Configuring Technology Objects With SIMATIC S7 1500

Configuring
technology objects
with SIMATIC S7-1500
and SINAMICS S210 in
TIA Portal
Siemens
SINAMICS S210 Industry
Online
https://support.industry.siemens.com/cs/ww/en/view/109749795 Support
Legal information
Legal information
Use of application examples
Application examples illustrate the solution of automation tasks through an interaction of several
components in the form of text, graphics and/or software modules. The application examples are
a free service by Siemens AG and/or a subsidiary of Siemens AG (“Siemens”). They are non-
binding and make no claim to completeness or functionality regarding configuration and
equipment. The application examples merely offer help with typical tasks; they do not constitute
customer-specific solutions. You yourself are responsible for the proper and safe operation of the
products in accordance with applicable regulations and must also check the function of the
respective application example and customize it for your system.
Siemens grants you the non-exclusive, non-sublicensable and non-transferable right to have the
application examples used by technically trained personnel. Any change to the application
examples is your responsibility. Sharing the application examples with third parties or copying the
application examples or excerpts thereof is permitted only in combination with your own products.
The application examples are not required to undergo the customary tests and quality inspections
of a chargeable product; they may have functional and performance defects as well as errors. It is
your responsibility to use them in such a manner that any malfunctions that may occur do not
result in property damage or injury to persons.
Disclaimer of liability
Siemens shall not assume any liability, for any legal reason whatsoever, including, without
limitation, liability for the usability, availability, completeness and freedom from defects of the
application examples as well as for related information, configuration and performance data and
any damage caused thereby. This shall not apply in cases of mandatory liability, for example
under the German Product Liability Act, or in cases of intent, gross negligence, or culpable loss of
life, bodily injury or damage to health, non-compliance with a guarantee, fraudulent
non-disclosure of a defect, or culpable breach of material contractual obligations. Claims for
damages arising from a breach of material contractual obligations shall however be limited to the
© Siemens AG 2023 All rights reserved
foreseeable damage typical of the type of agreement, unless liability arises from intent or gross
negligence or is based on loss of life, bodily injury or damage to health. The foregoing provisions
do not imply any change in the burden of proof to your detriment. You shall indemnify Siemens
against existing or future claims of third parties in this connection except where Siemens is
mandatorily liable.
By using the application examples you acknowledge that Siemens cannot be held liable for any
damage beyond the liability provisions described.
Other information
Siemens reserves the right to make changes to the application examples at any time without
notice. In case of discrepancies between the suggestions in the application examples and other
Siemens publications such as catalogs, the content of the other documentation shall have
precedence.
The Siemens terms of use (https://support.industry.siemens.com) shall also apply.
Security information
Siemens provides products and solutions with industrial security functions that support the secure
operation of plants, systems, machines and networks.
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 constitute one element of such a concept.
Customers are responsible for preventing unauthorized access to their plants, systems, machines
and networks. Such systems, machines and components should only be connected to an
enterprise network or the internet if and to the extent such a connection is necessary and only
when appropriate security measures (e.g. firewalls and/or network segmentation) are in place.
For additional information on industrial security measures that may be implemented, please visit
https://www.siemens.com/industrialsecurity.
Siemens’ products and solutions undergo continuous development to make them more secure.
Siemens strongly recommends that product updates are applied as soon as they are available
and that the latest product versions are used. Use of product versions that are no longer
supported, and failure to apply the 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 https://www.siemens.com/cert.
Configuring a positioning axis and a synchronous axis with S7-1500

and SINAMICS S210 via PROFINET
Entry ID: 109749795, V4.1, 05/2023 2
Table of contents
Table of contents
Legal information ......................................................................................................... 2
1 Task ..................................................................................................................... 4
2 Implementation of the task ............................................................................... 5
2.1 Applies to .............................................................................................. 5
2.2 Hardware and software components used........................................... 5
3 Basic information .............................................................................................. 7
3.1 Principle of operation of the user program ........................................... 7
3.2 Installation and commissioning .......................................................... 10
4 Configuration ................................................................................................... 11
4.1 Creating a new project ....................................................................... 11
4.2 Configuring the SIMATIC S7-1500 CPU ............................................ 12
4.3 Configuring the SINAMICS S210 drives ............................................ 16
4.4 Configuring the PROFINET connection ............................................. 19
4.4.1 Configure the PROFINET I/O connection .......................................... 19
4.4.2 Configure the topology ....................................................................... 19
4.4.3 Configure isochronous mode ............................................................. 20
5 Programming the application ......................................................................... 23
5.1 Configuring the technology objects .................................................... 23
5.1.1 Add and configure the positioning axis .............................................. 23

