application description 09/2014 motion control

http://support.automation.siemens.com/WW/view/en/103471886

Application description 09/2014

Motion Control Applications with SINAMICS DCM and CU320-2 CU320-2 as technology board for SINAMICS DCM


Warranty and liability

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Warranty and liability

Note The Application Examples are not binding and do not claim to be complete regarding the circuits shown, equipping and any eventuality. The Application Examples do not represent customer-specific solutions. They are only intended to provide support for typical applications. You are responsible for ensuring that the described products are used correctly. These application examples do not relieve you of the responsibility to use safe practices in application, installation, operation and maintenance. When using these Application Examples, you recognize that we cannot be made liable for any damage/claims beyond the liability clause described. We reserve the right to make changes to these Application Examples at any time without prior notice. If there are any deviations between the recommendations provided in these application examples and other Siemens publications – e.g. Catalogs – the contents of the other documents have priority.

We do not accept any liability for the information contained in this document.

Any claims against us – based on whatever legal reason – resulting from the use of the examples, information, programs, engineering and performance data etc., described in this Application Example shall be excluded. Such an exclusion shall not apply in the case of mandatory liability, e.g. under the German Product Liability Act (“Produkthaftungsgesetz”), in case of intent, gross negligence, or injury of life, body or health, guarantee for the quality of a product, fraudulent concealment of a deficiency or breach of a condition which goes to the root of the contract (“wesentliche Vertragspflichten”). The damages for a breach of a substantial contractual obligation are, however, limited to the foreseeable damage, typical for the type of contract, except in the event of intent or gross negligence or injury to life, body or health. The above provisions do not imply a change of the burden of proof to your detriment. Any form of duplication or distribution of these Application Examples or excerpts hereof is prohibited without the expressed consent of Siemens Industry Sector. Caution The functions and solutions described in this article confine themselves to the realization of the automation task predominantly. Please take into account furthermore that corresponding protective measures have to be taken up in the context of Industrial Security when connecting your equipment to other parts of the plant, the enterprise network or the Internet. Further information can be found under the Item-ID 50203404. http://support.automation.siemens.com/WW/view/en/50203404

Sinamics DCM positioning and synchronism Beitrags-ID: 103471886, V2.0, 09/2014 2


Table of contents

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Table of contents Warranty and liability ................................................................................................... 2

1 Application description ..................................................................................... 4

1.1 Overview............................................................................................... 4 1.2 Hardware setup .................................................................................... 6 1.2.1 Required hard and software components ............................................ 6

2 Application function .......................................................................................... 8

2.1 Overview............................................................................................... 8 Description of the core functionality ..................................................................... 9

3 Program description ........................................................................................ 10

3.1 Function charts ................................................................................... 10 3.2 Parameter ........................................................................................... 14 3.2.1 New and changed Parameters at the positioning or

synchronism axis (technology CU) ..................................................... 14 3.2.2 New parameters at the SINAMICS DCM drive object ........................ 16 3.2.3 Automatically interconnected parameters for communication ........... 17 3.2.4 Automatically interconnected parameter at the leading axis .............. 20 3.3 Faults and alarms ............................................................................... 21

4 Commissioning the application ..................................................................... 22

4.1 Requirements for commission ............................................................ 22 4.1.1 Necessary software components ....................................................... 22 4.1.2 Installation of the OA-Link application ................................................ 22 4.1.3 Installation of the DCB-Extension library „GMC“ ................................ 22 4.1.4 Create the new Starter-project ........................................................... 22

5 Contact person ................................................................................................ 29

6 History............................................................................................................... 29


1 Application description

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1 Application description 1.1 Overview

Introduction All power converters of the SINAMICS DCM series are offering a wide range of basic functions for different drive operations. This application extends them with extensive and flexible positioning and synchronism functionalities. This extension is using a Control Unit CU320-2 as technology board, which communicates via OA-Link with the Advanced CUD of the SINAMICS DCM.

Overview of the application The following picture shows a simplified structure of the application.

