Automation and Drives EZ Positioning with SINAMICS S

Automation and Drives EZ Positioning with SINAMICS S 120 Agenda

Automation and Drives Sinamics EZ EPOS Agenda Production Machines Agenda Starter Basic Sinamics Drive Setup n n Insert Drive (CU 310 or CU 320) Auto Configure CU and Drive-CLIQ Devices Starter Offline Configuration n Drive Configuration Wizard Telegram Setup for EZ _EPOS Block Check S 7 Hardware Configuration Execute EZ_EPOS Script File n n n Copy from Example Project Execute and Save Project Download to Sinamics Step 7 Simatic Manager Programming n n Copy Needed blocks to new Program Setup FB 120 in new Program Edit Symbol Table Save and Download S 7 Project Test EPOS Application on Demo n Run through all EPOS Modes with S 7 PLC and S 120 Demo S 7 Control in Sinamics Drives For internal use only

Automation and Drives EZ Positioning with SINAMICS S 120 S 7 Hardware Configuration

Automation and Drives Start New Project with S 7 Simatic Manager Production Machines Open S 7 and Select File / New Agenda Select new Name for Project and Press OK S 7 Control in Sinamics Drives For internal use only

Automation and Drives Insert S 7 300 Simatic Station Production Machines Right Click on New Project and insert new Object n Choose S 7 300 Station Agenda New Station inserted --Note Hardware Icon S 7 Control in Sinamics Drives For internal use only

Automation and Drives Start Hardware Configuration Production Machines Agenda Click on Hardware Icon and Open HW Configuration Open Hardware Catalogue n. Insert S 7 300 Rack, Power Supply, and CPU S 7 Control in Sinamics Drives For internal use only

Automation and Drives Add Sinamics S 120 in Hardware Configuration Production Machines Agenda Drag the drive on to the Profibus Network • • • Choose Node Address 4 Select Present Firmware Version (2. 5) Choose Telegram Type None S 7 Control in Sinamics Drives For internal use only

Automation and Drives Save and Close Hardware Configuration Production Machines Agenda 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! S 7 Control in Sinamics Drives For internal use only

Automation and Drives EZ Positioning with SINAMICS S 120 Basic Starter Online Commissioning

Automation and Drives Open Starter Program & Go Online Production Machines Open Starter by Motor Icon for Sinamics Agenda Go Online with Starter –Use n. Do not Upload to the PG! S 7 Control in Sinamics Drives For internal use only

Automation and Drives Default CU 310 or CU 320 Production Machines Right Click On CU 310 (or CU 320) and Choose… • Target Device / Restore Factory Settings Agenda Check the Box – Save Factory Settings to ROM n. Power Cycle Drive after RAM to ROM Completed S 7 Control in Sinamics Drives For internal use only

Automation and Drives Complete Auto Configuration Production Machines Agenda Select Auto Configuration and Start Auto Configuration n. Choose Control type for Motor type n. Close after Initialization S 7 Control in Sinamics Drives For internal use only

Automation and Drives Starter Offline Configuration Production Machines Agenda 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 S 7 Control in Sinamics Drives For internal use only

Automation and Drives Production Machines 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 S 7 Control in Sinamics Drives For internal use only

Automation and Drives EZ Positioning with SINAMICS S 120 Basic Starter Offline Commissioning

Automation and Drives Open Starter Program & Go Offline Production Machines Open Starter by Motor Icon for Sinamics Agenda Go Offline with Starter –Use S 7 Control in Sinamics Drives For internal use only

Automation and Drives Open DDS (Drive Data Set) Production Machines From the Drive to be Commissioned Choose… n. Configuration Agenda Choose Configure DDS… n. Offline Configuration Wizard is Opened S 7 Control in Sinamics Drives For internal use only

Automation and Drives Control Structure Setup Production Machines Agenda Select Speed Control with Encoder n. Use Function Modules when Needed n. For EPOS Basic Positioner is Needed n. Next, Select Continue S 7 Control in Sinamics Drives For internal use only

