Sinamics G: Axis Positioning With The SINA - POS Block

SINAMICS G: Axis
positioning with the

SINA_POS block
Siemens
SINAMICS G120 / SIMATIC S7-1200 Industry
Online
https://support.industry.siemens.com/cs/ww/en/view/109736845 Support
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
 Siemens AG 2017 All rights reserved
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 Siemens provides products and solutions with industrial security functions that
informa- support the secure operation of plants, systems, machines and networks.
tion 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
http://www.siemens.com/industrialsecurity.
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 http://www.siemens.com/industrialsecurity.
Positioning with SINA_POS

Entry ID: 109736845, V1.0, 06/2017 2
Table of contents
Table of contents
Warranty and liability ................................................................................................... 2
1 Introduction ........................................................................................................ 4
1.1 Overview............................................................................................... 4
1.2 Requirements of the application example ............................................ 4
2 Engineering ........................................................................................................ 5
2.1 Overview............................................................................................... 5
2.2 Description of the core functionality ..................................................... 6
2.3 Hardware and software components ................................................... 6
3 Function Principle of the Application Example .............................................. 8
3.1 Data exchange to the SINAMICS drive ................................................ 8
3.2 SINA_POS function block .................................................................... 9
3.3 Safe Torque Off (STO) ....................................................................... 13
3.3.1 STO via digital inputs ......................................................................... 13
3.3.2 STO as per SIL 3 with power module PM240-2 ................................. 14
4 Configuration and Settings............................................................................. 15
4.1 Creating the project configuration ...................................................... 15
4.2 Commissioning the SINAMICS drive ................................................. 18
4.3 Basic positioner .................................................................................. 22
4.4 Configuring the S7 program ............................................................... 23
5 Installation and Commissioning .................................................................... 25

5.1 Installing the hardware ....................................................................... 25
5.2 IP addresses and device names ........................................................ 26
5.3 Download the project to the components ........................................... 26
6 Operating the Application Example ............................................................... 29
6.1 Operation via HMI .............................................................................. 29
6.1.1 Start screen ........................................................................................ 30
6.1.2 Operating the “SINA_POS” block ....................................................... 31
6.1.3 System functions ................................................................................ 33
6.1.4 Support information ............................................................................ 33
6.1.5 Display of faults .................................................................................. 34
6.2 Operation via the watch table ............................................................. 35
7 Appendix .......................................................................................................... 36
7.1 Service and Support ........................................................................... 36
7.2 Links and Literature ............................................................................ 37
7.3 Change documentation ...................................................................... 37

Entry ID: 109736845, V1.0, 06/2017 3
1 Introduction
1 Introduction
1.1 Overview
The SIMATIC S7-1200 can be operated as a PROFINET controller. For this, the
PROFINET-capable SINAMICS G120 drive can be used as PROFINET device and
be controlled by SIMATIC S7-1200.
This application example specifies a setpoint position for a SINAMICS G120 drive.
The drive will then move to the setpoint position using the basic positioner (EPos)
function.
Overview of the application example

The following figure provides an overview of the application example.
Figure 1-1: Overview
SINAMICS G120
SIMATIC S7-1200 SIMATIC HMI

PROFINET IE
1.2 Requirements of the application example

Table 1-1: Requirements of the application example
Requirement Explanation
Access to process data The control word switches the SINAMICS G120 drive on or off
and specifies the setpoint speed value.
Pending faults at the drive are displayed and acknowledged.
Positioning The drive is positioned with the basic positioning function.
Monitoring the The communication connection between the controller and the
communication drive are monitored for interruptions.
Safety function of the The SINAMICS G120 drive will have the option of performing
SINAMICS G120 a fail-safe shutdown (STO).

Entry ID: 109736845, V1.0, 06/2017 4
2 Engineering
2 Engineering
This application example shows the PROFINET connection of a SINAMICS G120
to a SIMATIC S7-1215C with SINAMICS Startdrive. The "SINA_POS" block is used
for controlling and positioning the drive.
2.1 Overview
Schematic layout
The figure below shows a schematic overview of the most important components of
the solution:
Figure 2-1: Interconnection of the components
SINAMICS G120
CU250S-2 PN
SIMATIC S7-1215C SIMATIC HMI KTP700

PROFINET IE
PG/PC
Motor with encoder
Advantages
The use of the standard block “SINA_POS” offers a quick and simple option to
control and position the SINAMICS drive.
Topics not covered by this application

This application example does not contain a description of:
 Structure and principle of operation of the “SINA_POS” block
 Configuration of the safety functions in the SINAMICS G120 drive
Assumed knowledge
Basic knowledge of the TIA Portal and Startdrive is assumed.

