Advanced Controller SIMATIC S7 1500 T CPU - Webinar

Engineered
with TIA Portal
SIMATIC S7-1500 T-CPU +

SIMATIC DRIVE CONTROLLER
Unrestricted © Siemens 2020 siemens.com/simatic-technology

The SIMATIC Controllers Portfolio
Always the right controller – Plus integrated added value!
Engineered with TIA Portal
System performance
Advanced Controllers Drive Controllers Efficient

SIMATIC S7-1500 engineering
SIMATIC S7-1500
CPU
CPU 1511T/TF
1511T/TF Innovative
Software Controllers
CPU 1515T/TF CPU 1504D TF design
CPU 1515T/TF SIMATIC S7-1500
CPU CPU 1507D TF
CPU 1516T/TF
1516T/TF New
CPU 1517T/TF
CPU 1517T/TF Reliable
diagnostics
Distributed Controllers
SIMATIC ET 200 CPU
Safety
Integrated
Basic Controllers CPU 1515SP PC2 T (TF)
SIMATIC S7-1200 CPU 1515SP PC2 T (TF) Security
Integrated
Technology
Integrated
Application complexity
Unrestricted © Siemens 2020

Page 2 SIMATIC S7-1500 T-CPU | Technical Slides
Advanced Controller – SIMATIC S7-1500 CPU
Increase productivity with the ultimate power
Security Integrated Safety Integrated High Performance

• Integrated copy and know-how protection • A controller for standard and fail-safe tasks • Higher productivity and product quality
function protect intellectual property • The high-density channel can be directly thanks to the backplane bus and shortest
• Improved access protection (authentication) addressed during the engineering reaction times
• PROFINET with deterministic time response
ensure reproducibility and precision within µs
Efficient Engineering Technology Integrated

• Support of all IEC 61131-3 programming • Motion Control task can be programmed
languages (LAD/FBD, STL, SCL and Graph) directly in the controller, e.g.
and of high-level languages such as C/C++ • Speed-controlled axes, positioning axes,
(only for CPU 1518(F)-4 PN/DP MFP and CPU gearing, camming
1515SP PC2 (F/T/TF) through SIMATIC ODK • Control of kinematics
1500S) • Cross-PLC synchronous operation
• Implement various technology functions directly
with I/O modules (e.g. PWM)
Reliable diagnostics
• The automatic generation of system
and user diagnostics enables quick
error detection
• Any errors can be quickly localized on-site
thanks to 1:1 LED channel assignment for
peripheral systems

SIMATIC S7-1500 Modular Controller
The S7-1500 controller for easy scalability
Perfect scalable
• Available in 4 performance classes as T
and TF CPUs
• Easily expandable with peripheral modules on
the central backplane bus
High Performance
• Higher productivity and product quality
thanks to the backplane bus and shortest
reaction times
• PROFINET with deterministic time response
ensure reproducibility and precision within µs
Innovative design
• Onboard display supports diagnostics and
initial commissioning (tag status, IP address
assignment, Backup …)
• Cabling is convenient thanks to pre-wiring
positions of the I/O modules and jumper links
• Any errors can be quickly localized on-site
thanks to 1:1 LED channel assignment

SIMATIC S7-1500 Open Controller
Der S7-1500 Controller for distributed, PC-based solutions
Compact PC-based system

• Controller, HMI and Windows applications on one CPU
• Windows applications parallel to automation tasks, e.g. for
camera inspection / image transfer
• Optionally with installed visualization software WinCC RT
Advanced
Robust
• Fanless design
• Wide temperature range (-20 to 60 degrees Celsius)
Motion Control in ET 200SP

• Easily expandable with ET 200SP peripheral modules
• Available in 2 versions
CPU 1515SP PC2 T
CPU 1515SP PC2 TF
SIMATIC ODK 1500S

• Integration of C++ programs
• Calculation of MATLAB algorithms
• Tools and examples for solving your automation task

SIMATIC Drive Controller – The ultra-compact and powerful
S7-1500 controller with SINAMICS S120 control unit inside
Ultra-compact Design Easy scalable

• S7-1500 TF-CPU and SINAMICS S120 drive • Uniform interfaces across all performance classes
control in one device (CPU 1504D TF / CPU 1507D TF)
• No additional space required for the PLC • Additional drive systems (e.g. SINAMICS S120, S210)
can be connected via PROFINET.
Powerful Easy to use

