Simotion Example For Beginners d435 en PDF

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

Disclaimer of liability
Introductory
Information
Task
SIMOTION - Basic
Information
Program Conception
Create Project
SINAMICS Configuration
SIMOTION Configuration
SIMOTION Programming
The application examples and the associated documentation contained on

this DVD are made available without cost. The customer receives for the
software the non-exclusive, non transferable, free right to use the
software; this includes the right to change the software, to copy it changed
or unchanged, and to combine it with the customer's own software.
Siemens AG has not subjected the software to the normal system test
otherwise usual for software.
Any liability irrespective of the legal reason in particular because of
software errors or the associated documentation or damages resulting
from consulting is excluded, unless, for example, because of
premeditation, gross negligence, risk to life, injury or health, acceptance of
suitability guarantee, malicious concealment of a fault or a violation of
significant contractual obligations, would force liability. A reversal of the
burden of proof to the customer's disadvantage is thus not included.
German legal right applies. Place of jurisdiction is Erlangen.

Industry Sector

Some preliminary comments
Introductory
Information
Task
SIMOTION - Basic
Information
Program Conception
Create Project
Before processing the Example for Beginners, it is advisable to study

Getting Started with SIMOTION SCOUT" (Menu Help
Getting
Started).
In the example, some elements have been extended more than
necessary in order to demonstrate as many different aspects of
SIMOTION as possible (e.g. a virtual axis as master).
Menu- and context menu commands are shown in italic type as well as
the names of dialogs and tabs etc..
Menu
Sub menu are separated by an arrow.
The screenshots were created with SIMOTION Version 4.2 (05/2011).
Under some circumstances there may be minor changes for future
versions.
The firmware version on the SIMOTION D435 should agree with the
SIMOTION SCOUT version.

Industry Sector

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

Industry Sector

Task
Task:
Introductory
Information
Task
SIMOTION - Basic
Information
Program Conception
Create Project
Packages with a protruding machine part are used on a conveyor belt (drive 1).
An empty package is detected by a sensor and should be removed with an
extractor (drive 2). The removal itself is performed pneumatically. When an
emergency off switch is pressed, all drives should be stopped immediately. The
current position of the conveyor belt should be displayed on the operator panel.
The machine diagrams show a machine part, the implementation in
SIMOTION is shown in the following slides.
The solution concept shows only one of many possible solutions. This
particular solution was selected to use as many different SIMOTION
functions as possible:
Cam with CamTool
Gearbox synchronism
Camming
Output cams
Virtual master axis
etc.
Industry Sector

Topology of the automation solution
Introductory
Information
HMI
SIMOTION SCOUT
D435
Task
SIMOTION - Basic
Information
Program Conception
Profibus DP
Carton erector *
Feed *
Create Project
Transport
ET 200 *
MICROMASTER 420 *
Extractor
1 FK7
* Not considered in the example, but part of the complete plant

Industry Sector

Execution system
Introductory
Information
Stop
Run
Startup Task
Task
SIMOTION - Basic
Information
Program Conception
Run
Background Task
Background Task
Motion Tasks
Motion Task 1
Synchronous Tasks
IPO - sync Task 1
Call Motion
Tasks (sequential
tasks)
Motion Task 2
Motion Task 20
Create Project
IPO - sync Task 2
Time triggered Tasks Task 1
Task 2
Task 5
Interrupt Tasks
User Int Task 2
System Int Tasks

System Int Tasks
System Int Tasks
Run
Stop
User Int Task 1
Monitor the
emergency
off criteria
Response to
process
signals
3
Shutdown Task

Industry Sector

Execution system / cyclical and sequential programming
Introductory
Information
Task
SIMOTION - Basic
Information
Program Conception
Create Project
Central topic for SIMOTION: Which job do I solve in which task or which
tasks are particularly suitable for specific jobs.
In the example, the background task is used to start sequential tasks
(MotionTasks).
The sequential tasks are used to implement processes and to start
movements.
The UserInterruptTask initiates an incorrect part handling depending on an
external signal.
The IPOsynchronousTask task monitors a protective door.
Another central question in SIMOTION:
Which program sections are programmed cyclically and which are programmed
sequentially. The same result can often be achieved in both ways. For motion
commands, SIMOTION supports the programming in the cyclical context. The
monitoring of the status of a motion command is performed by the system when
sequential programming is used (nextCommand:=WHEN_MOTION_DONE).
Industry Sector

