Preface

SIMOTION SIMOTION SCOUT

1
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Description

2
SIMOTION ______________
Installing software

3
______________
Functions

SIMOTION SCOUT 4
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Product combination

5
Configuration Manual ______________
Diagnostics

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FAQs

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Technical data

03.2006 Edition
Safety Guidelines
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.

Danger
indicates that death or severe personal injury will result if proper precautions are not taken.

Warning
indicates that death or severe personal injury may result if proper precautions are not taken.

Caution
with a safety alert symbol, indicates that minor personal injury can result if proper precautions are not taken.

Caution
without a safety alert symbol, indicates that property damage can result if proper precautions are not taken.

Notice
indicates that an unintended result or situation can occur if the corresponding information is not taken into
account.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will
be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to
property damage.

Qualified Personnel
The device/system may only be set up and used in conjunction with this documentation. Commissioning and
operation of a device/system may only be performed by qualified personnel. Within the context of the safety notes
in this documentation qualified persons are defined as persons who are authorized to commission, ground and
label devices, systems and circuits in accordance with established safety practices and standards.

Prescribed Usage
Note the following:

Warning
This device may only be used for the applications described in the catalog or the technical description and only in
connection with devices or components from other manufacturers which have been approved or recommended by
Siemens. Correct, reliable operation of the product requires proper transport, storage, positioning and assembly
as well as careful operation and maintenance.

Trademarks
All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this
publication may be trademarks whose use by third parties for their own purposes could violate the rights of the
owner.

Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software
described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the
information in this publication is reviewed regularly and any necessary corrections are included in subsequent
editions.

Siemens AG Copyright © Siemens AG .

Automation and Drives Edition 03/2006 Technical data subject to change
Postfach 48 48
90437 NÜRNBERG
GERMANY
Preface

Scope and standards

This document is part of the Engineering System Handling documentation package.

Scope
This manual applies to SIMOTION SCOUT in association with the SIMOTION Cam Tool
option package for product version V4.0.

Sections in this manual

The following is a list of chapters included in this manual along with a description of the
information presented in each chapter.
• Overview
This chapter provides the user with an overview of the SIMOTION SCOUT engineering
system.
• Installing software
This chapter contains the system requirements for SIMOTION SCOUT, describes the
procedure for installing and uninstalling it, and provides important information on the
communications link to the SIMOTION device.
• Functions
This chapter explains the basic steps required for the operation of SIMOTION SCOUT.
There is an explanation of the SIMOTION SCOUT workbench. An important aid is, for
example, the online help for SIMOTION SCOUT. Important information is provided on this
topic. Additional functions such as the licensing of the runtime components and the
replacement of the SIMOTION device are also described.
• Product combinations
This chapter describes topics such as compatibility and data carriers as well as STEP 7,
NetPro, Drive ES, HMI and other interfaces.
• Diagnostics
This chapter provides information on how to operate the diagnostics with SIMOTION
SCOUT and introduces the diagnostic functions.
• FAQs
This chapter describes how the user can commission drives. It contains general
information and special applications.
• Index
Index

SIMOTION SCOUT
Configuration Manual, 03.2006 Edition iii
Preface

SIMOTION documentation
An overview of the SIMOTION documentation can be found in a separate list of references.
The bibliography is supplied on the "SIMOTION SCOUT" CD.
SIMOTION documentation consists of 9 documentation packages containing approximately
60 SIMOTION documents and documents on other products (e.g. SINAMICS).
The following documentation packages are available for SIMOTION V4.0:
• SIMOTION Engineering System
• SIMOTION System and Function Descriptions
• SIMOTION Diagnostics
• SIMOTION Programming
• SIMOTION Programming - References
• SIMOTION C2xx
• SIMOTION P350
• SIMOTION D4xx
• SIMOTION Supplementary Documentation

Hotline and Internet addresses

If you have any technical questions, please contact our hotline (worldwide):
A&D Technical Support:
• Phone: +49 (180) 50 50 222
• Fax: +49 (180) 50 50 223
• E–mail: adsupport@siemens.com
• Internet: http://www.siemens.de/automation/support-request
If you have any questions, suggestions, or corrections regarding the documentation, please
fax or e-mail them to:
• Fax: +49 (9131) 98 63315
• E–mail: motioncontrol.docu@siemens.com

SIMOTION SCOUT
iv Configuration Manual, 03.2006 Edition
 Preface

Siemens Internet address

The latest information about SIMOTION products, product support, and FAQs can be found
on the Internet at:
• General information:
– http://www.siemens.de/simotion (German)
– http://www.siemens.com/simotion (international)
• Product support:
– http://support.automation.siemens.com/WW/view/de/10805436

Additional support
We also offer introductory courses to help you familiarize yourself with SIMOTION.
For more information, contact your regional Training Center or the main Training Center in
D-90027 Nuremberg, Federal Republic of Germany, Tel.+49 (911) 895 3202.

SIMOTION SCOUT
Configuration Manual, 03.2006 Edition v
Table of contents
Preface ...................................................................................................................................................... iii
1 Description.............................................................................................................................................. 1-1
1.1 Description ................................................................................................................................. 1-1
1.2 SIMOTION SCOUT engineering system: General .................................................................... 1-1
1.3 Workbench ................................................................................................................................. 1-3
1.4 Project creation, system configuration....................................................................................... 1-3
1.5 Technology packages and technology objects .......................................................................... 1-4
1.6 Programming languages............................................................................................................ 1-5
1.6.1 Programming languages in SIMOTION SCOUT ....................................................................... 1-5
1.6.2 Graphics-based flowchart programming with MCC ................................................................... 1-6
1.6.3 Graphics-based programming language with LAD/FBD............................................................ 1-7
1.6.4 High-level language programming in ST ................................................................................... 1-8
1.7 CamEdit cam editor ................................................................................................................... 1-8
2 Installing software ................................................................................................................................... 2-1
2.1 System requirements ................................................................................................................. 2-1
2.1.1 Installing the interface card ........................................................................................................ 2-1
2.1.2 Configuring the interface card.................................................................................................... 2-2
2.1.3 Defining the interface ................................................................................................................. 2-4
2.1.4 Communication via PROFIBUS DP ........................................................................................... 2-5
2.1.5 Communication via TCP/IP........................................................................................................ 2-6
2.1.6 Communication via PROFINET ................................................................................................. 2-6
2.2 System requirements for SCOUT and SCOUT Standalone ...................................................... 2-7
2.3 To install the software ................................................................................................................ 2-8
2.4 To install the authorization ....................................................................................................... 2-10
2.5 Saving and moving the license key ......................................................................................... 2-11
2.6 To uninstall the software .......................................................................................................... 2-12
2.7 Software upgrade..................................................................................................................... 2-12
3 Functions ................................................................................................................................................ 3-1
3.1 Getting to know the workbench.................................................................................................. 3-1
3.2 Menu structure ........................................................................................................................... 3-4
3.2.1 Main menus................................................................................................................................ 3-4
3.2.2 Keyboard action and shortcuts .................................................................................................. 3-6
3.2.3 Menu items................................................................................................................................. 3-7
3.2.4 Using context menus ............................................................................................................... 3-11
3.3 Project navigator ...................................................................................................................... 3-11
3.3.1 Using the project navigator ...................................................................................................... 3-11
3.3.2 Creating elements.................................................................................................................... 3-12

