En S7-1500 Motion MTorres

DF FA S SUP TEC
S7-1500 Motion Control
Restricted / © Siemens AG 2015. All Rights Reserved. siemens.com/answers

Training content
Motion Control (positioning, coordination) S7-1500 Motion Control

+ STEP 7
Control drive  DF FA Know how
Drive
SINAMICS
+ Startdrive
Motor
 DF MC Know how
 Basic knowledge in DF FA
Encoder
Restricted / © Siemens AG 2015. All Rights Reserved.

Page 2 2015-10-20
• Drivetrain 3
• Speed axis 37
• Positioning axis 45
• Drive simulation 58
• Coordinated axes 60
• Quantity and performance 70

Page 3 2015-10-20
Motors
Overview
Motor types:
The decision of a suitable motor depends
Asynchronous motor Synchronous motor on the requirements:
Technical requirements
• Performance
• Dynamics
Torque Motor • Torque
Direct current motor • Accuracy
• Space
• …
Economic requirements
• Costs
Linear motor • Maintenance
• …
Page 4 2015-10-20
Motors
Tree-phase motor
Tree-phase motors
Concept: The windings in the stator through which current flows generate a rotating magnetic field.
Asynchronous motors Synchronous motors

Functioning: Functioning:
• The rotating stator magnetic field generates a magnetic field in the • The magnets of the rotors are penetrated by the stator magnetic
rotor. field .
• The rotor is directed to the stator rotating movement. • The rotor is directed to the stator rotating movement.
• The rotor turns slower (asynchronous) than the stator field. In this • The rotor turns as fast as (synchronous) the stator field.
way the stator magnetic field generates a magnetic field in the rotor.
Squirrel-cage rotor:
Conductive, short- Permanent magnets
circuited poles in iron sheet
Rotor
Rotor
S N N S N S

Page 5 2015-10-20
Motors
Characteristics
Motor type Example Pros Cons
• Longer run up time

Asynchronous • External ventilator for low speed
• Little motor costs
motor necessary
• Bigger frame size
• Precise positioning
Synchronous motor • High dynamics • Higher motor costs
• Torque also in still stand
• Highest dynamics
Linear motor • High power • High system costs
• High precision

Page 6 2015-10-20
Motors
Characteristics
Motor type Example Pros Cons
• Very high torque

• High dynamics
Torque motor • High motor costs
• No gear necessary
• High Stiffness
Direct current motor • Rugged design • Not maintenance free (Brushes)
• Compact • Limited speed range

Step motor • High dynamics • No overload possible
• Cheap • Small power range

Page 7 2015-10-20
Motors
Grid operation
How does the motor rotate?
V
• The motor is connected to a three-phase system
• The speed of the motor is depended of voltage

and frequency of this three-phase system
Fixed speed
The speed of the motor depends on the frequency.

Page 9 2015-10-20
Motors
Grid operation
Power system
3 AC, 400V, 50 Hz
Switch or contactor
to switch on and off
(optional a motorstarter for a smoother startup)
V SIRIUS Fixed speed
The speed of the motor depends on frequency.

Page 10 2015-10-20
Motors
Converter operation
Power system
3 AC, 400V, 50 Hz
Switch or contactor
Frequency converter
V
Variable speed
V V
t
t t
The speed
The frequency converter variesoffrequency
the motorand
depends onand
voltage frequency.
so the speed of the motor.

Page 11 2015-10-20
Frequency converters
SINAMICS frequency converter
Power system
3 AC, 400V, 60 Hz Frequency converter
SINAMICS
for different powers

for different motors
for different dynamics

for different environments

Page 12 2015-10-20
SINAMICS Portfolio
Type Example Characteristics Commissioning software
• Highest dynamics Startdrive (in the future)

SINAMICS S
• For asynchronous and synchronous motors
High End • Clock-synchronized operation STARTER
• Medium dynamics Startdrive

SINAMICS G
• For asynchronous motors
Standard • No clock-synchronized operation STARTER
SINAMICS V • From low to high dynamics

• For asynchronous and synchronous motors V-Assistance
Basic • NO PROFINET / PROFIBUS
Page 13 2015-10-20
Concept and function
Rectifier DC link Inverter

Power system
V V V
t t t
Mains voltage Intermediate circuit voltage Motor voltage

Page 14 2015-10-20
Installation and hardware
Power system
Control Unit Power module

• Activation of the power module • Variation of frequency and voltage
• Controller (Speed, current) • Rectifier, DC link, inverter
•
•
Further intelligence as safety, logic, …
Communication
+
Page 15 2015-10-20
Control- and Regulation types - Concept
Drive Power System

Speed control
Without encoder n_setpoint Speed V, f Power
Motor
Open control loop controller unit
-> V/f-control
Power System
Speed control without encoder

Without encoder n_setpoint Speed i_setpoint Current V, f Power
Motor
Closed control loop - controller - controller unit
-> Sensor less Vector Control (SLVC) i_actual
n_actual (calculated) Math.
motor model
Power System
Speed control with encoder

Speed sensor n_setpoint Speed i_setpoint Current V, f Power
Motor Encoder
Closed control loop - controller - controller unit
-> Vector Control i_actual
-> Servo Control n_actual (measured)

