Transcription

1 Application Electronic Gearbox with DCB Extension SINAMICS S120 Siemens Industry Online Support

2 Siemens AG 2018 All rights reserved Legal information Legal information Use of application examples Application examples illustrate the solution of automation tasks through an interaction of several components in the form of text, graphics and/or software modules. The application examples are a free service by Siemens AG and/or a subsidiary of Siemens AG ( Siemens ). They are nonbinding and make no claim to completeness or functionality regarding configuration and equipment. The application examples merely offer help with typical tasks; they do not constitute customerspecific solutions. You yourself are responsible for the proper and safe operation of the products in accordance with applicable regulations and must also check the function of the respective application example and customize it for your system. Siemens grants you the nonexclusive, nonsublicensable and nontransferable right to have the application examples used by technically trained personnel. Any change to the application examples is your responsibility. Sharing the application examples with third parties or copying the application examples or excerpts thereof is permitted only in combination with your own products. The application examples are not required to undergo the customary tests and quality inspections of a chargeable product; they may have functional and performance defects as well as errors. It is your responsibility to use them in such a manner that any malfunctions that may occur do not result in property damage or injury to persons. Disclaimer of liability Siemens shall not assume any liability, for any legal reason whatsoever, including, without limitation, liability for the usability, availability, completeness and freedom from defects of the application examples as well as for related information, configuration and performance data and any damage caused thereby. This shall not apply in cases of mandatory liability, for example under the German Product Liability Act, or in cases of intent, gross negligence, or culpable loss of life, bodily injury or damage to health, noncompliance with a guarantee, fraudulent nondisclosure of a defect, or culpable breach of material contractual obligations. Claims for damages arising from a breach of material contractual obligations shall however be limited to the foreseeable damage typical of the type of agreement, unless liability arises from intent or gross negligence or is based on loss of life, bodily injury or damage to health. The foregoing provisions do not imply any change in the burden of proof to your detriment. You shall indemnify Siemens against existing or future claims of third parties in this connection except where Siemens is mandatorily liable. By using the application examples you acknowledge that Siemens cannot be held liable for any damage beyond the liability provisions described. Other information Siemens reserves the right to make changes to the application examples at any time without notice. In case of discrepancies between the suggestions in the application examples and other Siemens publications such as catalogs, the content of the other documentation shall have precedence. The Siemens terms of use ( shall also apply. Security information Siemens provides products and solutions with industrial security functions that support the secure operation of plants, systems, machines and networks. In order to protect plants, systems, machines and networks against cyber threats, it is necessary to implement and continuously maintain a holistic, stateoftheart industrial security concept. Siemens products and solutions constitute one element of such a concept. Customers are responsible for preventing unauthorized access to their plants, systems, machines and networks. Such systems, machines and components should only be connected to an enterprise network or the internet if and to the extent such a connection is necessary and only when appropriate security measures (e.g. firewalls and/or network segmentation) are in place. For additional information on industrial security measures that may be implemented, please visit Siemens products and solutions undergo continuous development to make them more secure. Siemens strongly recommends that product updates are applied as soon as they are available and that the latest product versions are used. Use of product versions that are no longer supported, and failure to apply the latest updates may increase customer s exposure to cyber threats. To stay informed about product updates, subscribe to the Siemens Industrial Security RSS Feed at: EntryID: , V5.2, 08/2018 2

3 Siemens AG 2018 All rights reserved Table of contents Table of contents Legal information Introduction Overview Description of the core functionality Solution Overview Axis configurations Hardware and software components Fundamental information Measuring transmitter or measuring wheel as leading value Real leading axis Virtual leading axis Synchronous operation Electronic gearbox Commissioning the application For your safety Markings used for safety instructions Responsibilities of the operating company Basic configuration in STARTER Sequence when commissioning an axis Configuring the following axes Configuring the leading value source Configuring a speedcontrolled leading drive Configuring a measuring wheel as leading value source Configuring a virtual leading axis Running the interconnection script Using the application Scaling and units Axis dynamic response Leading value connection Switching on/switching off the following axis Enabling the position control Stopping the axis Electronic gearbox Optimizing positioncontrolled axes Synchronous operation monitoring Virtual leading axis functions Dynamic response values of the virtual leading axis Function diagrams Function diagram, following axis Function diagram, virtual leading axis Parameter lists Parameter list, following axis Parameter list virtual leading axis Parameter list measuring wheel Execution groups Notes on computation time and memory load levels Sampling times Adapting sampling times for Servo EntryID: , V5.2, 08/2018 3

4 Siemens AG 2018 All rights reserved Table of contents 6.5 Faults and alarms Faults Alarms Appendix Application Support Links and Literature Change documentation Upgrade information Upgrading the DCB Extension Library Upgrading the application version EntryID: , V5.2, 08/2018 4

5 Siemens AG 2018 All rights reserved 1 Introduction 1 Introduction 1.1 Overview The application electronic gearbox realizes a gearing function between several axes with freely adjustable gear ratio. It is usable for instance for continuous material webs. The application is realized as relative synchronous operation. The application is suitable for applications where a simple relative synchronism with optional adjustable gear ratio is needed. 1.2 Description of the core functionality Principle of operation The "electronic gearbox" technological function is electronic gearing between two or more axes. Drives as following axes are coupled to a leading axis, which works as virtual leading axis or real leading axis, in a variable ratio of n:m. When using a real leading axis, this one is a speed controlled drive. The internal DCC logic reads the encoder increments and generates a position actual value on which the following axes can synchronize to. A measuring wheel can be used as leading value as well. When using a virtual leading axis the position signal is generated from a setpoint velocity without any disturbances and given to the following axes. The following axes are position controlled ones. The internal DCC logic evaluates the leading value of the leading axis, adds an optional offset and provides the position setpoint to the position controller. The isochronous setpoint input is ensured as all axes are computed on one Control Unit (execution system). Application example: Coupling with a real master Fort he "Electronic gearbox" application with real master, a drive of the drive group or an additional machine encoder is defined as the master. The master drive with motor encoder is operated with closedloop speed control. The actual position and speed values of the real master are connected to the assigned slave axes. EntryID: , V5.2, 08/2018 5

6 Siemens AG 2018 All rights reserved 1 Introduction SINAMICS S120 Drive system with integrated "Electronic gearbox" functionality for the precise synchronous operation of several axesachsen Drive 1 Drive 2 Drive 3 Web velocity 1 Master drive forms the real position value (real master) 2 Slave drive, coupled to the master through the electronic gearbox Different roll diameters are taken into account using the adjustable gearbox ratio. The disadvantage for this type of coupling include: The complete process is dependent on the master axis Disturbance variables of the master effect all of the coupled axes Application example: Coupling with virtual master Fort he "Electronic gearbox" application with virtual master (VM), the virtual master generates a speed and position setpoint value. From the perspective oft he slaves, the virtual master behaves just like a real master. SINAMICS S120 1 Drive system with integrated "Electronic gearbox" functionality for the precise synchronous operation of several axes Drive 1 Drive 2 Drive 3 Web velocity 1 Master drive generates a calculated position value (virtual master) 2 Slave drive, coupled to the master through the electronic gearbox EntryID: , V5.2, 08/2018 6

7 Siemens AG 2018 All rights reserved 1 Introduction By using a virtual master the complete process is no longer dependent on one single drive. Advantages of the coupling include: The drive group operates more smoothly and no disturbances are coupled in from the master Depending on the requirements, every drive can be coupled into or coupled out of the process. EntryID: , V5.2, 08/2018 7

8 Siemens AG 2018 All rights reserved 2 Solution 2 Solution 2.1 Overview Hardware The following diagram shows as example, an SINAMICS S120 multiaxis group with CU3202 Control Unit. The full functional scope of the application is available with this hardware. Abbildung 21 DRIVECLiQ Measuring wheel encoder Drive unit with Encoder evaluation Measuring wheel Control Unit CU3202 Infeed Motor Modules Motor axis 1 Motor axis 2 Motor axis 3 Motor axis 4 The application can also be used on a SINAMICS S120 singleaxis device with CU3102 or a SINAMICS S150 singleaxis device. However, in this case, only a virtual leading axis or a measuring wheel is available as leading value source. 2.2 Axis configurations Up to six axes can be calculated for each drive device (per Control Unit). The total is only obtained from real axes (physically existing leading and following axes). In addition, up to six virtual axes and a measuring wheel can be calculated. There are 3 different types of possible leading value sources: Virtual leading axis Measuring wheel EntryID: , V5.2, 08/2018 8

9 Siemens AG 2018 All rights reserved 2 Solution Speed/torque controlled axis The configuration comprising leading and following axes can be freely selected. The following configurations are examples of axes, which can be calculated on a drive device: Up to 6 virtual leading axes plus up to 6 DCC following axes Up to 6 measuring transmitters plus up to 6 DCC following axes 1 real DCC leading axis plus up to 5 DCC following axes 3 real DCC leading axes plus up to 3 DCC following axes A distribution into various synchronous operation groups is possible. For instance, a configuration example could comprise 3 virtual leading axes each with 2 following axes. EntryID: , V5.2, 08/2018 9

10 Siemens AG 2018 All rights reserved 2 Solution 2.3 Hardware and software components Table 21 Component Real drive as leading value source: SINAMICS S120 drive lineup with CU3202 Control Unit Note From firmware 5.1 with libraries GMCV5.1 and Math_ExtendedV1.1 Or: When using a measuring wheel as leading value source: SINAMICS S120 drive lineup with CU3102 or CU320 2 Control Unit or a SINAMICS S150 Starter commissioning tool with installed DCC and valid DCC engineering license Sinamics DCB Extension runtime license for each CU Block library for motion control: GMCV5_1_sinamics5_1.zip Block library for extended mathematical functions math_extendedv1_1_sinamics4_7.zip XML exports for DCC charts in the software package Starter from V5.1 and higher Article number 6SL30770AA000AB0 (RT license for CU, refer to the following note for licensing) This corresponding library should be installed in Starter, and loaded to the drive device. This library should be installed in Starter, and loaded into the drive device The DCC charts for leading axes and synchronous operation axis as well as the script files to support commissioning are provided in this folder. These are imported to the drive objects. Note Post licensing the "SINAMICS DCB Extension" runtime license, which is required to run new DCC libraries on the CU, is performed using the Web License Manager. You can find a description in the Function Manual FH1 under "Basic information about the drive systems > Licensing > Creating license keys using the Web License Manager". EntryID: , V5.2, 08/

11 Siemens AG 2018 All rights reserved 3 Fundamental information 3 Fundamental information 3.1 Measuring transmitter or measuring wheel as leading value When using a measuring system in the form of an individual transmitter or measuring wheel as leading value source, a dedicated drive object is not required. For this application, the encoder is parameterized as additional motor/machine encoder (encoder 2/3) at the drive object of the following axis. The raw position values are converted into a Length Unit (LU) using a DCC position actual value processing function so that they can be transferred to the following axes as leading value. The position processing for the measuring wheel is always integrated in the DCC chart of the following axis. 3.2 Real leading axis A speed or torquecontrolled axis equipped with encoder can be used as leading axis. Axes without encoders cannot be used. The DCC "RealMaster" chart is calculated on the speed/torquecontrolled leading axis to evaluate and prepare the position leading values. This reads the raw encoder values and, based on the mechanical setting, generates a position signal in LU, to which the following axis can be synchronized. 3.3 Virtual leading axis For applications where a real leading axis is not available, the leading value is calculated as setpoint, and is therefore made available as "virtual" leading axis. The virtual leading axis generates a noisefree leading value signal. The virtual leading axis is available as autonomous function in every following axis. A virtual leading axis can be simultaneously used as leading value transmitter for any axis, so that several following axes can be synchronized to the same position signal. 3.4 Synchronous operation For this application the following axis is operated in relative synchronism (angular synchronism with identical velocity) to the leading axis. This means, that the following axis exactly follows the position increments and thus the velocity of the leading axis. The mechanical positions of leading and following axis are not relevant here, as the mechanics of both axes (tentering frames) are identical. The chain is an endless ongoing mechanics, which has no absolute position relation. An absolute synchronism (angular synchronism with identical position) thus is not necessary. 3.5 Electronic gearbox The synchronism relation between leading axis and following axis is defined by the electronic gear ratio. For identical mechanics and gear ratio of 1:1 the axes operate exactly synchronous to each other (with same velocity). Different gear ratios result in different velocities exactly in the set ratio of n:m. The gear ratio is defined by numerator and denominator (each as integer value). EntryID: , V5.2, 08/

