Motion Control

Basic Workshop

Unrestricted | © Siemens 2021 | Trần Văn Hiếu | SITRAIN | 2021/2022

Motion Control

• Basic 2
• Hardware
24
• Technology Object
33
• Program 53

Unrestricted | © Siemens 2021 | Trần Văn Hiếu | SITRAIN | 2021/2022

Introduction

Why Motion?

Motion Control
increasingly substitutes mechanical solutions

 Motion Control becomes a more important factor

Introduction
Current systems

S7-300 CPU SINAMICS

request EPos  No motion is integrated in the CPU
response
 Communication with drives is possible

S7-300 CPU SINAMICS

Speed setpoint
 Software based solution for motion
Easy  Programming with PLCopen blocks
Motion Actual position
Control

S7-300 T-CPU SINAMICS

Speed setpoint
 Additional processor for motion
Actual position
 Programming with PLCopen blocks
Introduction
Motion in S7-1200 and S7-1500 S7-1500 S7-1200

Every S7-1200 and S7-1500 includes integrated motion functionality in the firmware!

S7-1200 / S7-1500 Easy insertion and configuration of drives

Easy programming using PLCopen blocks
Easy diagnostics in the TIA Portal

Functionality
S7-1200 S7-1500
Open loop speed control
Open loop position control
Closed loop speed control
Closed loop position control
Homing
Control loop
Basic structure of a positioning control

PLC Inverter

Positioning Inter- Position Speed Current Power

- Motor
control polator - controller - controller controller module

Actual current Encoder

Actual position Actual speed

Position controller: Calculation of the speed setpoint

Interpolator: Calculation of the position setpoint considering the dynamic values

Positioning control: Commanding a position or speed

System
Closed control loop in the S7-1500

S7-1500 SINAMICS
User- MC-Interpolator MC-Servo Control Unit (CU) Power Module
program [OB 92] [OB 91]

Positioning- Inter- Position Speed Current Power

- - controller
Motor
control polator controller - controller module

Evaluation Encoder
TM-Modul
Evaluation

MC-Interpolator [OB92]: Executes of the motion control instructions

Generates the position set point

MC-Servo [OB91]: Calculates the position controller

System
Technology OBs

Servo Event / PN IRT Cycle

PI Out  Two possibilities to execute the OB:
OB Servo
PI IN
Input PIP
- Cyclic with a defined cycle time
- Synchronous to the bus
OB 1 MC-Servo

 MC-Servo is always executed before MC-Interpolator

OB 91
OB Servo  OB91 and OB92 are always executed with the ratio 1:1
Output PIP

IPO Event
 Default priorities:
MC-Inter- - OB91: 25
polator
OB 1 - OB92: 24

OB 92
 Content of the MC-OBs are not modifiable
Topology
Connection of drives to the S7-1500 S7-1500 S7-1200

S7-1500
Flexible drive connection:
 PROFINET IO / PROFIBUS DP / Analog (V/I)

V/I Which devices are supported?

 All GSD(ML) devices (Siemens and third-party supplier)
 GSD(ML)-files of the Siemens drives are preinstalled

With installed Startdrive:

V/I  SINAMICS G120 are insertable from the hardware catalogue
and parameterisable directly in TIA Portal by using Startdrive

In the futur all SINAMIC drives will be

integrated in TIA Portal with Startdrive!
Topology
Connection of encoder to the S7-1500 S7-1500 S7-1200

S7-1500
Flexible encoder connection:
 Direcly to the drive

 Via PROFINET IO / PROFIBUS DP

 Via technology module (TM) V/I

(central or decentral)

Encoder at Encoder via Encoder via Encoder via

the drive PN or PB technology module technology module Encoder via technology module
Structure
Motion in the TIA Portal S7-1500 S7-1200

Where does motion appear in the TIA Portal?