• Powerful TF-CPU with integrated SINAMICS • comfortable project planning in the TIA portal with
S120 drive control SIMATIC STEP 7 and SINAMICS Startdrive
• Well equipped with memory, interfaces and • Low cabling and installation costs
technology I/Os • Central data storage on “one” SIMATIC Memory Card
DRIVE-CLiQ PROFINET
SIMATIC SINAMICS S120 SINAMICS
Drive CU320-2 S210
Controller
Up to 6
servo drives
Controller
Further servo drives with additional

Modules
Infeed
Motor
SINAMICS CUs

Advanced Controller – SIMATIC S7-1500 T-CPU
Extended motion control functions with TIA Portal V16 and firmware V2.8 1)
Additional motion control functions Hardware innovations

• Kinematic functions • SIMATIC S7-1500 T-CPUs
• Control of kinematics • CPU 1511T, CPU 1511TF
with up to 4 interpolating axes • CPU 1515T, CPU 1515TF
• Gearing and camming • CPU 1516T, CPU 1516TF
• Synchronization with specifying the synchro- • CPU 1517T, CPU 1517TF
nous pos. of the leading and following axes • CPU 1515SP PC2 T/TF
New
• Setpoint value coupling • CPU 1504D TF, CPU 1507D TF
• Actual value coupling with extrapolation • Standard-, safety-plc and motion control on one
• Cross-PLC synchronous operation New controller
• Synchronisation between axes on different
CPUs
• SIMATIC Safe Kinematics V1.0 Programming
• Optional fee-based system library for safe Consistent and seamless extension
motion monitoring in the cartesian space of S7-1500 by S7-1500 T-CPU
Integrated editors and viewers Web server

• Cam editor Diagnostic pages for motion control
• Kinematics configuration
• Kinematics trace
• Coordination of traces in different CPUs
1) Compared to the standard CPU

Overview
Motion control functions and typical applications
• Machines with a very high number of

Cross project synchronous
axes
operation
• High dynamic machines
2nd Servo /IPO
• Modular machines
2nd PROFINET Interface
• Cartesian gantries
• Roll pickers
Kinematics functions
• Articulated arm
with conveyor tracking 1)
• Delta pickers
• SCARA robots, …
• Synchronized axes
(also cross-PLC)
Coordination (synchronous
• Cross cutters
operation, cams)
• Flying shears, ...
S7-1500 T-CPU
SIMOTION
• Palletizers, ...
S7-1200
S7-1500
• Hoisting + vertical conveyors

Positioning
• Feeder + door control systems
Speed setpoint
• Conveyor belts
• Auxiliary drives, ...
1) planned for FW-Update V2.8.x (V16)
Advanced Controller – SIMATIC S7-1500
Overview motion control functionalities (extract)
• Kinematics with conveyor tracking1) New (T-CPU only)

Kinematics functions • Kinematics with up to 4 interpolating axes (T-CPU only)
• Cross-PLC synchronous operation New (T-CPU only)
• Offset of the leading value at the following axis (T-CPU only)
• Camming (T-CPU only)
Camming
• Coupling onto actual values (T-CPU only)
Gearing
• Gearing - With synchronous position (T-CPU only)
• Gearing - Without synchronous position
• Encoder switch over to 2nd – 4th encoder (T-CPU only)
Positioning • Specification of motion vector from application (T-CPU only)
• Superimposed positioning during active motion
• Move axis to relative/absolute position
• Cyclic interface for torque data
S7-1500 T-CPU
Speed setpoint • Moving an axis with torque limiting

• Homing absolute and on the fly, Setting a position
• Traversing an axis with speed setpoint
S7-1500
• Enabling/disabling an axis
Output cams
• Activating output cams and cam tracks and measuring inputs
Measuring input
• …

Overview Motion control functionalities
• Comprehensive functional scope Output cams, output cam tracks,

measuring inputs, speed axis, positioning axis, external encoder,
relative and absolute
gearing, cams and camming, kinematics functions
• Cross-PLC synchronous operations (gearing or camming) between New
axes that are on different CPUs.

• Drives can be flexibly connected via PROFINET, PROFIBUS,
PTO or analog interfaces
• Standard configuration/engineering for CPU/HMI/drives
• Simple programming of motion sequences
with PLCopen function blocks
• User-friendly diagnostics and commissioning tools
(control panel, trace)
• Simple troubleshooting thanks to automatic alarm messages
to the engineering system and to the HMI
Simple scalability and seamless integration of identical motion control functions in all T-CPUs

TIA Portal V16
The scalable Motion Control System Portfolio
2nd PROFINET IRT interface
High-performance Motion Control 4)
Cross-PLC synchronous operation 3)

Kinematic functions
with conveyor tracking 5)
Camming & Gearing 2)
Gearing 1)
Output cams
Measuring input
Positioning Basic Advanced Advanced SIMOTION

