Automation and Drives

EZ Positioning with SINAMICS S120

Agenda

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Sinamics EZ EPOS Agenda

Starter Basic Sinamics Drive Setup Insert Drive (CU310 or CU320) Auto Configure CU and Drive-CLIQ Devices

Starter Offline Configuration Drive Configuration Wizard Telegram Setup for EZ _EPOS Block Check S7 Hardware Configuration

Execute EZ_EPOS Script File Copy from Example Project Execute and Save Project Download to Sinamics

Step7 Simatic Manager Programming Copy Needed blocks to new Program Setup FB120 in new Program Edit Symbol Table Save and Download S7 Project

Test EPOS Application on Demo Run through all EPOS Modes with S7 PLC and S120 Demo

Automation and Drives

EZ Positioning with SINAMICS S120

S7 Hardware Configuration

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Start New Project with S7 Simatic ManagerOpen S7 and Select File / New

Select new Name for Project and Press OK

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Insert S7 300 Simatic StationRight Click on New Project and insert new Object Choose S7 300 Station

New Station inserted --Note Hardware Icon

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Start Hardware Configuration

Click on Hardware Icon and Open HW ConfigurationOpen Hardware CatalogueInsert S7 300 Rack, Power Supply, and CPU

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Add Sinamics S120 in Hardware Configuration

Drag the drive on to the Profibus Network• Choose Node Address 4 • Select Present Firmware Version (2.5)• Choose Telegram Type None

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Save and Close Hardware Configuration

Press Save an Compile Button • Hardware Configuration should Save and Compile• Correct any errors if they occur

Exit the Hardware Configuration• HW Config must not be Open for Next Section!

Automation and Drives

EZ Positioning with SINAMICS S120Basic Starter Online

Commissioning

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Open Starter Program & Go Online

Open Starter by Motor Icon for Sinamics

Go Online with Starter –Use Do not Upload to the PG!

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Default CU310 or CU320

Right Click On CU310 (or CU320) and Choose…•Target Device / Restore Factory Settings

Check the Box – Save Factory Settings to ROMPower Cycle Drive after RAM to ROM Completed

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Complete Auto Configuration

Select Auto Configuration and Start Auto Configuration

Choose Control type for Motor typeClose after Initialization

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Starter Offline Configuration

Go Offline with the Sinamics Select Configuration under the Device Folders• This Configuration is under the Drive Object Used• Click On Configure DDS to Parameterize Drive

Settings

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda Thank you very much

Name:Carl Owens & Kevin Wu

Department:Production Machines

Address:5300 Triangle Parkway, Suite 100

Norcross, GA 30092

Mail:carl.owens@siemens.com wu.kevin@siemens.com

Automation and Drives

EZ Positioning with SINAMICS S120Basic Starter Offline

Commissioning

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Open Starter Program & Go Offline

Open Starter by Motor Icon for Sinamics

Go Offline with Starter –Use

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Open DDS (Drive Data Set)

From the Drive to be Commissioned Choose…Configuration

Choose Configure DDS… Offline Configuration Wizard is Opened

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Control Structure Setup

Select Speed Control with EncoderUse Function Modules when Needed

For EPOS Basic Positioner is Needed

Next, Select Continue

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Power Unit ConfigurationPower Unit Data Up-read in Auto Configuration

(Drive-CLIQ) Confirm Device type is Correct via Part label Select Continue for next Configuration Screen

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Motor ConfigurationMotor Data Up-read in Auto Configuration

(Drive-CLIQ) ** **If Motor is a Drive-CLIQ Motor Non Drive-CLIQ Motors can be Selected from

List Third Party Motors can have data entered

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Holding Brake ConfigurationMotor Data Up-read in Auto Configuration

(Drive-CLIQ) ** **If Motor is a Drive-CLIQ Motor Non Drive-CLIQ Motors Check Motor Name

Plate DEMO drive do not Use Holding Brakes

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Encoder ConfigurationEncoder Data Up-read in Auto Configuration

