Page 1 Preface SINUMERIK 840D sl SINAMICS S120 IBN CNC: NCK, PLC, drive ______________ Introduction ______________ Safety information SINUMERIK 840D sl SINAMICS S120 Requirements for ______________ commissioning IBN CNC: NCK, PLC, drive ______________ Example configuration ______________ Power on and boot up Commissioning Manual...
Page 2 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 3: Preface
Information about training courses and FAQs (Frequently Asked Questions) can be found at the following website: http://www.siemens.com/motioncontrol under "Support". Target group This publication is intended for machine tool manufacturers. The present documentation provides all information required by the manufacturer to start up the software HMI sl.
Page 4 The EC Declaration of Conformity for the EMC Directive can be viewed/downloaded from the Internet at: http://support.automation.siemens.com under the Product Order No. 15257461or at the relevant branch office of the A&D MC Division of Siemens AG. IBN CNC: NCK, PLC, drive Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0...
Page 5: Table Of Contents
Table of contents Preface ..............................3 Introduction.............................. 11 Commissioning manuals for SINUMERIK 840D sl ..............11 Principle representation of SINUMERIK 840D sl components for commissioning......13 Initial commissioning procedure....................17 Safety information............................ 19 Danger notices ..........................19 ESD notices ..........................21 Requirements for commissioning......................23 General prerequisites........................23...
Page 6 Table of contents Triggering a reset (warm restart) for NCK and drive system ............57 First commissioning of the PLC completed................. 59 Commissioning SINAMICS drives......................61 Introduction to commissioning of SINAMICS drives ..............62 Activate the factory settings ......................64 First commissioning of the drive units..................
Page 7 Table of contents 10.5.12.2 Distancecoded reference marks ....................162 10.5.12.3 Absolute encoders ........................165 10.5.12.4 Interface signals and machine data ...................168 10.6 Parameterization of spindle data ....................170 10.6.1 Setpoint/actual value channels of spindle..................170 10.6.2 Gear stages..........................170 10.6.3 Spindle measuring systems .......................171 10.6.4 Speeds and setpoint adjustment for spindle................174 10.6.5 Position spindle ..........................176...
Page 8 BICO interconnection ........................ 293 15.2 Transfer telegrams ........................295 15.2.1 Structure of the telegram with the process data for SINUMERIK 840D sl........ 297 15.2.2 Process data for receiving and sending..................299 15.3 Control- and status-word bits for NCK<->drive communication..........301 15.3.1...
Page 9 Table of contents 15.4.1 Fundamentals of creating a PLC user program.................309 15.5 Machine and setting data......................310 15.5.1 Machine data fundamentals.......................311 15.5.2 Handling the machine data ......................314 15.6 Protection levels.........................315 15.6.1 Protection level fundamentals....................317 15.7 Axis data ............................318 15.7.1 Axis configuration........................320 15.7.2 Axis assignment.........................323 15.7.3...
Page 10 Table of contents IBN CNC: NCK, PLC, drive Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0...
Page 11: Introduction
● CNC: Base software and HMI-embedded ● CNC: ShopMill ● CNC: ShopTurn Basic steps for commissioning SINUMERIK 840D sl Commissioning a SINUMERIK 840D sl is performed in 2 basic steps: 1. Step 1 (described in CNC: NCK, PLC, drive) – PLC commissioning – Drive commissioning –...
Page 12 Introduction 1.1 Commissioning manuals for SINUMERIK 840D sl Commissioning overview The following figure is a schematic representation of the commissioning steps that are described in the first step (1) and in step (2): Figure 1-1 Commissioning overview IBN CNC: NCK, PLC, drive...
Page 13: Principle Representation Of Sinumerik 840D Sl Components For Commissioning
Introduction 1.2 Principle representation of SINUMERIK 840D sl components for commissioning Principle representation of SINUMERIK 840D sl components for commissioning Introduction In principle, an NCU 7x0 contains the following components: ● HMI ● NCK ● PLC ● Drive ● CP The HMI contained in the NCU is designated as internal HMI or as HMI-Embedded/ShopMill/ShopTurn/HMI sI.
Page 14 Introduction 1.2 Principle representation of SINUMERIK 840D sl components for commissioning Commissioning NCU 7x0 with internal HMI The following figure illustrates an example of a hardware and software arrangement for the commissioning of an NCU 7x0 with internal HMI. Figure 1-2...
Page 15 Introduction 1.2 Principle representation of SINUMERIK 840D sl components for commissioning Commissioning NCU 7x0 with external HMI The following figure illustrates an example of a hardware and software arrangement for the commissioning of an NCU 7x0 with PCU 50.3 with external HMI.
Page 16 Introduction 1.2 Principle representation of SINUMERIK 840D sl components for commissioning Schematic representation of the NCU 7x0 The following figure is a schematic representation of the NCU 7x0: Figure 1-4 Schematic representation of NCU 7x0 IBN CNC: NCK, PLC, drive...
Page 17: Initial Commissioning Procedure
Commissioning steps The steps required for installation and start-up are described below. The order is recommended but not mandatory: 1. Checking the SINUMERIK 840D sl boot 2. Making a communication connection to the PLC 3. PLC installation and start-up 4. Commissioning SINAMICS drives 5.
Page 18 Introduction 1.3 Initial commissioning procedure IBN CNC: NCK, PLC, drive Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0...
Page 19: Safety Information
Safety information Danger notices The following notices are intended firstly for your personal safety and secondly to prevent damage occurring to the product described or any connected devices and machines. Non- observance of the warnings can result in severe personal injury or property damage. DANGER Only appropriately qualified personnel may commission/start-up SINUMERIK equipment.
Page 20 Repairs to devices that have been supplied by our company may only be carried out by SIEMENS customer service or by repair centers authorized by SIEMENS. When replacing parts or components, only use those parts that are included in the spare parts list.
Page 21: Esd Notices
Safety information 2.2 ESD notices ESD notices CAUTION The modules contain electrostatically sensitive devices. Discharge yourself of electrostatic energy before touching the components. The easiest way to do this is to touch a conductive, grounded object immediately beforehand (for example, bare metal parts of control cabinet or the protective ground contact of a socket outlet).
Page 22 Safety information 2.2 ESD notices IBN CNC: NCK, PLC, drive Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0...
Page 23: Requirements For Commissioning
Requirements for commissioning General prerequisites General All components are dimensioned for defined mechanical, climatic and electrical environmental conditions. No limit value may be exceeded, neither during operation, nor during transportation. Limit values In particular, the following must be observed: ● Power supply conditions ●...
Page 24: Software And Hardware Requirements
HMI commissioning; TCU commissioning Software and hardware requirements Requirements For the commissioning of SINUMERIK 840D sl, the following points are required: ● Connection to NCU – Network switch or hub to socket X120 – Ethernet connection of PG/PC to socket X120 or socket X127 when commissioning the HMI PLC external –...
Page 25 Requirements for commissioning 3.2 Software and hardware requirements ● Hardware prerequisites – CompactFlash Card with software for internal HMI, NCK, PLC and drive attached in – Dual ventilator fan/battery module (MLFB 6FC5348-0AA02-0AA0) to NCU (see following figure) Figure 3-1 Dual fan/battery module IBN CNC: NCK, PLC, drive Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0...
Page 26: Communication Interfaces
Requirements for commissioning 3.3 Communication interfaces Communication interfaces Introduction The figure below identifies the interfaces on the NCU that can be used for communication with the components involved in the installation and startup phase. They are: ● X120 Ethernet interface for TCU and/or PCU (a network switch or hub enables expansion) ●...
Page 27: Commissioning Tool On Pg/Pc
Commissioning tool on PG/PC Precondition If a SINUMERIK 840D sl (internal HMI), consisting of a TCU, NCU 7x0 and SINAMICS S120 drive components is commissioned, the commissioning tool on the PG/PC is required. To carry out a commissioning with PG/PC with the commissioning tool, the following points are required: ●...
Page 28 Requirements for commissioning 3.4 Commissioning tool on PG/PC IBN CNC: NCK, PLC, drive Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0...
Page 29: Example Configuration
Example configuration Overview The commissioning described in this manual orientates itself on an example configuration of the SINAMICS drive line-up. The following figure roughly shows the components. ● An NCU 710 with: – A Single Motor Module for a motor with SMI (Sensor Module Integrated) –...
Page 30 Example configuration Figure 4-1 Example configuration Reference For further available DRIVE-CLiQ components of the SINAMICS drive line-up, see Catalog NC 61, Edition 2007/2008, SINUMERIK & SINAMICS; Order No.: E86060-K4461-A101-A2 IBN CNC: NCK, PLC, drive Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0...
Page 31: Power On And Boot Up
Operating and display elements for run-up Introduction The figure below shows the operating and display elements of the NCU, which are important for switch-on and run-up of the SINUMERIK 840D sl: ● Various error and status LEDs ● Status display (seven-segment display) ●...
Page 32 Power on and boot up 5.1 Operating and display elements for run-up Note When you turn the start-up switch or operating mode switch, then the status display indicates the selected number/letters! LED display The following LED displays indicate states at the NCU ●...
Page 33: Nck And Plc General Reset
Power on and boot up 5.2 NCK and PLC general reset NCK and PLC general reset Introduction On initial startup of the PLC, a general reset of the PLC has to be performed after the NCU has been switched on and booted. To obtain a defined output state of the complete system (NCK and PLC), the NCK must also be deleted.
Page 34 Power on and boot up 5.2 NCK and PLC general reset Notes Note If a hardware RESET or POWER ON is triggered in switch position "3" on the PLC mode selector, then the complete SRAM of the PLC is initialized and the diagnostic buffer is not deleted.
Page 35: Boot Completed
Power on and boot up 5.3 Boot completed Boot completed Introduction After an error-free boot of the NCU, it displays the following: ● Number "6" and a flashing point ● LED RUN illuminates GREEN continuously To resume the startup on the user interface of the HMI, the following operator input sequence steps are necessary: Operator input sequence steps for entry into startup 1.
Page 36 Power on and boot up 5.3 Boot completed IBN CNC: NCK, PLC, drive Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0...
Page 37: Connect Pg/Pc With The Plc
Connect PG/PC with the PLC Start SIMATIC Manager Introduction SIMATIC Manager is a GUI for online/offline editing of S7 objects (projects, user programs, blocks, hardware stations and tools). The SIMATIC Manager lets you ● manage projects and libraries, ● call STEP 7 tools, ●...
Page 38: Setting Up The Communication
Connect PG/PC with the PLC 6.2 Setting up the communication Setting up the communication Introduction To load the configuration into the PLC, the communications connection (Ethernet) from PG/PC to the PLC required for the loading must be secured. Operator input sequence steps for establishing a communications connection to the PLC The communications connection to the PLC may be set from PG/PC via SIMATIC Manager with the following operator input sequence steps: 1.
Page 39: Plc Commissioning
PLC commissioning Creating a SIMATIC S7 project Introduction It is necessary to create an S7 project for the basic commissioning of the PLC, the Ethernet and PROFIBUS communication as well as the input/output data areas of the NCK. To do this you will have to perform the following operations: ●...
Page 40: Creating A Project
PLC commissioning 7.1 Creating a SIMATIC S7 project 7.1.1 Creating a project Introduction You have started the SIMATIC Manager. Operator input sequence steps 1. To create a new project select menu command "File > New" in the SIMATIC Manager. 2. Enter the following project data in the dialog box: –...
Page 41: Inserting A Simatic Station 300
PLC commissioning 7.1 Creating a SIMATIC S7 project 7.1.2 Inserting a SIMATIC station 300 Introduction Before you introduce required hardware to the S7 project, the following steps are needed: ● Insert a SIMATIC station 300 in the project ● Starting HW-Config Operating steps 1.
Page 42 PLC commissioning 7.1 Creating a SIMATIC S7 project 4. Select in the menu "View > Catalog". The catalog with the modules is displayed (see following picture). Figure 7-2 HW-Config IBN CNC: NCK, PLC, drive Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0...
Page 43: Insert Ncu 7X0 In Hw Config
PLC commissioning 7.1 Creating a SIMATIC S7 project 7.1.3 Insert NCU 7x0 in HW config Introduction The user interface of "HW config" mostly displays (see the following figure): ● Station window: The station window is split. The upper part displays the structure of the station graphically, and the lower part provides a detailed view of the selected module.
Page 44: Configuring The Properties Of The Network Interfaces
PLC commissioning 7.1 Creating a SIMATIC S7 project 7.1.4 Configuring the properties of the network interfaces Introduction In the STEP7 project, configure the following network interfaces you want to use to reach the NCU 7X0: ● PROFIBUS DP, only with machine control panel for PROFIBUS (see PROFIBUS machine control panel on the HMI (Page 259)) ●...
Page 45 PLC commissioning 7.1 Creating a SIMATIC S7 project Figure 7-5 HW config with NCU 720.1 Next, specify the properties for the Ethernet interface. IBN CNC: NCK, PLC, drive Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0...
Page 46 PLC commissioning 7.1 Creating a SIMATIC S7 project Operating steps for the Ethernet interface Note Use socket X127 for commissioning of the PLC for the external HMI. No configuration of the Ethernet interface is required for this. This interface is set with IP address 192.168.215.1 as a default.
Page 47 PLC commissioning 7.1 Creating a SIMATIC S7 project 1. For socket X120, enter the IP address "192.168.214.1" and the Subnet screen form "255.255.255.0". 2. Create the Ethernet interface using "New" and then "OK". 3. Click on "OK" twice. Next, specify the properties for the integrated PROFIBUS. Steps for the integrated PROFIBUS The integrated PROFIBUS for communication with the SINAMICS S120 requires a common Subnet ID.
Page 48: Insert Nx In Hw Config
PLC commissioning 7.1 Creating a SIMATIC S7 project 7.1.5 Insert NX in HW Config Introduction A NX component is contained in the example configuration, for the axis to control the spindle. This component must also be inserted in the HW Config when creating the SIMATIC-S7 project.