Controller Controller
T Controller Motion
Speed control Standard CPU Standard CPU T-CPU Controller
Basic Midrange High-End

1) Synchronization without specification of the synchronous position 2) Synchronization with specification of the synchronous position
3) In one project 4) Cross-project synchronization; cams with dynamic size;
2 servo for axis groups
Page 11
5) planned for FW-Update V2.8.x (V16) SIMATIC S7-1500 T-CPU | Technical Slides
Advanced Controller – SIMATIC S7-1500
CPU Portfolio will be enlarged by the SIMATIC Drive Controller
Technology CPU Standard Open Drive Controller CPU

CPU Controller
CPU types 1511TF-1 1515TF-2 1516TF-3 1517TF-3 1518F-4 1515SP PC2
PN PN PN/DP PN/DP PN/DP (MFP)1 TF PN 1504D TF 1507D TF
Interfaces
1 1 2 1 2 1 2 1 2 1 1 1 1 1
1 1 1 1 1 3 1 1 2 3 1 2 3
Program memory 225/225 KB 750/750 KB 1,5/1,5 MB 3/3 MB 4/6 MB 1/1,5 MB 2 MB 6 MB

Data memory 1 MB 3 MB 5 MB 8 MB 20 MB1 5 MB 4 MB 20 MB
Bit performance 60 ns 30 ns 10 ns 2 ns 1 ns 10 ns Scale with motion control performance
Functions Display, S7-1500 backplane bus SINAMICS S120 Integrated (incl. 12 DI, 8 DI/DQ)
additional PLC technology I/Os (8 DI/DQ)
Positioning axes
§ Typical2 5 7 55 70 128 30 10 55
§ Maximum3 10 30 80 128 128 30 30 160
Motion Control Resources4 800 2.400 6.400 10.240 10.240 2.400 2.400 12.800
Extended Motion Control 40 120 192 256 - 120 120 420
Resources5
NEW
1 50 MB add. for C/C++ (PLC-RT)+500 MB for C/C++ appl. (RT/appl.) 2 At 4 ms Servo/IPO cycle time and 35 % CPU load due to Motion Control 3 No further TO´s applicable
4 Resources for Motion Control technology objects: Speed axis = 40 | Positioning axis = 80 | Synchr. Axis = 160 | Output cam= 20 | Output cam track= 160 | Measuring input= 40
5 Resources for Extended Motion Control technology objects: Cams = 2 | Kinematic objects= 30 | Leading axis proxy = 3
1 PROFINET IO with IRT 2 PROFINET IO with RT 3 PROFINET basic communication (1 Gbit) PROFIBUS
Agenda
Overview 3
Technical details 15
Hardware 16
Modular S7-1500 Controller 18
Open Controller 21
Drive Controller 25
Motion Control with SIMATIC S7-1500 T-CPU (Technology objects / Drive integration / Safety / SIMATIC Safe Kinematics) 39
Execution system 145
Number of axes and performance 153
Configuration and programming 159
Efficient engineering for Motion Control 167
Web server 177
Support 182

Advanced Controller – SIMATIC S7-1500 CPU
Increased productivity through ultimate power
Feature / Funktion Benefit
SIMATIC S7-1500
Efficient Engineering
• Efficient commissioning and service
• Support of various programming languages
through innovative download behavior
(LAD/FBD, STL, SCL and Graph and
• Flexible and free program design
C/C++ 1) )
Simplified Maintenance
• Thanks to standardized machine and plant
• Efficient diagnostics of process disruptions
diagnosis ProDiag
• Fast spotting of automation system failures
• Integrated system diagnosis possible
throughout all system components
Integrated Trace Feature • Program and application diagnostics in real

• Trace Editor integrated in the engineering time to spot even sporadic failures
• Trace View also part of the web server • Error debugging without engineering
Highest user-friendliness
• Simple handling of wiring and easy
• Common front connector
commissioning directly at the device
• Pre-wiring position
High connectivity • Vertical connection also to 3rd party

• OPC UA data access on the CPU devices and up to the ERP level
1) C/C++ as library function or independent applications with the Multifunctional Platform CPU 1518(F)-4 PN/DP MFP

Advanced Controller – SIMATIC S7-1500 Technology-CPU
Scalable motion control in the advanced controller portfolio
Feature / Funktion Benefits
SIMATIC S7-1500 T-CPU Simple programming of sophisticated
Extended Motion Control functions:
Motion Control functions:
• Speed-, positioning axis
• in the well known SIMATIC environment
• Gearing
• for a high machine flexibility
• Camming
• E.g. Pick & Place, assembly or handling
• Kinematics with up to 4 interpolating axis
tasks based on PLCopen
Kinematic configurator and trace Simple 3D visualization and diagnosis of

