21004767_WinAC_TK_DOKU_v10_e
Contents
1. DB_Application TTstay1 DB_Application pos1 DB_Application TTstay2 DB_Application pos2 With this parameters the dimensions of the two bottle sizes can be adapted TTstay1 defines the filling time for small bottles The parameter pos1 defines the relative distance distance between the bottles that has to be driven for the small bottles Analogue to that the two parameters with the number 2 are valid for the big bottles The use of a sensorless vector controller may lead to a slight fluctuation in the position of the motor during the SHpos step For this case please carry out a controller optimization see next section 28 07 2004 48 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SIEMENS Bibliography Positioning with WinAC RTX 6 Bibliography This list is by no means exhaustive and only gives a selection of appropriate sources You can find most manuals when you have installed the corresponding product under Start gt Simatic gt Documentation gt Language You can find the product support in the internet under http support automation siemens com There enter the entry ID into the search field Table 6 1 No Topic Title 1 Description of the functions und the operation SIMATIC WinAC RTX V4 0 of WinAC RTX V4 0 Can be found on the WinAC RTX V4 0 CD 2 Description or information on Commis2. Positioning with WinAC RTX 9 The wiring test is carried out with the following dialogue field Easy Motion Control Wizard Wiring Test E x M Move Axis 2 4 WARNING The axis will move at the preset velocity when you click on the Move button The axis will continue to move as long as you activate the Move button Check to see if the axis moves in the desired direction Velocity PAN Setpoint output 0 00 Hz Actual output 0 Hz t Ramp up time 2000 ms e At first set the slide bar to 10 e Then click on Drive and keep the mouse pushed 10 The motor now should slowly start running in the direction displayed in the figure Now set the slide bar to 10 and run the motor in the same way as described above Check the rotation direction of the motor again 11 Subsequently click on next gt and confirm the query in case of correct rotation direction with Yes 12 Now close the Easy Motion Control dialogue fields again 13 Now load the module OB35 back into the controller again Click on the OB35 and subsequently on the button n load 14 By means of this quick check you can check the basic wiring of the components and the function principle of EMC The described commissioning leads to a movement of your Axis An incorrect wiring or parameterization leads to an incorrect Warning Speed or rotation direction Thus please mind that y
3. 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SI EM ENS Preamble Positioning with WinAC RTX Preamble Foreword The SIMATIC Windows Automation Center WinAC offers an open extensive and robust basis to realize your PC based automation solution Because of full compatibility to SIMATIC S7 in combination with interfaces to the open PC world you can combine your classic automation tasks with the possibilities of the PC world The use of SIMATIC industry PCs offers a powerful and robust platform for your automation solution with WinAC Eight examples have been developed for the quick entry into the PC based automation with SIMATIC WinAC They consist of example code and an extensive documentation Using these examples you as a user can familiarize with the particular themes considering the particular tasks Arrangement of the examples The automation tasks which are described in the examples are oriented to the typical fields of use of the automation technology e Control e Communication e Visualization e Technology V 1 0 28 07 2004 2 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SI EM ENS Preamble Positioning with WinAC RTX The individual examples To use the PC based automation in the most efficient way we developed one example from the classic SPS world and one example from the open
4. Siemens AG 2004 All rights reserved SI EM ENS Function Mechanisms and Program Structures Positioning with WinAC RTX Code excerpt of the OB35 with the call for the drive FBs MC_MoveJog The following code excerpt represents the call for the drive FB s MC_MoveJog in the OB35 as well as its parameter transfer Netzwerk 4 Handbetrieb manual funktion CALL MC_MoveJog DB_MC_MoveJog Aufruf des Tipp Funktionsbausteins MC_MoveJog Call of the Jog FB JogPos JogNeg Velocity Axis Ax MaxVelocity Setzen der Geschwindigkeit auf die maximal zu l ssige Achsgeschwindigkeit Set the velocity to the most permitted axis velocity Acceleration Axis Ax MaxAcceleration Setzen der Beschleunigung auf die maximal zul ssige Achsbeschleunigung Set the acceleration to the most permitted axis acceleration Deceleration Axis Ax MaxDeceleration Setzen der Verz gerung auf die maxi mal zul ssige Achsverz gerung Set the deceleration to the most permitted axis deceleration Busy Done CommandAborted Error Axis Axis Ax Zuweisung der Achse Assignment of the axis Init Axis Ax Init 12 Zuweisung des Initialisierungsbits Assignment of the initialization flag NOP 0 Description of the positioning request The code excerpt is an example for the call of the positioning module for the jog mode manual axis movement As mentioned above the maximum permiss
5. reset Reset the bit subsequently V 1 0 28 07 2004 47 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved Operator control and monitoring SIEMENS Positioning with WinAC RTX Meaning of the parameters in the variable table The following parameters are displayed Table 5 4 Parameter Description Initialization With this marker bit the initialization of the Easy Motion Control modules is started Bottlesize The bottle size used in the system is set with the parameter bit Bottle size 0 small bottle 1 big bottle StartFilling With the marker StartFilling the filling is started JogPos With his data module bit the motor can manually be moved to a position in positive direction JogNeg With his data module bit the motor can manually be moved to a position in negative direction Halt The Halt marker is used for the controlled drive into stop mode This function could be used to stop the system in case of bottle change without new initialization Reset With reset the system can be reset or quickly stopped You always have to carry out an initialization after a reset Sinit SAxisFree SErrorAk SHpos SHome SiInitFill SFilling SPlacing SAxisRuns With these bits you can check the different steps of the sequence chart You can find a detailed explanation in chapter 0 under Sequence Chart of the User Module FB111
6. 3 Configuration of the hardware Configuration of the controller The WinAC is being configured with a PROFIBUS processor which enables the communication to the MICROMASTER and the ET200S station Configuration of the inverter The MICROMASTER is configured as DP Slave in the STEP 7 and parameterized with the address which is set at the MICROMASTER The address is set on the switch on module of the PROFIBUS by means of DIL switches Configuration of the ET200S Station The ET200S Station is configured as slave and the address which is configured in the HW Config is set at the interface module 3 4 Core elements of this solution Important Easy Motion Control modules In the following figure you can see the basic modules and the principal data flow of Easy Motion Control Abbildung 3 2 FC MC_Init FB MC_MoveJog i Encoder FB MC_Move Relative FB MC_Home Motor V 1 0 28 07 2004 17 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SI EM ENS Function Mechanisms and Program Structures Positioning with WinAC RTX The most essential module is the red highlighted axis DB It contains the axis information of one axis each The blue highlighted drive FBs access this data module Also the peripheral modules and the control modules all displayed in yellow use the axis DB for their tasks The peripheral modules are preassembled modules for the easy c
7. PC world for each of the four typical fields of use controlling communication visualization technology The following figure shows all eight examples with their assignment to the particular fields of use The example on the topic of positioning with WinAC RTX is highlighted with a red frame Fig 1 1 V 1 0 28 07 2004 3 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SI EM ENS Preamble Positioning with WinAC RTX Basis of the examples As a joint topic all examples are based on a fictitious mixing process This mixing process is used to apply the different tasks and automation components of the product range of PC based automation System view The following figure shows the system view of the mixing process The red frame shows you which components are described in the current example Fig 1 2 De Eml V 1 0 28 07 2004 4 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SI EM ENS Warranty Liability and Support Positioning with WinAC RTX Warranty Liability and Support We do not accept any liability for the information contained in this docu ment Any claims against us based on whatever legal reason resulting from the use of the examples information programs engineering and performance data etc described in this document shall be excluded Such an exclusion s