Figure 1-1

Application description This application expands the positioning and synchronism applications for the SINAMICS S120 drives for the usage with the SINAMICS DCM. The CU320-2 is taking part as technology-CU and takes control of the position control, generates a position setpoint as well as conditioning the actual speed and position value. To communicate with the Advanced CUD of the SINAMICS DCM OA-Link is used.

Core elements of this application The following core elements will be concerned in this application: • Describing the extensions referring to the applications for SINAMICS S120 • Describing the connection to SINAMICS DCM

OA-

Link

Positioning & synchronism

setpointsPosition controlling

Actual position and speed detection

Speed control

Actual speed detection

s-so

ll

n-so

lln-

ist

n-ists-ist

M-s

oll

...

Control Unit CU320-2 Advanced CUD

<1>

<1> transmision of the actual speed value is optional



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Distinction This application doesn’t include descriptions • For basic commissioning of the SINAMICS DCM and SINAMICS S120 • For the Drive Control Chart (DCC) engineering • Any block description for the used Drive Control Blocks (DCB) • The application description for the positioning and synchronism applications • Description for the OA-application “Open Application Link”



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1.2 Hardware setup

The following figure exemplary shows the DRIVE-CLiQ topology for the hardware setup including the OA-Link connection. Figure 1-2

Sensor ModuleLeading Axis

X500

ControlUnit

CU320-2

ControlUnit

X100cannotbe used!X101

X102

X103

AdvancedCUD

ControlUnit

X100

X101

Sensor ModuleEncoder for Positioning/Synchronism

X500

1.2.1 Required hard and software components

Table 1-1

component Note

SINAMICS DCM Control Unit Advanced CUD

from 1.4 HF2

Control Unit CU320-2 PN or CU320-2 DP

from 4.7 HF3

Sensor Module SMx to analyse the position sensor

OA-Applikation “OALINK” Open Application Link for Advanced CUD and CU320-2

A version from V1.2 of the OALINK application is required. When installed on the CU320-2 a License Key is required: 6SL3077-0AA01-0AB0 When installed on the Advanced CUD no License Key is required.

SINAMICS DCB Extension for CU320-2

When installed on the CU320-2 a License Key required: 6SL3077-0AA00-0AB0

Block library for Motion Control GMCV2_0_sinamics4_6.zip

This library has to be installed in the STARTER and must be loaded to the CU320-2. http://support.automation.siemens.com/WW/view/en/72839973

Positioning or synronism applications for CU320-2 from Version V2.0

Synchronism cam with gear and positioning http://support.automation.siemens.com/WW/view/en/72839979

Synchronism gear and positioning http://support.automation.siemens.com/WW/view/en/72850279 Synchronism gear http://support.automation.siemens.com/WW/view/en/72850879 1:1 synchronism http://support.automation.siemens.com/WW/view/en/72840622 Positioning without synchronism http://support.automation.siemens.com/WW/view/en/72849730

The present application It includes:









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component Note

• The documentation • The zipped main script to

integrate it in the application • The zipped drive object file for

the technology-CU


2 Application function

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2 Application function 2.1 Overview

The application “positioning and synchronism for SINAMICS DCM with CU320-2” contains the following functions: • The full range of functions from the basic applications

– Synchronism cam with gear and positioning


– Synchronism gear and positioning http://support.automation.siemens.com/WW/view/en/72850279

– Synchronism gear http://support.automation.siemens.com/WW/view/en/72850879

– 1:1 synchronism http://support.automation.siemens.com/WW/view/en/72840622

– Positioning without synchronism http://support.automation.siemens.com/WW/view/en/72849730

• Position control – the position controller of the basic applications will be complemented in the DCC-charts on the CU320-2: The output of the position controller coupled with the speed pre-control result in the speed setpoint for the SINAMICS DCM. This speed setpoint is send to the Advanced CU via OA-Link.

