Simulation of Safe

Kinematics V17 using

SIMIT and NX MCD
Siemens
Safe Kinematics V17 / PLCSIM ADV / SIMIT / NX MCD Industry
Online
https://support.industry.siemens.com/cs/ww/en/view/109782332 Support
 Legal inf ormation

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 Table of Contents

Table of Contents
Legal information ................................................................................................. 2
1 Description ................................................................................................. 4
1.1 Principle of the application............................................................... 4
1.2 Overview of the control panel .......................................................... 4
1.2.1 Operator Panel ............................................................................... 5
1.2.2 Status ............................................................................................ 6
1.2.3 Saf ety ............................................................................................ 6
2 Starting the simulation ............................................................................... 7
2.1 Components used........................................................................... 7
2.2 Starting the components ................................................................. 7
2.3 Starting and operating the program .................................................. 8
2.4 Testing saf ety f unctions................................................................... 8
2.4.1 Saf ely limited speed (SLS) .............................................................. 8
2.4.2 Saf e Zone Monitoring (SZM)............................................................ 9
2.4.3 Free travel af ter a triggered saf ety f unction ....................................... 9
3 Appendix .................................................................................................. 10
3.1 NX MCD: Activate transparency..................................................... 10
3.2 Service and support ...................................................................... 10
3.3 Industry Mall ................................................................................. 11
3.4 Application support ....................................................................... 11
© Siemens AG 2021 All rights reserved

3.5 Links and literature ....................................................................... 12

3.6 Change documentation ................................................................. 12

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 1 Description

1 Description
1.1 Principle of the application
In this application example, a simple pick and place application is simulated. A
SCARA kinematic system (SCARA f or short) takes products f rom a conveyor belt
and sorts them into two boxes with six compartments each. When one side is
completely f illed, the system switches to the next f ree side.
When the machine operator wants to remove a f ull box, the light barrier is
triggered. The "Saf e Zone Monitoring (SZM)" and "Saf e Speed (SLS)" saf ety
f unctions only become active when the light barrier is triggered. To the right and left
of the SCARA there is a detection zone and above the boxes a protection zone.

Figure 1-1 Plant with signal and protection zones

© Siemens AG 2021 All rights reserved

If the SCARA is located on the side of the machine where the light barrier has been
triggered, then the selection is made in the area of the SLS detection zone, and in
the event of a violation of the SS2 protection zone. In this way, the machine
operator can remove a f ull box without having to stop the line.
If a f ull box has been removed, this is acknowledged on the operating panel.

1.2 Overview of the control panel

To operate the application example, a diagram "Control Panel" was created in the
SIMIT project. With the help of this control panel the IO modules connected via the
decentralized periphery can be controlled.

With the help of the control panel the dif f erent plant and error states are controlled.

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 1 Description

Figure 1-2 Control panel for operating the application example

1.2.1 Operator Panel

© Siemens AG 2021 All rights reserved

In the "Operator Panel" area, the buttons and switches of an operator panel can be
simulated. These switches would be operated by the plant operator in a real plant.

Tabelle 1-1 Steuerelemente des "Operator Panels"

Name Type Function
Reset Push button Acknowledgement of errors, incl. safety
Enable Axes Switch All axes are switched on
Start Program Push button The Pick & Place application is started
Stop Program Push button The application is stopped
Move Home Push button The kinematics is moved to the starting position
Disable Push button Switches off the vacuum of the gripper. This may be
Vacuum necessary if a safety function was triggered during
placement and the gripper is still holding a product.
Home axes Push button The absolute encoder adjustment of all SCARA
kinematic axes is performed. This step is usually only
necessary after the first loading of the project. This step
should only be carried out when the SCARA kinematics
is in the initial position.
Acknowledge Push button Simulates the removal of all products from a box. After
Box empty the removal, the operator must confirm this so that the
box can be filled again. In the NX MCD simulation, all
products are then removed from the corresponding box.
Show zones Switch Displays the projected protection zones in the NX MCD
simulation.

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 1 Description

1.2.2 Status

System errors are displayed in the "Status" area. These can be acknowledged with
the "Reset" button.

Table 1-2 Display elements "Status"

Name Type Description
Fault Display Plant error
SS2 Display SS2 active
SLS Fault Display SLS Limit exceeded
SZM Fault Display A protective zone was violated
SLS Active Display SLS active
SZM Active Display SZM active

1.2.3 Safety

In the "Saf ety" area, various saf ety-relevant states can be simulated, thus
demonstrating how Saf e Kinematics works.

