SINAMICS G120, SIMATIC S7-300/400 Application ......SINAMICS G120 CU250S-2 an S7-300/400 V1.0, Beitrags-ID: 68109071 3 C o p y r i g h t ¤ S i e m e n s A G 2 0 1 3 A l l r i g h

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SINAMICS G: Positioning a G120 CU250S-2DPwith S7-300/400 (STEP 7 V5) via PROFIBUS using Safety Integrated(via PROFIsafe) and HMI

SINAMICS G120, SIMATIC S7-300/400

Application description April 2013

2 SINAMICS G120 CU250S-2 an S7-300/400

V1.0, Beitrags-ID: 68109071

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Siemens Industry Online Support This article originates from the Siemens Industry Online Support. The following link takes you directly to the download page for this document: http://support.automation.siemens.com/WW/view/de/68109071.

Caution: The functions and solutions described in this article are limited primarily to the implementation of the automation task. Please also note that in case of networking your plant/system area with other parts of the plant, the company network or the Internet, appropriate protective measures within the framework of industrial security must be adopted. For more information, see the entry ID 50203404. http://support.automation.siemens.com/WW/view/de/50203404.

You should also actively use our Technical Forum in the Siemens Industry Online Support for this topic. Discuss your questions, suggestions or problems together with our strong forum community: http://www.siemens.de/forum-applikationen http://www.siemens.de/forum-applikationen

http://support.automation.siemens.com/WW/view/de/50203404http://support.automation.siemens.com/WW/view/de/68109071http://support.automation.siemens.com/WW/view/de/50203404http://support.automation.siemens.com/WW/view/de/50203404http://www.automation.siemens.com/WW/forum/guests/Conference.aspx?ForumID=229&Language=dehttp://www.automation.siemens.com/WW/forum/guests/Conference.aspx?ForumID=230&Language=en

SINAMICS G120 CU250S-2 an S7-300/400 V1.0, Beitrags-ID: 68109071 3

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SIMATIC, SINAMICS

SINAMICS G120 positioning connected to an S7-300/400 control

Task 1

Solution 2

Configuring and commissioning the application

3

Operating the Application 4

Functions in this application

5 Configuration and project engineering

6

References 7

Contact person 8

History 9

Table of contents



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Warranty and liability Note The application examples in this document are not binding and do not claim to

be complete regarding configuration, equipment, and any eventuality. These application examples do not represent specific customer solutions – but are only intended to provide support when it comes to typical applications. You are responsible for the proper operation of the described products. These application examples do not relieve you of your responsibility regarding the safe handling when using, installing, operating, and maintaining the equipment. By using these application examples, you agree that Siemens cannot be made liable for possible damage beyond the mentioned liability clause. We reserve the right to make changes and revisions to these application examples at any time without prior notice. If there are any differences between the suggestions made in these application examples and other Siemens publications, such as catalogs, the contents of the other document(s) take priority.

Siemens shall not be held liable for the information provided in this document. We accept no liability for any damage or loss caused by the examples, information, programs, planning data, or performance data described in this application example, irrespective of the legal basis for claims arising from such damage or loss, unless liability is mandatory. For example, according to the product liability law, in cases of malfeasance, gross negligence, due to endangerment of life, body or health, due to assumption of a guarantee for the properties of a product, due to malicious concealment of a defect or due to violation of basic contractual obligations. However, claims for indemnification based on breach of contract shall be limited to liability for damages to the contract-specific, foreseeable damages, provided there is no mandatory liability for intent, acts of gross negligence, harm to life, body and health of human beings. Any change to the burden of proof to your disadvantage is not covered hereby. Any form of duplication of these application examples or excerpts hereof is not permitted without the express consent of Siemens Industry Sector.

Table of contents


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Table of contents Warranty and liability ............................................................................................... 4 1 Task................................................................................................................. 7 2 Solution........................................................................................................... 8

2.1 Overview of the overall solution ......................................................... 8 2.2 Description of the core functionality .................................................... 9 2.2.1 Parameterizing the communication .................................................... 9

SINAMICS ......................................................................................... 9 SIMATIC S7-300/400 ......................................................................... 9

2.2.2 Data Exchange .................................................................................. 9 Cyclic process data exchange .......................................................... 10 Acyclic data exchange (parameter access) ...................................... 10

2.2.3 Basic positioner (EPOS) .................................................................. 10 2.3 Hardware and software components used ....................................... 11

3 Configuring and commissioning the application ........................................ 14

3.1 Wiring .............................................................................................. 14 3.2 Loading the SIMATIC program......................................................... 15 3.3 Loading the SINAMICS parameterization ......................................... 21 3.4 Loading the HMI .............................................................................. 24 3.5 Acceptance test ............................................................................... 25

4 Using the application ................................................................................... 26

4.1 Preconditions ................................................................................... 26 4.2 Using the application via HMI ........................................................... 26 4.2.1 Basic screen .................................................................................... 26 4.2.2 Start screen, basic positioner ........................................................... 27 4.2.3 Homing ............................................................................................ 28 4.2.4 Jogging ........................................................................................... 29 4.2.5 Traversing blocks ............................................................................ 30 4.2.6 Direct setpoint specification / MDI .................................................... 33 4.2.7 Safety .............................................................................................. 35 4.3 Variable tables ................................................................................. 36 4.3.1 Reading and writing traversing blocks .............................................. 37 4.3.2 Reading and writing drive parameters .............................................. 39 4.3.3 Reading out the fault memory .......................................................... 39

5 Functions in this application ....................................................................... 40 5.1 Functions of the SIMATIC S7-300/400 ............................................. 40 5.1.1 Overview ......................................................................................... 40 5.1.2 FC72: Communication using FB283 and SIEMENS

telegram 111 ................................................................................... 41 5.1.3 FB101: Preparing data for display on the HMI .................................. 42 5.1.4 FB1 selecting the safety functions .................................................... 43 5.1.5 PROFIsafe message frames ............................................................ 44 5.2 Available Safety Integrated functions ............................................... 45 5.3 Basic positioner ............................................................................... 48 5.3.1 Applications that can be addressed with the basic positioner ............ 48 5.3.2 Properties ........................................................................................ 49 5.3.3 Operating modes ............................................................................. 49

6 Configuration and project engineering ....................................................... 53

6.1 Configuring the SIMATIC S7-300/400 control ................................... 53 6.1.1 Configuring the standard function .................................................... 53 6.1.2 Configuring the safety functions ....................................................... 62

Table of contents



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6.2 Configuration of the SINAMICS G120 drive ...................................... 68 6.2.1 Configuring the standard functions ................................................... 68 6.2.2 Parameterizing the Safety Integrated functions ................................ 80 6.2.3 Parameterizing the SINAMICS drive via fieldbus .............................. 85

Direct connection ............................................................................. 85 6.3 Position controller and basic positioner settings ............................... 87 6.3.1 Overview and settings of the position controller screen forms ........... 87 6.3.2 Overview and settings of the basic positioner screen forms .............. 94

7 References .................................................................................................. 109 8 Contact person ........................................................................................... 110 9 History ........................................................................................................ 110

1 Task 2.1 Overview of the overall solution


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1 Task A drive - SINAMICS G120 CU250S-2PN - with basic positioner and extended safety functions should be controlled via PROFINET from a SIMATIC S7-300/400. This application example shows how you configure the SINAMICS G120 and the S7-300/400, how the system is commissioned and process data and parameters accessed.

