EZ Positioning with SINAMICS S120 Testing Application

Automation and Drives

EZ Positioning with SINAMICS S120

Testing Application

S7 Control in Sinamics Drives

Production Machines


For internal use only

Testing Application

Starter Offline Configuration

Step 7 Programming

Starter OnlineConfiguration

Step 7 Hardware Configuration

Introduction

Verify Control Word One

Use VAR table in S7 Manager with Starter Diagnostics

Open the VAR Table Online*• Open Starter Online• Right Click on False of Bit 0.0 and force to 1.

*VAR Table included is addressed to DB120 if your test is for different DB you will need to edit VAR table


Production Machines



Testing Application


Step 7 Programming



Introduction

Verify Control Word One

Open Control Logic in Starter and Observe Bit 0• Toggle Bit O ON / OFF with VAR Table• Off2, OFF3, and Enable are set Initially to 1 in the DB• Initial Value can be changed by user• OFF2 is Coast to Stop• OFF3 is Quick Ramp Down Stop• Enable is Pulse Enable to Drive


Production Machines



Testing Application


Step 7 Programming



Introduction

Notes on Control Word One

Sequence order for Bits during Operation• Bit 10 is High for PLC Control• Off2, OFF3, and Enable are set to 1• OFF1 (Bit 0) Transitions to 1 and remains high• Control Word 1 is needed for Operation


Production Machines



Testing Application


Step 7 Programming



Introduction

Jogging Axis

Use the VAR Table to Jog the axis• Control Word 1 Bit 0 must be ON for Operation• Set Bit 4.0 (Jog1) to True• Override must be Changed to set Value (E.g.

4000 Hex)• Initial DB value for Accel and Decel is 4000 Hex• Use Bit 62.1 for Jog 2


Production Machines



Testing Application


Step 7 Programming



Introduction

Verify Jogging of Axis

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

Folder


Production Machines



Testing Application


Step 7 Programming



Introduction

Verify Jogging of Axis

Check Both Analog and Digital Setpoints• Check Digital Setpoints and Checkback with Radio

Buttons• Check Analog Setpoints to see Override Velocity

value• Open Diagnostics Folder for more information• Incremental Jogging can be set with a bit in the

Instance DB


Production Machines



Testing Application


Step 7 Programming



Introduction

Jogging Setpoints

Click on Configure Jog Setpoints • Adjust setpoints if needed


Production Machines



Testing Application


Step 7 Programming



Introduction

Homing Axis for Absolute Value Encoders* *Homing for Incremental Encoders on next Slide• Jog the Axis to the Desired Home Position • Turn off JOG and ON bits in the VAR chart• Open the Homing Folder (Basis Positioner / Homing)• Click on the Homing Graphic for Active and Passive 1• Choose Active Homing 2• Perform Absolute Value Calibration

12

3


Production Machines



Testing Application


Step 7 Programming



Introduction

Incremental Encoder Homing – Note: Exercise uses absolute encoder

Select a Digital Input for Proximity Signal• Select a Digital Input for External Zero Mark


Production Machines



Testing Application


Step 7 Programming



Introduction

Incremental Encoder Homing

Test digital Input from Switch Box• Verify the Operation of the Digital Input for

Zero Mark


Production Machines



Testing Application


Step 7 Programming



Introduction

Homing Axis for Incremental Encoders

• Start Drive with DB Bit 0.0• Start Referencing with DB bit 4.1• Positive Direction for Homing is DB Bit 65.3 = 0• Force Drive External Zero Marker in Previous Screen• Drive Should stop and have Homing Position Set


Production Machines



Testing Application


Step 7 Programming



Introduction

Setup Mode – Direct Setpoint Spec. / MDIUse VAR Table to Run drive is Setup Mode

Sequence for Setup Mode1. Set Control Word 1 in Operation (OFF1)2. Bit 10.1 MDI_Setup Bit = 13. Choose a Direction Fwd or Backward (10.3 or 10.4)4. Bit 10.7 Intermediate_Stop = 15. Bit 10.0 MDI_Start = 16. Bit 10.5 Edge_Trigger = 1 (Positive transition)


Production Machines



Testing Application


Step 7 Programming



Introduction

Setup Mode – Direct Setpoint Spec. / MDIUse Direct Setpoint Specification / MDI Folder in

Starter• Check the Analog and Digital Signals during Setup / MDI

Configure MDI Positioning Velocity Open Configure MDI Fixed Setpoints


Production Machines



Testing Application


Step 7 Programming



Introduction

MDI Positioning - Relative

Use VAR Table to Run drive is Relative Positioning

Sequence for Relative Positioning1. Set Control Word 1 in Operation (OFF1)2. Bit 10.1 MDI_Setup Bit = 03. Bit 10.2 Position_Type = 0 (Relative)4. Bit 10.7 Intermediate_Stop = 15. Bit 10.0 MDI_Start = 16. MDI Velocity Override = Desired Override7. MDI Position DB Double Word 6 = Desired Position Move (Relative)8. Bit 10.5 Edge_Trigger = 1 (Positive transition)


Production Machines



Testing Application


Step 7 Programming



Introduction

MDI Positioning Relative

Use Direct Setpoint Specification / MDI Folder in Starter

• Check the Analog and Digital Signals during Setup / MDI

Note Positive Edge Required for Relative Positioning


Production Machines



Testing Application


Step 7 Programming



Introduction

MDI Positioning – Absolute

Use VAR Table to Run drive is Absolute PositioningSequence for Absolute Positioning1. Set Control Word 1 in Operation (OFF1)2. Bit 10.1 MDI_Setup Bit = 03. Bit 10.2 Position_Type = 1 (Absolute)4. Bit 10.7 Intermediate_Stop = 15. Bit 10.0 MDI_Start = 16. MDI Velocity Override DB Word 2 = Desired Override7. MDI Position DB Double Word 6 = Desired Position8. Bit 10.5 Edge_Trigger or 10.6 Constant_Trigger can be Used9. Note: Axis will move if new position given and Constant Trigger

used


Production Machines



Testing Application


Step 7 Programming



Introduction

MDI Positioning Absolute

Use Direct Setpoint Specification / MDI Folder in Starter

• Check the Analog and Digital Signals during Setup / MDI

Note Edge Type Trigger or Continuous can be used for Absolute Positioning


Production Machines



Testing Application


Step 7 Programming



Introduction

Traversing Block

Set Up Traversing Block in Starter• Open Traversing Blocks Editor under Traversing

Blocks Folder• See Next page for Block Editor


Production Machines



Testing Application


Step 7 Programming



Introduction

Traversing Block

Set Up Traversing Block in Starter• Edit a few Blocks for Testing –See Example Below• Blocks can be continuous or Single Block Execution• Note the Advance Field for type of Execution• In Job Field - Value of Wait or Go To (Block #)

Possible


Production Machines



Testing Application


Step 7 Programming



Introduction

Traversing Blocks

Use VAR Table to Run Traversing BlocksSequence for Traversing1. Set Control Word 1 in Operation (OFF1)2. Bit 10.0 MDI_Start = 0 3. Bit 10.7 Intermediate Stop = 14. Bit 64.7 Traverse Start5. DB Word 66 Traversing Bit to Start (E.g. = Block 1)


Production Machines



Testing Application


Step 7 Programming



Introduction

FB 120 Diagnostics

Diagnostics Mentioned in the VAR Table• These Bits and Words can be used in PLC Logic


Production Machines



Testing Application


Step 7 Programming



Introduction

FB 120 Block View

Documents

EZ Positioning with SINAMICS S120 Testing Application