User Manual Traversing Drive with DCC

Transcription

1 User Manual Traversing Drive with DCC SINAMICS DCC Traversing Drive V1.01 Application No.: A A0460

2 General information SINAMICS DCC Traversing Drive Copyright Siemens AG 2009 All rights reserved We reserve the right to make technical changes to this product. Copyright Reproduction, transmission or use of this document or its contents is not permitted without express written authority. Offenders will be liable for damages. All rights, including rights created by patent grant or registration or a utility model or design, are reserved. Version /57

3 General information SINAMICS DCC Traversing Drive General information Note The standard applications are not binding and do not claim to be complete regarding the circuits shown and equipping as well as possible eventualities. The standard applications do not represent customer-specific solutions. They are only intended to provide support for typical applications. You are responsible in ensuring that the described products are correctly used. These standard applications do not relieve you of the responsibility of safely and professionally using, installing, operating and servicing equipment. When using these standard applications, you recognize that Siemens cannot be made liable for any damage/claims beyond the liability clause describe. We reserve the right to make changes to these standard applications at any time without prior notice. If there are any deviations between the recommendations provided in these standard applications and other Siemens publications - e.g. Catalogs, then the contents of the other documents have priority. Copyright Siemens AG 2009 All rights reserved Warranty, liability and support We do not accept any liability for the information contained in this document. Claims against us - irrespective of the legal grounds - resulting from the use of the examples, information, programs, engineering and performance data etc., described in this standard application are excluded. Such an exclusion shall not apply where liability is mandatory e.g. under the German Product Liability Act involving intent, gross negligence, or injury of life, body or health, guarantee for the quality of a product, fraudulent concealment of a deficiency or non-performance. Claims of the purchaser for compensation relating to non-performance of essential contract obligations shall be limited to foreseeable damages typically covered by a contract unless intent, willful misconduct or gross negligence is involved or injury of life, body or health. The above stipulations shall not change the burden of proof to your detriment. Copyright 2009 Siemens I DT. It is not permissible to transfer or copy these application examples or excerpts of them without first having prior authorization from Siemens I DT in writing. If you have any questions relating to this document then please send them to us at the following address: mailto:applications.erlf.aud@siemens.com Version /57

4 General information SINAMICS DCC Traversing Drive Copyright Siemens AG 2009 All rights reserved Applicable conditions Qualified personnel / Alternative 1: (Internal business) If nothing else has been negotiated, then the "Conditions for the supply and services in Siemens internal business" applies in the version that is valid at the time that the equipment is purchased. / Alternative 2: (Domestic business of Siemens AG) If nothing else has been negotiated, then the "General License Conditions for Software for Automation and Drives for Customers with a Seat or Registered Office in Germany", valid at the time of sale, are applicable. / Alternative 3: (Direct export business of Siemens AG) If nothing else has been negotiated, then the "General License Conditions for Software Products for Automation and Drives for Customers with a Seat or Registered Office outside Germany", valid at the time of sale, are applicable. / Alternative 4: (Conditions of the particular regional office for the regional office business) If nothing else has been negotiated, then the "...", valid at the time of sale, are applicable. In the sense of this documentation qualified personnel are those who are knowledgeable and qualified to mount/install, commission, operate and service/maintain the products which are being used. He or she must have the appropriate qualifications to carry-out these activities e.g.: Trained and authorized to energize and de-energize, ground and tag circuits and equipment according to applicable safety standards. Trained or instructed according to the latest safety standards in the care and use of the appropriate safety equipment. Trained in rendering first aid. There is no explicit warning information in this documentation. However, reference is made to warning information and instructions in the Operating Instructions for the particular product. Information regarding export codes AL: N ECCN: N Version /57

5 Foreword SINAMICS DCC Traversing Drive Foreword Objective of the application This application is based on the technological interaction between the SINAMICS drive system and the DCC programming language and a SIMATIC S7 PLC. In order to show this as simply and as practically as possible, a technological function, frequently used in machines is used in a simple example with HMI (wincc flexible). This means that the application can also be used as presentation model. Copyright Siemens AG 2009 All rights reserved Core contents of this application Scope of the document The following core issues are discussed in this application: How the various components interact and operate with one another Which technological function is used The advantages that this solution offers How the technological function is programmed or parameterized How the example can be used as presentation/demonstration system This application does not include: Automatic control of the traversing arm via SIMATIC S7. The user must integrate this application into his automation solution. The traversing arm runs in velocity synchronism with the winder. If there is a requirement regarding angular offset control - and therefore a rigid synchronous angular relationship - then we recommend the Traversing arm in SIMOTION application. Simple traversing arms can be very quickly implemented using the basic positioning mode traversing blocks. However, in this case, many of the subsequently described functions will only be possible with certain restrictions. It is assumed that the reader has basic knowledge about these subjects and topics. Version /57

6 Foreword SINAMICS DCC Traversing Drive Copyright Siemens AG 2009 All rights reserved Structure of the document The documentation of this application is sub-divided into the following main sections. Section Application description Application example as demonstration system Integrating the core function Program description Attachment Description Here, you can obtain an overview of the application. You will get to know the components being used (standard hardware and software components as well as your own user software specifically generated for the purpose). You will also be provided with engineering/configuring information and instructions on how to select the most suitable closed-loop control concept. This section will guide you step-by-step through the main points when commissioning the demonstration application. This is then followed by information on how to use the demonstration application. The "Integrating the core function" section will guide you step-by-step through the essential points when integrating the core function into your user program and when commissioning the application. Individual block functions are described in more detail in the Program description. Here you will find a precise description of the parameters and how they are used. Here, you will find additional information such as e.g. references to literature, glossaries etc.. Version /57

7 Table of contents SINAMICS DCC Traversing Drive Copyright Siemens AG 2009 All rights reserved Table of contents Application description Basic information Prerequisites Target group Technical environment Objective and purpose of this application Task description Problem solution using the standard application Advantages of the standard application Components included in the standard application Principle of operation of the application Schematic representation Traversing arm data Application functions Tasks that can be addressed using the core function Characteristics of the core function Automation solution Hardware and software components required Application example as demonstration system Installing the hardware and software Regarding your safety Safety information and instructions Responsibilities of the operator Installing the hardware and software Installing the application software Using the application example Brief instructions on the demonstrating the example Structure overview Brief instructions Detailed operating instructions Starting screen Automatic screen Settings screen EPOS screen Integrating the core function Program environment and interfaces Program structure Interfaces Integration into the user program Technology objects required Preparation Integrating the core function Configuring examples Shorter sampling time Execution sequence Measures when the winder speed actual values fluctuate Program description Version /57

8 Table of contents SINAMICS DCC Traversing Drive Copyright Siemens AG 2009 All rights reserved 8 Program and function description DCC chart Overview, function block Parameter description Input parameters Output parameters SIMATIC S7 Profibus interfaced Control signals/setpoints Feedback signals Function description DCC traversing program Structure DCC chart Profibus communication in SIMATIC S Commissioning the function Parameterization Test and fine setting Data coupling to SIMATIC Appendix General information on the application Scope of supply Revisions/Author Literature Contact partner Version /57

