Simotion Example For Beginners d435 en

SIMOTION
Example for Beginners
Siemens AG 2011. All Rights Reserved.

Disclaimer of liability
Introductory Information Task SIMOTION - Basic Information Program Conception Create Project SINAMICS Configuration SIMOTION Configuration SIMOTION Programming
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.
Siemens AG 2011. All Rights Reserved. Industry Sector

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.

Machine diagrams
Introductory Information Task SIMOTION - Basic Information
Program Conception Create Project SINAMICS Configuration SIMOTION Configuration SIMOTION Programming
Extractor - Electrical travel - Eject pneumatically Package (empty) Package (full)
Product feed Carton erector
Palletizer Conveyor belt
Sensor
Procedure notes are contained in the Program Design section

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 CamTool Gearbox synchronism Camming Output cams Virtual master axis etc.

Topology of the automation solution
HMI
SIMOTION SCOUT D435
Profibus DP Carton erector * Feed * ET 200 * MICROMASTER 420 * 1 FK7 Transport Extractor
* Not considered in the example, but part of the complete plant

Execution system
Stop
Run
Startup Task
Run Background Task Background Task
1
Motion Task 20
Call Motion Tasks (sequential tasks)
Motion Tasks
Motion Task 1
Motion Task 2
Synchronous Tasks
IPO - sync Task 1
IPO - sync Task 2
2
Task 5
Monitor the emergency off criteria
Time triggered Tasks Task 1
Task 2
Interrupt Tasks Run Stop
User Int Task 1
User Int Task 2
System Int Tasks System Int Tasks System Int Tasks
Response to process signals
3
Shutdown Task

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).

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.
Sequential Task:
_pos ( axis:= Pos, position:= Ziel, nextCommand:= WHEN_MOTION_DONE)
Cyclical Task:
Query status pos. command
Pos_status:= _getStateOfAxisCommand ( Pos, PosCommandID)
Advance command Program processing stops until the target position is reached
Fertig:= TRUE;
IF (Pos_status <> ACTIVE AND Pos. command Fertig = FALSE ) THEN Advance _pos ( axis:= Pos, command position:= Ziel, nextCommand:= IMMEDIATELY, commandID:= PosCommandID); END_IF IF Pos.motionstatedata.motioncommand = MOTION_DONE THEN Query position Fertig:= TRUE; END_IF
Cyclical program section continued

Variable model
System variables
Introductory Information Task
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.
Technology objects SIMOTION device
SIMOTION - Basic Information Program Conception Create Project SINAMICS Configuration SIMOTION Configuration SIMOTION Programming
Global user variables I/O variables Device global variables Unit variables Local user variables Program variables FC variables FB variables
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).

Variable model
System variables
Introductory Information Task
Technology objects SIMOTION device
Variable is assigned to a TO (e.g. actual position of an axis) Variable is assigned to the SIMOTION device (e.g. system clock)
SIMOTION - Basic Information Program Conception Create Project SINAMICS Configuration SIMOTION Configuration SIMOTION Programming
Global user variables I/O variables Device global variables Unit variables Local user variables Program variables FC variables FB variables
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) 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.

Solution guide
Current situation
Drives Parameterization SINAMICS Axis configuration Master axis Conveyorbelt Extractor Output cam configuration Cam configuration Form Parameterization Programming, parameterization and test WinCC flexible connection
Task (machine diagram) Topology concept with SIMOTION Program concept Technology objects Task structure Task relationships Variables System environment Create device Specification of the possible DP cycle clock Creation of a hardware configuration

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

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 MCC Trigger the pneumatic valve MCC Motion Task 4 Call 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

Task relationship / Program start
Startup
Motion Task 2
Motion Task 3 Background Motion Task 4
User Interrupt
Start program pEject
Interrupts the Task IPO Sync Task
Motion Task 2 Motion Task 3

Variables
Device-global variables
I/O-variables (symbol browser) Onboard inputs (CU) ib16DigCU (all inputs) WORD (DI_0_15) iboEject (Sensor) BOOL (DI_2) iboProtDoor BOOL (DI_0) iboStartBelt BOOL (DI_1) Onboard outputs (output cam object) Onboard outputs (CU) Extractor active output cam (DO_8)
None Unit-global variables Velocity of the leading axis Open protective door Program end Operating mode Local variables None
Variables are named in accordance with the instructions from the applications style guide V1.01 for SIMOTION

SIMOTION create device
1. Create new SIMOTION SCOUT project

2. Create new device (D435 V4.2)
3. Set the interface for PG to IE2/NET The networking for PG in NetPro will be created automatically

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

NetPro
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)

Configure drives
Start drive configuration

The configuration assistant (wizard) obtained all necessary information No option module

Configure drives
Use unregulated Infeed

Create first drive

Configure Drive 1 (Conveyorbelt)
Set drive name for conveyorbelt (conveyor)

No function modules will enabled in the drive

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.

