Sinamics s120 at s7-300400 Short-Doku v11 en

Cover sheet
SINAMICS S: Positioning an S120 with

S7-300/400 via PROFIBUS/PROFINET
in STEP 7 with Safety Integrated via
terminal
SINAMICS S120
SIMATIC S7-300/400
Short document September 2013
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SINAMICS S120 Positionieren an S7-300/400

2 1.1, Entry ID: 67261457
s Overview 1
Using the application 2

Functional mechanisms
of this application 3
References 4
SIMATIC, SINAMICS History 5

SINAMICS S120 Positioning
connected to an S7-300/400 control
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1.1, Entry ID: 67261457 3
Table of contents
Warranty and liability

Note The application examples in this document are not binding and do not claim to
be complete regarding configuration, equipment, and any eventuality. These
application examples do not represent specific customer solutions but are only
intended to provide support when it comes to typical applications. You are
responsible for the proper operation of the described products. These application
examples do not relieve you of your responsibility regarding the safe handling
when using, installing, operating, and maintaining the equipment. By using these
application examples, you agree that Siemens cannot be made liable for
possible damage beyond the mentioned liability clause. We reserve the right to
make changes and revisions to these application examples at any time without
prior notice. If there are any differences between the suggestions made in these
application examples and other Siemens publications, such as catalogs, the
contents of the other document(s) take priority.
Siemens shall not be held liable for the information provided in this document.
We accept no liability for any damage or loss caused by the examples, information,
programs, planning data, or performance data described in this application
example, irrespective of the legal basis for claims arising from such damage or
loss, unless liability is mandatory. For example, according to the product liability
law, in cases of malfeasance, gross negligence, due to endangerment of life, body
or health, due to assumption of a guarantee for a product's characteristics of state,

due to malicious concealment of a defect or due to violation of basic contractual
obligations. However, claims for indemnification based on breach of contract shall
be limited to liability for damages to the contract-specific, foreseeable damages,
provided there is no mandatory liability for intent, acts of gross negligence, harm to
the life, body and health of human beings. Any change to the burden of proof to
your disadvantage is not covered hereby.
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Any form of duplication of these application examples or excerpts hereof is not

permitted without the express consent of Siemens Industry Sector.

4 1.1, Entry ID: 67261457
Table of contents
Table of contents
Warranty and liability ............................................................................................... 4
1 Overview ......................................................................................................... 6
1.1 Preconditions..................................................................................... 6
2 Using the application ..................................................................................... 7
2.1 Preconditions..................................................................................... 7
2.2 Using the application via HMI............................................................. 7
2.2.1 Basic screen ...................................................................................... 7
2.2.2 Selecting the axis .............................................................................. 8
2.2.3 Start screen, basic positioner ............................................................. 8
2.2.4 Homing screen .................................................................................. 9
2.2.5 Jogging screen ................................................................................ 10
2.2.6 Traversing blocks screen ................................................................. 11
2.2.7 Direct setpoint specification / MDI .................................................... 14
2.3 Variable tables................................................................................. 16
2.3.1 Reading and writing traversing blocks .............................................. 17
2.3.2 Reading and writing drive parameters .............................................. 19
2.3.3 Reading out the fault memory .......................................................... 19
3 Functional mechanisms of this application ................................................ 20
3.1 SIMATIC functions........................................................................... 20
3.1.1 Overview ......................................................................................... 20

3.1.2 FC72: Communication using FB283 and
SIEMENStelegram 111 .................................................................... 21
3.1.3 FB1: Preparing data for display on the HMI ...................................... 22
3.2 Basic positioner ............................................................................... 23
3.2.1 Tasks that can be addressed with the basic positioner ..................... 23
3.2.2 Properties ........................................................................................ 25
3.2.3 Operating modes ............................................................................. 25
4 References .................................................................................................... 29
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5 History .......................................................................................................... 29

