Connect. 611U To The CPU

Freigabeexemplar 25.05.
04
Table of Contents
Definitions and Warnings

1
Hardware Requirements
2
SIMATIC
Software Requirements
3
Connecting SIMODRIVE 611U 4
Commissioning
to the Technology CPU
Expert Functions
5
Product Information
Edition 11/2003
A5E00272072-01
Freigabeexemplar 25.05.04
Safety Guidelines
Danger
! Indicates an imminently hazardous situation that will result in death or serious injury if the appropriate
safety precautions are not taken.
Warning
! Indicates a potentially hazardous situation that could result in death or severe injury if the appropriate
safety precautions are not taken.
Caution
! Indicates that minor personal injury or property damage can result if proper precautions are not taken.
Caution
indicates that property damage can result if proper precautions are not taken.
Notice
Alerts the user of important information about the product, product usage, or a reference to the correspon-
ding documentation that is of particular relevance.
Qualified Personnel
The device/system may only be set up and operated by qualified personnel. Qualified persons as refer-
red to in the safety guidelines in this product information are those who are authorized to commission, to
ground, and to tag circuits, equipment, and systems in accordance with established safety practices and
standards.
Proper Usage
Note the following:
Warning
! This device and its components may only be used for the applications described in the catalog or the
technical descriptions and only in connection with devices or components from other manufacturers that
have been approved or recommended by Siemens.
This product can be guaranteed to operate correctly and reliably only if it is transported, stored and instal-
led as intended and maintained and operated with care.
Trademarks
SIMATICR, SIMATIC HMIR and SIMATIC NETR are trademarks of SIEMENS AG.
Third parties using for their own purposes any other names in this document which refer to trademarks
might infringe upon the rights of the trademark owners.
Copyright Siemens AG 2003 All Rights Reserved Disclaimer of liability

The reproduction, transmission, or use of this document or its contents is not We have checked that the contents of this document correspond to the
permitted without express written authority. Offenders will be liable for hardware and software described. Since deviations cannot be precluded
damages. All rights, including rights created by patent grant or registration of entirely, we cannot guarantee full agreement. However, the data in this ma-
a utility model or design, are reserved. nual is reviewed regularly, and any necessary corrections will be included in
subsequent editions. Suggestions for improvement are welcome.
Siemens AG
Automation & Drives Product Information SIMODRIVE 611U, Edition 11/2003
Industrial
-2Automation Systems E Siemens AG 2003 A5E00272072-01
P.O. Box 4848, D-90327 Nuremberg Technical data subject to changes
Siemens Aktiengesellschaft A5E00272072-01

Table of Contents
1 Definitions and Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

1.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
2 Hardware Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.1 Personal computer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.2 Converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
3 Software Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.1 Personal computer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.2 Converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
4 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.1 Commissioning procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.2 Table of Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.3 Creating a STEP 7 project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4.3.1 Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-29
4.3.2 ”Measuring” function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-34
4.4 Drive configuration for SIMODRIVE 611U . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-42
5 Expert Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.1 Important Parameters on the SIMODRIVE 611U . . . . . . . . . . . . . . . . . . . . . 5-2
5.2 PROFIBUS datagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.3 Adapting datagram Individually . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
5.4 Disabling life sign monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
5.5 2. Enable the encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
Product Information SIMODRIVE 611U, Edition 11/2003

A5E00272072-01 i
Table of Contents

ii A5E00272072-01
Definitions and Warnings 1

Qualified Personnel
For the purpose of this documentation, qualified personnel are persons who are
familiar with installing, commissioning, operating, and maintaining the
SIMODRIVE 611U and have suitably qualifications for their work, including:
S Training or instruction and authorization to activate and deactivate, ground, and
label circuits and equipment in accordance with established safety standards
S Training or instruction in servicing and using appropriate safety equipment in
accordance with established safety standards
S First response training
This documentation contains no explicit cautions. However, the cautions found in
the instruction manual for the respective SIMODRIVE product are expressly
referenced.
1.1 Description
This document presents the principal standard application options for the
SIMODRIVE 611U on a 317T-2 DP CPU.While additional functions can be
executed with the SIMODRIVE 611U, these must be examined on an individual
basis.
This description does not replace the product manual for the SIMODRIVE 611U. A
complete description of the SIMODRIVE 611U functionality can be found in the
Description of Functions for SIMODRIVE 611 Universal “Closed-Loop Control
Components for Closed-Loop Speed Control and Positioning.”
POSMO C and POSMO S:

POSMO C and POSMO S drives can also be used on a 317T-2 DP CPU.
These drives belong to the SIMODRIVE 611U family, and the same commissioning
tools are used to assign parameters to them. The adaptation to the 317T-2 DP
CPU is comparable to the approach described for the SIMODRIVE 611U.
However, the functional scope is different and is presented in the corresponding
product description.
Cross-traffic
The cross-traffic function in SIMODRIVE 611U can be used in combination with a
317T-2 DP CPU.

A5E00272072-01 1-1
Definitions and Warnings

1-2 A5E00272072-01
Hardware Requirements 2
2.1 Personal computer
See the file readme.wri.
2.2 Converter
611U Converter
S SIMODRIVE 611U control module
S Optional PROFIBUS DP3 module for clock-synchronizedPROFIBUS
Closed-loop control module options:
2 axes for encoder sin/cos 1 Vpp n-setpoint 6SN1118-0NH0x-0AAx
2 axes for encoder sin/cos 1 Vpp positioning 6SN1118-1NH0x-0AAx
2 axes for resolver n-setpoint 6SN1118-0NK0x-0AAx
2 axes for resolver positioning 6SN1118-1NK0x-0AAx
1 axis for resolver n-setpoint 6SN1118-0NJ0x-0AAx
1 axis for resolver positioning 6SN1118-1NJ0x-0AAx
Add-on module PROFIBUS DP3 6SN1114-0NB01-0AA0
Note
A controller card for n-setpoint mode is basically sufficient for operation with
a 317T-2 DP CPU. This also applies for operation with dynamic drive control.
Note
If you want to use an external encoder on the axis, you must select a double-axis
closed-loop control module, whereby the second axis cannot be used to activate a
motor.

A5E00272072-01 2-1
Hardware Requirements
POSMO SI
SIMODRIVE POSMO SI is a complete single-axis functional unit The Workbench
consists of the following:
S Power section
S Closed-loop control electronics
S Motor
Order no.: 6SN2 4xx-2BF00-0Gxx
POSMO CD/CA
SIMODRIVE POSMO CD/CA is a complete single-axis functional unit The
Workbench consists of the following:
S Power section
S Closed-loop control electronics
Order numbers:
POSMO CD: 6SN2 703-2AAxx-0xA0
POSMO CA: 6SN2 703-3AAxx-0BA0
Convention:
The following chapters refer only to the SIMODRIVE 611U. The described
approach also applies to POSMO S and POSMO C.

2-2 A5E00272072-01
Software Requirements 3
3.1 Personal computer
S Windows NT SP6, Windows 2000 SP3, Windows XP SP1 or higher
S SIMATIC STEP 7 V5.2 SP1
S SimoComU V4.x or higher
(depending on the firmware version of the SIMODRIVE 611U)
S S7 Technology V1.0
3.2 Converter
S SIMODRIVE 611U firmware revision level V4.x or higher;
can be read out in parameter P1799
S Optional module PROFIBUS V4.x or higher;
can be read out in parameter P1795
Procedure for Software Upgrades:

1. Connect SimoComU to the drive over the V24 interface.
Note
Before you upgrade its software, disconnect SimoCom U from PROFIBUS DP!

