The TechnologyObjects (TO) ofSIMATIC S7-1500(T)TIA Portal V14 / SIMATIC S7-1500 / SIMATIC /en/view/109743134SiemensIndustryOnlineSupport
Table of ContentsTable of ContentsLegal information . 21SIMATIC’s Technology Objects . 126.96.36.199.188.8.131.52.3.32Hardware Configuration for "Motion Control” . 184.108.40.206.4 Siemens AG 2017 All rights reserved3General information . 18Fields of application . 18Application . 19"Measuring Input” Technology Object . 220.127.116.11Speed axis (TO SpeedAxis) . 13General information . 13Fields of application . 14Application . 14Positioning axis (TO PositioningAxis) . 14General information . 14Fields of application . 15Application . 15Synchronous axis (TO SynchronousAxis) . 15General information . 15Fields of application . 17Application . 17"External Encoder” Technology Object . 18.104.22.168Basic configuration . 10Control loops involved . 11Isochronous data exchange . 11Motion control resources . 12"Axis” Technology Object . 23.3.34Motivation . 5Properties of a technology object (TO) . 5SIMATIC S7-1500 and SIMATIC S7-1500T. 5Technology objects for motion control . 6Technology objects for PID control . 7Technology objects for counting and measuring . 9General information . 20Fields of application . 21Application . 22"Cam/Cam Track” Technology Object . 22.214.171.124.26.3.3TOs of S7-1500(T)Entry ID: 109743134,V1.0,General information . 23Distance output cams (position-based cams) . 23Time-based cams . 24Hysteresis . 24Activation time . 25Cams (TO OutputCam) . 25Instruction to influence cams . 25Effective direction of cams . 26Fields of application. 26Application . 26Cam track (TO CamTrack) . 26Instruction to influence a cam track . 26Axis relationship of the cam track . 26Fields of application . 2705/20173
Table of Contents6.3.47"Cam Disc” Technology Object . 2126.96.36.199 Siemens AG 2017 All rights reserved8General information . 28Fields of application . 29Application . 29Example Application . .188.8.131.52.28.5.39Application . 27Configuration . 30Components used . 30Functions . 31Basis of realization . 31Technology objects used. 32Positioning axis (TO PositioningAxis) . 32Measuring input (TO MeasuringInput) . 32Synchronous axis (TO SynchronousAxis) . 33Cam disc (TO Cam) . 33Cams (TO OutputCam) . 35Programming of the processing stations . 35Joint data management . 35Functional principle of the example application . 36Measuring input . 37Sealing unit . 39Application of material . 43Configuration of the TIA portal project . 46Program blocks . 47Technology objects . 47PLC data types . 48Realization of the web server application for the simulation . 48Operating the application example . 50Downloading the project into the CPU . 50Calling the user interface/simulation . 51Operating the simulation . 51"SINAMICS V90 PN” Demo Case. 184.108.40.206.2Overview of the demo case . 54Configuration of the case . 54Control elements . 54Wiring . 55Functions . 56Putting the demo case into operation . 57Preparations . 57Hardware configuration . 57Putting the drives into operation . 57Optimizing drives . 57Operating the application example . 58Differences of the simulation example application . 58Functional differences . 5810Links & Literature . 6011History. 60TOs of S7-1500(T)Entry ID: 109743134,V1.0,05/20174
1 SIMATIC’s Technology Objects1.1 Motivation1SIMATIC’s Technology Objects1.1MotivationIn order to be able to facilitate the use of technological functions that can be usedwith a SIMATIC controller, what is known as technology objects have beenintroduced in the programming environment of SIMATIC. Within these technologyobjects, the available functions are encapsulated and provided to the creator of theuser program for easy access and the easy use in the programming environment.Particularly in the "motion control” area are these technology objects used tosimplify the control and handling of axes and additional motion controlfunctionalities and to support the user in the creation of a user program with motioncontrol functionalities. This is why the emphasis of this document is on displayingtechnology objects from the area of "motion control”.1.2Properties of a technology object (TO) Siemens AG 2017 All rights reservedA technology object (TO) for motion control in the SIMATIC has the followingproperties: The technology object represents a software object in the controller. The technology object represents the mechanical components. The technology object encapsulates the technological functionality. The technology object allows a uniform setting and configuration. The technology object ensures a simple connection of the drives and encodersas well as the distributed I/O. The technology object encapsulates the mechanical configuration, themonitoring and limitations of the drive and the mechanic that is connected to it. The technology object is addressed via PLCopen motion control instructionsfrom the user program.This guarantees a simple and standardized use of the motion control functionalitiesin the SIMATIC.1.3SIMATIC S7-1500 and SIMATIC S7-1500TIn the following chapters the technology objects available in the SIMATIC S7-1500and in the SIMATIC S7-1500T are briefly introduced and explained.TOs of S7-1500(T)Entry ID: 109743134,V1.0,05/20175
