Cover

Position Control of a Drive via

Pulse/Direction Interface
S7-1200, Sinamics S110 and KTP1500
Configuration Example x7 January 2010

Applications & Tools

Answers for industry.

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CE-X7 - Positioning a Sinamics S110 Servo Drive with S7-1200 Motion Control
V2.0, Entry ID: 38391227

Automation Solution

Configuration

Code Elements

History

Appendix

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SIMATIC
CE-X7 - Positioning a Sinamics
S110 Servo Drive with S7-1200
Motion Control

Automation Task

CE-X7 - Positioning a Sinamics S110 Servo Drive with S7-1200 Motion Control
V2.0, Entry ID: 38391227

Warranty and Liability

Warranty and Liability

Note

The Application Examples are not binding and do not claim to be complete
regarding the circuits shown, equipping and any eventuality. The application
examples 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 used correctly. These application examples do not
relieve you of the responsibility of safely and professionally using, installing,
operating and servicing equipment. When using these application examples, you
recognize that we cannot be made liable for any damage/claims beyond the
liability clause described. We reserve the right to make changes to these
application examples at any time without prior notice. If there are any deviations
between the recommendations provided in this application example and other
Siemens publications e.g. Catalogs the contents of the other documents
have priority.
We do not accept any liability for the information contained in this document.

Copyright Siemens AG 2010 All rights reserved

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 Application Example shall be excluded. Such an exclusion shall
not apply in the case of mandatory liability, e.g. under the German Product Liability
Act (Produkthaftungsgesetz), in case of intent, gross negligence, or injury of life,
body or health, guarantee for the quality of a product, fraudulent concealment of a
deficiency or breach of a condition which goes to the root of the contract
(wesentliche Vertragspflichten). The damages for a breach of a substantial
contractual obligation are, however, limited to the foreseeable damage, typical for
the type of contract, except in the event of intent or gross negligence or injury to
life, body or health. The above provisions do not imply a change of the burden of
proof to your detriment.
It is not permissible to transfer or copy these application examples or excerpts of
them without having prior authorization from Siemens Industry Sector in writing.

CE-X7 - Positioning a Sinamics S110 Servo Drive with S7-1200 Motion Control
V2.0, Entry ID: 38391227

Table of Contents

Table of Contents
Warranty and Liability ................................................................................................. 4
1

Automation Task................................................................................................ 6
1.1
1.2

Copyright Siemens AG 2010 All rights reserved

Automation Solution ......................................................................................... 9

2.1
2.2
2.3
2.4
2.5
2.6
2.7
2.8
2.9
2.10
2.11
2.12
2.13
2.14
2.15

Application environment ....................................................................... 6

Component list ..................................................................................... 7
Wiring diagram ..................................................................................... 9
Control signals between S7-1200 and servo drive ............................ 11
Moving the servo motor with the aid of the pulse interface................ 15
Managing the position in the S7-1200 and the servo drive................ 16
Calculating the maximum motor frequency........................................ 17
Technology object axis and motion control function blocks .......... 20
Enabling/disabling of the axis (MC_Power) ....................................... 21
Acknowledgment of error (MC_Reset)............................................... 21
Manual moving jog mode (MC_MoveJOG)..................................... 22
Manual moving with preset velocity (MC_Velocity)......................... 22
Homing (MC_Home) .......................................................................... 23
Interrupting jobs (MC_Halt) ................................................................ 25
Absolute positioning (MC_MoveAbsolute) ......................................... 26
Relative positioning (MC_MoveRelative) ........................................... 26
Reset position (Clear Position)........................................................... 27

Configuration ................................................................................................... 28
3.1
3.2
3.3
3.4
3.5
3.6
3.7

Installing and wiring hardware............................................................ 28

Configuring the servo drive ................................................................ 29
Configuring the S7-1200 CPU and downloading the hardware ......... 32
Configuration of technology object Axis........................................... 34
Loading software ................................................................................ 36
Commissioning and diagnoses of axis via the technology object...... 37
Operator control with WinCC Runtime HMI ....................................... 40

Code Elements................................................................................................. 42

History............................................................................................................... 43

Appendix .......................................................................................................... 44

CE-X7 - Positioning a Sinamics S110 Servo Drive with S7-1200 Motion Control
V2.0, Entry ID: 38391227

1 Automation Task

Automation Task

1.1

Application environment
A servo motor is to be moved with a servo drive by Siemens Sinamics S110 and
using the pulse interface of a S7-1200 CPU1214C. Both the servo drive and the
S7-1200 CPU have an individual internal pulse counter each, whose count
represents the current position. Before moving to an absolute position, the counter
of the S7-1200 CPU has to be synchronized with the physical position of the axis.
Figure 1-1
Drive
Controller
Pulses
Direction

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ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

Counter
Position

Synchronous

Axis with motor

Counter
Position

Pos

Encoder
Position

-40

-30

-20

-10

10

20

30

40

50

The task consists of absolute positioning independent of start position and velocity
(Figure 1-2). The S7-1200 technology object axis with the respective PLCopen Motion Control function block provides the necessary functions.
On the basis of the stored

acceleration a and deceleration d [mm/s2]

velocity in v [mm/s]

target position in [mm],

the moved distance s in [mm] is calculated based on the current start position
and the target position is approached.
Figure 1-2

Velocity

V
a

d
Time

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1 Automation Task

1.2

Component list

Products
Table 1-1
Components

MLFB / Order number

Note

1.