12 Siemens AG 2018 All rights reserved 4 Commissioning the application 4 Commissioning the application 4.1 For your safety Markings used for safety instructions Pictogram, signal word and text All safety information contained in this document is identified by a text graphic comprising a pictogram and a signal word with an explanatory text. The combination of pictogram and signal word permits clearly differentiated information levels based on the degree of danger. The safety instructions have a higher priority than the information about activities to be carried out. Levels There are three safety information levels. They are marked with the same pictogram. They differ by the signal word used.! DANGER DANGER indicates that death or severe personal injury will result if proper precautions are not taken.! WARNING WARNING indicates that death or severe personal injury could result if proper precautions are not taken. NOTICE NOTICE indicates that an undesirable result or state may occur if the corresponding instructions are not observed Responsibilities of the operating company Intended use Improper use The proper use of the application components exclusively comprises the openloop and closedloop control of test setups that were adapted to the power/performance of the application components. In order that the application functions perfectly, the required SINAMICS standard components as well as the necessary hardware and software components must have been installed. The operating company may only make changes to the application components after prior written agreement from the suppliers. The following are considered to constitute improper use (misuse): All forms of use that deviate from or exceed the abovementioned proper use. Failure to observe the safety instructions. Failure to immediately rectify malfunctions that could impair safety. EntryID: , V5.2, 08/

13 Siemens AG 2018 All rights reserved 4 Commissioning the application Obligation to monitor All forms of manipulation of devices that serve to ensure the proper functioning, unrestricted use, or active or passive safety of the equipment. The recommended hardware and software components are not used. Operation of the application components if they are not in perfect technical condition as well as failure to operate them safely while considering the inherent risks and complying with all instructions contained in this document. The manufacturer disclaims liability of any kind in the event of improper use. The operating company has a continuous obligation to observe the overall technical condition of the application components (obvious defects or damage as well as changes in operating behavior). The company operating the system is obliged to only operate the application if it is in perfect condition. The company operating the system must check the state of the application components each time before they are used and rectify any defects before commissioning. Qualification of personnel The company operating the system must always deploy trained, authorized and reliable personnel. All safety regulations must always be observed. The personnel must have received special, indepth training and instructions about possible hazards and dangers. EntryID: , V5.2, 08/

14 Siemens AG 2018 All rights reserved 4 Commissioning the application 4.2 Basic configuration in STARTER Installing the block libraries With the project closed, in Starter, under the shortcut menu "Options", select "Installation of libraries and technology packages..." Fig. 41 Under "Add...", select the.zip file of the relevant library from the file system Fig. 42 Installation starts after the selected file has been opened (the installation can take several minutes) You must repeat this step for all of the libraries that are required: GMCV5_1_sinamics5_1.zip math_extendedv1_1_sinamics4_7.zip (you can find the.zip files of the libraries in the SIOS entry for the application) Go online with the drive device, and in its shortcut menu "Select technology packages..." EntryID: , V5.2, 08/

15 Siemens AG 2018 All rights reserved 4 Commissioning the application Fig. 43 For the libraries, select the action "Load into target device", and then acknowledge "Perform actions" With this step, you align the offline and online versions of all of the libraries used in the project. The libraries being used are designated by a checkmark in the first column. The drive device can only be subsequently loaded to the project if all of the libraries used match offline and online. EntryID: , V5.2, 08/

16 Siemens AG 2018 All rights reserved 4 Commissioning the application Fig. 44 The block libraries have now been installed in Starter and in the target device If no license is available yet, the "Trial License Mode" can be activated for a limited time during commissioning Configure all of the drives of your system as usual in Starter. Online, you can start an automatic configuration to read out all DRIVE CLiQ components and drives Go offline. Configure the synchronous axes as well as the leading axes or measuring wheel as described in the following 4.3 Sequence when commissioning an axis Whether you should initially configure the leading axes or the following axes, depends on the type of leading axes involved. If a measuring wheel or a virtual leading axis is to be used, then initially you must always configure the following axes. This is because they have the functions for the measuring wheel and virtual leading axis. For real leading axes (speed leading axis), the configuration sequence is variable. However, you can always start by configuring the following axes as subsequently described. EntryID: , V5.2, 08/

17 Siemens AG 2018 All rights reserved 4 Commissioning the application 4.4 Configuring the following axes The following section applies to all synchronous following axes. Repeat these instructions for all of the following axes. Activate the position control function module at the synchronous following axis: In the offline mode, go into the configuration screen form of the drive Under "Function modules/technology packages...", activate the position control (caution: it is not permissible that the basic positioner function module is enabled) Fig. 45 EntryID: , V5.2, 08/

18 Siemens AG 2018 All rights reserved 4 Commissioning the application Importing the DCC charts for the following axes Select by right clicking on the drive under "Expert" > "Import object". Fig. 46 Selecting the.xml file for the synchronous axis ("ElectronicGearbox.xml") from the file system After the import has been completed, the DCC chart appears below the drive Save and compile your project after the DCC chart has been imported. All basic interconnections to the drive are automatically established Setting the mechanical system for the following axis Using the Project Navigator, with "Technology" "Position control""mechanical system" go into the mechanical system screen form of the position actual value processing EntryID: , V5.2, 08/

19 Siemens AG 2018 All rights reserved 4 Commissioning the application Here, set the position actual value resolution of the load revolution that matches the mechanical system of your axis. A detailed description for position resolution can be found in chapter Scaling and units. If existing, enter the gear ratio of a mechanical gear connected to the motor. This value has to be set up independently from the electronic gear ratio and is defined by the mechanical existing gearbox. Fig. 47 NOTICE An increasing offset of the reference position due to an inaccurate gear ratio can possibly damage the mechanical system The gear ratio must be precisely specified as numerator/denominator of the gearbox/gearing; typically, the values stamped on the type plate are values that have been rounded off. If the gear ratio is precisely set, then a load revolution is precisely mapped and the position of the axis is precisely at the same position even after an infinite number of revolutions. Enter the electronic gear ratio as numerator and denominator value in parameters p22401 (number of following axis revolutions) and p22402 (number of leading axis revolutions). EntryID: , V5.2, 08/

20 Siemens AG 2018 All rights reserved 4 Commissioning the application 4.5 Configuring the leading value source Each synchronous following axis can synchronize itself with up to two leading value signals. The following table lists all of the possible versions of a leading value source. Further, here you can find a reference to the appropriate next section for configuring the leading value source. First configure the following axes and then all of the leading axes. The chapter to run the configuration script is at the end of the descriptions for configuring the leading value source. Leading and following axis are interconnected using the script. Table 41 Leading value source Application functionality required Real drive in the speed control/ torque control mode For instance, to implement a synchronous relationship to a speedcontrolled leading drive "RealMaster" (the DCC chart processes the encoder data, and maps the leading value as position) (For the configuration, see Configuring a speedcontrolled leading drive) Measuring wheel with encoder if, for example, a measuring wheel is available to sense the position of a process (e.g. a moving material web) Execution group "MeasuringWheel" of the DCC chart "ElectronicGearbox" (the functionality of the execution group processes encoder data, and maps the leading value as position) (For the configuration, see Configuring a measuring wheel as leading value source) Virtual leading axis For example, to synchronize a group of drives to a noisefree leading signal Execution group "VirtualLeadingAxis" of the DCC chart "ElectronicGearbox" (the execution group includes the calculation of the virtual leading value signal (Configuration, see Configuring a virtual leading axis) Irrespective of the leading value source, for the following axis you require the DCC chart "ElectronicGearbox". EntryID: , V5.2, 08/

21 Siemens AG 2018 All rights reserved 4 Commissioning the application Configuring a speedcontrolled leading drive Configure the axis as usual using the drive wizards or use the automatic configuration function Importing the DCC chart for the leading axis (speed axis) Select by right clicking on the drive under "Expert" > "Import object". Fig. 48 Selecting the.xml file for the speed leading axis ("RealMaster.xml") from the file system After the import has been completed, the DCC chart appears below the drive Save and compile your project after the DCC chart has been imported. All basic interconnections to the drive are automatically established EntryID: , V5.2, 08/

22 Siemens AG 2018 All rights reserved 4 Commissioning the application Setting the mechanical system In parameter p25505, set the position actual value resolution of a load revolution referred to the mechanical system. A detailed description for position resolution can be found in chapter Scaling and units. Set a possibly used load gearbox in p25550 (load revolutions) and p25551 (encoder revolutions) as numerator and denominator. Interconnecting signals between the leading and following axis To complete the configuration and establish the necessary signal interconnections between the leading axis and following axis, proceed with Chapter Running the interconnection script. EntryID: , V5.2, 08/

23 Siemens AG 2018 All rights reserved 4 Commissioning the application Configuring a measuring wheel as leading value source The measuring wheel is evaluated directly in the DCC chart of the following axis. An autonomous drive object is not created for the measuring wheel. The measuring wheel encoder is parameterized as second or third motor encoder of the following axis. To set a measuring wheel as leading value source, the "MeasuringWheel" of the DCC chart "ElectronicGearbox" must be activated. As a consequence, the required position actual value processing of the encoder is calculated, and the encoder raw data processed corresponding to the following axis. Note If a measuring wheel is to be used as leading value source, then encoder 2 or encoder 3 of the following axis DO must be indexed and serves as leading value source. Configuring the measuring wheel Before configuring the measuring wheel, the following axis must be configured (see Chapter Configuring the following axes). Once the following axis has been configured, continue here with configuring the measuring wheel. For the drive object of the following axis, create a second encoder if only one motor encoder was previously parameterized. If a second encoder is already being used for the position control, then create a third encoder for the measuring wheel evaluation. To do this, at the drive object of the following axis, in screen form "Configuration" "Configure DDS ", Click on "Next>" up to the "Encoder" tab. There, set a checkmark for Encoder 2 or Encoder 3 (only if Encoder 2 is already being used) (see Fig. 49). In the screen form, select the encoder attached to the measuring wheel, either from the standard list or manually enter the encoder data. Fig. 49 EntryID: , V5.2, 08/