Overview of the automation task The following diagram provides an overview of the automation task: Fig. 1-1

Requirements placed on the automation task Table 1-1

Requirement Explanation

Access to process data The functions of the basic positioner in the drive are to be controlled via the fieldbus with control words.

Access to parameters The controller should access parameters in the drive, reading and writing. For example, traversing blocks should be written or the fault memory read out. This should be done, involving the lowest possible communication load.

Safety functions of the drive

It should be possible to control basic and extended safety functions via the fieldbus.

2 Solution 2.1 Overview of the overall solution



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2 Solution The application example shows, as an example, the connection of a SINAMICS G120 CU250S-2 to a S7-300/400 in STEP 7 V5. The basic positioner is controlled via the PROFINET fieldbus. Function block FB 283 is used in this function example. FB 283 controls the cyclic communication and provides various types of acyclic tasks. This also includes a function to read and write traversing blocks, but also a user-friendly way of changing and reading any parameters. For a better overview and increased flexibility, user-specific data types (User Defined Types / UDTs) are used to arrange a large quantity of data and keep it transparent. The extended safety functions are selected via PROFIsafe. If the safety functions of the CU 250S-2 PN are not used, then the appropriate steps in these instructions can be skipped. The steps to set up the safety functions have a yellow background.

2.1 Overview of the overall solution

The following schematic shows the most important components of the solution:

The example shows you how... Fig. 2-1

...SINAMICS G120 CU250S-2PN is parameterized using STARTER. …the basic positioner of the CU250S-2PN is used. ...the S7-300/400 control system is parameterized. ...communication is programmed in the S7-300/400 control system. …the safety functions are parameterized.

2 Solution 2.2 Description of the core functionality


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2.2 Description of the core functionality

2.2.1 Parameterizing the communication

The SIMATIC control and the SINAMICS converter must be programmed using independent software packages; this is the reason that the communication data must be entered twice.

SINAMICS SINAMICS CU250S-2PN is parameterized using the STARTER V4.3.2 or higher parameterizing software. The Support Package (SSP) for SINAMICS G120 CU250S Vector must be installed. A unique IP address and a device name must be assigned to the SINAMICS drive. SIEMENS telegram 111 is used for cyclic communication.

SIMATIC S7-300/400 A SIMATIC S7-300 station is used in this example. This is programmed with STEP 7 V5. It is important that the same telegram type is selected as when parameterizing the SINAMICS G120 in STARTER. When inserting the SINAMICS S120 in the SIMATIC project, the peripheral addresses are also defined, which the SIMATIC control should use to access the SINAMICS.

2.2.2 Data Exchange

Data is exchanged between SINAMICS and SIMATIC in two areas: Process data, i.e. control word(s) and setpoint(s) or status word(s) and actual

value(s) Parameter area, i.e. reading/writing parameter values

2 Solution 2.2 Description of the core functionality



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Cyclic process data exchange The process data are cyclically transferred, i.e. in each bus cycle. As a consequence, they are transferred as quickly as possible. The SIMATIC S7-300/400 sends control words and setpoints to SINAMICS and receives from SINAMICS the status words and actual values. Depending on the particular telegram type, setpoints or actual values and/or extended control and/or status words are transferred. On the control site, the process data is made available as peripheral input or

output words. Using the appropriate parameterization, in the SINAMICS drive it is defined as

to which control word bits and which data should be sent to the SIMATIC control system.

Acyclic data exchange (parameter access) It is possible to acyclically transfer the parameter area when required, without creating a permanent communication load (communication overhead). The acyclic transfer takes significantly longer than the cyclic transfer of the processed data, however, larger data quantities can be transferred. In the SIMATIC control, read and write tasks are initiated via the "single"

interface of the FB283. No special action is required on the SINAMICS drive side.

2.2.3 Basic positioner (EPOS)

The basic positioner is used to position linear and rotary axes (modulo) in absolute/relative terms with motor encoder (indirect measuring system) or machine encoder (direct measuring system)

2 Solution 2.3 Hardware and software components used


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2.3 Hardware and software components used

Components with yellow background are only required for the safety functions. The application was created with the following components:

Hardware components Table 2-1

Component Qty Order number Note

CPU317F-2 PN/DP 1 6ES7317-2FK14-0AB0 or other S7-300/400 CPU S7 MICRO MEMORY CARD 1 6ES7953-8LM20-0AA0

PS 300 1 6ES7307-1KA02-0AA0 or another power supply SINAMICS G120 PM240 1 6SL3224-0BE13-7UA0 or another power unit SINAMICS CU250S-2DP 1 6SL3246-0BA22-1FA0

SINAMICS SD card- Extended Functionslicense

1 6SL3054-4AG00-2AA0-Z E01

This is not required when using the SD card with safety license!

Induction motor with HTL encoder 1 1LA7060-4AB10-Z H57

or another motor Resolver, HTL, TTL, SSI or DRIVE-CLIQ encoder possible

Encoder cable 1 6SX7002-0AN30-1AB0 Signal cable with 12-pin D-SUB SIMATIC panel KTP600 1 6AV6647-0AD11-3AX0 the panel is optional

SINAMICS G120 PC-converter connection kit 1 6SL3255-0AA00-2CA0

includes STARTER on DVD and USB cable Alternatively, the software can be downloaded // and also a standard micro-USB cable can be used

PROFINET cable 2 6XV1871-5BH20

For the quantity, the connection to the engineering PG/PC is not taken into account

SINAMICS SD-Card -Extended Safety -Extended Functions License

1 6SL3054-4AG00-2AA0-Z F01 + E01

when using this SD card, then the SD card without safety license is not required

SM 326F 1 6ES7326-1BK02-0AB0 SIMATIC S7 fail-safe input module




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Standard software components Table 2-2

Component Qty Order number Note

SIMATIC STEP 7 V5.5 1 STEP 7 V5.5 Floating License 6ES7810-4CC10-0YA5

S7 Distributed Safety V5.4 SP5 1 6ES7833-1FC02-0YA5

STARTER V4.3.2 1

can be downloaded at no charge: see /7/

SSP SINAMICS G120 CU250S Vector V4.6 1

can be downloaded at no charge: see /7/

WinCC Flexible 2008 SP3 1



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Sample files and projects The list below contains all the files and projects used in this example. Table 2-3

Component Note

S7-317-F_CU250S-2PN_FB283_Safety.zip

This zipped file contains the STEP 7 project with converter parameterization and HMI. The password for the safety settings is “1“

S7-317-F_CU250S-2PN_FB283.zip

This zipped file contains the STEP 7 project with converter parameterization and HMI without safety.