Table 1-3 Controls of the "Operator Panel"

© Siemens AG 2021 All rights reserved

Name Type Function

setLightBarrier Switch Light barrier of the corresponding side is triggered
setESTOP Switch Triggering ESTOP (SS2)
muteSafeKinematics Switch Deactivate safety monitoring (see 2.4.3)
exceedSLSLimit Switch Starting with the next command, the SLS Speed limit is
exceeded by oversteering the current speed.
Toggle "Safely Switch In the status word S_ZSW2 of the PROFIsafe telegram
referenced" 902 the bits "Safe position valid" and "Safely
referenced" are set or reset.

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 2 Starting the simulation

2 Starting the simulation

The simulation is composed of three parts:
• SIMIT Project
Simulation of the drive model and the decentralized periphery
• NX MCD
Simulation and f eedback of the physics into the drive model of the SIMIT
simulation
• TIA Portal
User program and implementation of Saf e Kinematics V17

2.1 Components used

Table 2-1 Components used
Component Order Number
SIMATIC STEP 7 Professional V17 6ES7810-5CC14-0YA5
SINAMICS Startdrive Basic V17 6SL3072-4HA02-0XA0
SIMATIC Safe Kinematics V17 6ES7823-0FE02-1AA0
SIMATIC S7-PLCSIM Advanced V4.0 6ES7823-1FA03-0YA5
SIMIT V10.2 Update 1 6DL8913-0AK20-0AB5
© Siemens AG 2021 All rights reserved

NX MCD Player 1953 -

2.2 Starting the components

To start the simulation, proceed as f ollows:
1. Open the TIA Projekt "Saf eKinematics.ap17".
2. Open the NX MCD Project "___Saf eKinematics.prt".
3. Allow the connection of the SIMIT project to this NX MCD instance by clicking
the "Allow connection" button.

4. Open the SIMIT Projekt "Simulation_SIMIT.simit".

5. In SIMIT start the simulation with the "Start" button .
6. Af ter starting the simulation in TIA Portal, load the PLC "PLC_1" the PLC
simulated with PLCSIM Advanced (password "siemens").
7. Set the PLC to operating state "RUN".
8. Press the "Home" button in the SIMIT project to perf orm the f irst absolute
encoder adjustment (see chapter 1.2.1).

Repeat steps 1 to 5 each time you start the simulation. If no change was made to
the TIA project, then the last instance of the PLCSIM instance is reused. It is then
no longer necessary to reload the controller.

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 2 Starting the simulation

Note If the kinematic zones are not displayed semitransparently in NX MCD, f ollow the
steps in chapter 3.1.

2.3 Starting and operating the program

1. Open the diagram "Control Panel" in the SIMIT project.
2. Enable all axes using the switch "Enable Axes".
3. If required, acknowledge errors using the "Reset" push button.
4. Start the program using the switch "Start Program".

Af ter a box has been completely f illed, the system automatically switches to the
next f ree side. If both boxes have been f illed completely, the SCARA kinematics
remain in the initial position until one of the boxes has been acknowledged as
"Emptied". A box can be acknowledged with the button "Acknowledge Empty Box"
of the respective side.
The program can be ended with the "Stop Program" push button.

Note Since acyclic communication to the drive is not of ficially supported in SIMIT 10.2,
the bit "Saf e position valid" and "Saf ely ref erenced" was set to "true" in the status
© Siemens AG 2021 All rights reserved

word S_ZSW2 of PROFIsaf e telegram 902. In a real system, the

"LDrvSaf e_Saf eRef erencing" f unction block f rom the "LDrvSaf e" library (see \4\)
can be used.

2.4 Testing safety functions

The saf e zone monitoring (SZM) is activated by interrupting the lef t and right light
barriers. If the TCP kinematic zone of the SCARA is in a protective zone, then the
"Saf e Speed (SLS)" saf ety f unction is selected. When a blocked zone is violated,
"Saf e Stop (SS2)" is activated.

2.4.1 Safely limited speed (SLS)

1. Trigger the light barrier with the "setLightBarrier" switch on the side on which
the boxes are currently being f illed.
2. The SCARA decelerates the speed of the TCP to the active saf e speed limit.
3. Exceed the speed limit with the switch "exceedSLSLimit".
4. SS2 is selected af ter the monitoring time has elapsed .

Deselect the switches and acknowledge all errors to restart the program.

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 2 Starting the simulation

2.4.2 Safe Zone Monitoring (SZM)

1. Trigger the light barrier with the "setLightBarrier" switch on the side on which
the boxes are currently being f illed.
2. As soon as the TCP kinematic zone of the SCARA violates the blocked zone,
SS2 is activated.

Deselect the switches and acknowledge all errors to restart the program.

2.4.3 Free travel after a triggered safety function

If a saf ety f unction has been triggered, the saf ety monitoring of Saf e Kinematics
can be temporarily paused f or f ree travel.
Proceed as f ollows:
1. Pause the saf ety monitoring by pressing the "Mute" switch.
2. Acknowledge pending errors with the "Reset" button.
3. Move the kinematics to the home position by pressing the "Move Home" push
button.
4. Press the "Mute" switch to continue the saf ety monitoring .
© Siemens AG 2021 All rights reserved

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 3 Appendix

3 Appendix
3.1 NX MCD: Activate transparency
For the visualization of the kinematic zones, transparency must be activated in NX
MCD. If the zones are not displayed semi-transparently in the visualization, the
transparency can be activated as f ollows:
1. Open the visualization settings under "File" → "Settings" → "Visualization"
2. Activate the "Translucency" checkbox in the "Rendering" → "Graphics" menu

Figure 3-1 Activate transparency

© Siemens AG 2021 All rights reserved

3.2 Service and support

Industry Online Support
Do you have any questions or need assistance?
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service and support know-how and portf olio.
The Industry Online Support is the central address f or inf ormation about our
products, solutions and services.
Product inf ormation, manuals, downloads, FAQs, application examples and videos
– all inf ormation is accessible with just a f ew mouse clicks:
support.industry.siemens.com

Technical Support
The Technical Support of Siemens Industry provides you f ast and competent
support regarding all technical queries with numerous tailor-made of f ers
– ranging f rom basic support to individual support contracts.
Please send queries to Technical Support via Web f orm:
support.industry.siemens.com/cs/my/src

SITRAIN – Training for Industry

We support you with our globally available training courses f or industry with
practical experience, innovative learning methods and a concept that’s tailored to
the customer’s specif ic needs.

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 3 Appendix

For more inf ormation on our of f ered trainings and courses, as well as their
locations and dates, ref er to our web page:
siemens.com/sitrain

Service offer
Our range of services includes the f ollowing:
• Plant data services
• Spare parts services
• Repair services
• On-site and maintenance services
• Retrof itting and modernization services
• Service programs and contracts
You can f ind detailed inf ormation on our range of services in the service catalog
web page:
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Industry Online Support app

You will receive optimum support wherever you are with the "Siemens Industry
Online Support" app. The app is available f or iOS and Android:
support.industry.siemens.com/cs/ww/en/sc/2067
© Siemens AG 2021 All rights reserved

3.3 Industry Mall

The Siemens Industry Mall is the platf orm on which the entire siemens Industry
product portf olio is accessible. From the selection of products to the order and the
delivery tracking, the Industry Mall enables the complete purchasing processing –
directly and independently of time and location:
mall.industry.siemens.com

3.4 Application support

Siemens AG
Digital Factory Division
Factory Automation
Production Machines
DF FA PMA APC
Frauenauracher Str. 80
91056 Erlangen, Germany
mailto: tech.team.motioncontrol@siemens.com

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 3 Appendix

3.5 Links and literature

Table 3-1
Nr. Topic
\1\ Siemens Industry Online Support
https://support.industry.siemens.com
\2\ Link to this entry page of this application example
https://support.industry.siemens.com/cs/ww/en/view/109782332
\3\ SIMATIC Safe Kinematics – Getting Started
https://support.industry.siemens.com/cs/ww/en/view/109762735
\4\ SIMATIC - Failsafe library LDrvSafe to control the Safety Integrated functions of the
SINAMICS drive family
https://support.industry.siemens.com/cs/ww/en/view/109485794
\5\ SIMIT libraries with behavior models of devices and systems
https://support.industry.siemens.com/cs/ww/en/view/109793203

3.6 Change documentation

Table 3-2
Version Date Changes
© Siemens AG 2021 All rights reserved

V1.0 12/2021 First edition

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