user manual traversing drive with dcc · it is assumed that the reader has basic knowledge about...
Post on 15-Jun-2018
216 Views
Preview:
TRANSCRIPT
User Manual Traversing Drive with DCC
SINAMICS DCC Traversing Drive V1.01
Application No.: A4027118-A0460
General information
SINAMICS DCC Traversing Drive
Version 1.01 10.01.2014 2/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
We reserve the right to make technical changes to this product.
Copyright Reproduction, transmission or use of this document or its contents is not permitted without express written authority. Offenders will be liable for damages. All rights, including rights created by patent grant or registration or a utility model or design, are reserved.
General information
SINAMICS DCC Traversing Drive
Version 1.01 10.01.2014 3/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
General information
Note The standard applications are not binding and do not claim to be complete regarding the circuits shown and equipping as well as possible eventualities. The standard applications do not represent customer-specific solutions. They are only intended to provide support for typical applications. You are responsible in ensuring that the described products are correctly used. These standard applications do not relieve you of the responsibility of safely and professionally using, installing, operating and servicing equipment. When using these standard applications, you recognize that Siemens cannot be made liable for any damage/claims beyond the liability clause describe. We reserve the right to make changes to these standard applications at any time without prior notice. If there are any deviations between the recommendations provided in these standard applications and other Siemens publications - e.g. Catalogs, then the contents of the other documents have priority.
Warranty, liability and support We do not accept any liability for the information contained in this document. Claims against us - irrespective of the legal grounds - resulting from the use of the examples, information, programs, engineering and performance data etc., described in this standard application are excluded. Such an exclusion shall not apply where liability is mandatory e.g. under the German Product Liability Act involving intent, gross negligence, or injury of life, body or health, guarantee for the quality of a product, fraudulent concealment of a deficiency or non-performance. Claims of the purchaser for compensation relating to non-performance of essential contract obligations shall be limited to foreseeable damages typically covered by a contract unless intent, willful misconduct or gross negligence is involved or injury of life, body or health. The above stipulations shall not change the burden of proof to your detriment. Copyright© 2009 Siemens I DT. It is not permissible to transfer or copy these application examples or excerpts of them without first having prior authorization from Siemens I DT in writing. If you have any questions relating to this document then please send them to us at the following e-mail address: mailto:applications.erlf.aud@siemens.com
General information
SINAMICS DCC Traversing Drive
Version 1.01 10.01.2014 4/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
Applicable conditions / Alternative 1: (Internal business) If nothing else has been negotiated, then the "Conditions for the supply and services in Siemens internal business" applies in the version that is valid at the time that the equipment is purchased. / Alternative 2: (Domestic business of Siemens AG) If nothing else has been negotiated, then the "General License Conditions for Software for Automation and Drives for Customers with a Seat or Registered Office in Germany", valid at the time of sale, are applicable. / Alternative 3: (Direct export business of Siemens AG) If nothing else has been negotiated, then the "General License Conditions for Software Products for Automation and Drives for Customers with a Seat or Registered Office outside Germany", valid at the time of sale, are applicable. / Alternative 4: (Conditions of the particular regional office for the regional office business) If nothing else has been negotiated, then the "...", valid at the time of sale, are applicable.
Qualified personnel In the sense of this documentation qualified personnel are those who are knowledgeable and qualified to mount/install, commission, operate and service/maintain the products which are being used. He or she must have the appropriate qualifications to carry-out these activities e.g.: Trained and authorized to energize and de-energize, ground and tag circuits
and equipment according to applicable safety standards. Trained or instructed according to the latest safety standards in the care and
use of the appropriate safety equipment. Trained in rendering first aid.
There is no explicit warning information in this documentation. However, reference is made to warning information and instructions in the Operating Instructions for the particular product.
Information regarding export codes AL: N ECCN: N
Foreword
SINAMICS DCC Traversing Drive
Version 1.01 10.01.2014 5/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
Foreword Objective of the application
This application is based on the technological interaction between the SINAMICS drive system and the DCC programming language and a SIMATIC S7 PLC. In order to show this as simply and as practically as possible, a technological function, frequently used in machines is used in a simple example with HMI (winCC flexible). This means that the application can also be used as presentation model.
Core contents of this application The following core issues are discussed in this application: How the various components interact and operate with one another Which technological function is used The advantages that this solution offers How the technological function is programmed or parameterized How the example can be used as presentation/demonstration system
Scope of the document This application does not include: Automatic control of the traversing arm via SIMATIC S7. The user must
integrate this application into his automation solution. The traversing arm runs in velocity synchronism with the winder. If there is a
requirement regarding angular offset control - and therefore a rigid synchronous angular relationship - then we recommend the “Traversing arm in SIMOTION“ application.
Simple traversing arms can be very quickly implemented using the basic positioning mode ”traversing blocks”. However, in this case, many of the subsequently described functions will only be possible with certain restrictions.
It is assumed that the reader has basic knowledge about these subjects and topics.
Foreword
SINAMICS DCC Traversing Drive
Version 1.01 10.01.2014 6/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
Structure of the document The documentation of this application is sub-divided into the following main sections.
Section Description Application description Here, you can obtain an overview of the application. You
will get to know the components being used (standard hardware and software components as well as your own user software specifically generated for the purpose). You will also be provided with engineering/configuring information and instructions on how to select the most suitable closed-loop control concept.
Application example as demonstration system
This section will guide you step-by-step through the main points when commissioning the demonstration application. This is then followed by information on how to use the demonstration application.
Integrating the core function The "Integrating the core function" section will guide you step-by-step through the essential points when integrating the core function into your user program and when commissioning the application.
Program description Individual block functions are described in more detail in the “Program description“. Here you will find a precise description of the parameters and how they are used.
Attachment Here, you will find additional information – such as e.g. references to literature, glossaries etc..
Table of contents
SINAMICS DCC Traversing Drive
Version 1.01 10.01.2014 7/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
Table of contents Application description ............................................................................................ 9
1 Basic information ............................................................................... 9 1.1 Prerequisites ..................................................................................... 9 1.1.1 Target group ...................................................................................... 9 1.1.2 Technical environment ....................................................................... 9 1.2 Objective and purpose of this application ........................................... 9 1.2.1 Task description ................................................................................ 9 1.2.2 Problem solution using the standard application ................................. 9 1.2.3 Advantages of the standard application ............................................ 10 1.3 Components included in the standard application............................. 10 1.4 Principle of operation of the application ............................................ 11 1.4.1 Schematic representation ................................................................ 11 1.4.2 Traversing arm data......................................................................... 11 2 Application functions ........................................................................ 13 2.1 Tasks that can be addressed using the core function ....................... 13 2.2 Characteristics of the core function .................................................. 13 3 Automation solution ......................................................................... 14 3.1 Hardware and software components required .................................. 14
Application example as demonstration system .................................................... 16
4 Installing the hardware and software ................................................ 16 4.1 Regarding your safety ...................................................................... 16 4.1.1 Safety information and instructions .................................................. 16 4.1.2 Responsibilities of the operator ........................................................ 17 4.2 Installing the hardware and software ................................................ 18 4.3 Installing the application software .................................................... 19 5 Using the application example ......................................................... 20 5.1 Brief instructions on the demonstrating the example......................... 20 5.1.1 Structure overview ........................................................................... 20 5.1.2 Brief instructions .............................................................................. 20 5.2 Detailed operating instructions ......................................................... 22 5.2.1 Starting screen ................................................................................ 22 5.2.2 “Automatic” screen .......................................................................... 23 5.2.3 “Settings” screen ............................................................................. 24 5.2.4 “EPOS” screen ................................................................................ 25
Integrating the core function ................................................................................. 26
6 Program environment and interfaces ............................................... 26 6.1 Program structure ............................................................................ 26 6.2 Interfaces ........................................................................................ 27 7 Integration into the user program ..................................................... 28 7.1 Technology objects required ............................................................ 28 7.2 Preparation ...................................................................................... 28 7.3 Integrating the core function ............................................................. 32 7.4 Configuring examples ...................................................................... 34 7.4.1 Shorter sampling time ...................................................................... 34 7.4.2 Execution sequence ........................................................................ 34 7.4.3 Measures when the winder speed actual values fluctuate ................ 34
Program description .............................................................................................. 36
Table of contents
SINAMICS DCC Traversing Drive
Version 1.01 10.01.2014 8/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
8 Program and function description ..................................................... 36 8.1 DCC chart ....................................................................................... 36 8.1.1 Overview, function block .................................................................. 36 8.1.2 Parameter description ...................................................................... 37
Input parameters ............................................................................. 37 Output parameters ........................................................................... 39
8.2 SIMATIC S7 Profibus interfaced ...................................................... 39 8.2.1 Control signals/setpoints .................................................................. 39 8.2.2 Feedback signals ............................................................................. 43 9 Function description......................................................................... 46 9.1 DCC traversing program .................................................................. 46 9.1.1 Structure.......................................................................................... 46 9.1.2 DCC chart ....................................................................................... 46 9.2 Profibus communication in SIMATIC S7 ........................................... 48 10 Commissioning the function ............................................................. 48 10.1 Parameterization ............................................................................. 48 10.2 Test and fine setting ........................................................................ 50 10.3 Data coupling to SIMATIC ............................................................... 55
Appendix ................................................................................................................ 56
11 General information on the application ............................................. 56 11.1 Scope of supply ............................................................................... 56 11.2 Revisions/Author ............................................................................. 56 12 Literature ......................................................................................... 56 13 Contact partner ................................................................................ 57
Application description
Basic information
SINAMICS Traversing
Version 1.01 10.01.2014 9/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
Application description
Contents Here, you will obtain an overview of the “Traversing arm in SINAMICS“ application. You will get to know the components that are being used (standard hardware and software components as well as the user software that was generated). The main performance data indicate the performance of this application.