Comparison of cyclical and sequential programming
Introductory
Information
Task
SIMOTION - Basic
Information
Program Conception
Create Project
To simplify the understanding, the comparison on a sample task follows: Pos should move
to Target; the Finished variable is set to TRUE when the position is reached.
Sequential Task:
_pos ( axis:= Pos,
position:= Ziel,
nextCommand:= WHEN_MOTION_DONE)
Advance
command
Program processing stops until
the target position is reached
Fertig:= TRUE;
Cyclical Task:
Query status
pos. command
Pos_status:=
_getStateOfAxisCommand ( Pos,
PosCommandID)
IF (Pos_status <> ACTIVE AND Pos. command

Fertig = FALSE ) THEN
Advance
_pos ( axis:= Pos,
command
position:= Ziel,
nextCommand:= IMMEDIATELY,
commandID:= PosCommandID);
END_IF
IF Pos.motionstatedata.motioncommand =
MOTION_DONE THEN
Query position
Fertig:= TRUE;
END_IF
Cyclical program section

continued

Industry Sector

Variable model
System variables
Introductory
Information
Technology objects
Task
SIMOTION device
SIMOTION - Basic
Information
System variables are automatically provided by

the system or from technological objects and do
not need to be created by the user.
Global user variables
Program Conception
I/O variables
Create Project
Device global variables
SIMOTION always differentiates between

three types of variable groups:
Global user variables are defined by the user and

have a wide scope: device global, project global
or unit global.
Unit variables
Local user variables

Program variables
FC variables
Local user variables have a limited scope. They

are always valid only within the defining program
unit (program, function or function block).
FB variables
Industry Sector

Variable model
System variables
Introductory
Information
Technology objects
Variable is assigned to a TO (e.g. actual position of an axis)
SIMOTION device
Variable is assigned to the SIMOTION device

(e.g. system clock)
Task
SIMOTION - Basic
Information
Program Conception
I/O variables
Variable indicates an input/output area

(e.g. Startpos -> P10.1)
Create Project
Variable can be accessed from anywhere on the device
Unit variables
1. A variable can only be used in programs, functions and

function blocks.
2. A specially exported variable can also be used in other
units.
Local user variables

Program variables
Variable can only be used within the declaring program
FC variables
Variable can only be used within the declaring function (FC)
FB variables
Variable can only be used in the declaring function block (FB)

Industry Sector

Solution guide
Current situation
Introductory
Information
Task
SIMOTION - Basic
Information
Program Conception
Create Project
Task (machine diagram)

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

Technology objects
Virtual master axis

Introductory
Information
Task
SIMOTION - Basic
Information
Program Conception
Positioning axis
Rotary axis (modulo)
Cam controller pneumatic

extractor
Position-based cams
Interpolator
Real axis - conveyorbelt

Following axis
Rotary axis (modulo)
Create Project
Gearbox synchronism
Real axis - pusher
Following axis
Linear axis
Camming
Cam - extractor
Not cyclical
Industry Sector

Task structure
Startup Task
Introductory
Information
Task
Initialization - ST
Background Task
SIMOTION - Basic
Information
Execution control - FUP
Program Conception
Call the homing task / initial

setting travel - FBD
Create Project
Call the automatic operation FBD

Motion Task 2 (Homing)
Homing (incremental encoder)
and possibly initial setting
travel of the associated axes MCC
Motion Task 3 (Automatic
operation)
Start the master axis - MCC
Synchronize the conveyorbelt MCC

Trigger the pneumatic valve MCC
Motion Task 4
Call the extractor task - MCC
User Interrupt Task 1 (stock outage
detection)
Call the extractor task - MCC
IPO sync Task (Emergency stop
monitoring)
Test protective door - MCC
Tech Fault / Peripheral Fault Task
(fault handling)
Acknowledge error - MCC

Industry Sector

Task relationship / Program start
Introductory
Information
Motion Task 2
Startup
Motion Task 3
Task
SIMOTION - Basic
Information
Background
Motion Task 4
Program Conception
Create Project
Start program pEject
User Interrupt
Interrupts the Task

IPO Sync Task
Motion Task 2
Motion Task 3

Industry Sector

Variables
Device-global variables
Introductory
Information
Task
SIMOTION - Basic
Information
Program Conception
Create Project
None
Unit-global variables
Velocity of the leading axis
Open protective door
Program end
Operating mode
Local variables
None
I/O-variables (symbol browser)