Entry ID: 109736845, V1.0, 06/2017 5
2 Engineering
2.2 Description of the core functionality

Configuring the communication
Both the SIMATIC controller and the SINAMICS converter are configured and
programmed in the TIA Portal. To do this, the following data are automatically
generated in the hardware configuration:
 IP addresses
 PROFINET device names
 I/O address ranges for the data to be exchanged between the SIMATIC
controller and the SINAMICS drive.
However, they can be modified at any time. Which process data are exchanged
between SIMATIC controller and SINAMICS drive is specified by the frame type (in
the example: standard telegram 111). The telegram type is also configured in the
hardware configuration.
Data exchange
Data exchange between SINAMICS G120 and SIMATIC S7-1200 is done with the
“SINA_POS” block in the process data range. Process data is transferred cyclically,
which means in each bus cycle.
Positioning
The axis of the SINAMICS drive is positioned using only the "SINA_POS" standard
block. This standard block uses the basic positioning function (EPos) configured in
the drive.
2.3 Hardware and software components

The application was created with the following components:
Hardware components
Table 2-1: Hardware components
Component Qty. Article number Note
SIMATIC CPU 1215C 1 6ES7215-1AG40-0XB0 Alternatively, you can also use
DC/DC/DC a different CPU.
(FW 4.2.1)
SINAMICS CU250S-2 1 6SL3246-0BA22-1FA0 -
PN Vector (FW 4.7.6)
SINAMICS PM240-2 1 6SL3210-1PB13-0ULx -
IP20
Asynchronous motor 1 1LA7060-4AB10-Z Alternatively, you can use a
different asynchronous motor.
HTL speed encoder 1 1XP8001-1 -
SIMATIC Panel 1 6AV2123-2GB03-0AX0 The panel is optional.
KTP700 Basic PN
PROFINET lines - 6XV1840-2AH10 -
PROFINET connector 6 6GK1901-1BB10-2AA0 -

Entry ID: 109736845, V1.0, 06/2017 6
2 Engineering
Software components
Table 2-2: Software components
Component Qty. Article number Note
STEP 7 1 6ES7822-1..04-.. -
Professional V14
WinCC Advanced 1 6AV210.-….4-0 -
V14
SINAMICS Startdrive 1 6SL3072-4EA02-0XG0 -
V14
License for the Basic 1 6SL3054-4AG00-2AA0- with memory card
positioner Z E01
Example files and projects

The following list contains all files and projects that are used in this application
example.
Table 2-3: Example files and projects

Component Note
109736845_G120_CU250S2PN_at_S7_1200_ This zip file contains the
SINA_POS_v10.zip STEP 7 V14 project.
109736845_ G120_CU250S2PN_at_S7_1200_ This document.

SINA_POS_DOCU_v10.pdf

Entry ID: 109736845, V1.0, 06/2017 7
3 Function Principle of the Application Example
3 Function Principle of the Application

Example
Program overview
Figure 3-1: Program overview
SINA_POS InstSinaPos
Main [OB1]
[FB 284] [DB 284]
DPWR_DAT
DPRD_DAT
User program Instructions Data blocks
3.1 Data exchange to the SINAMICS drive

Commands DPWR_DAT and DPRD_DAT
The “SINA_POS” block establishes the cyclic communication to a drive. To do this,
the block accesses the following command:
 DPWR_DAT (writing consistent data of a DP standard slave)
 DPRD_DAT (reading consistent data of a DP standard slave)
These instructions ensure that the consistency is maintained across the entire
process data, i.e. all elements of the process data of a device are from the same
bus cycle or are transferred within a bus cycle.
Note For more information on the commands DPWR_DAT and DPRD_DAT refer to
the Online Help of the TIA Portal.
Control words and status word via standard telegram

The “SINA_POS” function block is used to cyclically control a SINAMICS G120
drive with the standard telegram 111 (positioning drive with extended functions).

