user manual traversing drive with dcc · it is assumed that the reader has basic knowledge about...

User Manual Traversing Drive with DCC

SINAMICS DCC Traversing Drive V1.01

Application No.: A4027118-A0460

General information

SINAMICS DCC Traversing Drive

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We reserve the right to make technical changes to this product.

Copyright Reproduction, transmission or use of this document or its contents is not permitted without express written authority. Offenders will be liable for damages. All rights, including rights created by patent grant or registration or a utility model or design, are reserved.

General information


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General information

Note The standard applications are not binding and do not claim to be complete regarding the circuits shown and equipping as well as possible eventualities. The standard applications do not represent customer-specific solutions. They are only intended to provide support for typical applications. You are responsible in ensuring that the described products are correctly used. These standard applications do not relieve you of the responsibility of safely and professionally using, installing, operating and servicing equipment. When using these standard applications, you recognize that Siemens cannot be made liable for any damage/claims beyond the liability clause describe. We reserve the right to make changes to these standard applications at any time without prior notice. If there are any deviations between the recommendations provided in these standard applications and other Siemens publications - e.g. Catalogs, then the contents of the other documents have priority.

Warranty, liability and support We do not accept any liability for the information contained in this document. Claims against us - irrespective of the legal grounds - resulting from the use of the examples, information, programs, engineering and performance data etc., described in this standard application are excluded. Such an exclusion shall not apply where liability is mandatory e.g. under the German Product Liability Act involving intent, gross negligence, or injury of life, body or health, guarantee for the quality of a product, fraudulent concealment of a deficiency or non-performance. Claims of the purchaser for compensation relating to non-performance of essential contract obligations shall be limited to foreseeable damages typically covered by a contract unless intent, willful misconduct or gross negligence is involved or injury of life, body or health. The above stipulations shall not change the burden of proof to your detriment. Copyright© 2009 Siemens I DT. It is not permissible to transfer or copy these application examples or excerpts of them without first having prior authorization from Siemens I DT in writing. If you have any questions relating to this document then please send them to us at the following e-mail address: mailto:[email protected]

mailto:[email protected]

General information


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Applicable conditions / Alternative 1: (Internal business) If nothing else has been negotiated, then the "Conditions for the supply and services in Siemens internal business" applies in the version that is valid at the time that the equipment is purchased. / Alternative 2: (Domestic business of Siemens AG) If nothing else has been negotiated, then the "General License Conditions for Software for Automation and Drives for Customers with a Seat or Registered Office in Germany", valid at the time of sale, are applicable. / Alternative 3: (Direct export business of Siemens AG) If nothing else has been negotiated, then the "General License Conditions for Software Products for Automation and Drives for Customers with a Seat or Registered Office outside Germany", valid at the time of sale, are applicable. / Alternative 4: (Conditions of the particular regional office for the regional office business) If nothing else has been negotiated, then the "...", valid at the time of sale, are applicable.

Qualified personnel In the sense of this documentation qualified personnel are those who are knowledgeable and qualified to mount/install, commission, operate and service/maintain the products which are being used. He or she must have the appropriate qualifications to carry-out these activities e.g.: Trained and authorized to energize and de-energize, ground and tag circuits

and equipment according to applicable safety standards. Trained or instructed according to the latest safety standards in the care and

use of the appropriate safety equipment. Trained in rendering first aid.

There is no explicit warning information in this documentation. However, reference is made to warning information and instructions in the Operating Instructions for the particular product.

Information regarding export codes AL: N ECCN: N

Foreword


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Foreword Objective of the application

This application is based on the technological interaction between the SINAMICS drive system and the DCC programming language and a SIMATIC S7 PLC. In order to show this as simply and as practically as possible, a technological function, frequently used in machines is used in a simple example with HMI (winCC flexible). This means that the application can also be used as presentation model.

Core contents of this application The following core issues are discussed in this application: How the various components interact and operate with one another Which technological function is used The advantages that this solution offers How the technological function is programmed or parameterized How the example can be used as presentation/demonstration system

Scope of the document This application does not include: Automatic control of the traversing arm via SIMATIC S7. The user must

integrate this application into his automation solution. The traversing arm runs in velocity synchronism with the winder. If there is a

requirement regarding angular offset control - and therefore a rigid synchronous angular relationship - then we recommend the “Traversing arm in SIMOTION“ application.

Simple traversing arms can be very quickly implemented using the basic positioning mode ”traversing blocks”. However, in this case, many of the subsequently described functions will only be possible with certain restrictions.

It is assumed that the reader has basic knowledge about these subjects and topics.

Foreword


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Structure of the document The documentation of this application is sub-divided into the following main sections.

Section Description Application description Here, you can obtain an overview of the application. You

will get to know the components being used (standard hardware and software components as well as your own user software specifically generated for the purpose). You will also be provided with engineering/configuring information and instructions on how to select the most suitable closed-loop control concept.

Application example as demonstration system

This section will guide you step-by-step through the main points when commissioning the demonstration application. This is then followed by information on how to use the demonstration application.

Integrating the core function The "Integrating the core function" section will guide you step-by-step through the essential points when integrating the core function into your user program and when commissioning the application.

Program description Individual block functions are described in more detail in the “Program description“. Here you will find a precise description of the parameters and how they are used.

Attachment Here, you will find additional information – such as e.g. references to literature, glossaries etc..

Table of contents


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Table of contents Application description ............................................................................................ 9

1 Basic information ............................................................................... 9 1.1 Prerequisites ..................................................................................... 9 1.1.1 Target group ...................................................................................... 9 1.1.2 Technical environment ....................................................................... 9 1.2 Objective and purpose of this application ........................................... 9 1.2.1 Task description ................................................................................ 9 1.2.2 Problem solution using the standard application ................................. 9 1.2.3 Advantages of the standard application ............................................ 10 1.3 Components included in the standard application............................. 10 1.4 Principle of operation of the application ............................................ 11 1.4.1 Schematic representation ................................................................ 11 1.4.2 Traversing arm data......................................................................... 11 2 Application functions ........................................................................ 13 2.1 Tasks that can be addressed using the core function ....................... 13 2.2 Characteristics of the core function .................................................. 13 3 Automation solution ......................................................................... 14 3.1 Hardware and software components required .................................. 14

Application example as demonstration system .................................................... 16

4 Installing the hardware and software ................................................ 16 4.1 Regarding your safety ...................................................................... 16 4.1.1 Safety information and instructions .................................................. 16 4.1.2 Responsibilities of the operator ........................................................ 17 4.2 Installing the hardware and software ................................................ 18 4.3 Installing the application software .................................................... 19 5 Using the application example ......................................................... 20 5.1 Brief instructions on the demonstrating the example......................... 20 5.1.1 Structure overview ........................................................................... 20 5.1.2 Brief instructions .............................................................................. 20 5.2 Detailed operating instructions ......................................................... 22 5.2.1 Starting screen ................................................................................ 22 5.2.2 “Automatic” screen .......................................................................... 23 5.2.3 “Settings” screen ............................................................................. 24 5.2.4 “EPOS” screen ................................................................................ 25

Integrating the core function ................................................................................. 26