• State – and fault monitoring – the status of the OALINK communication and the status of the position control is monitored at the SINAMICS DCM

• Communication – all status and control words for the application are received and send from the Advanced CUD and forwarded to the CU320-2 via OALINK







2 Application function

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2.2 Description of the core functionality The functionality of the positioning and synchronism application is equal to the applications which are available for the SINAMICS S120. The present application is put on these applications and extends them with the normally non-existing position controller for the SINAMICS DCM. The encoder evaluation for the position encoder is done on the CU320-2. These encoder actual values are converted via the position recognition of the function module “position controller” on the CU320-2 on the basis of the given mechanic parameters to the real axis position. As there is only position control for drive axis supported on the CU320-2 and no position control for encoders available there is a dive object (type SERVO) on the CU320-2 where encoder settings and specification for mechanic can be made. This is a virtual master, i.e. that there is no existing and necessary power module or motor. Further parameters like motor and power module data are irrelevant for the application. The following opportunities are available to connect the encoder: • Two-encoder-system, i.e. one motor encoder for speed control and another

one for position control. The motor encoder has to be connected to the SINAMICS DCM – the position controller to the CU320-2. In this set-up the motor encoder may also be an analog speedometer.

• HTL or TTL motor encoder which is used for position control. In this case the encoder has to be connected both to the SINAMICS DCM and the CU320-2. (If required via insolation amplifier)

• Incremental encoder sin/cos 1VPP, absolute encoder EnDat or SSI, encoder with DRIVE-CLiQ-port. The encoder has only to be connected to the CU320-2 while the actual speed value and speed setpoint is transferred via OA-Link to the SINAMICS DCM.

WARNING

Severe personal injury and material damage may occur if there will be any failure while transmitting the actual speed setpoint in communication or CU320-2 itself and it wouldn’t be respond quick with pulse inhibition.


3 Program description

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3 Program description 3.1 Function charts



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ASC

160

0 D

CM

Func

tion

diag

ram

87

65

43

21

DC

M_V

1_0_

de.v

sdD

O: S

ER

VO

SIN

AM

ICS

22.0

9.14

V02

.01.

00In

terfa

ce to

pos

ition

con

trolle

r

PO

V

NO

V

CO

Rr2

5003

CO

: Pos

ition

cor

rect

ion

valu

e fo

r the

pos

ition

con

trolle

r

BO

: Pos

ition

cor

rect

ion

bit

for t

he p

ositi

on c

ontro

ller P

OV

r250

05

BO

: Pos

ition

cor

rect

ion

bit

for t

he p

ositi

on c

ontro

ller N

OV

r250

04

[AS

C 1

601]

Pos

ition

set

poin

t

Act

ual p

ositi

on p

repr

oces

sing

(r25

005)

BI:

LR p

os. a

ctua

l val

ue

prep

roce

ssin

g ac

tivat

e ne

g.

corr

. (ed

ge),

Cl-l

oop

pos

cont

rol

p273

0 (r25

004)

BI:

LR p

os. a

ctua

l val

ue

prep

roce

ssin

g ac

tivat

e co

rr.

valu

e (e

dge)

, Cl-l

oop

pos

cont

rol

p251

2

CI:

LR P

ositi

on a

ctua

l val

ue

prep

roce

ssin

g co

rrec

tive

valu

e,

Cl-L

oop

pos

ctrl

(r25

003)

p251

3

(0)

BI:

Com

pens

atio

n w

hen

sync

hron

izin

g fo

r the

inte

rface

, for

war

dp2

3702

Max

imum

vel

ocity

syn

chro

niza

tion

for t

he in

terfa

ce [1

000

LU/m

in]

p237

10M

axim

um a

ccel

erat

ion

sync

hron

izat

ion

for t

he in

terfa

ce [1

000

LU/s

²]p2

3711

Jerk

syn

chro

niza

tion

for t

he in

terfa

ce [1

000

LU/s

³]p2

3712(0

)B

I: C

ompe

nsat

ion

whe

n sy

nchr

oniz

ing

for t

he in

terfa

ce, b

ackw

ard

p237

03

VM

X

AM

X

JRK

FWD

BW

D

[AS

C 1

500.

7]P

ositi

on m

aste

r val

ue

from

sum

min

g po

int

[AS

C 1

500.

7]V

eloc

ity m

aste

r val

ue

from

sum

min

g po

int

[AS

C 1

610.

7]P

ositi

on m

aste

r val

ue

from

pos

ition

er

[AS

C 1

610.