Automation and Drives Power Unit Configuration Production Machines Agenda Power Unit Data Up-read in Auto Configuration (Drive-CLIQ) n Confirm Device type is Correct via Part label n Select Continue for next Configuration Screen S 7 Control in Sinamics Drives For internal use only

Automation and Drives Motor Configuration Production Machines Agenda Motor Data Up-read in Auto Configuration (Drive-CLIQ) ** n **If Motor is a Drive-CLIQ Motor n Non Drive-CLIQ Motors can be Selected from List n Third Party Motors can have data entered S 7 Control in Sinamics Drives For internal use only

Automation and Drives Holding Brake Configuration Production Machines Agenda Motor Data Up-read in Auto Configuration (Drive-CLIQ) ** n **If Motor is a Drive-CLIQ Motor n Non Drive-CLIQ Motors Check Motor Name Plate n DEMO drive do not Use Holding Brakes S 7 Control in Sinamics Drives For internal use only

Automation and Drives Encoder Configuration Production Machines Agenda Encoder Data Up-read in Auto Configuration (Drive-CLIQ) ** n **If Encoder / Motor is a Drive-CLIQ Motor n Siemens and Third Party Encoders can be Parameterized n Note Encoder 1 is from Motor Encoder S 7 Control in Sinamics Drives For internal use only

Automation and Drives Encoder Data Configuration Production Machines Agenda Encoder Data Up-read in Auto Configuration (Drive-CLIQ) ** n **If Encoder / Motor is a Drive-CLIQ Motor n Siemens and Third Party Encoders can be Parameterized n Note Encoder 1 is from Motor Encoder S 7 Control in Sinamics Drives For internal use only

Automation and Drives EPOS Only - Encoder Used for Position Sensing Production Machines Agenda Select Encoder Used n n Note that Encoder_4 refers to Device number 4 Usually Motor Encoder used for Position Sensing S 7 Control in Sinamics Drives For internal use only

Automation and Drives EPOS Only – Mechanics Production Machines Agenda Parameterize Gearing and Resolution n n Modulo Axis can be programmed if need This is only used in EPOS – For Basic Positioner n n n S 7 Control in Sinamics Drives Load Revolutions = Gearing Lu / Load is resolution Default for testing in DEMO For internal use only

Automation and Drives EPOS Only – Mechanics Production Machines Agenda Parameterize Gearing and Resolution n n Modulo Axis can be programmed Load Revolutions = Gearing n n n S 7 Control in Sinamics Drives Load Revolutions = Gearing Lu / Load is resolution Use Default for testing in DEMO For internal use only

Automation and Drives Profibus Telegram type Production Machines Agenda Choose Free Telegram with BICO n n n The Profibus Telegram will be Configured Later Free Telegram allows Custom Telegrams Script Files will be used to Setup Telegram Mapping S 7 Control in Sinamics Drives For internal use only

Automation and Drives Summary Data Acceptance Production Machines Agenda Review data and Click Finish if Complete n n After Completing DDS Wizard “Save and Compile” DDS Wizard Data is now Complete S 7 Control in Sinamics Drives For internal use only

Automation and Drives Profibus Telegram Configuration Production Machines From the Drive to be Commissioned Choose… n Configuration Agenda Use Up – Down Buttons to Move Drive Objects n. CU is 1 st and Drive (S) should be in Preceding Order n. S 7 Hardware Configuration Should be Closed! S 7 Control in Sinamics Drives For internal use only

Automation and Drives Profibus Telegram Configuration Production Machines Select Word Length For Telegrams § CU Telegram not needed for Demo Agenda 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 S 7 Control in Sinamics Drives For internal use only

Automation and Drives Profibus Telegram Configuration Production Machines Select Transfer to HW Config § CU Telegram will be sent to the S 7 Hardware Config. Agenda § Select Yes to transfer S 7 Control in Sinamics Drives For internal use only

Automation and Drives Profibus Telegram Configuration Production Machines Telegram has Successfully been Transferred § Note Blue Check Boxes Agenda Save and Compile Program before Proceeding § Save and Compile Using Starter S 7 Control in Sinamics Drives For internal use only

