User Manual Traversing Drive with DCC
SINAMICS DCC Traversing Drive V1.01
Application No.: A4027118-A0460
General information
Copyright Siemens AG 2009 All rights reserved
Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
SINAMICS DCC Traversing Drive
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.
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General information
SINAMICS DCC Traversing Drive
General information
Copyright Siemens AG 2009 All rights reserved
Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
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.
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.
CopyrightВ© 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 e-mail address:
mailto:applications.erlf.aud@siemens.com
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General information
SINAMICS DCC Traversing Drive
Applicable conditions
/ 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.
Copyright Siemens AG 2009 All rights reserved
Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
/ 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.
Qualified personnel
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
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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.
Core contents of this application
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
Copyright Siemens AG 2009 All rights reserved
Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
How the technological function is programmed or parameterized
How the example can be used as presentation/demonstration system
Scope of the document
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.
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Foreword
SINAMICS DCC Traversing Drive
Structure of the document
The documentation of this application is sub-divided into the following main
sections.
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Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
Section
Version 1.01
Description
Application 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.
Application example as
demonstration system
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.
Integrating the core function
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.
Program description
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.
Attachment
Here, you will find additional information – such as e.g.
references to literature, glossaries etc..
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Table of contents
SINAMICS DCC Traversing Drive
Table of contents
Copyright Siemens AG 2009 All rights reserved
Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
Application description ............................................................................................ 9
1
1.1
1.1.1
1.1.2
1.2
1.2.1
1.2.2
1.2.3
1.3
1.4
1.4.1
1.4.2
Basic information ............................................................................... 9
Prerequisites ..................................................................................... 9
Target group ...................................................................................... 9
Technical environment ....................................................................... 9
Objective and purpose of this application ........................................... 9
Task description ................................................................................ 9
Problem solution using the standard application................................. 9
Advantages of the standard application............................................ 10
Components included in the standard application............................. 10
Principle of operation of the application ............................................ 11
Schematic representation ................................................................ 11
Traversing arm data......................................................................... 11
2
2.1
2.2
Application functions ........................................................................ 13
Tasks that can be addressed using the core function ....................... 13
Characteristics of the core function .................................................. 13
3
3.1
Automation solution ......................................................................... 14
Hardware and software components required .................................. 14
Application example as demonstration system.................................................... 16
4
4.1
4.1.1
4.1.2
4.2
4.3
Installing the hardware and software ................................................ 16
Regarding your safety...................................................................... 16
Safety information and instructions .................................................. 16
Responsibilities of the operator ........................................................ 17
Installing the hardware and software ................................................ 18
Installing the application software .................................................... 19
5
5.1
5.1.1
5.1.2
5.2
5.2.1
5.2.2
5.2.3
5.2.4
Using the application example ......................................................... 20
Brief instructions on the demonstrating the example......................... 20
Structure overview ........................................................................... 20
Brief instructions .............................................................................. 20
Detailed operating instructions ......................................................... 22
Starting screen ................................................................................ 22
“Automatic” screen .......................................................................... 23
“Settings” screen ............................................................................. 24
“EPOS” screen ................................................................................ 25
Integrating the core function ................................................................................. 26
6
6.1
6.2
Program environment and interfaces ............................................... 26
Program structure ............................................................................ 26
Interfaces ........................................................................................ 27
7
7.1
7.2
7.3
7.4
7.4.1
7.4.2
7.4.3
Integration into the user program ..................................................... 28
Technology objects required ............................................................ 28
Preparation...................................................................................... 28
Integrating the core function............................................................. 32
Configuring examples ...................................................................... 34
Shorter sampling time ...................................................................... 34
Execution sequence ........................................................................ 34
Measures when the winder speed actual values fluctuate ................ 34
Program description .............................................................................................. 36
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Table of contents
SINAMICS DCC Traversing Drive
Copyright Siemens AG 2009 All rights reserved
Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
8
8.1
8.1.1
8.1.2
8.2
8.2.1
8.2.2
Program and function description..................................................... 36
DCC chart ....................................................................................... 36
Overview, function block .................................................................. 36
Parameter description...................................................................... 37
Input parameters ............................................................................. 37
Output parameters ........................................................................... 39
SIMATIC S7 Profibus interfaced ...................................................... 39
Control signals/setpoints .................................................................. 39
Feedback signals............................................................................. 43
9
9.1
9.1.1
9.1.2
9.2
Function description......................................................................... 46
DCC traversing program .................................................................. 46
Structure.......................................................................................... 46
DCC chart ....................................................................................... 46
Profibus communication in SIMATIC S7........................................... 48
10
10.1
10.2
10.3
Commissioning the function ............................................................. 48
Parameterization ............................................................................. 48
Test and fine setting ........................................................................ 50
Data coupling to SIMATIC ............................................................... 55
Appendix ................................................................................................................ 56
Version 1.01
11
11.1
11.2
General information on the application ............................................. 56
Scope of supply ............................................................................... 56
Revisions/Author ............................................................................. 56
12
Literature ......................................................................................... 56
13
Contact partner................................................................................ 57
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Application description
Basic information
SINAMICS Traversing
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).