1 SIMATIC’s Technology Objects1.3 SIMATIC S7-1500 and SIMATIC S7-1500T1.3.1Technology objects for motion control Siemens AG 2017 All rights reservedFigure 1-1 Technology objects of the S7-1500 – motion control Speed axis (TO SpeedAxis)The "speed axis" (TO SpeedAxis) technology objects presents the mechanicaldrive component in the controller. Jobs for specifying the speed of the drivecan be placed using PLCopen motion control instructions. Positioning axis (TO PositioningAxis)The "positioning axis" (TO PositioningAxis) technology object displays themechanical drive component in the controller. Through the user programpositioning jobs can be placed using PLCopen motion control instructions. Synchronous axis (TO SynchronousAxis)The "synchronous axis" (TO SynchronousAxis) technology object includes allfunctions of the "positioning axis” technology object. In addition, the"synchronous axis” technology object can follow the motions of a master axis.Positioning axes as well as synchronous axes can be used as master axis. External encoder (TO ExternalEncoder)The "external encoder" (TO ExternalEncoder) technology object records theactual position of an externally controlled drive. The determined actualpositions can be evaluated in the user program. Cam (TO OutputCam)The "cam” (TO OutputCam) technology object generates switching signalsdepending on the setpoint or actual position of an axis or external encoder.The switching signals can be evaluated in the user program or output via thedigital outputs. The switching signals of several cams can be interconnectedwith each other via AND or OR links. Cam track (TO CamTrack)The "cam track" (TO CamTrack) technology object combines up to 32individual cams to one cam track. The start and end position of the individualcams can be freely selected. Other parameters are valid for all individual cams.TOs of S7-1500(T)Entry ID: 109743134,V1.0,05/20176
1 SIMATIC’s Technology Objects1.3 SIMATIC S7-1500 and SIMATIC S7-1500T Measuring input (TO MeasuringInput)The "measuring input” (TO MeasuringInput) technology object preciselydetects the actual position of an axis or external encoder. The measurement istriggered with a rising and/or falling edge of a digital input. The measurementresults can be evaluated in the user program. Cam disk (TO Cam) – (only S7-1500T)The cam disk technology object defines a transfer function y f(x). On a unitneutral basis, the dependence of an output variable on an input variable isdescribed in this transfer function. As a result, for example, the non-lineardependence of the slave axis position to a master axis in a synchronouscoupling can be defined. A cam disc technology object can be used multipletimes in different technology objects. Siemens AG 2017 All rights reservedIn comparison to SIMATIC S7-1500, the SIMATIC S7-1500T additionally supportsthe expanded synchronous functions. They offer the user the following furtherfunctions:1.3.2 Gearing can also create an absolute coupling of the slave axis to the masteraxis, besides the relative coupling. Besides gearing, the SIMATIC S7-1500T also offers support to curvesynchronization, via which the coupling of two axes can be carried out with thehelp of a generally formulated transmission function. For a synchronous coupling of two axes, the actual position (actual valuecoupling) of another axis of an external encoder can be also be used asconductance.Technology objects for PID controlFigure 1-2 Technology objects of the S7-1500 – PID controlTOs of S7-1500(T)Entry ID: 109743134,V1.0,05/20177
1 SIMATIC’s Technology Objects Siemens AG 2017 All rights reserved1.3 SIMATIC S7-1500 and SIMATIC S7-1500T Universal control (PID Compact)The PID Compact technology object provides a universal PID control withintegrated optimization. It corresponds to the instance data block of thePID Compact instruction. When calling the PID Compact instruction this datablock also has to be transferred. PID Compact includes all settings for aspecific control loop. When you open this technology object, you are supportedby a special editor for the configuration of the control. 