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Simotion Easy Basics (SEB) 15.11.04 V3.0 User

1. Name P type Data type P O JInitialization Significance value rV_set IN LREAL P Master speed m min rD_actual IN LREAL P Actual roll diameter m uWindingMode IN USINT P 10 Winder mode 10 Winder from the top 11 Winder from the bottom 20 Unwinder from the top 21 Unwinder from the bottom 30 Only speed pre control from the top 31 Only speed pre control from the bottom rSamplingTime IN LREAL P 6 Sampling time of the task in which the FB is called IPO or IPO2 ms rControlled_Value_set IN LREAL P Tension setpoint reference setpoint rControlled_Value_actual IN LREAL P Tension actual value _ Filtered rPID_P IN LREAL P 2 P gain of the tension controller iPID_I IN DINT P 500 Integral component of the PID controller iPIP_D IN DINT O 1000 Differential component of the PID controller iPID_DelayTime IN DINT O 1000 Delay time of the PID controller filter D component boPID_D_Set IN BOOL O FALSE Enable D component boPID_Reset IN BOOL O Reset PID controller output rPID_OUT_LIMIT IN REAL O 100 Controller output limiting rpm rN_nominal IN LREAL P Rated speed winder motor i_Offset_ratio IN INT P Overcontrol setpoint as ratio to the rated speed rN_set OUT REAL Speed setpoint rpm TorqueLimit_Pos OUT REAL Positive torque limit TorqueLimit_Neg OUT REAL Negative torque limit Parameter types IN Input parameters OUT Out
2. errorlD Significance 0 No error 1 Illegal command parameter 2 Illegal range data in the command parameters 3 Command interrupted 4 Unknown command 5 Command cannot be executed due to the actual object state 6 Command interrupted because the user task was cancelled aborted 7 Command rejected because the command interpretation of the addressed technology object was held 8 Command was interrupted because the command buffer was occupied 9 Lack of memory 10 A connection to a technological object required for this operation does not exist 11 No object configuration 12 The resetting error cannot be reset because the way that it was configured 13 Axis is not referenced 14 Measuring task not possible at the virtual axis 15 Unclear commandld not unique 16 Command has not been implemented 17 Read access rejected 18 Write access rejected 19 Command argument not supported 20 The already interpolated cam cannot be manipulated 21 The interpolation condition was violated 22 The programmed jerk is 0 23 The alarm to be deleted cleared is not present 24 The command is not possible at a virtual axis 25 A synchronous start of this command is not possible 10000 greater than or equal to internal error Table 8 Overview of the error codes Version V3 0 Copyright Siemens AG 2003 All Rights Reserved Date Page Document 15 11 04 36 User documentation User_Manual_Simotion_Easy_Basics_V3_0 do
3. auf 3 ie Dla se 8 2 elle xl ExecutionLevels B StartupTask EPosProg startupprog B OperationLevels iid C230 ABLAUFSYSTEM gt amp GER TEGLOBALE VARIABLEN MotionTasks 6 ACHSEN E BackgroundTask Achse einf gen EPosProg eposprog H Axis_A SynchronousTask Hg Axis_B TCPWM_Tasks Ic Axis_C SynchronousTask_2 E Axis_U TCInput_Tasks_1 E Axis_V TCInput_Tasks_2 8 Axis_W TCTasks_1 a Axis_X TCTasks_2 E Axis_X2 E SystemInterruptTasks E Axis_Y E TechnologicalFaultTask E Axis_Y2 FaultHND technologicalfaultprog ic Axis_Z PeripheralFaultTask a Axis_Z2 FaultHND peripheralfaultprog J EXTERNE GEBER TimerInterruptT asks 6 KURVENSCHEIBEN UserInterruptTasks H TECHNOLOGIE B ShutdownTask E PROGRAMME EPosLib shutdownprag gt ST Programm einf gen a MCC Chart einf gen KOP FUP Programm einf gen B Duman y Tasks ausw hlen EE lt Kein Filter gt z Ia SynchronousTasks Programmzuordnung Taskkonfiguration m Task im Ablaufsyster verwenden F r Taktebene IPOsynchronousT ask Bereichsgrenze f r Dynamische Daten 403 Byte Stackgr e Anzahl der Ebenen berl ufe im Ipo Takt IPOsynchronousT ask Bus zugeh riger B z ystemtasks Fehlerreaktion bei Ebenen berlauf CPU in Stop IPOsynchronousT ask Ipo Takt B 7 Fehlerreaktion bei Programmfehler cru in Stop hd
4. ccccccceccceeeeececeeeeeeeeeeeeseeeeeeeenaeeeseesaeeeeeeneeeeeeeees 85 10 Functions for ASlmodules eee sw ee en 86 10 1 Function block for ASI couplers nuusussnssnsennnnnnannansunnunnnnnnnnnunnunnnunnunnunnnnnennnnnnunnnnnnnnnnnennnnnnrnnnnnnnnnn 86 10 1 1 Description of the function block FBAsiLink20EControl 2 2224404442nnnnsennnnnnnennnnnnnnnn 86 10 1 2 Input and output interface of the FBS ccccceeeeeceeeeeeeeeeeceeeaeeeeeeeneeeeeseeeeeeeesneeeesennees 86 10 1 3 Schematic LAD representation ccccccececceeeeeceeeeeeeeaeeeeeeeeeeeeeeneeeeeeeeaeeeesseeeeeeseeeeeeee 87 10 1 4 Input and output Parameters z e eraen e e erae aa a eaka aea E E E REE Eai nE aeons nE 87 10 1 4 1 boExecute BOOL A ERSE 87 10 1 4 2 boReset BOOL 3 22 2 4 nE a E aV U aP NEEESE Era TEELE LE CNAIN EAE ERa aie RETRA 88 10 1 4 3 iLAddr DINT 88 10 1 4 4 bStatNibIN BYTE 4 2 2 ee near isn res ehr larerend 88 Version Date Page Document V3 0 15 11 04 5 User Documentation Copyright Siemens AG 2003 All Rights Reserved For internal use only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 10 1 4 5 auS rid ARRAY 224 2 3 SR Sadie ER ie A Dou eS ee lad 10 1 4 6 uSendLen UDINT 10 1 4 7 boDone BOOL 10 1 4 8 boError BOOL 10 1 4 9 auReceive ARRAY TOAT bStatls WORD
5. INTERFACE USELIB L_SAFunc VAR_GLOBAL AsiDiagData StructDataASiMon Struct for Diagnostic data MyFBAsiMonDiag FBAsiMonDiag FB instance END_VAR END_INTERFACE IMPLEMENTATION PROGRAM ProgAsiCall Call the function block to read the diagnostic data from safety monitor MyFBAsiMonDiag Enable startasimon start the function block InBitO in_O Input Bit 0 AS i safety monitor P114 4 InBit1 in_1 Input Bit 1 AS i safety monitor P114 5 InBit2 in_2 Input Bit 2 AS i safety monitor P114 6 InBit3 in_3 Input Bit 3 AS i safety monitor P114 7 Data AsiDiagData In OutStruct for Diagnostic data 3 out_0 MyFBAsiMonDiag OutBit0 Output Bit0 AS_i Safety Monitor PQ14 4 out_1 MyFBAsiMonDiag OutBit1 Output Bit0 AS_i Safety Monitor PQ14 5 out_2 MyFBAsiMonDiag OutBit2 Output Bit0 AS_i Safety Monitor PQ14 6 out_3 MyFBAsiMonDiag OutBit3 Output Bit0 AS_i Safety Monitor PQ14 7 END_PROGRAM END_IMPLEMENTATION Fig 14 Program code of the program example Version Date Page Document V3 0 15 11 04 101 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 10 2 9 Function elements and their integration Source ASI_Mon Programming ST language Library L_SAL Know how protection _ Yes Program function Feature function
6. Master leadingRangeStartP leadingRangeEndP Fig 17 Assigning position limitations to block parameters For segments with polynomial level 3 in addition to the starting and end points the speeds at the start and end of the segment must also be specified The speeds are e g determined from the rates of change of the bordering segments i e speed in the useful ranges For segments with polynomial level 5 in addition the acceleration rates at the start and end of the segment must be specified The bordering segments have a constant speed which is why the acceleration is zero Fig 12 The speeds and acceleration rates are specified referred to the position of the master axis not d dy referred to the time this means y I or y a dx dx Acceleration limitations Speed limitations followingRangeEndDerivation1 fa speed followingRangeEndDerivation2 acceleration followingRangeStartDerivation1 speed Master x followingRangeStartDerivation2 acceleration Fig 18 Assigning limitations to block parameters Every profile type requires a specific number of limitations superfluous limitations are rejected Version Date Page Document V3 0 15 11 04 40 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed Parameters not taken into segmentProfile Parameters req
7. Schlie en axis_x_neghwlimit P1501 0 axis x x_poshwlimit PIS01 1 axis_x_bero PI501 2 axis_y_neghwlimit PI501 4 _y poshwiimit axis_y_ bero P501 6 axis_z_neghwlimit PI502 0 __ axis_z poshwilmit PI502 1 axis z hero PISO2 2 Dr cken Sie F1 um Hilfe zu erhalten Fig 84 Task system in Simotion SCOUT Version Date Page V3 0 15 11 04 164 Copyright Siemens AG 2003 All Rights Reserved MPottineModus Document User documentation For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 14 3 Comparison of the basic positioning function in Simodrive and Masterdrives A comparison of the functionality between the basic positioning function standard application and the integrated basic positioning functions in the Simodrive 611U and Masterdrive MC drives is provided in the following table Requirements functions Simodrive 611U Simovert MD MC Simotion EPos All of the traversing data can be simply and easily x x x entered preferably via PROFIBUS today only ProTool No axis coupling no synchronous operation x x x No programming only parameterization x x x No interpolation between axes x x x Parameterizable traversing blocks either 64 64 128 selected via Profibus or terminal Target position can be entered v acc dec j x x x
8. Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 13 2 Selecting the control concept The most important criteria to select a control concept are listed in the following Table Control concept Version Direct tension control with dancer roll Correction using speed Direct tension control with a tension transducer Correction using torque limiting Correction using speed Information regarding the tension actual value sensing Diameter ratio Dmax Deore Intervenes in the material web routing storage capability Approx 15 1 Sensitive to overload generally does not intervene in the material web routing Approx 15 1 accelerating torque must be well compensated Tension ratio Fmax Fmin Torque ratio Mmax Mmin Web speed Applications Can be changed for an adjustable dancer roll support Approx 40 1 dependent on the type of dancer roll support Up to over 2000m min Rubber cables wire textiles foils paper Approx 20 1 when the accelerating torque is well compensated Approx 100 1 dependent on the quality of the actual value signal Up to 2000m min when the accelerating torque is well compensated Practical for elastic materials that can be significantly stretched Paper thin foils Table 41 Selection criteria for closed loop tension control with a dancer roll and a tens
9. FALSE TestLAddr DINT 0 TestSend ARRAY 0 239 OF USINT TestSendLen UDINT 100 TestDone BOOL TestError BOOL TestReceive ARRAY 0 239 OF USINT TestStatus WORD END_VAR END_INTERFACE IMPLEMENTATION PROGRAM Background Call the function block to project the asi link20e FBAsiLink boExecute TestRun Start the function block boReset TestReset Reset of the ASI Link20E iLAddr TestLAddr First address of the ASI Link20E auSend TestSend Data to be send uSendLen TestSendLen Length of data to be send bStatNibIN eingang_0 I O variable TestDone FBAsiLink boDone Get output parameter of the ASI_Link20E TestError FBAsiLink boError Get output parameter of the ASI_Link20E TestReceive FBAsiLink auReceive Get output parameter of the ASI_Link20E TestStatus FBAsiLink bStatus Get output parameter of the ASI_Link20E END_PROGRAM END_IMPLEMENTATION Fig 11 Program example for using FBs Version Date Page V3 0 15 11 04 91 Copyright Siemens AG 2003 All Rights Reserved User_Manual_Simotion_Easy_Basics_V3_0 doc Document User documentation For internal Use Only Simotion Easy Basics reviewed 10 1 7 Function elements and their integration Source ASI_Link Programming ST language Library z Know how protection _ Yes Program function Feature function Must be adapted to the application FBAsiLink20ECon
10. It only makes sense to use the winding hardness characteristic while winding The characteristic is dependent on the actual roll diameter Various modes can be selected The selected set tension value is switched through independent of the diameter Hyperbolic winding hardness characteristic Linear winding hardness characteristic Linear interpolation in a table with 10 operating points onm o The D_Start_Taper variable can be used to determine from which diameter the winding hardness characteristic should be affected Then as a function of the mode uTaperMode the input value is reduced either as a hyperbolic function linearly or using values in a table This reduction is made up to the entered maximum diameter rD_max If the roll diameter is at its maximum then the input setpoint reference value is reduced by the factor rTaperRatio Tension Taper Taper mode T set D_actual D_min T ef Taper _ Ratio D_actual D _ Start _Taper i D_max 1 l l l l 100 D l D D_S Te _actuai _max D _ Start _Taper i Tension_Set D_max a l l l l l l l l l l D_Start_Taper E of _ Taper _ Ratio 2 _ actual D _ Start _Taper 100 D _max D _Start _Taper Taper_Ratio Diameter_Tab ARRAY 0 9 OF LREAL Tension_Tab ARRAY 0 9 OF LREAL u ee ee a no u nal Fig 59 P
11. Variable i g_eNewState OM_AuI32 assignment H FALSE Variable assignment Start task I Amann 137 g_boMT_AutomatioStarns Fig 5 Starting a motion task When using motion tasks the state change assigning the g_eNewSiate variable can either be realized after the motion task has been run or from within the motion task Version Date Page Document V3 0 15 11 04 23 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 2 2 4 3 States without any function If a project contains states that do not have any function or it isn t even used then the specified state model is not modified We recommend that the functions that represent the states and that are not used are kept and that these only contain a variable assignment This variable assignment then results in an immediate change into the next state This means that states that are not used are run once empty Example 1 The STARTING state is not required In this case after the start condition has been fulfilled this would mean a state change from STOPPED to STARTING However in the STARTING state there is only the variable assignment g_eNewState OM_AutomaticReady this means that an immediate change to READY is initiated without any associated condition This means that states without any function are run once without having any impa
12. progress condition delay time suppress skip block Progression condition for PEH end continue with x x x stop continue flying wait for rising edge at input go to Variable traversing block i e inputs can be x x x changed online flying Replacing motion i e pos v acc dec j of the x x x new command is immediately accepted Relative incremental and absolute positioning x x x Homing active flying to hardware limit switch to x x x endstop to Bero Bero amp zero mark zero mark not hardware actual value setting approach direction v limit switch no reversing the direction at the end direction reversal Rotary linear axis including modulo x x x positive negative shortest distance Gearbox motor load x x xX Spindle pitch actual value evaluation IBF x x x Software limit switch x x x Hardware limit switch x x x Motor encoder external encoder x x x Resolver sin cos EnDat SSI EQN EN TTL x x x Jerk limiting x x x Backlash compensation x x x Traverse to fixed endstop with torque limiting x x not via EPos Absolute encoder with encoder adjustment x x x Override v a x No approximate positioning x x xX No protective zones x X x No teach in x x x Setting up manual jogging block x operation automatic Parameterizable following error monitoring on off X x x Parameterizable standstill monitoring on off x x x Version Date Pag
13. rJMotor rJGear rJCore rGearRatio 2 Inertia kgm2 l D_actual FullMaterialinertia Pl rWidth rDensity rDiameterMax 4 rDiameterCore 4 32 rGearRatio 2 D_max Materialinertia Pl rWidth rDensity rDiameter 4 rDiameterCore 4 32 rGearRatio 2 i InertiaRatio c Mae Inertia Emptyinertia Materialinertia Width l InertiaRatio Emptyinertia Materialinertia Emptyinertia FullMaterialinertia 100 0 l Density GearRatio a a u a a Lome ae verraten Basar AccelMaster m s i Inertia TorquePrecontrol Inertia AccelMaster TorquePrecontrol i D_ Actual Nm l Diameter 2 i EEES l Fig 66 Principle calculation of the pre control torque Version Date Page Document V3 0 15 11 04 132 User documentation Copyright Sieme ns AG 2003 All Rights Reserved User_Manual_Simotion_Easy_Basics_V3_0 doc For internal Use Only Simotion Easy Basics reviewed 13 4 Integrating the functions into the project Depending on the particular winder application function blocks are called that are required All FBs should be principally called from a deterministic task task in synchronism with IPO The FBs should not be assigned to a motion or background task The selection of the sampling time of the task in synchronism with the IPO depends on the number of axes and the actual scope of the application In order to reduce the call time of the global variables and
14. 8 aborting 9 aborted 10 holding 11 Held PML_State_Time TIME No Operating time of the current state PML_Cum_Time Modes Array of TIME Yes Total time of the modes PML_Cum_Time_ States Array of TIME Yes Total time of the states PML_Reset BOOL No Reset all operating data Table 5 Description of the operating data Version Date V3 0 15 11 04 25 Copyright Siemens AG 2003 All Rights Reserved Page Document User documentation For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 2 2 6 Function elements and their integration Source Programming language ST MCC Library u Know how protection No Program function Properties features function Must be adapted to the application OmacVar Type definition and declaration of all variables for No the OSC Omac State Coordinator OmacStUp Start initialization of the OSC No The program is assigned to the startup task OmacMain The OSC is cyclically processed The function of the Yes actual state is cyclically called When the state changes the previous state and the newly selected state are processed in a call cycle The program is assigned the background task Table 6 Program elements of the Omac state model Version Date Page Document V3 0 15 11 04 26 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Ea
15. Copyright Siemens AG 2003 All Rights Reserved User_Manual_Simotion_Easy_Basics_V3_0 doc For internal Use Only Simotion Easy Basics reviewed 13 7 Systematically commissioning the winder Prerequisites e The drive was connected up wired up corresponding to Chapter 13 6 and Profibus was appropriately configured The current and speed controller in the drive were optimized The tension transducer and or the dancer roll were adjusted and calibrated The control sense of the dancer was checked and when required changed The blocks have been appropriately incorporated and interconnected in the SIMOTION project Speed calibration The winder speed must be checked and if required calibrated To do this de activate the closed loop tension control uWindingMode 30 31 Operate the winder with the minimum diameter and enter the diameter Inhibit the diameter computer or maintain the minimum diameter boD_hold Enter a speed setpoint approx 20 of Vmax either directly via rV_set or via the channel winding hardness characteristic ramp function generator rSet_Value_in To do this the winding hardness control must be de activated uTaperMode 0 Measure the speed using a handheld tachometer Check at the maximum speed This operation should be repeated for larger diameters Inertia compensation Constant moment of inertia In order to check the constant moment of inertia the empty winder with the diameter value held is acce
16. In addition to the setpoint speed the torque ratio between the empty and wound roll the positive and negative limiting torque as well as the additional supplementary torque are transferred to the drive The actual speed and the actual torque are received from the drive Depending on the particular application the sensors for the roll diameter and the dancer roll position can be connected to the controls either via the drive or directly to the control 13 1 2 Direct closed loop tension control using speed correction and a tension transducer a Sy Vconst F o M n Load cell Diameter sensor M Analog input J SIMOTION speed controller current controller power unit Vset gt Net ing a Noot gt a A y gt XZ A ControlWord Vact gt N_set Nact M_Limit_pos CalcMode 4 N M_Limit_neg Be DRIVE D Reset Diameter Add_Torque D_init 4 calculator Dact inertiaRatio AL ae M_Limit_Pos WebThickness nertiaRatio Add Torque Limit Neg SamplingTime sel correction T act Tension controller Ss T set gt a os Profibus ps gt EN A Dact gt StatusWord Ba Gain N_actual AdaptionMode gt Adapter Diameter_measured Dact 2 gt Tension_measured Torque_actual Torque O v AccelMaster Precont Add_Torque Dmax
17. Kurvenscheibe aus Zielger t lesen Doku SIMOTION SCOUT 6 6 13 Kurvenscheibe aus Zielsystem lesen Read cam from the target device Documentation SIMOTION SCOUT 6 6 13 Read the cam from the target system Beschreibung Systemfunktion _addSegmentToCam Doku SIMOTION Technologiepaket Cam Systemfunktionen 7 camType Description system function _addSegmentToCam Documentation SIMOTION Technology Package Cam System Functions 7 camType Date Page Document 15 11 04 181 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 12 Dokumentation SCOUT pdf Kapitel 8 6 Alarme und Meldungen konfigurieren Documentation SCOUT pdf Section 8 6 Configuring alarms and messages 13 FAQ f r Messtaster Reaktionszeiten in Verbindung mit der Funktion Messen in der Rubrik Tipps und Tricks f r Simotion im Intranet hitp apc erlf siemens de de index asp FAQ on measuring probes Response times in conjunction with the measuring function under the subject Tips and Tricks for Simotion in the Intranet http apc erlf siemens de de index asp 14 Kommunikationshandbuch SIMATIC HMI Kommunikation f r Windows basierte Systeme Teil X Anhang B Communications Manual SIMATIC HMI Communications for Windows based Systems Part X Attachment B 15 Beschreibung der Datensicherung aus dem Anw
18. Niet iine Noot 5 Vset gt F gt HH gt Vz ControlWord __ gt O kK Yaa N_set s a M_Limit_pos Hat M_Limit_neg L DRIVE CalcMode Di Add_Torque es D Reset iameter Paci 4 nn Iculator i InertiaRatio H 4 SSeS SS SS eos See ee ee m Not correction i i M_Limit_Pos WebThickness InertiaRatio M_Limit_Neg SamplingTime Dact 2 Tset fav Profibus gt as EY pagi controller je M_Limit_Pos Tact FR M Limit Neg i StatusWord Dact A Gain N_actual AdaptionMiode gt adapter Diameter_measured Tension_measured Dmax Inertia InertiaRatio Torque_actual Dact calculator AccelMaster gt Torque Precont Fig 52 Direct closed loop tension control using torque limiting and a tension transducer For this control technique the material tension is measured using a tension transducer The tension controller corrects deviations to the entered tension setpoint tension reference value The tension controller is set up as a PI controller During winding the tension setpoint can be influenced using the winding hardness characteristic as a function of the diameter The tension controller component that is obtained is added to the tension setpoint tension reference value and weighted with diameter D The resulting torque acts as limiting torque at the speed output The material web speed setpoint is converted into the appropriate speed using the actual diameter In order that the torque limiting can
19. Optionally faults can be directly acknowledged when processing TechfaultTask Alarm or reference Technological Fault Task progTechFault CASE iHelp OF 1 toDriveAxis 2 toPosAxis 3 toCam END_CASE CASE TSI AlarmNumberOF 30002 50006 FCResetError CASE toType OF 1 2 3 _resetAxisError 5 _resetCamError END_CASE END_CASE Fig 22 Message handling structure Version Date Page Document V3 0 15 11 04 47 Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User documentation User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 6 1 1 1 progTechFault program The progTechFault program should be included in the Technological Fault Task and is run through once each time a system error e g 20001 or a system message e g 30002 occurs The program contains the following processing steps Step 1 Message counter A global counter g_iTechFaultCounter is incremented at each call When required the user can evaluate the counter and reset it Step 2 Determining the object type The type of the technological object initiating the error is determined and deposited in variables iTOType The variable is a type INT variable and can be further evaluated e g general acknowledgement of all of the alarms of a specific object type The following assignment applies Object type Value DriveAxis Pos
20. The DP master cannot send all of the diagnostic messages sent from the DP slave in its diagnostics buffer channel related diagnostics Table 19 Description of the first 3 bytes station status Byte 4 Master PROFIBUS address Definition The PROFIBUS address of the DP master that had parameterized the DP slave and that has access reading and writing to the DP slave is saved in the diagnostics byte master Profibus address Bytes 5 and 6 Manufacturer s ID the module board can be precisely identified using this data Version Date Page Document V3 0 15 11 04 71 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 7 2 FCDPSlaveDiag function The FCDPSlaveDiag function executes a system function _ReadDiagnosticData that after completion provides information about the type and the state of the DP slaves The system function _getLogDiagnosticAddressFromDpStationAddress is executed to determine the diagnostics address from the DP address The information for the DP slave is written into the array g_asDPSlavelnfo from type structRetValues for a description of the structure refer to Section 7 1 2 Data management When the function is called only one input parameter has to be supplied iSlavenumber The index of the DP slave whose actual state is to be read out is transferred in this input parame
21. Trend Transferl Trend Transfer User Version im Area Pointers OK Fig 32 Selecting the area pointer for the acknowledge area of the HMI After acknowledging with OK the appropriate WORD array from Simotion must be assigned g_abAckBitError When acknowledging with OK this window is closed and the area pointer is linked Alarm Ack OP 1 E General PLE C230_2 E m Length words Fig 33 Assigning the appropriate array Version Date Page V3 0 15 11 04 65 Copyright Siemens AG 2003 All Rights Reserved 21x F B Achse_1 Achse_1_GLEICHLAUF B Achse_2 Achse_2_GLEICHLAUF B Achse_3 amp Achse_3_GLEICHLAUF B Alarm_S amp BitError q_ bsetbiterror q_asbiterror g_sactcatstatebiterror sdatafito B DP_Diag amp effectivetaskruntime Ife Kurvenscheibe_1 amp MCC_1 amp MCC_2 amp MeasCor B Messtaster_1 Nocken_1 amp numberofsummarizedtaskoverflow amp OmacMain SetFehli systemload taskruntime Document User documentation For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 6 3 5 Inserting and parameterizing new error messages The following changes must be made in the application in order to set up new error messages 1 3 Specify the number of errors The number of errors can only be specified down to a single word resolution word granular This means that th
22. background task and processes almost all of the cyclic processes that are required for the Alarm_S technique To start the FCAlarmSDisplayAlarm function is called This checks the FIFO buffer for new entries and outputs the appropriate alarm on the HMI system using the error numbers that have been entered This is realized when calling the functions FCReadErrorOutOfFIFO and FCCallSysFunctGetState In the program the FCAlarmSStatesBG function is then called This permanently scans all of the states of the error signals as well as all of the states of the messages from the HMI system This is implemented using a loop that scans all errors The number of errors per background cycle whose states are to be scanned is limited by the constant NUMBER_OF_ALARMS_PER_CYCLE This ensures that the load on the background task as a result of the loop function isn t too high Example The number of errors whose status is interrogated per cycle is limited to 10 gt NUMBER_OF_ALARMS_PER_CYCLE 10 a total of 100 errors are configured This means that it takes a total of 10 background cycles until a complete scan has been made of all of the error states Version Date Page Document V3 0 15 11 04 53 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 6 2 3 4 Function and integrating the progAlarmSActualCycle The progAlarmSActualCycle program
23. function block To start the user must set up two global variables in Simotion SCOUT One is a DATE type and the other a TIME type These are then connected to the appropriate inputs ofthe FB FBSetSystemDateTime The FB can either be called sequentially or also in a cyclic task The functionality of the FB is not very extensive and no wait conditions are included In the ProTool Pro configuration two individual input fields must be set up in a screen form The two global variables are written into this screen form Version Date Page Document V3 0 15 11 04 75 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed Comment Both values from the HMI are combined to form a value for the real time clock using the System function CONCAT_DATE_TOD This is the reason that it must be observed that if only one value is changed on the HMI either date or time then the currently correct value is in the other input field Otherwise this would be set to an incorrect value 8 1 3 Function elements and their integration Source DateTime Programming ST language Library L_SEB Know how protection No Program function Feature function Must be adapted to the application FBSetSystemDate Time Setting the real time clock of a Simotion No platform Recommendation Call from a sequential task Tabl
24. implemented in the standard winder application 13 1 1 Direct closed loop tension control with dancer roll using speed correction Vconst F Dancer Diameter sensor SIMOTION Analog input speed controller current controller set line rd gt gt gt ControlWord Vact N_set Nact M_Limit_pos CalcMode M_Limit_neg Diameter D_Reset Add_Torque D_init calculator Orgy oe WebThickness InertiaRatio InertiaRatio Add_Torque M_Limit_Pos shady M_Limit_Neg SamplingTime N sef correction Dancer position controller Pos act Pos set gt a EN Profibus Dact i Beeld StatusWord AdaptionMode p N_actual T Diameter_measured ee IN gt WER gt set RFG Dact gt Dact 2 for analog Dancer position_measured out AccelMaster To raue 2 Add_Torque Precont Torque_actual Dmax Inertia gt InertiaRatio Dact calculator Fig 50 Direct closed loop tension control with dancer roll using speed correction For direct closed loop tension control with dancer roll the tension is set using the dancer roll This means that the tension in the material web depends on the operating point of the dancer roll that has been set If the tension of the material web is to be changed the counter pressure for the dancer roll must b
25. in this case the array that is filled by the INOUT variable aSlaveValues of the FB In addition the cam display must be triggered by a pointer The following pointers have been set up in the configuring example Trend Request logically combined with the variables g_HMICamCall unit GlobVari Trend Transfer1 logically combined with the variables g_ HMICamSend unit GlobVari Trend Request 1 C230_2 GlobYari g_hmicamcall Br Trend Transferi 1 C230_2 GlobYari g_hmicamsend Fig 22 Pointers that are required When parameterizing the cam display a cam toCam was set up Axis scale Display Font Color Attributes Functions Pasition Name Help text Enable General XAxis YAxis Left YAxis Right Trend 2 3 5 6 7 Mu Add Remove ftoCamt zala Scale of Trend Y Axis Left C Y Axis Right Fig 23 Setting the general characteristics of the cam Version Date Page Document V3 0 15 11 04 178 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed In the cam settings the number of measured values must correspond to the array length Ce x General Data Source Color Name Display ins Line Type fline Samples fs E JT Display limit value lines Fig 24 Setting the number of cam points samples In the Trend Buffer
26. new start from line xy With a rising edge at stoplt the manual functions and automatic mode are stopped before the normal completion Queued alarms are acknowledged using a rising edge at resetError If the axes have been enabled and all of the operating conditions are present then the axes automatically go into closed loop position control after the fault has been acknowledged At run up InitFlag is set to 1 for one clock cycle in order to initialize the basic positioning function The input state for the start condition of a traversing block is transferred at parameter InputData The state to be set is returned to the outputs at OutputData myFB_EPosCmd jogForwardSlow OPjogForwardSlow JogBackwardSlow OPjogBackwardSlow jogForwardFast OPjogForwardFast jogBackwardFast OPjogBackwardFast startReferencing OPstartReferencing startManualPos OPstartManualPos startAuto OPstartAuto OR i_StartAuto continueAuto OPcontinueAuto OR i_ContinueAuto stopIt OPstop OR i_Stop tesetError OPresetError enableAxes i_AxisEnable emergencyStop i_EStop_ok initFlag init InputData myInputData OutputData myOutputData Fig 83 Calling the FB_LEPosCmd State values of the basic positioning function can be directly taken from the OP variables e g OPautoActive OPreferencingActive 14 2 6 Changes in EposProg Version Date Page Document V3 0 15 11 0
27. ramp function generator Table 54 Overview of the FB assignment The parameters of the FB are pre assigned corresponding to the table The tension setpoint rSet_Value_in and the mode of the winding hardness characteristic calculation uTaperMode should be assigned from the user program When using calculation mode 3 further tabular values are required aD_Tab and aSet_Tap Version Date V3 0 Page 15 11 04 141 Copyright Siemens AG 2003 All Rights Reserved Document User documentation For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 13 4 6 Ramp function generator The ramp function generator is connected after the winding hardness characteristic and prevents setpoint steps in the system The input rTensionSet is already connected to the output of the winding hardness characteristic When the other parameters are assigned the appropriate checks must be made and if required changed The user must connect the output of the ramp function generator rTensionSet_RFG depending on the winding mode ene Assigned with variable Description rTensionSet rSetpoint_RFG_Input Tension setpoint input from the Tension Taper rTensionSetMax toWindAxis rControlled_Value_Max Maximum tension setpoint rTensionSetRamp ToWindAxis rControlled_Value_RampTim Ramp time ramp function Time e generator rSamplingTime SamplingTime Sampling time of the task in whi
28. 09 03 Krull Bit signaling technique supplemented V0 7 1 23 10 03 Krull Various debugs carried out V1 0 24 11 03 Krull Review comments incorporated together with the comments from Workshop V2 0 01 04 04 Krull Date and time functions added Handling of unit data added Functions for ASI modules added Control of the ALM added Clock memory added V2 0 03 06 04 Krull Chapter 13 supplemented Description of the winder V2 0 30 06 04 Krull Chapter 14 supplemented Description of the basic positioning function V2 0 6 10 04 Michl New name Simotion Easy Basics SEB instead of Standard Application Library SALY V3 0 08 11 04 Eisfeld Chapter 15 supplemented FB for closed loop temperature control V3 0 09 11 04 Eisfeld Changes to the DP slave diagnostics supplements to the ALM control V3 0 10 11 04 Eisfeld Adaptation print mark correction V3 0 11 11 04 Eisfeld Chapter 16 supplemented displaying curves on the HMI V3 0 12 11 04 Krull Chapter OMAC description has been updated Version Date Page Document V3 0 15 11 04 2 User Documentation Copyright Siemens AG 2003 All Rights Reserved For internal use only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed Siemens did not carry out a system test on the Simotion Easy Basics software library This is the reason that it is available free of charge in the form of the source code This software is intended to make it easier to get to know and use the SIM
29. 1 The traversing blocks are written into Retain_V gDatasetArray 0 MAX_NUMBER_OF_DATASETS 1 If the automatic mode is active in a traversing block only changes of 10 may be made regarding the wait delay time speed and position In the automatic mode it is neither permissible to change functions insert new blocks nor delete blocks the operator interface identifies these attempts and blocks then The online state is formed in the control using a counter OPplcAlive If the operator interface identifies the same value in two consecutive cycles then the operator interface is switched into the offline mode This means that program changes in the Editor are no longer written online in the control instead the program must be completely re transferred using load program as soon as the control is online again and program changes are displayed online offline ox EPos aktuelles Programm fonline 14 06 2004 07 45 56 r Meldungen r Aktualwerte Position Geschwindigkeit referenziet Motorstrom Temperatur Achse xX 493 999 mm 0 00 mms ja 00A 240 C Achse Z 0 000mm 0 00mm s nein 00A 20 C Achse Achse Y2 0 000mm 0 00mm s nein 00A oo c Position anfahren Override Position Position 0 000 mm 100 anfahren Geschwindigkeit 1 o Sr Referen q d D gt p Fehler Start zieren Stop quittieren bild Fig 81 Manual screen in ProTool PRO Version Date Page Document V3 0 15 11 04
30. 1022 determinant of quadratic equation lt zero 16 1031 1641037 convergence error max steps reached Table 13 Error messages _FB_AddSegmentToCam Version Date Page Document V3 0 15 11 04 43 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 5 6 Example Let us assume the following motion task The useful ranges 1 and 3 have been specified fixed the motion transition 2 must be adapted to the speeds of the bordering useful range Further the acceleration at the start and end of the motion transition must match the acceleration rates of the useful ranges Slave 220 150 50 0 100 200 300 Master Fig 21 Motion task for the cam to be created A cam in the example Kurvenscheibe_1 Cam_1 must be provided in the Scout project The libraries must have been downloaded and the _FB_AddSegmentToCam must have been instanced INTERFACE USEPACKAGE CAM USELIB L_Cam library including _FB_AddSegmentToCam VAR_GLOBAL g_sFbAddSegmentToCam _FB_AddSegmentToCam instantiate FB END_VAR END INTERFACE To start the cam must be reset in the program _resetCam cam Kurvenscheibe _1 Then the segments are added one after the other to the cam 5 6 1 Segment 1 The useful range is a straight line This is the reason that the PROFILE_LINEAR profile type must be used g_sFbAddS
31. 800 ms 1000 ms using the config data Resulting cycle time of the 800 ms 1600 ms temperature controller Resulting cycle time of the actual 200 ms 400 ms value sensing Table 68 Example of the resulting cycle time Note The resulting clock cycle time of the controller is displayed in the system variables actualcycledata controllercycletime Version Date Page V3 0 15 11 04 173 Copyright Siemens AG 2003 All Rights Reserved User_Manual_Simotion_Easy_Basics_V3_0 doc Document User documentation For internal Use Only Simotion Easy Basics reviewed 15 1 6 Configuring a temperature channel The parameters of the TO temperature channel configuration data and system variables are already pre assigned default values The following parameters must be adapted Parameters hardware configuration e Analog input input device logicAddress e Digital output output out PWM_binaryDevice logicAddress 15 2 Tips and tricks Before commissioning the temperature channels the following configuration data still have to be adapted at the technological object to the specific properties and features of the project The pre setting default of the configuration data under TO_Temperature identification modifiedTangentMethod startCondition are set conservatively This is the reason that the self optimization routine only starts if the temperature doesn t change by more than 0 2 K within 30 seconds This is the reason