A5E00272072-01 3-1
2. Open the window for the firmware download.

If you want to upgrade the drive itself, select Firmware Upgrade. If you want to
upgrade the PROFIBUS module, select Firmware Upgrade of PROFIBUS
Optional Module.
You are guided through the upgrade. Confirm the prompts and instructions in
the subsequent windows.
Note
This example shows the procedure for upgrading the firmware of the drive.

3-2 A5E00272072-01
3. Confirm the following informational message:
4. Select the file with the desired firmware and confirm your input with Open.

A5E00272072-01 3-3
5. Wait until the firmware is completely downloaded.
Note
Never cancel the download operation or interrupt the online connection to the SI-
MODRIVE 611U.
6. Confirm the prompt with Yes. The drive executes a reset operation.
7. The firmware upgrade for the drive is complete. If required, you can now
perform the firmware upgrade for the PROFIBUS module.

3-4 A5E00272072-01
Commissioning 4
This chapter presents the basic commissioning procedure using an example
configuration, and the settings required for your 317T-2 DP CPU and
SIMODRIVE 611U. The example configuration is based on activation of two
position-controlled axes with DSC. PROFIBUS datagram 105 is used for the
activation, and a SIMODRIVE 611U double axis module is used for the drive.
If you use another axis or datagram type, or another SIMODRIVE 611U controller
module, the layout of the input window may deviate from those described below.
However, the approach remains the same in principle.
Moreover, you can use additional functions of the SIMODRIVE 611U in the user
program (for example, reading of operating modes, etc.). Information on this can
be found in Chapter 5 “Expert Functions.”
Note
This guide only shows you how to safely connect the SIMODRIVE 611U converter
to your 317T-2 DP CPU. It does not describe controller tuning; it is assumed that
this has already been carried out.

A5E00272072-01 4-1
Commissioning
4.1 Commissioning procedures

The commissioning procedure is subdivided into two parts:
In the first part, a STEP 7 project is created and the S7T Config program and the
hardware manager are used to enter the settings for the 317T-2 DP CPU. Settings
which have to be configured both on the 317T-2DP CPU and on the SIMODRIVE
611U are highlighted.
In the second part you configure the SIMODRIVE 611U. Use the basic unit
commissioning tools to implement the device into the 317T-2 DP CPu system.
Various parameter settings for the SIMODRIVE 611U are derived from the
317T-2 DP CPU settings. The table in chapter 4.2 contains an overview of the
functions and settings which have to be entered on both the 317T-2DP CPU and
SIMODRIVE 611U systems. The settings that are made can be entered in the
table. These settings are described separately in the following sections for the
317T-2 DP CPU and SIMODRIVE 611U.
4.2 Table of Settings

These data are required for the commissioning steps that follow. In preparation,
you can specify the values using this table.
DP cycle ________ ms
Specify the encoder j Incremental encoder
j Absolute value encoder
Homing mode j BERO + zero mark
j zero mark only
jBERO only
j First zero position right of
BERO
j First zero position left of the
BERO
”Measuring” function j
Encoder type (order number) 1Fx6xxx- _ xxxx-x _ xx
Rated motor speed / max. axis rpm ______ 1/min
Master application cycle / position
controller cycle ______
Datagram type (see the decision chart) ______
PROFIBUS address ______

4-2 A5E00272072-01
Commissioning
Decision chart for datagram type

By default, the SIMODRIVE 611U is connected to a 317T-2 DP CPU by means of
PROFIBUS DP. Depending on the desired axis functionality, this connection can be
made using various device-specific datagrams. The following table presents the
options for the individual datagram types:
1st
Life sign mo- Encoder 2nd dynamic
Torque re- Datagram re-
nitoring servo control
__________ Encoder duction quired
(LSM) (DSC)
Measuring
1
Speed-con-
S d
x 2
trolled axis
x x 101
x x 3
x x x 4
x x x 5
Position-con-
Position con
trolled axis / x x x x 6
synchronous x x x 102
axis
x x x x 103
x x x x 105
x x x x x 106
Note
The datagram types <100 are standard datagrams. They are standardized in ac-
cordance with PROFIdrive Profile V3. The datagram types > 100 are device-speci-
fic for SIMODRIVE 611U.

A5E00272072-01 4-3
Commissioning
4.3 Creating a STEP 7 project
Hardware configuration
In this step, you configure the 317T-2 DP CPU, the bus system and the connected
devices, here the SIMODRIVE 611U hardware configuration program and S7T
Config in STEP 7 .
S Once SIMATIC Manager is started, you must first create a new project (under
the name DSC_SIMODRIVE, for example):
Figure 4-1 Creating a project
S Select Insert Station SIMATIC 300 station to create a new S7 300 station.
Figure 4-2 Inserting a SIMATIC 300 station

4-4 A5E00272072-01
Commissioning
S Double-click the Hardware element in the SIMATIC 300 station to open the
hardware configuration:
Figure 4-3 Opening the hardware configuration
The HW Config application is started and opens the new SIMATIC 300 station.
Drag-and-drop the relevant profile rail from the SIMATIC Technology CPU into
the configuration. Insert a S7 317T-2DP CPU at slot 2 of the profile rail.
Read the download information in the message box and then confirm it with
OK.
Figure 4-4 Information on the download of system data

A5E00272072-01 4-5
Commissioning
The properties – PROFIBUS interface DP(DRIVE) (R0/S3.1) dialog box opens.
Figure 4-5 Properties PROFIBUS interface DP(DRIVE)
On the properties – PROFIBUS interface DP(DRIVE) (S0/S3.1) , click New to

assign the DP Drive interface to a network. Customize your PROFIBUS
configuration in the next dialog box. Select the Network Settings tab.

4-6 A5E00272072-01
Commissioning
S Set the highest PROFIBUS address “2”.

S Set the bus transmission speed to 12 Mbps and the DP profile:
Figure 4-6 Properties of the PROFIBUS subnet

A5E00272072-01 4-7
Commissioning
S Click Options , set the check box in the Constant bus Cycle Time tab to
enable Active constant bus cycle time, then click Recalculate. As a result,
you are shown a constant DP cycle time of 1.533 ms.
Figure 4-7 Active constant bus cycle time

4-8 A5E00272072-01
Commissioning
Confirm your settings with OK to add the configured objects to your

SIMATIC 300 station.
Figure 4-8 SIMATIC 300 station
Note
The X1-MPI/DP interface in the rack is not networked for this example. Its default
MPI communication speed is 187.5 kbps. To download technology system data to
the module, you should set the interface transmission speed to ≥ 1.5 Mbps.
S Connect a SIMODRIVE 611 universal to the PROFIBUS 611 (with address 3,

for example). This device should be available in the hardware catalog under
CPU 317T\PROFIBUS DP(DRIVE)\DRIVES\SIMODRIVE.
Figure 4-9
Connecting a SIMODRIVE 611U to the PROFIBUS

A5E00272072-01 4-9
Commissioning
SIMODRIVE 611U
The PROFIBUS address setting must be made in the 611U in the P918 parameter.
With SimoComU, the input can be specified in the PROFIBUS Parameter
Assignment window.
S Confirm the Properties – Drive dialog box with OK:
S In the DP slave properties dialog box, select the Configuration tab, then set
the PROFIBUS datagram you require for the connection. In this example, a
611U double axis module connected using datagram 105 is selected The
subsequent axis movement will be position-controlled (Fig. 4-10).
Figure 4-10 Setting the standard datagram 105 at the slave
The required datagram can be selected using the ”Datagram type selection table”
(Section 4.2).
317T-2DP CPU
The datagram selected here is specified again when the axis is subsequently
created. The setting is automatically fetched from the HW configuration when the
axis is created.

