Industrial automation

Software for smart manufacturing

PLC programming and custom control software development. Siemens SIMATIC is my home turf; for fifteen years I have been commissioning machines and lines across the Czech Republic and abroad.

Get in touch What I do

About

Who I am

My name is Michal Milinovský and for fifteen years I have been developing control software for industrial automation under the MiliSoft brand. My core platform is Siemens SIMATIC – TIA Portal, S7-1500 and the older S7-300.

There is no salesperson and no project manager. You talk directly to the person who will write your code and come to commission it. The downside is that I cannot run ten jobs at once – the upside is that nothing gets lost in translation.

Siemens
SIMATIC / TIA Portal / S7
15 years
in industrial automation
ČR + EU
on-site anywhere in Europe
1:1
you deal with the programmer

What I offer

Services

PLC software development

Control software for machines and production lines, from architecture design to handover. Structured code split into blocks that make sense even to someone who did not write them.

LADSCLFBDSTL

Siemens SIMATIC

My core platform. TIA Portal, S7-1500, legacy S7-300, Profinet and Profibus communication, drives and safety functions.

TIA PortalS7-1500S7-300Profinet

Modernisation and migration

Moving from S7-300 to S7-1500, including rewriting STL into SCL. A machine you can no longer buy spare parts for can keep running on current hardware.

S7-300 → S7-1500STL → SCL

HMI and visualisation

Operator panels and visualisation that the crew can navigate at three in the morning. Clear alarms, readable diagnostics, no guesswork.

WinCCHMISCADA

Taking over an unfinished project

Your supplier quit, disappeared, or you simply cannot agree. I will assess the state of the software and tell you straight whether it is worth continuing or rewriting.

AuditRefactoring

Service, diagnostics and documentation

Root-cause analysis, fixes to existing code, and documentation your own maintenance team can actually read. Many issues I resolve remotely, with no waiting for a site visit.

TroubleshootingRemote

Work samples

Recent projects

A selection of recent projects. Further references are available on request.

3D model of the Dendro Lift three-column lifting table

Dendro Lift AB, Sweden · 09/2026 · commissioned

Synchronized control of a three-column lifting table

Three screw columns, one rigid platform, 36 t capacity: PLC and safety software on Siemens ET 200SP F, axis synchronization and remote commissioning.

ET 200SP F-CPUSIMATIC SafetySINAMICS G120CPROFIsafeWinCC Basic
Project details

Dendro Lift AB, Sweden · 09/2026 · commissioned

Synchronized control of a three-column lifting table

ET 200SP F-CPUSIMATIC SafetySINAMICS G120CPROFIsafeWinCC Basic

Results

≈ 0.4 mm
axis deviation while travelling
2 days
remote commissioning
0
reference runs, thanks to absolute encoders
0
changes to the safety program during commissioning

Challenge

Swedish lifting-equipment manufacturer Dendro Lift needed control software for a platform on three screw columns: 36 t capacity (3 × 12 t), 6.2 m stroke, 3 × 7.5 kW drives. The rigid plate must not twist while moving or when one drive fails. The machine was commissioned in Sweden with no programmer on site and now goes to its end customer in Asia.

Solution

An ET 200SP F-CPU drives three SINAMICS G120C converters from a virtual master with per-axis correction. Absolute multiturn PROFINET encoders remove reference runs. A safety program designed for PL d / SIL 2 covers emergency stop, doors with a two-step reset, STO via PROFIsafe and cross-stop of all axes. Bilingual HMI with 96 alarms.

Result

The control cabinet was tested with its safety devices before shipment and the machine was commissioned remotely in two days. Axis deviation while travelling stays around 0.4 mm without further controller tuning.