1.1, Entry ID: 67261457 5
1 Overview
1.1 Preconditions
1 Overview
This brief documentation shows the operating control and function mechanisms of
the project sample: SINAMICS S: Positioning an S120 with S7-300/400 via
PROFIBUS/PROFINET in STEP 7 with Safety Integrated via terminal"
This brief documentation does not include any explanations and only shows the
essential points when operating and integrating blocks into your own projects
1.1 Preconditions
In order to use the blocks of the sample project, you require the following:
A SIMATIC S7-300/400
A SINAMICS S120 with two drive axes
SINAMICS S120 must be connected via PROFIBUS or PROFINET with the
SIMATIC S7-300/400.
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6 1.1, Entry ID: 67261457
2 Using the application
2.1 Preconditions

The application can be operated using the variable tables of the sample project or
via the HMI.
2.1 Preconditions
In the project sample, basic safety functions are activated in SINAMICS.
In order to be able to switch on the SINAMICS S120, 24 V must be available at the
EP terminals of the motor module X21.3 and X22.3 as well as at the Control Unit
X122.1.
Otherwise, the pulses are inhibited.
2.2 Using the application via HMI

2.2.1 Basic screen
Fig. 2-1
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The language can be selected in the basic screen.

Exit: exits the runtime
Start: Changes to the start screen for the basic positioner

1.1, Entry ID: 67261457 7
2.2.2 Selecting the axis
In all of the following screens, the axis can be selected in the topmost line. To the
right of the selection, the number of the axis DB of the selected axis is displayed.
All inputs and displays are only for the displayed axis.
2.2.3 Start screen, basic positioner
Figure 2 2 Selecting the axis

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Active faults and alarms of the SINAMICS S120 are displayed in the upper section
of the screen with number and in plain text.
Active faults can be acknowledged with the "Ack" button.
The active operating modes of the basic positioner are displayed at the left.
The actual position and actual velocity of the basic positioner are displayed at the
right.
The screens for the operating modes can be called in the lower section. You can
return to the basic screen using the "Home symbol".

8 1.1, Entry ID: 67261457
2.2.4 Homing screen
Absolute encoder adjustment

Fig. 2-3
Absolute encoders, as in the example for SERVO_02, must be adjusted once after
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commissioning. When adjusting an absolute encoder, the position actual value is

set to the specified reference point coordinate.
Absolute encoder adjustment is initiated using acyclic jobs in SINAMICS. The
status of the acyclic job is displayed at the right below "RD/WR".
While an order has the status "busy", the buttons for initiating new orders are
hided.
When using incremental encoders, as in the example for SERVO_03, absolute
encoders cannot be adjusted.
Homing
When using incremental encoders, SINAMICS S120 must be homed after each
warm restart. For SERVO_03, a reference point mark is parameterized for the
encoder zero mark.
Initiating the reference point approach:
Switch on the drive with "On". If SINAMICS S120 is switched on, then the button
has a green background.
Press "Start Homing" until "Reference point set" is lit.
Using the button "Set Reference point", the reference point can be set to the actual
position Xact.

1.1, Entry ID: 67261457 9
2.2.5 Jogging screen
Fig. 2-4
Using the "Jog 1" and "Jog 2" buttons, the SINAMICS S120 is traversed with the
parameterized speed. Incremental jogging is selected by pressing the "Jogging
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incremental" button.
The SINAMICS S120 can be switched on and switched off using the "On" button.
"Xact" displays the actual position in LU
"Vact" displays the actual velocity in 1000 LU/min
Faults in the SINAMICS S120 are acknowledged using the "Ack" button.

10 1.1, Entry ID: 67261457
2.2.6 Traversing blocks screen
Fig. 2-5
Parameterized traversing profiles can be started from this screen.

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Starting traversing tasks

In the Traversing blocks screen, the basic positioner can be operated in the
traversing block mode.
For traversing motion, the "No intermediate stop" and "No reject task" must be
selected.
"Block number select" sets which traversing block should be started.
The SINAMICS S120 can be switched on and switched off using the "On" button.
Faults in the drive are acknowledged using the "ACK" (acknowledge) button.
The traversing block with the selected block number is started using the "Start"
button.
"Block number active" indicates the number of the active traversing block.
The screen to read and write traversing books is called with "Editor".

