ConfigurationExample_x7_V1d0_allgemein_en.pdf

Controlled positioning with S7-1200 via

pulse interface

S7-1200 CPU 1214C and servo drive with pulse interface

Configuration Example x7 y August 2009

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Controlled positioning with S7-1200 via pulse interface

V1.0, Entry ID: 38391227

Table of Contents

Automation Task.. ........................................................................................... 4

1.1

Application environment ... ................................................................................ 4

1.2

Component list.. ................................................................................................ 5

Automation Solution ... ................................................................................... 7

2.1

Wiring diagram.. ................................................................................................ 7

2.2

Control signals between S7-1200 and servo drive .. ......................................... 9

2.3

Moving the servo motor with the aid of the pulse interface.. ........................... 11

2.4

Managing the position in the S7-1200 and the servo drive.. ........................... 12

2.5

Calculating the maximum motor frequency ... ................................................. 13

2.6

Technology object "Axis" and "Motion Control" function blocks.. .................... 14

2.7

Enable/disable the axis (MC_Power).. ............................................................ 15

2.8

Acknowledging error (MC_Reset)... ................................................................ 16

2.9

Manual moving – jog mode (MC_MoveJOG) ... .............................................. 16

2.10

Manual moving – with preset velocity (MC_Velocity) ... .................................. 17

2.11

Homing (MC_Home) ... .................................................................................... 18

2.12

Interrupting orders (MC_Halt) .. ....................................................................... 20

2.13

Absolute positioning (MC_MoveAbsolute) .. .................................................... 21

2.14

Relative positioning (MC_MoveRelative) .. ...................................................... 22

Configuration .. .............................................................................................. 23

3.1

Installing and wiring hardware .. ...................................................................... 23

3.2

Parameterizing the servo drive ... .................................................................... 23

3.3

Configuring the S7-1200 CPU and downloading the hardware .. .................... 23

3.4

Parameterizing technology object "Axis" .. ...................................................... 24

3.5

Loading software .. .......................................................................................... 27

3.6

Commissioning and diagnoses of axis via the technology object ... ................ 28

3.7

Operator control with WinCC Runtime HMI ... ................................................. 31

Code Elements .. ............................................................................................ 33

History .. ......................................................................................................... 34

Appendix ... .................................................................................................... 35

Controlled positioning with S7-1200 via pulse interface

V1.0, Beitrags-ID: 38391227

1 Automation Task

1.1 Application environment

Automation Task

1.1

Application environment

An axis connected via a servo motor is to be moved with servo drive, using

a pulse interface of a S7-1200 CPU1214C. Both the servo drive and the

S7-1200 CPU have an individual internal pulse counter each, whose count

represents the current position. Before moving to an absolute position, the

counter of the S7-1200 CPU has to be synchronized to the physical

position of the axis. The emergency stop function of the servo drive,

including alarm message, acts as a safety measure.

Figure 1-1

Circuit breaker

L+

6-8

Servo

drive

The task comprises absolute positioning irrespective of starting position

and velocity ( Figure 1-2) . Das S7-1200 Technologieobjekt „Achse“ mit den

zugehörigen „PLCopen - Motion Control“ Funktionsbausteinen stellt dabei

die notwendigen Funktionen zur Verfügung.

On the basis of the stored

•

acceleration "a" and deceleration"d" [mm/s 2 ]

•

velocity in "v" [mm/s]

• target position " • " in [mm],

the moved distance s in [mm] is calculated on the basis of the current

starting position " " and the target position " " is approached.

Controlled positioning with S7-1200 via pulse interface

V1.0, Entry ID: 38391227

1 Automation Task

1.2 Component list

Figure 1-2

Time

1.2

Component list

Products

Table 1-1 Control components

Components

No.

MLFB / order number

Note

PM1207 Power supply

6ES7 214-1AB22-0XB0

S7-1200 CPU1214C

6ES7 214-1AB22-0XB0

DC/DC/DC

Table 1-2 Drive components

Components

No.

Note

3. Servo drive

•

Control signals (DC 24V)

–

Pulse interface (Pulse)

Travel direction (Sign)

–

Enabling of servo drive (Enable Servo)

–

Resting of alarms (Alarm Clear)

–

Emergency stopp (EMC Servo)

–

•

Feedback signals (DC 24V)

–

Servo ready for travel (Servo Ready)

Alarm event occurred (Alarm)

–

Target position reached (In Position)

–

•

The CPU1214C can generate a maximum

output frequency of 100 kHz. The drive has to

parameterized so that the maximum motor

speed can be reached at 100 kHz pulse

frequency.

4. Servo motor

Accessory

Table 1-3

Components

No.

Order number

Note

230 V connection with fusing

L,N

limit switch

Specialist dealer

Operated

mechanically

Reference end-position switch

Specialist dealer

Inductive

Emergency stop circuit-breaker

Specialist dealer

Ethernet connecting cables

6XV1870-3RH20

PC <-> Control

Controlled positioning with S7-1200 via pulse interface

V1.0, Beitrags-ID: 38391227

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