68109071_SINAMICS_G_CU250S-2_PN_at_S7-300/400_v10_EN.pdf

This document.

CAUTION The STARTER project sample is designed for use with the component samples listed in 2.3. If a SINAMICS G120 is used with another power rating or a different motor is connected without adapting the corresponding parameters, the converter and/or motor could be damaged or destroyed.

3 Configuring and commissioning the application 3.1 Wiring



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3 Configuring and commissioning the application

3.1 Wiring

Hardware structure of the application. Fig. 3-1

+ M

+ MX1X2

P2P1

P1

S7

317-

2 P

N/D

P

KTP

600

SM

326

F

PM

240

CU

250S

-2P

N

X2100

U1

X150

V1W1PE U2 V2W2PE

P1 P2

Encoder 1

Encoder 2

It is possible to use a resolver, an HTL or TTL motor encoder or an external SSI encoder. Drive-CLIQ encoders can also be used. Two encoders can be simultaneously connected.

Note The installation guidelines in the manual of SINAMICS /8/ and SIMATIC must always be carefully observed.

3 Configuring and commissioning the application 3.2 Loading the SIMATIC program


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Connecting-up the safe inputs Fig. 3-2

3.2 Loading the SIMATIC program

This chapter describes the steps involved when installing the sample code into the SIMATIC. Two projects are available: -“S7-317-F_CU250S-2PN_FB283.zip” -“S7-317-F_CU250S-2PN_FB283_Safety.zip”




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Table 3-1

1. Connect the SIMATIC control with the PG/PC using a network cable.

You can connect the two devices directly with one another or via a switch.

2. In the Window settings for the network card of the PG/PC to be used, set the fixed TCP/IP address 192.168.0.x (with x>10) and the network mask 255.255.255.0.

3. Start SIMATIC Manager if it has

not already been opened

4. Using "Tools, Set PG/PC interface ...“, open the settings of the online interface. There, select “TCP/IP -> Network card“ with the network card that you are using.



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5. Call the dialog "Edit Ethernet node..." via "PLC".

6. Click "Browse ..."

– Select the SIMATIC CPU and click "OK"




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7. Enter the IP 192.168.0.1 and the network mask 255.255.255.0, and click on "Assign IP Configuration" You do not have to change the “pn-io“ device names. Click "Close" to exit the dialog

8. Click "Accessible Nodes"

9. Select all blocks in the SIMATIC

CPU using and delete them. Acknowledge that system blocks and system data cannot be deleted. (if a safety program is loaded on the control, then the card must be deleted with a SIMATIC field PG or an external USB prommer)



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10. "Dearchive" the required project file. (with or without safety functions, see The list below contains all the files and projects used in this example.

Open the project after it has been dearchived

11. Select the SIMATIC 300 station Click "Load" Also load the system data.

12.

If you selected the project without safety functions, then the configuration has been completed.




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Loading the safety program

13. Select the SIMATIC CPU. Click on "Edit safety program"

14. Load the safety program into the

SIMATIC control The standard blocks no longer have to be loaded at the same time.

Note The password assigned for the safety parameterization of the SIMATIC F-CPU in the project sample is "1"

3 Configuring and commissioning the application 3.3 Loading the SINAMICS parameterization


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3.3 Loading the SINAMICS parameterization Table 3-2

No. Action Remark

1 Connect the SINAMICS drive with the PG/PC via USB. Alternatively, the system can be parameterized via PROFINET. (refer to Chapter 6.2.3)

2 Insert the SD card with the licenses in the CU250S-2. Insert the card before switching on the G120

USB

SD-Card




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No. Action Remark

4 Open the project using the STARTER parameterizing software, with a double click on "Commissioning"

5 Open "Set PG/PC interface"

via "Options" -> "Set PG/PC interface"

6 Ensure that "S7USB" interface

programming is selected for the "DEVICE (STARTER/SCOUT)" access point and confirm with OK

7 Click on the "Accessible Nodes"

symbol

8 Select the SINAMICS G120 in the

accessible nodes Click on the "Target device" symbol



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No. Action Remark

9 A window opens to assign the target devices. Here, the SINAMICS from the accessible nodes must be assigned to the SINAMICS G120 from the project. Establish the online connection with "Connect to assigned devices".

10 Load the project into the

SINAMICS G120. Back up the parameters to the ROM after loading. Start the load operation with "Yes"

Optimizing the control loops In this example, the setting of the speed controller and the position controller will not be discussed in any more detail.

Note The password assigned for the safety parameterization of the SINAMICS drive in the project sample is "1"

3 Configuring and commissioning the application 3.4 Loading the HMI



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3.4 Loading the HMI

1. Connect the panel with the SIMATIC control

You can either connect the panel directly or through a switch.

2. Assign the panel IP address 192.168.0.3.

3. Open the HMI project from the SIMATIC Manager

4. Load the configuration to the

HMI.

Note The application can also be used without the HMI.

3 Configuring and commissioning the application 3.5 Acceptance test


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3.5 Acceptance test

WARNING

To verify safety-oriented parameters, an acceptance test must be performed after the machine has been commissioned for the first time and also after changes are made to safety-related parameters. The acceptance test must be appropriately documented. The acceptance reports must be adequately stored and archived.

The acceptance test must be carried out after parameterization has been completed and a Power On reset. Information about the acceptance test, the acceptance report and an example of an appropriate acceptance report is provided in the Function Manual Safety (FHS) /8/ in the Chapter Acceptance test and acceptance report.

4 Using the application 4.1 Preconditions



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4 Using the application 4.1 Preconditions

Cyclic communication between the CU250S-2 and the SIMATIC control must be active. If safety functions are activated, then all of the enable signals must be available. The SINAMICS drive must be depassivated after the SIMATIC F-CPU has restarted. This is initiated after power-up by pressing the S3 "Acknowledgment button".

4.2 Using the application via HMI

4.2.1 Basic screen

Fig. 4-1

The language can be selected in the basic screen. Exit: Exits the runtime Start: Changes to the start screen for the basic positioner

4 Using the application 4.2 Using the application via HMI


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4.2.2 Start screen, basic positioner

Fig. 4-2

Active faults and alarms of the SINAMICS G120 are displayed in the upper section of the screen with number and in plain text. Active faults can be acknowledged with the "Ack" button. The active operating modes of the basic positioner are displayed at the left. The actual position and actual velocity of the basic positioner are displayed at the right. The screens for the operating modes can be called in the lower section. You can return to the basic screen using the "Home symbol".




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4.2.3 Homing

Fig. 4-3

Absolute encoder adjustment Absolute encoders must be adjusted once after commissioning. When adjusting an absolute encoder, the position actual value is set to the specified reference point coordinate. Absolute encoder adjustment is initiated using acyclic jobs in SINAMICS G120. The status of the acyclic job is displayed at the left below "RD/WR". When using incremental encoders, as in the example, absolute encoders cannot be adjusted.