32. Awww omac org Deliverables OMACDeliverdflt htm PLC Open Dokumentation Standardfunktionen zum Ansteuern von Achsen nach PLCopen Norm SingleAxis_Handbuch_SIMOTION_de pdf PLC Open Documentation Standard functions to control axes according to the PLCopen Standard SingleAxis_ Handbuch_SIMOTION_de pdf PLC Open Dokumentation Standardfunktionen zum Ansteuern von Achsen AxisFunctions_Handbuch_SIMOTION_de pdf PLC Open Documentation Standard functions to control axes AxisFunctions_Handbuch_SIMOTION_de pdf VDI 2143 Bl 1 Bewegungsgesetze f r Kurvenscheiben Theoretische Grundlagen VDI 2143 Sheet 1 Motion laws for cams theoretical basics Funktionsbeschreibung Kurvengleichlauf Doku SIMOTION Motion Control Technologieobjekte Gleichlauf Kurvenscheibe 1 3 2 Kurvengleichlauf Function description synchronous cams Documentation SIMOTION Motion Control Technology Object Synchronous Cam 1 3 2 Synchronous cam Funktionsbeschreibung Technologieobjekt Kurvenscheibe Doku SIMOTION Motion Control Technologieobjekte Gleichlauf Kurvenscheibe 3 3 Funktionsbeschreibung Function description technology object cam Documentation SIMOTION Motion Control Technology Object Synchronous Cam 3 3 Function description Kurvenscheibe in SCOUT Projekt einf gen Doku SIMOTION SCOUT 6 6 4 Kurvenscheibe editieren Inserting a cam in the SCOUT project Documentation SIMOTION SCOUT 6 6 4 Edit cam
33. Bero 501 6 etc This means that for platforms other than the C230 2 the simplest approach is to copy in Scout the axes into the new project and if Simodrive is not used to assign the axes to the new drive in the axis Wizard assistant in Scout Comment The encoder can only be correctly configured when using Scout The values displayed at the operator interface presently cannot be changed The additional axis configuration is set using the ProTool operator interface and is activated at the STOP RUN transition of the Simotion control In RUN the following axis settings are made online Manual and automatic speed Manual and automatic acceleration deceleration Manual and automatic jerk Following error monitoring Standstill monitoring Positioning monitoring Gain factor Kv Pre control component Kpc Time constant speed controller vTC The software limit switches are re accepted at each referencing operation Comment If the axis is traversed with less than 0 5 Vmax in the automatic mode then slow acceleration jerk and declaration are used in order to avoid optically visible vibration of the axis at low speeds Version Date Page Document V3 0 15 11 04 157 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed Runtime 6 0 SP2 eja tt ne Fig 80 Configuration screen in Pro
34. Calculation mode 0 Sensor 1 Vactuarl Nactual 2 Addition material thickness 3 Integration over revolutions boD_Reset IN BOOL O For mode 2 Enable set initial value D D_init rD_init IN LREAL O 0 05 For mode 3 Initialization parameter D_init rWebThickness IN LREAL O For mode 2 Material thickness mm rSamplingTime IN LREAL O For mode 2 Clock cycle time iRevolNumber IN INT O 2 For mode 3 Number of revolutions for the calculation boD_hold IN BOOL O The last value is kept rN_n IN LREAL P Rated winder motor speed rpm iStart_Calc_Ratio IN INT P Speed ratio to Ny where the diameter calculation is started in mode 1 rD_calculated IN OUT LREAL Calculated diameter Parameter types IN Input parameters OUT Output parameters Parameter type P Mandatory parameters O Optional parameters Initialization values from the Win_Var unit Table 45 Input output parameters of the function block FB_DiameterCalculator Version Date Page Document V3 0 15 11 04 124 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 13 3 5 FB_TensionTaper Function block to calculate the winding hardness characteristic as a function of the roll diameter The winding hardness characteristic can be used to determine with which tension the material in the process should be wound as a function of the roll diameter
35. FALSE Kp adaption with inertia ratio gt i J ununterbrechbare Zuweisungen Befehle Variablen OK Abbrechen bernehmen Hilfe Fig 77 Excerpt of the program to output the calculated data at the drive Version Date Page Document V3 0 15 11 04 148 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 13 5 Communications Simotion gt drive with extended Profibus protocol In order to use the winder application various pieces of data must be read in from the drive and from the I O Depending on the particular application and winder type the dancer roll position the measured roll diameter the actual motor torque and the actual speed are required The sensors can be directly connected to the SIMOTION I O via Profibus However it is not possible to connect to the analog inputs of the drive If the analog inputs of the drive are used then these must be appropriately connected up in the drive refer to Chapter 13 6 Commissioning the drive Additional data can be transferred via Profibus by extending the standard telegram DP Slave Properties General Configuration Internode communication overview Default No Default In local slave PROFIBUS partner Type Addr Type DP WO a Pro Length Unit Consiste no PRA Actual value Setpoint BZ Insert slot Delete sl
36. IPO Version Date Page Document V3 0 15 11 04 133 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 13 4 1 Reading in values and filtering The drive must read in data on the Profibus Data is then normalized the type converted and filtered Data can be filtered using low pass filters from the SFL If the drive is not connected to the clock synchronous bus then we recommend that the data for the drive actual speed is manually entered onto Profibus and then filtered This has been taken into account in this example Read and Filter F 7 sclualivalue O Yariablenzuweisung IPO_Unw 2 x ass Formel Read actual values toWindAxis rN_actual 2 nl Ausdruck WWORD_TO_LREAL i_winder_n_act 3000 0 16 4000 Read master speed g_tV_Master_act g_rv 63 oVVindAxis rN_actual toWindAxis rDiameter_sensor i WORD _TO_LREAL i_winder _Diameter D_Unwind_Nominali 6384 0 Filter actual speed FuncLib fb_lowpassfilter 3 toWind4xis rControlled_Yalue_Actual WORD_TO_LREAL _ winder_tension 1 00 01 6384 0 Filter diameter sensor toVVind4 xis rTorque_Actual WORD_TO_LREAL L_winder_torgue 1 00 01 6334 0 FuncLib fb_lowpassfilter 4 Filter actual tension FuncLib fb_lowpassfilter 24 T P ununterbrechbare Zuweisungen Befehle Variablen Abbrechen berne
37. Operating data in line with the OMAC definition have been added 8 A time stamp that displays the instant in time that a state changed has been added to the diagnostics array 9 For each individual state a global boolean variable has been added This displays whether the state is active or not FCs or FBs can be started using these variables e g PLC Open functions Table 4 Comparison of the OMAC versions Version Date Page Document V3 0 15 11 04 19 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 2 2 3 Structure of the OMAC mode manager The mode manager comprises a total of three units OmacVar OmacStUp and OmacMain that contain the variable declarations and two programs One program is used to initialize all of the relevant variables when the controller runs up the second program contains the actual mode manager and runs cyclically in the BackgroundTask As far as the program is concerned when implementing a differentiation is not made between the various modes manual automatic and states stopped producing This is the reason that in the following text only the term state is used The change between the individual states is realized by setting a global variable 2 2 3 1 OmacVar unit The OmacVar unit includes the declaration of all of the type definitions and g
38. The FBs for the following functions are described in the next Chapters setting the system time and the system date from Simotion platforms via HMI synchronizing the time and the date of a connected HMI to a Simotion platform synchronizing the real time clock of several Simotion platforms with one another Comment The HMI devices to which reference is made in this Chapter are HMI devices that are configured with ProTool Pro e g TP 170 MP270 8 1 Setting the system time and the data of the controller The system time and the date of a Simotion platform can be set using an HMI with the function block FBSetSystemDateTime This means that it is no longer necessary to use a computer with Simotion Scout 8 1 1 Mode of operation The function block FBSetSystemDateTime converts a time and a date entry into a value for the real time clock of a Simotion platform and sets this then to the new value The FB has two input parameters for this purpose on one hand dDateFromHMI with a DATE data type and on the other hand tTimeFromHMI TIME data type These input parameters are supplied from two global user variables via a connected HMI The FB then sets the two input values together to form a value using the system function CONCAT_DATE_TOD The real time clock is set to this value using the RTC system function 8 1 2 Integrating into the application A description is now provided as to which measures are required in order to successfully use the
39. _ Inertia 4 gt InertiaRatio Dact calculator Fig 51 Direct closed loop tension control using speed correction and a tension transducer For the winding mode direct closed loop tension control using speed correction and a tension transducer instead of the dancer roll position the material web tension determined directly using a tension transducer is read in In this case the PID controller in SIMOTION does not operate as position controller as is the case for the dancer roll but as tension controller The controller P gain must be appropriately selected so that the controller output can be used as correction speed Also in this case the tension in the system is set by modifying the winder shaft speed In this mode the tension setpoint and therefore the winding hardness characteristic act directly on the tension controller in the system Version Date Page Document V3 0 15 11 04 111 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 13 1 3 Direct closed loop tension control using torque limiting and a tension transducer ay yN Vconst p O M n Load cell Diameter sensor M Analog input SIMOTION speed controller current controller power unit
40. are then run through Setting Up initialization Search_Startpoint wait for steady state condition heating and Search_InflectionPoint When auto tuning can be ended then the system goes into the Finished state the loop identification routine has been completed However if errors occur then a change is made into the Aborted state the loop identification routine is aborted Version Date Page Document V3 0 15 11 04 169 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed The following limit values are defined in the system for the times associated with the auto tuning phases Optimization state Limiting the time of the state System default setting SETTING_UP 10 max controller sampling time 600 seconds limits controller maxControllerCycle SEARCH Maximum stabilizing time TA 86400 seconds STARTPOINT limits process maxRiseTime 24h HEATING 5x maximum delay time TU 5 x 7200 seconds limits process maxDelayTime 36000 seconds 10h SEARCH Maximum stabilizing time TA 86400 seconds INFLECTIONPOINT siehe Search_StartPoint 24h Table 65 System related runtime monitoring functions for the self optimization routine 15 1 3 Actual value monitoring by defining tolerance bandwidths The actual values of each channel are checked to observe whether they remain within an inne
41. be effective when tension is being established an additional material web speed setpoint is entered This results in the speed controller being over controlled In order to slowly establish tension in the material a low overcontrol value should be selected The tension is directly set using the torque limiting Winding configuration Winder type Torque limit Overcontrol value Winding from the top Unwinder Lower Negative Winding from the top Winder Upper Positive Winding trom the Unwinder Upper Positive bottom Winding from the Winder Lower Negative bottom Table 40 Sign of the overcontrol value dependent on the winding configuration and winder type Version Date Page Document V3 0 15 11 04 112 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed In this case the winding hardness characteristic acts directly in the system The reason for this is that this tension setpoint tension reference value is directly compared to the tension actual value The torque limits are determined by the tension pre control the tension controller and the inertia compensation For the direct closed loop tension control using torque limiting the same data is transferred to the drive as for closed loop tension control with dancer roll Version Date Page Document V3 0 15 11 04 113 User documentation Copyright
42. d2 d1 Er LED state at the decimal do Significance monitor 0 0000 Circuit is switched in Green 1 0001 Circuit is ready to be switched Yellow red in waiting for a start condition 2 0010 Circuit is switched out Red 11 ircuit i d au is off Red flashing service button required 4 0100 Reserved 5 0101 Reserved 6 0110 Reserved 7 0111 Reserved Table 32 State table for enable circuits 1 and 2 Version Date Page Document V3 0 15 11 04 98 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 10 2 6 3 abQuantity 1 abQuantity 2 Data bytes abQuantity 1 and abQuantity 2 specify the number of tripped devices in enable circuit 1 and enable circuit 2 These data bytes correspond to function parameters SumKT and Sumk2 The value range of the two data types extends from 0 to 7 For abQuantity 7 the actual number of tripped devices is at least 7 or more 10 2 6 4 aaChannel x abDevicel y iindex These 2 x 48 data bytes have the value ilndex 0 if the associated status byte aaChannel x abDevice y ilndex has the value status 0 If the associated status byte aaChannel x abDevice y ilIndex lt gt 0 then ilndex contains the number of the device i e iIndex y with a value range m between 32 and 79 These data bytes exist for compatibility reasons The contents do not have to be evaluated as the assignmen
43. directly from the ramp function generator that is either directly connected with the tension setpoint or it receives its values via the winding hardness characteristic The tension controller itself is configured as a PID controller This must be appropriately set for both blocks Version Date Page Document V3 0 15 11 04 144 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed Parameter Assigned with variable Description rV_set g_rV_Master_set Master speed m min rD_actual toWindAxis DiameterCalculationData rDiamet Actual roll diameter m er_Calculated uWindingMode toWindAxis uWindingMode Winder mode rSamplingTime SamplingTime Sampling time of the task in which the FB is called IPO or IPO2 ms rControlled_Value_s et rControlled_Value_a ctual_Filtered toWindAxis rControlled_Value_set_RFG toWindAxis rControlled_Value_Actual_Filtere d Tension setpoint from the ramp function generator Tension actual value rPID_P toWindAxis PID_Data rPID_P P gain of the tension controller iPID_ toWindAxis PID_Data iPID_ Integral component of the PID controller iPIP_D toWindAxis PID_Data iPID_D Differential component of the PID controller iPID_DelayTime toWindAxis PID_Data iPID_D_DelayTime Delay time of the PID controller filter D component boPID_D_Set toWind
44. eee eeeeeee tect sees ees eaeeseaeeeeaeeeeseeeeeeeeeseaeeeeeeeeeee 78 8 2 3 Function elements and their integration uusrsnnersnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nennen nenn nennen 78 8 3 Synchronizing the real time clock between Several controllers uuuuneussennnennnannuannnnnnnnnnnnnnnnnnn 79 8 3 1 Mode of operatio ie a aa r a ein oa aeaee ae aE Eaa 79 8 3 1 1 FBSyncSim tionM ster u 2aeneennnennna ent EAA a pane a a BR 79 8 3 1 2 EBSYhCSIMollonSlavetr n2 m oie 21 AS BAZ Y tes a NA hd eRe Scat SO ens Nh re er ER 79 8 3 2 Integrating into the application cccccceeesceceeeeeeeeeeeeeeceeeeeeceaeeeeeeeneeceeeeeeeeeeeesneeeeeeeeeaees 80 8 3 3 Function elements and integration cccccceeccceeeeececeeeeeeeeeeeeeeeeeeeeeeeaeeeseeeaeeesessneeeeeeeees 81 9 Handling global unit data lt lt i lt c0 sccecsecccecececesevecneuaretessancessusueseesdzenescescecedeerseueeersecter 82 9 1 Description of the FBHandleUnitData csscceccesecseessseesensesenseneeeeeeeneeneeseseeseeseseeseneesaeeneeeneeneeenees 83 9 1 1 Mode Of Operation sna teres cde Lait ove dad can cag a Jaa chs ferns dash ak a aaaea aen Uden Rls 83 9 1 2 Input and output interface of the FBS cccccceeeeceeeeeeeceeeeceeeaeeeeeeeaeeeeeceeeeeeeesneeeeesenees 84 9 1 3 Schematic LAD representation 22 cc ccesececcaeseceeeenectcneendnecaecsenacaeceaenectecetacteeeesnenetaentees 85 9 1 4 Function elements and integration
45. in a safe defined output state Further the elements of the diagnostics array g_asDiagnosticsArray are initialized with the values OM_NoState or DT 0001 01 01 0 0 0 0 Operating data is also initialized according to OMAC that is not declared as retain data Version Date Page Document V3 0 15 11 04 20 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 2 2 3 3 OmacMain unit The kernel of the mode manager is contained here The OmacMain program This program can be roughly sub divided into two sections The first section comprises a case structure whose branches represent a state of the machine Dependent on the value of the eLocalActState in which the actual state is saved the appropriate structure branch is run through The boolean variables to display the states are updated in these branches Further here the user must integrate as a function of the application his various functions motion tasks etc for the particular states refer to Chapter 2 2 3 It is the only position in the program that the user must process The second section a module No changes necessary by user contains functions to check the validity of a state change the update of the diagnostics array and process operating data The user does not have to make any changes modifications in the module itself as no application dependent chan
46. is powered up The ALM is powered down by again setting inout ALMEnable to FALSE The ALM is controlled by parameterizing the control word The actual status of the ALM on or off is displayed at output ALMOn If the ALM is in the run state the value of the output is TRUE in all other states the value of the output is FALSE If the ALM briefly exits the run mode due to an alarm overvoltage overtemperature then the ALMOn bit is also FALSE The information regarding the status is read out using the ALM status word Version Date Page Document V3 0 15 11 04 106 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 12 5 Signal flowchart MC HandleALM Example MC_HandleALM ON OFF ALMEnable ALMOn Acknowledge ALMQuitError ALMError PZDReceive PZDSend Power up power down ii H if wee i i pi t 1 H i i a t TOG ba HE 1 ALMError I Hi Li Het 0 t Fault status i r i o EwE i J x 1 7 7 7 0 _ 0 ot aa ini l 0 an i 7 a4 iy ty E E t Delay e g due to PROFIBUS dependent on the DP cycle Fig 16 Signal flowchart MC_HandleALM 12 6 Fault description The fault status is read out using the status word of the ALM and is displayed at the output ALMError If this has the value TRUE then a fault is present for FALSE then the ALM is fault free ALM faults c
47. is responsible for updating the global category signals g_sActCatStateAlarmS boA g_sActCatStateAlarmS boB g_sActCatStateAlarmS boC g_sActCatStateAlarmS boD g_sActCatStateAlarmS boE The programmer can globally access these in the application and evaluate them The update is realized by logically combining errors that have just occurred with errors that are still present and messages on the HMI signal that have still not been acknowledged The updated variables depending on the application should be available at different speeds This is the reason that this program can be integrated in one of the following cyclic tasks Background task IPO task or IPO2 task 6 2 4 Inserting and parameterizing a new alarm In order that new alarms and references are successfully incorporated messages must be configured in SCOUT refer to 12 for the appropriate procedure The following setting should be made The Print out at the OP option must be activated The following steps must be made in the application 1 Set up aconstant in the INTERFACE area of the AlarmS unit in the variable declaration VAR_GLOBAL CONSTANT In this case the name of the constant must be the symbol name of the message in Simotion and the value of the constant must match the message number Example The message symbol in Simotion is called Fehlerxy and the error number is 2 In this case the declaration of the constant is given by FEHLERXY INT 2 This procedu
48. limit switch input and a Bero input for referencing if these inputs outputs are not able to be accessed then the CPU goes into the STOP condition according to the IO configuration Axis_X_negHwLimit PI501 0 Axis_X_posHwLimit PI501 1 Axis_X_bero PI501 2 Axis_Y_negHwLimit PI501 4 Axis_Y_posHwLimit PI501 5 Axis_Y_bero PI501 6 Axis_Z negHwLimit PI502 0 From address 512 the drives are connected in 32 byte steps 4 words for PKW data exchange these variables are configured with last value and 10 words for telegram 105 to the drive PKW_in_Axis_X PIW512 to PIW 518 PKW_out_Axis_X PQW512 to PQW 518 PKW_in_Axis_Y PIW544 to PIW 550 PKW_out_Axis_Y PQW544 to PQW 550 If bus error flashing can be tolerated at the system then it is not necessary to delete the I O variables that are not required and to remove the ET200S with address 41 collector for addresses that are not required in the example project Advantage A standard is created for series machines and the Simotion project is always the same This means that the operator interface can always correctly access the Simotion control without having to be re generated as the global addresses in the project have shifted Version Date Page Document V3 0 15 11 04 159 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 14 2 3 HMI coupling The ProTool operator interfa
49. n iieiaei n she na binnen rend 10 1 5 Signal characteristics of the parameters boExecute boReset boDone boError and bStatus 90 10 1 6 Program example 2 22 ea a aaa de ck as da ak deta a delete Gi 10 1 7 Function elements and their integration eceeceeseeeneeeeneeeeeeeeeeeaeeeeaeeeeaeeseseeeesaeeeeaeees 10 2 Diagnostics of the ASI Safety Monitor 10 2 1 Description of the function block FBAsiMonDiag 10 2 2 Input and output interface of the FBs 10 2 3 Schematic LAD representation 10 2 4 Input parameters 10 2 4 1 Enable BOOL ne 10 2 4 2 InBito InBit1 InBit2 InBit3 BOOL 10 2 5 Output parameters 10 2 5 1 Busy BOOL 2222 en 10 2 5 2 OutBitO OutBit1 OutBit2 OutBit3 BOOL 10 2 5 3 EfrorK tT BOOL 2 nr 10 2 5 4 ErrorK2 BOOL 10 2 5 5 SumK1 USINT 10 2 5 6 Sumk2 USINT 10 2 5 7 ErrorMonitor Byte 10 2 5 8 ErrorFB WORD 10 2 5 9 Data StructDataASiMonr 10 2 6 Data structure 10 2 6 1 bStateMonitor byte 10 2 6 2 abStateChannel 1 abStateChannel 2 10 2 6 3 abQuantity 1 abQuantity 2 10 2 6 4 aaChannel x abDevicely ilndex 10 2 6 5 aaChannel x abDevicely iState 10 2 7 Runtime of the diagnostics block 10 2 8 PrOQrain example en in
50. number is entered and the time is transferred to the HMI task number 14 Once this task has been executed the date is conditioned and transferred 1 The data is determined from the value of the RTC by converting the data type 2 An INT value is formed from the DATE type using the marshalling function This defines the number of days from the starting date 01 01 92 of the controller 3 The date year month and day is determined taking into account leap years from the two values starting date and the number of days 4 These individual values are conditioned binary coded again using bit string functions and written into the task slot The task number is again entered and the date is transferred task number 15 Note The FB runtime depends on the parameterized cycle time for communications between the HMI and Simotion This is defined when the HMI is configured engineered If the FB is used in a cyclic task BackgroundTask then the runtime of this task can be increased by the communications time For instance if this time is 500ms then under worst case conditions the runtime of the BackgroundTask is increased by these 500ms This is because the system waits in a WHILE loop until the HMI empties the task compartment This is the reason that the communications time should be kept as short as possible If this is not possible due to the high data quantities that are exchanged between the HMI and Simotion then the FB
51. selected using bit 0 of the pointer the group bit is the last bit of the pointer The Trend Request pointer to be set up in ProTool signals the cam to be currently displayed at the control represented bit serially Example In the following example after the FB is called the cam is triggered on the HMI if the image is to be displayed with the display function g_HMICamSend Pointer Trend Transfer1 g HMICamCall Pointer Trend Request is set by the HMI The cam is assigned bit 0 For a positive edge i e selecting the display on the HMI the display on the HMI is triggered by setting bit 0 i e cam1 and bit 15 this must always be set The instance myCallCamtoCam1 is an edge evaluation system function block R_TRIG Version Date Page Document V3 0 15 11 04 177 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed Send cam values to HMI for visualisation boCallCamtoCaml gethit g HMICamCall 0 myCallCamtoCami1 boCallCamtoCam1 IF myCallCamtoCaml q THEN g_HMICamSend setbit g HNICamSend 0 TRUE g_HMICamSend _setbit g_HMICamSend 15 TRUE END_IF Fig 21 Example for transferring the cam values into the HMI 16 3 HMI configuring in ProTool The cam display functionality is used for visualization in ProTool A cam requires a cam buffer
52. should be used in a sequential task Version Date Page Document V3 0 15 11 04 77 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 8 2 2 Integration into the application The following steps must be carried out on Simotion and ProTool Pro in order to be able to use the FB FBSyncHMIToSimotion In Simotion A global array type WORD must be set up with a size of 4 elements This represents the task slot Example HMIJobBox ARRAYT1 4 OF WORD In ProTool Pro The area pointer task slot must be linked with this global array in 2 4 MP270 MP270 Typ Steuerung Ac FJ Bilder Eauftragsfach 230_2 Gk amp Meldungen amp Rezepturen Neuen Bereichszeiger einf gen 2 x H Archive 8 Protokolle verf gbare Typen OK 63 Wecker Anwenderversion amp Variablen Abbrechen a Multiplexvariabl Betriebsmeldungen E Skripte Bildnummer ren Datenfach 8 Grafiken Datum Uhrzeit Datum Uhrzeit SPS Koordinierung Kurvenanforderung Kurven bertragung Kurven bertragung2 LED Abbild Quittierung OP Quittierung SPS St rmeldungen amp Symbolisten Steuerungen fa Bereichszeiger ProTool Pro Fig 34 Screen form to insert the task slot into ProTool Pro Once these steps have been executed the system time and the date of the HMI can be synchronized c
53. state In this case all of the information that the PeripheralFaultTask supplies is saved in a diagnostics array g_asPeriFaultinfo The most current information is saved in the first element of the array and all additional information is pushed forwards The size of this array can be set using the constant progDPSlaveDiagPeriFault Further the FCDPSlaveDiag function is called and the diagnostics data in it is entered into the global array g asDPSlavelnfo In this case a search is made in the appropriate diagnostics address for the array Version Date Page Document V3 0 15 11 04 72 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed The following TaskStartInformation TSI is supplied from the PeripheralFaultTask and is written into the g_asDPSlavelnfo array TSI StartTime DT Instant that the task starts e TSl InterruptiD UDINT Initiating event e _SC_PROCESS_INTERRUPT 200 Process alarm occurred in the peripheral 1 0 module e _SC_DIAGNOSTIC_INTERRUPT 201 Diagnostics alarm occurred in the peripheral I O module e _SC_STATION_DISCONNECTED 202 A DP slave station has failed e _SC_STATION_RECONNECTED 203 A DP slave station has returned e _SC_IMAGE_UPDATE_FAILED 204 Error when transferring the process image to the DP slave in conjunction with the station failure e _SC_PC_INTERNAL_FAILUR
54. supports the functionality axis transports print mark this means the correction value of the higher level positioning function is reset This function can be when required disabled in order to use the block for other applications When making a measurement with a defined validity range measuring range an additional function of this block is to adapt this dependent on the drive and velocity if the configuration data is not used in Simotion SCOUT that automatically updates the measuring range from Scout V3 1 1 A detailed description of this is provided in 13 4 1 Function description The function of the dynamic measuring range adaptation measurement and print mark correction is described in the following Sections A description of the input and output interface of the function block is described in Section 4 2 4 1 1 Print mark correction This block operates in several steps Initially an actual value is measured This is compared to a setpoint If required an appropriate setpoint actual value change is made in the next operating step A measuring task is activated using a rising edge at the boExecute input In this case a measurement is made in the range specified using rToleranceRangeStart and rToleranceRangeEnd If both values are set the same then a measurement is made without measuring range A trigger signal initiates the measurement The boEdge input variable is used to define the trigger edge For TRUE the tri
55. the FCBitErrorStatesBG program cyclically checks the actual state of the error initiating signals and the acknowledge status of the messages generated on the HMI The global project category signals are formed in the progBitErrorActualState program as a function of the relevant states error generating signal and message state on the HMI The progBitErrorActualState can be incorporated in every cyclic task depending on the application Below a graphic representation of the principle of operation and the task structure for the Alarm_S technique Stop StartUp Task Motion Task X progBitErrorStartUp FCBitErrorStartUp Background Task progBitErrorBackground JA____ FCBitErrorRequest Z gor R FOBitErrorRequest Aufruf e FOWriteErrorinFIFO K wor i FCBitErrorSRequest Run A Motion Task Y Aufrut___ _ FOReadErrorOutOfFIFO FOBitErrorDisplayAlarm kp Ipo Ipo_2 oder Background N N FCBitErrorRequest IR progBitErrorActualState ep N i Sy FCBitErrorActCatCycle FCBitErrorStatesBG Nay FCBitErrorSetBitError Fig 27 Function principle of the bit signaling technique Version Date Page Document V3 0 15 11 04 60 User documentation Copyright
56. the array in SIMOTION should be selected with the slave positions The triggering is realized in this case from the 0 bit of the pointer Trend Transfer1 General Data Source Color Trend Type History trends x Source PLC v Trend Buffer Er GlobYari g_aslavetocam v Sl T Switch Buffer No Tas be Trigger Pulse fi 0 sec es p yan Fig 25 Setting the cam buffer Version Date Page Document V3 0 15 11 04 179 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 16 4 Input output interface of the FB Name P type Data type Significance toCam IN CamType Cam that is to be displayed eCamType IN EnumCamPos Display without or with scaling itionMode BASIC ACTUAL aSlaveValues IN OUT aSlaveCamVa Array with the determined slave lue position rMinSlaveValue OUT REAL Starting value slave position rMaxSlaveValue OUT REAL End value slave position rMinMasterValue OUT REAL Starting value master position rMaxMasterValue OUT REAL End value master position Parameter types IN input parameters OUT output parameters IN OUT throughput parameters Table 71 Description of the FBGetCamValueForHMI parameters 16 5 Schematic LAD representation FBGetCamValueForHMI CamType gt toCam rMinSlaveValue REAL EnumCamPositionMode y eC
57. the correct PROFIBUS address been set at the DP slave 1 The DP slave cannot be addressed has the bus connector from the DP Master been connected voltage at the DP slave has the RS 485 repeater been correctly set has a reset been made at the DP slave 1 Diag Station_Not_Ready wait as the DP slave is presently 1 The DP slave is still not ready IR for data transfer 2 Diag Cfg_Fault has the correct station type or 1 The configuring data sent to the DP slave Sen Fa aus en 5 from the DP master do not match the entered into the configuring software structure of the DP slave 3 Diag Ext_Diag evaluate the ID related the _ _ _ module status and or the 1 Is external diagnostics available channel related diagnostics group diagnostics display As soon as all of the errors have been removed bit 3 is reset The bit is newly set if a new diagnostics message is in the bytes ofthe above mentioned diagnostics 4 Diag Not_Supported check the configuration 1 The DP slave does not support the requested function e g changing the PROFIBUS address via the software 5 Diag Invalid_Slave_Response check the bus configuration structure 1 The DP master cannot interpret the response of the DP slave 6 Diag Prm_Fault has the correct station type been 1 The DP slave type does not match the entered in the configuring software configured software 7 Diag Master_Lock the bit is always 1 if for example you are presently access
58. the machine s operation while material blockages are cleared or to stop a throughput while a downstream problem is resolved Version Date Page Document V3 0 15 11 04 13 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed State name Description MANUAL The machine is in the manual mode The operator can manually select various individual functions e g HOMING Searches for the reference position of an axis This is defined using a BERO and or a zero mark This is normally set when the machine is powered up and remains valid as long as the control is operational SYNCHRONIZATION Various functions of a machine mechanical servo or software are run through when the appropriate signal is present JOGGING Every machine axis is moved with a defined motion with the required direction without any target IDLE The control system has been switched in and has run through its initialization routine From the IDLE state MANUAL can be selected i e the typical manual modes such as jogging setting up homing or AUTOMATIC All of the communications with other machines applicable is possible Version Date Page Document V3 0 15 11 04 14 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 d
59. to 16 gt NUMBER_OF_BIT_ERRORS_PER_CYCLE 16 This means that the error is checked wordwise each cycle If an error array of 5 words is set up it will take a total of 5 background cycles until all of the errors have been completely scanned 6 3 3 4 Function and integrating progBitErrorActualCycle The progBitErrorActualCycle program is responsible for updating the project global variables of the category signals g_ sActCatStateBitError b0A g_ sActCatStateBitError boB g_ sActCatStateBitError boC g_ sActCatStateBitError boD g_ sActCatStateBitError boE The programmer can globally access these in the application and evaluate them The update is made by linking errors that have just occurred with the still existing errors as well as messages on the HMI that have still not been acknowledged As the updated variables are available at different soeeds depending on the application this program can be incorporated in one of the following cyclic tasks Background task IPO task or IPO2 task Version Date Page Document V3 0 15 11 04 62 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 6 3 4 Configuring the messages and connecting the area pointer The following information regarding configuring the messages and linking the area pointer refer to the ProTool Pro system 6 3 4 1 Configuring messages The messages are config
60. variable the function of the signal generating the error is transferred and using iErrorNumber the error number The error number is the same as the message number which the configured message has in the HMI If this function is called using a positive signal level the transferred error number is entered into an FIFO buffer and using an edge detection function an error status is formed This means that when the error is present for a longer period of time the error number is only written once into the FIFO buffer The error status is again reset by calling the function with a negative edge The function can be called from every task level This means that the function can be called both cyclically as well as also from a sequential task When cyclically called e g from the background task the function is permanently called This means that when the error occurs or disappears the message is automatically generated and the error state is again reset If the function is called once with a positive signal when running through a motion task the programmer must ensure that at another position in the program the function is again called with a negative signal and the fault status is again reset Version Date Page Document V3 0 15 11 04 61 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 6 3 3 2 Function and integrating the p
61. 003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 14 Standard application Simotion Easy Pos Today SIMOTION still does not have a basic and fast way of positioning axes in the automatic mode similar basic positioning functions are available in Simodrive 611U and SIMOVERT Masterdrives MC The objective of the basic positioning function for SIMOTION is to implement an easy to use interface in ProTool Pro to commission axes configuration and manual operation as well as to configure automatic operation This means that after the system has been commissioned for the first time Simotion Scout is no longer required to modify axis data load gearbox dynamic values or automatic traversing sets blocks In addition a program manager is provided to manage automatic programs print axis settings and programs and archive axis data and programs on external data medium This will support users for series commissioning as well as documenting the plant or system The basic positioning function for SIMOTION encompasses up to 12 axes and can run on C230 2 P350 and D435 future platforms are not excluded Numerous drives can be connected e g Simodrive 611U Posmo C S SIMOVERT Masterdrives MC Sinamics S analog drives etc The automatic sequence comprises a maximum of 128 traversing sets blocks Functions such as absolute or relative positioning the speed wait for inp
62. 160 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 14 2 4 Structure of the traversing blocks of an automatic program Each of the 128 traversing blocks comprises Language dependent comments that are also printed out for print program ID block suppressed skipped title Off Input condition enable signal The number is compared with the state at input word 0 means no check the function is started without a prior check Values not equal to 0 mean that the system waits until the numerical value is present at the input e g for a value 1 until a 1 is precisely in the least significant bit and the rest is 0 Function Absolute relative positioning homing referencing check of the axis position lt gt and waiting delay time Axis selection Axis 1 12 not for waiting delay time Parameter 1 For axis functions position in mm or Degrees otherwise not used Parameter 2 For positioning commands speed as a of Vmax or waiting delay time in ms Output status to be set after the block has been successfully executed Progression condition Title Asyn As standard the system waits until the block has been successfully completed before a change is made to the next block However if a checkmark is entered into the check box then the next block is immediately started asynchronously if required also sever
