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1 Configuring a SINAMICS S120 with Startdrive V14 SIMATIC S / SINAMICS S120 Siemens Industry Online Support

2 Warranty and Liability Warranty and Liability Note The Application Examples are not binding and do not claim to be complete regarding the circuits shown, equipping and any eventuality. The Application Examples do not represent customer-specific solutions. They are only intended to provide support for typical applications. You are responsible for ensuring that the described products are used correctly. These Application Examples do not relieve you of the responsibility to use safe practices in application, installation, operation and maintenance. When using these Application Examples, you recognize that we cannot be made liable for any damage/claims beyond the liability clause described. We reserve the right to make changes to these Application Examples at any time without prior notice. If there are any deviations between the recommendations provided in these Application Examples and other Siemens publications e.g. Catalogs the contents of the other documents have priority. We do not accept any liability for the information contained in this document. Any claims against us based on whatever legal reason resulting from the use of the examples, information, programs, engineering and performance data etc., described in this Application Example shall be excluded. Such an exclusion shall not apply in the case of mandatory liability, e.g. under the German Product Liability Act ( Produkthaftungsgesetz ), in case of intent, gross negligence, or injury of life, body or health, guarantee for the quality of a product, fraudulent concealment of a deficiency or breach of a condition which goes to the root of the contract ( wesentliche Vertragspflichten ). The damages for a breach of a substantial contractual obligation are, however, limited to the foreseeable damage, typical for the type of contract, except in the event of intent or gross negligence or injury to life, body or health. The above provisions do not imply a change of the burden of proof to your detriment. Any form of duplication or distribution of these Application Examples or excerpts hereof is prohibited without the expressed consent of the Siemens AG. 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, state-of-the-art industrial security concept. Siemens products and solutions only form one element of such a concept. Customer is responsible to prevent unauthorized access to its plants, systems, machines and networks. Systems, machines and components should only be connected to the enterprise network or the internet if and to the extent necessary and with appropriate security measures (e.g. use of firewalls and network segmentation) in place. Additionally, Siemens guidance on appropriate security measures should be taken into account. For more information about industrial security, please visit Siemens products and solutions undergo continuous development to make them more secure. Siemens strongly recommends to apply product updates as soon as available and to always use the latest product versions. Use of product versions that are no longer supported, and failure to apply latest updates may increase customer s exposure to cyber threats. To stay informed about product updates, subscribe to the Siemens Industrial Security RSS Feed under Entry-ID: , V1.0, 03/2017 2

3 Table of Contents Table of Contents Warranty and Liability Introduction Overview Components used Function principle of the user program Configuring the SINAMICS S Configuring the SINAMICS S120 (Offline) Loading the configuration of the SINAMICS S120 (Online) Configuring the hardware Configuring the controller and the drive Configuring the technology objects Creating the S7 program Installation and commissioning IP addresses and device names PG/PC settings Downloading from the project into the components Operation Control panel of the motor Axis control panel MotionControlS120 watch table Appendix Service and support Links and literature Change documentation Entry-ID: , V1.0, 03/2017 3

1 Introduction 1 Introduction 1.1 Overview SIMATIC S7-1500 CPUs support the connection of drives as speed axis or positioning axis via PROFINET, PROFIBUS or via an analog drive connection.

4 1 Introduction 1 Introduction 1.1 Overview SIMATIC S CPUs support the connection of drives as speed axis or positioning axis via PROFINET, PROFIBUS or via an analog drive connection. As of TIA Portal V14, it is additionally possible to configure a SINAMICS S120 drive in a TIA Portal V14 program using the SINAMICS Startdrive V14 S120 Option software and to operate it by means of Motion Control instructions. Figure 1-1: Overview of the components SIMATIC S PN SINAMICS S120 PROFINET / IE In this application example, a SINAMICS S120 is operated as position-controlled drive. This drive shall serve as master axis for a second drive configured with gear synchronization. The drives are configured using SINAMICS Startdrive V14 S120 Option. Entry-ID: , V1.0, 03/2017 4