Page 16 2015-10-20
Control types - Properties & application
Control types
Without encoder With encoder
Open control loop Closed control loop
Sensor Less Vector
V/f-control Vector Control (VC) Servo Control (SC)
Control (SLVC)
 Low to medium dynamics, speed  Calculates actual speed  Best speed precision  Best positioning dynamics
Characteristics
control range, precision

 Compared with V/f:  Best torque precision  Fastest controller clock
 Easy configuration and Higher dynamics and precision
 Least ripple  Shortest sampling time
commissioning
 Compared with VC/SC:
⇒ Optimized for precision ⇒ Optimized for dynamics
 High robustness No encoder necessary
• Pumps, fans and compressors • Pumps, fans and compressors with • Vertical conveyor technology • Drives with highly dynamic motion
with flow characteristic curve displacement machines (conveyor belt, roller conveyor, control
chain conveyor)
• Wet- or dry beam technology • Rotary kilns • Drives with high speed and torque
Applications
• Escalators precision
• Mills, blenders, kneader, stirrer • Extruder
• Lifter/countersinks • Used for machine tool and clock-
• Horizontal conveyor technology • Centrifuges
synchronized production machines
(conveyor belt, roller conveyor, • Elevators, hall cranes, cable cars
chain conveyor) • High frequency output
• Storage and retrieval machine
• Simple spindles
Page 17 2015-10-20
Encoder
Types
Optical encoder Interfaces Pros and cons
Incremental Cheaper
e.g. High resolution

• TTL-/HTL-encoder Homing
• Sin/cos-encoder necessary for
absolute
positioning
Absolut
(some with incremental part) e.g.
• SSI Absolute
• EnDat position
• Sin/cos with
Higher costs
C and D tracks*
• Resolver *
Restricted / © Siemens AG 2015. All Rights Reserved. * Not usable as absolute position encoder for position controller. Here, only the incremental
Page 18 2015-10-20 position can be used. The absolute position is used for rotor position detection for servo control.
Incremental encoder
HTL & TTL encoder
1024 pulses
per revolution
Phase A Evaluation of all four edges:

e.g.
1024 Quadruple 4096 pulses / revolution
lines signal evaluation
Phase B
360°
Resolution of the encoder = = 0,089°
4096 𝑝𝑢𝑙𝑠𝑒𝑠
TTL and HTL encoders provide quadrature square waves.

By counting these signals, it’s possible to detect the moved distance.
Page 19 2015-10-20
Incremental encoder
Sin/cos encoder
2048 pulses
per revolution
Phase A
e.g.
2048 2048 pulses
lines per revolution
Phase B Typical overall resolution:
2048 * 2048 ≈
4 Mio. pulses / revolution
typical:
1 period 2048 pulses per
sinus period
Fine resolution of the 360°

1V analogue signals Resolution = = (8,58 ∗ 10−5 ) °
4 𝑀𝑖𝑜. 𝑝𝑢𝑙𝑠𝑒𝑠
with a A/D converter
Sin/Cos encoders provide quadrature sine waves.

Due to a possible fine resolution of the signal periods, a very high resolution is possible.
Page 20 2015-10-20
Absolute encoder
Encoder with serial encoder interface (SSI, EnDat)
Gear in the encoder

e.g. 1 : 4096
& Coded disk

4096 revolutions
can be detected
Binary coding of one
Incremental mechanical revolution
tracks with 8192 positions Gear Gear Gear
16:1 16:1 16:1
Single-turn absolute encoder Motor speed

16 revolutions 256 revolutions 4096 revolutions
Multi-turn absolute encoder

Page 21 2015-10-20
Absolute encoder
Resolver
Feed-in with a
carrier frequency of
Measurement winding 1
2 ... 10 kHz
Measurement winding 1 Measurement winding 2

Envelope
curve
Rotary-
transformer
Fine resolution of the envelope curve

with A/D-conversion Typical resolution:
4096 impulses /
Measurement winding 2
revolution
Resolver are rotary position encoder. Within a pole pitch it delivers an absolute position signal.
It is inductive and needs on without any electronic components in the encoder. It is robust and cost-efficient.
Page 23 2015-10-20
Command source
Variants
Where does the converter gets the control commands and the speed setpoint from?
Control commands: Digital input or fieldbus
Speed setpoint alternatively via:
Analog input
Fixed speed
Potentiometer Speed
setpoint
Pulse-direction- optional
interface (PTO)
PROFINET / PROFIBUS

Page 24 2015-10-20
Command source
PROFIdrive via PROFINET / PROFIBUS
Control commands and speed setpoint via PROFINET / PROFIBUS

Which data should be exchanged cyclically?  Definition by choosing a PROFIdrive telegram.
Fieldbus
Controller
Control commands + speed setpoint + …
Actual status + actual speed + …
optional
The telegram can be seen in the I/O process image in the SIMATIC
The SINAMICS automatically interconnects its parameters to the chosen telegram

Page 25 2015-10-20
Command source
PROFIdrive telegrams for drives
Available drive telegrams supported by the S7-1500

PZD: Process data word
Telegram PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6 PZD 7 PZD 8 PZD 9
STW 1 NSOLL
1 Speed setpoint 16 bit
ZSW 1 NIST
Speed setpoint 32 bit, STW 1 NSOLL STW 2