(Drive-CLIQ) ** **If Encoder / Motor is a Drive-CLIQ Motor Siemens and Third Party Encoders can be

Parameterized Note Encoder 1 is from Motor Encoder

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Encoder Data ConfigurationEncoder Data Up-read in Auto Configuration

(Drive-CLIQ) ** **If Encoder / Motor is a Drive-CLIQ Motor Siemens and Third Party Encoders can be

Parameterized Note Encoder 1 is from Motor Encoder

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

EPOS Only - Encoder Used for Position Sensing

Select Encoder Used Note that Encoder_4 refers to Device number

4 Usually Motor Encoder used for Position

Sensing

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

EPOS Only – Mechanics Parameterize Gearing and Resolution Modulo Axis can be programmed if need This is only used in EPOS – For Basic

Positioner

Load Revolutions = Gearing Lu / Load is resolution Default for testing in DEMO

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

EPOS Only – Mechanics

Parameterize Gearing and Resolution Modulo Axis can be programmed Load Revolutions = Gearing

Load Revolutions = Gearing

Lu / Load is resolution Use Default for testing in

DEMO

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Profibus Telegram type Choose Free Telegram with BICO The Profibus Telegram will be Configured

Later Free Telegram allows Custom Telegrams Script Files will be used to Setup Telegram

Mapping

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Summary Data Acceptance Review data and Click Finish if Complete After Completing DDS Wizard “Save and

Compile” DDS Wizard Data is now Complete

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Profibus Telegram Configuration

From the Drive to be Commissioned Choose… Configuration

Use Up – Down Buttons to Move Drive Objects CU is 1st and Drive (S) should be in Preceding OrderS7 Hardware Configuration Should be Closed!

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Profibus Telegram Configuration

Select Word Length For Telegrams CU Telegram not needed for Demo

Word Length For Telegrams EZ_EPOS uses 10 words IN and 10 Words Out EZ_APC_SPEED uses 10 Words IN and 10

Words Out EZ_Basic_SPEED uses 6 Words IN and 6 Words

Out

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Profibus Telegram ConfigurationSelect Transfer to HW Config CU Telegram will be sent to the S7 Hardware

Config.

Select Yes to transfer

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Profibus Telegram Configuration

Telegram has Successfully been Transferred Note Blue Check Boxes

Save and Compile Program before Proceeding

Save and Compile Using Starter

Automation and Drives

EZ Positioning with SINAMICS S120Starter Script File

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Open Starter Program in EZ_EPOS Example Copy Script file from Example Program

Close Example Program’s Starter and go to new Program

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Create Script Folder in New Program

Right Click On Drive to be Commissioned• Expert / Insert Script Folder

Paste EPOS Script in Script Folder

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Open EPOS Script in New Project

Click On EPOS Script • The Script Editor Opens

Click inside the Script Editor area The Script Editor Buttons appear on the

Task Bar

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Accept and Execute the Script

Click On the Accept and Execute Button • The script File parameterizes the drive for EPOS•All the Drive Parameters needed by FB120 are Complete

Save and Compile the Starter Program •The Program is now Ready for Download

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Download to the Drive

Go Online with Starter to the Drive•Choose Download to the Drive•Choose RAM to ROM

Drive is now ready for Operation

Automation and Drives

EZ Positioning with SINAMICS S120

S7 Simatic Manager Programming

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Open S7 Program & S7 Hardware

Open New Sinamics S7 Project And Open Hardware ConfigurationTo Confirm Configuration of Telegram

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Verify Telegram Configuration

Highlight the Profibus Card and View the Telegram

Telegram will be “User Defined”

Length should be 10 words (20 bytes)

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Download Configuration to PLC

Save and Compile HW Configuration

Download Configuration to PLC

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Download Configuration to PLC

Follow S7 Sequence to Download Hardware Config

Select Target Module (If Multiple PLCs)

Restart PLC after Download

PLCs LED will still show Fault

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Copy Blocks to New S7 Program

