automation and drives ez positioning with sinamics s120 agenda
TRANSCRIPT
Automation and Drives
EZ Positioning with SINAMICS S120
Agenda
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Sinamics EZ EPOS Agenda
Starter Basic Sinamics Drive Setup Insert Drive (CU310 or CU320) Auto Configure CU and Drive-CLIQ Devices
Starter Offline Configuration Drive Configuration Wizard Telegram Setup for EZ _EPOS Block Check S7 Hardware Configuration
Execute EZ_EPOS Script File Copy from Example Project Execute and Save Project Download to Sinamics
Step7 Simatic Manager Programming Copy Needed blocks to new Program Setup FB120 in new Program Edit Symbol Table Save and Download S7 Project
Test EPOS Application on Demo Run through all EPOS Modes with S7 PLC and S120 Demo
Automation and Drives
EZ Positioning with SINAMICS S120
S7 Hardware Configuration
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Start New Project with S7 Simatic ManagerOpen S7 and Select File / New
Select new Name for Project and Press OK
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Insert S7 300 Simatic StationRight Click on New Project and insert new Object Choose S7 300 Station
New Station inserted --Note Hardware Icon
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Start Hardware Configuration
Click on Hardware Icon and Open HW ConfigurationOpen Hardware CatalogueInsert S7 300 Rack, Power Supply, and CPU
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Add Sinamics S120 in Hardware Configuration
Drag the drive on to the Profibus Network• Choose Node Address 4 • Select Present Firmware Version (2.5)• Choose Telegram Type None
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Save and Close Hardware Configuration
Press Save an Compile Button • Hardware Configuration should Save and Compile• Correct any errors if they occur
Exit the Hardware Configuration• HW Config must not be Open for Next Section!
Automation and Drives
EZ Positioning with SINAMICS S120Basic Starter Online
Commissioning
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Open Starter Program & Go Online
Open Starter by Motor Icon for Sinamics
Go Online with Starter –Use Do not Upload to the PG!
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Default CU310 or CU320
Right Click On CU310 (or CU320) and Choose…•Target Device / Restore Factory Settings
Check the Box – Save Factory Settings to ROMPower Cycle Drive after RAM to ROM Completed
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Complete Auto Configuration
Select Auto Configuration and Start Auto Configuration
Choose Control type for Motor typeClose after Initialization
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Starter Offline Configuration
Go Offline with the Sinamics Select Configuration under the Device Folders• This Configuration is under the Drive Object Used• Click On Configure DDS to Parameterize Drive
Settings
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda Thank you very much
Name:Carl Owens & Kevin Wu
Department:Production Machines
Address:5300 Triangle Parkway, Suite 100
Norcross, GA 30092
Automation and Drives
EZ Positioning with SINAMICS S120Basic Starter Offline
Commissioning
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Open Starter Program & Go Offline
Open Starter by Motor Icon for Sinamics
Go Offline with Starter –Use
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Open DDS (Drive Data Set)
From the Drive to be Commissioned Choose…Configuration
Choose Configure DDS… Offline Configuration Wizard is Opened
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Control Structure Setup
Select Speed Control with EncoderUse Function Modules when Needed
For EPOS Basic Positioner is Needed
Next, Select Continue
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Power Unit ConfigurationPower Unit Data Up-read in Auto Configuration
(Drive-CLIQ) Confirm Device type is Correct via Part label Select Continue for next Configuration Screen
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Motor ConfigurationMotor 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
Production Machines
Automation and Drives
For internal use only
Agenda
Holding Brake ConfigurationMotor 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
Production Machines
Automation and Drives
For internal use only
Agenda
Encoder ConfigurationEncoder 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
Production Machines
Automation and Drives
For internal use only
Agenda
Encoder Data ConfigurationEncoder 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
Production Machines
Automation and Drives
For internal use only
Agenda
EPOS Only - Encoder Used for Position Sensing
Select Encoder Used Note that Encoder_4 refers to Device number
4 Usually Motor Encoder used for Position
Sensing
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
EPOS Only – Mechanics Parameterize Gearing and Resolution Modulo Axis can be programmed if need This is only used in EPOS – For Basic
Positioner
Load Revolutions = Gearing Lu / Load is resolution Default for testing in DEMO
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
EPOS Only – Mechanics
Parameterize Gearing and Resolution Modulo Axis can be programmed Load Revolutions = Gearing
Load Revolutions = Gearing
Lu / Load is resolution Use Default for testing in
DEMO
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Profibus Telegram type Choose Free Telegram with BICO The Profibus Telegram will be Configured
Later Free Telegram allows Custom Telegrams Script Files will be used to Setup Telegram
Mapping
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Summary Data Acceptance 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
Production Machines
Automation and Drives
For internal use only
Agenda
Profibus Telegram Configuration
From the Drive to be Commissioned Choose… Configuration
Use Up – Down Buttons to Move Drive Objects CU is 1st and Drive (S) should be in Preceding OrderS7 Hardware Configuration Should be Closed!