1.1, Entry ID: 67261457 11
The timing of the control and status signals of a traversing profile can be seen in
the following diagram. The traversing profile comprises individual traversing blocks.
Progressing (advancing) between the traversing blocks is "Continue with stop"
Fig. 2-6
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12 1.1, Entry ID: 67261457
Reading and writing traversing blocks

Fig. 2-7
Using the editor, traversing blocks can be read and written to using acyclic jobs.
Reading out traversing blocks:
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The index to be read out is set using the "-" and "+" buttons. The read request is
immediately started when one of the two buttons is pressed.
The data of the traversing block that has been read out is displayed in the
relevant fields.
Writing to a traversing block:
First, select the index into which the traversing block should be written. The
other data are then entered in the relevant fields.
The write job is started by pressing the "Write block" button.
Copying a traversing block:
Read out the traversing block to be copied. Enter the new index using the
screen keyboard, when doing this do not use the "-" or "+" buttons. The write job
is started by pressing the "Write block" button.
The drive parameters are backed up in the ROM of the SINAMICS S120 by
pressing the "Save drive" button.
The status of the acyclic job is displayed with "busy" and "done" and "error".
While an order has the status "busy", the buttons for initiating new orders are
hided.

1.1, Entry ID: 67261457 13
2.2.7 Direct setpoint specification / MDI
Fig. 2-8
In the MDI screen, the basic positioner can be operated in the MDI / direct setpoint
specification mode.
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For traversing motion, the "No intermediate stop" and "No reject task" must be
selected.
The positioning mode is set to either relative or absolute using the "relative" button.
Positioning or setting up is selected using the "Pos." button.
The setpoint transfer type is set to signal edge or continuous using the "Edge"
button.
The operating mode MDI/direct setpoint specification is activated using the
"MDI_selection button.
In the setting-up mode, the direction of rotation is specified using "pos." or "neg.".
The acceleration and deceleration override are specified in the "Acc." and "Dec."
fields.
For "Vset", the setpoint velocity is entered in 1000 LU/min.
For "Xset", the setpoint position is entered in LU.
The drive can be switched on and switched off using the "On" button.
Faults in the SINAMICS S120 are acknowledged using the "Ack" button.
For setpoint transfer with signal edge, positioning is started using the "Start" button.

14 1.1, Entry ID: 67261457
The timing of the control and status signals for absolute positioning can be seen in
the following diagram. The setpoint is accepted with a positive signal edge of
"Setpoint acceptance".
Fig. 2-9
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1.1, Entry ID: 67261457 15
2.3 Variable tables
2.3 Variable tables

Commenting out the FC10 call
Several signals are permanently controlled in the FB1 network 4. If these signals
are to be controlled using variable tables, then the corresponding lines must be
commented out.
Fig. 2-10
After changes are made in FB1, the block must be loaded into the SIMATIC S7-
300/400.
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16 1.1, Entry ID: 67261457
2.3 Variable tables
2.3.1 Reading and writing traversing blocks
Traversing blocks can be read out and written to acyclically using the variable
tables "VAT72_TVBsingle" and "VAT72_TVBblock".
Fig. 2-11 VAT72_TVBsingle

You can use variable table VAT72_TVsingle to read or write a traversing block in
SINAMICS S120.
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Writing
Job "30000" must be located in DBW 16
The index of the traversing block is specified in DBW 18 (n+1)
The bits of DBW 134 are used to select which data should be transferred
The traversing block number is specified in DBW 136
The position setpoint is specified in DBD 138
The velocity setpoint is specified in DBD 142
The acceleration is specified in DBD 146
The deceleration is specified in DBD 150
The job of the traversing block is specified in DBW 154 (see the following
tables)
The job parameter is specified in DBD 156 (see the following tables)
The traversing block mode is specified in DBW 160 (see the following tables)
After all data has been written to the blocks, writing can be started with a
positive edge of DBX 14.1

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2.3 Variable tables
Reading
Job "30000" must be located in DBW 16
The index of the traversing block is specified in DBW 18 (n+1)
The read job is started with a positive edge at DBX 14.0
The values are saved in the same data area as where they were saved for the
write job
Table 2-1 Significance of DBW 154 and DBD 156

Job Job parameter
0 = error
1 = positioning
2 = fixed stop [clamping torque in Nm]
3 = endless_pos
4 = endless_neg
5 = wait [Wait time in ms]
6 = goto [jump destination]

7 = set_O [set digital output]
8 = reset_O [reset digital output]
9 = jerk jerk limitation 0 = off / 1 = on
Table 2-2 Significance of DBW 160