63. 4 162 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed EPosProg StartupProg The axis names are communicated in the array gAxisArray this means that if axis descriptors names are changed then the new axis name must be specified here Comment Axes that are not present can be pre set with TO NIL in gAxisArray This can be used for example to save reduce the system runtime EPosProg EPosProg The call for the basic positioning FB is located here Further the I O are also handled here This means for example reading the I O transferring to the FB and writing the return values back to the I O In this case the input and output word of the traversing blocks is important In_Word Out_Word In order to be able to move the axis away in the case that when homing the axis is positioned at the Bero hardware limit switch the corresponding inputs are read here and transferred to the basic positioning function using gAxisHomingDataj The active traversing block also if the automatic mode was only interrupted is located in OPdebugData datasetNo 0 array 0 MAX_NUMBER_OF_SYNCHRONOUS_COMMANDS 1 This can be provided to a higher level control using I O coupling Out_datasetNumber The most recent alarm is located in OPmessages number 0 array 0 MAX_NUMBER_OF_MESSAGES 1 If a PKW interface is not to be used e
64. Axis FollowingAxis FollowingObjectType CamType MeasuringInputType OutputCamType ExternalEncoderType TemperatureControllerType OO NI O 01 BR Go Po Note The processing of the TemperatureControllerType object type is commented out in the template as the program can only be compiled error free when using the TControl technological package When required the comments can be removed Step 3 Entry into the chronological error buffer Every alarm is entered into an alarm buffer together with the alarm number time and initiating object This buffer is structured as an ARRAY g_asAlarmList The most recent entry is always in the first element The buffer depth can be adapted using the constant IMAX_NR_OF_ALARM_LIST The user can evaluate the buffer Step 4 Specific error handling In the last step a branch is made using the alarm number in the form of a CASE instruction Application specific error handling routines can be programmed in this area 2 responses have been programmed as example 1 Response to individual messages 2 Response to all of the message To 1 Depending on the message number TS AlarmNumber the existing reference or alarm is cleared at the TO in a case evaluation This is realized by calling the function FCResetError Version Date Page Document V3 0 15 11 04 48 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Si
65. Axis PID_Data boPID_D_ Set Enable D component boPID_Reset toWindAxis PID_Data boPID_Reset Reset PID controller output rPID_OUT_LIMIT i_Offset_ratio toWindAxis PID_Data rPID_OUT_LIMIT rN_n Rated speed winder motor Limits the controller output Overcontrol setpoint as a ratio to the rated speed rN_set toWindAxis rN_set Speed setpoint rom TorqueLimit_Pos TorqueLimit_Neg toWindAxis rTorqueLimit_Pos toWindAxis rTorqueLimit_Neg Positive torque limit Negative torque limit Table 57 Overview of the FB assignment The parameters of the FB in bold highlighted must be adapted to the user program The uWindingMode variable is one of these variables that controls the winding mode The controller data of the PID controller must also be set Further the user must connect the outputs of the function block and the positive and negative torque limits The speed setpoint r_Nset is transferred to the drive via a _move command Control with torque limitation ine cal EA FuncLib fb_control_withtss IF Unwinder control active 55 IF g_boTorquePreControlAc amp 333 toWindAxis rTorqueLimitss Date 15 11 04 Copyright Siemens AG 2003 All Rights Reserved Version V3 0 FALSE FALSE Page 145 User_Manual_Simotion_Easy_Basics_V3_0 doc Document User documentation For internal Use Only Simotion Easy Basics reviewed Fig 75 Exc
66. D D_init with TRUE Data boD_Reset rD_init toWindAxis DiameterCalculation Initial value diameter m Data rD_init rwebthickness WebThickness Material thickness in mm rsamplingtime SamplingTime Clock cycle time IPO task irevolnumber toWindAxis DiameterCalculation Data iRevolNumber For mode 3 Number of revolutions boD_hold FALSE Keep old values Dact Doig for TRUE rn_n 3000 Rated winder motor speed iStart_Calc_Ratio 3 Ratio to the rated speed for starting calculation mode 1 in rD_calculated toWindAxis DiameterCalculationDat a rDiameter_Calculated Calculated diameter Table 51 Overview of the FB assignment The material thickness only has to be parameterized if the associated mode 2 is used where the material thickness is integrated up The diameter calculation mode can be selected using uCalcMode The actual diameter value is held with a TRUE signal level at boD_hold and this is independent of the operating mode that has been selected The initial value of the diameter can be set in rD_init using a TRUE signal edge at boD_reset The operating mode can be selected from the user program using uCalcMode The ratio to the rated speed of the winder motor is selected using iStart_Calc_Ratio where the diameter calculation is started in mode 1 Until this speed is reached the following applies rD_calculated rD_ init Date 15 11 04 Version V3 0 Page 136 Copyr
67. Document V3 0 15 11 04 4 User Documentation Copyright Siemens AG 2003 All Rights Reserved For internal use only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 6 2 3 1 Function and integrating the FCAlarmSRequest uunsuasussnssnnsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnannnnnnunnnnnnnnnnnnnnnnnnnnnnnnnnannnnnnnnnn 6 2 3 2 Function and integrating the progAlarmSStartUp 6 2 3 3 Function and integrating the progAlarmSBackground 6 2 3 4 Function and integrating the progAlarmSActualCycle 6 2 4 Inserting and parameterizing a new alarm u u22uurssnersnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nenn 6 2 5 Examples in the AlarmS Unit ee eeeesseeceseceescecseneceeseceeseeeceanecseneressaeessanessnesesneeeenaners 6 2 6 Function elements and their integration 6 3 Bit signaling technique unuusnrsnneneunnnnnnnnsnnnunnunnnnnnannunnunnnnnnnnnunnunnnnnennnnnnnnnnnnnnnnunnnnnnnnnnnnnnnunnannnnnnnnnnn 6 3 1 Allocating categories and acknowledging errors 2uu2224444nnnernnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nn 58 6 3 1 1 Error categorie S naene erona ores O ADES il ESTEE e noen T Ee PANEN Aa AAEE den tia AEAT Seine 58 6 3 1 2 Acknowledgement types of the various error categories ceeseceseeeeeeeeeeceeeeeeeeeecereeeneeeeecaeseeeseneseneeeeeeeteeeeatess 59 6 3 1 3 Acknowledging error messages via the PLC or HMI u 2unuenneunsessnnnennn
68. E 205 Only for P350 System error of the PC SC_DP_CLOCK_DETECTED 207 Clock cycle signal received for the first time and valid PRM telegram received e _SC_DP_SYNCHRONIZATION_LOST 208 Multiple cycle failure or PLL unlatched in the internal state DP_INTERFACES_SYNCHRONIZED PLL switches into the uncontrolled mode SC_DP_SLAVE_SYNCHRONIZED 209 PLL in the controlled mode latched SC_DP_SLAVE_NOT_SYNCHRONIZED 210 Multiple cycle failure or PLL unlatched in the internal state DP_SLAVE_SYNCHRONIZED PLL remains in the controlled mode e TSI logBaseAdrin DINT Logical basis address if a process or diagnostics alarm was triggered by an input area on the module otherwise _SC_INVALID_ADDRESS 1 e TSl logBaseAdrOut DINT Logical basis address if a process or diagnostics alarm was triggered by an output area on the module otherwise _SC_INVALID_ADDRESS 1 e TSI logDiagAdr DINT Diagnostics address of a DP slave if the alarm was caused by e as a result of the failure of the associated DP slave station _SC_STATION_DISCONNECTED e the associated DP slave station returns _SC_STATION_RECONNECTED e due to an error when transferring the process image _SC_IMAGE_UPDATE_FAILED otherwise SC_INVALID ADDRESS 1 e TSl details DWORD detailed information bit fields contain diagnostics data bytes 0 to 3 of the module The diagnostics data structure can be taken from the Manual on the module This ty
69. E iActivity OF Save unit data set 1 sRetUnitDataSet saveUnitDataSet unitName DataSave id uDataSetNr storageType eStorageType Ipath overwrite boOverwriteDataSet nextCommand IMMEDIATELY uHandlingNr sRetUnitDataSet handle Get number of actual handling boError FALSE Reset error Fig 39 Example for the position of the unit name in the FB Version Date Page Document V3 0 15 11 04 83 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed The FBs start using a positive edge at the input boExecute The current status of the FBs can be read out at the outputs The current processing status of the block can be viewed at the boBusy output boDone indicates if an action has been completed either with or without error boError indicates if an error has occurred This can be specified in more detail using the two last output parameters iErrorlD and eErrorType IErrorlD can have the values 1 2 and 3 1 means that an error has occurred for one of the system functions This can then be read out in the eErrorType parameter 2 means that a time out has occurred This means that the time set in input parameter tTimeOut was exceeded while processing 3 means that the iActivity input parameter was assigned an invalid value 9 1 2 Input and output interface of the FBs When calling the FB the paramete
70. FALSE Resets the FB InBitO IN BOOL P FALSE Input bit InBit1 IN BOOL P FALSE Input bit InBit2 IN BOOL P FALSE Input bit InBit3 IN BOOL P FALSE Input bit Data IN OUT StructDataASi P Data structure to save the Mon diagnostics information Busy OUT BOOL FALSE Status diagnostics OutBitO OUT BOOL FALSE Output bit OutBit1 OUT BOOL FALSE Output bit OutBit2 OUT BOOL FALSE Output bit OutBit3 OUT BOOL FALSE Output bit ErrorK1 OUT BOOL FALSE Status enable circuit 1 ErrorK2 OUT BOOL FALSE Status enable circuit 2 SumK1 OUT USINT 0 Number of tripped devices in enable circuit 1 SumK2 OUT USINT 0 Number of tripped devices in enable circuit 2 ErrorMonitor OUT BYTE 0 Status safety monitor ErrorFB OUT WORD 0 Errors in the block Parameter types IN Input parameters OUT Output parameters IN OUT Throughput parameters Parameter type P Mandatory parameters O Optional parameters Table 30 Input output parameters of the function block FBAsiMonDiag Note For error free block functionality the user must supply all of the mandatory parameters P It is up to the user to decide whether all of the optional parameters O are supplied Version Date Page Document V3 0 15 11 04 User documentation Copyright Siemens AG 2003 All Rights Reserved User_Manual_Simotion_Easy_Basics_V3_0 doc For internal Use Only Simotion Easy Basics reviewed 10 2 3 Schematic LAD represent
71. Fault Determines a help variable as a function of the Yes initiating TO and response to alarms The program is assigned to the TechnologicalFault task FCResetError Resets fault messages that have occurred No Called from the progTechFault program Table 15 Program elements of the alarm handling in the TechFault task Version Date Page Document V3 0 15 11 04 49 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 6 2 Alarm_S technique SIMOTION allows users to configure their own fault error messages and references Using the Alarm_S technique it is possible to initiate this and to make the appropriate displays on the HMI Further the Alarm_S technique allows the user to classify the faults errors and references that he configured into fault error categories He can then individually respond to these in his particular application The technique its sequence and its handling are explained in the following Sections 6 2 1 Assigning categories and acknowledging faults After the user has configured the messages in SCOUT he must assign his alarms and messages to a category and must define the acknowledgment type which is used to acknowledge these categorized faults This assignment or definition is made by appropriately allocating variables in a structure StructAlarms which is set up for each individual fault using an arr
72. L P Ramp time ramp function generator rSamplingTime IN LREAL P Sampling time of the task in which the FB is called IPO or IPO2 ms rTensionSet_RFG OUT LREAL Output tension setpoint 1 Parameter types IN Input parameters OUT Output parameters Parameter type P Mandatory parameters O Optional parameters Table 47 Input output parameters of the function block FB_Setpoint_RFG Version Date V3 0 15 11 04 Page 129 Copyright Siemens AG 2003 All Rights Reserved User_Manual_Simotion_Easy_Basics_V3_0 doc Document User documentation For internal Use Only Simotion Easy Basics reviewed 13 3 7 FB_Inertia Calculating the moment of inertia The moment of inertia has to be calculated in order to operate with widely varying moments of inertia while winding The moment of inertia can be used for the Kp adaptation and the torque pre control For the Kp adaptation the drive is sent a ratio between the actual torque and the maximum torque at the full roll via the Profibus protocol 13 3 7 1 Schematic LAD representation FB_Inertia LREAL rJMotor rinertia LREAL LREAL rJGear rInertiaRatio LREAL LREAL rJCore LREAL rDiameter LREAL rDiameterMax LREAL rWidth LREAL rDensity LREAL rDiameterCore LREAL rGearRatio Fig 64 Schematic representation of the input and output interfaces 13 3 7 2 Input and output interfaces of the FBS When calling the block the pa
73. Line Module can be powered up and powered down using this function block Further faults present at the Active Line Module can be acknowledged In order to use the function block MC_HandleALM it is necessary to configure the Active Line Module in the hardware configuration of Simotion using the standard telegram 370 PZD 1 1 To do this two WORD type variables must be set up in the I O area of Simotion SCOUT one of these as output variable at the address range of the control word and the other as input variable at the address range of the status word The address ranges can be taken from the hardware configuration Example Name VO address Data type ALM_PZD_Send PQW 256 WORD ALM_PZD Receive PIW 256 WORD Table 38 Example for declaring I O The defined I O variables should then be permanently soft wired to the following input and output of the FB Status word of the ALM gt PZDReceive Control word of the ALM gt PZDSend The ALM is powered up and powered down using the input variable ALMEnable The ALM is powered up for a positive signal level This is under the assumption that there is no fault present If there is a fault for a positive signal level the ALM remains powered down off until the fault has been acknowledged refer to the signal flow diagram Fig 1 2 If ALMEnable and ALMQuitError are simultaneously set then initially a fault acknowledgement is executed and then the ALM
74. Linear characteristic 3 Linear interpolation using a table rD_actual IN LREAL O Actual roll diameter m rd_min IN LREAL O Minimum diameter m rd_max IN LREAL O Maximum diameter m rd_StartTaper IN LREAL O Starting diameter m rTaperRatio IN LREAL O Ratio of the tension reduction rSet_Value_in IN LREAL O Tension setpoint reference value for modes 1 2 and 3 aD_Tab IN ARRAY 0 9 of O 0 01 0 02 0 Tabular values diameter LREAL 03 0 04 0 05 0 06 0 07 0 08 0 09 0 1 aSet_Tab IN ARRAY 0 9 of O 30 0 30 0 29 Tabular values setpoint LREAL 0 28 0 27 0 26 0 25 0 25 0 26 0 30 0 Set_Value OUT LREAL Tension setpoint tension reference value for connection to the ramp function generator Parameter types IN Input parameters OUT Output parameters Parameter type P Mandatory parameters O Optional parameters 3 Initialization values from the Win_ Var unit Table 46 Input output parameters of the function block FB_TensionTaper Version V3 0 Date 15 11 04 Page 127 Copyright Siemens AG 2003 All Rights Reserved User_Manual_Simotion_Easy_Basics_V3_0 doc Document User documentation For internal Use Only Simotion Easy Basics reviewed 13 3 6 FB Setpoint_RFG Function block to calculate a ramp function generator to avoid setpoint steps This ramp function generator can be connected after downstream from the winding hardness characteri
75. Manual OM_AutomaticStopped OM_AutomaticStopping OM_AutomaticStarting OM_AutomaticReady OM_AutomaticStandby OM_AutomaticProducing OM_AutomaticHolding OM_AutomaticHeld OM_AutomaticAborting OM_AutomaticAborted g_boOM_EStop BOOL OM_EStop g_boOM _ldle BOOL OM_ldle g_boOM_Manual BOOL OM_Manual g_boOM_AutomaticStopped BOOL _ OM_AutomaticStopped g_boOM_AutomaticStarting BOOL OM AutomaticStarting g_boOM_AutomaticReady BOOL OM_AutomaticReady g_boOM_AutomaticStandby BOOL OM AutomaticStandby g_boOM_AutomaticProducing BOOL OM AutomaticProducing g_boOM_AutomaticStopping BOOL_ OM_AutomaticStopping g_boOM_AutomaticHolding BOOL OM _AutomaticHolding g_boOM_AutomaticHeld BOOL OM _AutomaticHeld g_boOM_AutomaticAborting BOOL OM_AutomaticAborting g_boOM_AutomaticAborted BOOL OM_AutomaticAborted Table 3 List of the values for the status display Version Date Page V3 0 15 11 04 18 Copyright Siemens AG 2003 All Rights Reserved User_Manual_Simotion_Easy_Basics_V3_0 doc Document User documentation For internal Use Only Simotion Easy Basics reviewed 2 2 Implementing and handling the OMAC mode management within the scope of the Simotion Easy Basics 2 2 1 Description of the OMAC mode manager The Omac State Coordinator comprises a program that regulates and handles the coordination of the states and transitions The state change with respect to time is logged in a diagnostics array with an associated time stamp Furthe
76. Must be adapted to the application FBAsiMonDiag Executes the diagnostics of the selected ASI No Safety Monitor Assigned to a background task Table 34 Program elements for the diagnostics of the Safety Monitor Version Date Page Document V3 0 15 11 04 102 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 11 Clock memory The clock memory is a function block that has eight boolean outputs that change their binary state according to permanently set frequencies periodically in the pulse pause ratio mark space ratio of 1 1 11 1 Integration into the application and mode of operation Using the clock memory it is possible to control flashing indicator lights or trigger periodic operations in the user program The function block FBClockMemory is included in the unit ClockMem In turn this is part of the library L SEB The function block must be used in a program that is incorporated in one of the cyclic tasks i e in the IPO IPO_2 or background task It is not necessary to supply the block via input parameters as the flash frequencies are permanently entered Eight different frequencies are automatically available at outputs boQ1 boQ8 These can be used to control periodic processes 11 2 Frequencies The following frequencies are available at the outputs Output
77. NT lt rPID_IntegTime boFBError gt BOOL lt rPID_DerivTime iErrorID gt DINT lt gt rHighLimit2 lt 73 rHighLimit lt rLowLimit1 lt rLowLimit2 Fig 20 LAD representation of the FB_TempCtrl 15 4 Function elements and their integration Source TempCtrl Programming ST language Library Know how protection No Program function Properties function Adaptation to the application required FB_TempCtrl Handling the technological object temperature No channel Call from a cyclic task Table 70 Program elements of the print mark correction Version Date Page Document V3 0 15 11 04 176 User documentation Copyright Siemens AG 2003 All Rights Reserved User_Manual_Simotion_Easy_Basics_V3_0 doc For internal Use Only Simotion Easy Basics reviewed 16 Graphic representation of the position profile of a cam In order to graphically display cams that were generated while a project was running project runtime up until now the only way of doing this was to go online with a computer in which Simotion SCOUT was installed and then read out the cam from the controller The FBGetCamValueForHMI allows position profiles of cams to be displayed on an HMI based system on ProTool Pro 16 1 FBGetCamValueForHMI function block The FBGetCamValueForHMI block contained in the HMICam unit that is a part of the L_SEB library includes the conditi
78. OL into configuration data or system variables using this function block A precise description of the function blocks listed above is provided in the documentation on the PLC Open Function Library 4 Additional function blocks _FB_Axis_jogPos Using this function block it is possible to either continuously closed loop position controlled or incrementally move an axis in the jog mode _FB_Axis_reset This function block sets an axis into a defined initial state A description of these blocks is provided in document 5 3 2 Function elements and their integration Source Programming ST language Library L_AxFunc Know how protection Yes L_SAxis Program function Properties features function Must be adapted to the application Table 6 Program elements of the motion libraries Version Date Page V3 0 15 11 04 28 Copyright Siemens AG 2003 All Rights Reserved User_Manual_Simotion_Easy_Basics_V3_0 doc Document User documentation For internal Use Only Simotion Easy Basics reviewed 4 Print mark correction with dynamic measuring range adaptation Using the FBPrintmarkCorrection block it is possible to measure the actual position of an axis using an external signal measuring probe The measured value is compared with a setpoint If there is a setpoint actual value deviation then this difference is corrected using a superimposed corrective axis motion The block
79. OTION automation system from Siemens using pre configured examples and function modules Siemens authorizes customers to use the software and associated documentation for the applications for which it is intended This authorization is not exclusive cannot be passed on to third parties and cannot be licensed Customers may modify the software and copy it either unchanged or changed and use it in their SIMOTION automation systems The documentation is not a replacement for the product documentation of the SIMOTION automation system Therefore customers may only use the documentation when used together with the software for the SIMOTION automation system with the product documentation of the specified automation system It is especially important that all of the warning and hazard information and instructions in the Operating Instructions of the SIMOTION automation system are carefully observed Rights to claim damages irrespective of the legal grounds in particular due to software errors documentation errors or damages arising from advice consultation shall be excluded unless liability is based on intent or gross negligence breach of obligations or an injury of life body or health or on the assurance of the absence of a defect The above stipulations shall not change the burden of proof to the detriment of the customer German legislation applies under the exclusion of the UN purchasing rights dated 11 04 1980 Erlangen is the place of jurisdict
80. Output value of the temperature controller boAboveUpperLimit2 OUT BOOL Outer upper tolerance exceeded boBelowLowerLimit2 OUT BOOL Outer lower tolerance fallen below eSelfTuningState OUT enumtcontrolleri State of the loop identification routine dentificationmo according to the modified tangent technique difiedtangentme thodstage uErrorState OUT UDINT Feedback signal of the TO system variables actualinputdata state BoError OUT BOOL Fault error display IErrorlD OUT DINT Specific fault error number formed from the return value of the called system function iFirstErrorNumber Parameter types IN input parameters OUT output parameters IN OUT throughput parameters Table 69 Description of the parameters of FB_TempControl Version Date Page Document V3 0 15 11 04 175 Copyright Siemens AG 2003 All Rights Reserved User documentation For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 15 3 2 Schematic LAD representation temperaturControllerType BOOL BOOL DINT LREAL LREAL LREAL LREAL LREAL LREAL LREAL LREAL FB_TempControl toTempCortroller rActualTemp m gt REAL boEnable rOutputValue gt REAL boSelftune boAboveUpperLimit2 BOOL iFirstErrorNumber boBelowLowerLimit2 BOOL lt rTempSetpoint eSelfTuningState gt ENUM lt gt rPID_ Gain uErrorState gt UDI
81. Page Document V3 0 15 11 04 51 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed Stop StartUp Task progAlarmSStartUp Motion Task X FCAlarmSStartUp Background Task progAlarmSBackground gt FCAlarmSRequest FCAlarmSRequest we 1 Autrut a mp FCWriteErrorinFIFO d an is wo Run FCAlarmSRequest Motion Task Y Auitut _FOReadErrorOutOfFIFO FCAlarmSDisplayAlarm ame Ipo Ipo_2 oder Background J N FCAlarmSRequest FR yy progAlarmSActualState op x nw FCAlarmSActCatCycle FCAlarmSStatesBG Aut N Al FCCallSysFuncGetState Fig 25 Principal of operation of the Alarm_S technique 6 2 3 Structure of the Alarm_S technique For the user the Alarm_S technique comprises a function that he uses to initiate the messages that he has configured and three programs which he must include in the task sequence system progAlarmSStartUp progAlarmSBackground progAlarmSActualState FCAlarmSRequest In turn the programs use additional functions which for example are used to enter and retrieve new fault messages in a FIFO buffer These include the fol
82. Period duration s Frequency Hz boQ1 2 0 0 500 boQ2 1 6 0 625 boQ3 1 0 1 000 boQ4 0 8 1 250 boQ5 0 5 2 000 boQ6 0 4 2 500 boQ7 0 2 5 000 boQ8 0 1 10 00 Table 35 Frequencies of the FB FBClockMemory Comment The accuracy of the frequencies is specified by the selected system clock cycles If the FB is for example incorporated in the IPO task and this is defined with a system clock cycle of 4ms then the accuracy with which the frequencies can be generated is 4ms Version Date Page Document V3 0 15 11 04 103 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 11 3 Function elements and their integration Source ClockMem Programming ST language Library L_SEB Know how protection No Program function Feature function Must be adapted to the application FBClockMemory The periodic binary signals are formed No Assigned to a cyclic task Ipo Ipo_2 or background Table 36 Program elements of the clock memory Version Date Page Document V3 0 15 11 04 104 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 12 Controlling the Active Line Module An Active Line Module known as ALM in the following can be powered up or powered down and f
83. RangeEndDerivation2 0 5 6 3 Segment 3 The useful range is a straight line This is the reason that the PROFILE_LINEAR profile type must be used g_sFbAddSegmentToCam cam Kurvenscheibe_1 run TRUE segmentProfile PROFILE_LINEAR leadingRangesStartPoint 200 leadingRangeEndPoint 300 followingRangeStartPoint 150 followingRangeEndPoint 220 The cam can be used in the program after interpolation _interpolateCam cam Kurvenscheibe_1 The cam created can be read back downloaded into SCOUT using a cam editor CamEdit or CamTool Version Date Page Document V3 0 15 11 04 45 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 5 7 Function elements and their integration Source Programming ST language Library L_Cam Know how protection Yes Program function Properties features function Must be adapted to the application _FB_AddSegmentToCam Calculates individual curve segments No The function block is called sequentially Table 14 Program elements to create a cam Version Date Page Document V3 0 15 11 04 46 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 6 Alarm and message handling The following
84. Reset Reset PID controller output rPID_OUT_LIMIT toWindAxis PID_Data rPID_OUT_LIMIT Limits the controller output rpm N_set toWindAxis rN_set Speed setpoint for the drive rpm N_set_Correction toWindAxis rControllerOutput Speed correction value from the position controller rom N_set_Line toWindAxis rN_setWithoutCorrection Material web speed rpm Table 58 Overview of the FB assignment Date 15 11 04 Version V3 0 Page 147 Copyright Siemens AG 2003 All Rights Reserved User_Manual_Simotion_Easy_Basics_V3_0 doc Document User documentation For internal Use Only Simotion Easy Basics reviewed 13 4 9 Converting and the output of values Before the task with the winder functions can be exited the data determined for the torque limiting and if activated also the additive torque and the Kp adaptation must be converted and output After converting from type LREAL to DINT the particular value is written to the variable configured in the I O browser and therefore made available to the drive via Profibus Write Output values Variablenzuweisung IPO_Unw _ 2lxl Formel h Set torque limit Ausdruck DINT_TO_WORD LREAL_TO_DINT toWindAxis rTorqueLimit_Pos 16384 100 o_winder_torquelimit_pos FALSE o_winder_torquelimit_neg DINT_TO_VVORD LREAL_TO_DINT toWVindAxis rTorqueLimit_Neg 1 6384 1 00 additional torque
85. Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 6 3 3 Structure of the bit signaling technique For the user the bit signaling technique comprises a function which is used to initiate the configured messages and three programs that it must integrate into the task sequence system progBitErrorStartUp progBitErrorBackground progBitErrorActualState FCBitErrorRequest In turn the programs use additional functions which are used for example to enter and withdraw new error messages in an FIFO buffer These are FCBitErrorStartUp FCBitErrorSelectBit FCBitErrorActCatCycle FCBitErrorSetBit FCBitErrorDisplayAlarm FCBitErrorStatesBG FCReadErrorOutOfFIFO FCWriteErrorInFIFO The programmer does not have to make any changes in the sources being used neither application dependent nor functional This is the reason that in this documentation a description is only provided on configuring the size of the error and acknowledge range array and integrating the technique into an application 6 3 3 1 Function and integrating the FCBitErrorRequest Within the scope of the bit signaling technique the FCBitErrorRequest function has two distinct functions On one hand this generates a request to display a message and on the other hand it is required to again reset the status of an error It has two input variables boSignal and iErrorNumber Using the boSignal
86. Simotion Easy Basics reviewed Released by Andr Krull Review 06 11 2003 Simotion Easy Basics SEB V3 0 15 11 04 The reproduction transmission or use of this document or its contents is not permitted without express written authority Offenders will be liable for damages All rights including rights created by patent grant or registration or a utility model or design are reserved This document is for internal use only and will not be updated withdrawn when changes are made Type User Documentation Title User Manual Simotion Easy Basics Author Andr Krull RD NRH RHN KOE F Tel 49 0221 576 3020 A amp D B18 Mail Andre Krull siemens com Distribution not distributed x only cover sheet Version Date Page Document V3 0 15 11 04 1 User Documentation Copyright Siemens AG 2003 All Rights Reserved User_Manual_Simotion_Easy_Basics_V3_0 doc For internal use only Simotion Easy Basics reviewed Change Log Version Date Author Change V0 1 04 06 03 Krull First generated V0 2 30 06 03 Fink Further information on OMAC V0 3 04 07 03 Krull Corrects to OMAC incorporated DP slave diagnostics supplemented V0 4 15 07 03 Krull Chapter 2 2 2 5 supplemented V0 5 05 08 03 Krull Alarm_S technique supplemented V0 6 18 08 03 Krull Print mark correction supplemented V0 7 18
87. Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 10 2 7 Runtime of the diagnostics block The FB FBAsiMonDiag requires several cycles for a complete diagnostics sequence While a sequence is being executed Busy TRUE Busy FALSE when the sequence is completed Depending on the state of the Safety Monitor the following number of call cycles are required a 2 calls are required for the monitor state both circuits switched in or configuration mode 2 cycles base load b For all other monitor states the number of calls depends on the number of devices that have been tripped The number of calls can be calculated as follows 2 cycles base load 2 cycles to read in the states of the two enable circuits Yx4cycles Y is the number of devices actually tripped in enable circuit 1 If the number of tripped devices is gt 7 in enable circuit 1 then Y the actual number 1 Zx4cycles Zis the number of devices actually tripped in enable circuit 2 If the number of tripped devices is gt 7 in enable circuit 2 then Z the actual number 1 When a shutdown edge of an enable circuit is detected under certain conditions refer below an additional diagnostics sequence is automatically executed This allows contact bounce effects to be filtered out This can cause the number of calls to be doubled However the Safety Monitor has two enable circuits this may mean that the diagnostics sequence must be exec
88. TC Version Date Page Document V3 0 15 11 04 81 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 9 Handling global unit data Simotion allows users to save download delete etc data sets that they have individually created A data set comprises global variables of a UNIT defined in the INTERFACE area Comment Variables that are declared with VAR_GLOBAL RETAIN are not saved The following activities are available for the data Saving a data set system function _saveUnitDataSet In this case the user can decide whether the data set should be temporarily saved RAM disk or permanently saved for C230 2 on the MMC Further there is an option whether an existing data set may be overwritten or not Loading a data set system function _loadUnitDataSet This function downloads the values of the saved unit variables into the interface section of an ST source Deleting an individual data set system function _deleteUnitDataSet This function deletes an individual data set with the saved values of the unit variables Checking a data set system function _checkExistingUnitDataSet This function checks whether the specified data set with saved values of the unit variables exists on the memory medium Deleting all data sets of a unit system function _deleteAllUnitDataSets This function deletes all data set
89. Task data q Task data Table 27 Structure of the send buffer Note q is the same as the start address of the send buffer Version Date Page Document V3 0 15 11 04 88 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 10 1 4 6 uSendLen UDINT Parameter uSendLen specifies the length of the data to be sent The value may be a maximum of 240 If it is too small then this results in an undesirable command processing This is noticeable in the fact that no parameters are transferred This means that all parameters are equal to 0 However if instead an excessively high value is specified e g A maximum value of 240 this has no negative impact on command processing 10 1 4 7 boDone BOOL The variable boDone provides information as to whether a task has been processed error free If boDone TRUE then the task has been completed and processed without any error For boDone FALSE the task has either still not been completely processed or an error is present 10 1 4 8 boError BOOL Error is set to TRUE if an error has occurred while processing the task If this occurs then a more detailed description of the error is generated in the form of an error code in the variable bStatus refer to 10 1 4 10 A reset is not required after an error A new task can be immediately processed 10 1 4 9 auReceive ARRAY The r
90. The cam synchronous operation in SIMOTION is described in 7 the use of the technology object cam is explained in 8 5 1 Description Cam segments comprise effective ranges and motion transitions Effective ranges are defined by the technological sequence in the machine itself A detailed explanation of the terminology used in the following is provided in the Directive VDI 2143 motion laws for cams 6 Effective range Rest Constant velocity _ Reversal Slave 4 raat Master Motion transition Fig 15 Effective ranges and motion transitions for cams The motion transitions between the effective ranges must fulfill certain limitations e g constant velocity and constant acceleration motion transition This guarantees smooth drive operation e g with low jerk The segments are defined using mathematical functions between the starting and end points e g polynomials Version Date Page Document V3 0 15 11 04 38 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed Limitations secondary conditions Slave End point y a Master and slave position k Velocity Acceleration Yi Starting point Xi Kr Master and slave position Velocity Acceleration Fig 16 Limitations secondary conditions of a segment If the useful ranges change while a machine is operat
91. Tool Pro Version Date Page Document V3 0 15 11 04 158 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 14 2 2 W O coupling 8 inputs and 8 outputs are soft wired to byte 500 C230 2 Byte 66 OnBoard if these inputs outputs are not able to be accessed then the CPU goes into the STOP state according to the IO configuration i_estop_ok P1500 0 1 no Emergency Stop present i_safetyGate_ok PI500 1 not used i_airPressure_ok PI500 2 not used i_axisEnable PI500 3 1 enable axes i_startHoming P1500 4 1 start homing referencing i_startAuto P1500 5 1 start automatic sequence i_stop P1500 6 1 stop axis in manual or stop in automatic i_safetySwitch PI500 7 not used q_simotionReady_1 PQ500 0 q_simotionReady_2 PQ500 1 close Emergency Stop circuit 1 1 close Emergency Stop circuit 2 q_homingActive PQ500 2 1 homing referencing is active q_withHandling PQ500 3 1 minimum 1 axis is in closed loop position control q_alarmRed PQ500 4 1 fault present e g a limit switch is actuated q_alarmYellow PQ500 5 1 alarm is present e g an axis is not referenced q_userMessage PQ500 6 not used q_autoActive PQ500 7 automatic mode is active From byte 501 onwards for each nibble corresponding to ET200S modules 3 bits one axis are connected for positive and negative hardware
92. V3 0 15 11 04 115 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 13 3 1 1 Schematic LAD representation FB_Control_ WithSpeedSetpointChange LREAL rV_set N_set LREAL LREAL rD_actual N_set_Correction LREAL USINT uWindingMode LREAL rSamplingTime LREAL rControlled_Value_set LREAL rControlled_Value_actual_Filtered LREAL rPID_P DINT iPID_ DINT iPIP_D DINT iPID_DelayTime BOOL boPID_D_ Set BOOL boPID_ Reset REAL rPID_OUT_LIMIT Fig 53 Schematic representation of the input and output interfaces Version Date Page V3 0 15 11 04 116 Copyright Siemens AG 2003 All Rights Reserved User_Manual_Simotion_Easy_Basics_V3_0 doc N_set Line LREAL Document User documentation For internal Use Only Simotion Easy Basics reviewed 13 3 1 2 Input and output interfaces of the FBs When calling the block the parameters specified in the following Table can be supplied Name P type Data type P O Initialization value Significance rV_set IN LREAL P Master material web speed m min D_actual IN LREAL P Actual roll diameter m uWindingMode IN USINT P Winder mode 10 Winder from the top 11 Winder from the bottom 20 Unwinder from the top 21 Unwinder from the bottom 30 Only speed pre control from the top 31 Only speed
