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Automation and Drives

EZ Positioning with
SINAMICS S120
Agenda
Automation and Drives

Sinamics EZ EPOS Agenda


Production Starter Basic Sinamics Drive Setup
Machines  Insert Drive (CU310 or CU320)
 Auto Configure CU and Drive-CLIQ Devices
Agenda
Starter Offline Configuration
 Drive Configuration Wizard
 Telegram Setup for EZ _EPOS Block
 Check S7 Hardware Configuration

Execute EZ_EPOS Script File


 Copy from Example Project
 Execute and Save Project
 Download to Sinamics

Step7 Simatic Manager Programming


 Copy Needed blocks to new Program
 Setup FB120 in new Program
 Edit Symbol Table
 Save and Download S7 Project

Test EPOS Application on Demo


 Run through all EPOS Modes with S7 PLC and S120 Demo

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

EZ Positioning with
SINAMICS S120
S7 Hardware Configuration
Automation and Drives

Start New Project with S7 Simatic Manager


Production Open S7 and Select File / New
Machines

Agenda

Select new Name for Project and Press OK

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Insert S7 300 Simatic Station


Right Click on New Project and insert new Object
Production
Machines  Choose S7 300 Station

Agenda

New Station inserted --Note Hardware Icon

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Start Hardware Configuration


Production Click on Hardware Icon and Open HW Configuration
Machines
Open Hardware Catalogue
Agenda
Insert S7 300 Rack, Power Supply, and CPU

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Add Sinamics S120 in Hardware Configuration


Production Drag the drive on to the Profibus Network
Machines
• Choose Node Address 4
Agenda • Select Present Firmware Version (2.5)
• Choose Telegram Type None

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Save and Close Hardware Configuration


Production
Machines
Press Save an Compile Button
• Hardware Configuration should Save and Compile
Agenda • Correct any errors if they occur

Exit the Hardware Configuration


• HW Config must not be Open for Next Section!

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

EZ Positioning with
SINAMICS S120
Basic Starter Online Commissioning
Automation and Drives

Open Starter Program & Go Online


Production Open Starter by Motor Icon for Sinamics
Machines

Agenda

Go Online with Starter –Use


Do not Upload to the PG!

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Default CU310 or CU320


Production Right Click On CU310 (or CU320) and Choose…
Machines •Target Device / Restore Factory Settings
Agenda

Check the Box – Save Factory Settings to ROM


Power Cycle Drive after RAM to ROM Completed

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Complete Auto Configuration


Production Select Auto Configuration and Start Auto Configuration
Machines Choose Control type for Motor type
Agenda Close after Initialization

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Starter Offline Configuration


Production Go Offline with the Sinamics
Machines Select Configuration under the Device Folders
Agenda • This Configuration is under the Drive Object Used
• Click On Configure DDS to Parameterize Drive Settings

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Production
Machines

Agenda Thank you very much

Name: Carl Owens & Kevin Wu


Department: Production Machines
Address: 5300 Triangle Parkway, Suite 100
Norcross, GA 30092
Mail: carl.owens@siemens.com
wu.kevin@siemens.com

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

EZ Positioning with
SINAMICS S120
Basic Starter Offline Commissioning
Automation and Drives

Open Starter Program & Go Offline


Production Open Starter by Motor Icon for Sinamics
Machines

Agenda

Go Offline with Starter –Use

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Open DDS (Drive Data Set)


Production From the Drive to be Commissioned Choose…
Machines Configuration
Agenda

Choose Configure DDS…


Offline Configuration Wizard is Opened

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Control Structure Setup


Production Select Speed Control with Encoder
Machines
Use Function Modules when Needed
Agenda
For EPOS Basic Positioner is Needed

Next, Select Continue


S7 Control in Sinamics Drives
For internal use only
Automation and Drives

Power Unit Configuration


Power Unit Data Up-read in Auto Configuration (Drive-
Production
Machines
CLIQ)
 Confirm Device type is Correct via Part label
Agenda
 Select Continue for next Configuration Screen

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Motor Configuration
Production Motor Data Up-read in Auto Configuration (Drive-CLIQ) **
Machines  **If Motor is a Drive-CLIQ Motor
Agenda  Non Drive-CLIQ Motors can be Selected from List
 Third Party Motors can have data entered

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Holding Brake Configuration


Production Motor Data Up-read in Auto Configuration (Drive-CLIQ) **
Machines  **If Motor is a Drive-CLIQ Motor
Agenda  Non Drive-CLIQ Motors Check Motor Name Plate
 DEMO drive do not Use Holding Brakes