Drive 1 to Connection X1
Drive with DRIVE-CLiQ interface No further details for motor type required

Drive without holding break

Choose encoder for drive control

Standard communication with drive

Summary

Configure Drive 2 (Extractor)
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.

Select the already added dual-axis module

Only Connection X2 is available

Motor with SMC

motor type and speed in accordance with rating plate Encoder in accordance with rating plate

Wiring of an input for infeed
The wiring must be made for both drives (exemplarily to DI7).


Training case specific line supply voltage
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.

System cycle clocks
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.

Axis configuration Master Axis
Create a virtual leading axis (MasterAxis) as positioning axis

Rotary axis Virtual axis


Axis configuration Conveyorbelt
Create a real slave axis (Conveyorbelt)

Including synchronous operation
Rotary axis Electrical axis


Axis configuration Conveyorbelt
Connect the slave axis (Conveyorbelt) to drive 1 (conveyor)

Assign encoder for the positioning controller
Note for the offline configuration: Encoder type (incremental or absolute) by motors with DRIVE-CLiQ interface have to be determined from the motor order number.

Axis configuration Extractor
Create a real slave axis (Ejector)

Including synchronous operation
Linear axis Electrical axis


Axis configuration Extractor
Connect the slave axis (Ejector) to drive 2 (eject)

Assign encoder for the positioning controller

Axis configuration Interconnections
Synchronous operation between leading axis and conveyorbelt

Via the synchronous object of the axis

Axis configuration Interconnection
Synchronous operation between conveyorbelt and extractor

By real leading axis (e.g. conveyorbelt) you can choose the setpoint or the actual value as the set value.

Axis configuration Parameterization
MasterAxis
No modifications
Conveyorbelt
Position control Speed precontrol activated DSC activated; Kv = 50
Ejector
Position 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.

Axis configuration Parameterization
Conveyorbelt
No homing because absolute encoder
Ejector
Homing mode: Encoder zero mark only

Save and compile all
Save and compile project

Either via menu Project the Toolbar.
Save and compile all or via
Detailed view shows the compile results

The 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.

Output cam configuration at the ejector valve
Insert output cam to the axis Ejector

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

Insert output cam to the axis Ejector

Output 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.

Configure the output cam

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.
Proc. cycle clock: IPO Output cam type: Position based cam (related to the axis Ejector) Type of output cam values: Setpoints
Advantage: Symbolic Access No absolute address entry


Programming I/O-Variables
Create I/O-Variables at the symbol browser

iboProtDoor iboStartBelt iboEject ib16DigCU
protection door contact (input 0 on the switch box of the training case) start conveyorbelt (input 1) sensor detect bad part (input 2) Image of the onboard-inputs of the control unit
Note: The input in the symbol browser is done offline.

Programming Settings for program testing
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.
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.

Programming 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
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.

Programming 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.

Programming 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.

Programming TechnologicalFaultTask
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).
Function
For fault handling of technological objects (e.g. axis). In principle, an empty program can be used. Thus, the SIMOTION control wont 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.

Programming Access to I/O-variables in cyclical tasks
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

Programming BackgroundTask in LAD/FBD
Programming of the BackgroundTask

Insert 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 gi16Mode = 1 homing automatic
This occurs only when The protection door is closed and MotionTask_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.

Create local variables

b32TaskState : 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 ready

Jump to the end if the drives have not been ramped up yet No access possibly to I/O-variables from SINAMICS. Jump label end is created in the last network.

Network 2 query protection door contact

Jump to the end, if protection door is open
Networks 3 and 4 selection of the task

Depending 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.

Network 5 and 6 query task state

You 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.

Network 7 and 8 evaluate task state

The 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).

Network 9 and 10 start task

This 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.

Programming - BackgroundTask (FBD)
The status of the FBD program can be monitored in this snapshot (monitor online).
Aktueller Wert zur Laufzeit
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.

Programming 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

Programming 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

Programming 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

Programming 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 Siemens AG 2011. All Rights Reserved. Industry Sector

Programming Automatic operation (MotionTask 3 in MCC)
Insert MCC Chart pAuto
Connect with pDefInit Enable MasterAxis The conveyor belt starts with the positive edge of the iboStartBelt signal Synchronize the conveyorbelt see parameterization (following slides) Activate the Valve output cam see parameterization (following slides) If the set velocity changes, switch continue gr64VMasterAxis <> gr64VMasterAxisOld Start master axis position-controlled with gr64VMasterAxis velocity For comparison, save the current velocity in gr64VMasterAxisOld := gr64VMasterAxis Until-loop with gboProgEnd condition