Hardware configuration

Programming

Represent the drive in the PLC

Parameterization of the drive

Structure
Concept
Structure of a drive application with a S7-1500

PLC
User program
Motion control instructions

Technology object „axis“ (DB)

Represents the drive in the PLC

Firmware
Position controller, Interpolator, …

Drive
Inverter
(Speed controller, Monitoring, …)
Structure
User program S7-1500 S7-1200

Motion control instructions

PLC

User- Starting motion control instructions refering to a technology

program object by using PLCopen blocks

- Disable/enable axis
Technology - Acknowledging errors
object (TO) - Move axis in jog mode
Firmware - Motion with speed preset
- Stop axis
- Home/set axis
Drive /
- Relative positioning
External encoder
- Absolute positioning (Homing required)
Structure
Technology object
S7-1500 S7-1200

Properties of technology objects

PLC  TOs…
… represent the real drives in the PLC
User- … are the interface between real drive and user program
program

Technology  Data is saved in the Technology datablock

object (TO)

Firmware
Advantage:
Dimensioning and parameterization of the drive is
Drive / independant from user programm!
External encoder
Structure
Technology object
S7-1500 S7-1200

Available technology objects and quantity

PLC
S7-1200 S7-1500
User-
program
Available SpeedAxis
TOs for Axis_PTO PositioningAxis
motion
Technology External encoder
object (TO)

Firmware
Quantity 4 axes X TOs

Drive /
External encoder
Structure
Technology object
S7-1500 S7-1200

Technology objects in the TIA Portal

Configuration: Configuration of the drive data

Commissioning: Operating drive with control panel

(Using the drive without user program)

Diagnostics: Actual status and error information

Technology object
PositioningAxis
Structure
CPU firmware S7-1500 S7-1200

PLC
CPU firmware
User-
program
 Communication with the drive

Technology
object (TO)  Cyclic actualization of the TO-DBs

Firmware
 Execution of the motion instructions

Drive /
External encoder
Structure
Drive S7-1500 S7-1200

Paramerization of the drive

PLC

User-
program The drive can be parameterized either via Startdrive or Starter

Current: separate Now: just one single

engineering software engineering platform
Technology
object (TO)

Firmware

Drive
Communication
Overview

Communication with the drive

Cyclic data channel: deterministic process value exchange

 PLC to drive  Drive to PLC PLC

- Control words - Status words
- Setpoint values - Actual values
cyclic Acyclic data
data exchange exchange

Acyclic data channel: non-deterministic parameter access Drive

 Execution just on demand

 Reading and writing of drive parameters
Communication
Cyclic data exchange

Control word 1 (STW1) and Status word 1 (ZSW1) are transferred always!
STW1 and ZSW1 are defined in the PROFIdrive specification:

STW1: PLC -> Drive ZSW1: Drive -> PLC

Additionally to STW1 and ZSW1, further process values can be exchanged.

Predefined PROFIdrive telegrams are used.
Communication
Available standard telegrams

Telegram PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6 PZD 7 PZD 8 PZD 9

STW1 NSOLL
1 Speed setpoint 16 bit
ZSW1 NIST

STW1 NSOLL STW2

2 Speed setpoint 32 bit PZD: Process data word
ZSW1 NIST ZSW2

Speed setpoint 32 bit, STW1 NSOLL STW2 G1_STW

3
Position encoder ZSW1 NIST STW2 G1_ZSW G1_XIST1 G1_XIST2

Speed setpoint 32 bit, STW1 NSOLL STW2 G1_STW XERR KPC

5
Position encoder, DSC ZSW1 NIST ZSW2 G1_ZSW G1_XIST1 G1_XIST2

STW1: Control word 1 STW2: Control word 2 G1_STW: Encoder 1 Control word
NSOLL: Speed setpoint ZSW2: Status word 2 G1_ZSW: Encoder 1 Status word
ZSW1: Status word 1 XERR: Position deviation G1_XIST1: Encoder 1 actual position 1
NIST: Speed actual value KPC: Position controller gain factor G1_XIST2: Encoder 1 actual position 2
Communication
Available encoder telegrams

Telegram PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6 PZD 7 PZD 8

STW2_ENC G1_STW
81 1 encoder channel
ZSW2_ENC G1_ZSW G1_XIST1 G1_XIST2

STW2_ENC G1_STW
1 encoder channel
83
Speed actual value ZSW2_ENC G1_ZSW G1_XIST1 G1_XIST2 NIST

STW2_ENC: Control word 2 ENCODER G1_XIST1: Encoder 1 actual position 1

PZD: Process data word
G1_STW: Encoder 1 Control word G1_XIST2: Encoder 1 actual position 2
ZSW2_ENC: Status word 2 ENCODER NIST: Speed actual value
G1_ZSW: Encoder 1 Status word
Interaction
Technology Motion with S7-1500

