Siemens 3D Model Integration Guide
Siemens 3D Model Integration Guide
Model SIMATIC
Kinematics Integrator
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Table of contents
Legal information ......................................................................................................... 2
1 Introduction ........................................................................................................ 4
1.1 Overview............................................................................................... 4
1.2 Components used ................................................................................ 4
2 Software Setup ................................................................................................... 5
2.1 SIMIT .................................................................................................... 5
2.1.1 Configuring the SIMIT-Unity coupling .................................................. 5
2.1.2 Retrieve SIMIT project .......................................................................... 5
2.1.3 Executable 3D model ........................................................................... 6
2.1.4 PLCSIM Advanced coupling................................................................. 7
2.1.5 Charts of the SIMIT project .................................................................. 8
2.2 TIA Portal ............................................................................................. 9
2.2.1 Preparing the TIA Portal project ........................................................... 9
3 Operating the digital twin................................................................................ 10
3.1 Starting the simulation ........................................................................ 10
3.2 Overview of the 3D model .................................................................. 11
3.3 Manual control .................................................................................... 12
3.3.1 Home .................................................................................................. 12
3.3.2 Jog ...................................................................................................... 14
3.3.3 Teach and configure points ................................................................ 16
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1 Introduction
1.1 Overview
This application example can be used to simulate the SIMATIC S7-1500T SIMATIC
Kinematics Integrator standard application with SIMATIC S7-PLCSIM Advanced
and SIMIT in combination with a 3D model.
2 Software Setup
After downloading the “SIMIT_Executable_3D_Model_SKI.zip”, it can be unzipped
into a desired folder. All included files are shown in Table 1-2.
2.1 SIMIT
The SIMIT-Unity coupling is based on an external coupling for SIMIT and must be
added manually. The required steps are described in the following table.
Table 2-1
No. Action
1. Unzip „Unity.zip“ into a new folder “Unity” in the following directory:
…\Siemens\Automation\SIMIT\SIMIT SF\couplings
2. Restart SIMIT to update the couplings dialogue. The new coupling “Unity” is
visible in the coupling selection dialogue.
3. The SIMIT-Unity coupling was added correctly. The dialogue can be closed with
clicking the “Cancel” button.
Before retrieving the SIMIT project, the SIMIT-Unity coupling must be configured
(2.1.1).
The SIMIT project is provided as a SIMIT archive. For retrieving the project
following steps need to be done.
Before starting the simulation, it is needed to add the 3D model into the project.
Therefore, the following steps need to be done.
Table 2-3 Adding 3D model
No. Action
1. Unzip “Executable_3D_Model_SKI_V1_0_0.zip” into desired folder.
2. Open existing coupling with double clicking “3DSKI”.
No. Action
3. To refresh the “Application Path”, click “Select application”, navigate to the
folder from step 1, select “SKI” and click “Open”.
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Typically, when TIA Portal and SIMIT run on the same system, “SOFTBUS” is
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used.
The SIMIT simulation software maps the behavior of active components (e.g. of
drives or valves). In SIMIT, you can simulate error scenarios to analyze the
behavior of the machine in a virtual space. The required components are organized
in individual charts.
pcPicker
This chart calculates the set point position for the axis of the picker base, because
this axis is not controlled by the application.
Figure 2-2 Chart pcPicker
Drives
This folder consists of charts for all technology objects that are interconnected with
a drive. For cyclic data exchange between the PLC and the drive, PROFIdrive
telegram 105 is set up in these charts.
IOs
This folder consists of a chart, that does the interconnections between the in- and
outputs of the application and the 3D model.
To prepare the provided TIA Portal archived project for the simulation, the following
steps need to be done.
Table 2-4 Prepare TIA Portal project
No. Action
1. Start TIA Portal, click “Project” and “Open”.
2. Browse to the provided TIA Portal compressed project. Define a desired target
folder.
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1 2
12 3
4
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10 7 5
9 6 8
The “Space” key on the keyboard switches between 6 different standard views
(Table 3-2).
After the connection between the HMI and the PLC is established, it must be
checked if the axes of the Scara roboter, conveyor belts and articulated arm are
homed. Therefore, following steps must be done:
No. Action
3. Home all axes to 0,0° or rather 0,0mm.
3.3.2 Jog
No. Action
3. To jog a single axis, select “Axes” and for the desired type of jog command
select the corresponding tab. After selecting the desired axis and defining the
“Setpoint velocity” and the “Override”, the movement can be triggered.
4. To jog a kinematic, select “Kinematics” and for the desired type of jog command
select the corresponding tab. After configuring the jog command (e.g.
“Coordinate system”), defining the “Path velocity” and the “Override”, the
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At the tab “Edit points” a list of points can be specified. These points can then be
used as references in kinematics Motion Control commands when creating
programs. This type of command specification has the advantage that points can
be modified afterwards and the program is automatically updated by the reference.