Entry ID: 109736845, V1.0, 06/2017 8
Table 3-1: Transmission telegram to the drive

Address Name Content
PZD 1 STW1 Control word 1
PZD 2 POS_STW1 Control word 1 for the basic positioner
PZD 3 POS_STW2 Control word 2 for the basic positioner
PZD 4 STW2 Control word 2
PZD 5 OVERRIDE Setpoint speed value
PZD 6 MDI_TARPOS Position setpoint value with direct setpoint
specification (MDI)
PZD 7
PZD 8 MDI_VELOCITY MDI velocity
PZD 9
PZD 10 MDI_ACC MDI acceleration
PZD 11 MDI_DEC MDI delay
PZD 12 - not assigned
Table 3-2: Receive telegram from the drive
Address Name Content
PZD 1 ZSW1 Status word 1
PZD 2 POS_ZSW1 Status word 1 for the basic positioner
PZD 3 POS_ZSW2 Status word 2 for the basic positioner
PZD 4 ZSW2 Status word 2

PZD 5 MELDW Status word for messages
PZD 6 XIST_A Actual position value
PZD 7
PZD 8 NIST_B Actual speed value
PZD 9
PZD 10 WARN_CODE Number of the currently active warning
PZD 11 FAULT_CODE Number of the currently active fault
PZD 12 - not assigned
3.2 SINA_POS function block
Note The “SINA_POS” block and its documentation is contained in the “DriveLib”
library.
https://support.industry.siemens.com/cs/ww/en/view/109475044
Block call
The “SINA_POS” block can be called in the following organization blocks (OBs):
 Cyclic task: OB1
 Interrupt OB: for example OB32

Entry ID: 109736845, V1.0, 06/2017 9
Figure 3-2: Call of SINA_POS

SINA_POS
INT ModePos AxisEnabled BOOL
BOOL EnableAxis AxisPosOk BOOL

CancelTraver
BOOL AxisRef BOOL
sing
IntermediateS
BOOL AxisWarn BOOL
top
BOOL Positive AxisError BOOL
BOOL Negative Lockout BOOL
BOOL Jog1 ActVelocity DINT
BOOL Jog2 ActPosition DINT
BOOL FlyRef ActMode INT
BOOL AckError EPosZSW1 WORD
BOOL ExecuteMode EPosZSW2 WORD
DINT Position ActWarn WORD
DINT Velocity ActFault WORD
INT OverV Error BOOL

INT OverAcc Status WORD
INT OverDec DiagID WORD
DWORD ConfigEPos
HW_IO HWIDSTW
HW_IO HWIDZSW
Block parameters
The following table lists the input and output parameter of the “SINA_POS” block.
Table 3-3: "SINA_POS" input parameters
Name Type Start value Function
ModePos INT 0 Operating mode:
1: Positioning, relative
2: Positioning, absolute
3: Positioning as setup
4: Homing – reference point approach
5: Homing – reference point definition
6: Traversing block
7: Jog mode
8: Jog mode, incremental
EnableAxis BOOL FALSE Start/stop the drive
CancelTraversing BOOL TRUE FALSE: discard active positioning job
TRUE: do not discard
IntermediateStop BOOL TRUE FALSE: active move command is
interrupted
TRUE: no intermediate stop
Positive BOOL FALSE positive direction

Entry ID: 109736845, V1.0, 06/2017 10

Negative BOOL FALSE negative direction
Jog1 BOOL FALSE Jog mode, signal source 1
Jog2 BOOL FALSE Jog mode, signal source 2
FlyRef BOOL FALSE FALSE: disable Homing on the fly
TRUE: enable Homing on the fly
AckError BOOL FALSE Acknowledgment of errors
ExecuteMode BOOL FALSE Enable positioning job or setpoint transfer
Position DINT 0 Position setpoint value in Length Unit
(see Section Path unit LU)
Velocity DINT 0 Speed setpoint value in Length Unit/min
(see Section Path unit LU)
OverV INT 100 Velocity override 0 – 199%
OverAcc INT 100 Acceleration override 0 – 100%
OverDec INT 100 Deceleration override 0 – 100%
ConfigEPos DWORD 16#00000003 The following bits of the control word of
the drive are pre-assigned:
Bit 1: OFF2
Bit 2: OFF3
HWIDSTW HW_IO 0 Hardware ID setpoint value (see Section
Telegram slot)
HWIDZSW HW_IO 0 Hardware ID actual value (see section