1 Basic information 1.1 Prerequisites
1.1.1 Target group
The standard application is intended for all programmers and users that which to quickly and simply implement traversing arm functionality using SINAMICS.
1.1.2 Technical environment
This standard application can be used, unchanged, in conjunction with a SIMATIC S7 and a SINAMICS S120 demonstration case.
1.2 Objective and purpose of this application
1.2.1 Task description
The standard traversing arm application in SINAMICS was developed with the objective to create a flexible solution for traversing arm applications; whereby the essential and relevant data for the traversing arm process can be entered using input values and changed during operation (hot changes). This means that by specifically entering the input values, the traversing arm profile - and therefore the stability of the winding structure can be influenced in a specific fashion. Due to the fact that the software structure is open, when required, it is also possible to modify the application. Using the appropriate equipment, this application allows a wide range of different materials to be traversed with a specific profile (e.g. textile fibers, wires, …). It is ensured that the motor, which drives the traversing arm equipment, precisely follows the input values. In practice, the quality of the traversing motion depends on the mechanical design of the traversing arm unit and the properties and characteristics of the material that is being wound using the traversing arm. Typically, the traversing arm drive operates in conjunction with a winder that supplies the leading (master) value for the traversing arm.
1.2.2 Problem solution using the standard application
A DCC program is the core function of this standard application: The traversing arm is implemented in the DCC program and can be simply parameterized. Only the traversing arm interface has to be processed and the input/output parameters appropriately interconnected in the user program in the SIMATIC S7.
Application description
Basic information
SINAMICS Traversing
Version 1.01 10.01.2014 10/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
1.2.3 Advantages of the standard application
The use of the standard “Traversing arm" application offers users the following advantages:
The program can be quickly generated By using the standard “Traversing arm” application, it is possible to quickly and simply implement extensive traversing arm functionality when generating the program with SIMATIC S7. The core function can be integrated into the user program by simply parameterizing it. The necessary configuring steps will be explained in this description of the standard application.
Possibility of adapting the user program The standard “Traversing arm” application is included with the DCC chart in a form that has comments. This means that this core function can be quickly and simply expanded by users to include their own functions.
1.3 Components included in the standard application
The standard “Traversing arm“ application is implemented as SIMATIC project with integrated SINAMICS and winCC flexible project. The project can be simultaneously used for a (demonstration) machine, a SINAMICS S120 demonstration case, a SIMATIC S7 and PC with WinCC flexible RunTime for visualization purposes. The program fulfills the following tasks: Controls the (demonstration) machine Simulates the machine functions relevant for the demonstration case
environment Displays & visualizes the (demonstration) machine on the WinCC flexible
screen (man-machine interface)
Application description
Basic information
SINAMICS Traversing
Version 1.01 10.01.2014 11/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
1.4 Principle of operation of the application
1.4.1 Schematic representation
A wound roll is shown as example in the following diagram. As can be seen from the diagram, the profile of the roll being wound can be defined using the following quantities: Waiting angle, acceleration distance, winding step and winding width. The v-t diagram of a traversing motion is shown in the diagram below. Fig. 1-1
1.4.2 Traversing arm data
A definition of the designations/names used is provided in the following text.
Winding width Winding width is the traversing distance that the traversing arm moves through between two reversal points. From experience, the width of the wound roll can be somewhat narrower as the materials being would can more towards the wound roll at the reversal points depending on the particular product, tension and other effects. In this application, the winding width is parameterized using the righthand and lefthand reversing point.
Application description
Basic information
SINAMICS Traversing
Version 1.01 10.01.2014 12/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
Winding step Winding step is the traversing distance that the traversing arm moves through during one winder revolution. This means that this parameter defines the “gradient” of the material.
Acceleration distance Acceleration distance is the distance that the traversing arm moves through from the reversal point up until it reaches its final traversing velocity.
Waiting angle This is the angle at the winder drive that this moves through until the direction of the traversing arm reverses. This allows the length of material that is wound at the same traversing arm position to be selected. As a consequence, among others things, the stiffness/hardness of the wound roll is influenced at the edges of the roll.
Application description
Application functions
SINAMICS Traversing
Version 1.01 10.01.2014 13/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
2 Application functions 2.1 Tasks that can be addressed using the core function
The “traversing arm” application is used to control translatory equipment to wind materials (wire, textile fibers, etc.). The “traversing arm” core function handles the preparation of the axis commands necessary to control the traversing arm axis. All of the functions of the basic positioner module (EPOS) can be controlled from the application via HMI and SIMATIC S7. The function can/must be expanded by making the appropriate additions in the SIMATIC S7 user program – so that it can run on an actual machine.
2.2 Characteristics of the core function
The application essentially comprises a DCC program that controls the traversing arm axis via the MDI direct setpoint input mode of the EPOS. All of the data relevant for the traversing arm is entered into the program and additional data is then internally calculated from this.
Application description
Automation solution
SINAMICS Traversing
Version 1.01 10.01.2014 14/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
3 Automation solution 3.1 Hardware and software components required
Hardware components Table 3-1
Component Qty. Order No./MLFB Note SINAMICS S120 training case
1 6ZB2 480 0BA00
SIMATIC S7 1
Profibus cable 2
SIMATIC Field PG or PC
1 6GK1....
Standard software components Table 3-2
Components Qty. Order No./MLFB Note
STARTER V4.3 1 As an alternative, SIMOTION SCOUT V4.3 can also be used
SINAMICS DCC
1 (Optional) Option package for STARTER/SCOUT is required for changes to the DCC chart
WinCC flexible ES/RT 1 Required to connect the HMI.
SIMATIC Manager V5.4
1
Application description
Automation solution
SINAMICS Traversing
Version 1.01 10.01.2014 15/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
File examples and projects All of the files and projects that are used in the example are included in the following list. Table 3-3
Components Note DCC_Traverser_V101.zip This zipped file includes the
STEP 7 project. Manual_SINAMICS_DCC_Traversing Drive_V1.01.pdf This document.
Application example as demonstration system
Installing the hardware and software
SINAMICS Traversing
Version 1.01 10.01.2014 16/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
Application example as demonstration system
Contents All of the necessary steps to commission the standard application “Traversing arm in SINAMICS” as demonstration are explained in this section. Preparatory activities and parameterization operations are explained. Further, you will be given a step-by-step explanation of how to handle the WinCC flexible operator interface of the application example.