Open the Example Program and Copy Relevant Blocks

Task Bar – Use Window / Split Horizontally

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Copy Blocks to New S7 Program

Open the Example Program and Copy Relevant Blocks

See Example Below for Copying Blocks

Paste Blocks in new S7 ProgramVAR (Variable Table) can be copied

VAR may need editing if Instance DB # Changes

Instance DB will be Created in Later Step

Copy Relevant Profibus Communication Blocks

OB82, OB86, and OB122

SFC14 and SFC15 are PLC System Function Blocks

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Insert FC (Function Call) for Drive(s)

Right Click on S7 Blocks Folder and Insert a FC

Edit Symbolic Name and Comments

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Open New FC and Insert Drive FB

Open FC and Choose Drive FB from Catalogue

Note Catalogue Icon Highlighted on Task Bar

Insert a network and Drag FB120 on to Network

Add text

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Insert Instance DB in Drive FB

DB number is Entered to Generate Instance DB

Enter DB120 in “????” to test with Variable table included

Multiple FB120s with Specific DBs can be used

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Parameterize Function Block

Nominal RPM and Hex address from Drive

Use Nominal Speed for Demo or Machine

Address is same as in Hardware Config-Profibus for Drive

Address is Hex value and not decimal value

Save FC

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Insert FC in OB1

Open OB1 BlockSave Program in OB1 After Inserting FC

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Edit Symbol Table

Open Symbol Table and Edit Instance DBName for DB can be symbolic to AxisSave Symbol Table

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Download S7 Project to PLC

Open the Blocks Folder and Download the BlocksUse the Download Button on the S7 Manager task bar

System data has been loaded in the Hardware Config

SFC14 and SFC15 are included with S7 PLC

Automation and Drives

EZ Positioning with SINAMICS S120

Testing Application

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Verify Control Word One

Use VAR table in S7 Manager with Starter Diagnostics

Open the VAR Table Online*• Open Starter Online• Right Click on False of Bit 0.0 and force to 1.

*VAR Table included is addressed to DB120 if your test is for different DB you will need to edit VAR table

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Verify Control Word One

Open Control Logic in Starter and Observe Bit 0• Toggle Bit O ON / OFF with VAR Table• Off2, OFF3, and Enable are set Initially to 1 in the DB• Initial Value can be changed by user• OFF2 is Coast to Stop• OFF3 is Quick Ramp Down Stop• Enable is Pulse Enable to Drive

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Notes on Control Word One

Sequence order for Bits during Operation• Bit 10 is High for PLC Control• Off2, OFF3, and Enable are set to 1• OFF1 (Bit 0) Transitions to 1 and remains high• Control Word 1 is needed for Operation

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Jogging Axis

Use the VAR Table to Jog the axis• Control Word 1 Bit 0 must be ON for Operation• Set Bit 4.0 (Jog1) to True• Override must be Changed to set Value (E.g.

4000 Hex)• Initial DB value for Accel and Decel is 4000 Hex• Use Bit 62.1 for Jog 2

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Verify Jogging of Axis

Open Jog Folder to View Jogging• All Motion Functions will be under Basis Positioner

Folder

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Verify Jogging of Axis

Check Both Analog and Digital Setpoints• Check Digital Setpoints and Checkback with Radio

Buttons• Check Analog Setpoints to see Override Velocity

value• Open Diagnostics Folder for more information• Incremental Jogging can be set with a bit in the

Instance DB

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Jogging Setpoints

Click on Configure Jog Setpoints • Adjust setpoints if needed

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Homing Axis for Absolute Value Encoders* *Homing for Incremental Encoders on next Slide• Jog the Axis to the Desired Home Position • Turn off JOG and ON bits in the VAR chart• Open the Homing Folder (Basis Positioner / Homing)• Click on the Homing Graphic for Active and Passive 1• Choose Active Homing 2• Perform Absolute Value Calibration

12

3

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Incremental Encoder Homing – Note: Exercise uses absolute encoder