8. is realized by means of a software controller which enables a precise positioning depending on the hardware used The control of the position is only done by the software There is no special hardware necessary for the connection of I Os The MICROMASTER 440 could also be replaced by conventional power units but offers the advantage of an additional speed and torque control and different protective functions V 1 0 28 07 2004 15 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SI E M E N S Function Mechanisms and Program Structures Positioning with WinAC RTX Functions of Easy Motion Control Basically Easy Motion Control offers the following functions e Jogging e Reference point approach e Positioning absolute relative e Electronic drive e Reference point setting e All standard monitoring functions for positioning e Speed overdrive e Position control e Simulation e Preassembled input and output drivers for encoder or analogue output modules Components of Easy Motion Control The following components are delivered together with Easy Motion Control Fig 3 1 Configuration software Configuration box E Module Getting i al library Started V 1 0 28 07 2004 16 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SI EM ENS Function Mechanisms and Program Structures Positioning with WinAC RTX 3
9. of Advanced PC Configuration it is highly recommended to read the manual 2 SIMATIC NET Commissioning of PC stations instructions and quick start Starter installation For the parameterization of the inverter the software Starter or alternatively the tool Drive ES is needed Please install one of the two packages on your PC PG The installation is processed in the standard Windows setup order Installation of the Easy Motion Control software Note For the parameterization of the axis and for the programming you need the Easy Motion Control software The installation of the software is processed in the standard Windows setup order Because the Easy Motion Control modules have to be licensed they will not be delivered together with the project The project can only be processed if Easy Motion Control has been installed V 1 0 28 07 2004 29 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SI E M E N S Hardware and Software Installation Positioning with WinAC RTX 4 2 Hardware configuration The basic hardware configuration can be seen in chapter 2 1 4 2 1 Industry PC WinAC Station 1 Please see the application Basics for the Solution of Automation Tasks Based on WinAC RTX entry ID 21004765 for information on the hardware setup and on the commissioning of the industry PC 4 2 2 ET200S Station Station 2
10. the control panel the motor identification and the saturation determining can also be started with switched on CPU and loaded example program Therefore set back the sequence chart and then set the initialization bit M0 0 to one You can find detailed information on the operation of the example program in chapter 7 18 After the automatic metering of the inverter you can now do a test run of the motor Proceed as follows Attention When testing the motor you have to meet different safety requirements Please make sure to follow the displayed safety notes e Get the control sovereignty as described above Switch on the motor in the control panel again as described above mle 0 MICROMAST 0 y Setpe S 0 100 200 Ra E Fee a IV Enables bit 1 to bit 6 Stop w space bar always works 1 01 D Drive running Set Actual CO Act frequency setpoint a ON OFF1 Output frequency 0 00 0 00 He ON OFF 2 Torque 0 00 0 00 Nm ON OFF 3 Inverter load 0 0 Motor current 0 034 CO Act frequency hd Bae crue Drive data set 1 Command data set 1 0 00 Hz Ramp fet generator enable Start stop ramp function gen Setpoint enable Commands USS on BOP link Setpoint USS on BOP link Control panel E Target system output Diagnostics overview Press F1 to open Help display Onlinemode 18 e You can now define a setpoint value for the motor frequency at setpoint value At
11. 04767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved Function Mechanisms and Program Structures SIEMENS Positioning with WinAC RTX Easy Motion Control Drive FBs FB1 FB5 The special functionalities of the positioning are realized with the drive FBs They also access the axis DB Each drive FB has a fixed drive function e g MC_MoveRelative for the relative positioning displayed as blue module above The subsequent module shows the structure of the module MC_MoveRlative in place of all drive FBs The structure of the other modules is similar Fig 3 4 MC_MoveRelative EN Execute Distance Velocity Acceleration Deceleration Axis Init ENO Busy Done CommandAborted Error Parameters of the Drive FBs FB1 FB5 Table 3 2 Input output Function Velocity Definition of velocity acceleration and deceleration In our Acceleration example these values have been parameterized with the Deceleration maximum values of the axis from the axis DB Distance Specification of the relative distance to drive to the current point Execute Start of the drive job Busy The output Busy is set when the drive job is being executed Done Display that the job has been executed Is only set shortly CommandAborted Error report see manual Easy Motion Control Error Axis See above MC_Control Init See above MC_Control 28 07 200
12. 28 07 2004 41 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SI E M E N S Hardware and Software Installation Positioning with WinAC RTX Loading of the S7 program in the WinAC RTX Station 1 The loading into the WinAC on station 1 is realized from the PG PC via PROFIBUS Follow the steps below Table 4 9 No Action 1 If not happened yet switch on the PC of station 1 and start WinAC RTX Note Mind that the component configurator is configured correctly 2 Doa memory reset in the WinAC RTX controller via the button J MRES II 3 Connect your PG with the PROFIBUS CP CP5613 A2 of station 1 via a MPI or PROFIBUS cable 4 For the easy switching of the PG PC interface to PROFIBUS proceed as follows e Double click on the PG PC 1 object in the STEP 7 project e If not happened yet assign the PROFIBUS interface via the button Assign in the area Not assigned e Select the PROFIBUS interface in the lower area Assigned in the slider Assignment e Set the check mark at S7ONLINE Access e Confirm the entries by clicking OK Now the PG PC interface is set to PROFIBUS Note When configuring the CP5613 A2 for the first time as IF module in Station 1 it may happen that the baud rate is set to 187 5 Kbps Adjust the parameters of the PROFIBUS network accordingly to load the parameterization You can see the curren
13. 4 19 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SIEMENS Function Mechanisms and Program Structures Positioning with WinAC RTX Input and output drivers FB 26 and FB 37 The data can easily be processed in Easy Motion Control through the preassembled input and output drivers These drivers are again at hand as function modules and can be integrated into a STEP 7 project if needed The driver modules displayed below represent the input and output drivers of our example The two modules are used e Input driver encoder ET200S1 Count for counter module in a ET200S and e Output driver OutputMM4_DP PROFIBUS switch on module for MICROMASTER 440 Fig 3 5 EncoderET200S1Count OutputMM4_DP EN EncErr DOut_1 DOut_2 Axis Init EN EnableDrive OutErr Axis Init Parameters of the input and output drivers FB 26 and FB 37 Table 3 3 Axis See above MC_Control Init See above MC_Control EnableDrive Release of the output periphery This input is linked with the output DriveEnabled of the controller module MC_Control DOut_1 DOut_2 DIn Digital inputs and outputs remain free in the example and are addressed internally by the Easy Motion Control EncErr OutErr Error treatment inputs and outputs are not needed For detailed explanations see manual of Easy Motion Control V 1 0 28 07 2004 20 49 SI E