2
sign-of-life bit ZSW 1 NIST ZSW 2
Speed setpoint, sign-of- STW 1 NSOLL STW 2 G1_STW

3
life, Position encoder ZSW 1 NIST ZSW 2 G1_ZSW G1_XIST1 G1_XIST2
Speed setpoint, sign-of- STW 1 NSOLL STW 2 G1_STW XERR KPC

5
life, Position enc., DSC ZSW 1 NIST ZSW 2 G1_ZSW G1_XIST1 G1_XIST2
STW: Control word NSOLL: Setpoint speed G1_STW: Encoder 1 Control word XERR: Position deviation
ZSW: Status word NIST: Actual speed G1_ZSW: Encoder 1 Status word KPC: Position controller gain factor
G1_XIST: Encoder 1 Actual position
Page 26 2015-10-20
Command source
PROFIdrive telegram selection
Which PROFIdrive telegram should be used?
Telegram 1: - Speed axis

- Positioning axis, if the position encoder is connected to a
TM or PROFIdrive encoder
- No clock-synchronized mode of the drive possible
Telegram 2: - Like telegram 1, additionally clock-synchronized mode of the drive

possible
Telegram 3: - Positioning axis, if position encoder is connected to the drive

- Clock-synchronized mode of the drive possible
Telegram 5: - Positioning axis, if S120 with DSC (Dynamic Servo Control)

- Clock-synchronized mode of the drive necessary
Page 28 2015-10-20
Drive configuration
Parameters
What are parameters and how is a drive configured?
Configuration the drive means to set the behavior through adjustment of the parameters!
Parameters are adjusting screws in the drive.
read / write
p-parameters: Parameters to set the converter
read
r-parameter: Parameters to read states of the converter

Page 31 2015-10-20
Drive configuration
Parameters in the function view

Page 32 2015-10-20
Drive configuration
Control loop in the function view
Whole function view of a speed controller (V/f)
Drive schematic
n_setpoint Speed V, f Power

Motor
controller unit
Speed setpoint Limits Ramps Speed controller Power module Motor
Restricted / © Siemens AG 2015. All Rights Reserved. Drive real

Page 33 2015-10-20
Drive configuration
Storing behavior of a SINAMICS
Load TIA Portal project in the drive: Parameters are loaded into the RAM.
By selecting the option in the load preview, the
parameters are also copied to EEPROM after loading.
Upload from drive into the project : The values from the RAM are loaded.
Change parameters online: Parameters are changed in the RAM.

Parameters can manually copied from RAM to EEPROM:
„Commissioning -> Saving/Reset“
Offline Project Work- (RAM) and load memory (EEPROM) in the SINAMICS
RAM Copy RAM to ROM EEPROM
Parameter Parameter Parameter

Switch on
Page 34 2015-10-20
Hands-on preparation Hands-on 0
Task: Create TIA Portal project with basic setting

Page 35 2015-10-20
Drive configuration
Parameterization and commissioning Hands-on 1
Task: Configure and commission the drive
Procedure: Insert control unit and power module
Parameterize the drive
Run and test the drive using the control panel
Application: G120 CU 250S-2 with PM 240-2
The drive should be parameterized as follows:

• Speed control with HTL encoder (1024 strokes/revolution)
connected to the terminal interface
• Setpoints/command sources:
[7] Fieldbus with data set changeover
• No ramp-up and ramp-down time
• PROFIdrive telegram 1

Page 36 2015-10-20
• Drivetrain 4
• Speed axis 36

Page 37 2015-10-20
Speed axis
Activation of the drive
Control commands
Speed setpoint
optional
S7-1200/1500 Drive
Control
commands Speed Current Power
Control commands Motor
Reading/writing -
Speed setpoint
FB SINA_SPEED Speed setpoint - controller controller module
directly on the telegram
Technology objects
from the DriveLib
& MC commands Enc
optional
Page 38 2015-10-20
Speed axis
Concept
For every drive connected to the PLC, Program / instructions

a technology object axis (TO speed axis) e.g.: Enable axis 1;
has to be added in the PLC. Enable axis 2;
Give speed command to axis 1;
Give speed command to axis 2;
User program Stop axis 2;
Programming the following: …
• Control commands (On, Off, Reset)
• Moving commands (Speed, Jog, Stop)
TO axis 1 TO axis 2 TO axis 3

Technology object axis
Configuring the following:
• Assign drive
• Mechanics (e.g. gear box)
• Dynamics, limits, monitoring

Page 39 2015-10-20
Speed axis
Motion control instructions
Highlights
Integrated as standard functions
Easy & intuitive
With all programming languages

(LAD, FBD, STL, SCL, Graph)
Based on PLCopen standard
Commands getting replaced by

others

Page 40 2015-10-20
Speed axis
Configuration and programming Hands-on 2
Task: Control a drive and operate in speed mode
Procedure: Insert and configure a TO speed axis
Test and run the axis with the TO control panel
Create a program with the move instructions
Application: Control and run a conveyor belt with two different speeds
The following functions should be realized:

axis
0 On/Off - MC_Power
1 Confirm alarms - MC_Reset
2
3 Stop axis - MC_Halt
Speeds & acceleration: 4 Move with speed 1 - MC_MoveVelocity 1
5 Move with speed 2 - MC_MoveVelocity 2
v1 = 100 1/min v2 = 1350 1/min
6
a1 = 40 1/s2 a2 = 300 1/s2
7