93. _0 doc Simotion Easy Basics reviewed 5ystemtakte xl r Taktverh ltnisse DP Zyklus Lageregler T akt Interpolator T akte Masterapplik ations Zyklus f Positionshochlaufgeber T akte E z J Ipo 3 v 6 ms Ipo_2 4 v 24 ms r TControl Lageregler T akt Masterapplikations Zyklus IV Systemtasks f r TControl verwenden fi z 2 ms Gew nschter Verwendete Zeit Fe un om aooms I 40ms Oms input 200 ms z Control 4 v 800 ms pt2 20 ST 800ms 20 800 ms pt2 720 sooms eontroi 10 8000 ms r Netzeinstellungen PCI Integrated Fauidistanter Buszyklus aktiviert Aquidistanter DP Zyklus J 2 000 ms OK Abbrechen Hilfe Fig 19 System clock cycles for the closed loop temperature control Two speed classes are available starting from the required pulse width modulation PWM The speed class defines which time grid is used as basis for the controller cycle time The speed class is set using the configuration data controller execution executionlevel Speed class Assignment FAST T1 Input1 reads the actual values Control1 controller cycle SLOW T2 Input 2 reads the actual values Control 2 ler cycle Table 66 Assignment of the speed classes These times define the cyclic task start times system grid for the pulse width modulation controller and actual value processing In order to distribute the system load when a hi
94. _Tuned IN LREAL O Set gain PID_P IN OUT LREAL Gain PID controller Parameter types IN Input parameters OUT Output parameters Parameter type P Mandatory parameters O Optional parameters 3 Initialization values from the Win_Var unit Table 44 Input output parameters of the function block FB_GainAdapter Version Date Page Document V3 0 15 11 04 121 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 13 3 4 FB_DiameterCalculator Function block to calculate the roll diameter There are different techniques to determine the roll diameter 0 Using a sensor The analog signal of a sensor transfers the roll diameter to the drive or directly to the control Generally the sensor must be calibrated 1 Using the ratio between the actual speed and circumferential velocity In this mode during the acceleration and deceleration phases the diameter calculation is not reliable Further the diameter calculation is only enabled above a specific minimum speed The minimum speed is specified as the ratio to the rated speed with iStart_Calc_Ratio as a 2 By incrementally adding the material thickness for the specified speed The results obtained using this mode are extremely accurate when the precise material thickness is known the winding hardness does not influence the mate
95. al This block cascading can be realized up to a total of 10 cascaded blocks Comment The axis position is always synchronously checked a change is not made to the next block as long as the check result is incorrect the next block is only selected if the result of the check is true This can be used for example to bypass a protective zone using several axes The automatic mode can be started in any block number If the automatic mode is stopped and again continued then when the sequence is continued the input condition is not re checked If the sequence runs to an empty block with no assigned function then it is exited Runtime 6 0 SP2 Ei i 10 x erster Satz letzter Satz Leerzeile einf gen Aus Eing Funktion ws Wartezeit Zeitwert ms 10000 Ee 0 Absolut x Position 500 000 Geschwindigkeit x 0 0 Position gt x Position 501 000 wertezen m 0 wor 0 Absolut x Position 500 000 Geschwindigkeit oo aktuelles Programm jonline 14 06 2004 07 47 31 Ausg Wei Position Kommentar Datei verwaltung Block kopieren Block einf gen Blockinhalt l schen Programm laden Fig 82 Screen to edit traversing blocks Version Date Page Document V3 0 15 11 04 161 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy B
96. alculated WebThickness Sr D_min 2 _ D_hold Rev number xls bel for Reset A y Pi jli gt 3 Nact p ia Fine interpolator SamplingTime V_Master_set gt Fig 57 Principle mode of operation of the diameter calculation 13 3 4 1 Schematic LAD representation FB DiameterCalculator LREAL rV_actual rD_calculated LREAL LREAL rN_actual LREAL rD_sensor LREAL rD_min LREAL rD_max UINT uCalcMode BOOL boD_ Reset LREAL rD_Init LREAL rWebThickness LREAL rSamplingTime INT iRevolNumber LREAL rD_calculated BOOL boD_hold LREAL rN_n INT iStart_Calc_Ratio Fig 58 Schematic representation of the input and output interfaces Version Date Page Document V3 0 15 11 04 123 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 13 3 4 2 Input and output interfaces of the FBs When calling the block the parameters specified in the following Table can be supplied Name P type Data type P O Initializa Significance tion value rV_actual IN LREAL P Actual speed of the master material web m min rN_actual IN LREAL P Actual speed of rotation of the winder rpm rD_sensor IN LREAL O Diameter measured by the sensor m rD_min IN LREAL P Minimum diameter m rD_max IN LREAL P Maximum diameter m uCalcMode IN UINT P 0
97. alibrated on the Simotion device The block can either be called cyclically or also in a sequential task 8 2 3 Function elements and their integration Source DateTime Programming ST language Library L_SEB Know how protection No Program function Feature function Must be adapted to the application FBSyncHMIToSimotion The system time and date of an HMI is No synchronized to a Simotion platform The call can either be done sequentially or in the form of a cyclic task Table 22 Program elements to synchronize the system time of the HMI Version Date Page Document V3 0 15 11 04 78 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 8 3 Synchronizing the real time clock between several controllers If several Simotion controllers are coupled with one another via Profibus then it makes sense to ensure that the system times and the data are permanently synchronized with one another This can be implemented using the two function blocks FBSyncSimotionMaster and FBSyncSimotionSlave 8 3 1 Mode of operation The controllers are synchronized with one another using the two FBs FBSyncSimotionMaster and FBSyncSimotionSlave One of these FBs is used on the master and the other on the slave controller 8 3 1 1 FBSyncSimotionMaster The function block FBSyncSimotionMaster is used on the master con
98. amType rMaxSlaveValue REAL aSlaveCamValue lt gt aSlaveValues rMinMasterValue gt REAL rMaxMasterValue gt REAL Fig 26 LAD representation of the FBGetCamValueForHMI 16 6 Function elements and their integration Source HMICam Programming ST language Library L_SEB Know how protection No Program function Property function Adaptation to the application required FBGetCamValueForHMI Determining the values for the display of the No cam profile Called from a sequential task Table 72 Program elements of the print mark correction Version Date Page Document V3 0 15 11 04 180 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 17 Literature 1 2 3 4 5 6 7 8 9 10 11 Version V3 0 Machine Modes Definition Document Version 0 3 31st December 2002 OMAC Packaging Workgroup PackMLTM Subteam Machine Modes Technical Subteam TST http www omac org wgs GMC Machine Modes Definition Document VO 3b pdf Guidelines for Packaging Machinery Automation Version 2 0 24th April 2002 OMAC Packaging Workgroup http www omac org wgs GMC Deliverables GuidelinesV2 03 pdf Guidelines for Packaging Machinery Automation Version 3 0 22nd October 2004 Attachment IID OMAC Packaging Workgroup http
99. an be acknowledged using a positive signal edge at inout ALMQuitError If the status of input ALMOn is not reset to FALSE before an acknowledgement the ALM is immediately powered up after the acknowledgement Version Date Page Document V3 0 15 11 04 107 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 12 7 Function elements and their integration Source ALMOnOff Programming ST language Library L_SEB Know how protection No Program function Feature function Must be adapted to the application MC_HandleALM FB to control and acknowledge the Active Line No Module Assigned to a cyclic task Ipo Ipo_2 or background Table 39 Program elements to control the ALM Version Date Page Document V3 0 15 11 04 108 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 13 Standard winder application It is possible to implement closed loop tension control for continuous material webs using blocks from the L_Winder library This application covers the following functionality Direct closed loop tension control using speed correction and a dancer roll Direct closed loop tension control using speed correction and a tension transducer Direct closed loop tension control using t
100. an be entered in the field activation time of the activated range at the measuring probe This is the time by which the command is brought forward that activates the measured value memory at the drive In order to calculate the time there is a tool that is provided when Simotion SCOUT is supplied on the CD Utilities Addition free of charge in the folder 4_ TOOLS MEASURING_INPUT_CALCULATIONY This determines depending on the system clock cycles and the properties of the measuring probe in the project the resulting deadtime by which the measuring range must be activated in advance If the Config data is used when calling the FBPrintmarkCorrection the input parameter eDriveType may not be changed It is pre assigned the value eMeasTot_System This means that within the block the measuring range update implemented in the application is not run through Version Date Page Document V3 0 15 11 04 30 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 4 1 2 2 Measuring range adaptation in the application to V3 0 The interdependencies when calculating the deadtime compensation in the application are obtained from the type of drive connected and the actual velocity of the appropriate axis Drives that are presently supported Masterdrive MC Simodrive 611U analog drives connected at the onboard interfa
101. asics reviewed 14 2 5 Calling the basic positioning function FB_EPosCma Refer to the EposProg program In order to enable an axis a value of 1 is required at the input parameter emergencyStop The axis is enabled at the input parameter enableAxes A value of 1 corresponds to an enable signal for all of the configured axes a value of 0 withdraws all of the axis enable signals taking into account a possible motor brake brake sequence control Controller enable immediately withdrawn and the power is withdrawn with a time delay Input parameters are available for slow fast jogging forwards reverse With the rising edge the axis starts refer to OPAxis in the appropriate direction and with the falling edge the axis stops again The configured homing referencing operation is started using a rising edge at startReferencing Manual positioning to an absolute position according to the value in OpmanualPosition with velocity OpmanualVelocity o of Vmax is started with a rising edge at startManualPos Automatic operation can be started from block OpstartDatasetNumber with a rising edge at startAuto If the automatic sequence was stopped and the axes were subsequently not manually moved then the sequence can be continued at the interruption point using a rising edge at continueAuto comment The input condition is not re checked at the active block If the axes were manually moved then a homing travel is required
102. assigned the new state Example A state function is used for the AUTOMATIC_READY state that is cyclically called from the OmacMain program If the state is not to be changed then the function is cyclically assigned the current state gt FCAutomaticReady OM_AutomaticReady If the state should change to AUTOMATIC_STANDBY the function is assigned the new state gt FCAutomaticReady OM_AutomaticStandby The actual state change itself is initiated after the state function is called by assigning the return value to the variable g eNewState gt g_eNewState FCAutomaticReady Version Date Page Document V3 0 15 11 04 22 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 2 2 4 2 Using motion tasks Another possibility is to use motion tasks These can also be generated using any programming language The user can generate sequential program runs in the motion tasks When incorporating these in the CASE structure it must be ensured that the motion task is also always cyclically started by the cyclic run of the CASE structure This can for example be interlocked by using global variables CASE el OM_Automatics Operation mode Automatic Starting Set boolean variables for actual state 333 g_boom_estop FALSER IF g_boEmergencyStop FALSE IF NOT g_boMT_Automatic 133 TRUE
103. atic LAD representation FBHandleUnitData BOOL boExecute boBusy BOOL INT iActivity boDone BOOL UDINT uDataSetNr boError BOOL Enum eStorageType iErrorlD INT BOOL boOverwriteDataSet eErrorType Enum TIME tTimeOut Fig 40 Schematic representation of the input and output interface 9 1 4 Function elements and integration Source UnitData Programming ST language Library L_SEB Know how protection No Program function Feature function Must be adapted to the application FBHandleUnitData Handling global unit data Yes Integration into a cyclic task recommendation Background task Table 25 Program elements for handling unit data Version Date Page Document V3 0 15 11 04 85 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 10 Functions for ASI modules Function blocks for using ASI modules are described in the following Chapters 10 1 Function block for ASI couplers This block is intended to help SIMOTION and ASI Link users when configuring and evaluating the ASI Link and additional ASI bus nodes This function block is used as communications interface between ASI Link and SIMOTION and sends the specified command numbers to the connected ASI Link The system then waits for the command to be processed and the response data is evaluated that if required are written into an outpu
104. ation FBAsiMonDiag BOOL Enable Busy BOOL BOOL InBitO OutBitO BOOL BOOL InBit1 OutBit1 BOOL BOOL InBit2 OutBit2 BOOL BOOL InBit3 OutBit3 BOOL ErrorK1 BOOL ErrorK2 BOOL SumK1 USINT SumK2 USINT ErrorMonitor BYTE ErrorFB WORD StructData Data StructData Fig 12 Schematic representation of the input and output interface 10 2 4 Input parameters The input parameters are individually described in the following 10 2 4 1 Enable BOOL If the Enable parameter TRUE then diagnostics data is continually read out of the monitor For Enable FALSE FBAsiMonDiag is initialized This means that internal data of the FB is set to initial values Diagnostics data is no longer transferred and diagnostics data that is already saved is not changed Enable FALSE is e g only practical after powering up the SIMOTION device and after communications have been interrupted Comment If the variable continually changes between TRUE and FALSE this prevents diagnostics data being correctly transferred 10 2 4 2 InBito InBit1 InBit2 InBit3 BOOL These parameters are interlocked with the AS i input bits of the AS i Safety Monitor Version Date Page Document V3 0 15 11 04 94 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 10 2 5 Output parameters The output parameters are individually described in the foll
105. aults acknowledged using the function block MC_HandleALM 12 1 Calling type The function block MC_ HandleALM has been designed programmed to be integrated incorporated into cyclic tasks and should be called in one of these tasks background IPO or IPO_2 task 12 2 Parameter MC_HandleALM Name P Data type P O Initialization value Significance type 2 1 ALMEnable IN BOOL P FALSE Powers up powers down ALM TRUE power up FALSE power down ALMQuitError IN BOOL P FALSE Acknowledges a fault with a pos edge at the ALM PZDReceive IN WORD P 16 0000 Status word of the ALM ALMOn OUT BOOL Operating state of the ALM ALMError OUT BOOL Fault state of the ALM PZDSend OUT WORD Control word of the ALM Table 37 Parameters of the MC_HandleALM 1 Parameter types IN Input parameters OUT Output parameters 2 P Mandatory parameters O Optional parameters Note The user must supply all mandatory parameters P Version Date Page Document V3 0 15 11 04 105 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 12 3 Schematic LAD representation MC_HandleALM BOOL ALMEnable ALMOn BOOL BOOL ALMQuitError ALMError BOOL WORD PZDReceive PZDSend WORD Fig 15 LAD representation of the MC_HandleALM 12 4 Function description An Active
106. ay having the type of this structure 6 2 1 1 Fault categories There are a total of six different categories available to classify the various alarms A B C D E and NotDef as default The category is assigned in the StructAlarms structure in the eCategory element This element is an enum with the following values NotDef Category_A Category_B Category_C Category_D and Category_E If an alarm having a specific category is initiated in the application then a so called global category signal is set Example If a Category B type fault occurs then a global category signal is set g_sActCatStateAlarmS boB A response can be made to this variable in the application The programmer is responsible in defining how the system responds to the individual category signal It is also possible to individually respond to single alarms without any prior categorization In this case the category must be assigned NotDef If a fault belonging to this Category occurs then a global category signal is not set The global category signal is acknowledged and reset depending on the selected acknowledgement type refer to the next Section Version Date Page Document V3 0 15 11 04 50 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 6 2 1 2 Acknowledgement types of the fault categories The acknowledgement type is decisive when re
107. been defined with the acknowledge type error In order that the category signal is reset in this case it is sufficient if the error disappears in the application gt fehler2 error2 FALSE However the message on the HMI remains until it is acknowledged by the operator This means that the operator certainly knows that this error had occurred q sActCatStateAlarmS boC The message initiating error 3 is assigned None Contrary to the two other errors this means that the system function _alarms is used and not _alarmSq This also means that the generated message does not have to be acknowledged If the error is no longer present in the application the category signal is again reset and the message on the HMI automatically disappears Version Date Page Document V3 0 15 11 04 56 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 6 2 6 Function elements and their integration Source AlarmS Programming ST language Library Know how protection No Program function Properties features function Must be adapted to the application progAlarmSStartup Initializes all data Yes Integrated in the StartUp task progAlarmSBackground Checks the states of the errors and messages No Integrated in the background task progAlarmSActualState Forms the global category signals No Integrated in
108. c For internal Use Only Simotion Easy Basics reviewed 4 5 Function elements and their integration Source MeasCor Programming ST language library Know how protection No Program function Properties features function Must be adapted to the application progMeasCorStartup Calculates the drive response times No Assigned to the startup task FBPrintmarkCorrection The print marks are measured the difference No determined and the correction made Called in cyclic tasks Table 9 Program elements of the print mark correction Version Date Page Document V3 0 15 11 04 37 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 5 Generating cams using the _FB_AddSegmentToCam In SIMOTION cam can be generated in two ways e While configuring the system using a cam editor CamEdit or CamTool 9 e During the runtime using the system functions _addPointToCam _addPolynomialSegmentToCam or _addSegmentToCam The function block _FB_AddSegmentToCam inserts a segment of a cam Cam technology object during the runtime Contrary to the _addSegmentToCam system function the polynomial coefficients to not have to be specified The new segment can be adapted to the limitations e g position and velocity of the previous and subsequent segment in order to achieve a smooth motion transition
109. ce The dynamic adaptation comprises a program progMeasCorStartup that is included in the StartUp task and a calculation This calculation is implemented in the function block FBPrintmarkCorrection Three response times for all of the drives supported in the program are calculated that depend on the system clock cycles that have been set The time level in which the associated measuring probe is calculated servo IPO or IPO2 defines which of the three response times is used when calculating the measuring range shift offset These times are saved in three global structures g_sReactTimeMDMC response times for Masterdrive MC g_sReactTime611U response times for Simodrive 611U g_sReactTimeOnbrd response times for analog drives The dynamic adaptation of the measuring range is calculated in the FBPrintmarkCorrection function block The value by which the range is shifted depends on the velocity of the axis for which the measurement was made and the appropriate response time Formula Measuring range shift response time actual velocity Comment Only the initial measuring range value is shifted in order that the measured value memory in the drive is activated in time It is not permissible to shift the end of the measuring range as there can be configurations where the measuring range is shifted so far forwards that correct measurements would be interrupted with an error signal Version Date Page Document V3 0 15 11 04 31 Us
110. ce is configured in the standard using the Ethernet coupling to the control In order that the operator interface can run without being connected to the control the PG PC interface must also be connected to Ethernet TCP IP otherwise the script errors contained will be output The file settings txt must be copied to C in order to commission the operator interface This file contains global settings e g the path to the axis data and programs In the standard these refer to paths in C Siemens Please copy the contents of the Siemens directory in the software that has been supplied to C Siemens The active axis in the manual mode is selected in the variables Opaxis in EPosLib If a manual function is still active e g jog forwards then the axis cannot be changed the axis may only be changed after the function has been exited stopped Active functions are visualized using a knob button with a green background e g OPjogForwardSlow 1 results in OPjogForwardSlowActive 1 and is displayed in the operator interface with a green background OPoverride acts both on the speed as well as on the acceleration deceleration The axis values actual position actual speed referenced yes no motor current and motor temperature are available in the variables OPaxesActualPosition OPaxesActualVelocity OPaxesHomed OPaxesActualCurrent and OPaxesActualTemperature Axis data is directly changed in Retain_V gAxisDataArray 0 MAX_NUMBER_OF_AXES
111. ces are described in detail in the following documentation Changes and revisions to the standard functions going beyond this should only be made in exceptional cases as such a procedure is not part of our strategy when it comes to the level of standardization that we are trying to achieve The Simotion Easy Basics includes in Version 3 0 the following functions mode management in compliance with the OMAC model motion library print mark correction with dynamic measuring range adaptation cam generation during the runtime alarm and message handling system message handling in the TechFault task Alarms_S technique bit message technique DP Slave diagnostics Function blocks for system date and time Setting the system time via HMI Synchronizing the system time of the HMI on the controller Synchronizing several Simotion platforms Handling global units data Function blocks for ASI modules ASI Link ASI Safety Monitor Clock memory FB to control an Active Line Module Standard Winder function Standard Basic positioning function FB to handle the technology object temperature channel FB to visualize the position profile of a cam These functions will be described in more detail in the following text regarding their application and handling Version Date Page Document V3 0 15 11 04 9 User Documentation Copyright Siemens AG 2003 All Rights Reserved For internal use only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Ba
112. ch the FB is called IPO or IPO2 ms rTensionSet_RFG ToWindAxis rControlled_Value_Set_RF Output tension setpoint G Table 55 Overview of the FB assignment Version Date Page Document V3 0 15 11 04 142 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 13 4 7 Adaptation of the controller gain In order to modify the controller gain of the tension controller as a function of the roll diameter FB_GainAdapter is used Parameter FB Gain Assigned with variable Description Adapter uAdaptionMode toWindAxis GainAdaptionData uGainAdaptio Mode nMode 0 No adaptation 1 Linear adaptation with table 2 Inverse adaptation rD_actual toWindAxis DiameterCalculationData rDiamet Actual diameter of the roll er_Calculated m rD_StartAdaption toWindAxis GainAdaptionData rD_StartAdapt ion Starting value diameter rD_EndAdaption WinderAxis GainAdaptionData rD_endAdapti on Final value diameter rGain_StartAdaption WinderAxis GainAdaptionData rGain_StartAd Starting value gain aption rGain_EndAdaption toWindAxis GainAdaptionData rGain_End_A Final value gain daption rd_Tuned toWindAxis GainAdaptionData rD_Tuned Set diameter rGain_Tuned toWindAxis GainAdaptionData rGain_Tuned Set gain PID _P toWindAxis PID_Data rPID_P Gain PID control
113. ct on the overall function of the application Pa OM_AutomaticS Operation mode Automatic Starting Set boolean variables for actual 33 g_boom_estop FALSEo state e Variable g_eNewState OM_Auiw assignment H Fig 6 Assigning variables in the AUTOMATIC_STARTING state Example 2 The HOLDING and HELD states are not required In this case the states aren t even called by FCSelectState function in the first place This means that the state model can remain unchanged but it also not fully used Version Date Page Document V3 0 15 11 04 24 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 2 2 5 Operating data in compliance with OMAC The OMAC mode manager provides operating data defined by the OMAC Tag Naming Guidelines and contains current states as well as operating hour counters An overview of the variables and their significance are provided in the following table Variable name Data type Retain Significance PML_Cur_Mode BYTE No Actual mode 0 not defined 1 automatic 2 semi automatic not supported 3 manual 4 idle PML_Mode_Time TIME No Operating time of the actual mode PML_Cur_State BYTE No Actual state 0 not defined 1 off not automatic 2 stopped 3 starting 4 ready 5 standby 6 producing 7 stopping
114. cted AsiMon unit that in addition to the FB also defines the data type StructDataAsimon A variable is set up from the data type that is assigned to the in out parameter Data of FB Diagnostics data that is received from the Safety Monitor is saved in the variable The index i ndex status iStatus monitor status bStateMonitor channel status abStateChannel and the number of tripped devices abQuantity are managed here The following data are included in this block Datentyp foresee pve Fostetemontor eyte i 1 abstatechannel 2 abquantity abquantity 1 abquantity 2 aachanel aachanel 1 structdevice abdevice Array abdevice 32 structindexstatus ae _HoJabdevicef34 structindexstatus I Findex ust state SINT I H Tabdevicef35 USINT USINT structindexstatus structindexstatus structindexstatus structindexstatus structindexstatus structindexstatus abdevice 36 abdevice 37 abdevice 33 abdevice 39 abdevice 40 abdevicel41 N N ak ab fad fak fas fas fad fak jak fa 1 k pa ojojoj ejojn 30 Fig 13 Data structure Version Date Page V3 0 15 11 04 97 Copyright Siemens AG 2003 All Rights Reserved Reserved may not be changed The monitor status is displayed here Status of enable circuit 1 Status of enable circui
115. dependent on the machine The machine goes into the STOPPED state through STOPPING when the Stop command is issued This corresponds to a standard desired machine stop In this case Prepare can again be selected If a changeover is made to AUTOMATIC from MANUAL then in the starting state a check is made as to whether all conditions are available for the machine to change into the AUTOMATIC state If yes axes manually honed heating switched in manually and ready the machine goes into the ready state If not then it goes back STOPPED Version Date Page Document V3 0 15 11 04 15 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed ABORTING is a non standard state This can occur e g as a result of a machine fault that can occur in every state The associated logic programmed by the user brings the machine into a fast controlled safe stop After the axes have come to a standstill the machine goes into the ABORTED state Here the user should can evaluate save all of the relevant information from a program related perspective that caused the abort The machine goes into the STOPPED state when a stop command is issued In the AUTOMATIC mode an EMERGENCY STOP always result in the machine changing into the ABORTING state If a change is made from there into the ABORTED state then in this state an immed
116. diametercalculator zi Instance my_DiamCale WAR_INPUT PR rn_actual VAR_INPUT LREAL toWindAxis rN_actual_Filtered rd_sensor VAR_INPUT LREAL toWindAxis rDiameter_Fittered rd_min VAR_INPUT LREAL Diameter_min rd_max VAR_INPUT LREAL Diameter_max ucalcemode VAR_INPUT USINT toWindAxis DiameterCalculstionData uDiameterCalculationMo de 7 bod_reset YAR_INPUT BOOL toWindAxis DiameterCalculationData boD_Reset Cancel Accept Help Fig 69 Calling the function block FB_DiameterCalculator Version Date Page Document V3 0 15 11 04 135 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed The assignment of the FB parameters is documented in Table 50 The parameters in bold highlighted must still be assigned or their initialization values must be checked Parameter FB diameter Assigned variable Description calculation rv_actual g_rV_Master_set Actual speed of the master m min rn_actual toWindAxis rN_actual_ Filtered Speed of the winder shaft rom rd_sensor toWindAxis rDiameter_Filtered Diameter sensor m rd_min Diameter_min Minimum diameter of the roll rd_max Diameter_max Maximum diameter of the roll uCalcMode toWindAxis DiameterCalculation Calculation mode Data uDiameterCalculationMode boD_reset toWindAxis DiameterCalculation Set initial value
117. e 21 Program elements to set the system time Version Date Page Document V3 0 15 11 04 76 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 8 2 Synchronizing the date and time of the HMI on the controller The FB FBSyncHMIToSimotion allows users to automatically synchronize the HMI system time and date to the Simotion platform 8 2 1 Mode of operation The system time and the date of a Simotion platform is transferred to the HMI using a so called task slot of ProTool Pro This provides a method of executing various tasks The time and the date are transferred consecutively one after the other as simultaneous transfer is not possible The data on the Simotion side still have to be specially conditioned in order to be able to correctly use the task slot A precise description of the task slot and the assignment is provided in 14 When the FB is called initially the actual value of the real time clock RTC is read out The data to be transferred to the HMI is conditioned as follows from this value 1 The time is determined from the value of the RTC by converting the data type 2 Individual values for hours minutes and seconds are calculated from the time value 3 These individual values are then conditioned binary coded using bit string functions and written into the task slot 4 Finally the appropriate task
118. e Document V3 0 15 11 04 165 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed State values Actual position referenced v x x x current temperature Ref Pos Move active acc const dec phase active residual distance target position Fault error messages x x x Setpoint actual value inversion x Number of axes 1 1 12 No encoder changeover x x x No engineering system required for x x x service troubleshooting Brake handling suspended vertical axes x x x Control signals Start homing block operation x x x block selection jog cancel With without DSC x With without pre control x x x Bits to control the traversing block number x 6 bits x 6 bits x 7 bits Table 62 Comparison of the functions Version Date Page Document V3 0 15 11 04 166 User documentation Copyright Siemens AG 2003 All Rights Reserved User_Manual_Simotion_Easy_Basics_V3_0 doc For internal Use Only Simotion Easy Basics reviewed 14 4 Function elements and their integration Source Dummy_V Programming ST language Library Know how protection No Program function Feature function Must be adapted to the application Declares help variables Yes Source EPosLib Programming ST la
119. e MC_MoveAdditive function block MC_MoveSuperlmposed You can relatively superimpose a new motion on an axis positioning and synchronous axis that is already moving using the MC_MoveSuperlmposed function block MC_VelocityProfile You can move an axis positioning synchronous and closed loop speed controlled axis with a previously defined velocity time profile cam using the MC_VelocityProfile function block MC_ReadActualPosition You can read the actual axis positioning positioning and synchronous axis using the MC_ReadActualPosition function block MC_ReadStatus The status of an axis positioning synchronous and closed loop speed controlled axis can be read using the MC_ReadStatus function block MC_ReadParameter You can read the important axis parameters data type LREAD using the MC_ReadParameter function block MC_ReadBoolParameter You can read important axis parameters data type BOOL from the configuration data or system variables using the MC_ReadBoolParameter function block MC_WriteParameter You can write important axis parameters data type LREAL from the configuration data or system variables using this function block Version Date Page Document V3 0 15 11 04 27 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed MC_WriteBoolParameter You can write important axis parameters data type BO
120. e OMAC mode manager 2 2 3 1 OmaeVarunit 2 0 a messen 2 2 3 2 OmacsStUp unit 2 2 3 3 OmacMain unit 2 2 4 Incorporating state functions motion task uu 22244444nnennnnennnnnnnnnnnnnnnnennnnnnnnnnnnn nenn nnnnn nen 2 2 4 1 Usinig State functions sareen aeneus erekere onii Rinne sea duacwastevsnetiesuesissh dull 2 2 4 2 Using motion tasks 2 2 4 3 States without any function 2 2 5 Operating data in compliance with OMAC 2 2 6 Function elements and their integration uusrs4uersnnnnnnnnnnnnnnnnnnn nennen nnnn nennen nenn nenne 3 Motion library 3 1 Function blocks 3 2 Function elements and their integration 4 Print mark correction with dynamic measuring range adaptation 4 1 Function description nuuuuur0nennunnnnnnnnnnnnunnnnnnannunnnnnnnnennnunnnnnnnnnunnnnnnnnnnnnunnnnnnnnnnnnunnnnnnnn 4 1 1 Print mark correction 4 1 2 Dynamic measuring range adaptation 4 1 2 1 Automatic measuring range adaptation from V3 1 1 onwards 4 1 2 2 Measuring range adaptation in the application to V3 0 4 2 Input and output interface 4 3 Signal timing diagram dad 4 4 Error description uneessseneennennnnnnennnnnnnnnn 4 5 Function elements and their integration nnssensenunsnnannannunnnnnennennnnnnnnnnunnunnnnnnnnnnnnnnnnnn 5 Generating cams using the _FB_AddSegmentToCanm unssuussnnsnnnnnnnnnnnnnnnn 5 1 Description nuene
121. e influenced The SIMOTION control on the other hand reads in the position of the dancer roll When the dancer roll moves towards too little tension the unwinder must operate slower or the winder faster This ensures that the dancer roll is always operated in the required operating range and is not pressed against the endstop Generally the position controller is a P controller with D component Under certain circumstances the controller can be implemented as PID controller however as a result of several integral components in the system this could cause the system to oscillate The resulting material web speed setpoint is converted into a speed setpoint with the actual diameter Version Date Page Document V3 0 15 11 04 110 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed A controller gain can be adapted in order to adapt the controller to the different roll diameters gain adapter The winding hardness can be influenced during winding using a winding hardness characteristic This characteristic can for example be provided as a setpoint at an analog output that determines the counter opposing pressure of the dancer roll this is generally a pneumatic system A downstream ramp function generator prevents setpoint steps in the system The inertia of the roll can be calculated that influences the torque pre control
122. e number of errors is always a multiple of 16 This is necessary as the area pointer can only access WORD arrays The constant in which the value is entered is called NUMBER_OF_WORDS Example 35 errors are to be configured In order to realize this it would be necessary to set up a 3 word error array All of the necessary arrays are automatically assigned the correct size by setting the NUMBER_OF_WORDS constant to the value 3 The g_abSetBitError array is set up with a size of 6 words As has already been described the first halves are used to display the error and the second halves to acknowledge messages via the PLC The g_abAckBitError array is set up with 3 words for the acknowledge feedback signal from the HMI Define the alarm attributes in the progBitErrorStartup program in the BitError unit The attributes are defined using the declaration of two enum variables in an array with the StructBitError structure type The array index is the same as the error message number On one hand the category to which the error should belong is defined and on the other hand the mode to acknowledge the category signal Example An error error number 5 should belong to error category C In order to reset the category signal the actual error in the application should disappear and the associated message should be acknowledged on the HMI g_asBitError 5 eCategory Category_C g_asBitError 5 eModeAcknowledge ErrorHMI Updating the links
123. e o_winder_add_torque is in the I O browser already connected to Profibus and can be used Version Date Page Document V3 0 15 11 04 138 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed For operation with torque limiting the supplementary torque is added to the positive and negative torque limit at P493 and P499 in the VC The return value of function fc_pre_control must therefore be added to the outputs of the FB_Control_WithTorqueLimitation TorqueLimit_Pos and Torque Limit_Neg The variables o_winder_torquelimit_pos and o_winder_torquelimit_neg are available for this purpose and appropriately configured on Profibus en F Assigned variable Description raccelmaster Master motionstatedata command Acceleration of the master m s acceleration rinertia toWindAxis rlnertia Moment of inertia roll kg m rdiameter toWindAxis DiameterCalculationData Roll diameter m rDiameter_Calculated rnominaltorque Rated motor torque Nm FC_Pre_Control Setpoint torque pre control Table 53 Overview of the FB assignment The acceleration rate of the master the rated motor torque and the output of the Pre_Control function must still be assigned Version Date Page Document V3 0 15 11 04 139 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only Us