PM1207 Power supply

6EP1332-1SH71

2.

S7-1200 CPU1214C

6ES7214-1AE30-0XB0

DC

3.

Basic panel KTP1500 (color, PN)

6AV6647-0AG11-3AX0

optional

4.

SINAMICS Power Module PM340

6SL3210-1SB12-3AA0

230V

5.

SINAMICS Control Unit CU305 DP

6SL3040-0JA00-0AA0

Pulse/direction variant
from firmware v4.3

6.

Synchronous servo motor 1FK7

1FK7032-5AF21-1UA0

DRIVE-CLiQ

7.

SINAMICS S110 MMC incl. firmware

v4.3 and licensing

6SL3054-4ED00-0AA0

Optional, if CU305
already existed with old
firmware

Note
Copyright Siemens AG 2010 All rights reserved
ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

Qty

A KTP1500 is not absolutely necessary. To simulate the user interface, PC

runtime from STEP7 Basic can be used.

Accessories
Table 1-2
Components

Qty

Order number

Note

8.

Power cable

6FX5002-5CG01-1AB0

9.

Signal line DRIVE-CLiQ

6FX5002-2DC00-1AB0

10.

Commutation inductor

6SE6400-3CC00-4AB3

Optional

11.

230 V connection with fusing

12.

Limit switch

Specialist dealer

Mechanically operated

13.

Reference point switch

Specialist dealer

Inductive

14.

Emergency stop circuit-breaker

Specialist dealer

Make contact

15.

15 pin sub-D plug with cable

1m

Specialist dealer

Connection of
pulse/direction signals to
encoder interface of
CU305 DP

16.

330 ohm resistor 2W

Specialist dealer

Load resistor

17.

Serial null modem cable to

commission the Sinamics S110

Specialist dealer

RS232 (pin 2 and 3

rotated)

Note

L,N

The configuration, as it is, is intended for industrial application. For energy

supply, industrial networks are usually implemented. It is therefore not necessary
to use special filters/inductors with low leakage currents.
If the configuration is used in sensible electricity networks (e.g. PCs on the same
network), filters or inductors should be used.
More information on the Sinamics S110 can be found under:
http://www.siemens.com/sinamics-s110

CE-X7 - Positioning a Sinamics S110 Servo Drive with S7-1200 Motion Control
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1 Automation Task

Programming package
Table 1-3
Component

Qty

MLFB / Order number

18.

STEP 7 Basic V10.5

6ES7822-0AA00-0YA0

19.

STARTER startup tool on DVD

6SL3072-0AA00-0AG0

As of version 4.1.5 for

firmware v4.3

The current STARTER version can be downloaded here:

http://support.automation.siemens.com/WW/view/en/26233208

Copyright Siemens AG 2010 All rights reserved

ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

Note

Note

CE-X7 - Positioning a Sinamics S110 Servo Drive with S7-1200 Motion Control
V2.0, Entry ID: 38391227

2 Automation Solution

Automation Solution

2.1

Wiring diagram

S7-1200 PM1270 + CPU1214C

Figure 2-1
L
N
PE

L+
M

11
RPS
Fwd Limit
Rev Limit
EMC STOP

5.X132.1 (Servo Ready)

5.X132.2 (Alarm)
5.X132.3 (Standstill/
In Position)

CPU 224XP

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ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

A7
5.X133.2 (Alarm Reset)
5.X133.3 (Clear Position)
5.X133.1 (Enable Servo)
5.X23.13 (Sign)
5.X23.15 (Pulse)

R=330 (2W)

16

PM340
Figure 2-2
L
N
PE

10

9
6.X100 - DRIVE-CLiQ

M
W

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2 Automation Solution

CU305DP
Figure 2-3

L+
M

6.X100 - DRIVE-CLiQ
X23

X23

2.Q0.1
2.Q0.0

1: No
2: No
3: No
4: No
5: No
6: No
7: Ground
8: No
9: No
10: No
11: No
12: No
13: PTO-Sign
14: No
15: PTO-Pulse
16: No

15

X132
X132
X133

2.I1.0
2.I1.1
2.I1.2

Starter v4.3

1: Servo Ready
2: Alarm
3: Standstill/In Position
4: No
5:No
6: No
7: No
8: No

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ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

17

Note

X133

2.Q0.4
2.Q1.1
2.Q0.5

1: Enable Servo
2: Alarm Reset
3: Clear Position
4: No
5: Ground
6: No
7: No
8: No

Please observe all valid safety regulation and pay attention to the instructions
from the handbook when connecting the AC 230V power supply of the Sinamics
S110.
http://support.automation.siemens.com/WW/view/en/33940571

ATTENTION

Notes on preventing electromagnetic interference:

Make sure a good conductive connection between the servo drive and the
(grounded) metal mounting plate is provided.
Ensure all devices in the cabinet are earthed using short earthing lines with
a large diameter and that they are connected to a common earthing point
or earthing bar.
Use shielded control lines
Run control lines as far separated from power cables in separate
installation channels as possible. Crossings between power and control
lines should be at a 90 angle.
Connect the protective conductor of the motor to the earth connection (PE)
of the respective servo drive.
The line ends should be properly terminated, making sure that unshielded
lines are kept as short as possible.

