Positioning To Print Marks With Sinamics V90 and SIMATIC S7-1200 (TO)

Positioning to Print
Marks with
SINAMICS V90 and
SIMATIC S7-1200 (TO)
Siemens
SIMATIC S7-1217C / SINAMICS V90 Industry
Online
https://support.industry.siemens.com/cs/ww/en/view/109749356 Support
Warranty and Liability
Warranty and Liability
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Druckmarkenkorrektur S7-1217C
Entry ID: 109749356, V1.0, 10/2017 2
Table of Contents
Table of Contents
Warranty and Liability ................................................................................................. 2
1 Introduction ........................................................................................................ 4
1.1 Overview............................................................................................... 4
1.2 Mode of operation ................................................................................ 5
1.3 Components used ................................................................................ 5
2 Engineering ........................................................................................................ 7
2.1 Hardware configuration ........................................................................ 7
2.2 Configuring the drive ............................................................................ 7
2.3 Configuring the technology object ........................................................ 9
2.4 Parameterizing the blocks .................................................................. 10
2.4.1 Initializing the automation system ...................................................... 10
2.4.2 Simulating the cutter........................................................................... 12
2.4.3 Processing the FIFO memory ............................................................ 13
2.4.4 Positioning the band ........................................................................... 14
2.4.5 Determining the print-mark position ................................................... 16
2.5 Operation ............................................................................................ 19
2.5.1 General overview ............................................................................... 19
2.5.2 Controlling the drives .......................................................................... 20
2.5.3 Entries of the FIFO memory ............................................................... 21
2.5.4 JOG mode .......................................................................................... 21
2.5.5 System functions ................................................................................ 21
2.5.6 Navigation bar .................................................................................... 22

3 Appendix .......................................................................................................... 23
3.1 Service and support ........................................................................... 23
3.2 Links and literature ............................................................................. 24
3.3 Change documentation ...................................................................... 24
Entry ID: 109749356, V1.0, 10/2017 3
1 Introduction
1 Introduction
1.1 Overview
The TIA Portal V14 enables the control of a SINAMICS V90 drive via the
pulse/direction interface (PTO). For this purpose, the SINAMICS drive can be
configured in a SIMATIC S7-1200 controller as technology object and can be
operated using Motion Control instructions.
Figure 1-1: Components used
SIMATIC HMI
TP700 COMFORT SIMATIC S7-1217C SINAMICS V90
PROFINET / IE
SIMOTICS S-1FL6
In this application example, the components shown in figure 1-1 have been used to
implement a cutting device. For this, print marks on a band have to be detected
and their position has to be stored as setpoint values for positioning the band.
Figure 1-2: Overview of the automation system
SIMATIC S7-1200 SINAMICS V90 SIMOTICS S-1FL6
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1 Introduction
1.2 Mode of operation

The mode of operation of the control program described in this application example
can be divided into the following sub-items:
Determining the print-mark positions

The points where the band shall be cut are marked by means of print marks. These
print marks are detected by a color sensor that sends a signal to the digital input of
the S7-1200 controller. If a signal is detected at the digital input, the user program
has to determine the current encoder value of the SINAMICS V90 drive and
calculate a corresponding setpoint position (see chapter "Determining the print-
mark position").
Saving the print-mark positions in a FIFO memory

The calculated setpoint positions for the band positioning are stored in a so-called
FIFO (First In – First Out) memory. This memory is described in the chapter
"Processing the FIFO memory".
Positioning the band

The band can only be moved forwards when the cutting device is in the upper
position. This is detected by a sensor that sends a signal to the digital input of the
S7-1200 controller. As soon as the encoder signal is detected, the program
processing in the controller has to be interrupted and the band has to be moved to
the new position (see chapter "Positioning the band").
1.3 Components used