Page 49 PLC commissioning 7.1 Creating a SIMATIC S7 project The following table contains the wiring: Integrated PROFIBUS address DRIVE-CLiQ Socket DRIVE-CLiQ Socket NCU720 NCU710 X100 X100 X101 X101 X102 X102 X103 X103 X104 X105 1. Enter the address and press "OK". Figure 7-10 Insert NX 2.
Page 50: End Hardware Configuration And Load To The Plc
PLC commissioning 7.1 Creating a SIMATIC S7 project 7.1.6 End hardware configuration and load to the PLC End hardware configuration and load to the PLC To end the overall configuration and generate the system data for the PLC, the project must be saved and compiled.
Page 51: Creating A Plc Program
PLC commissioning 7.2 Creating a PLC program Creating a PLC program Introduction The operator input sequence steps below for the creation of a PLC program describe how to create a basic program. The SIMATIC STEP7 documentation describes how to modify and extend an application program.
Page 52 PLC commissioning 7.2 Creating a PLC program 2. Select the library for the PLC basic program, e.g. "bp7x0_11" and confirm the dialog with "OK". You have inserted the library and selected the PLC program under "PLC-Erst-IBN 840D sl > SINUMERIK > PLC 317 2DP > S7 Program" (see figure below). Figure 7-14 Copy the PLC program 3.
Page 53: Modifying Ethernet Machine Control Panel In Ob100
PLC commissioning 7.2 Creating a PLC program 7.2.2 Modifying Ethernet machine control panel in OB100 Introduction The PLC basic program automatically transfers the machine control panel signals (MCP signals) and the addresses of the MCP in the HW config if the configuration is set up as laid out below.
Page 54: Loading The Project To The Plc
PLC commissioning 7.3 Loading the project to the PLC Loading the project to the PLC Introduction For loading the configured PLC project, the following prerequisites must be fulfilled: Requirement ● An Ethernet network connection exists between STEP7 and the PLC. ●...
Page 55 PLC commissioning 7.3 Loading the project to the PLC Operator input sequence steps for loading system blocks into the module 1. To load the configuration of the system blocks change to the SIMATIC Manager. 2. Choose in the SIMATIC Manager in the PLC directory, the directory "Blocks > right mouse button>...
Page 56: Configuring An Ethernet Machine Control Panel
PLC commissioning 7.4 Configuring an Ethernet machine control panel Configuring an Ethernet machine control panel Note If you have an Etrhernet machine control panel with Ethernet hand wheel, a "7" for "Ethernet" must be entered for the hand wheel in the general machine data MD11350[0] HAND WHEEL_SEGMENT.
Page 57: Triggering A Reset (Warm Restart) For Nck And Drive System
PLC commissioning 7.5 Triggering a reset (warm restart) for NCK and drive system Triggering a reset (warm restart) for NCK and drive system Introduction On the HMI the "Commissioning" menu contains: Figure 7-16 "Commissioning" menu The STOP condition of the PLC which is taken by the PLC for a short time on loading is interpreted by the NC as a PLC failure with an appropriate alarm response.
Page 58 PLC commissioning 7.5 Triggering a reset (warm restart) for NCK and drive system Alarm response ● Press the button and select the "Diagnostics > Alarms" menu. The system may display the following alarms on the HMI (see figure below): Figure 7-17 Alarm responses A "reset"...
Page 59: First Commissioning Of The Plc Completed
PLC commissioning 7.6 First commissioning of the PLC completed First commissioning of the PLC completed First commissioning of the PLC completed You have completed the first commissioning of the PLC. The PLC and NCK are in the following state: ● LED RUN illuminates GREEN continuously. ●...
Page 60 PLC commissioning 7.6 First commissioning of the PLC completed IBN CNC: NCK, PLC, drive Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0...
Page 61: Commissioning Sinamics Drives
Commissioning SINAMICS drives Introduction You have completed commissioning of the PLC. Startup sequence The basic commissioning of the SINAMICS drives should be carried out in the following sequence: 1. Creating factory settings (if commissioning has been completed) 2. Configure the drive unit (including transfer of the DRIVE-CLiQ topology to the drive unit) 3.
Page 62: Introduction To Commissioning Of Sinamics Drives
Commissioning SINAMICS drives 8.1 Introduction to commissioning of SINAMICS drives Introduction to commissioning of SINAMICS drives Introduction Commissioning of the SINAMICS drives is done in the operating area "Commissioning". Introduction to commissioning of SINAMICS drives 1. After having completed commissioning of the PLC, you proceed from the following operating interface.
Page 63 Commissioning SINAMICS drives 8.1 Introduction to commissioning of SINAMICS drives This shows an NCU with factory settings that is ready for the first commissioning. A message appears that a first commissioning is required. Note Perform the first commissioning. Start with the operating sequences described in Section "First commissioning of the drive units (Page 67)".
Page 64: Activate The Factory Settings
Commissioning SINAMICS drives 8.2 Activate the factory settings Activate the factory settings Introduction If a commissioning has already been performed, then the drive system can be reset to the factory settings with the "Factory settings..." function. NOTICE Before restoring the factory settings, ensure that the EP terminal (Enable Pulses) of the infeed (booksize: X21, chassis: X41) is de-energized.
Page 65 Commissioning SINAMICS drives 8.2 Activate the factory settings Figure 8-5 Question 3. Press "Drive system" to restore the factory settings for all drive units used in the system (the NCU and NX modules). Figure 8-6 Switch factory settings off/on 4. Switch the control (NCU and NX) off (de-energized drive system) and then on again. Wait until communication has been established again with the NC.
Page 66 Commissioning SINAMICS drives 8.2 Activate the factory settings Figure 8-7 Communication re-established A message appears that a first commissioning is required. Start the first commissioning with the operating sequences described in the following section. IBN CNC: NCK, PLC, drive Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0...
Page 67: First Commissioning Of The Drive Units
Commissioning SINAMICS drives 8.3 First commissioning of the drive units First commissioning of the drive units Introduction The following unit configuration is performed during the first commissioning of the drive units: ● Transfer of the DRIVE-CLiQ topology to the drive unit With the transfer of the topology, all components connected on the DRIVE-CLiQ are detected and the drive-internal data traffic is initialized.
Page 68 Commissioning SINAMICS drives 8.3 First commissioning of the drive units During the unit configuration there are a succession of messages containing information on the respective configuration of the individual drive components. Depending on the size of the drive system, this can take several minutes. Before the configuration is completed, the HMI displays the following query: Figure 8-9 Unit configuration, warm restart...
Page 69 Commissioning SINAMICS drives 8.3 First commissioning of the drive units If you have selected the NCU, then the drive components of the NCU are displayed. Figure 8-11 Unit configuration completed, NCU unit configuration 5. Press "PROFIBUS connection". Figure 8-12 PROFIBUS NCU connection Check and, if required, correct the settings.
Page 70 Commissioning SINAMICS drives 8.3 First commissioning of the drive units If you have selected the NX, then the drive components of the NX are displayed. Figure 8-13 NX unit configuration 8. Press "PROFIBUS connection". Figure 8-14 PROFIBUS NX connection Check and, if required, correct the settings. 9.
Page 71 Commissioning SINAMICS drives 8.3 First commissioning of the drive units Figure 8-15 Overview of drive system The following section describes how you can perform an update of the component firmware using the "Load firmware..." function. In the example for first commissioning it is assumed that compatible firmware has been loaded on all components.
Page 72: Updating The Component Firmware
Commissioning SINAMICS drives 8.4 Updating the component firmware Updating the component firmware Introduction Prior to initial startup, all SINAMICS components should have the same firmware version. The required software is part of the SINAMICS SW and is stored on the CompactFlash card. An update of individual components may become necessary, after component replacement for example, and is required if the drive-specific alarm A01006 "Firmware update required for DRIVE-CLiQ component <No.>“...
Page 73 Commissioning SINAMICS drives 8.4 Updating the component firmware 5. Answer the query "Must firmware from the CompactFlash card be loaded to the component?" with "Yes". 6. After the firmware update has been completed, the entire control (NCU, all NX and all DRIVE-CLiQ components (motor modules, encoder interfaces, etc.)) must be switched off (de-energized) and then switched on again so that the firmware update can take effect.
Page 74: Commissioning Using A Drive Wizard
Commissioning SINAMICS drives 8.5 Commissioning using a drive wizard Commissioning using a drive wizard Introduction Drive configuration is done with a drive wizard on the HMI. The following drive components are to be configured: ● Active Line Module (infeed) ● Motor module, motor and encoders (drives) Drive configuration The drive configuration can be opened by selecting "Commissioning >...
Page 75: Parameterization Of Infeed
Commissioning SINAMICS drives 8.5 Commissioning using a drive wizard 8.5.1 Parameterization of infeed Introduction You want to configure/parameterize the Active Line Module of your SINAMICS> You have selected the menu "Commissioning > Drive systems > Infeed". You are in the following menu: Figure 8-18 Menu "Infeed >...
Page 76 Commissioning SINAMICS drives 8.5 Commissioning using a drive wizard 3. If required, assign a drive object name or accept the default settings. 4. Follow the drive wizard with the horizontal softkey "Next >". 5. The default values in the following dialogs are standard values and can be taken over with "Next >".
Page 77 Commissioning SINAMICS drives 8.5 Commissioning using a drive wizard Figure 8-22 Menu "Infeed > Configuration" "BICO terminal wiring" (Next 3) Figure 8-23 Menu "Infeed > Configuration" "Summary" (Next 4) 6. This completes the configuration for the infeed. You can check the configuration in the summary.
Page 78 Commissioning SINAMICS drives 8.5 Commissioning using a drive wizard Figure 8-24 Saving the configuration 8. Press "Yes". The data is saved as non-volatile data. Figure 8-25 Menu "Infeed > Configuration" "Finish" 9. Press the <RECALL> key in order to parameterize/configure the drives in the next step. See also Checking/setting power supply data settings (Page 238) IBN CNC: NCK, PLC, drive...
Page 79: Parameterization Of The Drives
Commissioning SINAMICS drives 8.5 Commissioning using a drive wizard 8.5.2 Parameterization of the drives Introduction The following components are parameterize/configured with the drive wizard: ● Motor ● encoder ● Interface signals Parameterizing/configuring You are in the "Commissioning > Drive system" menu. ALL drives (SERVOs) are configured via the "Drives"...
Page 80 Commissioning SINAMICS drives 8.5 Commissioning using a drive wizard 1. Press the "Drives" softkey in order to configure the following drives (SERVOs): – Drive with listed motor and encoder via SMC (without DRIVE-CLiQ) – Drive with third-party motor and additional second encoder via SMC (without DRIVE- CLiQ) The drive wizard identifies the relevant design of the drives and guides you through the configuration in the dialog.
Page 81: Commissioning Of Listed Motor And Encoder Via Smc
Commissioning SINAMICS drives 8.5 Commissioning using a drive wizard 8.5.2.1 Commissioning of listed motor and encoder via SMC Introduction In our example a power section is to be configured with a listed motor and encoder. You have selected the menu "Commissioning > Drive systems > Drives". You are in the following menu: Figure 8-27 Menu "Drives >...
Page 82 Commissioning SINAMICS drives 8.5 Commissioning using a drive wizard Operating sequences 1. Select the drive with the vertical softkey "Drive+/Drive-". The system detects that the drive object has not been commissioned and that a new commissioning is required (see above figure). The new commissioning is performed with the "Change"...
Page 83 Commissioning SINAMICS drives 8.5 Commissioning using a drive wizard 6. In this dialog box, select the "Select standard motor from list" button. 7. Select the motor with the "Cursor up / Cursor down" keys. 8. Press "Next >". Figure 8-30 Menu "Drives >...
Page 84 Commissioning SINAMICS drives 8.5 Commissioning using a drive wizard The entry "No encoder" is selected in the encoder list for encoders that the drive unit cannot identify. Figure 8-32 Selecting an encoder (Next 4) The encoder connected via SMC20 must be configured. Figure 8-33 Selecting an encoder from the list 12.
Page 85 Commissioning SINAMICS drives 8.5 Commissioning using a drive wizard Figure 8-34 Enter data Configure the encoder in the following fields: – Encoder type – Incremental tracks – Zero marks – Synchronization 14. Press "OK". 15. Press "Next >". Figure 8-35 Menu "Drives >...
Page 86 Commissioning SINAMICS drives 8.5 Commissioning using a drive wizard Figure 8-36 Menu "Drives > Configuration" "BICO interconnection" (Next 6) 19. Select the assignment for the terminal for Input 2. OFF2 (Page 240). 20. Press "Next >". Figure 8-37 Menu "Drives > Configuration" "Summary" (Next 7) 21.
Page 87 Commissioning SINAMICS drives 8.5 Commissioning using a drive wizard Figure 8-38 Menu "Drives > Configuration" "...save permanently..." (Finish) 23. Confirm the query with "Yes". 24. The next section describes how you can configure a drive (SERVO) with a third-party motor and a second encoder. IBN CNC: NCK, PLC, drive Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0...
Page 88: Commissioning Of Third-Party Motor And Additional Second Encoder Via Smc
Commissioning SINAMICS drives 8.5 Commissioning using a drive wizard 8.5.2.2 Commissioning of third-party motor and additional second encoder via SMC Introduction In our example a power section is to be configured with third-party motor and encoder. You have selected the menu "Commissioning > Drive systems > Drives". You are in the following menu: Figure 8-39 Menu "Drives >...
Page 89 Commissioning SINAMICS drives 8.5 Commissioning using a drive wizard Operating sequences 1. Select the drive with the vertical softkey "Drive+/Drive-". The system detects that the drive object has not been commissioned and that a new commissioning is required (see above figure). The new commissioning is performed with the "Change"...
Page 90 Commissioning SINAMICS drives 8.5 Commissioning using a drive wizard 6. Select "Enter motor data" and the motor type. 7. Press "Next >". Figure 8-42 Menu "Drives > Configuration" "Motor holding brake" (Next 2) 8. You can select brake control in the dialog "Configuration motor holding brake". If a connected brake is detected during the unit configuration, the system will automatically activate the brake control and will by default display "Brake control according to procedural control"...
Page 91 Commissioning SINAMICS drives 8.5 Commissioning using a drive wizard Figure 8-44 Menu "Drives > Configuration" "Replacement circuit diagrams" (Next 4) 13. You can enter additional motor data. 14. Press "Next >". If more than one encoder has been selected (see following figure), then the parameterization is run through for each individual encoder in succession with "Next >...
