Transcription

1 Motion Control Applications with SINAMICS DCM and CU320-2 CU320-2 as technology board for SINAMICS DCM Siemens Industry Online Support

2 Siemens AG 2017 All rights reserved Warranty and liability Warranty and liability Note The Application Examples are not binding and do not claim to be complete regarding the circuits shown, equipping and any eventuality. The Application Examples do not represent customer-specific solutions. They are only intended to provide support for typical applications. You are responsible for ensuring that the described products are used correctly. These Application Examples do not relieve you of the responsibility to use safe practices in application, installation, operation and maintenance. When using these Application Examples, you recognize that we cannot be made liable for any damage/claims beyond the liability clause described. We reserve the right to make changes to these Application Examples at any time without prior notice. If there are any deviations between the recommendations provided in these Application Examples and other Siemens publications e.g. Catalogs the contents of the other documents have priority. We do not accept any liability for the information contained in this document. Any claims against us based on whatever legal reason resulting from the use of the examples, information, programs, engineering and performance data etc., described in this Application Example shall be excluded. Such an exclusion shall not apply in the case of mandatory liability, e.g. under the German Product Liability Act ( Produkthaftungsgesetz ), in case of intent, gross negligence, or injury of life, body or health, guarantee for the quality of a product, fraudulent concealment of a deficiency or breach of a condition which goes to the root of the contract ( wesentliche Vertragspflichten ). The damages for a breach of a substantial contractual obligation are, however, limited to the foreseeable damage, typical for the type of contract, except in the event of intent or gross negligence or injury to life, body or health. The above provisions do not imply a change of the burden of proof to your detriment. Any form of duplication or distribution of these Application Examples or excerpts hereof is prohibited without the expressed consent of the Siemens AG. Security information Siemens provides products and solutions with industrial security functions that support the secure operation of plants, systems, machines and networks. In order to protect plants, systems, machines and networks against cyber threats, it is necessary to implement and continuously maintain a holistic, state-of-the-art industrial security concept. Siemens products and solutions only form one element of such a concept. Customer is responsible to prevent unauthorized access to its plants, systems, machines and networks. Systems, machines and components should only be connected to the enterprise network or the internet if and to the extent necessary and with appropriate security measures (e.g. use of firewalls and network segmentation) in place. Additionally, Siemens guidance on appropriate security measures should be taken into account. For more information about industrial security, please visit Siemens products and solutions undergo continuous development to make them more secure. Siemens strongly recommends to apply product updates as soon as available and to always use the latest product versions. Use of product versions that are no longer supported, and failure to apply latest updates may increase customer s exposure to cyber threats. To stay informed about product updates, subscribe to the Siemens Industrial Security RSS Feed under Entry ID: , V4.0, 05/2017 2

3 Table of contents Table of contents Warranty and liability Application description Overview Hardware setup Required hard and software components Application function Overview Description of the core functionality Program description Function charts Parameter New and changed Parameters at the positioning or synchronism axis (technology CU) New parameters at the SINAMICS DCM drive object Automatically interconnected parameters for communication Faults and alarms Commissioning the application Necessary software components Installation of the OA-Link application Installation of the DCB-Extension library "GMCV4.1" and "MathExtendedV1.0" Create the new Starter-project Controlling the application using the library Library Motion Control Sinamics Contact person History Entry ID: , V4.0, 05/2017 3

4 1 Application description 1 Application description 1.1 Overview Introduction All power converters of the SINAMICS DCM series are offering a wide range of basic functions for different drive operations. This application extends them with extensive and flexible positioning,synchronism and technology functionalities. This extension is using a Control Unit CU320-2 as technology board, which communicates via OA-Link with the Advanced CUD of the SINAMICS DCM. Overview of the application Figure 1-1 The following picture shows a simplified structure of the application. Positioning & synchronism setpoints s-soll Position controlling n-soll Speed control M-soll... s-ist Actual position and speed detection n-ist OA-Link <1> n-ist Actual speed detection Control Unit CU320-2 Advanced CUD <1> transmision of the actual speed value is optional Application description This application expands the positioning, synchronism, Flying Saw and Crosscutter applications for the SINAMICS S120 drives for the usage with the SINAMICS DCM. The CU320-2 is taking part as technology-cu and takes control of the position control, generates a position setpoint as well as conditioning the actual speed and position value. To communicate with the Advanced CUD of the SINAMICS DCM OA-Link is used. Core elements of this application The following core elements will be concerned in this application: Describing the extensions referring to the applications for SINAMICS S120 Describing the connection to SINAMICS DCM Entry ID: , V4.0, 05/2017 4

