1. Date:16.07.2015 File:MC-SMO-SYS_05.1 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Axes and Drives in SIMOTION

2. Date:16.07.2015 File:MC-SMO-SYS_05.2 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Axes and Drives in SIMOTION

3. Date:16.07.2015 File:MC-SMO-SYS_05.3 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives SIMOTION - Axes - Drives Drive: Inverter - motor - encoder SIMOTION axis: Linear or rotary axis

4. Date:16.07.2015 File:MC-SMO-SYS_05.4 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Integration of Drives... via analog interface or step motor interface... via PROFIBUS- DP Speed command or position- controlled For example SIMODRIVE 611U MASTERDRIVES MC SINAMICS S120

5. Date:16.07.2015 File:MC-SMO-SYS_05.5 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Syntax of Standard Message Frames (1) Standard message frame 1 (16 bit n set )Standard message frame 2 (32 bit n set, without encoder) Standard message frame 4 (32 bit n set, with 2 encoders) PZD number Setpoint 1 CW 1 2 NSET_A PZD number Actual value 1 STW 1 2 NACT_A PSD number Setpoint 1 CW 1 4 CW 2 23 NSET_B PSD number Actual value 1 STW 1 4 STW 2 23 NACT_B PSD number Setpoint 1 CW 1 4 CW 2 23 NSET_B 5 Enc1_CW PSD number Actual value 1 STW 1 4 STW 2 23 NACT_B 67 Enc1_XACT 1 89 Enc1_XACT 2 5 Enc1_STW PSD number Setpoint 1 CW 1 4 CW 2 23 NSET_B 5 Enc1_CW 6 Enc2_CW PSD number Actual value 1 STW 1 4 STW 2 23 NACT_B 67 Enc1_XACT 1 89 Enc1_XACT 2 5 Enc1_STW 1112 Enc2_XACT 1 1314 Enc2_XACT 2 10 Enc2_ZSW... Standard message frame 3 (32 bit n set, with encoder)...

6. Date:16.07.2015 File:MC-SMO-SYS_05.6 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Syntax of Standard Message Frames (2) Standard message frame 5 (32 bit n set, with 1 encoder + DSC) Standard message frame 6 (32 bit n set, with 2 encoders + DSC) PSD number Setpoint 1 CW 1 4 CW 2 23 NSET_B 5 Enc1_CW PSD number Actual value 1 STW 1 4 STW 2 23 NACT_B 67 XERR 89 KPC 67 Enc1_XACT 1 89 Enc1_XACT 2 5 Enc1_STW PSD number Setpoint 1 CW 1 4 CW 2 23 NSET_B 78 XERR 910 KPC 5 E1_STW 6 E2_STW PSD number Actual value 1 STW 1 4 STW 2 23 NACT_B... 67 E1_XACT 1 89 E1_XACT 2 1112 E2_XACT 1 1314 E2_XACT 2 5 E1_ZSW 10 E2_ZSW... PSD number Setpoint 1 CW 1 4 CW 2 23 NSET_B 78 XERR 910 KPC 5 MOMRW 6 E1_STW Example: Standard message frame 105 (32 bit n set, with 1 encoder + DSC + torque reduction) PSD number Actual value 1 STW 1 4 STW 2 23 NACT_B 78 E1_XACT 1 910 E1_XACT 2 5 MSGW 6 E1_ZSW

7. Date:16.07.2015 File:MC-SMO-SYS_05.7 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives ADI4 Overview: Drive Coupling StarterDrive Monitor SimoComU Starter Drive Configuration Drive ES 15 102 / 105 Preferred frame Speed axis-TO interface 1ms, 0,5 ms granular 3 msDP cycle DP standard Slave PROFIBUS interface MM410/420/440 MC Posmo S/CA/CD 611U S120 MICROMASTERMASTERDRIVE SIMODRIVE SINAMICS Clock synchronized on PROFIBUS -DP-MC Speed axis, positioning axis, synchronism, cam plate Analog Drives 1ms, 0,5 ms granular 3 Proprie- tary

8. Date:16.07.2015 File:MC-SMO-SYS_05.8 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Technology Objects (TO) in SIMOTION Axis Encoder Cam out Sensor Synchronism Configu- ration data System variables System- functions Alarms Configu- ration data System- variables System functions Alarms Configu- ration data System variables System functions Alarms Configu- ration data System variables System functions Alarms Configu- ration data System variables System functions Alarms Configu- ration data System variables System function Alarms Cam

9. Date:16.07.2015 File:MC-SMO-SYS_05.9 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives The "Axis" Technology Object 4 Types Speed axis: Motions with set speed Specification of a speed profile (time-controlled) Travel with torque limit Positioning axis Positioning via command or a position-dependent profile Travel to fixed endstop Homing Following axis Following axis is synchronized via a gearing or camming operation Path interpolation axis: Linear, circular and polynomial polation in 2D and/or 3D Speed axis Positioning axis Synchronized axis Path inter- polation axis