Use shielded lines for motor connections; earth the shielding both on the
converter and the motor side using cable clamps.

10

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2 Automation Solution

2.2

Control signals between S7-1200 and servo drive

Digital inputs used on the servo drive (outputs on the S7-1200)

The drive is designed to be controlled only by NPN signals. For this purpose it is
essential that the X133.5 terminal is connected with ground.
The S7-1200 CPU1214C provides only PNP outputs. If the symbolically
represented switch is closed by a logic 1 on the Q0.4 output of the S7-1200,
the current I will flow. The current flow is detected by the drive as a logic 1
(Figure 2-4).
Figure 2-4
L+
M

X133.1

3L+

Q0.4

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ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

X133.5

I
S7-1200 digital PNP outputs

Drive digital inputs

To operate the servo drive, the following input signals are used:

Enabling/disabling of drive - Enable Servo

Resetting of alarm Alarm Reset

Setting setpoint- and actual position in drive to 0 (reset position) Clear

Position

Using the encoder interface of the servo drive for pulse/direction signals
The internal X23 encoder interface of the CU305 is used to control the drive with
pulse/direction signals. Only the pins 7, 13 and 15 are used according to Table 2-1.
Table 2-1
Pin

Signal name

Technical details

1-6

not relevant

Ground

812

not relevant

13

BP
Pulse/direction interface: direction
not relevant

B track positive

AP_DAT
Pulse/direction interface: pulse

A track positive

14
15

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2 Automation Solution

Control is via PNP signals, just like for digital inputs.

Figure 2-5
L+
M

X23.15
R=330
3L+

Q0.0
X23.7

I
S7-1200 PTO output

Drive X23

Furthermore, a resistor that is switched parallel to ground has to be used so that

the pulses are not distorted at high frequency and that they can be clearly detected
by the servo drive. Figure 2-6 shows the pulse signal without resistor. In Figure 2-7
the load resistor is present.
Copyright Siemens AG 2010 All rights reserved
ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

Figure 2-6
Without load resistor

Logic 1

Logic 0

12

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2 Automation Solution

Figure 2-7
With load resistor

Logic 1

Logic 0

Incorrect wiring of the digital outputs of the S7-1200 CPU can lead to the
destruction of the outputs.

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ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

ATTENTION

Outputs used on the servo drive (inputs on the S7-1200)

The outputs of the servo drive can only be connected as PNP. They can be read
with the S7-1200 CPU via a ground connection of the digital inputs (terminal 1M is
supplied with M).
The current flows if a logic 1 is pending at the digital output of the drive (the
switch symbolically represented in Figure 2-8 is closed). The current is interpreted
by the S7-CPU as a logic 1.
Figure 2-8
L+
M
24V DC

1M

internal

I0.0

I
S7-1200 digital input

Note

X132.1

Drive digital output

All digital inputs of the S7-1200 CPU which are connected to the common
potential 1M can only read PNP signals. Please observe this when wiring the
hardware switches.

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2 Automation Solution

The following output signals are used for the servo drive feedbacks:
Servo ready

Servo alarm (active fault) Alarm

Drive stopped standstill / In position

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14

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2 Automation Solution

2.3

Moving the servo motor with the aid of the pulse

interface
Depending on the servo drive settings, each pulse causes the servo motor to move
by a defined angle.
If the drive is set, for instance, at 1000 pulses per revolution, the motor moves by
0.36 per pulse.
Figure 2-9

0.36/per pulse at 1000 pulses per revolution

1 revolution = 360

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ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

The velocity of the motor is determined by the number of pulses output per second.
Using the S7-1200 CPU1214C, a maximum of 100,000 pulses per second (pps)
can be output.
Figure 2-10

slow

1
o

fast

1
o

Time

Correlation between velocity and distance

The correlation between velocity and distance is explained in Figure 2-11. The
moved distance in the diagram is represented by the enclosed area of both curves.
The area and thus the number of output pulses is identical in both cases. Since the
blue curve is moved slower than the red curve it takes more time to travel the
distance.
Figure 2-11

Velocity [pulses per second]

Vmax
S1
S2
Time [seconds]

