Getting started with SINAMICS V90 PN on S7-1500 Motion Control SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual 10/2018 A5E45778869B AB 1 Configuring drives 2 Alarms and parameters 3 Legal information Warning notice system This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are graded according to the degree of danger. DANGER indicates that death or severe personal injury will result if proper precautions are not taken. WARNING indicates that death or severe personal injury may result if proper precautions are not taken. CAUTION indicates that minor personal injury can result if proper precautions are not taken. NOTICE indicates that property damage can result if proper precautions are not taken. If more than one degree of danger is present, the warning notice representing the highest degree of danger will be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to property damage. Qualified Personnel The product/system described in this documentation may be operated only by personnel qualified for the specific task in accordance with the relevant documentation, in particular its warning notices and safety instructions. Qualified personnel are those who, based on their training and experience, are capable of identifying risks and avoiding potential hazards when working with these products/systems. Proper use of Siemens products Note the following: WARNING Siemens products may only be used for the applications described in the catalog and in the relevant technical documentation. If products and components from other manufacturers are used, these must be recommended or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and maintenance are required to ensure that the products operate safely and without any problems. The permissible ambient conditions must be complied with. The information in the relevant documentation must be observed. Trademarks All names identified by (R) are registered trademarks of Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner. Disclaimer of Liability We have reviewed the contents of this publication to ensure consistency with the hardware and software described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the information in this publication is reviewed regularly and any necessary corrections are included in subsequent editions. Siemens AG Division Digital Factory Postfach 48 48 90026 NURNBERG GERMANY A5E45778869B AB 12/2018 Subject to change Copyright (c) Siemens AG 2016 - 2018. All rights reserved Table of contents 1 Getting started with SINAMICS V90 PN on S7-1500 Motion Control...........................................................5 1.1 1.1.1 1.1.2 1.1.3 1.1.4 Fundamental safety instructions..............................................................................................5 General safety instructions.......................................................................................................5 Security information.................................................................................................................5 Note regarding the general data protection regulation.............................................................6 Danger to life due to software manipulation when using removable storage media................6 1.2 1.2.1 1.2.2 1.2.3 Introduction..............................................................................................................................6 Drive system - Overview..........................................................................................................6 "Getting started" objectives......................................................................................................7 Sample project.........................................................................................................................8 1.3 1.3.1 1.3.2 1.3.3 Prepare the configuration.........................................................................................................9 Requirements...........................................................................................................................9 Restoring factory settings.........................................................................................................9 Result of the preparations......................................................................................................10 1.4 1.4.1 1.4.2 1.4.3 Create a project......................................................................................................................10 Overview................................................................................................................................10 Create new project.................................................................................................................10 Result in the sample project...................................................................................................11 1.5 1.5.1 1.5.2 1.5.3 1.5.4 Creating devices....................................................................................................................12 Adding devices from the hardware catalog............................................................................12 Connecting devices................................................................................................................13 Operate devices in isochronous mode...................................................................................14 Result in the sample project...................................................................................................15 1.6 1.6.1 1.6.2 1.6.3 1.6.4 1.6.5 1.6.6 1.6.7 Configuring and optimizing a SINAMICS V90 PN..................................................................15 Overview................................................................................................................................15 Connect online.......................................................................................................................15 Checking drive configuration..................................................................................................16 Performing an optimization....................................................................................................17 Loading the optimized data from the device..........................................................................19 Saving data in the drive..........................................................................................................19 Result in the sample project...................................................................................................19 1.7 1.7.1 1.7.2 1.7.3 1.7.4 1.7.5 Configure the axis..................................................................................................................20 Overview................................................................................................................................20 Technology object axis...........................................................................................................20 Creating an axis.....................................................................................................................20 Configuring the hardware interface........................................................................................21 Result in the sample project...................................................................................................25 1.8 Going online with devices......................................................................................................25 1.9 1.9.1 1.9.2 1.9.3 Test the axis with the axis control panel................................................................................26 Overview................................................................................................................................26 Working with the axis control panel........................................................................................27 Result in the sample project...................................................................................................28 SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB 3 Table of contents 2 3 Configuring drives.......................................................................................................................................29 2.1 Drives in the hardware catalog...............................................................................................29 2.2 2.2.1 2.2.2 2.2.3 2.2.4 2.2.5 2.2.6 Parameters.............................................................................................................................30 Overview................................................................................................................................30 Compare values.....................................................................................................................30 Setting parameters.................................................................................................................31 Motors and encoders.............................................................................................................31 Encoder types........................................................................................................................32 Brake control..........................................................................................................................34 2.3 2.3.1 2.3.2 2.3.3 2.3.4 2.3.5 2.3.6 2.3.7 2.3.8 2.3.9 Commissioning.......................................................................................................................36 Overview................................................................................................................................36 Control panel..........................................................................................................................36 Using the control panel..........................................................................................................37 Drive control panel and axis control panel.............................................................................39 Optimization...........................................................................................................................39 Optimization phases...............................................................................................................40 