Catalog SoMachine Motion Programming Software for PacDrive 3 Automation Solution
Pacdrive 3, motion control, servo drives, sercos, Somachine Motion, LMC motion controllers, LMC pro, LMC pro2
Schneider Electric
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Catalog SoMachine Motion Programming Software for PacDrive 3 Automation Solution SoMachine
SoMachine Motion, Programming software for PacDrive 3 Automation solution
Catalog
January 2019
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General content
SoMachine Motion Programming software for PacDrive 3 Automation solution
bb Presentation .............................................................................................. page 2 bb General characteristics
-- Logic Builder .......................................................................................... page 2 -- Motion centric machine application development................................... page 3 -- Motion Builder........................................................................................ page 5 bb References -- Product offer........................................................................................... page 6 -- SoMachine Motion software................................................................... page 6 -- License update from previous version.................................................... page 6 -- Addons for SoMachine Motion................................................................ page 6 -- Runtime licensed features and license points......................................... page 7 -- License points without flash card............................................................ page 7 -- Flash card with license points included, for use with
PacDrive LMC controllers for non-robotic applications........................... page 7 -- Flash cards with license points
(spare parts for robot controllers)............................................................ page 7 bb Index........................................................................................................... page 8
1
Presentation
Presentation
Software solution
SoMachine Motion programming software
SoMachine
SoMachine Motion, Programming software for PacDrive 3 Automation solution
SoMachine Motion programming software is compliant with IEC 61131-3. It can be used to develop, configure, and commission entire PacDrive systems. bb SoMachine Motion proposes one project file, managed through the Central (new project) and is aligned with SoMachine V4.1 (same look and feel). bb SoMachine Motion engineering tools can be accessed through this single project file:
-- Logic Builder: a programming environment for PacDrive controllers -- Motion Builder: motion design and sizing software for drives, motors,
gearboxes, power supplies -- SoSafe Programmable: a programming environment for Modicon TM5SLC
safety logic controllers. -- Vijeo Designer: the HMI configuration software for Magelis panels (1) is
integrated in SoMachine Motion. Vijeo Designer can be used without the need for a separate license. bb SoMachine Motion maintenance tools, which can be started from the Central or stand-alone, provide the following functions: -- Diagnostics: obtain a snapshot of the current machine status, including loggers, device parameters, I/O status, and a graphical architecture view of the Sercos ring. Additional user-defined data can be provided by the machine. -- Controller assistant: backup and image management; firmware update for controllers; Fast Device Replacement can also update the firmware of Sercos devices -- Device Assistant: for direct updates of Sercos device firmware
Create a new project through the central
General characteristics
Feature Logic Builder IEC 61131-3 programming languages
Programming services
Motion services
Global services
Advanced software development
Description
bb IL (Instruction List) bb LD (Ladder Diagram) bb SFC (Sequential Function Chart) bb ST (Structured Text) bb FBD (Function Block Diagram) bb + CFC (Continous Function Chart)
bb Multi-tasking: Cyclic, Fast, Event bb Functions (Func) and Function Blocks (FBs) bb Data Unit Types (DUTs) bb On-line changes bb Watch windows bb Graphical monitoring of variables (trace) bb Breakpoints, step-by-step execution bb Visualization for application and machine set-up
bb Embedded device configuration and commissioning bb CAM profile editor bb Sample application trace bb Visualization screens bb Logical encoder
bb User access and profile bb Project documentation printing bb Project comparison (control) bb Variable sharing based on publish/subscribe mechanism bb Library version management
bb Source Code Management with Subversion (SVN) bb ETEST Unit Testing Framework bb Scripting with Python bb Import/Export in PLC Open format
(1) Please consult our catalog ref. DIA2ED2140801EN (Click to open the catalog)
2
Presentation
SoMachine
SoMachine Motion, Programming software for PacDrive 3 Automation solution
General characteristics
Feature Motion centric machine application development Homing
Positioning
Description
bb Supported homing modes: -- Touchprobe input -- Digital signal -- Hardware limit switch -- Torque -- Move to absolute position -- Set axis position -- Set encoder position -- Set axis and encoder position -- Restore axis position from retain -- Restore axis position from axis encoder -- Write axis encoder and set axis position
Available as AFB (Application Function Block) and included in the Axis Module.
bb Endless feed, jogging, positioning bb Motion profile with defined velocity, acceleration, deceleration, and jerk limit bb Positioning modes: endless, relative, absolute Available as AFB (Application Function Block) and included in the Axis Module.