Homing When using incremental encoders, SINAMICS G120 must be homed after each warm restart. In the project sample, a reference point approach to the encoder zero mark is parameterized. Initiating the reference point approach: Switch on the SINAMICS G120 with "On". If the SINAMICS G120 is on, the button has a green background, and the text changes to "Off". Press "Start Homing" until "Reference point set" is lit. Using the button "Set Reference point", the reference point can be set to the actual position Xact“.



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4.2.4 Jogging

Fig. 4-4

Using the "Jog 1" and "Jog 2" buttons, the SINAMICS G120 is traversed with the parameterized speed. Incremental jogging is selected by pressing the "Jogging incremental" button. The drive can be switched on and switched off using the "On" button. "Position actual value" displays the actual position in LU "Velocity actual value" displays the actual velocity in 1000 LU/min Faults in the SINAMICS G120 are acknowledged using the "Ack" (acknowledge) button.




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4.2.5 Traversing blocks

Fig. 4-5

Parameterized traversing profiles can be started from this screen.

Starting traversing tasks In the Traversing blocks screen, the basic positioner can be operated in the traversing block mode. For traversing motion, the "No intermediate stop" and "No reject task" must be selected. "Block number select" sets which traversing block should be started. The SINAMICS G120 can be switched on and switched off using the "On" button. Faults in the SINAMICS G120 are acknowledged using the "Ack" (acknowledge) button. The traversing block with the selected block number is started using the "Start" button. "Position actual value" displays the actual position in LU "Velocity actual value" displays the actual velocity in 1000 LU/min "Block number active" indicates the number of the active traversing block. The screen to read and write traversing books is called with "Editor".



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The timing of the control and status signals of a traversing profile can be seen in the following diagram. The traversing profile comprises individual traversing blocks. Progressing (advancing) between the traversing blocks is "Continue with stop" Fig. 4-6

ON/OFF1

Intermediate stop(0 signal)

Reject traversing task(0 signal)

Trav. Block selection Bit 2


Activate traversing task



Controlsignals

Operation enabled

Traversing command active

Target position reached

Trav. block active bit 2




Statussignals




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Reading and writing traversing blocks Fig. 4-7

Using the editor, traversing blocks can be read and written to using acyclic jobs. Reading out traversing blocks:

Reading out traversing blocks:The index to be read out is set using the "-" and "+" buttons. The read job is immediately started when pressing one of the two buttons. The data of the traversing block that has been read out are displayed in the relevant fields.

Writing a traversing block: Writing a traversing block:First, select the index into which the traversing block should be written. Then enter the other data in the appropriate fields. The write job is started by pressing the "Write block" button.

Copying a traversing block: Read out the traversing block to be copied. Enter the new index using the screen keyboard, when doing this do not use the "-" or "+" buttons. The write job is started by pressing the "Write block" button.

The drive parameters are backed up in the ROM by pressing the "Save drive" button. The status of the acyclic job is displayed with "busy" and "done" and "error".



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4.2.6 Direct setpoint specification / MDI

Fig. 4-8

In the MDI screen, the basic positioner can be operated in the MDI / direct setpoint specification mode. For traversing motion, the "No intermediate stop" and "No reject task" must be selected. The positioning mode is set to either relative or absolute using the "relative" button. Positioning or setting up is selected using the "Pos." button. The setpoint transfer type is set to signal edge or continuous using the "Edge" button. The operating mode MDI/direct setpoint specification is activated using the "MDI_selection“ button. In the setting-up mode, the direction of rotation is specified using "pos." or "neg.". The acceleration and deceleration override are specified in the "Acc." and "Dec." fields. For "Vset", the setpoint velocity is entered in 1000 LU/min. For "Xset", the setpoint position is entered in LU. The SINAMICS G120 can be switched on and switched off using the "On" button. Faults in the SINAMICS G120 are acknowledged using the "Ack" button. For setpoint transfer with signal edge, positioning is started using the "Start" button. "Position actual value" displays the actual position in LU "Velocity actual value" displays the actual velocity in 1000 LU/min




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The timing of the control and status signals for absolute positioning can be seen in the following diagram. The setpoint is accepted with a positive signal edge of "Setpoint acceptance". Fig. 4-9

ON/OFF1

Intermediate stop(0 signal)

Operation enabled

MDI active

Traversing command active

Reject traversing task(0 signal)

Target position reached

Position setpoint

Velocity setpoint

0

0

1800

1000

MDI selection

Positioning type

Setpoint acceptance

Statussignals

Controlsignals



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4.2.7 Safety

Fig. 4-10

The status of the Safety Integrated functions of the SINAMICS G120 are displayed in the Safety screen. The safety functions are selected via PROFIsafe. The status of the safe inputs at the SINAMICS G120 CU250S-2 can only be displayed, if PROFIsafe telegram 900 is used. In the project sample, the shutdown paths must be tested every 8 hours. SINAMICS G120 must be switched on for the test stop. Click the "Test stop" button to start of the test of the shutdown paths.

4 Using the application 4.3 Variable tables



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4.3 Variable tables

Commenting out permanently controlled signals Several signals are permanently controlled in the FB101 network 4. If these signals are to be controlled using variable tables, then the corresponding lines must be commented out. Fig. 4-11

After changes are made in FB101, the block must be loaded into the SIMATIC S7-300/400 control.



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4.3.1 Reading and writing traversing blocks

Traversing blocks can be read out and written to acyclically using the variable tables "VAT72_TVBsingle" and "VAT72_TVBblock".

Fig. 4-12 VAT72_TVBsingle

You can use variable table VAT72_TVsingle to read or write a traversing block in SINAMICS G120.

Writing Job "30000" must be located in DBW 16 The index of the traversing block is specified in DBW 18 (n+1) The bits of DBW 134 are used to select which data should be transferred. The traversing block number is specified in DBW 136. The position setpoint is specified in DBD 138 The velocity setpoint is specified in DBD 142. The acceleration is specified in DBD 146 The deceleration is specified in DBD 150 The job of the traversing block is specified in DBW 154 (see the following

tables) The job parameter is specified in DBD 156 (see the following tables) The traversing block mode is specified in DBW 160 (see the following tables) After all data has been written to the blocks, writing can be started with a

positive edge of DBX 14.1




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Reading Job "30000" must be located in DBW 16 The index of the traversing block is specified in DBW 18 (n+1) The read job is started with a positive edge at DBX 14.0. The values are saved in the same data area as where they were saved for the

write job. Table 4-1 Significance of DBW 154 and DBD 156

Job Job parameter

0 = error

1 = positioning

2 = fixed stop [clamping torque in Nm]

3 = endless_pos

4 = endless_neg

5 = wait [Wait time in ms]

6 = goto [jump destination]

