Advanced Motion Control

Unrestricted | © Siemens 2024 | Advanced Motion Control

Megatrends having impact on machine builders

Unrestricted | © Siemens 2024 | Advanced Motion Control

Challenges that shape the industry

React fast to Remain product More flexible

changing market quality while product offering
requirements maintaining the
same output

Need to collect and More new IT Implement

understand the technologies entering cybersecurity
various machine automation, measures
and process data demanding system
adaptation

Lack of skilled Engineers perform High training effort

workforce repetitive tasks

Unrestricted | © Siemens 2024 | Advanced Motion Control

 Motion Control
Engineering
TOPIC 1 | Control of single axes
(controller based)

TOPIC 2 | Control of single axes

(drive based)

TOPIC 3 | Control of coordinated axes

TOPIC 4 | Control of flexible carrier systems

Versatile machines and automation tasks require movements from simple (e.g.,
positioning axes) to complex (e.g., delta picker, cam disc).

Unrestricted | © Siemens 2024 | Advanced Motion Control

Control of single axes (controller based)

Use Case scenario Motion Control

• Easy and fast implementation of continuous and cyclic axes
movements in a production machine
Engineering
• Realize a holistic and seamless motion control solution
for the specific requirements TOPIC 1 | Control of single axes
(controller based)

TOPIC 2 | Control of single axes

Challenge (drive based)

TOPIC 3 | Control of coordinated axes

• Realize new, respectively modernize existing machine concepts,
concerning flexibility, efficiency and future-viability
• Different Motion Control System components or solutions TOPIC 4 | Control of flexible carrier systems
on the market available
• High complexity in the engineering of Motion Control
components and solutions

Unrestricted | © Siemens 2024 | Advanced Motion Control

Control of single axes (controller based)

Solution
Motion Control Engineering Solution Technology objects
Hardware
The key factor to simplify your application!
TIA Portal 1
Scalable Motion Control Hardware portfolio with optional
HW- integrated safety functions (controller, drives & motors)
Configuration
Speed
Technology
Para- axes TIA Portal – One engineering tool for all Automation,
Communication

meter-
object ization Motion Control & Safety tasks
Converter
Controller

Positioning
Motor

axes
Technology objects for Motion Control integrated in every
Control 2
panel SIMATIC Controller with comprehensive engineering
functionality such as
Program with Application ex-
PLCopen ample “LAxisCtrl” • Positioning axes with intuitive guided graphical user
interfaces (GUI)
• Integrated control panel in technology objects for the
initial commissioning
• Programming of applications based on PLCopen

Predefined standard application examples for the fast

start and easy adoption towards your application

Unrestricted | © Siemens 2024 | Advanced Motion Control

Control of single axes (controller based)

Technical Solution

Engineering of a positioning axis

01 | Create TIA Project and configure the positioning axes

02 | Include relevant PLC Open Function blocks to

application program

03 | Parametrize PLC Open Blocks

04 | Download successfully compiled code to the PLC

05 | Easy and central control of comprehensive motion

control functions – application examples downloadable in
SiePortal

06 | Automation components also with Safety integrated

available and easy to implement

Unrestricted | © Siemens 2024 | Advanced Motion Control

Control of single axes (controller based)
Benefits and values

Scalable Efficient Intuitive

Comprehensive, flexible and Seamlessly integrated motion control Simple engineering of motion control
scalable HW-Portfolio incl. optional system solution with one engineering tool tasks due to system integrated technology
safety functionality objects and an intuitive operation with
guided user interfaces (GUI)

Unrestricted | © Siemens 2024 | Advanced Motion Control

Control of single axes (drive based)

Use Case scenarios Motion Control

• An existing Motion Control Solution in a machine needs to be extended by
additional single positioning axes, but the build in controller already reaches its
Engineering
performance limit.
• A required amount of single position axes needed to be controlled with TOPIC 1 | Control of single axes
minimize Hardware costs. (controller based)

TOPIC 2 | Control of single axes

(drive based)

TOPIC 3 | Control of coordinated axes

Challenge
TOPIC 4 | Control of flexible carrier systems
Realize new, respectively modernize or extend existing machine
concepts, concerning flexibility, efficiency and optimize the financial
invest for this solution.