4 Installing the hardware and software 4.1 Regarding your safety
4.1.1 Safety information and instructions
Pictogram, signals words and text Every piece of safety information & instruction in this document is designated by text graphics – comprising pictogram and signal word, and supplemented by explanatory text. A clear classification according to the degree of the potential hazard is provided as a result of the combination of pictogram and signal word. Safety information/instructions are provided in front of the information regarding activities to be executed.
Classification There are three different stages regarding safety information/instructions. These are designated by the same pictogram. They differ by the signal word. They differ by the signal word.
! Danger
This safety information/instruction indicates an immediate hazard. If the information/instruction is not carefully followed, this results in severe bodily injury or even death.
! Warning
This safety information/instruction indicates a potential hazard. If the information/instruction is not carefully followed, this can result in severe bodily injury or even death.
! Notice
This safety information/instruction indicates a potentially hazardous situation, which can result in slight to average bodily injury. This pictogram/text word can also warn about potential material damage.
Application example as demonstration system
Installing the hardware and software
SINAMICS Traversing
Version 1.01 10.01.2014 17/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
4.1.2 Responsibilities of the operator
Correct operation and use The correct use of the application components exclusively relates to the open-loop and closed-loop control of test set-ups that were adapted to the power/performance of the application components. In order that the application functions perfectly, the required standard SINAMICS components as well as also the necessary hardware and software components must be installed. The company/person operating the system may only make changes to the application components after having received written authorization from the suppliers.
Misuse The following are considered to be misuse: Inadmissible loads applied to the application components. Any application deviating from the use specified above - or applications that go
beyond the specified use. Non-observance of the safety information and instructions. If faults that could have a negative impact on the safety are not immediately
resolved/removed. Any changes/modifications to equipment/devices that are used to ensure
perfect function and operation, unrestricted use as well as active or passive safety.
If recommended hardware and software components are not used. If the application components are not in a perfect technical condition, are not
operated conscious of safety and hazards and not taking into account all of the instructions provided in the documentation.
The manufacturer assumes no liability for incorrect use (misuse).
Responsible for monitoring The company or person operating the system is responsible in continually monitoring the overall technical status of the application components (defects and damage that can be externally identified as well as changes in the operating behavior & characteristics). The company/person operating the system is responsible in ensuring that the application is only operated in a perfect state. He must check the state of the application components before they are used and must ensure that any defect is removed before commissioning.
Qualification of personnel The operating company/person may only deploy trained, authorized and reliable personnel. In so doing, all safety regulations must be carefully observed. Personnel must receive special instructions regarding the hazards/dangers that can occur.
Application example as demonstration system
Installing the hardware and software
SINAMICS Traversing
Version 1.01 10.01.2014 18/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
4.2 Installing the hardware and software
Which hardware and software components must be installed is described in this section. The descriptions and manuals as well as supply information – that are supplied with the corresponding products – must always be carefully observed.
Installing the hardware Please refer to Chapter 3.1 for the hardware components. Proceed according to the following table for the hardware configuration:
Table 4-1
No. Action Comment 1. Connect the Profibus interface of your PC/PG with the
Profibus interface of the SINAMICS CU320 and the Profibus interface of SIMATIC S7.
2. If you run the visualization on an HMI and not on the PC/PG (e.g. WinCC flexible Runtime) then also connect the Profibus interface (port) of the HMI to the other Profibus interfaces (ports).
3. Carefully check that the Drive-CLiQ interfaces between S120 (CU-X101) and the Motor Module (X200) have been connected as shown to the right!
4. Connect the SINAMICS S120 training case and the
SIMATIC S7 to the power supply.
5. Power-up all of the units and devices.
Note The configuration/packaging guidelines for SINAMICS S120 and SIMATIC S7 must always be carefully observed.
Installing the standard software Table 4-2
N0. Action Comment 1. Install the SIMATIC Manager software on your PC/PG.
Carefully follow the instructions for installing the program. This software should be installed first.
2. Install the STARTER/SCOUT software on your PC/PG. Carefully follow the instructions for installing the program.
You must install DCC if you wish to view or change the application charts.
3. Install the WinCC flexible ES/RT software on your PC/PG. To do this, follow the instructions for installing the program.
Application example as demonstration system
Installing the hardware and software
SINAMICS Traversing
Version 1.01 10.01.2014 19/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
4.3 Installing the application software
A description is given here on how to install the application example. Table 4-3
N0. Action Comment
1. For SINAMICS, use a memory card with firmware 2.5 and the technology package TPdcblib_Sinamics_2_5
For the case that the technology package is not installed on the memory card, then a description is given under Chapter 7.1 as to how this can be subsequently installed.
2. Open the SIMATIC Manager. 3. De-archive the SIMATIC project and open this 4. Open the hardware configuration and check whether you
have an identical SIMATIC S7. If required, change this
5. Go online to the S7 with the SIMATIC Manager and download the project into the S7
6. In the SIMATIC Manager, open the STARTER project. 7. With STARTER/SCOUT, go online and download the project
into the training case
8. Download the project from RAM to ROM. 9. In the SIMATIC Manager, open the WinCC flexible project. 10. Start WinCC flexible RT- or download the RT in the HMI. 11. Switch the S7 to RUN.
Application example as demonstration system
Using the application example
SINAMICS Traversing
Version 1.01 10.01.2014 20/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
5 Using the application example 5.1 Brief instructions on the demonstrating the example
5.1.1 Structure overview
The basic operator structure of the application is shown in the following diagram.
Fig. 5-1 Welcome screen/Starting screen
Auto Settings EPOS
5.1.2 Brief instructions
The application example is pre-connected; however, the traversing arm axis must still be referenced. The application can be tested using the HMI. Under the Settings screen form, you can set any of the traversing arm parameters in the HMI, e.g.: Position A: 0.00mm Winding Step: 100.00mm Position B: 2000.00mm Waiting angle: 40° Acceleration distance: 5.00mm You can start and monitor/visualize the traversing arm under the AUTO screen form. To start the traversing arm, power-up the traversing axis by pressing “On” and start the traversing arm using “Traversing START”. The traversing arm is presently still at a standstill as the winder axis is also still at a standstill. You can simulate the winder. To do this, under “simulated winder speed”, select a winder speed of e.g. 200 RPM and click on “activate”. Instead of simulating the winder, you can also operate this in STARTER/SCOUT from the control panel.
Application example as demonstration system
Using the application example
SINAMICS Traversing
Version 1.01 10.01.2014 21/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
You can trace the motion of the traversing arm and the winder in STARTER/SCOUT (refer to Chapter 10.2). You can control all of the EPOS functions in the EPOS HMI screen form.
Application example as demonstration system
Using the application example
SINAMICS Traversing
Version 1.01 10.01.2014 22/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
5.2 Detailed operating instructions
5.2.1 Starting screen
The starting screen is displayed each time that WinCC flexible Runtime starts. Here, you can select the appropriate screen forms.
Fig. 5-2: Starting screen
The screen forms are used by pressing the appropriate buttons at the lower edge of each screen form. WinCC flexible Runtime can be exited by pressing the Exit button.
Application example as demonstration system
Using the application example
SINAMICS Traversing
Version 1.01 10.01.2014 23/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
5.2.2 “Automatic” screen
The automatic screen is the main screen of the application example to operate and use the traversing arm. Fig. 5-3: “Automatic” screen
You can start and monitor/visualize the traversing arm from the AUTO screen form. The traversing arm can be controlled on the lefthand side. The winder can be simulated on the righthand side. The monitoring/visualization values are located at the center of the screen. Instructions to trace (record) and evaluate the traversing arm functions is provided in Chapter 10.2.