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Profibus Telegram Configuration
Select Word Length For Telegrams CU Telegram not needed for Demo
Word Length For Telegrams EZ_EPOS uses 10 words IN and 10 Words Out EZ_APC_SPEED uses 10 Words IN and 10
Words Out EZ_Basic_SPEED uses 6 Words IN and 6 Words
Out
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Profibus Telegram ConfigurationSelect Transfer to HW Config CU Telegram will be sent to the S7 Hardware
Config.
Select Yes to transfer
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Profibus Telegram Configuration
Telegram has Successfully been Transferred Note Blue Check Boxes
Save and Compile Program before Proceeding
Save and Compile Using Starter
Automation and Drives
EZ Positioning with SINAMICS S120Starter Script File
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Open Starter Program in EZ_EPOS Example Copy Script file from Example Program
Close Example Program’s Starter and go to new Program
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Create Script Folder in New Program
Right Click On Drive to be Commissioned• Expert / Insert Script Folder
Paste EPOS Script in Script Folder
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Open EPOS Script in New Project
Click On EPOS Script • The Script Editor Opens
Click inside the Script Editor area The Script Editor Buttons appear on the
Task Bar
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Accept and Execute the Script
Click On the Accept and Execute Button • The script File parameterizes the drive for EPOS•All the Drive Parameters needed by FB120 are Complete
Save and Compile the Starter Program •The Program is now Ready for Download
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Download to the Drive
Go Online with Starter to the Drive•Choose Download to the Drive•Choose RAM to ROM
Drive is now ready for Operation
Automation and Drives
EZ Positioning with SINAMICS S120
S7 Simatic Manager Programming
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Open S7 Program & S7 Hardware
Open New Sinamics S7 Project And Open Hardware ConfigurationTo Confirm Configuration of Telegram
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Verify Telegram Configuration
Highlight the Profibus Card and View the Telegram
Telegram will be “User Defined”
Length should be 10 words (20 bytes)
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Download Configuration to PLC
Save and Compile HW Configuration
Download Configuration to PLC
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Download Configuration to PLC
Follow S7 Sequence to Download Hardware Config
Select Target Module (If Multiple PLCs)
Restart PLC after Download
PLCs LED will still show Fault
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Copy Blocks to New S7 Program
Open the Example Program and Copy Relevant Blocks
Task Bar – Use Window / Split Horizontally
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Copy Blocks to New S7 Program
Open the Example Program and Copy Relevant Blocks
See Example Below for Copying Blocks
Paste Blocks in new S7 ProgramVAR (Variable Table) can be copied
VAR may need editing if Instance DB # Changes
Instance DB will be Created in Later Step
Copy Relevant Profibus Communication Blocks
OB82, OB86, and OB122
SFC14 and SFC15 are PLC System Function Blocks
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Insert FC (Function Call) for Drive(s)
Right Click on S7 Blocks Folder and Insert a FC
Edit Symbolic Name and Comments
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Open New FC and Insert Drive FB
Open FC and Choose Drive FB from Catalogue
Note Catalogue Icon Highlighted on Task Bar
Insert a network and Drag FB120 on to Network
Add text
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Insert Instance DB in Drive FB
DB number is Entered to Generate Instance DB
Enter DB120 in “????” to test with Variable table included
Multiple FB120s with Specific DBs can be used
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Parameterize Function Block
Nominal RPM and Hex address from Drive
Use Nominal Speed for Demo or Machine
Address is same as in Hardware Config-Profibus for Drive
Address is Hex value and not decimal value
Save FC
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Insert FC in OB1
Open OB1 BlockSave Program in OB1 After Inserting FC
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Edit Symbol Table
Open Symbol Table and Edit Instance DBName for DB can be symbolic to AxisSave Symbol Table
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Download S7 Project to PLC
Open the Blocks Folder and Download the BlocksUse the Download Button on the S7 Manager task bar
System data has been loaded in the Hardware Config
SFC14 and SFC15 are included with S7 PLC
Automation and Drives
EZ Positioning with SINAMICS S120
Testing Application
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Verify Control Word One
Use VAR table in S7 Manager with Starter Diagnostics
Open the VAR Table Online*• Open Starter Online• Right Click on False of Bit 0.0 and force to 1.
*VAR Table included is addressed to DB120 if your test is for different DB you will need to edit VAR table
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Verify Control Word One
Open Control Logic in Starter and Observe Bit 0• Toggle Bit O ON / OFF with VAR Table• Off2, OFF3, and Enable are set Initially to 1 in the DB• Initial Value can be changed by user• OFF2 is Coast to Stop• OFF3 is Quick Ramp Down Stop• Enable is Pulse Enable to Drive
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Notes on Control Word One
Sequence order for Bits during Operation• Bit 10 is High for PLC Control• Off2, OFF3, and Enable are set to 1• OFF1 (Bit 0) Transitions to 1 and remains high• Control Word 1 is needed for Operation
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Jogging Axis
Use the VAR Table to Jog the axis• Control Word 1 Bit 0 must be ON for Operation• Set Bit 4.0 (Jog1) to True• Override must be Changed to set Value (E.g.