Performing an optimization....................................................................................................41 Loading the optimized data from the device..........................................................................43 Device replacement in the hardware configuration................................................................43 2.4 2.4.1 2.4.2 2.4.3 2.4.4 2.4.5 2.4.6 Diagnostics.............................................................................................................................44 General..................................................................................................................................44 Active messages....................................................................................................................45 Message history.....................................................................................................................46 Save/reset..............................................................................................................................46 Setting the time of day...........................................................................................................49 Current values........................................................................................................................51 2.5 2.5.1 2.5.1.1 2.5.1.2 2.5.2 2.5.2.1 2.5.2.2 Extended functions.................................................................................................................52 Torque control via PROFIdrive supplementary telegram.......................................................52 Overview................................................................................................................................52 Configuring the supplementary telegram for torque control...................................................53 Automatically synchronizing the drive object with technology object offline..........................56 Overview................................................................................................................................56 Automatically synchronizing the drive object with technology object offline..........................57 Alarms and parameters..............................................................................................................................61 3.1 SINAMICS V90 PN CU alarms..............................................................................................61 3.2 SINAMICS V90 PN drive alarms............................................................................................61 3.3 SINAMICS V90 PN CU parameters.......................................................................................61 3.4 SINAMICS V90 PN drive parameters....................................................................................61 Index...........................................................................................................................................................63 4 SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB Getting started with SINAMICS V90 PN on S7-1500 Motion Control 1.1 Fundamental safety instructions 1.1.1 General safety instructions 1 WARNING Danger to life if the safety instructions and residual risks are not observed The non-observance of the safety instructions and residual risks stated in the associated hardware documentation can result in accidents with severe injuries or death. Observe the safety instructions given in the hardware documentation. Consider the residual risks for the risk evaluation. WARNING Danger to life caused by machine malfunctions caused by incorrect or changed parameterization Incorrect or changed parameterization can cause malfunctions on machines that can result in injuries or death. Protect the parameterization (parameter assignments) against unauthorized access. Respond to possible malfunctions by applying suitable measures (e.g. EMERGENCY STOP or EMERGENCY OFF). 1.1.2 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 constitute one element of such a concept. Customers are responsible for preventing unauthorized access to their plants, systems, machines and networks. Such systems, machines and components should only be connected to an enterprise network or the internet if and to the extent such a connection is necessary and only when appropriate security measures (e.g. firewalls and/or network segmentation) are in place. SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB 5 Getting started with SINAMICS V90 PN on S7-1500 Motion Control 1.2 Introduction For additional information on industrial security measures that can be implemented, please visit (https://www.siemens.com/industrialsecurity). Siemens' products and solutions undergo continuous development to make them more secure. Siemens strongly recommends that product updates are applied as soon as they are available and that the latest product versions are used. Use of product versions that are no longer supported, and failure to apply the latest updates may increase customers' exposure to cyber threats. To stay informed about product updates, subscribe to the Siemens Industrial Security RSS Feed visit (https://www.siemens.com/industrialsecurity). 1.1.3 Note regarding the general data protection regulation Siemens observes the principles of data protection, in particular the principle of data minimization (privacy by design). For this product this means: The product does not process / store any personal data, only technical functional data (e.g. time stamp). If the user links this data with other data (e.g. shift plans) or stores personal data on the same medium (e.g. hard disk) and thus establishes a personal reference, the user must ensure compliance with data protection regulations. 1.1.4 Danger to life due to software manipulation when using removable storage media WARNING Danger to life due to software manipulation when using removable storage media The storage of files on removable storage media involves a high risk of infection, e.g. via viruses or malware. Incorrect parameter assignment can cause machines to malfunction, which can lead to injuries or death. Protect the files on removable storage media against harmful software through appropriate protective measures, e.g. virus scanners. 1.2 Introduction 1.2.1 Drive system - Overview This document describes the engineering of a SINAMICS V90 PN integrated in the TIA Portal. This engineering can be installed later with the HSP 0185 hardware support package. SINAMICS V90 PN with this engineering can be operated only on a technology object (TO) for the Axis type of a SIMATIC S7-1500 and must be interconnected with this via PROFINET. 6 SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB Getting started with SINAMICS V90 PN on S7-1500 Motion Control 1.2 Introduction Configuration and parameter assignment The TIA Portal is available for the configuration and parameter assignment of the SINAMICS V90 PN drive system. With the TIA Portal and SINAMICS V90 PN, you can perform the following tasks, for example: Create a project. Add the drive system to the project and interconnect it with a higher-level controller. Configure the drives (selection of the variants). Create a technology object. Go online on the drive and test the parameter assignment via the axis control panel. Perform diagnostics when an error occurs. User interface The graphic user interface provides support during the configuration and parameter assignment: Select the drive in the hardware catalog. In the "Network view", interconnect the drive with a higher-level controller and assign parameters for the communication via PROFINET. In online mode, test the drive with the drive control panel and load the parameter assignment to the drive. Further information at a glance Getting Started SINAMICS V90 PROFINET, SIMOTICS S-1FL6 Getting Started (https:// support.industry.siemens.com/cs/de/en/view/109737879) Device documentation SINAMICS V90 PN / SIMOTICS S-1FL6 operating instructions (https:// support.industry.siemens.com/cs/de/en/view/109737880) 1.2.2 "Getting started" objectives "Getting Started" provides an introduction to configuring SINAMICS V90 PN in conjunction with a technology object Axis of a SIMATIC S7-1500 in the TIA Portal Engineering System. You create a simple sample project by performing the typical optimization and configuration steps for the device, drive and axis configuring. You become acquainted with the most important tools that the TIA Portal provides for the configuring, commissioning and diagnostics of the SINAMICS V90 PN. SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB 7 Getting started with SINAMICS V90 PN on S7-1500 Motion Control 1.2 Introduction 1.2.3 Sample project Create a simple sample project based on "Getting Started". Configuration steps Preparing the configuration If necessary, restore the factory settings (Page 9) for the devices. You configure the interface for the network communications (Page 21) of the PG/PC with SINAMICS V90 PN and SIMATIC S7-1500. Creating a project, configuring the devices and the network communications with the PG/PC Create a project (Page 10). Create SINAMICS V90 PN and SIMATIC S7-1500 (Page 12) and define the communications between the PG/PC and devices (Page 13). Configuring SIMATIC S7-1500 and the technology object Positioning axis Configure a SIMATIC S7-1500 controller (Page 15). Define an axis (Page 20). Interconnect the axis with the drive (Page 21). Commissioning and optimizing a drive Commission the drive and perform the optimization (Page 17). Test the axis with the axis control panel (Page 26). Figure 1-1 8 SINAMICS V90 PN on S7-1500 Motion Control SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB Getting started with SINAMICS V90 PN on S7-1500 Motion Control 1.3 Prepare the configuration 1.3 Prepare the configuration 1.3.1 Requirements Device requirements You require the following components to create the sample project: SINAMICS V90 PN with a 1FL6 motor SIMATIC S7-1500 PG/PC with free Ethernet interface TIA Portal Engineering System as of V14 with the associated HSP 0185 (SINAMICS V90 PN) Preparing the system Your system is prepared for configuring with the TIA Portal: The hardware is preassembled and wired. The latest firmware of the V90 PN is available. PG/PC is connected directly with the PROFINET interface of the controller (S7-1500) via the Ethernet line. TIA Portal (at least V14) is installed on the PG/PC. HSP 0185 (SINAMICS V90 PN) is installed on the PG/PC. The TIA Portal is open. The portal view is open on the PG/PC screen. 