simotion example for beginners d435 en

© Siemens AG 2011. All Rights Reserved.

SIMOTION

Example for Beginners

© Siemens AG 2011. All Rights Reserved.Industry Sector

SIMOTION -Programming

SIMOTION -Configuration

SINAMICS -Configuration

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Program -Conception

SIMOTION - Basic Information

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Introductory Information

Example for BeginnersDisclaimer of liability

The application examples and the associated documentation contained on this DVD are made available without cost. The customer receives for the software the non-exclusive, non transferable, free right to use the software; this includes the right to change the software, to copy it changed or unchanged, and to combine it with the customer's own software.

Siemens AG has not subjected the software to the normal system test otherwise usual for software.

Any liability – irrespective of the legal reason – in particular because of software errors or the associated documentation or damages resulting from consulting is excluded, unless, for example, because of premeditation, gross negligence, risk to life, injury or health, acceptance of suitability guarantee, malicious concealment of a fault or a violation of significant contractual obligations, would force liability. A reversal of the burden of proof to the customer's disadvantage is thus not included.

German legal right applies. Place of jurisdiction is Erlangen.





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Example for Beginners Some preliminary comments

Before processing the Example for Beginners, it is advisable to study ”Getting Started with SIMOTION SCOUT" (Menu Help Getting Started).

In the example, some elements have been extended more than necessary in order to demonstrate as many different aspects of SIMOTION as possible (e.g. a virtual axis as master).

Menu- and context menu commands are shown in italic type as well as the names of dialogs and tabs etc.. Menu Sub menu are separated by an arrow.

The screenshots were created with SIMOTION Version 4.2 (05/2011). Under some circumstances there may be minor changes for future versions.

The firmware version on the SIMOTION D435 should agree with the SIMOTION SCOUT version.





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Task


Example for Beginners Machine diagrams

Carton erector

Product feed

Palletizer

Sensor

Conveyor belt

Package (full)Package (empty)

Extractor- Electrical travel- Eject pneumatically

Procedure notes are contained in the Program Design section





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Task


Example for Beginners Task

Task:Packages with a protruding machine part are used on a conveyor belt (drive 1). An empty package is detected by a sensor and should be removed with an extractor (drive 2). The removal itself is performed pneumatically. When an emergency off switch is pressed, all drives should be stopped immediately. The current position of the conveyor belt should be displayed on the operator panel.

The machine diagrams show a machine part, the implementation in SIMOTION is shown in the following slides.The solution concept shows only one of many possible solutions. This particular solution was selected to use as many different SIMOTION functions as possible:

Cam with CamToolGearbox synchronismCammingOutput camsVirtual master axis etc.





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Example for BeginnersTopology of the automation solution

SIMOTION SCOUT

ET 200 *

MICROMASTER 420 *

Profibus DP

D435

1 FK7

HMI

Carton erector *Feed *

* Not considered in the example, but part of the complete plant

Transport

Extractor





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Task


Example for Beginners Execution system

Time triggered Tasks Task 1 Task 2 Task 5

Motion Tasks Motion Task 1 Motion Task 2 Motion Task 20

Run

Startup TaskStop Run

Background Task Background TaskCall Motion Tasks (se-quentialtasks)

1

Synchronous Tasks IPO - sync Task 1 IPO - sync Task 2 Monitor the emergency off criteria

2

System Int TasksSystem Int TasksInterrupt Tasks User Int Task 1 User Int Task 2 System Int TasksResponse to

process signals

3

Shutdown Task

Run Stop





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Example for Beginners Execution system / cyclical and sequential programming

Central topic for SIMOTION: Which job do I solve in which task or which tasks are particularly suitable for specific jobs.In the example, the background task is used to start sequential tasks (MotionTasks). The sequential tasks are used to implement processes and to start movements. The UserInterruptTask initiates an incorrect part handling depending on an external signal. The IPOsynchronousTask task monitors a protective door.

Another central question in SIMOTION: Which program sections are programmed cyclically and which are programmed sequentially. The same result can often be achieved in both ways. For motion commands, SIMOTION supports the programming in the cyclical context. The monitoring of the status of a motion command is performed by the system when sequential programming is used (nextCommand:=WHEN_MOTION_DONE).