24 Siemens AG 2018 All rights reserved 4 Commissioning the application Click on "Next>" until the configuration wizard has been completed Enabling the DCC execution group Activate the execution group "MeasuringWheel" of the DCC chart "ElectronicGearbox". To do this, in the Starter project, right click on the DCC chart and in the shortcut menu select "Set execution groups ". In the screen form for "Set execution groups" for execution group "MeasuringWheel", select "BEFORE basic positioner" as setting. Parameterizing the encoder index In parameter p25508 of the following axis, select the appropriate encoder index. p25508 = 1, if encoder 2 of the drive object is used to evaluate the measuring wheel p25508 = 2, if encoder 3 of the drive object is used to evaluate the measuring wheel Setting the mechanical system In parameter p25505, set the position actual value resolution of a load revolution referred to the mechanical system Material detection could be an example. In this case, the measuring wheel circumference could be the length dimension for the length units per load revolution, e.g. (p25505 = measuring wheel circumference [mm] 10 n with n (1..6) This means: Through what distance does the material move for one load revolution of the measuring wheel? Set a possibly used measuring wheel gearbox in p25550 (load revolutions) and p25551 (encoder revolutions) as numerator and denominator. Interconnecting signals between the leading and following axis To complete the configuration and establish the necessary signal interconnections between the leading axis and following axis, proceed with Chapter Running the interconnection script. EntryID: , V5.2, 08/

25 Siemens AG 2018 All rights reserved 4 Commissioning the application Configuring a virtual leading axis A virtual leading axis signal can serve as leading value This can be interconnected to several following axes. From a velocity that can be specified, a virtual leading axis generates a position signal, which can be synchronized with all of the following axes. A virtual leading axis can also itself be positioned. An associated virtual leading axis is always calculated on each DCC chart of a following axis. Generally, the signal of a virtual leading axis is interconnected with several following axes. As a consequence, only the virtual leading axis of a following axis is required. However, several virtual leading axes can be used. For example, to implement synchronous operation groups. Enabling the execution group Activate the execution group "VirtualLeadingAxis" of the DCC chart "ElectronicGearbox". To do this, in the Starter project, right click on the DCC chart and in the shortcut menu select "Set execution groups ". In the screen form for "Set execution groups" for execution group "VirtualLeadingAxis" as setting, select "BEFORE basic positioner". Interconnecting signals between the leading and following axis To complete the configuration and establish the necessary signal interconnections between the leading axis and following axis, proceed with Chapter Running the interconnection script. EntryID: , V5.2, 08/

26 Siemens AG 2018 All rights reserved 4 Commissioning the application 4.6 Running the interconnection script Using the script integrated in the project With this variant you must import the script into every project where you wish to use it. However, the script remains integrated in the project, even when archiving and transferring. As a consequence, this variant makes sense if you wish to execute your own projectspecific supplements at this script. To do this, proceed as follows: Insert a script folder at the project level Fig. 410 Fig. 411 Import the interconnection script (Gearbox_Script_Vx_y.xml) EntryID: , V5.2, 08/

27 Siemens AG 2018 All rights reserved 4 Commissioning the application "Accept and execute" the script Fig. 412 In the script, select all of the axes for which a leading/following axis interconnection or a PZD interconnection should be established, and then for each following axis, select the required leading value source. If, for example, you have 4 following axes that should be synchronized to the same leading value source (e.g. virtual leading axis or positioning axis), then first, select all of the following axes. You will then be asked, axis by axis, for the relevant leading value source. For example, select the same leading value for all axes. EntryID: , V5.2, 08/

28 Siemens AG 2018 All rights reserved 5 Using the application 5 Using the application 5.1 Scaling and units All position parameters, for example, the setpoint position or reference coordinates are specified in LU (Length Units). As a consequence, this guarantees the correct connection to the position controller of the basic system. Velocities, acceleration rates and jerk are specified in the following units: Velocity [1000LU/min] Acceleration [1000LU/s²] Jerk [1000LU/s³] By using unit LU, any mechanical system and each freely selectable physical unit can be emulated. The reference value to the configuration is always parameter "LU per load revolution" (p2506). Using this, the user defines an appropriate position resolution for his application. As a recommendation the selected resolution should be higher by factor 10 than the demanded positioning accuracy. Configuring this parameter is described in the following examples. Example for a rotary axis Task: The following axis is a rotary indexing table which moves through 360 degrees per revolution. Positioning should be done with a millidegree resolution. Defining the LU per load revolution: The basis is always from the load side, i.e. from the load to be moved. If relevant, gearboxes that might be used, are parameterized in the mechanical screen form. Based on the gearbox ratio, the position controller automatically calculates the appropriate motor speed. The known motion of 360 degrees per revolution with a resolution in millidegrees results in (360[ ] * 1000 [1/1000 ]) = LU per load revolution (p2506). Put another way, 1 LU therefore corresponds to 1 m. Entering commands: If you now want to specify that the rotary indexing table is positioned through 92.5, then this results in a positioning setpoint of LU. The velocity can also be converted into the selected physical units using the reference of the LU per load revolution. A velocity setpoint of 2000 /min for example, results in a converted value of LU/min. As a result of the unit [1000LU/min], a setpoint of [1000 LU/min] is parameterized. Example for a measuring wheel or speed leading axis Task: The leading axis represents the material position evaluation / the material feeder. The material position should be a distance with a resolution of micrometer (µm). The diameter of the measuring wheel / of the feeder roll is 100mm. Defining the LU per load revolution: The basis is always from the load side, i.e. from the load to be moved. If relevant, gearboxes that might be used, are parameterized in the gear ratio. The distance, which the material is moved forward by one load revolution, is defined by the effective circumference of the measuring wheel / the feeder roll. The circumference is calculated by c = Pi * diameter = 3,14159 * 100mm = 314,159mm. With a given resolution in µm the value of LU per load revolution (p25505) is calculated by 314,159 [mm] * 1000 [1/1000mm] = LU. Put another way, 1 LU therefore corresponds to 1 µm. EntryID: , V5.2, 08/

29 Siemens AG 2018 All rights reserved 5 Using the application 5.2 Axis dynamic response The axis dynamic response defines the compensatory operations of the axis. Such a compensatory operation can involve, for example, stopping the moving axis or generating an offset. The axis dynamic response comprises the following values: Maximum relative velocity (for compensatory operations) Maximum relative acceleration Jerk limiting Table 51 Maximum relative velocity Maximum relative acceleration Jerk limiting Parameter p21551 reference value relative velocity [1000 LU/min] p21552 CI: Override relative velocity [%] p21553 reference value relative acceleration [1000 LU/s²] p21554 CI: Override relative acceleration [%] p21555 jerk limitation [1000 LU/s³] Active value The active value is obtained from the reference value multiplied by the percentage override: p21551 x p21552 The active value is obtained from the reference value multiplied by the percentage override: p21553 x p21554 p21555 Valid values Relative velocity and relative acceleration must always have an active value higher than 0. Jerk limiting must always have a value greater than or equal to 0. A value of 0 means that jerk limiting is not active, and acceleration represents a step function. Response for inadmissible values Before every operating mode change (i.e. before every transition with dynamic response), the values for active relative velocity and acceleration are checked. If one of the values is not valid, then the axis is braked in a controlled fashion with the last valid dynamic response value. Further, Alarm A51061 is initiated at the drive object, and parameter "BO: Dynamics setting invalid" (r21570) is set to 1. This fault state can only be exited if a valid, active dynamic response is entered. In addition, by acknowledging control bit "BI: Acknowledge dynamics setting error" (p21571) it can be confirmed that the axis is enabled again. The axis then switches into the enabled operating mode. If, for a mode change, it is identified that the dynamic response has been changed (and is valid), then this is accepted as active dynamic response and in the case of a subsequently invalid dynamic response, is used as dynamic response to stop the axis in a controlled fashion. Maximum relative velocity The maximum relative velocity (product of p21551 and p21552) defines the maximum possible additional velocity for compensation operations. This velocity is added for example to the leading value velocity if an offset is generated. EntryID: , V5.2, 08/

30 Siemens AG 2018 All rights reserved 5 Using the application The active axis velocity in the case of compensation motion is obtained here from the sum of the leading value velocity and the maximum relative velocity. The maximum relative acceleration behaves in an equivalent manner. For autonomous axis functions, such as stopping, the relative values are valid as absolute values for the axis. 5.3 Leading value connection The application provides an interface, via which a leading axis can be connected. The leading axis is connected using BiCo technology, and is therefore permanently assigned. The following leading axis versions can be connected: Virtual leading axis Measuring wheel Speed/torque controlled axis The following axis can refer to the two connected leading value, and establish a synchronous relationship with it. The interface offers a deadtime compensation function (for leading axes that are calculated by another Control Unit for example, and are connected via the fieldbus). The leading value is connected by running the commissioning script (see Chapter Commissioning the application). The interconnection to the parameters is automatically generated. A leading axis is connected in parameters p21701 to p The internal logic of the connection takes into account the dead time (p21710) and the correction signals. At the output, position leading value and velocity leading value are available as BiCo parameters r21721 and r Switching on/switching off the following axis The axis is switched on/switched off just like a standard speed axis. The DCC application does not influence this standard switchon logic. To switch on/switch off, the "Control word sequence control" must be used (includes, for example, the OFF1 command, OFF2 command, etc.) (see List Manual S120: The axis goes into operation and the power unit feeds current to the motor. The application is essentially only enabled when the position control is enabled. 5.5 Enabling the position control To traverse the following axis in its various positioncontrolled operating modes (this involves all operating modes, such as jogging, homing, positioning, synchronous operation), the axis must be switched on and its position control enabled. As long as control bit "BI: Activate position control (enable axis motions)" (p21700) is set, and the axis is switched on, then the position control is enabled. The application cannot traverse the axis if the position control is not enabled. The default interconnection for the position control enable is r899.2 of the axis. This means that the position control is always automatically enabled when the axis itself is enabled. For this interconnection the following axis will follow the leading axis in synchronism directly after switching on! EntryID: , V5.2, 08/

31 Siemens AG 2018 All rights reserved 5 Using the application Followup mode If position control is not enabled, then the application transitions into the followup mode. In this case, the position setpoint is continually set to the position actual value of the axis. This prevents a system deviation between the setpoint and actual value at the position controller when the axis is switched on again. When switched off, this means that the axis can be moved away from its last position. When the axis is switched on, the setpoint starts from the actual position value. 5.6 Stopping the axis Using control bit "BI: Stop drive" (p22000), the drive can be stopped at any time positioncontrolled and with a dynamic response that can be specified. The dynamic response for braking is defined in the axis dynamic response (parameters, see Chapter Axis dynamic response). In so doing, here, only the active relative acceleration and jerk limiting are taken into account. In this particular case, relative acceleration is considered as absolute value braking (decelerating) the axis. Once standstill has been reached, feedback signal "BO: Axis in standstill" (r23903) is set. 5.7 Electronic gearbox Instead of 1:1 synchronous operation (default setting), the following axis can remain in synchronism with the leading axis through a variable gear ratio. Further, the gear converts over the modulo value of the leading axis to the modulo value of the following axis. Using mechanical gearboxes If the axis is equipped with a real mechanical gearbox, then this is configured in the basic mechanical system of the axis, and is not entered as an electronic gear. In this case, set the gear ratio in parameters "LR motor/load motor revolutions" (p2504) and "LR motor/load load revolutions" (p2505). In this case, it is always possible to synchronize the following axis to the leading axis in absolute terms. Velocity ratio electronic gear The following axis velocity is obtained from the gear ratio. The gear ratio is defined by specifying the numerator and the denominator. The velocity is defined by the following relationship: numerator v FollowigAxis = v LeadingAxis denominator Configuring the electronic gear A gear ratio of 1:1 (numerator:denominator) is defined in the default setting. If a variable gear factor is to be specified, then this is defined as fraction comprising multiple integer numerator and denominator: Electronic gear ratio, numerator (p22401) Electronic gear ratio, denominator (p22402) If a gear ratio is not to be used, when already switching on the Control Unit, both parameters must have a value of 1. EntryID: , V5.2, 08/