Traversing counter Resets the traversing counter
Acknowledge fault
Activates winder simulation
Simulated winder speed
To the starting screen
Calls the EPOS screen Calls the
AUTO screen Calls the settings screen
Stops the traversing arm
Starts the traversing arm in the positive direction
Starts the traversing arm in the negative direction Act. position of the
traversing arm
Powers-up the traversing axis
Jog in pos. and neg. directions
Position, right
Position, left
Application example as demonstration system
Using the application example
SINAMICS Traversing
Version 1.01 10.01.2014 24/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
5.2.3 “Settings” screen
Fig. 5-4: Screen: “Settings”
The traversing parameters can be set as required in the “Settings” screen form. However, the parameters are not subject to a logical check so that these must be set to practical and sensible values. The winding step, righthand and lefthand position are set in the upper part of the screen. The acceleration distance and waiting angle are set in the lower part of the screen.
Position, left Position, right
Winding step
Acceleration distance
Waiting angle
Acknowledge fault
Application example as demonstration system
Using the application example
SINAMICS Traversing
Version 1.01 10.01.2014 25/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
5.2.4 “EPOS” screen
The modes of the SINAMICS function module, basic positioner EPOS can be controlled – and the feedback signals monitored – in the EPOS screen form. The referencing, jogging and MDI modes are the most important for the traversing arm. You can enable the axis by pressing ON and you can jog the drive, for instance, by pressing Jog1 and Jog2 – and you can approach a fixed position using MDI. Fig. 5-5: “EPOS” screen form
All of the signals are connected to SINAMICS using the appropriate BICO interconnections. This means that you can take the precise function from the SINAMICS S120 Function Manual. The designations and names in the “EPOS” screen form are identical with the names and designations of the Profibus interface of this application – a brief description of the individual signals is provided under Chapter 8.1.2 Parameter .
Referencing
MDI
Jogging Axis enable Feedback signals
Integrating the core function
Program environment and interfaces
SINAMICS Traversing
Version 1.01 10.01.2014 26/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
Integrating the core function
Contents “Integrating the core functions” section provides you with all of the necessary steps to integrate the core “Traversing arm” functions into your application. Preparatory activities and parameterizing operations are explained. Further, you will be given a step-by-step explanation of how you can integrate the “traversing arm” into your application.
6 Program environment and interfaces 6.1 Program structure
Fig. 6-1
HMI
SINAMICS S120 SIMATIC S7
SINAMICS DCC
Integrating the core function
Program environment and interfaces
SINAMICS Traversing
Version 1.01 10.01.2014 27/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
6.2 Interfaces
The application, that was essentially generated using Drive Control Charts (DCC), includes a parameter interface. This is supplied with data from the drive as well as data from the Profibus interface via BICO interconnections. Data from the Profibus interface is made available to users in the SIMATIC S7 as data block. Further, the HMI system accesses the data block via Profibus.
Integrating the core function
Integration into the user program
SINAMICS Traversing
Version 1.01 10.01.2014 28/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
7 Integration into the user program 7.1 Technology objects required
The “TPdcblib_Sinamics_2_5” technology object must be installed on the memory card in Sinamics in order to run the DCC chart. If this has not already been done then it can be subsequently downloaded: Go online with your project and using the righthand mouse key, click on the drive unit. Select the menu item “Select technology package”. In the following window, select the technology package “TPdcblib_Sinamics_2_5” and execute the “Execute now” function. Then carry-out a “Power On reset”. Fig. 7-1
7.2 Preparation
Before integrating the core function, you should parameterize the Profibus DP interface in the hardware configuration, transfer the WinCC flexible project and parameterize the drives.
Adaptations in the SIMATIC Manager The DP interface is parameterized in the hardware configuration of the SIMATIC Manager. When selecting a CPU with integrated DP interface or a DC communication processor from the STEP 7 hardware catalog, the hardware configuration is made available to a PROFIBUS-DP master system. After setting the master parameters (e.g. baud rate), the SINAMICS must be assigned the Profibus bus line from the hardware catalog. After completing the DP configuration, you should copy the following blocks into your new project: OB1, FC100, DB100, UDT101, UDT102, VAT_100, SFC14 and
Integrating the core function
Integration into the user program
SINAMICS Traversing
Version 1.01 10.01.2014 29/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
SFC15. The OB1 only calls FC100. Communications for the traversing arm axis is already set-up in the FC100.
Accepting the WinCC flexible project Copy the WinCC flexible project into your own SIMATIC project. First open the project with WinCC flexible and from the project menu select “Copy from STEP7”. After succesfully exporting the data select in the same menu “Integrate in STEP 7” and search for your own project. You have to set up additionally the connection parameters in NetPro. Fig. 7-2: WinCC flexible import / export
Configuring the drive We recommend that an automatic configuration is carried-out in advance so that the individual drive objects are correctly identified. The most important steps are again described below: Go ONLINE and start the automatic configuration. Then again configure the drive involved OFFLINE. In this case, the basic
positioner function module should be selected.
Integrating the core function
Integration into the user program
SINAMICS Traversing
Version 1.01 10.01.2014 30/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
Fig. 7-3
For the mechanical system screen form, set the gear ratio and the distance
moved by the traversing arm during one load revolution. The distance is specified in LU - whereby 1LU=1 m in the application example. However, you can freely define which distance 1LU corresponds to - but you must change the name in the WinCCflexible screen forms and take this assignment into account during the complete commissioning procedure.
Integrating the core function
Integration into the user program
SINAMICS Traversing
Version 1.01 10.01.2014 31/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
Fig. 7-4
Select the “free telegram configuration with BICO” Profibus telegram.
Fig. 7-5
Complete the drive configuration. Set-up a script folder at the drive object. Re-open the project example and
copy the script into the script folder. Select accept and execute. The “Communication script” parameterizes the DP interface and sets all of the necessary BICO interconnections for communications.
Integrating the core function
Integration into the user program
SINAMICS Traversing
Version 1.01 10.01.2014 32/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
Fig. 7-6: Script
Open the CU320 configuration and align to the hardware configuration.
Fig. 7-7: Profibus configuration
Reference the traversing arm.
7.3 Integrating the core function
Drag the DCC chart for the axis traverser from the project example and drop it onto the SINAMICS axis it your project that you wish to use as traversing arm.
Integrating the core function
Integration into the user program
SINAMICS Traversing
Version 1.01 10.01.2014 33/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
Rename the axis that you wish to use as traverser (traversing arm) into “Traverser”. This is necessary so that when compiling the DCC chart, the BICO interconnections can be interconnected.
Using the righthand mouse key, click on the DCC chart in the project window and select the “Accept and execute” menu item.
Using the righthand mouse key, click on the DCC chart in the project window and select the menu item “Set execution groups”. Select BEFORE basic positioner (EPOS). This means that the DCC chart is always computed in the clock cycle 4ms before EPOS.
Fig. 7-8: DCC execution groups
Open the expert list of the drive object. For the case that the winder axis is
computed on the same CU as your traversing arm axis, interconnect parameter p21510 with parameter r63 of the winder axis. This means that you enter the actual winder speed into the traversing arm application. Then interconnect parameter p21511 with parameter r2700 of the winder axis. This means that you enter the reference speed of the winder into the traversing arm application.
In parameter p21518, set the gear ratio between the load revolution and encoder revolution as decimal number.
For the case that you enter the winder speed via Profibus, interconnect parameter p21512 with parameter r2050[15] of your traversing arm axis. This means that you enter the actual winder speed into the application. The encoder value received from Profibus of between 0 and 65535 always corresponds to a speed of between 0 and 6000 rpm in the application. If parameter p21512 is interconnected, then it is not permissible that parameter p21510 is interconnected. The reference speed that you can enter into the application via parameter p21511 has no effect.
Integrating the core function
Integration into the user program
SINAMICS Traversing
Version 1.01 10.01.2014 34/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
7.4 Configuring examples
7.4.1 Shorter sampling time
The sampling time of the application also has an influence on the traversing accuracy – in addition to material guidance, material behavior, achievable accuracy of the control loops etc. In the basic setting, EPOS is sampled every 4 ms - and therefore also the DCC application. As the application controls EPOS, it does not make any sense to sample the application faster than EPOS. Due to the requirements relating to accuracy of the waiting angle, an internal compensation circuit is implemented, which further optimizes the sampling time. In most cases, none of these effects have an impact on the traversing result. However, if the effects are visible, then a shorter sampling time can be used. The sampling time can be shortened as follows: If the winder is computed on the same CU 320, the sampling time of the winder
and EPOS can be reduced to 2ms. If the winder is computed on another drive, then the sampling time and EPOS can be reduced to 1ms. However, if the winder is computed on another drive, then this means that the winder actual speed value comes from Profibus. With this configuration, then a cycle time of 1 ms should also be set for Profibus.