1.3.2 Restoring factory settings The reset to the factory settings is not normally necessary. If the current settings of the drive are not known or the settings cause errors that can no longer be reproduced, you can restore the factory settings of the drive. You so restore the default parameters. If required you can restore the factory settings of the drive with "Online & diagnostics" > "Save/ reset". The following parameters are not affected by the factory settings: p8920[0...239] PN: Name of station p8921[0...3] PN: IP address of station p8922[0...3] PN: Default gateway of station p8923[0...3] PN: Subnet mask of station If necessary, also reset these interface parameters to the factory settings via "Online & Diagnostics" > "Functions" > "Reset interface parameters". SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB 9 Getting started with SINAMICS V90 PN on S7-1500 Motion Control 1.4 Create a project See also Save/reset (Page 46) 1.3.3 Result of the preparations The devices are prepared and the requirements have been checked. If necessary, the devices are reset to the factory settings. The requirements for online communication are satisfied. 1.4 Create a project 1.4.1 Overview In this "Getting started" section, you create the "Sample_1" sample project in the TIA Portal. All of the subsequent configuring steps refer to this sample project. 1.4.2 Create new project After opening the TIA Portal, you find yourself in the portal view. The portal view offers a taskoriented view of the tools, and provides the basic functions for the individual task areas. 10 SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB Getting started with SINAMICS V90 PN on S7-1500 Motion Control 1.4 Create a project To create a new project You begin a new configuring by creating a new project in the TIA Portal. 1. Select "Start" > "Create new project" in the portal view navigation. The "Create new project" dialog opens. Figure 1-2 Create project 2. Enter the project name at "Project name", e.g. "Sample_1". 3. Enter the project location at "Path". The default path is already set. 4. Confirm with "Create". Your project is now created. 1.4.3 Result in the sample project The sample project is created in the TIA Portal. You are in the portal view of the TIA Portal. SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB 11 Getting started with SINAMICS V90 PN on S7-1500 Motion Control 1.5 Creating devices 1.5 Creating devices 1.5.1 Adding devices from the hardware catalog To add devices directly from the hardware catalog: 1. Open the project view of the TIA Portal by clicking the "Open project view" button and double-click "Devices and networks" in the Project Navigator. The network view opens. The hardware catalog appears on the right-hand side. 2. Select an appropriate controller (S7-1500) from "Controller" > "CPU" in the hardware catalog and drag it with drag-and-drop to the network view. 3. Select an appropriate SINAMICS V90 PN from "SINAMICS drives" in the hardware catalog and drag it with drag-and-drop to the network view. Result Both devices are now in the network view. Cyclic data exchange Telegram 105 will be added automatically when the drive is created. If necessary, you can select a different telegram from "Properties" > "General" > "Cyclic data exchange". Configuring the hardware interface (Page 21) describes how you use the telegram. The cyclic data exchange has not yet been parameterized at this time. This is set automatically after creating a positioning axis / synchronous axis and assigning the drive for the axis. The sequence with which you add devices does not matter. Motor selection The creation of the drive specifies the motor selection as the default setting. Further information is available at Setting parameters (Page 31). 12 SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB Getting started with SINAMICS V90 PN on S7-1500 Motion Control 1.5 Creating devices 1.5.2 Connecting devices After adding the drive, it must first be assigned to an IO Controller or to a PLC. This automatically makes the assignment to an appropriate subnet. Provided no subnet has been assigned the drive, it will be displayed as "not assigned device" in the Project Navigator (PNV). The nodes of a subnet form a PROFINET IO system. To synchronize the PROFINET IO devices, a sync domain is also required. The sync domain assures that all nodes are synchronized. The creation of the subnet creates a new sync domain. Assign the drive to the controller. Click the "Not assigned" link in the network view and select an interface (PLC_1.PROFINET-interface_1) to which you assign the drive. Figure 1-3 Assigning a drive Result After assigning the drive, a sync domain and a PROFINET IO system are created automatically. Figure 1-4 The drive is assigned SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB 13 Getting started with SINAMICS V90 PN on S7-1500 Motion Control 1.5 Creating devices Automatic generation of the IP addresses The default IP address device setting is 0.0.0.0. When creating a device in the TIA Portal, a new IP address is generated by the TIA Portal and the appropriate subnet mask set. You can see this in the "General" > "Ethernet addresses" tab. Both the controller and the drive receive the same IP addresses (e.g. 192.168.0.1) and subnet mask (255.255.255.0). This means no communication is possible. Figure 1-5 Not connected devices Because the IP addresses are adapted automatically when connecting the devices in the network view or assigning the drive to the controller, a valid combination is set automatically. The drive receives a new IP address, e.g. 192.168.0.2. Figure 1-6 1.5.3 Connected devices Operate devices in isochronous mode Use the isochronous PROFINET interface X150 on the V90 PN and the PROFINET interface X1 on the controller. Switch to the topology view and connect the appropriate interface ports on the drive with the interface on the controller per drag-and-drop. 14 SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB Getting started with SINAMICS V90 PN on S7-1500 Motion Control 1.6 Configuring and optimizing a SINAMICS V90 PN 1.5.4 Result in the sample project The devices have been created. The Ethernet addresses have been defined and the topology configured. The drive is stored in the "Not grouped devices" folder in the Project Navigator. 1.6 Configuring and optimizing a SINAMICS V90 PN 1.6.1 Overview The following step of the example concerns both the optimization of the drive in conjunction with an S7-1500 controller and also with a drive not assigned to any controller. 1.6.2 Connect online The drive is connected with the controller If the drive is connected with the controller via isochronous interfaces, it goes into cyclic operation automatically in accordance with the wiring and configuration. Establish an online connection: 1. Select the drive in the Project Navigator. 2. To do this, click the button. 3. Enter the PG/PC interface type and the PG/PC interface in the "Connect online" window. 4. Select "PN/IE_1" from "Connection with interface/subnet". 5. Click "Start search". SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB 15 Getting started with SINAMICS V90 PN on S7-1500 Motion Control 1.6 Configuring and optimizing a SINAMICS V90 PN Figure 1-7 "Going online" window The compatible nodes in the target subnet appear after a successful search. Select the found device and click "Connect". 1.6.3 Checking drive configuration In online mode, check the drive settings, especially the settings for motor and encoder type. 1. In the drive settings, open the dialog "Parameter" > "Motor and encoder". 2. Make the settings for your deployed motor under "Motor". 3. If necessary, modify additional parameters, e.g. Basic settings or Brake control. 4. Load the configuration to the device. Note The drive configuration has to be checked before starting or optimizing the drive. 16 SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB Getting started with SINAMICS V90 PN on S7-1500 Motion Control 1.6 Configuring and optimizing a SINAMICS V90 PN 1.6.4 Performing an optimization Optimize the drive by performing a turning measurement with coupled load. The appropriate procedure is described in the following section. The "Optimization" window is opened from "Drive" > "Commissioning" > "Control panel / optimization" in the Project Navigator; select the second tab at the top right. 1. First fetch master control. 2. Configure the settings and, if necessary, the extended settings. Set the maximum motion angle for each direction manually (phase 2 of the measurement). We recommend that you enter 360 degrees manually. Note When setting the maximum motion angle, consider how the axis should move with coupled load. 3. Click the "Start optimization" button. The turning measurement is performed. 4. Return the master control after the successful optimization. 5. Load the data to the drive to save the settings permanently. WARNING Danger for persons and machinery caused by a turning motor. The motor must be able to turn freely by +/-720 degrees for incremental encoders. SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB 17 Getting started with SINAMICS V90 PN on S7-1500 Motion Control 1.6 Configuring and optimizing a SINAMICS V90 PN Figure 1-8 Optimization Result of the optimization After performing the optimization, the new and old values are displayed as follows. The new values are transferred automatically unless you reset them to their original values by clicking the button at the bottom in the screen. After checking the values, the data still needs to be loaded from the device (Page 19). Figure 1-9 Result of the optimization See also Optimization (Page 39) 18 SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB Getting started with SINAMICS V90 PN on S7-1500 Motion Control 1.6 Configuring and optimizing a SINAMICS V90 PN 1.6.5 Loading the optimized data from the device After the optimization, the optimized values are located in the volatile memory on the device. You can change the online value directly and then copy it to the drive. The actual value can also be changed for directly editable parameters. The change is transferred directly to the drive. See also Compare values (Page 30) 1.6.6 Saving data in the drive The online values are located in the volatile work memory of the drive whose content is lost when switched off. To store the values permanently in the drive, copy the data from memory card to the drive. Note The "Save data in the drive" function saves not only the values changed by the optimization, but also all values in the drive. To do this, navigate to: "Commissioning" > "Optimization" Save the data. Then save the project. Figure 1-10 Copying RAM to ROM The same function can be called from "Online & Diagnostics" > "Save/Reset" > "Save data in the drive". 