6 Program environment and interfaces ............................................... 26 6.1 Program structure ............................................................................ 26 6.2 Interfaces ........................................................................................ 27 7 Integration into the user program ..................................................... 28 7.1 Technology objects required ............................................................ 28 7.2 Preparation ...................................................................................... 28 7.3 Integrating the core function ............................................................. 32 7.4 Configuring examples ...................................................................... 34 7.4.1 Shorter sampling time ...................................................................... 34 7.4.2 Execution sequence ........................................................................ 34 7.4.3 Measures when the winder speed actual values fluctuate ................ 34

Program description .............................................................................................. 36

Table of contents


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8 Program and function description ..................................................... 36 8.1 DCC chart ....................................................................................... 36 8.1.1 Overview, function block .................................................................. 36 8.1.2 Parameter description ...................................................................... 37

Input parameters ............................................................................. 37 Output parameters ........................................................................... 39

8.2 SIMATIC S7 Profibus interfaced ...................................................... 39 8.2.1 Control signals/setpoints .................................................................. 39 8.2.2 Feedback signals ............................................................................. 43 9 Function description......................................................................... 46 9.1 DCC traversing program .................................................................. 46 9.1.1 Structure.......................................................................................... 46 9.1.2 DCC chart ....................................................................................... 46 9.2 Profibus communication in SIMATIC S7 ........................................... 48 10 Commissioning the function ............................................................. 48 10.1 Parameterization ............................................................................. 48 10.2 Test and fine setting ........................................................................ 50 10.3 Data coupling to SIMATIC ............................................................... 55

Appendix ................................................................................................................ 56

11 General information on the application ............................................. 56 11.1 Scope of supply ............................................................................... 56 11.2 Revisions/Author ............................................................................. 56 12 Literature ......................................................................................... 56 13 Contact partner ................................................................................ 57

Application description

Basic information

SINAMICS Traversing

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Contents Here, you will obtain an overview of the “Traversing arm in SINAMICS“ application. You will get to know the components that are being used (standard hardware and software components as well as the user software that was generated). The main performance data indicate the performance of this application.

1 Basic information 1.1 Prerequisites

1.1.1 Target group

The standard application is intended for all programmers and users that which to quickly and simply implement traversing arm functionality using SINAMICS.

1.1.2 Technical environment

This standard application can be used, unchanged, in conjunction with a SIMATIC S7 and a SINAMICS S120 demonstration case.

1.2 Objective and purpose of this application

1.2.1 Task description

The standard traversing arm application in SINAMICS was developed with the objective to create a flexible solution for traversing arm applications; whereby the essential and relevant data for the traversing arm process can be entered using input values and changed during operation (hot changes). This means that by specifically entering the input values, the traversing arm profile - and therefore the stability of the winding structure can be influenced in a specific fashion. Due to the fact that the software structure is open, when required, it is also possible to modify the application. Using the appropriate equipment, this application allows a wide range of different materials to be traversed with a specific profile (e.g. textile fibers, wires, …). It is ensured that the motor, which drives the traversing arm equipment, precisely follows the input values. In practice, the quality of the traversing motion depends on the mechanical design of the traversing arm unit and the properties and characteristics of the material that is being wound using the traversing arm. Typically, the traversing arm drive operates in conjunction with a winder that supplies the leading (master) value for the traversing arm.

1.2.2 Problem solution using the standard application

A DCC program is the core function of this standard application: The traversing arm is implemented in the DCC program and can be simply parameterized. Only the traversing arm interface has to be processed and the input/output parameters appropriately interconnected in the user program in the SIMATIC S7.


Basic information

SINAMICS Traversing

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1.2.3 Advantages of the standard application

The use of the standard “Traversing arm" application offers users the following advantages:

The program can be quickly generated By using the standard “Traversing arm” application, it is possible to quickly and simply implement extensive traversing arm functionality when generating the program with SIMATIC S7. The core function can be integrated into the user program by simply parameterizing it. The necessary configuring steps will be explained in this description of the standard application.

Possibility of adapting the user program The standard “Traversing arm” application is included with the DCC chart in a form that has comments. This means that this core function can be quickly and simply expanded by users to include their own functions.

1.3 Components included in the standard application

The standard “Traversing arm“ application is implemented as SIMATIC project with integrated SINAMICS and winCC flexible project. The project can be simultaneously used for a (demonstration) machine, a SINAMICS S120 demonstration case, a SIMATIC S7 and PC with WinCC flexible RunTime for visualization purposes. The program fulfills the following tasks: Controls the (demonstration) machine Simulates the machine functions relevant for the demonstration case

environment Displays & visualizes the (demonstration) machine on the WinCC flexible

screen (man-machine interface)


Basic information

SINAMICS Traversing

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1.4 Principle of operation of the application

1.4.1 Schematic representation

A wound roll is shown as example in the following diagram. As can be seen from the diagram, the profile of the roll being wound can be defined using the following quantities: Waiting angle, acceleration distance, winding step and winding width. The v-t diagram of a traversing motion is shown in the diagram below. Fig. 1-1

1.4.2 Traversing arm data

A definition of the designations/names used is provided in the following text.

Winding width Winding width is the traversing distance that the traversing arm moves through between two reversal points. From experience, the width of the wound roll can be somewhat narrower as the materials being would can more towards the wound roll at the reversal points depending on the particular product, tension and other effects. In this application, the winding width is parameterized using the righthand and lefthand reversing point.


Basic information

SINAMICS Traversing

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Winding step Winding step is the traversing distance that the traversing arm moves through during one winder revolution. This means that this parameter defines the “gradient” of the material.

Acceleration distance Acceleration distance is the distance that the traversing arm moves through from the reversal point up until it reaches its final traversing velocity.

Waiting angle This is the angle at the winder drive that this moves through until the direction of the traversing arm reverses. This allows the length of material that is wound at the same traversing arm position to be selected. As a consequence, among others things, the stiffness/hardness of the wound roll is influenced at the edges of the roll.


Application functions

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2 Application functions 2.1 Tasks that can be addressed using the core function

The “traversing arm” application is used to control translatory equipment to wind materials (wire, textile fibers, etc.). The “traversing arm” core function handles the preparation of the axis commands necessary to control the traversing arm axis. All of the functions of the basic positioner module (EPOS) can be controlled from the application via HMI and SIMATIC S7. The function can/must be expanded by making the appropriate additions in the SIMATIC S7 user program – so that it can run on an actual machine.

2.2 Characteristics of the core function

The application essentially comprises a DCC program that controls the traversing arm axis via the MDI direct setpoint input mode of the EPOS. All of the data relevant for the traversing arm is entered into the program and additional data is then internally calculated from this.


Automation solution

SINAMICS Traversing

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3 Automation solution 3.1 Hardware and software components required

Hardware components Table 3-1

Component Qty. Order No./MLFB Note SINAMICS S120 training case

1 6ZB2 480 0BA00

SIMATIC S7 1

Profibus cable 2

SIMATIC Field PG or PC

1 6GK1....

Standard software components Table 3-2

Components Qty. Order No./MLFB Note

STARTER V4.3 1 As an alternative, SIMOTION SCOUT V4.3 can also be used

SINAMICS DCC

1 (Optional) Option package for STARTER/SCOUT is required for changes to the DCC chart

WinCC flexible ES/RT 1 Required to connect the HMI.

SIMATIC Manager V5.4

1

http://www.automation.siemens.com/bilddb/picdetails.asp?objID=56066&lang=de&nodeID=5000013&foldersopen=-1172-1173-1174-1175-1240-&jumpto=1240&page=4


Automation solution

SINAMICS Traversing

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File examples and projects All of the files and projects that are used in the example are included in the following list. Table 3-3

Components Note DCC_Traverser_V101.zip This zipped file includes the

STEP 7 project. Manual_SINAMICS_DCC_Traversing Drive_V1.01.pdf This document.


