SIMOTION - An Overview of Siemens' Motion Control System

SIMOTION An Overview
SIMOTION
Siemens AG 2012. All rights reserved.
Date:
File:
09.02.2012
MC-SMO-SYS_01.1
Content
SITRAIN Training for

Automation and drive technology
Page
Mechatronics and Motion Control Transformation in Machine Construction ..................................

Tasks of a Motion Control System .....................................................................................................
Motion Control Possibilities in the Automation Area .......................................................................
What is SIMOTION? ...........................................................................................................................
SIMOTION Components ....................................................................................................................
System Architecture of the Runtime System .....................................................................................
Technology Packages in SIMOTION .................................................................................................
SIMOTION SCOUT Engineering Tools .............................................................................................
Programming Languages in SIMOTION ...........................................................................................
MCC Programming Motion Sequences ..........................................................................................
LAD/FBD Programming Languages for PLC Tasks .......................................................................
ST High-Level Language for Programming Complex Algorithms ...................................................
DCC Graphic Tool to Generate Charts ..........................................................................................
The Various Hardware Platforms .......................................................................................................
Integration in TIA ................................................................................................................................
SIMOTION Documentation ................................................................................................................

Automation and Drive Technology
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MC-SMO-SYS
Mechatronics and Motion Control Transformation in Machine

Construction
Traditional machine construction Mechatronic solution
Central drive technology

All motion is derived from
mechanical transmission
components
Machine functions are
"mechanically" defined
Distributed drive technology

Motion is coordinated by higherlevel control
Software simulation of
mechanical components
Flexible machine functions
Electronics
Coupling
Mechanical system
Gearing
Cam
controller
Cam
SIMOTION
Line shafts
Software
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Previous
machine Concepts
In previous machines, mechanical components such as cams gearboxes,

couplings, line shafts, etc., were mainly used.
This meant it was often costly and time-consuming to make mechanical
changes. It was difficult to create flexible solutions. Now the obstacles imposed
by mechanical components are being lifted by the use of intelligent automation
and drive technology.
Intelligent
concepts
Intelligent software solutions are increasingly replacing mechanical components

with central drive technology. Machine functions are implemented by means of
distributed drive technology. Individual movements are coordinated and
synchronized by the higher-level control.
Functions which were previously implemented with hardware are now integrated
into the software. Changing machine requirements such as format changes can
be responded to almost at the touch of a button.
Advent of
mechatronics
Today "intelligent components" play a key role in modern machine and

production plant construction. These "mechatronic components" comprise
mechanical components, sensors, actuators, electronic components and
software.
Today, mechatronic solutions are indispensable in many sectors. The economic
success is not in optimizing the sub systems, but in a complete and holistic
system approach. With mechatronics a machine or production plant is regarded
not only in mechanical terms but as a complete system that integrates
mechanical components, electronics, control engineering and software
technology.
SIMATIC and
SIMOTION
As technology leader, Siemens offers manufacturers of machines and

production plants a system platform providing automation without system
interruptions. The associated wide-ranging services portfolio extends from
application consultancy by competent specialists with well-founded sector
experience up to commissioning and maintenance by our service specialists.

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MC-SMO-SYS
Tasks of a Motion Control System

Tasks of a motion control system
HMI
Controlling axis motion

- Positioning
- Coupling axes (synchronous operations, ...)
MC control
Cyclically calculating setpoint positions

(interpolation)
Performing closed-loop position control, output
of the speed setpoint via PROFIBUS or
PROFINET
Other tasks
Processing peripheral (I/O) signals

Closed loop control tasks (e.g. closed loop
temperature control, etc.)
Data processing
Tasks of a drive
I/O
Converting the speed setpoint into the actual

speed
Closed-loop speed and current control
of a drive comprises
- Rectifier/inverter
- Motor
- Encoder system
Drives
SIMOTION
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can also be operated independent of an MC

control system
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MC-SMO-SYS_01.3