32 Siemens AG 2018 All rights reserved 5 Using the application Changing the gear ratio when synchronous operation is active If the gear ratio is changed when synchronous operation is active (the leading axis is traversing and the following axis is tracking in synchronous operation), then the following axis manifests velocity steps. For example, this can damage the mechanical system. When using the standard application (without any adaptation by the user), the gear ratio should only be adapted if the following axis is not in synchronism with respect to the leading axis. To do this, the axis could be stopped or completely switched off. Severe personal injury and material damage can occur if the ratio is changed in operation. WARNING When the ratio changes, the speed at the gear output jumps corresponding to the change that has been made. If the gear ratio is to be changed in operation, then this function must be engineered as part of the application using a rampfunction generator (i.e. the numerator and denominator representing the gear ratio are slowly ramped up or down). This can be realized by adding a rampfunction generator in the DCC chart. If you have any questions, then contact the person mentioned in the document. Summary of the configuration parameters for electronic gear: Table 52 Parameter Setting p22401 Sets the gear ratio, numerator p22402 Sets the gear ratio, denominator 5.8 Optimizing positioncontrolled axes To start, the speed control of each drive should be optimized (e.g. using the automatic control setting or through manual optimization based on the tools provided in STARTER). Further, we recommend that for positioncontrolled axes, in most cases the speed precontrol at the position controller is activated. Speed precontrol is activated by setting the precontrol factor in parameter "LR speed precontrol factor [%]" (p2534[0]). A factor of 100% is generally used here. This means that there is no following error while traversing with constant velocity. For individual applications it may be necessary to activate the torque precontrol to also suppress following errors while the axis is accelerating/decelerating. By using the One Button Tuning of the SINAMICS the mentioned optimizations can be done automatically in many use cases. 5.9 Synchronous operation monitoring The basic system (position control) automatically monitors each positioncontrolled axis (leading and following axis). The difference between the position setpoint and position actual value is monitored on each axis. If the difference exceeds a value that can be parameterized, the axis goes into a fault condition and is shut down EntryID: , V5.2, 08/

33 Siemens AG 2018 All rights reserved 5 Using the application (default parameterization). The limit value is parameterized in parameter "LR Dynamic following error monitoring tolerance [LU]" (p2546[0]). Synchronous operation monitoring between the leading and following axis is not included in the DCC application for the following axis. The evaluation and error response for a monitoring function that may be necessary should be programmed in the higherlevel PLC or in a separate DCC chart on the drive device Virtual leading axis functions In principle, the virtual leading axis can only be operated in continuous operation mode Dynamic response values of the virtual leading axis The dynamic response of the virtual leading axis comprises the following values: Table 53 Velocity Acceleration Jerk limiting Parameter p25004: VLA: Reference value velocity [1000 LU/min] p25005: CI: VLA: Velocity override [%] p25006: VLA: Reference value acceleration [1000 LU/s²] p25007: CI: VLA: Acceleration override [%] p25008: VLA: Jerk limiting [1000 LU/s³] Active value The active value is obtained from the reference value multiplied by the percentage override: p25004 x p25005 The active value is obtained from the reference value multiplied by the percentage override: p25006 x p25007 p25008 Continuous operation To continually traverse the virtual leading axis, enter a setpoint velocity, (p25004 multiplied with the override from p25005). As long as control bit "BI: VLA: Move continuously forward" (p25022) is set, the axis traverses forward with the specified velocity. As long as control bit "BI: VLA: Move continuously backward" (p25023) is set, the axis traverses backward with the specified velocity. An active positioning operation is indicated using feedback signal "BO: VLA: Continuous operation active" (r25073), continuous operation is signaled back. If the particular control bit is disabled, then the virtual leading axis stops. The dynamic response limits (acceleration and jerk limiting) apply for both starting and stopping. EntryID: , V5.2, 08/

34 Siemens AG 2018 All rights reserved 6.1 Function diagrams Function diagram, following axis EntryID: , V5.2, 08/

35 Siemens AG 2018 All rights reserved DCC Leading Axis s s* Actual position evaluation Real Leading Axis (Speed Axis) DCC Following Axis Actual value processing for measuring wheel as external leading value encoder Leading value connection Position Controller s s* Interface LV1 Position Velocity Correction Actual position evaluation External encoder (2nd or 3rd encoder of the DCC following axis) 3 different types of leading value sources are available (speed axis, measuring wheel, virtual leading axis) Interconnection per script / commissioning Wizard s s* Virtual Leading Axis DO: SERVO, VECTOR Overview WinkelSynchronism_V2_0_de.v FP_SyncBasic.vsd sd V Basic System Following Axis Position Controller s set n set s act 7 Function diagram SINAMICS 8 EGB 1010 t t t EntryID: , V5.2, 08/

36 Siemens AG 2018 All rights reserved CI: Leading axis connection 1: p21701 Position leading value (integer part) (0) CI: Leading axis connection 1: p21702 Position leading value (decimal part) (0) CI: Leading axis connection 1: p21705 Correction value DINT format (0) CI: Leading axis connection 1: p21706 Correction value REAL format (0) BI: Leading axis connection 1: Correction bit p21707 (0) Deadtime leading axis connection 1 [ms] p21710 (0.0) CI: Leading axis connection 1: Velocity leading value (integer part) p21703 (0) CI: Leading axis connection 1: p21704 Velocity leading value (decimal part) (0) 1 2 DO: SERVO, VECTOR Leading axis interconnection 3 Leading axis connection 1 (Internal block logic) p21000[2] = [3006] Synchronism CO: Leading axis connection 1: Position leading value r21721 CO: Leading axis connection 1: Velocity leading value r FP_SyncBasic.vsd V Function diagram SINAMICS 8 EGB 1060 EntryID: , V5.2, 08/

37 Siemens AG 2018 All rights reserved [EGB1060.7] Position leading value [EGB1060.7] Velocity leading value 1 2 DO: SERVO, VECTOR Gearbox Electronic gear ratio numerator p22401 (1) Electronic gear ratio denominator p22402 (1) Modulo value leading axis p21561 (360000) Modulo value Following axis p21563 (360000) 3 NM DN AZL IN AZL OUT 4 Electronic gear 5 6 FP_SyncBasic.vsd V p21000[2] = [3006] Synchronism [EGB EGB1160.3] Position leading value 1 after gearbox [EGB EGB1160.3] Velocity leading value 1 after gearbox 7 Function diagram SINAMICS 8 EGB 1070 EntryID: , V5.2, 08/

38 Siemens AG 2018 All rights reserved [EGB1070.7] Position leading value XP [EGB1070.7] Velocity leading value XV BI: Stop drive p22000 (0) Stop CI: Position actual value (r2521[0]) p24100 BI: Position control active p24103 (r2526.3) BI: OFF2 signal internal p24104 (r46.17) DO: SERVO, VECTOR Axis Function Block Postion Controller Interface Axis Function Block Position controller Interface 4 YPI YVI YPD YVD POV NOV COR EN 5 p21000[2] = [3006] Synchronism CO: Position setpoint to position controller (integer) r24001 Position Controller (BasicSystem) CI: LR position setpoint p2530 (r24001) CO: Velocity setpoint to position controller (integer) r24003 CI: LR velocity setpoint p2531 (r24003) CO: Position setpoint to position controller (decimal) r24002 CI: LR supplementary setpoint position p2694 (r24002) CO: Velocity setpoint to position controller (decimal) r24004 CI: LR supplementary setpoint velocity p2695 (r24004) BO: Correction bit POV to actual position evaluation r24006 BI: LR actual position value processing Correction negative act (edge), position control p2730 (r25005) BO: Correction bit NOV to actual position evaluation r24007 BI: LR position actual value processing, correction value (edge), position control p2512 (r25004) CO: Correction value to actual position evaluation r24005 CI: LR actual position value processing Correction value, position control p2513 (r25003) BI: LR control enable 2 BO: Enable position control r24021 p2550 (r24021) 6 FP_SyncBasic.vsd V Function diagram SINAMICS 8 EGB 1240 EntryID: , V5.2, 08/

39 Siemens AG 2018 All rights reserved Function diagram, virtual leading axis EntryID: , V5.2, 08/

40 Siemens AG 2018 All rights reserved CI: VLA: Override Velocity [%] p25005 (100.0) VLA: Reference value velocity [1000 LU/min] p25004 ( ) CI: VLA: Override Acceleration [%] p25007 (100.0) VLA: Reference value Acceleration [1000 LU/s²] p25006 (1000.0) BI: VLA: Move continuously forward BI: VLA: Move continuously backward 1 2 DO: SERVO, VECTOR Axis block virtual leading axis p25022 p VLA: Jerk limiting [1000 LU/s³] p25008 (1000.0) (0) (0) 4 VMX AMX JRK Axis block Virtual leading axis Continuous operation v 5 6 FP_SyncBasic.vsd V p21000[1] = [3005] VirtualLeadingAxis CO: VLA: Position leading value r25061 CO: VLA: Velocity leading value r25062 BO: VLA: Continuous operation active r Function diagram SINAMICS 8 VLA 1660 t EntryID: , V5.2, 08/

41 Siemens AG 2018 All rights reserved 6.2 Parameter lists Basic structure of the parameter descriptions The data in the following example have been chosen at random. The table below contains all the information that can be included in a parameter description. Some of the information is optionally shown. The parameter lists have the following structure: Start of example pxxxx[0...n] BICO: Full parameter name / abbreviated parameter name Drive object Can be changed: U, T Calculated: Access level: 2 Data type: Dynamic index: Function diagram: ASC 1012 P group: Unit group: Unit selection: 0.00 [Nm] [Nm] 0.00 [Nm] Text 0: Name and meaning of value 0 1: Name and meaning of value 1 Values: 2: Name and meaning of value 2 etc. Recommendation: Text Bit array: Bit Signal name 1 signal 0 signal FP 00 Name and meaning of bit 0 Yes No ASC Name and meaning of bit 1 Yes No ASC Name and meaning of bit 2 Yes No ASC 1620 etc. Dependency: Text See also: pxxxx, rxxxx See also: Fxxxxx, Axxxxx Danger: Warning: Caution: Safety notices with a warning triangle DANGER WARNING CAUTION Caution: Notice: Safety notices without a warning triangle Information that might be useful. End of example The individual pieces of information are described in detail below. EntryID: , V5.2, 08/

42 Siemens AG 2018 All rights reserved pxxxx[0...n] Parameter number The parameter number is made up of a "p" or "r", followed by the parameter number and optionally the index or bit array. Examples of the representation in the parameter list: p... r... adjustable parameters (can be read and written to) display parameters (read only) p0918 adjustable parameter 918 p0099[0...3] adjustable parameter 99, indices 0 to 3 p1001[0...n] adjustable parameter 1001, indices 0 to n (n = can be configured) r0944 display parameter 944 r display parameter 2129, with bit array from Bit 0 (lowest bit) to bit 15 (highest bit) Other examples of notation in the documentation: p1070[1] adjustable parameter 1070, index 1 p2098[1].3 adjustable parameter 2098, index 1 bit 3 r0945[2](3) display parameter 945, index 2 of Drive object 3 p adjustable parameter 795, bit 4 The following applies to adjustable parameters: The parameter value as delivered is specified under "Factory setting" with the relevant unit in square brackets. The value can be adjusted within the range defined by "Min" and "Max". The term "linked parameterization" is used in cases where changes to adjustable parameters affect the settings of other parameters. Linked parameterization can be initiated, for example, as a result of the following actions and parameters: Executing macros p0015, p0700, p1000, p1500 Setting the PROFIBUS telegram (BICO interconnection) p0922 Setting component lists p0230, p0300, p0301, p0400 Automatically calculate and preassign p0112, p0340, p0578, p3900 Restoring the factory settings p0970 The following applies to display parameters: The fields "Min", "Max" and "Factory setting" are specified with a dash "" and the relevant unit in square parentheses. EntryID: , V5.2, 08/