7 = set_O [set digital output]

8 = reset_O [reset digital output]

9 = jerk jerk limitation 0 = off / 1 = on

Table 4-2 Significance of DBW 160

Bit 15-12 Bit 11-8 Bit 7-4 Bit 3-0 Significance

0000 0000 0000 0000 xxxx xxxx xxxx xxx0 Show traversing block xxxx xxxx xxxx xxx1 Hide traversing block xxxx xxxx 0000 xxxx End (0) xxxx xxxx 0001 xxxx Continue with stop (1) xxxx xxxx 0010 xxxx Continue flying (2) xxxx xxxx 0011 xxxx Continue external (3) xxxx xxxx 0100 xxxx Continue external wait (4) xxxx xxxx 0101 xxxx Continue external alarm (5) xxxx 0000 xxxx xxxx Absolute (0) xxxx 0001 xxxx xxxx Relative (1) xxxx 0010 xxxx xxxx ABS_POS (2) xxxx 0011 xxxx xxxx ABS_NEG (3) xxxx xxxx xxxx xxxx No significance

Further information in this regard may be found in the documentation of the FB283. (See /4/)



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4.3.2 Reading and writing drive parameters

Traversing blocks can be read out and written to acyclically using the variable tables "VAT72_Parameter" and "VAT72_Para_1_10". Further information in this regard may be found in the documentation of the FB283. /4/

4.3.3 Reading out the fault memory

The fault memory of the SINAMICS G120 can be read out using the "VAT72_Faultbuffer" variable table. Further information in this regard may be found in the documentation of the FB283. /4/

5 Functions in this application 5.1 Functions of the SIMATIC S7-300/400



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5.1.1 Overview

Fig. 5-1

FB283

DB283

SFB52

SFB53

SFC6

SFC14

SFC15

SFC20

SFC21

DB72

OB1

FC72

FB101

DB101

FC2DB11

FC3DB11

DB72

DB72

The SIMATIC S7-300/400 program comprises the following areas: Data exchange with the SINAMICS G120:

Cyclic process data exchangeIn this area, process data are sent to the SINAMICS G120 (e.g. on command and position setpoint) or received (status and actual values) Acyclic parameter accessParameters of the SINAMICS G120 are accessed in this area. (e.g. reading or writing traversing blocks)

Preparing data Converting the actual velocity for display on the HMI Splitting the traversing job parameters for display and selection on the HMI



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5.1.2 FC72: Communication using FB283 and SIEMENS telegram 111

Telegram 111 includes 2 communication options. One option is pure cyclic communication using the system functions. The option involves the FB 283 available to the application, which in addition to the cyclic also has an acyclic communication option. Communication with the FB283 is discussed in this example.

When calling the FB283, the following data are specified: Fig. 5-2

NR_ACHS_DB: Number of the axis DB LADDR: Start of the I/O address LADDR_DIAG Diagnostics address of the drive WR_PZD: Target area (control words/setpoints) RD_PZD: Target area (status words/actual values) AXIS_NO: Axis No. (DriveObject number, for G120 this is always 1)

Note Start of the I/O address and diagnostics address is in HW Config.

Additional information about calling FB283 is provided in the block description. /4/

Cyclic communication with FB283 OB1 only calls the FC 72. In FC 72, FB283 is called. The structure for sending and receiving is saved in the user-defined data type (UDT_30008 _TLG111). The variable tables, prepared with the application, are available to control the SINAMICS G120. 1. Operate the 1st axis in the traversing block mode (VAT72_TVB) 2. Operate the 2nd axis in the MDI mode (VAT72_MDI)

Acyclic communication with FB283 Acyclic communication is based on the FB 283 internal interface "single". It is only permissible to execute this once simultaneously.




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Using this job interface, it is possible: To read/write individual parameters

Read out the fault memory (special job: tasksi= 30002)

Read/write individual traversing blocks (special job: tasksi= 30000)

Read/write traversing blocks (special job: tasksi=30001)

Pre-assign traversing blocks 0…15 (special job: tasksi= 30011)

Read/write up to 10 parameters (special job: tasksi= 30010)

Further, for individual special jobs, additional entries are required or outputs possible. A description can be found on the specified pages 13 – 15 of the FB 283 documentation. /0/ Within the context of the application, four prepared variable tables are available for parameter / traversing blocks, read and write function. Depending on the required function/display, these tables can also be edited. 1. 1. Reading/writing parameters ( VAT72_Parameter) 2. 2. Reading/writing several parameters ( VAT72_Para_1_10) 3. 3. Reading/writing individual traversing blocks (VAT72_TVBsingle) 4. 4. Reading/writing several traversing blocks (VAT72_TVBblock)

5.1.3 FB101: Preparing data for display on the HMI

Actual velocity The speed actual value is transferred, scaled. The scaled value is converted into the actual velocity of the basic positioner in FB101. To do this, when calling FB101 in OB1, in addition to the number of the axis DB, the gearbox ratio, the position actual value resolution and the reference speed of the SINAMICS G120 must be specified. Fig. 5-3

Note The specified values must coincide with the parameters in the SINAMICS G120!

The gearbox ratio is determined by the ratio between parameters p2504 and p2505.

The position actual value resolution is in parameter p2506.

The reference speed is in parameter p2000.

Position actual value resolutionin 1000LU Reference speed

Axis DB

Gearbox ratio



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FC2 and FC3: splitting the traversing job parameters FB283 transfers the job type, the advance (continue) condition and the visibility of a traversing block in a word. The word is split in order that these values can be individually displayed and selected. The individual values are buffered in DB11. FC2 reads the DBW160 word of the axis DBs and writes the values into DB11. FC3 reads the values from DB11, and writes them into word DBW160 of the axis DB.

5.1.4 FB1 selecting the safety functions

Acknowledging faults and reintegrating passivated modules Channel faults are acknowledged and passivated modules are depassivated using FB219 "F Global Acknowledgement". E0.3 is used for acknowledgment/reintegration. Safety faults in the SINAMICS G120 are acknowledged using safety telegram, word 1 bit 7 (A10.7). This is also initiated using E0.3.

Selecting safety functions The safety functions are directly selected using the safe inputs. Selection STO: Selecting STO:STO (A10.0) is selected using E0.0. Selection SS1: Selecting STO:STO (A10.0) is selected using E0.0. Selection SLS: Selecting STO:STO (A10.0) is selected using E0.0. In this example, only one SLS velocity level is used. Other SLS velocity levels can be activated using A11.1 and A11.2 SDI: SDI is not selected here. SDI positive can be selected via A11.4, SDI negative via A11.5.