MC control
For SIEMENS control systems, the total motion functionality is split up into the
actual Motion Control system and the drive system.
The MC control has the task of processing the specified (motion) program.
Within the motion program, both positioning commands can be issued to
individual axes as well as commands to synchronize and coordinate several
axes (synchronous operation commands).
The setpoint positions (interpolation) resulting from the motion commands are
fed into the closed-position control and there, compared with the actual positions
supplied from the drive system (closed-loop position control). From the resulting
following error, by multiplying with the Kv factor, a new speed setpoint (axis
velocity) is calculated and transferred to the drive.
The speed setpoint can be transferred to the drive system either digitally via
PROFIBUS or PROFINET or as analog signal (+/- 10 V).
In addition to the actual motion control functionality, typical PLC functionality can
also be integrated into the MC system. Just the same as for a SIMATIC PLC,
digital or analog peripheral (I/O) signals can be read-in, processed and the
results output again to the peripherals.
Drive system
The task of the drive system is to convert the received speed information into an
actual motor speed. A speed and current controller are integrated in the drive
system for this very purpose.
The motor moves the axis which is traversed to the required target position with
the setpoint speed specified by the motion control system.
The drive system consists of an converter, motor and encoder. When coupled to
a SIEMENS motion control system, the drive system operates exclusively in
what is known as the speed mode. Motion control functionality (basic positioner,
etc.) possibly integrated in the drive system, in this particular case, cannot be
used.
Drive systems can also be operated without a higher-level motion control
system. The speed can be entered, for instance via an analog potentiometer.

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MC-SMO-SYS
Motion Control Possibilities in the Automation Area

SIMATIC
SIMOTION
SINUMERIK
SIMATIC - automates
everything for you and that
worldwide.
SIMOTION - the motion

control system
SINUMERIK brings
machine tools up to speed.
Specifically for machine

solutions where there are
high demands on the
motion control
Specifically for turning,

milling, drilling
numerical control at its
best.
Powerful control that can be

universally used
functionality can be
extended by motion control
T-CPU
Our portfolio today:

SINAMICS
MICROMASTER
SIMODRIVE
MASTERDRIVES
Drive technology
SIMOTION
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Overview
The demands placed on a control system largely depend on the application.

Therefore, SIEMENS offers different systems, which have been designed for
different application fields:
SIMATIC
SIMATIC is the tried and proven basis automation system for solutions in all
sectors of industrial automation.
It consists of standard hardware and software components and offers a wide
range of possibilities for customized expansions. For SIMATIC S7, motion
control functionality can be integrated using function modules, for example.
FM modules have a special functionality, which are generally controlled from the
SIMATIC user program via function block calls. Complex motion control
solutions can be implemented within a SIMATIC system in this fashion.
SINUMERIK
SINUMERIK control systems are specially designed for machine tools, handling
systems and special-purpose machines.
SINUMERIK offers the optimum solution for every task in the machine tool
sector, using CNC control and drives.
SIMOTION
In addition to SIMATIC and SINUMERIK, there is also SIMOTION, the motion

control system for applications with complex motion control which integrates
motion control and simple control functionality in one unit.
SIMOTION combines the complex handling of motion functions in a scalable
motion control system. It comprises the SCOUT engineering system, motion
control technology packages and a common runtime system for various
SIMOTION hardware platforms.
Technology CPU
The technology CPUs 315/317T -2DP and 317TF -2DP (fail-safe control) are
located between the SIMATIC and SIMOTION pillars.

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MC-SMO-SYS
What is SIMOTION?
Motion control
Positioning
Synchronous
operation
SIMOTION
The fusion of:
Technology functions
Temperature controller
Pressure
controller
Motion control
Technology functions
Logic
Integrated
system solutions for
machine construction
+
Logic functionality
AND, OR
Multipliers
SIMOTION
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SIMOTION
SIMOTION offers an optimized system platform for automation and drive

solutions with the focus on motion control applications and technological tasks.
This is achieved through the new universal motion control system.
SIMOTION is an integrated motion control system which has been conceived
primarily for the automation of production machines. Uniformity and integration
is achieved in engineering, programming, communication, data management,
the human-machine interface (HMI) - thus encompassing all system
components, and of course all the different hardware platforms.
Fusion of
PLC and motion
control
SIMOTION's innovative approach consists of removing the traditional division

between pure automation functions (typically PLCs) and motion functions
(motion control). This merging of functionality is implemented in both the
hardware and software.
With respect to the hardware, this new approach means that the controller must
be capable of processing motion functions. On the other hand, a drive system
must be able to perform automation tasks.
On the software side, the fusion of automation functions and motion functions
makes for simpler engineering. This starts with the configuration and continues
through parameter assignment and programming.
The integration with SIMATIC brings additional advantages as both systems are
often operated in one installation. The two systems can be configured and
programmed on a standard engineering interface.