Installing the hardware and software

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Contents All of the necessary steps to commission the standard application “Traversing arm in SINAMICS” as demonstration are explained in this section. Preparatory activities and parameterization operations are explained. Further, you will be given a step-by-step explanation of how to handle the WinCC flexible operator interface of the application example.

4 Installing the hardware and software 4.1 Regarding your safety

4.1.1 Safety information and instructions

Pictogram, signals words and text Every piece of safety information & instruction in this document is designated by text graphics – comprising pictogram and signal word, and supplemented by explanatory text. A clear classification according to the degree of the potential hazard is provided as a result of the combination of pictogram and signal word. Safety information/instructions are provided in front of the information regarding activities to be executed.

Classification There are three different stages regarding safety information/instructions. These are designated by the same pictogram. They differ by the signal word. They differ by the signal word.

! Danger

This safety information/instruction indicates an immediate hazard. If the information/instruction is not carefully followed, this results in severe bodily injury or even death.

! Warning

This safety information/instruction indicates a potential hazard. If the information/instruction is not carefully followed, this can result in severe bodily injury or even death.

! Notice

This safety information/instruction indicates a potentially hazardous situation, which can result in slight to average bodily injury. This pictogram/text word can also warn about potential material damage.



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4.1.2 Responsibilities of the operator

Correct operation and use The correct use of the application components exclusively relates to the open-loop and closed-loop control of test set-ups that were adapted to the power/performance of the application components. In order that the application functions perfectly, the required standard SINAMICS components as well as also the necessary hardware and software components must be installed. The company/person operating the system may only make changes to the application components after having received written authorization from the suppliers.

Misuse The following are considered to be misuse: Inadmissible loads applied to the application components. Any application deviating from the use specified above - or applications that go

beyond the specified use. Non-observance of the safety information and instructions. If faults that could have a negative impact on the safety are not immediately

resolved/removed. Any changes/modifications to equipment/devices that are used to ensure

perfect function and operation, unrestricted use as well as active or passive safety.

If recommended hardware and software components are not used. If the application components are not in a perfect technical condition, are not

operated conscious of safety and hazards and not taking into account all of the instructions provided in the documentation.

The manufacturer assumes no liability for incorrect use (misuse).

Responsible for monitoring The company or person operating the system is responsible in continually monitoring the overall technical status of the application components (defects and damage that can be externally identified as well as changes in the operating behavior & characteristics). The company/person operating the system is responsible in ensuring that the application is only operated in a perfect state. He must check the state of the application components before they are used and must ensure that any defect is removed before commissioning.

Qualification of personnel The operating company/person may only deploy trained, authorized and reliable personnel. In so doing, all safety regulations must be carefully observed. Personnel must receive special instructions regarding the hazards/dangers that can occur.



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4.2 Installing the hardware and software

Which hardware and software components must be installed is described in this section. The descriptions and manuals as well as supply information – that are supplied with the corresponding products – must always be carefully observed.

Installing the hardware Please refer to Chapter 3.1 for the hardware components. Proceed according to the following table for the hardware configuration:

Table 4-1

No. Action Comment 1. Connect the Profibus interface of your PC/PG with the

Profibus interface of the SINAMICS CU320 and the Profibus interface of SIMATIC S7.

2. If you run the visualization on an HMI and not on the PC/PG (e.g. WinCC flexible Runtime) then also connect the Profibus interface (port) of the HMI to the other Profibus interfaces (ports).

3. Carefully check that the Drive-CLiQ interfaces between S120 (CU-X101) and the Motor Module (X200) have been connected as shown to the right!

4. Connect the SINAMICS S120 training case and the

SIMATIC S7 to the power supply.

5. Power-up all of the units and devices.

Note The configuration/packaging guidelines for SINAMICS S120 and SIMATIC S7 must always be carefully observed.

Installing the standard software Table 4-2

N0. Action Comment 1. Install the SIMATIC Manager software on your PC/PG.

Carefully follow the instructions for installing the program. This software should be installed first.

2. Install the STARTER/SCOUT software on your PC/PG. Carefully follow the instructions for installing the program.

You must install DCC if you wish to view or change the application charts.

3. Install the WinCC flexible ES/RT software on your PC/PG. To do this, follow the instructions for installing the program.



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4.3 Installing the application software

A description is given here on how to install the application example. Table 4-3

N0. Action Comment

1. For SINAMICS, use a memory card with firmware 2.5 and the technology package TPdcblib_Sinamics_2_5

For the case that the technology package is not installed on the memory card, then a description is given under Chapter 7.1 as to how this can be subsequently installed.

2. Open the SIMATIC Manager. 3. De-archive the SIMATIC project and open this 4. Open the hardware configuration and check whether you

have an identical SIMATIC S7. If required, change this

5. Go online to the S7 with the SIMATIC Manager and download the project into the S7

6. In the SIMATIC Manager, open the STARTER project. 7. With STARTER/SCOUT, go online and download the project

into the training case

8. Download the project from RAM to ROM. 9. In the SIMATIC Manager, open the WinCC flexible project. 10. Start WinCC flexible RT- or download the RT in the HMI. 11. Switch the S7 to RUN.


Using the application example

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5 Using the application example 5.1 Brief instructions on the demonstrating the example

5.1.1 Structure overview

The basic operator structure of the application is shown in the following diagram.

Fig. 5-1 Welcome screen/Starting screen

Auto Settings EPOS

5.1.2 Brief instructions

The application example is pre-connected; however, the traversing arm axis must still be referenced. The application can be tested using the HMI. Under the Settings screen form, you can set any of the traversing arm parameters in the HMI, e.g.: Position A: 0.00mm Winding Step: 100.00mm Position B: 2000.00mm Waiting angle: 40° Acceleration distance: 5.00mm You can start and monitor/visualize the traversing arm under the AUTO screen form. To start the traversing arm, power-up the traversing axis by pressing “On” and start the traversing arm using “Traversing START”. The traversing arm is presently still at a standstill as the winder axis is also still at a standstill. You can simulate the winder. To do this, under “simulated winder speed”, select a winder speed of e.g. 200 RPM and click on “activate”. Instead of simulating the winder, you can also operate this in STARTER/SCOUT from the control panel.



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You can trace the motion of the traversing arm and the winder in STARTER/SCOUT (refer to Chapter 10.2). You can control all of the EPOS functions in the EPOS HMI screen form.



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5.2 Detailed operating instructions

5.2.1 Starting screen

The starting screen is displayed each time that WinCC flexible Runtime starts. Here, you can select the appropriate screen forms.

Fig. 5-2: Starting screen

The screen forms are used by pressing the appropriate buttons at the lower edge of each screen form. WinCC flexible Runtime can be exited by pressing the Exit button.



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5.2.2 “Automatic” screen

The automatic screen is the main screen of the application example to operate and use the traversing arm. Fig. 5-3: “Automatic” screen

You can start and monitor/visualize the traversing arm from the AUTO screen form. The traversing arm can be controlled on the lefthand side. The winder can be simulated on the righthand side. The monitoring/visualization values are located at the center of the screen. Instructions to trace (record) and evaluate the traversing arm functions is provided in Chapter 10.2.