Onboard inputs (CU)
ib16DigCU (all inputs)
WORD (DI_0_15)
iboEject (Sensor)
BOOL (DI_2)
iboProtDoor
BOOL (DI_0)
iboStartBelt
BOOL (DI_1)
Onboard outputs (output cam
object)
Onboard outputs (CU)
Extractor active
output cam (DO_8)
Variables are named in accordance with the instructions from the applications style guide V1.01 for SIMOTION

Industry Sector

SIMOTION create device
1. Create new SIMOTION SCOUT project

Introductory
Information
Task
SIMOTION - Basic
Information
2. Create new device (D435 V4.2)
Program Conception
Create Project
3. Set the interface for PG to IE2/NET

The networking for PG in NetPro
will be created automatically

Industry Sector

HW configuration
Introductory
Information
Task
SIMOTION - Basic
Information
Program Conception
Set system clock for integrated

drive interface
Context menu
SINAMICS_INTEGRATED
Object Properties...
Create Project
The value of Tdp determines

the basic cycle of the
SIMOTION task system
Via each factors the settings
can be fine tuned

Industry Sector

NetPro
The network configuration for PG is created automatically

Introductory
Information
Task
SIMOTION - Basic
Information
Program Conception
Create Project
Use the properties of the PG (Object properties) to

change the access address of the logical PG interface (e.g. IP-address)
(Tab Interfaces) or
change the physical mapping of the logical PG interface
(Tab Assignment)
Industry Sector

Configure drives
Start drive configuration

Introductory
Information
Task
SIMOTION - Basic
Information
Program Conception
Create Project
The configuration assistant (wizard)

obtained all necessary information
No option module

Industry Sector

Configure drives
Use unregulated Infeed

Introductory
Information
Create first drive
Task
SIMOTION - Basic
Information
Program Conception
Create Project

Industry Sector

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

Introductory
Information
Task
No function modules will enabled

in the drive
SIMOTION - Basic
Information
Program Conception
Create Project

Industry Sector

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

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

Industry Sector

Drive 1 to Connection X1
Introductory
Information
Task
SIMOTION - Basic
Information
Drive with DRIVE-CLiQ interface

No further details for motor type
required
Program Conception
Create Project

Industry Sector

Drive without holding break

Introductory
Information
Task
Choose encoder for drive control
SIMOTION - Basic
Information
Program Conception
Create Project

Industry Sector

Standard communication with drive

Introductory
Information
Task
Summary
SIMOTION - Basic
Information
Program Conception
Create Project

Industry Sector

Configure Drive 2 (Extractor)
Insert drive
Introductory
Information
Task
SIMOTION - Basic
Information
Program Conception
Create Project
After entering the name of the extractor (eject) the configuration wizard
has to be repeated for drive 2. Shown below are just the dialogs that
differ in comparison to drive 1.

Industry Sector

Select the already added dual-axis module

Introductory
Information
Task
Only Connection X2 is available
SIMOTION - Basic
Information
Program Conception
Create Project

Industry Sector

Motor with SMC

Introductory
Information
Task
motor type and speed in accordance with rating plate

Encoder in accordance with rating
plate
SIMOTION - Basic
Information
Program Conception
Create Project

Industry Sector

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

Introductory
Information
Task
SIMOTION - Basic
Information
Program Conception
Create Project

Industry Sector

Training case specific line supply voltage
Introductory
Information
Task
SIMOTION - Basic
Information
For the SIMOTION D training case (single phase connection) the drive
parameter p0210 has to be set from 600V to 345V.
Access via expert list.
This must be carried out for both drives.
Program Conception
Create Project

Industry Sector

System cycle clocks
Introductory
Information
The ratio of bus data cycle clock to servo cycle clock to interpolator
cycle clock (IPO) should be 1 : 1 : 1.
The bus data cycle clock is given
by HW config.
(here: DP cycle Tdp).
Task
SIMOTION - Basic
Information
Program Conception
Create Project
The reduction
of interpolator 2
(IPO_2) can be
chosen freely.

Industry Sector

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

Introductory
Information
Task
SIMOTION - Basic
Information
Program Conception
Create Project
Rotary axis
Virtual axis
Industry Sector

Axis configuration Conveyorbelt
Create a real slave axis (Conveyorbelt)

Introductory
Information
Including synchronous operation
Task
SIMOTION - Basic
Information
Program Conception
Create Project
Rotary axis
Electrical axis

Industry Sector

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

Introductory
Information
Assign encoder for the

positioning controller
Task
SIMOTION - Basic
Information
Program Conception
Create Project
Note for the offline configuration: Encoder type (incremental or

absolute) by motors with DRIVE-CLiQ interface have to be determined
from the motor order number.