Go online with Starter/Scout. Open the expert list of the CU and set parameter p9 to the value 3. Open the expert list of the traversing arm and set parameter p112 to the value
0 (expert). Then set parameter p115[5] to 2000.0 s if you wish to set a sampling time of 2ms - or to 1000.0 s if you wish to set a sampling time of 1ms. You have then set EPOS to the required sampling time.
Also set parameter p21515 to the selected sampling time of 2ms, or 1ms. This means that you also adapt the optimization to calculate the delay time in the waiting angle.
In the expert list, set parameter p9 back to the value of 0. The CU 320 then re-boots. As the DCC chart is in the execution group “BEFORE basic positioner”, the sampling time of the DCC chart automatically adapts itself to that of EPOS.
7.4.2 Execution sequence
The execution sequence of the DCC chart has already been optimized. Further optimization using the automatic optimization of the execution sequence function results in the application malfunctioning.
7.4.3 Measures when the winder speed actual values fluctuate
If, when testing the traversing arm, you identify that the speed actual value and speed setpoint of the traversing arm manifest unexpectedly high fluctuations, then the cause is as follows: When the winder controller has been poorly set (i.e. poorly optimized), then its speed characteristic fluctuates. As a result of the actual value coupling to the traversing arm, the speed characteristic already starts to fluctuate in the setpoint (refer to the diagram below).
Integrating the core function
Integration into the user program
SINAMICS Traversing
Version 1.01 10.01.2014 35/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
Fig. 7-9: Unfavorable setpoint from the winder
In order to minimize the setpoint fluctuations, proceed as follows: Optimize the winder control parameters. If this does not lead to the desired success, then in exceptional cases, the traversing arm can be coupled to the setpoint of the winder instead of the actual value as follows: Open the expert list of the traversing arm and connect parameter p21510 with parameter r60 (speed setpoint) of the winder. In so doing, the connection to parameter r63 (speed actual value) is disconnected.
Program description
Program and function description
SINAMICS Traversing
Version 1.01 10.01.2014 36/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
Program description
Contents The “program description” section goes into more detail about the functions of the block. Here, you will find parameter lists, diagrams and a description of the core function.
8 Program and function description 8.1 DCC chart
8.1.1 Overview, function block
Fig. 8-1 In Out
Overview
r21500 Software version
Control of the end positions
DINT
p21501 Pos A
Control of the end positions DINT
p21502 Pos B
BOOL
p21503 Start direction negative
BOOL
p21504 Start direction positive
INT p21505 Waiting angle
Traversing arm parameters UINT
p21506 Winding step
UINT
p21507 Acceleration distance
BOOL
p21509 Target position reached
Various REAL
p21510 Winder speed
REAL
p21511 Reference speed
REAL
p21512 Winder speed ext
Program description
Program and function description
SINAMICS Traversing
Version 1.01 10.01.2014 37/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
BOOL
p21513 Reset Counter
BOOL
p21514 Stop
r21520 Counter INT
REAL p21515 Time Opt
Additional setting parameters REAL
p21516 simulation winder
BOOL
p21517 Select simulation winder
REAL
p21518 Winder gear
DINT p21611 Input MDI position
r21601 MDI Position DINT
INT
p21612 Input velocity override
r21602 velocity override REAL
INT
p21613 Input MDI acceleration
r21603 MDI acceleration REAL
MDI
INT
p21614 Input MDI deceleration
r21604 MDI deceleration REAL
BOOL
p21616 Input Start
r21606 start BOOL
BOOL
p21617 Input Setup
r21607 setup BOOL
BOOL
p21618 Input position type
r21608 position type BOOL
BOOL
p21619 Input Transfer type
r21609 Transfer type BOOL
8.1.2 Parameter description
Input parameters Table 8-1: Input parameters
Name Data type Initial value Description p21501 Pos A
DINT r2060[8] Position, left.
p21502 Pos B
DINT r2060[10] Position, right.
p21503 Start direction, positive
BOOL r2092.0 Starts the traversing arm in the positive direction.
p21504 BOOL r2092.1 Starts the traversing arm in the negative direction.
Program description
Program and function description
SINAMICS Traversing
Version 1.01 10.01.2014 38/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
Name Data type Initial value Description Start direction, negative p21505 Waiting angle
INT r2050[12] Waiting angle in degrees
p21506 Winding step
UINT r2050[13] Winding step [LU]
p21507 Acceleration distance
UINT r2050[14] Acceleration distance [LU]
p21509 Target position reached
BOOL r2684.10 Evaluates the “target position reached signal. EPOS supplies this signal when the target position has been reached
p21510 Winder speed
REAL 0 Winder reference speed
p21511 Reference speed
REAL 0 Winder reference speed
p21512 Winder speed ext
REAL 0 External encoder connection of the winder via Profibus (optional). This input can also be used to superimpose leading values.
p21513 Reset Counter
BOOL r2092.3 Resets the traversing counter
p21514 Stop
BOOL r2092.2 Stops the traversing arm
p21515 Time Opt
REAL 4 Sampling time optimization [ms]. This can be used to compensate the influence of the sampling time when calculated the waiting angle.
p21516 simulation winder
REAL 0 Simulated winder speed: A winder speed can be entered into the traversing arm for test purposes.
p21517 Select simu-lation winder
BOOL 0 Activates winder simulation
p21518 Windergear
REAL 1 Gear ratio, roll revolution to motor revolution. Example: If the winder rotates slower than the winder motor by a factor of 10 (i.e. a gear unit with a 1:10 ratio), then 0,1 must be entered here
p21519 SpeedWindowWinder
REAL 1.0 Speed window [rpm], if the winder is stationary, then speed actual values within this window are interpreted as zero speed, .
p21600 DINT p2691 Fixed velocity setpoint for MDI p21611 Input MDI position
DINT r2060[4] MDI signal from Profibus. When traversing operation is de-activated, the signal is directly connected to the corresponding MDI input.
p21612 Input velocity override
INT r2060[3] MDI signal from Profibus. When traversing operation is de-activated, the signal is directly connected to the corresponding MDI input.
p21613 Input MDI acceleration
INT r2060[6] MDI signal from Profibus. When traversing operation is de-activated, the signal is directly connected to the corresponding MDI input.
p21614 Input MDI
INT r2060[7] MDI signal from Profibus. When traversing operation is de-activated, the signal is directly
Program description
Program and function description
SINAMICS Traversing
Version 1.01 10.01.2014 39/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
Name Data type Initial value Description deceleration connected to the corresponding MDI input.
p21616 Input Start
BOOL r2091.8 MDI signal from Profibus. When traversing operation is de-activated, the signal is directly connected to the corresponding MDI input.
p21617 Input Setup
BOOL r2091.9 MDI signal from Profibus. When traversing operation is de-activated, the signal is directly connected to the corresponding MDI input.
p21618 Input position type
BOOL r2091.10 MDI signal from Profibus. When traversing operation is de-activated, the signal is directly connected to the corresponding MDI input.
p21619 Input Transfer type
BOOL r2091.14 MDI signal from Profibus. When traversing operation is de-activated, the signal is directly connected to the corresponding MDI input.