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3.3.3 Changing properties of the elements ....................................................................................... 3-14

3.3.4 Wizards for configuration support ............................................................................................ 3-15
3.4 Using the working area ............................................................................................................ 3-16
3.5 Detail view ................................................................................................................................ 3-17
3.5.1 Using the detail view ................................................................................................................ 3-17
3.5.2 Using the symbol browser........................................................................................................ 3-18
3.6 Adding add-ons to the workbench ........................................................................................... 3-18
3.7 Online help ............................................................................................................................... 3-19
3.7.1 Structure of the online help ...................................................................................................... 3-19
3.7.2 Types of online help ................................................................................................................. 3-20
3.7.3 Searching in the online help..................................................................................................... 3-20
3.7.4 Getting Started in SCOUT........................................................................................................ 3-21
3.7.5 Error remedy ............................................................................................................................ 3-21
3.8 Basic steps ............................................................................................................................... 3-22
3.8.1 Overview .................................................................................................................................. 3-22
3.8.2 Basic settings of SCOUT ......................................................................................................... 3-22
3.8.3 SIMOTION SCOUT project ...................................................................................................... 3-22
3.8.4 Creating a new SCOUT project ............................................................................................... 3-23
3.8.5 Opening an existing project...................................................................................................... 3-25
3.8.6 Using program editors.............................................................................................................. 3-26
3.9 Changing the SIMOTION device after a kernel upgrade or platform change.......................... 3-28
3.10 Changing a SIMOTION device ................................................................................................ 3-31
3.10.1 Changing a SIMOTION device and TP upgrade ..................................................................... 3-31
3.10.2 Changing a SIMOTION device followed by a TP upgrade ...................................................... 3-31
3.10.2.1 Upgrading within a platform and a station type........................................................................ 3-31
3.10.2.2 Changing a station ................................................................................................................... 3-34
3.10.2.3 Changing a platform within a station type ................................................................................ 3-34
3.10.3 Replacing a D4xx with integrated drive.................................................................................... 3-37
3.11 Saving and restoring variables after a platform replacement or update .................................. 3-38
3.11.1 Saving data .............................................................................................................................. 3-38
3.11.2 Save variables.......................................................................................................................... 3-39
3.11.3 Restoring variables .................................................................................................................. 3-40
3.12 Exporting and importing projects ............................................................................................. 3-42
3.12.1 Exporting and importing a project in XML format..................................................................... 3-42
3.13 Licensing .................................................................................................................................. 3-44
3.13.1 Licensing of the runtime components ...................................................................................... 3-44
3.13.1.1 Overview for the licensing ........................................................................................................ 3-44
3.13.1.2 Licenses and license key ......................................................................................................... 3-45
3.13.1.3 Determining licensing requirements......................................................................................... 3-46
3.13.1.4 Displaying existing licenses of the SIMOTION device............................................................. 3-47
3.13.1.5 Performing the licensing........................................................................................................... 3-48
3.13.2 Changing the license key ......................................................................................................... 3-49
3.13.3 Licensing during hardware replacement .................................................................................. 3-49
3.13.4 Underlicensing ......................................................................................................................... 3-49
3.14 Downloading the project........................................................................................................... 3-50
4 Product combination ............................................................................................................................... 4-1
4.1 Compatibility............................................................................................................................... 4-1
4.1.1 General compatibility.................................................................................................................. 4-1
4.1.2 Software compatibility ................................................................................................................ 4-1
4.2 Memory media of the SIMOTION devices ................................................................................. 4-3

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4.3 SIMOTION C2xx memory concept and interfaces..................................................................... 4-4

4.3.1 Onboard I/O of the SIMOTIONC2xx .......................................................................................... 4-4
4.3.2 SIMOTION C2xx operation without memory card ..................................................................... 4-5
4.3.3 Formatting a SIMOTION C2xx memory card............................................................................. 4-5
4.4 SIMOTION P350 memory concept and interfaces .................................................................... 4-6
4.4.1 Using a P35 virtual memory card............................................................................................... 4-6
4.4.2 Formatting a SIMOTION P350 virtual memory card.................................................................. 4-6
4.4.3 SIMOTION P350 interfaces ....................................................................................................... 4-7
4.5 SIMOTION D4xx memory concept and interfaces..................................................................... 4-7
4.5.1 Using a D4xx CompactFlash card ............................................................................................. 4-7
4.5.2 SIMOTION D4xx interfaces ....................................................................................................... 4-8
4.6 PROFINET with SIMOTION....................................................................................................... 4-9
4.7 STEP 7..................................................................................................................................... 4-10
4.8 HW Config................................................................................................................................ 4-10
4.8.1 Inserting and configuring a SIMOTION device ........................................................................ 4-10
4.8.2 Starting HW Config .................................................................................................................. 4-11
4.8.3 The HW Config program .......................................................................................................... 4-11
4.8.4 HW Config: Opening the hardware catalog ............................................................................. 4-12
4.9 NetPro ...................................................................................................................................... 4-13
4.10 HMI........................................................................................................................................... 4-14
4.11 Drive ES ................................................................................................................................... 4-15
4.12 Commissioning drives (Starter)................................................................................................ 4-16
4.13 CAMTool .................................................................................................................................. 4-16
5 Diagnostics ............................................................................................................................................. 5-1
5.1 Controlling the target system ..................................................................................................... 5-1
5.1.1 Overview .................................................................................................................................... 5-1
5.1.2 Setting the operating mode in SIMOTION SCOUT ................................................................... 5-1
5.1.3 Overall reset............................................................................................................................... 5-5
5.1.4 Setting the time of day ............................................................................................................... 5-6
5.1.5 Changing configuration data ...................................................................................................... 5-7
5.1.6 Archive project data ................................................................................................................... 5-8
5.2 Using diagnostic functions ......................................................................................................... 5-8
5.2.1 Overview of the possible diagnostic functions ........................................................................... 5-8
5.2.2 Using the diagnostics overview.................................................................................................. 5-9
5.2.3 Device diagnostics ................................................................................................................... 5-10
5.2.4 Device diagnostics: General .................................................................................................... 5-11
5.2.5 Device diagnostics: Diagnostics buffer .................................................................................... 5-12
5.2.6 Device diagnostics: Slaves ...................................................................................................... 5-13
5.2.7 Device diagnostics: Task runtime and task status................................................................... 5-14
5.2.8 Device diagnostics: Checking the system utilization ............................................................... 5-15
5.2.9 Device diagnostics: User log file .............................................................................................. 5-17
5.2.10 Device diagnostics: RT log file................................................................................................. 5-18
5.2.11 Displaying and acknowledging alarms and messages ............................................................ 5-18
5.2.12 Accessible nodes ..................................................................................................................... 5-19
5.2.13 Program testing and debugging............................................................................................... 5-19
6 FAQs ...................................................................................................................................................... 6-1
6.1 Rules for the arrangement of the modules ................................................................................ 6-1
6.2 Routing....................................................................................................................................... 6-2
6.2.1 Operation of cross-subnet connections ..................................................................................... 6-2

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6.2.2 Human Machine Interface system (HMI) ................................................................................... 6-3

