Professional Documents
Culture Documents
Table of Contents
Micro Automation Set 1 ID Number 21063595
Note
The Micro Automation Sets are not binding and do not claim to be complete regarding the circuits shown, equipping and any eventuality. The Micro Automation Sets do not represent customer-specific solutions. They are only intended to provide support for typical applications. You are responsible for ensuring that the described products are correctly used. These Micro Automation Sets do not relieve you of the responsibility of safely and professionally using, installing, operating and servicing equipment. When using these Micro Automation Sets, you recognize that Siemens cannot be made liable for any damage/claims beyond the liability clause described. We reserve the right to make changes to these Micro Automation Sets at any time without prior notice. If there are any deviations between the recommendations provided in these Micro Automation Sets and other Siemens publications e.g. Catalogs the contents of the other documents have priority.
V2.0
16.07.2008
2/54
Table of Contents
Micro Automation Set 1 ID Number 21063595
Foreword
Micro Automation Sets are functional and tested automation configurations based on IA/DT standard products for easy, fast and inexpensive implementation of automation tasks for small-scale automation. Each of the available Micro Automatic Sets covers a frequently occurring subtask of a typical customer problem in the lower performance range. The sets help you obtain answers with regard to required products and the question how they function when combined. However, depending on the system requirements, a variety of other components (e.g. other CPUs, power supplies, etc.) can be used to implement the functionality on which this set is based. For these components, please refer to the respective SIEMENS IA and DT catalogs. The Micro Automation Sets are also available at: http://www.siemens.de/microset
V2.0
16.07.2008
3/54
Table of Contents
Micro Automation Set 1 ID Number 21063595
Table of Contents
Table of Contents ......................................................................................................... 4 1 1.1 1.2 1.3 1.4 2 3 4 4.1 4.2 4.3 4.4 4.4.1 4.4.2 5 5.1 5.2 5.3 5.4 5.5 5.6 6 6.1 6.2 6.3 6.3.1 6.3.2 6.4 6.5 6.5.1 6.5.2 6.6 6.7 7 Fields of Application and Benefits ................................................................ 5 Automation problem.......................................................................................... 5 Automation solution Set 1.............................................................................. 6 Fields of application .......................................................................................... 8 Benefits............................................................................................................. 8 Configuration .................................................................................................. 9 Hardware and Software Components ......................................................... 11 Principle of Operation .................................................................................. 13 Introduction to positioning............................................................................... 13 Block libraries for moving linear and rotary axes ............................................ 19 Configuring the G110 frequency inverter........................................................ 23 Optimizing the positioning operation............................................................... 25 Optimization with regard to the moment of inertia .......................................... 25 Optimization of the travel profile ..................................................................... 27 Configuring the Startup Software ............................................................... 29 Preliminary remark.......................................................................................... 29 Downloading the startup code ........................................................................ 29 Configuring the CPU 224XP PLC ................................................................... 30 Preparing the archiving function ..................................................................... 34 Loading the TP 177micro Touch Panel .......................................................... 35 Parameterizing the G110 frequency inverter .................................................. 36 Live Demo...................................................................................................... 38 Setting up the wire-wound coils ...................................................................... 40 Feeding in the wire ......................................................................................... 41 Automatic mode.............................................................................................. 42 Production of 10 wire rods with a length of 2m ............................................... 42 Premature termination of the production process ........................................... 43 Cutting wire rods of variable length (manual mode) ....................................... 44 Immediate stopping of the feed motion........................................................... 45 Stopping using the stop button of the TP 177micro ........................................ 47 Stopping using the hardware stop button (emergency stop) .......................... 48 Data logging.................................................................................................... 49 Optimizing the positioning process ................................................................. 50 Technical Data .............................................................................................. 53
V2.0
16.07.2008
4/54
1
1.1
Cutter
Type1
Type2
Type3
V2.0
16.07.2008
5/54
1.2
Prior to production, the wire-wound coil to be used for the production has to be selected via the TP177micro Touch Panel. While feeding in the wire, a block that runs in the S7-200 CPU 224XP controls the G110 frequency inverter via the analog interface in such a way that the wire comes to a standstill after passing an inductive sensor and that the positioning axis is thus homed. An HTL encoder reports the traveled distance of the axis to the S7-200 CPU 224XP in the form of pulses. After entering the production ID and the number of pieces of wire to be produced using the TP177micro Touch Panel, a block running in the S7-200 CPU 224XP causes the frequency inverter to move the positioning axis by the desired wire length. Via a digital output signal, the S7-200 CPU 224XP subsequently controls a cutting device that cuts the wire. This operation is repeated according to the entered number. After completion or premature termination of the job the following production parameters are stored in the voltage-resistant memory module of the S7-200 CPU 224XP. Time and date stamp of the production job Diameters of the wire rods Length of the pieces of wire Quantity of the residual material on the coil A unique production ID for the job Actual number of cut wire rods
The thus buffered information can be read out via a serial link, for instance with the aid of a PC/PPI cable and the S7-200 Explorer STEP7 Micro/WIN tool and stored as a csv file. When selecting a new wire-wound coil via the TP177micro Touch Panel, the remaining capacity of the previous coil that has been permanently updated during production is written to the recipe of the relevant material
V2.0
16.07.2008
6/54
data. Since the recipe is also stored in the voltage-resistant memory module of the S7-200 CPU 224XP, the remaining capacity of the old wire-wound coil is again available when it is reused in the cutting device. If the remaining capacity of the wire-wound coil falls below a specific value, a warning is displayed on the TP 177micro Touch Panel. And if the amount of wire is not sufficient for the planned job, the entered number of wire rods is reduced to the possible number and this fact is also reported via the TP.