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Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
The main performance data indicate the performance of this application.
1
Basic information
1.1
Prerequisites
1.1.1
Target group
The standard application is intended for all programmers and users that which to
quickly and simply implement traversing arm functionality using SINAMICS.
1.1.2
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
1.2.1
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.
1.2.2
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.
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Application description
Basic information
SINAMICS Traversing
1.2.3
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.
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Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
1.3
Components included in the standard application
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)
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Application description
Basic information
SINAMICS Traversing
1.4
Principle of operation of the application
1.4.1
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.
Copyright Siemens AG 2009 All rights reserved
Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
Fig. 1-1
1.4.2
Traversing arm data
A definition of the designations/names used is provided in the following text.
Winding width
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.
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Application description
Basic information
SINAMICS Traversing
Winding step
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
Acceleration distance is the distance that the traversing arm moves through from
the reversal point up until it reaches its final traversing velocity.
Waiting angle
Copyright Siemens AG 2009 All rights reserved
Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
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.
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Application description
Application functions
SINAMICS Traversing
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
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Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
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.
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Application description
Automation solution
SINAMICS Traversing
3
Automation solution
3.1
Hardware and software components required
Hardware components
Table 3-1
Copyright Siemens AG 2009 All rights reserved
Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
Component
Qty.
SINAMICS S120
training case
1
SIMATIC S7
1
Profibus cable
2
SIMATIC Field PG or
PC
1
Order No./MLFB
Note
6ZB2 480 0BA00
6GK1....
Standard software components
Table 3-2
Components
Version 1.01
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
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Application description
Automation solution
SINAMICS Traversing
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
Components
Note
This zipped file includes the
STEP 7 project.
Manual_SINAMICS_DCC_Traversing Drive_V1.01.pdf
This document.
Copyright Siemens AG 2009 All rights reserved
Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
DCC_Traverser_V101.zip
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Application example as demonstration system
Installing the hardware and software
SINAMICS Traversing
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.
Copyright Siemens AG 2009 All rights reserved
Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
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
4.1.1
Safety information and instructions
Pictogram, signals words and text
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.
Classification
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.
!
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.
!
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.
!
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.
Danger
Warning
Notice
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Application example as demonstration system
Installing the hardware and software
SINAMICS Traversing
4.1.2
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.
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.
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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.
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Application example as demonstration system
Installing the hardware and software
SINAMICS Traversing
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.
Installing the hardware
Please refer to Chapter 3.1 for the hardware components. Proceed according to
the following table for the hardware configuration:
Table 4-1
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Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
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.
The configuration/packaging guidelines for SINAMICS S120 and SIMATIC S7
must always be carefully observed.
Note
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.
This software should be installed
first.
2.
Install the STARTER/SCOUT software on your PC/PG.
Carefully follow the instructions for installing the program.
You must install DCC if you wish
to view or change the application
charts.
3.
Install the WinCC flexible ES/RT software on your PC/PG.
To do this, follow the instructions for installing the program.
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Application example as demonstration system
Installing the hardware and software
SINAMICS Traversing
4.3
Installing the application software
A description is given here on how to install the application example.
Table 4-3
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Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
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.
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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.
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Application example as demonstration system
Using the application example
SINAMICS Traversing
5
Using the application example
5.1
Brief instructions on the demonstrating the example
5.1.1
Structure overview
The basic operator structure of the application is shown in the following diagram.