124. eceive buffer is only relevant for commands that supply response data refer to 15 The parameter refers to a memory area 0 239 in which a command response is saved The structure of the response buffer is specified below in Table 27 Byte Significance n 0 Response data n 1 Response data nt Response data Table 28 Structure of the receive buffer Note n is the same as the start address of the receive buffer 10 1 4 10 bStatus WORD The bStatus variable is a 2 byte response of the ASI Link20E whereby the first word specifies the task status or the error code refer to 15 The second word is only required for internal purposes and may not be changed Version Date Page Document V3 0 15 11 04 89 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 10 1 5 Signal characteristics of the parameters boExecute boReset boDone boError and bStatus The ASI Link20E is brought into a ready state with boReset TRUE After the reset the first word of bStatus has the value 81824 A commando call is started using boExecute TRUE While processing a task the first word of boStatus has the value 8181 This status word indicates that a task is being processed When a task has been completed the result is communicated to the user using parameters boDone and boError If no errors have occur
125. echnological object This function block provides the user with an interface that allows him to parameterize a temperature channel and control it The FB handles the internal coordination with the technological object A detailed description of the temperature channel is provided in the Manual SIMOTION Motion Control Supplementary technological functions This includes an overview of all of the system variables and configuration data in the Technological package Tcontrol List Manual 15 1 1 Configuration The user can access all of the data belonging to the TO by selecting the expert list Basic settings are directly saved in this expert list Only data required for ongoing operation is supplied via the interface A precise description of the interface is provided at the end of the Chapter Note The complete functionality of the temperature channel is not described in this Chapter The description refers to the functionality of a standard PID controller with auto tuning loop identification routine A detailed description including limit values fault messages and configurations is part of the standard SIMOTION documentation refer above Version Date Page Document V3 0 15 11 04 168 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 15 1 2 Auto tuning In the Identification mode the temperature of the control
126. ed PRODUCING Once the machine is processing materials it is considered to be producing STOPPING This state executes the logic that brings the machine to a controlled and safe stop ABORTING The aborted state can be entered at any time in response to the ABORT command or on the occurrence of a machine fault The aborting logic will bring the machine to a rapid controlled safe stop Operation of the Emergency Stop or E Stop will cause the machine to be tripped by its safety system it will also provide a signal to initiate the aborting state Comment The change state is normally initiated in the background the appropriate digital input is evaluated For time critical responses e g when fast responses are required the change of state can for example be made in a Userlnterrupt task ABORTED This state maintains machine status information relevant to the ABORT condition If the ABORTED state is reached e g as a result of a machine fault then the transition into the STOPPED state is initiated using a stop command If the machine goes into the ABORTED state due to an EMERGENCY STOP then the machine is directly switched into the E STOP state HOLDING When the machine is in the STANDBY or PRODUCING state the HOLDING command can be used to start HOLDING logic which brings the machine to a controlled stop refer to HELD HELD The HELD state would typically be used by the operator to hold
127. ed for each alarm The number in the case instruction corresponds to the error number the instruction block for error number 2 is shown in Fig 21 The appropriate symbol name of the message the same as the name of the appropriate constants must be entered in the system function calls _alarmSq _alarmS and _alarmSc in this case error 2 This is necessary as Simotion can only output messages using the symbol names Fig 26 Program section in the case instruction 5 After new messages have been set up in Simotion the ProTool configuring must again be downloaded into the HMI Otherwise the new messages would not be displayed on the HMI system Once the described steps have been completed then messages can be generated by calling the FCAlarmSRequest function Version Date Page Document V3 0 15 11 04 55 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 6 2 5 Examples in the AlarmS unit There are a total of three alarms as example in the AlarmS unit The following messages must be configured in Simotion in order that these alarms function Symbol Message Message text Oper Fault Print out number ating message on the message OP Error 1 Error 1 has occurred No Yes Yes Error2 2 Error 2 has occurred No Yes Yes Error3 3 Error 3 has occurred No Yes Yes Table 16 Messages t
128. eeeeeneeeeeeteeeeeeeeneeeeaeees 14 3 Comparison of the basic positioning function in Simodrive and Masterdrives 14 4 Function elements and their integration ususssnsennennnnnnannannunnunnennnunnunnnnnnnnnnnnunnnnnnnnnnnnnnnnnnnn 15 Temperature controller unsnsreennnensnnnnnnnnnennnnennnnnnnnnnennnnnnnnnnnnne msn anini iesnas disdonis 15 1 General description of the TO temperature channel 15 1 1 Config rati on isi Nu et aaa eaa anne teren Jar aaa adera tore doit eel vobleayenes 15 1 2 Autotuning een nen bin 15 1 3 Actual value monitoring by defining tolerance bandwidths 44 15 1 4 Interface tothe TO 2a er Bra ae 15 1 5 Activating in the execution system and setting the clock cycles s src 15 1 6 Configuring a temperature channel 15 2 Tips and tricks nusssnssnnennennnannannnnnunnnnnnnnnunnnnnnunnn 15 3 FB_TempControl function block unsuusenssennnansnonnnannnannnnnnnunnnnnnnnnnnnnnnnnnnnannnnnnnannnannnannnnnnnannnnnnnnnnn 15 3 1 Input and output interface of the FB uuursnsersnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn ernennen 15 3 2 Schematic LAD representation uuessessssnnersnnnrsnnnennnnnnnnnnnnnnnnnnnnnnnnnnnennnnnennnennannn 15 4 Function elements and their integration nussensesnennnannannunnnnnnnnennnnnnnnnnunnunnnnnnnnnnnnnnnnnn 16 Graphic representation of the position profile of acam 16 1 FBGetCamValueForHMI function block uuesrennna
129. eeeseeeseeceeseeeeeeeeseneeseaeeeeeseeeseaeeseaeeseseeeeeeaeeeeeees 13 4 8 TENSION C ntrollef 422 122 ead yaa teed yale ea dod E EE EE EE E 13 4 9 Converting and the output Of values unessnnessnnnnsnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnn nennen 13 5 Communications Simotion gt drive with extended Profibus protocol 13 6 Drive COMMISSIONING 2ur2nn0n000nnannnnnunnnnnnnnnannunnnnnnnnnnnnunnnnnnannunnnnnnnnennnnnnrnnnnnnannnnnnnnnn 13 7 Systematically commissioning the winder 13 8 Function elements and their integration 14 Standard application Simotion Easy POS unesssnnsnnnnnnunnnnnnnnnennnnnnnnnnnnnnnnnnnnnnnn nn 14 1 Hardware and software requirements nuuuusunsnnennunnnnnnnnnnnnunnnnnnnnnnnnunnunnennnnnnunnunnnnnnnnnnnnnnnnnnannene 14 1 1 Engineering PC 222244440n nenne ernennen 14 1 2 Motion controller 14 1 3 Drivesia un nette E EE 14 2 Comnmissioning usuenrsnnennnnnnnnnnnnunnnnnnnnnunnunnnnnnnne 14 2 1 Configuring the axes dese 14 2 2 VO COUPIING 2 4 28 33 e reinen sie aa LE ET Di neki aa 14 2 3 FAMIKCOUpIIN GS 25 sete sack a sds eke ea pen gob sti ei Eh ek 14 2 4 Structure of the traversing blocks of an automatic program sssr 14 2 5 Calling the basic positioning function FB_EPosCmd seses 14 2 6 Changes in EposProg 2 ana ne deded Soh gies Sag deve aad laada adda 14 2 7 Integration into the SIMOTION task system eee eeeceeeee
130. een configured in the HMI the user must assign his messages to a category and must define how the appropriately set global category signals are acknowledged This assignment or definition is realized by appropriately assigning variables in a structure StructBitError that is set up for individual error using an array having the type of this structure 6 3 1 1 Error categories There are a total of six different categories to classify the various alarms A B C D E and NotDef as default setting The categories are allocated in the StructBitError structure in the eCategory element This element is an enum with the following values NotDef Category_A Category_B Category_C Category_D and Category_E If an alarm having a specific category is initiated in the application then a so called global category signal is set Example If an error Category C occurs then a global category signal is set g_sActCatStateBitError boC In the application a response can be made to this variable The programmer defines how the system should respond to the individual categories Further it is still possible to individually respond to single alarms without allocating categories To do this the category must be assigned NotDef A global category signal is not set if an error of this Category actually occurs The acknowledgement or the reset of the global category signal depends on the selected acknowledgement type refer to the next Section Versio
131. egmentToCam cam Kurvenscheibe_1 run TRUE segmentProfile PROFILE_LINEAR leadingRangesStartPoint 0 leadingRangeEndPoint 100 followingRangeStartPoint 50 followingRangeEndPoint 50 Version Date Page Document V3 0 15 11 04 44 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 5 6 2 Segment 2 Speeds and acceleration rates are specified at the start and end of the segment for the motion transition For this task the following profile type must be used PROFILE_POLYNOMIAL_ORDER_5 The speeds at the beginning and end of segment 2 are calculated from the speeds of the bordering segments e Speed at the start of segment 2 speed in segment 1 0 220 150 70 300 200 100 The acceleration rates in both segments 1 and 3 are both 0 therefore the following applies e Acceleration at the start of segment 2 0 e Acceleration at the end of segment 2 0 e Speed at the end of segment 2 speed in segment 3 g_sFbAddSegmentToCam cam Kurvenscheibe_1 run TRUE segmentProfile PROFILE_POLYNOMIAL_ORDER_5 leadingRangesStartPoint 100 leadingRangeEndPoint 200 followingRangesStartPoint 50 followingRangeEndPoint 150 followingRangesStartDerivationi 0 followingRangeEndDerivation1 0 7 followingRangesStartDerivation2 0 following
132. enderprogramm Doku Simotion Programming language ST Kapitel 7 5 4 Datensicherung aus Anwenderprogramm Description of data save from the user program Simotion documentation ST programming language Chapter 7 5 4 Data save from the user program Beschreibung der Systemfunktionen Doku Simotion Programming language ST Kapitel 5 15 Datensicherung aus Anwenderprogramm Description of the system functions Simotion documentation ST programming language Chapter 5 15 Data save from the user program 16 SIMATIC NET DP AS Interface Link 20E Handbuch Link20E_d pdf Ausgabe 11 2002 SIMATIC NET DP AS Interface Link 20E Manual Link20E_d pdf Edition 11 2002 Version Date Page Document V3 0 15 11 04 182 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc
133. eneeennenennnnn 5 2 Making calls 5 3 Parameters nuueuuunannnannnannnannnnnnnnnnnnnnnnnnnnannnannn 5 4 Timing diagram unuusnssnnennnnnnnnnanennnnnnnnnnnnnannnnn 5 5 Error messages unnesnnennannunnnnnnnnnunnunnnnnnunennnnnnn 5 6 EXAM PIE vcs jorscccianscctsccessecsvoscesenceccpsdniaseaseundvosesavause 5 6 1 Segment 1 5 6 2 Segment 2 5 6 3 Segment 3 5 7 Function elements and their integration 6 Alarm and message handling nszusrssnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nn 6 1 System message handling in the Technological Fault Task uesnennnsannennnnannnennnnnnne 6 1 1 Sequence when handling an alarm or message that has occurred 6 1 1 1 Prog TechFault programi 2 uu0 22u00n Gahan las sanenduenstdudcaleonsuicbvenseiseduaiyegeshenchnadiennaasepbe 6 1 1 2 FCResetError function cuueessessessusnunnnnnnnnnnnnnnnnnnnnnnnnnnnnn 6 1 2 Function elements and their integration 6 2 Alarim S 16CIMIQUE saci fainesscanescdevscssscesctenevessonsensavscistsaccnudsasbenccasssavessrousacieuedersbecccescvousieicante 6 2 1 Assigning categories and acknowledging faults 6 2 1 1 Fault Categories rice id nenn serien 6 2 1 2 Acknowledgement types of the fault categories 6 2 2 Principle of the AlarmS technique 6 2 3 Structure of the Alarm_S technique ccccceceeseseceseeeeeeeeeeeenaeeaeeeeeeeeeeseecuieaeeeseeeeeeeesenaas Version Date Page
134. ent is calculated and the segment is then successfully added to the cam specified at the cam parameter Different output parameters signal that the function block had not inserted the required segment into the cam The done and error output parameters must be checked each time before calling the _FB_AddSegmentToCam function block The calculated cam can be read back with a cam editor from SCOUT CamTool or CamEdit 10 Version Date Page Document V3 0 15 11 04 41 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 5 2 Making calls The _FB_AddSegmentToCam function block can be called in every task If the extreme value calculation function is activated enableExtremeValues TRUE then the runtime increases In this particular case the call should not be made in time critical tasks e g not in the task in synchronism with the IPO 5 3 Parameters The block requires an instantiated cam object camType A description is provided in 9 on how to set up a cam in Scout and various cam modes are described in 8 The cam object must be reset using the system function _resetCam Name P type Datatype P O Initializa Significance 2 tion value cam IN P Cam object run IN BOOL P FALSE Starts the FB with signal level enableExtremeValu
135. er a power failure As an alternative the variable can be assigned TEMPORARY_STORAGE The data set is then saved in the RAM disk and is lost after a power failure boOverwriteDataSet is used to select as to whether a saved data set may be overwritten If the value is TRUE then the data set can be overwritten if the value is FALSE the existing data set cannot be overwritten The FB is programmed for use in a cyclic task recommendation Background task It can take several task cycles to process the FBs this is among other things dependent on the size of the data set In order to be able to limit the processing time a timer has been integrated that interrupts the current action after this time expires The time is transferred using the input variable tTimeOut In order to be able to detect the status of the current processing an additional system function is used _getStateOfUnitDataSetCommand In each task cycle it provides the current status of a function for data save Before the FB can be used in the application it must still be manually adapted Simotion SCOUT doesn t have any variables of the STRING type but the system functions to handle unit data has an input variable of the STRING type This is the reason that the appropriate value must be directly entered This involves the name of the unit whose data is to be processed This must be inserted in the FB in the case instruction in every system function 5 times Unit name CAS
136. er documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 4 2 Input and output interface When calling a block the parameters specified in the following table can be supplied Name P type Data type P O Initialization Significance value toMeasuringObject IN MIT P Measuring probe object toCorrectionAxis IN PosAxis P Axis to be corrected eDriveType IN enumMeasTot P eMeasTot_Sy Drive to which the axis is Drive stem connected or use the config data boExecute IN BOOL P FALSE Start block boStop IN BOOL P FALSE Stop block rTargetPosition IN LREAL P FALSE Target position boCorrectCommandPo IN BOOL O TRUE TRUE functionality axis S transports print mark the higher level superimposed position is reset rToleranceRangeStart IN LREAL O 0 0 Start of the measuring window rToleranceRangeEnd IN LREAL O 0 0 End of the measuring window boEdge IN BOOL FALSE Measuring edge of the trigger signal e FALSE falling edge e TRUE rising edge rActualSpeed IN LREAL P 0 0 Actual axis velocity rCorrectionVelocity IN LREAL O 10 0 Correction velocity rAcceleration IN LREAL O 1000 0 Acceleration rDeceleration IN LREAL O 1000 0 Deceleration rCalculationFactor IN LREAL O 1 0 Correction factor boCorrectioninverter IN BOOL O FALSE Direction change of
137. er_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 13 4 5 Commissioning the winding hardness characteristic The effect of the winding hardness characteristic is effective depending on the winding mode at different locations For closed loop tension control with dancer roll and speed correction the tension is set at the dancer roll using a pneumatic or hydraulic adjusting mechanism In order to adjust the tension the counter pressure opposing pressure of the dancer roll must be set For closed loop tension control with torque limiting the tension is directly set in the SIMOTION system by adding an additional tension setpoint The winding hardness characteristic is implemented using the FB_Tensiontaper Various modes can be selected to condition the characteristic The output of the FB set_value is a tension setpoint tension reference value that should always be followed downstream by a ramp function generator FB_Setpoint_RFG in order to avoid setpoint steps in the system For the closed loop control technique using a dancer roll this setpoint should be switched for example to the pneumatic actuator of the dancer roll through an analog output This sets the counter pressure opposing pressure at the material web and has to be weighted according to the dancer roll For this closed loop control technique with torque limiting the output of the ramp function generator is compared to the actual tension value and
138. erpt of the program closed loop control mode torque limiting Closed loop control with speed correction The FB_Control_WithSpeedSetpointChange block controls the tension in the material web by controlling the winder speed The block calculates a speed setpoint as a function of the dancer roll position If the tension in the system drops then the drive is accelerated and establishes a higher tension winder For an unwinder the drive would decelerate when the tension drops in order to establish the tension uWindingMode parameters are used to set the modes This allows either a winder or unwinder mode to be set 10 11 or 20 21 winding from either the bottom or top 10 20 or 11 21 whether the closed loop tension control is de activated 30 31 or only the tension control should effective 40 43 The web speed is read in with rV_set N_set outputs the speed setpoint for the drive This value is used as speed setpoint for the subsequently connected _move command Control with speed setpoint change Subroutine call FALSE Speed specification additional torque a toWindAxis TorqueLimitaz Fig 76 Excerpt of the program closed loop control mode with speed correction Version Date Page Document V3 0 15 11 04 146 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed Parameter Assigned with variable De
139. es IN BOOL FALSE Activates the calculation of the extreme values in the value range segmentProfile IN TypeSegme P PROFILE_ Selects the curve profile for the nt LINEAR segment Profile leadingRangeStartPoint IN LREAL P 0 0 Starting point of the segment in the master range leadingRangeEndPoint IN LREAL P 1 0 End point of the segment in the master range followingRangeStartPoint IN LREAL P 0 0 Starting point of the segment in the slave range followingRangeEndPoint IN LREAL P 1 0 End point of the segment in the slave range followingRangeStart IN LREAL 1 0 1 derivation at the starting point Derivation1 of the segment speed followingRangeEnd IN LREAL 1 0 1 derivation at the end point of Derivation1 the segment speed followingRangeStart IN LREAL 0 0 2 derivation at the starting point Derivation2 of the segment acceleration followingRangeEnd IN LREAL 0 0 2 4 derivation at the end point of Derivation2 the segment acceleration busy OUT BOOL 2 Task being run done OUT BOOL 2 Task executed has been run error OUT BOOL Error has occurred errorlD OUT WORD Error type minFollowingValue OUT LREAL Minimum position slave maxFollowingValue OUT LREAL Maximum position slave minFollowingDerivationi OUT LREAL Minimum speed slave maxFollowingDerivationi OUT T LREAL x Maximum speed slave 1 Parameter types IN output parameters OUT output parameters IN OUT throughput parameters 2 P mandatory
140. eters OUT Output parameters IN OUT Throughput arameters 5 Parameter type P Mandatory parameters O Optional parameters Table 26 Input output parameters of the function block FBAsiLink20Econtrol Version Date Page Document V3 0 15 11 04 86 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed Note For error free block functionality the user must supply all of the mandatory parameters P It is up to the user to decide whether all of the optional parameters O are supplied 10 1 3 Schematic LAD representation FBAsiLink20EControl BOOL boExecute boDone BOOL BOOL boReset boError BOOL DINT iLAddr auReceive ARRAY BYTE bStatNibIN bStatus WORD ARRAY auSend UDINT uSendLen Fig 41 Schematic representation of the input and output interface 10 1 4 Input and output parameters Description of the individual input and output parameters 10 1 4 1 boExecute BOOL If the variable boExecute TRUE then the user command from the data field auSend with length uSendLen is sent to the ASI Link20E The command processing in the cyclic block call is tracked which commands can be executed can be taken from 15 If the command has been successfully processed the response is read out and is returned in the data field auReceive or in the output parameter bStatus The response is written into bStatus if
141. first address of ASI Link20E is defined in the SIMOTION address area of the function block When configuring Simotion the start address of the module is defined in HW Config This variable is used for system function calls within the FB as these functions use an input parameter DINT data type 10 1 4 4 bStatNibIN BYTE The variable bStatNibIN is the start address of the ASI Link20E in the SIMOTION SCOUT This is defined in the SIMOTION SCOUT in HW Config This variable is used as help variable Addresses are directly used in the FB and Simotion has no variables with the Adresse Address data type This is the reason that a help variable must be set up in the I O area of Simotion BYTE data type that has the value of the start address of the ASI Link This help variable is then transferred at the input bStatNibIN This means that the values of the two input variables iLAddr and bStatNibIN always match one another 10 1 4 5 auSend ARRAY The send buffer refers to a memory area 0 239 in which the user must specify the command Using the various commands refer to 15 the ASI Link can be completely configured and read out The structure of the send buffer for commands is subsequently specified in Table 26 The first byte of the send buffer is reserved for the command number All of the other bytes with grey background are only relevant for specific commands Byte Significance g 0 Command number q 1
142. fter the preparations have been made the two function blocks can be implemented in the project Both must be used in a cyclic task The FB FBSyncSimotionMaster is as the name already suggests used on the master controller The output abSystemDateTime of the FB must now only be copied to the declared output Fig 32 This means that the value of the RTC is cyclically transferred via Profibus The FB FBSyncSimotionSlave is used on the slave controller It is called using the declared input Fig 33 at the input parameter abSystemDateTime This means that a cyclic check is carried out with the necessary RTC adaptation Finally the permissible tolerance value for the time difference can be adapted in constant DIFF_OF_SEC_TO_SYNC This represents a value in seconds by which the two RTCs can deviate as a maximum 8 3 3 Function elements and integration Source DateTime Programming ST language Library L_SEB Know how protection No Program function Feature function Must be adapted to the application FBSyncSimotionMaster Determines the value of the real time clock and No provides this for transfer via Profibus It must be called from a cyclic task FBSyncSimotionSlave Reads the value of the master and compares with No that of its own real time clock If the difference is excessively large an adaptation is made This must be called from a cyclic task Table 23 Program elements for synchronizing the R
143. g Sinamics the source Dummy_V can be incorporated so that the PKW variable names can be used by the compiler Alternatively the PKW lines can be deleted in EPosProg Version Date Page Document V3 0 15 11 04 163 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 14 2 7 Integration into the SIMOTION task system For the basic positioning function the following program assignment to the task levels in Simotion is used EPosProg StartupProg must be incorporated in the StartupTask initialization EPosProg EPosProg must be incorporated in the BackgroundTask EPosLib TechnologicalFaultProg must be incorporated in the TechnologicalFaultTask EPosLib PeripheralFaultProg must be incorporated in the PeripheralFaultTask EPosLib ShutDownProg must be incorporated in the ShutdownTask Emergency Stop of the axes Comment A tolerance of 2 IPO overflows has proven itself in practice Comment 2 EPosProg EposProg cannot run in the IPOsynchronousTask level overflow Comment 3 The system variable device _startupData operationMode should be set to RUN This is because the STOP switch off state the CPU does not run up to RUN with the AN main switch if the Simotion control does not run up SIM SIMOTION SCOUT EPos_C ABLAUFSYSTEM C230 I Projekt Bearbeiten Einf gen Zielsystem Ansicht Extras Fenster Hilfe
144. gValue 9 measuredDifference WW Motion sequence Position s modulo axis Fig 8 Signal timing diagram without function axis transports print mark Version Date Page Document V3 0 15 11 04 34 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed Sequence of the correction and the superimposed position value is reset Trigger signal Block parameters boCorrectCommandPos boexecute starting bostop stopping bobusy busy bonewMeasuringValue new measured value rmeasuringValue measured value rmeasuredDifference deviation Motion sequence Position s modulo axis 180 0 Fig 9 Signal timing diagram with function axis transports print mark Version Date Page V3 0 15 11 04 35 Copyright Siemens AG 2003 All Rights Reserved Document User documentation For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 4 4 Error description If an error occurs while processing the function block the output parameter boError is setto TRUE The error is specified in more detail using the iErrorID parameter The significance of the individual error codes can be taken from the following table
145. ge detection an error status is formed The reason for this is that when the error is present for a longer period of time the error number is only written once into the FIFO buffer The error status generated is again reset by a call with a negative edge The function can be called from every task level This means that the function can be called both from cyclic as well as also sequential tasks When cyclically called e g from the background task the function is permanently called This means that when the error occurs or disappears the message is automatically generated or the error state is again automatically reset If the function is called once with a positive signal when executing a motion task the programmer must ensure that the error status is again acknowledged at another location in the program by again calling the function with a negative signal level 6 2 3 2 Function and integrating the progAlarmSStartUp The progAlarmSStartUp program is integrated in the startup task and initiates by calling the function FCAlarmSStartUp all of the relevant data of the AlarmS technique Further in this program the properties of the individual errors are defined error category and acknowledge mode Example g_asAlarmS 1 eCategory Category_A g_asAlarmS 1 eModeAcknowledge ErrorHMI 6 2 3 3 Function and integrating the progAlarmSBackground The progAlarmSBackground program is as the name already suggests is integrated in the
146. ges or modifications are required _Manua Operation mode q Operation mode q Manual gt Idle Operation mode E Stop Set boolean variables for actual EEE all tim Set boolean variables for actual state Set boolean variables for actual state Fall fee No changes o pj MODUL t necessary by user Fig 3 Excerpt from the OmacMain program A repeat until loop iCountStateChange count variable is configured around these two program sections this ensures but only for a successful state change that the last run of the old and the first run of the new state are processed in the same background cycle Note The repeat until loop only becomes active for a successful state change and is then run precisely twice If as a result of this loop a time overflow occurs in the BackgroundTask and therefore results in the Simotion controller going into stop then the state change has not been correctly programmed State changes are then continuously executed which means that an endless loop is formed Version Date Page Document V3 0 15 11 04 21 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 2 2 4 Incorporating state functions motion task The user must incorporate the various functions motion control logic of the indi
147. gger signal is the rising edge and for FALSE the falling edge When the trigger condition occurs a measurement is made and the measured value is output through rMeasuringValue The boNewMeasuringValue output is simultaneously set A deviation is determined from the measured value rMeasuringValue and the reference position rTargetPosition This is output using the variable rMeasuringDifference difference actual value setpoint This value forms the basis for the higher level motion command This deviation can be manipulated using a correction factor rCalculationFactor The difference that is determined is multiplied by this value The value can be inverted by setting the boCorrectioninverter input to TRUE gt multiplied by 1 This means that the correction direction is inverted A higher level positioning command is started using the finally determined value This motion command is parameterized more accurately using the parameters rCorrectionVelocity rAcceleration and rDeceleration When selecting the bits boCorrectCommandPos standard assignment TRUE the higher level position is reset after positioning has been completed A TRUE at the boBusy output indicates if a measuring task or corrective motion is active or the higher level position is reset Version Date Page Document V3 0 15 11 04 29 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Si
148. gh number of temperature channels are being used the system allows groups to be formed Version Date Page Document V3 0 15 11 04 172 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed The following configuration data from the expert list are available to do this Configuration date Significance controller standard This time defines the actual call time of the cycleParameter controller Input analog Ratio between the controller and actual value relationControllerCy processing The actual value processing runs cletolnputCycle faster by the selected factor Table 67 Description of the configuration data Note Set integer multiples of the basic clock cycle If you enter a controller cycle time that is not in the appropriate grid then the system rounds off to the next grid step refer to the example This applies to all controller instances The ratio selected in the configuration data Input analog relationControllerCycletolnputCycle should be in the same ratio as the times control1 inputi in the system clock cycles screen Example PWM task 40 ms System grid of the controller control 1 800ms System grid of the actual value sensing input 1 200 ms Ratio between the controller amp actual value processing 4 Significance Time Time Cycle time of the controller set
149. he alarm messages and references must have been appropriately configured in SCOUT for a description refer to 12 The Alarm_S technique works as follows To start when the operating state of the controller is changed from stop to run all relevant data is initialized in the StartUp task An alarm or reference can then be initiated using the FCAlarmSRequest function This function has two input parameters on one hand the fault initiating signal and on the hand the fault number When the function is called with a positive fault initiating signal the category signal matching the fault is set Further the fault number is entered into a FIFO buffer Using the function FCAlarmSDisplayAlarm the progAlarmSBackground program cyclically checks in the background task this FIFO buffer for new entries it reads these out and initiates the appropriate fault message on the HMI corresponding to the new fault An additional function in the program FCAlarmSStatesBG cyclically checks the current state of the fault initiating signals and the generated messages on the HMI The global project category signals are formed as a function of the relevant states fault generating signal and message state on the HMI in the progAlarmSActualState program This program progAlarmSActualState can be integrated in every cyclic task A diagram of the principal mode of operation and the task structure for the Alarm_S technique is subsequently shown Version Date
150. hmen Hilfe Fig 68 Program example to read in and convert actual values After reading in data is Variable Expression Units toWindAxis rN_actual Actual speed winder axis rpm toWindAxis rDiameter_sensor Diameter from sensor 1 m toWindAxis rControlled_Value_Actual Dancer roll position from sensor 2 m toWindAxis rTorque_Actual Actual torque of the winder axis Nm g_rV_Master_set Setpoint reference speed master m min g_rV_Master_act Actual speed master m min toWindAxis rN_actual_ Filtered Filtered actual speed of the winder axis m min toWindAxis rDiameter_Filtered Diameter from sensor 1 filtered m toWindAxis rControlled_Value_Actual_Filtered Dancer roll position from sensor 2 m Table 50 Overview of the FB assignment The filters must be supplied assigned the sampling time rSamplingTime as well as the smoothing time rSmoothingTime These parameters are assigned variables SamplingTime 6ms and SmoothingTime 12ms from the WindVar unit Version Date Page Document V3 0 15 11 04 134 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 13 4 2 Diameter computer FB_DiameterCalculator The FB to determine the diameter is now calculated Subroutine call IPO_Wind i 3 r e E Subroutine type Library function block x re Library FuncLib Subroutine fb_
151. iate change is made to E STOP The response to an EMERGENCY STOP can be initiated dependent on the plant or system in the background the appropriate digital input is evaluated or for time critical responses where a fault response is required e g within an interrupt task The different characteristics of various machine faults or EMERGENCY STOP can be appropriately programmed by users In the other modes MANUAL IDLE a response to an EMERGENCY STOP is implemented in these modes themselves After the response an immediate change is made to E STOP The OMAC model can be used both for individual machines as well as for machines in a complete line The status signals of the individual machines or a line up of machines can where required be evaluated using an MES system Manufacturing Execution System Version Date Page Document V3 0 15 11 04 16 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 2 1 5 Control and status signals of an OMAC machine The control and status signals of the OMAC machine are used on one hand to change between the individual states and on the other hand indicate the state of the machine in a simple and transparent fashion 2 1 5 1 Control signals The following list of control signals has already been referred to the Simotion Easy Basics This is the reason that the names of the s
152. ight Siemens AG 2003 All Rights Reserved Document User documentation For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 13 4 3 Torque calculation The FB to determine the moment of inertia of the roll must be supplied with the dimensions of the roll and the fixed moment of inertia All of the parameters in bold such as the fixed moments of inertia of the mechanical system as well as the data regarding the material the roll and the gearbox must be appropriately supplied The moment of inertia ratio calculated as a function of the roll diameter rInertiaRatio is interconnected to the drive There when required the controller gain can be adapted Subroutine call IPO_Wind ax EA Subroutine type Library function block nd Library FuncLib ind Subroutine fb_inertia x Instance my_Inertia z Name On off Data type Value La _1 rimotor VAR_INPUT LREAL _2 rigear VAR_INPUT LREAL 3 ricore VAR_INPUT LREAL Bil 14 Irdiameter VAR_INPUT LREAL toWindAxis DiameterCalculationData rDiameter_Calcul ated 5 reiametermax VAR_INPUT LREAL Diameter_Max 6 rwidth WAR INPUT LREAL WebVvidth 7 rdensity VAR_INPUT LREAL WebDensity 8 rdiametercore VAR_INPUT LREAL toWindAxis rDiameterCore EJ rgearratio YAR INPUT LREAL toWWindAxis rGearRatio v gt Cancel Accept Help Fig 70 Calling the function bloc
153. ing the DP slave 1 The DP slave has been parameterized eae en N master from another DP master not from The PROFIBUS address ofthe DP the DP master that presently has master that parameterized the DP access to the DP slave slave is in the Master PROFIBUS address diagnostics byte Version Date Page Document V3 0 15 11 04 70 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed Byte Bit Designation according to the Standard significance 2 0 Diag Prm_Req 1 The DP slave must be re parameterized 1 Diag Stat_Diag 1 A diagnostics message is present The DP slave does not function until the fault error has been resolved steady state diagnostics message 2 No designation 1 The bit in the DP slave is always at 1 3 Diag WD_On 1 The response monitoring has been activated for this DP slave 4 Diag Sync_Mode 1 The DP slave has received the control command FREEZE 5 Diag Freeze_Mode 1 The DP slave has received the control command SYNC 6 Reserved 0 The bit is always at O 7 Diag Deactivated 1 The DP slave has been de activated i e it has been withdrawn from current processing 3 0 6 Reserved 0 Bits are always at O 7 Diag Ext_Diag_Overflow 1 There are more diagnostic messages present than the DP slave can save
154. ingValue BOOL BOOL boStop rMeasuringValue LREAL BOOL boCorrectCommandPo rMeasuredDifference LREAL LREAL rTargetPosition rMeasuredDifference LREAL LREAL rToleranceRangeStart LREAL rToleranceRangeEnd BOOL boEdge LREAL rActualSpeed LREAL rCorrectionVelocity LREAL rAcceleration LREAL rDeceleration LREAL rCalculationFactor BOOL boCorrectioninverter Fig 7 Schematic representation of the input and output interface Version Date Page Document V3 0 15 11 04 33 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 4 3 Signal timing diagram A typical signal timing diagram is shown below In addition to the input and output signals the associated motion sequence is also displayed Print mark correction without resetting the superimposed position FBPrintmarkCorrection esstaster_1 toMeasuringObject boBusy True Achse_1 toCorrectionAxis boError False eDriveType iErrorlD Starten boExecute boNewMeasuringValue neuer Messwert Stoppen boStop rMeasuringValue Messwert 225 0 rTargetPosition rMeasuredDifference Abweichung rToleranceRangeStart rToleranceRangeEnd boEdge rActualSpeed 22 5 rCorrectionVelocity 1000 0 rAcceleration 1000 0 rDeceleration 1 0 rCalculationFactor boCorrectionInverter Trigger signal Block parameters execute starting stop stopping busy newMeasuringValue measurin