6.2.3 Higher-level automation systems............................................................................................... 6-4
6.3 Inserting drives........................................................................................................................... 6-5
6.3.1 Inserting drives........................................................................................................................... 6-5
6.3.2 Inserting a SINAMICS drive on PROFIBUS DP......................................................................... 6-6
6.3.3 Inserting a SINAMICS drive on PROFINET IO .......................................................................... 6-7
6.3.4 Inserting a MICROMASTER drive ............................................................................................. 6-8
6.3.5 Inserting a MASTERDRIVES drive ............................................................................................ 6-9
6.3.6 Inserting a SIMODRIVE drive .................................................................................................. 6-10
6.3.7 Configuring an inserted drive as a slave on the PROFIBUS ................................................... 6-11
6.4 Commissioning the drives ........................................................................................................ 6-13
6.5 SINAMICS on SIMOTION ........................................................................................................ 6-14
6.5.1 SINAMICS S120 on SIMOTION .............................................................................................. 6-14
6.6 MICROMASTER on SIMOTION .............................................................................................. 6-16
6.6.1 Commissioning a MICROMASTER ......................................................................................... 6-16
6.6.2 Commissioning in SIMOTION SCOUT .................................................................................... 6-17
6.6.2.1 Drive navigator ......................................................................................................................... 6-17
6.6.2.2 Configuring a drive ................................................................................................................... 6-17
6.6.2.3 Configuring the drive terminals/bus ......................................................................................... 6-20
6.6.2.4 Configuring the USS and PROFIBUS interfaces ..................................................................... 6-22
6.6.2.5 Parameterizing setpoints and limits ......................................................................................... 6-22
6.6.3 Controlling drives ..................................................................................................................... 6-23
6.6.4 Using the drive diagnostics ...................................................................................................... 6-25
6.6.5 Using the expert list.................................................................................................................. 6-27
6.7 MICROMASTER in Conjunction with a Positioning Axis ......................................................... 6-28
6.7.1 MICROMASTER MM4 in connection with a position axis ....................................................... 6-28
6.7.2 Parameterization steps ............................................................................................................ 6-28
6.8 SIMOVERT MASTERDRIVES MC on SIMOTION .................................................................. 6-32
6.8.1 Connecting the SIMOVERT MASTERDRIVES MC ................................................................. 6-32
6.8.2 Upgrading option cards firmware ............................................................................................. 6-33
6.8.3 Commissioning MASTERDRIVES MC .................................................................................... 6-36
6.8.4 Basic commissioning of MASTERDRIVES MC ....................................................................... 6-67
6.8.5 Creating a sample program for positioning in SIMOTION SCOUT.......................................... 6-79
6.8.6 MASTERDRIVES MC commissioning tool .............................................................................. 6-89
6.8.7 MASTERDRIVES VC in connection with an axis..................................................................... 6-90
6.9 SIMODRIVE 611U to SIMOTION ............................................................................................ 6-95
6.9.1 Connecting SIMODRIVE 611U to SIMOTION ......................................................................... 6-95
6.9.2 Upgrading the firmware............................................................................................................ 6-97
6.9.3 Commissioning SIMODRIVE 611U........................................................................................ 6-100
6.9.4 Creating a sample program for positioning in SIMOTION SCOUT........................................ 6-137
6.9.5 Expert functions ..................................................................................................................... 6-147
6.9.6 Commissioning the 611U with DSC....................................................................................... 6-159
7 Technical data ........................................................................................................................................ 7-1
7.1 Quantity framework .................................................................................................................... 7-1
7.2 Memory requirement .................................................................................................................. 7-5
Index................................................................................................................................................ Index-1

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Tables
Table 2-1 Interface assignment for SIMOTION devices ............................................................................ 2-1
Table 2-2 System requirements for SIMOTION SCOUT and SCOUT Standalone ................................... 2-7
Table 3-1 Structure of the menu bar .......................................................................................................... 3-4
Table 3-2 Dynamic menus ......................................................................................................................... 3-5
Table 3-3 Keyboard action ......................................................................................................................... 3-6
Table 3-4 Menu items in SIMOTION SCOUT ............................................................................................ 3-7
Table 3-5 Active functions in the working area of the workbench depending on the project mode
(offline/online)........................................................................................................................... 3-16
Table 3-6 Tabs available for the detail view depending on the project mode (offline/online) and
the active snap-ins ................................................................................................................... 3-17
Table 3-7 SIMOTION device directories in the hardware catalog ........................................................... 3-28
Table 3-8 The serial number on the SIMOTION hardware assigned to the SIMOTION device .............. 3-45
Table 4-1 SIMOTION SCOUT with SIMOTION Kernel.............................................................................. 4-1
Table 4-2 SIMOTION SCOUT with project version.................................................................................... 4-2
Table 4-3 Onboard interfaces of the SIMOTION C2xx .............................................................................. 4-4
Table 4-4 Designation of the SIMOTION P350 interfaces shown in HW Config. ...................................... 4-7
Table 4-5 Designation of the PROFIBUS DP interfaces of the SIMOTION D4xx...................................... 4-8
Table 5-1 Operating modes of a SIMOTION device .................................................................................. 5-2
Table 5-2 The switching possibilities of the software switch depending on the position of the
mode selector on the SIMOTION device (with regard to the SIMOTION D4xx,
see the SIMOTION D4xx Product Manual)................................................................................ 5-2
Table 5-3 LEDs of the mode selector......................................................................................................... 5-3
Table 6-1 Slot rule for SIMOTION rack 0 ................................................................................................... 6-1
Table 6-2 Commissioning of various drives ............................................................................................. 6-13
Table 6-3 Drive diagnostics tabs.............................................................................................................. 6-26
Table 6-4 Settings required in SIMOTION and MASTERDRIVES MC.................................................... 6-37
Table 6-5 DP cycle time ........................................................................................................................... 6-40
Table 6-6 The following relationships between DP cycle time, pulse frequency and task result:............ 6-43
Table 6-7 Encoder: 1Fxxxxx-xxxxx-xExx ENDAT 2048 S/R.................................................................... 6-50
Table 6-8 Encoder: 1Fxxxxx-xxxxx-xHxx ENDAT 512 S/R...................................................................... 6-50
Table 6-9 Encoder: 1Fxxxxx-xxxxx-xGxx ENDAT 32 S/R ....................................................................... 6-50
Table 6-10 Encoder: 1Fxxxxx-xxxxx-xTxx Resolver 2p ............................................................................. 6-51
Table 6-11 Encoder: 1Fxxxxx-xxxxx-xSxx Resolver np............................................................................. 6-51
Table 6-12 Encoder: 1Fxxxxx-xxxxx-xAxx optical incremental encoder 2048 I/R 1 Vpp........................... 6-51
Table 6-13 Values of system-related dead times....................................................................................... 6-56
Table 6-14 Measuring without measuring window..................................................................................... 6-65