This application example has been created using the following hardware and
software components:
Table 1-1: Hardware components
Component Qty. Article number Note
SIMATIC CPU 1 6ES7 217-1AG40-0XB0 With firmware 4.2
1217C
DI2/DQ2 signal 1 6ES7 223-3BD30-0XB0 -
board
SINAMICS V90 1 6SL3210-5FB10-4UA1 You can also use a SINAMICS V90
(0.4 kW) of a different performance class.
Setpoint 1 6SL3260-4NA00-1VA5 Connection block (50-pin) for
connector for connecting the SINAMICS V90 to a
connecting the SIMATIC CPU
SINAMICS V90
to the controller
SIMOTICS 1 1FL6034-2AF21-1AB1 Use a SIMOTICS S-1FL6 that
S-1FL6 matches the power range of the
SINAMICS V90.
MOTION- 1 6FX3002-2CT20-1AD0 For connecting the SINAMICS V90
CONNECT to the encoder
pre-assembled
encoder cable
MOTION- 1 6FX3002-5CL01-1AD0 For connecting the SINAMICS V90
CONNECT to the motor
power cable
Color sensor 1 LX101 PZ -
Panasonic
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1 Introduction
Component Qty. Article number Note

SIMATIC HMI 1 6AV2 124-0GC01-0AX0 (optional)
TP700 Comfort
STEP 7 1 6ES7822-1..04-.. -
Professional V14
SP1
WinCC 1 6AV210.-….4-0 -
Advanced
V14 SP1
SINAMICS 1 The commissioning tool SINAMICS V-ASSISTANT is available
V-ASSISTANT for download via the following link:
https://support.industry.siemens.com/cs/ww/en/view/109738387
This application example consists of the following components:

Table 1-2: Example files and projects
Component Note
109749356_V90_print_mark_V14_SP1.zip This zip file contains the
STEP 7 V14 SP1 project.
109749356_V90_print_mark_DOCU_V1d0_en.pdf This document.
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2 Engineering
2 Engineering
2.1 Hardware configuration
Figure 2-1 shows the connections you have to install between the SIMATIC S7-
1200 controller and the SINAMICS V90 drive.
Figure 2-1: Connection of the SINAMICS V90
L+
M
SB 1223
S7-1217 6ES7 223-3BD30-0XB0
2.2 Configuring the drive

To configure the SINAMICS V90 drive, perform the following steps using the
program SINAMICS V-ASSISTANT.
1. Open SINAMICS V-ASSISTANT.

2. Connect your PG/PC to the SINAMICS V90 via a USB connection.
3. Establish an online connection to the SINAMICS V90.
4. Select the driver and motor used.
5. As control mode, select the setting “Pulse train input position control”.
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Figure 2-2: Control mode
6. In the parameterization, set the value for "Number of setpoint pulses per
motor revolution" to 2500.
Figure 2-3: Setpoint pulses
7. Define the settings of the parameter setpoints as shown in the figure

below:
Figure 2-4: Parameter setpoints
8. For the encoder pulse output, set the value 2500 as number of pulses per
revolution.
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Figure 2-5: Encoder pulse output
9. Save the settings in the drive.
2.3 Configuring the technology object

The technology object is added to the user program as positioning axis. The drive
is controlled via the PTO (Pulse Train Output).
Figure 2-6: Configuring the drive
When configuring the drive, define also the digital inputs and outputs via which the
drive communicates with the SIMATIC controller.
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During configuration of the mechanics, set the values of the hardware you are
using.
Figure 2-7: Parameterizing the mechanics
2.4 Parameterizing the blocks

The figure below shows the program structure of the application example.
Figure 2-8: Program structure
LGF_ InstLgf
Main
Frequency Frequency
[OB1] [FB10024] [DB17]
Init InstInit
Machine Machine
[FB5] [DB6]
InstFIFO
FIFOReal
Real
[FB3] [DB2]
Mark InstMark
Sensor Sensor
[FB20] [DB20]
FIFOData
Hardware State InstState

interrupt Machine Machine
[OB41] [FB30] [DB30]
2.4.1 Initializing the automation system
The function block "InitMachine" processes all functions required for starting the
automatic operation of the automation system.
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Figure 2-9: Calling "InitMachine"