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5.1.5 PROFIsafe message frames

Fig. 5-4 PROFIsafe message frames PROFIsafe telegram 30 (Basic Safety)

7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0

ACK STO

7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0

Internal event

Power removed

PROFIsafe telegram 30 (Extended Safety)

7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0

SDInegative

SDIpositive ACK SLS SS1 STO

7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0

StatusSSM

SDInegative

active

SDIpositiveactive

Internal event SLS active SS1 active

Power removed

PROFIsafe telegram 900 (Extended Safety)

7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0

SDInegative

SDIpositive ACK SLS SS1 STO

7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0

7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0

StatusSSM

SDInegative

active

SDIpositiveactive

Internal event SLS active SS1 active

Power removed

7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0StatusFDI2

StatusFDI1

StatusFDI0

Status wordByte 1 Byte 0

Control wordByte 1 Byte 0

Byte 3 Byte 2

Byte 3 Byte 2


active SLS-Limit00 = Level 1 active01 = Level 2 active10 = Level 3 active11 = Level 4 active

Control wordByte 1 Byte 0

SLS-Limit Selection00 = Level 101 = Level 210 = Level 311 = Level 4

active SLS-Limit00 = Level 1 active01 = Level 2 active10 = Level 3 active11 = Level 4 active

SLS-Limit Selection00 = Level 101 = Level 210 = Level 311 = Level 4

Byte 1 Byte 0Control word


5 Functions in this application 5.2 Available Safety Integrated functions


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5.2 Available Safety Integrated functions

The following safety functions are available in the CU250S-2. The functions can be selected via PROFIsafe or onboard terminal. In this example, STO, SS1 and SLS are controlled via PROFIsafe.

Safe torque off, STO Fig. 5-5 Safe Torque Off

The safety function Safe Torque Off (STO) is used to safety disconnect a motor from the power supply by suppressing the trigger pulses for the power transistors in the power unit through two channels. A stationary motor cannot start for "STO active" (start inhibit); a motor coasting down with the STO function active cannot accelerate (exception: "pulling load").

Safe braking ramp, SS1 Fig. 5-6 Safe Operating Speed

The "Safe Stop 1" (SS1) safety function brakes the motor safely with a subsequent transition to "Safe Torque Off" (STO) state. The setpoint specified by the control is ignored when SS1 is selected. When SS1 is selected, the drive brakes actively on the OFF3 ramp and then changes to the pulse cancellation.




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Safely Limited Speed, SLS Fig. 5-7 Safely Limited Speed

With the SLS safety function, the inverter prevents the motor from exceeding the fixed speed limit. SLS monitors the absolute load speed but not the direction of rotation. It is possible parameterize up to four SLS limit values. PROFIsafe is used to select which is active.

Safe Speed Monitor, SSM Fig. 5-8 Safe Speed Monitor

The Safe Speed Monitor function supplies a safe feedback signal when the drive speed drops below the speed limit. When the limit value is exceeded, there is no drive-based response.



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Safe Direction, SDI Fig. 5-9 Safe Direction

With SDI (Safe Direction), you check the direction in which the drive is moving. Alternatively, either the positive or negative direction is checked. If the drive runs in the unsafe direction, the parameterized STOP response is triggered.

Fail-safe digital inputs The safe state of the F-DIs selected is transferred via PROFIsafe to an F-controller. You can set the transfer for each F-DI. It is also possible to use the F-DIs to control safety functions.

Note If the states of the F-DI are to be transferred to the SIMATIC control, then PROFIsafe telegram 900 must be used.

Note Additional information is provided in the Safety Integrated Function Manual /8/

5 Functions in this application 5.3 Basic positioner



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5.3 Basic positioner

5.3.1 Applications that can be addressed with the basic positioner

The basic positioner (EPOS) is a very comprehensive and powerful function module for closed-loop position controlled traversing of an electric drive. It is used to position linear and rotary axes (modulo) in absolute/relative terms with motor encoder (indirect measuring system) or machine encoder (direct measuring system). It can be activated in the SINAMICS G120 CU250S-2 as function module. User-friendly configuration, commissioning, and diagnostic functions for the EPOS functionality are also available in the STARTER parameterizing software. Using the STARTER control panel, commissioning and diagnostic functionality can be controlled from a PG/PC. It is also very helpful, especially when getting to know the individual operating modes also testing the function without having to control it from a higher-level automation system. The position controller is also activated when activating the basic positioner. This is automatically run from the STARTER drive wizard. Further, the necessary "internal interconnections" (BICO technology) are automatically established, which are required between the EPOS and position controller (e.g. setpoints from the EPOS for closed-loop position control, axis cycle correction, etc.). The position controller essentially comprises the following parts: Position actual value sensing (including the lower-level measuring input

evaluation and reference mark search)

Position controller (including limits, adaptation and pre-control calculation)

Monitoring functions (standstill, positioning and dynamic following error monitoring, cam signals)

In addition, the following functions can be carried out using the basic positioner: Mechanical system: Backlash compensation

Modulo correction

Position tracking



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Limits: Velocity/acceleration/deceleration limits

Software limit switches (traversing range limitation using position setpoint evaluation)

Stop cams (traversing range limitation using hardware limit switch evaluation)

Positioning/standstill monitoring

Following error monitoring

Two cam switching signals

5.3.2 Properties

Outstanding properties include: "flying" and "continuous" mode/setpoint changes while traversing

– Without having to use handshaking

– Including easy to use/connect

– Including "process-shortening" transitions without axes coming to a standstill

Can be simply connected to higher-level SIMATIC S7-300/400 control systems, also as described in this application

Can be simply adapted as part of the application engineering and handled

Simple traversing block handling and implementation of "fixed" traversing blocks

Graphic configuring, commissioning and operating screen forms (tool including control panel)

5.3.3 Operating modes

EPOS has the following four operating modes (which can be toggled between for a "stationary" axis): Jogging (position controlled)

Reference point approach

Traversing blocks

MDI/direct setpoint specification

Including subordinate "flying homing" in the "jog", "traversing blocks" and "MDI/direct setpoint specification" modes. Priority of the operating mode with respect to one another when simultaneously selected: Jog > Reference point approach > MDI > Traversing blocks If a different operating mode is selected while one is already active, then an alarm is issued.




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Jogging This involves position-controlled traversing of an axis with two modes that can be toggled between 1. Modes: Endless, position controlled with v set input (where the sign is

evaluated)

2. Modes: Incremental jog ( = where the axis is traversed through a specified "increment")

...In the two modes, two selectable setpoints are available (jog 1 / 2)

Reference point approach This is also known as "active homing".

Properties: Fully automatic search and detection of the reference point for incremental measuring systems (encoders). The following homing options are available: "Cam and encoder zero mark", "encoder zero mark" and "external zero mark

(Bero)"

"Set reference point" is also possible without travel. In this case, all operating modes must be deselected.

