Siemens SIMATIC S7-1500 System Manual page 78

System overview
5.3 SIMATIC Drive Controller functions
Feature:
The simple geometric forms cuboid and sphere, as well as point, represent zones in the
workspace. The fixed workspace zones describe the environment of a kinematics system. The
movable kinematics zones surround parts of a kinematics system. Safe zone monitoring
checks all activated workspace zones (work zones, signal zones, protection zones) for
collision with all activated kinematics zones (segment zones, tool zones).
Solution:
Use of a SIMATIC Drive Controller with SINAMICS S120 and fail-safe modules in the
distributed I/O system ET 200SP on the PROFINET IO.
①
②
③
The ET 200SP F-modules provide the connections for emergency stop and monitoring the
light curtain at the transfer area. A handling and robot application and a safety program with
Safe Kinematics blocks (F-FBs) run in the CPU of the SIMATIC Drive Controller. Programming is
done in the TIA Portal. SINAMICS Integrated determines the safe positions of the individual
axes of the robot. The safe positions are sent to the CPU of the SIMATIC Drive Controller over
PROFIsafe. SIMATIC Safe Kinematics calculates the velocities and positions in the workspace.
If a limit is violated, the programmed stop reaction is triggered and transferred to the axes
over PROFIsafe.
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Handling/robot application
Safety program with Safe Kinematics blocks for monitoring kinematics
Reliable control commands for the drives and reliable state information
Safe position values from the drives
SIMATIC Drive Controller
System Manual, 11/2023, A5E46600094-AD