9 Application description Basic information Application description Contents Here, you will obtain an overview of the Traversing arm in SINAMICS application. You will get to know the components that are being used (standard hardware and software components as well as the user software that was generated). The main performance data indicate the performance of this application. 1 Basic information 1.1 Prerequisites Target group Copyright Siemens AG 2009 All rights reserved The standard application is intended for all programmers and users that which to quickly and simply implement traversing arm functionality using SINAMICS Technical environment This standard application can be used, unchanged, in conjunction with a SIMATIC S7 and a SINAMICS S120 demonstration case. 1.2 Objective and purpose of this application Task description The standard traversing arm application in SINAMICS was developed with the objective to create a flexible solution for traversing arm applications; whereby the essential and relevant data for the traversing arm process can be entered using input values and changed during operation (hot changes). This means that by specifically entering the input values, the traversing arm profile - and therefore the stability of the winding structure can be influenced in a specific fashion. Due to the fact that the software structure is open, when required, it is also possible to modify the application. Using the appropriate equipment, this application allows a wide range of different materials to be traversed with a specific profile (e.g. textile fibers, wires, ). It is ensured that the motor, which drives the traversing arm equipment, precisely follows the input values. In practice, the quality of the traversing motion depends on the mechanical design of the traversing arm unit and the properties and characteristics of the material that is being wound using the traversing arm. Typically, the traversing arm drive operates in conjunction with a winder that supplies the leading (master) value for the traversing arm Problem solution using the standard application A DCC program is the core function of this standard application: The traversing arm is implemented in the DCC program and can be simply parameterized. Only the traversing arm interface has to be processed and the input/output parameters appropriately interconnected in the user program in the SIMATIC S7. Version /57

10 Application description Basic information Advantages of the standard application The use of the standard Traversing arm" application offers users the following advantages: The program can be quickly generated By using the standard Traversing arm application, it is possible to quickly and simply implement extensive traversing arm functionality when generating the program with SIMATIC S7. The core function can be integrated into the user program by simply parameterizing it. The necessary configuring steps will be explained in this description of the standard application. Possibility of adapting the user program The standard Traversing arm application is included with the DCC chart in a form that has comments. This means that this core function can be quickly and simply expanded by users to include their own functions. 1.3 Components included in the standard application Copyright Siemens AG 2009 All rights reserved The standard Traversing arm application is implemented as SIMATIC project with integrated SINAMICS and wincc flexible project. The project can be simultaneously used for a (demonstration) machine, a SINAMICS S120 demonstration case, a SIMATIC S7 and PC with WinCC flexible RunTime for visualization purposes. The program fulfills the following tasks: Controls the (demonstration) machine Simulates the machine functions relevant for the demonstration case environment Displays & visualizes the (demonstration) machine on the WinCC flexible screen (man-machine interface) Version /57

11 Application description Basic information 1.4 Principle of operation of the application Schematic representation A wound roll is shown as example in the following diagram. As can be seen from the diagram, the profile of the roll being wound can be defined using the following quantities: Waiting angle, acceleration distance, winding step and winding width. The v-t diagram of a traversing motion is shown in the diagram below. Fig. 1-1 Copyright Siemens AG 2009 All rights reserved Traversing arm data Winding width A definition of the designations/names used is provided in the following text. Winding width is the traversing distance that the traversing arm moves through between two reversal points. From experience, the width of the wound roll can be somewhat narrower as the materials being would can more towards the wound roll at the reversal points depending on the particular product, tension and other effects. In this application, the winding width is parameterized using the righthand and lefthand reversing point. Version /57

12 Application description Basic information Winding step Acceleration distance Waiting angle Winding step is the traversing distance that the traversing arm moves through during one winder revolution. This means that this parameter defines the gradient of the material. Acceleration distance is the distance that the traversing arm moves through from the reversal point up until it reaches its final traversing velocity. This is the angle at the winder drive that this moves through until the direction of the traversing arm reverses. This allows the length of material that is wound at the same traversing arm position to be selected. As a consequence, among others things, the stiffness/hardness of the wound roll is influenced at the edges of the roll. Copyright Siemens AG 2009 All rights reserved Version /57

13 Application description Application functions 2 Application functions 2.1 Tasks that can be addressed using the core function The traversing arm application is used to control translatory equipment to wind materials (wire, textile fibers, etc.). The traversing arm core function handles the preparation of the axis commands necessary to control the traversing arm axis. All of the functions of the basic positioner module (EPOS) can be controlled from the application via HMI and SIMATIC S7. The function can/must be expanded by making the appropriate additions in the SIMATIC S7 user program so that it can run on an actual machine. 2.2 Characteristics of the core function Copyright Siemens AG 2009 All rights reserved The application essentially comprises a DCC program that controls the traversing arm axis via the MDI direct setpoint input mode of the EPOS. All of the data relevant for the traversing arm is entered into the program and additional data is then internally calculated from this. Version /57

14 Application description Automation solution 3 Automation solution 3.1 Hardware and software components required Hardware components Table 3-1 Component Qty. Order No./MLFB Note SINAMICS S120 training case 1 6ZB BA00 SIMATIC S7 1 Copyright Siemens AG 2009 All rights reserved Profibus cable 2 SIMATIC Field PG or PC 1 6GK1... Standard software components Table 3-2 Components Qty. Order No./MLFB Note STARTER V4.3 1 As an alternative, SIMOTION SCOUT V4.3 can also be used SINAMICS DCC 1 (Optional) Option package for STARTER/SCOUT is required for changes to the DCC chart WinCC flexible ES/RT 1 Required to connect the HMI. SIMATIC Manager V5.4 1 Version /57

15 Application description Automation solution File examples and projects All of the files and projects that are used in the example are included in the following list. Table 3-3 DCC_Traverser_V101.zip Components Manual_SINAMICS_DCC_Traversing Drive_V1.01.pdf Note This zipped file includes the STEP 7 project. This document. Copyright Siemens AG 2009 All rights reserved Version /57

16 Application example as demonstration system Installing the hardware and software Application example as demonstration system Contents All of the necessary steps to commission the standard application Traversing arm in SINAMICS as demonstration are explained in this section. Preparatory activities and parameterization operations are explained. Further, you will be given a step-by-step explanation of how to handle the WinCC flexible operator interface of the application example. 4 Installing the hardware and software 4.1 Regarding your safety Safety information and instructions Copyright Siemens AG 2009 All rights reserved Pictogram, signals words and text Classification Every piece of safety information & instruction in this document is designated by text graphics comprising pictogram and signal word, and supplemented by explanatory text. A clear classification according to the degree of the potential hazard is provided as a result of the combination of pictogram and signal word. Safety information/instructions are provided in front of the information regarding activities to be executed. There are three different stages regarding safety information/instructions. These are designated by the same pictogram. They differ by the signal word. They differ by the signal word.! Danger This safety information/instruction indicates an immediate hazard. If the information/instruction is not carefully followed, this results in severe bodily injury or even death.! Warning This safety information/instruction indicates a potential hazard. If the information/instruction is not carefully followed, this can result in severe bodily injury or even death.! Notice This safety information/instruction indicates a potentially hazardous situation, which can result in slight to average bodily injury. This pictogram/text word can also warn about potential material damage. Version /57