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MC-SMO-SYS
SIMOTION Components
One engineering system
for configuring, programming
and setting parameters
Graphic or textual
programming
Different
hardware platforms:
Controller in the S7 design
Industrial PC
Drive
Runtime system
Synchronous operation
Positioning
...
SIMOTION
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Overview
SIMOTION offers an optimized system platform for automation solutions for

machines where motion control applications and technology tasks are in the
forefront.
The motion control system consists of the engineering system SCOUT, the
motion control technology packages and a common runtime system for the
various SIMOTION platforms.
SCOUT engineering
system
The SCOUT engineering system is used for configuring, programming and

setting parameters; it is the same system for all hardware platforms.
Configuring, programming and setting parameters is either performed by means
of graphics or text.
Technology
packages
Technology packages contain the software functions that are required for
automation in a wide range of different sectors. They expand the basic
functionality of the SIMOTION devices to suit individual requirements.
Technology packages can be added according to the machine requirements
(e.g. synchronous operation, cam).
Hardware
platforms
SIMOTION offers flexible solutions - for all requirements - by running on a

range of different platforms. With SIMOTION you can freely select between
three different platforms:
SIMOTION C - Controller-based
SIMOTION P - PC-based
SIMOTION D - Drive-based

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MC-SMO-SYS
System Architecture of the Runtime System

SIMOTION
SIMOTION
user
program
Basis functionality acc. to

IEC 61131-3
Function
libraries
Motion
control
technology
packages
Additional
technology
packages
I/Os
(sensors, actuators)
SIMOTION
Additional automation
components
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User program
DCC
blocks
SIMOTION kernel
(operating system, I/O handling, communication)
Drives
Tailored
SIMOTION
application
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MC-SMO-SYS_01.7
Function libraries
Technology packages
Basis functionality

System architecture The most outstanding feature of the new automation approach is its system
architecture. This forms the basis for ongoing system development. The system
architecture of SIMOTION especially supports concepts such as
decentralization, different target platforms and distributed intelligence.
The software is modular and can be flexibly adapted to the widest range of
requirements.
Basis functionality
The basis functionality of the device (SIMOTION kernel) includes functions for
open-loop and closed-loop control as well as logic and arithmetic. Program
execution can be cyclical, time- or interrupt-triggered.
As a result, the SIMOTION kernel contains the functions needed for virtually all
applications and corresponds in essence to a PLC with the IEC 1131-3
command set plus system functions for controlling various components, such as
inputs and outputs.
Technology
packages
The SIMOTION kernel can be expanded by loading technology packages. Using

additional language commands, the technology packages can be accessed in
the same way as the SIMOTION kernel from the user program.
Function
libraries
The libraries contain standard functions for frequently performed tasks.

In addition to the standard functions supplied, users can also create their own
blocks and store them in a library.
From Version 4.0, the following libraries have also been integrated as function
blocks in the system (TP "Cam"), and can now be directly inserted into the user
program from the command library:
Standard functions, for instance PID controllers, driver blocks for special
I/O modules
Blocks in conformance with PLCopen to control axes (single and
multi-axis blocks)

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MC-SMO-SYS
Technology Packages in SIMOTION

Speed-controlled axis
Actual value
processing
Speed
setpoint
Output cam
functions
Measuring
input
License TP
not required
Positioning
axis
Positioncontrolled
traversing
Referencing
Leading
axis
function
"Cam"
Synchronous
axis
Gearing
Camming
Synchronization/desynchronization
Path interpolation
2D/3D linear
interpolation
Circular
interpolation
Polynomial
interpolation
Various
kinematics
License
not required
TP "Cam_ext" (extended)
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Temperature
control
Adder
object
Temperature
control
Controller
object
Controller
optimization
Formula
object
Fixed gear
Sensor
License
required
TP "Path"
SIMOTION
Expanded
technology
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MC-SMO-SYS_01.8
License
not required
License
required
"TControl"