4-10 A5E00272072-01
Commissioning
SIMODRIVE 611U
The datagram selected here must be specified in the P922 parameter of the
SIMODRIVE 611U. With SimoComU, the input can be specified in the PROFIBUS
configuration dialog box.
S Make the following settings in the Clock Cycle Synchronization tab:
Figure 4-11 Enabling clock-synchronization
S Select Synchronize drive to equidistant DP cycle.

S DP cycle:
Bus cycle time: Depends on the number of slaves
S Master application cycle:
Here, you specify the cycle in which the master is to supply new values to the
SIMODRIVE 611U. On the 317T-2 DP CPU, this is the position controller cycle
(servo). Not down this value and enter it later in your configuration of System
cycle as position controller cycle.
Note
The master application cycle must match the position control cycle of the CPU!

A5E00272072-01 4-11
Commissioning
S Setpoint acceptance:
Setpoint is output in the SIMODRIVE 611U as soon as possible after the DP
clock cycle.
The time depends on the number of slaves with constant cycle time. It must be
ensured that all slaves have received the setpoint values within the current DP
cycle. Otherwise, the drive signals it is ”not clock-synchronized with the
master.”
S Actual-value acquisition
Measured value latch in SIMODRIVE 611U; keep the interval to the DP cycle as
short as possible (input 1: → 0.125 ms in advance of the next DP cycle.)
S Press Calibrate
S Finally, save and compile the project with Station > Save and compile. Also
perform a consistency check with Station > Check consistency.
After you have completed these steps, select PLC > Download to module) to
download the HW configuration data to the 317T-2DP CPU.
After you have changed the transmission speed at the MPI/DP interface, adapt
the interface parameters at the PG/PC in order to be able to download the
technology system data to the module in your next steps.
Your HW configuration does not contain any technology system data yet. These
data are created in a separate dialog for your HW configuration. To do so,
double-click index 3 (Technology) in the profile rail of the SIMATIC 300 station,
then select the technology system data tab. Set
Generate technology system data, save and compile the data and then once
again download the configuration to the CPU.
Figure 4-12 Enabling the ”Generate technology system data” function

4-12 A5E00272072-01
Commissioning
Note
You also have the option of downloading the technology system data in one pass
using the hardware configuration program, so that you save yourself the second
download. The advantage of the procedure described earlier is, that you can save
time by utilizing the higher transmission speed for the download of technology sy-
stem data.
Note
The green and yellow LEDs signal the completion of your download. The red
BF 3 LED may flash, if the mode selector switch is in STOP position. The bus er-
ror occurs if the PROFIBUS address configured in HW Config or the selected da-
tagram type has not yet been set in the SIMODRIVE 611U.
If communication between the two devices is to checked at this point, then the ba-
sic functions of the SIMODRIVE 611U must be commissioned in accordance with
Section 4.4.
If the 317T-2 DP CPU and SIMODRIVE 611U settings match, the BF3 error does
not occur and the LED on the PROFIBUS module of the SIMODRIVE 611U is
green.
S This completes the hardware configuration of the station, and this window can
now be closed.

A5E00272072-01 4-13
Commissioning
Creating an axis
This step describes the procedure for creating an axis in S7T Config. Because the
SIMODRIVE 611U double axis module is used in the hardware configuration, two
axes must be created and the procedure below must be performed twice.
S Open the Technology Object Management (TOM) tool in SIMATIC Manager. To
do so, select the technology folder in the new SIMATIC 300 station, then
double-click Technological Objects.
Figure 4-13 Technological Objects in SIMATIC Manager
S Press the Edit technology button to open S7T Config.
Figure 4-14 Opening S7T Config

4-14 A5E00272072-01
Commissioning
S In S7T Config, open the Axes folder:
Figure 4-15 Inserting an axis
S Double-click Insert axis to open the next dialog box:
Figure 4-16 Axis configuration: First dialog box

A5E00272072-01 4-15
Commissioning
S Click OK to open the second Axis configuration – axis type dialog box.
There you specify the axis type. In the example, the linear axis setting is
retained:
Figure 4-17 Axis configuration: Second dialog box
S Click Next to open the third axis configuration dialog box. The physical
variables are specified in this window. Do not change the settings, but click
Next.
Figure 4-18 Axis configuration: Third dialog box

4-16 A5E00272072-01
Commissioning
S The modulo axis configuration dialog box appears. Enable the modulo axis as
required, then click Continue.
Figure 4-19 Axis configuration: Fourth dialog box
S The hardware configuration is automatically loaded, and you can select the
SIMODRIVE 611U drive A or B you configured in HW Config. Select
DP_message_frame_105_611U. The maximum motor speed in this example is
6000 rpm. Select Dynamic servo control (DSC):
Figure 4-20 Axis configuration: Fifth dialog box

A5E00272072-01 4-17
Commissioning
Specifying the maximum motor speed

The motor speed is set in the CPU 317T-2 DP and in SIMODRIVE (
rated speed). This value specifies the maximum speed (→→ maximum possible
speed) of the axis and scales the PROFIBUS speed value in SIMODRIVE 611U.
317T-2DP CPU
The maximum motor speed usually corresponds to the rated speed of the motor.
All specified axis velocities are relative to the maximum speed.
SIMODRIVE 611U
The speed must be input in the P880 parameter.
This defines the scaling of the PROFIBUS speed value. For the maximum speed
over PROFIBUS, a setpoint NSET = 4000 0000H is transferred to the drive. The
P880 parameter is used to inform the SIMODRIVE 611U which speed should be
set when NSET = 4000 0000H.

4-18 A5E00272072-01
Commissioning
S The encoder is configured in the next dialog boxes:

The absolute encoder must be configured as an ENDAT encoder with
corresponding resolution and data bits (datagram length) (Fig. 4-21 and 4-22).
Figure 4-21 Axis configuration in S7T Config (selection of the absolute value encoder type)
Figure 4-22 Axis configuration in S7T Config (setting of the absolute value encoder
resolution)

A5E00272072-01 4-19
Commissioning
Incremental encoders are set as TTL square-wave encoders, and the

corresponding encoder resolution, such as 2048, is entered (Fig. 4-23 and 4-24).
The respective data settings can be found in the “Encoder settings” list.
Figure 4-23 Axis configuration in S7T Config (selection of the incremental encoder type)
Figure 4-24 Axis configuration in S7T Config (setting of the incremental encoder resolution)