Telegram slot)
Table 3-4: "SINA_POS" output parameters

Error BOOL FALSE General fault
Status WORD 0 Display of status values:
16#7002: no fault
16#8401: Fault in the drive
16#8402: On-inhibit
16#8403: Homing on the fly could not be
initiated
16#8600: DPRD_DAT error
16#8601: DPWR_DAT error
16#8202: incorrect mode selected
16#8203: incorrect setpoint values
configured
16#8204: incorrect traversing block
number selected
DiagID WORD 0 Extended communication fault
AxisEnabled BOOL FALSE Drive ready
AxisError BOOL FALSE Drive fault active
AxisWarn BOOL FALSE Drive warning active
AxisPosOk BOOL FALSE Axis has reached target position
AxisRef BOOL FALSE Refernce point set
ActVelocity DINT 0 actual velocity in Length Unit/min
ActPosition DINT 0 actual position in Length Unit
ActMode INT 0 currently active mode

Entry ID: 109736845, V1.0, 06/2017 11

Lockout BOOL FALSE On-inhibit of the drive is active
EPosZSW1 WORD 0 Status of the EPos ZSW1
EPosZSW2 WORD 0 Status of the EPos ZSW2
ActWarn WORD 0 current warning number
ActFault WORD 0 current fault number
Path unit LU (Length Unit)

The "SINA_POS" block works with the neutral path unit LU (Length Unit). The path
unit LU can be a distance (e.g. 1LU = 1mm) or an axis angle (e.g. 1LU = 1
milligrad). This is defined in when configuring the drive.
Telegram slot
The block inputs HWIDSTW and HWIDZSW must reference to the hardware ID of
the standard telegram.
Figure 3-3: Entering the telegram slot

When using a PROFINET connection between the SIMATIC controller and the
SINAMICS G120 drive, the same hardware ID must be configured for block inputs
HWIDSTW and HWIDZSW.
Note For more information on the “SINA_POS” block and its function refer to the
Online Help of the TIA Portal or to the “DriveLib” documentation.

Entry ID: 109736845, V1.0, 06/2017 12
Instance data block

The “SINA_POS” block interface is restricted to few inputs and outputs. All signals
of standard telegram 111 are available via the instance data block at all times.
The instance data block “SINA_POS_DB” contains the following information:

 Function block inputs (1)
 Function block outputs (2)
 An area with static tags (3)
 The standard telegram 111 structure in the statistical tag range (4)
Figure 3-4: Structure of the instance data block
2
3.3 Safe Torque Off (STO)

3.3.1 STO via digital inputs
The converter with the “Safe Torque Off” (STO) function active prevents the
unwanted startup of machine components. This safety function can be configured
with specific digital inputs for a SINAMICS G120 drive with a control unit with safety
function. To do this, the safety functions must be enabled in the control unit.
Note A detailed description of the configuration of the safety function STO using digital
inputs can be found in the application example “SINAMICS G: Speed Control of
a G110M / G120 (Startdrive) with S7-1500 (TO) via PROFINET or PROFIBUS
with Safety Integrated (via Terminal) and HMI”.
If the drive is run with EPOS and the STO function is active, the drive can show the
alarm message F07490 (EPOS: Enable signal withdrawn while traversing).

Entry ID: 109736845, V1.0, 06/2017 13
3.3.2 STO as per SIL 3 with power module PM240-2
The PM240-2 power modules in sizes FSD, FSE and FSF can be used to realize
the “Safe Torque Off” (STO) according to PLe as per EN 13849-1 and according to
SIL 3 as per IEC61508. Two terminal blocks (STO_A and STO_B) and two Dip
switches are available on the front side of the power module.
Note More information on how to use the STO safety function as per SIL 3 with the
PM240-2 power module can be found in the “SINAMICS G120 power module
PM240-2” manual.

Entry ID: 109736845, V1.0, 06/2017 14
4 Configuration and Settings

The step tables below describe how to configure the S7-1200 and the
SINAMICS G120 drive. The configuration of the operator panel is not described in
this chapter.
A requirement is that the software listed in Table 2-2 is installed on your PC/PG.
4.1 Creating the project configuration

Table 4-1: Creating the project configuration
No. Action Remark
1. Open TIA Portal and create a new
project.
2. Double-click on “Add new device“.