5 1 Introduction 1.2 Components used This application example has been created with the following hardware and software components: Table 1-1: Hardware and software components Component Qty. Article number Note SIMATIC S PN SINAMICS Control Unit CU320-2 SINAMICS S120 smart line module SINAMICS S120 double motor module SMC20 sensor module Synchronous motor with incremental encoder without DRIVE-CLIQ interface Synchronous motor with absolute encoder with DRIVE-CLIQ interface STEP 7 Professional V14 SINAMICS Startdrive V14 S ES7511-1AK00-0AB0 Alternatively, a different S controller can be used as well. 1 6SL3040-1MA01-0AA0-1 6SL3130-6AE15-0AA0-Z - 1 6SL3120-2TE13-0AA0-Z - 1 6SL3055-0AA00-5BA1-1 1FK7022-5AK71-1AG3-1 1FK7022-5AK71-1LG0-1 6ES For more information, visit: This application example consists of the following components: Table 1-2: Components of the application example Component Note _SINAMICS_S120_TIA_PROJ_v10.zip This zip file contains the STEP 7 V14 project _SINAMICS_S120_TIA_DOCU_v10.pdf This document Entry-ID: , V1.0, 03/2017 5

2.1 Function principle of the user program S7-1500 Motion Control S7-1500 Motion Control supports controlled positioning and moving of axes and is an integral part of each S7-1500 CPU.

6 2.1 Function principle of the user program S Motion Control S Motion Control supports controlled positioning and moving of axes and is an integral part of each S CPU. The technology CPU S7-1500T offer additional Motion Control functions. The Motion Control functionality supports the following technology objects: Speed axis Positioning axis Synchronous axis External encoder Cam and cam track (as of version 3.0) Cam disk (for S7-1500T as of version 3.0) Drives supporting PROFIdrive and equipped with an analog setpoint interface are controlled by means of standardized Motion Control instructions according to PLCopen. The axis control panel and comprehensive online and diagnostic functions support the commissioning and optimization of drives. In this application example, the position-controlled operation of a SINAMICS S120 drive with the Positioning axis technology object is implemented. In addition, a synchronous axis is configured. Figure 2-1: Configuration as positioning axis Note The configuration of the Positioning axis and Synchronous axis technology objects is described in chapter Entry-ID: , V1.0, 03/2017 6

7 Structure of the user program for the master axis In this application example, the SINAMICS S120 drive serving as master axis is configured as positioning axis. In a user program, you have the possibility to operate this position-controlled drive by means of the Motion Control instructions. For this, the following instructions have been added to the program: MC_HALT (FB 1200) MC_HOME (FB 1201) MC_MOVEABSOLUTE (FB 1202) MC_MOVEJOG (FB 1203) MC_POWER (FB 1206) MC_RESET (FB 1207) The Motion Control instructions for the master axis are called in the MotionControlPos (FB 1) function block. Figure 2-2: Program structure of the master axis Main [OB1] Motion ControlPos [FB 1] MC_ HALT [FB 1200] InstMotion ControlPos [DB 3] MC-Servo [OB91] MC_ HOME [FB 1201] MC- Interpolator [OB92] MC_MOVE ABSOLUTE [FB 1202] MC_ MOVEJOG [FB 1203] MC_ POWER [FB 1206] MC_ RESET [FB 1207] User program Data blocks Entry-ID: , V1.0, 03/2017 7