155. ion Version Date Page Document V3 0 15 11 04 3 User Documentation Copyright Siemens AG 2003 All Rights Reserved For internal use only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed Table of contents 1 aliae Urei e p eraan AEE EEE E EE EE E E 2 Mode management 2 1 Generali E ieee eee oe ae eT sc a a eae eoace 2 1 1 OMAG Packaging WOrkQroUup iiizsisi sctcedivies 2 24 22 engel 10 2 1 2 Basics of the OMAC State Model ccc ccceceeeeceeeeeeeeeeeeeeeeeeeeceeeeeeeeaeeeeeseeeeeeseeneeeeeeees 11 2 1 3 Description of the States cit cocci 284 are En con iE eia 13 2 1 4 Operating states and functions of production machine according to OMAC 15 2 1 5 Control and status signals of an OMAC machine u 2ursnsnnnnnnnnnnnennnnnnnnnnnnnen nennen 17 2 1 5 1 Control signals 2 1 5 2 Status Ssignals 4 4 Heantek sale sellds Gb cts olen duebedilekditvdeeectiieddidon s ce dh then 2 2 Implementing and handling the OMAC mode management within the scope of the Simotion EaSy BaSics ssvcseisssesaisaroasueusabesisusi adsesenvecesavessassasascencceeandteansdad odsetauvarsaasuasausioosed saneiaisuedocedsscsdcateutadcasenassudasaenescosseusees 2 2 1 Description of the OMAC mode manager uuur2uuursnnersnnnnnnnnnnnnnnnnnnnnnnnnnnnn nennen nnnen nn 2 2 2 Changes with respect to the old version of the mode manager 2 2 3 Structure of th
156. ion transducer When a dancer roll is used as actual value transmitter this has the advantage that the dancer roll when the stroke is selected appropriately high simultaneously functions as storage system for the material web This means that it is already a tension controller Although closed loop dancer roll control systems are quite complex they offer unsurpassed control characteristics The material web storage function has a damping effect for e Unround eccentric rolls of material e Jumps from layer to layer e g when winding cable e Roll changes Date 15 11 04 Version V3 0 Page 114 Copyright Siemens AG 2003 All Rights Reserved Document User documentation For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 13 3 Description of the blocks The following Chapter will describe the individual function blocks that are used for the winder function 13 3 1 FB_Control_WithSpeedSetpointChange Calculating the velocity setpoint for direct closed loop tension control This FB is used if the tension is to be set by changing the drive speed The FB includes a PID position controller that for example reads in the actual position of the dancer roll rControlled_Value_actual_Filtered and e g compares this with the dancer roll setpoint reference position rControlled_Value_set The PID controller generates a speed setpoint N_set that can be used in a_mo
157. ion Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 6 3 2 Principle of operation of the bit signaling technique In order that the bit signaling technique functions correctly the appropriate fault messages must be configured in the HMI and the appropriate area range pointers must be linked into the HMI refer to Section 6 3 4 The bit signaling technique works as follows To start when the operating state of the controller changes from stop to run all of the relevant data is initialized in the StartUp task A message can be initiated using the FCBitErrrorRequest function This function has two input parameters on one hand the error initiating signal and on the other the error number When the function is called using a positive error initiating signal the global category signal matching the error is set Further the error number is entered into a FIFO buffer Using the function FCBitErrorDisplayAlarm the progBitErrorBackground program cyclically checks in the background task this FIFO buffer for new entries it reads these out and sets for the new error the appropriate bit in the error array The individual bits are assigned as a function of the error number using an algorithm in the FCBitErrorSelectBit function This is realized automatically The message is output on the HMI using the bit that is set An additional function in
158. ional e g because of a modified product length then the motion transitions must also be adapted Useful ranges and motion transitions can be added to a cam using the function block _FB_AddSegmentToCam In so doing the limitations of the previous and subsequent segments can be taken into consideration Contrary to the _addSegmentToCam system function it is not necessary to calculate the polynomial coefficients Three different mathematical functions can be applied to the segments These will be known as profile types in the following Profile type segmentProfile Mathematical Used to add parameter function PROFILE_LINEAR Polynomial Effective range level 1 straight no motion and constant speed line PROFILE_POLYNOMIAL_ORDER_3 Polynomial Motion transition level 3 constant speed transition PROFILE_POLYNOMIAL_ORDER_5 Polynomial Motion transition level 5 constant speed and constant acceleration transition Table 10 Using the various profile types In order to calculate a segment the position limitations secondary conditions must be specified for all profile types refer to Fig 13 Version Date Page Document V3 0 15 11 04 39 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed Position limitations secondary conditions y Slave J followingRangeEndP followingRangeStart
159. iption of the blocks unuensensenenannannunnunnunnnnnnunnunnunnunnnnnnunnunnnnnnnnnnnnnnnnnnnnnnannunnnnnnnnennnnnnannnnnnnen 13 3 1 FB_Control_WithSpeedSetpointChange 44400444444000nnnnnnnnnnnnnnnennnnnnnnnnnn en 13 3 1 1 Schematic LAD representation iSi vi eade laaa e les ae Mad otal EER 13 3 1 2 Inputzand output interf ces OftheXFBS i eenttnslemunlbenneinhea Sara avid eens nt 13 3 2 FB_Control_WithTorqueLimitation cccccccccccceeeecceeeeeeeeeeeeeeeeeeeeeeaeeeeeseaeeeeeseeeeeeees 13 3 2 1 schematic LAD Tepresentation icc rssi cue Pca than eciig ea ana ENTEN OAERTN 13 3 2 2 Input and output interfaces of the FBS ceceeceeeeeseeeeeeceeeeeresereeeeeeeeeeaeesaeeseesneseeesereseeeeeeeseeneeseeeeneeeaee 13 3 3 FB GainAdapte tics reeeo ee Sie ah Gan Meech a 13 3 3 1 Schematic LAD representation st ass rn kn ade his aE 13 3 3 2 Input and output interfaces of the FBs pa 13 3 4 FB Pamete CA UA OE a a 2 een nee ea aea E Version Date Page Document V3 0 15 11 04 6 User Documentation Copyright Siemens AG 2003 All Rights Reserved For internal use only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 13 3 4 1 schematic LAD representation ninri a au Gaerne ahnen 13 3 4 2 Input and output interfaces of the FBS tvs cede cited cocees nenne an aan 13 3 5 EB2 TENSION Faper 4 22 ets ccstecethaShacseteshaceunadenese4laas
160. issioning 1 up to a maximum of 12 axes can be handled 128 traversing blocks are possible for each automatic program All of the position data is transferred via the interface as DINT 4 bytes in micrometers or Degrees 1000 for rotary axes Speed velocity data is transferred as DINT multiplied by a factor of 100 in 10 micrometer s or Degrees 100s In this case for position axes must be configured with mm as units and for speed with mm s in Simotion In order to create the basic positioning function for a different platform than the C230 2 the simplest approach is to selectively export the C230 2 device and then import this into the new project Advantage The EPos programs and axes are then also imported and the execution level settings are already pre configured When printing the numerical format settings are used according to the system control control panel gt regional options 14 2 1 Configuring the axes For the basic positioning function the axes must be set up as linear axes with the units mm for position and mm s for speed Also refer to the SIMOTION documentation In the project example the negative hardware limit switch is pre assigned with address 501 0 for the first axis axis_X the positive hardware limit switch with address 501 1 and the input of the Bero when referencing with address 501 2 Corresponding to the modules of an ET200S the second axis axis_Y is assigned the neg HW limit 501 4 pos HW limit 501 5 and
161. it involves a command where no response data is returned or if an error has occurred In these cases the ASI Link20E issues a 2 byte response that provides information about the processing of the sent command also refer to 15 Normally bStatus is for error free processing 0000 if a task is being processed 81814 after a reset 81824 If a command returned for the response data was successfully processed the response of the ASI Link20E is saved in auReceive Version Date Page Document V3 0 15 11 04 87 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 10 1 4 2 boReset BOOL boReset TRUE requests that a so called Init is sent This should be carried out once when first executing the function block by setting boReset TRUE as it is possible that the ASI Link20E is still not ready there could still be response data in the ASI Link20E If an error condition is present the function block itself ensures that an Init is sent if this is required Further for boReset TRUE a task being executed can be interrupted After this the ASI Link20E is again ready to accept tasks After a reset bStatus 81824 Init is a command with the command number 16 7777 that brings the ASI Link20E back into a readiness state after a new start or an error 10 1 4 3 iLAddr DINT Using the iLAddr variable the
162. k FB_Inertia Parameter FB inertia Assigned variable Description calculator rjmotor Moment of inertia motor kg m rjgear Moment of inertia gearbox kg m rjcore Moment of inertia roll core kg m rdiameter toWindAxis DiameterCalculationData Actual roll diameter m rDiameter_Calculated rdiametermax Diameter_Max Maximum diameter m rwidth WebWidth Roll width m rdensity WebDensity Material thickness kg m rdiametercore toWindAxis rDiameterCore Roll core diameter m rgearratio toWindAxis rGearRatio Gearbox ratio rinertia toWindAxis rInertia Output moment of inertia rinertiaratio toWindAxis rInertiaRatio Output ratio between the actual moment of inertia and the maximum moment of inertia of the roll Table 52 Overview of the FB assignment Version V3 0 Date 15 11 04 Page 137 Copyright Siemens AG 2003 All Rights Reserved Document User documentation For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 13 4 4 Torque pre control The torque pre control is effective while accelerating and for the closed loop control techniques with speed correction transfers an additive torque setpoint to the drive For the closed loop control techniques with torque limiting the torque limit in the drive is increased The torque pre control depends on the acceleration of the winder shaft the moment of inertia of the r
163. length Words m g_abackbiterror Acquisition Cycle s fi amp g_asbiterror g_sactcatstatebiterror amp sdatafifo DP_Diag amp effectivetaskruntime lfc Kurvenscheibe_1 amp MCC_1 amp MCC_2 MeasCor Messtaster_1 amp Nocken_1 numberofsummarizedtaskoverflow E OmacMain SetFehli OK a Apply BE systemload amp taskruntime Fig 31 Assigning the appropriate arrays Version Date Page Document V3 0 15 11 04 64 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 6 3 4 3 Linking the area pointer for the acknowledge area of the HMI The area pointer is linked by double clicking on the Area Pointer symbol A window opens in which an area pointer can be selected In this case the AlarmAck OP area pointer is selected SIMATIC ProTool Pro CS Project MP270 je File Edit View Insert m Options Window DEU 8 ae G men RR I Englisch USA E S MP270 MP270 Type No PLC Address Screens amp Messages Recipes Available types H Archives Reports 5 sere Alarm Ack PLC 2 Tags Alarm Messages 2 Multiplex Tags Coordination E Scripts Data Mailbox Trends Date Time 8 Graphics Date Time PLC amp Text Graphic Lists Event Messages Controllers Job Mailbox LED Assignment Screen Number Trend Request
164. ler Table 56 Overview of the FB assignment The adaptation mode can be selected from the user program The starting diameter and final diameter as well as the starting and final values of the controller gain must be adapted The output of FB PID_P is already connected to the tension controller blocks with the variable to WindAxis PID_Data rPID_P Date 15 11 04 Version V3 0 Page 143 Copyright Siemens AG 2003 All Rights Reserved User_Manual_Simotion_Easy_Basics_V3_0 doc Document User documentation For internal Use Only Simotion Easy Basics reviewed 13 4 8 Tension controller Depending on the closed loop control mode either closed loop control with torque limiting or with speed correction is activated in the uControlMode variable Tension or dancer position control CASE g_uControlMode OF ELSE Control with torque limitation Control with speed setpoint change MODUL 69 Fig 74 Excerpt of the program to changeover the operating mode Closed loop control with torque limiting Block FB_Control_WithTorqueLimitation has as output parameter in addition to the speed setpoint also the upper and lower torque limit for the drive The block uses the PID controller from the SFL The actual tension value from the tension transducer and the tension setpoint r_Controlled_Value_actual_Filtered and r_Controlled_Value_Set is made available to this block The tension setpoint is received
165. lerated and decelerated The pre control must be activated ensure the corresponding wiring connections The speed controller output of the winder axis should be minimal This should be checked in the drive If this is not the case then the values of the moment of inertia calculation must be checked and if required adapted FB_Inertia_Calculation Tragheitsmoment Rollenkern Getriebe Motor rJCore rJGear rJMotor FB_Inertia_Calculation Moment of inertia roll core gearbox motor rJCore rJGear rJMotor Inertia compensation Variable moment of inertia After the constant moment of inertia has been calibrated repeat the measurements To do this wind a roll with 1 2 of the maximum diameter Enter the diameter and hold and then accelerate and decelerate the winder via the ramp function generator The speed controller output must again be minimal Otherwise check the values of the moment of inertia calculation that are variable this means for example the specific density of the material width of the roll rDensity rWidth Repeat the operation with a roll at the maximum diameter Check the tension pre control with a direct closed loop tension control with tension transmitter Thread and clamp the material web The diameter must be checked and if required corrected The tension controller limits must be set to zero rPID_OUT_LIMIT 0 At standstill switch in the closed loop tension control uWindingMode 40 43 The pre control mu
166. lobal variables of the mode manager The EnumStates enum includes all of the states according to the OMAC definition To display the actual machine states there is on one hand the g eActua State variable type EnumStates and on the other hand thirteen boolean variables that are precisely assigned to one state If the machine is for example in the Manual state then the g_eActualState variable has the value OM_Manual and the g boOM_Manual variable is TRUE Further a diagnostics array is declared g_asDiagnosticsArray that logs a history of the state transitions with an associated time stamp The DIAG_ARRAY_MAX_ELEMENT constant can be used to define the size of the diagnostics array All of the variables that start with the PML_ prefix belong to the operating data that are defined according to the OMAC Tag Naming Guidelines Some of these variables are declared as retain variables in order to ensure that values are retained even after the power supply has been powered down A detailed description of these operating data is provided in Chapter 2 2 5 2 2 3 2 OmacStUp unit The program in this unit is used to initialize all of the variables of the mode manager It is assigned to the StartUp task and is executed at when the controller transitions from stop to run In this program the output state of the machine is pre assigned the ESTOP state by setting the eLocalActState variables This ensures that after being powered up the machine is
167. loop is changed by entering a constant control output value of manipulated variable The process parameters are determined from the delay time and the rate at which the temperature changes The controller parameters are then calculated from the process parameters of the loop identification To do this the modified tangent technique is applied The loop is excited with the maximum 100 actuating signal until the reversal point is identified The delay time TU and the maximum temperature increase Smax 100 referred to a 100 control output signal are determined from the step response However using these parameters it is only possible to roughly determine the loop parameters The advantage with respect to the standard tangent technique is the significantly shorter identification time KS control Actual value Time Fig 17 Representation of the modified tangent technique The phases of the self setting routine are monitored for their runtime when the time is exceeded timeout the self setting routine is interrupted with an alarm The times can be set using the appropriate configuration data The auto tuning for the temperature channel is started using the positive signal edge of the boSelftune input variables It should be noted that when configuring the technological object the configuration data identification modifiedTangentMethod transitionMode must be set to AUTOMATICALLY With auto tuning the following phases
168. loop tension control with torque Yes limiting FB_GainAdapter Function block to adapt the speed controller gain No as a function of the roll diameter FB_DiameterCalculator Function block to calculate the roll diameter No FB_TensionTaper Function block to calculate the winding hardness N AR o characteristic as a function of the roll diameter FB_Setpoint_RFG Function block to calculate a ramp function No generator to avoid setpoint steps FB_Inertia Function block to calculate the changing moment N of inertia of the roll while winding FC_TorquePrecontrol Function to generate the torque pre control value No WORD to _LREAL Data conversion from word to LREAL No WORD_to_REAL Data conversion from word to REAL No FB_LowPassFilter Low pass filter from the SIMOTION Function No Library Source Programming ST language Library L_BaCtrl Know how protection No Program function Feature function Must be adapted to the application FB_basiscontrol_pid PID controller from the SIMOTION Function No Library Source Programming ST language Library Know how protection No Program function Feature function Must be adapted to the application Unit Wind_Var Declaration of variables for the program example Yes Programm Wind_IPO Program example for closed loop tension control Yes with speed correction and dancer roll Table 61 Program elements of the winder function Version Date Page Document V3 0 15 11 04 154 User documentation Copyright Siemens AG 2
169. lowing FCAlarmSStartUp FCAlarmSActCatCycle FCCallSysFunctGetState FCAlarmSDisplayAlarm FCAlarmSStatesBG FCReadErrorOutOfFIFO FCWriteErrorInFIFO In the sources used the programmer only has to make supplements and adaptations for his generated alarms Changes as a function of the application or functional changes should not be made in the individual programs and functions This is the reason that in the documentation a description will only be provided on how to add configured alarms and integrate the technique into an application Version Date Page Document V3 0 15 11 04 52 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 6 2 3 1 Function and integrating the FCAlarmSRequest As part of the AlarmS technique the FCAlarmSRequest function has two distinct functions On one hand these are used to request that a message is generated and on the other hand they are required to again reset the status of an error It has two input variables boSignal and iErrorNumber The function of the error generating signal is transferred using the boSignal variable and the error number is transferred using iErrorNumber The error number is the same as the alarm number that the configured message in SCOUT has If this function is called using a positive signal the transferred error number is entered into an FIFO buffer and using an ed
170. mentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 8 3 2 Integrating into the application Before the two function blocks can be used initially a data area in the communications interface between the two controllers must be set up in the hardware configuration Fig 35 Setting up the data area and assigning the addresses Eigenschaften DP Slave Konfiguration Zeile 1 x 4 4 Nou Beorbonen Loschen MS MastorSiewe Konkqurstion Mester or Simon SIMOTION C Kommentar If the area is correctly set up this is displayed under the properties tab of the slave controller Fig 36 Properties tab of the DP slave Version Date Page Document V3 0 15 11 04 80 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed In the next step an I O variable with a size of 8 bytes must be set up on the two controllers On the master controller this must be declared as output and on the slave as input Master Datentyp Tr Amy Feldl nge Prozessal 0 Fig 37 I O declaration on the master side Slave dresse Nur lesen Name E rtc_master Datentyp Feldlange Prozessab Array 8 1 Fig 38 I O declaration on the slave side A
171. mode In the case the STARTING state is run through Production is started with Start and the machine goes into the PRODUCING state If there are no products to be processed the machine remains in the STANDBY state If required the machine can also be brought without any material into the PRODUCING state where it then produces under no load conditions The machine is brought into the PRODUCING state using an appropriate signal logic e g using a Product OK button As soon as the button is released the machine goes into the STANDBY state after the last cycle has been completed It is possible to go into the STOPPED state with Stop through STOPPING The machine goes back into the STANDBY state if there is no material in its material feed material runout Depending on the particular machine type it is stationary or runs under no load conditions e g production speed Productive operation can be exited using Stop STOPPED through STOPPING The machine can be held This can either be done by the operator by selecting Hold or due to faults blockages on the downstream machines The machine goes into the HOLD state through HOLDING This state can for example be used in order to remove blockages or in order to hold the machine until the downstream machine is ready To start producing again Start is selected In this case this causes a change to STANDBY or PRODUCING the associated logic is automatically
172. motion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed The processing of the function block can be interrupted in every processing step using a rising edge at the boStop input If a block error occurs during processing then the boError output variable is set and an error code is output using iErrorID Note e When making a measurement without a range window the input parameters rToleranceRangeStart and rToleranceRangeEnd are pre assigned a value of 0 4 1 2 Dynamic measuring range adaptation The dynamic measuring range adaptation is necessary as there is a deadtime between the Simotion platform and the drive at which the measurement is made This is as a result of the system and must be compensated in the application up to Simotion SCOUT V3 0 a precise description of the problem can be read about in 13 Since Version 3 1 1 there is a configuration data in the system which allows the update to be automated If Simotion SCOUT is used with a version higher than or equal to 3 1 1 then the compensation using the configuration data is the preferred way 4 1 2 1 Automatic measuring range adaptation from V3 1 1 onwards The automatic measuring range updates is made by entering a type of deadtime in the configuration data MeasuringRange activationTime You can find this if the input screen form configuration is opened in the symbol browser of Simotion SCOUT under the appropriate measuring probe The time value c
173. motion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed Example select alarm number for selective alarm handling CASE TSI AlarmNumber OF 30002 command aborted Example Quit all occasions of alarm 30002 iReturnValue FCResetError toObject TSl olnst iToType iToType iAlarmNumber TSI AlarmNumber ELSE END_CASE Fig 23 Example for the reset of reference 30002 without response To 2 All alarms and references are reset without any response by calling the FCResetError function Example quitt all technological errors iReturnValue FCResetError toObject TSl tolnst iToType IToType iAlarmNumber TSI iAlarmNumber Fig 23 Example for the reset of all alarms references without response 6 1 1 2 FCResetError function The FCResetError functions supports the acknowledgement of individual technological alarms of any TOs from the user program When called the technological object the alarm number and the type of the technological object are transferred This means that the user does not have to select the object specific _resetTypeError command This function can be used in the program to acknowledge individual faults associated with any object 6 1 2 Function elements and their integration Source TechF Programming ST language Library Know how protection No Program function Properties features function Must be adapted to the application progTech
174. n Date Page Document V3 0 15 11 04 58 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 6 3 1 2 Acknowledgement types of the various error categories The acknowledgement type is decisive when it comes to resetting global category signals Two different types are available These are assigned in the StructBitError structure in the eModeAcknowledge element ErrorHMI and None ErrorHMI When ErrorHMI is selected the error message is generated by setting the appropriate error bit and the global category signal is set In order to reset the global category signal the error that initiated the alarm must disappear and the message on the HMI must be acknowledged In order to detect this the appropriate bit in the acknowledge area of the HMI and the bit in the acknowledge area of the PLC are interrogated None When this type is selected although the associated error bit is set the message is automatically and simultaneously acknowledged from the PLC acknowledge area This means that on the HMI there is only note that there is an error present The actual message can only be viewed in the fault message buffer If the error in the application disappears then the reference is also withdrawn The same effect as for an _alarmS command can be achieved in this way 6 3 1 3 Acknowledging error messages via the PLC or HMI The error me
175. n overview of all of the system functions available is provided in the List Manual Technology package TControl Name Function _settcontrollerdpidparameter Sets the controller parameters _setTControllerInputLimitCheckParameter Sets the tolerance bandwidths _setT Controller OperatingMode Sets the controller mode _settcontrollersetpoint Sets the setpoint temperature _calculatecontrolerparameter This function calculates new controller parameters from the loop parameters determined using the self setting routine This function should be started after the self optimization routine Table 64 System functions used to control the TO 15 1 5 Activating in the execution system and setting the clock cycles In the execution system the TO temperature channel uses its own tasks These must be activated when the temperature channels are used by selecting Use system tasks for TControl The setting is made in the screen RUN SYSTEM gt Experts gt SET SYSTEM CLOCK CYCLES gt TCONTROL Task Significance TCInput_Task_1 Senses the actual value sensing TCTask_1 Closed loop temperature control TCPWM_Tasks Clock cycle time of the pulse width modulation at the digital output Table 65 Significance of the temperature channel tasks Version Date Page Document V3 0 15 11 04 171 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3
176. n using the torque limit function the output words must be carefully selected If the positive torque limit TorqueLimit_Pos is less than the negative limit TorqueLimit_Neg then the drive accelerates up to the maximum speed and either the material could be damaged or a material web breakage Before making the appropriate connections in the drive it should be ensured that the Profibus input words are correctly connected assigned for the torque limits We recommend that the free blocks in MASTERDRIVES are used to ensure that the positive torque limit is greater than the negative limit 13 3 2 1 Schematic LAD representation FB_Control_WithTorqueLimitation LREAL rV_set N_set LREAL LREAL rD_actual TorqueLimit_Pos LREAL USINT uWindingMode TorqueLimit_Neg LREAL LREAL rSamplingTime LREAL rControlled_Value_set LREAL rControlled_Value_actual_ Filtered LREAL rPID_P DINT iPID_ DINT iPIP_D DINT iPID_DelayTime BOOL boPID_D_ Set BOOL boPID_ Reset REAL rPID_OUT_LIMIT LREAL rN_nominal INT i_Offset_ratio Fig 54 Schematic representation of the input and output interfaces Version Date Page Document V3 0 15 11 04 118 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 13 3 2 2 Input and output interfaces of the FBs When calling the block the parameters specified in the following Table can be supplied
177. nguage Library Know how protection Yes Program function Feature function Must be adapted to the application ShutDownProg No ChangeConfigdata No RaiseMessage No FB EPosCmd No Source EPosProg Programming ST language Library Know how protection No Program function Feature function Must be adapted to the application EPosProg The basic positioning function is called FBs and No handling of the I O variables StartupProg Initialization of the axis arrays Yes Source Retain_V Programming ST language Librar Know how protection Yes The retain variables are declared No Table 63 Program elements of the basic positioning function Version Date Page Document V3 0 15 11 04 167 User documentation Copyright Siemens AG 2003 All Rights Reserved User_Manual_Simotion_Easy_Basics_V3_0 doc For internal Use Only Simotion Easy Basics reviewed 15 Temperature controller 15 1 General description of the TO temperature channel Closed loop temperature control functions can be configured in SIMOTION using the TO temperature channel This covers the actual value sensing actual value acquisition through the closed loop control up to generating the actuating signal all of the basic functions of closed loop temperature control including the identification of the temperature control loops and calculating the resulting channel parameters The FB_TempControl function block simplifies the handling of the t
178. nnnannnannnunnnunnnnnnnnnnnnnnnnnnnnnnnnannnannnannnnnnnannnnnnnnnn 16 2 Calling the FB unnnesnesneenssnnennnnnnnnnannunnnnnn 16 3 HMI configuring in ProTool 16 4 Input output interface of the FB Version Date Page Document V3 0 15 11 04 7 User Documentation Copyright Siemens AG 2003 All Rights Reserved For internal use only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 16 5 Schematic LAD representation uuuusurennansunnunnennnnnnunnunnnnnnunnunnnnnnnnnannunnunnnnnnnnnnnnnnnnannannunnnnnrnnnn 180 16 6 Function elements and their integration nsessensennennnennannnnnunnnnnennnunnunnnnnnannnnnnnnnnnnnnnnnnnnnnnnnn 180 17 Liter atte 25525 cas succ ctesccagscceectucs ctucesssatuesgt TE 181 Version Date Page Document V3 0 15 11 04 8 User Documentation Copyright Siemens AG 2003 All Rights Reserved For internal use only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 1 Introduction The Simotion Easy Basics is intended to provide SIMOTION users with support when configuring and programming engineering production machines The library provides standards which can be adapted depending on the specific system and application These standards cover the typical basic functions of a production machine The functions are mainly provided in the public domain The appropriate interfaces are available for system and application specific adaptation These interfa
179. nnnnnnnnnn nennen nenn nennen nennen nn 7 DP Slave diagnostics 2 22 2 02 2 2200 ciety cs sun ea costar seedeeusede sducustsutedevcuyselevtu 7 1 General information on DP slave diagnostics 7 1 1 Data managements oi egira 2 8 a ees aae eG a a Zea a pa a 7 1 2 Description of the DP slave information according to EN50170 eessen 70 7 2 FCDPSlaveDiag function unuusersnnsnnennunnunnnnnnunnunnnnnnannunnunnunnnnnnnnnnnnnnnnnn 7 3 progDPSlaveDiagStartUp program BR 7 4 progDPSlaveDiagPeriFault program nuusssnnenunnnnannannunnunnnnnnunnunnunnnunnunnunnnnnennnunnnnnnnnnunsnnnnnnnnnnannene 72 7 5 Function elements and their integration nusssnssnsennennnannannunnunnnnnnnnnunnennnnnnunnunnnnnnnnnnnnunnnnnnnnnanenn 74 8 Function blocks for date and time aia 8 1 Setting the system time and the data of the controller uunsunsennnennnannnansnannnannnunnnannnnnnnnnnnnnnnnnnn 75 8 1 1 Mode of Operation iris cei sccips 22er Brennerei 75 8 1 2 Integrating into the application cccccceeeeececeeeeeeeeeeeeeeeeeeeeceaeeeeeeeaeeceeeeseeeeeesneeeeeeeseaees 75 8 1 3 Function elements and their integration eseeeeseeeseeeeneeeeeeeeeeeaeeseaeeeeaeeseseeeesaeeeeeees 76 8 2 Synchronizing the date and time of the HMI on the controller csccssseeeseeeeeeeeeeeseeeeseenees 77 8 2 1 Mode 0f Operation esccacse cevecs syste ehesten are aaa ae Daia ar reaa aaa 77 8 2 2 Integration into the application eee eee e
180. nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 59 6 3 2 Principle of operation of the bit signaling technique eee eeceeeeeeeeeeeeeeeneeeeneeeeneeeeaes 60 6 3 3 Structure of the bit signaling technique 00 0 eee cee eeeeeeeeeeeeeaeeeeeeeeeeneeeeaeeseeeeeeeeeeeeaes 61 6 3 3 1 Function and integrating the FCBitErrorR qQuest cscccsccssceeeeceeeceeeeaeeeaeeeneeseeeeeeeaeeeaeeeaeeseeseeeeeeeaeeeeeseeeseneeereees 61 6 3 3 2 Function and integrating the progBitErrorStartUp ccccccccceceeseeeeceneeeneeeeeeeeesereeeeeeeeeeeeesreseeeseeeaeeeaeeeneesaneeereees 62 6 3 3 3 Function and integrating progBitErrorBaCkQroUnn sccccccseceeseeeeeeeseeeeteeeeneesereeeeeneeeaeeseesreceeeeeeaeeeeeereseneeereees 62 6 3 3 4 Function and integrating progBitErrorActualCycle eenessensennennennnnnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 62 6 3 4 Configuring the messages and connecting the area pointer en 63 6 3 4 1 Configuring messages ae eur aaa el cet een leisen cata 63 6 3 4 2 Linking the area pointer for the error messages 22u2024unnsnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 64 6 3 4 3 Linking the area pointer for the acknowledge area of the HMI aA a 65 6 3 5 Inserting and parameterizing new error messages nuunesennersnnnnennnnennnnennnnnnnnnnnnn nennen 6 3 6 Function elements and their integration uussrsnnnrsnnnesnnne
181. o be configured in Simotion Once these have been configured messages can be initiated with the following properties features Error 1 Error 1 is assigned Category A The acknowledge mode for the category signal is defined as ErrorHMI Error 2 Error 2 is assigned Category B The acknowledge mode for the category signal is defined as Error Error 3 Error 3 is assigned Category C The acknowledge mode for the category signal is defined as None The alarms messages are initiated using the three device global variables fehler1 fehler2 and fehler3 error1 error2 and error3 These represent the error generating signals If they are set to the value TRUE then the three messages are displayed and the global category signals are set The FCAlarmSRequest functions to generate the messages are cyclically called in the progAlarmsBackground program The following conditions must be fulfilled in order that the category signals g_sActCatStateAlarmS boA g sActCatStateAlarmS boB g_sActCatStateAlarmS boC are again reset g sActCatStateAlarmS boA The error which set this category signal has been defined with the acknowledge type ErrorHMI This means that the actual error itself must disappear and the message must be acknowledged on the HMI If the error generating variable fehler1 error 1 is again set to FALSE and the message acknowledged then the category signal is again reset g sActCatStateAlarmS boB Error 2 which set this signal has
182. oc Simotion Easy Basics reviewed 2 1 4 Operating states and functions of production machine according to OMAC The open loop control operator control of a production machine is now explained using the OMAC model This model describes the complete machine and not just individual axes Not all of the status and control signals are listed as these depend on the particular application The names of the status and control signals as well as the states refer to Fig 2 After the machine has been powered up the control runs up runs through its initialization routine and the machine goes into the E STOP state The control voltages and drive enable signals permissive signals are switched out in the E STOP state The fault status of the machine is checked If there is no fault e g EMERGENCY STOP signal then this means that the machine is in a fault free state and it then changes into the IDLE state AUTOMATIC or MANUAL can be selected from IDLE When AUTOMATIC is selected the machine goes into the STOPPED state The machine starts with the prepare command and goes into the READY state via the STARTING state In the STARTING state all of the prerequisites required for production are created or checked For example traversing moving into the initial state and or checking whether the initial state has been reached homing and or checking whether axes are referenced These prerequisites can alternatively also be created in the manual
183. of the area pointer in the HMI and downloading the configured software again After these changes have been made the messages can be initiated by calling the appropriate functions FCBitErrorRequest Version Date Page Document V3 0 15 11 04 66 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 6 3 6 Function elements and their integration Source BitError Programming ST language Library Know how protection No Program function Properties features function Must be adapted to the application progBitErrorStartup Initializes all data Yes Integrated in the StartUp task progBitErrorBackground Checks the error and message states No Integrated in the background task progBitErrorActualState Forms the global category signal No Integrated in the IPO IPO_2 or background task FCBitErrorRequest Initiates a request for an error message No The call can be cyclic or also can be made from sequential tasks Table 18 Program elements of the bit signaling technique Version Date Page Document V3 0 15 11 04 67 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 7 DP slave diagnostics Information about the various bus nodes is provided from the DP slave diagnostic f