Automation and Drives EZ Positioning with SINAMICS S 120 Starter Script File

Automation and Drives Open Starter Program in EZ_EPOS Example Production Machines Copy Script file from Example Program Agenda n Close Example Program’s Starter and go to new Program S 7 Control in Sinamics Drives For internal use only

Automation and Drives Create Script Folder in New Program Production Machines Right Click On Drive to be Commissioned • Expert / Insert Script Folder Agenda Paste EPOS Script in Script Folder S 7 Control in Sinamics Drives For internal use only

Automation and Drives Open EPOS Script in New Project Production Machines Click On EPOS Script • The Script Editor Opens Agenda Click inside the Script Editor area n The Script Editor Buttons appear on the Task Bar S 7 Control in Sinamics Drives For internal use only

Automation and Drives Accept and Execute the Script Production Machines Agenda Click On the Accept and Execute Button • The script File parameterizes the drive for EPOS • All the Drive Parameters needed by FB 120 are Complete Save and Compile the Starter Program • The Program is now Ready for Download S 7 Control in Sinamics Drives For internal use only

Automation and Drives Download to the Drive Production Machines Agenda Go Online with Starter to the Drive • Choose Download to the Drive • Choose RAM to ROM Drive is now ready for Operation S 7 Control in Sinamics Drives For internal use only

Automation and Drives EZ Positioning with SINAMICS S 120 S 7 Simatic Manager Programming

Automation and Drives Open S 7 Program & S 7 Hardware Production Machines Agenda Open New Sinamics S 7 Project n. And Open Hardware Configuration n. To Confirm Configuration of Telegram S 7 Control in Sinamics Drives For internal use only

Automation and Drives Verify Telegram Configuration Production Machines Agenda Highlight the Profibus Card and View the Telegram n. Telegram will be “User Defined” n. Length should be 10 words (20 bytes) S 7 Control in Sinamics Drives For internal use only

Automation and Drives Download Configuration to PLC Production Machines Agenda Save and Compile HW Configuration n. Download Configuration to PLC S 7 Control in Sinamics Drives For internal use only

Automation and Drives Download Configuration to PLC Production Machines Agenda Follow S 7 Sequence to Download Hardware Config n. Select Target Module (If Multiple PLCs) n. Restart PLC after Download n. PLCs LED will still show Fault S 7 Control in Sinamics Drives For internal use only

Automation and Drives Copy Blocks to New S 7 Program Production Machines Agenda Open the Example Program and Copy Relevant Blocks n. Task Bar – Use Window / Split Horizontally S 7 Control in Sinamics Drives For internal use only

Automation and Drives Copy Blocks to New S 7 Program Production Machines Agenda Open the Example Program and Copy Relevant Blocks n. See Example Below for Copying Blocks Paste Blocks in new S 7 Program n. VAR (Variable Table) can be copied n. VAR may need editing if Instance DB # Changes n. Instance DB will be Created in Later Step n. Copy Relevant Profibus Communication Blocks n. OB 82, OB 86, and OB 122 n. SFC 14 and SFC 15 are PLC System Function Blocks S 7 Control in Sinamics Drives For internal use only

Automation and Drives Insert FC (Function Call) for Drive(s) Production Machines Agenda Right Click on S 7 Blocks Folder and Insert a FC n. Edit Symbolic Name and Comments S 7 Control in Sinamics Drives For internal use only

Automation and Drives Open New FC and Insert Drive FB Production Machines Agenda Open FC and Choose Drive FB from Catalogue n. Note Catalogue Icon Highlighted on Task Bar n. Insert a network and Drag FB 120 on to Network Add text S 7 Control in Sinamics Drives For internal use only

Automation and Drives Insert Instance DB in Drive FB Production Machines Agenda DB number is Entered to Generate Instance DB n. Enter DB 120 in “? ? ” to test with Variable table included n. Multiple FB 120 s with Specific DBs can be used S 7 Control in Sinamics Drives For internal use only