Figure 1-2
s
SIMATIC PANEL
TOUC H
5
s
3 4
z 1 2 3 4 5 6 7 8 9 1 0
O J P H M 123 O N z G H
8
Copyright Siemens AG 2008 All rights reserved Set01_DocTech_2d0_en.doc
7
s
1 8
TP 177 micro
2 LOGO! Power
7 NC contact
V2.0
16.07.2008
7/54
1.3
Fields of application
The Micro Automation Set is particularly suitable for industrial applications requiring the positioning of objects. The product combination in conjunction with the software library enables a cost-effective positioning solution, for example, in the following applications: Cutters, for example, for pipes Conveyors Feeders Lifting stages Rotary tables Hoisting devices
1.4
Copyright Siemens AG 2008 All rights reserved Set01_DocTech_2d0_en.doc
Benefits
Simple solution for positioning a linear axis (horizontally or vertically) or a rotary axis. Clearly reduced engineering overhead by providing a command library for STEP 7 Micro/WIN. The use of a particularly sturdy control algorithm ensures that a manual optimization of the position control is not necessary even if there are strong load fluctuations. Realization of the drive task without comprehensive control engineering know-how. The SIMATIC S7-200 takes the position control. Engineering and commissioning of the S7-200 and the position controller with only one software tool: STEP 7 Micro/WIN. Cost-effective and high-performance solution with SINAMICS G110. In addition to your control problem, the S7-200 can also solve multiple automation problems. Visualization and control of the process via the TP 177micro Touch Panel.
V2.0
16.07.2008
8/54
Configuration
Micro Automation Set 1 ID Number 21063595
Configuration
Figure 2-1
L1 N PE L+ M
Connection diagram
M I
V M +A +B
1M 1L+ 0.0 0.1 0.2 0.3 0.4 0.5 2M 2L+ 0.5 0.6 0.7 1.0 1.1 PE M L+
U1 V1 W1
1M 0.0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 2M 1.0 1.1 1.2 1.3 1.4 1.5 M L+
PROFIBUS cable
3 2 1
L1 L2 L3
B 1 2 3 4 5 6 7 8 9 10 C D E L A M F G
K J H
wht
1 L+ M
blu
red blk
SIMATIC S7-200 inputs: Via the preassembled encoder cable, the rotary pulse encoder is connected to the HSC4 high-speed counter that uses the I0.3 and I0.4 inputs. The D-sub connector of the encoder cable was removed. The signal cable of the inductive sensor is connected to I0.6. I0.0 was used for the OFF button. SIMATIC S7-200 outputs: The inverter with analog input receives its frequency setpoint via the analog voltage output of the controller (terminals M, V). A shielded cable has to be used. On the inverter, the analog signal is applied to terminal 9 and the associated analog reference ground is applied to terminal 10 of the signal interface. The analog reference ground and the ground of the 24V supply are jumpered on the inverter (terminals 7, 10).
V2.0
16.07.2008
9/54
Configuration
Micro Automation Set 1 ID Number 21063595
The start motor command is applied at digital output Q1.0 of the controller. It is connected to terminal 3 of the inverters signal interface. The reversal signal is applied at digital output Q1.1 of the controller. It is connected to terminal 4 of the inverters signal interface. SINAMICS G110 frequency inverter In primary circuit, the connection of the frequency inverter to the 230V mains is a single-phase connection. The asynchronous motor operated in delta connection is connected in secondary circuit.
NOTICE
Please observe that the phase angle of the encoder pulses A and B correlates with the phase angle L1, L2 and L3 of the motor supply. If correct positioning is not possible, the problem can possibly be solved by reversing the encoder tracks or two motor phases.
If the motor does not run in the desired direction, encoder tracks and two motor phases have to be reversed.
24V supply The 24VDC power supply of the devices is provided by a LOGO! Power 1.3A. Protection An RCBO Type A is used for protection.
V2.0
16.07.2008
10/54
3
Products
Component RCBO LOGO! Power 24V/1.3A SIMATIC S7-200 (CPU 224XP) TP 177micro Touch Panel SINAMICS G110, frequency inverter SINAMICS G110, frequency inverter with integrated EMC filter Low-voltage asynchronous motor
Copyright Siemens AG 2008 All rights reserved Set01_DocTech_2d0_en.doc
No. 1 1 1 1 1
Note
Alternatively
1LA7070-4AB10-Z H57
Motor with rotary pulse encoder, 1024 pulses per revolution Remove D-sub connector!
Encoder cable for rotary pulse encoder SIMATIC PXI350 INDUCTIVE SENSOR 40X40MM Pushbutton, red, 1NC MC 291 MEMORY MODULE, 256 KBYTES
1 1
6SX7002-0AN30-1AC0 3RG4141-3AB01
1 1
3SB3203-0AA21 6ES7291-8GH23-0XA0
Accessories
Table 3-2
No. 1
Note
V2.0
16.07.2008
11/54
Configuration software/tools
Table 3-3
Component WinCC flexible micro Step 7 Micro/Win PC/PPI cable USB/PPI cable SINAMICS MICROMASTER SIZER
No. 1 1 1 1
Note
Alternatively; can also be used for loading the TP177 micro Optional
V2.0
16.07.2008
12/54
Principle of Operation
Micro Automation Set 1 ID Number 21063595
4
4.1
Principle of Operation
Introduction to positioning
What does closed-loop controlled positioning mean? In the context of this application, the following definitions can be provided: When positioning, an electrically driven component of a device or plant approaches a defined local point or angle by means of a linear or rotary motion or the component is moved by the distance s or the angle . When the positioning is closed-loop controlled, the motion is performed in a closed control loop in which path and velocity (motor speed) are the controlled variables. The disturbance variables are differing load torques. The SIMATIC S7-200 transfers the velocity controller output to the frequency inverter as an analog voltage that is interpreted by the frequency inverter as a setpoint frequency according to its parameterized V/f characteristic. Considering the slip of the asynchronous motor depending on the load torque, a specific speed is set. According to this speed, the component to be positioned travels a smaller or larger number of path or angle increments. They are detected by the rotary pulse encoder that is located directly on the motor shaft and supplied to the controller via its highspeed counter inputs. From this information and including the setpoint values position, positioning speed and acceleration (torque), a control algorithm counting the encoder pulses calculates the necessary velocity controller output. This results in a velocity profile whose processing finally leads to an exact positioning.