Reversing cam functionality for the "cam and encoder zero mark" mode

The start direction for the reference point approach can be specified

Different approach velocities can be specified ("to the cams", "to the reference mark", "to the reference point"), e.g. to increase the precision for the reference mark detection

Monitoring using maximum traversing distances/tolerance bands that can be specified, e.g. to the cam, between the cams and zero mark, distance to the zero mark

Automatic travel for "reference point offset" regarding the reference mark and reference point coordinates that can be changed using BICO

Automatic direction of rotation reversal at the reference cams, which means that, for example: Reversal cams or hardware limit switches (when STOP cam functionality is deactivated) can be used as reference cams (this reduces hardware costs)(in the start direction, which can be specified, the zero mark in front of the reference cam is valid as reference mark)

Flying homing ("passive homing") This is also known as "passive homing" Properties: Homing the axis during "standard" traversing using probe (standard setting)

including possible continuous "post homing"

This can be executed as subordinate function in the "jog", "traversing blocks" and "MDI/direct setpoint specification" modes



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Can be selected for incremental and absolute measuring systems (encoder)

Probe selection can be switched over (2 probe inputs, pos./neg. edge can be selected)

With "flying homing" during RELATIVE positioning, you can select whether the offset value is to be taken into account for the travel path or not.

Possible for "post homing" evaluation of a "real/incorrect" BERO signal (inner/outer position difference "window")

Traversing blocks They support positioning using traversing blocks saved in the device (for a homed axis). It is also possible to write the traversing blocks from the SIMATIC S7-300/400 into the drive and read these out. Here, 16 traversing blocks are possible in the SINAMICS CU250S-2, including continue (advance) conditions and specific tasks. Properties: User-friendly traversing block editor

For instance, position, velocity, acceleration and deceleration override can be separately set for each block.

Jobs; for example:

"Absolute/relative positioning", "ABS_POS/_NEG" (forced direction of rotation specification for modulo axes), "Endless pos / neg", "Wait" (wait time), "GOTO" (block jump), "SET_O / RESET_O" (set/reset up to two digital outputs), set jerk value, travel to fixed stop using EPOS

It is possible to "skip" traversing blocks

By activating a new traversing block, a block being executed can be canceled and a flying change made into the new traversing block.

The traversing blocks can also be changed when a SINAMICS G120 is operational. The changes are directly transferred the next time that the traversing block is called.




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MDI/direct setpoint specification Properties:

Positioning/setting up with direct setpoint specifications (e.g. process data of the SIMATIC S7-300/400); continuous influence during traversing is also possible. "Flying and continuous" setpoint transfer while an axis is moving is possible, i.e. position, velocity setpoint and override, acceleration, deceleration, forced direction of rotation specification can be changed during operation. "Flying" change between the modes is possible while an axis is traversing: Mode: Setting up (endless, closed-loop position controlled, v-set input)

Mode: Absolute/relative positioning (for modulo, also: specified direction of rotation or the shortest path)

In this mode, also in the setting up or relative positioning mode, a non-homed axis can also be traversed.

Note The screen forms of the position controller and basic positioner are discussed in more detail in Chapter 6.3.

6 Configuration and project engineering 6.1 Configuring the SIMATIC S7-300/400 control


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6 Configuration and project engineering The following step tables describe what you have to do if you wish to configure the SINAMICS G120 and SIMATIC S7 CPU yourself. This is necessary if you wish to use hardware that is different from that listed inChapter 2.3. If the safety functions are to be used, then a fail-safe SIMATIC CPU must be used; high availability SIMATIC CPUs are not suitable. If you only wish to load the sample program and commission it, then follow the instructions in Chapter 3 Configuring and commissioning the application

6.1 Configuring the SIMATIC S7-300/400 control

This chapter describes how the SIMATIC S7-300/400 should be configured for the sample program.

6.1.1 Configuring the standard function

Table 6-1

No. Action Remark

1. Start STEP 7 V5.

2. Click "New..."




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No. Action Remark 3. Assign a name for the project

(for instance, “CU250S-2DP_at_S7-300“

4. Under "Insert", "Station" insert a

"SIMATIC 300 station".

5. Double-click on the "Hardware"

symbol and open the hardware configuration.



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No. Action Remark 6. In the hardware catalog under

"SIMATIC 300" "RACK 300", select the mounting rail and drag this into the work cell

7. In the hardware catalog under

"CPU 300", select the CPU being used and drag this to the mounting rail.

8. A window opens, create a subnet

with "New..". A window opens with the properties. Exit both Windows with "OK"




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No. Action Remark 9. In the catalog, search for

SINAMICS The path in the catalog is: PROFINET-IO Drives SINAMICS G120S G120 CU250S-2 PN Vector

Drag the selected object to the Ethernet cable, and release the mouse button.

10. A window opens with the properties of the PROFINET interface and the SINAMICS G120. Assign the SINAMICS drive IP address "192.168.0.2". Exit the window with OK

11. Open the object properties of the

drive by double-clicking on the SINAMICS drive symbol Under the "General" tab, enter a unique device name. e.g. "G120-CU250S-2" Exit the window with OK



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No. Action Remark 12. Select the SINAMICS G120.

Open the properties by double-clicking on "Standard telegram 1"

13. Change to the Telegrams tab.

For "Default", select the "SIEMENS telegram 111" Exit the window with "OK"




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No. Action Remark 14. Note this I/O start address and

the diagnostics address. for calling FB283.

15. Click on "Save and compile"

and then load the configuration to the module. If you are not using any safety functions, then the hardware configuration has been completed. HW Config can then be closed (otherwise, changes to the hardware configuration will be made in the following steps.)

16. Open the project sample of the application Copy the following blocks from the project sample into the block folder of your project: OB1, FB101, FB283, FC2, FC3, FC72, DB11, DB72, DB101, DB283, as well as all UDT- VAT blocks You can overwrite the existing OB1. You can then close this project sample



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No. Action Remark 17. Configure the FC 72

Assign LADDR the I/O address. Assign LADDR_DIAG the diagnostics address of the SINAMICS drive. The drive object number AXIS_NO is always 1 for SINAMICS G.

18. Connect the SIMATIC control

with the PG/PC using a network cable.

You can connect the two devices with one another directly or via a switch.

19. In the SIMATIC Manager, via "PLC", open the "Edit Ethernet Node" window

Click on the "Browse" button In the window that opens,

click on "Start" For the nodes, select the line

of the S7-300 Exit the window with "OK"




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No. Action Remark 20. Set the the IP address

192.168.0.1 and the subnet mask 255.255.255.0, and confirm with "Assign IP Configuration" The “pn-io“ device name does not have to be changed. Exit the window with "Close"

21. In the SIMATIC Manager, via

"PLC", open the "Display accessible nodes" window Delete all of the blocks (if a safety program is loaded on the SIMATIC control, then the card must be deleted with a SIMATIC field PG or an external USB prommer)

22. Select the SIMATIC 300

Load the complete parameterization into the module You can confirm the "Load system data" message with OK Restart the SIMATIC CPU after loading.



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No. Action Remark 23. The control has been configured

if no safety program is to be loaded Otherwise, the configuration is continued with step 0.




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6.1.2 Configuring the safety functions

Table 6-2

No. Action Remark

24. Configuring the SIMATIC F-CPU

To do this, open HW Config

in the Simatic Manager.