Technology
packages
Technology packages can be loaded in the runtime system to expand the basic
functionality of the SIMOTION kernel. In addition to the object types, technology
packages provide a wide range of powerful motion control commands, which are
required to flexibly solve applications.
TP "CAM"
The "Cam" technology package provides all object types and system commands
to control speed, positioning and synchronous axes.
In addition to the functionality for the individual axes, TP "Cam" contains the
"Measuring input", "Output cam" and "Cam track" functions (from V3.2 and
higher) as well as the function blocks in conformance with PLCOpen.
TP "PATH"
The "PATH" technology package provides path functionality. The following are
supported: 2D/3D linear, circular and polynomial interpolation. In addition,
various kinematics such as 2D/3D gantry, roll, Delta-2D, Delta-3D-Picker, as
well as SCARA and articulated arm kinematics
TP "CAM_EXT"
Supplementary technology functions are available with Version 3.2 and higher.
Adder: With adder objects up to four input vectors can be added to one
output vector.
Formula: With formula objects, you can apply mathematical operations to
scalar (LREAL, DINT) and motion vectors.
Controller: Using the controller object, according to a PID algorithm, scaler
variables can be processed and logically combined.
Sensor: The sensor technology object can be used to detect and process
scalar measured values, i.e. correspondingly monitored and smoothed.
Fixed gear: For "fixed" synchronous relationships between axes with an
adjustable gear factor, however, without specific synchronizing/
desynchronizing strategy.
TP "TControl"
The basis of the temperature controller is a DPID controller which has special
functions (threshold monitoring, adaptation of controller parameters, etc.) for
easy adaptation to applications (plastics machines).

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MC-SMO-SYS
SIMOTION SCOUT Engineering Tools

System
configuration
SIMOTION SCOUT
ST Structured Text
MCC
Motion Control Chart
Project navigator
LAD/FBD
Axis configuration
DCC
CamEdit
Drive
commissioning
SIMOTION
Test and diagnostics
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CamTool

Engineering system
SCOUT
The SCOUT Project navigator is the common framework for all tools of the.
engineering system. This workbench is also the navigation center for the
individual engineering steps. It is used to create and manage SIMOTION
projects and provides a uniform and integrated view of all data and programs.
The essential new feature is the graphic programming of the motion sequence
using Motion Control Chart (MCC). From SCOUT V4.1, there is also the optional
DCC programming language (Drive Control Chart) to create continuous, closedloop control related circuit diagrams to control drives.
The technological tree structure of the project includes
all devices (open-loop control, drives etc.),
all technological objects (axes, output cams, cams etc.) and
user programs in hierarchic views that can be filtered.
The navigation in the tree structure opens the parameter assignment or
programming tool assigned to the selected object.
The SIMOTION SCOUT engineering system is a powerful tool that acts as the
PC development environment to optimally support the required engineering
steps in a user-friendly way.
The SCOUT engineering tool is integrated as optional package to STEP 7 in the
SIMATIC environment. When developing SCOUT, special attention was given to
optimum usability and a comprehensive, function-oriented view of the
automation task.
Note
The SCOUT engineering tool is available in two versions:

as a standalone version, without any connection to STEP 7
as optional package to STEP 7

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MC-SMO-SYS
Programming Languages in SIMOTION
SIMOTION
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Overview
SIEMENS offers a range of task-oriented programming languages for

SIMOTION that allow the user to focus on the actual task at hand. SIMOTION's
modular design makes it possible to create modular blocks in different
languages according to the individual task requirements.
MCC
MCC is a graphic language for creating operational sequences. In particular, this

language offers entry-level users support for quick and transparent creation of
sequential program sequences in MotionTasks.
Any additional ST code can be integrated in the MMC program via the "ST
Zoom" command.
LAD/FBD
These programming languages are unparalleled for programming binary signal

gating. In addition to the wide range of options in the area of binary signal gating
(edge evaluation, flip-flops, etc.), it integrates many other function such as IECcompliant counter and timer blocks.
Almost all system functions can be directly called and tested in a network.
ST
Structured Text is a text-based, high-level language similar to PASCAL.