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2 Automation Solution

Meaning of start/stop velocity, acceleration and deceleration

Due to the inertia of the motor it is not possible to move smoothly close to
velocity 0. To avoid a jerking of the motor, a minimum velocity is defined
(start/stop velocity).
If the pulse interface is activated, the start/stop velocity is moved first. From there,
the motor is accelerated to the specified velocity. Before reaching the end position,
the motor is decelerated until start/stop velocity is reached. Subsequently, the
pulse interface is disabled.
Figure 2-12
Velocity [pulse per second]
Vmax

S
Start/Stop
Time [seconds]

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ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

Acceleration time

2.4

Delay time

Managing the position in the S7-1200 and the servo

drive
The pulses output by the S7-1200 are evaluated in the servo drive, independently
of the S7-1200. Internally, the S7-1200 counts the number of output pulses via a
high-speed counter, but receives no feedback on the actual position of the servo
drive.
To be able to correctly evaluate the output pulses of the S7-1200, the maximum
frequency of the S7-1200 has to be adjusted to the nominal speed of the servo
motor (s. chapter 2.5).
The servo drive then controls the motion of the servo motor.
Figure 2-13 illustrates the sequence.

16

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2 Automation Solution

Figure 2-13
Velocity
S0
Time

S7-1200

Sinamics S110
Pulses
Direction

+
Counter

Setpoint

Counter

Actual
Encoder signal

Set Position
S0

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ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

Time

2.5

Calculating the maximum motor frequency

To ensure that the motor is not moved at a speed that is higher than its nominal
speed, the maximum motor frequency must be determined that may finally be
output by the pulse interface of the S7-1200 CPU. For this purpose the nominal
speed of the motor and the number of pulses per revolution has to be known.
A special feature of the Sinamics S110 allows that the number of pulses per
revolution (number of pulses per revolution) can be set variably in the drive. It can
be selected between greater position accuracy and greatest possible dynamic.
This means that when the position accuracy is greater (greater number of pulses
per revolution), this results in the motor being moved with a small angle per pulse.
The nominal speed is limited.
If the dynamic is greater (smaller number of pulses per revolution), the nominal
speed of the motor can be reached or it can even be exceeded. However, the
moving of the motor is performed with a greater angle per pulse. Positioning is less
acurate.
In this configuration example, it is aimed to reach the nominal speed of the motor.
So therefore the number of pulses per revolution has to be calculated. This results
in a maximum motor frequency (nominal speed) of 3000 revolutions per minute,
corresponding to the maximum possible pulse frequency of the S7-1200 CPU of
100,000 pulses per second.
In this case, calculating the number of pulses for the drive looks like this:

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2 Automation Solution

Sample calculation for greatest possible dynamic

Given variables:
Nominal speed of the servo motor (TMotor)
Maximum pulse frequency of the CPU (fCPU)

= 3000 rpm
= 100,000 pps

Calculation:

PMotor

f
f CPU
60 s
CPU
TMotor
TMotor

60 s

100000 pps 60 s
3000rpm
2000 ppr

PMotor
PMotor
Result:
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ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

To reach the nominal speed of the motor, whilst taking into account that the
maximum frequency is 100,000 pulses per second, a number of 2000 pulses per
revolution has to be set. This results in a position accuracy of 0.18 per pulse.
A smaller number of pulses per revolution would mean that the nominal speed is
exceeded. Limiting the maximum frequency of the S7-1200 prevents the exceeding
of the nominal speed at a lower number of pulses per revolution.

Note

Using the additional SB 1222 DC signal board enables the PLC to increase the
maximum control frequency to 200,000 pulses per second

Sample calculation for greater position accuracy

If the position accuracy is to be increased, then the number of pulses per revolution
has to be increased. At a consistent maximum frequency of 100,000 pulses per
second this means the following for the nominal speed of the motor:

TMotor

f CPU 60s
PMotor

Calculation:
Increase of the number of pulses per revolution to 4000 ppr.

100000 pps 60 s
TMotor
4000 ppr
TMotor 1500rpm

18

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2 Automation Solution

Result:

Copyright Siemens AG 2010 All rights reserved

ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

At double position accuracy of 0.09 per pulse the nominal speed of the motor
increases to 1500 revolutions per minute at a constant maximum frequency of
100,000 pulses per second.

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2 Automation Solution

2.6

Technology object axis and motion control

function blocks
The technological object "axis" represents an axis in the control and facilitates the
control of the servo drive via the pulse interface of the S7-1200 CPU1214C. The
technology object axis is controlled via the motion control instruction.
The configuration of the technology object axis is described in more detail in
chapter 3.4.

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ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

Figure 2-14

To meet all functions of this configuration example, the following program blocks
are required which must be called cyclically in the user program.
Table 2-2
No
1.

20

Program block
MC_Power

Function
Enabling/disabling of the axis

2.

MC_Reset

Acknowledgement of all pending errors

3.

MC_MoveJog

Jog mode

4.

MC_MoveVelocity

Moving of axis at specified velocity and

direction

5.

MC_Home

Homing the axis

6.

MC_Halt

Cancelling all movements, stopping of

axis

7.

MC_MoveAbsolute

Absolute positioning of axis

8.