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Table 6-15 Measuring with measuring window: Measuring edge is detected in the window..................... 6-66
Table 6-16 Measuring with measuring window: No measuring edge in the window ................................. 6-66
Table 6-17 DP cycle times and associated script files ............................................................................... 6-72
Table 6-18 Settings required in SIMOTION and SIMODRIVE 611U ....................................................... 6-101
Table 6-19 Selection table........................................................................................................................ 6-101
Table 6-20 Encoder: 1Fxxxxx-xxxxx-xExx ENDAT 2048 S/R .................................................................. 6-114
Table 6-21 Encoder: 1Fxxxxx-xxxxx-xHxx ENDAT 512 S/R.................................................................... 6-114
Table 6-22 Encoder: 1Fxxxxx-xxxxx-xGxx ENDAT 32 S/R...................................................................... 6-114
Table 6-23 Encoder: 1Fxxxxx-xxxxx-xAxx optical incremental encoder 2048 I/R 1Vpp.......................... 6-114
Table 6-24 SIMOTION settings ................................................................................................................ 6-115
Table 6-25 SIMOTION settings ................................................................................................................ 6-115
Table 6-26 Activate measuring immediately ............................................................................................ 6-127
Table 6-27 Measuring in the measuring window: Measuring edge is detected in the window ................ 6-127
Table 6-28 Measuring in the measuring window: No measuring edge in the window ............................. 6-128
Table 6-29 Selection of some parameters and their meaning ................................................................. 6-149
Table 6-30 Signal list assignment ............................................................................................................ 6-152
Table 6-31 PIV area ................................................................................................................................. 6-156
Table 6-32 PIV area ................................................................................................................................. 6-158
Table 7-1 Quantity framework for SIMOTION devices............................................................................... 7-1
Table 7-2 Quantity framework for SIMOTION C2xx................................................................................... 7-2
Table 7-3 Quantity framework for SIMOTION P350 .................................................................................. 7-3
Table 7-4 Quantity framework for SIMOTION D4xx................................................................................... 7-4
Table 7-5 Memory requirement for each instance of a technology object ................................................. 7-5

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xii Configuration Manual, 03.2006 Edition
Description 1
1.1 1.1 Description

Note on this chapter

Note
This SIMOTION SCOUT configuration manual is a general description of the software and its
interfaces. Not all the possible functions of this software are described in this document. All
detailed, subject-specific information can be found in the context-sensitive online help and
the corresponding documentation.
Important notes and information on the SIMOTION motion control system are contained in
Catalog PM 10.

1.2 1.2 SIMOTION SCOUT engineering system: General

Introduction
While the SIMOTION motion control system provides a wide variety of preprogrammed
functions, you can also assign parameters and program it for custom use. High performance
tools, which provide optimum support and ease of use for the necessary engineering steps,
are required for this.
The SIMOTION SCOUT engineering system is the basis for the uniform automation of
production machines with SIMOTION and integrates into the SIMATIC environment in
accordance with TIA (Totally Integrated Automation).
SCOUT provides a uniform, function-oriented view for your automation task and at the same
time is very easy to use.
The possible SIMOTION applications range from simple, parameterizable, speed-controlled
single axes through to complex, mechatronically-coupled and programmable multi-axis
machines. Therefore, SCOUT provides views adapted to the task and can be expanded with
additional tools (e.g. tool for the graphic creation of cams).

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Description
1.2 SIMOTION SCOUT engineering system: General

SCOUT is the engineering system for SIMOTION integrated in STEP 7 and provides all the
required tools for the
• configuration,
• parameter assignment,
• programming,
• test and
• diagnostics.
• Whereby tasks such as the creation of the
• hardware and network configuration and the
• creation, configuration and parameterization of technology objects such as axes, output
cams, cams
are graphically supported with operator guidance.

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The first engineering steps, to specify the automation topology and to parameterize the
components and the networks, are the creation of the hardware and network configurations.
For this, SCOUT uses the STEP 7 tools HW Config and NetPro. With the selection from a
hardware catalog, all the required hardware components are graphically assembled in the
working area, parameterized and the bus connections between the individual components
created. In this way, invalid options are indicated at an early stage so that only plausible
configurations can be created.

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 Description
1.3 Workbench

1.3 1.3 Workbench

What is the SIMOTION SCOUT workbench?

The SCOUT workbench is the common framework for all other tools of the engineering
system. The workbench is thus the navigation center for the individual engineering steps. It
is used to create and manage SIMOTION projects and provides a uniform and integrated
view of all data and programs.

Workbench features
The workbench is:
• An integrated and intuitively operated engineering system
• Enables central data and program management, even for distributed systems
• A function-oriented, technological project structure with filterable views
• Enables quick access to individual engineering tools, such as configuration,
programming, and commissioning

1.4 1.4 Project creation, system configuration

Steps to create a project

Machine automation is implemented step-by-step as the project is created as follows:
• First, you create a new project.
• Then, you create the system configuration that describes the structure of the automation
topology:
– Which hardware components (drives, SIMOTION hardware platform, I/O) are you
going to use?
– How are they interconnected?
• The basic parameterization of the hardware components and networks is then performed.
SIMOTION SCOUT does this using two field-proven STEP 7 programs: HW Config and
NetPro.
• In the next step, the technology objects are configured, supported by wizards.

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Description
1.5 Technology packages and technology objects

1.5 1.5 Technology packages and technology objects

Technology packages in SIMOTION SCOUT

Technology packages combine software functions which are required for automation in
mechanical engineering in various sectors.
The following technology packages are provided for SIMOTION:
• TControl - temperature controller
• CAM - cam with positioning and synchronous operation functions
• CAM_EXT - cam incl. additional technology objects
• OADPM - Direct Product Motion technology package (option)
Access to the technology package functions is carried out via additional language
commands and system variables. This results in a simple and uniform programming of
motion sequences.
Earlier versions had the Motion Control Basic, Position and Gear technology packages. As of
SIMOTION SCOUT Version V3.2, for example, the technology package CAM contains the
Motion Control Basic, Position and Gear functionality.
Once the basic project structure has been created by the system configuration, the next step
is to define the technology objects (axes, output cams, cams, etc.) required for the
automation task. This defines the volume of project data that must be assigned parameters
for the purpose of commissioning.

Technology objects in SIMOTION SCOUT

The technology objects are inserted directly into the folders provided in the project navigator.
These are completed with the associated parameterization tool or commissioning tool.
The next step is to program the SIMOTION devices. The SIMOTION SCOUT engineering
system provides user-friendly and efficient programming languages to describe the individual
functions of the machine process.

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 Description
1.6 Programming languages

Additional references
Please refer to the following documents on these subjects
• SIMOTION CamTool, Configuration Manual
• SIMOTION TemperatureControl, Description of Functions
• SIMOTION Motion Control, Basic Functions, Description of Functions
• SIMOTION Motion Control, TO axis, Electric/Hydraulic, TO externalEncoder, Description
of Functions
• SIMOTION Motion Control, Supplementary Technology Objects, Description of Functions
• SIMOTION Motion Control, TO followingObject, TO cam, Description of Functions
• SIMOTION Motion Control, Technology Objects for Output Cams and Measuring Inputs,
Description of Functions
and the online help.

1.6 1.6 Programming languages

1.6.1 Programming languages in SIMOTION SCOUT

Access to the technology packages and functions is carried out in the same way as access
to the SIMOTION Kernel via language commands from the user program.
The programming languages in SCOUT provide all of the language commands required to
implement the functions simply and quickly. The SIMOTION runtime system also supports
cyclic, sequential, time-controlled, and event-driven programming.
The programming languages are:
• Motion Control Chart (MCC)
If you want to program graphically, you can use MCC for sequential flowchart-oriented
programming.
• Ladder Logic / Function Block Diagram (LAD/FBD)
The familiar programming methods with LAD/FBD are also available in the SCOUT
engineering system for user-friendly logic programming, supplemented with motion
control functions via PLCopen function blocks.
• Structured Text (ST)
If you prefer a high-level language for your automation task, ST is available as an efficient
and IEC 61131-3-compliant text-based language.
A variety of programming languages can be combined in a single project.
The user program is executed in various tasks. A task is a job which is executed in a certain
chronological sequence. The advantage of the task system is that processes hung in the
appropriate task levels can run in parallel.