5.1.2 Add and configure the synchronous axis ........................................... 26
5.2 Creating the S7 program .................................................................... 28
5.2.1 Program the positioning axis (leading axis) ....................................... 28
5.2.2 Program the synchronous axis (following axis) .................................. 32
5.2.3 Program the cyclic OB........................................................................ 35
5.2.4 Watch table ........................................................................................ 36
6 Commissioning and tuning ............................................................................ 38
6.1 Extracting the example project ........................................................... 38
6.2 Commissioning the project ................................................................. 39
6.3 Tuning................................................................................................. 40
6.3.1 Drive optimization (One Button Tuning) ............................................. 40
6.3.2 Tune the technology objects .............................................................. 42
7 Examples in practice ....................................................................................... 44
7.1 Scenario: Moving only the leading drive ............................................ 44
7.1.1 Relative positioning ............................................................................ 44
7.2 Scenario: Move leading drive and following drive together ................ 45
7.2.1 Absolute positioning ........................................................................... 45
7.2.2 JOG function (Jog mode) ................................................................... 47
8 Appendix .......................................................................................................... 48
8.1 Service and support ........................................................................... 48
8.2 Industry Mall ....................................................................................... 49
8.3 Links and literature ............................................................................. 49
8.4 Change documentation ...................................................................... 49

Entry ID: 109749795, V4.1, 05/2023 3
1 Task
1 Task
Introduction
SIMATIC S7-1500 CPUs support the linking of drives as speed axis, positioning
axis or synchronous axis via PROFINET. In TIA Portal, it is possible to control a
SINAMICS S210 drive in a TIA Portal program, operating it with Motion Control
instructions.
This application example uses two "SINAMICS S210" drives. The first runs as a
position-controlled drive. It functions as a leading axis for the second drive, which is
configured with synchronous operation.
Overview of the automation task

The Figure below shows an overview of the automation task.
Figure 1-1: Automation task
SIMATIC S7-1517TF-3 PN/DP SINAMICS S210 PN

PROFINET
SIMOTICS S-1FK2

Entry ID: 109749795, V4.1, 05/2023 4
2 Implementation of the task

2.1 Applies to
This application example is applicable to:
• TIA Portal V17 or later
• S7-1500 CPU with PROFINET interface
• SINAMICS S210 PN FW V5.2 or later
• SIMOTICS S-1FK2
Required knowledge
Basic knowledge of TIA Portal is assumed.
2.2 Hardware and software components used

The application example was created with the following components:
Hardware components
Table 2-1
Component Quantity Item number Note
SIMATIC S7-1500 1 6ES7517-3UP00-0AB0 V2.9
CPU 1517TF-3 PN/DP
SINAMICS S210 PN 200V 2 6SL3210-5HB10-1UF0 V5.2.3
SIMOTICS S-1FK2 motor 1 1FK2102-1AG00-0CA0 100 W
SIMOTICS S-1FK2 motor 1 1FK2102-1AG00-0DA0 100 W
Note Alternatively, any other SIMATIC S7-1500 CPU may be used to deploy this
application example.
Standard software components

Table 2-2
Component Quantity Item number Note
STEP 7 Professional V17 1 6ES7810-5CC14-0YA5 Engineering
software in
TIA Portal
SINAMICS Startdrive 1 6SL3072-4HA02-0XG5 Engineering and
V17 Advanced commissioning
tool for SINAMICS
drives

Entry ID: 109749795, V4.1, 05/2023 5
Sample files and projects

The following list contains all files and projects used in this example.
Table 2-3
Component Note
109749795_Conf_PosAxis_SynAxis_S210_S7-1500_PROJ_v40.zip Project file
109749795_Conf_PosAxis_SynAxis_S210_S7-1500_DOC_v40_en.pdf This document

Entry ID: 109749795, V4.1, 05/2023 6
3 Basic information
3 Basic information
3.1 Principle of operation of the user program
S7-1500 Motion Control
S7-1500 Motion Control supports the controlled positioning and synchronous
operation of axes. It is an integral component of every S7-1500 CPU. The SIMATIC
S7-1500T Technology CPU offers additional technology objects.
The SIMATIC S7-1500(T) controllers support the following technology objects:
• Speed axis
• Positioning axis
• Synchronous axis
• External encoder
• Cam and cam track
• Cam (S7-1500T only)
• Kinematic system (S7-1500T only)
The axis control panel and comprehensive online and diagnostic functions support
commissioning and tuning of drives and technology objects.
This application example implements two axes: one "positioning axis" that acts as
a leading axis, and one "synchronous axis" that acts as a following axis.
Figure 3-1: Configuration as positioning axis
Note The configuration of the "Positioning axis" and "Synchronous axis" technology objects is
described in chapter 5.1.