ST contains all typical elements of a high-level language such as operators,
expressions, control statements, etc. ST supports in particular programming of
mathematical algorithms and data administration tasks.
Due to the many control structures it offers, ST is also suitable for programming
process sequences.
DCC
The Drive Control Chart (DCC) option is a modular, scalable programming

language based on the STEP 7 package CFC (Continuous Function Chart), to
develop continuous open-loop or closed-loop control solutions for controlling
drives.

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MC-SMO-SYS
MCC Programming Motion Sequences

Properties of motion control charts
Graphic language to describe motion
sequences in the form of a sequence chain
Complex sequences in automation technology are broken down into individual steps
MCC contains graphic commands for:
Axis movements
Processing I/O signals
Control structures for branches and
repeat operations
Comparable with S7 Graph from STEP 7
Advantages of MCC
Motion sequences can be simply and
transparently generated
Even entry-level programmers can attain
results quickly
In addition to the fast generation, MCC also provides support
when it comes to testing and therefore fast commissioning
SIMOTION
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MC-SMO-SYS_01.11

Properties
of MCC
MCC is a new graphic programming language, designed to significantly simplify

the automation of production machines.
Many production machines are very complex. They require a control system
(SIMOTION) that is capable of handling motion control and technologies with a
wide variety of motion functions, as well as PLC functions, arithmetic functions,
and data management tasks.
MCC is the neutral description tool used to represent a sequence diagram. This
sequence diagram is referred to as MCC chart in this document. It provides you
with all of the descriptive symbols you will need to define your automation task
quickly and efficiently.
In addition, MCC offers many ways to structure large automation tasks.
Using MCC, programs, function blocks and functions can be generated in
compliance with IEC61131-3.
Advantages of MCC
As a graphic programming language, MCC helps you to formulate process and

motion sequences easily by creating a sequence of graphic MCC commands.
The characteristics of every MCC command can be parameterized individually.
Control structures such as IF commands make for easy implementation of
alternative branches.
Furthermore, each MCC command has its own graphic design, making the
functionality of each action within an MCC chart immediately evident.
Consequently, the system greatly facilitates the programming of automation
tasks and additionally enhances readability.
Further, online functions enable you to locate errors quickly or simply help you
to keep track of the current states.

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MC-SMO-SYS
LAD/FBD Programming Languages for PLC Tasks

Popular language from the PLC area
LAD uses program elements from circuit
diagrams
FBD uses elements from Boolean algebra
Compatible to IEC 61131-3 LAD/FBD
Motion control functionality can be best integrated
using the function block from the PLCOpen
library
Identical to SIMATIC LAD/FBD
Advantages:
Binary logic operations can be simply formulated,
for instance, interlocking conditions
Easy to understand and program
Simple testing and commissioning of programs
SIMOTION
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MC-SMO-SYS_01.12

LAD
LAD stands for ladder diagram. LAD is a graphic programming language. The
syntax for the instructions is similar to a circuit diagram. LAD enables simple
tracking of the signal flow between conductor rails via inputs, outputs and
operations.
LAD statements consist of elements and boxes, which are graphically
connected to networks (compatible to IEC 61131-3).
The LAD programming language provides all elements that are required to
generate PLC tasks. LAD features an extensive command set. This includes the
various basic operations with a comprehensive range of operands and how to
address them. The concept of functions and function blocks allows complex
tasks to be clearly structured.
FBD
FBD stands for function block diagram. FBD is a graphics-based programming

language that uses the same type of boxes used in boolean algebra to represent
logic (compatible to IEC 61131-3). In addition, complex functions (e.g. mathematical functions) can be represented directly in conjunction with the logic
boxes.
Just like LAD, FBD provides all of the elements that are required for creating
PLC tasks.
Advantages and
limits
The programming languages are admirably suited to implement open-loop

control tasks using binary operands; for instance, interlocking conditions.
Programming closed-loop control tasks with analog variables, for instance the
speed of a drive or the temperature of a heating boiler etc. is a tedious
procedure in LAD/FBD networks.
DCC is an expansion to process analog variables. Using the DCC editor, analog
variables can be processed and interconnected in a similar way to binary
variables in LAD/FBD.
However, having said this, LAD/FBD is especially useful as many service
personnel feel very comfortable with LAD/FBD programming.