Fig. 5-1
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Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
Welcome screen/Starting screen
Auto
5.1.2
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:
0.00mm
Winding Step:
Position B:
100.00mm
2000.00mm
Waiting angle:
40В°
Acceleration distance:
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.
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Application example as demonstration system
Using the application example
SINAMICS Traversing
You can trace the motion of the traversing arm and the winder in
STARTER/SCOUT (refer to Chapter 10.2).
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You can control all of the EPOS functions in the EPOS HMI screen form.
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Application example as demonstration system
Using the application example
SINAMICS Traversing
5.2
Detailed operating instructions
5.2.1
Starting screen
The starting screen is displayed each time that WinCC flexible Runtime starts.
Here, you can select the appropriate screen forms.
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Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
Fig. 5-2: Starting screen
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.
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Application example as demonstration system
Using the application example
SINAMICS Traversing
5.2.2
“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
Position,
left
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Jog in
pos. and
neg.
directions
Position,
right
Activates winder
simulation
Starts the
traversing arm
in the positive
direction
Simulated
winder
speed
Starts the
traversing arm
in the negative
direction
Act. position of the
traversing arm
Stops the
traversing arm
Calls the
AUTO screen
Calls the
settings screen
Calls the
EPOS screen
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 10.2.
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Application example as demonstration system
Using the application example
SINAMICS Traversing
5.2.3
“Settings” screen
Fig. 5-4: Screen: “Settings”
Acknowledge
fault
Winding step
Position, left
Position, right
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Waiting angle
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.
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Using the application example
SINAMICS Traversing
5.2.4
“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
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Axis enable
Jogging
Feedback signals
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 8.1.2 Parameter .
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Integrating the core function
Program environment and interfaces
SINAMICS Traversing
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
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Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
Fig. 6-1
HMI
SINAMICS S120
SIMATIC S7
SINAMICS DCC
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Integrating the core function
Program environment and interfaces
SINAMICS Traversing
6.2
Interfaces
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Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
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.
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Integration into the user program
SINAMICS Traversing
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”.
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Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
Fig. 7-1
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
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Integration into the user program
SINAMICS Traversing
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.
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Fig. 7-2: WinCC flexible import / export
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.
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Integration into the user program
SINAMICS Traversing
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Fig. 7-3
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=1 m 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.
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Integration into the user program
SINAMICS Traversing
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Fig. 7-4
Select the “free telegram configuration with BICO” Profibus telegram.
Fig. 7-5
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.
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Integration into the user program
SINAMICS Traversing
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Fig. 7-6: Script
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.
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Integration into the user program
SINAMICS Traversing
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.
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Fig. 7-8: DCC execution groups
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 65535 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.
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Integration into the user program
SINAMICS Traversing
7.4
Configuring examples
7.4.1
Shorter sampling time
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:
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Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
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 2000.0 s if you wish to set a
sampling time of 2ms - or to 1000.0 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.
7.4.2
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.
7.4.3
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).
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Integrating the core function
Integration into the user program
SINAMICS Traversing
Fig. 7-9: Unfavorable setpoint from the winder
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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.
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Program description
Program and function description
SINAMICS Traversing
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
8.1.1
Overview, function block
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Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
Fig. 8-1
In
r21500
Software version
Overview
Out
Control of the
end positions
DINT
Control of the
end positions
DINT
BOOL
BOOL
INT
Traversing arm
parameters
UINT
UINT
BOOL
Various
REAL
REAL
REAL
Version 1.01
p21501
Pos A
p21502
Pos B
p21503
Start direction
negative
p21504
Start direction
positive
p21505
Waiting angle
p21506
Winding step
p21507
Acceleration
distance
p21509
Target position
reached
p21510
Winder speed
p21511
Reference speed
p21512
Winder speed ext
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Program description
Program and function description
SINAMICS Traversing
BOOL
BOOL
REAL
Additional setting
parameters
REAL
BOOL
REAL
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DINT
INT
INT
MDI
INT
BOOL
BOOL
BOOL
BOOL
8.1.2
p21513
Reset Counter
p21514
Stop
r21520
Counter
INT
p21515
Time Opt
p21516
simulation winder
p21517
Select simulation
winder
p21518
Winder gear
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
DINT
r21602
velocity override
REAL
r21603
MDI acceleration
REAL
r21604
MDI deceleration
r21606
start
r21607
setup
r21608
position type
r21609
Transfer type
REAL
BOOL
BOOL
BOOL
BOOL
Parameter description
Input parameters
Table 8-1: Input parameters
Name
p21501
Pos A
p21502
Pos B
p21503
Start direction,
positive
p21504
Version 1.01
Data type
Initial value
Description
DINT
r2060[8]
Position, left.