5 1 Application description Distinction This application doesn t include descriptions For basic commissioning of the SINAMICS DCM and SINAMICS S120 For the Drive Control Chart (DCC) engineering Any block description for the used Drive Control Blocks (DCB) The application description for the positioning and synchronism applications Description for the OA-application Open Application Link Entry ID: , V4.0, 05/2017 5

6 1 Application description 1.2 Hardware setup The following figure exemplary shows the DRIVE-CLiQ topology for the hardware setup including the OA-Link connection. Figure 1-2 Sensor Module Leading Axis X500 X500 Sensor Module Encoder for Positioning/ Synchronism Control Unit X100 cannot be used! X101 X102 X103 Control Unit CU320-2 Control Unit X100 X101 Advanced CUD Entry ID: , V4.0, 05/2017 6

7 1 Application description 1.3 Required hard and software components Table 1-1 component SINAMICS DCM Control Unit Advanced CUD Control Unit CU320-2 PN or CU320-2 DP Sensor Module SMx to analyse the position sensor OA-Applikation OALINK Open Application Link for Advanced CUD and CU320-2 SINAMICS DCB Extension for CU320-2 Block library for Motion Control Block library for extended mathematical functions Positioning application or synronism applications for CU320-2 or Flying Saw / Crosscutter Application (all applications are included in this application) The present application from 1.4 HF2 from 4.8 HF1 Note A version from V1.2 of the OALINK application is required. When installed on the CU320-2 a License Key is required: 6SL3077-0AA01-0AB0 When installed on the Advanced CUD no License Key is required. When installed on the CU320-2 a License Key required: 6SL3077-0AA00-0AB0 These libraries have to be installed in the STARTER and must be loaded to the CU from Version V3.0 or from Version V4.0 or from Version V2.0 It includes: The documentation The zipped main script to integrate it in the application The zipped drive object file for the technology-cu Entry ID: , V4.0, 05/2017 7

8 2 Application function 2 Application function 2.1 Overview The application positioning and synchronism for SINAMICS DCM with CU320-2 contains the following functions: The functions from the basic applications witch measuring wheel (only a measuring wheel can be used as leading value source) Synchronism cam with gear and positioning Synchronism gear and positioning Synchronism gear 1:1 synchronism Positioning Flying Saw Crosscutter as shown in the separate documentation. Position control the position controller of the basic applications will be complemented in the DCC-charts on the CU320-2: The output of the position controller coupled with the speed pre-control result in the speed setpoint for the SINAMICS DCM. This speed setpoint is send to the Advanced CU via OA-Link. State and fault monitoring the status of the OALINK communication and the status of the position control is monitored at the SINAMICS DCM Communication all status and control words for the application are received and send from the Advanced CUD and forwarded to the CU320-2 via OALINK Entry ID: , V4.0, 05/2017 8

9 2 Application function 2.2 Description of the core functionality The functionality of the positioning and synchronism application is equal to the applications which are available for the SINAMICS S120. The present application is put on these applications and extends them with the normally non-existing position controller for the SINAMICS DCM. The encoder evaluation for the position encoder is done on the CU These encoder actual values are converted via the position recognition of the function module position controller on the CU320-2 on the basis of the given mechanic parameters to the real axis position. As there is only position control for drive axis supported on the CU320-2 and no position control for encoders available there is a dive object (type SERVO) on the CU320-2 where encoder settings and specification for mechanic can be made. This is a virtual master, i.e. that there is no existing and necessary power module or motor. Further parameters like motor and power module data are irrelevant for the application. The following opportunities are available to connect the encoder: Two-encoder-system, i.e. one motor encoder for speed control and another one for position control. The motor encoder has to be connected to the SINAMICS DCM the position controller to the CU In this set-up the motor encoder may also be an analog speedometer. HTL or TTL motor encoder which is used for position control. In this case the encoder has to be connected both to the SINAMICS DCM and the CU (If required via insolation amplifier) Incremental encoder sin/cos 1V PP, absolute encoder EnDat or SSI, encoder with DRIVE-CLiQ-port. The encoder has only to be connected to the CU320-2 while the actual speed value and speed setpoint is transferred via OA-Link to the SINAMICS DCM. WARNING Severe personal injury and material damage may occur if there will be any failure while transmitting the actual speed setpoint in communication or CU320-2 itself and it wouldn t be respond quick with pulse inhibition. Entry ID: , V4.0, 05/2017 9