10. Date:16.07.2015 File:MC-SMO-SYS_05.10 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Creating and Configuring an Axis Via expert list Via parameter screens

11. Date:16.07.2015 File:MC-SMO-SYS_05.11 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Basic Axis Configuration Data set changeover

12. Date:16.07.2015 File:MC-SMO-SYS_05.12 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Removing Enables individually

13. Date:16.07.2015 File:MC-SMO-SYS_05.13 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Parameters of the Mechanics

14. Date:16.07.2015 File:MC-SMO-SYS_05.14 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Basic Configuration – Encoder Type and Mode Incremental encoder Absolute encoder Rectangular TTL Resolver Sine/cosine Endat Parameter assignment error (comparison with parameter r979): Error 20005: Device type:2, log.address:1234 faulted. (bit:0, base: 0x80h) Endat Resolver SSI

15. Date:16.07.2015 File:MC-SMO-SYS_05.15 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives "Cyclic Actual Value" Settings 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 031 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 G1_XIST 1 Example: SIMODRIVE 611U Encoder pulses: e.g. 2048 corresponds to 11 bits, defined in p1005 (encoder pulses for indirect measuring system) or p1007 (encoder pulses for direct measuring system) Multiplication factor: 0 corresponds to 2048, i.e. 11 bits for fine resolution n, defined in: p1042 (1 st encoder) and p1044 (2 nd encoder) Number of pulses per revolution 2 up to the number of Bits used for the "Fine resolution" Output of "cyclic actual value" by drive to SIMOTION Fine resolution factor: 2048 Encoder pulses: 2048 Overflows: 0 - 1023

16. Date:16.07.2015 File:MC-SMO-SYS_05.16 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives "Absolute Actual Value" Settings 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 031 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 Enc_n_XACT 2 Multiturn resolution: 4096, i.e. 12 bits corresponding to the encoder data Encoder pulses: 512, i.e. 9 bits corresponding to the encoder data Multiplication factor: 0, 512 corresponds to 512, i.e. 9 bits are used for the fine resolution Number of pulses per revolution Fine resolution for actual value in Enc_n_XACT_1 Fine resolution: 512 Encoder pulses: 512 Multiturn resolution: 4096 Example: Output of "absolute actual value" by drive (e.g. SIMODRIVE 611U) Fine resolution for actual value in Enc_n_XACT_2 Number of data bits: 23 No. of bits for multiturn resolution + no. of pulses

17. Date:16.07.2015 File:MC-SMO-SYS_05.17 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Encoder Type Settings for Absolute Encoders Fine resolution Encoder pulses Multiturn resolution Number of data bits: 23 Encoder information in Enc_n_XACT 2.. Multiturn info overflows Encoder type: "Absolute encoder" Multiturn information overflows are not stored in SIMOTION on shutdown "Absolute encoder, cyclic absolute" Multiturn information overflows are stored in SIMOTION on shutdown

18. Date:16.07.2015 File:MC-SMO-SYS_05.18 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Configuration of Default Settings

19. Date:16.07.2015 File:MC-SMO-SYS_05.19 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Parameters for the Limit Switches and max. Velocities Active travel range Selected home position "Absolute home position" Position encoder (linear scale) Hardware limit switch Software limit switch

20. Date:16.07.2015 File:MC-SMO-SYS_05.20 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Specifying the Maximum Acceleration and Jerk

21. Date:16.07.2015 File:MC-SMO-SYS_05.21 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Setting for Travel to Fixed Endstop Maximum motor torque --> TypeOfAxis.SetPointDriverInfo.DriveData.maxTorque

22. Date:16.07.2015 File:MC-SMO-SYS_05.22 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Filtering the Actual Value for Master Value Coupling

23. Date:16.07.2015 File:MC-SMO-SYS_05.23 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Position Controller in SIMOTION DSC mode Pre-control Servo gain factor

24. Date:16.07.2015 File:MC-SMO-SYS_05.24 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Unoptimized position control Optimized position control Position Controller Optimization without Feedforward Control Setpoint velocity: motionstatedata.commandvelocity Actual velocity: motionstatedata.actualvelocity Servo gain factor

25. Date:16.07.2015 File:MC-SMO-SYS_05.25 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Position Control with Feedforward Control Setpoint position Summarization filter Feedforward control - FE Actual position value * K V + n set Dead time (transfer on PROFIBUS,...) Configuration data.TypeOfAxis.NumberOfDataSets.DataSet_1.DynamicData.velocityTimeConstant = vTc (velocityTimeConstant) Expert mode Interpolator Symmetrization time constant A servoData.symmetricServoCommandVelocity servoData.symmetricServoCommandPosition servoData.preControlValue servoData.controllerOutput servoData.controllerDifference servoData.compensatedServoCommandValue sensorData.sensorData[1].actual velocity sensorData.sensorData[1].position servoData.followingerror * KPC Setpoint velocity