• path recording movements as well as comminsioning of the
• kinematic control panel kinematics
Cam editor integrated in the TIA Portal

High engineering efficiency through
• Simple definition of non-linear
• graphic-based and tabular configuration
dependencies between leading and
• optimization of cams
following axes
Consistent functionality and programming Seamless extension of the Motion Control

of S7-1500 throughout to S7-1500 T-CPU functionality of a standard CPU in TIA Portal
Failsafe PLC with extended Motion Control Standard automation, Motion Control and
functions safety functions inside one CPU
SIMATIC ET200SP Open Controller CPU 1515SP PC2 T/TF
Hardware
• Latest 4core technology standard for maximum performance in Windows
applications
• Display Port
• USB 3.0
• 8 GB DDR4ECC RAM
• 128 Gbyte CFast
• 1 x PN IO (IRT, 2 Port)
• 1 x Gbit Ethernet
Configuration
• 64 bit Windows 10 Enterprise LTSB 2016
• S7-1500 Software Controller (F) V2.5
• WinCC RT Advanced V15 (additional)
ET 200SP System
• Support of CPs, CMs and ET200AL

SIMATIC Drive Controller

Motion control, technology and
SIMATIC S7-1500 PLC in the drive
Unrestricted © Siemens 2019 www.siemens.com/simatic-technology

The attractive solution, optimized for production machines
§ 2 performance classes
§ CPU 1504D TF
§ CPU 1507D TF
§ SINAMICS Integrated,
based on CU320-2
S7-1500 TF-CPU S120 Control Unit Technology I/Os
Ultra-Compact – Ideal for mechanical

engineering Easy handling Optimized for production machines
§ SIMATIC S7-1500 controller, SINAMICS S120 § Easy scalability: powerful interfaces, uniform § Powerful for demanding applications
Control Unit and technology I/Os in one space- across all performance classes § Well equipped with interfaces, technology I/Os
saving device § Central data storage (one SIMATIC Memory and memory
§ Small compact design Card) for controller and drive § Fail-safe CPU and drive-integrated safety
§ Less wiring and installation costs functions for personal and machine safety
§ Efficient engineering in the TIA portal with § High-speed outputs for ultra-short output delay
SIMATIC STEP 7 and SINAMICS Startdrive times and highest switching accuracy, e.g. for
output cams
HW setup
4 x DRIVE-CLiQ
8 DI/DQ (PLC I/Os)

12 DI, 8 DI/DQ (DRIVE I/Os, usable by PLC) à DI, DQ, Timer DI, Timer DQ, …
à DI, DQ, up to 8 measuring inputs (High-Speed outputs)
24 V supply PN1: PROFINET IO IRT (3 ports / MRPD)
PROFIBUS (Master) PN2: PROFINET IO RT

PN3: PROFINET (1 Gbit)
2 x 3 LEDs (3 x PLC / 3 x Drive)

7 segment display (diagnostics) Eyelet for access protection
Slot for SIMATIC Memory Card
Function key (diagnostics, …) PLC switch (RUN / STOP / MRES)
2 x USB 3.0 (currently without function)

fanless
Topology
A drive-based SIMATIC solution comprises the following components:

• SIMATIC Drive Controller (with integrated SINAMICS S120 drive control, based on CU320-2) 1) HMI
• SINAMICS S120 components (infeed, motor modules, etc.)
• DRIVE-CLiQ communication, Terminal Modules, Sensor Modules, …
For more than 6 servo drives the drive quantity can be expanded,
e. g., via SINAMICS S120 CU320-2, SINAMICS S210, … 2)
PROFINET
Industrial Ethernet
DRIVE-CLiQ
SIMATIC
SINAMICS SINAMICS SINAMICS
Drive
S120 CU320-2 S120 CU320-2 S210
Controller
Terminal Modules
ET 200MP ET 200SP
Sensor Modules
for up to 6 for up to 6
servo drives servo drives
Unit
Controller
Modules
Motors with/without
Control
Infeed
Motor
DRIVE-CLiQ-
interface
1) Functional subset (no EPOS/DCC/…)
2) No CX32-2 like SIMOTION D4x5-2
CPU Portfolio will be enlarged by the SIMATIC Drive Controller
Technology CPU Standard Open Drive Controller CPU