4-20 A5E00272072-01
Commissioning
Specifying the Encoder and the Resolution

The encoder and resolution are set in the 317T-2 DP CPU and in
SIMODRIVES 611U.
SIMODRIVE 611U
The encoder is selected by means of the order number (motor nameplate) during
drive configuration.
317T-2DP CPU
In the tables below, you find the encoder data which are relevant for the settings in
your 317T-2 DP CPU. Only the input values included in this list are evaluated for
the respective encoder.
The following settings are based on the input value of fine resolution 0 (cf.
Fig. 4-24).
A fine resolution setting of ”0” in the 317T-2 DP CPU corresponds with a fine
resolution of 211 = 2048. Any other fine resolution settings, for example 1024,
overrides this setting.
The following settings are specified alongside with the name of the configuration
data and can thus be viewed in the expert list. The following assignments are
applicable in the axis configuration windows:
Encoder type → TypeOfAxis.NumberOfEncoders.Encoder_1.encoderType
Encoder mode → TypeOfAxis.NumberOfEncoders.Encoder_1.encoderMode
Resolution → TypeOfAxis.NumberOfEncoders.Encoder_1.IncEncoder.IncResolution
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsResolution
Number of
data bits → TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsDataLength

A5E00272072-01 4-21
Commissioning
Encoder Settings
Encoder: 1Fx6xxx-xxxxx-xAxx
optical incremental encoder 2048 I/U 1 Vpp
317T-2DP CPU settings

TypeOfAxis.NumberOfEncoders.Encoder_1. encoderType=INC
TypeOfAxis.NumberOfEncoders.Encoder_1. encoderMode=RECTANGLE_TTL
TypeOfAxis.NumberOfEncoders.Encoder_1. IncEncoder.IncResolution=2048
TypeOfAxis.NumberOfEncoders.Encoder_1. IncEncoder.IncResolutionMultiplierCyclic=0
Encoder: 1Fx6xxx-xxxxx-xExx EQN 1325 (absolute)
317T-2DP CPU settings

TypeOfAxis.NumberOfEncoders.Encoder_1.encoderType=SENSOR_CYCLIC_ABSOLUTE
TypeOfAxis.NumberOfEncoders.Encoder_1.encoderMode=ENDAT
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsBackLash=NO
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsResolution=2048
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsDataLength=24
TypeOfAxis.NumberOfEncoders.Encoder_1. IncEncoder.IncResolutionMultiplierAbsolute=0
TypeOfAxis.NumberOfEncoders.Encoder_1. IncEncoder.IncResolutionMultiplierCyclic=0
Differences between ABS and CYCLE_ABS:

– In the case of ABS, the absolute actual position of the encoder is assumed
after switching on the 317T-2 DP CPU or following an encoder error.
– In the case of CYCL_ABS, overflows of the encoder areas are carried over
in the NVRAM and taken into account when the cycle is resumed. For this
setting, CPU memory must be reset prior to the initial download of the
project. Then, the encoder must be readjusted. If the settings for the
absolute value encoder are modified, the encoder must likewise be
readjusted.
When the CPU is switched off, the maximum distance an encoder may only
move by ≤ “half of the encoder range” in both directions in order to ensure
safe detection of the position.

4-22 A5E00272072-01
Commissioning
Completing the Axis Configuration

S Finally, click Apply. Summary of the set data:
Figure 4-25 Axis Configuration: Final Window
After you have created the axis, you need to edit further parameters, in order to
tune the interaction between your 317T-2DP CPU and SIMODRIVE 611U.

A5E00272072-01 4-23
Commissioning
Follow-up error monitoring

In order to avoid the interruption of an axis motion triggered by a follow-up error
monitoring signal, you can set a higher limit value or disable the function. A high
following error can occur, for example, as a result of faulty drive optimization.
To do so, select the Monitoring dialog box of your new axis, select the Following
error monitoring tab, and then reset Dynamic following error monitoring
active (Fig. 4-26).
The follow-up error monitoring system should, of course, be matched to the
requirements and mechanical system of the plant when commissioning an
application.
Warning
! If the following error monitoring is increased or deactivated, incorrect motions on
the axis can be of greater magnitude under fault conditions (for example, incorrect
position control direction). This is particularly important if the axis only has a limi-
ted traversing range.
Figure 4-26 Deactivating Following Error Monitoring

4-24 A5E00272072-01
Commissioning
Position Controller Configuration

The Closed-loop control window is displayed and the servo gain factor (Kv), the
speed precontrol, and a speed-dependent interpolation are set. The Dynamic
servo control (DSC) function remains selected:
Figure 4-27 Position controller configuration

A5E00272072-01 4-25
Commissioning
Setting the system clocks

Right-click Technology, then select the Set system cycle clocks... command
from the shortcut menu.
Figure 4-28 Setting system clocks
The following dialog box opens:
Figure 4-29 Setting system clocks

4-26 A5E00272072-01
Commissioning
Specifying the system clocks

The CPU 317T-2
DP system clock settings have an influence on position setpoint adaptation in the
MASTERDRIVES MC.611
317T-2DP CPU
The cycle ratio between the DP, position controller and the interpolator (Fig. 4-29)
is set to 1:2:2, for example. The result would be a DP cycle of 2 ms, a position
controller cycle of 4 ms, and an interpolator cycle of 4 ms.
Note
The position controller cycle you enter here must always match the master appli-
cation cycle you specified in HW Config! (cf. Fig. 4-29).
For information on the use and enabling the interpolator cycle 2

, refer to the online documentation in S7T Config.
Command watchdog
The execution of Motion Control commands is monitored by means of a watchdog.
Technology DB update
The update settings for technology DBs determine their update intervals in the S7
station.
Shutdown task
Watchdog for command execution at the RUN / STOP transition of the CPU.
The S7T Config project is now configured. Provided the axis does not have to be
homed and you have not selected the measuring function on the axis, you can now
configure the SIMODRIVE 611U.

A5E00272072-01 4-27
Commissioning
4.3.1 Homing
Specifying the Homing Mode

If the connected axis is to be homed, the homing mode must be set in the
317T-2 DP CPU: Depending on the mode selected, settings may also be
necessary in the SIMODRIVE 611U.
Homing mode ”BERO only”

Sequence:
S The position is registered when the axis overruns a defined BERO edge.
Hardware configuration:
SIMODRIVE 611U
Encoder
M
317T-2DP CPU
BERO
– +
Input terminal
IO.x
Reference poten-
tial terminal 19
PROFIBUS DP
L– L+
24 VDC
Figure 4-30 Homing (BERO only)
317T-2DP CPU
If the Bero only homing mode is selected (Fig. 4-31), the approach direction can
be selected by means of Homing direction.

4-28 A5E00272072-01
Commissioning
Figure 4-31 Axis homing in S7T Config (homing mode: BERO only)
SIMODRIVE 611U
Terminate the reference BERO at the SIMODRIVE 611U input I0.x (x: drive A
or B).
Assign the Zero mark substitution function to input I0.x. You must enable zero
mark substitution in the P879 Bit 13 parameter.
Follow the procedure outlined in the section below on ”Standard Commissioning of
SIMODRIVE 611U” to assign parameters to input I0.x.
Notes on edge detection 611U:
S For travel in the positive direction, only the signal change 1 → 0 is recognized
as a zero mark substitution. For travel in the negative direction, only the 0 → 1
edge is recognized as a zero mark substitution. As a result, not all of the
approach directions that can be selected in the 317T-2 DP CPU can be used in
combination with SIMODRIVE 611U.

A5E00272072-01 4-29
Commissioning
Homing mode “Zero mark only”

Process
A BERO signal is not necessary. The position is registered at the next zero mark of
the encoder.
317T-2DP CPU
If Zero mark only is selected as the homing mode (Fig. 4-32), the approach
direction can be selected by means of the Direction for homing.
Figure 4-32 Axis homing in S7T Config (homing mode: zero mark only)
SIMODRIVE 611U
If the ”Zero mark only” homing mode is selected, a motor with an incremental
encoder or resolver must be connected on the SIMODRIVE 611U. Otherwise, no
additional settings are necessary.