Page 92 Commissioning SINAMICS drives 8.5 Commissioning using a drive wizard Figure 8-46 Menu "Drives > Configuration" "Encoder 1" (Next 6) The encoder has been identified. Note You can specify the following data using the "Details..." function: • Inversion of the actual speed value •...
Page 93 Commissioning SINAMICS drives 8.5 Commissioning using a drive wizard Note If EnDat encoders are detected, no further encoder parameterization need be performed. Parameterizations for the pole position ID/synchronization can be found at "Enter data". 17. Press "Next >". Figure 8-48 Menu "Drives >...
Page 94 Commissioning SINAMICS drives 8.5 Commissioning using a drive wizard Figure 8-50 Menu "Drives > Configuration" "Summary" (Next 9) 23. The configuration of the drive (SERVO) with third-party motor is completed. You can check the configuration in the summary. 24. Press the "Finish >" softkey. Figure 8-51 Menu "Drives >...
Page 95 Commissioning SINAMICS drives 8.5 Commissioning using a drive wizard Figure 8-52 Menu "Drives > Configuration" 26. Select the drive with the vertical softkeys "Drive+ / Drive-" in order to configure additional drives (SERVOs). The configuration is again started with the vertical softkey "Change". IBN CNC: NCK, PLC, drive Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0...
Page 96: First Commissioning Of Sinamics Drive Ended
Commissioning SINAMICS drives 8.6 First commissioning of SINAMICS drive ended First commissioning of SINAMICS drive ended First commissioning of SINAMICS drive completed You have completed the first commissioning of the SINAMICS drives. The unit configuration and parameterization has been completed successfully: ●...
Page 97: Commissioning Communication Nck<->Drive
Commissioning communication NCK<->Drive Introduction The first commissioning of the PLC and SINAMICS drives is completed. What will be configured next? You will configure the NCK machine data, which communicates with the drive. These are: ● General machine data General machine data required for communication with the drive, which have been preset with default values.
Page 98 Commissioning communication NCK<->Drive Assigning general and axis-specific machine data The following table illustrates using the example of an SINAMICS S120 module structure (one NCU (CU), one ALM, three motor modules (MM)) the assignment of the NCK machine data for input/output address/telegram/message frame/actual value: SINAMICS STEP7 (HW-config) DP slave NCK machine data...
Page 99: Configuration Input/Output Address And Telegram
Commissioning communication NCK<->Drive 9.1 Configuration input/output address and telegram Configuration input/output address and telegram Introduction Following general machine data is preassigned with a default value (also see previous table). ● MD13050 DRIVE_LOGIC_ADDRESS (axis address)) ● MD13060 DRIVE_TELEGRAM_TYPE (telegram type) ● MD13120 CONTROL_UNIT_LOGIC_ADDRESS (address CU) Note No adjustment is necessary here since these values correspond to those preassigned values in HW Config.
Page 100: Commissioning Communication Nck<->Drive Completed
Commissioning communication NCK<->Drive Commissioning communication NCK<->Drive completed Commissioning communication NCK<->PLC completed You have placed the following in operation: ● PLC ● SINAMICS drives ● Communication NCK-PLC The basic commissioning is completed. Now you can move the axes. The next chapter, "Commissioning NCK", describes the parameterization of NCK regarding the connected machine by setting system variables.
Page 101: Nck Start-Up
NCK start-up 10.1 Overview Commissioning NCK Introduction The parameterization of NCK regarding the connected machine occurs by setting system variables. These system variables are called: ● Machine data (MD) ● Setting data (SD). See also Machine and setting data (Page 310) IBN CNC: NCK, PLC, drive Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0...
Page 102: System Data
NCK start-up 10.2 System data 10.2 System data 10.2.1 Resolutions The following types of resolution, e.g. resolution of linear and angular positions, velocities, accelerations and jerk, must be differentiated as follows: ● the input resolution, i.e. the input of data from the user interface or using the parts programs.
Page 103 NCK start-up 10.2 System data Rounding The precision of angle and linear positions is limited to the computational resolution by rounding the product of the programmed value with the computational resolution to an integer number. Example of rounding: Computational resolution: 1000 increments/mm Programmed path: 97.3786 mm Effective value = 97.379 mm Note...
Page 104 NCK start-up 10.2 System data Machine data Table 10-1 Resolutions: Machine data Number Name of identifier Name / remarks Reference General ($MN_ ... ) 9004 DISPLAY_RESOLUTION Display resolution 9011 DISPLAY_RESOLUTION_INCH Display resolution for INCH system of measurement 10200 INT_INCR_PER_MM Computational resolution for linear positions 10210 INT_INCR_PER_DEG Computational resolution for angular positions...
Page 105: Normalization Of Phys. Units Of Machine Data And Setting Data
NCK start-up 10.2 System data 10.2.2 Normalization of phys. units of machine data and setting data Standard Machine and setting data having a physical unit are interpreted in the input/output units listed in the table "Scaling physical units of machine and setting data" by default, depending on the scaling system (metric/inch).
Page 106 NCK start-up 10.2 System data The following applies: Input/output unit selected= MD: SCALING_FACTORS_USER_DEF[n] * internal unit In MD10230 SCALING_FACTORS_USER_DEF[n], the selected I/O device must be entered expressed in the internal units mm, 1 degree and 1 sec. Table 10-3 Bit number and index for user definition Physical unit MD10220 bit number MD10230 index n Linear position...
Page 107 NCK start-up 10.2 System data Index 2 specifies the "linear velocity" (see above). Example 2: In addition to the change in example 1, the machine data input/output of linear accelerations is to be performed in ft/s , instead of m/s (initial state).
Page 108: Modifying Scaling Machine Data
NCK start-up 10.2 System data 10.2.3 Modifying scaling machine data The scaling of machine data having physical units is defined by the following machine data: ● MD10220 SCALING_USER_DEF_MASK (activation of scaling factors) ● MD10230 SCALING_FACTORS_USER_DEF (scaling factors of physical quantities) ●...
Page 109: Loading Default Machine Data
NCK start-up 10.2 System data 10.2.4 Loading default machine data The default machine data can be loaded in different ways. HMI startup HMI startup via the HMI standard user interface: Menu command Window > Diagnosis > NC/PLC ● Button: "Delete NCK Data" ●...
Page 110: Switching Over The Measuring System
NCK start-up 10.2 System data 10.2.5 Switching over the measuring system The unit system is switched over for the entire machine using a softkey in the HMI Advanced operating area "MACHINE". The switchover is only accepted if: ● MD10260 CONVERT_SCALING_SYSTEM=1 ●...
Page 111 NCK start-up 10.2 System data ● GUDs (Global User Data) ● LUDs (Local User Data) ● PUDs (Program global User Data) ● Analog inputs/outputs ● Data exchange via FC21 are not converted automatically. The user is prompted to take the current valid measuring system MD10240 SCALING_SYSTEM_IS_METRIC into consideration.
Page 112: Traversing Ranges
NCK start-up 10.2 System data 10.2.6 traversing ranges Computational resolution and traversing ranges The range of values of the traversing ranges directly depends on the selected computational resolution (see Subsection "Resolution"). With the default assignment of the machine data for the computational resolution ●...
Page 113: Cycle Times
10.2.8 Cycle times On the SINUMERIK 840D sl the system clock cycle, the position controller cycle, and the interpolation cycle of the NC are based on the DP cycle time configured in STEP 7 HW config. See Chapter "SIMATIC create S7 project".
Page 114 NCK start-up 10.2 System data Figure 10-1 Position control cycle offset compared to PROFIBUS DP cycle Key to Fig. above: :CPU time required by position controller :DP cycle time: DP cycle time :Data Exchange Time: Total transfer time for all DP slaves :Master time: Offset of the start time for NCK position controller GC: Global Control: Broadcast message for cyclic convergence of the equidistance between DP master and DP slaves...
Page 115 NCK start-up 10.2 System data ● t = 2 The position-control cycle offset selected is too large. The cyclic PROFIBUS communication with the drives started before the position controller had finished. The position controller requires more CPU time than available within the DP cycle. –...
Page 116 NCK start-up 10.2 System data Machine data Table 10-8 Cycle times: Machine data Number Identifier Name / remarks Reference General ($MN_ ... ) 10050 SYSCLOCK_CYCLE_TIME System clock cycle/only display data; is always equal to the equidistant PROFIBUS DP cycle. Note: For SINUMERIK solution line for display only! 10060 POSCTRL_SYSCLOCK_TIME_RATIO...
Page 117: Nck Utilization
NCK start-up 10.2 System data 10.2.9 NCK utilization Introduction You can view utilization of system resources for the NCK on the HMI under the menu "Diagnostics > Service displays > System resources". Figure 10-2 NC utilization The following machine data is taken into consideration for displayed runtimes (see Chapter Cycle times (Page 113)): ●...
Page 118 NCK start-up 10.2 System data ● Line "Capacity of interpolator buffer": The capacity indicator MD28060 NUM_IPO_Buffer_SIZE is indicated in %. This display indicates whether batch preparation for batch processing can commence. A jerky processing in track control, if for instance a number of short traversing sets have been programmed in succession, is a typical indicator of the IPO buffers becoming full.
Page 119: Velocities
NCK start-up 10.2 System data 10.2.10 Velocities Max. axis velocity or spindle speed The maximum possible axis velocities and spindle speeds depend on the machine design, drive dynamics and the encoder limit frequency of the individual drives. Max. progr. tool path velocity The maximum programmable tool path velocity results from the maximum axis velocities of the axes involved in the path programmed.
Page 120 NCK start-up 10.2 System data Voltage limit The minimum tool path or axis velocity at which traversing is possible results from: (for the computational resolution, see Chapter "Resolutions" If V is not reached, no traversing movement is carried out. Literature Function Manual Basic Functions;...
Page 121: Memory Configuration
NCK start-up 10.3 Memory configuration 10.3 Memory configuration Introduction On the SINUMERIK 840D sl, the persistent data are divided into various independent areas: ● SIEMENS ● Vendor ● Users SRAM For historical reasons, SRAM is still named as the memory medium at various points in relation to persistent data.
Page 122 Part programs and OEM cycles can be set via User MD 18352: $MM_U_FILE_MEM_SIZE. In addition to part programs and OEM cycles, can be set via User MD 18353: $MM_M_FILE_MEM_SIZE. SIEMENS cycles Siemens AG Reserved Siemens AG RAM in NCK User...
Page 123: Parameter Sets Of Axis/Spindle
NCK start-up 10.4 Parameter sets of axis/spindle 10.4 Parameter sets of axis/spindle Per machine axis, six parameter sets are available. They are used as follows ● on an axis: for accommodation of the own dynamic response to another machine axis, e.g. when tapping or thread cutting on the relevant spindle.
Page 124 NCK start-up 10.4 Parameter sets of axis/spindle Figure 10-4 Validity of parameter sets for axis and spindle modes Remarks on the "Axis" column: Switch-over applies to G33 as well as for G34, G35, G331 and G332. Machine data The following machine data of a machine axis depend on the parameter set: n = parameter set number (0 ...
Page 125: Parameterize Axis Data
NCK start-up 10.5 Parameterize axis data 10.5 Parameterize axis data Reference See also Axis data (Page 318) Axis assignment (Page 323) Axis names (Page 326) 10.5.1 Incremental measuring system settings Rotary measuring system The diagrams below show the general possibilities of arranging a rotary incremental measuring system with regard to motor and load, as well as the resulting values for the appropriate machine data.
Page 126 NCK start-up 10.5 Parameterize axis data Linear axis with sensor on load Figure 10-6 Linear axis with sensor on load Rotary axis with encoder on motor Figure 10-7 Rotary axis with encoder on motor IBN CNC: NCK, PLC, drive Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0...
Page 127 NCK start-up 10.5 Parameterize axis data Linear axis with encoder on the machine Figure 10-8 Linear axis with encoder on the machine Machine data Table 10-10 Incremental measuring systems: Machine data Number Identifier Name / remarks Reference Axisspecific ($MA_ ... ) 30240 ENC_TYPE[n] Actual value acquisition modes...
Page 128 NCK start-up 10.5 Parameterize axis data Linear axis with linear scale Figure 10-9 Linear axis with linear scale Machine data Table 10-11 Linear measuring systems: Machine data Number Identifier Name / remarks Reference axisspecific ($MA_ ... ) 30240 ENC_TYPE[n] Actual value acquisition modes 1=incremental raw signal encoder 30242 ENC_IS_INDEPENDENT[n]...
Page 129: Parameterization Of Absolute Measuring Systems
NCK start-up 10.5 Parameterize axis data 10.5.2 Parameterization of absolute measuring systems Encoder types The following encoder types are currently supported: ● Single-turn absolute value encoder ● Multi-turn absolute value encoder with EnDat protocol and incremental sinusoidal encoder signals A and B, e.g. Haidenhain EQN 1325.
Page 130 NCK start-up 10.5 Parameterize axis data Linear axis with absolute value encoder on motor Figure 10-10 Linear axis with absolute value encoder on motor Rotary axis, modulo axis and spindle with absolute value sensor on motor Figure 10-11 Rotary axis, modulo axis and spindle with absolute value sensor on motor IBN CNC: NCK, PLC, drive Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0...
Page 131 NCK start-up 10.5 Parameterize axis data Machine data Table 10-12 Measuring systems: Machine data Number Identifier Name / remarks Reference axisspecific ($MA_ ... ) 30240 ENC_TYPE[n] Actual-value acquisition modes 30242 ENC_IS_INDEPENDENT[n] Encoder is independent 30260 ABS_INC_RATION[n] Encoder fine resolution (absolute value encoder) 30300 IS_ROT_AX[n] Rotary axis...
Page 132: Dsc (Dynamic Servo Control)
NCK start-up 10.5 Parameterize axis data 10.5.3 DSC (Dynamic Servo Control) The DSC function eliminates the deadtime that necessarily exists at the speed-setpoint interface normally used between the NCK and drive due to relocation of the position controller into the drive. That results in the following advantages for an axis operated with DSC: ●...
Page 133 NCK start-up 10.5 Parameterize axis data Measuring system DSC is only possible in conjunction with the motor measuring system. Machine data Table 10-13 DSC: Machine data Number Identifier Name Reference Axisspecific ($MA_ ... ) 32640 STIFFNESS_CONTROL_ENABLE Dyn. stiffness control 32200 POSCRTL_GAIN factor 32642...
Page 134: Rotary Axes
NCK start-up 10.5 Parameterize axis data 10.5.4 Rotary axes Rotary axes A machine axis is parameterized as a rotary axis in ● MD30300 IS_ROT_AX (rotary axis) = 1 The machine data is a scaling machine data. A change results in a conversion of all machine data of the machine axis with length-related units.
