Siemens SIMODRIVE 611U User manual

SIMATIC S7-300 Connecting the SIMODRIVE 611U to the Technology CPU
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Definitions and warnings 1
Hardware Requirements 2
Software Requirements 3
Commissioning 4
Expert functions 5
SIMATIC
S7-300
Connecting the SIMODRIVE 611U
to the Technology CPU
Product Information
03/2008
A5E00272066-05

Safety Guidelines
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.
DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.
WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.
CAUTION
with a safety alert symbol, indicates that minor personal injury can result if proper precautions are not taken.
CAUTION
without a safety alert symbol, indicates that property damage can result if proper precautions are not taken.
NOTICE
indicates that an unintended result or situation can occur if the corresponding information is not taken into
account.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will
be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to
property damage.
Qualified Personnel
The device/system may only be set up and used in conjunction with this documentation. Commissioning and
operation of a device/system may only be performed by qualified personnel. Within the context of the safety notes
in this documentation qualified persons are defined as persons who are authorized to commission, ground and
label devices, systems and circuits in accordance with established safety practices and standards.
Prescribed Usage
Note the following:
WARNING
This device may only be used for the applications described in the catalog or the technical description and only
in connection with devices or components from other manufacturers which have been approved or
recommended by Siemens. Correct, reliable operation of the product requires proper transport, storage,
positioning and assembly as well as careful operation and maintenance.
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.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software
described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the
information in this publication is reviewed regularly and any necessary corrections are included in subsequent
editions.
Siemens AG
Automation and Drives
Postfach 48 48
90327 NÜRNBERG
GERMANY
A5E00272066-05
Ⓟ 03/2008
Copyright © Siemens AG 2008.
Technical data subject to change
이 기기는 업무용(A급) 전자파 적합기기로서 판매자 또는 사용자는 이 점을 주의하시기 바라며 가정 외의 지역에서 사용하는 것을 목적으로 합니다.

Connecting the SIMODRIVE 611U to the Technology CPU
Product Information, 03/2008, A5E00272066-05 3
Safety Guidelines
Table of contents
1 Definitions and warnings............................................................................................................................ 5
1.1 Qualified personnel ........................................................................................................................5
1.2 Description .....................................................................................................................................6
2 Hardware Requirements............................................................................................................................ 7
2.1 Converter .......................................................................................................................................7
3 Software Requirements ............................................................................................................................. 9
3.1 Converter .......................................................................................................................................9
3.1.1 Software upgrade...........................................................................................................................9
4 Commissioning ........................................................................................................................................ 13
4.1 Introduction ..................................................................................................................................13
4.2 Commissioning procedure ...........................................................................................................13
4.3 Table of the settings.....................................................................................................................14
4.4 Setting up a STEP 7 project.........................................................................................................15
4.4.1 Performing the hardware configuration........................................................................................15
4.4.2 Create axis...................................................................................................................................25
4.4.3 Referencing..................................................................................................................................45
4.4.4 "Measuring" function ....................................................................................................................51
4.5 Drive configuration for SIMODRIVE 611U...................................................................................61
5 Expert functions....................................................................................................................................... 73
5.1 Introduction ..................................................................................................................................73
5.2 Important parameters on the SIMODRIVE 611U.........................................................................74
5.3 PROFIBUS message frame.........................................................................................................75
5.4 Adapting message frames individually ........................................................................................76
5.5 Example: Expanding the process data area................................................................................77
5.6 Disable the sign-of-life monitoring................................................................................................81
5.7 Activate the second encoder........................................................................................................81
5.8 Activating a brake ........................................................................................................................82
5.8.1 Vertical axis application case.......................................................................................................82
5.8.2 Universally activating the braking control in the SIMODRIVE 611 ..............................................82
5.8.3 Activating braking sequential control in the axis..........................................................................84

Table of contents
Connecting the SIMODRIVE 611U to the Technology CPU
4 Product Information, 03/2008, A5E00272066-05