CPU S7-1500 TIA Portal

User interface
Configuration
Instruction
Commissioning
PLCopen- Technology library
blocks objects Diagnostics

Startdrive
Firmware
Motion handling

Position setpoint Position-

calculation controller
Inverter
Actual value handling Speed Current
controller controller
Communication
Further functions
Motion Control

• Basic 2
• Hardware
24
• Technology Object
33
• Program 53

Unrestricted | © Siemens 2021 | Trần Văn Hiếu | SITRAIN | 2021/2022

Overview
Add hardware in „devices & networks“

Adding a drive

TIA Portal TIA Portal

without Startdrive with Startdrive

 Insertion via GSD(ML) file  Insertion via hardware catalogue

 Parameterization/Commissioning  Parameterization/Commissioning
via STARTER via Startdrive in the TIA Portal
GSD(ML) drives
Add a drive via GSD(ML) file

Network view

Drives can be inserted using GSD(ML) files, Siemens drives are preinstalled.

Insert drive

Assign the
drive to a PLC
GSD(ML) drives
Telegram and configuration

Device view
Device view
1
Click on the
interface

3
4 Insert
Further telegram
settings
Drives with Startdrive
Overview

Startdrive: Integration of the engineering software STARTER in the TIA Portal

Features

 Same look and feel for all drive settings

e.g. drive is been listed in the project tree as a device

 Easy parameterization of the drives with wizards

 Data consistency between Step7 and Startdrive

 Use known STARTER editors directly in the TIA Portal

Drives with Startdrive
Configuration

Network view

View of a drive in the hardware configuration and project tree

All G120 drives are

insertable via the
hardware catalogue
Drives with Startdrive
Configuration

Device view

Adding a
power module
Configuration of the
device looks similar
to other devices
Drives with Startdrive
Parameterization

Offline/Online parameterization of a drive

1 2 3

1 Conduct basic settings with commissioning wizards

2 Functional view of the parameters

3 Parameter list (expert list)
Drives with Startdrive
Commissioning and diagnostics

Commissioning
and diagnostics

Integrated trace
Motion Control

• Basic 2
• Hardware
24
• Technology Object 33
• Program 53

Unrestricted | © Siemens 2021 | Trần Văn Hiếu | SITRAIN | 2021/2022

Overview
Workflow

For every drive, a technology object needs to

be added!

Workflow:

1 Insert technology object

2 Configuration

1 3 Commissioning
2
3
4
4 Diagnostics
Overview
Adding a new technology object

Assign name
2

Assign DB
number

Choose
TO type

1
Configuration
Overview

Arrangement of the configuration

Basic parameters & HW Interface

 they need to be configured

Configure
axis
Extended parameters
 they are predefined and
changeable if necessary
Configuration
Symbols

Status of the configuration

Configuration only contains predefined values and is complete

Configuration contains at least one manually changed value

and is complete

Configuration is either wrong or incomplete

Configuration
Basic parameters

Basic parameters Choose an

axis type
General settings for the
technology object

Unit settings
Selection of a rotary axis:

Graphics changes depending

the actual settings Modulo settings
Configuration
HW Interface

Drive

Special feature:

 White background shows

the device, which can be
configured in this mask

 Graphics changes depending

the actual settings

Choose an
available drive
Configuration
HW Interface

Encoder
Possibility1 3
Possibility 2

Possibility 1:
Connection to the drive

Possibility 2:
Connection via technology module (TM) Selectionofofana
Selection
TM modul
encoder
Possibility 3:
Connection via PROFINET/PROFIBUS
Configuration
HW Interface

Possibility 2
Communication

1 Between PLC and drive

• Select telegram (1, 2, 3, 5)
• Reference speed

2 Between PLC and TM module (or encoder)

• Select telegram (81, 83)

2
3 Encoder settings 1
3
• Encoder type
• Resolution

3
Configuration
Extended parameters

Extended parameters…
… are all predefined
… could be changed optionally

Categories:
- Mechanics
- Limits and default values
- Emergency stop
- Homing
- Position tracking
- Closed loop control
Commissioning
Overview