10 3 Program description 3 Program description 3.1 Function charts Entry ID: , V4.0, 05/

11 3 Program description [ASC ] Position master value from summing point [ASC ] Velocity master value from summing point [ASC ] Position master value from positioner [ASC ] Velocity master value from positioner CI: status word sequence control from DCM BI: Operating message p21607 p21603 CU: r31790[22] (r899.2) 1 1 Tracking to position actual value when axis is turned off BI: Synchronization for the interface p23701 [ASC ] enable print mark correction [ASC ] print mark recognised For detailed connection refer to the [ASC 1620] homing synchronism application s function diagram [ASC 1630] Print mark correction ASC 1600 Or (0) FLS 1600 of flying saw application 1 Or [ASC ] No positioning & CRC 1600 of crosscutter application & Sync BI: Compensation when synchronizing for the interface, forward p23702 (0) FWD BI: Compensation when synchronizing for the interface, backward p23703 (0) BWD Maximum velocity synchronization for the interface [1000 LU/min] p23710 Maximum acceleration synchronization for the interface [1000 LU/s²] p23711 Jerk synchronization for the interface [1000 LU/s³] p23712 VMX AMX JRK DO: SERVO Interface to position controller on Technology-CU [ASC/FLS/CRC 1601] Position setpoint Actual position preprocessing POV BO: Position correction bit for the position controller POV r25005 BI: LR pos. actual value preprocessing activate neg. corr. (edge), Cl-loop pos control p2730 (r25005) NOV BO: Position correction bit for the position controller NOV r25004 BI: LR pos. actual value preprocessing activate corr. value (edge), Cl-loop pos control p2512 (r25004) COR r25003 CO: Position correction value for the position controller CI: LR Position actual value preprocessing corrective value, Cl-Loop pos ctrl (r25003) p DCM_V1_0_de.vsd V Function diagram SINAMICS 8 ASC/FLS/CRC DCM DCM Entry ID: , V4.0, 05/

12 3 Program description Speed Precontrol [%] p24901 [ASC/FLS/CRC 1600] Velocity setpoint CO: Normalization NFX r21605 [ASC/FLS/CRC 1600] Position Setpoint Position Controller + Following Error REAL r25620 position controller proportional gainp25600 Kp Tn position controller integral time p25605 [ASC/FLS/CRC 1600] Actual position Position controller R D BI: position controller as P controller p25610 (0) x p24915 Following error travel tolerance [LU] 0 p24917 Following error standstill tolerance [LU] 1 Axis in Standstill p21905 positioning window [LU] <= DO: SERVO DCC Positon Control on Technology-CU position controller upper limit [rpm] p25615 BO: position controller at upper limit r25625 y CO: speed setpoint to DCM x + r25700 position controller lower limit [rpm] p25616 BO: position controller at lower limit r25626 CI: Reference speed of the drive (CU:r31792) p25500 > [ASC ] / [FLS/CRC ] Following Error & [ASC ] / [FLS/CRC ] Destination position reached 5 6 Winkelgleichlauf_V1_0_en.vsd V Function diagram SINAMICS 8 ASC/FLS/CRC DCM DCM - Entry ID: , V4.0, 05/

13 3 Program description CI: Technology status word 1 from Technology-CU CU: r31790[4] p25510 CI: Speed setpoint of the drive Interpolation CU: r31792[20] p25500 BI: Tolerance time OALink p25550 CU: r DO: DC_CTRL Connection of Technologie-CU and Monitoring on DCM [ASC ] / [FLS/CRC ] F51050 Following Error A51060 Block error CI: RFG input signal for limiting after RFG CO: Speed setpoint interpolated to the drive p50634[0] r25505 (r25505) F51059 OALink communication problem Winkelgleichlauf_V1_0_en.vsd V Function diagram SINAMICS 8 ASC 5000 Entry ID: , V4.0, 05/