Page 135 NCK start-up 10.5 Parameterize axis data Setting data Table 10-15 Rotary axes: Setting data Number Identifier Name Reference General ($SN_ ...) 41130 JOG_ROT_AX_SET_VELO JOG speed for rotary axes Axisspecific ($SA_ ... ) 43430 WORKAREA_LIMIT_MINUS Working area limitation minus 43420 WORKAREA_LIMIT_PLUS Working area limitation plus Literature Function Manual Expanded Functions;...
Page 136: Positioning Axes
NCK start-up 10.5 Parameterize axis data 10.5.5 Positioning axes Positioning axes are channel axes traversing parallel to the path axes without interpolating with them. Positioning axes can be traversed either from the parts program or from the PLC. Concurrent machine axes The machine data ●...
Page 137: Indexed Axes/"Hirth" Axes
NCK start-up 10.5 Parameterize axis data 10.5.6 Indexed axes/"Hirth" axes Indexed axes are rotary or linear axes, which can be traversed to indexed positions by index program instructions. These indexed positions are approached in JOG mode. In "normal" positioning, every position can be approached. Note Traversing to indexing positions using the parts program or manually is only effective if the corresponding machine axis has been successfully referenced.
Page 138 NCK start-up 10.5 Parameterize axis data Number Identifier Name Reference 30300 IS_ROT_AX Rotary axis 30310 ROT_IS_MODULO Modulo conversion for rotary axis 30320 DISPLAY_IS_MODULO Position display is modulo 360 degrees 30500 INDEX_AX_ASSIGN_POS_TAB Axis is indexing axis 30501 INDEX_AX_NUMERATOR Numerator for indexing axes with equidistant positions 30505 HIRTH_IS_ACTIVE Axis is an indexing axis with Hirth toothing...
Page 139: Position Controller
NCK start-up 10.5 Parameterize axis data 10.5.7 Position controller Control loops The closed-loop control of a machine axis consists of the cascaded closed-loop control circuits of current controller, speed controller and position controller. Figure 10-12 Control loops Traversing direction If the axis does not traverse into the desired direction, the appropriate adaptation is made in the following machine data: ●...
Page 140 NCK start-up 10.5 Parameterize axis data Definition of the KV factor The K factor is defined as the ratio of velocity in m/min and the resulting following error in This means for a K factor of 1 that at a velocity of 1m/min, a following error of 1mm results. The K factor of the machine axis is entered via the following machine data: ●...
Page 141 NCK start-up 10.5 Parameterize axis data Checking the loop gain If a K factor is already known for a machine type in question, this can be set and checked. To ensure that the drive does not reach its current limit during acceleration and deceleration, the acceleration is reduced for checking via the following machine data: ●...
Page 142 NCK start-up 10.5 Parameterize axis data Acceleration In the following machine data machine axes are accelerated and decelerated with the values entered. ● MD32300 MAX_AX_ACCEL (Axis acceleration) This value should allow the axes to be accelerated and positioned fast and accurately, while ensuring that the machine is not loaded unduly.
Page 143 NCK start-up 10.5 Parameterize axis data Machine data Table 10-20 Position control: Machine data Number Identifier Name/remarks Reference axis spec. ($MA_ ... ) 32100 AX_MOTION_DIR[n] Traversing direction 32110 ENC_FEEDBACK_POL[n] Actual value sign 32200 POSCTRL_GAIN [n] KV factor 32300 MAX_AX_ACCEL[n] Axis acceleration 32420 JOG_AND_POS_JERK_ENABLE Enabling jerk limitation...
Page 144: Speed Setpoint Matching
NCK start-up 10.5 Parameterize axis data 10.5.8 Speed setpoint matching In the case of speed setpoint comparison, the NC is informed, which speed setpoint corresponds to which motor speed in the drive, for parameterizing the axial control and monitoring. Speed setpoint matching can be performed automatically or manually. Automatic adjustment It is possible to perform automatic speed setpoint adjustment if the drive supports acyclic services on the PROFIBUS-DP (standard for SINAMICS).
Page 145 NCK start-up 10.5 Parameterize axis data Calculation of the motor speed If the motor speed required for speed setpoint matching is not known directly, it can be calculated as follows with reference to the required axis velocity (linear axis) or load speed (rotary axis/spindle): ●...
Page 146: Drift Compensation
NCK start-up 10.5 Parameterize axis data Machine data Table 10-21 Speed setpoint matching: Machine data Number Identifier Name/remarks Reference Axis-spec. ($MA_ ... ) 32250 RATED_OUTVAL Rated output voltage [%] 32260 RATED_VELO Rated motor speed Literature Function Manual Basic Functions; Speeds, setpoint/actual value systems, control, Chapter "Speeds, traversing ranges, accuracy"...
Page 147: Velocity Matching (Axis)
NCK start-up 10.5 Parameterize axis data 10.5.10 Velocity matching (axis) Max. axis velocity The value entered in machine data ● MD32000 MAX_AX_VELO[n] (max. axis velocity) is the limit velocity up to which a machine axis can accelerate (rapid traverse limiting). It depends on the machine and drive dynamics and the limit frequency of actual-value acquisition.
Page 148 NCK start-up 10.5 Parameterize axis data JOG velocity = SD41110 JOG_SET_VELO (JOG velocity for G94) – Rotary axes: JOG velocity = SD41130 JOG_ROT_AX_SET_VELO (JOG velocity for rotary axes) 2. SD: JOG_REV_IS_ACTIVE (revolutional feedrate in JOG mode) = 1 – JOG velocity = SD41120 JOG_REV_SET_VELO (JOG velocity for G95) The entered value may not exceed the max.
Page 149 NCK start-up 10.5 Parameterize axis data Setting data Table 10-24 Velocities: Setting data Number Identifier Name / remarks Reference General ($SN_ ...) 41100 JOG_REV_IS_ACTIVE Revolutional feedrate in JOG mode active 41110 JOG_SET_VELO JOG velocity for linear axes (for G94) 41120 JOG_REV_SET_VELO JOG velocity (for G95) 41130...
Page 150: Axis Monitoring
NCK start-up 10.5 Parameterize axis data 10.5.11 Axis monitoring Static monitoring functions The static monitoring functions with reference to a machine axis are: Exact stop coarse Window around the setpoint position within which exact stop coarse is detected. ● MD36000 STOP_LIMIT_COARSE (exact stop coarse) ●...
Page 151 NCK start-up 10.5 Parameterize axis data ● Alarm: "26000 Clamping monitoring" Figure 10-14 Static monitoring functions Working area limitation The permissible working area of the machine axes can be adapted to the particular machining situation using the "dynamic" working area limitation. ●...
Page 152 NCK start-up 10.5 Parameterize axis data ● MD36120 POS_LIMIT_MINUS2 (2nd software limit switch minus) ● MD36130 POS_LIMIT_PLUS2 (2nd software limit switch plus) ● IS: DB31,... DBX12.2 (2nd software limit switch minus) ● IS: DB31,... DBX12.3 (2nd software limit switch plus) ●...
Page 153 NCK start-up 10.5 Parameterize axis data Speed setpoint monitoring The speed setpoint monitoring prevents that the max. admissible motor speed is exceeded. It must be set such that the max. velocity (rapid traverse) can be reached and, in addition, a certain control margin remains.
Page 154 NCK start-up 10.5 Parameterize axis data Figure 10-17 Speed setpoint calculation NOTICE The limitation of the speed setpoint will turn the control loop into a nonlinear control loop. Generally, this will result in deviations from the contour and longer dwelling of the machine axis within the speed setpoint limitation.
Page 155 NCK start-up 10.5 Parameterize axis data Contour monitoring Monitoring of the difference between the following error measured and the following error calculated from the position setpoint. ● MD36400 CONTOUR_TOL (contour monitoring tolerance range) Error response ● Alarm: "25050 Contour monitoring" and stopping the machine axis using a speed setpoint ramp whose characteristic is set in ●...
Page 156 NCK start-up 10.5 Parameterize axis data Remedy After the axes have come to a stop, the position control is resumed after the alarm (RESET at the machine control panel) is acknowledged. NOTICE The axis affected must be re-referenced. Encoder zero mark monitoring The zero mark monitoring of the encoder of a machine axis checks whether pulses were lost between two zero mark passes.
Page 157 ● MD36610 AX_EMERGENCY_STOP_TIME (time for braking ramp when an error occurs) Figure 10-18 Monitoring for SINUMERIK 840D sl: NOTICE MD36620 SERVO_DISABLE_DELAY_TIME (switchoff delay servo enable)
Page 158: Axis Homing
NCK start-up 10.5 Parameterize axis data 10.5.12 Axis homing referencing When referencing a machine axis, the actual position value system of the machine axis is synchronized with the machine geometry. Depending on the encoder type used, the machine axis is referenced with or without traversing movements. Reference point approach For all machine axes which are not equipped with an encoder providing an absolute actual position value, referencing is carried out by traversing the machine axis to a reference point;...
Page 159: 10.5.12.1 Incremental Measuring System
NCK start-up 10.5 Parameterize axis data 10.5.12.1 Incremental measuring system Incremental measuring systems With incremental measuring systems, referencing is carried out using a reference point approach divided into three phases: 1. Traversing to the reference cam 2. Synchronizing to the encoder zero marker 3.
Page 160 NCK start-up 10.5 Parameterize axis data Phase 1: Traversing to the reference cam The following machine data and interface signals are relevant: ● MD34010 REFP_CAM_DIR_IS_MINUS (approach reference cam in negative direction) ● MD34020 REFP_VELO_SEARCH_CAM (reference cam approach velocity) ● MD34030 REFP_MAX_CAM_DIST (maximum distance to the reference cam) ●...
Page 161 NCK start-up 10.5 Parameterize axis data Phase 2: Synchronizing to the encoder zero mark The following machine data and interface signals are relevant: ● MD34040 REFP_VELO_SEARCH_MARKER (creep velocity) ● MD34050 REFP_SEARCH_MARKER_REVERSE (direction reversal to reference cam) ● MD34060 REFP_MAX_MARKER_DIST (maximum distance from cam to reference mark) Properties of phase 2: ●...
Page 162: Distancecoded Reference Marks
NCK start-up 10.5 Parameterize axis data 10.5.12.2 Distancecoded reference marks Distancecoded reference marks When clearance-coded reference marks are used, referencing is divided into 2 phases: 1. Synchronize by overriding 2 reference marks 2. Traverse to target point Figure 10-20 Signal chart: Distance-coded reference marks (principle) Phase-independent data The following machine data and interface signals are independent with respect to the individual phases of reference point approach:...
Page 163 NCK start-up 10.5 Parameterize axis data Phase 1: Synchronize by overriding 2 reference marks The following machine data and interface signals are relevant: ● MD34010 REFP_CAM_DIR_IS_MINUS (approach reference cam in negative direction) ● MD34040 REFP_VELO_SEARCH_MARKER (referencing velocity) ● MD34060 REFP_MAX_MARKER_DIST (maximum distance between 2 reference marks) ●...
Page 164 NCK start-up 10.5 Parameterize axis data Determining the absolute offset To determine the absolute offset between the measuring system zero point and the machine zero, the following procedure is recommended: 1. Determining the actual position of the measuring system After two reference marks following one after the other (synchronized) have been overtraveled, the actual position of the length measuring system can be read on the user interface at "Actual position".
Page 165: 10.5.12.3 Absolute Encoders
Calibration To calibrate the absolute encoder, the actual value of the encoder is matched with the machine zero once and then enabled. The SINUMERIK 840D sl supports the following types of calibration: ● Operator-assisted calibration ● Automatic calibration using probe ●...
Page 166 NCK start-up 10.5 Parameterize axis data NOTICE To avoid the actual position of the machine axis being falsified by backlash in the drive train, reference point approach must be performed at low velocity and always from the same direction. 3. Assumption of the reference position in the NC The reference position is entered in the machine data: –...
Page 167 NCK start-up 10.5 Parameterize axis data Recalibration Recalibration of the absolute encoder is required after: ● Gear change between load and absolute encoder ● Removal/installation of the absolute encoder (encoder replacement) ● Removal/installation of the motor with the absolute encoder (motor replacement) ●...
Page 168: Interface Signals And Machine Data
NCK start-up 10.5 Parameterize axis data 10.5.12.4 Interface signals and machine data Interface signals Table 10-25 Referencing: Interface signals DB number Bit, byte Name Reference Mode-groupspecific Signals from PLC to mode group 11, ... Mode group reset 11, ... Machine function REF Mode-groupspecific Signals from mode group to PLC 11, ...
Page 169 NCK start-up 10.5 Parameterize axis data Number Name of Identifier Name Referenc 34010 REFP_CAM_DIR_IS_MINUS Reference point approach in minus direction 34020 REFP_VELO_SEARCH_CAM Reference point approach velocity 34030 REFP_MAX_CAM_DIST Maximum distance to reference cam 34040 REFP_VELO_SEARCH_MARKER[n] Reference point creep speed [encoder number] 34050 REFP_SEARCH_MARKER_REVERSE[n]...
Page 170: Parameterization Of Spindle Data
NCK start-up 10.6 Parameterization of spindle data 10.6 Parameterization of spindle data Reference See also Spindle data (Page 330) Spindle modes (Page 331) Initial spindle state (Page 331) Axis mode (Page 332) Axis mode (Page 332) 10.6.1 Setpoint/actual value channels of spindle Parameterization of the setpoint/actual value channels of a spindle is identical to parameterization of the setpoint and actual value channels of an axis.
Page 171: Spindle Measuring Systems
NCK start-up 10.6 Parameterization of spindle data ● MD35110 GEAR_STEP_MAX_VELO[n] (n for gear stage change) ● MD35120 GEAR_STEP_MIN_VELO[n] (n for gear stage change) ● MD35130 GEAR_STEP_MAX_VELO_LIMIT[n] (n for gear stage) ● MD35135 GEAR_STEP_PC_MAX_VELO_LIMIT (n for gearbox step with position control) ●...
Page 172 NCK start-up 10.6 Parameterization of spindle data Example A: encoder on the spindle Suppose the following conditions are provided: ● The incremental encoder is mounted on the spindle. ● Encoder pulses = 500 [pulses/rev.] ● Pulse multiplication = 128 ● Internal precision = 1000 [increment/degree] ●...
Page 173 NCK start-up 10.6 Parameterization of spindle data One encoder increment corresponds to 0.54932 internal increments. One encoder increment corresponds to 0.00054932 degrees (highest possible positioning resolution). Gear stage 2 One encoder increment corresponds to 1.3733 internal increments. One encoder increment corresponds to 0.0013733 degrees (highest possible positioning resolution).
Page 174: Speeds And Setpoint Adjustment For Spindle
NCK start-up 10.6 Parameterization of spindle data 10.6.4 Speeds and setpoint adjustment for spindle Speeds, gear stages In SINUMERIK solution line, data for five gear stages are implemented. These stages are defined by a minimum and maximum speed for the stage itself and by a minimum and maximum speed for the automatic gear stage changeover.
Page 175 NCK start-up 10.6 Parameterization of spindle data Setpoint matching The speeds must be transferred with standardized values for the drive controller. The values are scaled in the NC using the selected load gear and the appropriate drive parameter. Machine data Table 10-27 Speeds and setpoint adjustment for spindle: Machine data Axisspecific ($MA_ ...
Page 176: Position Spindle
NCK start-up 10.6 Parameterization of spindle data 10.6.5 Position spindle The NC provides an oriented spindle stop function with which the spindle can be moved into a certain position and held there (e.g. for tool changing purposes). Several programming commands are available for this function which define the approach and program processing.