Industry Sector

Axis configuration Extractor
Create a real slave axis (Ejector)

Introductory
Information
Including synchronous operation
Task
SIMOTION - Basic
Information
Program Conception
Create Project
Linear axis
Electrical axis

Industry Sector

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

Introductory
Information
Task
Assign encoder for the

positioning controller
SIMOTION - Basic
Information
Program Conception
Create Project

Industry Sector

Axis configuration Interconnections
Synchronous operation between leading axis and conveyorbelt

Introductory
Information
Via the synchronous object of the axis
Task
SIMOTION - Basic
Information
Program Conception
Create Project

Industry Sector

Axis configuration Interconnection
Synchronous operation between conveyorbelt and extractor

Introductory
Information
By real leading axis (e.g. conveyorbelt) you can choose the setpoint or the actual
value as the set value.
Task
SIMOTION - Basic
Information
Program Conception
Create Project

Industry Sector

Axis configuration Parameterization
MasterAxis
Introductory
Information
Task
SIMOTION - Basic
Information
No modifications
Conveyorbelt
Position control
Speed precontrol
activated
Program Conception
DSC activated; Kv = 50
Create Project
Ejector
Position control
Speed precontrol
activated
DSC activated; Kv = 50
Automatic controller
setting
Via Controller setting
you can reach the automatic
controller setting
Note: The parameterization in this masks has to be done offline.

Industry Sector

Axis configuration Parameterization
Conveyorbelt
Introductory
Information
Task
SIMOTION - Basic
Information
No homing because absolute encoder
Ejector
Homing mode: Encoder zero mark only
Program Conception
Create Project

Industry Sector

Save and compile all
Save and compile project

Introductory
Information
Either via menu Project

the Toolbar.
Save and compile all or via
Task
SIMOTION - Basic
Information
Program Conception
Create Project
Detailed view shows the compile results

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

Industry Sector

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

Introductory
Information
Before an output cam can be insert, an I/O of the control unit

has to be configured as output. (DO 8)
Task
SIMOTION - Basic
Information
Program Conception
Create Project

Industry Sector

Insert output cam to the axis Ejector

Introductory
Information
Output cam and track will be added in the directory Output Cam under the relevant
axis (Ejector).
Task
SIMOTION - Basic
Information
Program Conception
One output cam were created by Insert output cam.

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

Industry Sector

Configure the output cam
Activate output
Introductory
Information
Proc. cycle clock: IPO
Set Cam output to: Fast digital output
Task
Output cam type: Position based

cam (related to the axis Ejector)
Set digital output DO 8 at the control unit.

This output won't be added to the symbol
browser.
SIMOTION - Basic
Information
Program Conception
Type of output cam values:

Setpoints
Create Project
Advantage: Symbolic Access

No absolute address entry
Industry Sector

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

Introductory
Information
iboProtDoor
protection door contact

(input 0 on the switch box of the training case)
iboStartBelt
start conveyorbelt
(input 1)
iboEject
sensor detect bad part

(input 2)
ib16DigCU
Image of the onboard-inputs

of the control unit
Task
SIMOTION - Basic
Information
Program Conception
Create Project
Note: The input in the symbol browser is done offline.

Industry Sector

Programming Settings for program testing
In the general settings of the project is set,
that programs generally can be observed.
Introductory
Information
Task
MCC-units can additional be observed in

single step mode.
SIMOTION - Basic
Information
In the properties of each unit you can

overload this basic settings if necessary.
Program Conception
Create Project
When you insert a source a

properties dialog displays. In
this you can set the name and
if necessary the compiler
settings.
Later this settings can be
changed by the properties of
the existing source.

Industry Sector

Programming variable definition in ST (pDefInit)
Programming
Introductory
Information
Insert ST-unit pDefInit

Insert keywords VAR_GLOBAL
and END_VAR
Task
SIMOTION - Basic
Information
Definition of the variables and

default values
Program Conception
Insert keyword PROGRAM pInit
Create Project
Function
Definition of all unit global variables in the INTERFACE field only in one
ST-unit.
Ensures easy exportability of global variables.
Prevent confusing cross-references (links or USES).
Retain variables and HMI variables are also declared on a separate
source.
Industry Sector

Programming variable initialization in ST (pDefInit)
Programming
Introductory
Information
Insert keywords PROGRAM

pInit and END_PROGRAM
Task
SIMOTION - Basic
Information
Initialization of the variables at

STOP RUN transition
Program Conception
Save and compile
Create Project
Function
With the program pInit in the ST-unit pDefInit the variables will be set to
a defined value at startup.
The ST-unit pInit is to assign to the StartupTask.
The StartupTask is executed at every change of the operating state of the
SIMOTION control from STOP to RUN.