Traversing counter Resets the traversing counter

Acknowledge fault

Activates winder simulation

Simulated winder speed

To the starting screen

Calls the EPOS screen Calls the

AUTO screen Calls the settings screen

Stops the traversing arm

Starts the traversing arm in the positive direction

Starts the traversing arm in the negative direction Act. position of the

traversing arm

Powers-up the traversing axis

Jog in pos. and neg. directions

Position, right

Position, left



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5.2.3 “Settings” screen

Fig. 5-4: Screen: “Settings”

The traversing parameters can be set as required in the “Settings” screen form. However, the parameters are not subject to a logical check so that these must be set to practical and sensible values. The winding step, righthand and lefthand position are set in the upper part of the screen. The acceleration distance and waiting angle are set in the lower part of the screen.

Position, left Position, right

Winding step

Acceleration distance

Waiting angle

Acknowledge fault



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5.2.4 “EPOS” screen

The modes of the SINAMICS function module, basic positioner EPOS can be controlled – and the feedback signals monitored – in the EPOS screen form. The referencing, jogging and MDI modes are the most important for the traversing arm. You can enable the axis by pressing ON and you can jog the drive, for instance, by pressing Jog1 and Jog2 – and you can approach a fixed position using MDI. Fig. 5-5: “EPOS” screen form

All of the signals are connected to SINAMICS using the appropriate BICO interconnections. This means that you can take the precise function from the SINAMICS S120 Function Manual. The designations and names in the “EPOS” screen form are identical with the names and designations of the Profibus interface of this application – a brief description of the individual signals is provided under Chapter 8.1.2 Parameter .

Referencing

MDI

Jogging Axis enable Feedback signals

Integrating the core function

Program environment and interfaces

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Contents “Integrating the core functions” section provides you with all of the necessary steps to integrate the core “Traversing arm” functions into your application. Preparatory activities and parameterizing operations are explained. Further, you will be given a step-by-step explanation of how you can integrate the “traversing arm” into your application.

6 Program environment and interfaces 6.1 Program structure

Fig. 6-1

HMI

SINAMICS S120 SIMATIC S7

SINAMICS DCC


Program environment and interfaces

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6.2 Interfaces

The application, that was essentially generated using Drive Control Charts (DCC), includes a parameter interface. This is supplied with data from the drive as well as data from the Profibus interface via BICO interconnections. Data from the Profibus interface is made available to users in the SIMATIC S7 as data block. Further, the HMI system accesses the data block via Profibus.


Integration into the user program

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7 Integration into the user program 7.1 Technology objects required

The “TPdcblib_Sinamics_2_5” technology object must be installed on the memory card in Sinamics in order to run the DCC chart. If this has not already been done then it can be subsequently downloaded: Go online with your project and using the righthand mouse key, click on the drive unit. Select the menu item “Select technology package”. In the following window, select the technology package “TPdcblib_Sinamics_2_5” and execute the “Execute now” function. Then carry-out a “Power On reset”. Fig. 7-1

7.2 Preparation

Before integrating the core function, you should parameterize the Profibus DP interface in the hardware configuration, transfer the WinCC flexible project and parameterize the drives.

Adaptations in the SIMATIC Manager The DP interface is parameterized in the hardware configuration of the SIMATIC Manager. When selecting a CPU with integrated DP interface or a DC communication processor from the STEP 7 hardware catalog, the hardware configuration is made available to a PROFIBUS-DP master system. After setting the master parameters (e.g. baud rate), the SINAMICS must be assigned the Profibus bus line from the hardware catalog. After completing the DP configuration, you should copy the following blocks into your new project: OB1, FC100, DB100, UDT101, UDT102, VAT_100, SFC14 and



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SFC15. The OB1 only calls FC100. Communications for the traversing arm axis is already set-up in the FC100.

Accepting the WinCC flexible project Copy the WinCC flexible project into your own SIMATIC project. First open the project with WinCC flexible and from the project menu select “Copy from STEP7”. After succesfully exporting the data select in the same menu “Integrate in STEP 7” and search for your own project. You have to set up additionally the connection parameters in NetPro. Fig. 7-2: WinCC flexible import / export

Configuring the drive We recommend that an automatic configuration is carried-out in advance so that the individual drive objects are correctly identified. The most important steps are again described below: Go ONLINE and start the automatic configuration. Then again configure the drive involved OFFLINE. In this case, the basic

positioner function module should be selected.



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Fig. 7-3

For the mechanical system screen form, set the gear ratio and the distance

moved by the traversing arm during one load revolution. The distance is specified in LU - whereby 1LU=1 m in the application example. However, you can freely define which distance 1LU corresponds to - but you must change the name in the WinCCflexible screen forms and take this assignment into account during the complete commissioning procedure.



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Fig. 7-4

Select the “free telegram configuration with BICO” Profibus telegram.

Fig. 7-5

Complete the drive configuration. Set-up a script folder at the drive object. Re-open the project example and

copy the script into the script folder. Select accept and execute. The “Communication script” parameterizes the DP interface and sets all of the necessary BICO interconnections for communications.



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Fig. 7-6: Script

Open the CU320 configuration and align to the hardware configuration.

Fig. 7-7: Profibus configuration

Reference the traversing arm.

7.3 Integrating the core function

Drag the DCC chart for the axis traverser from the project example and drop it onto the SINAMICS axis it your project that you wish to use as traversing arm.



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Rename the axis that you wish to use as traverser (traversing arm) into “Traverser”. This is necessary so that when compiling the DCC chart, the BICO interconnections can be interconnected.

Using the righthand mouse key, click on the DCC chart in the project window and select the “Accept and execute” menu item.

Using the righthand mouse key, click on the DCC chart in the project window and select the menu item “Set execution groups”. Select BEFORE basic positioner (EPOS). This means that the DCC chart is always computed in the clock cycle 4ms before EPOS.

Fig. 7-8: DCC execution groups

Open the expert list of the drive object. For the case that the winder axis is

computed on the same CU as your traversing arm axis, interconnect parameter p21510 with parameter r63 of the winder axis. This means that you enter the actual winder speed into the traversing arm application. Then interconnect parameter p21511 with parameter r2700 of the winder axis. This means that you enter the reference speed of the winder into the traversing arm application.

In parameter p21518, set the gear ratio between the load revolution and encoder revolution as decimal number.

For the case that you enter the winder speed via Profibus, interconnect parameter p21512 with parameter r2050[15] of your traversing arm axis. This means that you enter the actual winder speed into the application. The encoder value received from Profibus of between 0 and 65535 always corresponds to a speed of between 0 and 6000 rpm in the application. If parameter p21512 is interconnected, then it is not permissible that parameter p21510 is interconnected. The reference speed that you can enter into the application via parameter p21511 has no effect.



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7.4 Configuring examples

7.4.1 Shorter sampling time

The sampling time of the application also has an influence on the traversing accuracy – in addition to material guidance, material behavior, achievable accuracy of the control loops etc. In the basic setting, EPOS is sampled every 4 ms - and therefore also the DCC application. As the application controls EPOS, it does not make any sense to sample the application faster than EPOS. Due to the requirements relating to accuracy of the waiting angle, an internal compensation circuit is implemented, which further optimizes the sampling time. In most cases, none of these effects have an impact on the traversing result. However, if the effects are visible, then a shorter sampling time can be used. The sampling time can be shortened as follows: If the winder is computed on the same CU 320, the sampling time of the winder

and EPOS can be reduced to 2ms. If the winder is computed on another drive, then the sampling time and EPOS can be reduced to 1ms. However, if the winder is computed on another drive, then this means that the winder actual speed value comes from Profibus. With this configuration, then a cycle time of 1 ms should also be set for Profibus.