Parameterization - 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 position 0.1 mm Switch-off position 0.4 mm

Programming Second Test
The program pAuto must now also be assigned to the execution system
As 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 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

Programming 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

Cam Form (with CAM-Tool)
Cam Cam_Ejector 3 elements 1 interpolation point left 1 straight line at 45 1 interpolation point right Note: CAM Tool have to be installed Function of the segments Segment 1: Synchronize to the conveyorbelt Segment 2: Synchronous operation with conveyorbelt Segment 3: Desynchronize and return to the initial position (wait for the next defect part)
Segment 3
Segment 1
Segment 2

Cam - Parameterization
Curve elements (straight line, interpolation point) are selected in the CAMtool function bar. Properties (right mouse click on the curve element) Straight line x1 = y1 = 0.1 x2 = y2 = 0.4 Interpolation point left (create with symbol) x = y = 0.0 Interpolation point right (create with symbol) x = 0.8 y = 0.0 Scaling (Cam Target Device Parameter menu Master Base scaling 360 Slave 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. Siemens AG 2011. All Rights Reserved. Industry Sector

Programming Eject by cam
Insert MCC Chart pEject Synchronize the cam This motion task is started with a user interrupt The cam is processed acyclically

Programming 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)

Programming Protection door (IPO synchronous in MCC) 1/2
Monitoring the protection door:
Insert MCC Chart pProtDoor Connect with pDefInit 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

Programming 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

Programming - 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

FAQ
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

WinCC flexible - Connection
Connectable variables:
System variables Technology objects SIMOTION device
Global user variables HMI (WinCC flexible) D435 I/O-variables Device global variables Unit variables Ethernet Data exchange
Example needs a display resolution of 1280x1024


Add pHMIaus ST source

pHMIaus ST source in Background-Task

Open NetPro
Insert a SIMATIC HMI Station

Select PC
WinCC flexible Runtime

After selecting, the SIMATIC HMI Station appears in NetPro.
By double clicking on the station, the HW Config opens.

Insert an Ethernet interface (HMI IE)
IP address: 169.254.11.1 Subnet mask: 255.255.0.0 Save and compile Close HW Config

After inserting, the HMI IE interface appears in the station.
Save and compile Close NetPro

Open WinCC flexible
Open existing project
double click on project
Select previously insert SIMATIC HMI Station

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.

WinCC flexible - Connection (Picture)
Thank you for your attention!
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Simotion Example For Beginners d435 en

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SIMOTION

Example for Beginners

Siemens AG 2011. All Rights Reserved.

Example for Beginners

Siemens AG 2011. All Rights Reserved. Industry Sector

Example for Beginners

Siemens AG 2011. All Rights Reserved. Industry Sector

Example for Beginners

Introductory Information Task SIMOTION - Basic Information

Extractor - Electrical travel - Eject pneumatically Package (empty) Package (full)

Product feed Carton erector

Palletizer Conveyor belt

Procedure notes are contained in the Program Design section

Siemens AG 2011. All Rights Reserved. Industry Sector

Example for Beginners

Example for Beginners

SIMOTION SCOUT D435

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

Siemens AG 2011. All Rights Reserved. Industry Sector

Example for Beginners

Run Background Task Background Task

Call Motion Tasks (sequential tasks)

IPO - sync Task 1

IPO - sync Task 2

Monitor the emergency off criteria

Time triggered Tasks Task 1

Interrupt Tasks Run Stop

User Int Task 1

User Int Task 2

System Int Tasks System Int Tasks System Int Tasks

Response to process signals

Siemens AG 2011. All Rights Reserved. Industry Sector

Example for Beginners

Example for Beginners

Pos_status:= _getStateOfAxisCommand ( Pos, PosCommandID)

Cyclical program section continued

Siemens AG 2011. All Rights Reserved. Industry Sector

Example for Beginners

SIMOTION always differentiates between three types of variable groups:

Technology objects SIMOTION device

Example for Beginners

Technology objects SIMOTION device

Siemens AG 2011. All Rights Reserved. Industry Sector

Example for Beginners

Siemens AG 2011. All Rights Reserved. Industry Sector

Example for Beginners

Virtual master axis

Cam controller pneumatic extractor Position-based cams Interpolator

Siemens AG 2011. All Rights Reserved. Industry Sector

Example for Beginners

Siemens AG 2011. All Rights Reserved. Industry Sector

Example for Beginners

Motion Task 3 Background Motion Task 4

Start program pEject

Interrupts the Task IPO Sync Task

Motion Task 2 Motion Task 3

Siemens AG 2011. All Rights Reserved. Industry Sector

Example for Beginners

Siemens AG 2011. All Rights Reserved. Industry Sector

Example for Beginners

1. Create new SIMOTION SCOUT project

2. Create new device (D435 V4.2)