1.6.7 Result in the sample project You have created and optimized a drive. The data that results from the optimization is saved in the drive and in the project. SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB 19 Getting started with SINAMICS V90 PN on S7-1500 Motion Control 1.7 Configure the axis 1.7 Configure the axis 1.7.1 Overview This section describes how you create and configure a positioning axis in the project, and interconnect it with the SINAMICS V90 PN drive. Requirement You have created the drive as described in the Creating devices (Page 12) section. 1.7.2 Technology object axis Technology objects (TOs) represent the associated real objects (e.g. a positioning axis) in the controller. The technology object Positioning axis / Synchronous axis provides a technological view of the drive and the encoder (actuator and sensor), provides technological functions for them and contains the concrete hardware interconnection. The technology object Positioning axis / Synchronous axis contains extensive functionality, e.g. communication with the drive, actual value processing, position control, and positioning functionality. It executes control and motion commands and indicates states and actual values. Technological limitations and values for the mechanical system for the axis and encoder are set on the axis. You can then work exclusively with technological variables. 1.7.3 Creating an axis Create the "PositioningAxis_1" axis for the sample project. Assign a drive to the axis. How to create an axis in the project 1. Open the Controller folder in the Project Navigator and select "Technology objects". 2. Double-click "Add new object". The "Add new object" dialog opens. 3. Select from "Motion Control" a "TO_PositioningAxis" positioning axis. 4. Enter a name for the axis. Use the designation "PositioningAxis_1" for the axis of the sample project. 5. Leave the other preset values to their default values. 6. Click "OK". The "Basic parameters" window opens in the function view. 20 SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB Getting started with SINAMICS V90 PN on S7-1500 Motion Control 1.7 Configure the axis See also Configuring and optimizing a SINAMICS V90 PN (Page 15) 1.7.4 Configuring the hardware interface To complete the configuration of the axis, you must assign a drive to it. The red icon in the configuration of the axis indicates that no assignment to the drive has been made (see figure). Figure 1-11 The hardware interface is incomplete. Icons in the area navigation Icons in the area navigation of the configuration show additional details about the status of the configuration: The configuration contains preset values and is complete. The configuration contains only preset values. With these preset values you can use the technology object without additional changes. The configuration contains user-defined or automatically adapted values and is complete. All input fields of the configuration contain valid values and at least one preset value has been changed. The configuration is incorrect. At least one input field or drop-down list contains an invalid value. The corresponding field or the drop-down list is displayed on a red background. Clicking the field shows the roll-out error message that indicates the cause of error. Assigning a drive Open the "Hardware interface". The "Drive" window opens: Assign the drive as follows: Select the drive. SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB 21 Getting started with SINAMICS V90 PN on S7-1500 Motion Control 1.7 Configure the axis Setting the encoder type The encoder type is not compared with the data adaptation. Configure the encoder type (incremental, absolute or cyclic absolute) in the "Encoder" configuration window. 22 SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB Getting started with SINAMICS V90 PN on S7-1500 Motion Control 1.7 Configure the axis Data exchange between the drive and controller Data is exchanged between the drive and controller for the data adaptation. The data adaptation on the axis is selected with HSP by default when a V90 PN is used. During the data adaptation, the reference values and motor/encoder data are compared with the drive/encoder parameterization required for the data exchange. The "Automatic transfer of the drive parameters" and "Automatic transfer of the encoder parameters" settings to the TO Axis are set only when they are connected with the drive in the offline project. The setting for the drive (actuator) or encoder can be activated or deactivated independently of each other. SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB 23 Getting started with SINAMICS V90 PN on S7-1500 Motion Control 1.7 Configure the axis Which data is adapted? All actuator and encoder data that must be set identical in the technology object Axis to the associated data in the drive is adapted: Actuator data on the TO Axis: "Reference speed", "Reference torque", "Maximum speed" Encoder data on the TO Axis: "Increments per revolution", "Number of revolutions", "Fine resolution Xact1", "Fine resolution Xact2" The following is always performed for activated adaptation: For each TO Power up (after controller power up or loading the TO to the controller). For each restoration after drive failure, namely always after a station restoration of the drive that belongs to the associated technology object. For each restart of a technology object. After a successful adaptation After a successful adaptation, the actual values of the adapted data are overwritten in the associated TO-DB. The adapted data, however, is not stored automatically on the memory card of the drive and also not transferred as initial values in an offline project. If the adapted data should not be stored permanently, the following two possibilities are available: Save the adapted data in the offline project and the subsequent download: If the adapted data should be saved in the offline project, TIA Portal functions can be used: Call the "Snapshot of the actual values" function to store the actual values of the associated TO-DB as snapshot in the offline project, then call the "Copy the momentary values to the initial values" function to transfer them to the initial values of the associated TO-DB in the offline project and finally load the TO-DB stored in the offline project to the CPU. Save the adapted data on the memory card: Call the SFC "WRIT_DBL" in the user program to save the actual values of the adapted data on the memory card. Setting the position control Ensure that position control in the drive (DSC enabled) is set. Dynamic Servo Control (DSC) depends on the deployed drive telegram. The setting acts only after the telegram selection (5, 6, 105 or 106). Use "Position control on the PLC" for all other telegrams. 24 SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB Getting started with SINAMICS V90 PN on S7-1500 Motion Control 1.8 Going online with devices Result The drive is assigned and the configuration is complete. 1.7.5 Result in the sample project The technology object Axis is fully configured. 1.8 Going online with devices Load the sample project with the axis configuration to the controller so that the function of the axis can be tested with the axis control panel in the next step. Load the project 1. Save the project 2. Compile the project 3. Select the controller in the Project Navigation. 4. Load the project to the device. The "Going online" dialog opens: Figure 1-12 Connect online SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB 25 Getting started with SINAMICS V90 PN on S7-1500 Motion Control 1.9 Test the axis with the axis control panel Going online To permit an online connection, your PG/PC and the controller must be in the same subnet. The TIA Portal supports you if your PG/PC does not have any appropriate settings by setting them automatically. 1. Select the appropriate PG/PC interface type and the PG/PC interface. In the example, PN/IE and Intel(R) Gigabit Network Connection (the name of the network card). 2. Select the appropriate interface on the controller. 3. Search for accessible network nodes. 4. Connect with the appropriate node (appropriate S7-1500 controller). 1.9 Test the axis with the axis control panel 1.9.1 Overview In this "Getting Started" section, you test the configured axis. TIA Portal provides the axis control panel for this purpose. Requirements The devices have been created and configured, see Section Creating devices (Page 12). You have configured the motor in the drive, see Configuring and optimizing a SINAMICS V90 PN (Page 15). The drive configuration is loaded to the device, see Configuring and optimizing a SINAMICS V90 PN (Page 15). Motor, encoder and motor holding brake are connected to the drive. The drive is supplied with power, 24 V and 230/400 V. The ports of the PROFINET interfaces are wired in accordance with the port interconnection. The STO must be connected correctly. An axis in the sample project has been created and configured, see Section Configure the axis (Page 20). The project with the axis configuring is loaded to the target system. The axis is not switched on via a motion command (MC_Power). 26 SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB Getting started with SINAMICS V90 PN on S7-1500 Motion Control 1.9 Test the axis with the axis control panel Note Further information concerning the requirements Further information for the V90 PN is available in the SINAMICS V90, SIMOTICS S-1FL6 operating instructions. Further information concerning technology objects and motion topics is available in the online help for the TIA Portal at "Deploying technology functions" > "Motion control". 