14. A precondition for the operator control and monitoring is the installation of the hardware and software which was described in chapter 0 Testing of the wiring Easy Motion Control functionality To test the basic functionality of Easy Motion Control it is recommended to use the commissioning function wiring test of the EMC software For the wiring test proceed as follows Table 5 1 No Action 1 Connect your PG to the CP5613 A2 of the Station 1 via a PROFIBUS cable 2 _ If not happened yet open the STEP 7 project WinLC_Motion 3 Adjust the PG PC 1 object in the STEP 7 project in a way that the PROFIBUS interface is active Click button online a in the SIMATIC Manager Subsequently the WinAC RTX will be displayed in the online mode 5 Now delete the organization module OB35 from the module folder in the online project e Click on the module and hit the delete key or right click delete e Confirm with Yes Now close the online window again 7 Open the data module DB1 Axis with a double click on the module in the module folder of the SIMATIC manager 8 Click on the slider Commissioning and select Wiring test Follow the Wizard and mind the safety notes V 1 0 28 07 2004 43 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SI E M E N S Operator control and monitoring
15. Hardware setup of the ET200S Station Station 2 Table 4 2 No Action 1 The power supply is mounted onto the top hat rail by means of the top hat rail adapter 2 The interface module is mounted next to the power supply on the top hat rail 3 Then the two terminal modules and on top of each the power and the counter module are installed The power module is snapped on left of the counter module See the manual ET 200S Entry ID 1144348 and ET200S Technological Manual Entry ID 9264111 for detailed installation instructions 4 Supply the interface module with the operating voltage 5 Connect the power module to the power supply as follows e Pin 2 with 24V DC L e Pin 3 with O V DC M 6 Set the address 7 at the interface module with the help of the DIL switch set bit 1 2 and 3 7 Connect the ET200S Station 2 to the industry PC Station 1 by means of the PROFIBUS cable Pay attention to the terminating resistor 8 Connect the encoder to the counter module with enough cable as it is described in the following table Wiring of the ET200S Station Station 2 Table 4 3 Signal 24 V encoder Wire color 1Count plug name Uar E yellow Channel A Pin 5TM Uae H pink Channel B Pin 1TM OV M K grey OV Pin 7 TM U 24V DC M black white 24V Pin 6 TM V 1 0 28 07 2004 30 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserve
16. IN OG FAP AY sisi sais cz vcs si ecivcaeveevesieds dives foeadsnlsbeed visdeed en iveceddversesivenstisisesesditecd ieeses 49 V 1 0 28 07 2004 6 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SI E M E N S Task Specification Positioning with WinAC RTX 1 Task Specification Task specification overview In the WinAC the position control is realized by means of the Easy Motion Control modules The positioning signals which are necessary for the inverter are sent via the PROFIBUS At the motor there is an incremental shaft encoder by means of which a detection of the current motor speed and axis position is carried out The encoder detection is located on the distributed I O module ET200S which communicates with the WinAC via the PROFIBUS and so delivers the actual value of the position for the control Principle view of the automation solution The following figure shows the interaction of the automation components which are described in this example in principle Fig 1 1 WinAC Station industry PC inverter Easy Motion Control PROFI BUS Signal line mm Connection line motor V 1 0 28 07 2004 7 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SI EM ENS Task Specification Positioning with WinAC RTX Solution requirements The solution must fulfill the following requirements A STEP7 program
17. M ENS Function Mechanisms and Program Structures Positioning with WinAC RTX Application module FB 111 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved The application module FB 111 contains a sequence chart which initializes the axis positions it and sets it back into idle state For the realization of the positioning algorithms the FB 111 directly accesses the data modules of the corresponding drive FBs Fig 3 6 Application EN TTstay Bottlesize Parameters of the application module FB 111 Table 3 4 input roupa Fonon OOOO OOO O TTstay Specification of the desired stand time for the bottling of the drink BottleSize With the variable BottleSize a quick selection of the bottle type is possible 0 small bottle 1 big bottle TTstay1 TTstay2 TTstay1 TTstay2 Pos1 and Pos2 each state the stand time Pos1 Pos2 and the distance for the small and big bottles 1 small 2 big The parameter TTStay states the currently chosen stand time for the bottling of the drink With the variable BottleSize a quick selection of the bottle type is possible 0 small bottle 1 big bottle Pos defines the currently relative distance to drive TTstay1 TTstay2 Pos1 and Pos2 each state the stand time and the distance for the small and big bottles 1 small 2 big 28 07 2004 21 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyr
18. MLFB Order number Note SIMATIC WinAC RTX V4 1 6ES7 671 ORC04 0YA0 SIMATIC NET CD is contained in the WinAC package _ Easy Motion Control V2 0 6ES7 864 0AC01 0YX0 Software components on the PG PC Table 2 7 Component Qty MLFB Order number Note STEP 7 V5 3 1 6ES7 810 4CC07 0YA5 STARTER V3 0 1 Can be downloaded under Entry ID 13336809 Pro Tool Pro V6 0 SP2 6AV6 582 2BX06 0CX0 Optional Drive ES 1 6SW1 700 0JA00 0AA0 Optional Alternatively to the given configuration Pro Tool Pro can be used for operator control and monitoring instead of a variable table With Drive ES an easy integration of the motor parameterization into STEP 7 can be realized Example project The example application consists of the following components Further information on commissioning hardware and software is available in chapter 4 Hardware and Software Installation Table 2 8 Component Note 21004767_WinAC_TK_CODE_v10 zip This packed file contains the full code and the configuration for this application 21004767_WinAC_TK_DOKU_v10_d pdf This document V 1 0 28 07 2004 12 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SIEMENS Principle of the Automation Solution Positioning with WinAC RTX 2 3 Basic Performance Data The table below informs about basic data of the
19. ROMASTER 440 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved Table 2 3 MICROMASTER 440 PC inverter connection block 1 6SE6440 2UC12 5AA1 1 6SE6400 1PC00 0AA0 is not required if the PG has a PROFIBUS connection or the CPU is routing capable Precondition is a serial interface at the PC MICROMASTER 4 PROFIBUS MODUL 1 6SE6400 1PB00 0AAO Table 2 4 Hardware components for the motor Standard asynchronous motor 120W 1LA7060 4AB10 Z options A23 Option A23 enables a motor temperature evaluation You can find detailed information in the user manual of the MICROMASTER in chapter 3 21 Incremental encoder 1024 increments 24V Ss 1XP8001 1 Is screwed in Any other encoder with 24V voltage 1024 increments and 2 ways direction recognition which are permitted for the used motor can be used alternatively 28 07 2004 11 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SI E M E N S Principle of the Automation Solution Positioning with WinAC RTX Hardware components for the PG PC Table 2 5 Component Qty MLFB Order number Note Programming device 1 6ES7 750 2CA52 4FB4 configurator see Power PG FAQ ID 17128155 CP 5611 integrated Software components on the SIMATIC PC Station Station 1 Table 2 6 Component Qty
20. al position of the axis through the encoder Calculation of the deviation of the setpoint position from the actual position Transmitting the new setpoint speed to the inverter Repeat from step 5 and on until the setpoint position is achieved O OINI OD Oa BR w ry gt On from step 3 V 1 0 28 07 2004 22 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SI EM ENS Function Mechanisms and Program Structures Positioning with WinAC RTX 3 6 Program structures In the following chapter the setup and structure of the example is discussed on the function and datablock level of the automation system Block structure The subsequent figure shows the module structure of the S7 program on the two controllers Fig 3 8 OB 35 DB 13 DB 4 DB FB FB FB FB MC_MoveJog vo Mo MC_Stop Encoder Motor Module call Data communication Description of module structure For a quick illustration of principal functionalities a simple structure is used in this example The rough module structure can be characterized as follows e Inthe timed alarm OB 35 the Easy Motion Control modules and the application module FB 111 are called cyclically e The SB 111 contains the sequence chart for the realization of the bottling application e Inthe FB 111 the data module of the drive FBs as well as of the axis DBs is accessed depending on the c