4000 Hex)• Initial DB value for Accel and Decel is 4000 Hex• Use Bit 62.1 for Jog 2
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Verify Jogging of Axis
Open Jog Folder to View Jogging• All Motion Functions will be under Basis Positioner
Folder
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Verify Jogging of Axis
Check Both Analog and Digital Setpoints• Check Digital Setpoints and Checkback with Radio
Buttons• Check Analog Setpoints to see Override Velocity
value• Open Diagnostics Folder for more information• Incremental Jogging can be set with a bit in the
Instance DB
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Jogging Setpoints
Click on Configure Jog Setpoints • Adjust setpoints if needed
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Homing Axis for Absolute Value Encoders* *Homing for Incremental Encoders on next Slide• Jog the Axis to the Desired Home Position • Turn off JOG and ON bits in the VAR chart• Open the Homing Folder (Basis Positioner / Homing)• Click on the Homing Graphic for Active and Passive 1• Choose Active Homing 2• Perform Absolute Value Calibration
12
3
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Incremental Encoder Homing – Note: Exercise uses absolute encoder
Select a Digital Input for Proximity Signal• Select a Digital Input for External Zero Mark
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Incremental Encoder Homing
Test digital Input from Switch Box• Verify the Operation of the Digital Input for
Zero Mark
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Homing Axis for Incremental Encoders
• Start Drive with DB Bit 0.0• Start Referencing with DB bit 4.1• Positive Direction for Homing is DB Bit 65.3 = 0• Force Drive External Zero Marker in Previous Screen• Drive Should stop and have Homing Position Set
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Setup Mode – Direct Setpoint Spec. / MDIUse VAR Table to Run drive is Setup Mode
Sequence for Setup Mode1. Set Control Word 1 in Operation (OFF1)2. Bit 10.1 MDI_Setup Bit = 13. Choose a Direction Fwd or Backward (10.3 or 10.4)4. Bit 10.7 Intermediate_Stop = 15. Bit 10.0 MDI_Start = 16. Bit 10.5 Edge_Trigger = 1 (Positive transition)
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Setup Mode – Direct Setpoint Spec. / MDIUse Direct Setpoint Specification / MDI Folder in
Starter• Check the Analog and Digital Signals during Setup / MDI
Configure MDI Positioning Velocity Open Configure MDI Fixed Setpoints
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
MDI Positioning - Relative
Use VAR Table to Run drive is Relative Positioning
Sequence for Relative Positioning1. Set Control Word 1 in Operation (OFF1)2. Bit 10.1 MDI_Setup Bit = 03. Bit 10.2 Position_Type = 0 (Relative)4. Bit 10.7 Intermediate_Stop = 15. Bit 10.0 MDI_Start = 16. MDI Velocity Override = Desired Override7. MDI Position DB Double Word 6 = Desired Position Move (Relative)8. Bit 10.5 Edge_Trigger = 1 (Positive transition)
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
MDI Positioning Relative
Use Direct Setpoint Specification / MDI Folder in Starter
• Check the Analog and Digital Signals during Setup / MDI
Note Positive Edge Required for Relative Positioning
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
MDI Positioning – Absolute
Use VAR Table to Run drive is Absolute PositioningSequence for Absolute Positioning1. Set Control Word 1 in Operation (OFF1)2. Bit 10.1 MDI_Setup Bit = 03. Bit 10.2 Position_Type = 1 (Absolute)4. Bit 10.7 Intermediate_Stop = 15. Bit 10.0 MDI_Start = 16. MDI Velocity Override DB Word 2 = Desired Override7. MDI Position DB Double Word 6 = Desired Position8. Bit 10.5 Edge_Trigger or 10.6 Constant_Trigger can be Used9. Note: Axis will move if new position given and Constant Trigger
used
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
MDI Positioning Absolute
Use Direct Setpoint Specification / MDI Folder in Starter
• Check the Analog and Digital Signals during Setup / MDI
Note Edge Type Trigger or Continuous can be used for Absolute Positioning
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Traversing Block
Set Up Traversing Block in Starter• Open Traversing Blocks Editor under Traversing
Blocks Folder• See Next page for Block Editor
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Traversing Block
Set Up Traversing Block in Starter• Edit a few Blocks for Testing –See Example Below• Blocks can be continuous or Single Block Execution• Note the Advance Field for type of Execution• In Job Field - Value of Wait or Go To (Block #)
Possible
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
Traversing Blocks
Use VAR Table to Run Traversing BlocksSequence for Traversing1. Set Control Word 1 in Operation (OFF1)2. Bit 10.0 MDI_Start = 0 3. Bit 10.7 Intermediate Stop = 14. Bit 64.7 Traverse Start5. DB Word 66 Traversing Bit to Start (E.g. = Block 1)
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
FB 120 Diagnostics
Diagnostics Mentioned in the VAR Table• These Bits and Words can be used in PLC Logic
S7 Control in Sinamics Drives
Production Machines
Automation and Drives
For internal use only
Agenda
FB 120 Block View