Go online with Starter/Scout. Open the expert list of the CU and set parameter p9 to the value 3. Open the expert list of the traversing arm and set parameter p112 to the value

0 (expert). Then set parameter p115[5] to 2000.0 s if you wish to set a sampling time of 2ms - or to 1000.0 s if you wish to set a sampling time of 1ms. You have then set EPOS to the required sampling time.

Also set parameter p21515 to the selected sampling time of 2ms, or 1ms. This means that you also adapt the optimization to calculate the delay time in the waiting angle.

In the expert list, set parameter p9 back to the value of 0. The CU 320 then re-boots. As the DCC chart is in the execution group “BEFORE basic positioner”, the sampling time of the DCC chart automatically adapts itself to that of EPOS.

7.4.2 Execution sequence

The execution sequence of the DCC chart has already been optimized. Further optimization using the automatic optimization of the execution sequence function results in the application malfunctioning.

7.4.3 Measures when the winder speed actual values fluctuate

If, when testing the traversing arm, you identify that the speed actual value and speed setpoint of the traversing arm manifest unexpectedly high fluctuations, then the cause is as follows: When the winder controller has been poorly set (i.e. poorly optimized), then its speed characteristic fluctuates. As a result of the actual value coupling to the traversing arm, the speed characteristic already starts to fluctuate in the setpoint (refer to the diagram below).



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Fig. 7-9: Unfavorable setpoint from the winder

In order to minimize the setpoint fluctuations, proceed as follows: Optimize the winder control parameters. If this does not lead to the desired success, then in exceptional cases, the traversing arm can be coupled to the setpoint of the winder instead of the actual value as follows: Open the expert list of the traversing arm and connect parameter p21510 with parameter r60 (speed setpoint) of the winder. In so doing, the connection to parameter r63 (speed actual value) is disconnected.

Program description

Program and function description

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Program description

Contents The “program description” section goes into more detail about the functions of the block. Here, you will find parameter lists, diagrams and a description of the core function.

8 Program and function description 8.1 DCC chart

8.1.1 Overview, function block

Fig. 8-1 In Out

Overview

r21500 Software version

Control of the end positions

DINT

p21501 Pos A

Control of the end positions DINT

p21502 Pos B

BOOL

p21503 Start direction negative

BOOL

p21504 Start direction positive

INT p21505 Waiting angle

Traversing arm parameters UINT

p21506 Winding step

UINT

p21507 Acceleration distance

BOOL

p21509 Target position reached

Various REAL

p21510 Winder speed

REAL

p21511 Reference speed

REAL

p21512 Winder speed ext

Program description


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BOOL

p21513 Reset Counter

BOOL

p21514 Stop

r21520 Counter INT

REAL p21515 Time Opt

Additional setting parameters REAL

p21516 simulation winder

BOOL

p21517 Select simulation winder

REAL

p21518 Winder gear

DINT p21611 Input MDI position

r21601 MDI Position DINT

INT

p21612 Input velocity override

r21602 velocity override REAL

INT

p21613 Input MDI acceleration

r21603 MDI acceleration REAL

MDI

INT

p21614 Input MDI deceleration

r21604 MDI deceleration REAL

BOOL

p21616 Input Start

r21606 start BOOL

BOOL

p21617 Input Setup

r21607 setup BOOL

BOOL

p21618 Input position type

r21608 position type BOOL

BOOL

p21619 Input Transfer type

r21609 Transfer type BOOL

8.1.2 Parameter description

Input parameters Table 8-1: Input parameters

Name Data type Initial value Description p21501 Pos A

DINT r2060[8] Position, left.

p21502 Pos B

DINT r2060[10] Position, right.

p21503 Start direction, positive

BOOL r2092.0 Starts the traversing arm in the positive direction.

p21504 BOOL r2092.1 Starts the traversing arm in the negative direction.

Program description


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Name Data type Initial value Description Start direction, negative p21505 Waiting angle

INT r2050[12] Waiting angle in degrees

p21506 Winding step

UINT r2050[13] Winding step [LU]

p21507 Acceleration distance

UINT r2050[14] Acceleration distance [LU]

p21509 Target position reached

BOOL r2684.10 Evaluates the “target position reached signal. EPOS supplies this signal when the target position has been reached

p21510 Winder speed

REAL 0 Winder reference speed

p21511 Reference speed

REAL 0 Winder reference speed

p21512 Winder speed ext

REAL 0 External encoder connection of the winder via Profibus (optional). This input can also be used to superimpose leading values.

p21513 Reset Counter

BOOL r2092.3 Resets the traversing counter

p21514 Stop

BOOL r2092.2 Stops the traversing arm

p21515 Time Opt

REAL 4 Sampling time optimization [ms]. This can be used to compensate the influence of the sampling time when calculated the waiting angle.

p21516 simulation winder

REAL 0 Simulated winder speed: A winder speed can be entered into the traversing arm for test purposes.

p21517 Select simu-lation winder

BOOL 0 Activates winder simulation

p21518 Windergear

REAL 1 Gear ratio, roll revolution to motor revolution. Example: If the winder rotates slower than the winder motor by a factor of 10 (i.e. a gear unit with a 1:10 ratio), then 0,1 must be entered here

p21519 SpeedWindowWinder

REAL 1.0 Speed window [rpm], if the winder is stationary, then speed actual values within this window are interpreted as zero speed, .

p21600 DINT p2691 Fixed velocity setpoint for MDI p21611 Input MDI position

DINT r2060[4] MDI signal from Profibus. When traversing operation is de-activated, the signal is directly connected to the corresponding MDI input.

p21612 Input velocity override

INT r2060[3] MDI signal from Profibus. When traversing operation is de-activated, the signal is directly connected to the corresponding MDI input.

p21613 Input MDI acceleration

INT r2060[6] MDI signal from Profibus. When traversing operation is de-activated, the signal is directly connected to the corresponding MDI input.

p21614 Input MDI

INT r2060[7] MDI signal from Profibus. When traversing operation is de-activated, the signal is directly

Program description


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Name Data type Initial value Description deceleration connected to the corresponding MDI input.

p21616 Input Start

BOOL r2091.8 MDI signal from Profibus. When traversing operation is de-activated, the signal is directly connected to the corresponding MDI input.

p21617 Input Setup


p21618 Input position type


p21619 Input Transfer type


Output parameters Table 8-2: Output parameters

Name Data type Initial value Description

r21500 ________ Software version r21520 Counter

INT ________ Counter status of the traversing counter

r21601 MDI Position DINT

________ Actual target position of the traversing arm

r21602 velocity override REAL

________ Velocity override of the traversing arm

r21603 MDI acceleration REAL

________ Acceleration override of the traversing arm

r21604 MDI deceleration REAL

________ Deceleration override of the traversing arm

r21606 start BOOL

________ Signal edge to set the MDI target position

r21607 setup BOOL

________ Controls the MDI function, setup

r21608 position type BOOL

________ Controls the MDI function, position type

r21609 Transfer type BOOL

________ Controls the MDI function, transfer type selection

8.2 SIMATIC S7 Profibus interfaced

8.2.1 Control signals/setpoints

All of those signals that are cyclically transferred from the send data block to the drive are called control signals.