DINT
r2060[10]
Position, right.
BOOL
r2092.0
Starts the traversing arm in the positive direction.
BOOL
r2092.1
Starts the traversing arm in the negative direction.
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Program description
Program and function description
SINAMICS Traversing
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Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
Name
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
p21600
p21611
Input MDI
position
p21612
Input velocity
override
p21613
Input MDI
acceleration
p21614
Input MDI
Version 1.01
Data type
Initial value
Description
INT
r2050[12]
Waiting angle in degrees
UINT
r2050[13]
Winding step [LU]
UINT
r2050[14]
Acceleration distance [LU]
BOOL
r2684.10
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
r2092.3
Resets the traversing counter
BOOL
r2092.2
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, .
DINT
p2691
Fixed velocity setpoint for MDI
DINT
r2060[4]
MDI signal from Profibus. When traversing
operation is de-activated, the signal is directly
connected to the corresponding MDI input.
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
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Program description
Program and function description
SINAMICS Traversing
Name
Data type
Initial value
Description
connected to the corresponding MDI input.
deceleration
BOOL
r2091.8
MDI signal from Profibus. When traversing
operation is de-activated, the signal is directly
connected to the corresponding MDI input.
BOOL
r2091.9
MDI signal from Profibus. When traversing
operation is de-activated, the signal is directly
connected to the corresponding MDI input.
BOOL
r2091.10
MDI signal from Profibus. When traversing
operation is de-activated, the signal is directly
connected to the corresponding MDI input.
BOOL
r2091.14
MDI signal from Profibus. When traversing
operation is de-activated, the signal is directly
connected to the corresponding MDI input.
p21616
Input Start
p21617
Input Setup
p21618
Input position
type
p21619
Input Transfer
type
Output parameters
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Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
Table 8-2: Output parameters
Name
Data type
r21500
r21520
Counter
r21601
MDI Position
r21602
velocity override
r21603
MDI
acceleration
r21604
MDI
deceleration
r21606
start
r21607
setup
r21608
position type
r21609
Transfer type
INT
Initial value
Description
________
Software version
________
Counter status of the traversing counter
________
Actual target position of the traversing arm
________
Velocity override of the traversing arm
________
Acceleration override of the traversing arm
________
Deceleration override of the traversing arm
________
Signal edge to set the MDI target position
________
Controls the MDI function, setup
________
Controls the MDI function, position type
________
Controls the MDI function, transfer type selection
DINT
REAL
REAL
REAL
BOOL
BOOL
BOOL
BOOL
8.2
SIMATIC S7 Profibus interfaced
8.2.1
Control signals/setpoints
All of those signals that are cyclically transferred from the send data block to the
drive are called control signals.
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Program description
Program and function description
SINAMICS Traversing
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 4.24.
The interface described in this application has the following structure:
Table 8-3: Process data
Assignment of the process data
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Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
PZD
PZD1
PZD2
PZD3
PZD4
PZD5
PZD6
PZD7
PZD8
PZD9
PZD10
PZD11
PZD12
PZD13
PZD14
PZD15
PZD16
Application control word 1
Application control word 2
Application control word 3
Velocity override for all modes (4000HEX = 100%)
Position setpoint in [LU]
Acceleration override for the direct setpoint input mode/MDI
Deceleration override for the direct setpoint input mode/MDI
Traversing arm, Pos A in [LU]
Traversing arm, Pos B in [LU]
Waiting angle [В°]
Winding step in [LU]
Acceleration distance in [LU]
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.
0
ON
1
CmdNo
OFF2
2
CmdNo
OFF3
3
4
ENC
RejTask
Version 1.01
Name
(Description of the HIGH signal level)
ON command
0 = OFF1 active
1 = ON
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
Enable controller enable inverter
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
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parameter
Function
chart
P840
2501
P844
2501
P848
2501
P852
P2641
2501
3616
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Program description
Program and function description
SINAMICS Traversing
Bit
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Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
5
6
7
8
9
10
11
12
Abbrev.