Industry Sector

Programming connection to an other unit
Basic Procedure
Introductory
Information
Task
SIMOTION - Basic
Information
Always when variables from pDefInit are used in an other source (e.g.
pAuto), pDefInit have to be assign to this source.
This connection can be configured in the tab Connections.
Program Conception
Create Project

Industry Sector

Programming TechnologicalFaultTask
Insert MCC-unit pTecFault and add it to the
TechnologicalFaultTask after programming.
Introductory
Information
Task
All alarms of a technological object can be quit (e.g.

Ejector).
SIMOTION - Basic
Information
Also you can quit a specific alarm (e.g. 30002) of a

technological object (conveyorbelt).
Program Conception
Create Project
Function
For fault handling of technological objects
(e.g. axis).
In principle, an empty program can be used. Thus, the SIMOTION control wont
STOP if errors occurs.
Note: During the commissioning and troubleshooting, it is advisable to acknowledge
as few alarms directly. These alarms often give clues of misconduct.
Industry Sector

Programming Access to I/O-variables in cyclical tasks
Introductory
Information
Task
SIMOTION - Basic
Information
Program Conception
Access to I/Os of the drives only when the drive components have also
been ramped up (after Power On)
e.g. onboard inputs of the CU
Test in the program for valid accesses of the I/O variables
Is to be done in all cyclic tasks (e.g. via the variable gboDriveActive)
Alternatively, you can work directly with replacement values of the I/O variables
Create Project

Industry Sector

Programming BackgroundTask in LAD/FBD
Introductory
Information
Task
SIMOTION - Basic
Information
Program Conception
Programming of the BackgroundTask

Insert LAD/FBD-unit pBckFBD
Insert a LAD/FBD-program pLADFBD in the
LAD/FBD-unit
The homing and the automatic operation
are started depending on the contents of the
gi16Mode variable.
Create Project
gi16Mode = 0
homing
gi16Mode = 1
automatic
This occurs only when

The protection door is closed and
MotionTask_1 or MotionTask_2
Stopped (performed),
Waiting and has been suspended (emergency stop)
Suspended (emergency stop)
In a LAD/FBD-program you can always switch between the
views LAD and FBD. This is done via the menu or the toolbar.
Industry Sector

Create local variables

Introductory
Information
Task
SIMOTION - Basic
Information
Program Conception
b32TaskState : State of MotionTask_2 or MotionTask_3

b32RetStart : Return value of the function _startTaskID
boResult : Resultbit of the LAD/FBD-Networks
b32ResAnd : Result of the task state evaluation
boGo: Taskstartbit (TRUE if MotionTask_2 or MotionTask_3 have to be restarted)
sTaskSel : Structure that can contain TaskIDs (e.g. MotionTask_2 or MotionTask_3)
Create Project
Network 1 Drives ready

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

Industry Sector

Network 2 query protection door contact

Introductory
Information
Task
Jump to the end, if protection door is open
Networks 3 and 4 selection of the task
SIMOTION - Basic
Information
Depending on the gi16Mode variable, the sTaskSel variable will be assigned the
value MotionTask_1 or MotionTask_2, respectively.
Program Conception
The task stored in the sTaskSel variable can be started in network 9.
Create Project
The block MOVE is insert via the

command library - LAD/FBD elements.
Alternatively, an empty box is used. Then
the empty box is filled with the module
name.

Industry Sector

Network 5 and 6 query task state

Introductory
Information
Task
SIMOTION - Basic
Information
Program Conception
Create Project
You can query the task state with the system function _GetStateOfTaskId
(command library task system). The reported state is always clearly and
consistently.
This is a significant advantage over an application-locking by using boolean
variables.
The variable sTaskSel contains the task whose state is to be queried.
The return value is a DWORD (b32TaskState) that can be processed bitwise.
In Network 6 is a bitwise AND link of the return value with the value 16#0022.
This corresponds to the OR link of the two states TASK_STATE_STOPPED and
TASK_STATE_SUSPENDED.
Note: The different task state information can be

found in the manual SIMOTION SCOUT basic
functions.