Page 177 NCK start-up 10.6 Parameterization of spindle data Machine data Table 10-29 Spindle positioning: Machine data axisspecific ($MA_ ... ) 35300 SPIND_POSCTRL_VELO position control activation speed 35350 SPIND_POSITIONING_DIR Direction of rotation when positioning from the standstill 35210 GEAR_STEP_POSCTRL_ACCEL Acceleration in position control mode 36000 STOP_LIMIT_COARSE Exact stop coarse...
Page 178: Synchronizing Spindle
NCK start-up 10.6 Parameterization of spindle data 10.6.6 Synchronizing spindle To allow the spindle to be positioned from the NCK, its position has to be adjusted using the measuring system. This operation is called "synchronization". As a rule, synchronizing is done to the zero mark of the connected encoder or to a reference cam as zero mark substitute.
Page 179 NCK start-up 10.6 Parameterization of spindle data Machine data Table 10-31 Synchronizing spindle: Machine data Axisspecific ($MA_ ... ) 34100 REFP_SET_POS Reference point value 34090 REFP_MOVE_DIST_CORR Reference point offset 34200 REFP_MODE Referencing mode Interface signals Table 10-32 Synchronizing spindle: Interface signals DB number Bit, byte Name...
Page 180: Spindle Monitoring
NCK start-up 10.6 Parameterization of spindle data 10.6.7 Spindle monitoring Axis/spindle stops If the speed drops below the speed set in machine data MD36060 STANDSTILL_VELO_TOL (max. speed "Axis/Spindle stopped"), the interface signal NST DB31,... DBX61.4 (Axis/Spindle stopped) is set. With MD35510 SPIND_STOPPED_AT_IPO_START set (Traverse enabled with "Spindle stopped"), track traverse is enabled.
Page 181 NCK start-up 10.6 Parameterization of spindle data Programmed Spindle speed limitations The following functions can be used to specify a spindle speed limitation in an indexing program. ● G25 S... (min. spindle speed) ● G26 S... (max. spindle speed) The limitation is active in all operating modes. The following function LIMS=...
Page 182 NCK start-up 10.6 Parameterization of spindle data Figure 10-22 Ranges of spindle monitoring functions/speeds Literature Function Manual Basic Functions; Spindles: Spindle monitoring IBN CNC: NCK, PLC, drive Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0...
Page 183: Spindle Data
NCK start-up 10.6 Parameterization of spindle data 10.6.8 Spindle data Machine data Table 10-33 Spindle: Machine data Number Name of identifier Name Reference General ($MN_ ... ) 12060 OVR_SPIND_IS_GRAY_CODE Spindle override with Gray coding 12070 OVR_FACTOR_SPIND_SPEED Evaluation of spindle speed override switch 12080 OVR_REFERENCE_IS_PROG_FEED Override reference velocity...
Page 184 NCK start-up 10.6 Parameterization of spindle data Number Name of identifier Name Reference 35120 GEAR_STEP_MIN_VELO[n] Minimum speed for gear change 35130 GEAR_STEP_MAX_VELO_LIMIT[n] Maximum speed of gear stage 35140 GEAR_STEP_MIN_VELO_LIMIT[n] Minimum speed of gear stage 35150 SPIND_DES_VELO_TOL Spindle speed tolerance 35160 SPIND_EXTERN_VELO_LIMIT Spindle speed limitation via PLC 35200...
Page 185 NCK start-up 10.6 Parameterization of spindle data Interface signals Table 10-35 Spindle: Interface signals DB number Bit, byte Name Reference Axis-specific Signals from PLC to axis/spindle 31, ... Feed override 31, ... Override active 31, ... Position measuring system 2 31, ...
Page 186 NCK start-up 10.6 Parameterization of spindle data DB number Bit, byte Name Reference 31, ... 83.2 Setpoint speed increased 31, ... 83.1 Setpoint speed limited 31, ... 83.0 Speed limit exceeded 31, ... 84.7 Active spindle control mode 31, ... 84.6 Active spindle mode oscillation mode 31, ...
Page 187: Optimize The Drive
Optimize the drive. You can optimize the drives in the "Commissioning" > "Optimization/Test" operating area. The following functions are available: ● Frequency response measurements for the following control loops: – Current controller – Speed controller – Position controller ● Automatic controller setting ●...
Page 188: Measuring Functions
Optimize the drive. 11.1 Measuring functions 11.1 Measuring functions Explanation A range of measuring functions allows the time and/or frequency response of drives and closed-loop controls to be displayed in graphic form on the screen. For this purpose, test signals with an adjustable interval are connected to the drives. Measurement/signal parameters The test setpoints are adapted to the application in question by means of measurement or signal parameters, the units of which are determined by the relevant measuring function or...
Page 189 Optimize the drive. 11.1 Measuring functions Preconditions for starting measuring functions To ensure that no erroneous traversing movements due to part programs can be carried out, the measuring functions have to be started in <JOG> mode. CAUTION When traversing movements are carried out within the framework of measuring functions, no software limit switches and working area limitations are monitored, since these are carried out in follow-up mode.
Page 190 Optimize the drive. 11.1 Measuring functions ● Canceling traversing enable ● Selection of parking (in position-controlled operation). ● Feed override = 0% ● Spindle override = 50% ● Change in operating mode (JOG) or operating mode JOG not selected ● Actuation of traversing keys ●...
Page 191: Frequency Response Measurements
Optimize the drive. 11.2 Frequency response measurements 11.2 Frequency response measurements 11.2.1 Current control loop measurement Functionality The current control loop only needs to be measured for diagnostic purposes if there is a fault or if there is no standard data for the motor / power unit combination (third-party motor). CAUTION The user must take special safety measures when measuring the current control loop (e.g.
Page 192 Optimize the drive. 11.2 Frequency response measurements Measurement The measurement sequence is divided into the following steps: 1. Setting the traverse range monitoring and the enable logic. 2. Selecting the measurement type 3. Setting the parameters, softkey "Measuring parameters" 4. Displaying the measurement results, softkey "Display" Figure 11-1 Current controller Measuring parameters...
Page 193: Speed Control Loop Measurement
Optimize the drive. 11.2 Frequency response measurements 11.2.2 Speed control loop measurement Functionality The response characteristics for the motor measuring system are analyzed when measuring the speed control loop. Various measurement parameter lists are available depending on the basic measurement setting which has been selected. Operating path Operating path for measuring the speed control loop: Operating area switchover >...
Page 194 Optimize the drive. 11.2 Frequency response measurements Measurement The measurement sequence is divided into the following steps: 1. Setting the traverse range monitoring and the enable logic 2. Selecting the measuring type and measured variable 3. Setting the parameters, softkey "Measuring parameters" 4.
Page 195 Optimize the drive. 11.2 Frequency response measurements Figure 11-4 Speed control loop filter with rejection band 1190 Hz The use of a rejection band at 1190 Hz and adaptation of the proportional gain results in the following optimized setting for the speed control loop. Figure 11-5 Optimized speed control loop IBN CNC: NCK, PLC, drive...
Page 196: Position Control Loop Measurement
Optimize the drive. 11.2 Frequency response measurements 11.2.3 Position control loop measurement Functionality This measuring function basically analyzes the response to the active position measuring system. If the function is activated for a spindle without a position measuring system, an alarm is displayed.
Page 197 Optimize the drive. 11.2 Frequency response measurements Measurement The measurement sequence is divided into the following steps: 1. Setting the traverse range monitoring and the enable logic 2. Selecting the measuring type and measured variable 3. Setting the parameters, softkey "Measuring parameters" 4.
Page 198 Optimize the drive. 11.2 Frequency response measurements Bandwidth = 1 / (2 * 2*10 ) = 250 Hz ● Averaging The accuracy of the measurement and measurement duration increase with this value. A value of 20 is normally suitable. ● Settling time This value represents the delay between recording of the measured data and injection of the test setpoint and offset.
Page 199 Optimize the drive. 11.2 Frequency response measurements If an offset value other than zero is input, the step change is stimulated during traversal. For the sake of clarity, the displayed actual position value does not include this speed offset. Figure 11-7 Signal chart for position setpoint/ramp measuring function At maximum axis velocity, there is a (virtual) step change in the velocity (continuous line).
Page 200 Optimize the drive. 11.2 Frequency response measurements Measurement: Setpoint ramp With measurement "Setpoint ramp", the following machine data influence the measurement result: ● MD32000 MAX_AX_VELO (max. axis velocity) The maximum axis velocity limits the ramp gradient (velocity limitation). The drive does not reach the programmed end position (amplitude).
Page 201: Circularity Test Measurement
Optimize the drive. 11.3 Circularity test measurement 11.3 Circularity test measurement Functionality The circularity test serves to set and assess the dynamic response for interpolating axes or to analyze the contour accuracy on the quadrant transitions (circular contours) achieved by means of friction compensation (conventional or neural quadrant error compensation).
Page 202 Optimize the drive. 11.3 Circularity test measurement Display mode The following parameter assignments for programming the mode of representation of measurement results can also be made: ● Display based on mean radius ● Display based on programmed radius ● Scaling of the diagram axes If the measuring time calculated exceeds the time range that can be displayed from the trace buffers (maximum measuring time = position controller cycle frequency * 2048), a coarser sampling rate is used for recording (n * position controller cycle frequency), so that a...
Page 203 Optimize the drive. 11.3 Circularity test measurement Measurement The measurement sequence is divided into the following steps: 1. Setting the parameters, softkey "Measurement" (see above figure). 2. Start measurement with "Start" softkey. The selected axes run in the part program. 3.
Page 204: Servo Trace
Optimize the drive. 11.4 Servo trace 11.4 Servo trace Introduction A trace represents monitored values and signals over a period of time. Servo trace provides functions with a graphical user interface for controlling and monitoring drive/servo signals and states. Basic display of servo trace The basic display of the trace is reached via the operating area "Commissioning"...
Page 205 ● "Trigger event from the part program" The trace can be started via an NC part program in conjunction with the system variable $AA_SCTRACE [axis identifier]. Reference SINUMERIK 840D sl / 840Di sl System Variable Manual IBN CNC: NCK, PLC, drive Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0...
Page 206 Optimize the drive. 11.4 Servo trace "Threshold" input field Direct input of the trigger threshold. The threshold is only effective with trigger types "Positive edge" and "Negative edge". The unit refers to the selected signal. Softkeys "Axis+" and "Axis-" Selection of the axis/spindle when the cursor is positioned on the appropriate "Axis/spindle name"...
Page 207: Further Optimization Options
Optimize the drive. 11.5 Further optimization options 11.5 Further optimization options Introduction You can adapt the following parameters in the operating area "Commissioning" > "Machine data" > "Drive MD" for the drive optimization. Speed adjustment ● Spindle drive: p500 = 102, speed setpoint in p322 corresponds to setpoint 4000 0000hex ●...
Page 208 Optimize the drive. 11.5 Further optimization options IBN CNC: NCK, PLC, drive Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0...
Page 209: Managing User Data
Managing user data Introduction Once commissioning of the NCK, PLC and drive has been completed, you can manage the modified data using the functions below: ● Save/Archive user data ● Series commissioning ● Upgrading, as series commissioning User data The following user data can be managed: Table 12-1 User data NCK/HMI...
Page 210: User Data Backup
Managing user data 12.1 User data backup 12.1 User data backup Introduction Data is backed up by means of the HMI. SINUMERIK solution line components can either be backed up individually or jointly. You can select from: ● NCK (NC) ●...
Page 211: Preassignments When Saving Plc Data
Managing user data 12.3 Preassignments when saving PLC data Time of data backup Experience has shown that the following times can be recommended for carrying out data backups: ● Following commissioning ● After changing machine-specific settings ● After service, e.g., after replacement of a hardware component, software upgrade, etc. ●...
Page 212 Managing user data 12.3 Preassignments when saving PLC data 3. Set the PLC to the RUN operating status. Operating sequences for inconsistent image An inconsistent image results if a series-commissioning file with PLC data is created and the PLC is in the RUN state (cyclic operation). The data blocks of the PLC are saved at different times with contents that under certain circumstances may meanwhile have changed.
Page 213: Series Commissioning
Managing user data 12.4 Series commissioning 12.4 Series commissioning Introduction Series commissioning means bringing a series of control systems to the same initial state as regards their data. You can archive/read in your choice of PLC, NC and HMI data for series commissioning. Compensation data can be saved at the same time if necessary.
Page 214 Managing user data 12.4 Series commissioning IBN CNC: NCK, PLC, drive Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0...
Page 215: Tips
Tips 13.1 Configuration of the properties of the network interface for PROFIBUS Introduction In the STEP7 project, you configure the network interfaces PROFIBUS DP, via which you want to reach the machine control panel: Steps for PROFIBUS DP 1. You used the left mouse button to select NCU 720.1 and while holding down the mouse button you dragged it to the "Station design"...
Page 216 Tips 13.1 Configuration of the properties of the network interface for PROFIBUS Figure 13-2 Properties of the PROFIBUS interface 5. Click on "Options" and then on the "Equidistance" tab (see figure below). Figure 13-3 Equidistance 6. To enable reproducible access to peripherals (for hand wheel mode), the PROFIBUS DP must have constant bus cycle time.
Page 217 Tips 13.1 Configuration of the properties of the network interface for PROFIBUS 8. Module NCU 720.1 with SINAMICS S120 is inserted into the HW config (see figure below). Note With the <F4> key and confirmation of the question regarding "Reorganize", you can reorganize the display in the station window.
Page 218: Separate Nck And Plc General Reset
Tips 13.2 Separate NCK and PLC general reset 13.2 Separate NCK and PLC general reset Introduction If necessary, you can execute NCK or PLC general reset separately. To do so, proceed as follows: Operator input sequence steps - NCK general reset 1.
Page 219 Tips 13.2 Separate NCK and PLC general reset – PLC has had a general reset and is in cyclic transmission. Operator input sequence steps for PLC general reset without hardware RESET or POWER ON By using the following operator input sequence steps you can generate a PLC general reset without RESET/POWER ON: 1.
Page 220: Configuring The Communication Between The Plc And The Drive