Cam motion
Intelligent line shaft Software motion generator (SMG) Multi-belt
Smart infeed
bb Graphical cam diagram editor and direct access to cam segment data through data structures bb An axis in cam mode can follow any position source as its master, including other axes and encoders bb Cam segment types:
-- straight -- general 5th degree polynomial -- simple sinus -- inclined sinus -- modified sinus -- modified acceleration trapezoid -- standard 5th degree polynomial -- quadratic parabola -- general modified sinusoid -- general modified acceleration trapezoid -- harmonic combination -- sinus-straight combination -- user-defined cam profile bb Different cold start and warm start modes bb Active cam diagram can be changed on the fly Available as AFB (Application Function Block) and included in the Axis Module.
bb Dynamically reduce the speed of the master axis according to the speed and acceleration limitations of the slave axes
-- achieve higher overall machine speed -- increase machine lifetime -- limit forces that act on the product bb Multiple independent intelligent line shafts in one machine are possible Available as AFB (Application Function Block) and included in the Axis Module.
bb Overlay motion profiles of different types and with different masters (up to 3 position channels, resulting position profile is the sum of the component channels) bb Additional motion laws (e.g. 7th degree polynomial) bb Custom motion laws, implemented by the user (e.g. 11th degree polynomial) Available as AFB (Application Function Block) that can be connected to the Axis Module.
bb For dual-belt and multi-belt applications, e.g. for grouping or infeed: -- up to 8 belts -- up to 8 stations -- multiple trains per belt -- up to 127 compartments per train -- almost all parameters can be adjusted while the system is running -- sensor signal filtering -- collision prevention -- warm start
Available as AFB (Application Function Block) and EM (Equipment Module), usage requires runtime license points, see page 7 for details.
bb Basis for rapid development of various product feed applications with 1 to 10 belts in series
Available as AFB (Application Function Block) and EM (Equipment Module), usage requires runtime license points, see page 7 for details.
3
Presentation
SoMachine
SoMachine Motion, Programming software for PacDrive 3 Automation solution
General characteristics
Feature
Description
Motion centric machine application development (continued)
Unwinder
bb For winding and unwinding foils, with or without a dancer roll
Available as AFB (Application Function Block) and EM (Equipment Module), currently available only as "obsolete" library conforming to the PacDrive M programming conventions. PacDrive 3 version planned.
Crank
bb Motion can be stated as the linear motion of the crank slide. This linear motion profile is transformed into a rotary motion profile of the crank shaft
Available as AFB (Application Function Block) and EM (Equipment Module).
Robotics Torque control
bb Supported kinematics: -- Portal/Cartesian robots -- 2-axis delta robots -- 3-axis delta robots -- Articulated robots -- SCARA robots -- Custom transformation for non-standard robots -- Additional axes possible (e.g. rotary axis) -- Additional wrist transformation possible
bb Different interpolations: linear, circular, spline. Blending of segments possible bb Monitoring of work envelope (including obstacles) bb Synchronous belt tracking (synchronizing to a linear or rotary motion, in any spatial orientation) bb Acceleration limitation
Available as AFB (Application Function Block) and EM (Equipment Module), usage requires runtime license points, see page PD302/7 for details.
AFB currently available only as "obsolete" library conforming to the PacDrive M programming conventions. PacDrive 3 version planned.
bb Move axes with torque control instead of position control
Available as AFB (Application Function Block).