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Example for Beginners Comparison of cyclical and sequential programming

To simplify the understanding, the comparison on a sample task follows: ”Pos “ should move to “Target”; the “Finished“ variable is set to TRUE when the position is reached.

_pos ( axis:= Pos, position:= Ziel, nextCommand:= WHEN_MOTION_DONE)

Fertig:= TRUE;

Sequential Task: Cyclical Task:

Program processing stops until the target position is reached

Pos_status:=_getStateOfAxisCommand ( Pos,

PosCommandID)

IF (Pos_status <> ACTIVE ANDFertig = FALSE ) THEN_pos ( axis:= Pos,

position:= Ziel, nextCommand:= IMMEDIATELY,commandID:= PosCommandID);

END_IF

IF Pos.motionstatedata.motioncommand =MOTION_DONE THENFertig:= TRUE;

END_IFCyclical program section continued

Advance command

Query status pos. command

Pos. command

Advance command

Query position





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Example for Beginners Variable model

System variables

Technology objects

SIMOTION device

Global user variables

I/O variables

Device global variables

Unit variables

Local user variables

Program variables

FC variables

FB variables

SIMOTION always differentiates between three types of variable groups:

System variables are automatically provided by the system or from technological objects and do not need to be created by the user.

Global user variables are defined by the user and have a wide scope: device global, project global or unit global.

Local user variables have a limited scope. They are always valid only within the defining program unit (program, function or function block).





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Example for Beginners Variable model

System variables

Technology objects

SIMOTION device

Global user variables

I/O variables


Unit variables

Local user variables

Program variables

FC variables

FB variables

Variable is assigned to a TO (e.g. actual position of an axis)

Variable is assigned to the SIMOTION device (e.g. system clock)

Variable indicates an input/output area (e.g. Startpos -> P10.1)

Variable can be accessed from anywhere on the device

1. A variable can only be used in programs, functions and function blocks.

2. A specially exported variable can also be used in other units.

Variable can only be used within the declaring program

Variable can only be used within the declaring function (FC)

Variable can only be used in the declaring function block (FB)





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Example for Beginners Solution guide

Current situationTask (machine diagram)

Topology concept with SIMOTION

Program conceptTechnology objects

Task structure

Task relationships

Variables

System environmentCreate device

Specification of the possible DP cycle clock

Creation of a hardware configuration

DrivesParameterization SINAMICS

Axis configurationMaster axis

Conveyorbelt

Extractor

Output cam configurationCam configuration

Form

Parameterization

Programming, parameterization and test

WinCC flexible connection





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Program -Conception


Task


Example for Beginners Technology objects

Virtual master axis

Positioning axis

Rotary axis (modulo)

Real axis - conveyorbelt

Following axis

Rotary axis (modulo)

Gearbox synchronism

Real axis - pusher

Following axis

Linear axis

Camming

Cam - extractor

Not cyclical

Cam controller – pneumatic extractor

Position-based cams

Interpolator





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Task


Example for Beginners Task structure

Startup Task

Initialization - ST

Background Task

Execution control - FUP

Call the homing task / initial setting travel - FBD

Call the automatic operation -FBD

Motion Task 2 (Homing)

Homing (incremental encoder) and possibly initial setting travel of the associated axes -MCC

Motion Task 3 (Automatic operation)

Start the master axis - MCC

Synchronize the conveyorbelt -MCCTrigger the pneumatic valve -MCC

Motion Task 4Call the extractor task - MCC

User Interrupt Task 1 (stock outage detection)

Call the extractor task - MCC

IPO sync Task (Emergency stop monitoring)

Test protective door - MCC

Tech Fault / Peripheral Fault Task (fault handling)

Acknowledge error - MCC





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Example for Beginners Task relationship / Program start

User Interrupt

IPO Sync Task

Start program pEject

Motion Task 2

Motion Task 3

Interrupts the Task

Startup

BackgroundMotion Task 3

Motion Task 4

Motion Task 2





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Device-global variablesNone

Unit-global variablesVelocity of the leading axis

Open protective door

Program end

Operating mode

Local variablesNone

I/O-variables (symbol browser)Onboard inputs (CU)

ib16DigCU (all inputs)WORD (DI_0_15)

iboEject (Sensor)BOOL (DI_2)

iboProtDoorBOOL (DI_0)

iboStartBeltBOOL (DI_1)