184. ol loop is still being actively computed The reason for this is that new values cannot be accepted while a computation run is being executed If all of the prerequisites for a new computation with the new values are available this is carried out and the new controller parameters are activated Version Date Page Document V3 0 15 11 04 174 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 15 3 1 Input and output interface of the FB Name P Data type Significance type toTempController IN TemperatureCo Technological object Temperature channel ntrollerType boEnable IN BOOL Switches in the closed loop control boSelftune IN BOOL Selects the self setting routine iFirstErrorNumber IN DINT Value is added to the output faults for example in order to display faults errors for each TO in a coded form rTempSetpoint IN OU LREAL Setpoint temperature reference temperature T rPID_Gain IN OU LREAL P component T rPID_IntegTime IN OU LREAL component T rPID_DerivTime IN OU LREAL D component T rHighLimit2 IN OU LREAL Outer upper tolerance T rHighLimit1 IN OU LREAL Inner upper tolerance T rLowLimit1 IN OU LREAL Inner lower tolerance T rLowLimit2 IN OU LREAL Outer lower tolerance T rActualTemp OUT LREAL Actual temperature rOutputValue OUT LREAL
185. oll and its diameter and the rated motor torque If torque pre control is used then the function fc_pre_control must be incorporated in the IPO task A pre control value as a of Mn is the output of the function Depending on the closed loop control technique the output of the function must be connected inter connected differently For closed loop control techniques with speed correction the pre control value from the ramp function generator is added to the setpoint from the torque pre control before this is sent to the drive The user must make this interconnection T set E Rx gt I set rra for analog Dact gt out Dact 2 AccelMaster gt Torque j Add_Torque Precont Fig 71 Schematic integration of the torque pre control for speed correction For closed loop control techniques with torque limiting in addition to the pre control value from the ramp function generator being added the output of the tension controller must also be added to the torque pre controlled value The user must also make this interconnection Dact 2 RHH Tension controller M_Limit_Pos Tact M_Limit_Neg adapter AdaptionMode Dmax Inertia InertiaRatio Torque Precont AccelMaster _ Fig 72 Schematic integration of the torque pre control for torque limiting After the data has been converted the result of the addition can be output onto the Profibus The variabl
186. on values from the Win_Var unit Table 42 Input output parameters of the function block FB_Control_WithSpeedSetpointChange Date 15 11 04 Version V3 0 Page 117 Copyright Siemens AG 2003 All Rights Reserved User_Manual_Simotion_Easy_Basics_V3_0 doc Document User documentation For internal Use Only Simotion Easy Basics reviewed 13 3 2 FB _Control_WithTorqueLimitation Function block to calculate the speed setpoint for direct closed loop tension control with torque limiting This function block is used in the winding mode direct closed loop tension control with torque limiting A tension controller is implemented in this block The actual tension from a tension transducer is read in and compared to the tension setpoint tension reference value Each time that the FB is processed a speed setpoint and the positive and negative torque limiting are generated The speed setpoint is selected so that the drive goes to the torque limit and therefore the speed controller is operated overcontrolled Depending on the winder mode either the positive or negative torque limit is effective If the material web breaks the drive accelerates but only to the set speed setpoint plus the overcontrol setpoint The overcontrol setpoint can be specified using i_Offset_ratio as a ratio to the rated speed This can prevent that the motor accelerates in an uncontrolled fashion possibly causing mechanical damage Warning Whe
187. oning of data that is used to graphically display the position profile on the HMI system In addition a configuration is required in ProTool Pro Before calling the FB the cam must have been interpolated using the system function _interpolateCam The number of points displayed on the HMI system is defined in the constants NR_OF_SET_POINTS The slave values are saved in an array The maximum length is 999 points i e the constant NR_OF_SET_POINTS may not exceed a value of 999 If the constant is changed from its default value the ProTool configuring must be adapted The output in ProTool Pro is in the form of a line type representation The block reads out the slave values associated with fixed master values and writes these into an array The distance between master values is calculated from the system variables of the cam leadingrange start leadingrange ena NR_OF_SET_POINTS whereby the leadingrangesettings offset is taken into consideration The system function _getcamfollowingvalue is used to read out the slave position values Note Due to the high system load the block should be sequentially called in a motion task 16 2 Calling the FB The FB can be called after the cam has been interpolated To do this the Trend Transfer1 pointer must be set up in ProTool In this in Simotion the trend group bit and the bit assigned to the cam are set This triggers the cam display in ProTool In this particular example the cam is
188. orque limiting and a tension transducer Roll diameter calculation Winding hardness characteristic Adaptation of the controller gain of the dancer roll position controller or the tension controller Adaptation of the speed controller gain as a function of the moment of inertia Moment of inertia calculation Torque pre control The following winder settings can be made e Winder or unwinder e Winding from either the bottom or the top Winding from the top a Winding from the bottom Unwinder Winder Fig 49 Possible winder settings The winder application comprises several blocks that the user must inter connect The pre interconnections for closed loop tension control with speed correction and dancer roll is implemented in a program example The following blocks are provided e WindLib1 WindLib2 o FB_Control_WithSpeedSetpointChange FB_Control_WithTorqueLimitation FB_GainAdapter FB_DiameterCalculator FB_TensionTaper FB_Setpoint_RFG FB_Inertia FC_TorquePrecontrol OO 0 O00 0 e L BaCtrl o FB_basiscontrol_pid e ToolLib o WORD_to_LREAL o WORD_to REAL o FB_LowPassFilter Version Date Page Document V3 0 15 11 04 109 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 13 1 Function description Three closed loop tension control techniques are described in the following Chapters These can be
189. ot Master Slave configuration 1 Master 2 DP1 Station SIMOTION C Comment Cancel Help I Fig 78 Telegram properties using an application example of MASTERDRIVES VC Version Date Page Document V3 0 15 11 04 149 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed Input words can be configured in SIMOTION These are then assigned to data from the drive using the I O browser refer to Fig 74 c230_2 VO address PI 260 WORD 1 Substitute HEX Unwinder diameter from sensor i_winder_tension PY 262 WORD 1 Substitute HEX Atual dancer position i_winder_torque PIV 264 WORD 1 Substitute HEX Unwinder actul torque i_winder_n_act P 258 WORD 1 Substitute HEX Unwinder actual speed o_winder_torquelimit_p POV 260 E WORD 1 Substitute HEX Torque Limit Positive o_winder_torquelimit_n POV 262 E WORD 1 Substitute HEX Torque Limit Negative o_winder_add_torque POW 264 E WORD 1 Substitute HEX Precontrol torque o_winder_inertia_ratio POW 266 E WORD 1 Substitute HEX Inertia ratio for Kp adaption 1 Fig 79 Declaring variables in the I O browser of SIMOTION for Profibus The information is supplied in the form of words this means that in some instances it is necessary to convert data types In this case the WORD_TO_LREAL function can be used in order to convert input words into LREAL data t
190. owing 10 2 5 1 Busy BOOL If Busy TRUE then a diagnostics sequence is still being evalauted The data in the monitor are now no longer consistent and can be read in If the variable Enable FALSE then Busy TRUE until Enable TRUE and a new diagnostics sequence was completed If Busy FALSE then the evaluation of a diagnostics sequence was completed Diagnostics data is now consistent and can be processed in the additional program For Enable TRUE immediately after the end of a diagnostics sequence evaluation at the next FB call Busy is again TRUE This means that the state Busy FALSE is only present for one cycle 10 2 5 2 OutBit0 OutBit1 OutBit2 OutBit3 BOOL These parameters are inter linked with the AS i input bits of the AS i Safety Monitor 10 2 5 3 ErrorK1 BOOL If ErrorK1 TRUE then enable circuit 1 is shutdown If ErrorK1 FALSE then enable circuit 1 is switched in 10 2 5 4 ErrorK2 BOOL If ErrorK2 TRUE then enable circuit 2 is shutdown If ErrorK2 FALSE then enable circuit 2 is switched in 10 2 5 5 SumK1 USINT The number of devices in the enable circuit 1 that have tripped when an error occurred is specified here i e the value of the device status refer to Point 2 3 5 is not equal to 0 In the diagnostics window of the ASI Mon PC program this corresponds to a device color symbol that is not green The value range of SumKT extends from 0 to 7 If SumK1 7 then the actual numbe
191. parameters Table 12 Parameter _FB_AddSegmentToCam Version Date Page Document V3 0 15 11 04 42 Copyright Siemens AG 2003 All Rights Reserved User documentation For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 5 4 Timing diagram Triggered from the signal level run 1 1st call 2nd call 3rd call 4th call with error Cycle Cycle Cycle Fig 20 Timing diagram _FB_AddSegmentToCam 5 5 Error messages When an error occurs in the function block the error output parameter is set to TRUE The errorID output parameter specifies the error that occurred The error and errorID output parameters are reset at the start of the next function block instance call Error No Significance Note Hex 0 No error 69 Invalid TO instance Check the block parameter supply cam CamType 70 Invalid TO state Check the state of the cam technology object CamType the object must be reset using _resetCam 75 The command was interrupted While interpreting the command an alarm occurred at the because of an alarm present atthe technology object Acknowledge the alarm technology object 80 Invalid leading range Check the supply of the block parameters leadingRangeStartPoint and leadingRangeEndPoint both must have different values gt 1000 Internal error 16 1011 16 1012 division by zero 16 1021 16
192. pe of error handling in the PeripheralFault task has the following advantages You always have information about the current states of the DP slaves using the information in the g asDPSlavelnfo array and this information can be included in the application It is also possible to immediately respond to the error by running the PeripheralFault task Version Date Page Document V3 0 15 11 04 73 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 7 5 Function elements and their integration Source DP_Diag Programming ST language Library Know how protection No Program function Feature function Must be adapted to the application FCDPSlaveDiag Executes the DP slave diagnostics No Called by the programs progDPSlaveDiagStartUp and progDPSlaveDiagPeriFault progDPSlaveDiagStartUp Scan over all DP slaves Yes Integrated in the StartUp task progDPSlaveDiagPeriFault The global structure is updated when a DP slave No fault error occurs Integrated in the PeripheralFault task Table 20 Program elements of the DP slave diagnostics Version Date Page Document V3 0 15 11 04 74 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 8 Function blocks for date and time
193. pre control from the bottom 40 Only tension control winder from the top 41 Only tension control winder from the bottom 42 Only tension control unwinder from the top 43 Only tension control unwinder from the bottom rSamplingTime LREAL Sampling time of the task in which the FB is called IPO or IPO2 ms rControlled_Value_set LREAL Setpoint reference position of the dancer roll or tension setpoint rControlled_Value_actual _ Filtered LREAL Actual position of the dancer roll or tension actual value rPID_P LREAL 2 P gain of the PID position controller of the dancer roll iPID_ iPIP_D iPID_DelayTime DINT DINT DINT 500 1000 1000 Integral component of the PID controller Differential component of the PID controller Delay time of the PID controller filter D component boPID_D_Set BOOL FALSE Enable D component boPID_ Reset BOOL Reset PID controller output rPID_OUT_LIMIT REAL 100 Controller output limit rom N_set OUT REAL Speed setpoint for the drive rpm N_set_Correction OUT REAL Speed correction value from the position controller rpm N_set_Line OUT REAL Material web speed rpm IT N 3 Parameter types IN Input parameters OUT Output parameters Parameter type P Mandatory parameters O Optional parameters Initializati
194. prises a DPSegmentID and dpSlaveAddress In this case DPSegmentID describes the Profibus line DP_2 or DP_1 and the Profibus address is entered into dpSlaveAddress Element2 boDP_Slave_Defined This type Bool variable specifies as to whether the addressed slave is configured in HW Config or not Element3 boDP_Slave_Ready This variable provides information as to whether the slave is physically connected to Profibus and is ready Element4 boDP_Slave_SFError Here it is displayed as to whether there is a group error for the diagnosed slave Element5 i32Diagnostic_Adress Diagnostics address determined at startup Element6 dtTimeOut When a slave runs up a timer is started this run up operation is interrupted if a particular slave has not signaled that it is ready within a specific time timeout Element7 iFunctionResult Corresponds to the return value of the system function _ReadDiagnosticData Version Date Page Document V3 0 15 11 04 68 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed Element8 uDataLength This value specifies the number of bytes that the DP slave sent The value depends on the DP slave Element9 aDiagnostivBytes This element is a byte array with six elements Here the first six of the maximum 240 bytes are saved that a DP slave can supply Only the first six bytes are evaluated as the
195. put parameters 2 Parameter type P Mandatory parameters O Optional parameters 3 Initialization values from the Win_Var unit Table 43 Input output parameters of the function block FB_Control_WithTorqueLimitation Version Date Page Document V3 0 15 11 04 119 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 13 3 3 FB_GainAdapter Function block to adapt the speed controller gain as a function of the roll diameter During the winding process the roll diameter changes The change in the diameter has an influence on the tension or the efficiency of the dancer roll position or tension control In order to compensate a change in the diameter the controller gain can be varied Two different adaptation techniques can be selected 1 Linear adaptation a table with 4 points specifies the gain as a function of the diameter 2 Inverse adaptation Normally the controller gain is set to a specific diameter Gtunea for Diunea Using the minimum and maximum diameter of the roll and the linear interrelationship between the quantities gain Ga can be calculated Goes _ G uned gt G u G A Daa D D act tuned D act tuned tuned Be AdaptionMode n 0 l PID_Gain gt l l Gain_EndAdaption r l Diameter_Ac
196. r variables are included to display the actual states and operating hours counter that are defined according to the so called OMAC Tag Naming Guidelines 3 The structure and the individual elements of the mode manager are described in the following 2 2 2 Changes with respect to the old version of the mode manager The changes in the mode manager with respect to the last version 2 0 are listed in the following table No Actual New 1 All functions and programs are The programs are generated in MCC programmed in ST 2 Name of the program that contains the Name of the program that contains the mode mode manager manager progOmacChangeState OmacMain 3 The individual states are represented by All states are represented using a defined constants enum variable that contains all of the states as e g OM_E STOP INT 13 value enumStates 4 State changes are executed by calling the The FCSelectState function has been removed function FCSelectState and has been integrated into the OmacMain program State changes are executed by setting the global variable g eNewState 5 State functions in the form of empty ST No empty state functions are provided any functions are made available that do not more This means that the user himself can have any return value data type VOID select the programming language Recommendation The state functions should have the return value enumSiates 6
197. r and an outer tolerance bandwidth The inner and outer tolerance bandwidth can be defined independently of one another The technological object offers the possibility of an absolute or relative tolerance bandwidth The relative tolerance bandwidth is used in FB_TempControl 2nd upper tolerance outer upper tolerance Setpoint 1st upper tolerance inner upper tolerance Actual value 1st lower tolerance inner lower tolerance 2nd lower tolerance outer lower tolerance Time Fig 18 Inner and outer tolerance bandwidth e For the absolute tolerance bandwidth the limit values are not a function of the setpoint they are fixed e The relative tolerance bandwidth is always defined as a function of the actual setpoint it changes as the setpoint changes Date 15 11 04 Version V3 0 Page 170 Copyright Siemens AG 2003 All Rights Reserved Document User documentation User_Manual_Simotion_Easy_Basics_V3_0 doc For internal Use Only Simotion Easy Basics reviewed Responses when the tolerance bandwidths are exceeded e An alarm is output when the inner tolerance bandwidth is exceeded e When the outer tolerance bandwidth is exceeded then the system automatically changes over into a safety relevant mode An alarm fault is output and the heating output is switched to 0 15 1 4 Interface to the TO The temperature channel is controlled using the following system functions in the FB_TempCortrol A
198. r of tripped devices is at least 7 or more 10 2 5 6 SumK2 USINT The number of devices in the enable circuit 2 that have tripped when an error occurred is specified here i e the value of the device status is not equal to 0 In the diagnostics window of the ASI Mon PC program this corresponds to a device color symbol that is not green The value range of SumK2 extends from 0 to 7 If SumK2 7 then the actual number of tripped devices is at least 7 or more Version Date Page Document V3 0 15 11 04 95 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 10 2 5 7 ErrorMonitor Byte If the Safety Monitor is in the standard safety mode then ErrorMonitor 0 If the Safety Monitor is in the configuring mode then ErrorMonitor contains a copy of the bStatusMonitor byte from the diagnostics data block 10 2 5 8 ErrorFB WORD The value of variable ErrorFB is always 0 10 2 5 9 Data StructDataASiMon Data is the interface to the data area of data type StructDataASiMon The structure of the data type is described under bStatusMonitor r 2 5 Version Date Page Document V3 0 15 11 04 96 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 10 2 6 Data structure The Library L_AsiMon includes the prote
199. rameters specified in the following Table can be supplied Name P type Data type P O Initializa Significance tion value rJMotor IN LREAL P Moment of inertia motor kg m rJGear IN LREAL O Moment of inertia gearbox kg m rJCore IN LREAL P Moment of inertia roll core kg m rDiameter IN LREAL P Roll diameter m rDiameterMax IN LREAL P Maximum roll diameter m rWidth IN LREAL P Width of the roll m rDensity IN LREAL P Density kg m7 rDiameterCore IN LREAL P Roll core diameter m rGearRatio IN LREAL O Gearbox ratio rInertia OUT LREAL P Moment of inertia kg m rInertiaRatio OUT LREAL P Ratio Parameter types IN Input parameters OUT Output parameters Parameter type P Mandatory parameters O Optional parameters Table 48 Input output parameters of the function block FB_Inertia Version Date Page Document V3 0 15 11 04 130 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 13 3 8 FC_Pre Control Torque pre control In order to keep the deviations in the tension of the material web as low as possible while accelerating and decelerating the torque pre control can be activated In the speed setpoint mode an additional torque pre control is sent to the drive via Profibus In
200. re ensures a certain degree of transparency in the message handling system 2 Adapt the constants NUMBER_OF_ALARMS This should always be set to the value of the total number of message configured Example If a total of 50 messages have been configured then the value of the constants should be set to 50 NUMBER_OF_ALARMS INT 50 3 Define the alarm attributes in the progAlarmS Startup program in the unit AlarmS The attributes are defined by declaring two enum variables in an array structure type structError The array index is the same as the value of the associated constant of the alarm The following are defined on one hand the category to which the alarm should belong and on the other hand the mode to acknowledge the category signal Example An alarm error number 5 should belong to error category C and in order to reset the category signal the actual error in the application should disappear and the associated message should be acknowledged on the HMI g_asAlarmS 5 eCategory Category_C g_asAlarmS 5 eModeAcknowledge ErrorHMI Version Date Page Document V3 0 15 11 04 54 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 4 Extend the case instruction in the function FCCallSysFunctGetState in the AlarmS unit In order to extend the case instruction the following block must be inserted or copi
201. red boDone is set to TRUE If a task includes response data from ASI Link20E then this data is made available in auReceive in the receive buffer In this case in 0000 is entered into boStatus If an error has occurred boError is set to TRUE For tasks with response data receive data is not made available An error code is entered into the first word of bStatus in order to analyze the error that has occurred refer to Fig 37 boExecutd IN O boReset ir i hb 4 IN 9 boError 1 7 N OUT 9 bStatus Version V3 0 OUT 8181 0000 8181 errorlID 8181 0000 8181 booo Fig 10 Signal characteristics of the various parameters Date 15 11 04 Page 90 Copyright Siemens AG 2003 All Rights Reserved User_Manual_Simotion_Easy_Basics_V3_0 doc Document User documentation For internal Use Only Simotion Easy Basics reviewed 10 1 6 Program example The program in which the function block FBAsiLink20EControl is called must be assigned a cyclic task e g background task In the project example the ASI Link20E has a Profibus address of 4 The I O basis addresses occupy the address range from 0 31 INTERFACE USES ASI_Link PROGRAM Background PROGRAM PeriF PROGRAM TechF Imuumumunu Project Global Variables VAR_GLOBAL FBAsiLink FBAsiLink20EControl TestRun BOOL FALSE TestReset BOOL
202. rial thickness and there are no significant inclusions 3 Using the ratio of the web length of one or several revolutions of the winder Especially in the accelerating and deceleration phases as well as at low speeds this mode is more accurate than mode 1 The parameter iRevolNumber determines the number of revolutions from which the diameter is then calculated An interpolation is made between the old and new values If the input bit boD_hold is set to TRUE then the last calculated diameter value is kept This can be selected independently of the set calculation mode and at any time It is possible to toggle between the modes For example this means that the starting diameter can be sensed using a sensor or entered at the HMI When required it is possible to toggle between the modes when required Version Date Page Document V3 0 15 11 04 122 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed DIAMETER CALCULATION Se a Ee eo er DiameterCalcMode D_sensor gt V_Master_set i pl Nact as D_Reset gt A y D_init pH gt Nact al gt x gt 10 i SamplingTime INS u 0 D_c
203. rinciple mode of operation of the winding hardness characteristic Version Date Page Document V3 0 15 11 04 125 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed Taper function 110 100 90 80 70 60 50 Tension set 40 30 Taper ratio 60 20 Maximun diameter 0 18 m Taper start diameter 0 08 m 0 06 0 08 0 1 0 12 0 14 0 16 0 18 Diameter m Fig 60 Comparison between linear and hyperbolic winding hardness characteristics 13 3 5 1 Schematic LAD representation FB_TensionTaper USINT uTaperMode Set_Value LREAL LREAL rD_actual LREAL rd_min LREAL rd_max LREAL rd_StartTaper LREAL rTaperRatio LREAL rSet_Value_in ARRAY 0 9 of LREAL aD_Tab ARRAY 0 9 of LREAL aSet_Tab Fig 61 Schematic representation of the input and output interfaces Version Date Page Document V3 0 15 11 04 126 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 13 3 5 2 Input and output interfaces of the FBS When calling the block the parameters specified in the following Table can be supplied Name P type Data type P O Initializa Significance tion value uTaperMode IN USINT P 0 Mode 0 No characteristic selected 1 Hyperbolic characteristic 2
204. rogBitErrorStartUp The progBitErrorStartUp program is integrated in the StartUp task and initializes all of the relevant data of the bit signaling technique by calling the function FCBitErrorStartUp Further the properties of the individual errors are defined in this program error category and acknowledge mode Example g_asBitError 1 eCategory Category_A g_asBitError 1 eModeAcknowledge ErrorHMI 6 3 3 3 Function and integrating progBitErrorBackground The progBitErrorBackground program is integrated in the background task and processes all of the cyclic processes that are necessary for the bit signaling technique Firstly the FCBitErrorDisplayAlarm function is called This checks the FIFO buffer for new entries and arranges that the appropriate alarms are displayed on the HMI using the error numbers that have been entered This is realized by calling the functions FCReadErrorOutOfFIFO and FCBitErrorSetBit Then the FCBitErrorStatesBG function is called in the program This permanently scans all states of the error signals as well as all acknowledge states of the messages in the HMI system This is implemented using a loop that scans all of the errors The number of errors per background cycle whose states are scanned is limited by the constant NUMBER_OF_BIT_ERRORS_PER_CYCLE This ensures that the loop doesn t excessively load the background task Example The numbers of errors per cycle whose status is interrogated is limited
205. rs specified in the following table can be supplied Name P Data type P O Initialization Significance type 2 value boExecute IN BOOL P FALSE Unit data handling starts iActivity IN INT P 1 Activity 1 Data set is saved 2 Data set is downloaded 3 Individual data set deleted 4 Data set is checked 5 All data sets selected uDataSetNr IN UDINT P 1 Number of the data set to be processed eStorageType IN enumDeviceStorag O PermanentSt Type of data set storage eType orage temporary or permanent boOverwriteData IN BOOL O TRUE A data set may be Set overwritten tTimeOut IN TIME O 200ms Time out if the data set handling takes too long boBusy OUT BOOL FALSE Data set being handled boDone OUT BOOL FALSE Data set handling completed boError OUT BOOL FALSE Error has occurred iErrorlD OUT INT 0 Error number eErrorType OUT EnumDeviceUnitD Error specification system ataSetCommand input 1 Parameter types IN Input parameters OUT Output parameters IN OUT Throughput parameters Parameter type P Mandatory parameters O Optional parameters Table 24 Input output parameters of the function block FBUnitDataHandling Version Date Page Document V3 0 15 11 04 84 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 9 1 3 Schem
206. s with the saved values of the unit variables of the interface section of an ST source A more detailed description of the system functions and how data from the user program is saved are provided in 15 Version Date Page Document V3 0 15 11 04 82 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 9 1 Description of the FBHandleUnitData The function block FBHandleUnitData includes all of the possibilities that Simotion provides for handling global unit data The parameterization of the input interface defines which action is executed with a particular data set 9 1 1 Mode of operation The FB mainly comprises a CASE instruction that in its selection contains the system function for data handling from the user program Depending on the parameterization of the input variables iActivity a data set is saved downloaded etc The corresponding values for the individual actions should be taken from the Table in Chapter 9 1 2 The data set to be handled is transferred in the input variable uDataSetNr If a data set is to be saved additional settings can be made using the input variables eStorageType and boOverwriteDataSet eStorage Type is used to define where the data set should be saved The pre assignment default of these variables is PERMANENT_STORAGE This means that the data set is retentively saved and is even kept aft
207. scription rV_set g_rV_Master_set Master web speed m min rD_actual toWindAxis DiameterCalculationData rDiamet Actual roll diameter m er_Calculated uWindingMode toWindAxis uWindingMode Winding mode 10 Winder from the top 11 Winder from the bottom 20 Unwinder from the top 21 Unwinder from the bottom 30 Only speed pre control from the top 31 Only speed pre control from the bottom 40 Only tension control winder from the top 41 Only tension control winder from the bottom 42 Only tension control unwinder from the top 43 Only tension control unwinder from the bottom rSamplingTime SamplingTime Sampling time of the task in which the FB is called IPO or IPO2 ms rControlled_Value_set toWindAxis rControlled_Value_set_RFG Setpoint reference position of the dancer roll rControlled_Value_act toWindAxis rControlled_Value_Actual_Filtere Actual position of the dancer ual_ Filtered d roll rPID_P toWindAxis PID_Data rPID_P P gain of the PID position controller of the dancer roll iPID_ toWindAxis PID_Data iPID_ Integral component of the PID controller iPIP_D toWindAxis PID_Data iPID_D Differential component of the PID controller iPID_DelayTime toWindAxis PID_Data iPID_D_DelayTime Delay time of the PID controller filter D component boPID_D Set toWindAxis PID_Data boPID_Reset Enable D component boPID_Reset toWindAxis PID_Data boPID_
208. se are identical for each DP slave standardized in compliance with EN 50170 The following variables must be initialized for each slave in the startup program progDPSlaveDiagStartUp SDPSlavelnfo n DPSegmentID Profibus line DP_1 DP_2 DPSlavelnfo n dpSlaveAddress Profibus address DPSlavelnfo n dtTimeOut Time for abort at run up Example Two slaves to be monitored Slave 0 with address 32 at the DP2 MPI interface slave 1 with address 11 at the DP1 interface g_asDPSlavelnfo 0 sDPSlavelnfo DPSegmentID DP_2 g_asDPSlavelnfo 0 sDPSlavelnfo dpSlaveAddress 32 g_asDPSlavelnfo 0 dtTimeOut t 10s g_asDPSlavelnfo 1 sDPSlavelnfo DPSegmentID DP_1 g_asDPSlavelnfo 1 sDPSlavelnfo dpSlaveAddress 11 g_asDPSlavelnfo 1 dtTimeOut t 12s Version Date Page Document V3 0 15 11 04 69 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 7 1 2 Description of the DP slave information according to EN50170 The significance of the first six bytes of the DP slave diagnostics data is explained in the following as these are identical for all DP slaves in compliance with EN501 70 Byte Bit Designation according to the Standard Cause counter measure significance 1 0 Diag Station_Not_Existent has
209. se beiieng 10 2 9 Function elements and their integration uussrs44rsnnnnn nenn nnnnnnnnnnnnnnnnnnnnen nenn nennen 11 Clock Mem ry 2 22 asus 11 1 Integration into the application and mode of operation 11 2 De L E E E EE E A A E E 11 3 Function elements and their integration nesesssnseneennnnnnannunnunnnnnnnnnunnnnnnannannunnunnnnnennnannnnnnnnnnn 12 Controlling the Active Line Module 12 1 Calling type nnensenessnnnnennnunnnnnnnnnannunnunnnnnnnn 12 2 Parameter MC_HandleALM 12 3 Schematic LAD representation 12 4 Function description nueseeen 12 5 Signal flowchart 12 6 Fault description ccisiiiecsccsccascrseccccsaccassssssaicacencvsussdacadseusdeiaassbadvavededoaseteuuiicnssrschdaranbiateadeiseceraunscosoceess 12 7 Function elements and their integration nsnsssnsennennnnnnannnnnnnnnnnnnnnunnunnnnnnannunnunnnnnnnnnannnnnnnnnene 13 Standard winder application 13 1 Function description sisean aranan aa aeoaea raea maa aaraa Ae daanin anani Enea akiandaa 13 1 1 Direct closed loop tension control with dancer roll using speed correction 13 1 2 Direct closed loop tension control using speed correction and a tension transducer 13 1 3 Direct closed loop tension control using torque limiting and a tension transducer 13 2 Selecting the control concept unusnsenennnnannunnunnnnnnnnnunnunnnnnnnnnunnnnnnnnnnnnn 13 3 Descr
210. setting category signals There are three different types available that are assigned in the StructAlarms structure in the eModeAcknowledge element ErrorHMI Error and None ErrorHMI When selecting ErrorHMI the fault message is generated using the _alarmSq system function This means that the message must be acknowledged on the HMI In order to reset the global category signals on one hand the alarm initiating fault must disappear and on the other hand the message must be acknowledged on the HMI In order to detect this the actual state of the message is read out using the _alarmSc system function Error Just the same as for ErrorHMI also here the message is initiated via _alarmSq In order to reset the global category signal in this case it is sufficient if the alarm initiating signal disappears The message however remains on the HMI until it is acknowledged by the operator This ensures that the operator still has time to register that a fault occurred and has already disappeared again None When this type is selected the associated message is generated using the _alarmS system function Just as Error in order to reset the category signal it is sufficient to just reset the fault generating signal However in this case the display on the HMI disappears automatically if the fault is no longer present it does not have to be acknowledged 6 2 2 Principle of the AlarmS technique In order that this technique functions correctly t
211. sics reviewed 2 1 3 Description of the states State name Description STOPPED The machine is in the AUTOMATIC mode and is stationary All of the communications with other systems are functioning if applicable STARTING In this state the machine is prepared for running This could include such processes as heating self testing or calibrating Comment Of course it goes without saying that the machine can also be set up in the MANUAL mode In this case in the simplest case STARTING only includes the change into the next state READY This is a state which indicates that STARTING has been completed The machine is now ready for production STANDBY This state can be reached in response to a start command from READY and the machine goes into the PRODUCING state However the machine stays in this state if the start command is present but there is not material Comment The machine can for example be brought into the PRODUCING state using a Material OK command then operates under no load conditions without any products The finer details must then be implemented in the particular application The machine goes from the PRODUCING state into the STANDBY state if e g material runout state occurs no material in the machine feed The machine is stationary or remains dependent on the application in the no load mode with the relevant setpoint speed In both of these cases no product is produc
212. sics reviewed 2 Mode management 2 1 General Every machine includes a mode management This controls the operating modes and states of the machine The type and method of implementation differs depending on the programmer or also the control system As a result of this the structure and operation of production lines is a complex undertaking The reason for this is that frequently the individual machines are from various manufacturers and equipped with different control systems The standard application is a template for the operating mode management The template is based on a recommendation from the Packaging Machinery Group of OMAC 2 1 1 OMAC Packaging Workgroup The Packaging Machinery Working Group of OMAC Open Modular Architecture Controls was initiated by the following large US end users e Procter amp Gamble e General Mills e Nabisco e Anheuser Busch e Hershey Foods e M amp M Mars e Kraft Foods e Ralston Purina e Heineken e Philip Morris End users machinery construction OEMs and control manufacturers discuss about various standards associated with the automation of production machines The objective to restrict a proliferation of different products and technologies The target is to achieve a 50 improvement in the following points e Delivery time e Commissioning start up time e Machine dimensions e Machine performance Format change time Flexibility Machine modularity Machine downtimes The results of
213. ssages can either be acknowledged from the HMI or from the program and the PLC There are two acknowledge areas that are represented by WORD arrays acknowledge area of the PLC Second halves of the error array g_abSetBitError acknowledge area of the HMI g_abAckBitError If an error message is acknowledged via the HMI the message on the HMI is deleted cleared and the bit in the array g_abAckBitError corresponding to the error is set to the value TRUE By setting the appropriate bits in the second halves of the error array g abSetBitError the message on the HMI can be acknowledged from the application itself Example An error array with 4 words is specified This means that the first 2 words are available for errors 32 errors and the last two words can be used to acknowledge the associated error messages from the application itself The acknowledge area of the HMI corresponds to the size of the error messages 2 words Error number 4 has occurred This means that in the array g_abSetBitError in word 1 bit number 3 is set In order to acknowledge the error message using the PLC in the array g abSetBitError bit number 3 must be set in word number 3 If the message is acknowledged using the HMI in array g_ abAckBitError bit number 3 in word 1 is set Comment The programmer himself must implement the function to acknowledge errors from the PLC in his application Version Date Page Document V3 0 15 11 04 59 User documentat
214. st set the required tension actual value otherwise check the scaling Commissioning the closed loop tension control Start with extremely slow controller settings and limited tension controller output for example 10 at rPID_OUT_LIMIT Version Date Page Document V3 0 15 11 04 153 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed The output of the tension controller should never exceed more than 5 7 TorqueLimit_Pos TorqueLimit_Neg The tension controller can be optimized using setpoint steps setpoint jumps 13 8 Function elements and their integration The user can interconnect the function blocks depending on the particular application The blocks themselves cannot be modified Depending on the particular application interconnections must be made according to the block diagrams shown in Chapter 13 1 Source ToolLib WindLib1 Programming ST WindLib2 language Library L_Winder Know how protection No No Yes Program function Feature function Must be adapted to the application FB_Control_WithSpeedSetpo Function block to calculate the speed setpoint for y i es intChange direct closed loop control with dancer roll FB_Control_WithTorqueLimit Function block to calculate the speed setpoint for ation direct closed