MC_MoveRelative

Relative positioning of axis

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2 Automation Solution

2.7

Enabling/disabling of the axis (MC_Power)

Before the axis can be moved it has to be enabled. When the TRUE signal is
applied on the enable input of the MC_Power block, the output of the
technology object axis of S7-1200 CPU is set in the configuration and the servo
drive is switched on.
The StopMode input indicates whether the axis is to be decelerated at the
configured emergency stop deceleration when it is disabled and turned off
afterwards (0) or whether the axis is to be stopped instantly (1).
The servo drive will receive the feedback whether it is ready, on the "Status" output
of the block. Errors during the operation are displayed on the Error output and the
respective error identification on the ErrorID output. A list of the ErrorIDs can be
found in the online help of STEP7 Basic.

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ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

Figure 2-15

2.8

Acknowledgment of error (MC_Reset)

If an acknowledgeable error is pending, it has to be reset by a positive edge on the
Execute input on the MC_Reset block.
Figure 2-16

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2 Automation Solution

2.9

Manual moving jog mode (MC_MoveJOG)

To move in jog mode the MC_MoveJog block is available. Once a speed was
indicated at the Velocity input and the JogForward or JogBackward input was
set, a pulse sequence will be output on the pulse output of the control until
JogForward or JogBackward is reset.
The Busy output is active as long as the axis is moved via this block.

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ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

Figure 2-17

2.10

Manual moving with preset velocity (MC_Velocity)

To move with preset velocity the MC_MoveVelocity block is available. Once a
speed was indicated at the Velocity input and by a positive edge on the Execute
input, a pulse sequence is output at the pulse output of the control until the
MC_Halt is block is executed.
The "Direction" input is used to specify the rotation direction and can contain the
following three values:

0: the rotation direction is controlled via the sign (+/-) of the speed indicated

1: positive rotation direction (unsigned velocity value)

2: negative rotation direction (unsigned velocity value)

The Busy output is active as long as the axis is moved via this block.

22

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ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

Figure 2-18

2.11

Homing (MC_Home)
The controller has to know the physical position of the axis before the servo motor
may be moved defined via a pulse sequence.
Learning the physical position (homing) shall be explained using a linear axis. This
axis consists, for example, of a spindle that is connected to the servo motor. One
revolution of the motor is to correspond to 2000 pulses and one unit length [LU] of
the spindle.
Figure 2-19
Limit switch
(backward)

-50

Reference point switch

-40

-30

-20

-10

10

Limit switch
(forward)

20

30

40

50 LE

It is assumed that the axis depicted green in the picture is by default located left of
the reference point switch on position 0.
The axis is moved by a positive edge on the Execute input of the MC_Home
block at a defined speed and in a defined direction.
In the configuration of the technology object you define in which direction and with
what speed the axis is to be moved. (Chapter 3.4, Configuration). The axis is only
moved in accordance with this configuration when the value 3 is pending at the
Mode input of the MC_Home block.

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2 Automation Solution

Figure 2-20

Three different cases can occur which have an influence on homing the axis.
Case 1: starting position left of reference point; deceleration to slow speed is
complete before reaching the negative edge
Copyright Siemens AG 2010 All rights reserved
ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

At a positive edge of the reference point switch, the motor is decelerated to a

slower velocity. The axis is now moved to the falling edge of the reference point
switch and is then stopped. The position counter is set to the absolute value
pending on the Position input.
Figure 2-21

Case 2: starting position left of reference point; deceleration to slow speed is not
complete before reaching the negative edge
In case deceleration to slower velocity is not achieved before reaching the negative
edge of the reference point switch, the axis is stopped. Subsequently, the axis is
moved backwards at slow velocity until the positive edge of the reference point
switch. The axis is stopped again and then moved forward at slow velocity, up to
the negative edge.
Figure 2-22

24

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2 Automation Solution

Case 3: starting position to the right of the reference point

If the axis is behind or on the reference point switch, the axis is not detected by the
reference point switch but by the forward limit switch. Axis movement will be
stopped. Once it has come to standstill, it is moved backward at a defined speed
until it reaches the reference point. Afterwards normal homing starts again.

Copyright Siemens AG 2010 All rights reserved

ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

Figure 2-23

The Busy output is active as long as the axis is moved via this block. Once the
block was successfully run through, the HomingDone status bit is set to TRUE
in the data block of the axis technology object.

2.12

Interrupting jobs (MC_Halt)

Each active job, i.e. each active movement of the axis can be stopped by the
"MC_Halt" block. The axis is brought to a standstill with delay by a positive edge on
the Execute input. The position, where the axis stops is not defined.
Figure 2-24

Additionally, every active job can be interrupted by triggering a new job. It is always
only the job triggered last that is active.
Example: the axis is currently moved at preset velocity. If the jog mode is now
activated, the job with preset velocity is deleted and jog mode is active.

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2 Automation Solution

2.13

Absolute positioning (MC_MoveAbsolute)

Due to the homing, the current position of the axis is known. With the aid of the
"MC_MoveAbsolute" block, any position within the mechanical limits can be
approached in [mm] by specifying the real position. In addition, the traversing
velocity has to be specified.