Current control Print mark control PackML PLCopen MC
4
bb Directly send acceleration reference values to the drive in every Sercos cycle, for applications in which direct control of drive current is desired Available as a firmware feature.
bb Absolute correction for each individual product, or tendential correction of small deviations e.g. on a continuous foil feed bb Indexed mode or synchronized operation Available as AFB (Application Function Block).
bb Optionally represent the machine state in conformance with the PackML standard (ISATR88.00.02-2008) Currently available only as "obsolete" library conforming to the PacDrive M programming conventions. PacDrive 3 version planned.
bb As an alternative to PacDrive style motion control, FBs conforming to PLCopen MC are also available: vv Multi-axis
-- MC_CamIn -- MC_CamOut -- MC_Cam_Id -- MC_Cam_Ref -- MC_GearIn -- MC_GearOut -- MC_PhasingAbsolute -- MC_StartMode vv Single-axis -- MC_Direction -- MC_Home -- MC_MoveAbsolute -- MC_MoveAdditive -- MC_MoveRelative -- MC_MoveVelocity -- MC_Stop
Presentation
General characteristics
Feature Motion Builder Mechanical modeling
Motion profile
Mechanical sizing Electrical sizing
SoMachine
SoMachine Motion, Programming software for PacDrive 3 Automation solution
Description
bb Load cases: -- Rotary table -- Roll feed -- Conveyor belt -- Spindle drive -- Rack and pinion gear -- Crank -- General load case
bb Additional transformations: -- Additional gearbox -- Belt drive -- Coupling
bb In Logic Builder, mechanical drive parameters can be generated from the mechanical parameters:
-- FeedConstant -- GearIn, GearOut -- J_Gear -- StaticFriction -- ViscousFriction -- J_Load (mechatronic data exchange)
bb Cam diagram, with the following motion laws: -- straight line -- quadratic parabola -- 5th degree polynomial -- simple sinus -- modified sinus -- modified acceleration trapezoid -- general 5th degree polynomial -- user defined motion profile
bb Positioning (planned) bb Multiple motion profiles per axis possible bb Synchronization of motion profiles with Logic Builder (mechatronic data exchange) bb Import (*.asc, *.trace, *.txt) and export (*.asc, *.dat) of motion profiles bb Dynamic load: M(phi) or F(phi) as a separate profile
bb Product database: -- Drives -- Motors (user-defined motors possible) -- Gearboxes (user-defined gearboxes possible) -- Reserve settings -- Sizing results: -- Velocity, acceleration, torque, inertia in different parts of the machine -- J load : J motor -- Torque over time -- Torque over speed -- Analysis of peak torque for different gearbox factors
bb Power circuit calculation: -- Calculation of current and power, depending upon actual motion profiles -- Multiple power circuits possible, each with or without shared DC bus
5
Presentation, references
SoMachine
SoMachine Motion, Programming software for PacDrive 3 Automation solution
Presentation
Product offer
SoMachine Motion software is delivered on a DVD as a fully-functional 21-day trial version. After the 21-day trial period, a license is required for continued use.
bb SoMachine Motion is available in two languages: English, German vv Processor: Intel® CoreTM 2 Duo or equivalent (recommended: Intel® CoreTM i7 or equivalent) vv RAM Memory: 2 GB (recommended: 4 GB) vv Hard Disk: 6 GB (recommended: 10 GB) vv OS: Microsoft Windows 7 SP1, Microsoft Windows 8.1, Microsoft Windows 10 vv Drive: DVD reader vv Display: 1280 × 1024 pixel resolution or higher vv Peripherals: mouse or compatible pointing device, USB interface, Ethernet Network interface vv Web Access: Web registration requires Internet access bb The documentation is supplied in electronic format: complete on-line help plus complementary documentation in pdf format.
References
SoMachine Motion software Description
bb A license is required to use the engineering tools (Central, Logic Builder, Motion Builder, Vijeo). bb Without a license, the engineering tools can be used as a trial version for 21 days. bb Maintenance tools (Diagnostics, Controller Assistant, Device Assistant) and other tools (Gateway, OPC server, etc.) included on the DVD do not require a separate license, and can be installed and used indefinitely even without a license. bb In addition, these tools are as well available separately on the SoMachine Motion Service Disc.