14 3 Program description 3.2 Parameter New and changed Parameters at the positioning or synchronism axis (technology CU) p21607 CI: status word sequence control from DCM SERVO Can be changed: T Calculated: - Access level: 1 CU:r31790[22] Setting the signal source for the status word s feedback from DCM. The status word is transferred via OA- Link and received from the CU. p25500 CI: Reference speed of the drive SERVO Can be changed: T Calculated: - Access level: 1 CU:r31792[23] Setting the signal source for the reference speed of the DCM. It is transferred via OA-Link and received from the CU. p25600 position controller proportional gain SERVO Can be changed: U/T Calculated: - Access level: 1-3,40282E+38 3,40282E+38 0,01 Setting the position controller s proportional gain value in DCC. p25605 position controller integral time SERVO Can be changed: U/T Calculated: - Access level: 1 Dependency: Note: -3,40282E+38 3,40282E ms Setting the position controller s integral time in DCC. also refer to: p25610 The position controller only operates as PI-controller when p25610 is adjusted accordingly. The integral time is limited to the least intern sampling time which is set for the runtime group. As a consequence a deactivation of the integral's part can only be made via p Entry ID: , V4.0, 05/

15 3 Program description p25610 BI: position controller as P controller SERVO Can be changed: U/T Calculated: - Access level: 1 Dependency: Setting the signal source to operate the position controller in P-mode. also refer to: p p25615 position controller upper limit [rpm] SERVO Can be changed: U/T Calculated: - Access level: 1-3,40282E+38 3,40282E Setting the signal source for the position controller s upper limit. p25616 position controller lower limt [rpm] SERVO Can be changed: U/T Calculated: - Access level: 1-3,40282E+38 3,40282E Setting the signal source for the position controller s lower limit. r25620 CO: Following error REAL SERVO Can be changed: - Calculated: - Access level: 1 Note: - Feedback of the actual following error at the position controller as REAL-value for further intern usage (e.g. in DCC) This connector cannot be used to transfer the following error via the communication interface. r25625 BO: position controller at upper limit SERVO Can be changed: U/T Calculated: - Access level: 1 Feedback signal from position controller when upper limit (parameterized in p25615) is reached. - Entry ID: , V4.0, 05/

16 3 Program description r25626 BO: position controller at lower limit SERVO Can be changed: U/T Calculated: - Access level: 1 Feedback signal from position controller when lower limit (parameterized in p25615) is reached. - r25700 CO: speed setpoint to DCM SERVO Can be changed: U/T Calculated: - Access level: 1 Note: - This value contains the speed setpoint for the SINAMICS DCM and is transferred via OA-Link to the DCM s Advanced CUD. This value is connected to the CU s OA-Link-send data New parameters at the SINAMICS DCM drive object r21500 Softwareversion Technology Interconnection DCM DC_CTRL Can be changed: - Calculated: - Access level: This parameter shows the software version of the DCC chart implementing the technology interconnection to CU320-2 p25500 CI: Speed setpoint of the drive DC_CTRL Can be changed: T Calculated: - Access level: 1 Note: - - Control_Unit:r31792[20] Sets the signal source for the speed setpoint of the drive. The signal for the speed setpoint of the drive is generated by the position controller of the technology CU and send per OALink to the DC drive. It is automatically interconnect by the commissioning script. Entry ID: , V4.0, 05/