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MC-SMO-SYS
ST High-Level Language for Programming Complex Algorithms

High-level language similar to Pascal
for formulating complex tasks
Compatible with IEC 61131-3 ST
(ST = Structured Text)
Contains all the typical elements of a
high-level language, such as operators,
expressions, control instructions, etc.
Motion control functionality is integrated
by means of system functions and
function blocks
Identical to SIMATIC S7 SCL
Advantages:
Formulation and creation of blocks with
complex algorithms:
Closed-loop control tasks

Data processing tasks
Process optimization
Mathematical/statistical evaluation
SIMOTION
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MC-SMO-SYS_01.13

Properties
of ST
ST is a high-level programming language oriented to PASCAL. The language

is based on the IEC 61131-3 standard, which standardizes programming
languages for programmable logic controls (PLCs).
In addition to open-loop and closed-loop control tasks, modern automation
systems must be capable of handling an increasing number of data processing
tasks and complex mathematical algorithms (process optimization). ST was
developed specifically to address tasks such as these.
In addition to the standardized, IEC 61131-3-compliant programming language,
SIMOTION ST also includes commands for SIMOTION devices, motion control
and technology.
Technology objects make an interface available to the user program via which,
for example, axes can be positioned or output cams parameterized. These
technology commands are the commands provided by technology objects which
can be called easily from an ST user program.
Advantages of ST
Programming controls using a high-level language such as ST opens up a wide

range of options, especially for the following tasks, such as e.g.:
simple generation of complex open-loop and closed-loop control algorithms,
such as e.g. algorithms for process optimization
transparent handling of data management tasks, for example the acquisition
and processing of process data (statistical pre-compression of data etc.)
simple communication using standard protocols(TCP/IP, UDP) to
other systems, for instance master computer coupling
When compared to other high-level languages, for instance C, ST is easy to
learn and understand. Especially entry-level personnel, who have no experience
with the concepts and techniques of high-level languages, can achieve usable
results with ST.

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MC-SMO-SYS
DCC Graphic Tool to Generate Charts

DCC (Drive Control Chart)
Graphic tool to generate
motion control programs
Blocks are placed on a sheet and
interconnected
Interconnections are possible:
- to I/Os of other blocks
- between I/Os of the I/O list
- also to I/Os of blocks in
other charts
Sources and targets are managed in

the sheet bar
Can be used in SIMOTION and
SINAMICS
Advantages
Well-established programming tool for
motion control tasks!
Fast generation, testing and
commissioning
SIMOTION
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Overview, DCC
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MC-SMO-SYS_01.14

DCC (Drive Control Chart) offers a modular, scalable technology option, which
has chiefly been developed for drive-related, continuous open-loop and closedloop control tasks. The DCC technology option for SIMOTION controllers and
SINAMICS drives can be configured graphically using the Drive Control Chart
editor (DCC editor), which is based on SIMATIC S7 CFC.
As a consequence, extensive closed-loop control related structures can be
programmed in SIMOTION. These can then be combined with other program
sections to form an overall program. The time slices: T1 .. T5 of the blocks can
be freely selected and combined in SIMOTION. The run environment in
SIMOTION ensures consistent data transfer between blocks with different
sampling times
In SINAMICS, using the DCC-Editor, drive-related tasks can be directly
implemented in the converter. SINAMICS BICO technology is used to access
drive parameters.
Procedure
When a new chart is created, the block types are first taken from the devicespecific block library and inserted in the DCC editor's block manager.
Using the DCC Editor, charts are subsequently created, in which blocks are
inserted from the library, parameterized and interconnected. The charts are then
compiled and an intermediate code generated; this is then loaded into the
SIMOTION and/or the drive unit using SCOUT /STARTER.
Advantage
DCC can be used from very simple up to extremely complex applications.

Communication between the blocks can be configured in a user-friendly fashion
using a straightforward interconnection system. It is not necessary to manually
handle and manage the machine resources.
Comprehensive test tools with simple display, diagnostics and trace functions
ensure fast testing and in turn fast commissioning of the user program.