43 Siemens AG 2018 All rights reserved Note The parameter list can contain parameters that are not visible in the expert lists of the particular commissioning software (e.g. parameters for trace functions). The parameters of the application example are completely visible in the expert list. BICO: Full parameter name / abbreviated parameter name The following abbreviations can appear in front of the BICO parameter name: BI: BO: CI: CO: Binector Input This parameter selects the source of a digital signal. Binector Output This parameter is available as a digital signal for interconnection with other parameters. Connector Input This parameter selects the source of an "analog" signal. Connector Output This parameter is available as an "analog" signal for interconnection with other parameters. CO/BO: Connector/Binector Output Connector/Binector Output This parameter is available as both an "analog" and also as digital signals for interconnection with other parameters. Note A BICO input (BI/CI) cannot be just interconnected with any BICO output (BO/CO, signal source). When interconnecting a BICO input using the commissioning software, only the signal sources that are actually possible are listed. Function diagrams of the List Manual explain the symbols for BICO parameters and how to handle BICO technology. EntryID: , V5.2, 08/

44 Siemens AG 2018 All rights reserved Drive object (function module) A drive object (DO) is an independent, "selfcontained" functional unit that has its own parameters and, in some cases, faults and alarms. When carrying out commissioning using the commissioning software, you can enable/disable additional functions and their parameters by activating/deactivating function modules accordingly. Note Reference: /FH1/ SINAMICS S120 Function Manual Drive Functions The parameter list specifies in which drive object and function module each individual parameter is used. Examples: p1070 CI: Main setpoint SERVO (extended setpoint), VECTOR The parameter is available only in association with a SERVO drive object and the "Extended setpoint channel" function module or with drive object VECTOR irrespective of activated function modules. p1055 BI: Jog bit 0 SERVO, VECTOR For drive objects SERVO and VECTOR, regardless of which function modules have been activated, this parameter is always available. This means that it is available with every activated function module belonging to the drive object. A parameter can belong to one, several or all drive objects. Note All parameters of this application example are also available after installation at the SERVO and VECTOR drive objects. The "Position controller" function module is required for the functionality. EntryID: , V5.2, 08/

45 Siemens AG 2018 All rights reserved Can be changed: The "" sign indicates that the parameter can be changed in any object state and that the change will be effective immediately. The information "C1(x), C2(x), T, U" ((x): optional) means that the parameter can be changed only in the specified drive device state and that the change will not take effect until the device switches to another state. One or more states are possible. The following states are available for the parameter: C1(x) Commissioning device C1: Commissioning 1 The device is being commissioned (p0009 > 0). The pulses cannot be enabled. The parameter can only be changed in the following device commissioning settings (p0009 > 0): C1: Can be changed for all settings p0009 > 0. C1(x): Can only be changed for settings p0009 = x. A modified parameter value does not take effect until the device commissioning mode is exited with p0009 = 0. C2(x) Commissioning drive object C2: Commissioning 2 The drive is being commissioned (p0009 = 0 and p0010 > 0). The pulses cannot be enabled. The parameter can only be changed in the following drive commissioning settings (p0010 > 0): C2: Can be changed for all settings p0010 > 0. C2(x): Can only be changed for settings p0010 = x. A modified parameter value does not take effect until drive commissioning mode is exited with p0010=0. U operation U: Run The pulses have been enabled. T ready T: Ready to run The pulses have not been enabled and the state "C1(x)" or "C2(x)" is not active. Note Parameter p0009 is CUspecific (available on the Control Unit). Parameter p0010 is drivespecific (available for each drive object). The operating state of individual drive objects is displayed in r0002. Calculated Note Specifies whether the parameter is influenced by automatic calculations. The calculation attribute defines which activities influence the parameter. This attribute is not relevant for the application parameters. EntryID: , V5.2, 08/

46 Siemens AG 2018 All rights reserved Access level Specifies the minimum access level required to be able to display and change the relevant parameter. The access level can be set using p0003. The system uses the following access levels: 1. Standard 2: Extended 3: Expert 4: Service Note Parameter p0003 is CUspecific (available on the Control Unit). A higher access level will also include the functions of the lower levels. Data type Note The data type attribute is not listed for the application parameters. Dynamic index Note This dynamic index attribute is not relevant for the application parameters. Function diagram The parameter is included in this function diagram. The structure of the parameter function and its relationship with other parameters is shown in the specified chart. P group (only when accessing via BOP (Basic Operator Panel)) Specifies the functional group to which this parameter belongs. The required parameter group can be set via p0004. Note Parameter p0004 is CUspecific (available on the Control Unit). Unit, unit group and unit selection Note These attributes are not relevant for the parameters of the application example; it is not possible to switch over the units. Parameter values Min Minimum parameter value [unit] EntryID: , V5.2, 08/

47 Siemens AG 2018 All rights reserved Max Factory setting Maximum parameter value [unit] Value when supplied [unit] In the case of a binector/connector input, the signal source of the default BICO interconnection is specified. A nonindexed connector output is assigned the index [0]. Not for motor type Note The motor type attribute is not relevant for the application parameters. Scaling Note The scaling attribute is not relevant for the application parameters. If there is a reference to another parameter, then this is indicated in the parameter list. Expert list Note The expert list attribute is not relevant for the application parameters. Description Explanation of the function of a parameter. Values Lists the possible values of a parameter. Recommendation Information about recommended settings. Index Note The index attribute is not relevant for the application parameters. EntryID: , V5.2, 08/

48 Siemens AG 2018 All rights reserved Bit array For parameters with bit arrays, the following information is provided about each bit: Bit number and signal name Meaning for signal states 0 and 1 Function diagram (optional) The signal is shown on this function diagram. Dependency Conditions that must be fulfilled in conjunction with this parameter. Also includes special interactions that can occur between this parameter and others. Where relevant, after "See also:", the following information is shown: List of other relevant parameters to be considered. List of faults and alarms to be considered. Safety notes Important information that must be observed to avoid the risk of physical injury or material damage. Information that must be observed to avoid any problems. Information that the user may find useful. Number ranges of parameters The parameters of the application example are in the number range for Drive Control Chart (DCC) from to EntryID: , V5.2, 08/

49 Siemens AG 2018 All rights reserved Parameter list, following axis r21500 Software version Separate Chain Data type: Dynamic index: Function diagram: Displays the software version of the application r21501 AppID Data type: Dynamic index: Function diagram: Displays the SIOS entry ID r21502 CO: Internal ID Data type: Dynamic index: Function diagram: Displays the internal application ID The internal ID is used in the LMCSINA control block to identify the expansion levels of the application versions p21551 Reference value relative velocity [1000 LU/min] Data type: Dynamic index: Function diagram: EGB E E+43 Setting value for reference value relative axis velocity Recommendation: Only values greater than 0.0 are valid Dependency: see also: p21552 The active relative velocity is obtained from the product of p21551 x p21552 p21552 CI: Override relative velocity [%] Data type: Dynamic index: Function diagram: EGB Signal source for the override of the axis relative velocity Recommendation: Only values greater than 0.0 are valid EntryID: , V5.2, 08/

50 Siemens AG 2018 All rights reserved Dependency: see also: p21551 The active relative velocity is obtained from the product of p21551 x p21552 p21553 Reference value relative acceleration [1000 LU/s²] Data type: Dynamic index: Function diagram: EGB E E+43 Setting value for reference value relative axis acceleration Recommendation: Only values greater than 0.0 are valid Dependency: see also: p21554 The active relative acceleration is obtained from the product p21553 x p21554 p21554 CI: Override relative acceleration [%] Data type: Dynamic index: Function diagram: EGB Signal source for the override of the axis relative acceleration Recommendation: Only values greater than 0.0 are valid Dependency: see also: p21553 The active relative acceleration is obtained from the product p21553 x p21554 p21555 Jerk limiting [1000 LU/s³] Data type: Dynamic index: Function diagram: EGB E E+43 Setting value for axis jerk limiting Recommendation: Only values greater than or equal to 0.0 are valid A value of 0.0 means that the axis is traversing without jerk limiting. The acceleration then manifests a step. p21561 Modulo value leading axis connection Data type: Dynamic index: Function diagram: EGB Setting value for the modulo value of the leading axis 1 used The same modulo value must be entered into this parameter that is actually used on leading axis 1. The following axis must know the modulo value of the leading axis. You can find a detailed description of the setting in Chapter Axis mechanical system. p21563 Modulo value following axis EntryID: , V5.2, 08/

51 Siemens AG 2018 All rights reserved Data type: Dynamic index: Function diagram: EGB Setting value for the modulo value of the following axis Recommendation: A value greater than 0 must be entered here for rotary axes. Then, position setpoint and actual value are cyclically reset for continuous/backward motion. A value of 0 must be entered here for linear axes. You can find a detailed description of the setting in Chapter Axis mechanical system. r21570 BO: Dynamic setting invalid Data type: Dynamic index: Function diagram: EGB1080 Dependency: Displays the incorrect parameterization of the axis dynamic response see also: Alarm A51061 see also: p21571 EntryID: , V5.2, 08/

52 Siemens AG 2018 All rights reserved p21571 BI: Acknowledge dynamics settings error Data type: Dynamic index: Function diagram: EGB1020 Signal source for acknowledging the dynamic response error In the case of an incorrect parameterization of the axis dynamic response, this must first be corrected and then this can be acknowledged using this control bit. The axis then directly switches back into the enabled operating mode (see Chapter Operating modes) r21580 Active relative velocity [1000 LU/min] Data type: Dynamic index: Function diagram: EGB1080 Dependency: Displays the active relative velocity or the currently valid dynamic response see also: p21551, p21552 The active relative velocity is obtained from the product of p21551 x p If, for an operating mode change, an invalid parameterization is identified, then the axis brakes down to standstill with the axis dynamic response that was last valid. r21581 Active relative acceleration [1000 LU/s²] Data type: Dynamic index: Function diagram: EGB1080 Dependency: p21700 Displays the active relative acceleration or the currently valid dynamic response see also: p21553, p21554 The active relative acceleration is obtained from the product p21553 x p If, for an operating mode change, an invalid parameterization is identified, then the axis brakes down to standstill with the axis dynamic response that was last valid. BI: Activate position control (enable axis motions) Data type: Dynamic index: Function diagram: EGB1020 p21701 r899.2 Signal source to activate position control This parameter is OR'd with bit 11 in technology control word 1 The axis position control must first be enabled in order that the axis can traverse in its various operating modes. The axis is in the tracking/followup mode if position control is not enabled. (For details, see Chapter Enabling the position control) CI: Leading axis connection 1: Position leading value (integer part) Data type: Dynamic index: Function diagram: EGB1060 EntryID: , V5.2, 08/