Figure 4-1
Load torque Disturbance variable Position Velocity Acceleration (torque) Reference variable Control with MicroPos blocks Controller Frequency inverter, asynchronous motor Analog value 0 10V Controlled system Manipulated value Encoder pulses Position Velocity Controlled variable
What is the difference between absolute and relative positioning? When absolute positioning is used, you directly specify the target position to be approached. When relative positioning is used, you enter a path length by which the component is to be moved.
V2.0
16.07.2008
13/54
Principle of Operation
Micro Automation Set 1 ID Number 21063595
To enable absolute positioning, it is required that the zero point of your travel path (home position) be defined once in advance. The counter with which the pulses of the rotary pulse encoder are counted is adjusted to the position of the physical axis, .i.e. it is set to a defined value (preferably 0) at a defined local point. Homing is not necessary for relative positioning.
Figure 4-2: Example of absolute/relative positioning
Absolute positioning
Travel range (mm)
300
400
-300
-200
-100
Source position
Copyright Siemens AG 2008 All rights reserved Set01_DocTech_2d0_en.doc
Target position
(not relevant)
Home position
Relative positioning
+600mm
Source position
Target position
What is the difference between a linear and a rotary axis? Linear axis: A linear axis is particularly suitable for linear motions in the horizontal or vertical plane. For the distance traveled during positioning, the blocks assume the length dimension. Depending on the velocity or ratios of dimensions, the user applies the corresponding parameters (position, velocity, etc.), for example, to mm, cm or inch.
V2.0
16.07.2008
100
200
500
14/54
Principle of Operation
Micro Automation Set 1 ID Number 21063595
An important parameter of the linear axis is the correlation between the physical variable distance traveled and a motor or rotary pulse encoder revolution. The parameter thus considers gear, belt, spindles, etc. that eventually convert the rotary motion to a linear motion.
Figure 4-3: Example of a linear axis, distance traveled
The Map_Ind_Lin library is used for the linear axis. The names of all blocks have Lin_ as a prefix. Rotary axis: The rotary axis also referred to as a modulo axis designates a type of positioning where a rotary motion is repeated after each completed motional sequence. Taking this fact into account, the position value of the drive-end, moved component is specified in angular degrees 0 < 360.0 and reset to 0 after each rotation. For the unique detection of the absolute position, the rotary axis additionally features a rotation counter that is adjusted each time the axis is moved irrespective of whether the positioning is absolute or relative or whether the rotary axis is moved in jog mode. Without homing, the rotation counter is set to 0 when restarting the controller. With homing, the rotation counter is set to a value that corresponds to the specified reference angle. If you specify, for instance, an angle of +740 for the physical local point x0 when homing, the rotation counter has the value +2 in x0. An important parameter of the rotary axis is the correlation between the physical variable angle traveled and a motor or rotary pulse encoder revolution. The parameter thus considers gear, belt, spindles, etc. that finally represent the ratio.
V2.0
16.07.2008
15/54
Principle of Operation
Micro Automation Set 1
Figure 4-4: Example of a rotary axis, angle traveled
ID Number 21063595
= 28
The following specifics have to be considered for a rotary axis: Absolute positioning with preset direction of rotation At the drive end, the target position has to be approachable with a maximum of one rotation ( < 360.0). Larger angle settings cause a termination of the job. Negative angle settings are also not permissible. The direction of rotation is to be specified by an compared to a linear axis additional direction parameter.
Home position
Source position
Target position
Home position
Source position
Target position
Absolute positioning on the shortest path The positioning is performed as in the above case. The software
V2.0
16.07.2008
16/54
Principle of Operation
Micro Automation Set 1 ID Number 21063595
calculates the shortest path to the target and selects the direction of rotation accordingly. Relative positioning Both angle settings > 360.0 and negative angles are possible.
Figure 4-6: Example of a rotary axis, relative positioning
The Map_Ind_Rot library is used for the rotary axis. The names of all blocks have Rot_ as a prefix.
Copyright Siemens AG 2008 All rights reserved Set01_DocTech_2d0_en.doc
What is a travel profile? Depending on the purpose, travel profiles describe various characteristics (path, velocity, acceleration, moment, power, etc.) that describe a desired motional sequence. The time or the path is mostly plotted on the abscissa. The following applies to a positioning operation by means of the MAP Ind blocks: Acceleration is always performed from zero and the component is always decelerated to a standstill. The steepness of acceleration ramp and deceleration ramp is identical The controlled variable for the required acceleration/deceleration is the moment.
V2.0
16.07.2008
17/54
Principle of Operation
Micro Automation Set 1
Figure 4-7: Travel profile
ID Number 21063595
Forwards/upwards
Velocity
Time
Backwards/downwards
Path
Generator operation
Time
Torque
Time
For system optimization, the two MAP_Ind_... libraries offer a _Com_Monitor block with which alternatively the dependencies M(t), v(t) and s(t) can be displayed as travel profiles in STEP 7 MicroWin. What is the difference between a horizontal and a vertical axis? While the horizontal axis merely requires that the forces of acceleration/deceleration and the friction forces be considered parallel to the direction of motion for a mass to be moved, the gravitational force of the mass to be moved has to be additionally considered for the vertical axis. This requires the provision of a larger torque from the inverter to achieve the same accelerating/decelerating torques as for the horizontal axis. Figure 4-7 shows a qualitative representation of the torque characteristics of the horizontal and vertical axis for identical accelerations.
V2.0
16.07.2008
18/54
Principle of Operation
Micro Automation Set 1 ID Number 21063595
Under which circumstances does the motor become the generator? Whenever energy stored in the system is to be degraded, the motor becomes the generator. The following energies have to be mentioned: Potential energy (due to a suspended load) Kinetic energy (due to moving masses)
Energy released when lowering a load or decelerating a flywheel that would drive the motor from the mechanical end has to be degraded by the inverter as power loss. The inverter copes with smaller powers without additional measures. Larger powers require braking resistors or power recovery has to be provided. Figure 4-7 shows the time intervals of generator operation. The hatched areas under the torque characteristics are proportional to the energy to be degraded.
