1. Technological tasks with SIMATIC
IMATIC Technology
Technological tasks with SIMATIC

2. SIMATIC Technology – solves the following technological functions
Events can be counted continuously, one-shot or periodically, e.g. for dosing. Lengths, frequencies, speeds and periods (e.g. for speed control) can be measured.
Counting and measuring
The methods cover rapid traverse/creep feed, position control, up to multi-axis continuous-path controls and synchronized applications, e.g. for positioning axes, palletizers.
Positioning
Cam controls are used to trigger position-dependent or time-dependent functions, e.g. with presses or packaging machines.
Cam control
Various control structures can be designed for highly versatile applications. PID controls are typical for analog variables such as temperature, pressure and flow.
Closed-loop control
Functions

3. Counting and measuring
Event counting
Continuous
One-shot
Periodic e.g. for dosing
Measurement of
Lengths
Frequencies
Speeds
Periods e.g. for speed control
Counting and measuring

4. Counting and measuring with SIMATIC
Function
Product
Solution
Counting up to 30 kHz
Counting up to 60 kHz
Counting up to 100 kHz (24 V) or 500 kHz (5 V)
Counting up to 500 kHz (1 ch.)
Pos. meas. with SSI encoders
Counting up to 20 kHz (8 ch.)
Counting (freely-progr.)
Counting (freely-config.)
S7-200
S compact CPUs, C7
1 COUNT
FM 350-1, 450-1
SM 338
FM 350-2
FM 352-5
1 SSI
FM DP
Integr. function
Integral function
ET 200S module
Funct. module
Applic. module
Counting and measuring

5. Counting and measuring with function modules
Counter module FM 350-1
One counting channel with two DI/DO each
24 volts, 5 volt sensor
Maximum counting frequency 500 kHz (5 V) / 200 kHz (24 V)
Latch function
Counter module FM 350-2
Eight counting channels with one DI/DO each or 2 proportioning channels with / 4 DI/DO
24 volts (ext. power supply), NAMUR sensor
Maximum counting frequency 10 kHz with 24V incremental encoders, otherwise 20 kHz
Counting and measuring

6. Operating modes – Overview
BA 0: Continuous counting
BA 1: One-shot counting
BA 2: Periodic counting
BA 3: Frequency measurement
BA 4: Speed measurement
BA 5: Period measurement
BA 6: Proportioning
FM only
Operating modes BA 0 to BA 5 (all modes except proportioning) can be allocated to any channel independently of one another (8 channels).
In "Proportioning" mode, channels 0 to 3 and 4 to 7 are combined into groups (2 proportioning channels).
Counting and measuring

7. Continuous counting (BA 0)
Once the gate has been enabled, continuous counting begins with the start value.
When the counter reaches the upper counting limit during up counting, it jumps to the lower counting limit and continues counting from there without any pulse loss.
When the counter reaches the lower counting limit during down counting, it jumps to the upper counting limit and continues counting from there without any pulse loss.
When the comparison value is reached, a digital output can be set or reset and/or a process interrupt triggered without regard to parameter settings.
Counting width: 32 bits
Counting and measuring
Upper limit
Lower limit
Count
Timer
Current count
Gate start
Gate stop 5

8. Single-shot counting (BA 1)
When the gate is opened, the pulse trains are counted once only.
If the main counting direction is up, the count proceeds from zero toward the end of the counting range.
If the main counting direction is down, the count proceeds from the beginning of the counting range toward zero.
When the comparison value is reached, a digital output can be set or reset and/or a process interrupt triggered without regard to parameter settings.
Counting width: 32 bits
Counting and measuring
End value
Start value
Count
Timer
G. stop
Gate start
G. start 6

9. Periodic counting (BA 2)
When the gate is enabled, periodic counting begins within the configured counting range.
When the counter reaches the end of the counting range during up counting, it jumps back to zero and counts from there periodically without any pulse loss.
When the counter reaches zero during down counting, it jumps back to the specified start value and counts periodically from there without loosing any pulse.
When the comparison value is reached, a digital output can be set or reset and/or a process interrupt triggered without regard to the parameter settings.
Counting width: 32 bits
Counting and measuring 7

10. Frequency measurement (BA 3)
When the gate is enabled, all pulses occurring within a specifiable time window are counted.
Each time a time window expires, the computed frequency is updated.
It is possible to specify 2 frequency comparison values:
Lower limiting value
Upper limiting value
Frequency range: max. 10 kHz
Time window: 10 ms to 10 s (programmable)
Counting and measuring 8