53 Siemens AG 2018 All rights reserved Signal source to connect the leading axis (position leading value in the DINT format) The interconnection script is used to automatically interconnect the leading axis. (For details, see Chapter Commissioning/leading value connection) p21702 CI: Leading axis connection 1: Position leading value (decimal part) Data type: Dynamic index: Function diagram: EGB1060 Signal source to connect the leading axis (position leading value in the REAL format) The interconnection script is used to automatically interconnect the leading axis. (For details, see Chapter Commissioning/leading value connection) p21703 CI: Leading axis connection 1: Velocity leading value (integer part) Data type: Dynamic index: Function diagram: EGB1060 Signal source to connect the leading axis (velocity leading value in the DINT format) The interconnection script is used to automatically interconnect the leading axis. (For details, see Chapter Commissioning/leading value connection) p21704 CI: Leading axis connection 1: Velocity leading value (decimal part) Data type: Dynamic index: Function diagram: EGB1060 p21705 Signal source to connect the leading axis (velocity leading value in the REAL format) The interconnection script is used to automatically interconnect the leading axis. (For details, see Chapter Commissioning/leading value connection) CI: Leading axis connection 1: Correction value DINT format Data type: Dynamic index: Function diagram: EGB1060 p21706 Signal source to connect the leading axis (correction value in the DINT format) The interconnection script is used to automatically interconnect the leading axis. (For details, see Chapter Commissioning/leading value connection) CI: Leading axis connection 1: Correction value REAL format Data type: Dynamic index: Function diagram: EGB1060 EntryID: , V5.2, 08/

54 Siemens AG 2018 All rights reserved Signal source to connect the leading axis (correction value in the REAL format) The interconnection script is used to automatically interconnect the leading axis. (For details, see Chapter Commissioning/leading value connection) p21707 BI: Leading axis connection 1: Correction bit Data type: Dynamic index: Function diagram: EGB1060 Signal source to connect the leading axis (correction bit) The interconnection script is used to automatically interconnect the leading axis. (For details, see Chapter Commissioning/leading value connection) p21710 Deadtime leading axis connection 1 [ms] Data type: Dynamic index: Function diagram: EGB E E+43 Setting value for the dead time between leading and following axis. Recommendation: This value should be set to 0ms as default value if the axes are calculated on the same drive device. An exception can apply if, for example, a print mark correction is executed on the leading axis and the probe has a dead time. If the leading value is connected to the following axis via a bus system, then dead times can also be incurred in the communication path. In both of the cases listed above, compensate the dead time using the trace function in Starter or using a stroboscope. r21721 CO: Leading axis connection 1: Position leading value Data type: Dynamic index: Function diagram: EGB1060 r21722 Displays the corrected leading value signal on the following axis As a result of the homing functions of the connected real leading axis, the position step that occurred for the leading axis must be corrected on the following axis side, so that the following axis does not execute this position step. Further, the position signal must be adapted by the dead time compensation. The following axis uses the corrected position value as leading value signal for synchronization. CO: Leading axis connection 1: Velocity leading value Data type: Dynamic index: Function diagram: EGB1060 p22000 BI: Stop drive EntryID: , V5.2, 08/

55 Siemens AG 2018 All rights reserved Data type: Dynamic index: Function diagram: EGB1020 Signal source for the enabling of the stop drive operating mode When the axis is switched on, this operating mode is the mode with the highest priority. By enabling this control bit, the axis can be stopped when it is in every other operating mode. When enabled, the axis is braked down to standstill with the parameterized axis dynamic response. This control bit is active as a function of the signal level. It must remain enabled so that the axis remains at standstill. If the control bit is disabled, then the next higher operating mode is active. p22401 Electronic gear ratio numerator Data type: Dynamic index: Function diagram: EGB Setting value for the numerator of the ratio of the electronic gear Fixed gearbox ratios or mechanically installed gearboxes are set in the mechanical screen form (p2504/p2505). If an additional gear ratio is required between the leading and following axes, then this can be set here in the electronic gear. The ratio of the following axis velocity to the leading axis velocity is obtained from: v = p22401 / p22402 A direction of reversal can be obtained by entering a negative value for the numerator. A detailed description of the configuration is provided in Chapter, Gears p22402 Electronic gear ratio denominator Data type: Dynamic index: Function diagram: EGB Setting value for the denominator of the gear ratio of the electronic gear Fixed gearbox ratios or mechanically installed gearboxes are set in the mechanical screen form (p2504/p2505). If an additional gear ratio is required between the leading and following axes, then this can be set here in the electronic gear. The ratio of the following axis velocity to the leading axis velocity is obtained from: v = p22401 / p22402 A detailed description of the configuration is provided in Chapter, Gears r23700 BO: relative synchronous operation Data type: Dynamic index: Function diagram: EGB1100 Displays the feedback signal that the following axis is in relative synchronous operation with respect to the leading value signal Values: 0 Axis is in another operating mode Dependency: 1 Axis is in the relative synchronous operation operating mode see also: r21542 r23702 BO: Compensation motion active EntryID: , V5.2, 08/

56 Siemens AG 2018 All rights reserved Data type: Dynamic index: Function diagram: EGB1140 Displays the feedback signal that the axis is undergoing an operating mode change Values: 0 Axis is in the enabled operating mode 1 Axis is currently executing compensatory motion r23900 CO: Axis state Data type: Dynamic index: Function diagram: EGB1080 Displays the axis status The actual axis operating mode is displayed in this display parameter. Compensatory operations between the various operating modes are also output here. This parameters is used to diagnose axis motion, and can be evaluated as feedback signal to control the axis. A detailed description of all states is provided in Chapter, Operating modes and axis states. r23901 BO: Followup mode active Data type: Dynamic index: Function diagram: EGB1080 Displays the feedback signal that the axis is in the followup mode. Values: 0 Axis and closedloop position control are enabled 1 The axis or position control are not enabled, and the axis is in the followup mode If the axis is in the followup mode, the position setpoint tracks the position actual value of the axis. This means that when switchedoff, the axis can be moved without a position difference occurring at the position controller when the axis is switchedon again. r23903 BO: Axis in standstill Data type: Dynamic index: Function diagram: EGB1080 Displays the feedback signal that the axis is at a standstill Values: 0 Axis is traversing 1 Axis at a standstill r23904 BO: Axis moves forward Data type: Dynamic index: Function diagram: EGB1080 EntryID: , V5.2, 08/

57 Siemens AG 2018 All rights reserved Displays the feedback signal that the axis is traversing with a positive velocity Values: 0 Axis at a standstill or axis is traversing backward 1 Axis moves forward r23905 BO: Axis moves backward Data type: Dynamic index: Function diagram: EGB1080 Displays the feedback signal that the axis is traversing with a negative velocity Values: 0 Axis at a standstill or axis is traversing forward 1 Axis moves backward r23910 CO: Diagnostics: Status of control bits Data type: Dynamic index: Function diagram: EGB1080 Displays a summary of all control bits in a diagnostics value Together with the status of the axis, this display parameter is used for internal Siemens diagnostic purposes. r24001 CO: Position setpoint to position controller (integer) Data type: Dynamic index: Function diagram: EGB1240 Displays the position setpoint signal (integer part) to the position controller This connector must be interconnected to the basic system at parameter p2530. r24002 CO: Position setpoint to position controller (decimal) Data type: Dynamic index: Function diagram: EGB1240 Displays the position setpoint signal (decimal component) to the position controller This connector must be interconnected to the basic system at parameter p2694. r24003 CO: Velocity setpoint to position controller (integer) Data type: Dynamic index: Function diagram: EGB1240 EntryID: , V5.2, 08/

58 Siemens AG 2018 All rights reserved Displays the velocity setpoint signal (integer part) to the position controller This connector must be interconnected to the basic system at parameter p2531. r24004 CO: Velocity setpoint to position controller (decimal) Data type: Dynamic index: Function diagram: EGB1240 Displays the velocity setpoint signal (decimal component) to the position controller This connector must be interconnected to the basic system at parameter p2695. r24005 CO: Correction value to actual position evaluation Data type: Dynamic index: Function diagram: EGB1240 Displays the correction value for the position controller This connector must be interconnected to the basic system at parameter p2513. r24006 BO: Correction bit POV to actual position evaluation Data type: Dynamic index: Function diagram: EGB1240 Displays the position correction bit for positive position overflows This connector must be interconnected to the basic system at parameter p2730. r24007 BO: Correction bit NOV to actual position evaluation Data type: Dynamic index: Function diagram: EGB1240 Displays the position correction bit for negative position overflows This connector must be interconnected to the basic system at parameter p2512. r24011 BO: Activate zero mark sensing Data type: Dynamic index: Function diagram: EGB1200 Displays the activation of the zero mark sensing EntryID: , V5.2, 08/

59 Siemens AG 2018 All rights reserved This connector must be interconnected to the basic system at parameter p2508. r24012 BO: Activate measuring probe sensing Data type: Dynamic index: Function diagram: EGB1200 Displays the activation of the probe evaluation This connector must be interconnected to the basic system at parameter p2509. r24021 BO: Enable position control Data type: Dynamic index: Function diagram: EGB1240 Display to activate the position controller This connector must be interconnected to the basic system at parameter p2550. p24100 CI: Position actual value Data type: Dynamic index: Function diagram: EGB1240 Signal source to readin the position actual value This connector must be interconnected with parameter r2521[0]. r2521[0] p24101 BI: Measured value valid Data type: Dynamic index: Function diagram: EGB1200 Signal source for the feedback signal, measured value valid This connector must be interconnected with parameter r r p24102 CI: Measured value Data type: Dynamic index: Function diagram: EGB1200 Signal source to feed back the measured value This connector must be interconnected with parameter r2523[0] r2523[0 EntryID: , V5.2, 08/

60 Siemens AG 2018 All rights reserved p24103 BI: Position control active Data type: Dynamic index: Function diagram: EGB1240 Signal source to feed back the position control active This connector must be interconnected with parameter r r p24104 BI: OFF2 signal internal Data type: Dynamic index: Function diagram: EGB1240 Signal source for the feedback signal OFF2 internal This connector must be interconnected with parameter r46.17 r46.17 p24110 BI: Encoder adjusted Data type: Dynamic index: Function diagram: EGB1200 Signal source for the feedback signal that the encoder is adjusted This connector must be interconnected with parameter r r EntryID: , V5.2, 08/

61 Siemens AG 2018 All rights reserved Parameter list virtual leading axis p25004 VLA: Reference value velocity [1000 LU/min] Data type: Dynamic index: Function diagram: VLA E E+43 Setting value for reference value velocity of the virtual axis Recommendation: Only values greater than 0.0 are valid Dependency: see also: p25005 The active velocity is obtained from the product p25004 x p25005 p25005 CI: VLA: Velocity override [%] Data type: Dynamic index: Function diagram: VLA % Signal source for the override of the velocity of the virtual leading axis Recommendation: Only values greater than 0.0 are valid Dependency: see also: p25004 The active velocity is obtained from the product p25004 x p25005 p25006 VLA: Reference value acceleration [1000 LU/s²] Data type: Dynamic index: Function diagram: VLA E E+43 Setting value for reference value acceleration of the virtual leading axis Recommendation: Only values greater than 0.0 are valid Dependency: see also: p25007 The active acceleration is obtained from the product p25006 x p25007 p25007 CI: VLA: Acceleration override [%] Data type: Dynamic index: Function diagram: VLA % Signal source for the override of the acceleration of the virtual leading axis Recommendation: Only values greater than 0.0 are valid Dependency: see also: p25006 The active acceleration is obtained from the product p25006 x p25007 p25008 VLA: Jerk limiting [1000 LU/s³] EntryID: , V5.2, 08/