Right-click on the CPU to open "Object properties"

Under the "Protection" tab, activate the access protection for the F-CPU and protect it with a password. "1" was used in the example.

Activate the safety program (checkmark for "CPU contains safety program").

Close the window with "OK" 25. Configuring the F-DI module

Insert the F-DI module being used, e.g. "SM326F DI24x24V", from the hardware catalog.

26. Open the properties of the FDI module with a double-click. Select the "Parameters" tab

Select operating mode "Safety mode“. The F_target address must be set using the DIL switches at the rear of the F-DI module. Setting the response after channel faults.



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No. Action Remark

27. Activate the encoder supply via module. Activate F-DI Channel 0, 12: and increase the discrepancy time to 100ms. Set Channel 1, 13 and Channel 2, 14 the same as Channel 0, 12. Activate F-DI Channel 3, 15: and change the evaluation type to "1-channel" Exit the window with "OK"

28. Select the SINAMICS G120.

Open the properties of the "drive object" with a double click.




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No. Action Remark

29. Change to the "Options" tab. Select a PROFIsafe telegram. Telegram 900 is used in the example.

Exit the window with "OK"

Note Do you wish to read-in the safety inputs FDI of the CU250S-2, then select PROFIsafe telegram 900, otherwise PROFIsafe telegram 30 is sufficient

30. Open the properties of the "PROFIsafe telegram" with a double click.



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31. Change to the "PROFIsafe" tab. Note the F-target address, this must also be set in the SINAMICS G120. F_WD_Time is the monitoring time, in which a new valid PROFIsafe telegram must be received. Exit the window with "OK"

32. Select "Save and compile" and

then load the modified HW configuration into the module The hardware configuration has now been completed and can be exited.




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33. Open the project sample with the safety functions. (refer to The list below contains all the files and projects used in this example.

) Copy the following blocks from the project sample into the block folder of your project: OB35, FB1, FB219, FC1, DB1, DB219 You can then close this project sample.

34. Select the SIMATIC CPU in

SIMATIC Manager Click on "Edit safety program" button

35. Open the "F runtime groups..."



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36. Create a new runtime group with "New...". Use DB1 as I-DB Exit both Windows with "OK"

37. Generate the safety program by

clicking on Generate. Then load the safety program into the SIMATIC CPU with "Load" The standard blocks do not have to be loaded at the same time. Restart the SIMATIC CPU after loading.

38. The SIMATIC control has now

been configured.

6 Configuration and project engineering 6.2 Configuration of the SINAMICS G120 drive



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6.2 Configuration of the SINAMICS G120 drive

6.2.1 Configuring the standard functions

Table 6-3

No. Action Remark

1. Install the STARTER parameterizing software; /7/

2. Connect the SINAMICS drive with the PG/PC via USB. Alternatively, the system can be parameterized via PROFINET. (refer to Chapter 6.2.3)

USB



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No. Action Remark 3. Insert the SD card with the

licenses in the CU250S-2. Insert the card before switching on the SINAMICS G120

4. Start the SIMATIC Manager and

open the project. Alternatively, you can also call STARTER and open the project there. The next steps deviate somewhat from those shown.

SD-Card




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No. Action Remark 5. In the SIMATIC Manager, via

"Target system", open the "Edit Ethernet Node" window

Click on the "Browse" button In the window that opens,

click on "Start" For the nodes, select the line

of the SINAMICS

Exit the window with "OK"

6. Set the the IP address

192.168.0.2 and the subnet mask 255.255.255.0, and confirm with "Assign IP Configuration" Assign the device name "G120-CU250S-2". The device name must match the device name of the hardware configuration. Exit the window with "Close"



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No. Action Remark 7. In the SIMATIC Manager tree,

select the SINAMICS G120 and open STARTER by double-clicking on the commissioning symbol.

8. The SINAMICS drive opens with

STARTER.

9. Start the configuration of the SINAMICS G120 by double-clicking on "Configure drive device"

10. Select the power unit being used

from the list. Confirm with "Next"




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No. Action Remark 11. Set the checkbox for "Then start

commissioning wizard" Confirm with "Finish"

12. Select the basic positioner

function module. Set the control mode to "21 speed control with encoder" Confirm with "Next"



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No. Action Remark 13. The default setting is not

changed. Confirm with "Next"

14. The drive settings are not

changed. Confirm with "Next"




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No. Action Remark 15. Select the motor type being

used. If you are using a SIEMENS motor, then "Select standard motor from list" Select the motor that you are using from the list. For a third-party motor, select "Enter motor data" If you are using a motor with DRIVE-CLiQ interface, then when loading the project into the SINAMICS G120, the motor data is read out of the electronic rating plate. Confirm the window with "Next"

16. For a SIEMENS motor, the data

are displayed. If you are using a third-party motor, then enter the rating plate data of the motor here. Confirm with "Next"



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No. Action Remark 17. For the motor identification,

select "0 inhibited", this can be manually executed later. Confirm with "Next"

18. Important parameters can be

adapted in the following screen form. The ramp-up and ramp-down times have no effect in basic positioner operation. The OFF3 ramp-down time is used for the SS1 safety function. Confirm with "Next"




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No. Action Remark 19. Select "Complete calculation"

Confirm with "Next"

20. Select the encoder being used.

If you are using a DRIVE-CLiQ encoder, then the encoder is read out when loading the project. Two encoders can be connected. One encoder can be used for the closed-loop speed control of the motor – and the second for the closed-loop position control at the mechanical system. Confirm with Next



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No. Action Remark 21. Select the encoder that is to be

used for the closed-loop position control. Confirm with "Next"

22. Define the mechanical system.

If you are using a gearbox between the motor and load, enter the ratio with "Motor revolutions" and "Load revolutions". Specify the "Pos. stpt/act. val. resolution" in "LU per load revolution". LU = Length Unit (artificial unit) (e.g. 3600 LU per load revolution 1LU = 0.1° 360 LU per load revolution 1LU = 1.0°) If relevant, activate the modulo correction with "1" (for a rotary axis with activated modulo correction, when the modulo limit is reached (e.g. after one load revolution), the position actual value is set to 0.) Confirm with "Next"




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No. Action Remark 23. Close the wizard with "Finish".

24. Under "Options", open "Set

PG/PC interface..." Set the access point to "Device (STARTER SCOUT)“ and select the "S7USB" interface

25. Click on the "Accessible Nodes"

symbol

26. Select the SINAMICS G120 in

the accessible nodes Click on the "Target device" symbol



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No. Action Remark 27. A window opens to assign the

target devices. Here, the SINAMICS from the accessible nodes mus

Documents

SINAMICS G120, SIMATIC S7-300/400 Application ......SINAMICS G120 CU250S-2 an S7-300/400 V1.0, Beitrags-ID: 68109071 3 C o p y r i g h t ¤ S i e m e n s A G 2 0 1 3 A l l r i g h