8 Structure of the user program for the slave axis In this application example, the SINAMICS S120 drive serving as slave axis is configured as synchronous axis. In the user program, the slave axis can be synchronized with the master axis configured as positioning axis by means of the Motion Control block MC_GEARIN. For this, the following Motion Control instructions have been added to the program for the slave axis: MC_POWER (FB 1206) MC_RESET (FB 1207) MC_GEARIN (FB 1208) Note The Motion Control blocks MC_POWER and MC_RESET will be enabled in parallel to the corresponding blocks of the master axis. The Motion Control instructions for the slave axis are called in the MotionControlSyn (FB 2) function block. Figure 2-3: Program structure of the slave axis Main [OB1] Motion ControlSyn [FB 2] MC_ POWER [FB 1206] InstMotion ControlSyn [DB 4] MC-Servo [OB91] MC_ RESET [FB 1207] MC- Interpolator [OB92] MC_ GEARIN [FB 1208] User program Data blocks Note For information about the Motion Control blocks, refer to the TIA Portal Online Help or to the S Motion Control V3.0 in TIA Portal V14 function manual \3\. A watch table is available for operating the two drives by means of the Motion Control instructions. This table is available in chapter Entry-ID: , V1.0, 03/2017 8

2.2 Configuring the SINAMICS S120 As of TIA Portal V14, it is possible to configure a SINAMICS S120 drive using the option package SINAMICS Startdrive V14 S120 Option and to control it by means of

9 2.2 Configuring the SINAMICS S120 As of TIA Portal V14, it is possible to configure a SINAMICS S120 drive using the option package SINAMICS Startdrive V14 S120 Option and to control it by means of Motion Control instructions Configuring the SINAMICS S120 (Offline) Note A detailed description of the SINAMICS S120 offline configuration is available in chapter The offline configuration of the SINAMICS S120 is done in the Device view of your TIA Portal program. Here, the individual components of the SINAMICS S120 drive have to be added and connected. The following figure shows an example configuration of the SINAMICS S120 demonstration box (article no.: 6ZB2480-0BA00). Figure 2-4: Configuring the SINAMICS S120 The components of the SINAMICS S120 drive that have been used are listed in the Device overview. Entry-ID: , V1.0, 03/2017 9

Figure 2-5: Modules After successful configuration of the SINAMICS S120, you have to check or set the parameters listed in the following table in the motor modules to ensure that the drive can be

10 Figure 2-5: Modules After successful configuration of the SINAMICS S120, you have to check or set the parameters listed in the following table in the motor modules to ensure that the drive can be operated in a control program by means of Motion Control instructions. Table 2-1: Adjusted parameters Parameter Meaning Settings p922 PROFIdrive telegram selection Standard telegram 3 p1082 Maximum velocity The setting must correspond to the maximum velocity for parameterization of the technology object (3000 1/min, see chapter 2.3.2). p1120 p1121 Ramp-function generator ramp-up time Ramp-function generator ramp-down time Enter parameter value 0.0 Note For more information about configuration, refer to the SINAMICS S120 with Startdrive Commissioning Manual at \5\. Entry-ID: , V1.0, 03/

2.2.2 Loading the configuration of the SINAMICS S120 (Online) With the option "SINAMICS Startdrive V14 S120", it is also possible to load the configuration of the

1. In the Network view, add the CU 320-2 PN and assign the desired IP address. 2. However, do not assign a controller to the drive yet! 1 2 2.

This parameter should have the value 1. 4. Enter the desired drive type for parameter p97 Select drive object type. 1 = Servo 2 = Vector 5.

11 2.2.2 Loading the configuration of the SINAMICS S120 (Online) With the option "SINAMICS Startdrive V14 S120", it is also possible to load the configuration of the SINAMICS S120 station used into a TIA project. The necessary steps are listed in the following table. Table 2-2: Loading the drive configuration No. Action Remark In the Network view, add the CU PN and assign the desired IP address. 2. However, do not assign a controller to the drive yet! Establish an online connection to the drive and open the parameter list. 3. Check the value entered for parameter p9 Device commissioning parameter filter. This parameter should have the value Enter the desired drive type for parameter p97 Select drive object type. 1 = Servo 2 = Vector 5. Now, the value entered for parameter p98 Actual device topology will be taken over for parameter p99 Device target topology Set the value entered for parameter p9 Device commissioning parameter filter to 0. - Entry-ID: , V1.0, 03/

configuration into your TIA project. 8. The configuration of the drive is taken over into the TIA project. 9.