Output parameters Table 8-2: Output parameters
Name Data type Initial value Description
r21500 ________ Software version r21520 Counter
INT ________ Counter status of the traversing counter
r21601 MDI Position DINT
________ Actual target position of the traversing arm
r21602 velocity override REAL
________ Velocity override of the traversing arm
r21603 MDI acceleration REAL
________ Acceleration override of the traversing arm
r21604 MDI deceleration REAL
________ Deceleration override of the traversing arm
r21606 start BOOL
________ Signal edge to set the MDI target position
r21607 setup BOOL
________ Controls the MDI function, setup
r21608 position type BOOL
________ Controls the MDI function, position type
r21609 Transfer type BOOL
________ Controls the MDI function, transfer type selection
8.2 SIMATIC S7 Profibus interfaced
8.2.1 Control signals/setpoints
All of those signals that are cyclically transferred from the send data block to the drive are called control signals.
Program description
Program and function description
SINAMICS Traversing
Version 1.01 10.01.2014 40/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
The user interface is shown in the following overview. This structure is both in the S7 block UDT101 as well as also in the user-defined value list for the drive which is supplied with this application. A precise description of the function of the individual control and feedback signal bits is provided in the List Manual for SINAMICS S120 in Chapter 1, as well as in Function Manual, Chapters 4.23 and 4.24. The interface described in this application has the following structure:
Table 8-3: Process data
PZD Assignment of the process data PZD1 Application control word 1 PZD2 Application control word 2 PZD3 Application control word 3 PZD4 Velocity override for all modes (4000HEX = 100%) PZD5 Position setpoint in [LU] PZD6 PZD7 Acceleration override for the direct setpoint input mode/MDI PZD8 Deceleration override for the direct setpoint input mode/MDI PZD9 Traversing arm, Pos A in [LU] PZD10 PZD11 Traversing arm, Pos B in [LU] PZD12 PZD13 Waiting angle [°] PZD14 Winding step in [LU] PZD15 Acceleration distance in [LU] PZD16 Speed, ext. encoder (0000 HEX = 0 rpm up to 7FFF HEX = 6000 rpm)
Assignment of application control word 1 Table 8-4: Assignment of application control word 1
Bit Abbrev. Name (Description of the HIGH signal level)
Drive parameter
Function chart
0 ON ON command 0 = OFF1 active 1 = ON
P840 2501
1 CmdNo OFF2
Command, no OFF2 0 =: OFF2 active 1 = Signal: Op. condition, no coast down active
P844 2501
2 CmdNo OFF3
Command, no OFF3 0 = OFF3 active 1 = Operating condition, no fast stop active
P848 2501
3 ENC Enable controller enable inverter P852 2501 4 RejTask Traversing block and MDI - Reject Task
Traversing blocks and direct setpoint input /MDI Reject traversing task 0 = Active traversing command is rejected / Axis brakes with 100% Do no reject deceleration override from
P2641 3616
Program description
Program and function description
SINAMICS Traversing
Version 1.01 10.01.2014 41/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
Bit Abbrev. Name (Description of the HIGH signal level)
Drive parameter
Function chart
1 = traversing request (axis can be traversed)
5 IntMStp Traversing block and MDI – intermediate STOP Traversing blocks and MDI/direct setpoint input – intermediate stop 0 = active traversing command is interrupted / axis brakes with the specified deceleration override 1 = no intermediate stop (axis can be traversed)
P2640 3616
6 7 AckFlt Acknowledge fault P2103 2501 8 Jog1 Jogging – signal source 1 P2589 3610 9 Jog2 Jogging – signal source 2 P2590 3610 10 LB Life bit (control requested from PLC) P854 2501 11 12 JogInc Jogging – jogging incremental:
0 = Endless traversing 1 = Traversing through the parameterized distance
P2591 3610
13
14 SftLimAct Acivates the software limit P2582 3630 15 StpCamA Activates the stop output cam P2568 3630
Assignment of application control word 2 Table 8-5: Assignment of application control word 2
Bit Abbrev. Name
Drive parameter
Function chart
0 RefStart Referencing start P2595 3612 1 RefPSet Set reference point
Note: Functions for motors with absolute encoder only for non-adjusted encoders!
P2596 3612
2 RefTyp Referencing type selection 0 = Reference point approach 1 = Flying referencing
P2597 3612
3 RefStDi Homing (referencing) start direction 0 = positive start direction 1 = negative start direction
P2604 3612
4 RefInpS Referencing passive - input selection Sets the signal source to select the measuring probe for flying (passive) referencing 0 = measuring probe 1 is activated 1 = measuring probe 2 is activated
P2510 4010
5 RefEdge Referencing passive - edge evaluation Passive referencing: Sets the edge evaluation 0 : positive edge
P2511 4010
Program description
Program and function description
SINAMICS Traversing
Version 1.01 10.01.2014 42/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
Bit Abbrev. Name
Drive parameter
Function chart
1 : negative edge 6 7 8 MdiStart Direct setpoint input/MDI – start
Starts the operating mode MDI / direct setpoint input
P2647 3640
9 MdiSetup Direct setpoint input/MDI – setup selection Selects MDI mode, setting-up 0 = positioning 1 = setting-up
P2653 3620
10 MdiPsTyp Direct setpoint input/MDI – positioning type Positioning type 0 = relative positioning 1 = absolute positioning
P2648 3620
11 MdiPos Direct setpoint input/MDI – positive direction Direction selection for setting-up – or absolute positioning of rotary axes, in the positive direction)
P2651 3620
12 MdiNeg Direct setpoint input/MDI – negative direction Direction selection for setting-up – or absolute positioning of rotary axes, in the negative direction
P2652 3620
13 MdiEdge Direct setpoint input/MDI – transfer edge Signal edge, setpoint transfer if MdiTyp = 0
P2650 3620
14 MdiTrTyp Direct setpoint input/MDI – transfer type Transfer type: 0 = Value transfer using 0 1 edge at MdiEdge 1 signal : continuous setpoint transfer
P2649 3620
15
Assignment of application control word 3 Table 8-6: Assignment of application control word 3
Bit Abbrev. Name
Drive parameter
Function chart
0 TrvStart Traversing block – activate traversing task (using the 0 1 signal edge)
P2631 3640
1 TrvBit0 Traversing block – block selection bit 0 P2625 3640 2 TrvBit1 Traversing block – block selection bit 1 P2626 3640 3 TrvBit2 Traversing block – block selection bit 2 P2627 3640 4 TrvBit3 Traversing block – block selection bit 3 P2628 3640 5 TrvBit4 Traversing block – block selection bit 4 P2629 3640 6 TrvBit5 Traversing block – block selection bit 5 P2630 3640 7 8 Startright DCC: Start to position B P21504 9 Startleft DCC: Start to position A P21503 10 Stop DCC: Stop traversing P21512 11 Reset DCC: Reset traversing counter P21513
Program description
Program and function description
SINAMICS Traversing
Version 1.01 10.01.2014 43/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
Bit Abbrev. Name
Drive parameter
Function chart
Counter 12 13 14 15
8.2.2 Feedback signals
Signals that are cyclically transferred from the drive to the receive area of the data block are called feedback signals. You will also find this structure of the receive area in the F7 block UDT102 and in the user-defined value list for the drive.
Table 8-7: Process data
PZD Assignment of the process data PZD1 Application status word 1 PZD2 Application status word 2 PZD3 Application status word 3 PZD4 Velocity actual value (this is referred to the reference speed p2000)
Note: 40000000HEX = 100% PZD5 PZD6 Position actual value in [LU]
PZD7 PZD8 Traversing counter PZD9 Reserve PZD10 Reserve PZD11 Reserve PZD12 Reserve PZD13 Reserve PZD14 Reserve PZD15 Reserve PZD16 Reserve
Assignment of application status word 1 Table 8-8: Assignment of application status word 1
Bit Abbrev. Name Drive parameter
Function chart
0 RTS Ready to power up / to start r899.0 2503 1 RDY Ready to operate r899.1 2503 2 IOP In operation (operation enabled)
Drive is powered-up (condition for selecting the Epos operating mode
r899.2 2503
3 Fault Fault present r2139.3 2548 4 NoOFF2Act OFF2 inactive
(partial condition for powering-up) r899.4 2503
5 NoOFF3Act OFF3 inactive (partial condition for powering-up)
r899.5 2503
Program description
Program and function description
SINAMICS Traversing
Version 1.01 10.01.2014 44/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
Bit Abbrev. Name Drive parameter
Function chart
6 PowInhbt Power ON inhibit active r899.6 2503 7 Alarm Alarm / warning present r2139.7 2548 8 Stndstill |n_act| < speed threshold value 3 [p2161]
This bit is used to detect standstill r2199.0 2537
9 LB_CR Life bit control request r899.9 2503 10 JogAct Jogging active r2094.01) 2460 11 RefAct Reference point approach active r2094.11) 2460 12 TrvBlAct Traversing block active r2094.21) 2460 13 MdiPosAct MDI positioning active
In the direct setpoint input/MDI mode, positioning is active
r2094.31) 2460
14 MdiStupAct MDI setup active Setting-up is active in the direct setpoint/MDI mode
r2094.41) 2460
15 FlyRefAct Flying referencing active r2684.1 3630 1) r2669 (function chart 3630) is shown to a resolution of 1 bit (bit-granular). For this purpose, at the input of the connector-binector converter p2099[0] = r2699 is interconnected.