Connecting the SIMODRIVE 611U to the Technology CPU
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Definitions and warnings 1
1.1 Qualified personnel
Description
Qualified personnel in the context of the documentation are personnel who are familiar with
the assembly, installation, commissioning, operation and maintenance of the SIMODRIVE
611U product and who have the following qualifications:
● Trained and authorized to energize, de-energize, clear, ground and tag circuits and
equipment in accordance with established safety procedures.
● Trained in the proper care and use of protective equipment in accordance with
established safety procedures.
● First aid training.
Warnings are not explicitly given in this documentation. However, you are strongly advised to
note the warnings contained in the operating instructions for each product from the
SIMODRIVE series.

Definitions and warnings
1.2 Description
Connecting the SIMODRIVE 611U to the Technology CPU
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1.2 Description
Contents
This document describes the most important standard application options for the
SIMODRIVE 611U used on the technology CPU. Although additional functions can be
executed with the SIMODRIVE 611U, these must be examined on an individual basis.
This description does not replace the device documentation for the SIMODRIVE 611U. A
complete functional description of the SIMODRIVE 611U can be found in the Description of
Functions for SIMODRIVE 611 Universal "Closed-Loop Control Components for Closed-
Loop Speed Control and Positioning".
POSMO C and POSMO S
POSMO C and POSMO S drives can also be used on the technology CPU.
These drives belong to the SIMODRIVE 611U family and are parameterized with the same
commissioning tools. The adaptation to the technology CPU is comparable to the approach
described for the SIMODRIVE 611U. However, the functional scope is different and is
contained in the corresponding device description.

Connecting the SIMODRIVE 611U to the Technology CPU
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Hardware Requirements 2
2.1 Converter
611U converter
● SIMODRIVE 611U closed-loop control module
● Optional PROFIBUS DP3 module for isochronous PROFIBUS
Closed-loop control module options:
2axis for sin/cos 1 Vpp speed setpoint
encoder
6SN1118-0NH0x-0AAx
2axis for sin/cos 1 Vpp positioning
encoder
6SN1118-1NH0x-0AAx
2axis for n-set resolver 6SN1118-0NK0x-0AAx
2axis for resolver positioning 6SN1118-1NK0x-0AAx
1axis for n-set resolver 6SN1118-0NJ0x-0AAx
1axis for resolver positioning 6SN1118-1NJ0x-0AAx
Optional module PROFIBUS DP3 6SN1114-0NB01-0AA0
Note
As a general principle, a closed-loop control card for speed setpoint operation is sufficient for
operation with the technology CPU. This is also the case when DSC is used.
If you want to use an external encoder on the axis, you must select a 2-axis closed-loop
control module, whereby the second axis cannot be used to control a motor.
POSMO SI
SIMODRIVE POSMO SI is a complete 1-axis function unit. It consists of the following:
● Power section
● Control electronics
● Motor
Order number: 6SN2 4xx-2BF00-0Gxx

Hardware Requirements
2.1 Converter
Connecting the SIMODRIVE 611U to the Technology CPU
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POSMO CD/CA
SIMODRIVE POSMO CD/CA is a complete 1-axis function unit. It consists of the following:
● Power section
● Control electronics
Order numbers:
POSMO CD: 6SN2 703-2AAxx-0xA0
POSMO CA: 6SN2 703-3AAxx-0BA0
Note
The following sections refer only to the SIMODRIVE 611U. The described approach also
applies to POSMO S and POSMO C.

Connecting the SIMODRIVE 611U to the Technology CPU
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Software Requirements 3
3.1 Converter
3.1.1 Software upgrade
Note
The SimoCom U must not be connected using PROFIBUS DP when the software upgrade is
performed!
Procedure
1. Connect SimoCom U to the drive via the V24 interface.
2. Open the firmware download window.
If you want to upgrade the drive yourself, select the menu command Options > Service >
Firmware upgrade. If you want to upgrade the PROFIBUS module, select the menu
command Options > Service > Firmware upgrade of PROFIBUS option module.