IntMStp
Name
(Description of the HIGH signal level)
1 = traversing request
(axis can be traversed)
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
Function
chart
P2640
3616
AckFlt
Jog1
Jog2
LB
Acknowledge fault
Jogging – signal source 1
Jogging – signal source 2
Life bit (control requested from PLC)
P2103
P2589
P2590
P854
2501
3610
3610
2501
JogInc
Jogging – jogging incremental:
0 = Endless traversing
1 = Traversing through the parameterized
distance
P2591
3610
SftLimAct
StpCamA
Acivates the software limit
Activates the stop output cam
P2582
3630
P2568
3630
13
14
15
Assignment of application control word 2
Table 8-5: Assignment of application control word 2
Bit
Abbrev.
0
1
RefStart
RefPSet
2
RefTyp
3
RefStDi
4
RefInpS
5
RefEdge
Version 1.01
Name
Referencing start
Set reference point
Note: Functions for motors with absolute
encoder only for non-adjusted encoders!
Referencing type selection
0 = Reference point approach
1 = Flying referencing
Homing (referencing) start direction
0 = positive start direction
1 = negative start direction
Referencing passive - input selection
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
Referencing passive - edge evaluation
Passive referencing: Sets the edge evaluation
0 : positive edge
10.01.2014
Drive
parameter
Function
chart
P2595
P2596
3612
3612
P2597
3612
P2604
3612
P2510
4010
P2511
4010
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Program description
Program and function description
SINAMICS Traversing
Bit
Abbrev.
Name
Drive
parameter
Function
chart
Copyright Siemens AG 2009 All rights reserved
Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
1 : negative edge
6
7
8
MdiStart
9
MdiSetup
10
MdiPsTyp
11
MdiPos
12
MdiNeg
13
MdiEdge
14
MdiTrTyp
Direct setpoint input/MDI – start
Starts the operating mode MDI / direct
setpoint input
Direct setpoint input/MDI – setup selection
Selects MDI mode, setting-up
0 = positioning
1 = setting-up
Direct setpoint input/MDI – positioning type
Positioning type
0 = relative positioning
1 = absolute positioning
Direct setpoint input/MDI – positive direction
Direction selection for setting-up – or absolute
positioning of rotary axes, in the positive
direction)
Direct setpoint input/MDI – negative direction
Direction selection for setting-up – or absolute
positioning of rotary axes, in the negative
direction
Direct setpoint input/MDI – transfer edge
Signal edge, setpoint transfer if MdiTyp = 0
Direct setpoint input/MDI – transfer type
Transfer type:
0 = Value transfer using 0
1 edge at
MdiEdge
1 signal : continuous setpoint transfer
P2647
3640
P2653
3620
P2648
3620
P2651
3620
P2652
3620
P2650
3620
P2649
3620
15
Assignment of application control word 3
Table 8-6: Assignment of application control word 3
Bit
Abbrev.
0
TrvStart
1
2
3
4
5
6
7
8
9
10
11
Name
Drive
parameter
Function
chart
P2631
3640
TrvBit0
TrvBit1
TrvBit2
TrvBit3
TrvBit4
TrvBit5
Traversing block – activate traversing task
(using the 0 1 signal edge)
Traversing block – block selection bit 0
Traversing block – block selection bit 1
Traversing block – block selection bit 2
Traversing block – block selection bit 3
Traversing block – block selection bit 4
Traversing block – block selection bit 5
P2625
P2626
P2627
P2628
P2629
P2630
3640
3640
3640
3640
3640
3640
Startright
Startleft
Stop
Reset
DCC: Start to position B
DCC: Start to position A
DCC: Stop traversing
DCC: Reset traversing counter
P21504
P21503
P21512
P21513
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Program description
Program and function description
SINAMICS Traversing
Bit
Abbrev.
Name
Drive
parameter
Function
chart
Counter
12
13
14
15
8.2.2
Feedback signals
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.
