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Entry type: Application example Entry ID: 21062269, Entry date: 06/27/2008
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Technology CPUs: Palletizer with Simply Interpolating Axes Based on Cam Discs

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Problem 
The technological task to be solved is based on a palletizer with 3 axes. The central unit is a conveyor system for the arrangement of 16 boxes on a pallet as follows: axis 1 moves the conveyor system in direction x. Axis 2 is responsible for movement in y-direction. Axis 3 moves the conveyor system in direction z. After gripping of the boxes, positioning is additionally aggravated by two walls which must be passed along the travel path to the target position.

 

Solution
The automation task is realized by use of a technology CPU and the Technology Template "Simple 3D-Interpolation with cam disks" (Move 3D). In the application a virtual master axis is used as the core element. The slave axes are synchronously controlled with the help of cam discs. The cam discs for the two axes are read and interpolated during operation.

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Content of Downloads

 

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Documentation (German) 
The accompanying documentation is broken down into three parts: The Introduction part describes the specific automation problem and the suggested solution. The Extension part focuses on imparting in-depth knowledge of the control elements and technological functions. The Demonstration part is aimed at users who intend to demonstrate the functions of a technology CPU or who would like to substantiate their theoretical knowledge through practical testing.
Introduction 21062269_Technologie_Palletizer3D_Einfuehrung_DOKU_v32_d.pdf ( 674 KB )
Extension 21062269_Technologie_Palletizer3D_Erweiterung_DOKU_v32_d.pdf ( 2100 KB )
Demonstration 21062269_Technology_Palletizer3D_Demonstration_DOKU_v32_d.pdf ( 1341 KB )
Documentation (English) 
The accompanying documentation is broken down into three parts: The Introduction part describes the specific automation problem and the suggested solution. The Extension part focuses on imparting in-depth knowledge of the control elements and technological functions. The Demonstration part is aimed at users who intend to demonstrate the functions of  a technology CPU or who would like to substantiate their theoretical knowledge through practical testing.
Introduction 21062269_Technologie_Palletizer3D_Einfuehrung_DOKU_v32_e.pdf ( 852 KB )
Extension 21062269_Technologie_Palletizer3D_Erweiterung_DOKU_v32_e.pdf ( 2273 KB )
Demonstration 21062269_Technology_Palletizer3D_Demonstration_DOKU_v32_e.pdf ( 1748 KB )
Code 
An S7 project as the core element of the demonstration system, consisting of the data for TO parameter setting, the programmed sequences realized with the STEP7 blocks and the WinCC Flexible 2005 user interfaces.

The program archives can be used either without a drive connected or with a SINAMICS S120 Trainings case connected. The required changes to the program to use the SINAMICS are described in the documentation part Demonstration.

Program archive V3.0 for use with a CPU 317T 21062269_CPU317T_Palletizer_v_CODE_v30.zip ( 10442 KB )

 

Archives:

Content of archives

 

Archive

If you need a older version, you can download it here with it's documentation:

  • V1.1 requires SIMATIC Technology V1.0 or higher, Protool/Pro RT V6.0 SP2 and, optional, a SIMODRIVE demo case.

  • V2.1 requires SIMATIC Technology V2.0 or higher, WinCC flexible 2005 and, optional, a SIMODRIVE demo case.

Archive of  version V1.1 21062269_CPU317T_Palletizer_ARCHIV_v11.zip ( 15938 KB )
Archive of version V2.1 21062269_CPU317T_Palletizer_ARCHIV_v21.zip ( 18594 KB )

 

History

Version

Modification

03/2004 V1.0 - first edition
07/2004

Corrected data for front plug in the Introduction (V1.1) Added parameter set for older SIMODRIVE Demo Sets

04/2005 Correction in Code (V1.1) In FB70-NW24: The connector at the block MC_Home for the virtual master is now set to "3".
06/2006 V2.1 - complete revision and update with SIMATIC Technology 2.0 SP1, WinCC flex 2005 SP1, Technology Template "Move 3D" and, optional, SINAMICS S120
09/2007 V3.0 - update with SIMATIC Technology 3.0 SP2 and WinCC flex 2005 SP1 HF7

 

Keywords:  
palletizer palettizer pallettizer synchronism interpolation virtual line shaft master

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