21. ardware and Software Installation Positioning with WinAC RTX Project Wizard Starter E xi if Z zl 4 Introduction Create PG PC Set Insert drives Summary new project interface Arrange drive uni offline Find drive units online Open existing project offline IV Display Wizard during start Cancel If the wizard is not displayed automatically you can call it up in the menu Project gt New with Wizard Select Find drive units online Enter the desired project name If you want you can also change the clipboard account and fill out the other fields Complete the step with Next Click on Change and Test to select the interface xi Access Path Access Point of the Application S7ONLINE STEP gt PCCOM Port USS bd Standard for STEP 7 Interface Parameter Assignment Used Pe COM Port USS Properties EA lt None gt Diagnostics E3150 Ind Ethemet gt Intel R PRO 1 E2150 Ind Ethemet gt NE2000 Comp Copy sm Parameterizing your PC COM port for a USS protocol If you use the PC inverter connection kit select the PC COM PORT USS and set the communication parameters suitable for you with Properties Under baud rate test you can define which baud rate is set at the MICROMASTER Set the same baud rate for the interface as was determined for the inverter Please set to the PROFIBUS
22. argetsystem View Options Window Help 5 x leo fee 1 I al PPRA Analog inputs Analog outputs Digital inputs Digital outputs USS PROFIBUS Sigi 4 E E EMC_PARA mep mep Insert new drive unit Which interface do you want to parameterize PIV length ffl Drive_unit_addro No l selection of the interface between PC and drive here lengi Ef f MICROMASTER 440 PZD length gt Configuration Transmitted process data USS via RS232 BOP link gt 72a SS gt Limits es x 152 C07 gt Diagnostics USS address Serial interface BOP link 0 fizt co gt Control panel USS baudrate Serial interface BOP link 57600 bau po E Extended USS telegram off time Serial interface BOP a 93 Caution WORD4 0 X 4 a Status cycle Off fa Immediately Close Help f Drive_unit_addr0 MICROMASTER_440 Project x Device Operating mode Drive_unit_addi0 Drive ready YES Drive ready to run NO Drive running NO Drive fault active NO OFF2 active NO OFF3 active N d Alarms E Target system output amp Diagnostics overview Press F1 to open Help display Online mode 2 Note If you want to use an AOP subsequently the baud rate has to be set to 9600 again V 1 0 28 07 2004 34 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SIEMENS Hardware and Software I
23. ccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeenaaaees 17 3 4 Core elements of this solution cccccceeeesceceeeeceneeeenenssteneeeeeeesenersnneneenens 17 3 5 Logical core structures AN CxAMple cccccceeeeeeeeseeeeeeeeeeeeeeeesssseeeeeeeeeees 22 3 6 Programi SUUCIANGS ase aier ete Genes Me aT A venetian tae tesbaoad Rais 23 3 7 Program SEQUENCE sce sents sscta tenes ind irokeke seers ireket k nina AAEE E TANKE ieee 24 4 Hardware and Software Installation ccecccceeeseeeeeeeeeeeeeeeeeeeeeeeeneeeeeeens 28 4 1 Preparatory installation ccvcisccescicas shadveteeciiesscd te aed venveeds deheedontey eas duce ecdoeecauee 28 4 2 Hardware COMmmgUratiOn 222 0205 5 2echctcngcaracttacantntneddaraiervaa Rs Gretphactatagisealiguleieg 30 4 2 1 Industry PC WinAC Station 1 22 8 Ppclocdeaccbe ce launevuebetie hel tadoautaengenstelatnyh falas 30 422 EF200S Station Station 2 rccnrnecnatt tastes nson r aa ia eii enaA 30 4 2 3 MICROMASTER 440 Station 3 and Motor ccceeeeeeeeeeeeeeeeeeeeeeeeeeenaaees 31 4 3 Installation of the WinAC RTX Software cc cece eeeee sents tees eeeeeeeeeeeeeeees 39 4 4 SSOP WNAC RIX sss cog ete dere cerned ed ans oo cs ao cual ealard edema nae a sae ai 39 4 5 Configuration of the automation Stations cc ceeeeeeeeeeeeeeeeeeeeeeeeeeeeennaaees 39 5 Operator Control ANd monitoring ce ceeeeeeeeeee cece eee eeeeneeeeneneeeeeeeeeeeeseeenees 43 6 BI D
24. d SIEMENS Hardware and Software Installation Positioning with WinAC RTX The wiring table must be harmonized with the hardware at site Before Attention Commissioning of the ET200S Station Station 2 After switching on the voltage the ON LED of the interface module should light up On the power module the ON LED should light up 4 2 3 MICROMASTER 440 Station 3 and Motor Wiring scheme overall Fig 4 1 Wiring table MICROMASTER and motor taking into operation please make sure that the wiring mentioned above is permissible for your hardware using the manual because wrong wiring could lead to errors or destruction of the hardware Table 4 4 Signal MM 440 Motor 230V AC P L 230V AC N N PE PE PE Inverter output U U1 Inverter output V V1 Inverter output W W1 V1 0 28 07 2004 31 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SIEMENS Positioning with WinAC RTX Set up MM 440 and motor Table 4 5 No Action 1 Connect the MICROMASTER 440 to the voltage supply like it is shown in the wiring table Now connect the MICROMASTER to the motor like described above Clamp the motor into triangle changeover in the clamping box see operating instructions MICROMASTER 440 Install the PROFIBUS switch on by snapping the option module onto the MICROMASTER Set the address of the module
25. dgment Current encoder value 6346 The axis is in motion Press F1 for help COR 4 For the meaning of the individual actual values please see the online help or the Easy Motion Control manual The slider Axis error shows the different runtime errors of the axis assignment errors 7 Errors in the parameterization can be determined in the slider Parameter Activating the variable table To be able to use the example application by means of the prepared variable table please proceed as follows V 1 0 28 07 2004 45 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SIEMENS Operator control and monitoring Positioning with WinAC RTX Table 5 3 No Action Connect your PG to the CP5613 A2 of the Station 1 via a PROFIBUS cable If not happened yet open the STEP 7 project WinLC_Motion 3 Adjust the PG PC 1 object in the STEP 7 project in a way that the PROFIBUS interface is active 4 Open the variable table EMC_GS_Englisch in the module folder of the PCWinAC station EH var EMC_GS_English EMC_RC_5 RA 15 4 O4 IL 70 WinLC RIX S Prograny E1 43 Table Edit Insert PLC Variable View Options Window Help x a pele a slale x lel r waal a G Address symbol Display format _ Status valu Modify value 1 Init M 00 Initializati
26. e DB1 in the module folder The Easy Motion Control software opens I Easy Motion Control 2 DB1 EMC_RC_5_RA_15_4_O4 IL 70 WinLt RIAD loj x G File PLC View Window Help 5 x Bicol S sal Axis status Axis error Parameter assignment error Axis Encoders Controller Motor Monitors m General Units of length J Simulation mode Input driver for module JET2005 1Count gt FB necessary EncoderE T 20051C1 Module input addresses sO Incremental encode Module output addresses Absolute encoder Channel number g m Output driver for module Micromaster DP z FB necessary OutputMM4_DF Module input addresses n m Module output addresses 512 Charme number D Press F1 for help offline Now click on the slider axis 3 Now you can set the following parameters e Maximum axis velocity e Maximum axis acceleration e Maximum axis deceleration Now click on the button save and subsequently on the button load control Sil Note According to the motor used it can come to errors in driving the axis Then you should adjust the system with the parameters mentioned above as well as with the parameters following error target area and standstill area If you use an incremental encoder you have to adjust the steps per encoder rotation accordingly under the slider encoder controller motor V 1 0
27. erization software STARTER or Drive ES 4 Installation of the CP5613 A2 5 Installation of the hardware for Station 2 ET200S and Station 3 MICROMASTER 440 WinAC RTX V4 1 or higher This installation is divided into the following steps e Installation and checking of the VenturCom RTX extensions e Installation and authorization of the software WinAC RTX 4 1 Preparatory installation STEP 7 Step 7 is installed on the PG PC which is provided for the configuration and programming of the automation station Alternatively STEP 7 can also be installed on the PC Station 1 on which WinAC ought to run At this point we will not go further into the installation of STEP7 The installation takes place in the familiar Windows environment and is self explanatory V 1 0 28 07 2004 28 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SI E M E N S Hardware and Software Installation Positioning with WinAC RTX SIMATIC NET PC Software The SIMATIC NET PC software is installed on the PC Station 1 on which subsequently also the WinAC ought to be installed The software package contains all needed aids for the installation and the operation of a PC station From the STEP 7 Version 5 2 upward the process Advanced PC Configuration is used for the commissioning of PC stations This enables the configuration of PC stations directly in STEP 7 Before the use