Onboard outputs (output cam object)

Onboard outputs (CU)

Extractor activeoutput cam (DO_8)

Example for Beginners Variables

Variables are named in accordance with the instructions from the applications style guide V1.01 for SIMOTION





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Example for Beginners SIMOTION create device

1. Create new SIMOTION SCOUT project

2. Create new device (D435 V4.2)

3. Set the interface for PG to IE2/NETThe networking for PG in NetPro

will be created automatically





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Example for Beginners HW configuration

Set system clock for integrated drive interface

Context menu SINAMICS_INTEGRATED

Object Properties...

The value of Tdp determines the basic cycle of the SIMOTION task system

Via each factors the settings can be fine tuned





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The network configuration for PG is created automatically

Use the properties of the PG (Object properties) to

change the access address of the logical PG interface (e.g. IP-address) (Tab Interfaces) or

change the physical mapping of the logical PG interface (Tab Assignment)

Example for Beginners NetPro





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Start drive configuration

The configuration assistant (wizard) obtained all necessary information

No option module

Example for Beginners Configure drives





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Use unregulated Infeed

Create first drive

Example for BeginnersConfigure drives





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Set drive name for conveyorbelt („conveyor“)

No function modules will enabled in the drive

Example for Beginners Configure Drive 1 (Conveyorbelt)





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Select Power unit (dual-axis module) according to the rating plate

Wiring operation signal

Note: The drive parameter p0864 at power units with DRIVE-CLiQ have to be wired to the operation signal of the infeed. In all other cases the operating signal have to be wired to a digital input (e.g. CU). The chosen DI is now linked with p0864 via BICO.






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Drive 1 to Connection X1

Drive with DRIVE-CLiQ interfaceNo further details for motor type required






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Drive without holding break

Choose encoder for drive control






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Standard communication with drive

Summary






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Insert drive

After entering the name of the extractor (“eject”) the configuration wizard has to be repeated for drive 2. Shown below are just the dialogs that differ in comparison to drive 1.

Example for Beginners Configure Drive 2 (Extractor)





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Select the already added dual-axis module

Only Connection X2 is available






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Motor with SMC motor type and speed in accordance with rating plate

Encoder in accordance with rating plate






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The wiring must be made for both drives (exemplarily to DI7).

Example for BeginnersWiring of an input for infeed





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For the SIMOTION D training case (single phase connection) the drive parameter p0210 has to be set from 600V to 345V.

Access via expert list.

This must be carried out for both drives.

Example for BeginnersTraining case specific line supply voltage





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The ratio of bus data cycle clock to servo cycle clock to interpolator cycle clock (IPO) should be 1 : 1 : 1.

The bus data cycle clock is given by HW config.(here: DP cycle Tdp).

The reduction of interpolator 2 (IPO_2) can be chosen freely.

Example for BeginnersSystem cycle clocks





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Task


Create a virtual leading axis („MasterAxis“) as positioning axis

Rotary axis

Virtual axis

Example for BeginnersAxis configuration – Master Axis





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Create a real slave axis („Conveyorbelt“)

Including synchronous operation

Rotary axis

Electrical axis

Example for BeginnersAxis configuration – Conveyorbelt





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Connect the slave axis („Conveyorbelt“) to drive 1 („conveyor“)

Assign encoder for the positioning controller

Note for the offline configuration: Encoder type (incremental orabsolute) by motors with DRIVE-CLiQ interface have to be determined from the motor order number.

Example for BeginnersAxis configuration – Conveyorbelt





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Create a real slave axis („Ejector“)

Including synchronous operation

Linear axis

Electrical axis

Example for BeginnersAxis configuration – Extractor





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Connect the slave axis („Ejector“) to drive 2 („eject“)

Assign encoder for the positioning controller

Example for BeginnersAxis configuration – Extractor





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Synchronous operation between leading axis and conveyorbeltVia the synchronous object of the axis

Example for BeginnersAxis configuration – Interconnections





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Synchronous operation between conveyorbelt and extractorBy real leading axis (e.g. conveyorbelt) you can choose the setpoint or the actual value as the set value.