CPU Controller
CPU types 1511TF-1 1515TF-2 1516TF-3 1517TF-3 1518F-4 1515SP PC2
PN PN PN/DP PN/DP PN/DP (MFP)1 TF PN 1504D TF 1507D TF
Interfaces
1 1 2 1 2 1 2 1 2 1 1 1 1 1
1 1 1 1 1 3 1 1 2 3 1 2 3
Program memory 225/225 KB 750/750 KB 1,5/1,5 MB 3/3 MB 4/6 MB 1/1,5 MB 2 MB 6 MB

Data memory 1 MB 3 MB 5 MB 8 MB 20 MB1 5 MB 4 MB 20 MB
Bit performance 60 ns 30 ns 10 ns 2 ns 1 ns 10 ns Scale with motion control performance
Functions Display, S7-1500 backplane bus SINAMICS S120 Integrated (incl. 12 DI, 8 DI/DQ)
additional PLC technology I/Os (8 DI/DQ)
Positioning axes
§ Typical2 5 7 55 70 128 30 10 55
§ Maximum3 10 30 80 128 128 30 30 160
Motion Control Resources4 800 2.400 6.400 10.240 10.240 2.400 2.400 12.800
Extended Motion Control 40 120 192 256 - 120 120 420
Resources5
NEW
1 50 MB add. for C/C++ (PLC-RT)+500 MB for C/C++ appl. (RT/appl.) 2 At 4 ms Servo/IPO cycle time and 35 % CPU load due to Motion Control 3 No further TO´s applicable
4 Resources for Motion Control technology objects: Speed axis = 40 | Positioning axis = 80 | Synchr. Axis = 160 | Output cam= 20 | Output cam track= 160 | Measuring input= 40
5 Resources for Extended Motion Control technology objects: Cams = 2 | Kinematic objects= 30 | Leading axis proxy = 3
1 PROFINET IO with IRT 2 PROFINET IO with RT 3 PROFINET basic communication (1 Gbit) PROFIBUS
Technology I/Os
Operating mode X142 I/O Functionality New

use (in comparison to
I/Os (8 channels) SIMOTION D)
DI I/O area Digital input (digital filter: 1 µs / 125 µs) Process alarms
TO optional: process alarms for rising and/or falling edges
DQ I/O area Digital output High-Speed
TO outputs
X142
Timer DI I/O area Acquisition of an associated time stamp for an edge at a digital input; Lost Edge Counter
I/Os for up to 2 edges per cycle in TO-DB
TO
(PLC) à e.g. for measuring inputs
Timer DQ I/O area Time-controlled switching of an output; for up to 2 edges per cycle High-Speed
TO à e.g. for output cam outputs outputs
Oversampling DI I/O area Acquisition of 32 signal states in regular intervals per cycle New
(e.g. OB Servo)
Oversampling DQ I/O area Output of 32 signal states in regular intervals per cycle New
(e.g. OB Servo)
Event / Period duration I/O area Measurement of number of edges and period duration (e.g. for a New
measurement simple rotation speed measurement with hole mask and photo sensor)
Pulse width modulation I/O area Output of a selectable time period with a defined pulse-pause ratio New
PWM
Axis TO, e.g. for HW limit switch
TO Output cam, TO Cam track
TO Measuring input

SIMATIC Drive Controller – Engineering
Add device in portal view / project tree
Project
Exampletree
1 with Drive Controller
Standard group with 2 devices

(PLC + SINAMICS Integrated)
à Device view „Drive Controller“
enables functions on complete device
(Go online, download, …)
Example 2
à Group can be extended – e.g. with CU320-2
behavior
adjustable

SIMATIC Drive Controller – Engineering
Network and device view
Network view Device view PLC Device view SINAMICS Integrated
Presettings simplify project planning
§ SINAMICS Integrated is always isochronous

à no settings necessary
§ Drive telegrams are preset
à CU: 393 / infeed: 370 / drive: 105
§ If the axis TO is connected to the drive, "PIP OB
Servo" is automatically set as the process image
§ Automatic time synchronization between CPU and
SINAMICS Integrated / CU3x0-2 via Teleg. 39x
Back
In comparison to SIMOTION D
SIMOTION D SIMATIC Drive Controller

Booksize Compact 300 mm
380 mm
height
height
Battery-free / fanless
Failsafe PLC
innovative technology I/Os

Cooling fins
(≥ D445-2) 226 mm
Decoupling of PLC and Drive depth
226 … 270 mm
depth
à ES + FW separately upgradeable
Drive Engineering: Startdrive
Fan/battery
no CX32-2 / no option slot with CBE30-2 » 2,4 kg
module
3,7 – 4,3 kg Performance CPU 1504D TF » D425-2 1)
Performance CPU 1507D TF » >D435-2 … D445-2 1)
1) The values depend on the type of load and can only be used for rough orientation. Back
SIMATIC S7-1500 T-CPU ‒ Technology objects
What is a TO?
Technology objects for motion control User
• TOs are software objects in the controller