Assignment of application status word 2 Table 8-9: Assignment of application status word 2
Bit Abbrev. Name Drive parameter
Function chart
0 ARFD Reference point set r2684.11 3612
1 CmdAct Traversing command active r2684.15 3614 2 TargPos Target position reached r2684.10 3635 3 NoFlwErr Following error in tolerance r2684.8 4020 4 SftSwMinAct Software limit switch minus active r2683.6 4025 5 SftSwPlsAct Software limit switch plus active r2683.7 3635 6 StpCamMinAc
t Stop cam minus active r2684.13 3635
7 StpCamPlsAct
Stop cam plus active r2684.14 3630
8 AckTrvBl Acknowledge traversing block activated For traversing block mode or MDI/direct setpoint input mode for triggered setpoint transfer (MdiTrTyp = 0) the bit is used to acknowledge the traversing block.
r2684.12 3630
9 SetPStatic Setpoint Static r2683.2 3616 10 FWD Axis forwards r2683.4 3635 11 BWD Axis backwards r2683.5 3635 12 Accel Axis accelerating r2684.4 3635 13 Decel Axis decelerating r2684.5 3635 14 PrntMrkOut Print mark outside outer window r2684.3 3635 15 VelctyLimit Velocity limiting active
Velocity setpoint > p2572 r2683.1 3614
Program description
Program and function description
SINAMICS Traversing
Version 1.01 10.01.2014 45/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
Assignment of application status word 3 Table 8-10: Assignment, application status word 3
Bit Abbrev. Name Drive parameter
Function chart
0 AckTrvBit0 Active traversing block bit 0 r2670.0 3650 1 AckTrvBit1 Active traversing block bit 1 r2670.1 3650 2 AckTrvBit2 Active traversing block bit 2 r2670.2 3650 3 AckTrvBit3 Active traversing block bit 3 r2670.3 3650 4 AckTrvBit4 Active traversing block bit 4 r2670.4 3650 5 AckTrvBit5 Active traversing block bit 5 r2670.5 3650 6 TrvOut1 Direct output 1 via traversing block r2683.10 3616 7 TrvOut2 Direct output 2 via traversing block r2683.11 3616 8 9 10 11 12 13 TrckMode Tracking mode active r2683.0 3635 14 PosSmCam1 Position actual value <= cam position 1 r2683.8 4025
15 PosSmCam2 Position actual value <=cam position 2 r2683.9 4025
Program description Function description
SINAMICS Traversing
Version 1.01 10.01.2014 46/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
9 Function description 9.1 DCC traversing program
9.1.1 Structure
The application essentially comprises controlling the MDI – setpoint input function of EPOS. The objective of the application is to enter – alternating - the end position as target positions of the application. The acceleration distance is implemented using the acceleration and deceleration override. The winding step is realized using the velocity override. Further, there is a changeover switch in the application that changes over (toggles) between normal MDI operation and traversing operation. Fig. 9-1: Structure of the application
MDI
MDI data from Profibus
Traversing start;Switch between
right and left Setpoints
Traversing Control
Setpoints
Waiting angle;Traversing
Counter
Acceleration distance;
Winding stepParameters
Winderspeed
Setpoint
Acceleration overrideDeceleration override
Velocity override
9.1.2 DCC chart
Page 1: The traversing mode is switched-in and switched-out and a changeover made between the righthand and lefthand end position on this page. The end positions are target positions for the MDI. The system positions in absolute terms with MDI with continuous setpoint transfer. A numerical changeover switch toggles (switches between) the two setpoints. The changeover switch is controlled from an XOR logic element. There are two possibilities of changing the direction. Either the flip-flop is controlled that changes over the "waiting angle reached" feedback signal at each signal edge. Or, the winding direction of rotation changes and the traversing direction must also be changed. The flip-flop is also used to select a specific target position if either “Start Pos A” bit or “Start Pos B” bit is set. In addition, when one of these bits is set, then traversing operation is activated and by selecting the MDI mode, a changeover is made to traversing operation (complete changeover, chart page 6).
Program description Function description
SINAMICS Traversing
Version 1.01 10.01.2014 47/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
Page 2: The waiting angle and the traversing counter are implemented here. The waiting angle is realized by integrating the winder velocity over time. Integration is started if the “target position reached” signal is received from the EPOS standstill monitoring (zero speed monitoring). The integrator is limited to the required waiting angle. This means that the “integrator at upper limit” signal can be used as “waiting angle reached” signal. It takes one EPOS clock cycle (e.g. 4 ms) between the signal – where EPOS receives the new position – up to when it outputs a speed setpoint (i.e. until the new position is reached). A delay angle is obtained by multiplying this delay time by the actual winder speed. This delay angle is subtracted from the specified delay angle. This means that the traversing arm is controlled earlier by the angle that the winder moves through until the traversing arm starts. The integrator is calculated as follows. The integrating time constant of the integrator block is 10ms. This is the reason that the speed at input X of the integrator block must be entered in degrees/10ms. The speed specified by the user in rpm is initially referred to 6000 rpm. This is converted into the units of degrees/10ms - required by the integrator block - as follows:
msDegrees
msrees
sreesrev
106000360
60000deg360
60deg360
min
The speed of the winder was converted to a value between 0 and 1 referred to 6000 rpm (refer to the explanation on Page 3). This means that the speed was already divided by 6000 and only has to be multiplied by 360. The traversing counter increments by 1 each time the “target position reached” signal is received during traversing operation.
Page 3: The winder speed is determined. The speed that the winder reads is a value between 0% and 100% of the reference speed of the winder. This is the reason that the winder reference speed is also read-in and the winder speed is converted to between 0% and 100% - referred to 6000 rpm - for internal processing. As an alternative, the winder speed can also be read-in from an external encoder. The external encoder is always referred to a speed of between 0 and 6000 rpm. In this case, the selected reference speed is not taken into account. The gear ratio between a load revolution and motor revolution can be applied to the winder speed.
Page 4: Here, winding step and acceleration distance are implemented; whereby acceleration and deceleration override are calculated according to the following formula:
cedisonAcceleratisVelocityv
onAcceleratias
va
tan:::
2
2
Program description
Commissioning the function
SINAMICS Traversing
Version 1.01 10.01.2014 48/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
Velocity, acceleration and deceleration overrides are quantities referred to the setpoints in parameters p2691, p2572 and p2573. This is the reason that the setpoints in parameters p2691, p2572 and p2573 are read-out and the override correspondingly scaled. As these parameters are setting parameters, they are read-out by a system function. The read-out operation is initiated by a flash function every 2s.
Page 5: Changeover of the MDI between traversing operation and MDI is realized here. When switching-in traversing operation, a flip-flop is set on chart page 1 that changes over several numeric changeover switches on this chart page. These changeover switches either change over the MDI signals of the application to the MDI or the MDI signals that are received from SIMATIC S7 via Profibus. Acceleration as well as deceleration override are limited to a minimum of 5% in traversing operation.