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Description
1.6 Programming languages

The SIMOTION motion control system uses high-performance CPUs on which a realtime
operating system suitable for fast control processes is implemented. Each task is allocated a
slice of the computing time. The organization of the task sequences is performed by the
operating system. A differentiation is made between user and system tasks that are
independent of one another.
Various debug functions are possible in the programming languages. Please refer to the
appropriate programming manuals for more detailed information.

1.6.2 Graphics-based flowchart programming with MCC

Motion Control Chart

The idea behind MCC is to formulate the process sequences in the machine using simple
and logical expressions. The result is one or more flowcharts showing the chronological
sequence of the individual actions. As production machines are primarily concerned with
controlling the motion of a large number of individual axes, MCC particularly supports the
simple description of these motion sequences with powerful motion control commands.
To control the machine, commands are available for awaiting the fulfillment of conditions and
for formulating computations, as well as for executing various control structures, such as
polling (IF), case determination (CASE), and loops (FOR, WHILE, UNTIL). Several MCC
programs may be created to describe different process situations. For example, you can
create one MCC program to bring the machine to a defined initial state when it is switched
on, a second MCC program for the normal production sequence, and a third MCC program
to specify what the machine is to do in the event of a fault.
All commands are available in toolbars, sorted according to command groups. Clicking a
command in the toolbar automatically incorporates it at the position marked in the flow chart.
Double-clicking a command in the flow chart opens a specific dialog box for assigning
parameters to this command.
Performance characteristics:
• Easy-to-use due to graphics-based representation in flowcharts.
• Hierarchical command library for motion control, PLC, and technology functions.
• Control structures (IF, WHILE, CASE, etc.)
• Conditions can be created in different languages. The chart can then be displayed in an
arbitrary language. Plain text can be created in an MCC with the ST zoom.
• Structuring based on command modules, i.e. combination of command sequences to a
form a command module. Clicking the command module invokes the corresponding
command sequence.
• Easy-to-use debug functions for online testing and diagnostics: E.g. single-step mode or
program status for easier troubleshooting (debugging).

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 Description
1.6 Programming languages

Additional references
Please refer to the following document on this subject
• SIMOTION MCC (Motion Control Chart), Programming Manual
and the online help.

1.6.3 Graphics-based programming language with LAD/FBD

Ladder Logic / Function Block Diagram

LAD/FBD stand for ladder logic and function block diagram. LAD/FBD are graphics-based
programming languages. The statement syntax corresponds to a circuit diagram. LAD/FBD
enable simple tracking of the signal flow between power rails via inputs, outputs, and
operations. LAD/FBD statements consist of elements and boxes, which are graphically
connected to networks. LAD/FBD operations follow the rules of Boolean logic.
The programming language provides all the elements required for the creation of a complete
user program. LAD/FBD feature a powerful command set. This includes the various basic
operations with a comprehensive range of operands and how to address them. The design
of the functions and function blocks enables you to clearly structure the LAD/FBD program.
The LAD/FBD programming package is an integral part of the basic SIMOTION software.
The hardware used in a project must be notified to the system:
• SIMOTION device
• Centralized I/O with I/O addresses
• Distributed I/O with I/O addresses
A SIMOTION device must be configured before you can insert and edit LAD/FBD programs.
Easy-to-use debug functions are available for online testing and diagnostics: E.g. monitoring
of the variable values.

Additional references
Please refer to the following document on this subject
• SIMOTION LAD/FBD, Programming Manual
and the online help.

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Description
1.7 CamEdit cam editor

1.6.4 High-level language programming in ST

Structured Text
ST is a high-level, PASCAL-based programming language. This language is based on the
IEC1131-3 standard, which standardizes programming languages for programmable
controllers (PLC).
The basic command scope is sufficient for the implementation of everything related to data
management, arithmetic functions, control structures, and I/O access. The addition of
technology packages for motion control adds powerful, extremely flexible motion control
commands to the mix (e.g.: _pos(..) for axis positioning).
In addition, applications can be subdivided into any number of sections. Such a section
might be a program allocated to a runtime level, an instantiatable function block with its own
memory, or a function without its own memory. In this case, the function blocks and functions
are not allocated to a runtime level, but are instead called in programs.
• Motion control, PLC and technology functions
• Well structured programs with comment capability
• Powerful editing functions, such as syntax coloring and automatic indenting
• Easy-to-use debug functions for online testing and diagnostics: E.g. display of up-to-date
variable content of the code sequence selected in the editor

Additional references
Please refer to the following document on this subject
• SIMOTION ST (Structured Text), Programming Manual
and the online help.

1.7 1.7 CamEdit cam editor

CamEdit can be used to describe curves by means of either interpolation points or

segments. A combination is not possible. If the curve is to be created from segments using
polynomials, SIMOTION SCOUT provides the VDI wizard to assist in creation of the curve.
Cam geometries are created in offline mode.

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Installing software 2
2.1 2.1 System requirements

2.1.1 Installing the interface card

Installing the interface card in the PG/PC

An interface card must be installed in the PG/PC so that the SIMOTION device can
communicate with the PG/PC. The PG/PC is used for the configuration, parameterization
and testing.
• Install the interface card in the PG/PC according to the installation guide provided.
• Install the appropriate drivers on the PG/PC.
• Connect the interface card to the interface of the SIMOTION device indicated below using
a suitable cable.

Table 2-1 Interface assignment for SIMOTION devices

SIMOTION device Interface As delivered

SIMOTION C2xx X8 DP1 PROFIBUS address 2, baud rate 1.5 Mbit/s
X9 DP2/MPI PROFIBUS address 2, baud rate 1.5 Mbit/s

X7 (Ethernet) IP address: 169.254.11.22

Subnet: 255.255.0.0
SIMOTION P350 X101 DP1 PROFIBUS address 2, baud rate 1.5 Mbit/s
X102 DP2/MPI PROFIBUS address 2, baud rate 1.5 Mbit/s

Ethernet IP address: 169.254.11.22

SIMOTION D4x5 X126 DP1, PROFIBUS address 2, baud rate 1.5 Mbit/s
X136 DP2/MPI PROFIBUS address 2, baud rate 1.5 Mbit/s

X120 IE1/OP IP address: 192.168.214.1

(Ethernet) Subnet: 255.255.0.0

X130 IE2/NET IP address: 169.254.11.22

(Ethernet) Subnet: 255.255.0.0

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Installing software
2.1 System requirements

2.1.2 Configuring the interface card

Configuring the interface card

Proceed as follows:
1. Start SIMOTION SCOUT.
2. Select the menu Options > Set PG/PC interface.
The Set PG/PC Interface window opens.