InitMachine
Bool jogForward
Bool jogBackward
Real jogSpeed
buttonCutPos
Bool
ition
Bool powerOnV90
distanceCutte
Real
rSensor
distanceCutte
Real
rMark
Real moveSpeed
clearFIFO
Bool Bool
step
DInt DInt
axis
TO_PositioningAxis TO_PositioningAxis
Table 2-1: Parameters of "InitMachine"

Name Type Data type Comment
jogForward IN Bool Start signal JOG forwards

jogBackward IN Bool Start signal JOG backwards
jogSpeed IN Real JOG speed
buttonCutPosition IN Bool Signal to move to start position
powerOnV90 IN Bool Switching on SINAMICS V90
distanceCutterSensor IN Real Distance between cutter and
sensor
distanceCutterMark IN Real Distance between cutter and
mark
moveSpeed IN Real Moving speed
clearFIFO IN_OUT Bool Clear FIFO memory
step IN_OUT DInt Indication of the current
processing step
axis IN_OUT TO_PositioningAxis Axis technology object
The function block "InitMachine" performs the following steps:

1. Clearing the FIFO memory by calling the function block "FIFOReal".
2. Positioning the band in setup mode using the technology function
"MC_MoveJog".
3. Moving the band to the first cutting position after setup mode using the
technology function "MC_MoveRelative".
4. Homing the band using the technology function "MC_Home".
In addition, the function block "InitMachine" realizes the enabling of the

SINAMICS V90 drive using the technology function "MC_Power".
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Figure 2-10: Call structure of the function block "InitMachine"
Init InstInit
Main
Machine Machine
[OB1] [FB5] [DB6]
FIFOReal
[FB3]
MC_
Power
[FB1107]
MC_Move
Jog
[FB1103]
MC_Move
Relative
[FB1104]
MC_
Home
[FB1101]
You can start processing the steps in the function block "InitMachine" via the HMI
user interfaces (see chapter "Operation").
2.4.2 Simulating the cutter
In the present application example, the cutting device is simulated. This is realized
using the function block "LGF_Frequency".
Figure 2-11: Calling "LGF_Frequency"
LGF_Frequency
Real frequency clock Bool
countdown Time
Table 2-2: Parameters of "LGF_Frequency"

frequency IN Real Clock frequency in Hz
clock OUT Bool Output switches at defined frequency
countdown OUT Time Remaining time of current “clock” status
The block generates a signal which, depending on a defined frequency, toggles

between the values “0” and “1”. In the user interface, the frequency can be
specified for controlling the drives (chapter 2.5.2). This frequency is intended to
simulate the upward and downward movement of the cutter.
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The function block “LGF_Frequency" is part of the "Library of General Functions".
Note The "Library of General Functions (LGF)" is available at the following link:
2.4.3 Processing the FIFO memory
The function block "FIFOReal" processes the memory of the position values
according to the FIFO (First In – First Out) principle. This means that the values
that have been saved first will also be the first values to be taken from the memory.
"FIFOReal" function block

Figure 2-12: Calling "FIFOReal"
FIFOReal
Bool req itemOut Real
Bool inFIFO done Bool
Real itemIn error Bool
Bool outFIFO status Word
Bool resetFIFO
FIFO_Buffer
Array[*] of Real Array[*] of Real
Table 2-3: Parameters of "FIFOReal"

req IN Bool Start of processing
inFIFO IN Bool Writing to the FIFO memory
itemIn IN Real Value to be written to the FIFO memory
outFIFO IN Bool Reading the FIFO memory
resetFIFO IN Bool Clearing the FIFO memory
itemOut OUT Real Value to be read from the FIFO memory
done OUT Bool Processing finished
error OUT Bool An error has occurred while processing
status OUT Word Status of FIFO processing
16#0000: no error
16#8002: Memory is full
16#8001: Memory is empty
FIFO_Buffer IN_OUT Array[*] of Real Saving the FIFO memory
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The "FIFOReal" block is always called in the sequence program when the following
tasks are to be processed:
 Saving a value to the FIFO memory
 Taking a value from the FIFO memory
 Clearing the FIFO memory
Structure of the FIFO memory

