Configuration of the kinematics technology object (Page 23).

KCS (Kinematics)

OCS1 (Pallet 1)

OCS2 (Pallet 2)

OCS3 (Pickup position at

the chute)

Position x

2000 mm

1000 mm

3000 mm

3500 mm

Position y

3000 mm 1000 mm 1000 mm 3000 mm

Position z

0 mm

100 mm

300 mm

Positions and offsets

The values for the positions and offsets are entered via the HMI tags in the watch table "HMI-Monitor (Page 59)".

Transition position 1

Transition position 2

Position x

3000 mm 2000 mm

Position y

2000 mm

Position z

1800 mm

Offset for waiting position

Offset for product type 1

Offset for product type 2

Position x

0 mm

Position y

0 mm

Position z

1000 mm

100 mm

200 mm

Home position

The home position for the interconnected axes can be entered using the corresponding tags in the watch table "HMI-Monitor (Page 59)".

● Axis AxisA1: 10

● Axis AxisA2: 1

● Axis AxisA3: 1000

Description

3.6 Program blocks

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3.6 Program blocks

Function blocks

Function block

Function

Instance data block

"CtrlSingleAxis" Control of axes (ena-

ble/disable, reset, homing)

"InstAxisA1" "InstAxisA2"

"InstAxisA3"

"ModeManual" Manual mode "InstModeManual"

"ModeAutomatic"

Automatic mode

"InstModeAutomatic"

"CtrlGripper" Gripper control (opening,

closing)

"InstGripper"

Functions

Function block

Function

Application

"Compare3D" Function for comparing posi-

tions

Function block "ModeAutomatic" Query whether gripper is in the waiting

position

"DistanceXYHalf" Function for length calcula-

tion according to Pythagoras

Function block "ModeAutomatic" Calculation of the respective auxiliary

point of the circular path for the instruc-

tion "MC_MoveCircularAbsolute".

Global data blocks

Data block

Function

Application

"HMI" Global data block for the

PLC data type "typeUserInterface"

Control of technology objects and display of status values in the watch table "HMI-

Monitor"

Function blocks "ModeManual" and "ModeAutomatic"

Description

3.7 PLC tags

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3.7 PLC tags

User constants

Define the following global user constants under PLC tags:

Name

Data type

Val ue

Description OPERATING_MODE_AUTO

UInt 3 Automatic mode

OPERATING_MODE_MANU

UInt 2 Manual mode

OPERATING_MODE_IDLE

UInt 0 No-load operating mode

OPERATING_MODE_ERROR UInt 1 Fault operating mode

WCS

DInt

Specification of the respective reference system of the specified target position and target orientation

OCS1

DInt 1 OCS2

DInt

OCS3

DInt

3.8 PLC data types

Overview

For the simple and uniform declaration of tags, add the following PLC data types:

Name

Description

typeAuxPosition

Specification of positions without orientation (x, y, z)

typeExecute

Summary of the parameters for the start of the motion instructions to the defined positions

typePosition

Specification of positions with orientation (x, y, z, A)

typePositionState

Summary of the parameters for the display of reached positions per sequence (0 = position not

reached, 1 = position reached)

typeSystemState

Summary of the parameters for the status display of the axes and the drive

typeUserInterface

Summary of the tags for the HMI

typeAuxPosition

Name

Data type

Description

auxPosition Array[1..3] of

LReal

Define the position without orientation (x, y, z)

Description

3.8 PLC data types

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typeExecute

Name

Data type

Description

waitingPos

Bool

Move to waiting position

pickupPos Bool Move to pickup position

destination1Pos

Bool

Move to the parking position for product type 1

destination2Pos

Bool

Move to the parking position for product type 2

transition1Pos

Bool

Move to the transition position 1

transition2Pos

Bool

Move to the transition position 2

typePosition

Name

Data type

Description

position Array[1..4] of

LReal

Defining position with orientation (x, y, z, A)

typePositionState

Name

Data type

Description

waitingPos

Bool

Waiting position

pickupPos

Bool

Pickup position

destination1Pos

Bool

Parking position for product type 1

destination2Pos

Bool

Parking position for product type 2

transition1Pos

Bool

Transition position 1

transition2Pos

Bool

Transition position 2

typeSystemState

Name

Data type

Description

communicationOK

Bool

Communication with the drive system is available

driveInOperation

Bool

Drive system in operation

homingDone

Bool

Encoder adjustment completed

Description

3.8 PLC data types

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typeUserInterface

Name

Data type

Description

waitingPosOffset

"typePosition"

Offset for the waiting position

product1Offset "typePosition" Offset for products of product type 1

product2Offset

"typePosition"

Offset for products of product type 2

transitionPos1

"typePosition"

Transition position 1 between conveyor belt and parking position 1

transitionPos2

"typePosition"

Transition position 2 between conveyor belt and parking position 1

productType UInt Enter product type

• 0 = No product / Product type unknown

• 1 = Product type 1

• 2 = Product type 2

operatingMode UInt Selecting the operating state

• 0 = Starting

• 1 = Fault

• 2 = Manual mode

• 3 = Automatic mode

• 4 = Reserved

enableAxes

Bool

Enable axes

executeMoveTo

"typeExecute"

Start motion instructions to the defined positions

interruptMove

Bool

Interrupt current motion

continueMove

Bool

Continue a motion stopped with "interruptMove"

acknowledge

Bool

Acknowledge error

gripper Bool Controlling the gripper

• 1 = Closing

• 0 = Opening

gripperState Bool Status indicator of gripper

• 0 = Open

• 1 = Closed

posState "typePosi-

tionState"

Status display of reached positions per sequence

startChecks "typeSystemSta-

tus"

Axis and drive status display

motionState UInt Status display of motion

• 0 = Inactive

• 1 = Fault

• 2 = Active

• 3 = Reserved

setReferenceAxisA1

Bool

Homing axis "AxisA1"

setReferenceAxisA2

Bool

Homing axis "AxisA2"

setReferenceAxisA3

Bool

Homing axis "AxisA3"

+ 46 hidden pages

Siemens SIMATIC S7-1500T, SIMATIC S7-1500 Getting Started

Specifications and Main Features

Frequently Asked Questions

User Manual