11. Speed measurement (BA 4)
When the gate is enabled, all pulses arriving within a specifiable time window are collected.
Each time a time window expires, the computed speed is updated.
It is possible to specify 2 speed comparison values:
Lower limiting value
Upper limiting value
Frequency range: max. 10 kHz
Time window: 10 ms to 10 s (programmable)
Counting and measuring 9

12. Period measurement (BA 5)
Acquires the exact amount of time between rising counter edges
A positive edge at the gate input starts the period measurement, a falling edge terminates it, and the computed value is retained until the next enable.
It is possible to specify 2 period comparison values:
Lower limiting value
Upper limiting value
Measuring range: 100 µs to 120 s
Counting and measuring 10

13. Proportioning (BA 6) (FM 350-2 only)
When the gate is opened, the proportioning functions are counted on a one-shot basis.
In this mode, 4 of the module's counting channels are combined into one proportioning channel.
When the main counting direction is up, the count proceeds from zero toward the end of the counting range.
Four comparison values may be specified for each proportioning channel.
When the comparison values are reached, the 4 digital outputs can be set or reset and/or process interrupts triggered in dependence on the parameter settings.
Counting width: 32 bits
Counting and measuring
Timer
Count
End value
Start value
Gate start
Gate
start
G. stop
CMP1
CMP2
CMP3
CMP4
stop 11

14. Counting and measuring with application modules
FM 352-5
FM 352-5
High-speed Boolean processor
Integral I/O
Cycle time 1 µs
Counting and measuring

15. Positioning Positioning methods Control of drives
Rapid traverse/creep feed
Position control
Multi-axis continuous- path controls
Synchronized applications, e.g. for positioning axes and palletizers
Control of drives
Servo motors
Stepper motors
Asynchronous motors
Positioning

16. Positioning with SIMATIC
Function
Product
Solution
Controlled positioning, rapid traverse/creep feed procedure
Positioning with pulse/direction interface
Rapid trav./creep feed proc.
Stepper/servo motors
Multi-axis interpolation
Stepper motors
Multi-axis synchronization
Positioning and synchr. oper.
Pos.-controlled positioning
CPU 314C, C7-635
1 STEP
1 POS Inc, 1 POS SSI
FM 351, 451
FM 353, 354, 453
FM 357-2
EM 253
FM DP
CPU 317T-2 DP
Easy motion control
Integr. function
ET 200S module
Funct. module
Applic. module
Loadable block
Positioning

17. Positioning with FM 351, 451 rapid traverse/creep feed drives
4 outputs per axis
Rapid traverse/creep feed
Forwards, backwards
Low price
Through use of low-cost rapid traverse/creep feed drives
Positioning
FM 451
For 3 axes
FM 351
For 2 axes
FM351是通过快速接近和爬行进给两个不同速度间的切换来实现简单的定位功能，它最典型的应用是连接双速电机。

18. System overview MPI SIMATIC S7-300 P & P HMI Machine FM 351 Field PGOP
Positioning . M C P U
STEP 7 programming
FM parameter initialization
Sequential control
Start/stop positioning
S7 CPU interfaced to FM via technology function block
Position encoder SSI absolute, incremental
HMI
Error diagnostics

19. Positioning with FM 353, 354 stepper/servo motors
Exact positioning with stepper motors (pulse/direction interface)
FM 353 (1 axis)
Positioning
Position control with maximum precision and dynamic response using servo motors (+/-10 V)
FM 354 (1 axis)
FM353和FM354分别用于连接步进驱动器和伺服驱动器实现定位功能。他们和FM351最大的区别之一就是FM351只有两档速度，快速和慢速。而FM353和FM354可以使用驱动器和电机支持的任意的速度

20. Functional Diagram --- FM353
Power section for stepper motors
MPI
CPU
FM 353
FM STEPDRIVE
PG, PC OP
Positioning
SIMOSTEP
stepper motor
Human-machine interface
Fault diagnosis
Drive interface STEP Pulses,
direction signal
STEP 7 programming
FM parameterizing
Sequence control
Starting/stopping of positioning

21. Functional Diagram --- FM354
MPI
CPU
FM 354
PG/PC OP
Positioning
SIMODRIVE 611U
Human-machine interface
Fault diagnosis
Encoder interface
SSI/incremental
servo motor
STEP 7 programming
FM parameterizing
Drive interface +/- 10V
Sequence control
Starting/stopping of positioning