1.9.2 Working with the axis control panel You traverse individual axes with the axis control panel. A user program is not necessary for the operation of the axis control panel. With the axis control panel, you take over master control for a technology object and control the axis motions. WARNING Uncontrolled axis motions During operation with the axis control panel, the axis can execute uncontrolled motions (e.g. due to erroneous configuration of the drive, or of the technology object). Furthermore, any synchronized following axis is moved as well when moving a leading axis with the axis control panel. Therefore, perform the following protective measures before operation with the axis control panel: Ensure that the EMERGENCY OFF switch is within the reach of the operator. Enable the hardware limit switches. Enable the software limit switches. Ensure that following error monitoring is enabled. Make sure that no following axis is coupled to the axis to be moved. Traversing the drive with the axis control panel 1. Open the axis control panel of the technology object Positioning axis from "Technology object > Commissioning" in the Project Navigator. The "Axis control panel" window opens. 2. Fetch master control. 3. Set the drive enable. 4. Select "Jogging" operating mode. 5. Click the "Forward" or "Backward" button to start a motion. SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB 27 Getting started with SINAMICS V90 PN on S7-1500 Motion Control 1.9 Test the axis with the axis control panel Figure 1-13 Axis control panel Note Changes made to the axis configuration performed online have no effect on operation with the axis control panel. Note No transfer of the parameters The configured parameter values are discarded when master control is returned. Transfer the values as needed into your configuration. If you have changed configuration values with the axis control panel during operation, they have no effect on the operation of the axis control panel. 1.9.3 Result in the sample project You have traversed the axis of the sample project with the axis control panel and thus ensured its correct functioning. Configuring the axis is thus completed. 28 SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB Configuring drives 2.1 2 Drives in the hardware catalog Selecting devices via the hardware catalog Devices are administered in the TIA Portal using the hardware catalog. This is anchored as a tab in the right-hand margin of the TIA Portal. For example, you can add drive units using drag-and-drop in the device view and network view from the hardware catalog. All device variants are listed in the catalog view that can be restricted via filters: Figure 2-1 SINAMICS V90 PN in the hardware catalog SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB 29 Configuring drives 2.2 Parameters 2.2 Parameters 2.2.1 Overview Figure 2-2 2.2.2 Parameter Compare values The online data can be transferred individually to the project. Use the "Compare values" function to perform a comparison between the values in the drive and the values in the project: Comparison of the offline values in the project with the online values in the drive Direct editing of the actual values and the initial values of the project Immediate detection and display of input errors with suggested corrections Backup of the online values in the project Icons and operator controls If an online connection to the drive exists, the actual values are displayed for the parameters. In addition to the actual values of the parameters, the following icons appear: Icon Description The online value in the drive matches the configured offline value in the project The online value in the drive does not match the configured offline value in the project The comparison between the online value in the drive with the configured offline value in the project cannot be performed Click this button to show the offline value of the drive and the offline value of the project for the associated parameter. 30 SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB Configuring drives 2.2 Parameters 2.2.3 Setting parameters You change the parameters in online and offline mode. Setting parameters online All changes that you perform online take effect immediately. Then load them to the project. Setting parameters offline 1. Set the desired parameters. 2. Load the set parameters from "Load to the device". 2.2.4 Motors and encoders Motors and encoders Depending on the encoder type used, dependencies result in the settings for motors and encoders: Motors with incremental encoders Motors with absolute encoders The setting of the motor can be changed only when no online connection exists to the drive. Fetching motor and encoder settings Note Motor and encoder settings can be fetched via an upload to the project. Motors with incremental encoders 1FL6 motors with incremental encoders do not have any electronic name plate. The V90 PN device detects that a motor with incremental encoder is connected and makes the settings for an appropriate default motor for the associated device. Adding a V90 PN to a project selects a default motor with incremental encoder. Make the settings for your deployed motor with incremental encoder in the project. Load the settings to the device. Motors with absolute encoders 1FL6 motors with absolute encoders have an electronic name plate. The motor is detected by the SINAMICS V90 PN converter. The parameter assignment in the drive is set appropriately for the detected motor. Select in the project the appropriate motor and encoder so that a download can be performed. SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB 31 Configuring drives 2.2 Parameters Basic settings The settings in the Parameters window depend on the motor selection. The parameters appropriate for the motor are preassigned in the TIA Portal for S7-1500 motion control applications. The parameters appropriate for this motor are set when you reselect the motor. If necessary, the settings can be changed. See also Brake control (Page 34) Encoder types (Page 32) 2.2.5 Encoder types The following encoder types are used in conjunction with V90 PN: Incremental encoder with TTL (Transistor Transistor Logic) interface and 2500 pulses/ revolution Single-turn absolute encoder with 21-bit resolution and BiSS interface Multi-turn absolute encoder with 20-bit resolution, 12-bit rotational resolution and BiSS interface Incremental encoders Incremental encoders supply a defined number of pulses/revolution and a so-called zero pulse pro revolution. Two digital output signals (A and B track) displaced by a quarter pulse (90 degrees electrical) are output. The position value is determined by counting the pulses. The digital output signals displaced by 90 degrees determine the direction of rotation that specifies whether the position value should be counted in the positive or negative direction. The edge evaluation of the pulses quadruplicates the encoder resolution. Consequently, the incremental encoder deployed in the V90 PN can resolve a revolution with 2500 x 4 (= 10000) increments. The reference between the position of an axis and its mechanical position must be established for an incremental encoder by homing. Absolute encoders Absolute encoders provide the position value as an absolute numerical value. Because this numerical value is unique over the resolution range of an absolute encoder, no initial homing as for incremental encoders is necessary. The absolute numerical value is transferred from the absolute encoder to the V90 PN via the BiSS (Bidirectional Serial Synchronous) interface. For rotatory absolute encoders, a differentiation is made between those that can resolve only one revolution and then restart at 0 again (single-turn), and those that can resolve several revolutions (multi-turn). Absolute encoder adjustment The absolute position value supplied by an absolute encoder must be assigned to the associated mechanical position using an absolute encoder adjustment. The absolute encoder adjustment only needs to be performed once. The absolute encoder adjustment results in an 32 SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB Configuring drives 2.2 Parameters absolute value offset saved permanently even when the controller is switched off and on. The absolute encoder adjustment is performed on the positioning axis / synchronous axis. Single-turn absolute encoders For a single-turn absolute encoder, absolute position values are assigned only to the angle positions within one revolution. This means that the angle position is known only within one revolution. However, in order to determine the position values also over multiple revolutions, the revolutions of the encoder for the positioning axis / synchronous axis are accumulated. When the CPU is switched off, the revolutions counted for a positioning axis / synchronous axis are stored permanently. When the CPU is switched on again, the permanently stored revolution counts are included in the calculation of the actual position. To ensure that a positioning axis / synchronous axis continues travel from the correct position after switch on, it must be guaranteed that the single-turn absolute encoder does not turn more than half a revolution when switched off. The single-turn absolute encoder used in the V90 PN has a 21bit resolution and so provides 221 (= 2097152) absolute position values for one revolution. Single-turn rotary transducers have a measuring range of 360 degrees. Multi-turn rotary transducers For a multi-turn rotary transducer, an absolute position value is formed from each angle position within a revolution together with the number of complete revolutions. Unlike its single-turn equivalent, the multi-turn rotary transducer may turn more than half a revolution when switched off. The multi-turn absolute encoder used in the V90 PN has a 20-bit resolution and a 12-bit rotational resolution; it so resolves a revolution with 220 (1048576) angle positions and 212 (4096) revolutions. Multi-turn rotary transducers have a measuring range of n x 360 degrees. Where n represents the number of revolutions that the encoder can resolve. SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB 33 Configuring drives 2.2 Parameters Position control for positioning axes /synchronous axes Positioning axes /synchronous axes require for their position control an actual position as a position value of an encoder. This actual position is transferred from the drive to the CPU as PROFIdrive telegram. The relationship between the position values of an encoder and a defined position of a positioning axis / synchronous axis is established by parameterizing the mechanical properties and encoder settings as well as with a homing operation / absolute encoder adjustment. Positioning axes / synchronous axes support the following types of actual position values in the "Encoder type" setting: Incremental actual position value with the "Incremental" setting - This setting must be selected when an incremental encoder is connected. Absolute actual position value with the "Absolute" setting - The maximum traversing range of the axis lies within the measuring range of the encoder. - The actual position value so results directly from the absolute encoder value. - Consequently, the zero crossings (measuring range overflow) of the encoder must not lie within the maximum traversing range of the axis, because they are not counted by the positioning axis / synchronous axis with this setting. Absolute actual position value with the "Cyclic absolute" setting - The maximum traversing range of the axis lies outside the measuring range of the encoder. - The actual position value so does not result directly from the absolute encoder value. - The encoder within its measuring range supplies an absolute encoder value. The axis accumulates the performed zero crossings (overflow of the measuring range) of the encoder and so determines the correct actual position value beyond the measuring range of the encoder. - When the CPU is switched off, the traversed zero crossings are saved in the retentive memory area. The "Cyclic absolute" and "Absolute" settings do not have any reference to the absolute encoder type (single-turn or multi-turn), rather they affect the maximum traversing range of an axis in the measuring range of the absolute encoder. If the maximum traversing range of an axis lies within the measuring range of the single-turn absolute encoder, "absolute" must be set. If this is not the case, "cyclic absolute" must be set. If the maximum traversing range of an axis does not lie within the measuring range of the multi-turn absolute encoder, "cyclic absolute" must be set. 2.2.6 Brake control The motor holding brake prevents drives from making unwanted motions when they are switched off. 34 SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB Configuring drives 2.2 Parameters You can configure the motor holding brake of the selected motor here. Note In online mode, the "motor holding brake configuration" cannot changed if the "operation enabled" state is pending on the drive. Holding brake configuration No holding brake available. For this setting and a motor with holding brake, the motor holding brake must remain closed. Motor holding brake, like sequential control: The motor holding brake acts as specified by the sequential control. Motor holding brake always open. The motor holding brake has no effect. Opening and closing times. For motors with integrated holding brake, the opening and closing times are preset automatically. The start of the brake closing time depends on the sequence of the shorter of the two intervals, the stationary state detection monitoring time and the trigger pulse suppression delay. Note The following parameters cannot be changed in the "operation enabled" state P29001: Motor rotational direction reversal P29006: Line voltage P29023: Configuration OBT (One Button Tuning) P29026: Duration of the test signal P29027: Optimization: Limitation of the motor rotation P1215: Motor holding brake configuration P2000: Reference speed, reference frequency P2003: Reference torque SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB 35 Configuring drives 2.3 Commissioning 2.3 Commissioning 2.3.1 Overview Figure 2-3 2.3.2 Commissioning Control panel Drive control panel The drive control panel is used for the control and monitoring of individual drives. You traverse drives with the control panel by specifying values. You choose one of the various operating modes; depending on the operating mode, this is, for example, the speed setpoint. For more information, see Drive control panel and axis control panel (Page 39) Calling up the control panel Call the control panel via "Commissioning" > "Control panel". When an online connection has been established, the bar in the header area is shown in color. Except for the Master control: "Fetch" button, the control elements are grayed-out. The other control elements are active only when you fetch the master control and switch on the drive. Operating the control panel You can use the drive control panel to traverse the drive and test the settings that have been made. WARNING This control panel may be used only when the associated safety instructions are observed! Failure to comply with these instructions can result in injury or material damage! The function is released exclusively for commissioning, diagnostic and service purposes. The function should generally only be used by authorized technicians. The safety shutdowns from the higher-level controller have no effect. 36 SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB Configuring drives 2.3 Commissioning Note Drive reacts immediately Although all enables are removed before returning the master control, the setpoints and commands still come from the original parameterized sources after the master control is returned. Fetch master control You can activate the control panel by fetching the master control of the drive. The control panel can only be activated for one drive. To activate the control panel, proceed as follows: 1. Activate the control panel at "Commissioning > Control panel" with master control: "Fetch". 2. Read the alarm carefully and check the value for the monitoring time. The monitoring time specifies the time during which the connection from the PG/PC to the drive is monitored cyclically. The minimum value is 1000 ms. 3. Click "OK" to confirm. The control panel is then active. Relinquish master control You deactivate the drive control panel by relinquishing master control. Master control cannot be relinquished unless the drive is switched off. To relinquish master control, proceed as follows: 1. Click "Relinquish" to return the master control. Result You can now traverse the drive with the control panel. Enables and faults are displayed at "Drive status". In addition to "Active fault", the currently pending fault is displayed. 2.3.3 Using the control panel Operating the control panel You can use the drive control panel to traverse the drive and test the settings that have already been made. SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB 37 Configuring drives 2.3 Commissioning WARNING This control panel may be used only when the associated safety instructions are observed! Failure to comply with these instructions can result in injury or material damage! This function is for commissioning, diagnostic and service purposes, and may be used only by authorized personnel. The safety settings of the PLC will be switched off. The "Stop with the space key" function cannot be guaranteed for all operating situations of the drive. Consequently, it is important to implement a hardware solution for an emergency stop. You must adopt the required measures. The drive can be controlled manually only when a connection to the PC exists. The connection is monitored cyclically. Note Drive reacts immediately Although all enables are removed before returning the master control, the setpoints and commands still come from the original parameterized sources after the master control is returned. Activating the control panel You can activate the control panel by fetching the master control of the drive. The control panel can always only be activated for one drive. To activate the control panel, proceed as follows: 1. Activate the control panel at "Commissioning > Control panel" with master control: "Fetch". 2. Read the warning carefully and check the value for the monitoring time. The monitoring time specifies the time during which the connection from the PG/PC to the drive is monitored. The minimum value is 1000 ms. 3. Click "OK" to confirm. The operating panel is then active. Deactivating the control panel You deactivate the control panel by returning master control. The control panel cannot be deactivated until the drive is switched off ("0" button). To deactivate the control panel, proceed as follows: 1. Click "Relinquish" to return the master control. 2. The user interface of the control panel is grayed-out. Result You can now traverse the drive with the control panel. If a fault is pending, it is displayed as "Active fault". 38 SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB Configuring drives 2.3 Commissioning 2.3.4 Drive control panel and axis control panel Drive control panel The drive control panel is used for the control and monitoring of individual drives. You traverse drives with the control panel by specifying values. You choose one of the various operating modes; depending on the operating mode, this is, for example, the speed setpoint. Axis control panel You traverse individual axes with the axis control panel. A user program is not necessary for the operation of the axis control panel. With the axis control panel, you take over master control for a technology object and control the movements of the axis. Master control You fetch the master control for the drive control panel or the axis control panel. Operation The control panel can be operated only when an online connection is established to the CPU or the drive. 2.3.5 Optimization Motor optimization The motor optimization assists with determining the closed-loop control settings. Perform the motor optimization under load to improve the closed-loop control properties of the motor. The optimization can be used to determine the proportional gain (P-gain) of the speed controller provided "Set speed loop gain" (p29023.0) is set. The P-gain determined by the optimization is multiplied by the "Optimization: dynamic response factor" (p29020) and the result of the multiplication written to the "Closed-loop speed control gain" (p29120) parameter. The setting for the "Optimization: Dynamic response factor" (p29020) can be used to influence the P-gain of the speed controller. The lower the "Optimization: Dynamic response factor" (p29020), the lower the P-gain, the "softer" the speed controller is set. The higher the "Optimization: Dynamic response factor" (p29020), the greater higher Pgain, the "harder" the speed controller is set. The optimization consists of two phases. These phases differ for motors with incremental encoders and motors with absolute encoders. SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB 39 Configuring drives 2.3 Commissioning See also Performing an optimization (Page 41) Optimization phases (Page 40) Encoder types (Page 32) 2.3.6 Optimization phases Set the motor parameters before optimizing it. As standard, the parameters are set to their initial settings. Incremental encoder / absolute encoder The optimization depends on the motor type. The following motors are differentiated: Motor with incremental encoder The motor optimization is performed in two phases. Motors with incremental encoder must be able to turn freely by 720 degrees during the first optimization phase. This corresponds to two rotations, in both the positive and negative directions. The maximum motion angle to be set applies to the second optimization phase. 