Technika Napedowa MAS1.pdf

Micro Application Example – Add on

Closed-loop positioning control

with standard drive

Manual for library

Micro Automation Set 1

Note

Closed.loop positioning control with standard drives

Items-Number: 21063595

Note

The Micro Automation Sets are not binding and do not claim to be complete

regarding the circuits shown, equipping and any eventuality. The Micro

Automation Sets 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 correctly used.

These Micro Automation Sets do not relieve you of the responsibility of

safely and professionally using, installing, operating and servicing

equipment. When using these Micro Automation Sets, you recognize that

Siemens cannot be made liable for any damage/claims beyond the liability

clause described. We reserve the right to make changes to these Micro

Automation Sets at any time without prior notice. If there are any deviations

between the recommendations provided in these Micro Automation Sets

and other Siemens publications – e.g. Catalogs – the contents of the other

documents have priority.

Warranty, liability and support

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

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The above provisions does not imply a change in the burden of proof to

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copy these application examples or excerpts of them without first

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Warranty, liability and support

Closed.loop positioning control with standard drives

Items-Number: 21063595

Preface

In This Manual

The reader will be given a full understanding of the Micro Automation

Positioning library for induction motors in the S7200 programming software

MicroWin. You will be shown how to perform optimal positioning tasks with

induction motors using simple cost effective drive systems and requiring

only a basic knowledge of drive.

In addition some principles of motion control are discussed so that the

reader might become equipped with some basic knowledge to better

understand and diagnose simple positioning applications.

The additional Quick Commissioning manual which will guide the reader in

quickly implementing his application, should be read as a supplement to

this manual.

Level of Competence

The manual is aimed at automation engineers who have a sound

knowledge of PLC programming and a basic knowledge of drive systems.

NOTE:

In depth discussions of motion control contained in some chapters in this

manual are for interest and background information purpose and

understanding thereof is not required to use the Micro Automation

Positioning Library for induction motors.

Scope of the Manual

Intended for Users of MicroWin V4.0 SP5 and the MAP ind Library V1.1.

Support

If you have questions related to the use of the products which are not

answered in this manual, please consult your Siemens representative in

your local agency.

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Product Overview

Closed.loop positioning control with standard drives

Items-Number: 21063595

Table of Content

1 Product Overview .. ......................................................................................... 6

1.1 Overview.. ......................................................................................................... 6

1.2 Components ... .................................................................................................. 8

1.2.1 MicroWin, MAP Library and Manuals .. ............................................................. 9

1.2.2 Programming Device ... ..................................................................................... 9

1.2.3 PLC.. ................................................................................................................. 9

1.2.4 Encoder ... ....................................................................................................... 10

1.2.5 Induction Motor ... ............................................................................................ 10

1.2.6 Transmission Equipment ... ............................................................................. 10

1.2.7 Reference Switch... ......................................................................................... 10

1.2.8 Limit Switches... .............................................................................................. 10

1.2.9 Protection Safety Devices... ............................................................................ 10

2 Concepts .... ................................................................................................... 11

2.1 Concept of Positioning with MAP Ind.... .......................................................... 11

2.1.1 What does the library offer?... ......................................................................... 11

2.1.2 Simple solution high performance. How? .... ................................................... 11

2.1.3 Benefits of the solution .... ............................................................................... 12

2.1.4 Points to consider ... ........................................................................................ 12

2.1.5 What is "optimal" positioning?... ...................................................................... 13

2.1.6 The ideal point to point move.... ...................................................................... 16

Wiring... .......................................................................................................... 24

3.1

PLC Wiring.... .................................................................................................. 24

3.2

Drive Wiring .... ................................................................................................ 24

3.3

PLC / MM440 Connections ... .......................................................................... 25

3.4

PLC / G110 Connections ... ............................................................................. 25

3.5

Earthing and Cable Screening... ..................................................................... 26

3.6

Encoder Wiring ... ............................................................................................ 26

3.7

Motor Wiring .... ............................................................................................... 27

Variable Speed Drive Setup ... ...................................................................... 28

4.1

General Parameterisation ... ............................................................................ 28

Drive setup requirements .... ....................................................................... 28

4.2

Siemens MM440 Setup .... .............................................................................. 29

4.3

Siemens G110 Setup.... .................................................................................. 31

5 The MAP_Ind Library .... ................................................................................ 33

5.1 Adding the libraries to MicroWin .... ................................................................. 33

5.2 Library Overviews ... ........................................................................................ 35

5.3 Linear Motion Blocks .... .................................................................................. 36

5.3.1 Lin_Init_horizontal... ........................................................................................ 36

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5.3.2 Lin_Init_vertical... ............................................................................................ 39

5.3.3 Lin_Move jog ... ............................................................................................... 40

5.3.4 Lin_Home .... ................................................................................................... 42

5.3.5 Lin_MoveAbs ... ............................................................................................... 45

5.3.6 Lin_MoveRel.... ............................................................................................... 47

5.3.7 Lin_StopMotion... ............................................................................................ 49

5.3.8 Lin_Com_Monitor ... ........................................................................................ 50

5.3.9 Lin_Control .... ................................................................................................. 52

5.4 Rotary Motion Blocks.... .................................................................................. 53

5.4.1 Rot_Init ... ........................................................................................................ 53

5.4.2 Rot_Move jog... ............................................................................................... 57

5.4.3 Rot_Home.... ................................................................................................... 59

5.4.4 Rot_MoveAbs ... .............................................................................................. 61

5.4.5 Rot_MoveRel ... ............................................................................................... 63

5.4.6 Rot_StopMotion ... ........................................................................................... 65

5.4.7 Rot_Com_Monitor... ........................................................................................ 66

5.4.8 Rot_Control.... ................................................................................................. 67

5.5 Specific Block parameters and status signals .... ............................................ 69

5.5.1 Stand still monitoring .... .................................................................................. 69

5.5.2 Holding brake... ............................................................................................... 69

5.5.3 Torque Limit.... ................................................................................................ 69

5.5.4 Direction Error... .............................................................................................. 69

5.5.5 s_per_rev.... .................................................................................................... 70

5.5.6 Velocity Limit.... ............................................................................................... 70

5.5.7 Axis not Synchronized .... ................................................................................ 70

5.5.8 OFF 3... ........................................................................................................... 71

5.5.9 Gravity Offset... ............................................................................................... 71

Programming using the library. .... .............................................................. 72

6.1

Programming tips... ......................................................................................... 72

6.2

Example Test and Commissioning program. .... .............................................. 73

Commissioning with MicroWin Status Trend... .......................................... 77

7.1

Working with the Status Trend Feature ... ....................................................... 77

7.2

Com_Monitor and Status Trend.... .................................................................. 78

7.3

Torque Trending ... .......................................................................................... 79

7.4

Velocity / Speed Trending... ............................................................................ 79

7.5

Position Trending... ......................................................................................... 79

7.6

Torque Trend Analysis and optimising ... ........................................................ 80

7.7

Velocity / Speed analysis and optimising... ..................................................... 80

7.8

Position trend analysis and optimising... ......................................................... 83

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