28. essing in the CPU the first three steps are only displayed very shortly They only serve for the purpose of diagnosis in the variable table You can now manually move the axis into the desired start position with the help of the two variables JogPos and JogNeg For the desired direction set the bit to 1 for driving and to 0 for stopping Note You can test the basic functions of the application as well as the wiring of the system with the help of these two functions For safety reasons only set the bits shortly at first because the motor runs up to the maximum set speed set Ctrl 1 reset Ctrl 0 10 Once the desired position is achieved the bottle size can be set by means of the variable BottleSize 0 small bottles 1 big bottles 11 When the bottle type is chosen the filling process can be started with the variable StartFilling Reset the bit subsequently 12 The two states steps SFilling and SPlacing now alternate continuously The length of each step depends on the chosen bottle size 13 To stop the system activate the halt bit which will put the system into stop mode The system is now in the step SHome again It now can be manually be moved again or restarted 14 By activating the reset bit the system can quickly be stopped But it has to be initialized again subsequently because the drive unit and all steps are
29. first enter a small value e g 10 Hz e You can now control the speeds that are to be carried out with the slide controller e After you have carried out the tests switch off the motor again by clicking the Button 0 red Now return the control sovereignty by clicking the button return V 1 0 28 07 2004 37 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SIEMENS Hardware and Software Installation Positioning with WinAC RTX 19 Save the project in the rom of the drive unit by selecting the drive unit ig gt Sent i bus gt Limits gt Diagnostics gt Control panel Extended kon tr ion ll and then click on the icon Copy ram to rom Acknowledge the safety query 20 Now load the configuration from the inverter into the PG For this purpose i click this button Sa load into PG 21 Now save the project with the button save2 V 1 0 28 07 2004 38 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SI E M E N S Hardware and Software Installation Positioning with WinAC RTX 4 3 4 4 4 5 Installation of the WinAC RTX Software You can find information on the installation of the WinAC RTX in the application Basics for the Solution of Automation Tasks Based on WinAC RTX entry ID 21004765 Use of WinAC RTX You can find info
30. hall not apply in the case of mandatory liability e g under the German Product Liability Act Produkthaftungsgesetz in case of intent gross neg ligence or injury of life body or health guarantee for the quality of a prod uct fraudulent concealment of a deficiency or breach of a condition which goes to the root of the contract wesentliche Vertragspflichten However claims arising from a breach of a condition which goes to the root of the contract shall be limited to the foreseeable damage which is intrinsic to the contract unless caused by intent or gross negligence or based on manda tory liability for injury of life body or health The above provisions does not imply a change in the burden of proof to your detriment The Application Examples are not binding and do not claim to be complete regarding the circuits shown equipping and any eventuality They do not represent customer specific solutions They are only intended to provide support for typical applications You are responsible in ensuring that the described products are correctly used These Application Examples do not relieve you of the responsibility in safe ly and professionally using installing operating and servicing equipment When using these Application Examples you recognize that Siemens can not be made liable for any damage claims beyond the liability clause de scribed above We reserve the right to make changes to these Application Examples at any t
31. ible values for the movement parameters velocity acceleration and deceleration of the axis have been transferred to the axis DB With Axis the axis which is to be used is transferred to the DB1 Axis by means of the corresponding axis DB An initializing bit of the axis DB is assigned to the variable Init Therefore it is essential that the bit is assigned only once Each Easy Motion Control function module has its own initializing bit It is not allowed to double assign any initializing bits All other drive FBs are parameterized in the same way V 1 0 28 07 2004 27 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SI E M E N S Hardware and Software Installation Positioning with Wi nAC RTX 4 Hardware and Software Installation This chapter describes the installation of the components for the application It is divided into the following sections Topics Chap Title Page 4 1 Preparatory installation 28 4 2 Hardware configuration 30 4 3 Installation of the WinAC RTX Software 39 4 4 Use of WinAC RTX 39 4 5 Configuration of the automation stations 39 Installation order The following table shows important installation and set up orders for the commissioning of the application Table 4 1 No Action 1 STEP 7 V5 2 SP1 or higher 2 SIMATIC NET PC Software V6 1 SP1 or higher 3 Installation of the paramet
32. ight Siemens AG 2004 All rights reserved SI E M E N S Function Mechanisms and Program Structures Positioning with WinAC RTX 3 5 Logical core structures An example In this example it is shown in an easy way how a position control can be realized by means of the software SPS WinAC V4 1 For this purpose the motor of the conveyor belt for the bottles which are to be filled ought to position one bottle at a time under the bottling jet Data flow model The following graphic illustrates the important data flows in this example Fig 3 7 Filling A ni Speed application linai Motor H Encoder SIMATIC Manager The meaning of the parameters The setpoint position gives the position desired by the user It can be transmitted relatively as well as absolutely The speed which is necessary for the motor is called setpoint speed The actual value serves for the determination of the current position of the axis and is the basis for the recalculation of the setpoint speed In addition also the parameters velocity acceleration and axis deceleration can be transmitted to the position controller Description of processes in the example program The basic process of the example is described in the table below Table 3 5 z o Action Initialization of the axis Release of the axis Transmission of the setpoint position to the position controller Calculation of the setpoint speed Reading of the actu
33. ime without prior notice If there are any deviations be tween the recommendations provided in these Application Examples and other Siemens publications e g Catalogs then the contents of the other documents have priority Copyright 2004 Siemens A amp D It is not permissible to transfer or co py these Application Examples or excerpts of them without first hav ing prior authorization from Siemens A amp D in writing For questions about this document please use the following e mail address csweb ad siemens de V 1 0 28 07 2004 5 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SIEMENS Table of Contents Positioning with WinAC RTX Table of Contents 1 Task Specification aa aa aae aea a aaa a aa aaa aran eaaa Eat atana et daii aidia Nannini 7 2 Principle of the Automation Solution cccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 9 2 1 Display Of components cceccceecceeeceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeneeereeeereeeeeess 9 2 2 Required components esascs na e aa i 10 2 3 Basic Performance Data ccccceccceseeeeeceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeneeeeeeeeeeens 13 3 Function Mechanisms and Program Structures cccccesssseeeeneeeeeeees 14 3 1 NV IAG RTO Da OS tia gs tinue a erin heel Suen cartaoe a a 14 3 2 Further BASICS Aie i do koe Seeded adit oe be be Siete aves 14 3 3 Configuration of the hardware
34. in the S7 CPU WinAC which contains the Easy Motion Control modules controls the MICROMASTER The operation is carried out via a variable table The bottle transport of a bottling plant for soft drinks is simulated the bottles are positioned below the bottling device The following basic process is used for that Conveyor belt still at first the conveyor belt starts up via a start up ramp conveyor belt travels a certain distance can be parameterized by means of variable table conveyor belt slows down ramp conveyor belt stands still for a certain time bottling can be parameterized by means of variable table after the time has elapsed the procedure is repeated continuously functionality can be used on big specifications of input several axes Quantity framework of the sample application The amounts of data which occur in the project are roughly listed in the table below Only one axis is described at a time Table 1 1 Amount of data Easy Motion Control and user approx 1kByte program Load memory requirement 34 Kbytes User memory requirement 24 Kbytes Transmission rates PROFIBUS 1 5 Mbit s Customer advantage Compared to the classical positioning tasks which are carried out without a PC the customer has the following advantages with this solution fast processing of the positioning tasks even with several axes simultaneous visualization of the control control and vi