Bit 15-12 Bit 11-8 Bit 7-4 Bit 3-0 Significance
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0000 0000 0000 0000

xxxx xxxx xxxx xxx0 Show traversing block
xxxx xxxx xxxx xxx1 Hide traversing block
xxxx xxxx 0000 xxxx End (0)
xxxx xxxx 0001 xxxx Continue with stop (1)
xxxx xxxx 0010 xxxx Continue flying (2)
xxxx xxxx 0011 xxxx Continue external (3)
xxxx xxxx 0100 xxxx Continue external wait (4)
xxxx xxxx 0101 xxxx Continue external alarm (5)
xxxx 0000 xxxx xxxx Absolute (0)
xxxx 0001 xxxx xxxx Relative (1)
xxxx 0010 xxxx xxxx ABS_POS (2)
xxxx 0011 xxxx xxxx ABS_NEG (3)
xxxx xxxx xxxx xxxx No significance
Further information in this regard may be found in the documentation of the FB283. /8/

18 1.1, Entry ID: 67261457
2.3 Variable tables
2.3.2 Reading and writing drive parameters
Traversing blocks can be read out and written to acyclically using the variable
tables "VAT72_Parameter" and "VAT72_Para_1_10".
Further information in this regard may be found in the documentation of the FB283.
/8/
2.3.3 Reading out the fault memory
The fault memory of the SINAMICS S120 can be read out using the
"VAT72_Faultbuffer" variable table.
Further information in this regard may be found in the documentation of the FB283.
/8/
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1.1, Entry ID: 67261457 19
3 Functional mechanisms of this application
3.1 SIMATIC functions

3.1.1 Overview
Fig. 3-1
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The S7-300/400 program comprises the following areas:

Data exchange with the SINAMICS S120:
Cyclic process data exchange
In this area, process data are sent to the SINAMICS S120 (e.g. on command
and position setpoint) or received (status and actual values)
Acyclic parameter access
Parameters of the SINAMICS S120 are accessed in this area. (e.g. reading
or writing traversing blocks)
Preparing data
Converting the actual velocity for display on the HMI
Splitting the traversing job parameters for display and selection on the HMI

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3.1.2 FC72: Communication using FB283 and SIEMENStelegram 111
Telegram 111 includes 2 communication options. One option is pure cyclic

communication using the system functions. The option involves the FB 283
available to the application, which in addition to the cyclic also has an acyclic
communication option.
Communication with the FB283 is discussed in this example.
So that the acyclic interface is executed only once at the same time, the busy
feedback of both axes will be checked in network 1. If an acyclic order is active at
an axis,the buttons for initiating new acyclic orders at the HMI become hided.
Fig. 3-2 FC72 Network 1
For every axis one instance DB from FB283 is generated. When calling the FB283,
the following data are specified for each axis:
NR_ACHS_DB: Number of the axis DB

LADDR: Start of the I/O address
LADDR_DIAG Diagnostics address of the drive
WR_PZD: Target area (control words/setpoints)
RD_PZD: Target area (status words/actual values)
AXIS_NO: Axis No. (Number of the DriveObject)
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Fig. 3-3 FC72 Network 2
Note In this example, for the first axis "SERVO_02", the instance 283 and axis DB72
are used. For the second axis "SERVO_03" are used the instance DB284 and
DB172 as axis DB.
Start of the I/O address and diagnostics address is in HW Config.
Additional information about calling FB283 is provided in the block description.
/8/

1.1, Entry ID: 67261457 21
Cyclic communication with FB283

OB1 only calls the FC 72. In FC 72, FB283 is called for each axis.
The structure for sending and receiving is saved in the user-defined data type
(UDT_30008 _TLG111).
The variable tables, prepared with the application, are available to control the
SINAMICS S120.
Operate the 1st axis in the traversing block mode (VAT72_TVB)
Operate the 2nd axis in the MDI mode (VAT72_MDI)
Acyclic communication with FB283

Acyclic communication is based on the FB 283 internal interface "single". It is only
permissible to execute this once simultaneously. This is the reason that the
corresponding buttons are interlocked on the HMI while the interface is
communicating.
Using this job interface, it is possible:

To read/write individual parameters
Read out the fault memory (special job: tasksi= 30002)
Read/write individual traversing blocks (special job: tasksi= 30000)

Read/write traversing blocks (special job: tasksi=30001)
Pre-assign traversing blocks 063 (special job: tasksi= 30011)
Read/write up to 10 parameters (special job: tasksi= 30010)
Further, for individual special jobs, additional entries are required or outputs
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possible. A description can be found on the specified pages 13 15 of the FB 283

documentation.
Within the context of the application, four prepared variable tables are available for
parameter / traversing blocks, read and write function. Depending on the
required function/display, these tables can also be edited.
1. Reading/writing parameters ( VAT72_Parameter)

2. Reading/writing several parameters ( VAT72_Para_1_10)
3. Reading/writing individual traversing blocks (VAT72_TVBsingle)
4. Reading/writing several traversing blocks (VAT72_TVBblock)
3.1.3 FB1: Preparing data for display on the HMI
Actual velocity
The speed actual value is transferred, scaled. The scaled value is converted into
the actual velocity of the basic positioner in FB1.
To do this, when calling FB1, in addition to the number of the axis DB, the gearbox
ratio, the position actual value resolution and the reference speed of the SINAMICS
S120 must be specified.

22 1.1, Entry ID: 67261457
3.2 Basic positioner
Figure 3 4
gear factor
LU per load revolution in 1000LU
reference speed
axis-DB
Note The specified values must coincide with the parameters in the SINAMICS S120!
The gearbox ratio is determined by the ratio between parameters p2504 and
p2505.
The position actual value resolution is in parameter p2506.
The reference speed is in parameter p2000.
FC2 and FC3: splitting the traversing job parameters

FB283 transfers the job type, the advance (continue) condition and the visibility of a
traversing block in a word. The word is split in order that these values can be
individually displayed and selected. The individual values are buffered in DB11.
FC2 reads the DBW160 word of the axis DBs and writes the values into DB11.
FC3 reads the values from DB11, and writes them into word DBW160 of the axis
DB.

3.2.1 Tasks that can be addressed with the basic positioner
The basic positioner (EPOS) is a very comprehensive and powerful function

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module for closed-loop position controlled traversing of an electric drive.

It is used to position linear and rotary axes (modulo) in absolute/relative terms with
motor encoder (indirect measuring system) or machine encoder (direct measuring
system).
It can be activated in the SINAMICS S120 as function module.
User-friendly configuration, commissioning, and diagnostic functions for the EPOS
functionality are also available in the STARTER parameterizing software.
Using the STARTER control panel, commissioning and diagnostic functionality can
be controlled from a PC. It is also very helpful, especially when getting to know the
individual operating modes also testing the function without having to control it from
a higher-level automation system.
The position controller is also activated when activating the basic positioner. This is
automatically run from the STARTER drive wizard. Further, the necessary "internal
interconnections" (BICO technology) are automatically established, which are
required between the EPOS and position controller (e.g. setpoints from the EPOS
for closed-loop position control, axis cycle correction, etc.).
The position controller essentially comprises the following parts:

Position actual value sensing (including the lower-level measuring input
evaluation and reference mark search)
Position controller (including limits, adaptation and pre-control calculation)

1.1, Entry ID: 67261457 23
Monitoring functions (standstill, positioning and dynamic following error

monitoring, cam signals)
In addition, the following functions can be carried out using the basic positioner:
Mechanical system:
Backlash compensation
Modulo correction
Position tracking
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24 1.1, Entry ID: 67261457
Limits:
Velocity/acceleration/deceleration limits
Software limit switches (traversing range limitation using position setpoint
evaluation)
Stop cams (traversing range limitation using hardware limit switch evaluation)
Positioning/standstill monitoring
Following error monitoring
Two cam switching signals
3.2.2 Properties
Outstanding properties include:

"flying" and "continuous" mode/setpoint changes while traversing
Without having to use handshaking
Including easy to use/connect
Including "process-shortening" transitions without axes coming to a
standstill
Can be simply connected to higher-level SIMATIC S7-300/400 control

systems, also as described in this application
Can be simply adapted as part of the application engineering and handled
Simple traversing block handling and implementation of "fixed" traversing
blocks
Graphic configuring, commissioning and operating screen forms (tool including
control panel)
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3.2.3 Operating modes
EPOS has the following four operating modes (which can be toggled between for a
"stationary" axis):
Jogging (position controlled)
Homing
Traversing blocks
Direct setpoint specification/MDI
Including subordinate "flying referencing" in the "jog", "traversing blocks" and

"MDI/direct setpoint specification" modes.
Priority of the operating mode with respect to one another when simultaneously
selected:
Jog > Reference point approach > MDI > Traversing blocks
If a different operating mode is selected while one is already active, then an alarm
is issued.