Copyright Siemens AG 2010 All rights reserved

ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

Figure 2-25

If the block is started by a positive edge at the EXECUTE input, the number of
pulses required for reaching the target position is calculated on the basis of the
current position and the target position. The motor is then, if possible, accelerated
up to the indicated velocity and is then stopped with delay at the target position.

2.14

Relative positioning (MC_MoveRelative)

Apart from the absolute positioning there is also the option of relative moving at
any distance, direction and velocity, using the MC_MoveRelative block.

26

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2 Automation Solution

Copyright Siemens AG 2010 All rights reserved

ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

Figure 2-26

When the block is started by a positive edge at the EXECUTE input, the axis is
moved by the set distance at the selected velocity. The direction results from the
sign (+/-) of the distance.

To ensure that the positioning only occurs within the permitted

boundaries, the axis must have been homed beforehand.

DANGER

2.15

Reset position (Clear Position)

Resetting the position in the drive is used for round axis to avoid a moving above
the maximum possible count and the thus connected interference. If the CLR
output is set, the counter for the setpoint- and actual position in the drive is set to
0. This is necessary to eliminate a possible offset.
Is there a following error in drive because of a big difference between setpoint
position and actual position, the only possibility to reset this fault is reset position.
During switching on the drive, the digital output CLR is set automatically for one
second, because depending on the type of encoder there can be a difference
between setpoint- and actual position after switching on.

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3 Configuration

Configuration

3.1

Installing and wiring hardware

Table 3-1

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ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

No

Instruction

Note/picture

1.

Mount the fuse, PM1207 and the S7-1200

CPU1214C onto a top hat rail.

2.

Connect the PM1207 to the 230 V AC supply

voltage.
Connect the controller to the 24 V DC supply
voltage of the PM1207.

See chapter Wiring diagram

3.

Mount the PM340 to the commutation inductor

and install both, paying attention to the
installation instructions.

See Sinamics S110 manual.

4.

Connect the inductor with the 230V AC supply

voltage with the PM340.

See chapter Wiring diagram

5.

Connect the PM340 with the motor, using the

power cable.

See chapter Wiring diagram

6.

Insert the CU305 to the PM340.

7.

Connect the digital inputs/outputs of the CU305

with the S7-1200.

See chapter Wiring diagram

8.

Connect the DRIVE-CLiQ interface of the

CU305 and the encoder of the motor.

See chapter Wiring diagram

9.

Prepare the signal cable for the pulse/direction

interface.

See Table 2-1.

10.

Connect the signal cable with the encoder

interface of the CU305.

See chapter Wiring diagram

11.

Connect all earth connections with earth.

28

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3 Configuration

3.2

Configuring the servo drive

SINAMICS S110 can be easily and quickly configured with the STARTER startup
tool. Basic knowledge of the software is assumed.
Below, the servo drive is configured in a way so that it can be moved via the
external pulse/direction signals, allowing for the greatest possible dynamic.

Note

On the Internet site on which you have downloaded this documentation you will
find a STARTER project in which the configuration for the SINAMCIS S110 listed
in the component list (chapter 1.2), has already been performed. It only has to be
loaded to the device. In this case, reconfiguration is not necessary.

Table 3-2

Copyright Siemens AG 2010 All rights reserved

ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

No

Instruction

1.

Open the STARTER program

2.

Connect the PC with the RS232 interface of the

Sinamics S110 using the serial null modem
cable

3.

Create a new project

4.

Insert a new single drive unit with the following

characteristics:

SINAMICS S110

CU305 DP

Version 4.3

Online access PPI (or Profibus)

5.

Double click Configure drive unit

Comment/picture

A connection with the PC is also possible via

the profibus interface. A respective Profibus
adapter for the PC is necessary.

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3 Configuration

No

Instruction
Select an object name
Click Next.

7.

Specify the control structure

Speed control with encoder

Copyright Siemens AG 2010 All rights reserved

ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

6.

Comment/picture

Click Next.

8.

Select a power unit:

6SL3210-1SB12-3Axx, 0.37kW, 2.5A,

AC/AC
Click Next.

30

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3 Configuration

No
9.

Instruction

Comment/picture

Select a motor:

Motor with DRIVE-CLiQ interface

Click Next.

Copyright Siemens AG 2010 All rights reserved

ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

10.

Select:

No motor holding brake

Click Next.

11.

Encoder 1 is selected by default (motor encoder)

Click Next.

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3 Configuration

No
12.

Instruction

Comment/picture

Select the pulse/direction interface as setpoint

source.
Select the control type:

Position control
Configure the pulse/direction interface:

Encoder channel: 2

Encoder evaluation: CU305 DP

Pulses per revolution: 2000

Signal shape: Pulse/direction, positive logic

Copyright Siemens AG 2010 All rights reserved

ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

Click Next, afterwards click Finish.

13.

Connect with the target system

14.