Figure 2-1 Set PG/PC interface (example)

3. Select the access point of the application.

4. Click Select.
The Install/Uninstall Interfaces window appears.

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 Installing software
2.1 System requirements

Figure 2-2 Interface card settings for a SIMOTION device

5. Select the module to be installed.

6. Click Install.
7. Click OK to confirm any messages.
8. Click Close.
9. Confirm the settings by clicking OK.
Proceed as follows to install or uninstall additional interfaces:
1. In the Set PG/PC Interface window, select S7ONLINE as the access point of the
application.
2. Click Select under Add/remove interfaces.
3. In the left-hand field, select the interface that you want to install and click Install.
Or select the interface that you want to uninstall in the right-hand field and click Uninstall.
4. Click Close.
5. Select the interface to be used in the Used interface parameterization field.
The list of the used interface parameterization will be taken from SIMATIC STEP 7.
With the PC Adapter (Auto) setting, the interface to which the PG/PC is connected is
examined. This function automatically determines the current parameterization of the
respective interface. Detailed information on the individual interfaces of the
SIMOTION devices can be found in the relevant commissioning manuals.
6. Click Properties to parameterize the interface.
7. Click OK to confirm.

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Installing software
2.1 System requirements

2.1.3 Defining the interface

Defining the interface

The interface is defined uniquely when you insert a SIMOTION device. If you make changes
to the project so that the interface is no longer unique, you can modify the setting.

Note
SIMOTION devices have two PROFIBUS connections. Defining the associated PROFIBUS
connection speeds up online operation with the device.

Proceed as follows in offline mode:

1. Open the project.
2. Select the SIMOTION device, e.g. C230-2, in the project navigator.
3. Right-click and select Target device > Online access... in the context menu.
The Properties - Program (Online) window opens.
If you have defined the interface uniquely, you cannot make any settings in this window.
4. Click the Module addresses tab.
5. Set the address of the used connection.
6. Click OK to confirm.

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 Installing software
2.1 System requirements

2.1.4 Communication via PROFIBUS DP

PROFIBUS is a powerful, open, and robust bus system, which guarantees trouble-free
communication. The system is fully standardized, which enables trouble-free connection of
standardized components from a variety of manufacturers. Configuration, commissioning,
and troubleshooting can be carried out from any side. This results in user-defined
communication relationships that are very versatile, simple to implement, and easy to
change.
The high-speed, cyclic exchange of data with field devices (distributed I/O) is carried out via
the PROFIBUS DP protocol. Expansion of the protocol to include isochronous mode also
integrates the drive components into communication via PROFIBUS DP. The connection of
the individual components can be performed via the integrated interfaces, connections,
interface modules or communication processors.
Important information on the communication with PROFIBUS is contained in the SIMOTION
Motion Control System PM10 Catalog.
The following PROFIBUS DP subnet applications are possible:
• PROFIBUS DP for motion control
Compatible extension to the standard PROFIBUS DP:
– Equidistance (constant synchronous bus cycle clock) enables synchronized time
slices for master/slave applications.
– Data exchange broadcast enables slave-to-slave communication.
Digital drives (e.g. SIMODRIVE 611U, MICROMASTER 4xx, SINAMICS) can be
connected via PROFIBUS DP.
In order to be able to operate the SIMOTION device with two isochronous PROFIBUS
subnets, isochronous mode and the same bus cycle must be set. The cycle clock of the
subnet of the second PROFIBUS interface is synchronized to the cycle clock of the
subnet of the first PROFIBUS interface.
If the bus cycle does not agree, the second PROFIBUS interface of the SIMOTION
device will be operated as a PROFIBUS DP subnet.
• PROFIBUS DP (MPI)
Standard PROFIBUS DP with DP-V0 and optional DP-V1 or DP-V2 functionality.
– For the connection of distributed I/Os
– For connection to a higher-level automation system
– For the connection of HMI devices
– For connection to the SCOUT engineering system

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Installing software
2.1 System requirements

2.1.5 Communication via TCP/IP

SIMOTION devices can also be connected to a PG/PC via Industrial Ethernet. Industrial
Ethernet is a communication network with a transmission rate of 100 Mbit/s. For additional
information, refer to the SIMATIC NET, Industrial Twisted Pair and Fiber Optic Networks
manual. For the order number, refer to References.
Examples for the use of Industrial Ethernet:
• For the connection of HMI devices
• For connection to the SCOUT engineering system
• For communication via UDP (User Datagram Protocol) . .

2.1.6 Communication via PROFINET

SIMOTION devices can be connected to a PROFINET subnet via interface modules. With
PROFINET IO IRT/RT, IT services can be performed in parallel to realtime communication
via an Ethernet cable. The PROFINET modules CBE20, CBE30 and MCI-PN-BOARD are
available. These PROFINET modules support the parallel operation of:
• IRT (isochronous realtime Ethernet)
• RT (realtime Ethernet)
• TCP/IP, UDP, http . . . (standard Ethernet services)
• For mixed operation of IRT and RT it has to be observed that the IRT-compatible devices
must form an IRT domain, i.e. there must not be any non-IRT devices on the data
transmission link between the IRT devices.

Additional references
Please refer to the following documents on this subject
• SIMOTION D4xx, Commissioning and Installation Manual
• SIMOTION P350 and Panels Commissioning and Installation Manual
• SIMOTION C2xx operating manual
and the online help.

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 Installing software
2.2 System requirements for SCOUT and SCOUT Standalone

2.2 2.2 System requirements for SCOUT and SCOUT Standalone

Minimum requirements of the system

Table 2-2 System requirements for SIMOTION SCOUT and SCOUT Standalone

Minimum requirement
Programming device or PC • Processor: Intel Pentium III or compatible,
600 MHz (Windows 2000)
• Processor: Intel Pentium III or compatible,
800 MHz (Windows XP)
• 512 MB RAM
• Screen resolution: 1024 x 768 pixels
• One of the following cards must be used as software
access point (CP5511, etc.)
– An integrated PROFIBUS card for a programming
device
– A CP5611 PROFIBUS card for a standard PC
– An Ethernet card
Operating system • Microsoft Windows 2000 Professional
Service Pack 3
• Microsoft Windows XP Professional
Service Pack 2
Software required for • Microsoft Internet Explorer Version 5.0.1
SIMOTION SCOUT • SIMATIC STEP 7 Version 5.3 SP2
(not PROFINET)
• For PROFINET connection SIMATIC STEP 7
Version 5.3 SP3
Software required for • Microsoft Internet Explorer Version 5.0.1
SIMOTION SCOUT Standalone

Note
Simultaneous operation of SIMOTION SCOUT, Starter and SIMATIC S7-Technology on one
PC is not intended and is not possible.
SIMATIC S7-Technology is integrated in SIMOTION SCOUT V4.0.

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Configuration Manual, 03.2006 Edition 2-7
Installing software
2.3 To install the software

2.3 2.3 To install the software

Installing SIMOTION SCOUT

SIMOTION SCOUT is installed as an option package for SIMATIC STEP 7.

Note
Read the important information in the readme file on the supplied Add-On CD.

Prerequisites:
• SIMATIC STEP 7 is installed.
• You are logged on to the operating system with administrator rights.

Language setting of the SIMOTION SCOUT

SIMOTION SCOUT uses the language default setting in the SIMATIC Manager. Make
changes to this setting in the SIMATIC Manager in the Options > Settings... > Language
menu.
German, English, French and Italian languages are currently available in SCOUT. If a
different language is set in the SIMATIC Manager, SCOUT uses the English setting.

Note
Only those languages installed in STEP 7 are available.