Entry ID: 109749795, V4.1, 05/2023 7
3 Basic information
Structure of the user program for the leading axis

In this application example, the SINAMICS S210 drive acting as the leading axis is
configured as a positioning axis. This position-controlled drive can be controlled
with Motion Control instructions in a user program. The following instructions have
been added to the program in order to facilitate this control:
• MC_Power (FB 1206)
• MC_Reset (FB 1207)
• MC_Home (FB 1201)
• MC_Halt (FB 1200)
• MC_MoveRelative (FB1204)
• MC_MoveAbsolute (FB 1202)
• MC_MoveJog (FB 1203)
The Motion Control instructions for the leading axis are called in the
"MotionControl_Pos" function block (FB 1).
Figure 3-2: Program structure of the leading axis


Entry ID: 109749795, V4.1, 05/2023 8
3 Basic information
Structure of the user program for the following axis

In this application example, the SINAMICS S210 drive acting as the following axis
is configured as a synchronous axis. In the user program, the Motion Control
instruction "MC_GearIn" can be used to synchronize the following axis with the
leading axis (configured as a positioning axis).
To this end, the program for the following axis has been supplemented with the
Motion Control instructions listed below:
• MC_Power (FB 1206)
• MC_Reset (FB 1207)
• MC_Halt (FB 1200)
• MC_GearIn (FB 1208)
The Motion Control instructions for the following axis are called in the
"MotionControl_Syn" function block (FB 2).
Figure 3-3: Program structure of the following axis


Entry ID: 109749795, V4.1, 05/2023 9
3 Basic information
3.2 Installation and commissioning

The following Figure shows the hardware setup of the application:
ATTENTION Improper wiring can damage the drive!

This application uses a 1-phase 230-Volt power supply. Please check the grid
voltage, as otherwise the drives may be damaged.
Figure 3-2

Entry ID: 109749795, V4.1, 05/2023 10
4 Configuration
4 Configuration
This section explains in detail the configurations for the SINAMICS S210 and the
S7-1500 CPU in TIA Portal.
4.1 Creating a new project

No. Action Comments
1. Open TIA Portal and create a new project:
2. Switch to the "project view":

Entry ID: 109749795, V4.1, 05/2023 11
4 Configuration
4.2 Configuring the SIMATIC S7-1500 CPU

No. Action Comments
1. Double-click "Add new device" in the device tree:
2. Select the controller you are using and confirm with "OK":

Entry ID: 109749795, V4.1, 05/2023 12
4 Configuration
No. Action Comments

3. For the test project, uncheck the box for protecting sensitive The test project does
data on the PLC. Confirm with "Next": not involve any
confidential data on
the controller. If you
have data on your
controller that need
to be safeguarded,
assign a password
instead of
unchecking the box.
4. For the test project, uncheck the box "Only allow secure PG/PC In the test project, it
and HMI communication": is permissible to
access the controller

via unsecured
PG/PC and HMI
communication.
Depending on the
security policies
required by the
machine, you might
be required to set up
more stringent
access protection.

Entry ID: 109749795, V4.1, 05/2023 13
4 Configuration
No. Action Comments

5. Set up access protection on the controller and assign a In the test project,
password if applicable. Confirm the configuration with "Finish": full access without
password protection
is activated on the
controller.
Depending on the
security policies
required by the
machine, you might
be required to set up
more stringent
access protection.
6. Open the Device view of the SIMATIC S7-1500 CPU and then
open the controller's Properties window:

Entry ID: 109749795, V4.1, 05/2023 14
4 Configuration
No. Action Comments

7. In the properties of the SIMATIC S7-1500 CPU, navigate to The example project
"PROFINET interface [X1]" → "Ethernet addresses". There, uses the IP address
assign the IP address and, if applicable, also the PROFINET 192.168.0.1
device name of the controller: with the subnet
mask
255.255.255.0 and
the PROFINET
device name
"plc_1.profinet
interface_1".
You can also assign
a different address
or a different
PROFINET device
name if necessary.
Note The default settings of the S7-1500 may be used for this application example. No
further configuration is necessary.