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Encoder Configuration
Encoder Data Up-read in Auto Configuration (Drive-CLIQ)
Production **
Machines  **If Encoder / Motor is a Drive-CLIQ Motor
Agenda  Siemens and Third Party Encoders can be
Parameterized
 Note Encoder 1 is from Motor Encoder

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Encoder Data Configuration


Encoder Data Up-read in Auto Configuration (Drive-CLIQ)
Production **
Machines  **If Encoder / Motor is a Drive-CLIQ Motor
Agenda  Siemens and Third Party Encoders can be
Parameterized
 Note Encoder 1 is from Motor Encoder

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

EPOS Only - Encoder Used for Position


Sensing
Production
Machines
Select Encoder Used
 Note that Encoder_4 refers to Device number 4
Agenda
 Usually Motor Encoder used for Position Sensing

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

EPOS Only – Mechanics


Production Parameterize Gearing and Resolution
Machines
 Modulo Axis can be programmed if need
Agenda  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


For internal use only
Automation and Drives

EPOS Only – Mechanics


Production Parameterize Gearing and Resolution
Machines
 Modulo Axis can be programmed
Agenda  Load Revolutions = Gearing

 Load Revolutions = Gearing


 Lu / Load is resolution
 Use Default for testing in
DEMO

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Profibus Telegram type


Production Choose Free Telegram with BICO
Machines  The Profibus Telegram will be Configured Later
Agenda  Free Telegram allows Custom Telegrams
 Script Files will be used to Setup Telegram Mapping

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Summary Data Acceptance


Production Review data and Click Finish if Complete
Machines  After Completing DDS Wizard “Save and Compile”
Agenda  DDS Wizard Data is now Complete

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Profibus Telegram Configuration


Production From the Drive to be Commissioned Choose…
Machines
 Configuration
Agenda

Use Up – Down Buttons to Move Drive Objects


CU is 1st and Drive (S) should be in Preceding Order
S7 Hardware Configuration Should be Closed!

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Profibus Telegram Configuration


Production Select Word Length For Telegrams
Machines  CU Telegram not needed for Demo
Agenda

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


For internal use only
Automation and Drives

Profibus Telegram Configuration


Production Select Transfer to HW Config
Machines  CU Telegram will be sent to the S7 Hardware Config.
Agenda

 Select Yes to transfer

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Profibus Telegram Configuration


Production Telegram has Successfully been Transferred
Machines
 Note Blue Check Boxes
Agenda

Save and Compile Program before Proceeding


 Save and Compile Using Starter

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

EZ Positioning with
SINAMICS S120
Starter Script File
Automation and Drives

Open Starter Program in EZ_EPOS Example


Production Copy Script file from Example Program
Machines

Agenda

 Close Example Program’s Starter and go to new


Program

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Create Script Folder in New Program


Production Right Click On Drive to be Commissioned
Machines • Expert / Insert Script Folder
Agenda

Paste EPOS Script in Script Folder

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Open EPOS Script in New Project


Production Click On EPOS Script
Machines • The Script Editor Opens
Agenda

Click inside the Script Editor area


 The Script Editor Buttons appear on the Task Bar

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Accept and Execute the Script


Production Click On the Accept and Execute Button
Machines • The script File parameterizes the drive for EPOS
•All the Drive Parameters needed by FB120 are Complete
Agenda

Save and Compile the Starter Program


•The Program is now Ready for Download

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Download to the Drive


Production Go Online with Starter to the Drive
Machines •Choose Download to the Drive
•Choose RAM to ROM
Agenda

Drive is now ready for Operation

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

EZ Positioning with
SINAMICS S120
S7 Simatic Manager Programming
Automation and Drives

Open S7 Program & S7 Hardware


Production Open New Sinamics S7 Project
Machines
And Open Hardware Configuration
Agenda To Confirm Configuration of Telegram

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Verify Telegram Configuration


Production Highlight the Profibus Card and View the
Machines
Telegram
Agenda
Telegram will be “User Defined”
Length should be 10 words (20 bytes)

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Download Configuration to PLC


Production Save and Compile HW Configuration
Machines
Download Configuration to PLC
Agenda

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Download Configuration to PLC


Production Follow S7 Sequence to Download Hardware
Machines
Config
Agenda
Select Target Module (If Multiple PLCs)
Restart PLC after Download
PLCs LED will still show Fault

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Copy Blocks to New S7 Program