3. Add your desired controller:

1. Select “Controller”.
2. Select the desired CPU.
3. Then click on “OK”.

Entry ID: 109736845, V1.0, 06/2017 15
No. Action Remark

4. Open the device configuration of the
CPU and configure the PROFINET
interface:
1. Open the “Properties” of the
CPU.
2. Select “Ethernet addresses”.
3. Add a new subnet.
4. Enter the desired IP address and
subnet mask.
5. You can also specify the
PROFINET device name in this 3
mask.
Configuring the SINAMICS drive

Table 4-2: Adding the drive
No. Action Remark

1. Select the desired SINAMICS drive:
1. In the “devices and networks”
editor, go to the “Network view”.
2. Now drag the desired
PROFINET-capable SINAMICS
drive into the graphic area.
2. Connect the Ethernet connections of

the SIMATIC controller and the
SINAMICS drive with each other.
3. Assign a power module to the drive

added in the network view. (This step
is not necessary when using a
G120C drive):
1. Open the “Device view”.
2. Select a power module from the
hardware catalog and add it to
the drive.

Entry ID: 109736845, V1.0, 06/2017 16
No. Action Remark

4. Configure the PROFINET interface of
the drive:
1. Open the “Properties” of the
drive.
2. You can set the IP address and
the device name in the
“PROFINET interface” settings.
5. For data exchange between CPU and

drive, leave the setting at standard
telegram 1 unchanged. The standard
telegram 111 required for the
"SINA_POS" block can only be
configured after the basic positioner
has been activated.
Adding the HMI (optional)

Table 4-3: Adding the HMI
No. Action Remark
1. Add the HMI in the “Network view”.
2. Configure an HMI connection

between CPU and HMI.
3. Then, check the PROFINET

addresses set.

Entry ID: 109736845, V1.0, 06/2017 17
4.2 Commissioning the SINAMICS drive

After generating the project configuration, you have to commission the SINAMICS
G120 drive. When doing so, the commissioning wizard in Startdrive is followed.
Note Information on the configuration and commissioning of drives can be found in the
TIA Portal online help.
Table 4-4: Commissioning the drive

No. Action Remark
1. The drive must be assigned the
device name to be able to establish
an online connection to the drive. To
do this, select the interface used in
the “Online access” folder. Once the
available participants have been
updated (Update accessible
devices), the devices connected to
PROFINET are displayed. For
drives, there is the option to assign
IP address and device name in the
“Online & diagnostics” menu sub-
item.
2. You can assign IP address and

device name in the “Online &
diagnostics” menu sub-item.
1. Enter the IP address or the
device name in the respective
field.
2. Then, assign the drive the
address or device name. 1
3. When the assigned data (IP

address and device name) is
identical with the configuration of
the drive (chapter 4.1), Startdrive
can be used to establish an online
connection to the drive. To do so,
select the drive in the project tree
and click “Go online” in the toolbar.

Entry ID: 109736845, V1.0, 06/2017 18
No. Action Remark

4. The Commissioning Wizard can be
found in the drive folder under
“Commissioning”.
5. Follow the Commissioning Wizard in

the "Expert" application class. For
tips, please refer to the TIA Portal
online help.
Activate the Basic positioner and
select "Speed control (with
encoder)" as control mode.
6. Configure standard telegram 111 to

control the communication.

Entry ID: 109736845, V1.0, 06/2017 19
No. Action Remark

7. Enter the motor data of the motor
you are using.
8. The ramp-up and ramp-down times

stated under "Important parameters"
have no relevance for the basic
positioner.
9. Enter the data of the encoder you

are using.
If the used encoder is not included
in the list, switch to "Enter encoder
data" in the encoder configuration.
Now you can enter encoder data.

Entry ID: 109736845, V1.0, 06/2017 20
No. Action Remark

10. Use the "Mechanical system"
configuration display to enter the
"LU per load revolution". This
setting is used as the calculation
basis for defining velocity and
position values.
11. As a last step of the commissioning

wizard, you have to save the drive
settings. To do so, check the “RAM
data to EEPROM” checkbox and
finish the wizard.
12. Then disconnect the online

connection to the drive and load the
configuration stored in the drive into
the offline project.
13. Save the TIA Portal project. -

Entry ID: 109736845, V1.0, 06/2017 21
4.3 Basic positioner

The Basic positioner (EPos) moves an axis to a target position on a position-
controlled basis.
Note A description of the basic positioner can be found in the Function Manual
"SINAMICS G120, Basic Positioner (EPos) for CU250-2 Control Units".
The basic positioner contains the following operating modes:

Table 4-5: EPos operating modes
Operating mode Meaning
Enter setpoint value directly The external control specifies the position setpoint for the
(MDI) axis.
Selecting traversing blocks The converter has position setpoints stored in different
traversing blocks. The external control selects a
traversing block.
Referencing A homing run creates a reference for position
measurement in the converter to the machine.
Jog mode (JOG) This function is used to move the axis in increments
(during setup).
When the drive is configured, some settings of the basic positioner can be made in
the functional view of the drive parameters.
Figure 4-1: EPos Setting options
Note Useful support on the setting options of the basic positioner under Startdrive can
be found in the TIA Portal online help.