17 Application example as demonstration system Installing the hardware and software Responsibilities of the operator Correct operation and use The correct use of the application components exclusively relates to the open-loop and closed-loop control of test set-ups that were adapted to the power/performance of the application components. In order that the application functions perfectly, the required standard SINAMICS components as well as also the necessary hardware and software components must be installed. The company/person operating the system may only make changes to the application components after having received written authorization from the suppliers. Copyright Siemens AG 2009 All rights reserved Misuse The following are considered to be misuse: Inadmissible loads applied to the application components. Any application deviating from the use specified above - or applications that go beyond the specified use. Non-observance of the safety information and instructions. If faults that could have a negative impact on the safety are not immediately resolved/removed. Any changes/modifications to equipment/devices that are used to ensure perfect function and operation, unrestricted use as well as active or passive safety. If recommended hardware and software components are not used. If the application components are not in a perfect technical condition, are not operated conscious of safety and hazards and not taking into account all of the instructions provided in the documentation. The manufacturer assumes no liability for incorrect use (misuse). Responsible for monitoring The company or person operating the system is responsible in continually monitoring the overall technical status of the application components (defects and damage that can be externally identified as well as changes in the operating behavior & characteristics). The company/person operating the system is responsible in ensuring that the application is only operated in a perfect state. He must check the state of the application components before they are used and must ensure that any defect is removed before commissioning. Qualification of personnel The operating company/person may only deploy trained, authorized and reliable personnel. In so doing, all safety regulations must be carefully observed. Personnel must receive special instructions regarding the hazards/dangers that can occur. Version /57

18 Application example as demonstration system Installing the hardware and software 4.2 Installing the hardware and software Which hardware and software components must be installed is described in this section. The descriptions and manuals as well as supply information that are supplied with the corresponding products must always be carefully observed. Copyright Siemens AG 2009 All rights reserved Installing the hardware Table 4-1 Please refer to Chapter 3.1 for the hardware components. Proceed according to the following table for the hardware configuration: No. Action Comment 1. Connect the Profibus interface of your PC/PG with the Profibus interface of the SINAMICS CU320 and the Profibus interface of SIMATIC S7. 2. If you run the visualization on an HMI and not on the PC/PG (e.g. WinCC flexible Runtime) then also connect the Profibus interface (port) of the HMI to the other Profibus interfaces (ports). 3. Carefully check that the Drive-CLiQ interfaces between S120 (CU-X101) and the Motor Module (X200) have been connected as shown to the right! 4. Connect the SINAMICS S120 training case and the SIMATIC S7 to the power supply. 5. Power-up all of the units and devices. Note The configuration/packaging guidelines for SINAMICS S120 and SIMATIC S7 must always be carefully observed. Installing the standard software Table 4-2 N0. Action Comment 1. Install the SIMATIC Manager software on your PC/PG. Carefully follow the instructions for installing the program. 2. Install the STARTER/SCOUT software on your PC/PG. Carefully follow the instructions for installing the program. 3. Install the WinCC flexible ES/RT software on your PC/PG. To do this, follow the instructions for installing the program. This software should be installed first. You must install DCC if you wish to view or change the application charts. Version /57

19 Application example as demonstration system Installing the hardware and software 4.3 Installing the application software Copyright Siemens AG 2009 All rights reserved Table 4-3 A description is given here on how to install the application example. N0. Action Comment 1. For SINAMICS, use a memory card with firmware 2.5 and the technology package TPdcblib_Sinamics_2_5 2. Open the SIMATIC Manager. 3. De-archive the SIMATIC project and open this 4. Open the hardware configuration and check whether you have an identical SIMATIC S7. If required, change this 5. Go online to the S7 with the SIMATIC Manager and download the project into the S7 6. In the SIMATIC Manager, open the STARTER project. 7. With STARTER/SCOUT, go online and download the project into the training case 8. Download the project from RAM to ROM. 9. In the SIMATIC Manager, open the WinCC flexible project. 10. Start WinCC flexible RT- or download the RT in the HMI. 11. Switch the S7 to RUN. For the case that the technology package is not installed on the memory card, then a description is given under Chapter 7.1 as to how this can be subsequently installed. Version /57

20 Application example as demonstration system Using the application example 5 Using the application example 5.1 Brief instructions on the demonstrating the example Structure overview The basic operator structure of the application is shown in the following diagram. Fig. 5-1 Welcome screen/starting screen Copyright Siemens AG 2009 All rights reserved Auto Settings EPOS Brief instructions The application example is pre-connected; however, the traversing arm axis must still be referenced. The application can be tested using the HMI. Under the Settings screen form, you can set any of the traversing arm parameters in the HMI, e.g.: Position A: Winding Step: Position B: 0.00mm mm Waiting angle: 40 Acceleration distance: mm 5.00mm You can start and monitor/visualize the traversing arm under the AUTO screen form. To start the traversing arm, power-up the traversing axis by pressing On and start the traversing arm using Traversing START. The traversing arm is presently still at a standstill as the winder axis is also still at a standstill. You can simulate the winder. To do this, under simulated winder speed, select a winder speed of e.g. 200 RPM and click on activate. Instead of simulating the winder, you can also operate this in STARTER/SCOUT from the control panel. Version /57

21 Application example as demonstration system Using the application example You can trace the motion of the traversing arm and the winder in STARTER/SCOUT (refer to Chapter 10.2). You can control all of the EPOS functions in the EPOS HMI screen form. Copyright Siemens AG 2009 All rights reserved Version /57

22 Application example as demonstration system Using the application example 5.2 Detailed operating instructions Starting screen The starting screen is displayed each time that WinCC flexible Runtime starts. Here, you can select the appropriate screen forms. Fig. 5-2: Starting screen Copyright Siemens AG 2009 All rights reserved The screen forms are used by pressing the appropriate buttons at the lower edge of each screen form. WinCC flexible Runtime can be exited by pressing the Exit button. Version /57

23 Application example as demonstration system Using the application example Automatic screen The automatic screen is the main screen of the application example to operate and use the traversing arm. Traversing counter Fig. 5-3: Automatic screen Resets the traversing counter Acknowledge fault Powers-up the traversing axis Jog in pos. and neg. directions Position, left Position, right Activates winder simulation Copyright Siemens AG 2009 All rights reserved Starts the traversing arm in the positive direction Starts the traversing arm in the negative direction Stops the traversing arm Calls the AUTO screen Calls the settings screen Act. position of the traversing arm Calls the EPOS screen Simulated winder speed To the starting screen You can start and monitor/visualize the traversing arm from the AUTO screen form. The traversing arm can be controlled on the lefthand side. The winder can be simulated on the righthand side. The monitoring/visualization values are located at the center of the screen. Instructions to trace (record) and evaluate the traversing arm functions is provided in Chapter Version /57

