1. EZ Positioning with SINAMICS S120 Agenda

2. 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

3. EZ Positioning with SINAMICS S120 S7 Hardware Configuration

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

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

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

7. 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

8. 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!

9. EZ Positioning with SINAMICS S120 Basic Starter Online Commissioning

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

11. 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

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

13. 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

14. Thank you very much Name: Carl Owens & Kevin Wu
Department: Production Machines
Address: 5300 Triangle Parkway, Suite 100
Norcross, GA 30092
Mail:

15. EZ Positioning with SINAMICS S120 Basic Starter Offline Commissioning

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

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

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

19. 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

20. 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

21. 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

22. 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

23. 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

24. 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

25. 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

26. 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

27. 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

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

29. 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!

30. 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

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

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

33. EZ Positioning with SINAMICS S120 Starter Script File

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

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

36. 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

37. 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

38. 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

39. EZ Positioning with SINAMICS S120 S7 Simatic Manager Programming

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

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

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

43. 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

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

45. 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

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

47. 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

48. 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

49. 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

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

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

52. 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

53. EZ Positioning with SINAMICS S120 Testing Application

54. 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

55. 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

56. 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

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

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

59. 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

60. Jogging Setpoints Click on Configure Jog Setpoints
Adjust setpoints if needed

61. 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

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

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

64. 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

65. 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)

66. 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

67. 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)

68. 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

69. 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

70. 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

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

72. 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

73. 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)

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

75. FB 120 Block View
Thank You!