Page 41 2015-10-20
Speed axis
System design
User interface
User program
Command and moving commands
by means of MC blocks

Characteristics and configuration
S7-1200/1500
of the motion control application
User System
interface System
speed
MC OBs
Program speed Inter- setpoint Motion control execution
TO axis dynamics polator Acceleration and deceleration ramps
MC OBs are executed in an adjustable cycle

= motion cycle = interpolator cycle
(either as cyclic interrupt or clock-synchronized)
Page 42 2015-10-20
Speed axis
Task of the interpolator (starting ): Calculate speed setpoint for every cycle
Speed axis
User  System
interface
Interpolator
true
Programm speed
60
300
240
600
120
540
360
480
180
420
dynamics speed
TO Achse
setpoint
600
Restricted / © Siemens AG 2015. All Rights Reserved. t

Page 43 2015-10-20
Speed axis
Task of the interpolator (stopping): Calculate speed setpoint for every cycle
Speed axis
User  System
interace
Interpolator
true
Programm speed
480
120
600
360
0
240
dynamics speed
TO Achse
setpoint
600

Page 44 2015-10-20
• Drivetrain 4
• Speed axis 37

Page 45 2015-10-20
Positioning axis
Concept
For every drive connected to the PLC, Program / instructions

a technology object axis (TO positioning e.g.: Enable axis 1;
axis) has to be added in the PLC. Enable axis 2;
Home axis 1;
Move axis 1 200 mm;
User program Move axis 1 to position 500 mm;
Programming the following: …
• Control commands (On, Off, Reset, …)
• Moving commands (positioning, homing,
speed, gearing, stop, …)
TO axis 1 TO axis 2 TO axis 3

Configuring the following:
• Assign drive and encoder
• Mechanics (e.g. gear box, screw pitch)
• Dynamics, limits, monitoring
• Homing behavior
• Position controller

Page 47 2015-10-20
Positioning axis
Position encoder
Where can the position encoder How can the position encoder
be located in the application? information be read in the PLC?
Motor encoder as position encoder Position encoder is connected to the drive (telegram 3 or 5 is used)
Machine encoder as position encoder

Position encoder is connected to a TM Count or TM PosInput
External encoder as position encoder
Position encoder has a PROFINET interface and uses telegram 81/83

Page 48 2015-10-20
Positioning axis
Task: Control a drive and operate in positioning mode
Procedure: Insert and configure a TO synchronous axis
Test and run the axis with the TO control panel
Create a program with the move instructions
Application: Move linear axis backwards and forwards
Position 1 Position 2 The following functions should be realized:

0mm 500mm
0 On/Off - MC_Power
axis 2 Set position to 0 - MC_Home
4 Move with speed 1 - MC_MoveVelocity 1
Speeds & acceleration: 5 Move with speed 2 - MC_MoveVelocity 2
6 Move to position 1 - MC_MoveAbsolute 1
v1 = 100 mm/s v2 = 200 mm/s
a1 = 800 mm/s2 a2 = 4000 mm/s2 7 Move to position 1 - MC_MoveAbsolute 2

Page 49 2015-10-20
Positioning axis
System design
User interface
User program
Command and moving commands
by means of MC blocks

Characteristics and configuration
S7-1200/1500
of the motion control application
User System
interface System
speed precontrol
speed
MC OBs
Program position Inter- Position setpoint Motion control execution
TO axis dynamics polator - controller Interpolation, position control
MC OBs are executed in an adjustable cycle

actual position = motion cycle = position controller cycle = interpolator cycle
(either as cyclic interrupt isochronous)
Page 50 2015-10-20
Positioning axis
Task of the interpolator: Calculate position setpoint for every cycle
Positioning axis
User  System
interface
Position
Interpolator controller
on position normalization
Program target position setpoint
99
100
96
50
70
4
1
30
90
10
dynamics -
TO axis speed setpoint
actual position
s
100

Page 51 2015-10-20
Positioning axis
Task of the position controller: Calculate speed setpoint for every cycle
Positioning axis

n% speed setpoint
User System
100
interface Kv: 10
Position
Interpolator controller t
on position normalization
0
2
51
4
102
Program target position setpoint 𝝙𝑠
99
100
96
50
70
4
1
30
90
10 𝝙𝑠 ∗ 𝐾𝑣 10
20
100
100
50
40
20
0
dynamics -
TO axis speed setpoint
actual position
s position setpoint 520
20
60
40
80
90
100
97
100

Page 52 2015-10-20
Positioning axis
Position controller – Gain Kv
Behavior of velocity with different settings of Kv
Gain Kv too low Gain Kv too high Gain Kv perfect

 Actual value follows slow  Overshooting  Actual value follows fast
 Low dynamics  Oscillating  Dynamic behavior
 High following error  No overshooting