4-30 A5E00272072-01
Commissioning
Homing mode “Bero and zero mark”

Process
The axis starts moving in the specified homing direction. Once the Bero signal is
reached, the speed of the axis switches from the homing approach speed to the
homing deceleration speed. Once the Bero is left, the axis is homed at the next
detected zero mark of the encoder.
The reference Bero is connected to a free SIMATIC I/O input.
BERO SIMODRIVE 611U

Input module
Encoder
317T-2DP CPU M
– +
I0,0
L– L+
24 V DC
PROFIBUS DP
Figure 4-33 Homing (BERO and zero mark)
317T-2DP CPU
When the “BERO and zero mark” homing mode is set, (Fig. 4-34, 4-35) the
evaluation position of the zero mark can be defined in the zero mark setting, and
the approach direction in the Direction for homing setting.
Terminate the reference BERO to a freely selectable digital input of the SIMATIC
station, according to your settings in the Axis configuration dialog box (Fig. 4-34,
4-35). Homing is enabled at the drive when this BERO is reached.

A5E00272072-01 4-31
Commissioning
Figure 4-34 Axis homing in STEP 7 (homing mode: BERO and zero mark)
Figure 4-35 Axis homing in STEP 7 (homing mode: BERO and zero mark)
SIMODRIVE 611U
If this mode is selected as the homing mode, a motor with an incremental encoder
or resolver must be connected on the SIMODRIVE 611U. Otherwise, no additional
settings are necessary.

4-32 A5E00272072-01
Commissioning
4.3.2 ”Measuring” function
Description
You can use the ”measuring” function to record the actual position of an axis at any
time. A typical application is the acquisition of a print mark for the purpose of
synchronizing the axis to this mark.
The measuring input must be connected to the fast input I0.x. The input is isolated.
This enables more than one input to be switched in parallel, whereby the reference
potential of the 24 V supply of the measuring input (for example, from the network
supply) must also be wired.
SIMODRIVE 611U
Encoder
M
317T-2DP CPU
BERO
– +
Input terminal
IO.x
Reference poten-
tial terminal 19
PROFIBUS DP
L– L+
24 V DC
Figure 4-36 Measuring
317T-2DP CPU
Insert a measuring sensor under the axis in the ”Measuring sensors” folder.
→Insert measuring sensor
Leave the number of the measuring sensor and system as 1. It is not possible to
assign more than one measuring sensor to a drive (maximum number per 611U
axis = 1).

A5E00272072-01 4-33
Commissioning
Figure 4-37 Insert Measuring Input
Figure 4-38 Insert Measuring Input

4-34 A5E00272072-01
Commissioning
Figure 4-39 Measuring input configuration
SIMODRIVE 611U
Configure the SIMODRIVE 611U with SimoCom U, so that input I0.x references
the measuring sensor.
Note on internal edge detection in 611U HW versions up to
6SN1118–xxxxx–-xxx1::
S For travel in the positive direction, only the 1 → 0 signal change is detected as
a measuring signal. For travel in the negative direction, only the 0 → 1 edge is
recognized as a measuring signal. You must take this into account when
activating the measuring input.
Settings in the edge box (→ 317T-2 DP CPU; call of the measuring function in the
user program):
Positive traversing direction → select the “negative edge”
Negative traversing direction →select the “positive edge”
The “positive and negative edge” setting or other edge trigger combinations for the
traversing direction ⇔ are not permitted.
If an illegal combination is selected, the measurement is terminated with an error.

A5E00272072-01 4-35
Commissioning
Response Times for the Measuring Function

The 317T-2DP CPU allows you to use the measuring function in various system
configurations. You need to make allowances in your application program for the
different response times of the measuring function, based on the axis integration
(via PROFIBUS DP) and on the processing level (position controller cycle of
interpolator cycle).
Measurements are controlled in the user program by calling FB
MC_MeasuringInput. With this call you can also define the active range of the
measurement function:
S immediately (without measuring window)
StartPosition = EndPosition
S within a position-based measuring window
StartPosition < > EndPosition
The measuring sensor is started immediately when you call FB
MC_MeasuringInput with Measurement without measuring window.
The evaluation of the measuring edge at the hardware input is delayed by a
configuration-specific runtime (see table 4-1). In order to ensure safe detection of
the measuring edge, make sure that MC_MeasuringInput is executed in the user
program in advance of this runtime factor.
When MC_MeasuringInput is called with Measurement with measuring window,
the request is first registered in the system. The measuring sensor is enabled
when the axis reaches the start of the measuring window.
The time expiring between the start position of the measuring window at the axis
(mechanics) and the evaluation of the measuring edge at the hardware input is
determined by a configuration-specific runtime
(see table 4-2). In order to ensure that the measuring sensor on the axis is
immediately active after the relevant start position of the measuring window is
reached, you need to advance the start of the measuring window in your FB call
by a fraction which is proportional to the axis speed and response time.
This applies likewise to the end of the measuring window. There, it is important to
disable the measuring sensor immediately after the axis has passed the end
position of the measuring window (mechanical). (For information on runtimes, refer
to table 4-3).
Note
A shift of the measuring window is only reliable if the axis speed
S is held constant within the measuring window, and
S is known prior to the FB call.

4-36 A5E00272072-01
Commissioning
The two examples below show you how to calculate the measuring window.
Example 1:
Measurement at a constant speed ⇒ the entire measuring window is shifted.
Programmed start of the measuring window
= required start position of the measuring window – speed [distance/ms] *
response time [ms]
Programmed end of the measuring window
= required end of the measuring window – speed [distance/ms] *
response time [ms]
Example 2:
Measurement in the ramp-down phase ⇒ the start of the measuring window is
shifted; its end is set to the positioning end point , and is not shifted.
Programmed start of the measuring window
= required start position of the measuring window – speed [distance/ms] *
response time [ms]
Programmed end position of the measuring window
= programmed end position of the positioning run
You can use the tables below to determine the response times of your system
configuration. The values in the tables are based on the set system clocks. You
can calculate the response time in [ms] by substitution with the physical times.
Abbreviations used in the tables:
(IL) Interpolator or position controller cycle
(can be set in the measuring sensor configuration)
(DP) Cycle time on the PROFIBUS DP
Table 4-1 Measurement without measuring window
SIMODRIVE 611U
MC_MeasuringInput 3 (IL) + 7 (DP)
→ ready for measuring edge detection
Detection of the measuring edge 2 (IL) + 10 (DP)
→ Result in the 317T-2DP CPU for further processing
accumulated 5 (IL) + 17 (DP)
minimum time between two measurements *)
*) make allowances for the restrictions imposed by the relevant system. For example, SIMODRIVE 611U in
hardware version 6SN1 118-xxxxx-xxx2 can supply a new measured value only in intervals of 150 ms.