If there are unspecified modules, these modules have to be configured offline.

12 No. Action Remark 7. After another startup of the drive, disconnect the online connection to the CU PN and load the configuration into your TIA project. 8. The configuration of the drive is taken over into the TIA project. 9. After successful loading of the configuration, the individual components of the SINAMICS S120 drive are displayed in the TIA program. 10. Check in the Device overview whether all components of the SINAMICS S120 drive have been detected. If there are unspecified modules, these modules have to be configured offline. This configuration is described in chapter Now, you can establish an online connection to the individual components of the SINAMICS S120 drive and take necessary measures for commissioning. - Note Automatic loading of the topology with SINAMICS Startdrive V14 S120 is supported as of TIA Portal V14 SP1. Entry-ID: , V1.0, 03/

1 Configuring the controller and the drive Table 2-3: Configuring the controller and the drive No. Action Remark 1.

13 2.3 Configuring the hardware The tables below describe how to configure the SIMATIC S7 CPU and the SINAMICS S120 drive. It is assumed that the software is installed on your PG/PC according to Table Configuring the controller and the drive Table 2-3: Configuring the controller and the drive No. Action Remark 1. Open TIA Portal and create a new project. 2. Double-click Add new device. 3. Add a controller of your choice. 1. Select Controllers. 2. Select the desired CPU. 3. Then, click OK. Entry-ID: , V1.0, 03/

No. Action Remark 4. Open the Network view and add a new subnet.

Add the SINAMICS S120 drive and connect it to the SIMATIC controller. 6. 1.

Assign the drive to the controller used. 7.

Add a double motor module to the Device view.

14 No. Action Remark 4. Open the Network view and add a new subnet. Then, set the desired network address in the Properties of the controller. 5. Add the SINAMICS S120 drive and connect it to the SIMATIC controller Select the assignment option of the SINAMICS S120 drive. 2. Assign the drive to the controller used. 7. Configure the SINAMICS S120 drive in the Device view. Add a double motor module to the Device view. (The SINAMICS S120 supply used in this application example is not equipped with a DRIVE-CLIQ interface. For this reason, the supply does not need to be configured in this case.) Entry-ID: , V1.0, 03/

module. 9. 1. Select the motor module in the Device view. 2.

15 No. Action Remark 8. You have the option to change the name in the Properties of the motor module Select the motor module in the Device view. 2. Then, go to the Properties of the double motor module and select the module used Take a 1FK7 synchronous motor from the Catalog and add it to the first motor module. 2. Then, go to the Properties of the motor and select the module used. Entry-ID: , V1.0, 03/

. 1. Take another 1FK7 synchronous motor from the

Then, go to the Properties of the motor and select the

16 No. Action Remark 11. Keep the sensor module on the SMI Take another 1FK7 synchronous motor from the Catalog and add it to the second motor module. 2. Then, go to the Properties of the motor and select the module used. 13. Select the SMC20 as sensor module in the second motor module. Entry-ID: , V1.0, 03/

In the Device view, select the CU_320-2 PN.

17 No. Action Remark 14. Add the terminal board TB30 to the Device view and then check the DRIVE-CLiQ connections. 15. The components used are listed in the Device overview. 16. In the Device view, select the CU_320-2 PN. Go to Cyclic data exchange and set standard telegram 3 for the motor modules. 17. Go to the Parameter view of the motor modules and check the parameters according to Table Save the configuration. - Entry-ID: , V1.0, 03/

2.3.2 Configuring the technology objects For this application example, two technology objects are

A Synchronous axis for being operated as slave axis.

Add the Positioning axis technology object ( TO_PositioningAxis ) for the master axis to the

Then, click OK. 2. In the Basic parameters of the drive, enter PROFIdrive as Drive type.