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3.2.3.1 Jogging
This involves position-controlled traversing of an axis with two modes that can be
toggled between
1. Modes: Endless, position controlled with v set input (where the sign is
evaluated)
2. Modes: Incremental jog ( = where the axis is traversed through a
specified "increment")
In the two modes, two selectable setpoints are available (jog 1 / 2)
3.2.3.2 Homing
Reference point approach

This is also known as "active homing".
Properties:
Fully automatic search and detection of the reference point for incremental
measuring systems (encoders).
The following homing options are available:
"Cam and encoder zero mark", "encoder zero mark" and "external zero mark
(Bero)"
"Set reference point" is also possible without travel. In this case, all operating
modes must be deselected.
Reversing cam functionality for the "cam and encoder zero mark" mode
The start direction for the reference point approach can be specified
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Different approach velocities can be specified ("to the cams", "to the reference
mark", "to the reference point"), e.g. to increase the precision for the reference
mark detection
Monitoring using maximum traversing distances/tolerance bands that can be
specified, e.g. to the cam, between the cams and zero mark, distance to the
zero mark
Automatic travel for "reference point offset" regarding the reference mark and
reference point coordinates that can be changed using BICO
Automatic direction of rotation reversal at the reference cams, which means
that, for example: Reversal cams or hardware limit switches (when Stop cam
functionality is deactivated) can be used as reference cams (this reduces
hardware costs)
(in the START direction, which can be specified, the zero mark in front of the
reference cam is valid as reference mark)
Flying homing ("passive homing")

This is also known as "passive homing".
Properties:
Homing the axis during "standard" traversing using probe (standard setting)
including possible continuous "post homing"

26 1.1, Entry ID: 67261457
This can be executed as subordinate function in the "jog", "traversing blocks"

and "MDI/direct setpoint specification" modes
Can be selected for incremental and absolute measuring systems (encoder)
Probe selection can be switched over (2 probe inputs, pos./neg. edge can be
selected)
With "flying homing" during RELATIVE positioning, you can select whether the
offset value is to be taken into account for the travel path or not.
Possible for "post homing" evaluation of a "real/incorrect" BERO signal
(inner/outer position difference "window")
3.2.3.3 Traversing blocks
It supports positioning using traversing blocks saved in the device (for a homed
axis). It is also possible to write to the traversing blocks from the SIMATIC S7-
300/400 into the SINAMICS S120 and read these out.
Here, 64 traversing blocks are possible, including continue (advance) conditions
and specific jobs.
Properties:
User-friendly traversing block editor
For instance, position, velocity, acceleration and deceleration override can be

separately set for each block.
Jobs; for example:
"Absolute/relative positioning", "ABS_POS/_NEG" (forced direction of rotation
specification for modulo axes), "Endless pos / neg", "Wait" (wait time), "GOTO"
(block jump), "SET_O / RESET_O" (set/reset up to two digital outputs), set jerk
value, travel to fixed stop using EPOS
It is possible to "skip" traversing blocks
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By activating a new traversing block, a block being executed can be canceled

and a flying change made into the new traversing block.
The traversing blocks can also be changed when a SINAMICS S120 is operational.
The changes are directly transferred the next time that the traversing block is
called.

