Automation and Drives

EZ Positioning with
SINAMICS S120
Testing Application
 Automation and Drives

Verify Control Word One

Use VAR table in S7 Manager with Starter Diagnostics
Production Machines
Open the VAR Table Online*
• Open Starter Online
Introduction
• Right Click on False of Bit 0.0 and force to 1.
Step 7 Hardware
Configuration
Starter Online
Configuration *VAR Table included is addressed to DB120 if your test is for different
Starter Offline DB you will need to edit VAR table
Configuration
Step 7
Programming

Testing Application

S7 Control in Sinamics Drives

For internal use only
 Automation and Drives

Verify Control Word One

Open Control Logic in Starter and Observe Bit 0
Production Machines • Toggle Bit O ON / OFF with VAR Table
• Off2, OFF3, and Enable are set Initially to 1 in the DB
Introduction • Initial Value can be changed by user
Step 7 Hardware • OFF2 is Coast to Stop
Configuration
• OFF3 is Quick Ramp Down Stop
Starter Online • Enable is Pulse Enable to Drive
Configuration
Starter Offline
Configuration
Step 7
Programming

Testing Application

S7 Control in Sinamics Drives

For internal use only
 Automation and Drives

Notes on Control Word One

Sequence order for Bits during Operation
Production Machines
• Bit 10 is High for PLC Control
• Off2, OFF3, and Enable are set to 1
Introduction • OFF1 (Bit 0) Transitions to 1 and remains high
Step 7 Hardware • Control Word 1 is needed for Operation
Configuration
Starter Online
Configuration
Starter Offline
Configuration
Step 7
Programming

Testing Application

S7 Control in Sinamics Drives

For internal use only
 Automation and Drives

Jogging Axis
Use the VAR Table to Jog the axis
Production Machines
• Control Word 1 Bit 0 must be ON for Operation
• Set Bit 4.0 (Jog1) to True
Introduction
• Override must be Changed to set Value (E.g. 4000 Hex)
Step 7 Hardware
Configuration • Initial DB value for Accel and Decel is 4000 Hex
Starter Online • Use Bit 62.1 for Jog 2
Configuration
Starter Offline
Configuration
Step 7
Programming

Testing Application

S7 Control in Sinamics Drives

For internal use only
 Automation and Drives

Verify Jogging of Axis

Production Machines
Open Jog Folder to View Jogging
• All Motion Functions will be under Basis Positioner Folder
Introduction
Step 7 Hardware
Configuration
Starter Online
Configuration
Starter Offline
Configuration
Step 7
Programming

Testing Application

S7 Control in Sinamics Drives

For internal use only
 Automation and Drives

Verify Jogging of Axis

Production Machines
Check Both Analog and Digital Setpoints
• Check Digital Setpoints and Checkback with Radio Buttons
• Check Analog Setpoints to see Override Velocity value
Introduction • Open Diagnostics Folder for more information
Step 7 Hardware • Incremental Jogging can be set with a bit in the Instance DB
Configuration
Starter Online
Configuration
Starter Offline
Configuration
Step 7
Programming

Testing Application

S7 Control in Sinamics Drives

For internal use only
 Automation and Drives

Jogging Setpoints
Click on Configure Jog Setpoints
Production Machines
• Adjust setpoints if needed
Introduction
Step 7 Hardware
Configuration
Starter Online
Configuration
Starter Offline
Configuration
Step 7
Programming

Testing Application

S7 Control in Sinamics Drives

For internal use only
 Automation and Drives

Homing Axis for Absolute Value Encoders*

*Homing for Incremental Encoders on next Slide
Production Machines • Jog the Axis to the Desired Home Position
• Turn off JOG and ON bits in the VAR chart
Introduction • Open the Homing Folder (Basis Positioner / Homing)
Step 7 Hardware • Click on the Homing Graphic for Active and Passive 1
Configuration
• Choose Active Homing 2
Starter Online • Perform Absolute Value Calibration
Configuration 1
Starter Offline 2
Configuration
Step 7
Programming 3
Testing Application

S7 Control in Sinamics Drives

For internal use only
 Automation and Drives

Incremental Encoder Homing – Note: Exercise uses absolute encoder

Select a Digital Input for Proximity Signal

Production Machines
• Select a Digital Input for External Zero Mark
Introduction
Step 7 Hardware
Configuration
Starter Online
Configuration
Starter Offline
Configuration
Step 7
Programming

Testing Application

S7 Control in Sinamics Drives

For internal use only
 Automation and Drives

Incremental Encoder Homing

Test digital Input from Switch Box
Production Machines
• Verify the Operation of the Digital Input for Zero Mark
Introduction
Step 7 Hardware
Configuration
Starter Online
Configuration
Starter Offline
Configuration
Step 7
Programming

Testing Application

S7 Control in Sinamics Drives

For internal use only
 Automation and Drives

Homing Axis for Incremental Encoders

• Start Drive with DB Bit 0.0
Production Machines • Start Referencing with DB bit 4.1
• Positive Direction for Homing is DB Bit 65.3 = 0
Introduction • Force Drive External Zero Marker in Previous Screen
Step 7 Hardware • Drive Should stop and have Homing Position Set
Configuration
Starter Online
Configuration
Starter Offline
Configuration
Step 7
Programming

Testing Application

S7 Control in Sinamics Drives

For internal use only
 Automation and Drives

Setup Mode – Direct Setpoint Spec. / MDI

Use VAR Table to Run drive is Setup Mode
Production Machines

Sequence for Setup Mode

Introduction
1. Set Control Word 1 in Operation (OFF1)
Step 7 Hardware 2. Bit 10.1 MDI_Setup Bit = 1
Configuration
3. Choose a Direction Fwd or Backward (10.3 or 10.4)
Starter Online 4. Bit 10.7 Intermediate_Stop = 1
Configuration 5. Bit 10.0 MDI_Start = 1
Starter Offline 6. Bit 10.5 Edge_Trigger = 1 (Positive transition)
Configuration
Step 7
Programming