Entry ID: 109749795, V4.1, 05/2023 15
4 Configuration
4.3 Configuring the SINAMICS S210 drives

No. Action Comments
1. Double-click "Add new device" in the device tree and select
"Drives" in the "Add new device" dialog:
2. In the list, select the drive you are using. Confirm with "OK".

Entry ID: 109749795, V4.1, 05/2023 16
4 Configuration
No. Action Comments

3. Open the Device view for the SINAMICS S210 you added,
then click the Motor icon (MOT) under the converter. Then
select "Motor – selection – 1FK2" in the Properties window:
4. In the Properties window, select the motor you are using:
5. Switch to the drive properties by clicking on the SINAMICS

S210 in the Device view:

Entry ID: 109749795, V4.1, 05/2023 17
4 Configuration
No. Action Comments

6. In the properties of the SINAMICS S210, navigate to Note: This project uses
"PROFINET interface [X150]" → "Ethernet addresses". the following IP
There, assign the IP address and the PROFINET device addresses and subnet
name of the drive: masks:
"Left" drive:
192.168.0.2
255.255.255.0
"left"
"Right" drive:
192.168.0.3
255.255.255.0
"right"
7. Repeat the steps for the second drive.


Entry ID: 109749795, V4.1, 05/2023 18
4 Configuration
4.4 Configuring the PROFINET connection

4.4.1 Configure the PROFINET I/O connection
After the two SINAMICS S210 PN and the S7-1500 CPU are configured, a
PROFINET connection must be assigned:
In the network view, click "Not assigned" and select "PLC_1.PROFINET
Interface_1":
Figure 4-1
Repeat the same procedure for the second drive:
Figure 4-2
4.4.2 Configure the topology
Note The topology configuration is required in order to establish an isochronous

connection between the drives and the controller.
After the network connection for both of the SINAMICS S210 PN and the S7-1500
CPU, configure the topology as follows:
No. Action Comments

1. Switch to the "Topology view" tab:
2. Configure the topology to match the wiring using drag-and- The topology
drop: configures the ports
of the interfaces via
which the devices
connect to each
other, establishing
an isochronous
connection.

Entry ID: 109749795, V4.1, 05/2023 19
4 Configuration
4.4.3 Configure isochronous mode
To ensure seamless operation of the drives, they must be run off the SIMATIC S7-
1500 is isochronous mode. Perform the following steps to configure isochronous
mode:
No. Action Comments

1. Open the device properties of the SIMATIC S7-1500 controller
and navigate to "Profinet interface[X1]" → "Advanced
options" → "Real time settings":
2. Configure the SIMATIC S7-1500 controller as Sync master Note:

and set the send clock: Set the send clock
as low as possible.
The minimum send
clock depends on
the controller you
are using and the
number of drives
and/or technology
objects that must be
used in the project.

Entry ID: 109749795, V4.1, 05/2023 20
4 Configuration
No. Action Comments

3. Open the device settings of the first drive and navigate to
"Profinet interface [X150]" → "Telegram configuration" →
"Drive control-Telegrams":
4. Assign the drive telegrams to the "MC_Servo" block by first If the organization
clicking the button next to the "Organization blocks" field and block "MC-Servo"
then clicking "Add new": has already been
created on the
controller, it can be
selected straight
from the list. In this
case, select "MC-

Servo" and skip
Step 5.
5. In the "Add new block" dialog, select the organization block The organization
MC-Servo. Untick the box next to "Add new and open" and block "MC-Servo" is
confirm with "OK": created on the
SIMATIC S7-1500
controller and
selected as
organization block
for the process
image of the drive
telegrams.

Entry ID: 109749795, V4.1, 05/2023 21
4 Configuration
No. Action Comments

6. In the device settings of the drive, navigate to "Profinet
interface [X150]" → "Advanced options" → "Isochronous
mode" and check whether "Isochronous mode" is activated.
Enable it if not already enabled:
7. Repeat Steps 3 through 6 for the second drive.