Tips 13.3 Configuring the communication between the PLC and the drive 13.3 Configuring the communication between the PLC and the drive Telegram lengths and I/O addresses Note In the HW Config, a telegram length and the associated I/O addresses is preassigned per default.
Page 221 Tips 13.3 Configuring the communication between the PLC and the drive LOGIC_ADRESS[0…5] correspond to the input/output addresses for standard configuration of the PLC. Figure 13-6 SINAMICS Integrated addresses IBN CNC: NCK, PLC, drive Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0...
Page 222: Integrating Pg/Pc Into The Network (Netpro)
Tips 13.4 Integrating PG/PC into the network (NetPro) 13.4 Integrating PG/PC into the network (NetPro) Introduction To carry out routing functions, it is necessary to integrate a PG/PC in the SIMATIC Manager under NetPro and to configure the interfaces. Requirements You have to have carried out the following as laid out in the previous chapters: ●...
Page 223: Integrating Pg/Pc Into Netpro
Tips 13.4 Integrating PG/PC into the network (NetPro) 13.4.1 Integrating PG/PC into NetPro Introduction To enable the communication between PG/PC <-> HMI via Ethernet, the PC/PG is to be included in the network configuration of the system. To integrate the PG/PC, proceed from the following starting situation in the SIMATIC Manager.
Page 224 Tips 13.4 Integrating PG/PC into the network (NetPro) Operator input sequence steps - Integrating PG/PC into NetPro Using the following operator input sequence steps, you can integrate a PC/PG into NetPro: 1. Click on the "NetPro" button (see figure above). 2.
Page 225: Pg/Pc Interface Configuration
Tips 13.4 Integrating PG/PC into the network (NetPro) 13.4.2 PG/PC interface configuration Introduction Under NetPro, configure the interfaces required for commissioning at the PG/PC. These may include the following interfaces: ● Ethernet for the communication for NCU socket X127 ● PROFIBUS Operator input sequence steps for configuring interfaces 1.
Page 226 Tips 13.4 Integrating PG/PC into the network (NetPro) Operator input sequence steps - Configuring interfaces at PG/PC 1. Click on "New…" to configure the Ethernet interface first. 2. In the type selection field, select "Industrial Ethernet" (see figure below). Figure 13-10 Type Industrial Ethernet 3.
Page 227 Tips 13.4 Integrating PG/PC into the network (NetPro) Figure 13-12 Configured interfaces The configured interfaces must be assigned in a device-specific manner to the available hardware interfaces on the PG/PC. The operator input sequence steps are laid out in the following chapter. IBN CNC: NCK, PLC, drive Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0...
Page 228: Assigning Interfaces
Tips 13.4 Integrating PG/PC into the network (NetPro) 13.4.3 Assigning interfaces Introduction The interfaces configured in the previous chapter must now be assigned in a device-specific manner to the available hardware interfaces on the PG/PC. The following operator input sequence steps detail the assignment of the Ethernet interface. Operator input sequence steps for assigning an Ethernet interface 1.
Page 229 Tips 13.4 Integrating PG/PC into the network (NetPro) Figure 13-14 Assigning Ethernet interface 5. Now assign the remaining configured interfaces (PROFIBUS). From those interfaces assigned, one must be marked as "active". 6. Select "Ethernet interface" in the field "Assigned" and mark the field next to it as "active". 7.
Page 230 Tips 13.4 Integrating PG/PC into the network (NetPro) Figure 13-15 Configured PG/PC in the network configuration 8. Select "Save and compile > Save and check all" and confirm the process with "OK". The subsequent operator input sequence steps describe loading this hardware configuration to NCU.
Page 231: Loading The Hw Config To Ncu
Tips 13.4 Integrating PG/PC into the network (NetPro) 13.4.4 Loading the HW config to NCU Introduction The newly created network configuration PG/PC must be introduced to NCU. You have established a connection to the Ethernet interface (X120 or X127) and you load this configuration from the PG/PC to the NCU using the operator-input sequence steps laid out below.
Page 232: Tips For Commissioning Sinamics Drives
Tips 13.5 Tips for commissioning SINAMICS drives 13.5 Tips for commissioning SINAMICS drives Introduction This chapter describes instructions and tips on: ● Component exchange SINAMICS S120 ● Drive states ● Diagnostics for pending alarms ● Drive (SERVO) parameter RESET, individual ●...
Page 233: Drive States
Tips 13.5 Tips for commissioning SINAMICS drives 13.5.2 Drive states Introduction You can view the messages and alarms of the drive in the operating area "Diagnostics > Drive states" on the HMI. Figure 13-16 "Drive states" overview Operating sequences 1. Select the relevant drive component with the cursor in the overview of the drive states. 2.
Page 234 Tips 13.5 Tips for commissioning SINAMICS drives 3. Press "Alarms". Figure 13-18 Menu "Drive states > Details > Alarms" IBN CNC: NCK, PLC, drive Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0...
Page 235: Diagnostics For Pending Alarms
Tips 13.5 Tips for commissioning SINAMICS drives 13.5.3 Diagnostics for pending alarms Introduction Alarms - these are warnings and faults - can be viewed in SINAMICS S120 via parameters. Warnings Pending warnings are indicated by parameter r2122 of the relevant drive components in question.
Page 236: Drive (Servo) Parameter Reset, Individual
Tips 13.5 Tips for commissioning SINAMICS drives 13.5.4 Drive (SERVO) parameter RESET, individual Introduction The factory setting (parameter RESET) may be set for each drive (SERVO) individually. Note Not just the motor and encoder data are reset. All the configured Binector-Connector logic operations (releases, probe signals) and message frame type are also deleted.
Page 237: Version Display Of The Drives (Servos)
Tips 13.5 Tips for commissioning SINAMICS drives 13.5.5 Version display of the drives (SERVOs) Introduction Using certain parameters from individual drives (SERVOs), it is possible to view the relevant firmware version for: ● System software SINAMICS S120 ● Firmware from: –...
Page 238: Checking/Setting Power Supply Data Settings
Tips 13.5 Tips for commissioning SINAMICS drives 13.5.6 Checking/setting power supply data settings Introduction The power supply data settings must be checked/set in the SINAMICS during commissioning. Procedure for checking/setting power supply data. Proceed as follows to check/set power supply data in the SINAMICS: 1.
Page 239: Identification/Optimization "Alm > Infeed/Configuration
Tips 13.5 Tips for commissioning SINAMICS drives 13.5.7 Identification/Optimization "ALM > Infeed/Configuration" Introduction On identification of the ALM, control optimization in the ALM is also carried out. Here, the inductance and capacity of the DC link are determined and the optimum control data determined for the set-up converter.
Page 240: Ncu 7X0 And Nx1X Terminal Assignment
Tips 13.6 NCU 7x0 and NX1x Terminal Assignment 13.6 NCU 7x0 and NX1x Terminal Assignment Introduction The following terminals are pre-assigned with the unit configuration: ● NCU 7x0 – X122 – X132 ● NX1x – X122 Terminal assignment X122 (NCU 7x0) Function Assignment recommendation BICO source/sink...
Page 241 Tips 13.6 NCU 7x0 and NX1x Terminal Assignment Function Assignment recommendation BICO source/sink Macro number function requires Output SH/SBC - Group 2 SINAMICS Safety CU: p0739 p9774 bit 1 parameterization Integrated BICO from CU by the user. after the first drive The pin will be in the group parameterized as...
Page 242 Tips 13.6 NCU 7x0 and NX1x Terminal Assignment Function Assignment recommendation BICO source/sink Macro number Digital output $A_OUT[4] CU: p2091.3 Output Infeed Operational (if Line Module with LM : r0899.0 CU: p0743 DRIVE-CLiQ Connection) Digital output $A_OUT[3] CU: p2091.2 Ground for pins 7, 8, 10, 11 Output Digital output $A_OUT[2] CU: p2091.1...
Page 243 Tips 13.6 NCU 7x0 and NX1x Terminal Assignment Function Assignment recommendation BICO source/sink Macro number Input SH/SBC 1 - Group 1 SINAMICS Safety NX: r0722.3 p9620 (all drives Integrated (SH enable = p9601) in the group) Ground for pins 1 ... 4 Ground for pins 7, 8, 10, 11 Output SH/SBC - Group 1...
Page 244: Extending/Checking The Topology
Tips 13.7 Extending/checking the topology 13.7 Extending/checking the topology 13.7.1 Adding components to the topology Introduction If you connect a new encoder interface component (e.g. SMC20) via DRIVE-CLiQ to the drive system, SINAMICS detects the change in the actual topology and sends the actual/reference topology difference to the HMI.
Page 245 Tips 13.7 Extending/checking the topology Figure 13-21 Topology without new component in the "Topology" menu, you start with the actual status (here an example). The component has not been connected yet. 3. Connect a new DRIVE-CLiQ component (e.g. SMC20) to a Motor Module. Figure 13-22 Desired state IBN CNC: NCK, PLC, drive Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0...
Page 246 Tips 13.7 Extending/checking the topology Figure 13-23 Actual state Figure 13-24 Component not commissioned yet (201) SINAMICS detects the change in the actual topology and sends the actual/reference topology difference to the HMI. – GRAY -> desired state – RED -> actual state The new, not yet commissioned, component has the number "201".
Page 247 Tips 13.7 Extending/checking the topology Figure 13-25 Menu "Add component" A new component has been found. 5. Press "OK" to configure and accept this component. Figure 13-26 Configuration begins During the unit configuration there are a succession of messages containing information on the configuration.
Page 248 Tips 13.7 Extending/checking the topology Figure 13-27 Power on reset (warm restart) 6. Press "OK" to perform an NCK power on restart (warm restart). Figure 13-28 Component accepted The unit configuration is finished. The component has been accepted. You have the following options to assign this component (e.g. SMC20 with new encoder) to a drive: –...
Page 249 Tips 13.7 Extending/checking the topology Figure 13-29 "Topology" menu after "OK" The actual state is displayed in the topology. If you select the component with the cursor keys, the HMI informs you in the bottom area of the topology table, which components have been assigned to which component.
Page 250: Check Topology
Tips 13.7 Extending/checking the topology 13.7.2 Check topology Introduction After you have parameterized the drive components, you can view the topology on the HMI. Topology of individual drive components 1. Under "Commissioning", press the "Drive system > Drive units > Topology" softkeys one after the other.
Page 251: Overview - Assignment Of Sinamics And Nck Machine Data For Communication Via Profibus
Tips 13.8 Overview - Assignment of SINAMICS and NCK machine data for communication via PROFIBUS 13.8 Overview - Assignment of SINAMICS and NCK machine data for communication via PROFIBUS Assignment of SINAMICS and NCK machine data for communication The table below uses a sample to SINAMICS S120 component configuration to illustrate the assignment of the communication parameters.
Page 252 Tips 13.8 Overview - Assignment of SINAMICS and NCK machine data for communication via PROFIBUS Figure 13-31 Assignment IBN CNC: NCK, PLC, drive Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0...
Page 253: Drive-Object Assignment For Profibus Connection
Tips 13.9 Drive-object assignment for PROFIBUS connection 13.9 Drive-object assignment for PROFIBUS connection Introduction PROFIBUS message frames (internal PROFIBUS, HW Config) are used to specify the process data to be exchanged between the NCK and the drives. The sequence of the drive objects (configurable/configured using HW Config) involved in PROFIBUS process-data exchange is defined via a drive-object list.
Page 254 Tips 13.9 Drive-object assignment for PROFIBUS connection Drive-object assignment The table below uses the example of a SINAMICS S120 component configuration to illustrate the drive-object assignment to be made for the drive parameters. For example, the drive group could be configured as follows: ●...
Page 255 Tips 13.9 Drive-object assignment for PROFIBUS connection Table 13-2 Assignment p978[0…9] for infeed without DRIVE-CLiQ connection Component Index p978 List of drive objects 1. Motor module 2. Motor module 3. Motor module not found not found not found ALM, only if protocol 370 is available not found not found...
Page 256: Commissioning Nx <-> Drive
Tips 13.10 Commissioning NX <-> Drive 13.10 Commissioning NX <-> Drive Introduction The commissioning of a drive group with NX module is done using the steps that are described in the sections on commissioning. In particular the following sections are concerned: ●...
Page 257 Tips 13.10 Commissioning NX <-> Drive – Instead of the drive components macro call-up, you carry out the following work steps in order to match the topology: NX p97=1 (actual topology accepted into setpoint topology), NX p9=0 (restart of the controller), wait until NX p3988>=680.
Page 258 Tips 13.10 Commissioning NX <-> Drive – In the next step, you enter the axis component number for the setpoint and actual value. – Under "Axis-MD" with "Axis+", you select the corresponding axis. The following axis machine data must be adapted for each axis: MD30110 CTRLOUT_MODULE_NR (setpoint channel) MD30220 ENC_MODUL_NR (actual-value channel) MD30130 CTRLOUT_TYPE (type of output setpoint)
Page 259: Profibus Machine Control Panel On The Hmi
Tips 13.11 PROFIBUS machine control panel on the HMI 13.11 PROFIBUS machine control panel on the HMI Configuration of the PROFIBUS machine control panel The following is essential for a PROFIBUS machine control panel on the HMI: ● Configuration of the properties of the network interface for PROFIBUS ●...
Page 260 Tips 13.11 PROFIBUS machine control panel on the HMI Figure 13-33 Properties of the PROFIBUS interface 5. Click on "Options" and then on the "Equidistance" tab (see figure below). Figure 13-34 Equidistance 6. To enable reproducible access to peripherals (for hand wheel mode), the PROFIBUS DP must have constant bus cycle time.
Page 261 Tips 13.11 PROFIBUS machine control panel on the HMI 8. Module NCU 720.1 with SINAMICS S120 is inserted into the HW config (see figure below). Note With the <F4> key and confirmation of the question regarding "Reorganize", you can reorganize the display in the station window. Figure 13-35 HW config with NCU 7x0 As the next step configure a machine control panel with hand wheel.
Page 262: Load Gsd File (Contains Machine Control Panel)
Tips 13.11 PROFIBUS machine control panel on the HMI 13.11.2 Load GSD file (contains machine control panel) Introduction To expand the machine control panel, you need the device data (GSD file) with the SINUMERIK MCP. This file contains information that a DP master system requires to link the MCP as DP slave in its PROFIBUS configuration.
Page 263 Tips 13.11 PROFIBUS machine control panel on the HMI Figure 13-36 Machine control panel in HW Config 6. In the hardware catalog under "SINUMERIK MCP" click with the left mouse button to select the "Standard+Hand wheel" option and drag it to Slot 1 (see figure below). Figure 13-37 Standard+Handwheel for slot You have configured a machine control panel with handwheel in HW Config.
Page 264: Modifying Profibus Machine Control Panel In Ob100
Tips 13.11 PROFIBUS machine control panel on the HMI 13.11.4 Modifying PROFIBUS machine control panel in OB100 Introduction The PLC basic program automatically transfers the machine control panel signals (MCP signals) and the addresses of the MCP in the HW config if the configuration is set up as laid out below.