26. Date:16.07.2015 File:MC-SMO-SYS_05.26 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Selecting the Appropriate Type of Symmetrization Filter Selection in the input field "Balancing filter" "Extended balancing filter active" or via expert list (configuration data): TypeOfAxis.NumberOfDataSets.DataSet_1.ControllerStruct. PVController.balancedFilterMode PT1- filter Command value Actual value + - time Mode_1 n act Extended balancing filter time Mode_2 n act Actual value Command value time

27. Date:16.07.2015 File:MC-SMO-SYS_05.27 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Optimizating the Symmetrization Time Constant (vTc) K V = 80/s vTc = 7.5 ms without DSC sensorData.sensorData[1].actual velocity servoData.symmetricServoCommandVelocity motionstatedata.commandvelocity motionstatedata.actualvelocity K V = 80/s vTc = 1 ms without DSC K V = 80/s vTc = 25 ms without DSC vTc optimum vTc too small vTc too large sensorData.sensorData[1].actual velocity servoData.symmetricServoCommandVelocity

28. Date:16.07.2015 File:MC-SMO-SYS_05.28 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives PROFIDrive DSC Structure x cmd X act,NC x act, Drive T pc T sc Position control Transmission delay Interpolation (1 bus cycle) Zero offset and compensation x act,Motor x cmd SIMOTIONDrive Speed filter n Drive n cmd Speed control Speed calculation Path inter- polation Speed controller cycle 125 us Position controller cycle 1-2 ms

29. Date:16.07.2015 File:MC-SMO-SYS_05.29 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Position Control with Feedforward Control and DSC K V = 200/s vTc = 1.5 ms With DSC sensorData.sensorData[1].actual velocity servoData.symmetricServoCommandVelocity motionstatedata.commandvelocity motionstatedata.actualvelocity servoData. precontrolvalue Settings Activate feedforward control, Set weighting factor (KPC) = 100, Activate DSC mode Activated extended balancing filter (filter mode = Mode_2) Set vTc = Response time of drive

30. Date:16.07.2015 File:MC-SMO-SYS_05.30 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Dynamic Response Compensation for Synchronized Axes Pre-control Actual position Dead time A servoData.compensatedServoCommandValue servoData.TotalServoCommandValue Dead time ConfigurationData.TypeOfAxis.NumberOfDataSets.DataSet_1.DynamicComp.enable = Activation ConfigurationData.TypeOfAxis.NumberOfDataSets.DataSet_1.DynamicComp.T1 = First time constant ConfigurationData.TypeOfAxis.NumberOfDataSets.DataSet_1.DynamicComp.T2 = Second time constant ConfigurationData.TypeOfAxis.NumberOfDataSets.DataSet_1.DynamicComp.enable = Activation Sym. filter - FE * K V + * KPC n Setpont Interpolator Dynamic response compensation T 1, T 2 and dead time

31. Date:16.07.2015 File:MC-SMO-SYS_05.31 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Testing the Dynamic Compensation "good" dynamic compensation "bad" dynamic compensation programmed radius "actual" radius

32. Date:16.07.2015 File:MC-SMO-SYS_05.32 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Positioning and Standstill Monitoring As of V4.1: servoMonitoring.positioningState ACTUAL_VALUE_OUT_OF_POSITIONING_WINDOW ACTUAL_VALUE_INSIDE_POSITIONING_WINDOW STANDSTILL_MONITORING_ACTIVE

33. Date:16.07.2015 File:MC-SMO-SYS_05.33 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Speed Controlled Motions - Standstill Signal

34. Date:16.07.2015 File:MC-SMO-SYS_05.34 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Following Error - and Velocity Error Monitoring Functions

35. Date:16.07.2015 File:MC-SMO-SYS_05.35 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Programming Traversing Movements Single axis commands for traversing axes Set axis enable Remove axis enable Positioning to a target position Start axis in speed-controlled mode Start axis in position-controlled mode Stopping an axis Homing an axis

36. Date:16.07.2015 File:MC-SMO-SYS_05.36 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Enable/Disable Axis

37. Date:16.07.2015 File:MC-SMO-SYS_05.37 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Fine interpolator Position controller Interpolator Command buffer Processing Motion Commands Fine interpolator Position controller Interpolator Command Buffer End Start Pos(axis1 ) Pos(axis2 ) Pos(axis1) ?  MotionTask 1 ? Axis 1 Axis 2