18 2.3.2 Configuring the technology objects For this application example, two technology objects are configured: 1. A Positioning axis for being operated as master axis, 2. A Synchronous axis for being operated as slave axis. Table 2-4: Configuring the technology object No. Action Remark 1. Add the Positioning axis technology object ( TO_PositioningAxis ) for the master axis to the controller project. 1. Select the Positioning axis technology object. 2. Then, click OK. 2. In the Basic parameters of the drive, enter PROFIdrive as Drive type. As Drive entry, select the desired motor module of the SINAMICS S In the Basic parameters of the encoder, enable the Connection to the drive option. 4. Then, check the settings made for Data exchange. Entry-ID: , V1.0, 03/

TO_SynchronousAxis ) for the slave axis to the controller

19 No. Action Remark 5. Add the Synchronous axis technology object ( TO_SynchronousAxis ) for the slave axis to the controller project. 1. Select the Synchronous axis technology object. 2. Then, click OK. 6. In the Basic parameters of the drive, enter PROFIdrive as Drive type. As Drive entry, select the desired motor module of the SINAMICS S In the Basic parameters of the encoder, enable the Connection to the drive option. 8. Then, check the settings made for Data exchange. 9. For Leading value interconnections, select the positioning axis. 10. Save the configuration. - Entry-ID: , V1.0, 03/

2.3.3 Creating the S7 program The structure of the S7 program and the Motion Control

Follow the steps listed in the table below for each drive.

Add a function block to the program. 1. Select a function block. 2.

Go to the Instructions tab and open the Motion Control folder. 3.

20 2.3.3 Creating the S7 program The structure of the S7 program and the Motion Control instructions used are shown in chapter 2.1. Follow the steps listed in the table below for each drive. Table 2-5: Creating the S7 program No. Action Remark 1. Add a function block to the program. 1. Select a function block. 2. Set the desired address and programming language of the block. 3. Confirm with OK. 2. Go to the Instructions tab and open the Motion Control folder. 3. Add the desired instructions from the Motion Control folder to the function block that has been created in step 1 of this table. 4. Use the option of using multi-instances when adding the Motion Control instructions. Entry-ID: , V1.0, 03/

21 No. Action Remark 5. Call the function block with the Motion Control instructions in organization block OB1. 6. Save the configuration. - Entry-ID: , V1.0, 03/

2.4 Installation and commissioning 2.4.1 IP addresses and device names Table 2-6: IP addresses and device names Components Device name IP addresses SIMATIC S7-1516F-3 PN/DP PLC 192.168.0.

2 PG/PC settings To establish a connection between the components of the application example and your development system (PG/PC), you need to assign a fixed IP address to the network card of the

22 2.4 Installation and commissioning IP addresses and device names Table 2-6: IP addresses and device names Components Device name IP addresses SIMATIC S7-1516F-3 PN/DP PLC SINAMICS S120 CU320-2 PN CU_ PG/PC The network mask is always and no router is used PG/PC settings To establish a connection between the components of the application example and your development system (PG/PC), you need to assign a fixed IP address to the network card of the PG/PC. These settings are made in the Control Panel of the PG/PC. Table 2-7: PG/PC settings No. Action Remark 1. In the Control Panel, set the PG/PC interface. Select S7ONLINE (STEP 7) as access path of the application example and TCP/IP -> <network card used> as interface parameter assignment used. 2. Assign a free, fixed IP address x (e. g. x = 200) to the network card used and assign the subnet mask These settings are intended for accessibility of the components used in this application example. Entry-ID: , V1.0, 03/

2.4.3 Downloading from the project into the components Table 2-8: Downloading into the components No. Action Remark 1.

Double-click the ap14 file in the project folder just retrieved in order to open the project in TIA Portal. 3.

Select the S7 controller in the project tree. 2. Load the project into the controller. 5. Load the configuration of the SINAMICS drive: 1.