3 step control (PID 3Step)The PID 3Step technology object provides a PID control with integratedoptimization for valves. It corresponds to the instance data block of thePID 3Step instruction. When calling the PID 3Step instruction this data blockalso has to be transferred. PID 3Step includes all settings for a specific controlloop. When you open this technology object, you are supported by a specialeditor for the configuration of the control. Temperature control (PID Temp)The PID Temp technology object provides a continuous PID control withintegrated optimization. PID Temp is especially designed for temperaturecontrol. Two outputs are available for this purpose, one for heating and one forcooling. The technology object corresponds to the instance data block of thePID Temp instruction. When calling the PID Temp instruction this data blockalso has to be transferred. PID Temp includes all settings for a specific controlloop. When you open this technology object, you are supported by a specialeditor for the configuration of the control. PID basic function: Continuous control (CONT C)The CONT C technology object provides a continuous control. It correspondsto the instance data block of the CONT C instruction. When calling theCONT C instruction this data block also has to be transferred. CONT Cincludes all settings for a specific control loop. When you open this technologyobject, you are supported by a special editor for the configuration of thecontrol. PID basic function: Step control (CONT S)The CONT S technology object provides a stepper control for integratedactuators. It corresponds to the instance data block of the CONT S instruction.When calling the CONT S instruction this data block also has to betransferred. CONT S includes all settings for a specific control loop. When youopen this technology object, you are supported by a special editor for theconfiguration of the control. PID basic function: Continuous temperature control (TCONT CP)The TCONT CP technology object provides a continuous temperature controlwith pulse generator. It corresponds to the instance data block of theTCONT CP instruction. When calling the TCONT CP instruction this datablock also has to be transferred. TCONT CP includes all settings for a specificcontrol loop. When you open this technology object, you are supported by aspecial editor for the configuration of the control. PID basic function: Temperature control (TCONT S)The TCONT S technology object provides a temperature control for integratedactuators. It corresponds to the instance data block of the TCONT Sinstruction. When calling the TCONT S instruction this data block also has tobe transferred. TCONT S includes all settings for a specific control loop. Whenyou open this technology object, you are supported by a special editor for theconfiguration of the control.TOs of S7-1500(T)Entry ID: 109743134,V1.0,05/20178
1 SIMATIC’s Technology Objects1.3 SIMATIC S7-1500 and SIMATIC S7-1500T1.3.3Technology objects for counting and measuring Siemens AG 2017 All rights reservedFigure 1-3 Technology objects of the S7-1500 – counting and measuring High-speed counter (High Speed Counter)The High Speed Counter technology object enables the easy configuration ofcounter modules for the operation with incremental and pulse encoders andtheir use in the user program. Measuring/position decoding (SSI Absolute Encoder)The SSI Absolute Encoder technology object enables the easy configurationof position decoding modules for the operation with SSI absolute valueencoders and their use in the user program.TOs of S7-1500(T)Entry ID: 109743134,V1.0,05/20179
2 Hardware Configuration for "Motion Control”2.1 Basic configuration2Hardware Configuration for "MotionControl”This chapter describes the basic hardware configuration of a motion controlapplication with SIMATIC. In doing so, the general functions of the individualcomponents are displayed.2.1Basic configurationThe basic hardware configuration of a motion control application is as follows:Figure 2-1 Basic hardware configuration Siemens AG 2017 All rights reserved123Table 2-1 Basic hardware configurationNo.Hardware componentsFunction1.SIMATIC controllerController and control of the drive system andtherefore of the motor of the motion controlapplication.2.SINAMICS drive systemControlling the motor. Providing the necessarymotor current to move the connected motor.Position decoding of the motor axis (incrementalor absolute).3.SIMOTICS motorExecuting the desired rotation.The motor forms the interface to the mechanicalcomponents of the motion control application.TOs of S7-1500(T)Entry ID: 109743134,V1.0,05/201710