22. Intelligent motion control FM 357-2
Interpolation, synchronization for four axes
Low wear through jerk limitation
Safety and precision through "look-ahead"
Optional drive interface
+/- 10 V analog
Pulse/direction
PROFIBUS DP
Programming according to DIN or in high-level language
Positioning
S7-300的功能模块中，功能最强的要数FM357-2.
FM357-2可以实现最多4轴的同步或插补
它的功能已不仅仅是定位，它更倾向与运动控制。这也是PLC发展的一个趋势，就是向运动控制领域迈进。

23. Automation concept for multi-axis operation
CPU315-2 DP
MPI/PROFIBUS DP
OP/PC
FM 357-2
POSMO CD/CA
POSMO SI
SIMODRIVE 611U
PROFIBUS DP
analog
Positioning

24. Possible configurations
FM 357-2
CPU
I/O
Local I/O
IM360
IM361
S7-300, S7-400
Operation with an IM153-2 should only be used with low performance requirements !
IM153-2 DP
CPU315-2DP
Multi-tier configuration
Single-tier configuration
Distributed configuration
Positioning
Max. 3 FM per CPU (max. 1 FM with Firmware version H)
Central or distributed configuration
Local bus segment with up to 2 I/O modules for fast reaction (on right side of FM only !)

25. Ordering Data FM 357-2 Hardware 6ES7357-4AH01-0AE0
FM L Systemfirmware 6ES7357-4AH03-3AE0 on coded memory card* + configuration package
FM LX Systemfirmware 6ES7357-4BH03-3AE0 on coded memory card* + configuration package
FM H Systemfirmware 6ES7357-4CH03-3AE0 on coded memory card* + configuration package Configuration Package (german, english, french, italian) contains parameterization tool, electronic documentation, S7-Technology blocks, OP-Example masks
Printed Manual 6ES7357-4AH00-8?G0 (german=A, english=B, french=C, italian=E)
Edit-FM Program editor (stand-alone) 6FC5263-0AA03-0AB0 (suitable for FM 353/354, FM 357 and FM 357-2)
* copy protected, including backup-function for series commissioning and module exchange without PG/PC
Positioning
在使用FM357-2的时候，除了要购买模块本身，还需要购买一个firmware，这个firmware就保存在FM357的存储卡上
FM357-2提供三种不同的firmware来满足不同的应用。分别是L，LX和H。LX是可以完全替代L的，但是要贵500欧元。

26. Superimposed master value
Synchronization of axes – Master value coupling and table interpolation
FM 357-2
Belt drive
Encoder
(master value)
Drive for X-axis
Drive for Y-axis
X-axis
Material
Belt movement
Interpolation-table
Superimposed master value
L, LX, H
Positioning

27. On-the-fly measurement with Hot-spot area
Encoder
FM 357-2
LX, H
10240
10230
10220
10210
10200
10190
10180
10170 - = 40
Memory 1
Memory 2
Meas. result: length of cartons
Position values from encoder
Light barrier
Skip area
„Hot-Spot“ area
Trigger 1
Trigger 2
Belt drive
Positioning

28. Restart after emergency stop Rapid restart
Operator presses
emergency stop
NC-Stop
Enables are deactivated
FM goes to „follow-up mode“
Drives are decelerated as fast as possible
Automatic program Obstacle located within path
Obstacle is removed
Operator presses "Start“
NC-Start
Drives are enabled
Program is resumed
FM goes to restart point and continues the movement from this position
L, LX, H
Positioning

29. Spline interpolation Complex path control using points
...directly through interpol. points
...approximatedpath
...continuous transitions through points
FM 357-2
P1 X30 Y20
P2 X50 Y40
P3 X70 Y20
P4 X90 Y10
P5 X120 Y50
P6 X170 Y30
P7 X200 Y20
ASPLINE
BSPLINE
CSPLINE
Spline type
Resulting path
Interpolation points
LX, H
Positioning

30. Gantry function High-quality portal movement without canting
FM 357-2
LX, H - +
Actual pos. value 1
Actual pos. value 2
Position controller 1
Position controller 2
Program
Position setting independently of operating mode
Portal
Motor 1
Motor 2
Canting monitor
Canting
Working area
Positioning

31. Path velocity dependent analog output
LX, H
adhesive
nozzle
Resulting
path velocity s
Output value
= Quantity of adhesive
FM357-2LX
control valve
Analog-module
Path (adhesive)
Positioning

32. Synchronous actions Motion control with Interrupts
FM 357-2
Obstacle
Start position
End position
“dangerous"
LX, H
WHENEVER
Position = dangerous
AND
Obstacle = true DO
Velocity = 0
Positioning