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2-8 Configuration Manual, 03.2006 Edition
 Installing software
2.3 To install the software

To install SIMOTIONS COUT

1. Insert the CD with SIMOTION SCOUT into the CD-ROM drive.
2. Start Windows Explorer and select the CD-ROM drive.
3. Open the SCOUT_V40/Disk1 directory.
4. Double-click Setup.exe.
5. Now follow the instructions in the installation program.
The installation program prompts you to insert the authorization diskette into the diskette
drive. You can install the authorization during this setup. Or install the authorization after
the installation of SIMOTION SCOUT with the Automation License Manager. Information
on this can be found in the section "To install the authorization".
6. If a restart of the PC is required during the installation, carry this out.
After the restart of the operating system, log on at least as main user.
7. After the installation:
Restart the PC and log on at least as main user.
All users who are logged on as main user are now able to start and operate
SIMOTION SCOUT.

Note
Simultaneous operation of SIMOTION SCOUT, STARTER and SIMATIC S7-Technology on
one PC is not intended and is not possible. STARTER is part of Drive ES Basic.

To install SIMOTION SCOUT Standalone

1. Insert the CD1/2 with SIMOTION SCOUT Standalone into the CD-ROM drive.
2. Start Windows Explorer and select the CD-ROM drive.
3. Open the ScoutSA_V40_CD1 directory.
4. Double-click Setup.exe.
5. Now follow the instructions in the installation program.
The installation program prompts you to insert the authorization diskette into the diskette
drive. You can install the authorization during this setup. Or install the authorization after
the installation of SIMOTION SCOUT with the Automation License Manager. Information
on this can be found in the section "To install the authorization".
6. A restart of the PC is required during the installation, carry this out. You are requested to
insert CD"/".
After the restart of the operating system, log on at least as main user.
7. After the installation:
Restart the PC and log on at least as main user.
All users who are logged on as main user are now able to start and operate
SIMOTION SCOUT.

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Installing software
2.4 To install the authorization

2.4 2.4 To install the authorization

Installing the authorization for SIMOTION SCOUT

Along with the product CD, you will be supplied with an authorization diskette for the use of
SIMOTION SCOUT. It contains the license key for the SIMOTION SCOUT engineering
system.

To install the authorization for SIMOTION SCOUT

1. Insert the authorization diskette with the license key into the diskette drive.
2. Start the Automation License Manager:
– via the start menu Start > SIMATIC > License Management > Automation License
Manager or
– double-click the Automation License Manager icon
3. Click Drive A. The license key is displayed in the right pane.
4. Mark the license key and drag this with drag-and-drop to the target drive.
5. Exit the Automation License Manager.
6. Remove the diskette from the diskette drive.

Note
Notes on the operation of the Automation License Manager and the transfer of the license
key can be found in the online help of the Automation License Manager.

To install the authorization for SIMOTION SCOUT Standalone

Install the authorization for SIMOTION SCOUT Standalone as described in the Installing
authorization for SIMOTION SCOUT section.

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 Installing software
2.5 Saving and moving the license key

To upgrade the authorization for SIMOTION SCOUT

Install the authorization for SIMOTION SCOUT Standalone as described in the Installing
authorization for SIMOTION SCOUT section.
1. Insert the authorization diskette with the license key into the diskette drive.
2. Start the Automation License Manager.
– Via the start menu Start > SIMATIC > License Management > Automation License
Manager or
– Double-click the Automation License Manager icon
3. Select the existing license key on the hard disk.
4. Click License Key -> Upgrade in the menu bar.
The previously selected license key is upgraded to the newer version.
5. Exit the Automation License Manager.
6. Remove the diskette from the diskette drive.

2.5 2.5 Saving and moving the license key

Saving and moving the license key

You can transfer the license key to a removable disk. This is useful when you want to save
the license key when reinstalling a PC or when you want to use it on another PC. A copy of
the license key is not created during this operation, it is moved.

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Installing software
2.6 To uninstall the software

2.6 2.6 To uninstall the software

Prerequisites:
You are logged on to the operating system with administrator rights.

Note
Note that the SIMATIC STEP7 must be uninstalled separately.

To uninstall SIMOTION SCOUT from the hard disk

1. Open the system control via Start > Settings > System control.
2. Double-click Software.
3. Select SIMOTION SCOUT x.x and click Change/Remove or Add/Remove. Follow the
instructions.
4. Once the above software has been uninstalled, restart the computer.

Uninstalling SIMOTION SCOUT Standalone

Uninstall SIMOTION SCOUT Standalone as described in the Uninstalling SIMOTION
SCOUT section.

2.7 2.7 Software upgrade

Note
Install a SIMOTION SCOUT upgrade as described in the To install the software section.

SIMOTION SCOUT
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Functions 3
3.1 3.1 Getting to know the workbench

Additional references
Please refer to the following documents on this subject
• SIMOTION Motion Control, Basic Functions, Function Manual
• SIMOTION Motion Control, TO axis, Function Manual
• SIMOTION Motion Control, TO followingObject, TO cam, Function Manual
• SIMOTION Motion Control, Supplementary Technology Functions, Function Manual
and the SIMOTION SCOUT online help.

Note
We recommend that you run through Getting Started in the online help. In guided steps, you
learn how to, for example, create a project with SIMOTION SCOUT, compile and save,
create a SIMOTION device, insert and parameterize a technology object, create a program
and much more.

Note
It is not recommended that you open one SIMOTION SCOUT project twice. This application
case can result in malfunctions and is not supported by SIMOTION SCOUT. If you want to
open two different projects, you must open SIMOTION SCOUT twice.

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Configuration Manual, 03.2006 Edition 3-1
Functions
3.1 Getting to know the workbench

The SIMOTION workbench

The SCOUT workbench is the common framework for all other tools of the engineering
system. The workbench is thus the navigation center for the individual engineering steps. It
is used to create and manage SIMOTION projects and provides a uniform and integrated
view of all data and programs.
The SCOUT workbench offers a basic display split into three views:
• Left:
The project navigator displays the technological tree structure of the project.
• Right:
All editing tools of the engineering system, e.g. parameterization dialog boxes, program
editors etc. are available in the working area as snap-ins.
A snap-in is a program that is automatically integrated in the working area of the
SIMOTION SCOUT workbench. Snap-ins provide functions for the editing of
SIMOTION SCOUT projects. Snap-ins are displayed in the working area of the
workbench as working windows. Several snap-ins can be opened in order to be able to
work in these. The opened snap-ins are displayed as tabs in the working area. The active
snap-in is visible in the foreground. Examples are:
– Program editors:
– Wizards for the configuration of technology objects
– Device diagnostics
– Drive navigator
• Bottom:
The detail view displays data and messages that vary according to the situation.

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 Functions
3.1 Getting to know the workbench

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3URMHFWQDYLJDWRU

:RUNLQJDUHD

'HWDLObYLHZ

Figure 3-1 Workbench view

Workbench elements
The elements of the Workbench are:
• Menu bar:
You call the functions of SIMOTION SCOUT via the menus in the menu bar.
• Toolbars:
Frequently used menu commands are also available in toolbars, which can be activated
or deactivated as required. These provide quick access to the functions. The toolbars can
be undocked from the top and relocated to a different position (right, left, lower border or
as a window).
• Project navigator:
The project navigator provides an overview of the entire project. All defined elements,
such as devices, drives, axes, etc., are displayed here in a tree structure.
• Working area:
The task-specific windows are displayed in the working area. In these windows, you can
perform the configuration with wizards for the axis configuration and drive configuration.
You also create programs in the working area. Further information about the active
window in the working area is provided in the detail view.