Unrestricted | © Siemens 2024 | Advanced Motion Control

Control of single axes (drive based)

Solution

Motion Control Hardware Engineering Solution

Integrated Position Control

The SINAMICS drive system provides an integrated

basic positioning functionality (EPOS).

The EPOS function prevents taking additional calculation

resources from the PLC so more additional axes can be
driven or a smaller controllers can be selected.

The function is used for absolute and relative positioning of

single linear and rotary axes with motor or machine
encoder.

The engineering of the EPOS Function in the drive will be

SINAMICS with TIA Portal/Startdrive Additional positioning axes e.g., for done via TIA Portal/Startdrive.
Drive based Position the turn tables
Control (EPOS)
Calculations done in
the Drives

Unrestricted | © Siemens 2024 | Advanced Motion Control

Control of single axes (drive based)

Technical Solution

Workflow how to realize the drive based

positioning function EPOS

01 | Open TIA Portal/Startdrive

02 | Follow the guided quick start-up commissioning

through the activation and parametrization process

03 | Go online, optimize the axes performance with the One

Button Tuning (OBT) and do a test positioning which is
run via Control Panel out of the TIA Portal
04 | Integrate the drive based positioning axes into your
PLC program using the Technology Object
“BasicPosControl”

Unrestricted | © Siemens 2024 | Advanced Motion Control

Control of single axes (drive based)
Benefits and values

1
180
0
1
900 270
0

Easy Engineering Integrated Reduce costs

Drive based engineering of the required Additional axes can be driven by the same Less load on the controller can lead to
functionality. PLC due to the drive integrated smaller PLC requirements.
functionality.

Unrestricted | © Siemens 2024 | Advanced Motion Control

Control of coordinated axes

Use Case scenario Motion Control

• Easy and fast implementation and coordination of continuous
and cyclic axes movements within a production machine
Engineering
• Realize a holistic and seamless Motion Control
solution for the specific requirements TOPIC 1 | Control of single axes
(controller based)

TOPIC 2 | Control of single axes

Challenge (drive based)

TOPIC 3 | Control of coordinated axes

• Imagine & program complex movements between
coordinated axes without simulation possibilities
• Different Motion Control System components or TOPIC 4 | Control of flexible carrier systems
solutions on the market available
• High complexity in the engineering of
Motion Control components and solutions

Unrestricted | © Siemens 2024 | Advanced Motion Control

Control of coordinated axes

Solution
Motion Control Engineering Solution Technology objects –
Hardware
1 Use standard application examples to
TIA Portal
simplify your complex axes relations!
HW-
Configuration
Gearing
Scalable Motion Control Hardware portfolio with optional
Technology
Para- integrated safety functions (controller, drives & motors)
meter-
object ization
Communication

Camming
TIA Portal – One engineering tool for all Automation,
Converter
Controller

Motion Control & Safety tasks

Motor

Trace

Technology objects for Motion Control integrated in every

Cam Editor
SIMATIC Controller with comprehensive engineering
functionality such as
Control Panel
• Gearing and Camming axes with intuitive guided
Program with Application exam- graphical user interfaces (GUI)
PLCopen ple “Flying shear”
• Cam Editor for the intuitive programming of the
2
relations between leading and following axes
• Trace for the diagnosis of the application behavior

Predefined standard application examples for the fast

start and easy adoption towards your application

Unrestricted | © Siemens 2024 | Advanced Motion Control

Control of coordinated axes

Technical Solution

Engineering of a flying shear

and press application

01 | Create TIA Project and configure the material and shear

axis

02 | Connect the leading axis with the following axis with

PLCopen functionblocks

03 | Download successfully compiled code to the PLC

04 | Test the functionality of the application with the integrated

trace and the diagnosis

05 | Application Example “Flying Shear” is downloadable in

SiePortal

06 | Automation components also with Safety integrated

available and easy to implement

Unrestricted | © Siemens 2024 | Advanced Motion Control

Control of coordinated axes
Benefits and values

Standardized Efficient Flexible

Fast start with ready to use applications, Only one controller and one Easy and fast adjustment of your
offering an easy adoption towards your engineering tool required application towards higher motion
specific application requirements control requirements in regards of
function and performance

Unrestricted | © Siemens 2024 | Advanced Motion Control

Control of flexible carrier systems

Use Case scenario Motion Control

For a new machine concept, a smart transport system with 1 (Multi-Carrier- Engineering
System) or 6 dimensions (Planar Motors System) of freedom should be used,
to increase the throughput and the flexibility within the production process.
TOPIC 1 | Control of single axes
(controller based)

TOPIC 2 | Control of single axes

Challenge (drive based)

TOPIC 3 | Control of coordinated axes

• High complexity in the engineering of transport systems and
solutions.
• Extensive programming effort for implementing: TOPIC 4 | Control of flexible carrier systems
various process stations,
traversing path for each product,
and collaborative tasks with other axis or robots.