Page 53 2015-10-20
Positioning axis
Task of the speed precontrol: Decrease following error, increase dynamics
Positioning axis
n% speed setpoint
User System
Kpc: % 100
interface
Kv: 1/s
Speed setpoint
Interpolator Position controller t
Normalization
Program target position position 𝝙𝑠
𝝙𝑠 ∗ 𝐾𝑣
dynamics setpoint - speed setpoint
TO axis
actual position
s position setpoint v% speed setpoint
100
100
Restricted / © Siemens AG 2015. All Rights Reserved. t t

Page 54 2015-10-20
Positioning axis
Speed precontrol Kpc
Behavior of velocity with different settings of the speed precontrol value
Precontrol Kpc too low Precontrol Kpc too high Precontrol Kpc perfect
 High following error  Overshooting  Actual value follows fast
 Actual value follows slow  Dynamic behavior
 No overshooting

Page 55 2015-10-20
• Drivetrain 4
• Speed axis 37

Page 58 2015-10-20
Simulation of drives in the PLC
Move axes without real drives
Test of the machine even if drives are not yet available

Test of the application already in the office Technology object -> Configuration -> Basic parameters
Test of the program without moving the real machine

Simulation of high number of drives
Properties:
• Can be selected for every axis individually
• Mixture of real and simulated drives possible
• Feasible for PROFIdrive drives
• Complete PLC functionality (trace, control panel, …)
• Real behavior of drive is simulated (actual values
follows the setpoint values with a delay)

Page 59 2015-10-20
• Drivetrain 4
• Speed axis 37

Page 60 2015-10-20
Coordinated axes
Animation
Interactive Animation

Page 63 2015-10-20
Coordinated axes
Relative gearing
Area of application 1 Area of application 2 Area of application 3

No absolute position relation Gear in during standstill On the fly coupling
with non time-critical synchronization
Application example: Application example: Application example:

• Longitudinal cutter • Hoists, lifts • Superimposed operations
• Conveyors • Handling based on several axes • Simple flying saw applications without
• Portals a time critical synchronization
Page 64 2015-10-20
Coordinated axes
Gearing with setpoint coupling
S7-1500
User System
interface
Speed precontrol
Drive 1
Program Inter- Position n_setpoint Speed Current Power

-
Motor
Axes polator - controller - controller controller module
Enc
Gear
ratio
Speed precontrol
Drive 2
Inter- Position n_setpoint Speed Current Power

-
Motor
polator controller - controller controller module
Enc

Page 65 2015-10-20
Synchronous axis
Task: Gearing of two axes
Procedure: Configure the axes
Extend the program
Application: Move linear axis backwards and forwards
Position 1 Position 2
0mm 500mm The following functions should be realized:
0 On/Off - MC_Power
Master 2 Set position to 0 - MC_Home
4 Master: Move with speed 2 - MC_MoveVelocity
Slave 5 Master: Move to position 2 - MC_MoveAbsolute
Speeds & acceleration: 6 Slave: Start gearing - MC_GearIn
7 Slave: Stop axis - MC_Halt
v2 = 200 mm/s; a2 = 4000 mm/s2
Var Slave: Move 200 mm - MC_MoveRelative
Page 68 2015-10-20
Outlook: Motion Integrated within the S7-1500/1500T Portfolio
S7-1511 S7-1513 S7-1515 S7-1516 S7-1517 S7-1518

2) Interpolation
Handling
2)
Motion Control Functionality
Distributed
Motion 1) 1) 1) 1) 1) 1)
Technology
1)
Camming
abs. 1) Gearing
(absolute)
rel.
 Gearing
(relative)
1) Output cams
           
Measuring input
Standard
 Positioning
 Speed
Legend: 1) Planned for V14 2) Planned for higher V14 Price / Performance / Number of axis

Page 69 2015-10-20
• Drivetrain 4
• Speed axis 37

Page 70 2015-10-20
Control of drives
Interfaces of the technology objects
V/I V/I
Puls train output analog Puls train output analog

PTO PTO
(in the future)

Page 71 2015-10-20
Number of axes
Quantity structure
Quantity structure: Each CPU has defined system resources for motion control technology objects.
Necessary resources:
Speed axis, positioning axis, external encoder: 1 resource
Gearing axis: 2 resources
6 resources 30 resources 96 resources 128 resources
1510 SP
1512 SP 1515SP PC
1511 1511C 1512C
1513 1515
1516 1517
1518
Page 72 2015-10-20
Motion Control Performance
Motion
Control
Duration of OB-Servo & OB-IPO? (tOB91,92)

Impact of motion control on the cyclic program? (tOB1_with_Motion)
n
CPU load by motion control? (tOB91,92 / tMotion_Control_Cycle)
3
2
1
SUP FA Dimensioning Tool !
TIA Selection Tool ! www.siemens.com/tia-selection-tool
SIZER ! www.siemens.com/sizer
Page 74 2015-10-20
Safety in Drives
(Special for MTorres Training)
Restricted / © Siemens AG 2015. All Rights Reserved. siemens.com/answers

Motion Control and Safety
Principle
Principle in S7-1500
MC-program Configuration steps

Safety
program
Technology Safety program for analysis/control of drive based
object axis safety functionality
Safety OB
MC OBs
Standard telegram Safety telegram Activate PROFIsafe communication
Speed setpoint Safety functions Configure and commission safety functionality in drive
(Standard function) (e.g. STO, SS1, etc.)