24 Application example as demonstration system Using the application example Settings screen Fig. 5-4: Screen: Settings Acknowledge fault Position, left Winding step Position, right Waiting angle Copyright Siemens AG 2009 All rights reserved Acceleration distance The traversing parameters can be set as required in the Settings screen form. However, the parameters are not subject to a logical check so that these must be set to practical and sensible values. The winding step, righthand and lefthand position are set in the upper part of the screen. The acceleration distance and waiting angle are set in the lower part of the screen. Version /57

25 Application example as demonstration system Using the application example EPOS screen The modes of the SINAMICS function module, basic positioner EPOS can be controlled and the feedback signals monitored in the EPOS screen form. The referencing, jogging and MDI modes are the most important for the traversing arm. You can enable the axis by pressing ON and you can jog the drive, for instance, by pressing Jog1 and Jog2 and you can approach a fixed position using MDI. Fig. 5-5: EPOS screen form Axis enable Jogging Feedback signals Copyright Siemens AG 2009 All rights reserved MDI Referencing All of the signals are connected to SINAMICS using the appropriate BICO interconnections. This means that you can take the precise function from the SINAMICS S120 Function Manual. The designations and names in the EPOS screen form are identical with the names and designations of the Profibus interface of this application a brief description of the individual signals is provided under Chapter Parameter. Version /57

26 Integrating the core function Program environment and interfaces Integrating the core function Contents Integrating the core functions section provides you with all of the necessary steps to integrate the core Traversing arm functions into your application. Preparatory activities and parameterizing operations are explained. Further, you will be given a step-by-step explanation of how you can integrate the traversing arm into your application. 6 Program environment and interfaces 6.1 Program structure Fig. 6-1 Copyright Siemens AG 2009 All rights reserved HMI SINAMICS S120 SIMATIC S7 SINAMICS DCC Version /57

27 Integrating the core function Program environment and interfaces 6.2 Interfaces The application, that was essentially generated using Drive Control Charts (DCC), includes a parameter interface. This is supplied with data from the drive as well as data from the Profibus interface via BICO interconnections. Data from the Profibus interface is made available to users in the SIMATIC S7 as data block. Further, the HMI system accesses the data block via Profibus. Copyright Siemens AG 2009 All rights reserved Version /57

28 Integrating the core function Integration into the user program 7 Integration into the user program 7.1 Technology objects required The TPdcblib_Sinamics_2_5 technology object must be installed on the memory card in Sinamics in order to run the DCC chart. If this has not already been done then it can be subsequently downloaded: Go online with your project and using the righthand mouse key, click on the drive unit. Select the menu item Select technology package. In the following window, select the technology package TPdcblib_Sinamics_2_5 and execute the Execute now function. Then carry-out a Power On reset. Fig. 7-1 Copyright Siemens AG 2009 All rights reserved 7.2 Preparation Before integrating the core function, you should parameterize the Profibus DP interface in the hardware configuration, transfer the WinCC flexible project and parameterize the drives. Adaptations in the SIMATIC Manager The DP interface is parameterized in the hardware configuration of the SIMATIC Manager. When selecting a CPU with integrated DP interface or a DC communication processor from the STEP 7 hardware catalog, the hardware configuration is made available to a PROFIBUS-DP master system. After setting the master parameters (e.g. baud rate), the SINAMICS must be assigned the Profibus bus line from the hardware catalog. After completing the DP configuration, you should copy the following blocks into your new project: OB1, FC100, DB100, UDT101, UDT102, VAT_100, SFC14 and Version /57

29 Integrating the core function Integration into the user program SFC15. The OB1 only calls FC100. Communications for the traversing arm axis is already set-up in the FC100. Accepting the WinCC flexible project Copy the WinCC flexible project into your own SIMATIC project. First open the project with WinCC flexible and from the project menu select Copy from STEP7. After succesfully exporting the data select in the same menu Integrate in STEP 7 and search for your own project. You have to set up additionally the connection parameters in NetPro. Fig. 7-2: WinCC flexible import / export Copyright Siemens AG 2009 All rights reserved Configuring the drive We recommend that an automatic configuration is carried-out in advance so that the individual drive objects are correctly identified. The most important steps are again described below: Go ONLINE and start the automatic configuration. Then again configure the drive involved OFFLINE. In this case, the basic positioner function module should be selected. Version /57

30 Integrating the core function Integration into the user program Fig. 7-3 Copyright Siemens AG 2009 All rights reserved For the mechanical system screen form, set the gear ratio and the distance moved by the traversing arm during one load revolution. The distance is specified in LU - whereby 1LU=1m in the application example. However, you can freely define which distance 1LU corresponds to - but you must change the name in the WinCCflexible screen forms and take this assignment into account during the complete commissioning procedure. Version /57

31 Integrating the core function Integration into the user program Fig. 7-4 Copyright Siemens AG 2009 All rights reserved Fig. 7-5 Select the free telegram configuration with BICO Profibus telegram. Complete the drive configuration. Set-up a script folder at the drive object. Re-open the project example and copy the script into the script folder. Select accept and execute. The Communication script parameterizes the DP interface and sets all of the necessary BICO interconnections for communications. Version /57

32 Integrating the core function Integration into the user program Fig. 7-6: Script Copyright Siemens AG 2009 All rights reserved Open the CU320 configuration and align to the hardware configuration. Fig. 7-7: Profibus configuration Reference the traversing arm. 7.3 Integrating the core function Drag the DCC chart for the axis traverser from the project example and drop it onto the SINAMICS axis it your project that you wish to use as traversing arm. Version /57

33 Integrating the core function Integration into the user program Rename the axis that you wish to use as traverser (traversing arm) into Traverser. This is necessary so that when compiling the DCC chart, the BICO interconnections can be interconnected. Using the righthand mouse key, click on the DCC chart in the project window and select the Accept and execute menu item. Using the righthand mouse key, click on the DCC chart in the project window and select the menu item Set execution groups. Select BEFORE basic positioner (EPOS). This means that the DCC chart is always computed in the clock cycle 4ms before EPOS. Fig. 7-8: DCC execution groups Copyright Siemens AG 2009 All rights reserved Open the expert list of the drive object. For the case that the winder axis is computed on the same CU as your traversing arm axis, interconnect parameter p21510 with parameter r63 of the winder axis. This means that you enter the actual winder speed into the traversing arm application. Then interconnect parameter p21511 with parameter r2700 of the winder axis. This means that you enter the reference speed of the winder into the traversing arm application. In parameter p21518, set the gear ratio between the load revolution and encoder revolution as decimal number. For the case that you enter the winder speed via Profibus, interconnect parameter p21512 with parameter r2050[15] of your traversing arm axis. This means that you enter the actual winder speed into the application. The encoder value received from Profibus of between 0 and always corresponds to a speed of between 0 and 6000 rpm in the application. If parameter p21512 is interconnected, then it is not permissible that parameter p21510 is interconnected. The reference speed that you can enter into the application via parameter p21511 has no effect. Version /57