0RWLRQDQJOHRIWKHPRWRU 3KDVH 3KDVH 0D[LPXPPRWLRQ DQJOH 0D[LPXP PRWLRQDQJOHDFFRUGLQJ WRWKHVHWWLQJ r 'XUDWLRQRIWKHWHVWVLJQDO Motors with absolute encoder The motor optimization is performed in two phases. In the first phase, the motor moves in the area of the zero point. The specification of the maximum motion angle in each direction applies to the second phase. 0RWLRQDQJOHRIWKH0RWRU 3KDVH 3KDVH 0D[LPXPPRWLRQ DQJOHDFFRUGLQJ WRWKHVHWWLQJV ]HURSRLQW 'XUDWLRQRIWKHWHVWVLJQDO 40 SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB Configuring drives 2.3 Commissioning Duration of the test signal The mechanical drive train is measured using test signals. This allows the closed-loop control parameters to be calculated so that the drive train is set with best-possible dynamic response. 2.3.7 Performing an optimization Optimize the drive by performing a turning measurement with coupled load. The appropriate procedure is described in the following section. The "Optimization" window is opened from "Drive" > "Commissioning" > "Control panel / optimization" in the Project Navigator; select the second tab at the top right. 1. First fetch master control. 2. Configure the settings and, if necessary, the extended settings. Set the maximum motion angle for each direction manually (phase 2 of the measurement). We recommend that you enter 360 degrees manually. Note When setting the maximum motion angle, consider how the axis should move with coupled load. 3. Click the "Start optimization" button. The turning measurement is performed. 4. Return the master control after the successful optimization. 5. Load the data to the drive to save the settings permanently. WARNING Danger for persons and machinery caused by a turning motor. The motor must be able to turn freely by +/-720 degrees for incremental encoders. SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB 41 Configuring drives 2.3 Commissioning Figure 2-4 Optimization Result of the optimization After performing the optimization, the new and old values are displayed as follows. The new values are transferred automatically unless you reset them to their original values by clicking the button at the bottom in the screen. After checking the values, the data still needs to be loaded from the device. Figure 2-5 Result of the optimization See also Optimization (Page 39) 42 SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB Configuring drives 2.3 Commissioning 2.3.8 Loading the optimized data from the device After the optimization, the optimized values are located in the volatile memory on the device. You can change the online value directly and then copy it to the drive. The actual value can also be changed for directly editable parameters. The change is transferred directly to the drive. 2.3.9 Device replacement in the hardware configuration All SINAMICS V90 PN device types can be replaced with each other. Replace the device in the TIA Portal by right-clicking "Replace device" in the PNV or in the device, network or topology view. To do this, select a new device from the hardware catalog. The version to be replaced is displayed at "Version:". Motor selection Each device type has a default motor. Like adding a device, the associated default motor is preset when a device is replaced. WARNING Automatic setting to the default settings All parameters are set to their default setting when a device is replaced. Check the parameter settings after a module replacement. SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB 43 Configuring drives 2.4 Diagnostics 2.4 Diagnostics 2.4.1 General You can use the "Online & Diagnostics" functions only when an online connection exists. Figure 2-6 Online & Diagnostics in the Project Navigator See also Going online with devices (Page 25) 44 SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB Configuring drives 2.4 Diagnostics 2.4.2 Active messages Description "Active messages" displays the currently pending alarms and faults in the drive. Faults must be acknowledged after the cause has been corrected. Figure 2-7 Active messages Faults and alarms Column Description Fault code / alarm code Number of the fault/alarm Alarm Description of the fault/alarm Time Time stamp that shows when the fault/alarm occurred. SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB 45 Configuring drives 2.4 Diagnostics Acknowledging faults To acknowledge all active faults, click the "Acknowledge faults" button. After acknowledgement, faults and alarms are moved to the message history, see also Message history (Page 46). 2.4.3 Message history Message history The drive has a message history in which all alarms and faults are recorded. You can read out this message history in online mode. Delete fault buffer 1. Click the "Delete fault buffer" button to delete the fault buffer. 2. Click the "Export message history" button to export the fault and alarm buffer as a CSV file. Messages Column Description Fault buffer / alarm buffer Designation of the fault/alarm Fault code / alarm code Number of the fault/alarm Alarm Description of the message Fault time / alarm time "come" The time stamp that shows the time when a fault/alarm oc curred. Fault time / alarm time "rectified" The time stamp that shows the time when the cause of the fault/alarm was rectified. The error must also be acknowl edged for faults. 2.4.4 Save/reset Saving data in the drive Online changes to parameter values are always made in volatile memory. To make permanent changes, they must be stored in the drive. To save the data retentively, proceed as follows: 1. Establish an online connection to the drive. 2. Open "Online & Diagnostics > Save/Reset" at the drive. 3. Click the "Save" button in the "Save/Reset" dialog at "Save data in drive". 46 SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB Configuring drives 2.4 Diagnostics Figure 2-8 Saving data in the drive After the successful execution of the function, the parameter values are saved in the drive. If a memory card is inserted, the data is also saved there automatically. All parameter values in volatile memory are saved protected against power failure in the drive. Restarting drives The drive is restarted with the new values saved in the ROM (or with those on the optional inserted memory card). All data not saved previously in the drive is lost. 1. Establish an online connection to the drive. 2. Open "Online & Diagnostics > Save/Reset" at the drive. 3. In the "Save/Reset" dialog, click the "Restart" button at "Restart drive". Figure 2-9 Restarting drives The drive is restarted. The online connection to the drive is interrupted and re-established automatically. Restoring factory settings To restore the factory settings, proceed as follows: 1. Establish an online connection to the drive. 2. Open "Online & Diagnostics > Save/Reset" at the drive. 3. In the "Save/Reset" dialog, click the "Start" button at "Restore factory settings". SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB 47 Configuring drives 2.4 Diagnostics Figure 2-10 Restoring factory settings The parameter values are reset to the delivery condition (in volatile memory). You can select whether the factory settings in the drive should be saved; otherwise, they will be lost after a restart or being switched off. Note Some settings, such as the PROFINET interface parameters and the IP address, are retained after restoring the factory settings. For more information, refer to Restoring factory settings (Page 9). Loading data from the memory card to the drive The function writes to the drive the parameter values saved on the memory card. To transfer the settings to the drive, proceed as follows: 1. Insert the memory card into the drive. 2. Establish an online connection to the drive. 3. Open "Online & Diagnostics > Save/Reset" at the drive. 4. Go to "Load data from the memory card to the drive". 5. Click "Load" to load the data from the memory card to the drive. 6. Click "Safely remove card" to ensure that there is currently no access to the memory card and the card can be safely removed. Figure 2-11 48 Loading data from the memory card to the drive SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB Configuring drives 2.4 Diagnostics The data from the memory card is now saved in the drive. Note If the parameters on the memory card do not match the parameters present in the drive memory (RAM), you must restart the servo drive in order to transfer the changes. Copying data from the drive to the memory card The function saves the parameter values from the drive to the memory card. This allows, for example, the configurations to be transferred from one drive to another drive for a series commissioning. To save the settings on a memory card, proceed as follows: 1. Insert the memory card into the drive. 2. Establish an online connection to the drive. 3. Open "Online & Diagnostics > Save/Reset" at the drive. 4. Go to "Copy data from the drive to the memory card". 5. Click "Copy" to save the data to the memory card. 6. Click "Safely remove card" to ensure that there is currently no access to the memory card and the card can be safely removed. Figure 2-12 2.4.5 Copying data from the drive to the memory card Setting the time of day The drive has a preset time, whereby the time relative to the preset time and switch-on time of the drive is stored for faults and messages. You can overwrite this time-of-day setting. Normally, the drive receives the time-of-day from the PG/PC; this requires a manual synchronization. The default time is restored after each restart or power on/off of the drive. The currently set time is useful for evaluating messages, for example. SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB 49 Configuring drives 2.4 Diagnostics To synchronize the times-of-day between the PG/PC and the drive, proceed as follows: 1. Establish an online connection to the drive. 2. Open "Online & Diagnostics > Functions > Set time-of-day" at the drive. 