62 Siemens AG 2018 All rights reserved Data type: Dynamic index: Function diagram: VLA E E+43 Setting value for jerk limiting of the virtual leading axis Recommendation: Only values greater than or equal to 0.0 are valid A value of 0.0 means that the axis is traversing without jerk limiting. The acceleration then manifests a step. p25010 VLA: Modulo value virtual leading axis Data type: Dynamic index: Function diagram: Setting of the modulo value for the virtual leading axis Recommendation: A value greater than 0 must be entered here for rotary axes. Then, position setpoint and actual value are cyclically reset for continuous/backward motion. A value of 0 must be entered here for linear axes. You can find a detailed description of the setting in Chapter Axis mechanical system. p25022 BI: VLA: Move continuously forward Data type: Dynamic index: Function diagram: VLA1620 Signal source to continually traverse the virtual leading axis forward Values: 0 Virtual leading axis is in another operating mode Dependency: p Virtual leading axis is continually traversing forward see also: p25004, p25005 This control bit is active as a function of the signal level. As long as it is set, the virtual leading axis traverses forward with the specified velocity. For starting and stopping, the parameterized dynamic response applies (acceleration and jerk limiting) of the virtual leading axis. BI: VLA: Move continuously backward Data type: Dynamic index: Function diagram: VLA1620 Signal source to continually traverse the virtual leading axis backward Values: 0 Virtual leading axis is in another operating mode Dependency: r Virtual leading axis is continually traversing backward see also: p25004, p25005 CO: VLA: Position leading value Data type: Dynamic index: Function diagram: VLA1660 EntryID: , V5.2, 08/

63 Siemens AG 2018 All rights reserved Displays the actual position of the virtual leading axis This position leading value is used as leading value source for the connected following axes. For diagnostics and to check synchronous operation, this parameter, together with the following axis position, can be traced using the Starter trace function. r25062 CO: VLA: Velocity leading value Data type: Dynamic index: Function diagram: VLA1660 Displays the actual velocity of the virtual leading axis This velocity leading value is used as leading value source for the connected following axes. r25073 BO: VLA: Continuous operation active Data type: Dynamic index: Function diagram: VLA1660 Displays the feedback signal that the virtual leading axis is continually traversing forward or backward Values: 0 Virtual leading axis stationary or is being positioned 1 Virtual leading axis is in the continuously traversing operating mode EntryID: , V5.2, 08/

64 Siemens AG 2018 All rights reserved Parameter list measuring wheel p25505 MRL: LU per load revolution Data type: Dynamic index: Function diagram: Setting of the LU per load revolution of the measuring wheel Recommendation: Frequently, a process or a moving material web is emulated/mapped using the measuring wheel. In this case, this parameter defines the length that the material was moved forward with precisely one revolution of the measuring wheel. The circumference of the measuring wheel corresponds to the length of material that is moved. Enter the effective circumference of the measuring wheel including the fine resolution here. Setting example: Measuring wheel circumference = mm; position resolution µm: p25505 = circumference [mm] * 1000µm = (µm per load revolution or LU per load revolution) 11 Flying homing enabled Active Inactive p25508 MRL: Encoder index (0 = encoder 1; 1 = encoder 2; 2 = encoder 3) Data type: Dynamic index: Function diagram: 0 2 Sets the encoder that is attached to the measuring wheel Values: 0 Encoder 1 1 Encoder 2 2 Encoder 3 Recommendation: Generally, encoder 2 or encoder 3 of the drive object is used to evaluate the measuring wheel. Encoder 1 is generally used for the position control of the following axis, on which the measuring wheel is also evaluated. Also refer to the chapter explaining how to commission the measuring wheel as leading value source. p25510 MRL: Modulo value measuring wheel Data type: Dynamic index: Function diagram: Setting of the modulo value for the measuring wheel Recommendation: A value greater than 0 must be entered here for rotary axes. Then, position setpoint and actual value are cyclically reset for continuous/backward motion. A value of 0 must be entered here for linear axes. p25550 MRL: Measuring gear, gear numerator (load revolutions) Data type: Dynamic index: Function diagram: Setting for the numerator of the gear ratio of the measuring gearbox at the measuring wheel Recommendation: If the encoder is mounted on the measuring wheel through a measuring gearbox, then the gearbox ratio must be EntryID: , V5.2, 08/

65 Siemens AG 2018 All rights reserved Dependency: set. A value of 1 must be entered if no gearbox is being used. Here, you can set the number of load revolutions. see also: p25551 p25551 MRL: Measuring gear, gear denominator (encoder revolutions) Data type: Dynamic index: Function diagram: Setting for the denominator of the gear ratio of the measuring gearbox at the measuring wheel Recommendation: If the encoder is mounted on the measuring wheel through a measuring gearbox, then the gearbox ratio must be set. A value of 1 must be entered if no gearbox is being used. Set the number of encoder revolutions here. Dependency: see also: p25550 r25571 CO: MRL: Position real leading axis Data type: Dynamic index: Function diagram: Displays the actual measuring wheel position This value is used by the following axis as leading value source. The parameter can be traced using the Starter trace function to monitor synchronous operation. r25572 CO: MRL: Velocity real leading axis Data type: Dynamic index: Function diagram: Displays the actual measuring wheel velocity This value is used by the following axis as leading value source. r25573 CO: MRL: Correction value real leading axis Data type: Dynamic index: Function diagram: r25574 Displays the actual correction value of the measuring wheel for homing functions This value is used by the following axis to sense measuring wheel corrections and to avoid position steps at the following axis. BO: MRL: Correction bit real leading axis Data type: Dynamic index: Function diagram: EntryID: , V5.2, 08/

66 Siemens AG 2018 All rights reserved Displays the correction bit of the measuring wheel for homing functions This bit is used by the following axis to sense measuring wheel corrections and to avoid position steps at the following axis. r25575 CO: MRL: Position actual value DINT [LU] Data type: Dynamic index: Function diagram: Displays the actual measuring wheel position in the DINT format When using the PLC control block, this parameter is automatically transferred to the higherlevel PLC, and interconnected with the appropriate PZD. r25614 MRL: Alarm Data type: Dynamic index: Function diagram: Dependency: Displays the feedback signal that the measuring wheel encoder has an active fault see also: F51059, r25615 A detailed description of the fault is provided in Chapter, Faults and alarms. r25615 MRL: Alarm code Data type: Dynamic index: Function diagram: Dependency: Displays the measuring wheel fault code see also: F51059 A detailed description of the fault is provided in Chapter, Faults and alarms. r25617 MRL: Warning Data type: Dynamic index: Function diagram: Dependency: Displays the feedback signal that the measuring wheel encoder has an active alarm see also: A51069, r25618 A detailed description of the alarm is provided in Chapter, Faults and alarms. r25618 MRL: Warning code Data type: Dynamic index: Function diagram: EntryID: , V5.2, 08/

67 Siemens AG 2018 All rights reserved Dependency: Displays the measuring wheel alarm code see also: A51069 r25651 BO: MRL: External encoder rotates forward Data type: Dynamic index: Function diagram: Displays the feedback signal that the measuring wheel is rotating forward Values: 0 Measuring wheel is stationary or rotating backward 1 Measuring wheel is rotating forward r25652 BO: MRL: External encoder rotates backward Data type: Dynamic index: Function diagram: Displays the feedback signal that the measuring wheel is rotating backward Values: 0 Measuring wheel is stationary or rotating forward 1 Measuring wheel is rotating backward p25800 CI: MRL: Encoder position actual value Gn_XIST1 Data type: Dynamic index: Function diagram: p25801 r482[1] Signal source for connecting the encoder position actual value Gn_XIST1 (raw value) Parameter r482[x] must be interconnected in this parameter. The index depends on the encoder used for the measuring wheel. CI: MRL: Encoder position actual value Gn_XIST2 Data type: Dynamic index: Function diagram: p25802 r483[1] Signal source for connecting the encoder position actual value Gn_XIST2 (raw value) Parameter r483[x] must be interconnected in this parameter. The index depends on the encoder used for the measuring wheel. CI: MRL: Encoder status word Gn_ZSW Data type: Dynamic index: Function diagram: EntryID: , V5.2, 08/

68 Siemens AG 2018 All rights reserved Signal source for connecting the encoder status word Gn_ZSW r481[1] Parameter r481[x] must be interconnected in this parameter. The index depends on the encoder used for the measuring wheel. p25803 BI: MRL: Acknowledge encoder fault Data type: Dynamic index: Function diagram: Signal source for acknowledging an encoder fault r Parameter r must be interconnected in this parameter. As a consequence, encoder faults can be acknowledged using the standard signal to acknowledge the drive object. r25805 CO: MRL: Encoder control word Gn_STW Data type: Dynamic index: Function diagram: Displays the encoder control word of the DCC position processing block This connector must be interconnected with parameter p480[x] The index depends on the encoder used for the measuring wheel. EntryID: , V5.2, 08/

69 Siemens AG 2018 All rights reserved 6.3 Execution groups Different utilization levels of the Control Unit can apply depending on the configuration of the drive device and depending on the activated execution groups of the application. CAUTION Just the same as in the preassignment (see Table 61 to Table 62), the execution groups must be inserted in the time slices of the basic system. Only then is it guaranteed that the data remain consistent from a time perspective. The controller (sequencer) can be calculated in any slower sampling time. DCC chart, SepChainSlave Table 61 Execution group MeasuringWheel VirtualLeadingAxis Synchronism DCC chart, RealMaster Table 62 Execution group SpeedAxis Setting "BEFORE basic positioner" "BEFORE basic positioner" "BEFORE standard technology controller" Setting "BEFORE basic positioner" CAUTION Damage to the mechanism due to uncontrolled movement of the knife drive when setting inconsistent runtime groups The position correction to the position controller of the drive must be consistent. This is only ensured if the recommended runtime groups "BEFORE standard technology controller" and " BEFORE basic positioner " are used and if these two execution groups have the same sampling time. For certain applications, such as chassis units with sampling time setting (p112) "Low", the setting must be corrected by selecting the "Expert" presetting and adapting p115 to p115 [5] = p115 [6]! EntryID: , V5.2, 08/

70 Siemens AG 2018 All rights reserved 6.4 Notes on computation time and memory load levels Sampling times Depending on the sampling times that have been set for the internal closedloop control loops, different computation time load levels and maximum quantity structures are obtained. The values are applicable when using firmware version V5.1.0 running on a CU3202! The following computation loads were measured for different configurations of sampling times. The setting of sampling times is done in parameters p112 and p115 of the drive. The configurations "Standard" and "Expert (xlow)" were measured. Those configurations result in the following sampling times in the drive: Configuration Servo "Standard" (p112 = 3) p115[0] Current controller: 125µs p115[1] Speed controller: 125µs p115[2] Flux controller: 125µs p115[3] Setpoint channel: 4000µs p115[4] Position controller: 1000µs p115[5] Positioning: 4000µs p115[6] Technology controller: 4000µs Configuration Servo "Experte (xlow)" (p112 = 0) p115[0] Current controller: 250µs p115[1] Speed controller: 250µs p115[2] Flux controller: 250µs p115[3] Setpoint channel: 4000µs p115[4] Position controller: 2000µs p115[5] Positioning: 8000µs p115[6] Technology controller: 8000µs Configuration Vector "Standard" (p112 = 3) p115[0] Current controller: up to 3 axes 250µs / from 4th axis 500µs p115[1] Speed controller: up to 3 axes 1000µs / from 4th axis 2000µs p115[2] Flux controller: up to 3 axes 100µs / from 4th axis 2000µs p115[3] Setpoint channel: up to 3 axes 1000µs / from 4th axis 2000µs p115[4] Position controller: up to 3 axes 2000µs / from 4th axis 4000µs p115[5] Positioning: up to 3 axes 4000µs / from 4th axis 4000µs p115[6] Technology controller: up to 3 axes 4000µs / from 4th axis 4000µs The DCC charts for the leading axes are calculated in the sampling time "Positioning (p115[5]". The DCC function for the synchronism is calculated in the sampling time "Technology controller (p115[6])". Therefore only these two sampling times are relevant for the computation load of the DCC charts. In control mode VECTOR the sampling times are automatically adapted for more than 3 axes. EntryID: , V5.2, 08/

