EZ Positioning with SINAMICS S120 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

EZ Positioning with SINAMICS S120 S7 Hardware Configuration

Start New Project with S7 Simatic Manager Open S7 and Select File / New Select new Name for Project and Press OK

Insert S7 300 Simatic Station Right Click on New Project and insert new Object Choose S7 300 Station New Station inserted --Note Hardware Icon

Start Hardware Configuration Click on Hardware Icon and Open HW Configuration Open Hardware Catalogue Insert S7 300 Rack, Power Supply, and CPU

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

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!

EZ Positioning with SINAMICS S120 Basic Starter Online Commissioning

Open Starter Program & Go Online Open Starter by Motor Icon for Sinamics Go Online with Starter –Use Do not Upload to the PG!

Default CU310 or CU320 Right Click On CU310 (or CU320) and Choose… Target Device / Restore Factory Settings Check the Box – Save Factory Settings to ROM Power Cycle Drive after RAM to ROM Completed

Complete Auto Configuration Select Auto Configuration and Start Auto Configuration Choose Control type for Motor type Close after Initialization

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

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

EZ Positioning with SINAMICS S120 Basic Starter Offline Commissioning

Open Starter Program & Go Offline Open Starter by Motor Icon for Sinamics Go Offline with Starter –Use

Open DDS (Drive Data Set) From the Drive to be Commissioned Choose… Configuration Choose Configure DDS… Offline Configuration Wizard is Opened

Control Structure Setup Select Speed Control with Encoder Use Function Modules when Needed For EPOS Basic Positioner is Needed Next, Select Continue

Power Unit Configuration Power Unit Data Up-read in Auto Configuration (Drive-CLIQ) Confirm Device type is Correct via Part label Select Continue for next Configuration Screen

Motor Configuration Motor 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

Holding Brake Configuration Motor 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

Encoder Configuration Encoder 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

Encoder Data Configuration Encoder 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

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

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

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

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

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

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 Order S7 Hardware Configuration Should be Closed!

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

Profibus Telegram Configuration Select Transfer to HW Config CU Telegram will be sent to the S7 Hardware Config. Select Yes to transfer

Profibus Telegram Configuration Telegram has Successfully been Transferred Note Blue Check Boxes Save and Compile Program before Proceeding Save and Compile Using Starter

EZ Positioning with SINAMICS S120 Starter Script File

Open Starter Program in EZ_EPOS Example Copy Script file from Example Program Close Example Program’s Starter and go to new Program

Create Script Folder in New Program Right Click On Drive to be Commissioned Expert / Insert Script Folder Paste EPOS Script in Script Folder

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

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

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

EZ Positioning with SINAMICS S120 S7 Simatic Manager Programming

Open S7 Program & S7 Hardware Open New Sinamics S7 Project And Open Hardware Configuration To Confirm Configuration of Telegram

Verify Telegram Configuration Highlight the Profibus Card and View the Telegram Telegram will be “User Defined” Length should be 10 words (20 bytes)

Download Configuration to PLC Save and Compile HW Configuration Download Configuration to PLC

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

Copy Blocks to New S7 Program Open the Example Program and Copy Relevant Blocks Task Bar – Use Window / Split Horizontally

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 Program VAR (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

Insert FC (Function Call) for Drive(s) Right Click on S7 Blocks Folder and Insert a FC Edit Symbolic Name and Comments

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

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

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

Insert FC in OB1 Open OB1 Block Save Program in OB1 After Inserting FC

Edit Symbol Table Open Symbol Table and Edit Instance DB Name for DB can be symbolic to Axis Save Symbol Table

Download S7 Project to PLC Open the Blocks Folder and Download the Blocks Use 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

EZ Positioning with SINAMICS S120 Testing Application

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

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

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

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

Verify Jogging of Axis Open Jog Folder to View Jogging All Motion Functions will be under Basis Positioner Folder

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

Jogging Setpoints Click on Configure Jog Setpoints Adjust setpoints if needed

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 1 2 3

Incremental Encoder Homing – Note: Exercise uses absolute encoder Select a Digital Input for Proximity Signal Select a Digital Input for External Zero Mark

Incremental Encoder Homing Test digital Input from Switch Box Verify the Operation of the Digital Input for Zero Mark

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

Setup Mode – Direct Setpoint Spec. / MDI Use VAR Table to Run drive is Setup Mode Sequence for Setup Mode Set Control Word 1 in Operation (OFF1) 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)

Setup Mode – Direct Setpoint Spec. / MDI Use 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

MDI Positioning - Relative Use VAR Table to Run drive is Relative Positioning Sequence for Relative Positioning Set Control Word 1 in Operation (OFF1) 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)

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

MDI Positioning – Absolute Use VAR Table to Run drive is Absolute Positioning Sequence for Absolute Positioning Set Control Word 1 in Operation (OFF1) 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

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

Traversing Block Set Up Traversing Block in Starter Open Traversing Blocks Editor under Traversing Blocks Folder See Next page for Block Editor

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

Traversing Blocks Use VAR Table to Run Traversing Blocks Sequence for Traversing Set Control Word 1 in Operation (OFF1) 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)

FB 120 Diagnostics Diagnostics Mentioned in the VAR Table These Bits and Words can be used in PLC Logic

FB 120 Block View Thank You!