Select a Digital Input for Proximity Signal• Select a Digital Input for External Zero Mark

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Incremental Encoder Homing

Test digital Input from Switch Box• Verify the Operation of the Digital Input for

Zero Mark

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Homing Axis for Incremental Encoders

• Start Drive with DB Bit 0.0• Start Referencing with DB bit 4.1• Positive Direction for Homing is DB Bit 65.3 = 0• Force Drive External Zero Marker in Previous Screen• Drive Should stop and have Homing Position Set

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Setup Mode – Direct Setpoint Spec. / MDIUse VAR Table to Run drive is Setup Mode

Sequence for Setup Mode1. Set Control Word 1 in Operation (OFF1)2. Bit 10.1 MDI_Setup Bit = 13. Choose a Direction Fwd or Backward (10.3 or 10.4)4. Bit 10.7 Intermediate_Stop = 15. Bit 10.0 MDI_Start = 16. Bit 10.5 Edge_Trigger = 1 (Positive transition)

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Setup Mode – Direct Setpoint Spec. / MDIUse Direct Setpoint Specification / MDI Folder in

Starter• Check the Analog and Digital Signals during Setup / MDI

Configure MDI Positioning Velocity Open Configure MDI Fixed Setpoints

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

MDI Positioning - Relative

Use VAR Table to Run drive is Relative Positioning

Sequence for Relative Positioning1. Set Control Word 1 in Operation (OFF1)2. Bit 10.1 MDI_Setup Bit = 03. Bit 10.2 Position_Type = 0 (Relative)4. Bit 10.7 Intermediate_Stop = 15. Bit 10.0 MDI_Start = 16. MDI Velocity Override = Desired Override7. MDI Position DB Double Word 6 = Desired Position Move (Relative)8. Bit 10.5 Edge_Trigger = 1 (Positive transition)

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

MDI Positioning Relative

Use Direct Setpoint Specification / MDI Folder in Starter

• Check the Analog and Digital Signals during Setup / MDI

Note Positive Edge Required for Relative Positioning

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

MDI Positioning – Absolute

Use VAR Table to Run drive is Absolute PositioningSequence for Absolute Positioning1. Set Control Word 1 in Operation (OFF1)2. Bit 10.1 MDI_Setup Bit = 03. Bit 10.2 Position_Type = 1 (Absolute)4. Bit 10.7 Intermediate_Stop = 15. Bit 10.0 MDI_Start = 16. MDI Velocity Override DB Word 2 = Desired Override7. MDI Position DB Double Word 6 = Desired Position8. Bit 10.5 Edge_Trigger or 10.6 Constant_Trigger can be Used9. Note: Axis will move if new position given and Constant Trigger

used

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

MDI Positioning Absolute

Use Direct Setpoint Specification / MDI Folder in Starter

• Check the Analog and Digital Signals during Setup / MDI

Note Edge Type Trigger or Continuous can be used for Absolute Positioning

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Traversing Block

Set Up Traversing Block in Starter• Open Traversing Blocks Editor under Traversing

Blocks Folder• See Next page for Block Editor

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Traversing Block

Set Up Traversing Block in Starter• Edit a few Blocks for Testing –See Example Below• Blocks can be continuous or Single Block Execution• Note the Advance Field for type of Execution• In Job Field - Value of Wait or Go To (Block #)

Possible

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

Traversing Blocks

Use VAR Table to Run Traversing BlocksSequence for Traversing1. Set Control Word 1 in Operation (OFF1)2. Bit 10.0 MDI_Start = 0 3. Bit 10.7 Intermediate Stop = 14. Bit 64.7 Traverse Start5. DB Word 66 Traversing Bit to Start (E.g. = Block 1)

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

FB 120 Diagnostics

Diagnostics Mentioned in the VAR Table• These Bits and Words can be used in PLC Logic

S7 Control in Sinamics Drives

Production Machines

Automation and Drives

For internal use only

Agenda

FB 120 Block View