Monitoring
Messages
• TOs represent the mechanical components and diagnosis
• TOs encapsulate technological functions

• TOs are configured and parameterized in a standard way Diagnostic
buffer
• TOs permit motion control to be seen in a simple way
Limits
Technology object
rel. abs.
Inter-
face
Standardization
Mechanical
construction
Drive
Simple configuration, commissioning and programming

Axis types
Synchronized axis
Positioning axis
Gearing and camming
Speed-controlled axis
User program
Positioning
• Synchronization
Moving with open-loop User program
• Leading value
speed control • Position setpoint
• Gear ratio
User program • Homing
• Cam
• Velocity setpoint • Superimposed motion
TO calculates and controls the
TO generates the acceleration TO generates the acceleration position for the synchronized
and braking ramps and braking ramps axis depending on a leading
The drive controls the speed TO controls the position value
à Position encoder is not The drive controls the speed The drive controls the speed
required à Position encoder is required à Position encoder is required
Shell model of the technology objects

Positioning axis
TIA Portal S7-1500 CPU

Consistency checks already when
configuring the technology objects User program
and generating the user programs Programming
the technology Programs with TO-DB with actual value/
object “axis” PLCopen commands status/alarms
TO “axis 1”
Position control Position setpoint calculation
Configuring
the technology
object “axis” Measuring system evaluation Monitoring
Communication

Control loop ‒ Position control in the controller
Position control • Position control in the controller

in the servo clock cycle (MC servo)
Control Drive • Speed and current control in the drive
• Velocity precontrol (feedforward
Setpoint control) minimizes velocity-dependent
velocity Precontrol
Setpoint
Position
following errors of the position control
generation
Setpoint controller • Balancing (symmetrizing) filters delay
position the position setpoint with reference to
the velocity precontrol
Balancing filter - Gain
Axis
command
Actual position

Control loop ‒ Position control in the drive (DSC)
Position control • Closed-loop position control

in the drive with activated DSC
Control Drive – with DSC • Position controller in the speed control
(Dynamic Servo Control)
loop cycle (e. g. in 125 µs)
Setpoint • Significantly higher position controller
velocity Precontrol
Setpoint
Position
gain factors Kv possible – and
generation therefore increased dynamic control
Setpoint controller
position response and disturbances are
corrected faster for drives with a high
Balancing filter - - Gain dynamic performance
Axis
command • Load on the controller can be reduced
Actual position
by using longer motion control cycle
DSC available with times
• SINAMICS S120
• SINAMICS S210
• SINAMICS V90 PN
High dynamic performance drive control using DSC

Details
Synchronized functionality of S7-1500 vs. S7-1500 T-CPU
S7-1500 S7-1500 T-CPU

Positioning axis
Positioning axis Synchronized axis

Setpoint
Only Synchronized axis coupling
setpoint Synchronized axis
coupling Actual
value
coupling
Synchronized axis
External encoder
Without specifying a synchronous position With specifying a synchronous position

(Relative synchronism) (Absolut synchronism)
Synchronization Synchronization
Leading without specifying Following Leading with specifying the Following
axis the synchronous axis axis synchronous position axis
position

Synchronized functions for example in a tubular bag machine
Measuring wheel
slip compensation
Print mark Measuring wheel
cut synchronization to foil labeling
Foil feed
Electronic cam disks
Synchronization between
foil feeder and cross sealer
Cross sealer
Print mark detection

Camming
Camming with precise position Positioning axis Synchronized axis

• TO synchronous axis and TO cam Leading value Synchronization Cam Following axis
• Leading value is setpoint/actual position of a leading
axis – or actual position of an external encoder
• A leading value can be switched over
• Synchronization to a leading value
• Synchronization according to specified commands
Leading axis Cam Following axis
• Cam switchover on the fly

The Cam Disk Editor
Transition segment
(interpolated by the system)
Working segment
Graphic or tabular entry
Assignment of real axes

Kinematics functions
Kinematics with up to 4 interpolating axes

• TO Kinematics
• Predefined kinematics (cartesian gantry, roller picker, delta
picker, SCARA robot, articulated arm, tripod, cylindrical robot)
as well as specific user transformations for the integration of
Positioning
own kinematics axis 1 1)
• Linear and circular movement with an orientation axis Cartesian Kinematics Positioning
movement
(e.g. rotation of the gripper) and blending axis 2 1)
• Synchronous “point-to-point” motion X, Y, Z, A Positioning

axis 3 1)
• Conveyor tracking 2)
Positioning
• Programming with function blocks axis 4 1)
(e.g. MC_MoveLinearAbsolute)
• Object coordinate systems, tool coordinate system,
zone monitoring
• Dynamic adaption
1) Or synchronous axis