Software Requirements
3.1 Converter
Connecting the SIMODRIVE 611U to the Technology CPU
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You will be guided through the upgrade. Confirm the prompts and notes in the following
windows.
Note
This example shows the procedure for upgrading the firmware of the drive.
3. Confirm the following information message:

Software Requirements
3.1 Converter
Connecting the SIMODRIVE 611U to the Technology CPU
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4. Select the file with the desired firmware, e. g. the "611u.ufw" file and confirm your input
with Open.
5. Wait until the firmware has been fully loaded.
Note
Do not cancel the downloading operation or interrupt the online connection to the
SIMODRIVE 611U under any circumstances.
6. Confirm the prompt with Yes. The drive executes a RESET.
Result
The firmware upgrade for the drive is completed. If required, you can now perform the
firmware upgrade for the PROFIBUS module.

Software Requirements
3.1 Converter
Connecting the SIMODRIVE 611U to the Technology CPU
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Connecting the SIMODRIVE 611U to the Technology CPU
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Commissioning 4
4.1 Introduction
Overview
This section describes the standard commissioning procedure using a sample configuration.
The settings required in the technology CPU and in the SIMODRIVE 611U are explained.
The sample configuration is based on the control of two position-controlled axes with DSC.
Control is via PROFIBUS message frame 105, and a SIMODRIVE 611U double-axis module
is used as drive.
If you use another axis or message frame type or another SIMODRIVE 611U closed-loop
control module, the structure of the input windows may differ from those described below.
However, the principle approach remains the same.
Moreover, you can use additional functions of the SIMODRIVE 611U in the user program (for
example, reading of operating modes, etc.). Information on this can be found in the "Expert
functions" section.
Note
These instructions ensure only the connection of the SIMODRIVE 611U converter to the
technology CPU. The guide does not describe how to optimize the controller; it is assumed
that this has already been carried out.
4.2 Commissioning procedure
Operational sequence
The commissioning procedure is divided into two parts:
In the first part, a STEP 7 project is created and the S7T Config program and the hardware
manager are used to enter the settings of the technology CPU for the attached hardware.
The settings that have to be made both in the technology CPU and in the SIMODRIVE 611U
are given special attention.
In the second part, the SIMODRIVE 611U is parameterized. The basic device
commissioning for connection to the technology CPU is used for this.
Various parameter settings for the SIMODRIVE 611U are derived from the technology CPU
settings. The table contains in Section 1.2 an overview of the functions and settings which
have to be entered in both the technology CPU and the SIMODRIVE 611U. The settings that
have been made can be entered in the table. These settings are explained in detail in the
following sections for both the technology CPU and the SIMODRIVE 611U.

Commissioning
4.3 Table of the settings
Connecting the SIMODRIVE 611U to the Technology CPU
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4.3 Table of the settings
Settings for the commissioning
You require this data for the following commissioning steps. You can prepare the values
using this table.
DP cycle ________ ms
❑ Incremental encoder Specify encoder
❑ Absolute encoder
❑ Homing cam + encoder zero mark
❑ Only encoder zero mark
❑ Only homing cam
❑ 1. Zero position at the right of the homing
cam
Homing mode
❑ 1. Zero position at the left of the homing
cam
"Measuring" function ❑
Encoder type (order number) 1Fxxxxx- _ xxxx-x _ xx
Motor rated speed/max. speed axis ______ rpm
Master application cycle/position control
cycle clock
______
Message frame (see decision table) ______
PROFIBUS address ______
Message frame decision table
By default, the SIMODRIVE 611U is connected to the technology CPU via PROFIBUS DP.
Depending on the desired axis functionality, this connection can be made using various
device-specific message frames. The following selection table shows the options for the
individual message frame types:
Sign-of-life
monitoring
(SoLmon)
1.
Encoders
__________
Measuring
2.
Encoders
Dynamic servo
control (DSC)
Torque
reduction
(Mred)
Required
message frame
1
x 2
Speed-
controlled axis
x x 101
x x 3
x x x 4
x x x 5
x x x x 6
x x x 102
x x x x 103
x x x x 105
Position
axis/following
axis
x x x x x 106