17 3 Program description r25505 CO: Speed setpoint to drive after interpolation DC_CTRL Can be changed: - Calculated: - Access level: 1 Note: This parameter provides the received speed setpoint The speed setpoint received via OALink from the technology CU is interpolated in the supplemented or new generated DCC chart. The interpolation is done from position controller sampling time (4ms) to the speed controller sampling time of the drive. p25510 CI: Technology status word 1 from Technology-CU DC_CTRL Can be changed: T Calculated: - Access level: 1 Note: - - Control_Unit : r31790[4] Sets the signal source for the technology status word 1 from the technology CU. The technology status word is analyzed to monitor the technological functions. p25550 BI: Tolerance time OALink DC_CTRL Can be changed: T Calculated: - Access level: 1 Note: - - Control_Unit : r Sets the signal source for the tolerance time communication problem. If the tolerance time is exceeded, a fault is generated at the drive Automatically interconnected parameters for communication Parameter at the technology CU drive object Table 3-1 Parameter Parameter text Parameter value CI: Technology control word 1 Control_Unit : r31790[1] p21510 (positioning/homing) CI: Technology control word 2 (catch up/engaging Control_Unit : r31790[2] p21511 function) p21512 CI: Technology control word 3 (cam) Control_Unit : r31790[4] CI: Technology control word 4 (master value Control_Unit : r31790[5] p21513 switchov./sync/offset) CI: Technology control word 5 (virtual leading Control_Unit : r31790[6] p21514 axis) p21607 CI: status word sequence control from DCM Control_Unit : r31790[22] p21807 CI: Velocity virtual leading axis [%] Control_Unit : r31792[7] p21824 CI: Virtual leading axis setpoint position variable Control_Unit : r31791[8] p21903 CI: Positioning setpoint position variable [LU] Control_Unit : r31792[13] p21931 CI: Velocity override positioning [%] Control_Unit : r31792[11] p24900 CI: Reference speed of the drive Control_Unit : r31792[23] Entry ID: , V4.0, 05/

18 3 Program description Parameter at the technology CU control unit Table 3-2 Parameter Parameter text Parameter value p31770 p31770[0] OALINK activation [3] OALINK communication via DRIVE-CLiQ socket X103 OALINK1 p31771[0] OALINK1 sampling time p31778 OALINK1 receive words maximum number 20 p31780 OALINK1 send words maximum number 20 p31793[4] CI: OALINK1 send words integer16 Drive_1 : r21541 p31793[5] CI: OALINK1 send words integer16 Drive _1 : r21542 p31793[6] CI: OALINK1 send words integer16 Drive _1 : r21543 p31793[17] CI: OALINK1 send words integer16 Drive _1 : r21544 p31794[7] CI: OALINK1 send words integer32 Drive _1 : r2521[0] p31794[9] CI: OALINK1 send words integer32 Drive _1 : r2522[0] p31795[20] CI: OALINK1 send words FloatingPoint32 Drive _1 : r25700 Parameter at the CUD Table 3-3 Parameter Parameter text Parameter value p31770[0] [1] OALINK communication via OALINK1 DRIVE-CLiQ socket X101 p31771[0] OALINK sampling time OALINK p31772[0] OALINK communication problems signals tolerance time OALINK1 p31778 OALINK1 receive words maximum number 20 p31780 OALINK1 send words maximum number 20 p31793 CI: OALINK1 send words integer16 p31793[22] CI: OALINK1 send words integer16 Drive_1 : r899 p31793[1] CI: OALINK1 send words integer16 Drive_1 : r2050[1] p31793[2] CI: OALINK1 send words integer16 Drive_1 : r2050[2] p31793[4] CI: OALINK1 send words integer16 Drive_1 : r2050[4] p31793[5] CI: OALINK1 send words integer16 Drive_1 : r2050[5] p31793[6] CI: OALINK1 send words integer16 Drive_1 : r2050[6] p31794[9] CI: OALINK1 send words integer32 Drive_1 : r2060[8] p31794[13] CI: OALINK1 send words integer32 Drive_1 : r2060[11] p31795[23] CI: OALINK1 send words floating point32 Drive_1 : r2700 p31795[11] CI: OALINK1 send words floating point32 Drive_1 : r2050[10] p31795[7] CI: OALINK1 send words floating point32 Drive_1 : r2050[7] Parameter at DC drive Table 3-4 Parameter Parameter text Parameter value p820[0] BI: Drive Data Set selection DDS bit 0 Drive_1 : r p821[0] BI: Drive Data Set selection DDS bit 1 Drive_1 : r p840[0] BI: ON / OFF (OFF1) Drive_1 : r p844[0] BI: No coast-down / coast-down (OFF2) signal source 1 Drive_1 : r p848[0] BI: No Quick Stop / Quick Stop (OFF3) signal source 1 Drive_1 : r Entry ID: , V4.0, 05/