Table 8-7: Process data
Assignment of the process data
Copyright Siemens AG 2009 All rights reserved
Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
PZD
PZD1
PZD2
PZD3
PZD4
PZD5
PZD6
PZD7
PZD8
PZD9
PZD10
PZD11
PZD12
PZD13
PZD14
PZD15
PZD16
Application status word 1
Application status word 2
Application status word 3
Velocity actual value (this is referred to the reference speed p2000)
Note: 40000000HEX = 100%
Position actual value in [LU]
Traversing counter
Reserve
Reserve
Reserve
Reserve
Reserve
Reserve
Reserve
Reserve
Assignment of application status word 1
Table 8-8: Assignment of application status word 1
Bit
Abbrev.
0
1
2
RTS
RDY
IOP
3
4
Fault
NoOFF2Act
5
NoOFF3Act
Version 1.01
Name
Ready to power up / to start
Ready to operate
In operation (operation enabled)
Drive is powered-up (condition for selecting
the Epos operating mode
Fault present
OFF2 inactive
(partial condition for powering-up)
OFF3 inactive
(partial condition for powering-up)
10.01.2014
Drive
parameter
Function
chart
r899.0
r899.1
r899.2
2503
2503
2503
r2139.3
r899.4
2548
2503
r899.5
2503
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Program description
Program and function description
SINAMICS Traversing
Bit
Copyright Siemens AG 2009 All rights reserved
Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
6
7
8
Abbrev.
Name
Drive
parameter
Function
chart
PowInhbt
Alarm
Stndstill
Power ON inhibit active
r899.6
2503
Alarm / warning present
r2139.7
2548
|n_act| < speed threshold value 3 [p2161]
r2199.0
2537
This bit is used to detect standstill
9
LB_CR
Life bit control request
r899.9
2503
10
JogAct
Jogging active
r2094.01) 2460
11
RefAct
Reference point approach active
r2094.11) 2460
12
TrvBlAct
Traversing block active
r2094.21)
2460
r2094.31)
13
MdiPosAct
MDI positioning active
2460
In the direct setpoint input/MDI mode,
positioning is active
r2094.41)
MdiStupAct MDI setup active
2460
14
Setting-up is active in the direct setpoint/MDI
mode
FlyRefAct
Flying referencing active
r2684.1
3630
15
1) 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
Function
chart
0
ARFD
Reference point set
r2684.11
3612
1
2
3
4
5
6
CmdAct
TargPos
NoFlwErr
SftSwMinAct
SftSwPlsAct
StpCamMinAc
t
StpCamPlsAc
t
AckTrvBl
Traversing command active
Target position reached
Following error in tolerance
Software limit switch minus active
Software limit switch plus active
Stop cam minus active
r2684.15
r2684.10
r2684.8
r2683.6
r2683.7
r2684.13
3614
3635
4020
4025
3635
3635
Stop cam plus active
r2684.14
3630
Acknowledge traversing block activated
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.
Setpoint Static
Axis forwards
Axis backwards
Axis accelerating
Axis decelerating
Print mark outside outer window
Velocity limiting active
Velocity setpoint > p2572
r2684.12
3630
r2683.2
r2683.4
r2683.5
r2684.4
r2684.5
r2684.3
r2683.1
3616
3635
3635
3635
3635
3635
3614
7
8
9
10
11
12
13
14
15
SetPStatic
FWD
BWD
Accel
Decel
PrntMrkOut
VelctyLimit
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Program description
Program and function description
SINAMICS Traversing
Assignment of application status word 3
Table 8-10: Assignment, application status word 3
Bit
Name
Drive
parameter
Function
chart
AckTrvBit0
AckTrvBit1
AckTrvBit2
AckTrvBit3
AckTrvBit4
AckTrvBit5
TrvOut1
TrvOut2
Active traversing block bit 0
Active traversing block bit 1
Active traversing block bit 2
Active traversing block bit 3
Active traversing block bit 4
Active traversing block bit 5
Direct output 1 via traversing block
Direct output 2 via traversing block
r2670.0
r2670.1
r2670.2
r2670.3
r2670.4
r2670.5
r2683.10
r2683.11
3650
3650
3650
3650
3650
3650
3616
3616
14
TrckMode
PosSmCam1
Tracking mode active
Position actual value <= cam position 1
r2683.0
r2683.8
3635
4025
15
PosSmCam2
Position actual value <=cam position 2
r2683.9
4025
0
1
2
3
4
5
6
7
8
9
10
11
12
13
Copyright Siemens AG 2009 All rights reserved
Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
Abbrev.