Industry Sector

Network 7 and 8 evaluate task state

Introductory
Information
The result of the bit AND logical operation is evaluated in this network.
Task
If the return value is larger than 16#0000, the associated task must be restarted
(boGo = TRUE).
SIMOTION - Basic
Information
If the return value matches 16#0000, boGo becomes FALSE. This bypasses
restarting the task. Jump label is end (network 9).
Program Conception
Create Project

Industry Sector

Network 9 and 10 start task

Introductory
Information
This network becomes active as soon as a task needs to be restarted.
Task
To start the task the system function _restartTaskId (command library task
system) is used. This function can only be used to MotionTasks.
SIMOTION - Basic
Information
Program Conception
The return value is a DWORD (b32RetStart), which reports about success or

failure.
In Network 10 is a jump label end. This jump label is at the end of the block, so that
jumps to this position will end the block.
Create Project
A jump label can be switched on or off. To do this you have to select the label and
switch it on or off via the toolbar or the menu.

Industry Sector

Programming - BackgroundTask (FBD)
Task
The status of the FBD

program can be monitored
in this snapshot (monitor
online).
SIMOTION - Basic
Information
Network 2: The protection

door is closed.
Introductory
Information
Program Conception
Create Project
Aktueller Wert
zur Laufzeit
Network 3 and 4: The

operating mode is
automatic (gi16Mode = 1).
Consequently, Motiontask_3
is stored in the sTaskSel
variable.

Industry Sector

Programming Homing (Motion Task 2 MCC) 1/2
Insert MCC Chart pHoming

Introductory
Information
Task
SIMOTION - Basic
Information
Program Conception
Connect with pDefInit

Declare a local variable
i32RetResetAxis (Variable type
VAR, Data type DINT)
Reset axes in the ST-Zoom (after
emergency stop):
Create Project
i32RetResetAxis := _resetAxis
(Axis := MasterAxis);
(Axis := Conveyorbelt);
(Axis := Ejector);
Alternatively, the axis enable can

also be removed and reapplied.
Set gboProtDoorOpen to false
Set gr64VMasterAxisOld to 0
Industry Sector

Programming Homing (Motion Task 2 MCC) 2/2
Homing:
Introductory
Information
Zeros on the MasterAxis
Task
Enable Conveyorbelt
SIMOTION - Basic
Information
Enable Ejector
Program Conception
Create Project
Deactivate Valve output cam

If necessary: active homing conveyorbelt (if an
incremental encoder is used).
Command can be displayed in case of need
again.
Active homing ejector
Use default settings
Optionally, an initial position motion can also
be connected here
Set variable gi16Mode to 1

Industry Sector

Programming Assignment to the executing system
Introductory
Information
Task
SIMOTION - Basic
Information
Open executing system with

a double click
Use the arrow buttons to
assign previously created
programs to the execution
levels
Program Conception
Create Project

Industry Sector

Programming First Test
Introductory
Information
Task
SIMOTION - Basic
Information
Program Conception
Create Project
Open the Homing program (SCOUT must

be online) and start monitoring
Switch SIMOTION D435 to RUN
Depending on the configuration either both
or only one of these axes perform homing
Optionally, the program can also be run in

single-step mode
The axes are homed after passage through

the program
Note for the execution:

The pBckFBD program in the background task starts
the automatic operation as soon as the gi16Mode
variable is set to 1.
Note: There are additional comments on the FAQ slide
Industry Sector

Programming Automatic operation (MotionTask 3 in MCC)
Insert MCC Chart pAuto
Introductory
Information
Task
Enable MasterAxis
SIMOTION - Basic
Information
The conveyor belt starts with the positive edge of

the iboStartBelt signal
Program Conception
Synchronize the conveyorbelt
Create Project
Activate the Valve output cam
see parameterization (following slides)

see parameterization (following slides)
If the set velocity changes, switch continue
gr64VMasterAxis <> gr64VMasterAxisOld
Start master axis position-controlled with
gr64VMasterAxis velocity
For comparison, save the current velocity in
gr64VMasterAxisOld := gr64VMasterAxis
Until-loop with gboProgEnd condition

Industry Sector

Parameterization - Automatic (MCC)
Introductory
Information
Task
SIMOTION - Basic
Information
Program Conception
Create Project
Switch on the gearbox

synchronism of the
Conveyorbelt
Synchronize immediately
Synchronization length 1
Synchronization reference
master axis
Relative to the start
position (Parameters tab)
Activate the Valve output cam