Page 265: Licensing
SINUMERIK control system to which licenses are assigned on the basis of its unique identifier. License information is also saved to remanent memory on this component. Example: SINUMERIK 840D sl: CF card • SINUMERIK 840Di sl: MCI board •...
Page 266: Overview
License Key is generated from the license numbers of the system software, the options, as well as the hardware serial number. Here, access occurs to a license database administered by Siemens A&D via the Internet. Finally, the license information including the License Key is transferred to the hardware.
Page 267: Web License Manager
To conclude the assignment, the License Key must be entered manually at the control system via the HMI user interface. Internet address The Internet address of the Web License Managers is: http://www.siemens.com/automation/license 14.4 Automation License Manager The Automation License Manager can be used to assign all the licenses required for a piece of hardware (license-requirement comparison).
Page 268 Note Customer login You can obtain a customer login from Siemens A&D Mall under menu item: "Registration". The Internet address is: http://mall.automation.siemens.com/ Currently, access is not yet possible for all countries.
Page 269: Cf Card And Hardware Serial Numbers
Licensing 14.6 CF Card and hardware serial numbers 14.6 CF Card and hardware serial numbers The CF card (Compact Flash card) contains, in addition to the system and user software and the retentive system and user data, that data relevant for the license management of SINUMERIK software products of a control system: ●...
Page 270: Sinumerik License Key
Licensing 14.7 SINUMERIK License Key 14.7 SINUMERIK License Key Basic information on License Keys If a license is required for a product, then with the purchase of the license the purchaser receives a CoL as proof for the rights to use this product and a corresponding License Key as to the "technical representative"...
Page 271: Assigning Via Web License Manager
The assignment of a license to a piece of hardware cannot be reversed via the Web License Manager. 2. Go to the Internet page of the Web License Manager: http://www.siemens.com/automation/license 3. Login via "Direct access": – License number –...
Page 272: You Can Execute An Assignment Via Customer Login As Follows
Licensing 14.8 Assigning via Web License Manager Note License Key via e-mail If you have an e-mail address, you can have the option (checkbox) of receiving the License Key by e-mail. Advantage: the entry of the License Key to the control system is simplified.
Page 273 Licensing 14.8 Assigning via Web License Manager 2. Go to the Internet page of the Web License Manager: http://www.siemens.com/automation/license 3. Login via "Customer login": – User name – Password 4. Follow the additional instructions in the Web License Manager. Note...
Page 274: Assigning Via Automation License Manager
Licensing 14.9 Assigning via Automation License Manager 14.9 Assigning via Automation License Manager 14.9.1 Function Overview The following figure provides an overview of the functions available and the sequence in which they should be applied. IBN CNC: NCK, PLC, drive Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0...
Page 275: Installing The Automation License Manager
(PC/PG). Note The Automation License Manager is used for all Siemens A&D products, e.g. SIMATIC STEP7. As versions of the Automation License Manager are upwards compatible, we always recommend using the version with the highest version number, irrespective of the source of supply (e.g.
Page 276: Enabling/Disabling Sinumerik Plug-Ins
Licensing 14.9 Assigning via Automation License Manager 14.9.3 Enabling/disabling SINUMERIK plug-ins Background All of the plug-ins enabled for the Automation License Manager scan the relevant communication interfaces when booting and after specific operator inputs. If there is a large number of enabled plug-ins, this can result in a significantly longer boot and refresh time for the user interface.
Page 277: Assigning Parameters To The Tcp/Ip Communication With A Control System
General communication parameters The default general communication parameters for the HMI basic software are stored in the following initialization file: <installation drive>:\Siemens\Sinumerik\HMI-Advanced\mmc2\MMC.INI User-specific communication parameters The user-specific communication parameters for the HMI basic software are stored in the following initialization file: <installation drive>:\Siemens\Sinumerik\HMI-Advanced\user\MMC.INI...
Page 278 Perform the following actions when creating user-specific communication parameters for the first time: 1. Create the text file: <installation drive>:\Siemens\Sinumerik\HMI-Advanced\user\MMC.INI if it does not already exist. 2. Open the file MMC.INI with a text editor. IBN CNC: NCK, PLC, drive...
Page 279 1. Close the Automation License Manager. (See note "Changing the IP address" above.) 2. Open the file: <installation drive>:\Siemens\Sinumerik\HMI-Advanced\user\MMC.INI with a text editor. 3. In the [ GLOBAL ] section, replace the current address string with the section name for the SINUMERIK control system with which the Automation License Manager should communicate after booting.
Page 280: How To Refresh The Navigation View: "Manage
Licensing 14.9 Assigning via Automation License Manager 14.9.5 How to refresh the navigation view: "Manage" Background After actions which add or remove elements in the navigation area of the navigation view: "Manage" of the Automation License Manager (e.g. deletion of a control image (offline), enabling/disabling of plug-ins), the view is normally refreshed automatically.
Page 281: Displaying The License Information Of A Piece Of Hardware
Licensing 14.9 Assigning via Automation License Manager 14.9.6 Displaying the license information of a piece of hardware Background To perform one of the following tasks with the Automation License Manager: ● Check the license information for the hardware ● Ascertain the license requirement for the hardware and align if necessary ●...
Page 282: Creating A Control Image (Offline)
Licensing 14.9 Assigning via Automation License Manager 14.9.7 Creating a control image (offline) Background It is essential to create a control image (offline) in the following situations: ● The license information must later be transferred to the control system (online). ●...
Page 283 Licensing 14.9 Assigning via Automation License Manager Result A control image (offline) has been created from the license information of the control system (online) in the selected target: ● <computer> → drive C:\<default storage folder> ● <drive>:\SINUMERIK\<storage folder>\<control folder "offline"> ●...
Page 284: Performing A License Requirement Alignment For A Piece Of Hardware
Licensing 14.9 Assigning via Automation License Manager 14.9.8 Performing a license requirement alignment for a piece of hardware Background If one or more options are active on a SINUMERIK control system, you must assign each license to the hardware. Next, the updated license information including the new license key is transferred to the hardware.
Page 285 Licensing 14.9 Assigning via Automation License Manager NOTICE Suggested license assignment Carefully check the suggested license assignment. An adjustment may be required if: • you wish to use a license number that differs from the number suggested • you wish to use a license package rather than single licenses •...
Page 286: Transferring License Information For A Control Image (Offline) To A Control System (Online)
Licensing 14.9 Assigning via Automation License Manager 14.9.9 Transferring license information for a control image (offline) to a control system (online) Background It is essential to transfer the license information for a control image (offline) to a control system (online), i.e. the hardware for a SINUMERIK control, in the following situations: ●...
Page 287: Internet Links
(offline), including the license key. 14.10 Internet links Overview of Internet links used: Topic Address Web License Manager http://www.siemens.com/automation/license Siemens A&D Mall: Customer login http://mall.automation.siemens.com/ Download server http://software-download.automation.siemens.com IBN CNC: NCK, PLC, drive Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0...
Page 288 Licensing 14.10 Internet links IBN CNC: NCK, PLC, drive Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0...
Page 289: Fundamentals
Fundamentals 15.1 Basic information on SINAMICS S120 Reference See also Small SINAMICS Glossary (Page 339) 15.1.1 Rules for wiring the DRIVE-CLiQ interface Introduction When wiring components with DRIVE CLiQ, the following rules apply: The rules are subdivided into obligatory rules, which must be observed, and optional rules, which enable automatic topology detection if they are adhered to.
Page 290 Fundamentals 15.1 Basic information on SINAMICS S120 Optional rules: If you follow the optional rules for wiring DRIVE-CLiQ, the components associated with the encoder are automatically assigned to the drives (see figure below) if commissioning is performed via macro 150xxx. Figure 15-1 Optional rules ●...
Page 291: Drive Objects (Do's) And Drive Components
Fundamentals 15.1 Basic information on SINAMICS S120 15.1.2 Drive Objects (DO's) and Drive components Introduction The components that belong to the drive group are refelcted in the parameterization in a drive object. Each drive object has its own parameter list. General procedure The figure below uses the example of a SINAMICS S120 drive group to illustrate the meaning of the drive components and drive objects.
Page 292 Fundamentals 15.1 Basic information on SINAMICS S120 Figure 15-2 Drive group IBN CNC: NCK, PLC, drive Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0...
Page 293: Bico Interconnection
Fundamentals 15.1 Basic information on SINAMICS S120 15.1.3 BICO interconnection Introduction Each drive unit contains a large number of interconnectable input and output variables as well as internal control variables. BICO technology ( binector connector technology) allows the drive to be adapted to a wide variety of conditions.
Page 294 Fundamentals 15.1 Basic information on SINAMICS S120 Visualization of BICO connections on the HMI In the "Commissioning > Drive systems > Drives/Drive units > Connections" menu you can perform a BICO connection of the SINAMICS drive group associated components. Figure 15-3 "Connections"...
Page 295: Transfer Telegrams
Fundamentals 15.2 Transfer telegrams 15.2 Transfer telegrams Introduction The transfer telegrams from NCK to the drive are transferred via an internal PROFIBUS on the NCU. They are: ● Send telegrams (drive->NCK) ● Receive telegrams (drive->NCK) Telegrams The telegrams are standard telegrams with pre-defined assignment of the process data. These telelgrams are interconnected in the drive object using BICO technology.
Page 296 Fundamentals 15.2 Transfer telegrams Message frame types The message frame length for communication with the drive must be defined in the hardware configuration. The message frame length to be chosen depends on the axis functions required, e.g., the number of encoders or DSC, or the functions in the drive used. Note If you change the message frame length of a drive component in HW config, you also must adjust the selection of the message frame type in the configuration of the interface in the...
Page 297: Structure Of The Telegram With The Process Data For Sinumerik 840D Sl
Fundamentals 15.2 Transfer telegrams 15.2.1 Structure of the telegram with the process data for SINUMERIK 840D sl Introduction SINUMERIK 840D sl uses the following preferred message frame types: ● For axes 116 DSC with torque reduction, 2 position encoders, supplementary data (also parameterization) ●...
Page 298 Fundamentals 15.2 Transfer telegrams Telegrams for sending The following table contains the structure of the telegrams with the process data for sending the status words and actual values (drive->NCK). Table 15-3 Telegrams with the process data for sending (drive->NCK) PZD sending word Message frame 116 Message frame 390 Message frame 391...
Page 299: Process Data For Receiving And Sending
Fundamentals 15.2 Transfer telegrams 15.2.2 Process data for receiving and sending Process data for receiving The process data for the control words and setpoints are interconnected in the receive buffer. Overview of control words and setpoints The table below provides an overview of the process data that are interconnected as target at the receive buffer.
Page 300 Fundamentals 15.2 Transfer telegrams Overview of status words and actual values The table below provides an overview of the process data that are interconnected as source at the transmit buffer. Literature SINAMICS S120 Commissioning Manual Abbreviation Name ZSW1 Status word 1 ZSW2 Status word 2 NACT_A...
Page 301: Control- And Status-Word Bits For Nck<->Drive Communication
Fundamentals 15.3 Control- and status-word bits for NCK<->drive communication 15.3 Control- and status-word bits for NCK<->drive communication 15.3.1 NCK to drive Introduction The NCK transfers data to the drive using message frames via a PROFIBUS interface (internal PROFIBUS). Setpoints exist for speed control and torque and are preceded by a control word in the message frame.
Page 302 Fundamentals 15.3 Control- and status-word bits for NCK<->drive communication Signal provided by NCK VDI interface Remarks Bit in Meaning (PLC) STW1 Always "1", "TRUE" No signal Signal is used as the Ramp-up time zero for identifier to shut down the controller enable drive's ramp-function generator (isochronous...
Page 303: Drive To Nck
Fundamentals 15.3 Control- and status-word bits for NCK<->drive communication 15.3.2 Drive to NCK Introduction The drive transfers the data to the NCK using message frames via a PROFIBUS interface (internal PROFIBUS). Actual values exist for the speed control and torque and are preceded by a status word in the message frame.
Page 304 Fundamentals 15.3 Control- and status-word bits for NCK<->drive communication PLC interface for ZSW21 Meaning Bit in Remarks VDI interface (PLC) Signal processing in the NCK ZSW2 Parameter set Bit A DB(AX).DBX93.0 active drive parameter set Bit B DB(AX).DBX93.1 Bit C DB(AX).DBX93.2 1.
Page 305 Fundamentals 15.3 Control- and status-word bits for NCK<->drive communication Meaning Bit in Remarks VDI interface (PLC) Signal processing in the NCK signal Heatsink-temperature DB(AX).DBX94.1 Heatsink-temperature prewarning prewarning Nsetp=Nact DB(AX).DBX94.6 Reserved No signal No evaluation Power module current not DB(AX).DBX95.7 Signal not available for limited SINAMICS 120! Reserved...
Page 306: Plc Program
The PLC basic program organizes the exchange of signals and data between the PLC user program and the NCK, HMI, and machine control panel components. The PLC basic program is a part of the tool box delivered with the SINUMERIK 840D sl. ● PLC user program The PLC user program is the user-specific part of the PLC program by which the basic PLC program has been added to or extended.
Page 307 Fundamentals 15.4 PLC program Figure 15-4 PLC program structure PLC status The PLC always starts up in RESTART mode, i.e. the PLC operating system runs OB100 after initialization and starts cyclic operation at the beginning of OB1. There is no re-entry at the point of interruption (e.g.
Page 308 Fundamentals 15.4 PLC program Start-up behavior of the PLC There are both remanent and non-remanent areas for the markers, times and counter. The areas are continuous and are divided by a parameterizable limit, where the area with the higher-value address range is defined as the non-remanent area. Data blocks are always remanent.