7]V

eloc

ity m

aste

r val

ue

from

pos

ition

er

[AS

C 1

620]

hom

ing

[AS

C 1

630]

Prin

t mar

k co

rrec

tion

Syn

c&

≥1

[AS

C 1

600.

4]N

o po

sitio

ning

(0)

BI:

Syn

chro

niza

tion

for

the

inte

rface

p237

01

[AS

C 1

630.

6]en

able

prin

t m

ark

corr

ectio

n&

[AS

C 1

620.

2]pr

int m

ark

reco

gnis

ed

For d

etai

led

conn

ectio

n re

fer t

o th

e ap

plic

atio

n‘s

func

tion

diag

ram

A

SC

160

0

1Tr

acki

ng to

pos

ition

act

ual

valu

e w

hen

axis

is tu

rned

off

(r89

9.2)

CI:

stat

us w

ord

sequ

ence

con

trol f

rom

DC

Mp2

1603



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ASC

160

1 D

CM

Func

tion

diag

ram

87

65

43

21

DC

M_V

1_0_

de.v

sdD

O: S

ER

VO

SIN

AM

ICS

22.0

9.14

V02

.01.

00P

ositi

on c

ontro

ller

10

Spe

ed p

reco

ntro

l [%

]p2

4901

Kp

Tn

r257

00C

O: s

peed

set

poin

t to

DC

M

Pos

ition

con

trolle

rin

tegr

al ti

me

p256

05

Pos

ition

con

trolle

r pr

opor

tiona

l gai

np2

5600

+

-

r256

30C

O: F

ollo

win

g er

ror D

INT

r256

20C

O: F

ollo

win

g er

ror R

EA

LR

D

[AS

C 1

600]

Pos

ition

set

poin

tP

ositi

on c

ontro

ller

(0)

BI:

posi

tion

cont

rolle

r as

P c

ontro

ller

p256

10

[AS

C 1

600]

spee

d se

tpoi

nt

+

[AS

C 1

600]

Pos

ition

act

ual v

alue

Pos

ition

con

trolle

r

x

y

Pos

ition

con

trolle

r up

per l

imit

[rpm

]p2

5615

Pos

ition

con

trolle

r lo

wer

lim

it [rp

m]

p256

16

BO

: pos

ition

con

trolle

r at

upp

er li

mit

r256

25

BO

: pos

ition

con

trolle

r at

low

er li

mit

r256

26

CI:

Ref

eren

ce s

peed

of

the

driv

e

(CU

:r317

92)

p249

00



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CI:

Tech

nolo

gy s

tatu

s w

ord

1 fro

mTe

chno

logy

-CU

CU

:r317

92[0

]p2

5510

[AS

C 1

016.

1]F5

1050

Follo

win

g er

ror o

ut o

f tol

eran

ce

p210

00[0

] = [3

001]

Inte

rpol

atio

n

ASC

500

0Fu

nctio

n di

agra

m8

76

54

32

1Fu

nktio

nspl

an_K

urve

nsch

eibe

.vsd

DO

: DC

_CTR

LS

INA

MIC

S22

.09.

14V

02.0

1.00

Inte

rcon

nect

ion

and

mon

itorin

g

CI:

Spe

ed s

etpo

int o

f the

driv

eC

U:r3

1792

[0]

p255

00

A51

060

Blo

ck fa

ult a

ctiv

e

r255

05

CO

: Spe

ed s

etpo

int t

o dr

ive

afte

r int

erpo

latio

n

CU

:r317

86.7

BI:

Tole

ranc

e tim

e O

ALi

nkp2

5550

F510

59O

ALi

nk c

omm

unic

atio

n fa

ult

CI:

RFG

inpu

t sig

nal f

or li

miti

ng a

fter R

FG

r255

05P

5063

4[0]

Inte

rpol

atio

n

DC

M_V

1_0_

de.v

sd



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3.2 Parameter

3.2.1 New and changed Parameters at the positioning or synchronism axis (technology CU)

p21603 CI: status word sequence control from DCM SERVO Can be changed: T Calculated: - Access level: 1