Load your project in the target system and select

Copy from RAM to ROM

3.3

Configuring the S7-1200 CPU and downloading the

hardware

Table 3-3
No

Instruction

Note/picture

1.

Extract the file from Table 4-1 no. 1

*.zip

2.

Open the extracted project with STEP7 Basic

v10.5

*.ap10

3.

Select the device CEx7_PLC in project

navigation and open the device configuration

4.

Check the device configuration and if necessary

adjust it to your hardware

32

additional module
IP address

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3 Configuration

No
5.

Instruction

Note/picture

Check whether the PTO1 pulse generator is

enabled.
1

For this purpose click CPU (1) and then

properties (2).
Then select "Pulse generator" (PTO/PWM)
(3).
Check the settings for PTO1/PWM1 (4-5)

4
3

6.

Check whether the clock memory byte 2 is

active
1

Copyright Siemens AG 2010 All rights reserved

ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

For this purpose click CPU (1) and then

properties (2).
Then select System and clock memory
(3).
Enable the clock memory byte and set as
location MB2 (4)

7.

Load the hardware into the CPU

Select CPU and click the Download to

device icon or

Right mouse on CPU and select Download

to device Hardware configuration

After loading set CPU to RUN

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3 Configuration

3.4

Configuration of technology object Axis

The technology object Axis is already fully configured in this project. For better
understanding the configuration of the object is described in more detail in the table
below.

Note

The parameters Pulses per motor revolution, maximum velocity and

Start/stop velocity may have to be individually adjusted, depending on servo
drive or motor used (see chapter 2.5)
Depending on the real axis used, the mechanical limits of the axis also have to
be adjusted.

Table 3-4

Copyright Siemens AG 2010 All rights reserved

ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

No

Instruction

1.

Select the Axis_Servo technological object in

the project navigation and double click
Configuration

2.

Click Basic parameters General

Defining the name of the axis: Axis_Servo

Select pulse interface according to device

configuration: Servo

Select length unit: mm

3.

Extended parameters Drive signals

Used to enable/block the servo drive and is
managed by MC_Power

Selecting the enable output according to

wiring diagram: Q0.4 Servo_ON

Selecting of ready input according to wiring

diagram: I1.0 Servo_Ready
If servo drive does not provide "Ready"
signal, the value TRUE is to be entered
here

34

Note/picture

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3 Configuration

Copyright Siemens AG 2010 All rights reserved

ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

No

Instruction

4.

Extended parameters Mechanics

Specifying the limits of the motor and converting
pulses into a length unit

Pulses per motor revolution: 2000

Path per motor revolution: This is where

you enter the distance which, e.g. a slide
covers on a spindle per motor revolution
(e.g. 10 mm)

Inverting direction: Exchanges forward

with reverse

5.

Extended parameters Position monitoring

Defining hardware and software limit switches,
their position and switching behavior

Enable both, hardware and software limit

switches.

Define the hardware limit switches

according to the wiring diagram and specify
whether they are designed as make or
break contacts. (e.g.: I0.2 and I0.1, Upper
level break contact)

Define the position of the software limit

switches according to the mechanical limits
of your axis (e.g. -5000 mm to 5000 mm)

6.

Extended parameters Dynamic general

Setting the velocity limits, acceleration,
deceleration (see chapter 2.3)
Enter the maximum velocity in

pulses/seconds: 100,000 pps

Enter a permissible start/stop velocity

(pulses/second): 1000 pps

Enter the acceleration and deceleration in

mm/s, alternatively you can also enter the
startup and ramp-down time in seconds:
Examples: 2 s 247.5 mm/s
Automatic conversion to mm/s.

7.

Extended parameters Dynamic emergency

stop

Enter an emergency stop deceleration or

ramp-down time to stop the axis when
going past the hardware limit switches or to
stop the axis when disabling through
"MC_Power"
(e.g.: 0.01 s 49500 mm/s)

Note/picture

If the axis has been homed it will be moved

within the limits of the software limit switches.
When reaching the software limit switches the
axis is decelerated until standstill.
If the axis is not homed, the hardware limit
switches will bring the axis to a standstill with
emergency stop deceleration when it moves
past the limits.

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3 Configuration

No

Copyright Siemens AG 2010 All rights reserved

ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

8.

3.5
No
1.

36

Instruction

Note/picture

Extended parameters Homing

Define the reference point switch according

to wiring diagram (I0.0 RPS)

Permit the change of direction at the

hardware limit switch (see chapter 2.11
case 3)

Determine the approach direction: positive

Specify the right side as detection point of

the reference point switch

Define the approach speed (fast velocity for

reference point switch search):
200 mm/s

Define the entry speed (slow velocity for

the falling edge of the reference point):
10 mm/s

Define the reference point shift: 0 mm

The reference point coordinate (position to

be assumed when homing successful) is
configured on the MC_Home block

Loading software
Instruction

Note/picture

Load the fully parameterized project into the

controller.