Page 309: Fundamentals Of Creating A Plc User Program
Fundamentals 15.4 PLC program 15.4.1 Fundamentals of creating a PLC user program Introduction The following points must be observed when creating a PLC user program: ● Software and hardware prerequisites ● Installing the toolbox (PLC basic program, slave OEM, GSD files) ●...
Page 310: Machine And Setting Data
Fundamentals 15.5 Machine and setting data 15.5 Machine and setting data Introduction Adaption of the control at the machine is carried out using the machine and setting data. Parameter assignment ● Machine data The machine data (MD) are divided into the following areas: –...
Page 311: Machine Data Fundamentals
Fundamentals 15.5 Machine and setting data Overview of machine and setting data The table below lists the areas for machine and setting data. The List Manual contains a detailed description. Table 15-4 Overview of machine and setting data Range Name from 2 to 9977 Machine data for drives from 9000 to 9999...
Page 312 Fundamentals 15.5 Machine and setting data Number and identifier Machine data and setting data are identified using the number or the name (identifier). The number and name are displayed at the HMI. The identifier of a machine data is subject to the scheme: ●...
Page 313 Fundamentals 15.5 Machine and setting data ● IMMEDIATE (so) – After entry of value Note Unlike machine data, changes to setting data always become effective immediately. Protection levels Access level 4 (keyswitch position 3) or more is required to display machine data. To start up the system the appropriate access level must generally be enabled by entering the password "EVENING".
Page 314: Handling The Machine Data
Fundamentals 15.5 Machine and setting data 15.5.2 Handling the machine data Introduction To display and input machine data, appropriate screen forms are provided. Example Selection of displays: When yóu press the Area Switchover key on the HMI, the menu bar appears with the following areas: Machine, Parameter, Program, Services, Diagnostics and Installation and Start-Up.
Page 315: Protection Levels
Access to programs, data and functions is useroriented and controlled via eight hierarchical protection levels. These are divided into ● 4 password levels for Siemens, machine manufacturer, start-up personnel, and end user ● 4 key switch positions for end user...
Page 316 Fundamentals 15.6 Protection levels Interlock Protection levels ● 0 to 3 are locked by means of a password and ● 4 to 7 by means of keyswitch positions (see table below). Table 15-6 Keyswitch settings Keyswitch Retraction pos. NC password level User group setting 0 or 1 or 2 or 3...
Page 317: Protection Level Fundamentals
Fundamentals 15.6 Protection levels 15.6.1 Protection level fundamentals Introduction You can influence the protection levels used with passwords via softkeys. Press the "HMI" -> "Password" softkey in the “Startup” operating area. The following softkeys are available: ● Setting the password ●...
Page 318: Axis Data
Axis data Introduction The term "axis" is often used either as a single term in conjunction with SINUMERIK 840D sl or in compounded form, e.g. machine axis, channel axis, etc. To provide an overview of the philosophy used as the basis, here is a brief explanation of this term.
Page 319 Fundamentals 15.7 Axis data Special axes Additional axes are all other channel axes that are not geometry axes. Unlike for geometry axes (Cartesian coordinate system), no geometric context is defined for additional axes, neither between additional axes or with respect to geometry axes. Literature Function Manual Basic Functions;...
Page 320: Axis Configuration
Fundamentals 15.7 Axis data 15.7.1 Axis configuration Introduction The figure below shows the assignment between the geometry axes, special axes, channel axes and machine axes as well as the names of the individual axis types. MD are used for assignment. Figure 15-5 Axis configuration IBN CNC: NCK, PLC, drive...
Page 321 Fundamentals 15.7 Axis data Note Leading zeroes in user-defined axis identifiers are ignored. Example: MD10000 AXCONF_MACHAX_NAME_TAB[0] = X01 is equivalent to X1 The geometry axes must be assigned to the channel axes in ascending order leaving no gaps. Special features ●...
Page 322 Fundamentals 15.7 Axis data Reliability of channel axis gaps Channel axis gaps must be disconnected via the machine data: ● MD11640 ENABLE_CHAN_AX_GAP = 1 (Channel axis gap allowed). If this is not carried out, an entry of 0 in the machine data MD20070 AXCONF_MACHAX_USED prevents other machine axes being assigned to channel axes.
Page 323: Axis Assignment
Fundamentals 15.7 Axis data Note The gaps count as axes with reference to the number of channel axes and their indices. If an attempt is made to define a channel axis gap on the geo axis via the machine data MD20050 AXCONF_GEOAX_ASSIGN_TAB , the attempt is rejected without an alarm.
Page 324 Fundamentals 15.7 Axis data Figure 15-7 Axis assignment The I/O addresses of the drives defined in the S7 project using "HW Config" are contained in the following machine data. MD13050: DRIVE_LOGIC_ADDRESS[n] (I/O address of the drive) The machine data index (n+1) is the logical drive number for the NC. Te following machine data are used to assign each individual machine axis to a drive.
Page 325 Fundamentals 15.7 Axis data Which channel axis uses which machine axis (explicite) and how many channel axes are present in the channel (implicite) is detemined through the following machine date: MD20070: AXCONF_MACHAX_USED[n] (machine axis number valid in channel) The machine axis number m to be entered in the machine data (with m=1,2,3...) is referred to the appropriate machine axis m.
Page 326: Axis Names
Fundamentals 15.7 Axis data 15.7.3 Axis names Introduction Each machine, channel and geometry axis can/must be assigned an individual name unambiguously identifying it in its name range. Machine axes The name of the machine axes are defined via the following machine date: MD10000: AXCONF_MACHAX_NAME_TAB [n] (machine axis name) Machine axis names must be unambiguous for the entire NC.
Page 327: Setpoint/Actual Value Channels
Fundamentals 15.7 Axis data ● Gantry axes ● Coupled axes ● Guide value coupling axes Machine data The following machine data are relevant for the axis names: Table 15-8 Axis names: Machine data Number Name of identifier Name / remarks General ($MN_ ...
Page 328 Fundamentals 15.7 Axis data Assignment of the setpoint/actual value channels For each machine axis to which a drive is assigned, ● a setpoint channel and ● at least one actual-value channel must be parameterized. A second actual-value channel can be set up as an option. NOTICE The motor measuring system is always used for the speed control function.
Page 329 Fundamentals 15.7 Axis data Machine data Table 15-9 Setpoint/actual value channels: Machine data Number Name of identifier Name/remarks Reference Axisspecific ($MA_ ... ) 30110 CTRLOUT_MODULE_NR Setpoint assignment: Logical drive number 30130 CTRLOUT_TYPE Output of setpoint value 0 = Simulation 1 = Output of speed setpoint 30200 NUM_ENCS Number of measuring channels...
Page 330: Spindle Data
Fundamentals 15.8 Spindle data 15.8 Spindle data Introduction The spindle mode of a machine axis is a subset of the general axis functionality. For this reason, the machine data required to start up an axis have also to be set for a spindle. The machine data to parameterize a spindle are therefore to be found under the axis-specific machine data (from MD 35000 onwards).
Page 331: Spindle Modes
Fundamentals 15.8 Spindle data 15.8.1 Spindle modes Spindle modes The spindle can have the following modes: ● Control mode ● Oscillation mode ● Positioning mode ● Synchronous mode, synchronous spindle ● Rigid tapping References: /FB2/ Function Manual Extended Functions; Synchronous Spindle (S3) /PG/ Programming Manual, Fundamentals /PGZ/ Programming Manual, Cycles Axis mode...
Page 332: Axis Mode
Fundamentals 15.8 Spindle data 15.8.3 Axis mode Why axis mode? For certain machining tasks (e.g. on lathes with end-face machining), the spindle not only has to be rotated with M3, M4 and M5 and positioned with SPOS, M19 and SPOSA, but also addressed as an axis with its axis identifier (e.g.
Page 333 Fundamentals 15.8 Spindle data Special points to be noted ● The feed override switch is active. ● NC/PLC IS: DB21, ... DBX7.7 (Reset) does not terminate axis mode as standard. ● The NC/PLC interface signals: DB31, ... DBB16 to DBB19 and DBB82 to DBB91 are not important if: DB31, ...
Page 334 Fundamentals 15.8 Spindle data Other notes on the servo parameter set: References: /FB1/Function Manual, Basic Functions; Velocities, Setpoint/Actual-Value System, Closed- Loop Control (G2) When using resolution changes in (analog) drive actuators, the following NC program steps are required: 1. Changeover to axis mode Programming Comment SPOS=...
Page 335 Fundamentals 15.8 Spindle data Figure 15-8 Validity of parameter sets for axis and spindle modes Master spindle In order to use diverse spindle functions in one channel, like for instance ● Revolutional feed (G95) ● Tapping with compensation chuck (G63) ●...
Page 336 Fundamentals 15.8 Spindle data IBN CNC: NCK, PLC, drive Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0...
Page 337: Appendix
Appendix Abbreviations Compressed format from XML Active Line Module Automation System Command Command output disable output disable BERO Proximity limit switch Binector input BICO Binector connector Binector output CompactFlash Connector input Computerized Numerical Control Computerized numerical control Connector output Certificate of License Communications Processor: Communication processor Central Processing Unit Central processing unit Control unit...
Page 338 Appendix A.1 Abbreviations Global User Data Human Machine Interface: SINUMERIK operator interface for operating, programming, and simulation Start up Interpolator cycle JOG mode: manual mode for setting up the machine Local Area Network Light Emitting Diode: light-emitting-diode display Position controller Local User Data Media Access Control MCIS...
Page 339: Small Sinamics Glossary
Appendix A.2 Small SINAMICS Glossary Sensor Module Externally Mounted Sensor Module Integrated SRAM Static RAM: static RAM (battery-backed) Control word GWPS Grinding wheel peripheral speed Thin Client Unit (communication with operator panels) Universal Serial Bus Association of Electrical Engineering, Electronics and Information Technology Voltage output Status Word Small SINAMICS Glossary...
Page 340 Appendix A.2 Small SINAMICS Glossary The overall layout of a Control Unit together with the connected drive components is called - > "Drive unit". Drive object A drive object is an autonomous, individual software function with its own -> "Parameters" and may also have its own ->...
Page 341 Appendix A.2 Small SINAMICS Glossary Double Motor Module Two motors can be connected to and operated with a Double Motor Module. See –> "Motor Module" –> "Single Motor Module" Former term: –> "Double-axis module" DRIVE-CLiQ Abbreviation of "Drive Component Link with IQ". Communication system for connecting the different components of a SINAMICS drive system (e.g.
Page 342 Appendix A.2 Small SINAMICS Glossary Central connection device in a network with star-shaped topology. A hub distributes incoming data packages to all connected end devices. See –> "DRIVE-CLiQ Hub Module Cabinet" (DMCxx) Line Module A Line Module is a power component that generates the DC link voltage for one or more – >...
Page 343 Appendix A.2 Small SINAMICS Glossary Parameters Variable quantity within the drive system that the user can read and, in some cases, write. For –> "SINAMICS", all specifications defined in the –> "PROFIdrive" profile are defined by a parameter. See –> "Visualization Parameters" and –> "Adjustable Parameters". PROFIBUS Field bus to IEC 61158, Sections 2 to 6.
Page 344 Appendix A.2 Small SINAMICS Glossary Vector Control Vector control (field-oriented control) is a high-performance control type for induction machines. It is based on an exact model calculation of the motor and two current components that simulate and accurately control the flux and torque by means of software algorithms, thereby enabling predefined speeds and torques to be observed and limited accurately and with a good dynamic response.
Page 345: Publication-Specific Information
This document will be continuously improved with regard to its quality and ease of use. Please help us with this task by sending your comments and suggestions for improvement via e-mail or fax to: E-mail: mailto:docu.motioncontrol@siemens.com Fax: +49 (0) 9131/98 - 63315 Please use the fax form on the back of this page.
Page 346 Appendix A.3 Publication-specific information IBN CNC: NCK, PLC, drive Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0...
Page 347: Overview
Appendix A.3 Publication-specific information A.3.2 Overview IBN CNC: NCK, PLC, drive Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0...
Page 348 Appendix A.3 Publication-specific information IBN CNC: NCK, PLC, drive Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0...
Page 349: Index
Index Communication parameters, 277 CompactFlash card, 269, 340 Computational resolution, 102 Contour monitoring, 155 840Di sl, 265 Control direction, 139 Control image (offline), 286 Control system (online), 275, 281, 286 Switchover, 279, 281 Absolute encoders, 165 Control unit, 340 Calibration of multiple axes, 166 Control Word, 343 Operator-assisted calibration, 165 Current control loop...
Page 350 Index Dynamic servo control, 132 Identification of the ALM, 239 Incremental measuring systems Parameter ization, 125 Encoder frequency limit, 181 Indexing axes, 137 Encoder Monitoring Indexing position tables, 137 Cut-off frequency, 155 Input limits, 103 Cyclic monitoring of position tolerance, 157 Input resolution, 102 Position tolerance when switching over the Installed components, 275...
Page 351 Index Modulo display, 134 Motor, 342 Machine axes, 318 Motor Encoder, 342 Machine data Motor Module, 342 Changing scaling, 108 My Computer, 280 Loading of default data, 109 Normalization of physical quantities, 105 Manufacturer-specific telegrams, 296 Max. axis velocity, 147 MCI board, 265 NC utilization, 117 MD10000, 321...
Page 352 Index Status words: A_ZSW1, 300 start, 37 Status words: G1_ZSW, 300 SIMATIC S7 project, 39 Status words: G2_ZSW, 300 SinuCom Update Agent, 210 Status words: G3_ZSW, 300 SINUMERIK 840Di sl, 265 Status words: MELDW, 300 SINUMERIK plug-in, 275, 277 Status words: ZSW1, 300 enable/disable, 276 Status words: ZSW2, 300 SITOP Power, 343...
Page 353 Index X132, 241 Maximum spindle speed, 119 Thread Upper limit, 119 Tapping/thread cutting, 123 Voltage limit, 120 Toolbox, 24 Velocity monitoring Topology of individual drive components, 250 Actual, 154 Transfer license information Drag-and-drop, 286 using menu commands, 286 Traversing direction, 139 Working area limitation, 151 traversing ranges, 112 Zero speed tolerance, 150...

This manual is also suitable for:

Sinamics s120

Siemens SINUMERIK 840D sl Commissioning Manual

1 Introduction

2 Safety Information

3 Requirements for Commissioning

4 Example Configuration

5 Power on and Boot up

6 Connect PG/PC with the PLC

7 PLC Commissioning

8 Commissioning SINAMICS Drives

9 Commissioning Communication NCK<->Drive

10 NCK Start-Up

11 Optimize the Drive

12 Managing User Data

13 Tips

14 Licensing

15 Fundamentals

Appendix

Quick Links

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Summary of Contents for Siemens SINUMERIK 840D sl