Data type: Dynamic index: - Function chart:

P group: - Unit group: - Unit selection: -

Not for motor type: - Expert list: 1

Min Max Default setting

CU:r31790[2]

Description: Setting the signal source for the status word’s feedback from DCM. The status word is transferred via OA-Link and received from the CU.

p24900 CI: Reference speed of the drive SERVO Can be changed: T Calculated: - Access level: 1





CU:r31790[0]

Description: Setting the signal source for the reference speed of the DCM. It is transferred via OA-Link and received from the CU.

p25600 position controller proportional gain SERVO Can be changed: U/T Calculated: - Access level: 1





-3,40282E+38 3,40282E+38 0,01 Description: Setting the position controller’s proportional gain value in DCC. p25605 position controller integral time SERVO Can be changed: U/T Calculated: - Access level: 1





-3,40282E+38 3,40282E+38 100000ms Description: Setting the position controller’s integral time in DCC. Dependency: also refer to: p25610

Note: The position controller only operates as PI-controller when p25610 is adjusted accordingly. The integral time is limited to the least intern sampling time which is set for the runtime group. As a consequence a deactivation of the integral's part can only be made via p25610.



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p25610 BI: position controller as P controller SERVO Can be changed: U/T Calculated: - Access level: 1





- Description: Setting the signal source to operate the position controller in P-mode. Dependency: also refer to: p25605 p25615 position controller upper limit [rpm] SERVO Can be changed: U/T Calculated: - Access level: 1





-3,40282E+38 3,40282E+38 500 Description: Setting the signal source for the position controller’s upper limit. p25616 position controller lower limt [rpm] SERVO Can be changed: U/T Calculated: - Access level: 1





-3,40282E+38 3,40282E+38 -500 Description: Setting the signal source for the position controller’s lower limit. r25620 CO: Following error REAL SERVO Can be changed: - Calculated: - Access level: 1





-

Description: Feedback of the actual following error at the position controller as REAL-value for further intern usage (e.g. in DCC)

Note: This connector cannot be used to transfer the following error via the communication interface. r25625 BO: position controller at upper limit SERVO Can be changed: U/T Calculated: - Access level: 1





- Description: Feedback signal from position controller when upper limit (parameterized in p25615) is reached.



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r25626 BO: position controller at lower limit SERVO Can be changed: U/T Calculated: - Access level: 1





- Description: Feedback signal from position controller when lower limit (parameterized in p25615) is reached. r25630 CO: Following error DINT SERVO Can be changed: U/T Calculated: - Access level: 1





-

Description: Feedback of the actual following error at the position controller as double-INT-value for further intern or extern usage.

Note: This connector can be used to transfer the following error via the communication interface. r25700 CO: speed setpoint to DCM SERVO Can be changed: U/T Calculated: - Access level: 1





-

Description: This value contains the speed setpoint for the SINAMICS DCM and is transferred via OA-Link to the DCM’s Advanced CUD.

Note: This value is connected to the CU’s OA-Link-send data.

3.2.2 New parameters at the SINAMICS DCM drive object

r21500 Softwareversion Technology Interconnection DCM DC_CTRL Can be changed: - Calculated: - Access level: 1 Data type: Dynamic index: - Function chart: P group: - Unit group: - Unit selection: - Not for motor type: - Expert list: 1

Min Max Default setting - - - Description: This parameter shows the software version of the DCC chart implementing the technology interconnection

to CU320-2



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p25500 CI: Speed setpoint of the drive DC_CTRL Can be changed: T Calculated: - Access level: 1 Data type: Dynamic index: - Function chart: P group: - Unit group: - Unit selection: - Not for motor type: - Expert list: 1

Min Max Default setting - - Control_Unit:r31792[0] Description: Sets the signal source for the speed setpoint of the drive. Note: The signal for the speed setpoint of the drive is generated by the position controller of the technology CU

and send per OALink to the DC drive. It is automatically interconnect by the commissioning script.

r25505 CO: Speed setpoint to drive after interpolation DC_CTRL Can be changed: - Calculated: - Access level: 1 Data type: Dynamic index: - Function chart: P group: - Unit group: - Unit selection: - Not for motor type: - Expert list: 1