Switch-on position
0.1 mm
Switch-off position
0.4 mm
Industry Sector

Programming Second Test
The program pAuto must now also be assigned to the
execution system
Introductory
Information
Task
SIMOTION - Basic
Information
Program Conception
Create Project
As previously, the monitoring is now activated

Operation:
Once the axes have been homed, the Conveyorbelt starts
to turn as soon as a positive edge of iboStartBelt is
detected
The gr64VMasterAxis set velocity can
be controlled in the symbol browser or
in a watch table (control immediately)
The automatic program responds only
to a change of the set velocity

Industry Sector

Programming Test using trace
Open the trace
Introductory
Information
Task
SIMOTION - Basic
Information
Program Conception
Variables from the program

and from technological
objects (e.g. axes) can be
recorded in the trace
Procedure:
Select trace D435
Create Project
Select variables
Load Trace in the D435
Start D435
Start trace
iboStartBelt from 0 to 1

Industry Sector

Cam Form (with CAM-Tool)
Cam Cam_Ejector
3 elements
1 interpolation point
left
1 straight line at 45
1 interpolation point
right
Note: CAM Tool have to be
installed
Introductory
Information
Task
SIMOTION - Basic
Information
Program Conception
Function of the segments

Segment 1: Synchronize
to the conveyorbelt
Segment 2: Synchronous
operation with
conveyorbelt
Segment 3:
Desynchronize and return
to the initial position (wait
for the next defect part)
Create Project
Segment 3
Segment 1
Segment 2

Industry Sector

Cam - Parameterization
Introductory
Information
Task
SIMOTION - Basic
Information
Program Conception
Create Project
Curve elements (straight line, interpolation point)

are selected in the CAMtool function bar.
Properties (right mouse click on the curve
element)
Straight line
x1 = y1 = 0.1
x2 = y2 = 0.4
Interpolation point left (create with symbol)
x = y = 0.0
Interpolation point right (create with symbol)
x = 0.8
y = 0.0
Scaling (Cam Target Device Parameter menu
Master
Base scaling 360
Slave
Base scaling 10
Note: The mouse pointer must be active in order to move
curve elements with the mouse. A decimal point must be
used for floating point numbers.
Industry Sector

Programming Eject by cam
Introductory
Information
Task
SIMOTION - Basic
Information
Program Conception
Create Project
Insert MCC Chart pEject

Synchronize the cam
This motion task is started
with a user interrupt
The cam is processed
acyclically
Industry Sector

Programming Stock outage detection (user interrupt in MCC)
Introductory
Information
Task
SIMOTION - Basic
Information
Program Conception
Create Project
Stock outage detection:

Insert program pEject
Specify condition for user interrupt in the
execution system
Sensor at DI 2 (iboEject) at TRUE means
eject is coming (Input 2 on the switch box
of the D435 training case)
Industry Sector

Programming Protection door (IPO synchronous in MCC) 1/2
Monitoring the protection door:
Introductory
Information
Insert MCC Chart pProtDoor
Task
SIMOTION - Basic
Information
Query whether protection door is

closed (true = closed)
Program Conception
If open , set gboProtDoorOpen bit,

because axes must be explicitly
reset after an emergency stop (see
automatic operation (MotionTask 3
in MCC) 1/2)
Create Project
Query all MotionTasks using

_GetStateOfTask (MotionTask_x)
<> 16#0002 (where x = 1 to 3)
(test whether task stopped)
All running tasks will be interrupted

Industry Sector

Programming Protection door (IPO synchronous in MCC) 2/2
Monitoring the protection door:
Introductory
Information
Task
SIMOTION - Basic
Information
Program Conception
Create Project
Query the axes for stoppage using

MasterAxis.motionstatedata.
motionstate <> standstill
Conveyorbelt.motionstatedata.
Ejector.motionstatedata.
If the axes are moving

Deactivate Valve output cam
Stop axes using Fast stop with
maximum deceleration

Industry Sector

Programming - Test and diagnostics - Possibilities
Test the program execution:
Introductory
Information
Create a watch table. The variable can be moved with a

right click in the symbol browser.
Task
SIMOTION - Basic
Information
Program Conception
Recording object variables

such as actual position and
actual velocity of an axis
using Trace
Create Project
Test the program execution of a Motion Task using

Monitor and Single Step

Industry Sector

FAQ
After STOP-RUN transition nothing moves, what is the problem?
Introductory
Information
Have the tasks been correctly added to the execution system?
Task
Is the protective door (DI 0) closed?
SIMOTION - Basic
Information
Program Conception
Create Project
The extractor output cam does not come!