Project size

26
standard I/O points (19 DI, 6 DQ, 1 AI)
5
fail-safe I/O: 2 dual-channel inputs (E‑stop, doors), 3 brake outputs
8
PROFINET devices (CPU, HMI, 3 drives, 3 encoders)
≈ 4,300
lines of SCL in 21 source files
6
HMI screens, 88 tags, 96 alarms in 2 languages
≈ 6 weeks
from specification to handover

Customer reference

“Dendro has cooperated with Michal for many years. Michal/MiliSoft has always been very helpful, even with very short notice, in all our FAT and SAT.”

Nils Jacobsson, CTO, Dendro Lift

Technical highlights

  • Virtual-master synchronization

    A software reference running every 10 ms leads all three axes as equals, each with its own PI correction. If one axis lags, the reference slows down instead of tripping, so the platform stays level.

  • Absolute encoders, no reference runs

    Position is unambiguous over the full stroke. The zero point is set once, remotely and without moving the machine – the PLC writes the preset straight into the encoder.

  • Safety built on the given hardware

    The drive has no safe brake control, so the brake is released only when both the fail-safe output and the drive agree. STO runs over PROFIsafe, and losing safe communication with any drive stops all three axes.

  • Built for remote commissioning

    Diagnostics report the cause and location of a fault: the first dropout in the drive chain, the side of the analog loop, or a device that failed to register. The HMI has 96 alarms in two languages and a dedicated synchronization screen.

My scope of work

PLC softwareSafety programHMIDrive parameterizationOn-site and remote commissioningDocumentation

As a subcontractor to the switchgear builder that supplied the control cabinet to Dendro Lift. Hardware and electrical design came from the switchgear builder, mechanics and assembly from Dendro Lift.

Images

The photos were taken during commissioning at the manufacturer in Sweden before shipment; this is not the final installation at the end customer.

Test assembly during commissioning before shipment (Sweden, 09/2026) – not the final installation
Test assembly during commissioning before shipment (Sweden, 09/2026) – not the final installation
Commissioning before shipment: the table mounted on the columns
Commissioning before shipment: the table mounted on the columns
Commissioning before shipment: columns with lead screws and the motors at the top
Commissioning before shipment: columns with lead screws and the motors at the top
Control architecture: F-CPU, three drives and three absolute encoders on PROFINET
Control architecture: F-CPU, three drives and three absolute encoders on PROFINET
Commissioning before shipment: absolute multiturn PROFINET encoder on the motor
Commissioning before shipment: absolute multiturn PROFINET encoder on the motor
HMI home screen: table height, column spread and safety status
HMI home screen: table height, column spread and safety status
HMI – three-axis synchronization against the virtual master
HMI – three-axis synchronization against the virtual master
HMI – service mode and single-axis jog
HMI – service mode and single-axis jog
TIA Portal trace of a three-axis run: position deviation of each axis below 0.5 mm
TIA Portal trace of a three-axis run: position deviation of each axis below 0.5 mm

Working on a similar machine or multi-axis synchronization?

Get in touch

Common questions

Before you ask

Where do you travel?
Across the Czech Republic and abroad. Travelling for installation and commissioning is a routine part of the job, not an exception.
Do you commission on site, or only deliver code?
Both. Depending on the job I combine on-site work with remote access – minor changes and diagnostics are often handled remotely, line commissioning in person.
Will you take over a project from another supplier?
Yes, by arrangement. I will first assess the state of the software and tell you honestly whether continuing or rewriting makes more sense. I will not sell you a dead end.
How do you charge?
It depends on scope. Smaller jobs and service at an hourly rate, larger projects at a fixed price against a specification. You know the price up front, not on the invoice.
How quickly will you reply?
I answer e-mail enquiries within two working days. If your production is down, call – I respond to the phone as soon as I possibly can.
Do you work with brands other than Siemens?
Most of my project experience is on SIMATIC. If you run a different platform I will get up to speed on it – we will just agree in advance how much time that takes.

Contact

Let's work together

Tell me what you need – briefly is fine. I will get back to you and ask about the rest.

Michal Milinovský
michal.milinovsky@milisoft.cz
Send an e-mail
or call
+420 605 735 074