Production Open the Example Program and Copy Relevant Blocks
Machines
Task Bar – Use Window / Split Horizontally
Agenda

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Copy Blocks to New S7 Program


Production Open the Example Program and Copy Relevant Blocks
Machines
See Example Below for Copying Blocks
Agenda

Paste Blocks in new S7 Program


VAR (Variable Table) can be copied
VAR may need editing if Instance DB # Changes
Instance DB will be Created in Later Step
Copy Relevant Profibus Communication Blocks
OB82, OB86, and OB122
SFC14 and SFC15 are PLC System Function Blocks
S7 Control in Sinamics Drives
For internal use only
Automation and Drives

Insert FC (Function Call) for Drive(s)


Production Right Click on S7 Blocks Folder and Insert a FC
Machines
Edit Symbolic Name and Comments
Agenda

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Open New FC and Insert Drive FB


Production Open FC and Choose Drive FB from Catalogue
Machines
Note Catalogue Icon Highlighted on Task Bar
Agenda
Insert a network and Drag FB120 on to Network

Add text

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Insert Instance DB in Drive FB


Production DB number is Entered to Generate Instance DB
Machines
Enter DB120 in “????” to test with Variable table included
Agenda
Multiple FB120s with Specific DBs can be used

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Parameterize Function Block


Production Nominal RPM and Hex address from Drive
Machines
Use Nominal Speed for Demo or Machine
Agenda
Address is same as in Hardware Config-Profibus for Drive
Address is Hex value and not decimal value
 Save FC

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Insert FC in OB1
Production Open OB1 Block
Machines Save Program in OB1 After Inserting FC
Agenda

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Edit Symbol Table


Production Open Symbol Table and Edit Instance DB
Machines Name for DB can be symbolic to Axis
Save Symbol Table
Agenda

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Download S7 Project to PLC


Production Open the Blocks Folder and Download the Blocks
Machines
Use the Download Button on the S7 Manager task bar
Agenda

System data has been loaded in the Hardware Config


 SFC14 and SFC15 are included with S7 PLC

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

EZ Positioning with
SINAMICS S120
Testing Application
Automation and Drives

Verify Control Word One


Production Use VAR table in S7 Manager with Starter Diagnostics
Machines Open the VAR Table Online*
• Open Starter Online
Agenda
• Right Click on False of Bit 0.0 and force to 1.

*VAR Table included is addressed to DB120 if your test is for


different DB you will need to edit VAR table

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Verify Control Word One


Production Open Control Logic in Starter and Observe Bit 0
Machines • Toggle Bit O ON / OFF with VAR Table
• Off2, OFF3, and Enable are set Initially to 1 in the DB
Agenda • Initial Value can be changed by user
• OFF2 is Coast to Stop
• OFF3 is Quick Ramp Down Stop
• Enable is Pulse Enable to Drive

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Notes on Control Word One


Production Sequence order for Bits during Operation
Machines • Bit 10 is High for PLC Control
• Off2, OFF3, and Enable are set to 1
Agenda
• OFF1 (Bit 0) Transitions to 1 and remains high
• Control Word 1 is needed for Operation

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Jogging Axis
Production Use the VAR Table to Jog the axis
Machines • Control Word 1 Bit 0 must be ON for Operation
• Set Bit 4.0 (Jog1) to True
Agenda
• Override must be Changed to set Value (E.g. 4000 Hex)
• Initial DB value for Accel and Decel is 4000 Hex
• Use Bit 62.1 for Jog 2

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Verify Jogging of Axis


Production Open Jog Folder to View Jogging
Machines • All Motion Functions will be under Basis Positioner Folder
Agenda

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Verify Jogging of Axis


Production Check Both Analog and Digital Setpoints
Machines • Check Digital Setpoints and Checkback with Radio Buttons
• Check Analog Setpoints to see Override Velocity value
Agenda
• Open Diagnostics Folder for more information
• Incremental Jogging can be set with a bit in the Instance DB

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Jogging Setpoints
Production Click on Configure Jog Setpoints
Machines • Adjust setpoints if needed
Agenda

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Homing Axis for Absolute Value Encoders*


Production *Homing for Incremental Encoders on next Slide
Machines • Jog the Axis to the Desired Home Position
• Turn off JOG and ON bits in the VAR chart
Agenda • Open the Homing Folder (Basis Positioner / Homing)
• Click on the Homing Graphic for Active and Passive 1
• Choose Active Homing 2
• Perform Absolute Value Calibration
1
2

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Incremental Encoder Homing – Note: Exercise uses absolute encoder