The FIFO memory is located in the data block "FIFOData" and consists of
100 entries of data type REAL.
Figure 2-13: FIFO memory
2.4.4 Positioning the band
The function block "StateMachine" responds to the position of the cutter and
positions the band using a technology function.
"StateMachine" function block

Figure 2-14: Calling "StateMachine"
StateMachine
Real moveSpeed errorFIFO Bool

distanceAdd
Real doneFIFO Bool
Offset
statusFIFO Word
startMainMachine
Bool Bool
Table 2-4: Parameters of "StateMachine"

Name Type Data Comment
type
moveSpeed IN Real Setpoint speed of the band
distanceAddOffset IN Real Offset for positioning
errorFIFO OUT Bool An error has occurred while processing the
FIFO memory
doneFIFO OUT Bool Processing of the FIFO memory is active
statusFIFO OUT Word Status of processing the FIFO memory
16#0000: no error
startMainMachine IN_OUT Bool ON signal of the cutter
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The function block "StateMachine" is called in a process alarm OB.

Figure 2-15: Call structure of the function block "StateMachine"
Hardware State InstState

interrupt Machine Machine
[OB41] [FB30] [DB30]
FIFOReal
[FB3]
MC_Move
Absolute
[FB1102]
After calling the function block "StateMachine", the current setpoint position to
which the band shall be moved is determined first. To do this, the function block
"FIFOReal" is called which takes the current setpoint position from the FIFO
memory. This setpoint position is then used for positioning the band by means of
the technology function "MC_MoveAbsolute".
Using the process alarm OB

Process alarm OBs interrupt the cyclic program processing due to a hardware
event. The event can be defined in the properties of the organization block.
Figure 2-16: Event triggering the process alarm
In this application example, the process alarm OB is triggered by the position of the
cutter. Each time the cutter is in the upper position, a sensor sends a signal to a
digital input of the controller. Due to this signal, the process alarm OB is called and
the band positioning starts.
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2.4.5 Determining the print-mark position
"MarkSensor" function block

The function block "MarkSensor" is intended to determine and to store the current
encoder position of the drive in case of a signal transfer (rising edge) of the color
sensor.
Figure 2-17: Calling "MarkSensor"

MarkSensor
settingV90PP
Real errorFIFO Bool
R
mechanicsLe
Real doneFIFO Bool
adScrew
statusFIFO Word
Table 2-5: Parameters of "MarkSensor"

Name Type Data Comment
type
settingV90PPR IN Real Pulses per revolution of the encoder used
(see Figure 2-7)
mechanicsLeadScrew IN Real Distance traveled with one revolution of the
motor (see Figure 2-7)
errorFIFO OUT Bool An error has occurred while processing the

FIFO memory
doneFIFO OUT Bool Processing of the FIFO memory is active
statusFIFO OUT Word Status of processing the FIFO memory
16#0000: no error
The SIMOTICS motor used in this application example is equipped with an

integrated speed encoder. The value of this encoder is switched to digital inputs of
the SIMATIC controller via the SINAMICS V90.
With a high-speed counter, it is possible to count the pulses at these digital inputs
and thus to determine an encoder value.
High-speed counters (HSC)

The high-speed counter (HSC) offer you the option to count the pulses that occur
more rapidly than the PLC cycle. Moreover, you can configure the HSC to count
the frequency and the period of the occurred pulses. The HSC can also be set up
in such a way that the motion control can read a motor encoder signal via the HSC.
You can configure the high-speed counter in the properties if the controller used.
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Figure 2-18: Configuring the high-speed counter
For high-speed counters, you can set the following counting modes:
 Counting
 Period length
 Frequency
 Motion Control
In this application example, the counting mode “Counting" is used.
Note Information on how to configure and use high-speed counters is available in the
application example "S7-1200: Application Examples for High-Speed Counters
(HSC)":
"Control high-speed counters" function