215. stic in order to avoid setpoint steps in the system An interpolation is made between the last and the new setpoint The ramp generator is calculated using the variable UnwinderAxis rControlledValue_RampTime 8s is pre set as default value This variable specifies the time to reach the maximum setpoint UnwinderAxis rControlled_Value_Max from 0 Setpoint Ramp Function Generator Tmax gt Tmax Tse gt gt T set RFG a l l 0 gt s TRFG gt a a ao i ass Fig 62 Principle mode of operation of the ramp function generator Version Date Page Document V3 0 15 11 04 128 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 13 3 6 1 Schematic LAD representation FB_Setpoint_RFG LREAL rTensionSet LREAL rTensionSetMax LREAL rTensionSetRampTime LREAL rSamplingTime rTensionSet_RFG LREAL Fig 63 Schematic representation of the input and output interfaces 13 3 6 2 Input and output interfaces of the FBS When calling the block the parameters specified in the following Table can be supplied Name Ptype Datatype P O Initializa Significance tion value rTensionSet IN LREAL P Tension setpoint rTensionSetMax IN LREAL P Maximum tension setpoint rTensionSetRampTime IN LREA
216. sy_Basics_V3_0 doc Simotion Easy Basics reviewed 3 Motion library The System Function Library libraries are used as motion libraries These libraries are provided on the CD SIMOTION Scout in the Function_Library folder 3 1 Function blocks Presently the PLC open blocks include the following functions V 3 1 1 MC_Power You can switch all of the enable signals at the axis positioning synchronous and closed loop speed controlled axis using the MC_Power function block MC_Stop You can stop an axis positioning synchronous and closed loop speed controlled axis using the MC_Stop function block MC_Home You can home an axis positioning and synchronous axis using the MC_Home function block Homing is only possible when using incremental encoders MC_MoveAbsolute You can position an axis positioning and synchronous axis in absolute terms the target position is specified using the MC_MoveAbsolute function block MC_MoveRelative You can move the axis positioning and synchronous axis through the programmed distance from the actual position using the MC_MoveRelative function block MC_MoveVelocity You can endlessly move an axis positioning synchronous and closed loop speed controlled axis with a specified velocity using the MC_MoveVelocity function block MC_MoveAdditive You can move an axis positioning and synchronous axis relatively and additively to the remaining distance through a defined distance using th
217. t 2 Number of tripped devices of enable circuit 1 Number of tripped devices of enable circuit 2 Number of the devices in the monitor if lt gt 0 Status of the devices in the monitor if lt gt 0 Document User documentation For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 10 2 6 1 bStateMonitor byte The data byte bStateMonitor describes the overall state of the Safety Monitor This can have values between 8 and 15 The significance of the values is described in the following Table bStateMonitor Meet Value I d3 d2 di Significance 8 1000 Both circuits switched in 9 1001 Circuit 1 off circuit 2 on 10 1010 Circuit 1 on circuit 2 off 11 1011 Both circuits off 12 1100 Configuration mode power on reset Configuration mode stop state processing with the 13 1101 PC program possible 14 1110 Configuration mode reserved Configuration mode fatal device fault reset or 15 1111 replacement required Table 31 State table for the Safety Monitor 10 2 6 2 abStateChannel 1 abStateChannel 2 The data bytes abStateChannel 1 and abStateChannel 2 describe the state of enable circuit 1 and enable circuit 2 It can have values between 0 and 7 The significance of the values is described in the following Table AbStateChannel 1 abStateChannel 2 Value Value binary d3
218. t P572 index 01 Src REV speed to B 1 FixBinector 1 11 No increase motorized potentiometer Interconnect P573 Src MOP UP to BO FixBinector 0 12 No decrease motorized potentiometer Interconnect P574 Src MOP Down to BO FixBinector 0 13 Initiate an external fault Interconnect P575 index 01 to B1 FixBinector 1 If the drive analog inputs are to be used then these must also be connected to Profibus 14 Connect analog input 1 for example the sensor roll diameter Interconnect P734 index 03 SrcCB TBTrnsData to K11 Al1 Setpoint 15 Connect analog input 2 for example the sensor dancer roll position Interconnect P734 index 04 SrcCB TBTrnsData to K13 Al2 Setpoint Version Date Page Document V3 0 15 11 04 151 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed After this the Profibus assignment looks like this Send data from the drive Word 1 Word 2 Word 3 Word 4 Word 5 Word 6 Status word Nact Analog input1 Analog input2 Torque Free Table 59 Profibus configuration send data from the drive Receive data from the drive Word 1 Word 2 Word 3 Word 4 Word 5 Word 6 Control word Nset My mitt Miimi Add torque Inertia ratio Table 60 Profibus configuration receive data from the drive Version Date Page Document V3 0 15 11 04 152 User documentation
219. t of the particular status value is uniquely defined in the data block 10 2 6 5 aaChannel x abDevicel y iState These 2 x 48 data bytes separately specify the state of the individual devices for both enable circuits x 1 2 There is a data byte iState for every device m 32 to 79 Data byte iState can have values between 0 and 7 The significance of the values is described in the following Table aaChannel x abDevice y iState Value Value binary d3 d2 d1 are Color display in the decimal a0 Significance AsiMon PC we 0 0000 Device is switched in Green 1 0001 Device Ran ENAN Green flashing timer started Device waits for local 2 0010 acknowledgement or start condition Yellow Device dependent on two channels was actuated through 3 0011 one channel test off gt on Yellow flashing required also for the starting test 4 0100 Device has shutdown normal Red shutdown Device positively driven has shutdown through one channel 5 0101 or fault when checking the Red flashing contactor Service button required Device communications error 6 0110 between the AS i module and Grey the Safety Monitor 7 0111 Safety Monitor is in the an configuration mode Table 33 State table for the devices in the enable circuits Version Date Page Document V3 0 15 11 04 99 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_
220. t parameter Comment Only the ASI Link20E is described in the following description However the FB FBAsiLink20Econtrol can also be used for the CP343 ASI module as the parameterization and diagnostics of both modules are the same 10 1 1 Description of the function block FBAsiLink20EControl The function block FBAsiLink20EControl includes input and output parameters that are when a task is initiated either transferred to the ASI Link or read out of the ASI Link20E This means that the ASI Link20E can be configured and its status read out 10 1 2 Input and output interface of the FBs When calling the FB the parameters specified in the following table can be supplied Name P type Data type P O Initialization Significance 1 2 value boExecute IN BOOL P FALSE A new task is initiated boReset IN BOOL P FALSE New start bit request to send an Init iLAddr IN DINT P 0 First address in the input address area of the ASI Link20E bStatNibIN IN BYTE 8 0 First address in the input address area of the ASI Link20E auSend IN ARRAY 0 239 of P 0 Data to be sent USINT uSendLen IN UDINT P 240 Length of the data to be sent boDone OUT BOOL Task was processed error free boError OUT BOOL Error while processing a task auReceive OUT ARRAY 0 239 of Data field for response USINT data bStatus OUT WORD Processing status Parameter types IN Input param
221. tadenccalathiaadetecebestaesthecsvlecdaes s 13 3 5 1 Schematic LAD representation 13 3 5 2 Input and output interfaces of the FBS 13 3 6 FB_Setpoint_RF G 13 3 6 1 Schematic LAD representation 13 3 6 2 Input and output interfaces of the FBS ho ecsecue ise tse cstveccadsapestedaspatcanven caxeasdanensinnedseusndvssaddanenscahanseshsnsdasansaustaansadene 13 3 7 FBElNertia as ee eet tae ekg aaa cas Ps ik ee 13 3 7 1 Schematic LAD representation 13 3 7 2 Input and output interfaces of the FBS 13 3 8 FE Pr amp GoNnlr lianaru s sr 13 3 8 1 Schematic LAD representation ce eee eee 13 3 8 2 Input and output interfaces of the FBS 13 4 Integrating the functions into the project 13 4 1 Reading in values and filtering eee eeeeeeeeeeeeneeeeaeeeeeeeeseeeeesaeeseaeeeseneeeeaeeeeeseeeseneesaes 13 4 2 Diameter computer FB_DiameterCalculator 0 2 0 eeceeeceeeseeseneeeeseeeeeeeeeeeaeeeeseeseneeeeeeaes 13 4 3 TOrque CalCu lations seiee coi shes lisa Reel Ele Ste aii oa api 13 4 4 Torque Pro CONTO eies Here a Way een noes ithe desea hander nee ate 13 4 5 Commissioning the winding hardness characteristic 0 cc eeeeeeseeeeeeeeeeeneeeeneeeeneeeeees 13 4 6 Ramp function generator a cite bese sseeid ccveczdsiagncissveusccavedag aizcedlacde cop edtdaeatd causes diseedeeaths 13 4 7 Adaptation of the Controller Gain eec
222. tates deviate with respect to the OMAC definition the states within the automatic mode have the prefix Automatic Selecting the modes and states Signal Type __ Actual state g_eNewState ENUM The mode is selected using the values of the enum OM_EStop OM_Idle OM_Manual OM_AutomaticStopped OM_AutomaticStopping OM_AutomaticStarting OM_AutomaticReady OM_AutomaticStandby OM_AutomaticProducing OM_AutomaticHolding OM_AutomaticHeld OM_AutomaticAborting OM_AutomaticAborted Table 2 List of the values for the state control Version Date V3 0 15 11 04 Copyright Siemens AG 2003 All Rights Reserved Page 17 Document User documentation For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 2 1 5 2 Status signals The following list of status signals has already been referred to the Simotion Easy Basics This is the reason that the names of the states deviate with respect to the OMAC definition the states within the automatic mode have the prefix Automatic To display the actual state of the machine in addition to the value of the enum there is also a display showing the global boolean variables for each individual state Display Machine States Signal Type __ Actual state g_eActualState ENUM The actual state is displayed using the values of the enum OM_EStop OM_lIdle OM_
223. techniques are provided in the Simotion Easy Basics for alarm and message handling handling system related alarms and messages in the Technological Fault Task handling configured alarms using _alarmS and _alarmSq handling messages using the bit signaling technique 6 1 System message handling in the Technological Fault Task The concept to handle alarms and references of the technological objects TO in SIMOTION is based on a central alarm handling All of the alarms initiated from the TOs cause the Technological Fault Task to be started A fault and or object specific message handling of the user application can be started from this task A basic program for the fault handling in the Technological Fault Task as well as a function to acknowledge faults of all of the technological objects is provided as basis to create applications This program makes it easier to enter the world of application specific fault handling 6 1 1 Sequence when handling an alarm or message that has occurred If the Technological Fault Task is initiated as a result of an alarm or a reference then the progTechFault program from the TechF unit is run This program runs the following functionality manages a global fault counter determines the object type of the technological object that issued the alarm message manages a chronological fault buffer with a buffer size that can be configured using a fault number as interface branches to a fault specific handling
224. ter This function can only be used in sequential tasks as the progress condition in the system function ReadDiagnosticData is assigned with WHEN_COMMAND_ DONE 7 3 progDPSlaveDiagStartUp program The progDPSlaveDiagStartUp program is incorporated in the start up task A loop runs in this program The number of times that the loop is run through is specified by the NUMBER_OF_SLAVES constant At each run through the FCDPSlaveDiag function is called with another input parameter All of the DP slaves configured in the array are scanned In so doing the program takes into account the following situation If a DP slave is presently running up then the diagnostics waits up until the timeout value which can be individually entered for each slave or until the slave is ready The scan is only continued after this has been completed The advantage of this scan at start up is the fact that when starting the actual program the system has status information about the individual DP slaves For example if a modular machine is involved whose maximum expansion stage has been configured in HW Config and not all of the configured slaves are present then after the start up task information is available as to which slaves are physically present and those which are not 7 4 progDPSlaveDiagPeriFault program The progDPSlaveDiagPeriFault program is incorporated in the PeripheralFault task This is run if one of the connected DP slaves indicates an incorrect
225. that the system should be in a stable state For auto tuning a stable temperature state also provides the best results If a temperature TO is re inserted then the configuration data identification modifiedTangentMethod transitionMode must be changed from the default value BY COMMAND to AUTOMATICALLY For auto tuning when the appropriate condition is reached then the system automatically advances progresses to the next state For auto tuning it is also important to additionally check the step height of the setpoint setpoint step amplitude The setpoint must be entered and must have as a minimum a delta difference to the actual temperature as is saved in the configuration data identification modifiedTangentMethod minimumStepSize In this case 60 Degrees K is the default setting 15 3 FB_TempControl function block A check is made in the FB as to whether a setting value for this temperature channel has changed controller gain integration time differentiation time tolerance limits temperature setpoint If at least one value for the temperature channel changes then the FB supplies the associated technological object with this value The IDENTIFICATION mode is selected by setting the input parameter boSelftune in this particular state the technological object calculates the control loop of the temperature channel If the technological object is in the correct state a check is also made as to whether the contr
226. the correction inversion boBusy OUT BOOL Block active boError OUT BOOL Block error iErrorlD OUT DINT Error ID boNewMeasuringValue OUT BOOL New measured value present rMeasuringValue OUT LREAL F Measured value rMeasuringDifference OUT LREAL Measuring difference 1 Parameter types IN input parameters OUT output parameters 2 Parameter types P mandatory parameters O optional parameters Table 7 Input output parameters of the FBPrintmarkCorrection function block Note The user must supply all mandatory parameters P All of the optional parameters O are initialized The initialization values are constants that the user cannot change If your particular application requires other values then you must supply the parameters when calling For additional calls the values from the previously called instances of the associated function blocks are effective The initialization of the input variables does not increase the performance in comparison to supplying parameters when the function block is called Date 15 11 04 Version V3 0 Page 32 Copyright Siemens AG 2003 All Rights Reserved User_Manual_Simotion_Easy_Basics_V3_0 doc Document User documentation For internal Use Only Simotion Easy Basics reviewed FBPrintmarkCorrection M I T toMeasuringObject boBusy BOOL PosAxis toCorrectionAxis boError BOOL EnumDrive eDriveType iErrorlD DINT BOOL boExecute boNewMeasur
227. the IPO IPO_2 or background task FCAlarmSRequest Initiates a request for an error message No The call can be made both cyclically as well as also from sequential tasks Table 17 Program elements of the AlarmS technique Version Date Page Document V3 0 15 11 04 57 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 6 3 Bit signaling technique The bit signaling technique allows the user to initiate messages independently of the connected HMI In this case individual bits are set ina WORD array The connected HMI can access these individual bits Messages can either be acknowledged from the HMI or through the application Further the bit signaling technique just like the AlarmS technique allows errors to be classified into various categories The user can then respond to these in the application The technique itself its handling and sequence are explained in the following sections Comment The technique described here is 100 supported in this form from HMI systems configured using ProTool Pro If another HMI system is used then under certain circumstances it maybe necessary to adapt the standard application For several HMI devices the memory is too small to use the bit signaling technique e g OP 170 TP 170 Mobile1 70 6 3 1 Allocating categories and acknowledging errors After the messages have b
228. the OMAC are described in detail in the Guideline for Packaging Machinery Automation and in the Machine Modes Definition Document refer to 1 and 2 Version Date Page Document V3 0 15 11 04 10 User Documentation Copyright Siemens AG 2003 All Rights Reserved For internal use only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 2 1 2 Basics of the OMAC State Model The mode management is based on the following state model OMAC State Model The simplified state model serves as our entry point AUTO MODE DESELECTED AUTO MODE SELECTED SEMI AUTOMATIC MODE SELECTEP SEMI AUTOMATIC MODE DESELECTED MACHINE RESET MANUAL MODE SELECTED MANUAL MODE DESELECTED Fig 1 States and transitions All of the states that a production machine can assume and the transitions between these states are defined here The states are briefly explained in the following table The state model will then be described in detail on the following pages Emergency Stop This is reached when Emergency Stop is pressed When the power is switched on and a check is made whether EMERGENCY STOP is present and in a fault free state the system goes directly into the IDLE state All of the circuits and systems are in the fail safe state fail safe IEC50191 This means that the power supply for sensors and control is available the motion systems are in a no voltage condition Idle Mode All of
229. the area pointer for the error messages The area pointer is linked by double clicking on the Area Pointer symbol A window opens in which an area pointer can be selected In this case the Alarm Messages area pointer SIMATIC ProTool Pro CS Project MP270 File Edit View Insert System Options Window josul zage sans x I Englisch USA Type No PLC Address EM MP270 MP270 we Insert a new area pointer 2 x essages Insert a new area pointer Recipes Available types H Archives E Reports Alarm Ack OP 3 scheduler Alarm Ack PLC 4 Tags Mes Multiplex Tags Coordination E Scripts Data Mailbox Trends Date Time Graphics Date Time PLC ES Text Graphic Lists Event Messages Controllers Job Mailbox ifm Area Pointers LED Assignment Screen Number Trend Request Trend Transfer Trend Transfer User Version Fig 30 Selecting the area pointer for error messages After acknowledging with OK the appropriate WORD array from Simotion must be assigned g_abSetBitError and the length of the acknowledge area from the PLC defined This value Acknowledgem length is always set to the halves of the word array When acknowledging with OK this window is closed and the area pointer is linked m Achse_1 General Achse_1_GLEICHLAUF B chse_2 Achse_2_GLEICHLAUF Achse_3 PLC 2202 z Achse_3_GLEICHLAUF Alarm_S Acknowledgem length B BitError Total
230. the closed loop tension control with torque limiting mode the pre control is switched to the torque limit value that was calculated by the PID controller 13 3 8 1 Schematic LAD representation FC Pre Control LREAL rAccelMaster FC_Pre_Control LREAL LREAL rinertia LREAL rDiameter LREAL rNominalTorque Fig 65 Schematic representation of the input and output interfaces 13 3 8 2 Input and output interfaces of the FBs When calling the block the parameters specified in the following Table can be supplied Name P type Data type P O Initializa Significance fe tion value rAccelMaster IN LREAL P Acceleration of the master m s rInertia IN LREAL P Moment of inertia kg m rDiameter IN LREAL P Roll diameter m rNominalTorque IN LREAL P Rated motor torque Nm FC_Pre_Control OUT LREAL P Setpoint torque pre control Nm 1 Parameter types IN Input parameters OUT Output parameters Parameter type P Mandatory parameters O Optional parameters Table 49 Input output parameters of the function block FC_Pre_Control Version Date Page Document V3 0 15 11 04 131 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed Inertia and Torque Precontrol pee JMotor l JGear l n JCore Emptylnertia
231. the control and motion systems have the necessary power safety circuits EMERGENCY OFF are ready The operator can select the various modes Manual The requirements in the manual mode differ depending on the machine and application Some of the usual functions are listed in the following Automatic In this mode the machine is in productive operation Semi Automatic A production cycle is sub divided into x individual steps that must be acknowledged Comment This is not supported by the standard application Table 1 Explanation of the states Version Date Page Document V3 0 15 11 04 11 User Documentation Copyright Siemens AG 2003 All Rights Reserved For internal use only User_Manual_Simotion_Easy_Basics_V3_0 doc from PRODUCING to ABORTING to ABORTING STOPPED STANDBY Prepare All modules ready AUTOMATIC Other Mode PRODUCING ABORTED Drives Stand still Este Other Mode Power On Initialise from HELD ABORTING from STOPPED AUTOMATIC _ from STOPPING Fig 2 Extended representation of the state model Comment The states with bold outline in the diagram are so called quiescent states In these particular states the machine is stationary and waits for the appropriate continue conditions No motion of any kind is initiated Simotion Easy Ba
232. the result is switched to the tension controller Fig 47 Even if a winding hardness characteristic is not used this can be included in the sequence program This is because mode 0 can be set where the setpoint is switched through using the input variable uTaper Mode at the FB Tension Taper Dact 2 Fig 73 Signal interconnection of the winding hardness characteristic for the torque limiting mode Version Date Page Document V3 0 15 11 04 140 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed Parameter FB Tension Taper Assigned with variable Description uTaperMode toWindAxis TaperData uTaperMode Mode 0 No characteristic selected 1 Hyperbolic characteristic 2 Linear characteristic 3 Linear interpolation using a table rD_actual toWindAxis DiameterCalculationData r Actual diameter of the roll m Diameter_Calculated rd_min Diameter_Min Minimum diameter m rd_max Diameter_Max Maximum diameter m rd_StartTaper toWindAxis TaperData rD_StartTaper Starting diameter m rTaperRatio toWindAxis TaperData rTaperRatio In modes 1 and 2 rSet_Value_in Wind_Set Tension setpoint aD_Tab toWindAxis TaperData aD_Tab Tabular values diameter aSet_Tab toWindAxis TaperData aSet_tab Tabular values setpoint Set_Value rSetpoint_RFG_Input Tension setpoint output to assign to the
233. to make it easier to re use the application a local variable is defined that is called in the various FBs As shown in Fig 62 at the start of the unit the global variable WinderAxis is copied into the local variable toWindAxis The local variable is used for all of the following FB calls At the end of the unit the contents of the local variable are re written into the global variable In order to operate a winder axis it is sufficient to parameterize a closed loop speed controlled axis A program example with attached blocks Wind_IPO is integrated into the SEB In some cases the blocks are already pre assigned however various inputs must still be parameterized The parameterization of the individual functions is explained in the following Chapters Winding functions MODUL 3 El FuncLib fb_diametercal 23 Inertia calculator El FuncLib fb_inertia 0 01 40 Start START a Torque precontrol calculator toWindAxis WinderAxiso Tension Taper El Fn nro Setpoint RFG El FuncLib fb_setpoint_rfg 11 PID Controller Gain adapter Er mo 72 ealension conte FuncLib fb_control_with 20 with speed setpoint Speed specification Read and Filter actual values Diameter calculator FuncLib fe_pre_control 18 Copy to a local variable Winding functions Update the global variable Write Output values Fig 67 Calling the functions in the program example for a task in synchronism with
234. trol The selected ASI Link20E is configured No Assigned to the background task Table 29 Program elements for configuring the ASI Link20E Version Date Page Document V3 0 15 11 04 92 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 10 2 Diagnostics of the ASI Safety Monitor These diagnostic blocks are intended to help SIMOTION and AS i Safety Monitors when evaluating the AS i Safety Monitor and its AS i bus nodes This program is used as communications interface between the AS i Safety Monitor and SIMOTION and reads in diagnostics data into SIMOTION using a DP AS Interface link 10 2 1 Description of the function block FBAsiMonDiag The function block FBAsiMonDiag contains input and output parameters that are continuously read into and read out of the monitor The operating mode and the status of the AS i Safety Monitor can therefore be enabled after its two enable circuits 1 2 In addition the correct setting for the diagnostics type must be configured in the ASIMON configuration software this is not part of this documentation 10 2 2 Input and output interface of the FBs When the FB is called the parameters specified in the following Table can be supplied Name P type Data type P O Iinitializa Significance tion value Enable IN BOOL P
235. troller and ensures that the actual value cyclically determines its real time clock RTC and is provided for transfer to the slave via Profibus To do this the value is read out of the RTC and then is converted into an 8 byte byte array using the marshalling function The user must then locate the byte array in an address area previously defined in HW Config in the communications interface of the two controllers 8 3 1 2 FBSyncSimotionSlave The FBSyncSimotionSlave function block runs on the slave controller It reads a byte array from the I O area and converts this back into an RTC value using marshalling The FB then determines the RTC value of the slave The individual values of time and date are extracted from the two RTC values master and slave value by converting the data type The times are again sub divided into values for hours minutes and seconds The following values are then compared with one another 1 The seconds of the RTCs 2 The total number of days therefore indirectly the date The RTCs cannot be 100 synchronized with one another this is due to the deadtime on Profibus This means that a permissible tolerance can be entered using a constant DIFF_OF_SEC_TO_SYNC The pre set default value is 1 second If the difference is greater than the specified tolerance the RTC of the slave is set to a new value The RTC is also newly set if the date differs Version Date Page Document V3 0 15 11 04 79 User docu
236. tual 1 i l l i i f Gain_StartAdaption al S 1 fi l Diameter_StartAdaptio Diameter_EndAdaption I Gain_tuning x E 2 Diameter_Actual Diameter_tuning l en Fig 55 Principle mode of operation of the gain adaptation Version Date Page Document V3 0 15 11 04 120 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 13 3 3 1 Schematic LAD representation FB_GainAdapter USINT uAdaptionMode LREAL LREAL rD_actual LREAL rD_StartAdaption LREAL rD_EndAdaption LREAL rGain_StartAdaption LREAL rGain_EndAdaption LREAL rd_Tuned LREAL rGain_Tuned LREAL PID P Fig 56 Schematic representation of the input and output interfaces 13 3 3 2 Input and output interfaces of the FBs When calling the block the parameters specified in the following Table can be supplied Name P type Data type P O Initializa Significance tion value uAdaptionMode IN USINT P 0 Mode 0 No adaptation 1 Linear adaptation with table 2 Inverse adaptation rD_actual IN LREAL O Actual roll diameter m rD_StartAdaption IN LREAL O s Starting value diameter rD_EndAdaption IN LREAL O Final value diameter rGain_StartAdaption IN LREAL O Starting value gain rGain_EndAdaption IN LREAL O Final value gain rd_Tuned IN LREAL O Set diameter rGain
237. uired 9 q account followingRangeStartDerivation1 followingRangeEndDerivation1 PROEIDEEINERR i followingRangeStartDerivation2 followingRangeEndDerivation2 PROFILE_POLYNOMIAL_ followingRangeStartDerivation1 followingRangeStartDerivation2 ORDER_3 followingRangeEndDerivation1 followingRangeEndDerivation2 followingRangeStartDerivation1 PROFILE_POLYNOMIAL_ followingRangeEndDerivation1 ORDER_5 followingRangeStartDerivation2 followingRangeEndDerivation2 Table 11 Limitations required for the profile types Up to and including Simotion Version 2 0 when calculating the curves in the standard range maximum values could be exceeded This is the reason that an application based calculation can be carried out Minimum and maximum values of the slave position and speed are calculated using the enableExtremeValues TRUE parameter Additional runtime is required to calculate extreme values For enableExtremeValues FALSE the extreme values which are shown in Fig 14 are not calculated and their value is set to zero Position maxFollowingVat minFollowingV Master Speed slave maxFollowingDerivati minFollowingDerivati i Fig 19 Minimum and maximum of the position and speed The _FB_AddSegmentToCam function block is started with the TRUE signal level at the run input parameter With the value TRUE at the done output parameter and the value FALSE at error output parameter a segm
238. unction Diagnostics is carried out from the application It is then possible to individually respond to the information In this case the bus nodes are addressed using the diagnostics function and with the help of the diagnostics address These are determined from the Profibus address The DP slave diagnostics essentially comprises two components 1 All of the DP slaves are scanned when the controller starts up so that when the application starts information is already available about the configured connected DP slaves 2 DP slave errors that have occurred in the running program and therefore initiate the PeripheralFaultTask are interrogated and evaluated Both components essentially use the FCDPSlaveDiag function This function and both types of diagnostics are described in more detail in the following text 7 1 General information on DP slave diagnostics The prerequisites and the significance of the DP slave diagnostics data according to EN 50170 are explained in this Section 7 1 1 Data management Information from the DP slave diagnostics is saved in an array type structRetValues The number of array elements corresponds to the number of slaves whereby the index counts for example from 0 2 for 3 slaves In this case the following constant must be assigned the number of slaves NUMBER_OF_SLAVES The structRetValues structure is as follows Element1 sDPSlavelnfo The structure type structDPStationAddressType com
239. ured as follows in ProTool Pro The window to set up Messages is opened by double clicking on the Alarm Messages symbol SIMATIC ProTool Pro CS Project MP270 File Edit View Insert System Options Window D FSF ae mH Blo ra E S MP270 MP270 tp Screens gAlarm Messages amp Messages Event Messages 8 Recipes H Archives Ef Reports 5 Scheduler Gs Tags 2 7 Multiplex Tags E Scripts Trends 8 Graphics SF Text Graphic Lists Controllers ig Area Pointers Messages Fig 28 Screenshot 1 from ProTool Pro The message texts can now be configured in the table that opens The consecutive numbers at the lefthand edge of the table correspond to the error number that is used to call the function to initiate the message FCBitErrorRequest in the application SIMATIC ProTool Pro CS Alarm Messages MP270 by File Edit View Insert System Options Window sus sa s e e o 1 10 20 3I 0001 itmeldefehler 1 ist aufgetreten 0002 Bitmeldefehler 2 ist aufgetreten 0003 Bitmeldefehler 3 ist aufgetreten 0004 Bitmeldefehler 4 ist aufgetreten 0005 Bitmeldefehler 5 ist aufgetreten 0006 itmeldefehler 6 ist aufgetreten Fig 29 Screenshot 2 from ProTool Pro Version Date Page Document V3 0 15 11 04 63 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 6 3 4 2 Linking
240. ut set output block cascading block suppressed skipped and if required delay time can be entered for each traversing block Version Date Page Document V3 0 15 11 04 155 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 14 1 Hardware and software requirements 14 1 1 Engineering PC MS Windows XP or 2000 Minimum PG or PC with Pentium processor III 500 MHz 256MB RAM 1024x768 pixel Step7 V5 3 Simotion Scout V3 1 1 HMI software ProTool Pro V6 0 Sp2 Configuration software for drives Simodrive SimoComU V07 02 06 611U or DriveES Basic V5 3 Masterdrives Simovis V5 4 or DriveES Basic V5 3 Sinamics S Simotion Scout or Simotion Starter V3 1 1 Micromaster MM4 Simotion Scout or Simotion Starter V3 1 1 14 1 2 Motion controller 14 1 3 Drives C230 2 with Simotion Kernel V3 1 1 or higher or P350 with Simotion Kernel V3 1 1 or higher or D435 with Simotion Kernel V3 1 1 or higher Simodrive 611U from V07 02 06 Masterdrives MC from firmware V1 64 and CBP2 from firmware V2 23 Sinamics S Posmo C S Analog drives Also refer to the appropriate SIMOTION documentation Version Date Page Document V3 0 15 11 04 156 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 14 2 Comm
241. uted three times If for the first interrogation of a shutdown only one enable circuit had a shutdown edge and a second shutdown edge in the other enable circuit was detected during the second diagnostics sequence then under certain conditions refer below the diagnostic sequence is automatically executed a third time Busy only FALSE after the second or third execution of the diagnostics sequence interrogation Condition for the second and third interrogation At the instant of the shutdown a value aaChannel x abDevice y iState 1 2 or 3 was read in for the channel status As this value could have been able to stabilize for example to the value 4 in the next diagnostics sequence contact bounce the interrogation is automatically repeated Version Date Page Document V3 0 15 11 04 100 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 10 2 8 Program example The program in which the function block FBAsiMonDiag is called must be assigned a cyclic task e g background task In the project example the AS i Safety Monitor has the AS i address 28 This means that if the Dp AS Interface Link20E has the I O basis address 0 the Safety Monitor occupies input bits E14 4 to E14 7 and output bits A14 4 to A14 7 The ASI slave information is written into the structure AsiDiagData type StructDataASiMon
242. ve command in order to operate the drive in the closed loop speed controlled mode The speed setpoint is generated depending on the winding mode Winding mode The block can be operated in various modes In the winder unwinder mode from the top or bottom the material web speed N_set_line and the equalization correction motion from the position controller are taken into account N_set_correction Winder from the top N_set N_set_line N_set_correction Winder from the bottom N_set N_set_line N_set_correction Unwinder from the top N_set N_set_line N_set_correction Unwinder from the top N_set N_set_line N_set_correction When the closed loop dancer roll position control is switched out using these modes only the material web speed can be taken into account The dancer roll position is not corrected Only speed pre control top N_set N_set_line Only speed pre control bottom N_set N_set_line If the material web speed is not to be taken into account but only the correction movements of the position controller then these modes can be used Only tension control winder from the top N_set N_set_correction Only tension control winder from the bottom N_set N_set_correction Only tension control unwinder from the top N_set N_set_correction Only tension control unwinder from the bottom N_set N_set_correction The appropriate settings can be made in the parameter uWindingMode Version Date Page Document
243. vidual states into the case structure of the OmacMain program The user has various ways of doing this Three possibilities will be now described in more detail 2 2 4 1 Using state functions The first way of incorporating motion control and logic functions is to use functions that are cyclically called in the case structure in the relevant branch refer to the diagram CASE eLocalActState OF OM_AutomaticR Operation mode Automatic Ready Set boolean variables for actual 233 g_boom_estop FALSEI state LES Subroutine call Ea oo stinessy0 uj Fig 4 Calling a state function The procedure is precisely the same as in the original OMAC version In this case the difference is that no state functions are entered in the form of empty ST functions The advantage is that users are no longer tied down to a particular programming language ST All of the programming languages that Simotion supports can now be used ST MCC LAD FBD It is also possible to mix programming languages For instance the MANUAL state can be programmed in MCC and the AUTOMATIC_STOPPED state in ST If all of the state functions are used then these should contain as return value the data type of the enum for the machine states EnumStates If a state change is not made within the function then the actual state should be cyclically assigned to it as it loses its last value at each call If a state change is made then the function must be
244. ypes and then use them in SIMOTION Version Date Page Document V3 0 15 11 04 150 User documentation Copyright Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0 doc Simotion Easy Basics reviewed 13 6 Drive commissioning In order to use Masterdrives VC with a SIMOTION control as winder the following steps must be carried out 1 Carry out prompted commissioning Prompted commissioning should be carried out using the Drive Monitor whereby it must be ensured that Profibus is selected as the communications path 2 Connecting the motor actual speed to the PZD part word 2 Interconnect P734 index 02 SrcCB TBTrnsData to K151 n f act smo d 3 Connect the torque actual value to the PZD part Interconnect P734 index 05 SrcCB TBTrnsData to K241 Torque act 4 Connect the upper torque limit Interconnect P493 index 01 Src FixTorque1 to K3003 CB TB Word 3 5 Connect the lower torque limit Interconnect P499 index 01 Src FixTorq 2 to K3004 CB TB Word 4 6 Connect the supplementary torque setpoint Interconnect P506 index 01 Src Torq Add to KK3005 CB TB Word 5 7 Connect Kp adaptation Interconnect P232 index 01 Src n f RegAdapt to K3006 CB TB Word 6 8 Set the reference speed Set P353 Ref Speed e g 3000 rpm 9 Enable positive direction of rotation Connect P571 index 01 Src FWD Speed to B 1 FixBinector 1 10 Enable negative direction of rotation Connec

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