Entry ID: 109749795, V4.1, 05/2023 22
5 Programming the application

The technology objects (TOs) for programming and motor operation will be
configured in the section below.
5.1 Configuring the technology objects

Two technology objects are configured for this application example:
1. One "positioning axis" that is run as a leading axis.
2. One "synchronous axis" that is run as a following axis.
5.1.1 Add and configure the positioning axis
No. Action Comments

1. Add a new object by clicking "Add new object" in the project tree:
2. Select "TO_PositioningAxis" from the "Motion Control" list:

Entry ID: 109749795, V4.1, 05/2023 23
No. Action Comments

3. Under "Hardware interface" for the axis, enter "PROFIdrive" as the Note: When an
"Drive type". For "Drive", select the desired SINAMICS S210 drive. In object has been
this example it is the "Left" drive: added, the object
node will be added
to the device tree
and the
configuration for this
newly added axis
will open.
4. Under "Data exchange with the drive" and "Data exchange with the Automatically
encoder", verify that values are automatically applied from the drive. applying values
This ensures that the drive data are automatically applied to the reads data relevant
technology object: for drive control

from the drive and
S210 drive: causes the
technology object to
use these data to
run the drive.
TIA Portal offers the

ability to read the
data:
• offline from the
drive configuration in
Startdrive
• online on
controller start-up,
from the actual
values of the drive
Encoder:

Entry ID: 109749795, V4.1, 05/2023 24
No. Action Comments

5. In the program blocks tree, right-click to select "MC-Servo[OB91]" and
open the Properties of program block OB91:
6. Select the option "Synchronous to the bus" and then "PROFINET Note:
IO-System (100)" as the Source of the send clock: These settings
cause the
organization block
"MC_Servo" to run
in sync with the
isochronous
PROFINET I/O
system.
7. Compile and save the configuration.

Entry ID: 109749795, V4.1, 05/2023 25
5.1.2 Add and configure the synchronous axis
No. Action Comments

1. Add a new object by clicking "Add new object" in the project tree:
2. Select "TO_SynchronousAxis" from the "Motion Control" list:


Entry ID: 109749795, V4.1, 05/2023 26
No. Action Comments

3. Under "Hardware interface" for the axis, enter "PROFIdrive" as the Note: When an
"Drive type". For "Drive", select the desired SINAMICS S210 drive. In object has been
this example it is the "Right" drive: added, the object
node will be added
to the device tree
and the configu-
ration for this newly
added axis will
open.
4. Under "Leading value interconnections", add the positioning axis

that will provide the leading value:
5. Save and compile the project.

Entry ID: 109749795, V4.1, 05/2023 27
5.2 Creating the S7 program

The structure of the S7 program and the Motion Control instructions are used as
shown in chapter 3. Follow the steps in the Table below for each drive.
5.2.1 Program the positioning axis (leading axis)
Table 5-1
No. Action Comments
1. Add a new function block by clicking in the project tree on "Add new
block":
2. Select "Function block" and give it the name "MotionControl_Pos".

Also select the "Add new and open" function so that the block will be
opened right after it is inserted. Click "OK" to add the block:

Entry ID: 109749795, V4.1, 05/2023 28
No. Action Comments

3. Go to the "Instructions" tab and open the "Motion Control" tab:
4. Add the desired instructions to the function block as multiple Note: This example
instances. To do this, drag and drop the respective instruction into a uses the following
network of the function block: instructions:
• MC_Power
• MC_Reset
• MC_Home
• MC_Halt
• MC_MoveRelative
• MC_MoveAbsolute
• MC_MoveJog
5. Program all blocks as follows:

Entry ID: 109749795, V4.1, 05/2023 29
No. Action Comments


Entry ID: 109749795, V4.1, 05/2023 30
No. Action Comments


Entry ID: 109749795, V4.1, 05/2023 31
5.2.2 Program the synchronous axis (following axis)
Table 5-2
No. Action Comments
1. Add another function block to the program, name it
"MotionControl_Sync" and confirm with "OK":
2. Go to the "Instructions" tab and open the "Motion Control" tab:

Entry ID: 109749795, V4.1, 05/2023 32
No. Action Comments

3. Add the desired instructions to the function block as multiple Note: This example
instances. To do this, drag and drop the respective instruction into a uses the following
network of the function block: instructions:
• MC_Power
• MC_Reset
• MC_Halt
• MC_GearIn
4. Program all blocks as follows:


Entry ID: 109749795, V4.1, 05/2023 33
No. Action Comments


Entry ID: 109749795, V4.1, 05/2023 34
5.2.3 Program the cyclic OB
Table 5-3
No. Action Comments
1. Open the cyclic OB "Main [OB1]":
2. Add the "MotionControl_Pos" and "MotionControl_Sync" blocks

by dragging and dropping them in the cyclic OB:


Entry ID: 109749795, V4.1, 05/2023 35
5.2.4 Watch table
This example uses a watch table to monitor and control the drives.
Watch table view of the left drive (leading axis)

Figure 5-1

Entry ID: 109749795, V4.1, 05/2023 36
Watch table view of the right drive (following axis)
Figure 5-2

Entry ID: 109749795, V4.1, 05/2023 37
6 Commissioning and tuning

6.1 Extracting the example project
If you did not create the project yourself, as an option you can also use the
example project from this application example. Follow the steps below to open the
example project:
Table 6-1
No. Action Comments
1. Find the project in a ZIP file entitled
"109749795_Conf_PosAxis_SynAxis_S210_S7-1500_PROJ.zip" and
extract it to a local directory.
2. Launch TIA Portal and click in the "Portal view" on "Open existing
project" → "Browse":
3. Select the locally saved project and confirm with "Open":
4. Select the destination path to which the project will be extracted.

5. The application is now ready to run. It can be commissioned as
shown in chapter 6.

Entry ID: 109749795, V4.1, 05/2023 38
6.2 Commissioning the project

Perform the following steps to download the project to the drives and the controller:
No. Action Comments

1. Download the project to the SIMATIC S7-1500 controller and
establish an online connection to the device:
2. Download the parameter assignment to the SINAMICS S210 drives Note:

and establish an online connection to the devices. During the Perform this step for both
download, enable the option "Save parameterization retentively" drives in the project.
in order to save the parameter assignment in the retentive memory

of the drive:

Entry ID: 109749795, V4.1, 05/2023 39
6.3 Tuning
To improve the positioning accuracy of the technology objects, you should tune the
control on the drive and perform tuning on the technology object. The SINAMICS
S210 offers the "One Button Tuning" function that allows for easy tuning of the
drive's control behavior. The values obtained from "One Button Tuning" can then
be applied to the control structure of the technology object if desired. See the
sections below for the necessary steps.
6.3.1 Drive optimization (One Button Tuning)
To tune the control behavior of the drive, carry out the following steps for all drives
in the project:
No. Action Comments

1. Open One Button Tuning by clicking "Commissioning" under
each drive in the project tree, then on "One Button Tuning":
2. Select the desired dynamic setting and the path limit during Caution:
tuning: Select the path limit so
that the motor is able to
move freely within the
limit. During tuning, the
motor will move in both
directions at up to 80% of
its maximum velocity.
Note:
For tips on choosing
dynamic settings, consult
the manual (see \4\).

Entry ID: 109749795, V4.1, 05/2023 40
No. Action Comments

3. Click "Activate" and confirm the safety prompt:
4. Click "Start" to initiate One Button Tuning: Note:

You can abort the One
Button Tuning process by
clicking the "Stop" button.
Note:
The values that are
measured/calculated
during One Button Tuning
will be applied
straightaway to the drive
parameterization in online
mode.
5. Save the values retentively in the drive:

Entry ID: 109749795, V4.1, 05/2023 41
No. Action Comments

6. Load the drive to the project. To do this, first disconnect the online
connection and then upload from the device:
6.3.2 Tune the technology objects
To apply the values that were measured/calculated in "One Button Tuning" for the
control structure of the technology object, carry out the following steps for all
technology objects in the project:
No. Action Comments

1. Go online on the SIMATIC S7-1500 controller.
2. In the project tree, go to "PositioningAxis_1" →
"Commissioning" and then, in the commissioning screen, go to
"Tuning":

Entry ID: 109749795, V4.1, 05/2023 42
No. Action Comments

3. Click "Activate" and confirm the safety prompt:
4. Click on "Take values from drive" to read the values from the The "Tuning" screen lets
drive: you move the technology
object and record the step

response. This application
example does not use this
function, as the data for
position tuning are already
acquired in the SINAMICS
S210 during One Button
Tuning and could be
applied to the technology
object.
5. Copy the values that were read from this drive. Then click on the
icon to the right of each field and paste the copied value as start
value in the project: Repeat this procedure for the Kv factor:
6. Save the project and download it to the controller.

7. Check the behavior of the axes after optimization.

Entry ID: 109749795, V4.1, 05/2023 43
7 Examples in practice
Check the behavior of the axes after optimization!