35. interface in the dialogue field for the use of the PROFIBUS interface Acknowledge with OK and then click on Next V 1 0 28 07 2004 33 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SIEMENS Hardware and Software Installation Positioning with WinAC RTX 8 Click on Search for reachable nodes Project Wizard Starter d x i 2 3 4 Introduction Create PG PC Set Insert drives Summary new project interface gt Preview EMC_PARA mc Fi Drive uri ak teachable nodes i Continue gt Cancel Select Drive unit_Adr0 click on Next and then on Complete 9 cE me y elicking on this button CESE al Go online by clicking on this button 10 Restore the factory settings by right clicking on Drive unit_Adr0 gt Target system gt Restore factory settings Acknowledge with OK 11 If you use the PC inverter connection kit it is recommended to raise the baud rate e Double click on Clamp Bus in the tree diagram e Select USS via RS232 BOP link as the interface which is to be parameterized in the slider USS PROFIBUS e Now set to 57600 baud 9 e Carry out the displayed instructions interrupt reset PC PG interface connect again 4 STARTER EMC_PARA mcp mcp Drive_unit_addrO MICROMASTER_440 Terminals bus 3 loj x a Project T
36. lication command Operations gt project via drag and drop with pushed ctrl key Copy Paste can also be used e FCO MC_Init e FB2 MC_MoveRelative e FB3 MC_MoveJog e FB4 MC_Home e FB5 MC_StopMotion e FB11 MC_Control e FB26 EncoderET200S1Count e FB37 OutputMM4_DP Parameters of the axis Note The parameterization software delivered together with Easy Motion Control is used for the parameterization the testing and the diagnosis error and axis status of the axis parameters The software accesses the axis DB DB1 Axis Because the maximum permissible values for velocity acceleration and deceleration have been programmed in the STEP 7 program the parameterization of these values shall shortly be described in the following example The other values can be changed in the same way At first the reparameterization of the axis should not be necessary with the components mentioned above You should only change the parameters and the settings if despite the following instructions a positioning is not possible For further information on the parameters please see the Easy Motion Control manuals To change the axis parameters proceed as follows V 1 0 28 07 2004 40 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SI E M E N S Hardware and Software Installation Positioning with WinAC RTX Table 4 8 w ooo o O 1 First double click on the modul
37. motor The inverter supports different processes for the control of the motor Furthermore it additionally features automatic motor identification mechanisms different logic interlinking protective functions and much more There are more than 3000 parameters available for the handling of this variety of functions By means of attachable operating panels PC connection kits or bus option modules the inverter can be parameterized tested and operated For detailed information please see the user manual of the MICROMASTER chapter 8 Speed control sensorless vector control SLVC In modern inverters the speed controllers are usually already integrated The MICROMASTER 440 uses a so called field oriented vector control shortly called vector control for speed control The principle of the vector control is based on the load independence of a motor current depending on the motor flow in a way that subsequently the desired torque is achieved at the motor The speed would be slowed down to the desired value in spite of a higher load on the axis For the determination of the load independent current the inverter uses different mathematic algorithms as well as the theoretical motor model determined by the motor identification For the use of this speed control a motor identification must be done in the MICROMASTER Overview on Easy Motion Control Easy Motion Control is a software package for the easy positioning of drives The positioning
38. nstallation Positioning with WinAC RTX 12 Double click on MICROMASTER_440 gt Configuration Now select Reconfigure drive unit 13 The started Wizard now queries the following motor and inverter data You can find the information on the rating plate of the motor Please leave data which is not described here untouched e Select constant torque e Set Asynchronous motor as motor type e Enter the motor data according to the rating plate Information not mentioned on the rating plate remains unchanged e Select Locked 0 for Configuration pulse generator e For Operating mode select the Vector control without sensor 20 e The Control signal origin is set to CB at COM Link 6 e Torque setpoint values are also received by CB at COM Link 6 P0310 P0304 SIEMENS 3 Mot __ 1LA70964 4AA10 eee Aaa tee E0107 471101 01 001 IEC EN 60034 D 91051 Erlangc CE 2 16kg IMB3 O90L IP55 Th CI F _ 50 Hz 230 400 V A Y 60 Hz 460 VA _ 15kW 5 9 3 4 A 1 75 KW 3 4 A cis 0 81 1420 min cosp 0 81 1720 min 220 24 C 38 420 Vy 440 480 VA 6 2 5 4 6 lt 1 2 A 3 6 3 3 A P0307 P0305 P0308 P0311 The displayed motor rating plate shows the following parameters P0304 Nominal voltage in V P0305 Nominal current in A P0307 Nominal power in kW P0311 Nenndrehzahl in U min P0310 Nennfrequenz in H
39. on BOOL a false T 77 Bottle size 0 little 1 big i 5 DB111 DBX 2 0 DB_Application BottleSize BOOL false e 7 Statfling i i M 521 StartFilling BOOL false 8 T T7 Manual moving of the axis with positiv direction i l i 9 DB4 DBX 00 DB_MC_Movelag JogPos BOOL false 10 Manual moving of the axis with negativ direction j11 DB4 DBX 01 DB_MC_MoveJog JogNeg BOOL 12 Persistence of the plant i 3 M 405 Halt BOOL false P Moving the plant back l is M 400 Reset BOOL false 16 18 27 Observation a9 M 490 Sinit BOOL 20 M 491 GAxisFree BOOL a M 492 SE mondk BOOL O M 50 0 SHpos BOOL M 50 5 SHome BOOL M 520 SinitFil BOOL 25 M 530 SFiling BOOL OM 540 i Placing BOOL M 55 0 SAxisRuns BOOL Press F1 for help offline labs lt 5 2 4 5 Start the function monitor variable via the button V 1 0 28 07 2004 46 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SI E M E N S Operator control and monitoring Positioning with WinAC RTX No Action ka marker Initialization to 1 and click on the button Controlling iA Note For controlling the values easily use the key combinations lt Ctrl gt 1 for the value true and lt Ctrl gt 0 for the value false The step SHpos should now be active Note Because of the fast proc
40. onnection of input and output periphery Axis DB DB1 Axis The axis DB is a global data module which all Easy Motion Control Modules have access to It is the central interface between the drive FBs the position controller and the peripheral I O modules of one axis each All data of this axis is stored in it It is differentiated between parameter data e g axis type the current data e g position actual value and the errors or acknowledgements If more axes are to be used then more axis DBs have to be created too Easy Motion Control Controller FB11 MC_Control The position controller of the EMC software realizes the values which are given by the drive FBs For this purpose it accesses the corresponding axis DB displayed as yellow module above The following figure displays the module in the FUP KOP Fig 3 3 MC_Control EN ENO EnableDrive DriveEnabled Axis Init Parameter of the FB11 MC_Control Table 3 1 Axis With the two inputs axis the connection to the corresponding axis is realized through axis DB Every EMC function module has these two inputs Init Init provides an initializing bit of the corresponding axis DB each module needs an exclusive bit which is only used by this module EnableDrive Release of the axis DriveEnabled With the output DriveEnabled the status of the controller is given back This bit is set if there is no error V 1 0 28 07 2004 18 49 210