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MC-SMO-SYS
The Various Hardware Platforms

SIMOTION C230-2 / C240 / C240 PN
SIMATIC S7-300 mechanical design

Drive link
analog (4 channels onboard, not C240 PN)
or via PROFIBUS-DP or 3 x PROFINET
(only C240 PN)
Interfaces
2 x PROFIBUS-DP, 1 x Ethernet (100 MBit/s)
SIMOTION P350-3 / P320-3
Design:
Processor:
Memory:
Drive link:
Interfaces
P350-3: PC-Box with Windows XP PRO

P320-3: Embedded PC with Windows
Embedded Standard 2009
Intel Pentium 2 GHz / Intel Core2 Solo 1.2 GHz,
2 GB RAM, 40 GB HD / 2 GB RAM, 4 GB CF card
PROFIBUS-DP or PROFINET / 3 x PROFINET
1 x COM, 4 USB, 2 x Ethernet / 1 x Ethernet, 4 x USB
SIMOTION D425 / 435 / 445-2 / 455-2 + D410
Design
Drive link
Interfaces:
SINAMICS drive system

Three PROFIBUS master systems:
one internal, two external
2 x PROFIBUS DP
2 x Ethernet (100 MBit/s)
3 x PROFINET only D445-2 and D455-2
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_01.15

What is
SIMOTION C?
C2xx is a motion control module for controlling servo drives via PROFIBUS-DP
(PROFINET for C240 PN) and four onboard drive interfaces (only C230-2 and
C240).
SIMOTION C is a powerful module for independent single-axis positioning or for
axis group motion. It supports operation of both rotary and linear axes.
The engineering system is used for configuration, parameterization,
commissioning, programming and diagnostics of the SIMOTION C.
What is
SIMOTION P?
SIMOTION P is a PC-based motion control system. Control, motion control and

HMI functions run concurrently on this PC.
For P350-3, the drive coupling and the connection of distributed I/O can either
be realized using an IsoPROFIBUS board with two PROFIBUS interfaces
(isochronous) or via an MCI-PN board (4 x PROFINET).
The P320-3 combines PC technology with the advantages of a maintenancefree an embedded-PC solution without any rotating parts. It can be operated
without any display/monitor, or with a monitor connected via a DVI interface.
The drive is connected through 3 integrated PROFINET interfaces
What is
SIMOTION D?
SIMOTION D combines SIMOTION functionality and the drive functionality of a

drive system to form one single drive hardware system. This results in a system
which is both highly compact and with fast response times.
SIMOTION D is always used when a compact machine concept and high
performance for motion control tasks are required in combination with highspeed I/Os. SIMOTION D is offered in the performance versions D425 (low-end
performance range), D435 (medium performance range), D445-2 (high-end
performance range) and D455-2 (highest performance range).
From V4.1 and higher, the D410 single-axis system is available to expand
SIMOTION D systems in a modular fashion.

Page 15
MC-SMO-SYS
Integration in TIA
Shared HMI use
Shared communication:
PROFIBUS, PROFINET, Ethernet
C230-2/C240/C340 PN
P350-3/P320-3
D4x5/D410
Shared use of
distributed I/O and
drives via PROFIBUS
and PROFINET
SIMOTION
Date:
File:
09.02.2012
MC-SMO-SYS_01.16

Totally Integrated
Automation
TIA with SIMATIC contains all technologies, such as PLC, PC-based control,
automation computer, distributed I/O, HMI systems, communication networks
and process control systems which are required in an automation environment.
TIA allows you to implement the solution that is technically required and makes
economic sense from a complete and integrated modular system. SIMOTION is
completely integrated in the TIA concept.
PROFIBUS DP
Standard PROFIBUS DP with DP/V1 functionality

For connecting distributed I/Os
For connecting a higher-level automation system
For connecting HMI devices
For connection to the SCOUT engineering system
All standard DP slaves (e.g. distributed I/Os, drives) can be connected to
PROFIBUS.
Industrial Ethernet
Fast Industrial Ethernet that can be used for the following purposes:
Connecting HMI devices
Connecting to the SCOUT engineering system
Communication with TCP/IP and UDP (User Datagram Protocol)
PROFINET
PROFINET is the innovative and open Industrial Ethernet standard (IEC 61158)
for industrial automation. With PROFINET, devices can be linked up from the
field level through to the management/supervisory level.
With PROFINET, drives can be controlled isochronously via a network and
communication that is not critical from a time perspective (e.g. TCP/IP) can be
established between automation components.