Example for BeginnersAxis configuration – Interconnection





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MasterAxisNo modifications

ConveyorbeltPosition control

Speed precontrol activated

DSC activated; Kv = 50

EjectorPosition control

Speed precontrol activated

DSC activated; Kv = 50

Automatic controller setting

Via „Controller setting…“you can reach the automatic controller setting

Note: The parameterization in this masks has to be done offline.

Example for BeginnersAxis configuration – Parameterization





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ConveyorbeltNo homing because absolute encoder

EjectorHoming mode: Encoder zero mark only

Example for BeginnersAxis configuration – Parameterization





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Save and compile projectEither via menu Project Save and compile all or viathe Toolbar.

Detailed view shows the compile resultsThe tab Compile / check output shows the results of compiling and checking.

The tab Address setup output shows the automatic performed address assignments.The set standard settings from the drives and axis were evaluated and suitable message frame types were chosen (Message frame type 105 and 390 for the Control Unit). Also the associated address ranges were set.

Example for BeginnersSave and compile all





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Insert output cam to the axis EjectorBefore an output cam can be insert, an I/O of the control unit has to be configured as output. (DO 8)

Example for BeginnersOutput cam configuration at the ejector valve





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Insert output cam to the axis EjectorOutput cam and track will be added in the directory Output Cam under the relevant axis (Ejector).

One output cam were created by Insert output cam.

Set name of the output cam and activate Open editor automatically.






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Task


Configure the output camProc. cycle clock: IPO

Output cam type: Position based cam (related to the axis Ejector)

Type of output cam values: Setpoints

Advantage: Symbolic AccessNo absolute address entry


Activate output

Set Cam output to: Fast digital output

Set digital output DO 8 at the control unit.This output won't be added to the symbol browser.





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Create I/O-Variables at the symbol browseriboProtDoor protection door contact

(input 0 on the switch box of the training case)

iboStartBelt start conveyorbelt(input 1)

iboEject sensor detect bad part(input 2)

ib16DigCU Image of the onboard-inputs of the control unit

Note: The input in the symbol browser is done offline.

Example for BeginnersProgramming – I/O-Variables





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In the general settings of the project is set, that programs generally can be observed.

MCC-units can additional be observed in single step mode.

In the properties of each unit you can overload this basic settings if necessary.

Example for BeginnersProgramming – Settings for program testing

When you insert a source a properties dialog displays. In this you can set the name and if necessary the compiler settings.

Later this settings can be changed by the properties of the existing source.





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Function

Definition of all unit global variables in the INTERFACE field only in one ST-unit.

Ensures easy exportability of global variables.

Prevent confusing cross-references (“links” or “USES”).

Retain variables and HMI variables are also declared on a separate source.

Example for BeginnersProgramming – variable definition in ST („pDefInit“)

Programming

Insert ST-unit „pDefInit“

Insert keywords VAR_GLOBAL and END_VAR

Definition of the variables and default values

Insert keyword PROGRAM „pInit“





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Example for BeginnersProgramming – variable initialization in ST („pDefInit“)

Programming

Insert keywords PROGRAM „pInit“ and END_PROGRAM

Initialization of the variables at STOP – RUN transition

Save and compile

Function

With the program “pInit” in the ST-unit “pDefInit” the variables will be set to a defined value at startup.

The ST-unit “pInit” is to assign to the StartupTask.The StartupTask is executed at every change of the operating state of the SIMOTION control from STOP to RUN.





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Example for BeginnersProgramming – connection to an other unit

Basic Procedure

Always when variables from “pDefInit” are used in an other source (e.g. “pAuto”), “pDefInit” have to be assign to this source.

This connection can be configured in the tab “Connections”.





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Insert MCC-unit “pTecFault” and add it to the TechnologicalFaultTask after programming.

All alarms of a technological object can be quit (e.g. Ejector).

Also you can quit a specific alarm (e.g. 30002) of a technological object (conveyorbelt).

Example for BeginnersProgramming – TechnologicalFaultTask

FunctionFor fault handling of technological objects(e.g. axis).

In principle, an empty program can be used. Thus, the SIMOTION control won’t STOP if errors occurs.

Note: During the commissioning and troubleshooting, it is advisable to acknowledge as few alarms directly. These alarms often give clues of misconduct.