Automation and Drives Parameterize Function Block Production Machines Agenda Nominal RPM and Hex address from Drive n. Use Nominal Speed for Demo or Machine n. Address is same as in Hardware Config-Profibus for Drive n. Address is Hex value and not decimal value n Save FC S 7 Control in Sinamics Drives For internal use only

Automation and Drives Insert FC in OB 1 Production Machines Open OB 1 Block n. Save Program in OB 1 After Inserting FC Agenda S 7 Control in Sinamics Drives For internal use only

Automation and Drives Edit Symbol Table Production Machines Agenda Open Symbol Table and Edit Instance DB n. Name for DB can be symbolic to Axis n. Save Symbol Table S 7 Control in Sinamics Drives For internal use only

Automation and Drives Download S 7 Project to PLC Production Machines Open the Blocks Folder and Download the Blocks n. Use the Download Button on the S 7 Manager task bar Agenda System data has been loaded in the Hardware Config n SFC 14 and SFC 15 are included with S 7 PLC S 7 Control in Sinamics Drives For internal use only

Automation and Drives EZ Positioning with SINAMICS S 120 Testing Application

Automation and Drives Verify Control Word One Production Machines Agenda Use VAR table in S 7 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 DB 120 if your test is for different DB you will need to edit VAR table S 7 Control in Sinamics Drives For internal use only

Automation and Drives Verify Control Word One Production Machines Agenda • • • Open Control Logic in Starter and Observe Bit 0 Toggle Bit O ON / OFF with VAR Table Off 2, OFF 3, and Enable are set Initially to 1 in the DB Initial Value can be changed by user OFF 2 is Coast to Stop OFF 3 is Quick Ramp Down Stop Enable is Pulse Enable to Drive S 7 Control in Sinamics Drives For internal use only

Automation and Drives Notes on Control Word One Production Machines Agenda Sequence order for Bits during Operation • Bit 10 is High for PLC Control • • • Off 2, OFF 3, and Enable are set to 1 OFF 1 (Bit 0) Transitions to 1 and remains high Control Word 1 is needed for Operation S 7 Control in Sinamics Drives For internal use only

Automation and Drives Jogging Axis Production Machines Agenda Use the VAR Table to Jog the axis • Control Word 1 Bit 0 must be ON for Operation • Set Bit 4. 0 (Jog 1) 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 S 7 Control in Sinamics Drives For internal use only

Automation and Drives Verify Jogging of Axis Production Machines • Open Jog Folder to View Jogging All Motion Functions will be under Basis Positioner Folder Agenda S 7 Control in Sinamics Drives For internal use only

Automation and Drives Verify Jogging of Axis Production Machines Agenda • • 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 S 7 Control in Sinamics Drives For internal use only

Automation and Drives Jogging Setpoints Production Machines Click on Configure Jog Setpoints • Adjust setpoints if needed Agenda S 7 Control in Sinamics Drives For internal use only

Automation and Drives Homing Axis for Absolute Value Encoders* Production Machines Agenda • • • *Homing for Incremental Encoders on next Slide 1 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 2 3 S 7 Control in Sinamics Drives For internal use only

Automation and Drives Incremental Encoder Homing – Production Machines Note: Exercise uses absolute encoder Select a Digital Input for Proximity Signal • Select a Digital Input for External Zero Mark Agenda S 7 Control in Sinamics Drives For internal use only

Automation and Drives Incremental Encoder Homing Production Machines Test digital Input from Switch Box • Verify the Operation of the Digital Input for Zero Mark Agenda S 7 Control in Sinamics Drives For internal use only

Automation and Drives Homing Axis for Incremental Encoders Production Machines Agenda • • • 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 S 7 Control in Sinamics Drives For internal use only