Commissioning
4.4 Setting up a STEP 7 project
Connecting the SIMODRIVE 611U to the Technology CPU
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Note
The message frame types < 100 are standard message frames. These are standardized via
the PROFIdrive profile. The message frame types > 100 are device-specific message frame
types for the SIMODRIVE 611U.
4.4 Setting up a STEP 7 project
4.4.1 Performing the hardware configuration
Introduction
In this step, the technology CPU (in this example, the CPU 317T 2 DP), the bus system and
the connected devices, here the SIMODRIVE 611 universal, are configured in STEP 7 using
the hardware configuration program and S7T Config.
Procedure
● After starting the SIMATIC manager, you must first create a new project (e.g. with the
name
DSC_SIMODRIVE ):
Figure 4-1 Creating a project

Commissioning
4.4 Setting up a STEP 7 project
Connecting the SIMODRIVE 611U to the Technology CPU
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● A new S7 300 station is created in the Insert > Station > SIMATIC 300 Station menu.
Figure 4-2 Inserting a SIMATIC station 300
● A double-click on the Hardware element in the SIMATIC 300 station opens the hardware
configuration:
Figure 4-3 Open the hardware configuration
The HW Config application starts and opens the empty SIMATIC 300 station. Now select
the mounting channels from the SIMATIC Technology CPU hardware catalog and add
them to the configuration using drag-and-drop. Add the CPU 317T-2 DP at slot 2 of the
mounting channels.

Commissioning
4.4 Setting up a STEP 7 project
Connecting the SIMODRIVE 611U to the Technology CPU
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● Read carefully the information for downloading the system data and then click OK to
confirm.
Figure 4-4 Information for downloading the system data
The Properties - PROFIBUS Interface DP(DRIVE) (R0/S3.1) window is displayed.
Figure 4-5 PROFIBUS interface DP(DRIVE) properties

Commissioning
4.4 Setting up a STEP 7 project
Connecting the SIMODRIVE 611U to the Technology CPU
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● Click the New button in the Properties - PROFIBUS Interface DP(DRIVE) (S0/S3.1)
window to assign a network to the DP drive interface. The PROFIBUS configuration is set
in the displayed dialog. Select the Network Settings tab for this purpose.
– Set "2" as the largest PROFIBUS address
– Set a transmission rate of 12 Mbit/s on the bus and DP as profile.
Figure 4-6 PROFIBUS subnet properties
● Click the Options button and activate the Activate equidistant bus cycle checkbox in the
Constant Bus Cycle Time tab.
Figure 4-7 Activate isochronous bus cycle

Commissioning
4.4 Setting up a STEP 7 project
Connecting the SIMODRIVE 611U to the Technology CPU
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● Enter the desired cycle time, e.g. 3 ms in the isochronous DP cycle field. The other
described settings are all shown for a DP cycle of 3 ms.
● Click on OK to confirm your settings. The configured objects are then added to the
SIMATIC 300 station.
Figure 4-8 SIMATIC 300 Station
Note
The X1-MPI/DP interface in the rack is not networked for this example. It is set by default
for MPI communication at 187.5 Kbaud. To load the technology system data to the
module, the transmission speed of the interface should be set to ≥ 1.5 Mbaud.

Commissioning
4.4 Setting up a STEP 7 project
Connecting the SIMODRIVE 611U to the Technology CPU
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● Configure on the PROFIBUS a SIMODRIVE 611 universal (e.g. with address 3) that is
contained in the hardware catalog at CPU 317T\PROFIBUS
DP(DRIVE)\Drives\SIMODRIVE.
Figure 4-9 Adding a SIMODRIVE 611 universal to the PROFIBUS