Entry ID: 109736845, V1.0, 06/2017 22
4.4 Configuring the S7 program

The following step table shows how to configure a S7 program with the
“SINA_POS” function block.
Table 4-6: Configuring the S7 program

No. Action Remark
1. Select the S7-1200 in the project
tree.
2. Open the libraries and select the

“SINA_POS” block from the
DriveLib library matching the
SIMATIC controller used.
3. Then add the block the “Program

blocks” folder in the controller.

Entry ID: 109736845, V1.0, 06/2017 23
No. Action Remark

4. Call the “SINA_POS” block in the
Main OB (OB1). Assign the function
block an instance data block. The
number of the instance data block
can be selected by the user.
5. Connect the inputs and outputs of

the "SINA_POS" function block as
described in chapter 3.2.
6. It is recommended to copy the

inputs and outputs of the block
"SINA_POS" into a control panel.
(see Figure 6-11)
7. Save the project and load the

program into the controller.

Entry ID: 109736845, V1.0, 06/2017 24
5 Installation and Commissioning

5.1 Installing the hardware
The figure below shows the hardware configuration of the application.
Figure 5-1: Hardware setup
3AC 400V
L1
L2
L3
N
PE
DC 24V
L1 L2 L3 PE
SINAMICS
PM 240-2 M L+
SIMATIC S7
SINAMICS CPU 1215C
PN PN
CU 250S-2 PN
33 ENC+
79 GND
70 AP DC 24V
71 AN
72 BP
73 BN
74 ZP M L+
75 ZN SIMATIC Panel
PN PN KTP700
(optional)
U2 V2 W2 PN
Note The setup guidelines for SINAMICS drives and SIMATIC controllers must
generally be followed.

Entry ID: 109736845, V1.0, 06/2017 25
5.2 IP addresses and device names

The following IP addresses and device names are used in the application example.
Subsequent changes can be made at any time.
Table 5-1: IP addresses and device names
Components Device name IP address
SIMATIC S7-1200 SIMATIC_CPU1215C 192.168.0.1
SINAMICS G120 SINAMICS_CU250S 192.168.0.2
SIMATIC KTP700 SIMATIC_KTP700 192.168.0.10
PG/PC - 192.168.0.200
The network mask is always 255.255.255.0 and no router is used.
5.3 Download the project to the components

The steps listed in the following table show how to load the individual programs of
the application example into the components.
Table 5-2: Downloading to the components

No. Action Remark
1. Retrieve the project contained -

in the zip file
“109736845_G120_CU250S2
PN_at_S7_1200_
SINA_POS_v10.zip” to a local
directory.
2. Double-click the ap14 file in -
the project folder just retrieved
in order to open the project in
TIA Portal.
3. If TIA Portal opens in the
Portal view, go to the bottom
left to switch to the “Project
view”.

Entry ID: 109736845, V1.0, 06/2017 26
No. Action Remark

4. Download the program of the
SIMATIC controller
1. Select the S7 controller in
the project tree
2. Load the project into the
controller
5. As soon as the “Extended

download to device” dialog box
opens, proceed as follows:
1. Select the settings
necessary for your online
connection
2. Select the CPU
3. Load the configuration
1
6. Load the configuration into the

drive.
When no connection is established to the drive, assign the drive the IP address and the device
name. To do so, proceed as described in chapter 4.2.

Entry ID: 109736845, V1.0, 06/2017 27
No. Action Remark

7. Load the configuration of the
HMI (optional).
You have to set the correct IP address in the SIMATIC HMI in order to load successfully.
Information on how to enter the network settings of the HMI can be found in the user manual \7\.

Entry ID: 109736845, V1.0, 06/2017 28
6 Operating the Application Example
Make sure that no persons or system components are endangered by the

moving drive.
WARNING Take appropriate measures to prevent the drive from exceeding technical or
mechanical limits.
6.1 Operation via HMI

The following operator screens are available in the HMI project for operating the
application example. The structure of these operator screens is shown in the figure
below.
Figure 6-1: Overview of the operator screens
Startbild
Positioning Calibrating System functions
JOG Information Support
If there is no SIMATIC HMI available, the operator screens can be used in

simulation mode. In the simulation mode, the runtime of the operator panel is
displayed in a TIA framework.