Unrestricted | © Siemens 2024 | Advanced Motion Control

Control of flexible carrier systems

Solution Solution
TIA Portal S7 1500T 1 Use predefined libraries for the standard
programming of your transport system!

Standard MCS library offers a multitude of function blocks

for realizing your desired applications.
2 The station management libraries for both MCS and the
MCS Library Planar Library Planar Motor system provide additional value for adding
LRailCtrl LPlanarSM processing stations to the application layer.
All carriers can be displayed as a Technology Object and
therefore use the standard motion control features
3 provided by the TIA Portal, like Camming, Gearing, etc.

• Optimized collaborative tasks between product

transport and robot within an ongoing production
processes
• Flexible and dynamic applications realized within One
4 Control System
• Integration of various mechatronic systems into
SIMATIC automation system
• Create your custom MCS station concept via automatic
Standard Motion Control functionality available for each Carrier!
project generation with the MAC to save loads of time

Unrestricted | © Siemens 2024 | Advanced Motion Control

Control of flexible carrier systems

Technical Solution
Using the MCS/TS2 Booster equipment module
for the Modular Application Creator (MAC)
01 | General settings like system type, motor family and width
02 | Defining your rail: choose the length by selecting number
and type of motors, encoder mounting position or add
additional rails to your configuration
03 | Predefining carrier properties, like number, length and
weight, dynamic settings and input parameters for
collision prevention, following error and closed loop control
04 | Station configuration: define number, type and position of
processing stations, as well as payload & dynamic settings
for movement to and within each station
05 | Add additional diagnostic information or commissioning
programs to you project

Automatic project generation via Openness interface will be

performed to create a standardized TIA Portal project using the
MCS library LRailCtrl, based on the settings made in the MAC

Unrestricted | © Siemens 2024 | Advanced Motion Control

Control of flexible carrier systems
Benefits and values

Flexibility Dynamics & Precision Scalability & Modularity Smart Solutions

Produce lot size 1 for the Faster and more The modular system consists Easy programming in the
mass market. precise transport of products of scalable motion control TIA Portal.
From the single subassembly on work piece carriers. systems like SIMATIC and Open software structure
to the finished ready-to-run Increase the overall SINAMICS. to control additional
solution, for the tailor-made throughput thanks to Easy combination with machine modules.
and fast implementation into controlling the carriers with transfer systems of reputable Ready-to-use software
your system. individual motion profiles vendors. solution for fast commissioning.

Unrestricted | © Siemens 2024 | Advanced Motion Control

Control of kinematics

Use Case scenario Robotics Engineering

Easy and fast implementation and operation of robots
and user-defined kinematic for repetitive handling tasks TOPIC 1 | Control of kinematics
in a production machine/line.

TOPIC 2 | Safe monitoring of kinematics

TOPIC 3 | Programming of motion tasks

Challenge
• Different kinematic components and solutions with
high engineering complexity on the market available
• Imagine & program complex kinematic movements
in 3D cartesian space
• Standardized safety solution in regards of
machine & operator protection

Unrestricted | © Siemens 2024 | Advanced Motion Control

Control of kinematics

Solution
Motion Control Engineering Solution Technology objects
Hardware Use predefined transformations
TIA Portal 1 for your standard programming!
HW- Scalable Motion Control Hardware portfolio with optional
Configuration integrated safety functions (controller, drives & motors)
Technology Parameter- 3D/4D TIA Portal – One engineering tool for all automation,
ization Kinematics
object
motion control, robotic & safety tasks
Communication