9.2 Profibus communication in SIMATIC S7
All of the relevant data to traverse and to control EPOS are cyclically transferred to the SIMATIC S7 via the Profibus interface. Communication via the free telegram configuration is interconnected in the SINAMICS drive. Communication is configured as follows on the SIMATIC S7: OB1 calls FC100. Communication for the traversing arm axis is set-up in the FC100. The SFC14 and SFC15 system functions are called in the FC100; these are used to transfer data from and to the drive. The data are in DB100. There is a send and a receive area. The structures for sending (UDT101) and receiving (UDT102) are saved in the user-defined data types (UDT).
10 Commissioning the function 10.1 Parameterization
The following parameterization is partially carried-out on the HMI. If you are not using an HMI, then you can also make the settings in the user program or the variable table on the SIMATIC S7.
Winding step: In Starter, under Technology -> Position controller, open the mechanical
screen form. Parameterize the gear unit ratio and under p2506 set the spindle pitch. The
selected value corresponds to the distance that the traversing arm moves through during one load revolution.
Program description
Commissioning the function
SINAMICS Traversing
Version 1.01 10.01.2014 49/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
Fig. 10-1
Reference the drive. Start WinCC flexible Runtime and enter the “Settings” screen form. Under
“Winding step” set the required winding step. Fig. 10-2: “Settings” screen form
Wound roll width, acceleration distance and waiting angle: Define the wound roll width using the lefthand and righthand end positions. In WinCC flexible Runtime, select the
“Settings” screen form. For “Position A“, set the lefthand position and for “Position B”, the righthand end position.
You can set the acceleration distance under “Acceleration distance”.
Fig. 10-3: “Settings” screen form
Program description
Commissioning the function
SINAMICS Traversing
Version 1.01 10.01.2014 50/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
The waiting angle is set under “Waiting angle”.
10.2 Test and fine setting
The test can be made using the actual winder – and also using the simulation function of the winder in the WinCC flexible “Auto” screen form. The trace function is used to evaluate the functionality of the traversing arm. If the position controller is to be activated at the winder drive, then, for example, the waiting angle can be directly checked by comparing the position actual value of the winder and the speed setpoint of the basic positioner. Further, before tests are started, the position controller and speed controller of the axes should be optimized.
Limits of the reference parameters The application calculates the acceleration and velocity of the traversing arm as override. The acceleration and deceleration override can be a maximum of 100% and the velocity override a maximum of 200% of the reference parameter. The application cyclically reads-out the reference parameters. The application subsequently scales the override so that the acceleration/deceleration results in the acceleration distance or the velocity of the parameterized winding step parameterized by the user. In order to check whether the override is not limited, under Technology ->
Basic positioner, open the MDI setpoint input screen form. There, select “Analog signals”.
Check whether the acceleration and deceleration overrides are less than 100%. Check whether the velocity override is less than 200%.
Fig. 10-4: MDI
If you must change a parameter as described in the following, first power-down
the traversing axis. The reason for this is that the application must first accept
Program description
Commissioning the function
SINAMICS Traversing
Version 1.01 10.01.2014 51/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
the new values and must adapt the override. Otherwise, it can occur that the traversing arm will accelerate at an unexpectedly high level or will move at a high velocity. You should also carefully note that with the change parameterization, it is possible that the mechanical load capability of your traversing arm will be exceeded.
For the case that the velocity override is too high, in the MDI configuration screen form, open the fixed setpoints and set a higher value in reference parameter p2691 (reference quantity for the velocity override). For a reference parameter with a higher setting, the application calculates a lower velocity override in order to achieve the required angle step.
For the case that the acceleration and deceleration override are too high, under Technology, open the limits screen form. Set higher values for reference parameter p2572 and parameter p2573. With the higher setting for the reference parameter, the application calculates a lower acceleration and deceleration override in order to achieve the required acceleration distance.
Fig. 10-5: Limits
You must repeat the test after the parameters have been changed.
Traversing operation: Start WinCC flexible Runtime. Go to the “Auto” screen form. Power-up the
drive with “On“ and start the traversing operation (the traversing arm is powered-up but still doesn’t rotate).
Program description
Commissioning the function
SINAMICS Traversing
Version 1.01 10.01.2014 52/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
Fig. 10-6 Screen form: “Auto”
Open the trace and as signals, select parameter r60, r2521, r2684 from the
traversing arm and from the winder, r2521. Set the cycle time to 1ms and accept the maximum record/trace duration.
Fig. 10-7: Trace settings
Open the winder control panel and move this. Start the trace Using the righthand mouse key, click on trace and under bit tracks, select
parameter p2684 bit 15. Zoom to the section around the waiting angle. Using the measuring cursor,
mark the falling edge of the “Traversing task active” bits and the location at which the new speed setpoints are output.
Program description
Commissioning the function
SINAMICS Traversing
Version 1.01 10.01.2014 53/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
Fig. 10-8: Waiting angle
Read the angle that the traversing arm moves through. In our particular case,
this is 39590 LU. In this example, 36000LU is parameterized for each winder revolution. This means that this value corresponds to angle of 39.6 degrees. A waiting angle or 40 degrees is parameterized in the example.
In order to check the acceleration distance, now position the measuring cursor at the start and end of the acceleration phase.
Fig. 10-9: Acceleration distance
Read-off the acceleration distance. In this example it is 10300LU. In this
application example, 1000LU is defined to be 1mm so that this value corresponds to an acceleration distance of 10.3 mm. An acceleration distance of 10 mm is parameterized in the example.
Zoom to a section in the synchronous operation phase of the traversing arm. Using the measuring cursor, mark one winder revolution. Then read-off the distance that the traversing arm moves through in the same time. This value corresponds to the winding step.
Program description
Commissioning the function
SINAMICS Traversing
Version 1.01 10.01.2014 54/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
Fig. 10-10: Winding step
In this example, 100380LU can be read-off; this corresponds to a winding step
of 100.38 mm. A winding step of 100mm has been parameterized. The reasons for the deviation are the trace sampling time and also the characteristic of the speed actual value signal.
In order to trace the complete traversing operation, and to check the winding width, you may have to increase the recording time for the trace.
Restart the trace. Using the measuring cursor, mark the end positions and read-off the wound roll
width. Fig. 10-11: Wound roll width
Program description
Commissioning the function
SINAMICS Traversing
Version 1.01 10.01.2014 55/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
10.3 Data coupling to SIMATIC
The traversing arm as well as the complete EPOS functionality can be addressed via SIMATIC S7. The following points must be observed to implement automatic operation: When starting the traversing arm, it must be ensured that initially all faults are acknowledged. The axis enable must first be switched-in and then the traversing arm started. When stopping, the traversing arm should first be stopped and after the traversing arm has come to a standstill, the axis enable should be withdrawn.
Appendix
SINAMICS Traversing
Version 1.01 10.01.2014 56/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
Appendix
11 General information on the application 11.1 Scope of supply
The “Traversing arm in SINAMICS” package comprises: SIMATIC project Documentation
11.2 Revisions/Author Table 11-1: Revisions/Author
Version Date/Revision Author
First generated David Königs V1.0 20.03.2008 / Release Stefan Gumbrecht V1.1 29.04.2008 / Documentation Stefan Gumbrecht
12 Literature Literature references
This list is in no way complete and only reflects a selection of suitable literature (references). Table 12-1
Title
/1/ SINAMICS S120 List Manual /2/ SINAMICS S120 Commissioning Manual /3/ Manual: DCC_programming /4/ Application: Traversing arm in SIMOTION /5/ Application: Traversing drive with MASTERDRIVES
Appendix
SINAMICS Traversing
Version 1.01 10.01.2014 57/57
Cop
yrig
ht
Sie
men
s A
G 2
009
All
right
s re
serv
ed
Man
ual_
SIN
AM
ICS
_DC
C_T
rave
rsin
g D
rive_
V1.0
1.do
c
13 Contact partner Application center SIEMENS Siemens AG Automation & Drives A&D MC PM APC Frauenauracher Str. 80 91056 Erlangen Fax: 09131-98-1297 mailto: applications.erlf.aud@siemens.com
top related