Entry ID: 109736845, V1.0, 06/2017 29
Figure 6-2: Starting simulation mode
6.1.1 Start screen
When activating the SIMATIC HMI or the simulation, the start screen is first
displayed.
Figure 6-3: Start screen
A navigation bar is located on the right side of the screen. It is used to go to more
operator screens.
Table 6-1: Buttons in the navigation bar
Operation Action
Switch between German and English
Start Back to the start screen

Positioning Positioning the axes
JOG Moving the axis in jog mode (JOG)
Override Entering override values
Information Displaying status words, fault and warning numbers
System Operating the HMI system functions
Support Support information

Entry ID: 109736845, V1.0, 06/2017 30
6.1.2 Operating the “SINA_POS” block
The operation of the "SINA_POS" function block is divided into four operator
screens. These are used to control or supply the inputs and outputs of the block.
Note A detailed description of the inputs and outputs of the block can be found in
chapter 3.2 or in the TIA online help.
Positioning operator screen

This operator screen summarizes all inputs and outputs required to position the
axis.
Figure 6-4: "Positioning" operator screen
The block inputs with BOOLEAN data type are displayed on the left edge of the
operator screen. Active inputs are highlighted in green here.
The middle of the operator screen displays the required analog values:
 Pre-selected and current mode of the block
 Setpoint and actual velocity of the axis
 Setpoint and actual position of the axis
The block outputs with BOOLEAN data type are displayed on the right edge of the
operator screen. Active outputs are highlighted with colors:
 Status in green
 Faults in red
 Warnings in orange
Jog mode operator screen

The "JOG" operator screen has the same structure and function principle as the
"Positioning" operator screen. Only the block inputs "JOG 1" and "JOG 2" are
displayed for enabling job mode.

Entry ID: 109736845, V1.0, 06/2017 31
Figure 6-5: "JOG" operator screen
Override operator screen

You can set the following standards in the "Override" operator screen:
 Speed override
 Acceleration override

Delay override
Figure 6-6: "Override" operator screen
Info operator screen

The "Info" operator screen displays the following information:
 Current active mode of the block
 Current status and diagnose notice
 Values of EPos status words
 Active fault and warning notices

Entry ID: 109736845, V1.0, 06/2017 32
Figure 6-7: "Info" operator screen
6.1.3 System functions
The system functions of the HMI can be accessed in the “System” operator screen.
Figure 6-8: “System” operator screen
Table 6-2: System function buttons

Operation Action
Clean screen Activate cleaning screen of the HMI
(Clean Screen)
Calibrate touchscreen Activation of the calibration of the HMI touchscreen
(Calibrate)
Online Activation of the “Online” mode
Offline Activation of the “Offline” mode
Stop runtime Terminate runtime
(Runtime Stop)
Transfer Start the program transfer to the HMI
6.1.4 Support information
The “Support” operator screen contains information on the service range of the
Siemens Industry Online Support.

Entry ID: 109736845, V1.0, 06/2017 33
Figure 6-9: Support information
Table 6-3: Buttons in the support information

Operation Action
Activating the start screen
Activating the previous screen

Switch language to German
Switch language to English
6.1.5 Display of faults
Active faults and warnings are indicated by a color marking of the respective block
outputs.
Figure 6-10: Display of faults
If a fault is active, a red bar on the bottom edge is displayed in all operator screens
of the "SINA_POS" block.
The current fault and warning numbers can be found in the "Info" operator screen.

Entry ID: 109736845, V1.0, 06/2017 34
6.2 Operation via the watch table

You can also use the application example without an HMI. The watch table
“ControlSinaPos” has already been created in the project. The tags you can
monitor or control are the same which are also displayed at the operator panel.
Figure 6-11: Watch table “ControlSinaPos”