A5E00272072-01 4-37
Commissioning
Table 4-2 Measurement with measuring window: Measuring edge is detected within the window
SIMODRIVE 611U
MC_MeasuringInput 2 (IL)
→ ready for evaluation of the measurement range (start position of the mea-
suring window)
Reaching the start position of the measuring window at the axis (mechani- 2 (IL) + 7 (DP)
cal)
→ ready for measuring edge detection
Detection of the measuring edge 2 (IL) + 10 (DP)
→ Result in the 317T-2DP CPU for further processing
Table 4-3 Measurement with measuring window: No measuring edge within the window
SIMODRIVE 611U
MC_MeasuringInput 2 (IL)
→ ready for evaluation of the measurement range (start position of the mea-
suring window)
cal)
→ ready for the detection of the measuring edge
cal)
→ Reset: ”ready for measuring edge detection”
Reset of the ready for measurement signal 2 (IL) + 10 (DP)
→ feedback in the 317T-2DP CPU for further processing
Download of the program to the 317T-2 DP CPU and switching to RUN

Save and compile the technology configuration.
The mode selector switch on the 317T-2 DP CPU is still in STOP position.
Select Technology > Connect to PLC to go online to the 317T-2 DP CPU.
Select Technology > Download to PLC to download your project data to the
317T-2 DP CPU.
After you have downloaded all data to the PLC, set the mode selector switch on
the 317T-2 DP CPU to RUN.

4-38 A5E00272072-01
Commissioning
Creating the technology DBs

After you have completed the configuration in S7T Config, create the technology
DBs for the new technology objects (e.g. axes, cam disks, cams, measuring
sensors). Use the TOM tool (Technology Object Management) to do so.
If TOM is still active, change to SIMATIC Manager. If not, start the tool by
double-clicking the technology objects entry in the technology folder of your
SIMATIC station.
Figure 4-40 Starting TOM in SIMATIC Manager
The TOM tool opens with the following dialog.
Figure 4-41 Technology Object Management (TOM)
The lower pane of the dialog box shows the technology object configured in S7T
Config, or the default objects for which you have not created a technology DBs.
Adapt the technology DBs numbers as required, then click Create to generate the
DBs.

A5E00272072-01 4-39
Commissioning
Figure 4-42 Creating technology DBs
After you have generated the TO-DBs for the existing technology objects, you can
view these in the upper pane of the TOM tool. You can now click Close to close
this dialog box.
The generated technology DBs are now stored in the block folder of the SIMATIC
300 station. The DB symbols are derived from the configured names, UDTs are
supplemented as required.
Figure 4-43 Technology DBs in SIMATIC Manager

4-40 A5E00272072-01
Commissioning
4.4 Drive configuration for SIMODRIVE 611U

The commissioning tool SimoComU is used for commissioning the SIMODRIVE
611U. This tool is intuitive for the most part. You are guided through the individual
steps.
The connection to the drive can be made over a serial interface or PROFIBUS-DP
as desired.
First, the hardware (power section, motor, encoder, etc.), PROFIBUS interfaces,
etc., are configured by means of the menu-controlled drive configuration.
S After you have started SimoComU, you are prompted in the first window for the
location of the drive data you want to change.
Establish a connection (serial, PROFIBUS DP) between SimoCom U and the
drive, then select “Find online drives...”. Of advantage is here that you do not
have to manually enter the data of the controller card and PROFIBUS module.
These data are read out and displayed by SimoComU.
Figure 4-44 SimoCom U: Selection window

A5E00272072-01 4-41
Commissioning
S In the main menu of SimoCom U (Fig. 4-45), select Configuration >

Reconfigure drive to select interactive drive configuration (cf. Fig. 4-46).
Note
If you use a double axis module, you must perform the following procedure twice
(for drive A and drive B, respectively). However, you must make sure that the
PROFIBUS address setting is applicable to both drives. In addition, the same
PROFIBUS datagram must be used for both drives.
Figure 4-45 SimoCom U: Main window

4-42 A5E00272072-01
Commissioning
S In this window, you can assign any name for the axis:
Figure 4-46 Drive Configuration Window
S The SIMODRIVE selection window shows you the order number of the
controller module and of the PROFIBUS module on a gray background,
because you are online to SIMODRIVE 611U. These input values cannot be
modified.
In this window, you specify the PROFIBUS address. The address must agree
with the bus address specified in the STEP 7 hardware configuration.
Figure 4-47 SIMODRIVE selection

A5E00272072-01 4-43
Commissioning
S In the Motor Selection window that appears next, select the connected motor.
You can find the data on the nameplate of the motor.
Figure 4-48 Motor Selection Window
S In the Measuring system/Encoder dialog box (Fig. 4-49), select the connected
motor encoder. You can find the data on the nameplate of the motor.
317T-2DP CPU
You require these data to adjust the encoder when you commission the axis. Use
this number to find the corresponding input values for the 317T-2 DP CPU axis
configuration in the ”List of encoder data.”
Figure 4-49 Measuring system / encoder dialog box

4-44 A5E00272072-01
Commissioning
S In the Operating mode dialog box, set the speed/torque setpoint. This option
is only available for the 611U closed-loop control modules that are also capable
of positioning mode.
Figure 4-50 Operating mode
S You can select an external encoder from the direct measuring system /
encoder dialog box. This encoder can only be detected on a double axis
module using the measuring input of axis B. As a result, axis B is no longer
available for controlling an axis.
If you use the direct measuring system, you must select a PROFIBUS
datagram that contains a second encoder. In 317T-2 DP CPU, you can assign
this encoder to position control, or create an external encoder that accesses
this actual value.
Figure 4-51 Direct measuring system / encoder

A5E00272072-01 4-45
Commissioning
S The Completion of drive configuration window displays a summary of the

inputs. To finish, click Calculate controller data, Save, and Reset.
Figure 4-52 Completion of drive configuration
S Next, select the PROFIBUS Parameter Assignment window. Here you can
select the PROFIBUS address of the drive (“3” in this example) and the
datagram (“105” in this example).
317T-2DP CPU
You specify these data during hardware configuration to adjust the drive.
Figure 4-53 SimoCom U – Drive A

4-46 A5E00272072-01
Commissioning
S Optional: Select the Digital inputs dialog box. Here you can define the function
of input I0.x.
If you want to use the ”measuring function” of the 317T-2DP CPU, you must
select the ”On-the-fly measuring/length measurement” function here.
If you want to use the ”Homing with Bero only” function at the 317T-2DP CPU,
you must select the ”zero mark substitution” function. In addition, you must
enable the zero mark substitution function using the P879 Bit 13 parameter.
Refer to Fig. 4-55 “Expert List” for this procedure.
Note
You cannot have ”measuring” and ”zero mark substitution” active on a drive at the
same time, because you may select the functions only on input I0.x. If you need
both functions on a drive, you must switch the function. The section on “Expert
Functions” describes how you can write (switch) parameters in the drive from the
user program.
Figure 4-54 Digital inputs

A5E00272072-01 4-47
Commissioning
S Not all of the parameters for the SIMODRIVE 611U can be assigned by means
of technology screen forms. In order to input parameters directly (such as the
P879 parameter), open the Expert List. Here you can select and modify the
relevant parameters.
Figure 4-55 Expert list
Parameters to be entered directly:

P879 bit 13:
Enable zero mark substitution. This setting is necessary if you use the “BERO
only homing” function. In addition, you must select the zero mark substitution
function for input I0.x.
P880:
Scaling of the PROFIBUS speed value is specified in this parameter. For the
maximum speed over PROFIBUS, a setpoint NSET = 4000 0000hex is
transferred to the drive. The P880 parameter is used to inform the
SIMODRIVE 611U which speed should be set when NSET = 4000 0000hex .
The speed specified in your axis configuration (Axis configuration – Axis 1 –
Encoder number dialog box) must match the value in “maximum motor
speed.”
S This concludes the drive configuration. If there are no errors, the green 5 VDC
LED and the yellow STOP LED are now lit on the 317T-2 DP CPU (mode
selector switch in STOP position). The LED on the PROFIBUS module of the
SIMODRIVE 611U is lit in green color.
Basic commissioning is now complete.
If you would like to use special functions of the SIMODRIVE 611U from the user
program, you should also read the section on ”Expert Functions.”