Production Select a Digital Input for Proximity Signal


Machines • Select a Digital Input for External Zero Mark
Agenda

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Incremental Encoder Homing


Production Test digital Input from Switch Box
Machines • Verify the Operation of the Digital Input for Zero Mark
Agenda

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Homing Axis for Incremental Encoders


Production
• Start Drive with DB Bit 0.0
Machines • Start Referencing with DB bit 4.1
• Positive Direction for Homing is DB Bit 65.3 = 0
Agenda • Force Drive External Zero Marker in Previous Screen
• Drive Should stop and have Homing Position Set

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Setup Mode – Direct Setpoint Spec. / MDI


Production Use VAR Table to Run drive is Setup Mode
Machines
Sequence for Setup Mode
Agenda
1. Set Control Word 1 in Operation (OFF1)
2. Bit 10.1 MDI_Setup Bit = 1
3. Choose a Direction Fwd or Backward (10.3 or 10.4)
4. Bit 10.7 Intermediate_Stop = 1
5. Bit 10.0 MDI_Start = 1
6. Bit 10.5 Edge_Trigger = 1 (Positive transition)

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Setup Mode – Direct Setpoint Spec. / MDI


Production Use Direct Setpoint Specification / MDI Folder in Starter
Machines • Check the Analog and Digital Signals during Setup / MDI

Agenda

Configure MDI Positioning Velocity


 Open Configure MDI Fixed Setpoints

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

MDI Positioning - Relative


Production Use VAR Table to Run drive is Relative Positioning
Machines
Sequence for Relative Positioning
Agenda
1. Set Control Word 1 in Operation (OFF1)
2. Bit 10.1 MDI_Setup Bit = 0
3. Bit 10.2 Position_Type = 0 (Relative)
4. Bit 10.7 Intermediate_Stop = 1
5. Bit 10.0 MDI_Start = 1
6. MDI Velocity Override = Desired Override
7. MDI Position DB Double Word 6 = Desired Position Move (Relative)
8. Bit 10.5 Edge_Trigger = 1 (Positive transition)

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

MDI Positioning Relative


Production Use Direct Setpoint Specification / MDI Folder in Starter
Machines • Check the Analog and Digital Signals during Setup / MDI

Agenda

Note Positive Edge Required for Relative Positioning

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

MDI Positioning – Absolute


Production
Use VAR Table to Run drive is Absolute Positioning
Machines Sequence for Absolute Positioning
1. Set Control Word 1 in Operation (OFF1)
Agenda 2. Bit 10.1 MDI_Setup Bit = 0
3. Bit 10.2 Position_Type = 1 (Absolute)
4. Bit 10.7 Intermediate_Stop = 1
5. Bit 10.0 MDI_Start = 1
6. MDI Velocity Override DB Word 2 = Desired Override
7. MDI Position DB Double Word 6 = Desired Position
8. Bit 10.5 Edge_Trigger or 10.6 Constant_Trigger can be Used
9. Note: Axis will move if new position given and Constant Trigger used

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

MDI Positioning Absolute


Production Use Direct Setpoint Specification / MDI Folder in Starter
Machines • Check the Analog and Digital Signals during Setup / MDI

Agenda

Note Edge Type Trigger or Continuous can be used


for Absolute Positioning

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Traversing Block
Production Set Up Traversing Block in Starter
Machines • Open Traversing Blocks Editor under Traversing Blocks Folder
• See Next page for Block Editor
Agenda

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Traversing Block
Production Set Up Traversing Block in Starter
Machines • Edit a few Blocks for Testing –See Example Below
• Blocks can be continuous or Single Block Execution
Agenda • Note the Advance Field for type of Execution
• In Job Field - Value of Wait or Go To (Block #) Possible

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

Traversing Blocks
Production Use VAR Table to Run Traversing Blocks
Machines
Sequence for Traversing
Agenda 1. Set Control Word 1 in Operation (OFF1)
2. Bit 10.0 MDI_Start = 0
3. Bit 10.7 Intermediate Stop = 1
4. Bit 64.7 Traverse Start
5. DB Word 66 Traversing Bit to Start (E.g. = Block 1)

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

FB 120 Diagnostics
Production Diagnostics Mentioned in the VAR Table
Machines • These Bits and Words can be used in PLC Logic

Agenda

S7 Control in Sinamics Drives


For internal use only
Automation and Drives

FB 120 Block View


Production
Machines

Agenda

S7 Control in Sinamics Drives


For internal use only