Kinematic
2
Converter
Controller

Technology objects for Motion Control integrated in

Motor

Control Panel

Kinematic
SIMATIC Controller with comprehensive engineering
Trace functionality such as
5D
Program with Handling and • Kinematics with intuitive guided graphical user
PLCopen Robotics Toolbox 3 interfaces (GUI) for kinematics with up to 6D
• Kinematic Control Panel for the initial commissioning
• Kinematic Trace for the visualization and diagnosis of
the kinematics behavior in the 3D cartesian space
6D
• Handling and Robotics Toolbox with proven
SIMATIC Safe Kinematics
software applications for easy adoption
SIMATIC Safe Kinematics functionalities for the
protection of operators according to governmental &
machine standard regulations

Unrestricted | © Siemens 2024 | Advanced Motion Control

Control of kinematics

Technical Solution

Engineering of kinematics in TIA Portal

01 | Configure TO Kinematics
02 | Select the kinematics model
03 | Connect axes to kinematic axis
04 | Configure the mechanics
05 | Move the selected kinematics via control panel
06 | Test the application with integrated kinematics trace
07 | Easy and central control of comprehensive motion control
functions – application examples downloadable in SiePortal
SIMATIC Kinematics Integrator (SKI) solution as a basic
framework for many applications
08 | SIMATIC Safe Kinematics monitors kinematic movements
safely
09 | Automation components available and easy to implement

Unrestricted | © Siemens 2024 | Advanced Motion Control

Control of kinematics
Benefits and values

Standardized Efficient Safe!

Use PLCopen conform function blocks Use one single engineering tool for Safely monitor the movement of
and proved software applications for the configuration, commissioning, kinematics in full compliance
programming programming and diagnostics with increasingly strict legislation and
regulation in the cartesian space

Unrestricted | © Siemens 2024 | Advanced Motion Control

Safe monitoring of kinematics

Use Case scenario

Robotics Engineering
Industrial robots often work in production cells surrounded by bulky TOPIC 1 | Control of kinematics
protective fences. These ensure that operators cannot reach into
the hazardous area and that the fences resist collisions with the
TOPIC 2 | Safe monitoring of kinematics
robot.

TOPIC 3 | Programming of motion tasks

Challenge
• Space in a production environment is limited and shouldn't be wasted
for large clearance areas around the robot.
• Big and bulky fences are costly and inflexible
• Work ergonomy is limited using inflexible bulky fences

Unrestricted | © Siemens 2024 | Advanced Motion Control

Safe monitoring of kinematics

Solution
Automation and Motion Engineering Solution SIMATIC Safe Kinematics
Control Hardware Use predefined library functions to safely
TIA Portal limit the working zone of your robot!
Scalable Motion Control Hardware combined with
sophisticated controller-based safety functions (safety
Safe tool orientation
SIMATIC Safe logic as well as safe kinematics)
Kinematics Library Safe velocity points
TIA Portal – One engineering tool for all automation,
motion control, robotic & safety tasks
Technology objects for a safe kinematics monitoring
integrated in SIMATIC Controller or IPC / Soft-PLC or
SPU (Safe Processing Unit) for:
graphical definition • Safe zone monitoring with defined working, warning
of safety zones Safe zone
and shut-off zones
• Safe tool Orientation to eliminate rejects and reduce
risk for injury
• Safe velocity monitoring to allow risk-free
commissioning or maintenance of the robot cell
SIMATIC Safe Kinematics • Intuitive graphical user interfaces for zone definitions in
the 3-dimensional space
SIMATIC Safe Kinematics functionalities comply with
necessary standards for protection of operators.

Unrestricted | © Siemens 2024 | Advanced Motion Control

Safe monitoring of kinematics

Technical Solution

Safe monitoring of kinematics

01 | Safe Kinematics monitors pre-defined and user-defined
types of kinematics.

02 | The protection types are safe velocity monitoring, safe

orientation monitoring and safe zone monitoring.

03 | The structure of the robot-arms and joints can be easily

designed in the TIA Portal.

04 | Next the working zone, warning zones and protection

zones will be defined

05 | The joints of the robot mechanic, the tool as well as defined

points will constantly be calculated and monitored.

06 | When any of the monitored points is entering a warning

zone, the robot movements are safely slowed down.

07 | When any of the monitored points is entering a protection

zone, the robot movements are safely stopped.

Unrestricted | © Siemens 2024 | Advanced Motion Control

Safe monitoring of kinematics
Benefits and values

Flexible and Economic Efficient Safe!