Program description


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The user interface is shown in the following overview. This structure is both in the S7 block UDT101 as well as also in the user-defined value list for the drive which is supplied with this application. A precise description of the function of the individual control and feedback signal bits is provided in the List Manual for SINAMICS S120 in Chapter 1, as well as in Function Manual, Chapters 4.23 and 4.24. The interface described in this application has the following structure:

Table 8-3: Process data

PZD Assignment of the process data PZD1 Application control word 1 PZD2 Application control word 2 PZD3 Application control word 3 PZD4 Velocity override for all modes (4000HEX = 100%) PZD5 Position setpoint in [LU] PZD6 PZD7 Acceleration override for the direct setpoint input mode/MDI PZD8 Deceleration override for the direct setpoint input mode/MDI PZD9 Traversing arm, Pos A in [LU] PZD10 PZD11 Traversing arm, Pos B in [LU] PZD12 PZD13 Waiting angle [°] PZD14 Winding step in [LU] PZD15 Acceleration distance in [LU] PZD16 Speed, ext. encoder (0000 HEX = 0 rpm up to 7FFF HEX = 6000 rpm)

Assignment of application control word 1 Table 8-4: Assignment of application control word 1

Bit Abbrev. Name (Description of the HIGH signal level)

Drive parameter

Function chart

0 ON ON command 0 = OFF1 active 1 = ON

P840 2501

1 CmdNo OFF2

Command, no OFF2 0 =: OFF2 active 1 = Signal: Op. condition, no coast down active

P844 2501

2 CmdNo OFF3

Command, no OFF3 0 = OFF3 active 1 = Operating condition, no fast stop active

P848 2501

3 ENC Enable controller enable inverter P852 2501 4 RejTask Traversing block and MDI - Reject Task

Traversing blocks and direct setpoint input /MDI Reject traversing task 0 = Active traversing command is rejected / Axis brakes with 100% Do no reject deceleration override from

P2641 3616

Program description


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Bit Abbrev. Name (Description of the HIGH signal level)

Drive parameter

Function chart

1 = traversing request (axis can be traversed)

5 IntMStp Traversing block and MDI – intermediate STOP Traversing blocks and MDI/direct setpoint input – intermediate stop 0 = active traversing command is interrupted / axis brakes with the specified deceleration override 1 = no intermediate stop (axis can be traversed)

P2640 3616

6 7 AckFlt Acknowledge fault P2103 2501 8 Jog1 Jogging – signal source 1 P2589 3610 9 Jog2 Jogging – signal source 2 P2590 3610 10 LB Life bit (control requested from PLC) P854 2501 11 12 JogInc Jogging – jogging incremental:

0 = Endless traversing 1 = Traversing through the parameterized distance

P2591 3610

13

14 SftLimAct Acivates the software limit P2582 3630 15 StpCamA Activates the stop output cam P2568 3630


Bit Abbrev. Name

Drive parameter

Function chart

0 RefStart Referencing start P2595 3612 1 RefPSet Set reference point

Note: Functions for motors with absolute encoder only for non-adjusted encoders!

P2596 3612

2 RefTyp Referencing type selection 0 = Reference point approach 1 = Flying referencing

P2597 3612

3 RefStDi Homing (referencing) start direction 0 = positive start direction 1 = negative start direction

P2604 3612

4 RefInpS Referencing passive - input selection Sets the signal source to select the measuring probe for flying (passive) referencing 0 = measuring probe 1 is activated 1 = measuring probe 2 is activated

P2510 4010

5 RefEdge Referencing passive - edge evaluation Passive referencing: Sets the edge evaluation 0 : positive edge

P2511 4010

Program description


SINAMICS Traversing

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Bit Abbrev. Name

Drive parameter

Function chart

1 : negative edge 6 7 8 MdiStart Direct setpoint input/MDI – start

Starts the operating mode MDI / direct setpoint input

P2647 3640

9 MdiSetup Direct setpoint input/MDI – setup selection Selects MDI mode, setting-up 0 = positioning 1 = setting-up

P2653 3620

10 MdiPsTyp Direct setpoint input/MDI – positioning type Positioning type 0 = relative positioning 1 = absolute positioning

P2648 3620

11 MdiPos Direct setpoint input/MDI – positive direction Direction selection for setting-up – or absolute positioning of rotary axes, in the positive direction)

P2651 3620

12 MdiNeg Direct setpoint input/MDI – negative direction Direction selection for setting-up – or absolute positioning of rotary axes, in the negative direction

P2652 3620

13 MdiEdge Direct setpoint input/MDI – transfer edge Signal edge, setpoint transfer if MdiTyp = 0

P2650 3620

14 MdiTrTyp Direct setpoint input/MDI – transfer type Transfer type: 0 = Value transfer using 0 1 edge at MdiEdge 1 signal : continuous setpoint transfer

P2649 3620

15


Bit Abbrev. Name

Drive parameter

Function chart

0 TrvStart Traversing block – activate traversing task (using the 0 1 signal edge)

P2631 3640

1 TrvBit0 Traversing block – block selection bit 0 P2625 3640 2 TrvBit1 Traversing block – block selection bit 1 P2626 3640 3 TrvBit2 Traversing block – block selection bit 2 P2627 3640 4 TrvBit3 Traversing block – block selection bit 3 P2628 3640 5 TrvBit4 Traversing block – block selection bit 4 P2629 3640 6 TrvBit5 Traversing block – block selection bit 5 P2630 3640 7 8 Startright DCC: Start to position B P21504 9 Startleft DCC: Start to position A P21503 10 Stop DCC: Stop traversing P21512 11 Reset DCC: Reset traversing counter P21513

Program description


SINAMICS Traversing

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Bit Abbrev. Name

Drive parameter

Function chart

Counter 12 13 14 15

8.2.2 Feedback signals

Signals that are cyclically transferred from the drive to the receive area of the data block are called feedback signals. You will also find this structure of the receive area in the F7 block UDT102 and in the user-defined value list for the drive.

Table 8-7: Process data

PZD Assignment of the process data PZD1 Application status word 1 PZD2 Application status word 2 PZD3 Application status word 3 PZD4 Velocity actual value (this is referred to the reference speed p2000)

Note: 40000000HEX = 100% PZD5 PZD6 Position actual value in [LU]

PZD7 PZD8 Traversing counter PZD9 Reserve PZD10 Reserve PZD11 Reserve PZD12 Reserve PZD13 Reserve PZD14 Reserve PZD15 Reserve PZD16 Reserve

Assignment of application status word 1 Table 8-8: Assignment of application status word 1

Bit Abbrev. Name Drive parameter

Function chart

0 RTS Ready to power up / to start r899.0 2503 1 RDY Ready to operate r899.1 2503 2 IOP In operation (operation enabled)

Drive is powered-up (condition for selecting the Epos operating mode

r899.2 2503

3 Fault Fault present r2139.3 2548 4 NoOFF2Act OFF2 inactive

(partial condition for powering-up) r899.4 2503

5 NoOFF3Act OFF3 inactive (partial condition for powering-up)

r899.5 2503

Program description


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Function chart

6 PowInhbt Power ON inhibit active r899.6 2503 7 Alarm Alarm / warning present r2139.7 2548 8 Stndstill |n_act| < speed threshold value 3 [p2161]

This bit is used to detect standstill r2199.0 2537

9 LB_CR Life bit control request r899.9 2503 10 JogAct Jogging active r2094.01) 2460 11 RefAct Reference point approach active r2094.11) 2460 12 TrvBlAct Traversing block active r2094.21) 2460 13 MdiPosAct MDI positioning active

In the direct setpoint input/MDI mode, positioning is active

r2094.31) 2460

14 MdiStupAct MDI setup active Setting-up is active in the direct setpoint/MDI mode

r2094.41) 2460

15 FlyRefAct Flying referencing active r2684.1 3630 1) r2669 (function chart 3630) is shown to a resolution of 1 bit (bit-granular). For this purpose, at the input of the connector-binector converter p2099[0] = r2699 is interconnected.

Assignment of application status word 2 Table 8-9: Assignment of application status word 2


Function chart

0 ARFD Reference point set r2684.11 3612

1 CmdAct Traversing command active r2684.15 3614 2 TargPos Target position reached r2684.10 3635 3 NoFlwErr Following error in tolerance r2684.8 4020 4 SftSwMinAct Software limit switch minus active r2683.6 4025 5 SftSwPlsAct Software limit switch plus active r2683.7 3635 6 StpCamMinAc

t Stop cam minus active r2684.13 3635

7 StpCamPlsAct

Stop cam plus active r2684.14 3630

8 AckTrvBl Acknowledge traversing block activated For traversing block mode or MDI/direct setpoint input mode for triggered setpoint transfer (MdiTrTyp = 0) the bit is used to acknowledge the traversing block.

r2684.12 3630

9 SetPStatic Setpoint Static r2683.2 3616 10 FWD Axis forwards r2683.4 3635 11 BWD Axis backwards r2683.5 3635 12 Accel Axis accelerating r2684.4 3635 13 Decel Axis decelerating r2684.5 3635 14 PrntMrkOut Print mark outside outer window r2684.3 3635 15 VelctyLimit Velocity limiting active

Velocity setpoint > p2572 r2683.1 3614

Program description


SINAMICS Traversing

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Assignment of application status word 3 Table 8-10: Assignment, application status word 3


Function chart

0 AckTrvBit0 Active traversing block bit 0 r2670.0 3650 1 AckTrvBit1 Active traversing block bit 1 r2670.1 3650 2 AckTrvBit2 Active traversing block bit 2 r2670.2 3650 3 AckTrvBit3 Active traversing block bit 3 r2670.3 3650 4 AckTrvBit4 Active traversing block bit 4 r2670.4 3650 5 AckTrvBit5 Active traversing block bit 5 r2670.5 3650 6 TrvOut1 Direct output 1 via traversing block r2683.10 3616 7 TrvOut2 Direct output 2 via traversing block r2683.11 3616 8 9 10 11 12 13 TrckMode Tracking mode active r2683.0 3635 14 PosSmCam1 Position actual value <= cam position 1 r2683.8 4025

15 PosSmCam2 Position actual value <=cam position 2 r2683.9 4025

Program description Function description

SINAMICS Traversing

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9 Function description 9.1 DCC traversing program

9.1.1 Structure

The application essentially comprises controlling the MDI – setpoint input function of EPOS. The objective of the application is to enter – alternating - the end position as target positions of the application. The acceleration distance is implemented using the acceleration and deceleration override. The winding step is realized using the velocity override. Further, there is a changeover switch in the application that changes over (toggles) between normal MDI operation and traversing operation. Fig. 9-1: Structure of the application

MDI

MDI data from Profibus

Traversing start;Switch between

right and left Setpoints

Traversing Control

Setpoints

Waiting angle;Traversing

Counter

Acceleration distance;

Winding stepParameters

Winderspeed

Setpoint

Acceleration overrideDeceleration override

Velocity override

9.1.2 DCC chart

Page 1: The traversing mode is switched-in and switched-out and a changeover made between the righthand and lefthand end position on this page. The end positions are target positions for the MDI. The system positions in absolute terms with MDI with continuous setpoint transfer. A numerical changeover switch toggles (switches between) the two setpoints. The changeover switch is controlled from an XOR logic element. There are two possibilities of changing the direction. Either the flip-flop is controlled that changes over the "waiting angle reached" feedback signal at each signal edge. Or, the winding direction of rotation changes and the traversing direction must also be changed. The flip-flop is also used to select a specific target position if either “Start Pos A” bit or “Start Pos B” bit is set. In addition, when one of these bits is set, then traversing operation is activated and by selecting the MDI mode, a changeover is made to traversing operation (complete changeover, chart page 6).

Program description Function description

SINAMICS Traversing

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Page 2: The waiting angle and the traversing counter are implemented here. The waiting angle is realized by integrating the winder velocity over time. Integration is started if the “target position reached” signal is received from the EPOS standstill monitoring (zero speed monitoring). The integrator is limited to the required waiting angle. This means that the “integrator at upper limit” signal can be used as “waiting angle reached” signal. It takes one EPOS clock cycle (e.g. 4 ms) between the signal – where EPOS receives the new position – up to when it outputs a speed setpoint (i.e. until the new position is reached). A delay angle is obtained by multiplying this delay time by the actual winder speed. This delay angle is subtracted from the specified delay angle. This means that the traversing arm is controlled earlier by the angle that the winder moves through until the traversing arm starts. The integrator is calculated as follows. The integrating time constant of the integrator block is 10ms. This is the reason that the speed at input X of the integrator block must be entered in degrees/10ms. The speed specified by the user in rpm is initially referred to 6000 rpm. This is converted into the units of degrees/10ms - required by the integrator block - as follows:

msDegrees

msrees

sreesrev

106000360

60000deg360

60deg360

min

The speed of the winder was converted to a value between 0 and 1 referred to 6000 rpm (refer to the explanation on Page 3). This means that the speed was already divided by 6000 and only has to be multiplied by 360. The traversing counter increments by 1 each time the “target position reached” signal is received during traversing operation.

Page 3: The winder speed is determined. The speed that the winder reads is a value between 0% and 100% of the reference speed of the winder. This is the reason that the winder reference speed is also read-in and the winder speed is converted to between 0% and 100% - referred to 6000 rpm - for internal processing. As an alternative, the winder speed can also be read-in from an external encoder. The external encoder is always referred to a speed of between 0 and 6000 rpm. In this case, the selected reference speed is not taken into account. The gear ratio between a load revolution and motor revolution can be applied to the winder speed.

Page 4: Here, winding step and acceleration distance are implemented; whereby acceleration and deceleration override are calculated according to the following formula:

cedisonAcceleratisVelocityv

onAcceleratias

va

tan:::

2

2

Program description

Commissioning the function

SINAMICS Traversing

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Velocity, acceleration and deceleration overrides are quantities referred to the setpoints in parameters p2691, p2572 and p2573. This is the reason that the setpoints in parameters p2691, p2572 and p2573 are read-out and the override correspondingly scaled. As these parameters are setting parameters, they are read-out by a system function. The read-out operation is initiated by a flash function every 2s.

Page 5: Changeover of the MDI between traversing operation and MDI is realized here. When switching-in traversing operation, a flip-flop is set on chart page 1 that changes over several numeric changeover switches on this chart page. These changeover switches either change over the MDI signals of the application to the MDI or the MDI signals that are received from SIMATIC S7 via Profibus. Acceleration as well as deceleration override are limited to a minimum of 5% in traversing operation.