23 2.4.3 Downloading from the project into the components Table 2-8: Downloading into the components No. Action Remark 1. Retrieve the project _SINAMICS_S120_TIA _PROJ_v10.zip available as zip file into a local directory. 2. Double-click the ap14 file in the project folder just retrieved in order to open the project in TIA Portal. 3. If TIA Portal opens in the Portal view, go to the bottom left to switch to the Project view Download the program of the SIMATIC controller: 1. Select the S7 controller in the project tree. 2. Load the project into the controller. 5. Load the configuration of the SINAMICS drive: 1. Select the drive in the project tree. 2. Load the project into the drive. 2.5 Operation There are three options available for operation: Control panel of the motor in Startdrive, Axis control panel in the TIA Portal, Watch table in the control program. Entry-ID: , V1.0, 03/

2.5.1 Control panel of the motor If you do not want to transfer the control program, you can operate the motor via a control panel in the Startdrive configuration.

2 Axis control panel After having transferred the control program, the axis control panel of the technology object is available to you.

24 2.5.1 Control panel of the motor If you do not want to transfer the control program, you can operate the motor via a control panel in the Startdrive configuration. Figure 2-6: Control panel of the motor Axis control panel After having transferred the control program, the axis control panel of the technology object is available to you. It is located in the Commissioning folder of the technology object. The axis control panel offers the following operating modes: Referencing Set reference point Jogging Velocity / speed specification Relative positioning Absolute positioning Figure 2-7: Axis control panel Entry-ID: , V1.0, 03/

$Note For information on how to operate the axis control panel, refer to the S7-1500 Motion Control V3.0 in TIA Portal V14 Function Manual \3\. https://support.industry.siemens.$

25 Note For information on how to operate the axis control panel, refer to the S Motion Control V3.0 in TIA Portal V14 Function Manual \3\ MotionControlS120 watch table The MotionControlS120 watch table is intended for operating the Motion Control blocks. These blocks can be used for positioning the master axis. Moreover, the slave axis can be enabled as well using the MC_GEARIN instruction. Figure 2-8: MotionControlS120 watch table Note For information about the Motion Control blocks, refer to the TIA Portal Online Help and to the S Motion Control V3.0 in TIA Portal V14 Function Manual \3\. Entry-ID: , V1.0, 03/

26 3 Appendix 3 Appendix 3.1 Service and support Industry Online Support Technical Support Do you have any questions or need support? Siemens Industry Online Support offers access to our entire service and support know-how as well as to our services. Siemens Industry Online Support is the central address for information on our products, solutions and services. Product information, manuals, downloads, FAQs and application examples all information is accessible with just a few mouse clicks at Siemens Industry's Technical Support offers quick and competent support regarding all technical queries with numerous tailor-made offers from basic support to individual support contracts. Please address your requests to the Technical Support via the web form: Service offer Our service offer comprises, among other things, the following services: Product Training Plant Data Services Spare Parts Services Repair Services Field & Maintenance Services Retrofit & Modernization Services Service Programs & Agreements Detailed information on our service offer is available in the Service Catalog: Industry Online Support app Thanks to the "Siemens Industry Online Support" app, you will get optimum support even when you are on the move. The app is available for Apple ios, Android and Windows Phone. Entry-ID: , V1.0, 03/

27 3 Appendix 3.2 Links and literature Table 3-1: Links and literature No. \1\ Siemens Industry Online Support Topic \2\ Link to this entry page of this application example \3\ Function Manual for SIMATIC S S Motion Control V3.0 in the TIA Portal V14 \4\ List Manual for SINAMICS S120/S150 \5\ Commissioning Manual for SINAMICS S120 with Startdrive Change documentation Table 3-2: Change documentation Version Date Modifications V1.0 03/2017 First version Entry-ID: , V1.0, 03/

Configuration of an MRP ring with SIMOCODE and SIMATIC S SIMOCODE pro V PN, SIMATIC S Siemens Industry Online Support

Configuration of an MRP ring with SIMOCODE and SIMATIC S7-1500 SIMOCODE pro V PN, SIMATIC S7-1500 https://support.industry.siemens.com/cs/ww/en/view/109742280 Siemens Industry Online Support Siemens AG