41. our system can not be damaged by the modification e g through safety end switches that switch off your drive unit V 1 0 28 07 2004 44 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SIEMENS Operator control and monitoring Positioning with WinAC RTX Modes and error reports of the axis An effective and comprising monitoring of the axis modes and axis errors is possible in the configuration tool of Easy Motion Control In order to monitor the axis proceed as follows Table 5 2 No Action cable 1 Connect your PG to the CP5613 A2 of the Station 1 via a PROFIBUS If not happened yet open the STEP 7 project WinLC_Motion PROFIBUS interface is active 3 Adjust the PG PC 1 object in the STEP 7 project in a way that the 7 4 Double click on the module DB1 Axis in the module folder in the STEP be monitored G File PLC View Window Help 5 After clicking on the slider Axis status the different actual values can lB xi 12 x Dieta S snl Configuration Axis Encoders Controller Motor Monitors Commissioning Axis error Parameter assignment error Actual encoder value 59 8252 mm Following distance 339317 mm E Axis synchronized Residual distance 7816 mm Set point velocity 1567 mm s Actual velocity 4 1797 mm s Group error Velocity override Group acknowle
42. rmation on the use of the WinAC RTX in chapter 5 of the application Basics for the Solution of Automation Tasks Based on WinAC RTX entry ID 21004765 Configuration of the automation stations You can find information on the configuration of the WinAC RTX and the component configurator in chapter 6 of the application Basics for the Solution of Automation Tasks Based on WinAC RTX entry ID 21004765 Installation of the STEP 7 project To open and adapt the STEP7 project to your configuration proceed as follows Table 4 7 No Action Note Explanation Start the SIMATIC manager 2 Extract the archive After extracting you can 21004767_WinAC_TK_CODE_v10 zip via the immediately open the menu File gt Extract project 2 Because the Easy Motion Control modules have to be licensed they will not be integrated into the project Thus please open the library EMC2 Easy Motion Control Now open the menu File and select Open Select the slider libraries and there select the library EMC Easy Motion Control V 1 0 28 07 2004 39 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SI E M E N S Hardware and Software Installation Positioning with WinAC RTX No Action Note Explanation 3 Now copy the following modules into the module As an alternative the menu folder of the WinAC RTX of the app
43. ry V 1 0 28 07 2004 24 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SIEMENS Function Mechanisms and Program Structures Positioning with WinAC RTX Sequence chart of the user module FB 111 Application For the execution of the bottling application in the module FB 111 a sequence chart was programmed in STEP7 which is described subsequently Table 3 7 No Name othe step 1 Slnit Initialization step 2 SAxisFree Axis release 3 SErrorAck Error acknowledgement after initialization 4 SHpos Positioning by hand 5 SHome Reference point setting 6 SlnitFilling Initialization of the bottling process time and position are transferred into the variables TTstay and pos in dependence of the bottle size 7 SFill Bottling step simulation of the bottling process with a timer 8 SPlacing Positioning with the module MC_Move Relative The conveyor belt is moved forward over a predefined distance depending on the bottle size 9 SAxisRun Axis is in motion 10 SAxisReady Axis has arrived destination V 1 0 28 07 2004 25 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SI EM ENS Function Mechanisms and Program Structures Positioning with WinAC RTX Code excerpt from the application module with the positioning request The following code e
44. s Chap Title Page 3 1 WinAC RTX basics 14 3 2 Further basics 14 33 Configuration of the hardware 17 3 4 Core elements of this solution 17 3 5 Logical core structures An example 22 3 6 Program structures 23 3 7 Program sequence 24 WinAC RTX basics You can find the basics to WinAC RTX in chapter 3 in the application Basics for the Solution of Automation Tasks Based on WinAC RTX entry ID 21004765 Further basics Frequency inverters in general A frequency inverter enables the control of the motor speed through the frequency f of the voltage U or the current on the basis of special power electronics in connection with a microprocessor The ratio U f proportional n can be kept on a constant level or a calculated current can be made load independent by which a very precise electronic control of the speed is achieved By means of this technology an asynchronous motor can now be used for positioning tasks too The frequency inverter will subsequently be referred to as inverter V 1 0 28 07 2004 14 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SI EM ENS Function Mechanisms and Program Structures Positioning with WinAC RTX Frequency inverter MICROMASTER 440 The MICROMASTER 440 is an inverter for three phase motors with additional speed and torque control A microprocessor controls the different functions of the
45. sioning of 7 General information on the PC tools SIMATIC NET PC stations 8 Functions of NCM PC instruction and quick start duct tunder th try ID for SIMATIC NCM PC AARE SUPPONE UNGEL ME ENNY 1 STEP 7 from version V5 2 OE and up 3 Overview on the communication with SIMATIC Communication with S7 M7 C7 SIMATIC In product support under the entry ID 1254686 4 Complete overview on the organization System software for S7 modules OB system functions SFC system 300 400 system and and standard function modules SFB as well standard functions as IEC functions which are contained in the operating systems of the CPUs of the S7 300 and S7 400 In product support under the entry ID 1214574 5 Manual for SIMATIC Rack PC IL40S SIMATIC Rack PC IL40S In product support under the entry ID manual 15317654 6 Installation guide for the CP5613 A2 SIMATIC NET product In product support under the entry ID information installation 13664901 guide for CP5613 CP5614 CP5613 FO CP5614 FO 7 Manual ET 200S In product support under the entry ID 1144348 8 MICROMASTER 440 Operating Instructions In product support under the entry ID MICROMASTER 440 0 12 17142454 KW 250 kW 9 PROFIBUS Optional Board Operating Instructions In product support under the entry ID 6586565 MICROMASTER PROFIBUS Optional Board V 1 0 28 07 2004 49 49
46. sualization in one device in case the communication of the I Os allows it approximately five times more axes can be used compared to hardware controllers V 1 0 28 07 2004 8 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SI E M E N S Principle of the Automation Solution Positioning with WinAC RTX 2 2 1 Principle of the Automation Solution The hardware structure of the automation solution is described in this chapter The respectively necessary hardware and software components are listed in a table in chapter 2 2 Required components Display of components The following figure shows the hardware setup of the sample application and the standard and user software components involved Fig 2 1 Station 1 Rack PC Station 3 inverter Asynchronous motor WinAC RTX SIMATIC NET MICROMASTER 440 sapsodaray CP 5613 PCI card PROFIBUS switch on Ga PG PC PROFIBUS STEP 7 Easy Motion Control Station 2 S7 ET200S RT al Power module Terminal modules l 1Count module 24 V 1 0 28 07 2004 9 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved Principle of the Automation Solution SIEMENS Positioning with WinAC RTX 2 2 Required components The tables below contain the hardware and software components for the respective stations Hardware components Station 1 WinAC S
47. system software and configuration You get an overview on the powerful performance of this example application and its components Table 2 9 Characteristic WinAC RTX Load memory requirement for EMC modules Approx 25 Kbytes Main memory requirement for EMC modules Approx 21 Kbytes Local files of the EMC modules Approx 324 bytes Load memory requirement for application Approx 2 Kbytes Main memory requirement for application Approx 1 5 Kbytes Total time for the execution of the EMC modules in the example program without application modules with one axis measured with WinAC RTX V4 1 on Athlon with 1333 MHz 162 us typical value Note The performance of the desired positioning orientates on the processor used in the industry PC the used I Os and the basic communication speed V 1 0 28 07 2004 13 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SI EM ENS Function Mechanisms and Program Structures Positioning with WinAC RTX 3 Topics 3 1 3 2 Function Mechanisms and Program Structures The basics as well as the use of WinAC RTX are described shortly in this chapter In addition the basic operation principle of Easy Motion Control will be looked at Furthermore this chapter describes the Easy Motion Control modules which are used in this example application and deals with their special feature
