Transcript S7 Control in Sinamics Drives

Automation and Drives
EZ Positioning with
SINAMICS S120
Agenda
Automation and Drives
Sinamics EZ EPOS Agenda
Production
Machines
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
S7 Control in Sinamics Drives
For internal use only
Automation and Drives
EZ Positioning with
SINAMICS S120
S7 Hardware Configuration
Automation and Drives
Start New Project with S7 Simatic Manager
Production
Machines
Open S7 and Select File / New
Agenda
Select new Name for Project and Press OK
S7 Control in Sinamics Drives
For internal use only
Automation and Drives
Insert S7 300 Simatic Station
Production
Machines
Right Click on New Project and insert new Object
 Choose S7 300 Station
Agenda
New Station inserted --Note Hardware Icon
S7 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
Insert S7 300 Rack, Power Supply, and CPU
S7 Control in Sinamics Drives
For internal use only
Automation and Drives
Add Sinamics S120 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
S7 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!
S7 Control in Sinamics Drives
For internal use only
Automation and Drives
EZ Positioning with
SINAMICS S120
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
Do
not Upload to the PG!
S7 Control in Sinamics Drives
For internal use only
Automation and Drives
Default CU310 or CU320
Production
Machines
Right Click On CU310 (or CU320) and Choose…
•Target Device / Restore Factory Settings
Agenda
Check the Box – Save Factory Settings to ROM
Power
Cycle Drive after RAM to ROM Completed
S7 Control in Sinamics Drives
For internal use only
Automation and Drives
Complete Auto Configuration
Production
Machines
Agenda
Select Auto Configuration and Start Auto Configuration
Choose Control type for Motor type
Close after Initialization
S7 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
S7 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: [email protected]
[email protected]
S7 Control in Sinamics Drives
For internal use only
Automation and Drives
EZ Positioning with
SINAMICS S120
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
S7 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…
Configuration
Agenda
Choose Configure DDS…
Offline
S7 Control in Sinamics Drives
Configuration Wizard is Opened
For internal use only
Automation and Drives
Control Structure Setup
Production
Machines
Select Speed Control with Encoder
Use
Function Modules when Needed
For
EPOS Basic Positioner is Needed
Agenda
Next,
S7 Control in Sinamics Drives
Select Continue
For internal use only
Automation and Drives
Power Unit Configuration
Production
Machines
Agenda
Power Unit Data Up-read in Auto Configuration (DriveCLIQ)

Confirm Device type is Correct via Part label

Select Continue for next Configuration Screen
S7 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) **

**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
For internal use only
Automation and Drives
Holding Brake Configuration
Production
Machines
Agenda
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
S7 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)
**

**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
For internal use only
Automation and Drives
Encoder Data Configuration
Production
Machines
Agenda
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
S7 Control in Sinamics Drives
For internal use only
Automation and Drives
EPOS Only - Encoder Used for Position
Sensing
Production
Machines
Agenda
Select Encoder Used


Note that Encoder_4 refers to Device number 4
Usually Motor Encoder used for Position Sensing
S7 Control in Sinamics Drives
For internal use only
Automation and Drives
EPOS Only – Mechanics
Production
Machines
Agenda
Parameterize Gearing and Resolution


Modulo Axis can be programmed if need
This is only used in EPOS – For Basic Positioner



S7 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


Modulo Axis can be programmed
Load Revolutions = Gearing



S7 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



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
For internal use only
Automation and Drives
Summary Data Acceptance
Production
Machines
Agenda
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
For internal use only
Automation and Drives
Profibus Telegram Configuration
Production
Machines
From the Drive to be Commissioned Choose…

Configuration
Agenda
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!
S7 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
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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
For internal use only
Automation and Drives
Profibus Telegram Configuration
Production
Machines
Select Transfer to HW Config
CU Telegram will be sent to the S7 Hardware Config.