Testing Application

S7 Control in Sinamics Drives

For internal use only
 Automation and Drives

Setup Mode – Direct Setpoint Spec. / MDI

Use Direct Setpoint Specification / MDI Folder in Starter
Production Machines • Check the Analog and Digital Signals during Setup / MDI

Introduction
Step 7 Hardware
Configuration
Starter Online
Configuration
Starter Offline
Configuration
Step 7
Programming

Testing Application
Configure MDI Positioning Velocity
 Open Configure MDI Fixed Setpoints

S7 Control in Sinamics Drives

For internal use only
 Automation and Drives

MDI Positioning - Relative

Use VAR Table to Run drive is Relative Positioning
Production Machines
Sequence for Relative Positioning
1. Set Control Word 1 in Operation (OFF1)
Introduction
2. Bit 10.1 MDI_Setup Bit = 0
Step 7 Hardware 3. Bit 10.2 Position_Type = 0 (Relative)
Configuration 4. Bit 10.7 Intermediate_Stop = 1
Starter Online 5. Bit 10.0 MDI_Start = 1
Configuration 6. MDI Velocity Override = Desired Override
7. MDI Position DB Double Word 6 = Desired Position Move (Relative)
Starter Offline 8. Bit 10.5 Edge_Trigger = 1 (Positive transition)
Configuration
Step 7
Programming

Testing Application

S7 Control in Sinamics Drives

For internal use only
 Automation and Drives

MDI Positioning Relative

Use Direct Setpoint Specification / MDI Folder in Starter
Production Machines • Check the Analog and Digital Signals during Setup / MDI

Introduction
Step 7 Hardware
Configuration
Starter Online
Configuration
Starter Offline
Configuration
Step 7
Programming

Testing Application

Note Positive Edge Required for Relative Positioning

S7 Control in Sinamics Drives

For internal use only
 Automation and Drives

MDI Positioning – Absolute

Use VAR Table to Run drive is Absolute Positioning
Production Machines Sequence for Absolute Positioning
1. Set Control Word 1 in Operation (OFF1)
Introduction 2. Bit 10.1 MDI_Setup Bit = 0
3. Bit 10.2 Position_Type = 1 (Absolute)
Step 7 Hardware 4. Bit 10.7 Intermediate_Stop = 1
Configuration 5. Bit 10.0 MDI_Start = 1
Starter Online 6. MDI Velocity Override DB Word 2 = Desired Override
Configuration 7. MDI Position DB Double Word 6 = Desired Position
8. Bit 10.5 Edge_Trigger or 10.6 Constant_Trigger can be Used
Starter Offline 9. Note: Axis will move if new position given and Constant Trigger used
Configuration
Step 7
Programming

Testing Application

S7 Control in Sinamics Drives

For internal use only
 Automation and Drives

MDI Positioning Absolute

Use Direct Setpoint Specification / MDI Folder in Starter
Production Machines • Check the Analog and Digital Signals during Setup / MDI

Introduction
Step 7 Hardware
Configuration
Starter Online
Configuration
Starter Offline
Configuration
Step 7
Programming

Testing Application

Note Edge Type Trigger or Continuous can be used for

Absolute Positioning

S7 Control in Sinamics Drives

For internal use only
 Automation and Drives

Traversing Block
Set Up Traversing Block in Starter
Production Machines • Open Traversing Blocks Editor under Traversing Blocks Folder
• See Next page for Block Editor
Introduction
Step 7 Hardware
Configuration
Starter Online
Configuration
Starter Offline
Configuration
Step 7
Programming

Testing Application

S7 Control in Sinamics Drives

For internal use only
 Automation and Drives

Traversing Block
Set Up Traversing Block in Starter
Production Machines • Edit a few Blocks for Testing –See Example Below
• Blocks can be continuous or Single Block Execution
Introduction
• Note the Advance Field for type of Execution
Step 7 Hardware
• In Job Field - Value of Wait or Go To (Block #) Possible
Configuration
Starter Online
Configuration
Starter Offline
Configuration
Step 7
Programming

Testing Application

S7 Control in Sinamics Drives

For internal use only
 Automation and Drives

Traversing Blocks
Use VAR Table to Run Traversing Blocks
Production Machines
Sequence for Traversing
Introduction 1. Set Control Word 1 in Operation (OFF1)
Step 7 Hardware 2. Bit 10.0 MDI_Start = 0
Configuration 3. Bit 10.7 Intermediate Stop = 1
Starter Online 4. Bit 64.7 Traverse Start
Configuration
5. DB Word 66 Traversing Bit to Start (E.g. = Block 1)
Starter Offline
Configuration
Step 7
Programming

Testing Application

S7 Control in Sinamics Drives

For internal use only
 Automation and Drives

FB 120 Diagnostics
Diagnostics Mentioned in the VAR Table
Production Machines • These Bits and Words can be used in PLC Logic

Introduction
Step 7 Hardware
Configuration
Starter Online
Configuration
Starter Offline
Configuration
Step 7
Programming

Testing Application

S7 Control in Sinamics Drives

For internal use only
 Automation and Drives

FB 120 Block View

Production Machines

Introduction
Step 7 Hardware
Configuration
Starter Online
Configuration
Starter Offline
Configuration
Step 7
Programming

Testing Application

S7 Control in Sinamics Drives

For internal use only