9.2 Profibus communication in SIMATIC S7

All of the relevant data to traverse and to control EPOS are cyclically transferred to the SIMATIC S7 via the Profibus interface. Communication via the free telegram configuration is interconnected in the SINAMICS drive. Communication is configured as follows on the SIMATIC S7: OB1 calls FC100. Communication for the traversing arm axis is set-up in the FC100. The SFC14 and SFC15 system functions are called in the FC100; these are used to transfer data from and to the drive. The data are in DB100. There is a send and a receive area. The structures for sending (UDT101) and receiving (UDT102) are saved in the user-defined data types (UDT).

10 Commissioning the function 10.1 Parameterization

The following parameterization is partially carried-out on the HMI. If you are not using an HMI, then you can also make the settings in the user program or the variable table on the SIMATIC S7.

Winding step: In Starter, under Technology -> Position controller, open the mechanical

screen form. Parameterize the gear unit ratio and under p2506 set the spindle pitch. The

selected value corresponds to the distance that the traversing arm moves through during one load revolution.

Program description


SINAMICS Traversing

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Fig. 10-1

Reference the drive. Start WinCC flexible Runtime and enter the “Settings” screen form. Under

“Winding step” set the required winding step. Fig. 10-2: “Settings” screen form

Wound roll width, acceleration distance and waiting angle: Define the wound roll width using the lefthand and righthand end positions. In WinCC flexible Runtime, select the

“Settings” screen form. For “Position A“, set the lefthand position and for “Position B”, the righthand end position.

You can set the acceleration distance under “Acceleration distance”.

Fig. 10-3: “Settings” screen form

Program description


SINAMICS Traversing

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The waiting angle is set under “Waiting angle”.

10.2 Test and fine setting

The test can be made using the actual winder – and also using the simulation function of the winder in the WinCC flexible “Auto” screen form. The trace function is used to evaluate the functionality of the traversing arm. If the position controller is to be activated at the winder drive, then, for example, the waiting angle can be directly checked by comparing the position actual value of the winder and the speed setpoint of the basic positioner. Further, before tests are started, the position controller and speed controller of the axes should be optimized.

Limits of the reference parameters The application calculates the acceleration and velocity of the traversing arm as override. The acceleration and deceleration override can be a maximum of 100% and the velocity override a maximum of 200% of the reference parameter. The application cyclically reads-out the reference parameters. The application subsequently scales the override so that the acceleration/deceleration results in the acceleration distance or the velocity of the parameterized winding step parameterized by the user. In order to check whether the override is not limited, under Technology ->

Basic positioner, open the MDI setpoint input screen form. There, select “Analog signals”.

Check whether the acceleration and deceleration overrides are less than 100%. Check whether the velocity override is less than 200%.

Fig. 10-4: MDI

If you must change a parameter as described in the following, first power-down

the traversing axis. The reason for this is that the application must first accept

Program description


SINAMICS Traversing

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the new values and must adapt the override. Otherwise, it can occur that the traversing arm will accelerate at an unexpectedly high level or will move at a high velocity. You should also carefully note that with the change parameterization, it is possible that the mechanical load capability of your traversing arm will be exceeded.

For the case that the velocity override is too high, in the MDI configuration screen form, open the fixed setpoints and set a higher value in reference parameter p2691 (reference quantity for the velocity override). For a reference parameter with a higher setting, the application calculates a lower velocity override in order to achieve the required angle step.

For the case that the acceleration and deceleration override are too high, under Technology, open the limits screen form. Set higher values for reference parameter p2572 and parameter p2573. With the higher setting for the reference parameter, the application calculates a lower acceleration and deceleration override in order to achieve the required acceleration distance.

Fig. 10-5: Limits

You must repeat the test after the parameters have been changed.

Traversing operation: Start WinCC flexible Runtime. Go to the “Auto” screen form. Power-up the

drive with “On“ and start the traversing operation (the traversing arm is powered-up but still doesn’t rotate).

Program description


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Fig. 10-6 Screen form: “Auto”

Open the trace and as signals, select parameter r60, r2521, r2684 from the

traversing arm and from the winder, r2521. Set the cycle time to 1ms and accept the maximum record/trace duration.

Fig. 10-7: Trace settings

Open the winder control panel and move this. Start the trace Using the righthand mouse key, click on trace and under bit tracks, select

parameter p2684 bit 15. Zoom to the section around the waiting angle. Using the measuring cursor,

mark the falling edge of the “Traversing task active” bits and the location at which the new speed setpoints are output.

Program description


SINAMICS Traversing

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Fig. 10-8: Waiting angle

Read the angle that the traversing arm moves through. In our particular case,

this is 39590 LU. In this example, 36000LU is parameterized for each winder revolution. This means that this value corresponds to angle of 39.6 degrees. A waiting angle or 40 degrees is parameterized in the example.

In order to check the acceleration distance, now position the measuring cursor at the start and end of the acceleration phase.

Fig. 10-9: Acceleration distance

Read-off the acceleration distance. In this example it is 10300LU. In this

application example, 1000LU is defined to be 1mm so that this value corresponds to an acceleration distance of 10.3 mm. An acceleration distance of 10 mm is parameterized in the example.

Zoom to a section in the synchronous operation phase of the traversing arm. Using the measuring cursor, mark one winder revolution. Then read-off the distance that the traversing arm moves through in the same time. This value corresponds to the winding step.

Program description


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Fig. 10-10: Winding step

In this example, 100380LU can be read-off; this corresponds to a winding step

of 100.38 mm. A winding step of 100mm has been parameterized. The reasons for the deviation are the trace sampling time and also the characteristic of the speed actual value signal.

In order to trace the complete traversing operation, and to check the winding width, you may have to increase the recording time for the trace.

Restart the trace. Using the measuring cursor, mark the end positions and read-off the wound roll

width. Fig. 10-11: Wound roll width

Program description


SINAMICS Traversing

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10.3 Data coupling to SIMATIC

The traversing arm as well as the complete EPOS functionality can be addressed via SIMATIC S7. The following points must be observed to implement automatic operation: When starting the traversing arm, it must be ensured that initially all faults are acknowledged. The axis enable must first be switched-in and then the traversing arm started. When stopping, the traversing arm should first be stopped and after the traversing arm has come to a standstill, the axis enable should be withdrawn.

Appendix

SINAMICS Traversing

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Appendix

11 General information on the application 11.1 Scope of supply

The “Traversing arm in SINAMICS” package comprises: SIMATIC project Documentation

11.2 Revisions/Author Table 11-1: Revisions/Author

Version Date/Revision Author

First generated David Königs V1.0 20.03.2008 / Release Stefan Gumbrecht V1.1 29.04.2008 / Documentation Stefan Gumbrecht

12 Literature Literature references

This list is in no way complete and only reflects a selection of suitable literature (references). Table 12-1

Title

/1/ SINAMICS S120 List Manual /2/ SINAMICS S120 Commissioning Manual /3/ Manual: DCC_programming /4/ Application: Traversing arm in SIMOTION /5/ Application: Traversing drive with MASTERDRIVES

Appendix

SINAMICS Traversing

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13 Contact partner Application center SIEMENS Siemens AG Automation & Drives A&D MC PM APC Frauenauracher Str. 80 91056 Erlangen Fax: 09131-98-1297 mailto: [email protected]

mailto:[email protected]

user manual traversing drive with dcc · it is assumed that the reader has basic knowledge about...

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