Version 1.01
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Program description
Function description
SINAMICS Traversing
9
Function description
9.1
DCC traversing program
9.1.1
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.
Fig. 9-1: Structure of the application
Copyright Siemens AG 2009 All rights reserved
Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
Waiting angle;
Traversing
Counter
Traversing
Control
Setpoints
Traversing start;
Switch between
right and left
Setpoints
Winderspeed
Parameters
Acceleration
distance;
Winding step
Setpoint
Acceleration override
Deceleration override
Velocity override
MDI
MDI data from Profibus
9.1.2
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).
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Program description
Function description
SINAMICS Traversing
Page 2:
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.
Copyright Siemens AG 2009 All rights reserved
Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
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
min
360 deg rees
60 s
360 deg rees
60000ms
360
6000
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.
Page 3:
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:
v2
2 s
a : Acceleration
a
v : Velocity
s : Acceleration dis tan ce
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Program description
Commissioning the function
SINAMICS Traversing
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.
Copyright Siemens AG 2009 All rights reserved
Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
9.2
Profibus communication in SIMATIC S7
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.
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Program description
Commissioning the function
SINAMICS Traversing
Fig. 10-1
Reference the drive.
Copyright Siemens AG 2009 All rights reserved
Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
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
Fig. 10-3: “Settings” screen form
“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”.
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Program description
Commissioning the function
SINAMICS Traversing
The waiting angle is set under “Waiting angle”.
10.2
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.
Limits of the reference parameters
Copyright Siemens AG 2009 All rights reserved
Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
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
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Program description
Commissioning the function
SINAMICS Traversing
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.
Copyright Siemens AG 2009 All rights reserved
Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
Fig. 10-5: Limits
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).
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Program description
Commissioning the function
SINAMICS Traversing
Copyright Siemens AG 2009 All rights reserved
Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
Fig. 10-6 Screen form: “Auto”
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.
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Program description
Commissioning the function
SINAMICS Traversing
Fig. 10-8: Waiting angle
Copyright Siemens AG 2009 All rights reserved
Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
Read the angle that the traversing arm moves through. In our particular case,
this is 39590 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.
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Program description
Commissioning the function
SINAMICS Traversing
Fig. 10-10: Winding step
Copyright Siemens AG 2009 All rights reserved
Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
In this example, 100380LU can be read-off; this corresponds to a winding step
of 100.38 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. 10-11: Wound roll width
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Program description
Commissioning the function
SINAMICS Traversing
10.3
Data coupling to SIMATIC
The traversing arm as well as the complete EPOS functionality can be addressed
via SIMATIC S7. The following points must be observed to implement automatic
operation:
Copyright Siemens AG 2009 All rights reserved
Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
When starting the traversing arm, it must be ensured that initially all faults are
acknowledged. The axis enable must first be switched-in and then the traversing
arm started. When stopping, the traversing arm should first be stopped and after
the traversing arm has come to a standstill, the axis enable should be withdrawn.
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Appendix
SINAMICS Traversing
Appendix
11
General information on the application
11.1
Scope of supply
The “Traversing arm in SINAMICS” package comprises:
SIMATIC project
Documentation
11.2
Revisions/Author
Table 11-1: Revisions/Author
Copyright Siemens AG 2009 All rights reserved
Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
Version
12
Date/Revision
Author
First generated
David Königs
V1.0
20.03.2008 / Release
Stefan Gumbrecht
V1.1
29.04.2008 / Documentation
Stefan Gumbrecht
Literature
Literature references
This list is in no way complete and only reflects a selection of suitable literature
(references).
Table 12-1
Title
Version 1.01
/1/
SINAMICS S120 List Manual
/2/
SINAMICS S120 Commissioning Manual
/3/
Manual: DCC_programming
/4/
Application: Traversing arm in SIMOTION
/5/
Application: Traversing drive with MASTERDRIVES
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Appendix
SINAMICS Traversing
13
Contact partner
Application center
SIEMENS
Siemens AG
Automation & Drives
A&D MC PM APC
Frauenauracher Str. 80
91056 Erlangen
Fax:
09131-98-1297
Copyright Siemens AG 2009 All rights reserved
Manual_SINAMICS_DCC_Traversing Drive_V1.01.doc
mailto: applications.erlf.aud@siemens.com
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