3. Activate the "Take from PG/PC" option in the "Set time-of-day" dialog and click the "Apply" button. Figure 2-13 Setting the time-of-day The drive now accepts the time-of-day from the PG/PC. See also SIMATIC S7-1200/S7-1500 and SIMOTION: Acyclic communication (https:// support.industry.siemens.com/cs/ww/en/view/109479553) 50 SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB Configuring drives 2.4 Diagnostics 2.4.6 Current values The actual values and the status bits are displayed at "Actual values". Actual values The actual values of various parameters are displayed at "Actual values". SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB 51 Configuring drives 2.5 Extended functions Status bits The status bits show the current status / alarm bit / fault bit; also refer to the following table: Color of the status bit Meaning Green/gray (state) Indicates that a state with one of the following designations is active: Ready to start Ready for operation Operation enabled Actual speed value 0 "Open holding brake" active Yellow/gray (alarm bit) Indicates that one of the alarms with the following designations is pending: Coasting active Quick stop active Switching on inhibited active Alarm effective Torque limit reached Alarm motor overtemperature Alarm power unit thermal overload Safety release missing Red/gray (fault bit) Indicates that a fault is pending Fault effective The status bits are visible online and offline. All bits are inactive in offline mode. The current status is displayed in offline mode. 2.5 Extended functions 2.5.1 Torque control via PROFIdrive supplementary telegram 2.5.1.1 Overview For some applications, the option of torque control is required. Examples: Collision detection through evaluation of the torque in the automation of robot applications Compensation of friction, inertia and acceleration torque through transmission of an additional torque in winder applications PROFIdrive supplementary telegram 750 for torque control An additional transmission channel for torque control is provided via the PROFIdrive supplementary telegram 750. Supplementary telegram 750 supplements the actual drive telegram (e.g. "Siemens telegram 105, PZD-10/10"). With the supplementary telegram, the PLC can exchange data with the 52 SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB Configuring drives 2.5 Extended functions Control Unit (CU) of the drive. The supplementary telegram becomes active once a connection has been established between the PLC and the drive CU. 2.5.1.2 Configuring the supplementary telegram for torque control The supplementary telegram is dependent on the drive telegram. You therefore need to define the drive telegram first (e.g. "SIEMENS telegram 105, PZD-10/10"). In the default setting, no supplementary telegram is used. Note Dependencies in the drive when using supplementary telegram 750 For the drive, the parameterization of the supplementary telegram is stored in parameter p8864: p8864 = 999 (default setting: no supplementary telegram) The torque limits in parameters p29050 and p29051 are evaluated. p8864 = 750 (supplementary telegram 750) The torque limits in parameters p29050 and p29051 are not evaluated. SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB 53 Configuring drives 2.5 Extended functions Configuring the supplementary telegram You can configure the supplementary telegram under "Cyclic data exchange" of the PROFINET interface: 1. Select the drive telegram under "Telegram". Figure 2-14 Cyclic data exchange - Default setting no supplementary telegram Representation in the "Device view" under "Device overview" without supplementary telegram: Figure 2-15 Device overview - default setting: no supplementary telegram 2. Under "Supplementary telegram", select "Supplementary telegram 750. PZD-3/1". The "supplementary telegram" is then displayed under "Cyclic data exchange". 54 SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB Configuring drives 2.5 Extended functions Figure 2-16 Cyclic data exchange - supplementary telegram Representation in the "Device view" under "Device overview" with supplementary telegram: Figure 2-17 Device overview - with supplementary telegram 3. Parameterize the "Actual value (drive PLC)" for the supplementary telegram. The direction of transfer is from the drive to the higher-level PLC. Parameterize the "Setpoint (PLC drive)" for the supplementary telegram. The direction of transfer is from the higher-level PLC to the drive. Parameter Description Start address Next free start address for the configured module. You can change the address. End address Next free end address for the configured module. You can change the address. SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB 55 Configuring drives 2.5 Extended functions Parameter Description Organization block If you have connected the drive to a PLC, you need an organization block (OB) for communication. If you have created a technology object of the "positioning axis" type for a SIMATIC S7-1500, for example, and assigned it to a drive axis, you need an organization block of the type "MC-Servo [OB91]". In this case, you need to disable "Isochronous mode". Other OBs include the "Main [OB1]" block for the user program or the "FOB_RTG1 [OB123]" block for Safety functions. Process image Select the process image to which the data are to be continuously trans ferred (e.g. "OB1-PI"). You can find more information on the topic of proc ess images in the TIA Portal information system by searching for "process image". 2.5.2 Automatically synchronizing the drive object with technology object offline 2.5.2.1 Overview During the configuration, you can automatically synchronize the drive object (DO) with the technology object (TO) offline. When doing this, parameters from the drive and/or encoder are transferred into the technology object: When configuring, drive values are automatically accepted (offline) Encoder values are automatically exchanged (offline) Drive values are automatically synchronized offline with TO parameters The following drive values are automatically synchronized with the TO offline: p0922 PROFIdrive PZD telegram selection p2000 Reference speed reference frequency p1082 Maximum speed p2003 Reference torque Encoder values are automatically synchronized offline with TO parameters The following encoder values are automatically synchronized with the TO offline: p0922 PROFIdrive PZD telegram selection p0404.0 Encoder configuration effective, measuring system (rotary, linear) p0404.1 Encoder configuration effective, encoder type (incremental, absolute) p0407 Linear encoder grid division p0408 Rotary encoder, pulse number p0418 Fine resolution Gx_XIST1 (in bits) p0419 Fine resolution absolute value Gx_XIST2 (in bits) 56 SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB Configuring drives 2.5 Extended functions p0421 Absolute encoder rotary multiturn resolution p0423 Absolute encoder rotary singleturn resolution 2.5.2.2 Automatically synchronizing the drive object with technology object offline For the drive and encoder, you can independently activate or deactivate the automatic offline synchronization of the drive values or encoder values with the technology object (TO) during the configuration. Activating automatic offline synchronization of the drive values during configuration Proceed as follows to activate automatic offline synchronization of the drive values during the configuration: 1. Under "Hardware interface", open "Data exchange with the drive" and activate option "Automatically apply drive values during configuration (offline)". Figure 2-18 Activating automatic offline synchronization of the drive values during configuration SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB 57 Configuring drives 2.5 Extended functions Activating automatic offline synchronization of the encoder values during configuration Proceed as follows to activate automatic offline synchronization of the encoder values during the configuration: 1. Under "Hardware interface", open "Data exchange with encoder" - and activate option "Automatic data exchange for encoder values (offline)". Figure 2-19 Activating automatic offline synchronization of the encoder values during configuration Drive values or encoder values automatically synchronized offline during the configuration After the drive values or encoder values have been automatically synchronized offline during the configuration, the background color in the selection list under "Drive telegram" or "Encoder telegram" changes to orange. 58 SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB Configuring drives 2.5 Extended functions Figure 2-20 Drive values automatically synchronized offline during the configuration (orange background color below the drive telegram) Note Compile the PLC program to overwrite the values automatically synchronized offline in the associated TO-DB You must compile the PLC program to overwrite the drive and/or encoder values automatically synchronized offline in the associated technology object data block (TO-DB). SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB 59 Configuring drives 2.5 Extended functions 60 SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB Alarms and parameters 3.1 SINAMICS V90 PN CU alarms 3.2 SINAMICS V90 PN drive alarms 3.3 SINAMICS V90 PN CU parameters 3.4 SINAMICS V90 PN drive parameters SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB 3 61 Alarms and parameters 3.4 SINAMICS V90 PN drive parameters 62 SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB Index S SINAMICS V90 PN Drive system - Overview, 6, 7 SINAMICS V90 PN on S7-1500 Motion Control Active messages, 45 Control panel, 36 Control panel enable, 36, 37 Drives in the hardware catalog, 29 Optimization, 39 Performing an optimization, 17, 41 Save/reset, 46 Setting parameters, 31 Setting the time-of-day, 50 V V90 PN with SIMATIC S7-1500 "Getting Started" Adding devices from the hardware catalog, 12 Configuring the hardware interface, 21 Connecting devices, 13 Connecting online, 15 Create new project, 11 Creating an axis, 20 Defining the topology, 14 Going online with devices, 25 Loading the optimized data from the device, 19, 30, 43 Restoring factory settings, 10 Sample project, 8 Saving data in the drive, 19 Technology object Axis, 20 Working with the axis control panel, 27 SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB 63 Index 64 SINAMICS V90 PN in the TIA Portal on SIMATIC S7-1500 Configuration Manual, 10/2018, A5E45778869B AB