19 3 Program description Parameter Parameter text Parameter value p852[0] BI: Enable operation/inhibit operation Drive_1 : r p854[0] BI: Control by PLC/no control by PLC Drive_1 : r p1035[0] BI: Motorized potentiometer setpoint raise Drive_1 : r p1036[0] BI: Motorized potentiometer lower setpoint Drive_1 : r p1113[0] BI: Setpoint inversion Drive_1 : r p1140[0] BI: Enable ramp-function generator/inhibit rampfunction generator Drive_1 : r p1141[0] BI: Continue ramp-function generator/freeze ramp-function generator Drive_1 : r p1142[0] BI: Enable setpoint/inhibit setpoint Drive_1 : r p2051 CI: IF1 PROFIdrive PZD send word p2051[0] PZD 1 Drive_1 : r2089[0] p2051[1] PZD 2 Drive_1 : r2132 p2051[2] PZD 3 Drive_1 : r2131 p2051[3] PZD 4 Drive_1 : r2089[1] p2051[4] PZD 5 Control_Unit : r31790[6] p2051[5] PZD 6 Control_Unit : r31790[7] p2051[6] PZD 7 Control_Unit : r31790[8] p2051[11] PZD 12 Drive_1 : r80[1] p2061[7] CI: IF1 PROFIdrive PZD send double word PZD Control_Unit : r31791[9] p2061[9] CI: IF1 PROFIdrive PZD send double word PZD Control_Unit : r31791[11] p2080 p2080[0] Bit 0 Drive_1 : r899.0 p2080[1] Bit 1 Drive_1 : r899.1 p2080[2] Bit 2 Drive_1 : r899.2 p2080[3] Bit 3 Drive_1 : r p2080[4] Bit 4 Drive_1 : r899.4 p2080[5] Bit 5 Drive_1 : r899.5 p2080[6] Bit 6 Drive_1 : r899.6 p2080[7] Bit 7 Drive_1 : r p2080[8] Bit 8 Drive_1 : r p2080[9] Bit 9 Drive_1 : r899.9 p2080[10] Bit 10 Drive_1 : r p2080[11] Bit 11 Drive_1 : r p2080[12] Bit 12 Drive_1 : r p2080[13] Bit 13 Drive_1 : r p2080[14] Bit 14 Drive_1 : r Entry ID: , V4.0, 05/

20 3 Program description Parameter Parameter text Parameter value p2080[15] Bit 15 Drive_1 : r p2081 BI: Binector-connector converter status word 2 p2081[0] BI: Binector-connector converter status word 2 Bit 0 Drive_1 : r51.0 p2081[1] BI: Binector-connector converter status word 2 Bit 1 Drive_1 : r51.1 p2081[5] BI: Binector-connector converter status word 2 Bit 5 Drive_1 : r p2081[6] BI: Binector-connector converter status word 2 Bit 6 Drive_1 : r p2081[10] BI: Binector-connector converter status word 2 Bit 10 Drive_1 : r p2088[0] Invert binector-connector converter status word Status word 1 A800H p2088[0].11 Invert binector-connector converter status word Status word 1 Bit 11 Inverted p2088[0].13 Invert binector-connector converter status word Status word 1 Bit 13 Inverted p2088[0].15 Invert binector-connector converter status word Status word 1 Bit 15 Inverted p2103[0] BI: 1. Acknowledge faults Drive_1 : r p50634[0] CI: RFG input signal for limiting after RFG Drive_1 : r25505 p21000[0] Run-time group properties Run-time group 1 [3001] BEFORE speed ctrl p25500 CI: Speed setpoint of the drive Control_Unit : r31792[20] p25510 CI: Technology status word 1 from Technology- CU Control_Unit : r31790[4] p25550 BI: tolerance time communication problem OALink Control_Unit:r Entry ID: , V4.0, 05/

21 3 Program description 3.3 Faults and alarms F51050 Following error out of tolerance Drive object: DC_CTRL Reaction: OFF2 Acknowledgement:immediately Cause: The tolerance for the following error in motion or in standstill was exceeded. Help After correction the fault can be acknowledged F51059 OALink communication fault Drive object: DC_CTRL Reaction: OFF2 Acknowledgement:immediately Cause: The OALink communication has reported a communication problem and the tolerance time is exceeded (CU parameter 31772). Help Check OALink. A51060 Block fault active Drive object: DC_CTRL Reaction: no Acknowledgement no Cause: A block of the synchronism application reports an error. Help Check dynamic values at the concerning block and mechanical parametrization. Execute POWER ON. When occuring more then once contact application consulting service. Entry ID: , V4.0, 05/