The position control gain kv determined when optimizing the drive (see steps 4 and
5 of the table) can be too high for some mechanics, so that an audible high-
frequency noise can occur, especially during acceleration phases.
In this case, reduce the gain kv until the high-frequency noise is no longer audible.
(Typical values are in a range from 10 to 70.)
For detailed analysis, you can carry out the following trace recordings:
• A TO trace that contains the position setpoint and actual position value (Position,
CAUTION ActualPosition) as well as the velocity setpoint and actual velocity value (Velocity,
ActualVelocity).
The actual value should follow the setpoint evenly and not overshoot when the position
is reached.
• A drive trace that contains the speed setpoint and actual speed value as well as the
actual torque value (Speed setpoint after filter: r62, Actual speed unsmoothed: r61,
Torque actual value: r80).
The actual torque value should not oscillate during the acceleration phases.
7.1 Scenario: Moving only the leading drive

7.1.1 Relative positioning
Table 7-1
No. Action Comments
1. Go online and select "Monitor all" in the watch table: Once you have
selected this option,
the color of the
"Monitor value"
column will change
to orange.
2. Activate the "Left" drive with MC_Power by right-clicking on the value Keyboard
and selecting "Modify to 1": combinations can
be used to speed up
the process.
Ctrl+F3:
Change to 0
Ctrl+F2:
Change to 1
Shift+F9: Modify
now

Entry ID: 109749795, V4.1, 05/2023 44
No. Action Comments

3. Write the desired values for "Distance" [mm] and "Velocity" [mm/s] to
the "Modify value" field.
4. Right-click the value and select "Modify now":
5. Carry out the steps with the command "Modify to 1": Homing with the
Motion Control
instruction
"MC_Home" is not
necessary in order
to carry out relative
positioning with the
technology object.
6. Once the task is done, reset the command to "FALSE".
7.2 Scenario: Move leading drive and following drive

together
7.2.1 Absolute positioning
Table 7-2
No. Action Comments
1. Go online and select "Monitor all" in the watch table:

Entry ID: 109749795, V4.1, 05/2023 45
No. Action Comments

2. Activate the leading and following drive with MC_Power by right- Keyboard
clicking on the value and selecting "Modify to 1": combinations can
be used to speed up
the process.
Ctrl+F3:
Change to 0
Ctrl+F2:
Change to 1
Shift+F9: Modify
now
3. Home the leading axis by setting the command to "TRUE": Any other desired
position can also be
specified in place of
0.
The following axis

does not need to be
homed with the
Motion Control
instruction
"MC_GearIn" for
gear
synchronization.
4. Activate the synchronous operation task by setting the command to

"TRUE":
5. Write the desired values to the "Position" [mm] and "Velocity" [mm/s]
fields, then select "Modify now":
6. Execute the command MC_MoveAbsolute by setting the command to

"TRUE":
7. Once the task is done, reset the command to "FALSE".

Entry ID: 109749795, V4.1, 05/2023 46
7.2.2 JOG function (Jog mode)
Table 7-3
No. Action Comments
1. Go online and select "Monitor all" in the watch table:
2. Activate the leading and following drive with MC_Power by right- Keyboard
clicking on the value and selecting "Modify to 1": combinations can
be used to speed up
the process.
Ctrl+F3:
Change to 0
Ctrl+F2:
Change to 1
Shift+F9: Modify
now
3. Activate the synchronous operation task by setting the command to

"TRUE":
4. Write the desired speed value to the "Velocity" [mm/s] field and
then select "Modify now":
5. To start the JOG task with "JogForward" or "JogBackward", set JOG mode (Jog)
one of the commands to "TRUE": can only be
activated either in
forward or backward
direction at one
time.
6. To stop both motors, set the command to "FALSE":

Entry ID: 109749795, V4.1, 05/2023 47
8 Appendix
8 Appendix
8.1 Service and support
Industry Online Support
Do you have any questions or need assistance?
Siemens Industry Online Support offers round the clock access to our entire
service and support know-how and portfolio.
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:
support.industry.siemens.com
Technical Support
The Technical Support of Siemens Industry provides you fast and competent
support regarding all technical queries with numerous tailor-made offers
– ranging from basic support to individual support contracts.
Please send queries to Technical Support via Web form:
siemens.com/SupportRequest
SITRAIN – Digital Industry Academy