38. Date:16.07.2015 File:MC-SMO-SYS_05.38 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Transition Behavior of Motion Commands Position axis Transition behavior Attach Attach - delete pending command Substitute Blending Superimpose

39. Date:16.07.2015 File:MC-SMO-SYS_05.39 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Program Step Enabling with Motion Commands Motion start End of acceleration Start of deceleration phase End of setpoint interpolation Motion completed Immediately set act Position axis Wait with program execution

40. Date:16.07.2015 File:MC-SMO-SYS_05.40 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Synchronous and Asynchronous Program Execution POS (axis1,...) POS (axis2,...) Task x Start axis positioning; Program advances to next command without waiting for the end of positioning POS (axis1,...) POS (axis2,...) Task x Task x: waits e.g. for end of movement Asynchronous sequence (e.g. for Background Task) Synchronous sequence (e.g. for Motion Task, Startup Task) Start axis positioning;

41. Date:16.07.2015 File:MC-SMO-SYS_05.41 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Dynamic Settings for the Positioning Command Velocity profile Constant Trapezoidal

42. Date:16.07.2015 File:MC-SMO-SYS_05.42 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Start Axis in Position-Controlled or Speed-Controlled Mode Time duration

43. Date:16.07.2015 File:MC-SMO-SYS_05.43 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Stoppnig the Axis Stop mode Selection

44. Date:16.07.2015 File:MC-SMO-SYS_05.44 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Continue Motion Selection All movements Basic movement Overlaid movement

45. Date:16.07.2015 File:MC-SMO-SYS_05.45 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Homing Axes with Incremental Measuring Systems Homing type Active Homing Passive homing Relative direct homing Setting the current position value

46. Date:16.07.2015 File:MC-SMO-SYS_05.46 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Active Homing with/without Zero Mark... Travel range Left travel limit Right travel limit Position encoder Zero marker Homing mode Output cam and zero mark Encoder zero mark only External zero mark only

47. Date:16.07.2015 File:MC-SMO-SYS_05.47 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Passive Homing with/without Zero Mark... Homing modes Homing output cam and encoder zero mark Encoder zero mark only External zero mark only

48. Date:16.07.2015 File:MC-SMO-SYS_05.48 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Adjusting an Absolute Encoder Homing type Absolute encoder adjustment Absolute encoder offset

49. Date:16.07.2015 File:MC-SMO-SYS_05.49 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Shift Measuring System Type Setpoint reference Actual value reference relative

50. Date:16.07.2015 File:MC-SMO-SYS_05.50 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Diagnosis of Axes – Service Overview Target system -> service overview

51. Date:16.07.2015 File:MC-SMO-SYS_05.51 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Query Axis States from System Variables 1.Select axis 2.Symbol browser

52. Date:16.07.2015 File:MC-SMO-SYS_05.52 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Meaning of the Service Overview Position control status (servomonitoring.controlstate) NameExplanation green: position control for the axis is active grey: position control is not active. Command value is zero. Operational status (control) green: axis can be moved by commands grey: axis is in follow-up mode Technological alarm at the axis (error) Red: Technological alarm is active at the axis grey: no Technological alarm Cyclic drive interface active (actormonitoring.cyclicinterface) green: cyclic data transfer via PROFIBUS to the drive grey: no cyclic data transfer Drive enable (actormonitoring.drivestate) green: drive enable (ramp function generator active) is active grey: no drive enable Power enable (actormonitoring.power) green: power enable (OFF1, OFF2 and OFF3 and operation enabled) grey: no power enable Drive error (actormonitoring.driveerror) Red: error at the drive (error active, switch on disabled) grey: no error at the drive Status of axis motion (motionstatedata.motioncommand) green: axis is not moving yellow: axis is moving green: axis is not moving (signal used for speed controlled axis) grey: axis is moving Velocity-related standstill signal (motionstatedata.stillstandvelocity) green: axis is referenced (only used for axis with incremental encoder) grey: axis is not referenced Axis homing status (positioningstate.homed)

53. Date:16.07.2015 File:MC-SMO-SYS_05.53 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Technological Alarms Alarms Alarm display and acknowledgement Display and acknowledgement in SCOUT Display and acknowledgement via HMI Acknowledgement via the user program Querying and evaluating in the user program Alarm 40106: Approach software limit switch Encoder (Linear Scale) Software limit switch

54. Date:16.07.2015 File:MC-SMO-SYS_05.54 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Configuring Technological Alarms 1. Execution system 2. TechnologicalFaultTask 3. Alarm configuration 4. Select TO 5. Configure alarm

55. Date:16.07.2015 File:MC-SMO-SYS_05.55 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Acknowledge Technological Alarms Acknowledge TO alarms Acknowledge specific TO alarm