1.1, Entry ID: 67261457 27
3.2.3.4 Direct setpoint specification/MDI
Properties:
Positioning/setting up with direct setpoint specifications (e.g. process data of the
SIMATIC S7-300/400); continuous influence during traversing is also possible.
"Flying and continuous" setpoint transfer while an axis is moving is possible, i.e.
position, velocity setpoint and override, acceleration, deceleration, forced direction
of rotation specification can be changed during operation.
"Flying" change between the modes is possible while an axis is traversing:
Mode: Setting up (endless, closed-loop position controlled, v-set input)
Mode: Absolute/relative positioning (for modulo, also: specified direction of
rotation or the shortest path)
In this mode, also in the setting up or relative positioning mode, a non-referenced
axis can also be traversed.
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28 1.1, Entry ID: 67261457
4 References
4 References
This list does not purport to be complete and merely reflects a selection of suitable
information.
Table 41
Topic Title/link
/1/ Automation with STEP 7 in STL and SCL
Author: Hans Berger
Publicis MCD Verlag
ISBN: 978-3-89578-397-5
/2/ STEP 7 Automation with STEP 7 in LAD and FBD
SIMATIC S7 - Author: Hans Berger
300/400 Publicis MCD Verlag
ISBN: 978-3-89578-296-1
/3/ Reference manual
System and Standard Functions for S7-300/400 Volume 1/2
/4/ Reference to the http://support.automation.siemens.com/WW/view/de/67261457
article
/5/ Siemens Industry http://support.automation.siemens.com
Online Support
/6/ STARTER http://support.automation.siemens.com/WW/view/de/26233208
/7/ SINAMICS SINAMICS S120 Getting Started:
S120 http://support.automation.siemens.com/WW/view/de/61604910
List Manual (parameter and error list):
Drive Functions Function Manual
Control Units and Additional System Components Manual
Copyright
Booksize Power Units Manual
Commissioning Manual
/8/ FB283 Toolbox V2.1

5 History
Table 51
Version Date Change
V1.0 04/2013 First edition
V1.1 09/2013 Locking of acyclic orders changed

1.1, Entry ID: 67261457 29

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What is the application about?

What is the application about?

What are some of the functional mechanisms described in the application?

What are some of the functional mechanisms described in the application?

Cover sheet

SINAMICS S: Positioning an S120 with

Short document September 2013

Applications & Tools

with our enthusiastic forum community:

SINAMICS S120 Positionieren an S7-300/400

Using the application 2

SIMATIC, SINAMICS History 5

SINAMICS S120 Positionieren an S7-300/400

Warranty and liability

or health, due to assumption of a guarantee for a product's characteristics of state,

Any form of duplication of these application examples or excerpts hereof is not

SINAMICS S120 Positionieren an S7-300/400

3.1.1 Overview ......................................................................................... 20

SINAMICS S120 Positionieren an S7-300/400

SINAMICS S120 Positionieren an S7-300/400

2 Using the application

2.2 Using the application via HMI

The language can be selected in the basic screen.

SINAMICS S120 Positionieren an S7-300/400

2.2.2 Selecting the axis

2.2.3 Start screen, basic positioner

Figure 2 2 Selecting the axis

Active faults can be acknowledged with the "Ack" button.

SINAMICS S120 Positionieren an S7-300/400

2.2.4 Homing screen

Absolute encoder adjustment

commissioning. When adjusting an absolute encoder, the position actual value is

SINAMICS S120 Positionieren an S7-300/400

2.2.5 Jogging screen

SINAMICS S120 Positionieren an S7-300/400

2.2.6 Traversing blocks screen

Parameterized traversing profiles can be started from this screen.

Starting traversing tasks

SINAMICS S120 Positionieren an S7-300/400

SINAMICS S120 Positionieren an S7-300/400

Reading and writing traversing blocks

SINAMICS S120 Positionieren an S7-300/400

2.2.7 Direct setpoint specification / MDI

SINAMICS S120 Positionieren an S7-300/400

SINAMICS S120 Positionieren an S7-300/400

2.3 Variable tables

SINAMICS S120 Positionieren an S7-300/400

2.3.1 Reading and writing traversing blocks

Fig. 2-11 VAT72_TVBsingle

SINAMICS S120 Positionieren an S7-300/400

Table 2-1 Significance of DBW 154 and DBD 156

2 = fixed stop [clamping torque in Nm]

5 = wait [Wait time in ms]

6 = goto [jump destination]

7 = set_O [set digital output]

8 = reset_O [reset digital output]

9 = jerk jerk limitation 0 = off / 1 = on

Table 2-2 Significance of DBW 160

0000 0000 0000 0000