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Access to I/Os of the drives only when the drive components have also been ramped up (after Power On)

e.g. onboard inputs of the CU

Test in the program for valid accesses of the I/O variables

Is to be done in all cyclic tasks (e.g. via the variable “gboDriveActive”)

Alternatively, you can work directly with replacement values of the I/O variables

Example for BeginnersProgramming – Access to I/O-variables in cyclical tasks





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Example for BeginnersProgramming – BackgroundTask in LAD/FBD

Programming of the BackgroundTaskInsert LAD/FBD-unit “pBckFBD”

Insert a LAD/FBD-program “pLADFBD” in the LAD/FBD-unit

The homing and the automatic operation are started depending on the contents of the gi16Mode variable.

gi16Mode = 0 hominggi16Mode = 1 automatic

This occurs only whenThe protection door is closed andMotionTask_1 or MotionTask_2

Stopped (performed),Waiting and has been suspended (emergency stop)Suspended (emergency stop)

In a LAD/FBD-program you can always switch between the views LAD and FBD. This is done via the menu or the toolbar.





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Create local variablesb32TaskState : State of MotionTask_2 or MotionTask_3

b32RetStart : Return value of the function „_startTaskID“

boResult : Resultbit of the LAD/FBD-Networks

b32ResAnd : Result of the task state evaluation

boGo: Taskstartbit (TRUE if MotionTask_2 or MotionTask_3 have to be restarted)

sTaskSel : Structure that can contain TaskIDs (e.g. MotionTask_2 or MotionTask_3)

Network 1 – Drives readyJump to the end if the drives have notbeen ramped up yet

No access possibly toI/O-variables from SINAMICS.

Jump label “end” is created in the last network.





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Network 2 – query protection door contactJump to the end, if protection door is open

Networks 3 and 4 – selection of the taskDepending on the gi16Mode variable, the sTaskSel variable will be assigned the value “MotionTask_1“ or “MotionTask_2“, respectively.

The task stored in the sTaskSel variable can be started in network 9.

The block “MOVE” is insert via the command library - LAD/FBD elements.Alternatively, an empty box is used. Then the empty box is filled with the module name.






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Network 5 and 6 – query task stateYou can query the task state with the system function “_GetStateOfTaskId”(command library – task system). The reported state is always clearly and consistently.

This is a significant advantage over an application-locking by using boolean variables.The variable “sTaskSel” contains the task whose state is to be queried.The return value is a DWORD (“b32TaskState”) that can be processed bitwise.

In Network 6 is a bitwise AND link of the return value with the value 16#0022. This corresponds to the OR link of the two states “TASK_STATE_STOPPED” and “TASK_STATE_SUSPENDED”.

Note: The different task state information can be found in the manual SIMOTION SCOUT basic functions.






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Network 7 and 8 – evaluate task stateThe result of the bit AND logical operation is evaluated in this network.

If the return value is larger than 16#0000, the associated task must be restarted (boGo = TRUE).

If the return value matches 16#0000, boGo becomes FALSE. This bypasses restarting the task. Jump label is “end“ (network 9).






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Network 9 and 10 – start taskThis network becomes active as soon as a task needs to be restarted.

To start the task the system function “_restartTaskId” (command library – task system) is used. This function can only be used to MotionTasks.

The return value is a DWORD (“b32RetStart”), which reports about success or failure.

In Network 10 is a jump label “end”. This jump label is at the end of the block, so that jumps to this position will end the block.

A jump label can be switched on or off. To do this you have to select the label and switch it on or off via the toolbar or the menu.






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Example for BeginnersProgramming - BackgroundTask (FBD)

The status of the FBD program can be monitored in this snapshot (monitor online).

Network 2: The protection door is closed.

Network 3 and 4: The operating mode is “automatic“ (gi16Mode = 1). Consequently, Motiontask_3 is stored in the sTaskSel variable.