22 4 Commissioning the application 4 Commissioning the application 4.1 Necessary software components Please ensure before commissioning that the following software components are stored on your computer..zip-file of technology package OA-Link V1.2.zip-file synchronism library GMC V4.1 Unzipped main script (DCM_Synchronism_and_Technology_Script_V4_0) to integrate the application 4.2 Installation of the OA-Link application For the communication between CU320-2 and CUD Advanced it is required to install the OA-Link application in the commissioning-tool Starter. Close the active project and start installation under Options Installation of libraries and technology packages Also refer to the manual of the OA-Link application for further details. 4.3 Installation of the DCB-Extension library "GMCV4.1" and "MathExtendedV1.0" This library extends the basic functionality of DCC with blocks for motion control applications. These blocks are basis of the standard applications for positioning and synchronism tasks. They are necessary to include this application. Close the active project and start the installation in the Starter, too. Also refer to the manual of the positioning and synchronism applications for further details. 4.4 Create the new Starter-project Based on the starter project and the in speed operation commissioned SINAMICS DCM this application is integrated. If you have not yet created a Starter-project with the SINAMICS DCM it is also possible to start with an empty project. NOTE The script to include the technology-cu and both the positioning and synchronism application will apply the whole inclusion in your project. Thereby lots of changes will be made in the project including saving the project in several stages. For that reason we recommend to archive the primary project before starting the following steps. Browse to the project name in the project explorer and right-click on it. Then select Expert Paste script folder in the shortcut menu. Entry ID: , V4.0, 05/

23 4 Commissioning the application Figure 4-1 Afterwards select Import object in the shortcut menu of the new added script folder via right-klick on it, too. Figure 4-2 Select in the following message boxes the path to the folder where the main script was unzipped and the appropriate file "DCM_Synchronism_and_Technology_Script_V4_0.xml". Entry ID: , V4.0, 05/

24 4 Commissioning the application Figure 4-3 Following this, execute the script via the shortcut menu. Figure 4-4 Please follow then the instructions from the script. When the script was finished, the Project has been expanded by the technology- CU including Drive_1, at the drive object of SINAMICS DCM the DCC chart is supplemented or created. Entry ID: , V4.0, 05/

25 4 Commissioning the application Figure 4-5 Right now you can configure the position encoder. To do so, open the drop down menu for Drive_1 in the project navigator and double click on Configuration. Entry ID: , V4.0, 05/

26 4 Commissioning the application Figure 4-6 Afterwards click on Encoder data and adjust encoder 2 in the window which opens (shown here as an example). Figure 4-7 Entry ID: , V4.0, 05/

27 4 Commissioning the application Configure the mechanical setup in the next step. You will find the corresponding input masks at: Drive_1 Technology Position control Mechanics. Figure 4-8 Figure 4-9 Entry ID: , V4.0, 05/

28 4 Commissioning the application If required follow the same way for the position encoder of the measuring wheel. A description for that is also available in the manual of the synchronism/technology applications. NOTE Modulo correction can be adjusted via the parameter in the DCC application. For further information please refer to the related documentation. NOTE For this application all other position controller s masks in the project navigator are not relevant. For further commissioning of the positioning/synchronism/fyling saw/crosscutter applications please continue as described in the particular documentation. 4.5 Controlling the application using the library Library Motion Control Sinamics The Library Motion Control Sinamics (LMCSINA) provides an easy control of the application using user defined function blocks with a higher level SIMATIC S or S controller. There is a separate document for the application control with LMCSINA, describing detailed the library and the commissioning steps. This document is available in the Siemens Industry Online Support under the entry ID : Entry ID: , V4.0, 05/

29 5 Contact person 5 Contact person Siemens AG Industry Sector DF FA PMA APC Frauenauracher Straße 80 D Erlangen mailto: tech.team.motioncontrol@siemens.com 6 History Table 6-1 Version Date Changes V1.0 02/2014 First edition (not published) V2.0 08/2014 Second edition V3.0 03/2016 Third edition V /2016 Fourth edition V4.0 05/2017 Fifth edition: All synchronism applications updated to V4.0 As leading value source only a measuring wheel is possible now. Therefore only one drive unit will be imported on the Technology-CU Now the Flying Saw and the Crosscutter are usable with this application Entry ID: , V4.0, 05/