4.2
Copyright Siemens AG 2008 All rights reserved Set01_DocTech_2d0_en.doc
Rot_Init
The library description also included in Micro Automation Set 1 provides a detailed block description. The MAP_Ind_Lin library for linear axes is used for this application. The following sections briefly describe its blocks.
V2.0
16.07.2008
19/54
Principle of Operation
Micro Automation Set 1 ID Number 21063595
Task of the Lin_Init_horizontal block This application describes a horizontal material transport. For this reason, the Lin_Init_horizontal block is used here. The initialization block combines those input and output parameters that refer, so to speak, to all further blocks of the library and that are used by the positionings control algorithm. Furthermore, the user-specific units of measurement are standardized in this block. Motor characteristics, absolute upper limits for velocity and torque 1 and the transfer factor indicating which feed corresponds to the linear motion of a motor revolution are mainly entered in Lin_Init_horizontal. Lin_Init_horizontal has to be processed once before the remaining blocks which have to be called cyclically are executed for the first time. Trigger Lin_Init_horizontal with SM0.1.
Task of the Lin_MoveJog block Using the Lin_MoveJog block, you realize manual mode. The block features two bit inputs for jog mode (JogPos and JogNeg). Accelerating/decelerating torque and a limit velocity can be parameterized at the block. Task of the Lin_Home block To enable absolute positioning, the three-dimensional travel path has to be synchronized with the controllers position counter. This is achieved by assigning a specific value to a defined point of your travel path (= home position). This is done during runtime of the automation program. Lin_Home offers two referencing variants: Searching for the home position For searching the motor is started with Execute block parameter =1 and the required direction of rotation (Direction parameter = 1). If the moving component is detected by a sensor at the user-defined home position (RPS signal), a specific reference value (Home_Position) is assigned to the current position with this event. The detection of the sensor is performed via its positive or negative edge. The sensor can, for example, be an inductive proximity switch or a photoelectric barrier. Your user program has to be designed in such a way that the sensor is always approached from the same direction when homing to eliminate its detection width. In this wire cutting machine application example, homing is performed when feeding in the wire or before the first cutting operation as shown in the graphic representation below. The distance proximity switch cutter (with minus sign) is entered as a position value of the home
Upper limits are not even exceeded during operation if higher values are parameterized in the blocks initiating a motion.
V2.0
16.07.2008
20/54
Principle of Operation
Micro Automation Set 1 ID Number 21063595
position. Thus the current wire position = 0mm if the wire tip is located exactly at the cutter.
Figure 4-9: Home position search
v(t) RPS signal active End of homing Home position Start of homing
(if feed-in has already been performed)
1) Detection width
Cutter
The offset to the home position at the end of homing is known to the system and will be considered in the next positioning (first wire cut after homing).
Setting the home position. When setting the home position, the motor is stopped. 0 has to be specified for the Direction block parameter. If the block detects a positive edge at Execute=1 at the RPS input parameter, the current position is set to a parameterizable reference value (Home_Position). In the wire cutting machine application example described in this document, the home position is set to the value 0 whenever the wire tip is located exactly at the cutter after a completed wire cut.
For the home position search, accelerating/decelerating torque and a limit velocity can be parameterized at the block. Task of the Lin_MoveAbs block Initiated by a positive edge at the Execute input parameter, the motor starts from the current position for a closed-loop-controlled approach to the end point specified via the Position input parameter. A prerequisite for absolute positioning is previous homing with the Lin_Home block. Accelerating/decelerating torque and a limit velocity can be parameterized at the block.
V2.0
16.07.2008
21/54
Principle of Operation
Micro Automation Set 1 ID Number 21063595
Task of the Lin_MoveRel block Initiated by a positive edge at the Execute input parameter, the motor starts at the current position to approach the point whose distance from the starting point is specified by the Distance input parameter on a closedloop-controlled basis. Previous homing using the Lin_Home block is not required in this case. Accelerating/decelerating torque and a limit velocity can be parameterized at the block. Task of the Lin_StopMotion block Lin_StopMotion is used to stop a currently active motion irrespectively of the specific MAP Ind block that triggered it. The block offers two variants for stopping: Stopping via the AUS3 inverter digital input. The steepness of the deceleration ramp is set when parameterizing the inverter. The stop is triggered by a positive edge at the Execute_Off3 input parameter. Stopping via the Lin_StopMotion block. This variant is used in this application. The steepness of the deceleration ramp is set by the Decel_Torque_Ramp input parameter of the block. The stop is triggered by a positive edge at the Execute_Ramp input parameter.
It is not only possible to use both variants for stopping alternatively, they can also be used together in one program. The block monitors the deceleration times (separate monitoring of both variants for stopping). The upper limits can be parameterized. When the limits are violated, the Time_Exceeded output bit parameter is set.
Task of the Lin_Control block The block uses a status word to inform the user on all system states and limit value violations: Motor stopped Maximum moment reached Axis not synchronized Pulse counter overflow Direction conflict (rotary pulse encoder motor phase angle) Following error exceeded System not initialized
The value of the current position is available to the user in the Act_Position output parameter.
V2.0
16.07.2008
22/54
Principle of Operation
Micro Automation Set 1 ID Number 21063595
Whenever the motor is stopped from the perspective of the MAP Ind blocks, a Brake bit output is set to a logic 1. For example, a holding brake or the pulse enable for the inverter can then be controlled.
Task of the Lin_ComMonitor block In the commissioning phase the Lin_ComMonitor block supports the user in optimizing the dynamic response. The block alternatively records (parameterizable) moment velocity position
in real time to be able to subsequently represent their time characteristics in the STEP7 Micro/Win trend display. A positive edge at the Start bit input parameter starts the recording. Where the data is to be stored is communicated to the block via the pTableStart input parameter by means of a pointer. The block records 249 REAL values in the 8ms grid. In the trend display, subsequently view the Out output parameter of the block.
Note
A parameter description of the MAP Ind blocks is available not only in the library description of this Micro Automation Set, but also in STEP7 Micro/WIN directly as a comment in the relevant protected MicroPos block.