Page 78 2015-10-20
Mutual influence
Principe in S7-1500
What happens if the safety program gives the drive a

command that disagrees with the TO?
e.g.: TO: Move to position 200.0 mm
Safety: Stop with SS1
TO acts always right!
Tel. 3 Tel. 30
Motion Control and safety can
run together!

Page 79 2015-10-20
Mutual influence
safety function of the drive… … in cooperation with the technology object
STO: Safe Torque Off n Tripping
Motor has to be switched Activating of STO via safety program.

torque-free. A stopped motor • After drive has triggered STO, TO removes
must not be accelerated pulse enable
accidently.
t
SLS: Safe Limited Speed n

Activating of SLS via safety program
Safe monitoring of a limited Speed.
• Drive has to be moved via TO to relevant
If drive is faster than speed limit, a Speed.
defined error response starts.
t

Page 80 2015-10-20
SINAMICS Safety Functions STO & SLS
Safe Torque Off (STO)
Application examples - customer benefits
• Application areas: all machines/systems with moving axes, e.g. conveyor technology, handling
• Permits safe working with open protective door (restart inhibit)
No parts subject to wear thanks to the electronic shutdown.

The inverter remains on the network and complete diagnostics are possible.
Page 81 2015-10-20
SINAMICS Safety Functions STO & SLS
Safely Limited Speed (SLS)
Application examples - customer benefits
• Direct working on a system during operation, setup operation or

maintenance work, e.g. for conveyor belts, grinding machines, winders
• Safe limitation of the maximum speed to protect the operator,
the machine and the workpiece, e.g. for textile machines
Suitable for machines for which dangers can result if a speed is exceeded.
Page 82 2015-10-20
Mutual influence
Drive safety function… … in cooperation with a technology object
SS1: Safe Stop 1 n Activation of SS1 via safety program.

Drive has to be stopped as soon as Drive brakes and doesn´t follow TO anymore.
possible.
• TO removes pulse enable after drive triggered
The stopped Motor must not be
accelerated accidently.(STO) STO.
-> Position controller in the drive has to be t
deactivated.
n Activation of SS2 via safety program.

SS2: Safe Stop 2
Drive brakes and doesn´t follow TO anymore.
Drive has to be stopped as soon as • The TO evaluates safety reaction not as disruption.
possible. The stopped Motor must not leave • Pulse enable stays.
his standstill position. (SOS)
• The Axis skips in follow-up operation and returns after
-> Position control in the drive has to stay t
active. deselection of SS2 in normal operation.
• No subsequent errors (e.g. following errors).
• Analysis internal via safety info channel
Page 83 2015-10-20
Safety commissioning
Screens
► Trace
► Commissioning
The Safety commissioning with Startdrive is performed offline
and optimizing
All drive parameters can be found under SINAMICS > Parameter ► Cyclic
communciation
► Acyclic
communication
► Direct
connection
1 A screen-driven operation also exists between drive
1 and HMI
in Startdrive
► Drive diagnosis
2 Most of the Safety screens were
► Measuring input
taken from Starter and adapted to the
► Cams and cam
TIA layout tracks
► Motion Control
and Safety
► Safety
2 commissioning
► Zusammenspiel
TO und Safety
► F-UDT
► SINAMICS S120
Page 84 2015-10-20 connection
Menu prompting
► Trace
Navigation menu 1: ► Commissioning

and optimizing
• View in the function tree ► Cyclic

communciation
• Clicking the individual menu item opens the associated
► Acyclic
screen communication
• Preferred variant
► Direct
 Navigation is always visible connection
between drive
 The relevant screens can be processed systematically in and HMI
sequence
► Drive diagnosis
► Measuring input
► Cams and cam
tracks
► Motion Control
and Safety
► Safety
commissioning
► Zusammenspiel
TO und Safety
► F-UDT
► SINAMICS S120
Control
► Trace
► Commissioning
and optimizing
1 1 Set the control type:
► Cyclic
• via terminal communciation
• via PROFIsafe
► Acyclic
• via PROFIsafe and terminal communication
3 ► Direct
connection
2 Enable all safety functions between drive
and HMI
2 ► Drive diagnosis
3 Short designation of the safety functions
► Measuring input
with graphical operation
► Cams and cam
Clicking the button opens the associated Safety tracks
screen ► Motion Control
and Safety
► Safety
2 commissioning
► Zusammenspiel
TO und Safety
► F-UDT
► SINAMICS S120
SLS safety function
► Trace
Setting the gearbox ► Commissioning

and optimizing
► Cyclic
Gear ratio
communciation
For the gear ratio,
► Acyclic
• the pole-pair number of the motor and communication
• the gear stage between the motor and the ► Direct
load connection
between drive
are used to calculate the safe speed and HMI
► Drive diagnosis
► Measuring input
► Cams and cam
tracks
► Motion Control
and Safety
► Safety
commissioning
► Zusammenspiel
TO und Safety
► F-UDT
► SINAMICS S120
SLS safety function
► Trace
Commissioning the SLS safety function ► Commissioning

and optimizing
1 Behavior for SLS selection
► Cyclic
• with ramp monitoring (SBR) communciation
1 • with acceleration monitoring (SAM) ► Acyclic
communication
2 Delay time ► Direct
connection
Between SLS selection and SLS active between drive
and HMI
2 3 Speed limitation ► Drive diagnosis