Entry ID: 109736845, V1.0, 06/2017 35
7 Appendix
7 Appendix
7.1 Service and Support
Industry Online Support
Do you have any questions or need assistance?
Siemens Industry Online Support offers access to our entire service and support
know-how and portfolio around the clock.
The Industry Online Support is the central address for information about our
products, solutions and services.
Product information, manuals, downloads, FAQs, application examples and videos
– all information is accessible with just a few mouse clicks at:
https://support.industry.siemens.com
Technical Support
The Technical Support of Siemens Industry provides fast and competent support
regarding all technical queries with numerous tailor-made offers
– ranging from basic support to individual support contracts. Please send your
queries to the Technical Support via the web form:
www.siemens.com/industry/supportrequest
Service offer
Our range of services includes, inter alia, the following:

 Product Training
 Plant Data Services
 Spare Parts Services
 Repair Services
 Field & Maintenance Services
 Retrofit & Modernization Services
 Service Programs & Agreements
You can find detailed information on our range of services in the service catalog:
https://support.industry.siemens.com/cs/sc
Industry Online Support app

You will receive optimum support wherever you are with the "Siemens Industry
Online Support" app. The app is available for Apple iOS, Android and Windows
Phone:
https://support.industry.siemens.com/cs/ww/en/sc/2067

Entry ID: 109736845, V1.0, 06/2017 36
7 Appendix
7.2 Links and Literature

Table 7-1
No. Topic
\1\ Siemens Industry Online Support
https://support.industry.siemens.com
\2\ Link to this entry page of this application example
\3\ SINAMICS G120 with CU240B/E-2
Operating instructions
List manual
SINAMICS G120 with CU250S-2
List manual
SINAMICS G120C
List manual
\4\ SINAMICS G120 Power Module PM240-2
\5\ Speed Control of a G110M / G120 (Startdrive) with S7-1500 (TO) via PROFINET or
PROFIBUS with Safety Integrated (via Terminal) and HMI
\6\ SIMATIC S7-1200 System Manual
\7\ SIMATIC HMI Operating Instructions
\8\ SIMATIC G120 EPOS Function Manual
7.3 Change documentation

Table 7-2
Version Date Modifications
V1.0 06/2017 First version

Entry ID: 109736845, V1.0, 06/2017 37

Sinamics G: Axis Positioning With The SINA - POS Block

Uploaded by

Copyright:

Available Formats

Sinamics G: Axis Positioning With The SINA - POS Block

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Sinamics G: Axis Positioning With The SINA - POS Block

Uploaded by

Copyright:

Available Formats

SINAMICS G: Axis

positioning with the

Warranty and liability

deficiency or breach of a condition which goes to the root of the contract

Positioning with SINA_POS

5 Installation and Commissioning .................................................................... 25

Positioning with SINA_POS

Overview of the application example

SIMATIC S7-1200 SIMATIC HMI

1.2 Requirements of the application example

Positioning with SINA_POS

SIMATIC S7-1215C SIMATIC HMI KTP700

Motor with encoder

Topics not covered by this application

Positioning with SINA_POS

2.2 Description of the core functionality

2.3 Hardware and software components

Positioning with SINA_POS

Example files and projects

Table 2-3: Example files and projects

109736845_ G120_CU250S2PN_at_S7_1200_ This document.

Positioning with SINA_POS

3 Function Principle of the Application

User program Instructions Data blocks

3.1 Data exchange to the SINAMICS drive

Control words and status word via standard telegram

Positioning with SINA_POS

Table 3-1: Transmission telegram to the drive

PZD 4 ZSW2 Status word 2

3.2 SINA_POS function block

Positioning with SINA_POS

Figure 3-2: Call of SINA_POS

INT ModePos AxisEnabled BOOL

BOOL EnableAxis AxisPosOk BOOL

BOOL Negative Lockout BOOL

BOOL Jog1 ActVelocity DINT

BOOL Jog2 ActPosition DINT

BOOL FlyRef ActMode INT

BOOL AckError EPosZSW1 WORD

BOOL ExecuteMode EPosZSW2 WORD

DINT Position ActWarn WORD

DINT Velocity ActFault WORD

INT OverV Error BOOL

INT OverAcc Status WORD

INT OverDec DiagID WORD

Positioning with SINA_POS

Name Type Start value Function

HWIDZSW HW_IO 0 Hardware ID actual value (see section

Table 3-4: "SINA_POS" output parameters

Positioning with SINA_POS

Name Type Start value Function

Path unit LU (Length Unit)

Figure 3-3: Entering the telegram slot

Positioning with SINA_POS

Instance data block

The instance data block “SINA_POS_DB” contains the following information:

Figure 3-4: Structure of the instance data block

3.3 Safe Torque Off (STO)

Positioning with SINA_POS