SIMATIC Safe Kinematics
What is this? What is monitored?
SLS
SIMATIC Safe Kinematics
Safely-limited Speed
• Safe speed
• Optional, fee-based system monitoring of various
library for STEP 7 Safety kinematic points
Advanced as setup for
TIA Portal V15.1 • Required by standard
ISO 10218-1 SLS-POINT
SLS-TCP SLS-JOINT SLS-TOOL
Optional points on
Tool Center Point Joint points Tool points
• Certification according to the kinematics
IEC 61508 (SIL 3),
SZM
IEC 62061 (SILCL 3) and
Safe Zone Monitoring
ISO 13849-1 (PL e, Cat. 4)
Attention: The used drive • Safe collision

system SINAMICS S120 fulfills
detection between
currently only SIL 2 or PL d.
kinematic zones and
Therefore, the overall system
also only fulfills SIL 2 or PL d. workspace zones
(work and protection
zones) Modeling of kinematic Kinematics within the working Kinematics outside the
zones (2D/3D) zone (2D/3D) protection zone (2D/3D)

Output cam
Technology object Output Cam

• Generates switching signals at a digital output depending
on the position of an axis or an external encoder
• Interconnects to setpoint or actual positions of an axis
or an external encoder
• Position-based cam
• Time-based cam
• Output via standard I/O
• Output via Timer DQ for high precision cam output Cam activation range
Starting position End position

Cam track
Technology object Cam Track Output cam functionality Digital outputs trigger
responses
• Generates switching signal sequence at a digital output 5 Cam tracks
depending on the position of an axis or an external encoder
Lines of glue
• Interconnects to setpoint or actual position
• Up to 32 output cams on a cam track
• Distance-based cams/time-based cams Conveyor direction
Encoder senses
• Output via standard I/O position of axis
• Output via Timer DQ for high precision cam output

Example Cam track
• One-time or cyclic activation of the cam track
Track length
High level of flexibility

N1 N2 N3
à Complete cam track can be shifted
Cam track Starting position Cam
via the axis reference position start (0) track end
à Product-related programming 0 Axis reference position Axis position

Measuring Input
Technology object Measuring Input Example, print mark

• Senses actual positions quickly, highly precise identification
and dependent on specific events
• Interconnected with the position 1
Measuring
of an axis or external encoder range
0
t
• Measuring input connected Starting position End position
• to Timer DI
Signal
• to SINAMICS (central measuring input via tel. 39x) 1
• to drive or external encoder (via PROFIdrive)

0
• Single measurement Measuring
t
Input
• Cyclic measurement via Timer DI (up to two measured values
1
per motion control application cycle) Measurement
finished
• Measurement with measurement range 0
t
Example for measurement of the next rising

edge in the measurement range

Torque limiting and travel to fixed stop
Torque limiting
• Adjustable force/torque limitation
• Telegram 10x is required
• Can be set whether active at the motor or load side
• Units are adapted depending on the motor type
Travel to fixed stop

• Approach with torque limiting
• Fixed stop identification using the following error
• “Clamping” with a fixed setpoint
• Clamping force/torque can be changed
• The system monitors as to whether
the fixed stop is broken or shifted
Example
Closing the form for
injection molding machines

Leading axis proxy for Cross-PLC synchronous operation
New
S7-1500 S7-1500 Function Benefit

Open Controller S7-1500T Drive Controller
• Splitting high axis quantities onto several
• Leading value source and synchronous
CPUs
axis on different controllers
• Modular machine design
• Linking via PROFINET IO with IRT

• Synchronized clock cycles of axes • High-precision synchronous operation
• Compensation of delay times for even across devices
communication and different clock cycles
Applications
• Multi axis machines (e.g. printing machines)
• Modular machines
SIMATIC S7-1500 T-CPU ‒ Drive integration
Encoder integration using TOs
Flexible encoder integration

• Directly at the drive (standard for a servo drive)
• At the CPU using PROFINET IO/PROFIBUS DP
• At the CPU using a distributed technology module
PROFINET
U/I
Encoder on the drive Encoder at Encoder at a distributed Encoder at a distributed

PN or PB technology module technology module
Details
Good to know …
Further information regarding SIMATIC Technology
Internet Application examples, FAQs etc. Online Forum
Starter Kit TIA Selection Tool & SIZER YouTube Playlist