Robot cells can be ergonomically One single engineering tool for Safely monitor the movement of
designed with space saving and light configuration, commissioning, kinematics in three-dimensional space in
weight fences. Allowing higher flexibility in programming and diagnostics. full compliance with increasingly strict
the shop floor and cost savings in legislation and regulation
protective fences. Automation, motion and safety tasks
engineered in one tool and running on one
Controller/IPC.

Unrestricted | © Siemens 2024 | Advanced Motion Control

Programming of motion tasks

Use Case scenario

• Setting axes/kinematics in motion without specialist knowledge
Robotics Engineering
• Create Motion programs for optimum motion sequences TOPIC 1 | Control of kinematics
without touching/changing of PLC and Safety program
• Carry out programming, engineering and commissioning tasks without real
machine in the office environment TOPIC 2 | Safe monitoring of kinematics
• Create the application independently of the machine structure and the
kinematic types used TOPIC 3 | Programming of motion tasks

Challenge
• Understanding of the existing programming techniques, i.e. PLC Open,
because they are not intuitive to use
• There are no universal solutions available that fit the task of moving kinematics
• High complexity in the development of robot movements or the movement of
kinematics
• Programming and monitoring complex kinematic movements in Cartesian 3D
space requires specialized knowledge

Unrestricted | © Siemens 2024 | Advanced Motion Control

Programming of motion tasks

Solution
Motion Control Engineering Solution
Hardware Programming of motion tasks for up to 6D handling
TIA Portal 1 systems (single axes, coordinated axes and kinematics) in
SIMATIC Technology CPUs (T-CPU) with SIMATIC
Motion Interpreter in an easy way.
HW-
Configuration
3D/4D
Using an intuitive and optimized Motion Control Language
Technology
– MCL (sequential programming).
Communication

object 2
Converter
Controller

Motor

Commissiong of
kinematics
PLC program
cyclic programming
Easy, fast and intuitive programming of machines with the
integrated graphical programming support
5D
Safety program
(e.g. Intellisense ,Quick actions, Parameter assignment
3 dialogs).

User program
Simulate and verify motion programs without using
6D
any mechanical systems or hardware with SIMATIC
Motion jobs
Motion program Motion Interpreter.
sequential programming

Unrestricted | © Siemens 2024 | Advanced Motion Control

Programming of motion tasks

Technical Solution

Create a Motion program with TIA Portal

Precondition:
TO Kinematics is fully parameterized

01 | Linking the kinematics with the TO Interpreter

02 | Enabling the usage of PLC variables and individual axis in

the Motion program

03 | Open the editor to create your own Motion program

04 | Use the intuitive graphical programming support

05 | Load and Run the Motion program using a FB in SCL

06 | Test the application with integrated kinematics trace

07 | Automation components also with Safety integrated

available and easy to implement

08 | Motion program can be changed at any time without

touching the PLC program

Unrestricted | © Siemens 2024 | Advanced Motion Control

Programming of motion tasks
Benefits and Values

Independent Easy Reusable Optimizing

Sequential programming of Easy, fast and intuitive Reusability of interpreter Digital twin reduces the
the Motion programs in programming of machines programs for similar risk of damage to the
MCL without touching the with the integrated graphical technological tasks machine
PLC program programming support

Unrestricted | © Siemens 2024 | Advanced Motion Control

Contact
Mr. DO XUAN HOANG
Technical Application Dept.

Siemens Viet Nam Limited / Digital Industries

33 Le Duan, Ward Ben Nghe, District 01
Ho Chi Minh City
Viet Nam
Mobile +84 989253738
E-mail do.xuan-hoang@siemens.com.vn

Unrestricted | © Siemens 2024 | Advanced Motion Control

Disclaimer

© Siemens 2024

Subject to changes and errors. The information given in this document

only contains general descriptions and/or performance features which
may not always specifically reflect those described, or which may
undergo modification in the course of further development of the
products. The requested performance features are binding only when
they are expressly agreed upon in the concluded contract.

All product designations may be trademarks or other rights of

Siemens AG, its affiliated companies or other companies whose use by
third parties for their own purposes could violate the rights of the
respective owner.

Unrestricted | © Siemens 2024 | Advanced Motion Control