For the default setting, the speed is limited for ► Measuring input
3 SLS selection to: ► Cams and cam

tracks
"Selected SLS level" x 3
► Motion Control
4 and Safety
4 Setting the ► Safety
• SLS limit speed and commissioning
• stop response ► Zusammenspiel

TO und Safety
for all used SLS levels ► F-UDT
Restricted / © Siemens AG 2015. All Rights Reserved. (max. 4 levels) ► SINAMICS S120
Test stop
► Trace
► Commissioning
and optimizing
► Cyclic
1 1 Test stop of the Basic function communciation
• A test stop is performed for ► Acyclic
STO selection and deselection communication
► Direct
connection
between drive
2 Test stop of the Extended functions and HMI
• A test stop is performed for the ► Drive diagnosis
selection and deselection of any ► Measuring input
2
standard signal ► Cams and cam
• When the Extended functions are tracks
used, the timer of the Basic ► Motion Control
and Safety
functions must also be set
► Safety
commissioning
► Zusammenspiel
TO und Safety
► F-UDT
► SINAMICS S120
Creating a PROFIsafe telegram
► Trace
PROFIsafe configuration ► Commissioning
and optimizing
1 Set the PROFIsafe address ► Cyclic
• The PROFIsafe address is displayed read-only communciation
and cannot be changed here ► Acyclic
1 communication
2 • The PROFIsafe address is changed in
the properties of the PROFIsafe slot (HW ► Direct
connection
configuration) between drive
and HMI
► Drive diagnosis
2 Telegram configuration
► Measuring input
A PROFIsafe telegram can be created and edited
► Cams and cam
here tracks
Clicking the button opens the following configuration ► Motion Control
directly and Safety
► Safety
commissioning
► Zusammenspiel
TO und Safety
► F-UDT
► SINAMICS S120
► Trace
► Commissioning
and optimizing
A PROFIsafe telegram can now be created in the telegram configuration
► Cyclic
communciation
► Acyclic
communication
► Direct
connection
between drive
and HMI
► Drive diagnosis
► Measuring input
► Cams and cam
tracks
► Motion Control
and Safety
► Safety
commissioning
► Zusammenspiel
TO und Safety
► F-UDT
► SINAMICS S120
► Trace
Changing the PROFIsafe I/O address ► Commissioning
and optimizing
After creating the PROFIsafe telegram, two slots are occupied:
Cyclic
• 3 words in the send direction ►
communciation
• 3 words in the receive direction
► Acyclic
The PROFIsafe I/O address can be changed under the "Partner data area" header communication
► Direct
connection
between drive
and HMI
► Drive diagnosis
► Measuring input
► Cams and cam
tracks
► Motion Control
and Safety
► Safety
commissioning
► Zusammenspiel
TO und Safety
► F-UDT
► SINAMICS S120
► Trace
Changing the PROFIsafe properties ► Commissioning
and optimizing
Two yellow marked menu items are added automatically in the navigation: ► Cyclic
communciation
• Safety actual values: Send direction
► Acyclic
• Safety setpoints: Receive direction communication
► Direct
connection
between drive
and HMI
► Drive diagnosis
► Measuring input
► Cams and cam
tracks
► Motion Control
and Safety
► Safety
commissioning
► Zusammenspiel
TO und Safety
► F-UDT
► SINAMICS S120
► Trace
Changing the PROFIsafe properties ► Commissioning
and optimizing
Changes to the PROFIsafe properties can be made here, such as:
► Cyclic
communciation
► Acyclic
Change the PROFIsafe communication
telegram (30 or 900) ► Direct
connection
Set the I/O between drive
and HMI
Change the F address
► Drive diagnosis
destination address
► Measuring input
► Cams and cam
Set the monitoring tracks
time ► Motion Control
and Safety
► Safety
commissioning
► Zusammenspiel
TO und Safety
► F-UDT
► SINAMICS S120
Activating the settings
► Trace
Completion of the Safety commissioning ► Commissioning
and optimizing
After downloading the HW configuration and the Safety settings into the drive, the Safety ► Cyclic
parameters must be copied to the second processor. communciation
1 ► Acyclic
1 Activate the online view communication
► Direct
2 Change the Safety settings connection
between drive
and HMI
3 Activate the Safety settings ► Drive diagnosis
This causes the settings to be copied
► Measuring input
2 automatically to processor 2
► Cams and cam
tracks
► Motion Control
3 and Safety
► Safety
commissioning
► Zusammenspiel
TO und Safety
► F-UDT
► SINAMICS S120
Diagnostics
Checksums
► Trace
Overview of the checksums ► Commissioning
and optimizing
1 Total checksum ► Cyclic

communciation
Checksums of the Basic function ► Acyclic

2
1 communication
► Direct
3 Checksums of the Extended functions connection
between drive
2 and HMI
► Drive diagnosis
► Measuring input
3 ► Cams and cam

tracks
► Motion Control
and Safety
► Safety
commissioning
► Zusammenspiel
TO und Safety
► F-UDT
► SINAMICS S120
Diagnostics
Drive fault
► Trace
Fault diagnostics ► Commissioning
and optimizing
► Cyclic
1 communciation
2 ► Acyclic
communication
► Direct
3
connection
between drive
and HMI
► Drive diagnosis
1 Online diagnostics for all devices ► Measuring input