RESPUESTA A COMENTARIOS DEL FEEDBACK DE LA PPT Y
AGUNAS PREGUNTAS PENDIENTES
- ¿Se requiere un telegrama especial para habilitar Profisafe?
Si, se requiere un telegrama específico para habilitar PROfisafe entre el drive y el PLC. Este
telegrama depende de la funiconalidad de safety y del drive estés utilizando.
En el manual de comunciaciondel S120 del siguiente link viene un overview de los telegramas
PROFISAFE,
https://support.industry.siemens.com/cs/document/109771803/sinamics-s120-manual-de-
funciones-comunicaci%C3%B3n?dti=0&lc=es-MX
Ejemplo de aplicación:
https://support.industry.siemens.com/cs/document/109749224/controlling-the-safety-integrated-
functions-of-the-sinamics-s120-with-a-simatic-s7-1500-f-cpu-via-profisafe?dti=0&lc=en-WW
- Link de la librería para manejar un objeto cinemático:
https://support.industry.siemens.com/cs/document/109771803/sinamics-s120-manual-de-
funciones-comunicaci%C3%B3n?dti=0&lc=es-MX

RESPUESTA A COMENTARIOS DEL FEEDBACK DE LA PPT Y
AGUNAS PREGUNTAS PENDIENTES
-Un poco más de información de las funciones que contiene este Drive
Son todas las funciones que puede realizar una cpu 1500T, Ver slide 9.
--Una vez que se han seleccionado los telegramas, ¿Como se utilizarian en el Programa del PLC?
En Tia Portal están disponible bloque para Motion Control en la carpeta de instrucciones >
Tecnología,Control de movimiento.
O bien puedes utilizar el bloque “LAxisBasics” de esta librería para en control en posicionameinto de un
eje en un sólo bloque:
https://support.industry.siemens.com/cs/document/109749348/simatic-s7-1500-s7-1500t%3A-standard-
application-axis-control?dti=0&lc=en-DE
Si requieres además funciones de síncronía te recomiendo utilizar el bloque “LAxisCtrl_PosAxis”,
disponible en el mismo link.

Gracias !!
Ing.José Luis Enriquez Mears

DI FA
MC
Jose_luis.enriquez@siemens.com
siemens.com/simatic-technology


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Engineered

with TIA Portal

SIMATIC S7-1500 T-CPU +

Unrestricted © Siemens 2020 siemens.com/simatic-technology

Advanced Controllers Drive Controllers Efficient

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Security Integrated Safety Integrated High Performance

Efficient Engineering Technology Integrated

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Unrestricted © Siemens 2020

Compact PC-based system

Motion Control in ET 200SP

SIMATIC ODK 1500S

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Ultra-compact Design Easy scalable

Powerful Easy to use

Further servo drives with additional

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Additional motion control functions Hardware innovations

Integrated editors and viewers Web server

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• Machines with a very high number of

• Hoisting + vertical conveyors

• Kinematics with conveyor tracking1) New (T-CPU only)

Speed setpoint • Moving an axis with torque limiting

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• Comprehensive functional scope Output cams, output cam tracks,

axes that are on different CPUs.

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2nd PROFINET IRT interface

High-performance Motion Control 4)

Cross-PLC synchronous operation 3)

Positioning Basic Advanced Advanced SIMOTION

Basic Midrange High-End

Technology CPU Standard Open Drive Controller CPU

Program memory 225/225 KB 750/750 KB 1,5/1,5 MB 3/3 MB 4/6 MB 1/1,5 MB 2 MB 6 MB

Modular S7-1500 Controller 18

Execution system 145

Number of axes and performance 153

Configuration and programming 159

Efficient engineering for Motion Control 167

Web server 177

Unrestricted © Siemens 2020

Integrated Trace Feature • Program and application diagnostics in real

High connectivity • Vertical connection also to 3rd party

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Kinematic configurator and trace Simple 3D visualization and diagnosis of

Cam editor integrated in the TIA Portal

Consistent functionality and programming Seamless extension of the Motion Control

Unrestricted © Siemens 2020

SIMATIC Drive Controller

Unrestricted © Siemens 2020

S7-1500 TF-CPU S120 Control Unit Technology I/Os

Ultra-Compact – Ideal for mechanical

8 DI/DQ (PLC I/Os)

24 V supply PN1: PROFINET IO IRT (3 ports / MRPD)

PROFIBUS (Master) PN2: PROFINET IO RT

2 x 3 LEDs (3 x PLC / 3 x Drive)