A specific name can be assigned to each point, e.g. “place position”. You can
change the points later to make adaptions. The point reference in the automatic
program remains.
The points can be either defined by entering the coordinates manually or jogging
the kinematics and saving its current position.
No. Action
3. Switch to “Configuration” and switch to the tab “Outputs”. With selecting and
deselecting “ProdStopperExtend” the stopper is extended. The corresponding
input “ProdStopperExtended” is set.
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No. Action
4. Switch to “Manual control”, select “ProdBelt” and enable the axis.
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No. Action
5. Select “Axes” and jog the belt until the first product reaches the stopper. The
corresponding input signal “ProdBeldOccupiedSensor” is set.
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No. Action
6. Switch to “Edit points”, select the point “AbPickProduct”, switch to the tab
“Approach point” and move the Scara roboter to the selected point.
7. Use the “Space” key on the keyboard, switch to the shown standard view:
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No. Action
8. Switch to the tab “Teach point” and select the point “AbPlaceProduct”. Move the
zAxis in negative z direction until the gripper touches the product. The press
“Save point”. It could be useful to reduce the “Override”.
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9. Select the point “AbPickProduct” again, switch to the tab “Approach point” and
move the Scara roboter to the selected point.
3.4 Operation
This application example provides a sequence for continuous operation, where
both robots are involved (3.2). To start this sequence, following steps needs to be
done:
2. Select the channel of the Scara roboter and press “Initialize program” until the
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axes stop automatically. Then press “Start” and the continuous operation of the
Scara roboter will start with detecting a product at the input
“ProdBeldOccupiedSensor”.
No. Action
3. The sequence is running automatically, until the palette is filled with 6 boxes.
Then a message on the channel of the articulated arm occurs. With confirming
this message, the palette is emptied and the sequence goes on.
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1 3
To insert a command, select a command line from the program and choose a
command from the command bar that can be added. After saving the changes of
the command configuration the command is inserted. To edit an already configured
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command, select it in the table and then press the ‘Edit command’ button.
To modify the command list, the user can access additional auxiliary functions,
such as copy and paste, delete, or deactivate a command. These functions are
grouped in a separate submenu. To open this editing menu, any line at the
program list must be pressed for at least 3 seconds.
Programming example
In the following table the programming of a Pick and Place is explained step by
step. If you want to follow the instructions, you can use the provided project as a
basis. Delete the program slot 3 in the 1st channel by clicking on the ‘Trash can’
icon and selecting ‘Delete program slot’. Now you can program the Pick and Place
yourself.
After you have programmed the example below the Scara will pack one product in
each box.
Frei verwendbar
Result:
No. Action
2. Add a kinematics movement command: sPTP to the point ‘AbPickProduct’. Open
the kinematics movements commands. sPTP is already selected. Click on ‘Point
table’. Select the point from the point table. Set the command transition to ‘Next
cycle’ and save the command.
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Result:
No. Action
Result:
Result:
5. Add 2 commands: Activate the gripper by setting ‘%Q GripperGrip’ = TRUE and
‘%Q GripperRelease’ = FALSE. Set the command transition to ‘Immediately’.
No. Action
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Result:
No. Action
Result:
Result:
No. Action
Result:
9. Wait until the place position is available. In this case the container belt has to be
stopped and an empty container has to be on the container belt. Add 3 wait
commands: Wait for the conditions ContPacked = FALSE, ContMoving = FALSE
and ContReady= TRUE.
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No. Action
Result:
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10. Add a kinematics movement command: Move linear to the point ‘PlaceProduct’.
Result:
11. Add commands to deactivate the gripper: Deactivate the gripper by setting ‘%Q
GripperGrip’ = FALSE and ‘%Q GripperRelease’ = TRUE. Set the command
transition to ‘Immediately’.
No. Action
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Result:
12. Add a wait command: Wait for the feedback %I GripperGripped = FALSE.
Result:
No. Action
13. Add a kinematics movement command: Move linear to the point ‘AbPlaceProduct’.
Result:
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Result:
15. Insert a Jump command after the initialization routine in program slot 0. After the
command ‘Wait for START program = TRUE’ and starting the parallel sequences
No. Action
insert a jump to the Label ‘PICK & PLACE’.
Result:
Program slot 0
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16. Insert a Jump command to the Label ‘PICK & PLACE’ after the ’APPLY COVER’
segment in program slot 4. That way the program will loop through packing a
product in a container and then applying the cover.
Result:
No. Action
Program slot 4
17. Save the program by clicking ‘Save changes’ on the bottom right corner of the
program editor.
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4 Appendix
4.1 Service and support
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