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Rapid Multi-Axis Motion Development with Siemens Libraries

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Developing motion projects from scratch can be a time consuming and complex task. There are nearly thirty basic motion control blocks and navigating through them can be arduous. Luckily, Siemens motion library blocks make quickly developing motion projects a breeze by combining the relevant basic motion control blocks into a function which provides comprehensive functionality for a specific axis type. Up to 15 commonly used function blocks get wrapped into one for rapid development and robust control. Come learn how to efficiently build a multi-axis motion project from the ground up and explore useful blocks like LAxisCtrl, LCamHdl, and LDrivSafe. Developing motion projects with multiple motors has never been easier!

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Rapid Multi-Axis Motion Development with Siemens Libraries

  1. 1. Rapid Multi-Axis Motion Development with Siemens Libraries
  2. 2. DMC Overview Established in 1996, offices in Chicago, Boston, & Denver and customers throughout the world Established in 1996, DMC serves customers worldwide from offices in Chicago, Boston, Denver, Houston, New York, Reno, Seattle, and St. Louis employees & growing 170+
  3. 3. DMC has the highest number of S7 certified engineers in the US. Siemens Expertise 35+
  4. 4. DMC Customers
  5. 5. Industries Served Energy & Utilities Printing Automotive Food & Beverage Semiconductor Chemical Oil & Gas Engineering Specialty Machinery Consumer Goods Packaging Machinery Programming Telecommunications Defense Contracting Pharmaceutical Test & Measurement
  6. 6. Phil Schaffer Systems Engineer • MS Robotics Engineering- WPI • BS Mechanical Engineering- Lafayette • With DMC since 2016 • SIMATIC Technical Certification Presenter Info
  7. 7. Rapid Multi-Axis Motion Development with Siemens Libraries
  8. 8. 1. What is Motion Control? 2. Traditional Motion Control Development 3. Siemens Libraries 4. Libraries in Action – Example Project
  9. 9. 1. What is Motion Control? 2. Traditional Motion Control Development 3. Siemens Libraries 4. Libraries in Action – Example Project
  10. 10. • Common hardware • PLC Communication • Technology Objects • MC Blocks Motion Control – Overview
  11. 11. Motion Control – Common Hardware Technology CPU: 1511T, 1511TF, 1515T, 1515TF, 1517T, 1517TF Sinamics G - drive series: G110, G120, G130, G150, G180 Simotion D: D410-2, D425-2, D435-2, D445-2, D455-2Sinamics S - drive series: S110, S120, S150, S210
  12. 12. Motion Control – Common Hardware Technology CPU: 1511T, 1511TF, 1515T, 1515TF, 1517T, 1517TF Sinamics G - drive series: G110, G120, G130, G150, G180 Simotion D: D410-2, D425-2, D435-2, D445-2, D455-2Sinamics S - drive series: S110, S120, S150, S210
  13. 13. • Telegrams! • Set up in both drive and Portal Motion Control – PLC Communication
  14. 14. • “… used to simplify the control and handling of axes and additional motion control functionality.” • Advanced data block with I/O mapping Motion Control – Technology Objects
  15. 15. • Standardized PLCopen Motion Control • Programming interfaces for Tech Objects • Uses: Enabling, Positioning, Error Reset, Synchronous Motion Motion Control – MC Blocks
  16. 16. 1. What is Motion Control? 2. Traditional Motion Control Development 3. Siemens Libraries 4. Libraries in Action – Example Project
  17. 17. Traditional Motion Control Development Two options:
  18. 18. Traditional Motion Control Development
  19. 19. 1. What is Motion Control? 2. Traditional Motion Control Development 3. Siemens Libraries 4. Libraries in Action – Example Project
  20. 20. • Tested and reliable • Expansive and inclusive • Saves time (Have someone else do it!) Why Use Libraries?
  21. 21. • General Motion Control Library (LAxisCtrl or “LAxis”) • Drive Safety Library (LDrvSafe) • Camming Library (LCamHdl or “LCam”) Siemens Libraries
  22. 22. • FBs for • All types of motion axes • Axis status • Brake Control LAxisCtrl
  23. 23. LAxisCtrl
  24. 24. Using LAxisCtrl
  25. 25. Using LAxisCtrl
  26. 26. Why Use LAxisCtrl? Downside • Writing to *.config feels clunky (but it’s not!)
  27. 27. Why Use LAxisCtrl? Positives • It’s tested and debugged (and not write-protected) • It’s scalable and reusable • Uses existing MC_ Block knowledge • It works with every axis type!
  28. 28. • Control/ Status FBs • UDTs for PROFIsafe telegrams • Accessory safety functions LDrvSafe
  29. 29. LDrvSafe Why use the library? • Easily readable • Guided safety programming • Advanced accessory functions
  30. 30. LCamHDl
  31. 31. LCamHdl What is a cam? Image source: https://en.wikipedia.org/wiki/Cam Image source: https://www.creativemechanisms.com/cams
  32. 32. LCamHdl • Construct cams in runtime! • Great for dynamically altering cams • Two levels of complexity (Basic, Advanced)
  33. 33. LCamHdl_Basic Three steps! 1. Construct cam in DB
  34. 34. LCamHdl_Basic Three steps! 1. Construct cam in DB 2. “Execute”
  35. 35. LCamHdl_Basic Three steps! 1. Construct cam in DB 2. “Execute” 3. Interpolate
  36. 36. LCamHDl_Basic
  37. 37. LCamHDl_Advanced • Multiple curve profiles • Non-symmetric curves • Configurable 7th degree polynomials!
  38. 38. 1. What is Motion Control? 2. Traditional Motion Control Development 3. Siemens Libraries 4. Libraries in Action – Example Project
  39. 39. Wheel Demo
  40. 40. Wheel Demo- Code Golf • Create Cam at Runtime • Move Red Wheel at Constant Velocity • Cam Blue Wheel to Red Wheel • Add STO for Estop Conditions
  41. 41. Wheel Demo- Code Golf • Four rungs in standard program (with one block call each!) • Only using library/ standard blocks
  42. 42. Wheel Demo- Code Golf • Four rungs in standard program (with one block call each!) • Only using library/ standard blocks • Four rungs in safety program
  43. 43. Advanced Use Case
  44. 44. Advanced Use Case
  45. 45. Advanced Use Case
  46. 46. Advanced Use Case
  47. 47. Advanced Use Case
  48. 48. Advanced Use Case
  49. 49. Advanced Use Case
  50. 50. Advanced Use Case
  51. 51. Advanced Use Case
  52. 52. Advanced Use Case
  53. 53. Advanced Use Case
  54. 54. Advanced Use Case
  55. 55. Advanced Use Case
  56. 56. Advanced Use Case
  57. 57. What should I use these? • Rapid development • Scalable for basic or complex motion • Lower debug effort • Loads of documentation
  58. 58. Resources
  59. 59. Questions?
  60. 60. Contact Info
  61. 61. Why Use Libraries?

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