Automation and Drives Setup Mode – Direct Setpoint Spec. / MDI Production Machines Agenda Use VAR Table to Run drive is Setup Mode Sequence for Setup Mode 1. 2. 3. 4. 5. 6. Set Control Word 1 in Operation (OFF 1) Bit 10. 1 MDI_Setup Bit = 1 Choose a Direction Fwd or Backward (10. 3 or 10. 4) Bit 10. 7 Intermediate_Stop = 1 Bit 10. 0 MDI_Start = 1 Bit 10. 5 Edge_Trigger = 1 (Positive transition) S 7 Control in Sinamics Drives For internal use only

Automation and Drives Setup Mode – Direct Setpoint Spec. / MDI Production Machines Use Direct Setpoint Specification / MDI Folder in Starter • Check the Analog and Digital Signals during Setup / MDI Agenda Configure MDI Positioning Velocity n Open Configure MDI Fixed Setpoints S 7 Control in Sinamics Drives For internal use only

Automation and Drives MDI Positioning - Relative Production Machines Agenda Use VAR Table to Run drive is Relative Positioning Sequence for Relative Positioning 1. 2. 3. 4. 5. 6. 7. 8. Set Control Word 1 in Operation (OFF 1) Bit 10. 1 MDI_Setup Bit = 0 Bit 10. 2 Position_Type = 0 (Relative) Bit 10. 7 Intermediate_Stop = 1 Bit 10. 0 MDI_Start = 1 MDI Velocity Override = Desired Override MDI Position DB Double Word 6 = Desired Position Move (Relative) Bit 10. 5 Edge_Trigger = 1 (Positive transition) S 7 Control in Sinamics Drives For internal use only

Automation and Drives MDI Positioning Relative Production Machines Use Direct Setpoint Specification / MDI Folder in Starter • Check the Analog and Digital Signals during Setup / MDI Agenda n. Note Positive Edge Required for Relative Positioning S 7 Control in Sinamics Drives For internal use only

Automation and Drives MDI Positioning – Absolute Production Machines Agenda Use VAR Table to Run drive is Absolute Positioning Sequence for Absolute Positioning 1. 2. 3. 4. 5. 6. 7. 8. 9. Set Control Word 1 in Operation (OFF 1) Bit 10. 1 MDI_Setup Bit = 0 Bit 10. 2 Position_Type = 1 (Absolute) Bit 10. 7 Intermediate_Stop = 1 Bit 10. 0 MDI_Start = 1 MDI Velocity Override DB Word 2 = Desired Override MDI Position DB Double Word 6 = Desired Position Bit 10. 5 Edge_Trigger or 10. 6 Constant_Trigger can be Used Note: Axis will move if new position given and Constant Trigger used S 7 Control in Sinamics Drives For internal use only

Automation and Drives MDI Positioning Absolute Production Machines Use Direct Setpoint Specification / MDI Folder in Starter • Check the Analog and Digital Signals during Setup / MDI Agenda n. Note Edge Type Trigger or Continuous can be used for S 7 Control in Sinamics Drives Absolute Positioning For internal use only

Automation and Drives Traversing Block Production Machines Set Up Traversing Block in Starter • • Open Traversing Blocks Editor under Traversing Blocks Folder See Next page for Block Editor Agenda S 7 Control in Sinamics Drives For internal use only

Automation and Drives Traversing Block Production Machines Agenda 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 S 7 Control in Sinamics Drives For internal use only

Automation and Drives Traversing Blocks Production Machines Agenda Use VAR Table to Run Traversing Blocks Sequence for Traversing 1. 2. 3. 4. 5. Set Control Word 1 in Operation (OFF 1) Bit 10. 0 MDI_Start = 0 Bit 10. 7 Intermediate Stop = 1 Bit 64. 7 Traverse Start DB Word 66 Traversing Bit to Start (E. g. = Block 1) S 7 Control in Sinamics Drives For internal use only

Automation and Drives FB 120 Diagnostics Production Machines Diagnostics Mentioned in the VAR Table • These Bits and Words can be used in PLC Logic Agenda S 7 Control in Sinamics Drives For internal use only

Automation and Drives FB 120 Block View Production Machines Agenda S 7 Control in Sinamics Drives For internal use only