Technology object

Configuration

Commissioning

Diagnostics

Technology object
PositioningAxis
Commissioning
Control Panel

Overview

Controlling the drive manually 1

without an user program

2

Parts of the control panel:

1 Axis control
3

2 Motion control

3 Information
Commissioning
Control Panel

Workflow

Activate axis

2
Security warning
Commissioning
Control Panel

Workflow

Enable the axis

2 1

Select the
operation mode
Commissioning
Control Panel

Workflow

Start motion

Enter motion
values
Commissioning
Control Panel

Workflow

Online information
Diagnostics
Overview

Technology object

Configuration

Commissioning

Diagnostics

Technology object
PositioningAxis
Diagnostics
Status- and error bits

Diagnostics
Status and error bits
Diagnostics
Motion status and PROFIdrive interface

Diagnostics
Watch content of the
PROFIdrive telegrams
Watch online values
of the drive
DB editor
Technology datablock

Datablock of a technology object

Content:
Configuration data
Setpoint values
Actual values
Status information

2
Motion Control

• Basic 2
• Hardware
24
• Technology Object
33
• Program
53

Unrestricted | © Siemens 2021 | Trần Văn Hiếu | SITRAIN | 2021/2022

Overview
Adding a user program

Using technology instructions in the user program to

control the axis

Workflow:

1 Configure the MC_OBs

2 Add code block

2 3 Call added code block in the cyclic program (OB1)

3
1
4 Write user program (with PLCopen blocks)
4
Technology OBs
Configuration

MC-Servo & MC-Interpolator

2
User program
Adding first program parts

1 Add new code block (FB or FC)

2 Call code block in the cyclic program

1
User program
Programming with PLCopen

Programming motion instructions in the user program

Insertion of a
MC_block from
the library
3 2

1 Motion control library

with the MC_blocks
MC_blocks
Instruction library

Available MC_blocks

MC_Halt Stop axis

MC_Home Home/set axis
MC_MoveAbsolute Absolute positioning
MC_MoveJog Motion in jog mode
MC_MoveRelative Relative positioning
MC_MoveVelocityMotion with preset velocity
MC_Power Disable/enable drive
MC_Reset Acknowledging errors
MC_blocks
Overview

Basic functions Requirements

Types of
Enable function
MC_blocks  For all motion functions, the axis
Motion functions needs to be enabled -> MC_Power

TO configured  For MC_Absolute, the axis needs

to be homed -> MC_Home
MC_Power MC_Home
MC_Reset
(set position)  MC_blocks can abort each other
Axis enabled

MC_Home
MC_Halt
(homing)

MC_MoveJog MC_MoveRelative MC_MoveVelocity MC_MoveAbsolute

MC_blocks
Overview

Basics of MC_blocks:
 Every block has basic parameters
(not every block has all basic parameters)
 Every block needs to be assigned to a TO Axis Technology object
(Drag&Drop of a TO to the block)
Execute Start instruction with a rising edge
Done Instruction was being executed
Busy Instruction is active
Command Instruction was aborted by another instruction
Aborted
Error Error pending
ErrorID Error information

Shortcut from the block to  Besides the basic parameters, every block has
the corresponding TO specific parameters (e.g. velocity, position, …)
Example program

Enable axis
Acknowledging errors

Motion with velocity preset

Useful Links

Programming recommendations for S7-1200 and S7-1500 with STEP 7 (TIA Portal)
http://support.automation.siemens.com/WW/view/en/67582299

Programming guideline for S7-1200/1500 (also in PDF as customer workshop)

http://support.automation.siemens.com/WW/view/de/81318674

Migration:
Migration production plants– http://support.automation.siemens.com/WW/view/en/83558085
Migration PLC´s – http://support.automation.siemens.com/WW/view/en/83557459
Migration Vizualisation – http://support.automation.siemens.com/WW/view/en/76878921
Migration communication – http://support.automation.siemens.com/WW/view/en/83558087
Migration periphery – http://support.automation.siemens.com/WW/view/en/83558994
 Let us know if there is anything
we can support you with!
For further information and support, please contact:
Mr. Tran Van Hieu
SITRAIN Manager – Digital Industry Academy
Siemens Vietnam
Email: tran-van.hieu@siemens.com

www.siemens.com.vn
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