Agenda

Select Yes to transfer
S7 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
S7 Control in Sinamics Drives
For internal use only
Automation and Drives
EZ Positioning with
SINAMICS S120
Starter Script File
Automation and Drives
Open Starter Program in EZ_EPOS Example
Production
Machines
Copy Script file from Example Program
Agenda

Close Example Program’s Starter and go to new
Program
S7 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
S7 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

The Script Editor Buttons appear on the Task Bar
S7 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 FB120 are Complete
Save and Compile the Starter Program
•The Program is now Ready for Download
S7 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
S7 Control in Sinamics Drives
For internal use only
Automation and Drives
EZ Positioning with
SINAMICS S120
S7 Simatic Manager Programming
Automation and Drives
Open S7 Program & S7 Hardware
Production
Machines
Agenda
Open New Sinamics S7 Project
And
Open Hardware Configuration
To Confirm Configuration of Telegram
S7 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
Telegram
will be “User Defined”
Length
S7 Control in Sinamics Drives
should be 10 words (20 bytes)
For internal use only
Automation and Drives
Download Configuration to PLC
Production
Machines
Agenda
Save and Compile HW Configuration
Download
Configuration to PLC
S7 Control in Sinamics Drives
For internal use only
Automation and Drives
Download Configuration to PLC
Production
Machines
Agenda
Follow S7 Sequence to Download Hardware
Config
Select
Target Module (If Multiple PLCs)
Restart
PLCs
PLC after Download
LED will still show Fault
S7 Control in Sinamics Drives
For internal use only
Automation and Drives
Copy Blocks to New S7 Program
Production
Machines
Agenda
Open the Example Program and Copy Relevant Blocks
Task
Bar – Use Window / Split Horizontally
S7 Control in Sinamics Drives
For internal use only
Automation and Drives
Copy Blocks to New S7 Program
Production
Machines
Agenda
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
Copy
DB will be Created in Later Step
Relevant Profibus Communication Blocks
OB82,
OB86, and OB122
SFC14
and SFC15 are PLC System Function Blocks
S7 Control in Sinamics Drives
For internal use only
Automation and Drives
Insert FC (Function Call) for Drive(s)
Production
Machines
Agenda
Right Click on S7 Blocks Folder and Insert a FC
Edit
Symbolic Name and Comments
S7 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
Note
Catalogue Icon Highlighted on Task Bar
Insert
a network and Drag FB120 on to Network
Add text
S7 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
Enter
DB120 in “????” to test with Variable table included
Multiple
FB120s with Specific DBs can be used
S7 Control in Sinamics Drives
For internal use only
Automation and Drives
Parameterize Function Block
Production
Machines
Agenda
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
For internal use only
Automation and Drives
Insert FC in OB1
Production
Machines
Open OB1 Block
Save Program in OB1 After Inserting FC
Agenda
S7 Control in Sinamics Drives
For internal use only
Automation and Drives
Edit Symbol Table
Production
Machines
Agenda
Open Symbol Table and Edit Instance DB
Name for DB can be
Save Symbol Table
S7 Control in Sinamics Drives
symbolic to Axis
For internal use only
Automation and Drives
Download S7 Project to PLC
Production
Machines
Open the Blocks Folder and Download the Blocks
Use
the Download Button on the S7 Manager task bar
Agenda
System data has been loaded in the Hardware Config

SFC14 and SFC15 are included with S7 PLC
S7 Control in Sinamics Drives
For internal use only
Automation and Drives
EZ Positioning with
SINAMICS S120
Testing Application
Automation and Drives
Verify Control Word One
Production
Machines
Agenda
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
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
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
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
•
•
•
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
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 (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
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
S7 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
S7 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
S7 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
S7 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
S7 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
S7 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
S7 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 (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)
S7 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
 Open Configure MDI Fixed Setpoints
S7 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 (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)
S7 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
Note
Positive Edge Required for Relative Positioning
S7 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 (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
S7 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
Note
Edge Type Trigger or Continuous can be used
for Absolute Positioning
S7 Control in Sinamics Drives
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
S7 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
S7 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 (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)
S7 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
S7 Control in Sinamics Drives
For internal use only
Automation and Drives
FB 120 Block View
Production
Machines
Agenda
S7 Control in Sinamics Drives
For internal use only