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Example for BeginnersProgramming – Homing (Motion Task 2 MCC) 1/2

Insert MCC Chart „pHoming“

Connect with “pDefInit”

Declare a local variable “i32RetResetAxis” (Variable type VAR, Data type DINT)

Reset axes in the “ST-Zoom” (after emergency stop):

„i32RetResetAxis := _resetAxis (Axis := MasterAxis);“

„i32RetResetAxis := _resetAxis (Axis := Conveyorbelt);“

„i32RetResetAxis := _resetAxis (Axis := Ejector);“

Alternatively, the axis enable can also be removed and reapplied.

Set gboProtDoorOpen to “false”

Set gr64VMasterAxisOld to 0





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Example for BeginnersProgramming – Homing (Motion Task 2 MCC) 2/2

Homing:Zeros on the “MasterAxis”

Enable “Conveyorbelt”

Enable “Ejector”

Deactivate “Valve” output cam

If necessary: active homing conveyorbelt (if an incremental encoder is used). Command can be displayed in case of need again.

Active homing ejector

Use default settings

Optionally, an initial position motion can also be connected here

Set variable gi16Mode to 1





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Example for BeginnersProgramming – Assignment to the executing system

Open executing system with a double click

Use the arrow buttons to assign previously created programs to the execution levels





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Example for BeginnersProgramming – First Test

Open the “Homing“ program (SCOUT must be online) and start monitoring

Switch SIMOTION D435 to RUN

Depending on the configuration either both or only one of these axes perform homing

Optionally, the program can also be run in single-step mode

The axes are homed after passage through the program

Note for the execution:

The “pBckFBD” program in the background task starts the automatic operation as soon as the “gi16Mode”variable is set to 1.

Note: There are additional comments on the “FAQ” slide





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Example for BeginnersProgramming – Automatic operation (MotionTask 3 in MCC)

Insert MCC Chart “pAuto”


Enable “MasterAxis”

The conveyor belt starts with the positive edge of the “iboStartBelt“ signal

Synchronize the conveyorbeltsee parameterization (following slides)

Activate the “Valve” output camsee parameterization (following slides)

If the set velocity changes, switch continuegr64VMasterAxis <> gr64VMasterAxisOld

Start master axis position-controlled with “gr64VMasterAxis” velocityFor comparison, save the current velocity in “gr64VMasterAxisOld := gr64VMasterAxis”Until-loop with “gboProgEnd” condition





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Example for BeginnersParameterization - Automatic (MCC)

Switch on the gearbox synchronism of the Conveyorbelt

“Synchronize immediately”

Synchronization length 1

Synchronization reference master axis

Relative to the start position (Parameters tab)

Activate the “Valve“ output cam

Switch-on position0.1 mm

Switch-off position 0.4 mm





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Example for BeginnersProgramming – Second Test

The “gr64VMasterAxis” set velocity can be controlled in the symbol browser or in a watch table (control immediately)The automatic program responds only to a change of the set velocity

The program „pAuto“ must now also be assigned to the execution systemAs previously, the monitoring is now activated

Operation:Once the axes have been homed, the “Conveyorbelt“ starts to turn as soon as a positive edge of “iboStartBelt“ is detected





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Example for BeginnersProgramming – Test using trace

Open the trace

Variables from the program and from technological objects (e.g. axes) can be recorded in the trace

Procedure:

Select trace D435

Select variables

Load Trace in the D435

Start D435

Start trace

iboStartBelt from 0 to 1





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Example for BeginnersCam – Form (with CAM-Tool)

Cam „Cam_Ejector“3 elements

1 interpolation point left1 straight line at 45°1 interpolation point right

Note: CAM Tool have to be installed

Function of the segmentsSegment 1: Synchronize to the conveyorbeltSegment 2: Synchronous operation with conveyorbeltSegment 3: Desynchronize and return to the initial position (wait for the next defect part)

Segment 1 Segment 2

Segment 3





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Example for BeginnersCam - Parameterization

Curve elements (straight line, interpolation point) are selected in the CAMtool function bar.Properties (right mouse click on the curve element)

Straight linex1 = y1 = 0.1x2 = y2 = 0.4

Interpolation point left (create with symbol)x = y = 0.0

Interpolation point right (create with symbol)x = 0.8y = 0.0

Scaling (Cam – “Target Device Parameter“ menuMaster

Base scaling 360Slave

Base scaling 10

Note: The mouse pointer must be active in order to move curve elements with the mouse. A decimal point must be used for floating point numbers.