We support you with our globally available training courses for industry with
practical experience, innovative learning methods and a concept that’s tailored to
the customer’s specific needs.
For more information on our offered trainings and courses, as well as their
locations and dates, refer to our web page:
siemens.com/sitrain
Service offer
Our range of services includes the following:
• Plant data services
• Spare parts services
• Repair services
• On-site and maintenance services
• Retrofitting and modernization services
• Service programs and contracts
You can find detailed information on our range of services in the service catalog
web page:
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 iOS and Android:
support.industry.siemens.com/cs/ww/en/sc/2067

Entry ID: 109749795, V4.1, 05/2023 48
8 Appendix
8.2 Industry Mall
The Siemens Industry Mall is the platform on which the entire siemens Industry
product portfolio is accessible. From the selection of products to the order and the
delivery tracking, the Industry Mall enables the complete purchasing processing –
directly and independently of time and location:
mall.industry.siemens.com
8.3 Links and literature

Table 8-1
No. Topic
\1\ Siemens Industry Online Support
https://support.industry.siemens.com
\2\ Link to the article page of this application example

https://support.industry.siemens.com/cs/ww/en/view/109749795
\3\ Function Manual S7-1500
S7-1500/S7-1500T Motion Control Overview V6.0 as of STEP 7 V17
\4\ Operating Instructions
SINAMICS S210/SIMOTICS S-1FK2 and S-1FT2
8.4 Change documentation

Table 8-2
Version Date Modifications
V1.0 08/2017 First version
V1.2 03/2019 Programming the S210 with Startdrive
V4.0 05/2022 Update for TIA Portal V17
V4.1 05/2023 Additional information on gain kv of the position controller in
section 6.3.2

Entry ID: 109749795, V4.1, 05/2023 49

Configuring Technology Objects With SIMATIC S7 1500

Uploaded by

Copyright:

Available Formats

Configuring Technology Objects With SIMATIC S7 1500

Uploaded by

Document Information

Original Description:

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

Configuring Technology Objects With SIMATIC S7 1500

Uploaded by

Copyright:

Available Formats

Configuring

Configuring a positioning axis and a synchronous axis with S7-1500

5.1.1 Add and configure the positioning axis .............................................. 23

Configuring a positioning axis and a synchronous axis with S7-1500

Overview of the automation task

Figure 1-1: Automation task

SIMATIC S7-1517TF-3 PN/DP SINAMICS S210 PN

Configuring a positioning axis and a synchronous axis with S7-1500

2 Implementation of the task

2.2 Hardware and software components used

Standard software components

Configuring a positioning axis and a synchronous axis with S7-1500

Sample files and projects

Configuring a positioning axis and a synchronous axis with S7-1500

Figure 3-1: Configuration as positioning axis

Configuring a positioning axis and a synchronous axis with S7-1500

Structure of the user program for the leading axis

Figure 3-2: Program structure of the leading axis

Configuring a positioning axis and a synchronous axis with S7-1500

Structure of the user program for the following axis

Figure 3-3: Program structure of the following axis

Configuring a positioning axis and a synchronous axis with S7-1500

3.2 Installation and commissioning

ATTENTION Improper wiring can damage the drive!

Configuring a positioning axis and a synchronous axis with S7-1500

4.1 Creating a new project

2. Switch to the "project view":

Configuring a positioning axis and a synchronous axis with S7-1500

4.2 Configuring the SIMATIC S7-1500 CPU

Configuring a positioning axis and a synchronous axis with S7-1500

No. Action Comments

access the controller

Configuring a positioning axis and a synchronous axis with S7-1500

No. Action Comments

Configuring a positioning axis and a synchronous axis with S7-1500

No. Action Comments

Configuring a positioning axis and a synchronous axis with S7-1500

4.3 Configuring the SINAMICS S210 drives

Configuring a positioning axis and a synchronous axis with S7-1500

No. Action Comments

4. In the Properties window, select the motor you are using:

5. Switch to the drive properties by clicking on the SINAMICS

Configuring a positioning axis and a synchronous axis with S7-1500

No. Action Comments

7. Repeat the steps for the second drive.

Configuring a positioning axis and a synchronous axis with S7-1500

4.4 Configuring the PROFINET connection

Repeat the same procedure for the second drive:

4.4.2 Configure the topology

Note The topology configuration is required in order to establish an isochronous

No. Action Comments

Configuring a positioning axis and a synchronous axis with S7-1500

4.4.3 Configure isochronous mode

No. Action Comments

2. Configure the SIMATIC S7-1500 controller as Sync master Note:

Configuring a positioning axis and a synchronous axis with S7-1500

No. Action Comments

case, select "MC-