33. Handling functions Teach in
Positioning
Teach in of robots and handling machines using the PHG or HT 6

34. Handling functions Coordinate transformation
SCARA H
Positioning
Coordinate transformation for SCARA- or Articulated-arm systems like robots and handling machines

35. Closed-loop control Miscellaneous closed-loop control structures
Fixed setpoint control
Follow-up control
Cascade controls
Ratio controls
Automatic blending controls
Analog variables
Pressure
Flow
Temperature
Closed-loop control

36. Closed-loop control with SIMATIC
Function
Product
Solution
PID controller
Predefined closed-loop control structure
Modular system with closed-loop control function blocks
Online self-optimization
PID temperature controller
Dosing, adjustment
Closed-loop control modules with self-optimization
High-performance control
Temperature control module with online self-optimization
S7-200, STEP 7, CFC
Standard PID control
Modular PID control
PID self-tuner
STEP 7 V5.1 and later
2 PULSE
FM 355, 455
FM DP
FM 355-2
Integr. function
Loadable blocks
Loadable blocks
ET 200S module
Function module
Applic. module
Closed-loop control

37. Why to use a hardware controller? FM 355 PID Control
SIMATIC FM355 controller offers a lot of benefits
Backup facility
Continuation of closed-loop control in the event of stop or CPU failure, function module continuous work with follow-up mode or safety mode
Saves CPU-Resources like e.g. Memory
Suitable Peripheries „onboard“
A lot of possibilities for value acquisition
All current types for control elements
Control structures and processing functions can be adapted comfortable through parameter assignment
Closed-loop control

38. FM 355, FM 355-2 backup controllers with self-optimization
FM 355 C
4/16 closed-loop controllers, each with 1 analog output
For actuators with proportional action (continuous output)
FM 355 S
4/16 closed-loop controllers, each with 2 digital outputs
Either for actuators with integral action
Or binary trigger actuators with proportional action
With/without position feedback signal (step controller)
FM specialized for temperature control
PID controller with integral self-optimization
Enhanced accuracy
Cycle times and Resolution fix on 100 ms and 14 Bit
Closed-loop control

39. PID temperature control Application example – thermoform molding
Pilot use in heat-sealing machine
A) Temperature control of the mold heating plates
Pt100
Plastic sheet
Blister
Cardboard
Seal with heat sealer
B) Temperature control of the heat sealer
Closed-loop control

40. Cam controls Function switch depending on
Position
Time
Speed
Integral I/O guarantees fast response
Examples
Presses
Packaging machines
Wood processing
Cam controls

41. Cam controls with SIMATIC
Electronic cam controller
Boolean high-speed links
Complex cam controls
CPU 317T-2 DP
FM 352-5
FM DP
FM 352, 452
Function module
Application module
Function
Product
Solution
Cam controls

42. FM 352, electronic cam controllers
128 cams on 32 traces
Onboard digital outputs
13 for FM 352
Highly flexible
Online modification of parameters
Many different encoders can be connected
Super-fast
20 µs response time for maximum accuracy and repeatability
Cam controls
Technische Folien

43. FM 352-5 high-speed Boolean processor
Cycle time 1 µs
Integral digital I/O
16 DI, 8 DO
Connection facility for position encoder
SSI, incremental 5 V /24 V
Programming
In LAD or FBD with command/block library
Cam controls
Technische Folien

44. System integration
Cam controls

45. Comparison of Program Execution between an FPGA and a PLC
&
<1
Inputs
Outputs
1 µs
FPGA
Parallel execution
Sequential Execution
Network 1
Network 2
SPS
1 ms
Cam controls

46. Fields of Application Fast response speed applications
For example, for equipment automation with high clock-pulse rates (cigarette manufacturing, packaging industry, etc.)
Applications with a maximum absence of jitter
Applications that for performance reasons can no longer be accomplished using a standard PLC
Cam controls

47. Speed Measurement Objective
Determine vehicle speeds of up to 300 km/hr using two photoelectric barriers
Accuracy <0.1% (<5 µs)
Light scanner 1
Light scanner 2
0.5 m
Cam controls

48. Solution for example Speed Measurement
How speed measurement is accomplished:
An internal base frequency of 500 kHz is generated
A detection by the first light scanner triggers a counter with the generated base frequency
A detection by the second light scanner stops the counter
The count can be read and be converted into speed
Cam controls
Light scanner 1
Light scanner 2
0.5 m

49. Homepage www.siemens.com/simatic-technology
Internet