71 Siemens AG 2018 All rights reserved Adapting sampling times for Servo Generally the DCC Synchronism applications are only tested with the following sampling time configurations. Therefore only the following configurations should be used: 1 st configuration standard for high performance requirements 2 nd configuration expert based on xlow for low performance requirements Note Several configurations of sampling times are possible as long as the sampling times for "Positioning (p115[5])" and "Technology controller (p115[6])" are equal. Standard configuration settings This is the standard sampling time (factory setting) of a servo axis. Set up p112 = [3] standard Following sampling times are calculated in the basic system: Table 63 p115[x] Sampling time µs relevant for DCC [0] current controller 125 [1] speed controller 125 [2] flux controller 125 [3] setpoint channel 4000 [4] position controller 1000 [5] positioning 4000 Is calculated: virtual leading axis real leading axis (measuring wheel) reale Leitachse (speed axis) reale Leitachse (positioning axis) EPOS leading axis [6] technology controller 4000 Is calculated: synchronism channel follwoing axis Expert configuration settings This configuration can be selected to save computation time if the performance requirements allow it. The general setting for this kind of configuration is p112 = [1] xlow. But it has to be changed to p112 = [0] Expert and p115 has also to be changed. Procedure (preffered offline): 1 st p112 = [1] xlow, therefore the basic configuration of p115 is selected automatically 2 nd p112 = [0] Expert, therefore p115 can be changed 3 rd p115[6] = 8000 µs (standard = 4000 µs) EntryID: , V5.2, 08/

72 Siemens AG 2018 All rights reserved CAUTION Danger of possible position steps while modulo correcting Important for every configuration of sampling times is to set up p115[5] and p115[6] equally. Following sampling times have to be set: Table 64 p115[x] Sampling time µs relevant for DCC [0] current controller 250 [1] speed controller 250 [2] flux controller 250 [3] setpoint channel 4000 [4] position controller 2000 [5] positioning 8000 Calculated is: virtual leading axis real leading axis (measuring wheel) real leading axis (speed leading axis) real leading axis (positioning axis) EPOS leading axis [6] technology controller 8000 Calculated is: synchronism channel for following axis EntryID: , V5.2, 08/

73 Siemens AG 2018 All rights reserved 6.5 Faults and alarms Faults F51059 Fault, measuring wheel evaluation Drive object: SERVO, VECTOR Response: NONE Acknowledgment: NONE Cause: The measuring wheel evaluation (execution group, real leading axis) signals a fault. Determine the cause bitbybit from the message value: Bit 0: No NVRAM available Bit 1: Data was not able to be read out of the NVRAM Bit 2: Undefined status of the NVRAM Bit 3: Cycle time of 0ms read back Bit 4: p404 was not able to be read Bit 5: p408 was not able to be read Bit 6: p411 was not able to be read Bit 7: p418 was not able to be read Bit 8: p419 was not able to be read Bit 9: p421 was not able to be read Bit 10: Number of encoder increments at XIST1 exceeds value range Bit 11: Number of encoder increments at XIST2 exceeds value range Bit 12: Position tracking of the basic system activated p411!= 0 Bit 13: Encoder has left the tolerance window Bit 14: Startup function fault undefined status reached Bit 15: Measuring function fault undefined status reached Bit 16: Fault during absolute encoder adjustment undefined status reached Bit 17: Invalid encoder index specified Bit 18: Reserved Bit 19: Mechanical system gearbox ratio, denominator (encoder revolutions) = 0 Bit 20: Mechanical system LU per load revolution = 0 Bits 2122: Reserved Bit 23: NVRAM data was not able to be backed up Bit 24: NVRAM: Absolute encoder adjustment could not be reset Bits 2526: Reserved Bit 27: XIST_LU (output position) has exceeded the value range in the switchedoff status Bit 28: XIST_LU (output position) has exceeded the value range in operation Bit 29: Encoder fault signaled using the encoder status word Remedy Remedy for: Bit 0: Restart the Control Unit Bit 1: Restart the Control Unit Bit 2: Restart the Control Unit Bit 3: Select an execution group with a computation time longer than 1ms Bit 4: Restart the Control Unit Bit 5: Restart the Control Unit Bit 6: Restart the Control Unit Bit 7: Restart the Control Unit Bit 8: Restart the Control Unit Bit 9: Restart the Control Unit Bit 10: Check the encoder parameterization; restart the Control Unit Bit 11: Check the encoder parameterization; restart the Control Unit Bit 12: Set p411 to a value of 0 and remove/insert execution group Bit 13: Readjust absolute encoder Bit 14: Restart the Control Unit Bit 15: Restart the measuring function Bit 16: Restart adjustment Bit 17: Assign encoder index 0, 1 or 2 and restart the Control Unit Bit 18: Bit 19: Set a value greater than 0 for the number of encoder revolutions Bit 20: Set a value greater than 0 for LU per load revolution Bits 2122: Bit 23: Restart adjustment Bit 24: None Bits 2526: Bit 27: Set the tolerance window; ensure that the encoder in the switchedoff state does not rotate more than half its encoder range Bit 28: Ensure that the position output is only within the DINT value range. (reduce LU per load revolution, adapt modulo value, etc.) Bit 29: Acknowledge encoder fault, if necessary observe fault value in XIST2 EntryID: , V5.2, 08/

74 Siemens AG 2018 All rights reserved Alarms A51061 Axis dynamic response invalid Drive object: SERVO, VECTOR Response: The following axis brakes down to standstill with the last valid dynamic response Acknowledgment: Acknowledgment using p21571 (or bit 10 in technology control word 2) Cause: The setting for the axis dynamic response (velocity and/or acceleration) is not valid. Remedy Parameterize a valid axis dynamic response. The incorrect parameterization must then be acknowledged. (valid values, parameter numbers and acknowledge, see Chapter, Axis dynamic response) A51062 Absolute encoder adjustment fault Drive object: SERVO, VECTOR Response: NONE Acknowledgement:NONE Cause: The started absolute encoder adjustment was not finished successfully. Identify the cause by alarm value: 100: Adjustment started but position control of axis was enabled 200: Position control of the axis was enabled during adjustment 300: Encoder is not an absolute encoder (p404.1 = 0) 400: Exceeded the monitoring time for feedback "encoder adjusted" from the basic system DPV1: DPV1 Code for faulty reading / writing access (interprete adjustment state, to identify which parameter should be read or written) Remedy By using the Starter Trace functionality trace the encoder adjustment state (r23920) and the fault code (r23921). Fix the fault cause and restart the encoder adjustment. A51069 Alarm, measuring wheel evaluation Drive object: SERVO, VECTOR Response: NONE Acknowledgment: NONE Cause: The measuring wheel evaluation (execution group RealLeadingAxis) signals an alarm. Determine the cause bitbybit from the message value: Bit 0: Absolute encoder adjustment not possible reference coordinate too high Bit 1: Absolute encoder adjustment not possible XIST2>LU exceeds DINT Bit 2: Absolute encoder adjustment not possible measurement inactive Bit 3: Absolute encoder adjustment data was not able to be backed up in the NVRAM Bit 4: Absolute encoder adjustment was reset Bit 5: Reserved Bit 6: Encoder index changed Bits 78: Reserved Bit 9: Tolerance window too large Bit 10: Offset for multiturn overflow possible Bit 11: Modulo does not fit with multiturn offsets can occur Bits 1213: Reserved Bit 14: Mechanical system: LU per load revolution too high (encoder resolution less than selected LU resolution) Bits 1529: Reserved Remedy Remedy for: Bit 0: Define that the reference coordinate lies in the first half of the encoder value range (converted over to LU) Bit 1: Adapt the mechanical data: select a lower resolution or reduce the reference coordinate Bit 2: Complete the measurement/deselect, restart encoder adjustment Bit 3: Restart the Control Unit Bit 4: None Bit 5: Bit 6: Restart the Control Unit or remove/insert the execution group Bits 78: Bit 9: Set the tolerance window to less than half the encoder value range Bit 10: Activate position tracking; set gearbox with a ratio 2^n Bit 11: Activate position tracking; set modulo length with an integer multiple v=p421*nm*rlr/(dn*azl) Bits 1213: EntryID: , V5.2, 08/

75 Siemens AG 2018 All rights reserved Bit 14 reduce LU per load revolution or select an encoder with a higher resolution Bits 1529: EntryID: , V5.2, 08/

76 Siemens AG 2018 All rights reserved 7 Appendix 7 Appendix 7.1 Application Support Siemens AG Digital Factory Division Factory Automation Production Machines DF FA PMA APC Frauenauracher Str Erlangen, Germany mailto: tech.team.motioncontrol@siemens.com 7.2 Links and Literature Table 71 No. \1\ Siemens Industry Online Support Topic \2\ Link to this entry page of this application example \3\ 7.3 Change documentation Table 72 Version Date Modifications V5.2 08/2018 First Edition of the Application from SINAMICS FW5.1 EntryID: , V5.2, 08/

77 Siemens AG 2018 All rights reserved 7 Appendix 7.4 Upgrade information Upgrading the DCB Extension Library Future versions of the DCBExtension libraries will be compatible to the existing version. For using libraries with versions higher than the versions mentioned in this documentation, please consider the instructions in the libraries documentation. Upgrading the library version requires a new compilation of the DCC plan. Make sure that the parameterizations you have made are copied to the chart sources either by reading the current project from the drive unit and saving it or by transferring the offline parameter values to the chart in the DCC chart under "Options" "Read back BICOs and parameters": Figure 71 Upgrading the application version The following procedure is recommended for upgrading an application version: Check in the history of the application whether there was a shift in the parameter range between the old and the new version if this is the case, the upgrade can only be done manually by reparameterization. If there was no shift, the upgrade can be simplified as follows: Create a backup copy of your project in order to be able to check parameter values later. In the Starter commissioning tool, open the expert list of the drive with the application to be upgraded Go to parameter r21500 and mark it by clicking Scroll to the last parameter of the application and mark it while holding down the shift key to select all existing DCC parameters Rightclick on the highlighted parameters and select "Save as executable script at the source object" EntryID: , V5.2, 08/

78 Siemens AG 2018 All rights reserved 7 Appendix Figure 72 Select a suitable name in the following input mask and save the script Go to the "Diagnostics" of the drive object via the project navigator and select the subitem "Interconnections" there. Here you will find the tabs "Binector output (BO)" and "Connector output (CO)". Select the option "Optimize view" to see only interconnected parameter outputs. Note of the application specific interconnections, these start with the parameter number r You do not have to write down the values from "Binector input" and "Connector input" because they are already stored in the script. Delete the old version DCC plan and import the new version as described in the documentation. Compile the new DCC plan before proceeding Execute the previously created script with the parameter setting values of the old application. The output window displays errors, warnings, and information. Deselecting "Information" will display any errors and warnings that have occurred, typically parameters that are no longer necessary in the new version and thus no longer available. Check the displayed errors and warnings in this regard. Restore the previously noted BiCo interconnections between the application and other drive objects via existing commissioning scripts or by setting in the expert list. EntryID: , V5.2, 08/