4-48 A5E00272072-01
Expert Functions 5
This chapter explains functions that can be used in conjunction with the
SIMODRIVE 611U and that go beyond the standard connection.
At the SIMODRIVE 611U, you can also set specific modes such controlling only
one axis with a double–axis module.
Note
This chapter assumes that you are well–acquainted with the SIMODRIVE 611U.
The function options are only briefly presented. For more information, refer to the
Description of Functions for SIMODRIVE 611 Universal “Closed–Loop Control
Components for Closed–Loop Speed Control and Positioning.”

A5E00272072-01 5-1
Expert Functions
5.1 Important Parameters on the SIMODRIVE 611U

This table lists the parameters of the SIMODRIVE 611U that are evaluated in
conjunction with your 317T-2 DP CPU, or must be taken into account during their
adaptation to a 317T-2 DP CPU.
Some of the listed parameters are supplied during standard commissioning (refer
to Chapter 4). In some cases, you can also input the parameters using
configuration screen forms.
Table 5-1 Important Parameters and Their Meaning
Parameter Function
P 660 Function selection for input I0.x
79 Zero mark substitution
If the zero pulse of the encoder cannot be evaluated during homing,
a signal supplied by a properly attached sensor
can be routed by means of this input as a ”zero mark substitution.”
80 Measuring sensor
Maximum number of measuring sensors on a SIMODRIVE 611U = 1;
Caution: The measurement can be performed only at this input (I0.x).
P 700 Operating mode
Only relevant for double-axis module: Here you can disable axis B.
P 875 Expected optional module type
Here you can disable PROFIBUS communication for drive B, if only one axis is operated
on the double–axis module.
P 879 Life sign monitoring is enabled in the drive
Bit 0,1,2: Permissible life sign error
Bit 8: Disable life sign monitoring
Bit 12: Enable direct measuring system
Bit 13: use incremental measuring system with zero mark substitution
P 880 Specifies scaling of the speed for motion with PROFIBUS-DP. Here you specify the maxi-
mum speed of the motor. You must also specify this speed when creating the axis TO in
S7T Config.
P 881 Specifies scaling of torque reduction for motion with PROFIBUS DP.
P 915 Process data setpoint assignment PROFIBUS
P 916 Process data actual value assignment PROFIBUS
P 918 DP slave address specified same as in STEP 7 project using HW Config
P 922 Datagram type as specified in the axis TO. In addition, pay attention to the “Adapt data-
gram individually” item.
P 1001 Speed controller cycle
Input value 4 → 4 x 31.25 µs = 125 µs for sin/cos 1 Vpp drives
Input value 16 → 16 x 31.25 µs = 500 µs for resolver drives
P 1042 Fine resolution absolute track G1_XIST1 → fixed input value: 11
P 1795 Firmware for optional module
P 1799 Controller firmware

5-2 A5E00272072-01
Expert Functions
5.2 PROFIBUS datagram

Some applications may require specific drive functions such as torque reduction.
Using the datagram structure, you can see which data are available by default for
evaluation with the respective datagram.
Table 5-2 Datagam structure
PZD PZD PZD PZD PZD PZD PZD PZD PZD PZD PZD PZD PZD PZD PZD PZD
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
TEL_1 STW NSE
Set 1
T_A
TEL_1 ZSW NAC
actual 1 T_A
TEL_2 STW NSET_B STW
Set 1 2
TEL_2 ZSW NACT_B ZSW
Actual 1 2
TEL_3 STW NSET_B STW G1_
Set 1 2 STW
TEL_3 ZSW NACT_B ZSW G1_ G1_XIST1, G1_XIST2,
Actual 1 2 ZSW for example for example
TEL_4 STW NSET_B STW G1_ G2_
Set 1 2 STW STW
TEL_4 ZSW NACT_B ZSW G1_ G1_XIST1, G1_XIST2, G2_ G2_XIST1, G2_XIST2,
Actual 1 2 ZSW for example for example ZSW for example for example
TEL_5 STW NSET_B STW G1_ XERR KPC
Set 1 2 STW
TEL_5 ZSW NACT_B ZSW G1_ G1_XIST1, G1_XIST2,
Actual 1 2 ZSW for example for example
TEL_6 STW NSET_B STW G1_ G2_ XERR KPC
Set 1 2 STW STW
TEL_6 ZSW NACT_B ZSW G1_ G1_XIST1, G1_XIST2, G2_ G2_XIST1, G2_XIST2,
Actual 1 2 ZSW for example for example ZSW for example for example
TEL10 STW NSET_B STW M_R DAC DAC
1 Set 1 2 ed 1 2
TEL10 ZSW NACT_B ZSW Meld
1 Ac- 1 2 W
tual
TEL10 STW NSET_B STW M_R G1_
2 Set 1 2 ed STW
TEL10 ZSW NACT_B ZSW Meld G1_ G1_XIST1, G1_XIST2,
2 Ac- 1 2 W ZSW for example for example
tual
TEL10 STW NSET_B STW M_R G1_ G2_
3 Set 1 2 ed STW STW
TEL10 ZSW NACT_B ZSW Meld G1_ G1_XIST1, G1_XIST2, G2_ G2_XIST1, G2_XIST2,
3 Ac- 1 2 W ZSW for example for example ZSW for example for example
tual
TEL10 STW NSET_B STW M_R G1_ XERR KPC
5 Set 1 2 ed STW
TEL10 ZSW NACT_B ZSW Meld G1_ G1_XIST1, G1_XIST2,
5 Ac- 1 2 W ZSW for example for example
tual
TEL10 STW NSET_B STW M_R G1_ G2_ XERR KPC
6 Set 1 2 ed STW STW
TEL10 ZSW NACT_B ZSW Meld G1_ G1_XIST1, G1_XIST2, G2_ G2_XIST1, G2_XIST2,
6 Ac- 1 2 W ZSW for example for example ZSW for example for example
tual

A5E00272072-01 5-3
Expert Functions
Table 5-3 Signal list assignment
SIMODRIVE 611U Meaning Short name Signal length

signal number
50001 Control word 1 STW1 16 bits
50003 Control word 2 STW2 16 bits
50005 Speed setpoint A INSET_A 16 bits
(nset–h)
50007 Speed setpoint B NSET_B 32 bits
(n–set (h + l))
50009 Encoder 1 control word G1_STW 16 bits
50025 Control error (DSC) XERR 32 bits
50026 Position controller gain KPC 32 bits
coefficient (DSC)
50002 Status word 1 ZSW1 16 bits