An output cam must be activated. Are the limits correctly parameterized in the Switch on
SW output cam mask ?
The homing task hangs on the axis enable of the real axes. Why is this?
The axis enable does not arrive. Possible causes:
In the HW configuration, the Master application cycle in the slave properties does
not agree with the position control cycle in the SCOUT under Execution system
Expert settings. They must be identical!
The axes homing is not correct. What can be the error cause?
Check the settings in the Homing Axes mask

Industry Sector

WinCC flexible - Connection
Connectable variables:
Introductory
Information
System variables
Technology objects
Task
SIMOTION device
SIMOTION - Basic
Information
Program Conception
Create Project

HMI (WinCC flexible)
D435
I/O-variables
Unit variables
Ethernet
Data exchange
Example needs a
display resolution of
1280x1024
Industry Sector

Add pHMIaus ST source
Introductory
Information
Task
SIMOTION - Basic
Information
Program Conception
Create Project

Industry Sector

pHMIaus ST source in Background-Task
Introductory
Information
Task
SIMOTION - Basic
Information
Program Conception
Create Project

Industry Sector

Open NetPro
Introductory
Information
Insert a SIMATIC HMI Station
Task
SIMOTION - Basic
Information
Program Conception
Create Project

Industry Sector

Select PC
WinCC flexible Runtime
Introductory
Information
Task
SIMOTION - Basic
Information
Program Conception
Create Project

Industry Sector

After selecting, the SIMATIC HMI Station appears in NetPro.
Introductory
Information
Task
SIMOTION - Basic
Information
Program Conception
Create Project
By double clicking on the station,

the HW Config opens.

Industry Sector

Insert an Ethernet interface (HMI IE)
Introductory
Information
Task
SIMOTION - Basic
Information
Program Conception
Create Project
IP address: 169.254.11.1
Subnet mask: 255.255.0.0
Save and compile
Close HW Config
Industry Sector

After inserting, the HMI IE interface appears in the station.
Introductory
Information
Task
SIMOTION - Basic
Information
Program Conception
Create Project
Save and compile

Close NetPro

Industry Sector

Open WinCC flexible
Introductory
Information
Open existing project
double click on project
Task
SIMOTION - Basic
Information
Program Conception
Create Project
Select previously insert SIMATIC HMI Station

Industry Sector

WinCC flexible opens the project
Introductory
Information
Task
SIMOTION - Basic
Information
Program Conception
Create Project
At this point you can edit the WinCC flexible project.

Hereafter the user interface of the sample project is shown.
Industry Sector

WinCC flexible - Connection (Picture)
Introductory
Information
Task
SIMOTION - Basic
Information
Program Conception
Create Project

Industry Sector
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SIMOTION

Example for Beginners

Siemens AG 2011. All Rights Reserved.

Example for Beginners

The application examples and the associated documentation contained on

Siemens AG 2011. All Rights Reserved.

Example for Beginners

Before processing the Example for Beginners, it is advisable to study

Siemens AG 2011. All Rights Reserved.

Example for Beginners

Procedure notes are contained in the Program Design section

Siemens AG 2011. All Rights Reserved.

Example for Beginners

Example for Beginners

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

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Example for Beginners

IPO - sync Task 1

IPO - sync Task 2

Time triggered Tasks Task 1

User Int Task 2

System Int Tasks

User Int Task 1

Siemens AG 2011. All Rights Reserved.

Example for Beginners

Example for Beginners

IF (Pos_status <> ACTIVE AND Pos. command

Cyclical program section

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Example for Beginners

System variables are automatically provided by

Global user variables

Device global variables

SIMOTION always differentiates between

Global user variables are defined by the user and

Local user variables

Local user variables have a limited scope. They

Example for Beginners

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

Variable is assigned to the SIMOTION device

Global user variables

Variable indicates an input/output area

Device global variables

Variable can be accessed from anywhere on the device

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

Local user variables

Variable can only be used within the declaring program

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

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

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Example for Beginners

Task (machine diagram)

Example for Beginners

Virtual master axis

Cam controller pneumatic

Real axis - conveyorbelt

Example for Beginners

Execution control - FUP

Call the homing task / initial

Call the automatic operation FBD

Synchronize the conveyorbelt MCC

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Example for Beginners