Reference
SoMachine Motion DVD License (2)
(1)
/ number (Type)
VSWETSQMM000441 SOMMACCZZSPAZZ + Trial V4.4 SP1 license / 1 (Single)
(21 days)
SOMMACCZZTPAZZ / 10 (Team)
SOMMACCZZEPAZZ / 100 (Entity)
SOMMACCZZEPBZZ /100 (Floating License)
SoMachine Motion Service Disc VSWETSQMMS00441 V4.4 SP1
License update from previous version Software version type SoMachine Motion V4.4 SP1 update
License SOMMADCZXSPAZZ SOMMADCZXEPAZZ
/ number (Type) / 1 (Single) / 100 (Entity)
Addons for SoMachine Motion Type ETEST Advanced
Licence SOMMETCZZEPMZZ
Machine Code Analysis
SOMMANCZZEPMZZ
SQL Gateway
SOMSQLCZZSPMZZ
SoSafe Programmable
SOMSAACZZSPMZZ
SOMSAACZZTPMZZ
SOMSAACZZEPMZZ
ASi - SoSafe
SOMSADCZZSPMZZ
SOMSADCZZTPMZZ
SOMSADCZZEPMZZ
(1) The DVD is mandatory and delivered with a trial license. (2) One of the 4 types of license is mandatory.
/ number (Type) / 100 (Entity) / 100 (Entity) / 1 (Single) / 1 (Single) / 10 (Team) / 100 (Entity) / 1 (Single) / 10 (Team) / 100 (Entity)
6
Presentation, references
SoMachine
SoMachine Motion, Programming software for PacDrive 3 Automation solution
Presentation
Runtime licensed features and license points
Some features require license points in order to function fully. License points are checked when such features are run. The controller works normally as long as sufficient license points are available. If the features in use exceed the available license points, the features can be used in demo mode for only 6 hours. The following features require licenses:
Feature Smart Infeed Multi-belt Robotics (base functionality)
License point cost 25 license points per instance 60 license points per instance 30 license points per instance (1)
Robotics (transformation)
25 license points per instance (1)
Robotics (wrist transformation)
25 license points per instance (1)
Robotics (acceleration limitation) Use of 3rd party drives on Sercos 3 (SercDrive)
25 license points per instance (1) 15 license points per drive
(1) To control a robot and qualify for free robotic support, the purchase of a robotic controller is required. The robotic controller comes pre-loaded with license points that can be used for robotic and other features. Separate memory cards with pre-loaded license points are also available. These are intended as spare parts or replacement parts for robotic controllers. License points are linked to a controller's memory card. License points cannot be returned or transferred. Additional license points can be purchased separately and added to existing memory cards (either robotics or regular). License points purchased separately are linked to a specific memory card during the purchasing process.
References
License points without flash card
Delivered as activation code only. These can be added to a flash card without license points, or can be used to add more license points to a flash card that already contains license points (see below).
Number of license points
1 160 240 320
Reference License points without flash card VSWRTPT00100000 VSWRTPT16000000 VSWRTPT24000000 VSWRTPT32000000
Flash card with license points included, for use with PacDrive LMC controllers for non-robotic applications
These flash cards come pre-loaded with a number of license points and replace the flash card that comes with the controller, thus eliminating the need to activate license points.
