Ez - Epos All

Automation and Drives
EZ Positioning with
SINAMICS S120
Agenda
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
EZ Positioning with
SINAMICS S120
S7 Hardware Configuration
Start New Project with S7 Simatic Manager

Production Open S7 and Select File / New
Machines
Agenda
Select new Name for Project and Press OK

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

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

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

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!

EZ Positioning with
SINAMICS S120
Basic Starter Online Commissioning
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!

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

Complete Auto Configuration

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

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

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

EZ Positioning with
SINAMICS S120
Basic Starter Offline Commissioning
Open Starter Program & Go Offline

Production Open Starter by Motor Icon for Sinamics
Machines
Agenda
Go Offline with Starter –Use

Open DDS (Drive Data Set)

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

Offline Configuration Wizard is Opened

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

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

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

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

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

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

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

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

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

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

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

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!


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


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


Production Telegram has Successfully been Transferred
Machines
 Note Blue Check Boxes
Agenda
Save and Compile Program before Proceeding

 Save and Compile Using Starter

EZ Positioning with
SINAMICS S120
Starter Script File
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

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

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

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

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

EZ Positioning with
SINAMICS S120
S7 Simatic Manager Programming
Open S7 Program & S7 Hardware

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

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)

Download Configuration to PLC

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

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

Copy Blocks to New S7 Program

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

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
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

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

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

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

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

Edit Symbol Table

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

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

EZ Positioning with
SINAMICS S120
Testing Application
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

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

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

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

Verify Jogging of Axis

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

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

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

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

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

Incremental Encoder Homing

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

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

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)

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

MDI Positioning - Relative

Production Use VAR Table to Run drive is Relative Positioning
Machines
Sequence for Relative Positioning
Agenda
2. Bit 10.1 MDI_Setup Bit = 0
3. Bit 10.2 Position_Type = 0 (Relative)
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)

MDI Positioning Relative

Agenda
Note Positive Edge Required for Relative Positioning

MDI Positioning – Absolute

Production
Use VAR Table to Run drive is Absolute Positioning
Machines Sequence for Absolute Positioning
Agenda 2. Bit 10.1 MDI_Setup Bit = 0
3. Bit 10.2 Position_Type = 1 (Absolute)
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

MDI Positioning Absolute

Agenda
Note Edge Type Trigger or Continuous can be used

for Absolute Positioning

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

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

Traversing Blocks
Production Use VAR Table to Run Traversing Blocks
Machines
Sequence for Traversing
Agenda 1. Set Control Word 1 in Operation (OFF1)
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)

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

FB 120 Block View

Production
Machines
Agenda


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Automation and Drives

Sinamics EZ EPOS Agenda

Execute EZ_EPOS Script File

Step7 Simatic Manager Programming

Test EPOS Application on Demo

S7 Control in Sinamics Drives

Start New Project with S7 Simatic Manager

Select new Name for Project and Press OK

S7 Control in Sinamics Drives

Insert S7 300 Simatic Station

New Station inserted --Note Hardware Icon

S7 Control in Sinamics Drives

Start Hardware Configuration

S7 Control in Sinamics Drives

Add Sinamics S120 in Hardware Configuration

S7 Control in Sinamics Drives

Save and Close Hardware Configuration

Exit the Hardware Configuration

S7 Control in Sinamics Drives

Open Starter Program & Go Online

Go Online with Starter –Use

S7 Control in Sinamics Drives

Default CU310 or CU320

Check the Box – Save Factory Settings to ROM

S7 Control in Sinamics Drives

Complete Auto Configuration

S7 Control in Sinamics Drives

Starter Offline Configuration

S7 Control in Sinamics Drives

Agenda Thank you very much

Name: Carl Owens & Kevin Wu

S7 Control in Sinamics Drives

Open Starter Program & Go Offline

Go Offline with Starter –Use

S7 Control in Sinamics Drives

Open DDS (Drive Data Set)

Choose Configure DDS…

S7 Control in Sinamics Drives

Control Structure Setup

Next, Select Continue

Power Unit Configuration

S7 Control in Sinamics Drives

S7 Control in Sinamics Drives

Holding Brake Configuration

S7 Control in Sinamics Drives

S7 Control in Sinamics Drives

Encoder Data Configuration

S7 Control in Sinamics Drives

EPOS Only - Encoder Used for Position

S7 Control in Sinamics Drives

EPOS Only – Mechanics

 Load Revolutions = Gearing

S7 Control in Sinamics Drives

EPOS Only – Mechanics

 Load Revolutions = Gearing

S7 Control in Sinamics Drives

Profibus Telegram type

S7 Control in Sinamics Drives

Summary Data Acceptance

S7 Control in Sinamics Drives

Profibus Telegram Configuration

Use Up – Down Buttons to Move Drive Objects

S7 Control in Sinamics Drives