48. t bus parameters of a CP5613 A2 in the WinLC properties dialogue from the component configurator via the button diagnose for this purpose you must start the WinLC RTX controller 5 Open the hardware configuration of the PCWinAC station and load it into Station 1 6 Now load the modules of the S7 program of the PCWinAC station into the target system 7 Now switch the WinAC RTX controller via the button JRUN PO into the operation mode RUN P V 1 0 28 07 2004 42 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SI E M E N S Operator control and monitoring Positioning with WinAC RTX 5 Operator control and monitoring Introduction With the Easy Motion Control configuration software you have a tool at hand for the easy configuration parameterization monitoring and commissioning of the Easy Motion Control functionality For the operator control and monitoring of the example application there is a variable table in the project You can call and monitor the different functions with it As an alternative also the delivered Pro Tool Pro project can be used for the operator control and monitoring Because the operation of the two variants is almost similar we will only describe the variable table here If the Pro Tool project is used you have to adjust the area control to the given communication circumstances
49. tation Any other current Siemens industry PC can also be used alternatively as industry PC The given FAQs can be found on the A amp D Support Homepage under http support automation siemens com enter the FAQ ID into the search field Table 2 1 Component Qty MLFB Order number Note Industry PC 1 SIMATIC Rack PC IL 40 S 6AG4011 0CA21 0JX0 configurator see FAQ ID 17128155 Communications 1 6GK1 561 3AA00 processor CP 5613 A2 for PROFIBUS PCl card Hardware components Station 2 S7 ET200S The ET200S station can be of any type because the counter module is supported by every interface module Table 2 2 Component Qty MLFB Order number Note Power Supply PS 307 2A 1 6ES7 307 1BA00 0AA0 Adapter for standard 1 6ES7 390 6BA00 0AA0 for mounting onto mounting rail the top hat rail Top hat rail 500mm 1 8GR4 926 IM 151 1 1 6ES7 151 1AA01 0ABO to be mounted on top hat rail Terminal module for Power module TM P15S23 A1 6ES7 193 4CC20 0AA0 to be mounted on top hat rail Terminal module for Counter module TM E15S824 01 6ES7 193 4CB20 0AA0 to be mounted on top hat rail Power module PM E DC24V 6ES7 138 4CA00 0AA0 Counter module 1Count 24V 1024 increments 6ES7 138 4DA03 0AB0 28 07 2004 10 49 Principle of the Automation Solution SIEMENS Positioning with WinAC RTX Hardware components Station 3 MIC
50. to the value 15 switch bit 1 2 3 and 4 to ON by means of the DIL switches Connect the MICROMASTER Station 3 to the industry PC Station 1 by means of the PROFIBUS cable Pay attention to the terminating resistors If there is no PROFIBUS interface at the PG and the SIMATIC controller is not routing capable the PC inverter connection set can be snapped onto the PROFIBUS option module additionally Install the encoder at the motor as it is shown in the supplied manual Parameterization and commissioning of the MICROMASTER with STARTER Because the parameterization by means of Drive ES is almost similar to the parameterization with STARTER only the process with STARTER is described here If your PG PC has a PROFIBUS interface the parameterization of the inverter can be carried out via the PROFIBUS As an alternative you need a serial interface and the PC inverter connection kit by which you can connect it to the MICROMASTER Table 4 6 C 1 Connect your PG to the MICROMASTER PROFIBUS option module via the PROFIBUS Alternatively via the serial interface with the PC inverter connection kit Start the program STARTER double click on the desktop icon or under START gt SIMATIC gt STARTER Ed V 1 0 28 07 2004 32 49 Hardware and Software Installation 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SI E M E N S H
51. top w space bar always works 100 0 00Hz Drive ready Set Actual ce ON OFF 1 Output mid 0 00 0 00 Hz ON OFF 2 Torque 0 00 0 00 Nm ON OFF 3 Inverter load 0 0 Motor current 0 004 E Pulse enable Drive data set 1 Command data set 1 Ramp fct generator enable i Start st functi 1 RD ar are eine Commands USS on BOP link Setpoint USS Setpoint enable Alarms Control panel E Target system output w Diagnostics overview Press F1 to open Help display Online mode e Wait until Ready appears in the control panel e After completing the identification hit the space bar or click the Off 0 button e Now return the control sovereignty by clicking the button return V 1 0 28 07 2004 36 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SIEMENS Hardware and Software Installation Positioning with WinAC RTX 17 Now carry out a saturation determining you need the control sovereignty again Attention The motor will be switched on by the saturation determining and may start running e Click on Determining the saturation e Mind the notes e Get the control sovereignty as described above e Switch on the motor in the control panel again as described above e Wait until Ready appears in the control panel e Now return the control sovereignty by clicking the button return Note As an alternative to
52. urrent process step The functions of the drive FBs are called via their data modules V 1 0 28 07 2004 23 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SIEMENS Function Mechanisms and Program Structures Positioning with WinAC RTX 3 7 Program sequence Subsequently the S7 program is described which provides the bottling application in the WinAC The complete Easy Motion Control program is basically carried out in a timed alarm OB in this case OB35 Program flow chart Subsequently the S7 program is described which provides the bottling application in the WinAC The complete Easy Motion Control program is basically carried out in a timed alarm OB in this case OB35 Table 3 6 Flowchart OB 35 cycle START Conditional call FC MC_Init call FB EncoderET20051 Count C reraman _ call FB MC_MoveJog call FB MC_Relative call FB MC_Home call FB MC_StopMotion call FB OutputMM4_DP OB 35 cycle END Description An axis initialization is done depending on the status of the system in case of restart reset or error Reading of the encoder values via the ET200S Calling the application module execution of the sequence chart Providing the jog function Providing the relative motion Providing the zero point synchronization functions Calling the possible stop functions Controlling the motor periphe
53. xcerpt from the FB 111 shows step eight of the sequence chart which realizes the positioning of the axis in form of a data module access Network 8 Schritt 8 stepp 8 SPlacing U Tl Wenn Timer 1 abgelaufen ist If timer 1 has gone off S SPlacing aktiviere Schritt 8 Positionieren activate step 8 U O DB_MC_MoveRelative Done R cksetzung erfolgt ber Schritt 10 O Halt The step 8 is resetting by the step 10 O Reset oder Halt the Reset or the Halt flag bzw Reset R SPlacing U Placing Wenn Schritt 8 Positionieren aktiv ist L 0 0 If step 8 is active UL 0 0 dann lade die relative Fahrweite in den Datenbau SPBNB _005 stein des FahrFB s MC_MoveRealative L pos then transfer the relative move wide into the T DB_MC_MoveRelative Distance move FB MC_MoveRealative _005 NOP 0 und setze den Eingang Execute am DB zum Starten UL 0 0 der Positionierung BLD 102 and set the execute flag at the FB DB MC_MoveRelative Execute MC_MoveRealative Description of the positioning request After step 7 bottling SFilling and the finishing of the timer step 8 is started In this step the relative distance to the next point is written into the data module of the FB_MoveRelative In the same way the drive process is started in the data module by means of the Execute bit V 1 0 28 07 2004 26 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright
54. z P0308 Cos phi Nennleistungsfaktor 14 Set the Start up time and the two Deceleration times To 0 seconds 15 Click on Complete and acknowledge the safety query V 1 0 28 07 2004 35 49 21004767 21004767_WinAC_TK_DOKU_v10_e doc Copyright Siemens AG 2004 All rights reserved SIEMENS Hardware and Software Installation Positioning with WinAC RTX 16 Carry out a motor identification after entering the motor data The MICROMASTER then meters the data which is not on the rating plate but is important for the vector control like for example Cable length and the like Note The motor identification also optimizes the temperature model of the motor in the inverter what protects against overload It is absolutely necessary to carry out this step because the motor will quickly reach high temperatures especially with slow positioning low self cooling Attention The motor will be switched on by the motor identification and may start running e Now click on Motor identification e Mind the notes e Call the control panel by double clicking Control panel in the tree structure e Click on Get control sovereignty mind the notes e Seta check mark at Enables bit 1 to bit 6 e And now click ON see figure Drive_unit_addr0 MICROMASTER_440 v go Setpt Motor lt Return O Ffef 5000 Hz 100 One 6
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