34 Integrating the core function Integration into the user program 7.4 Configuring examples Shorter sampling time Copyright Siemens AG 2009 All rights reserved The sampling time of the application also has an influence on the traversing accuracy in addition to material guidance, material behavior, achievable accuracy of the control loops etc. In the basic setting, EPOS is sampled every 4 ms - and therefore also the DCC application. As the application controls EPOS, it does not make any sense to sample the application faster than EPOS. Due to the requirements relating to accuracy of the waiting angle, an internal compensation circuit is implemented, which further optimizes the sampling time. In most cases, none of these effects have an impact on the traversing result. However, if the effects are visible, then a shorter sampling time can be used. The sampling time can be shortened as follows: If the winder is computed on the same CU 320, the sampling time of the winder and EPOS can be reduced to 2ms. If the winder is computed on another drive, then the sampling time and EPOS can be reduced to 1ms. However, if the winder is computed on another drive, then this means that the winder actual speed value comes from Profibus. With this configuration, then a cycle time of 1 ms should also be set for Profibus. Go online with Starter/Scout. Open the expert list of the CU and set parameter p9 to the value 3. Open the expert list of the traversing arm and set parameter p112 to the value 0 (expert). Then set parameter p115[5] to s if you wish to set a sampling time of 2ms - or to s if you wish to set a sampling time of 1ms. You have then set EPOS to the required sampling time. Also set parameter p21515 to the selected sampling time of 2ms, or 1ms. This means that you also adapt the optimization to calculate the delay time in the waiting angle. In the expert list, set parameter p9 back to the value of 0. The CU 320 then reboots. As the DCC chart is in the execution group BEFORE basic positioner, the sampling time of the DCC chart automatically adapts itself to that of EPOS Execution sequence The execution sequence of the DCC chart has already been optimized. Further optimization using the automatic optimization of the execution sequence function results in the application malfunctioning Measures when the winder speed actual values fluctuate If, when testing the traversing arm, you identify that the speed actual value and speed setpoint of the traversing arm manifest unexpectedly high fluctuations, then the cause is as follows: When the winder controller has been poorly set (i.e. poorly optimized), then its speed characteristic fluctuates. As a result of the actual value coupling to the traversing arm, the speed characteristic already starts to fluctuate in the setpoint (refer to the diagram below). Version /57

35 Integrating the core function Integration into the user program Fig. 7-9: Unfavorable setpoint from the winder Copyright Siemens AG 2009 All rights reserved In order to minimize the setpoint fluctuations, proceed as follows: Optimize the winder control parameters. If this does not lead to the desired success, then in exceptional cases, the traversing arm can be coupled to the setpoint of the winder instead of the actual value as follows: Open the expert list of the traversing arm and connect parameter p21510 with parameter r60 (speed setpoint) of the winder. In so doing, the connection to parameter r63 (speed actual value) is disconnected. Version /57

36 Program description Program and function description Program description Contents The program description section goes into more detail about the functions of the block. Here, you will find parameter lists, diagrams and a description of the core function. 8 Program and function description 8.1 DCC chart Overview, function block Fig. 8-1 Copyright Siemens AG 2009 All rights reserved Overview Control of the end positions Control of the end positions DINT DINT BOOL BOOL In r21500 Software version p21501 Pos A p21502 Pos B p21503 Start direction negative p21504 Start direction positive Out Traversing arm parameters INT UINT UINT p21505 Waiting angle p21506 Winding step p21507 Acceleration distance Various BOOL REAL REAL REAL p21509 Target position reached p21510 Winder speed p21511 Reference speed p21512 Winder speed ext Version /57

37 Program description Program and function description BOOL BOOL p21513 Reset Counter p21514 Stop r21520 Counter INT Additional setting parameters REAL REAL BOOL REAL p21515 Time Opt p21516 simulation winder p21517 Select simulation winder p21518 Winder gear Copyright Siemens AG 2009 All rights reserved MDI DINT INT INT INT BOOL BOOL BOOL BOOL p21611 Input MDI position p21612 Input velocity override p21613 Input MDI acceleration p21614 Input MDI deceleration p21616 Input Start p21617 Input Setup p21618 Input position type p21619 Input Transfer type r21601 MDI Position r21602 velocity override r21603 MDI acceleration r21604 MDI deceleration r21606 start r21607 setup r21608 position type r21609 Transfer type DINT REAL REAL REAL BOOL BOOL BOOL BOOL Parameter description Input parameters Table 8-1: Input parameters Name Data type Initial value Description p21501 Pos A p21502 Pos B p21503 Start direction, positive DINT r2060[8] Position, left. DINT r2060[10] Position, right. BOOL r Starts the traversing arm in the positive direction. p21504 BOOL r Starts the traversing arm in the negative direction. Version /57

38 Program description Program and function description Copyright Siemens AG 2009 All rights reserved Name Data type Initial value Description Start direction, negative p21505 Waiting angle p21506 Winding step p21507 Acceleration distance p21509 Target position reached p21510 Winder speed p21511 Reference speed p21512 Winder speed ext p21513 Reset Counter p21514 Stop p21515 Time Opt p21516 simulation winder p21517 Select simulation winder p21518 Windergear p21519 SpeedWindow Winder INT r2050[12] Waiting angle in degrees UINT r2050[13] Winding step [LU] UINT r2050[14] Acceleration distance [LU] BOOL r Evaluates the target position reached signal. EPOS supplies this signal when the target position has been reached REAL 0 Winder reference speed REAL 0 Winder reference speed REAL 0 External encoder connection of the winder via Profibus (optional). This input can also be used to superimpose leading values. BOOL r Resets the traversing counter BOOL r Stops the traversing arm REAL 4 Sampling time optimization [ms]. This can be used to compensate the influence of the sampling time when calculated the waiting angle. REAL 0 Simulated winder speed: A winder speed can be entered into the traversing arm for test purposes. BOOL 0 Activates winder simulation REAL 1 Gear ratio, roll revolution to motor revolution. Example: If the winder rotates slower than the winder motor by a factor of 10 (i.e. a gear unit with a 1:10 ratio), then 0,1 must be entered here REAL 1.0 Speed window [rpm], if the winder is stationary, then speed actual values within this window are interpreted as zero speed,. p21600 DINT p2691 Fixed velocity setpoint for MDI p21611 Input MDI position DINT r2060[4] MDI signal from Profibus. When traversing operation is de-activated, the signal is directly connected to the corresponding MDI input. p21612 Input velocity override p21613 Input MDI acceleration p21614 Input MDI INT r2060[3] MDI signal from Profibus. When traversing operation is de-activated, the signal is directly connected to the corresponding MDI input. INT r2060[6] MDI signal from Profibus. When traversing operation is de-activated, the signal is directly connected to the corresponding MDI input. INT r2060[7] MDI signal from Profibus. When traversing operation is de-activated, the signal is directly Version /57