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Example for BeginnersProgramming – Eject by cam

Insert MCC Chart “pEject”

Synchronize the cam

This motion task is started with a user interrupt

The cam is processed acyclically





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Example for BeginnersProgramming – Stock outage detection (user interrupt in MCC)

Stock outage detection:

Insert program “pEject”

Specify condition for user interrupt in the execution system

Sensor at DI 2 (iboEject) at TRUE means “eject” is coming (Input 2 on the switch box of the D435 training case)





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Example for BeginnersProgramming – Protection door (IPO synchronous in MCC) 1/2

Monitoring the protection door:

Insert MCC Chart “pProtDoor”


Query whether protection door is closed (true = closed)

If open , set “gboProtDoorOpen” bit, because axes must be explicitly reset after an emergency stop (see automatic operation (MotionTask 3 in MCC) 1/2)

Query all MotionTasks using “_GetStateOfTask (MotionTask_x) <> 16#0002“ (where x = 1 to 3) (test whether task “stopped”)

All running tasks will be interrupted





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Example for BeginnersProgramming – Protection door (IPO synchronous in MCC) 2/2

Monitoring the protection door:

Query the axes for stoppage using

„MasterAxis.motionstatedata.motionstate <> standstill“

„Conveyorbelt.motionstatedata.motionstate <> standstill“

„Ejector.motionstatedata.motionstate <> standstill“

If the axes are moving

Deactivate “Valve” output cam

Stop axes using “Fast stop with maximum deceleration”





Create Project

Program -Conception


Task


Example for BeginnersProgramming - Test and diagnostics - Possibilities

Test the program execution:

Create a “watch table“. The variable can be moved with a right click in the symbol browser.

Recording object variables such as actual position and actual velocity of an axis using “Trace“

Test the program execution of a Motion Task using “Monitor” and “Single Step”





Create Project

Program -Conception


Task


Example for BeginnersFAQ

After STOP-RUN transition nothing moves, what is the problem?

Have the tasks been correctly added to the execution system?

Is the protective door (DI 0) closed?

The extractor output cam does not come!

An output cam must be activated. Are the limits correctly parameterized in the “Switch on SW output cam“ mask ?

The homing task “hangs“ on the axis enable of the real axes. Why is this?

The axis enable does not arrive. Possible causes:

In the HW configuration, the “Master application cycle“ in the slave properties does not agree with the position control cycle in the SCOUT under “Execution system –Expert settings“. They must be identical!

The axes homing is not correct. What can be the error cause?

Check the settings in the “Homing Axes” mask





Create Project

Program -Conception


Task


Example for BeginnersWinCC flexible - Connection

Connectable variables:

Ethernet

HMI (WinCC flexible)

Data exchange

Global user variablesI/O-variables


Unit variables

System variablesTechnology objects

SIMOTION device

Example needs a display resolution of

1280x1024

D435





Create Project

Program -Conception


Task


Example for BeginnersAdd “pHMIaus” ST source





Create Project

Program -Conception


Task


Example for Beginners”pHMIaus” ST source in Background-Task





Create Project

Program -Conception


Task



Open NetPro

Insert a SIMATIC HMI Station





Create Project

Program -Conception


Task



Select PC WinCC flexible Runtime





Create Project

Program -Conception


Task



After selecting, the SIMATIC HMI Station appears in NetPro.

By double clicking on the station, the HW Config opens.





Create Project

Program -Conception


Task



Insert an Ethernet interface (HMI IE)

IP address: 169.254.11.1Subnet mask: 255.255.0.0Save and compileClose HW Config





Create Project

Program -Conception


Task



After inserting, the HMI IE interface appears in the station.

Save and compileClose NetPro





Create Project

Program -Conception


Task



Open WinCC flexibleOpen existing project double click on project

Select previously insert SIMATIC HMI Station





Create Project

Program -Conception


Task



WinCC flexible opens the project

At this point you can edit the WinCC flexible project.Hereafter the user interface of the sample project is shown.





Create Project

Program -Conception


Task


Example for BeginnersWinCC flexible - Connection (Picture)

simotion example for beginners d435 en

Documents

stock outage

beginnersoutput

logical pg

including

beginnersaxis

beginnersaxis

beginnersaxis

insert output