► Cams and cam
tracks
2 Alarm window of the SINAMICS
Display of all faults and warnings ► Motion Control
and Safety
3 Help description for the associated fault ► Safety
commissioning
► Zusammenspiel
TO und Safety
► F-UDT
► SINAMICS S120
F-UDT for Safety in Drives
► Trace
► Commissioning
and optimizing
► Cyclic
communciation
► Acyclic
communication
► Direct
connection
between drive
and HMI
► Drive diagnosis
► Measuring input
► Cams and cam
tracks
► Motion Control
and Safety
► Safety
commissioning
► Zusammenspiel
TO und Safety
► F-UDT
► SINAMICS S120
TO and Safety interaction
Deactivate the setpoint limitation
► Trace
Deactivate the speed setpoint limitation of the drive for SLS/SDI selection ► Commissioning
and optimizing
► Cyclic
communciation
► Acyclic
communication
► Direct
connection
between drive
and HMI
► Drive diagnosis
► Measuring input
When the technology object is used in conjunction with Safety, the automatic ► Cams and cam
tracks
setpoint limitation should be deactivated.
► Motion Control
and Safety
► Safety
commissioning
► Zusammenspiel
TO und Safety
► F-UDT
► SINAMICS S120
TO and Safety interaction
Deactivate the setpoint limitation
► Trace
Deactivate the speed setpoint limitation of the drive for SLS/SDI selection ► Commissioning
and optimizing
► Cyclic
1 communciation
Interconnection of the
speed setpoint limitation ► Acyclic
communication
► Direct
1 p1051 = p1083[0] connection
between drive
2 p1052 = p1086[0] and HMI
► Drive diagnosis
 Speed not limited for SLS
► Measuring input
selection
► Cams and cam
tracks
► Motion Control
and Safety
► Safety
commissioning
2 ► Zusammenspiel
TO und Safety
► F-UDT
► SINAMICS S120

En S7-1500 Motion MTorres

Uploaded by

Copyright:

Available Formats

You might also like

En S7-1500 Motion MTorres

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

En S7-1500 Motion MTorres

Uploaded by

Copyright:

Available Formats

DF FA S SUP TEC

S7-1500 Motion Control

Restricted / © Siemens AG 2015. All Rights Reserved. siemens.com/answers

Motion Control (positioning, coordination) S7-1500 Motion Control

Restricted / © Siemens AG 2015. All Rights Reserved.

Restricted / © Siemens AG 2015. All Rights Reserved.

Asynchronous motors Synchronous motors

Restricted / © Siemens AG 2015. All Rights Reserved.

Motor type Example Pros Cons

• Longer run up time

Restricted / © Siemens AG 2015. All Rights Reserved.

Motor type Example Pros Cons

• Very high torque

Direct current motor • Rugged design • Not maintenance free (Brushes)

• Compact • Limited speed range

Restricted / © Siemens AG 2015. All Rights Reserved.

How does the motor rotate?

• The speed of the motor is depended of voltage

The speed of the motor depends on the frequency.

V SIRIUS Fixed speed

The speed of the motor depends on frequency.

Restricted / © Siemens AG 2015. All Rights Reserved.

for different powers

for different dynamics

Restricted / © Siemens AG 2015. All Rights Reserved.

Type Example Characteristics Commissioning software

• Highest dynamics Startdrive (in the future)

• Medium dynamics Startdrive

SINAMICS V • From low to high dynamics

Rectifier DC link Inverter

Mains voltage Intermediate circuit voltage Motor voltage

Restricted / © Siemens AG 2015. All Rights Reserved.

Control Unit Power module

Drive Power System

Speed control without encoder

Speed control with encoder

Restricted / © Siemens AG 2015. All Rights Reserved.

control range, precision

Optical encoder Interfaces Pros and cons

e.g. High resolution

Phase A Evaluation of all four edges:

TTL and HTL encoders provide quadrature square waves.

Fine resolution of the 360°

Sin/Cos encoders provide quadrature sine waves.

Gear in the encoder

& Coded disk

Single-turn absolute encoder Motor speed

Multi-turn absolute encoder

Measurement winding 1 Measurement winding 2

Fine resolution of the envelope curve

Control commands: Digital input or fieldbus

Speed setpoint alternatively via:

Restricted / © Siemens AG 2015. All Rights Reserved.

Control commands and speed setpoint via PROFINET / PROFIBUS

Restricted / © Siemens AG 2015. All Rights Reserved.

Available drive telegrams supported by the S7-1500

Speed setpoint 32 bit, STW 1 NSOLL STW 2

Speed setpoint, sign-of- STW 1 NSOLL STW 2 G1_STW

Speed setpoint, sign-of- STW 1 NSOLL STW 2 G1_STW XERR KPC