4.3
Parameterization steps Due to the universality of the SINAMICS frequency inverters, the adaptation to a specific application requires that the inverter be parameterized. This setting procedure is facilitated by the fact that many applications can be operated with the factory default settings if quick commissioning has previously been performed. If the condition at delivery from the plant of the inverter you are using has been changed, it can be reset to the factory default settings without difficulty. If quick commissioning is set, only the parameters whose adaptation is absolutely necessary can be selected during the parameterization. To meet the specific requirements of this application, application-specific parameterizations are necessary after the reset to factory default settings and after quick commissioning. Finally, save the values to the EEPROM of the inverter and, if necessary, save the entire parameterization to the BOP. This enables you to reload the parameters to the inverter at any time if required without having to reenter them or to transfer the parameters to other identical inverters.
V2.0
16.07.2008
23/54
Principle of Operation
Micro Automation Set 1 ID Number 21063595
No.
Step
1. 2. 3. 4. 5.
Resetting to factory default settings (if condition at delivery from the plant has been changed) Quick commissioning. Application-specific parameterizations. Saving parameters to the inverters EEPROM. Transferring parameter set to BOP for reuse.
Changing parameters All steps listed above are merely sequences of parameter settings. They can be performed, for example, using the Basic Operator Panel (BOP) that is simply plugged onto the inverter 2.
Figure 4-10
Copyright Siemens AG 2008 All rights reserved Set01_DocTech_2d0_en.doc
V2.0
16.07.2008
24/54
Principle of Operation
Micro Automation Set 1
No. Operator input sequence step
ID Number 21063595
Note
1. 2.
3. 4.
Display the parameter value. Change the parameter value. When you press FN, you can change each decade individually.
5. 6.
7.
Copyright Siemens AG 2008 All rights reserved Set01_DocTech_2d0_en.doc
Documents for the SINAMICS G110 The following documents are available for the SINAMICS G110:
Table 4-2
Document
ID number:
4.4
4.4.1
V2.0
16.07.2008
25/54
Principle of Operation
Micro Automation Set 1 ID Number 21063595
Start value for the moment of inertia Experience has shown that the tenfold mass inertia of the motor is a good start value. Before commissioning, enter this value for the Inertia parameter at the Lin_Init_horizontal block. For the motors mass inertia, please refer to the motor catalog. Accordingly, a value of 0.00052kgm2 results for the motor from Table 3-1. Optimization process with the aid of the Lin_ComMonitor block To assess the dynamic response of your system, the graphical representations of the trend curves v(t) and s(t) are alternatively suitable. Consider in particular the end of the positioning operation. If the moment of inertia is set optimally (Figure 4-12), neither distinctive overshoot (Figure 4-11) nor a gradual vanishing (Figure 4-13) of the corresponding curve should occur.
Figure 4-11
s(t)
Copyright Siemens AG 2008 All rights reserved Set01_DocTech_2d0_en.doc
Overshoot!
Overshoot! v(t)
Figure 4-12
V2.0
16.07.2008
26/54
Principle of Operation
Micro Automation Set 1
Figure 4-13
ID Number 21063595
The time characteristic v(t) is also suitable for controlling or optimizing the velocity. It shows whether the velocity parameterized at the relevant block is actually reached.
Copyright Siemens AG 2008 All rights reserved Set01_DocTech_2d0_en.doc
4.4.2
Optimization of the travel profile The travel profile is essentially defined by the technological application and an energetic optimization. Determining factors are the time within which the positioning operation has to be completed, acceleration and deceleration whose upper limits are determined by the motor performance, the applications mechanical system and the actual process and the power demand of the application.
v(t) Maximum velocity is determined by... Velocity_Limit block parameter (unit of length/s)
t Slope is determined by... rated torque of the motor Accel_Torque or Torque_Limit block parameter (0...200%)
V2.0
16.07.2008
27/54
Principle of Operation
Micro Automation Set 1 ID Number 21063595
The absolute maximum velocity of the linearly moved component eventually depends on the rated speed relating to the motor frequency. Since the 4-pole motor of this application can be controlled by the inverter with a maximum of 100Hz, its highest speed is 2700 min-1. This speed converted to the linear motion of the application results in the maximum velocity that can be limited with the Velocity_Limit parameter. The Accel_Torque or Torque_Limit block parameters for limiting the motor torque are indicated as percentages of the rated torque. A torque of up to 200% can be used for a 4-pole motor. The example in the figure below shows four possible travel profiles that all position over the same distance, i.e. the integrals over the curves v(t) from the starting point to the end point of the motion are identical. Friction losses are negligible.
Figure 4-15: Different travel profiles for the same positioning
v(t), M(t)
vmax (at 100Hz)
Copyright Siemens AG 2008 All rights reserved Set01_DocTech_2d0_en.doc
v(t), M(t)
M = 200%
vmax/2
v(t), M(t)
vmax/2 M = 100%
v(t), M(t)
vmax/2
M = 50%
Green profile Maximum motor utilization Minimum positioning time Maximum power consumption Yellow, blue and red profile Motor not fully utilized Positioning times extend from yellow to red Power consumption corresponds to half the green profile
V2.0
16.07.2008
28/54
5
5.1
At this point, it is assumed that the necessary configuration software has been installed on your development system (PG, PC, laptop computer) as shown in Table 3-3 and that you are familiar with handling this software. The hardware according to Table 3-1 is mounted, wired as shown in Figure 2-1 and the power supply of all involved components is ensured.
5.2
No.
File name
Content
Set1_s7-200_V1d0_en.zip
STEP 7 Micro/WIN project for the wire cutting machine (.mwp file) WinCC flexible project for the TP (.hmi and .LDF files). Libraries of the drive blocks for linear and rotation angle positioning (map_ind_lin.mwl and map_ind_rot.mwl files)
2 3
Set1_WinCCflex_Visu_V1d0_en.zip map_ind_V1.19.zip
Note
The map_ind_rot.mwl library is not used in the software example. It is only offered for download to complete the picture.
V2.0
16.07.2008
29/54
5.3
Table 5-2
1.