50004 Status word 2 ZSW2 16 bits
50006 Actual speed value A NACT_A 16 bits
(nact–h)
50008 Actual speed value B NACT_B 32 bits
(n–act (h + l))
50010 Encoder 1 status word G1_ZSW 16 bits
50011 Encoder 1 actual posi- G1_XIST1 32 bits
tion value 1
50012 Encoder 1 actual posi- G1_XACT2 32 bits
tion value 2
50014 Encoder 2 status word G2_ZSW 16 bits
Device–specific signals for ”SIMODRIVE 611 universal”:

tion value 1
tion value 2
50101 Torque reduction MomRed 16 bits
50103 Analog output DAC1 16 bits
KL 75.x/15
50105 Analog output DAC2 16 bits
KL 16.x/15
50107 Digital outputs DIG_OUT 16 bits
KL O0.x to O3.x
50111 Distributed inputs DezEing 16 bits
50113 Torque setpoint MsetExt 16 bits
external

5-4 A5E00272072-01
Expert Functions
Table 5-3 Signal list assignment, continued
SIMODRIVE 611U Meaning Short name Signal length

signal number
50102 Message word MeldW 16 bits
50104 Analog input ADC1 16 bits
KL 56.x/14
50106 Analog input ADC2 16 bits
KL 24.x/20
50108 Digital inputs DIG_IN 16 bits
KL I0.x to I3.x
50110 Utilization Ausl 16 bits
50112 Active power Pwirk 16 bits
50114 Smoothed torque setpo- Mset 16 bits
int
50116 Smoothed torque–pro- IqGl 16 bits
ducing current Iq

A5E00272072-01 5-5
Expert Functions
5.3 Adapting datagram Individually

An application may require additinal drive functions (beyond the predefined
datagrams.) It is possible to expand the predefined datagram for this purpose.
These additional words can be used by nay other configured technology object
(e.g. the digital inputs of the drive as hardware limit switches, or the digital outputs
as cam outputs.)
The following procedure must be followed:
S Find the datagram type needed for your axis type from the table above.
S Then, in HW Config, append the desired number of additional words after the
last word of the selected datagram.
Note: Since the datagram structure no longer corresponds to the selected
datagram type, another datagram or ”no datagram” is indicated.)
S When creating the TOs in S7T Config, you must specify the originally selected
datagram type. The TO evaluates only the number of words corresponding to
the specified datagram type. The additional words can be processed in the user
program.
S In the SIMODRIVE 611U, you must generate the desired datagram structure
manually using the signal numbers. For this, you set the P922 parameter to 0.
You can use the P915 parameter Index 1 to 16 and the P916 parameter Index 1
to 16 to enter the signal numbers corresponding to the datagram.
S A maximum of 16 process data words can be read or written.
5.4 Disabling life sign monitoring

The PROFIBUS connection between the 317T-2 DP CPU and SIMODRIVE 611U
is monitored for the presence of life signs. As a general principle, life sign
monitoring must be enabled during operation. This monitoring function is
automatically set when the axis is created. In case of problems (for example, alarm
832 on the SIMODRIVE 611U), life sign monitoring can be disabled temporarily for
diagnostic purposes.
317T-2DP CPU
The parameters for life sign monitoring can be set or reset on the axis TO by
selecting Expert list > Configuration data ....lifeSigneCheck .
SIMODRIVE 611U
Life sign monitoring can be disabled at the P879 parameter, bit 8 .

5-6 A5E00272072-01
Expert Functions
5.5 2. Enable the encoder

In the 317T-2 DP CPU system, you can use the second encoder input of the
SIMODRIVE 611U double–axis module for recording actual values. Axis B of
SIMODRIVE 611U is not available for motor control.
317T-2DP CPU
The second encoder requires a PROFIBUS datagram (cf. decision chart
“Datagram type”, chapter 4.2).
SIMODRIVE 611U
When you create axis A: Create the second encoder by defining Which direct
measuring system are you using? > Enter data. Enter the relevant encoder
data in the next step. It may be necessary to adapt the following parameters to
match the configuration of SIMODRIVE 611U:
Parameter P879 bit 12 = 1 –> Enable direct measurement (axis A)
Parameter P922 –> PROFIBUS datagram type (axis A)
Parameter P700 = 0 –> Deselect axis B (axis B)
Parameter P875 = 0 –> Expected optional module type (axis B)

A5E00272072-01 5-7
Expert Functions

5-8 A5E00272072-01

Connect. 611U To The CPU

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Definitions and Warnings

Copyright Siemens AG 2003 All Rights Reserved Disclaimer of liability

Siemens Aktiengesellschaft A5E00272072-01

1 Definitions and Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

Product Information SIMODRIVE 611U, Edition 11/2003

Product Information SIMODRIVE 611U, Edition 11/2003

Definitions and Warnings 1

POSMO C and POSMO S:

Product Information SIMODRIVE 611U, Edition 11/2003

Product Information SIMODRIVE 611U, Edition 11/2003

Product Information SIMODRIVE 611U, Edition 11/2003

Product Information SIMODRIVE 611U, Edition 11/2003

Procedure for Software Upgrades:

Product Information SIMODRIVE 611U, Edition 11/2003

2. Open the window for the firmware download.

Product Information SIMODRIVE 611U, Edition 11/2003

3. Confirm the following informational message:

Product Information SIMODRIVE 611U, Edition 11/2003

5. Wait until the firmware is completely downloaded.

Product Information SIMODRIVE 611U, Edition 11/2003

Product Information SIMODRIVE 611U, Edition 11/2003

4.1 Commissioning procedures

4.2 Table of Settings

Product Information SIMODRIVE 611U, Edition 11/2003

Decision chart for datagram type

Product Information SIMODRIVE 611U, Edition 11/2003

4.3 Creating a STEP 7 project

Figure 4-1 Creating a project

Figure 4-2 Inserting a SIMATIC 300 station

Product Information SIMODRIVE 611U, Edition 11/2003

Figure 4-3 Opening the hardware configuration

Figure 4-4 Information on the download of system data

Product Information SIMODRIVE 611U, Edition 11/2003

The properties – PROFIBUS interface DP(DRIVE) (R0/S3.1) dialog box opens.

Figure 4-5 Properties PROFIBUS interface DP(DRIVE)

On the properties – PROFIBUS interface DP(DRIVE) (S0/S3.1) , click New to

Product Information SIMODRIVE 611U, Edition 11/2003

S Set the highest PROFIBUS address “2”.

Figure 4-6 Properties of the PROFIBUS subnet

Product Information SIMODRIVE 611U, Edition 11/2003

Figure 4-7 Active constant bus cycle time

Product Information SIMODRIVE 611U, Edition 11/2003

Confirm your settings with OK to add the configured objects to your

Figure 4-8 SIMATIC 300 station

S Connect a SIMODRIVE 611 universal to the PROFIBUS 611 (with address 3,

Connecting a SIMODRIVE 611U to the PROFIBUS

Product Information SIMODRIVE 611U, Edition 11/2003

Figure 4-10 Setting the standard datagram 105 at the slave

Product Information SIMODRIVE 611U, Edition 11/2003

Figure 4-11 Enabling clock-synchronization

S Select Synchronize drive to equidistant DP cycle.

Product Information SIMODRIVE 611U, Edition 11/2003

Figure 4-12 Enabling the ”Generate technology system data” function

Product Information SIMODRIVE 611U, Edition 11/2003

Product Information SIMODRIVE 611U, Edition 11/2003

Figure 4-13 Technological Objects in SIMATIC Manager

S Press the Edit technology button to open S7T Config.

Figure 4-14 Opening S7T Config

Product Information SIMODRIVE 611U, Edition 11/2003

S In S7T Config, open the Axes folder:

Figure 4-15 Inserting an axis

S Double-click Insert axis to open the next dialog box: