6ES7954-8LP80-0AA0 Siemens SIMATIC S7 Memory Card for S7-1500T Motion Original Brand New

The SIMATIC S7-1500 Technology CPUs support kinematics with up to 4 interpolating axes, e.g. for handling tasks such as pick & place, assembly and palletizing.
With the Motion Control package “S7-1500T Motion Control KinPlus”, this scope of functions is expanded so that kinematics with up to 6 interpolating axes can be controlled – e.g. for “oriented” handling of products by means of rotary and swivel axes.
The following additional kinematics are available with “S7-1500T Motion Control KinPlus”:

• Predefined kinematics:
  • Cartesian portal 3D with 2 orientations
  • Delta-Picker 3D with 2 orientations
  • 6-axis articulated arm with central hand
• User-defined kinematics 3D with 3 orientations

Prerequisites:

• TIA Portal V18 with STEP 7 Professional
• SIMATIC CPU 1518T-4 PN/DP, CPU 1518TF-4 PN/DP or CPU 1507D TF; FW version V3.0 or higher
• Motion control package “S7-1500T Motion Control KinPlus” with up-to-date Motion Control firmware part
• Special SIMATIC Memory Card of the type “S7-1500T Motion Control KinPlus” (required for each CPU, available as 2 GB and as 32 GB variant)

The Motion Control package “S7-1500T Motion Control KinPlus” contains the complete Motion Control firmware part of a T-CPU and additionally the function extensions for up to 6 interpolating axes. This package must be copied to a SIMATIC Memory Card of the type “S7-1500T Motion Control KinPlus” and is loaded by the controller at runtime.

Kinematics with more than 4 interpolating axes are controlled via the kinematics technology object and the Motion Control package “S7-1500T Motion Control KinPlus”. Via the kinematics transformation, the kinematics technology object calculates the motion setpoints for the individual axes and, conversely, the motion of the kinematics from the current values of the axes. The dynamic response specifications are taken into account in all calculations and the axis-specific motion setpoints are transmitted to the interconnected positioning and synchronous axes.

To configure kinematics, a kinematics technology object is created in the TIA Portal and the kinematics type (e.g. Delta-Picker 3D with 2 orientations) is selected. The individual axes of a kinematic system are created as technology objects of the type “Positioning Axis” or “Synchronous Axis” and connected to the kinematics technology object. In addition, the geometry of the kinematics is configured via configuration masks – where 3D visualizations facilitate the input.

For the predefined kinematics types, the kinematics transformation is part of the kinematics technology object so that the kinematics can be traversed and tested with simulated axes with just a few clicks. For user-defined kinematics 3D with 3 orientations, the kinematics transformation must be provided in a separate program.

Extensive configuration options for the kinematics are available for a wide range of applications:

• Basic parameters (kinematics, measurement units)
• Interconnections
  • Interconnecting the kinematics axes
  • Mechanical axis couplings
  • Joints
• Geometry
• Conveyor belt tracking
• Dynamic response
  • Defaults and limits
  • Dynamic response adaptation
• Kinematics coordinate system, object coordinate systems, and tools
  • Coordinate systems and frames
  • Kinematics types with up to 6 interpolating axes
  • Rotating and moving of coordinate systems
• Zones (working area zone, alarm zone, blocked zone)
• Job chain

For fast and intuitive commissioning, extensive configuration and diagnostic options with graphical support are available in the TIA Portal:

• Kinematics control panel
  • Active homing of kinematics axis
  • Jogging of kinematics in the world coordinate system (WCS) or object coordinate system (OCS)
  • Jogging of individual kinematics axes in the machine coordinate system (MCS)
  • Jogging of joints in the joint coordinate system (JCS)
• Kinematics trace
  • 3D visualization of the current movements of the tool center point (TCP) and the object coordinate systems (OCS)
  • Recording, playback and saving of kinematic motions
  • Exporting and importing of records
• Calibration
  • Determining the exact position of object coordinate systems
  • Defining working area zones
  • Moving the tool center point offline in the 3D view using the directional pad
  • Moving the real kinematics online with the kinematics control panel
• Diagnostics