Number of license Reference
points
SD-card with license points
Compact flash card with license points
For LMC Eco controller
Capacity For LMC Pro controller Capacity
For LMC Pro2 controller Capacity
0 (1)
VW3E70360AA00
512 MB VW3E70340AA00
128 MB
VW3E7038000000
128 MB
VW3E70350AA00
512 MB
VW3E7037000000
512 MB
10
VW3E7037000100
512 MB
20
VW3E7037000200
512 MB
30
VW3E70351AA00
512 MB
40
VW3E70352AA00
512 MB
VW3E7037000400
512 MB
55
VW3E70353AA00
512 MB
60
VW3E70354AA00
512 MB
80
VW3E70355AA00
512 MB
VW3E7037000800
512 MB
105
VW3E70356AA00
512 MB
160
VW3E70357AA00
512 MB
VW3E7037001000
512 MB
240
VW3E70358AA00
512 MB
320
VW3E70359AA00
512 MB
VW3E7037002000
512 MB
330
VW3E7035AAA00
512 MB
420
VW3E7035BAA00
512 MB
465
VW3E7035CAA00
512 MB
999
VW3E7035DAA00
512 MB
(1) References of spare parts (Flash card supplied with the controller).
Flash cards with license points: spare parts for robot controllers
Number of license Reference
points
SD-card with license points
Compact flash card with license points
Spare part for LMC Eco Robot
controller (1)
Capacity
Spare part for LMC Pro Robot controller (1)
Capacity
80
VW3E70365AARC
512 MB VW3E70355AARC
512 MB
160
VW3E70367AARC
512 MB VW3E70357AARC
512 MB
240
VW3E70358AARC
512 MB
320
VW3E70359AARC
512 MB
999
VW3E7035DAARC
512 MB
(1) Robot controllers already come with a memory card with the necessary license points included. Please refer to our catalog ref.DIA3ED2160307EN (click to open)
7
Index
S
SOMMACCZZEPAZZ
6
SOMMACCZZEPBZZ
6
SOMMACCZZSPAZZ
6
SOMMACCZZTPAZZ
6
SOMMADCZXEPAZZ
6
SOMMADCZXSPAZZ
6
SOMMANCZZEPMZZ
6
SOMMETCZZEPMZZ
6
SOMSAACZZEPMZZ
6
SOMSAACZZSPMZZ
6
SOMSAACZZTPMZZ
6
SOMSADCZZEPMZZ
6
SOMSADCZZSPMZZ
6
SOMSADCZZTPMZZ
6
SOMSQLCZZSPMZZ
6
V
VSWETSQMM000441 6
VSWETSQMMS00441 6
VSWRTPT00100000
7
VSWRTPT16000000
7
VSWRTPT24000000
7
VSWRTPT32000000
7
VW3E7035AAA00
7
VW3E7035BAA00
7
VW3E7035CAA00
7
VW3E7035DAA00
7
VW3E7035DAARC
7
VW3E70340AA00
7
VW3E70350AA00
7
VW3E70351AA00
7
VW3E70352AA00
7
VW3E70353AA00
7
VW3E70354AA00
7
VW3E70355AA00
7
VW3E70355AARC
7
VW3E70356AA00
7
VW3E70357AA00
7
VW3E70357AARC
7
VW3E70358AA00
7
VW3E70358AARC
7
VW3E70359AA00
7
VW3E70359AARC
7
VW3E70360AA00
7
VW3E70365AARC
7
VW3E70367AARC
7
VW3E7037000000
7
VW3E7037000100
7
VW3E7037000200
7
VW3E7037000400
7
VW3E7037000800
7
VW3E7037001000
7
VW3E7037002000
7
VW3E7038000000
7
SoMachine
SoMachine Motion, Programming software for PacDrive 3 Automation solution
Product reference index
8
www.schneider-electric.com/Machine control solutions
Schneider Electric Industries SAS Head Office 35, rue Joseph Monier F-92500 Rueil-Malmaison France
The information provided in this documentation contains general descriptions and/or technical characteristics of the performance of the products contained herein. This documentation is not intended as a substitute for and is not to be used for determining suitability or reliability of these products for specific user applications. It is the duty of any such user or integrator to perform the appropriate and complete risk analysis, evaluation and testing of the products with respect to the relevant specific application or use thereof. Neither Schneider Electric nor any of its affiliates or subsidiaries shall be responsible or liable for misuse of the information contained herein. Design: Schneider Electric Photos: Schneider Electric
DIA7ED2160302EN
January 2019 - V2.1
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