Min Max Default setting - - - Description: This parameter provides the received speed setpoint Note: The speed setpoint received via OALink from the technology CU is interpolated in the supplemented or

new generated DCC chart. The interpolation is done from position controller sampling time (4ms) to the speed controller sampling time of the drive.

p25510 CI: Technology status word 1 from Technology-CU DC_CTRL Can be changed: T Calculated: - Access level: 1 Data type: Dynamic index: - Function chart: P group: - Unit group: - Unit selection: - Not for motor type: - Expert list: 1

Min Max Default setting - - Control_Unit : r31790[6] Description: Sets the signal source for the technology status word 1 from the technology CU. Note: The technology status word is analyzed to monitor the technological functions.

p25550 BI: Tolerance time OALink DC_CTRL Can be changed: T Calculated: - Access level: 1 Data type: Dynamic index: - Function chart: P group: - Unit group: - Unit selection: - Not for motor type: - Expert list: 1

Min Max Default setting - - Control_Unit : r31786.7 Description: Sets the signal source for the tolerance time communication problem. Note: If the tolerance time is exceeded, a fault is generated at the drive.

3.2.3 Automatically interconnected parameters for communication

Parameter at the technology CU drive object Table 3-1

Parameter Parameter text Parameter value

p21510 CI: Technology control word 1 (positioning/homing) Control_Unit : r31790[3]



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p21511 CI: Technology control word 2 (catch up/engaging function) Control_Unit : r31790[4]

p21512 CI: Technology control word 3 (cam) Control_Unit : r31790[5]

p21513 CI: Technology control word 4 (master value switchov./sync/offset) Control_Unit : r31790[6]

p21514 CI: Technology control word 5 (virtual leading axis) Control_Unit : r31790[7]

p21603 CI: status word sequence control from DCM Control_Unit : r31790[2] p21807 CI: Velocity virtual leading axis [%] Control_Unit : r31792[10] p21824 CI: Virtual leading axis setpoint position variable Control_Unit : r31791[8] p21903 CI: Positioning setpoint position variable [LU] Control_Unit : r31792[14] p21931 CI: Velocity override positioning [%] Control_Unit : r31791[12] p24900 CI: Reference speed of the drive Control_Unit : r31792[0]

Parameter at the technology CU control unit Table 3-2


p31770 OALINK activation

p31770[0] OALINK1

[3] OALINK communication via DRIVE-CLiQ socket X103

p31771 OALINK sampling time p31771[0] OALINK1 200.000 p31778 OALINK1 receive words maximum number 20 p31780 OALINK1 send words maximum number 20 p31793[6] CI: OALINK1 send words integer16 Drive_1 : r21541 p31793[7] CI: OALINK1 send words integer16 Drive_1 : r21542 p31793[8] CI: OALINK1 send words integer16 Drive_1 : r21543 p31794[9] CI: OALINK1 send words integer32 Drive_1 : r2521[0] p31794[11] CI: OALINK1 send words integer32 Drive_1 : r2522[0]

Parameter at the CUD Table 3-3


p31770 OALINK activation

p31770[0] OALINK1

[1] OALINK communication via DRIVE-CLiQ socket X101

p31771[0] OALINK sampling time OALINK1 2.00000

p31772[0] OALINK communication problems signals tolerance time OALINK1 10.00

p31778 OALINK1 receive words maximum number 20 p31780 OALINK1 send words maximum number 20 p31793[2] CI: OALINK1 send words integer16 Drive_1 : r899 p31793[3] CI: OALINK1 send words integer16 Drive_1 : r2050[1] p31793[4] CI: OALINK1 send words integer16 Drive_1 : r2050[2] p31793[5] CI: OALINK1 send words integer16 Drive_1 : r2050[4] p31793[6] CI: OALINK1 send words integer16 Drive_1 : r2050[5] p31793[7] CI: OALINK1 send words integer16 Drive_1 : r2050[6] p31794[8] CI: OALINK1 send words integer32 Drive_1 : r2060[7] p31794[12] CI: OALINK1 send words integer32 Drive_1 : r2060[11]