Page 16
MC-SMO-SYS
SIMOTION Documentation
SIMOTION
Date:
File:
SIMOTION
documentation
09.02.2012
MC-SMO-SYS_01.17

SIMOTION printed documentation comprises individual documentation

packages, which are contained in more than 50 SIMOTION documents and
other documents (e.g. SINAMICS).
The documentation packages are organized according to functionalities and
contents. The documentation is available in various languages on the
SIMOTION CD.
The following SIMOTION document packages are available:
1_Engineering system_handling: comprises 4 documents and describes the
handling of the SIMOTION SCOUT engineering system and the CamTools.
2_ System_and_function description: describes the technical operational
sequences for the SIMOTION system and explains the technology objects
3_Programming: describes the three programming languages MCC, ST,
LAD/FBD and DCC.
3_Programming_references: includes all of the reference lists required for
programming as well as a description of how the drives and other I/O are
connected to the SIMOTION system
3_ Service_and_diagnostics: describes TO alarms, project comparison,
upgrading devices and the trace functionality task.
3_SIMOTION_IT: describes the functionality of the web browser interface
from SIMOTION
4_Additional documentation: contains descriptions of all product information,
as well as the connection of additional hardware components to SIMOTION,
for example ADI4, TM15 and TM17,
5_SIMOTION C: describes the C230-2 / C240 /C240 PN hardware platform
5_SIMOTION D: describes the hardware platform D4xx and the plat
form SINAMICS S120
5_SIMOTION P: describes the hardware platform P350-3 and P320-3

Page 17
MC-SMO-SYS

SIMOTION - An Overview of Siemens' Motion Control System

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SIMOTION An Overview

SITRAIN Training for

Mechatronics and Motion Control Transformation in Machine Construction ..................................

SITRAIN Training for

Mechatronics and Motion Control Transformation in Machine

Central drive technology

Distributed drive technology

Siemens AG 2012. All rights reserved.

SITRAIN Training for

In previous machines, mechanical components such as cams gearboxes,

Intelligent software solutions are increasingly replacing mechanical components

Today "intelligent components" play a key role in modern machine and

As technology leader, Siemens offers manufacturers of machines and

SITRAIN Training for

Tasks of a Motion Control System

Controlling axis motion

Cyclically calculating setpoint positions

Processing peripheral (I/O) signals

Converting the speed setpoint into the actual

Siemens AG 2012. All rights reserved.

can also be operated independent of an MC

SITRAIN Training for

SITRAIN Training for

Motion Control Possibilities in the Automation Area

SIMOTION - the motion

Specifically for machine

Specifically for turning,

Powerful control that can be

Our portfolio today:

Siemens AG 2012. All rights reserved.

SITRAIN Training for

The demands placed on a control system largely depend on the application.

In addition to SIMATIC and SINUMERIK, there is also SIMOTION, the motion

SITRAIN Training for

Siemens AG 2012. All rights reserved.

SITRAIN Training for

SIMOTION offers an optimized system platform for automation and drive

SIMOTION's innovative approach consists of removing the traditional division

SITRAIN Training for

Siemens AG 2012. All rights reserved.

SITRAIN Training for

SIMOTION offers an optimized system platform for automation solutions for

The SCOUT engineering system is used for configuring, programming and

SIMOTION offers flexible solutions - for all requirements - by running on a

SITRAIN Training for

System Architecture of the Runtime System

Basis functionality acc. to

Siemens AG 2012. All rights reserved.

SITRAIN Training for

The SIMOTION kernel can be expanded by loading technology packages. Using

The libraries contain standard functions for frequently performed tasks.

SITRAIN Training for

Technology Packages in SIMOTION

Siemens AG 2012. All rights reserved.

SITRAIN Training for

SITRAIN Training for

SIMOTION SCOUT Engineering Tools

Test and diagnostics

Siemens AG 2012. All rights reserved.

SITRAIN Training for

The SCOUT engineering tool is available in two versions:

SITRAIN Training for