Select program blocks and click the

Download to device icon or

Right mouse on CEx7_PLC and select

Download to device Software

After loading set CPU to RUN

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3 Configuration

3.6

Commissioning and diagnoses of axis via the

technology object
This chapter describes how you can test and diagnose the operating capability of
the servo drive via the online function of the technological object "axis".

Commissioning

Copyright Siemens AG 2010 All rights reserved

ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

No

Instruction

1.

Doubleclick Technological object

Axis_Servo Commissioning

2.

Note/picture

Click Manual
the CPU will automatically be online
Then click Enable to activate the servo
drive

3.

You are now in Jog mode

Specify a velocity as well as

acceleration/deceleration

Click Jog backwards or Jog forward

The axis accelerates at the acceleration

indicated and will move at the specified
velocity as long as the button remains
pressed. Afterwards the axis is brought to a
standstill at the specified deceleration.

4.

Go to Homing mode

Specify a home position as well as

acceleration/deceleration

Start homing

The axis will move as long in the defined

direction until the reference point switch or the
hardware limit switch is detected.
When the negative edge of the reference point
switch is detected, the axis is stopped and the
specified position of the reference point will be
taken on in the current position.

5.

Go to Positioning mode

Specify a velocity as well as

acceleration/deceleration

Move the axis Relative by specifying a

Path (+/-)

Move the axis Absolute by specifying a

Target (+/-)
Please note: the axis can only be moved
absolute when it has been homed.

The axis moves from the current position to

the specified path
The axis moves to the position specified.

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3 Configuration

No
6.

Instruction

Note/picture

Error
If an error is pending, you can reset it by
clicking Acknowledge.
For example, you can simulate an error by
actuating a hardware limit switch.
The respective last error message is displayed
in the bottom line

Diagnostics

Copyright Siemens AG 2010 All rights reserved

ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

No

Instruction

1.

Doubleclick Technological objects

Axis_Servo Diagnosics.

2.

When the CPU is online, you can see all

currently pending status and error messages.
Software errors can be acknowledged via
MC_RESET once they are fixed.
A list of possible software errors can be found in
STEP7 Basic online help.

3.

Alarm drive
After an error, which the servo drive detects, a
restart is necessary.

4.

Remove the disruption.

Reset the alarm

Reactivate the servo drive

Refence the axis again

38

Note/picture

RDY-LED on the CU305 flashes red. An error

code is generated. It can be displayed using a
BOP or with the STARTER software (see
S110 manual for more detailed explanations)
The servo drive is disabled and an alarm
message bit is set

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3 Configuration

No
5.

Instruction

Note/picture

Some serious errors can only be removed by a

Power Off Reset.
Switch off the servo drive and then switch it
back on again after a short while.

Note

The technology object "axis" creates a global data block in which all parameters
and the current state of the axis is stored.

Copyright Siemens AG 2010 All rights reserved

ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

By entering the symbolic name of the axis, these values can be accessed in the
user program during runtime.

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3 Configuration

3.7

Operator control with WinCC Runtime HMI

Apart from programming a controller, STEP7 Basic V10.5 also offers the
visualization of the project. The software supports all currently available Basic
Panels with Ethernet interface.
If no panel is available, the panel can also be simulated by the integrated PC
runtime.
For convenient operation of the project, a HMI project was integrated which can
also be simulated via PC runtime.
To make the simulation executable please proceed as follows:
Table 3-5

Copyright Siemens AG 2010 All rights reserved

ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

No

Instruction

1.

Go to the control panel of your

programming device and set the PG/PC
interface as follows:

Access point: S7-Online

Interface: TCP/IP -> Your network

adapter

2.

Go back to the STEP7 Basic project

3.

Comment/picture

*.al10

Mark CEx7_HMI in project

navigation
Subsequently click the Start
runtime icon

Via PC runtime you can test all the features described in this documentation. All
important status messages are displayed. In case of an error a message text is
displayed.
I/O fields highlighted in blue, provide only read access. In the yellow I/O fields
values can also be written.
The bar diagram indicates the position of the axis. The ramp displayed shows
whether the axis accelerates, decelerates or whether it moves at constant velocity.
Flashing buttons indicate that an action must be performed.

40

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3 Configuration

Copyright Siemens AG 2010 All rights reserved

ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

Figure 3-1

Note

In addition there is also a project for a KTP600 Basic Panel available.

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4 Code Elements

Code Elements
The software examples are available on the HTML page from which you have
downloaded this document.
Table 4-1
No

File name

Contents

CE_x7_S7-1200_v2d0.zip

STEP 7 Basic V10.5 project

2.

CE_x7_STARTER_v2d0.zip

STARTER project

Copyright Siemens AG 2010 All rights reserved

ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

1.

42

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5 History

History
Version

Date

Modification

03.10.2009

First version with universal servo drive

V2.0

19.01.2010

Second version with Sinamics S110

Copyright Siemens AG 2010 All rights reserved

ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

V1.0

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6 Appendix

Appendix

Copyright Siemens AG 2010 All rights reserved

ConfigurationExample_x7_V2d0_SinamicsS110_en.doc

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