39 Program description Program and function description Name Data type Initial value Description deceleration p21616 Input Start p21617 Input Setup p21618 Input position type p21619 Input Transfer type connected to the corresponding MDI input. BOOL r MDI signal from Profibus. When traversing operation is de-activated, the signal is directly connected to the corresponding MDI input. BOOL r MDI signal from Profibus. When traversing operation is de-activated, the signal is directly connected to the corresponding MDI input. BOOL r MDI signal from Profibus. When traversing operation is de-activated, the signal is directly connected to the corresponding MDI input. BOOL r MDI signal from Profibus. When traversing operation is de-activated, the signal is directly connected to the corresponding MDI input. Output parameters Table 8-2: Output parameters Copyright Siemens AG 2009 All rights reserved Name Data type Initial value Description r21500 Software version r21520 INT Counter status of the traversing counter Counter r21601 Actual target position of the traversing arm MDI Position DINT r21602 Velocity override of the traversing arm velocity override REAL r21603 MDI Acceleration override of the traversing arm acceleration REAL r21604 MDI Deceleration override of the traversing arm deceleration REAL r21606 Signal edge to set the MDI target position start BOOL r21607 Controls the MDI function, setup setup BOOL r21608 Controls the MDI function, position type position type BOOL r21609 Controls the MDI function, transfer type selection Transfer type BOOL 8.2 SIMATIC S7 Profibus interfaced Control signals/setpoints All of those signals that are cyclically transferred from the send data block to the drive are called control signals. Version /57

40 Program description Program and function description The user interface is shown in the following overview. This structure is both in the S7 block UDT101 as well as also in the user-defined value list for the drive which is supplied with this application. A precise description of the function of the individual control and feedback signal bits is provided in the List Manual for SINAMICS S120 in Chapter 1, as well as in Function Manual, Chapters 4.23 and The interface described in this application has the following structure: Copyright Siemens AG 2009 All rights reserved Table 8-3: Process data PZD Assignment of the process data PZD1 Application control word 1 PZD2 Application control word 2 PZD3 Application control word 3 PZD4 Velocity override for all modes (4000HEX = 100%) PZD5 PZD6 Position setpoint in [LU] PZD7 Acceleration override for the direct setpoint input mode/mdi PZD8 Deceleration override for the direct setpoint input mode/mdi PZD9 PZD10 Traversing arm, Pos A in [LU] PZD11 PZD12 Traversing arm, Pos B in [LU] PZD13 Waiting angle [ ] PZD14 Winding step in [LU] PZD15 Acceleration distance in [LU] PZD16 Speed, ext. encoder (0000 HEX = 0 rpm up to 7FFF HEX = 6000 rpm) Assignment of application control word 1 Table 8-4: Assignment of application control word 1 Bit Abbrev. Name (Description of the HIGH signal level) 0 ON ON command 0 = OFF1 active 1 = ON 1 CmdNo OFF2 2 CmdNo OFF3 Command, no OFF2 0 =: OFF2 active 1 = Signal: Op. condition, no coast down active Command, no OFF3 0 = OFF3 active 1 = Operating condition, no fast stop active Drive parameter P P P ENC Enable controller enable inverter P RejTask Traversing block and MDI - Reject Task Traversing blocks and direct setpoint input /MDI Reject traversing task 0 = Active traversing command is rejected / Axis brakes with 100% Do no reject deceleration override from P Function chart Version /57

41 Program description Program and function description Copyright Siemens AG 2009 All rights reserved Bit Abbrev. Name (Description of the HIGH signal level) 1 = traversing request (axis can be traversed) 5 IntMStp Traversing block and MDI intermediate STOP Traversing blocks and MDI/direct setpoint input intermediate stop 0 = active traversing command is interrupted / axis brakes with the specified deceleration override 1 = no intermediate stop (axis can be traversed) Drive parameter P AckFlt Acknowledge fault P Jog1 Jogging signal source 1 P Jog2 Jogging signal source 2 P LB Life bit (control requested from PLC) P JogInc Jogging jogging incremental: 0 = Endless traversing 1 = Traversing through the parameterized distance 13 P SftLimAct Acivates the software limit P StpCamA Activates the stop output cam P Assignment of application control word 2 Table 8-5: Assignment of application control word 2 Bit Abbrev. Name Drive parameter 0 RefStart Referencing start P RefPSet Set reference point P Note: Functions for motors with absolute encoder only for non-adjusted encoders! 2 RefTyp Referencing type selection P = Reference point approach 1 = Flying referencing 3 RefStDi Homing (referencing) start direction P = positive start direction 1 = negative start direction 4 RefInpS Referencing passive - input selection P Sets the signal source to select the measuring probe for flying (passive) referencing 0 = measuring probe 1 is activated 1 = measuring probe 2 is activated 5 RefEdge Referencing passive - edge evaluation Passive referencing: Sets the edge evaluation 0 : positive edge P Function chart Function chart Version /57

42 Program description Program and function description Copyright Siemens AG 2009 All rights reserved Bit Abbrev. Name Drive parameter 1 : negative edge MdiStart Direct setpoint input/mdi start Starts the operating mode MDI / direct setpoint input 9 MdiSetup Direct setpoint input/mdi setup selection Selects MDI mode, setting-up 0 = positioning 1 = setting-up 10 MdiPsTyp Direct setpoint input/mdi positioning type Positioning type 0 = relative positioning 1 = absolute positioning 11 MdiPos Direct setpoint input/mdi positive direction Direction selection for setting-up or absolute positioning of rotary axes, in the positive direction) 12 MdiNeg Direct setpoint input/mdi negative direction Direction selection for setting-up or absolute positioning of rotary axes, in the negative direction 13 MdiEdge Direct setpoint input/mdi transfer edge Signal edge, setpoint transfer if MdiTyp = 0 14 MdiTrTyp Direct setpoint input/mdi transfer type Transfer type: 0 = Value transfer using 0 1 edge at MdiEdge 1 signal : continuous setpoint transfer 15 P P P P P P P Function chart Assignment of application control word 3 Table 8-6: Assignment of application control word 3 Bit Abbrev. Name Drive parameter 0 TrvStart Traversing block activate traversing task P (using the 01 signal edge) 1 TrvBit0 Traversing block block selection bit 0 P TrvBit1 Traversing block block selection bit 1 P TrvBit2 Traversing block block selection bit 2 P TrvBit3 Traversing block block selection bit 3 P TrvBit4 Traversing block block selection bit 4 P TrvBit5 Traversing block block selection bit 5 P Startright DCC: Start to position B P Startleft DCC: Start to position A P Stop DCC: Stop traversing P Reset DCC: Reset traversing counter P21513 Function chart Version /57

43 Program description Program and function description Bit Abbrev. Name Drive parameter Counter Function chart Feedback signals Copyright Siemens AG 2009 All rights reserved Table 8-7: Process data PZD Signals that are cyclically transferred from the drive to the receive area of the data block are called feedback signals. You will also find this structure of the receive area in the F7 block UDT102 and in the user-defined value list for the drive. Assignment of the process data PZD1 Application status word 1 PZD2 Application status word 2 PZD3 Application status word 3 PZD4 Velocity actual value (this is referred to the reference speed p2000) PZD5 Note: HEX = 100% PZD6 Position actual value in [LU] PZD7 PZD8 Traversing counter PZD9 Reserve PZD10 Reserve PZD11 Reserve PZD12 Reserve PZD13 Reserve PZD14 Reserve PZD15 Reserve PZD16 Reserve Assignment of application status word 1 Table 8-8: Assignment of application status word 1 Bit Abbrev. Name Drive parameter 0 RTS Ready to power up / to start r RDY Ready to operate r IOP In operation (operation enabled) r Drive is powered-up (condition for selecting the Epos operating mode 3 Fault Fault present r NoOFF2Act OFF2 inactive r (partial condition for powering-up) 5 NoOFF3Act OFF3 inactive (partial condition for powering-up) r Function chart Version /57

44 Program description Program and function description Copyright Siemens AG 2009 All rights reserved Bit Abbrev. Name Drive parameter Function chart 6 PowInhbt Power ON inhibit active r Alarm Alarm / warning present r Stndstill n_act < speed threshold value 3 [p2161] r This bit is used to detect standstill 9 LB_CR Life bit control request r JogAct Jogging active r ) RefAct Reference point approach active r ) TrvBlAct Traversing block active r ) MdiPosAct MDI positioning active In the direct setpoint input/mdi mode, positioning is active r ) MdiStupAct MDI setup active Setting-up is active in the direct setpoint/mdi mode r ) FlyRefAct Flying referencing active r ) r2669 (function chart 3630) is shown to a resolution of 1 bit (bit-granular). For this purpose, at the input of the connector-binector converter p2099[0] = r2699 is interconnected. Assignment of application status word 2 Table 8-9: Assignment of application status word 2 Bit Abbrev. Name Drive parameter 0 ARFD Reference point set r CmdAct Traversing command active r TargPos Target position reached r NoFlwErr Following error in tolerance r SftSwMinAct Software limit switch minus active r SftSwPlsAct Software limit switch plus active r StpCamMinAc Stop cam minus active r t 7 StpCamPlsAc Stop cam plus active r t 8 AckTrvBl Acknowledge traversing block activated r For traversing block mode or MDI/direct setpoint input mode for triggered setpoint transfer (MdiTrTyp = 0) the bit is used to acknowledge the traversing block. 9 SetPStatic Setpoint Static r FWD Axis forwards r BWD Axis backwards r Accel Axis accelerating r Decel Axis decelerating r PrntMrkOut Print mark outside outer window r VelctyLimit Velocity limiting active Velocity setpoint > p2572 r Function chart Version /57

45 Program description Program and function description Assignment of application status word 3 Table 8-10: Assignment, application status word 3 Copyright Siemens AG 2009 All rights reserved Bit Abbrev. Name Drive parameter 0 AckTrvBit0 Active traversing block bit 0 r AckTrvBit1 Active traversing block bit 1 r AckTrvBit2 Active traversing block bit 2 r AckTrvBit3 Active traversing block bit 3 r AckTrvBit4 Active traversing block bit 4 r AckTrvBit5 Active traversing block bit 5 r TrvOut1 Direct output 1 via traversing block r TrvOut2 Direct output 2 via traversing block r TrckMode Tracking mode active r PosSmCam1 Position actual value <= cam position 1 r PosSmCam2 Position actual value <=cam position 2 r Function chart Version /57

46 Program description Function description 9 Function description 9.1 DCC traversing program Structure The application essentially comprises controlling the MDI setpoint input function of EPOS. The objective of the application is to enter alternating - the end position as target positions of the application. The acceleration distance is implemented using the acceleration and deceleration override. The winding step is realized using the velocity override. Further, there is a changeover switch in the application that changes over (toggles) between normal MDI operation and traversing operation. Copyright Siemens AG 2009 All rights reserved Fig. 9-1: Structure of the application Traversing Control Setpoints Winderspeed Parameters Waiting angle; Traversing Counter Traversing start; Switch between right and left Setpoints Acceleration distance; Winding step Setpoint Acceleration override Deceleration override Velocity override MDI MDI data from Profibus DCC chart Page 1: The traversing mode is switched-in and switched-out and a changeover made between the righthand and lefthand end position on this page. The end positions are target positions for the MDI. The system positions in absolute terms with MDI with continuous setpoint transfer. A numerical changeover switch toggles (switches between) the two setpoints. The changeover switch is controlled from an XOR logic element. There are two possibilities of changing the direction. Either the flip-flop is controlled that changes over the "waiting angle reached" feedback signal at each signal edge. Or, the winding direction of rotation changes and the traversing direction must also be changed. The flip-flop is also used to select a specific target position if either Start Pos A bit or Start Pos B bit is set. In addition, when one of these bits is set, then traversing operation is activated and by selecting the MDI mode, a changeover is made to traversing operation (complete changeover, chart page 6). Version /57

47 Program description Function description Copyright Siemens AG 2009 All rights reserved Page 2: Page 3: The waiting angle and the traversing counter are implemented here. The waiting angle is realized by integrating the winder velocity over time. Integration is started if the target position reached signal is received from the EPOS standstill monitoring (zero speed monitoring). The integrator is limited to the required waiting angle. This means that the integrator at upper limit signal can be used as waiting angle reached signal. It takes one EPOS clock cycle (e.g. 4 ms) between the signal where EPOS receives the new position up to when it outputs a speed setpoint (i.e. until the new position is reached). A delay angle is obtained by multiplying this delay time by the actual winder speed. This delay angle is subtracted from the specified delay angle. This means that the traversing arm is controlled earlier by the angle that the winder moves through until the traversing arm starts. The integrator is calculated as follows. The integrating time constant of the integrator block is 10ms. This is the reason that the speed at input X of the integrator block must be entered in degrees/10ms. The speed specified by the user in rpm is initially referred to 6000 rpm. This is converted into the units of degrees/10ms - required by the integrator block - as follows: rev 360degrees 360degrees min 60s 60000ms Degrees 10ms The speed of the winder was converted to a value between 0 and 1 referred to 6000 rpm (refer to the explanation on Page 3). This means that the speed was already divided by 6000 and only has to be multiplied by 360. The traversing counter increments by 1 each time the target position reached signal is received during traversing operation. The winder speed is determined. The speed that the winder reads is a value between 0% and 100% of the reference speed of the winder. This is the reason that the winder reference speed is also read-in and the winder speed is converted to between 0% and 100% - referred to 6000 rpm - for internal processing. As an alternative, the winder speed can also be read-in from an external encoder. The external encoder is always referred to a speed of between 0 and 6000 rpm. In this case, the selected reference speed is not taken into account. The gear ratio between a load revolution and motor revolution can be applied to the winder speed. Page 4: Here, winding step and acceleration distance are implemented; whereby acceleration and deceleration override are calculated according to the following formula: 2 v a 2 s a : Acceleration v : Velocity s : Acceleration dis tance Version /57

48 Program description Commissioning the function Velocity, acceleration and deceleration overrides are quantities referred to the setpoints in parameters p2691, p2572 and p2573. This is the reason that the setpoints in parameters p2691, p2572 and p2573 are read-out and the override correspondingly scaled. As these parameters are setting parameters, they are read-out by a system function. The read-out operation is initiated by a flash function every 2s. Page 5: Changeover of the MDI between traversing operation and MDI is realized here. When switching-in traversing operation, a flip-flop is set on chart page 1 that changes over several numeric changeover switches on this chart page. These changeover switches either change over the MDI signals of the application to the MDI or the MDI signals that are received from SIMATIC S7 via Profibus. Acceleration as well as deceleration override are limited to a minimum of 5% in traversing operation. 9.2 Profibus communication in SIMATIC S7 Copyright Siemens AG 2009 All rights reserved All of the relevant data to traverse and to control EPOS are cyclically transferred to the SIMATIC S7 via the Profibus interface. Communication via the free telegram configuration is interconnected in the SINAMICS drive. Communication is configured as follows on the SIMATIC S7: OB1 calls FC100. Communication for the traversing arm axis is set-up in the FC100. The SFC14 and SFC15 system functions are called in the FC100; these are used to transfer data from and to the drive. The data are in DB100. There is a send and a receive area. The structures for sending (UDT101) and receiving (UDT102) are saved in the user-defined data types (UDT). 10 Commissioning the function 10.1 Parameterization The following parameterization is partially carried-out on the HMI. If you are not using an HMI, then you can also make the settings in the user program or the variable table on the SIMATIC S7. Winding step: In Starter, under Technology -> Position controller, open the mechanical screen form. Parameterize the gear unit ratio and under p2506 set the spindle pitch. The selected value corresponds to the distance that the traversing arm moves through during one load revolution. Version /57

49 Program description Commissioning the function Fig Copyright Siemens AG 2009 All rights reserved Reference the drive. Start WinCC flexible Runtime and enter the Settings screen form. Under Winding step set the required winding step. Fig. 10-2: Settings screen form Wound roll width, acceleration distance and waiting angle: Define the wound roll width using the lefthand and righthand end positions. In WinCC flexible Runtime, select the Settings screen form. For Position A, set the lefthand position and for Position B, the righthand end position. You can set the acceleration distance under Acceleration distance. Fig. 10-3: Settings screen form Version /57

50 Program description Commissioning the function The waiting angle is set under Waiting angle Test and fine setting The test can be made using the actual winder and also using the simulation function of the winder in the WinCC flexible Auto screen form. The trace function is used to evaluate the functionality of the traversing arm. If the position controller is to be activated at the winder drive, then, for example, the waiting angle can be directly checked by comparing the position actual value of the winder and the speed setpoint of the basic positioner. Further, before tests are started, the position controller and speed controller of the axes should be optimized. Copyright Siemens AG 2009 All rights reserved Limits of the reference parameters The application calculates the acceleration and velocity of the traversing arm as override. The acceleration and deceleration override can be a maximum of 100% and the velocity override a maximum of 200% of the reference parameter. The application cyclically reads-out the reference parameters. The application subsequently scales the override so that the acceleration/deceleration results in the acceleration distance or the velocity of the parameterized winding step parameterized by the user. In order to check whether the override is not limited, under Technology -> Basic positioner, open the MDI setpoint input screen form. There, select Analog signals. Check whether the acceleration and deceleration overrides are less than 100%. Check whether the velocity override is less than 200%. Fig. 10-4: MDI If you must change a parameter as described in the following, first power-down the traversing axis. The reason for this is that the application must first accept Version /57

51 Program description Commissioning the function the new values and must adapt the override. Otherwise, it can occur that the traversing arm will accelerate at an unexpectedly high level or will move at a high velocity. You should also carefully note that with the change parameterization, it is possible that the mechanical load capability of your traversing arm will be exceeded. For the case that the velocity override is too high, in the MDI configuration screen form, open the fixed setpoints and set a higher value in reference parameter p2691 (reference quantity for the velocity override). For a reference parameter with a higher setting, the application calculates a lower velocity override in order to achieve the required angle step. For the case that the acceleration and deceleration override are too high, under Technology, open the limits screen form. Set higher values for reference parameter p2572 and parameter p2573. With the higher setting for the reference parameter, the application calculates a lower acceleration and deceleration override in order to achieve the required acceleration distance. Fig. 10-5: Limits Copyright Siemens AG 2009 All rights reserved You must repeat the test after the parameters have been changed. Traversing operation: Start WinCC flexible Runtime. Go to the Auto screen form. Power-up the drive with On and start the traversing operation (the traversing arm is powered-up but still doesn t rotate). Version /57

52 Program description Commissioning the function Fig Screen form: Auto Copyright Siemens AG 2009 All rights reserved Open the trace and as signals, select parameter r60, r2521, r2684 from the traversing arm and from the winder, r2521. Set the cycle time to 1ms and accept the maximum record/trace duration. Fig. 10-7: Trace settings Open the winder control panel and move this. Start the trace Using the righthand mouse key, click on trace and under bit tracks, select parameter p2684 bit 15. Zoom to the section around the waiting angle. Using the measuring cursor, mark the falling edge of the Traversing task active bits and the location at which the new speed setpoints are output. Version /57

53 Program description Commissioning the function Fig. 10-8: Waiting angle Copyright Siemens AG 2009 All rights reserved Read the angle that the traversing arm moves through. In our particular case, this is LU. In this example, 36000LU is parameterized for each winder revolution. This means that this value corresponds to angle of 39.6 degrees. A waiting angle or 40 degrees is parameterized in the example. In order to check the acceleration distance, now position the measuring cursor at the start and end of the acceleration phase. Fig. 10-9: Acceleration distance Read-off the acceleration distance. In this example it is 10300LU. In this application example, 1000LU is defined to be 1mm so that this value corresponds to an acceleration distance of 10.3 mm. An acceleration distance of 10 mm is parameterized in the example. Zoom to a section in the synchronous operation phase of the traversing arm. Using the measuring cursor, mark one winder revolution. Then read-off the distance that the traversing arm moves through in the same time. This value corresponds to the winding step. Version /57

54 Program description Commissioning the function Fig : Winding step Copyright Siemens AG 2009 All rights reserved In this example, LU can be read-off; this corresponds to a winding step of mm. A winding step of 100mm has been parameterized. The reasons for the deviation are the trace sampling time and also the characteristic of the speed actual value signal. In order to trace the complete traversing operation, and to check the winding width, you may have to increase the recording time for the trace. Restart the trace. Using the measuring cursor, mark the end positions and read-off the wound roll width. Fig : Wound roll width Version /57