Connect a free COM port or a USB port of the development system to port 0 of the S7-200 controller. Use the PC/PPI or USB/PPI cable for the connection. Use the following switch positions for the PC/PPI cable:
12345678 00001000
2.
In PG/PC Interface, select Start>Settings>Control Panel and make the following settings: Access point of the application: Micro/WIN PC/PPI cable(PPI) Transmission rate: 19.2kbps Local connection: COM or USB (depending on the cable) Advanced PPI deactivated Multi-master network deactivated Start STEP 7 Micro/WIN and open the mwp project file. If you are using a motor type deviating from table 3-1, you have to adjust the input parameters of the Lin_Init_horizontal block (= rated motor data). The block is located in network 1 of the MicroPOS subprogram.
Instead of using the control panel, the interface can also be selected from STEP 7 Micro/WIN by selecting Set PG/PC Interface.
3. 4.
5.
Check whether the values of the parameters declared in the USER data area are compatible with the mechanical system of your wire cutting machine.
The following table provides an explanation of the USER data area (Table 5-3).
V2.0
16.07.2008
30/54
ID Number 21063595
Remark
6.
Select File>Download or use the corresponding icon to transfer the project to the S7-200 controller. In the transfer dialog box, ensure that the program blocks, data blocks, system data and recipes are transferred. Select PLC>RUN or the corresponding icon to set the S7-200 controller to RUN mode.
7.
8.
In the operation tree, right-click Libraries and open the dialog box for adding/deleting libraries. Add the drive blocks for linear positioning to the library. Follow the explanations in the respective window.
It is only necessary to add blocks to the library if you want to add library blocks that have previously not been included in the program code to the user program. In this example, these are, for instance, the Lin_Init_vertical or Lin_MoveAbs blocks.
Parameters of the wire cutting machine On the one hand, all technological parameters of the wire cutting machine are declared in the USER data block; on the other hand, they also exist in the Parameters status table for commissioning purposes. Before the first commissioning check whether the values in particular the velocities and torques are suitable for your mechanical system. The following table explains the parameters.
V2.0
16.07.2008
31/54
ID Number 21063595
Parameter
dist_BERO_cutter: VW32
Distance between proximity switch and cutter (mm). The proximity switch is to be installed between the drive wheels and the cutter. dist_BERO_cutter has to be entered as a negative value.
induktiver Nherungsschalter
Schneidemechanismus (cutter)
absolute Position
Copyright Siemens AG 2008 All rights reserved Set01_DocTech_2d0_en.doc
dist_BERO_cutter
cutter_down_time: VW34
Indicates how long the cutter remains in the cutting position (value x 10ms). The cutter knows two logic states: Parking position (at top, control with FALSE) Cutting position (at bottom, control with TRUE) In automatic mode, the feed of the next wire rod is started only after this delay (value x 10ms). This is to prevent that the feed starts before the cutter has returned to parking position. The cutter has no end position detection.
Other parameters
cut_delay: VW40
Preset coil (1-4) whose recipe data is used for operation after a data block transfer to the controller. If the remaining capacity of the coil becomes less than this limit value(m), a warning is output on the TP.
Velocity parameters
Homing velocity (mm/s) Slow jog mode velocity (mm/s) Fast jog mode velocity (mm/s)
V2.0
16.07.2008
32/54
ID Number 21063595
Explanations
T_Ref: VD1028 Torque_Jog_slow: VD1032 Torque_Jog_fast: VD1036 T_Pos: VD1040 T_Stop: VD1048
Accelerating/decelerating torque for homing (%) Accelerating/decelerating torque for slow jog mode (%) Accelerating/decelerating torque for fast jog mode (%) Accelerating/decelerating torque for positioning (%) Decelerating torque when stopping by means of stop button on the TP or hardware stop button during homing or a positioning operation (%).
Parameters for the Lin_Init_horizontal initialization block
Torque_Limit: VD1100
Maximum permissible accelerating/decelerating torque (%). The torque parameter values of the other drive blocks always have to be smaller than/equal to this value. Otherwise, the relevant drive block reports an error. Maximum permissible velocity (mm/s). The velocity parameter values of the other drive blocks always have to be smaller than/equal to this value. Otherwise, the relevant drive block reports an error. The feed of the wire per motor revolution has to be entered here (mm/rev). For a positioning accuracy < 1mm, s_per_rev < 40 mm/rev should apply. Moment of inertia; see chapter 4.4
Velocity_Limit: VD1108
Copyright Siemens AG 2008 All rights reserved Set01_DocTech_2d0_en.doc
s_per_rev: VD1112
Inertia: VD1116
The percentage data of the torque refers to the motors rated torque that is listed in the motor data sheets and that the MAP Ind blocks calculate from the further motor rating parameterized at the Lin_Init_horizontal block. Entries from 0200% are possible for the torque.
V2.0
16.07.2008
33/54
5.4
Table 5-4
No.
Instruction
Remark
Development syst em
1.
Connect a free COM port or a USB port of the development system to port 0 of the S7-200 controller. Use the PC/PPI or USB/PPI cable for the connection. Use the following switch positions for the PC/PPI cable:
12345678 00001000
2.
In Windows, start S7-200 Explorer by selecting Start>SIMATIC>S7-200 Explorer or by double-clicking the corresponding icons. Click the S7-200 CPU and select the 256 KB memory module. In the right window, right-click DAT Configuration 0(DAT0) and select Create Shortcut. (The Open File on Upload option has to be deactivated)
3.
Copyright Siemens AG 2008 All rights reserved Set01_DocTech_2d0_en.doc
4.
A shortcut to the Data-Log file in the 256 KB memory module is now automatically created on the desktop. On the desktop, create a link to the Micro/WIN installation path (default: Drive: Program Files\Siemens\MicroSystems\Data Logs). The logged data from the memory module is moved to the when double-clicking path as a csv file .
5.
V2.0
16.07.2008
34/54
5.5
Table 5-5
No.
Instruction
Remark
TP 177micro
Development system
1.