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p31795[0] CI: OALINK1 send words floating point32 Drive_1 : r2700 p31795[10] CI: OALINK1 send words floating point32 Drive_1 : r2060[9] p31795[14] CI: OALINK1 send words floating point32 Drive_1 : r2060[13]

Parameter at DC drive Table 3-4


p820[0] BI: Drive Data Set selection DDS bit 0 Drive_1 : r2093.0 p821[0] BI: Drive Data Set selection DDS bit 1 Drive_1 : r2093.1 p840[0] BI: ON / OFF (OFF1) Drive_1 : r2090.0

p844[0] BI: No coast-down / coast-down (OFF2) signal source 1 Drive_1 : r2090.1

p848[0] BI: No Quick Stop / Quick Stop (OFF3) signal source 1 Drive_1 : r2090.2

p852[0] BI: Enable operation/inhibit operation Drive_1 : r2090.3 p854[0] BI: Control by PLC/no control by PLC Drive_1 : r2090.10 p1035[0] BI: Motorized potentiometer setpoint raise Drive_1 : r2090.13 p1036[0] BI: Motorized potentiometer lower setpoint Drive_1 : r2090.14 p1113[0] BI: Setpoint inversion Drive_1 : r2090.11

p1140[0] BI: Enable ramp-function generator/inhibit ramp-function generator Drive_1 : r2090.4

p1141[0] BI: Continue ramp-function generator/freeze ramp-function generator Drive_1 : r2090.5

p1142[0] BI: Enable setpoint/inhibit setpoint Drive_1 : r2090.6 p2051 CI: IF1 PROFIdrive PZD send word p2051[0] PZD 1 Drive_1 : r2089[0] p2051[1] PZD 2 Drive_1 : r2132 p2051[2] PZD 3 Drive_1 : r2131 p2051[3] PZD 4 Drive_1 : r2089[1] p2051[4] PZD 5 Control_Unit : r31790[6] p2051[5] PZD 6 Control_Unit : r31790[7] p2051[6] PZD 7 Control_Unit : r31790[8] p2051[11] PZD 12 Drive_1 : r80[1]

p2061[7] CI: IF1 PROFIdrive PZD send double word PZD 8 + 9 Control_Unit : r31791[9]

p2061[9] CI: IF1 PROFIdrive PZD send double word PZD 10 + 11 Control_Unit : r31791[11]

p2080 BI: Binector-connector converter status word 1

p2080[0] BI: Binector-connector converter status word 1 Bit 0 Drive_1 : r899.0







p2080[7] BI: Binector-connector converter status word 1 Drive_1 : r2139.7



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Bit 7









p2081 BI: Binector-connector converter status word 2






p2088[0] Invert binector-connector converter status word Status word 1 A800H

p2088[0].11 Invert binector-connector converter status word Status word 1 Bit 11 Inverted



p2103[0] BI: 1. Acknowledge faults Drive_1 : r2090.7 p50634[0] CI: RFG input signal for limiting after RFG Drive_1 : r25505

p21000[0] Run-time group properties Run-time group 1 [3001] BEFORE speed ctrl

p25500 CI: Speed setpoint of the drive Control_Unit : r31792[0]

p25510 CI: Technology status word 1 from Technology-CU Control_Unit : r31790[6]

3.2.4 Automatically interconnected parameter at the leading axis

Table 3-5 Parameters automatically interconnected with the commissioning script


p21701 CI: Position setpoint, real leading axis (DCC connection) LeadingAxis : r25502

p21703 CI: Velocity setpoint, real leading axis (DCC connection) LeadingAxis : r25503

p21705 CI: Correction value homing real leading axis LeadingAxis : r25501



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(DCC connection) p21706 BI: Correction bit, real leading axis LeadingAxis : r25500.0

p22001 CI: Position master value 1 master value switchover Drive_1 : r21860

p22002 CI: Velocity master value 1 master value switchover Drive_1 : r21861

The grey highlighted cells are only used in the synchronism (without positioning) and the 1:1 synchronism application. At cam synchronism and gear synchronism with positioning the real axis’s setpoint is connected to the master value 2. Therefore master value 2 has to be selected via p22000.