The high-speed counter is controlled in the function block "MarkSensor" by calling
the instruction "CTRL_HSC_EXT" (control high-speed counters).
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Figure 2-19: Call structure of the function block "MarkSensor"
Main Mark InstMark

Sensor Sensor
[OB1] [FB20] [DB20]
FIFOReal
[FB3]
CTRL_
HSC_EXT
Note Information on the instruction CTRL_HSC_EXT (control high-speed counters)

are available in the system manual "S7-1200 Programmable controller":
The instruction "CTRL_HSC_EXT" determines two count values:

Table 2-6: Count values of the “CTRL_HSC_EXT” instruction
Name Description
CurrentCount Indicates the current counter value
CapturedCount Returns the count value captured for the specified input event.
The count value "CapturedCount" is updated when the specified input event
occurs. This event is the detection of a print mark by the color sensor. The count
value is updated independently of the cyclic user program being processed.
Figure 2-20: Determined count values
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The encoder value upon detection of a print mark is intended to determine the
setpoint position required for precise band positioning. The setpoint position is
calculated by means of the following formula:
𝑒𝑛𝑐𝑜𝑑𝑒𝑟 𝑣𝑎𝑙𝑢𝑒
𝑑𝑖𝑠𝑡𝑎𝑛𝑐𝑒 𝑓𝑜𝑟 𝑜𝑛𝑒 𝑚𝑜𝑡𝑜𝑟 𝑟𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛 ∗ ( )
𝑝𝑢𝑙𝑠𝑒𝑠 𝑝𝑒𝑟 𝑒𝑛𝑐𝑜𝑑𝑒𝑟 𝑟𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛
𝑜𝑝𝑒𝑟𝑎𝑡𝑖𝑛𝑔 𝑝ℎ𝑎𝑠𝑒 𝑖𝑛 𝑡ℎ𝑒 𝑠𝑒𝑡𝑡𝑖𝑛𝑔𝑠 𝑜𝑓 𝑡ℎ𝑒 ℎ𝑖𝑔ℎ − 𝑠𝑝𝑒𝑒𝑑 𝑐𝑜𝑢𝑛𝑡𝑒𝑟
After calculation, the setpoint positions for band positioning are written to the FIFO
memory by calling the function block "FIFOReal".
2.5 Operation
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.
2.5.1 General overview
The following user interfaces are available in the HMI project for operating the
application example. The structure of these user interfaces is shown in the figure
below.
Figure 2-21: Overview of the user interfaces
Start screen
Control of the
drives
Entries of the
JOG mode System functions
FIFO memory
If there is no SIMATIC HMI available, the user interfaces can be used in simulation
mode. In the simulation mode, the runtime of the operator panel is displayed in a
TIA framework.
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Figure 2-22: Starting simulation mode
2.5.2 Controlling the drives
When activating the SIMATIC HMI or the simulation, the control screen of the
drives is first displayed.
Figure 2-23: Controlling the drives
Table 2-7: Input of the user interface

Input Description
Distance Cutter-Sensor Entering the distance between the cutter and the color
sensor for detecting the print marks
Distance Cutter-Mark Entering the distance between the print mark and the
cutting point
Speed of the band Band velocity
Offset Correction value for positioning the band in the cutter
Frequency in Hz Frequency of the cutter (simulation cutter)
Use the "CutPossition" button to move the band to the first cutting position. Then,
the "simulation cutter" can be started.
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2.5.3 Entries of the FIFO memory
The first ten entries of the memory are shown in the user interface of the FIFO
memory. Use the button "Clear Buffer" to delete the entries from the memory.
Figure 2-24: User interface of the FIFO memory
The display "entrys in the buffer" shows the number of print-mark positions not yet
approached.
2.5.4 JOG mode
In the user interface "JOG", you can control the Motion Control instruction
"MC_MoveJog".
Figure 2-25: User interface for the JOG mode
After the SINAMICS V90 has been enabled, you can move the motor in both
directions via the buttons "JogForward" and "JogBackward".
2.5.5 System functions
In this user interface, you can enable the following system functions:
 Clean screen (clean-up modem)
 Opening the system control (system control open)
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 Opening the task manager (taskmanager open)

 Stopping Runtime (runtime end)
Figure 2-26 User interface of system functions
2.5.6 Navigation bar
A navigation bar is located on the right side of the user interfaces. It is used to go
to more user interfaces.
Figure 2-27: Navigation bar
Table 2-8: Buttons of the navigation bar

Operation Action
Language switching between German and English
Control Drives Enabling the user interface “Control Drives"

Buffer Enabling the user interface "Buffer"
JOG Enabling the user interface "JOG"
System Enabling the user interface of the system functions
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3 Appendix
3 Appendix
3.1 Service and support
Industry Online Support
Do you have any questions or need assistance?
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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 i. a. the following:

 Product Training
 Plant Data Services
 Spare Parts Services
 Repair Services
 Field & Maintenance Services
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You can find detailed information on our range of services in the service catalog:
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Industry Online Support

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: 109749356, V1.0, 10/2017 23
3 Appendix
3.2 Links and literature

Table 3-1
No. Topic
\1\ Siemens Industry Online Support
https://support.industry.siemens.com
\2\ Link to this entry page of this application example
\3\
3.3 Change documentation

Table 3-2
Version Date Modifications
V1.0 10/2017 First version
Entry ID: 109749356, V1.0, 10/2017 24

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Positioning to Print

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2.5.6 Navigation bar .................................................................................... 22

SIMATIC S7-1200 SINAMICS V90 SIMOTICS S-1FL6

1.2 Mode of operation

Determining the print-mark positions

Saving the print-mark positions in a FIFO memory

Positioning the band

the new position (see chapter "Positioning the band").

1.3 Components used

Component Qty. Article number Note

This application example consists of the following components:

Figure 2-1: Connection of the SINAMICS V90

2.2 Configuring the drive

1. Open SINAMICS V-ASSISTANT.

Figure 2-2: Control mode

7. Define the settings of the parameter setpoints as shown in the figure

Figure 2-5: Encoder pulse output

9. Save the settings in the drive.

2.3 Configuring the technology object

Figure 2-7: Parameterizing the mechanics

2.4 Parameterizing the blocks

Hardware State InstState

2.4.1 Initializing the automation system

Figure 2-9: Calling "InitMachine"

Table 2-1: Parameters of "InitMachine"

jogForward IN Bool Start signal JOG forwards

The function block "InitMachine" performs the following steps:

In addition, the function block "InitMachine" realizes the enabling of the

Figure 2-10: Call structure of the function block "InitMachine"

2.4.2 Simulating the cutter

Real frequency clock Bool

Table 2-2: Parameters of "LGF_Frequency"

The block generates a signal which, depending on a defined frequency, toggles

The function block “LGF_Frequency" is part of the "Library of General Functions".

2.4.3 Processing the FIFO memory

"FIFOReal" function block

Bool req itemOut Real

Bool inFIFO done Bool

Real itemIn error Bool

Bool outFIFO status Word

Table 2-3: Parameters of "FIFOReal"

Structure of the FIFO memory

2.4.4 Positioning the band

"StateMachine" function block

Real moveSpeed errorFIFO Bool

Table 2-4: Parameters of "StateMachine"

The function block "StateMachine" is called in a process alarm OB.

Hardware State InstState

Using the process alarm OB

2.4.5 Determining the print-mark position

"MarkSensor" function block

Figure 2-17: Calling "MarkSensor"

Table 2-5: Parameters of "MarkSensor"

errorFIFO OUT Bool An error has occurred while processing the

The SIMOTICS motor used in this application example is equipped with an

High-speed counters (HSC)

Figure 2-18: Configuring the high-speed counter

"Control high-speed counters" function