Connect a free COM port or a USB port of the development system to the RS485 interface of the TP 177micro. Use the PC/PPI cable or the USB/PPI cable. On the PC/PPI cable, set a baud rate of 115200 baud. This corresponds to the following switch positions:
12345678 11000000
2. 3.
Copyright Siemens AG 2008 All rights reserved Set01_DocTech_2d0_en.doc
Start WinCC flexible and open the hmi project file. Call the transfer dialog box by selecting Project>Transfer>Transfer Settings or by using the respective icon. Adjust the transfer settings according to the cable you are using. When using the PC/PPI cable, select the used COM port of your development system and set the baud rate to 115200 baud. Set the TP 177 Micro to Transfer mode. This is done by selecting the Transfer button after the bootloader sequence. The download of the WinCC flexible project can be started when a Transfer. dialog box is displayed on the TP.
4.
5.
6. 7.
Start the project file transfer. Use the PROFIBUS cable to connect the RS485 interface of the touch panel to port 1 of the S7-200 controller.
S7 - 224 XP CPU
TP 177micro
PROFIBUS cable
V2.0
16.07.2008
35/54
5.6
Commissioning parameter: Factory setting Start of the reset of all parameters to default values
Quick commissioning
Access level: Expert Commissioning parameter: Quick commissioning Rated motor current (A) (for delta connection), see rating plate Rated motor power (kW), see rating plate Rated power factor of the motor (cos ), see rating plate Rated motor frequency (Hz) for the specific motor data, see rating plate Rated motor speed (min-1), see rating plate Maximum frequency (Hz) (100Hz for 4-pole motor, 50Hz for 2-pole motor) Acceleration time (determined by the controller) Deceleration time (determined by the controller) End of quick commissioning (among other things, resets P0003 to 1)
Application-specific parameterizations
P0010 P0305 P0307 P0308 P0310 P0311 P1082 P1120 P1121 P3900 P0003 P0760 P1240 P0971 P0010 P0802 P0003
Access level: Expert y2 value ADC scaling (%) (100% for 2-pole motors) Configuration of Vdc controller: Vdc controller disabled
Saving parameters to the inverters EEPROM
Commissioning parameter: Factory setting Parameter transfer from SINAMICS BOP Access level: Standard
V2.0
16.07.2008
36/54
NOTICE
If you are using a motor type that differs from the ones listed in Table 3-1, the following parameters have to be additionally considered during quick commissioning:
P0304 rated motor voltage (V) (for delta connection), see rating plate P0335 rotor cooling: 1 = self-ventilated, 2 = separately ventilated
In this application example, the values of these parameters are already covered by the factory default settings and thus not listed in the above table. Parameter transfer from BOP SINAMICS G110 When you have transferred the inverter parameter set to the BOP as shown in Table 5-6, you can reload it from the BOP to the inverter very easily if required or distribute it to other inverters.
Table 5-7
Parameter No.
Copyright Siemens AG 2008 All rights reserved Set01_DocTech_2d0_en.doc
Value
Remark
3 30 1 1 1
Access level: Expert Commissioning parameter: Factory setting Parameter transfer from BOP SINAMICS
Saving parameters to the inverters EEPROM
V2.0
16.07.2008
37/54
Live Demo
Micro Automation Set 1 ID Number 21063595
6
Overview
Live Demo
To facilitate understanding, the functions and features of Micro Automation Set 1 are shown in the form of a sample application. If the components have been correctly configured as described in chapter 5, the program code can be tested.
Figure 6-1: Live demo overview
Start
Setting up the wire-wound coils Feeding in the wire Producing 10 wire rods with a length of 2m (automatic mode)
Copyright Siemens AG 2008 All rights reserved Set01_DocTech_2d0_en.doc
Cutting wire rods of variable length (manual mode) Immediate stopping of the feed motion using the stop button of the TP 177micro Immediate stopping of the feed motion using the hardware stop button (e.g. emergency stop) Data logging Optimizing the dynamic response
End
Definition Input values: Input or input/output fields are designated by a white background. Output values: Mere output fields are marked by a gray background.
Example
Input/output field
Output field
V2.0
16.07.2008
38/54
Live Demo
Micro Automation Set 1
Definition Grayed out buttons: Buttons with grayed out labeling indicate that the action associated with the button is locked for programming reasons. For example, automatic mode can only be set after the wire has been fed in. Navigation buttons: The navigation buttons for changing the screens/statuses are located on the bottom screen edge. The screens are structured as shown on the right. In case of voltage recovery or restart of the controller, the system branches to the feed in screen. In the currently selected screen, the background of the navigation buttons is black and they cannot be operated.
Not grayed out
ID Number 21063595
Example
Grayed out
Graphic: A graphic in the TP screens shows the wire cutting machines condition of motion.
Standstill
Feed active
(the sectors within the coils rotate and the wire moves forward.)
Cut
Deleting old archive data Delete any old logged data from the memory module and old csv log files before the live demo scenarios.
V2.0
16.07.2008
39/54
Live Demo
Micro Automation Set 1
Table 6-2
ID Number 21063595
No.
Step
Remark
1. . Double-click Memory module is read out and deleted. 2. Double-click . Directory of csv log files is opened. 3. Delete all csv files in the directory. The logging was configured in such a way that the log data in the memory module is deleted when reading out the 256 KB memory module in a csv file.
6.1
Procedure
Copyright Siemens AG 2008 All rights reserved Set01_DocTech_2d0_en.doc
Table 6-3
No.
Step
Remark
1. 2.
On the TP 177micro, select the recipe admin. screen. Use the arrow keys to select the wire-wound coil you want to use. Four data records (recipes) are available. If necessary, change the recipe data of the selected wire-wound coil. Core rod diameter: Merely used as a material characteristic. Its value is not included in any calculation. Core rod length: Indicates the length of the steel rods that are cut in automatic mode when selecting the corresponding recipe. Residual material: Depending on the material consumption, the controller automatically reduces the displayed residual material quantity. It can be overwritten by the user at any time, e.g. when changing the coil. Production ID: Each production job, consisting of n steel rods, is given a production ID. The user enters an initial value the controller automatically increments per job. The initial value must be > 0 since production ID 0 is reserved for manual production.