3.3 Faults and alarms

F51050 Following error out of tolerance Drive object: DC_CTRL Reaction: OFF2 Acknowledgement: immediately Cause: The tolerance for the following error in motion or in standstill was exceeded. Help After correction the fault can be acknowledged

F51059 OALink communication fault Drive object: DC_CTRL Reaction: OFF2 Acknowledgement: immediately Cause: The OALink communication has reported a communication problem and the tolerance time is exceeded

(CU parameter 31772). Help Check OALink.

A51060 Block fault active Drive object: DC_CTRL Reaction: no Acknowledgement no Cause: A block of the synchronism application reports an error. Help Check dynamic values at the concerning block and mechanical parametrization. Execute POWER ON.

When occuring more then once contact application consulting service.


4 Commissioning the application

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4 Commissioning the application 4.1 Requirements for commission

4.1.1 Necessary software components

Please ensure before commissioning that the following software components are stored on your computer. • .zip-file of technology package OA-Link V1.2 • .zip-file synchronism library GMC V2.0 • Unzipped main script to integrate the application • The desired positioning or synchronism application with a version equal or

higher than V2.0 • Unzipped drive object file of technology-CU

4.1.2 Installation of the OA-Link application

For the communication between CU320-2 and CUD Advanced it is required to install the OA-Link application in the commissioning-tool Starter. Close the active project and start installation under “Options” “Installation of libraries and technology packages …” Also refer to the manual of the OA-Link application for further details.

4.1.3 Installation of the DCB-Extension library „GMC“

This library extends the basic functionality of DCC with blocks for motion control applications. These blocks are basis of the standard applications for positioning and synchronism tasks. They are necessary to include this application. Close the active project and start the installation in the Starter, too. Also refer to the manual of the positioning and synchronism applications for further details.

4.1.4 Create the new Starter-project

Based on the starter project and the in speed operation commissioned SINAMICS DCM this application is integrated. If you have not yet created a Starter-project with the SINAMICS DCM it is also possible to start with an empty project.

NOTE The script to include the technology-CU and both the positioning and synchronism application will apply the whole inclusion in your project.

Thereby lots of changes will be made in the project including saving the project in several stages.

For that reason we recommend to archive the primary project before starting the following steps.



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Browse to the project name in the project explorer and right-click on it. Then select “Expert” “Paste script folder” in the shortcut menu. Figure 4-1

Afterwards select “Import object” in the shortcut menu of the new added script folder via right-klick on it, too. Figure 4-2



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Select in the following message boxes the path to the folder where the main script was unzipped and the appropriate file “Main.xml”. Figure 4-3

Following this, execute the script via the shortcut menu. Figure 4-4



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Please follow then the instructions from the script. When the script was finished, the Project has been expanded by the technology-CU including “Drive_1” and if desired a real leading axis “LeadingAxis”, at the drive object of SINAMICS DCM the DCC chart is supplemented or created. Figure 4-5



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Right now you can configure the position encoder. To do so, open the drop down menu for “Drive_1” in the project navigator and double click on “Configuration”.

Figure 4-6

Afterwards click on “Encoder data” and adjust encoder 2 in the window which opens (shown here as an example). Figure 4-7



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Configure the mechanical setup in the next step. You will find the corresponding input masks at: “Drive_1” “Technology” “Position control” “Mechanics”. Figure 4-8

Figure 4-9



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If required follow the same way for the position encoder of the real leading axis.

NOTE Modulo correction can be adjusted via the parameter in the DCC application.

For further information please refer to the related documentation.

NOTE For this application all other position controller’s masks in the project navigator are not relevant.

For further commissioning of the positioning and synchronism applications please continue as described in the particular documentation.


5 Contact person

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5 Contact person Siemens AG Industry Sector I DT MC PMA APC Frauenauracher Straße 80 D - 91056 Erlangen mailto: [email protected]

6 History Table 6-1

Version Date Changes

V1.0 02/2014 First edition (not published) V2.0 08/2014 Second edition


mailto:[email protected]

application description 09/2014 motion control

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