2 Hardware Configuration for "Motion Control”2.2 Control loops involved2.2Control loops involvedWhen configuring a motion control application, whilst using the technology objectsof the SIMATIC controller and the SINAMICS drive technology, the followingcontrol loops are involved in cascading configuration.Figure 2-2 Schematic diagram of the control loops involvedPositioncontrollerSpeedcontroller Siemens AG 2017 All rights reservedSIMATICCurrentcontrollerSINAMICSMotorEnc Current controlIn dependence of the requested torque for the motor, the current control willprovide the required current to control the motor.This functionality is part of the SINAMICS drive system. Speed controlThe speed control provides the desired torque setpoint for the current controlso that the motor can reach the requested speed.This functionality is also part of the SINAMICS drive system. Position controlThe position control provides the speed setpoint for the speed controldepending on the requested position, so that the motor or the drive axle can bemoved to the requested position or the requested position can be maintained.The functionality of the position control is provided from the SIMATIC controllervia the "axis” technology object.In order to improve the control quality or the positioning, the following additionalfunctions are provided in addition to the above mentioned control loop:2.3 Dynamic Servo Control (DSC):This moves the position control into the drive and it is usually calculated in fastspeed control clock of the drive, which improves the control quality ofpositioning. Feed forward control:This function can enable a proportional speed feed forward control in theposition control, which enables a fast forwarding of speed changes in the drive.Isochronous data exchangeThe control loop structure when using a position control is divided between theSIMATIC controller and the SINAMICS drive system. This is why the dataexchange between these two components has to be designed in a way that astable control is possible.This is the reason why the use of the isochronous data exchange between theSINAMICS controller and the SINAMICS drive system via which the control loopspans, is highly recommended.TOs of S7-1500(T)Entry ID: 109743134,V1.0,05/201711
2 Hardware Configuration for "Motion Control”2.4 Motion control resources Siemens AG 2017 All rights reservedFigure 2-3 Isochronous data exchangeFor more information about setting up the isochronous data exchange between theindividual components of your application, please refer to the links and literature inchapter 10, for example, in chapter "Adding and Configuring Drives in the DeviceConfiguration" of the S7-1500T Motion Control manual (\9\).2.4Motion control resourcesDepending on the functionality of the motion control application, a suitabletechnology object is to be selected in the SIMATIC controller. Each technologyobject is assigned a MC resource that is recorded in the table below. Based on theresource consumption, an estimation of the CPU utilization can be determinedusing the technology objects deployed.Table 2-2 Motion control resource consumption of the "axis” technology objectsTechnology objectVersionMC resourcesSpeed axisV3.040Positioning axisV3.080Synchronous axisV3.0160RemarkMore information about the motion control resources can be found in the"Technology objects" chapter of the manual on S7-1500T motion control (\9\).TOs of S7-1500(T)Entry ID: 109743134,V1.0,05/201712
3 "Axis” Technology Object3.1 Speed axis (TO SpeedAxis)3"Axis” Technology Object3.1Speed axis (TO SpeedAxis)3.1.1General informationThe speed axis represents the simplest technology object to control an axis fromSIMATIC. Siemens AG 2017 All rights reservedFigure 3-1 Speed axis (TO SpeedAxis)The technology object takes on the easy and PLCopen-compliant transfer of thedesired speed setpoint to the drive, in which the actual speed control of the axis orthe motor takes place. The control loop is solely responsible for maintaining therequested speed of the axis or the motor, this is why no information on the currentposition of the axis is provided by this technology object.This is the reason why the speed axis is the also the technology object with thesmallest resource consumption in the SIMATIC controller.The following motion control instructions can be used together with the speed axis: "
a technology object (to) for motion control in the simatic has the following properties: the technology object represents a software object in the controller. the technology object represents the mechanical components. the technology object encapsulates the technological functionality. the technology object allows a uniform setting and
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Responsibilities are assigned to classes of objects during object design. E.g., doing doing itself (like creating an object) initiating action in other objects controlling and coordinating action in other objects knowing Knowing about private encapsulated data knowing about related objects knowing about things it can compute