3.
V2.0
16.07.2008
40/54
Live Demo
Micro Automation Set 1
No. Step
ID Number 21063595
Remark
4.
If required, change the residual material quantity on the coil; when the quantity is less than this value, a message not requiring acknowledgement is triggered on the TP. The limit value of the residual material quantity is independent of the selected wire-wound coil.
Reading and writing the recipe data Each time a wire-wound coil is newly selected, the remaining coil capacity of the previous coil is saved to its recipe stored in the memory module and the recipe data of the new coil is loaded from the memory module to the controller. Manual recipe data modifications are transferred to the PLC and written to the memory module with leaving the recipe administration.
6.2
Copyright Siemens AG 2008 All rights reserved Set01_DocTech_2d0_en.doc
Procedure
Table 6-4
No.
Step
Remark
1.
The text not yet fed in! flashes. 2. Use the start button (transport wheels start) and put the end of wire between the transport wheels. When the end of wire reaches the proximity switch, the feed is stopped. The flashing text changes to a permanent display of fed in!. From now on, the current feed is also always displayed on the top of the screen.
V2.0
16.07.2008
41/54
Live Demo
Micro Automation Set 1 ID Number 21063595
Display of the current feed The current feed is the distance between the wire tip and the cutter. Since the proximity switch referring to the normal conveying direction is located in front of the cutter, the value of the current feed after completing the feed-in operation is negative and slightly smaller than the distance between the proximity switch and the cutter. When cutting the first wire rod to length in automatic mode, the already existing negative feed resulting from the feed-in operation is considered. Repetition of the feed-in operation If a feed-in operation is to be performed when the proximity switch is already occupied by the wire this can, for instance, be the case after power off/on of the controller the drive wheels start backwards when pressing the start button. If the proximity switch then detects the start of the wire (negative edge), it is reversed and stopped when the wire tip is detected again (positive edge).
6.3
6.3.1 Procedure
Table 6-5
Automatic mode
Production of 10 wire rods with a length of 2m
No.
Step
Remark
1.
Go to automatic production and enter 10 for the number of core rods. Subsequently, start the production using the start button. The distance between steel rod tip position and cutter position is always displayed as current feed (here -198mm). In this case, the first steel rod is thus moved forward by 2198mm and then cut.
V2.0
16.07.2008
42/54
Live Demo
Micro Automation Set 1
No. Step
ID Number 21063595
Remark
2.
As soon as the job has started, the production ID of the batch is displayed. While processing the job, the number of already cut steel rods (actual value) is permanently updated and displayed. The steel rod is cut when the current feed corresponds to the required rod length (here 2000mm). With each new feed after cutting, the feed value is reset to 0. The remaining capacity on the coil is updated after each cut. The above figure graphically indicates the feed and cut operations.
3.
After the cutting job has been completely processed, setpoint and actual value of the cut steel rods are identical (here =10). The production job is terminated with the Protocol button. The production data of the job is then written to the memory module. Alternatively, you can later increase the number of steel rods to be cut before the job is logged. If you enter, for example, 15 as a new setpoint and restart the job, 5 additional rods are cut. The production ID remains unchanged. After pressing the Protocol button, the controller is ready for the entry of a new job.
6.3.2 Procedure
Table 6-6
No.
Step
Remark
1.
Start a cutting job in automation mode as described in section 6.3.1. Select the number of steel rods to be cut, for example again =10.
V2.0
16.07.2008
43/54
Live Demo
Micro Automation Set 1
No. Step
ID Number 21063595
Remark
2.
Before completing the job for instance during the feed of the sixth rod press the End button. The End button flashes and thus indicates the premature termination of the job. The currently processed rod is still cut to the defined length. The cutting process is interrupted.
3.
Terminate the production job by selecting the Protocol button. The production data of the job is then written to the memory module. Alternatively, you can undo the termination of the production by again pressing the End button and by selecting the start button to continue the original job.
6.4
V2.0
16.07.2008
44/54
Live Demo
Micro Automation Set 1 ID Number 21063595
Procedure
Table 6-7
No.
Step
Remark
1.
Go to manual production mode (only possible if wire has previously been fed in).
The displayed current feed indicates the distance between wire tip position and cutter. If the wire tip is located exactly at the cutting tool (e.g., immediately after a cut), the feed = 0mm. 2. To cut a steel rod with a length of 2000mm also in this mode, use the jog buttons to move the wire in such a way that a current feed of 2000mm is displayed on the TP. You can move forward or backward, jog quickly or slowly and make corrections as often as desired. If the current feed 0, i.e. if no wire is under the cutting tool, the cut button cannot be used. After completing the cut, the residual material is updated on the TP. The cut is automatically logged with production ID 0.
3.
Press the cut button. The cutting tool is controlled while you keep the button pressed.
6.5
In both cases, the stopping is realized by the Lin_StopMotion block whose decelerating torque can be parameterized. While, after a stop via the TP 177micro, the original motion can be continued using the start button on the TP, the program branches to a fault condition requiring acknowledgement (Emergency Stop message) when stopping by means of the hardware button; after acknowledgement this condition inevitably leads to feed in.
V2.0
16.07.2008
45/54
Live Demo
Micro Automation Set 1 ID Number 21063595
!
WARNING
The hardware stop button must not necessarily be used as an actuating element of an emergency stop circuit, even if this is provided by its mechanical and electrical design. The hardware button merely intervenes in the control software. It does not interrupt the voltage of the motor circuit. Please observe the safety philosophy to be applied in your plant.
V2.0
16.07.2008
46/54
Live Demo
Micro Automation Set 1 ID Number 21063595
6.5.1 Procedure
Table 6-8
No.
Step
Remark
1. 2.
Go to feed in mode (section 6.2) or to automatic production (section 6.3). During the relevant mode, press the Stop button on the TP. a. Response when feed active: The motor is immediately decelerated to a standstill with the decelerating torque parameterized at the Lin_StopMotion block (T_Stop variable in the Parameters status table).