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Functions
3.2 Menu structure

• Detail view:
More detailed information about the element selected (marked) in the project navigator or
the active window in the working area is displayed in the detail view. For example,
variables of a program, system variables of a technology object or logs during the
compilation of program sources.

3.2 3.2 Menu structure

3.2.1 Main menus

The SIMOTION SCOUT menus are divided into different main menus.
• Main menus that are primarily used to control the workbench or a project are always
displayed. These main menus are also called static menus.
• In addition, the Edit and Insert main menus are continually displayed if a project has
been loaded.
• The main menu in the second position, between Project and Edit, is a dynamic menu.
Each snap-in supplies its own specific main menu to be displayed in this position. Always
the main menu that has been selected in the project navigator and therefore active in the
working area is displayed.
In addition, each snap-in can incorporate its own menu items in the static main menus,
primarily in the Edit and Insert main menus.

Table 3-1 Structure of the menu bar

Menu Comment
project Static menu, always visible
(Dynamic menu) See Dynamic menus table
Edit Static menu, visible only when project has been loaded
Insert Static menu, visible only when project has been loaded
Target system Static menu, always visible
View Static menu, always visible
Options Static menu, always visible
Window Static menu, always visible
Help Static menu, always visible

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 Functions
3.2 Menu structure

Table 3-2 Dynamic menus

Dynamic menu Comment

Axis Visible only when a project has been loaded and the associated
Output cam snap-in is active in the working area.
They appear in the menu bar in the second position between
Measuring input
Project and Edit.
Synchronous operation
Cam
External encoder
Sensor
Controller object
Drive
Fixed gear
Formula object
Addition object
Drive control panel
MCC unit
MCC chart
ST source file
LAD/FBD source
LAD/FBD program
Trace

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Functions
3.2 Menu structure

3.2.2 Keyboard action and shortcuts

Note
There are various keyboard assignments and shortcuts for the menu items to facilitate your
work in SIMOTION SCOUT.

The following table provides an overview of the keyboard assignments and shortcuts that
you can use for SIMOTION SCOUT.

Table 3-3 Keyboard action

Keyboard action / shortcuts Reaction

Workbench: Change window...
ALT+0 Project navigator
ALT+1 Working area
ALT+2 Detail view
CTRL+F6 Within an element of the workbench, e.g. within the working
area
CTRL+F11 Minimize/maximize working area in relation to the whole
desktop
CTRL+F12 Minimize/maximize detail view in relation to the whole desktop

Project navigator
Left mouse button Selects the tree object at the cursor position;
detail view displays the associated details
Double-click with left mouse button Selects the tree object at the cursor position;
detail view displays the associated details;
corresponding snap-in is opened
Right mouse button Selects the tree object at the cursor position;
detail view displays the associated details;
context menu is opened
UP/DOWN arrow keys Selects the tree object at the cursor position
"Return" Snap-in for the selected tree object opens
"Context menu key" Context menu for the selected tree object opens

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3.2 Menu structure

3.2.3 Menu items

You can use the shortcuts listed in the table to call the menu items available in
SIMOTION SCOUT.

Table 3-4 Menu items in SIMOTION SCOUT

Shortcuts Menu item Reaction

Project...
CTRL+N New Creates a new project
CTRL+O Open Opens a project
Ctrl+S Save Saves a project
CTRL+ALT+K Check consistency Checks project consistency
CTRL+P Print Prints the selected window
ALT+F4 Exit Exits the SIMOTION SCOUT program

Shortcuts Menu item Reaction

Edit...
Ctrl+Z Undo Undoes the last action
Ctrl+Y Redo Redoes the last action
Ctrl+X Cut Cuts the selection
Ctrl+C Copy Copies the selection
Ctrl+V Paste Inserts the clipboard contents
Del Delete Deletes the selection
F2 Rename Renames the selected tree object
ALT+Enter Object properties Displays the properties of an object in the
project tree
CTRL+ALT+O Open object Opens a new object of the selected tree object
Ctrl+A Select all Selects the entire contents in the ST and MCC
snap-ins

CTRL+F Find Opens the Find window

CTRL+SHIFT+F Searching in the project Opens the Find window

CTRL+H Replace Opens the Replace window

CTRL+J Display next position

Shortcuts Menu item Reaction

Target system...
CTRL+L Download / target device Downloads to individual target device

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3.2 Menu structure

Shortcuts Menu item Reaction

Target system...
CTRL+D Device diagnostics Opens device diagnostics
Only possible in online
mode
CTRL+I Control operating mode Opens the dialog box for control of the
Only possible in online operating mode
mode

Shortcuts Menu item Reaction

View...
CTRL+F11 Maximize working area Maximizes and minimizes the view of the
working area
CTRL+F12 Maximize detail view Maximizes and minimizes the view of the detail
view
CTRL+Num+ Zoom in Magnifies the diagram in MCC
(Plus key on the numeric
keypad)
CTRL+Num- Zoom out Reduces the diagram in MCC
(Minus key on the
numeric keypad)
F5 Refresh Refreshes the view

Shortcuts Menu item Reaction

Options...
CTRL+ALT+E Settings Opens the Properties window

Shortcuts Menu item Reaction

Window...
CTRL+SHIFT+F5 Arrange cascading Arranges the opened windows in the working
area
CTRL+SHIFT+F2 Arrange horizontally
CTRL+SHIFT+F3 Arrange vertically

Shortcuts Menu item Reaction

Snap-in menu...
CTRL+F4 Close Closes the selected window
CTRL+B Accept and compile Compiles the active object
CTRL+E Expert list Opens the expert list for the current technology
object

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3.2 Menu structure

Shortcuts Menu item Reaction

ST source file
F4 Breakpoints/Active Debug
CTRL+F7 Program status On/Off Switches monitoring on/off

Shortcuts Menu item Reaction

MCC
CTRL+F4 Close Closes the MCC unit
ALT+Enter Properties Opens the MCC Unit Properties window
CTRL+R Insert MCC chart Insert a new MCC chart
CTRL+F7 Program status Switches monitoring on/off
CTRL+F8 Monitor
CTRL+F9 Single-step
CTRL+F10 Next step
Return – Opens the MCC configuration dialog
Arrow keys – Changes within the tab

Shortcuts Menu item Reaction

LAD/FBD (source or program)
CTRL+F4 Close Closes the MCC unit
ALT+Enter Properties Opens the MCC Unit Properties window
CTRL+R LAD/FBD source: Insert Inserts a new LAD/FBD program
LAD/FBD program
LAD/FBD program:
Insert network
CTRL+L Jump label On/Off Switches jump labels on and off
CTRL+SHIFT+K Display/comment On/Off Switches comments on and off
CTRL+SHIFT+B All box parameters Displays all box parameters
CTRL+T Symbol check and type Performs symbol check and type update
update
CTRL+F7 Program status Switches monitoring on/off
F2 for LAD Insert element / Insert Inserts a make contact
make
F2 for FBD contact element / AND Inserts an AND box
box
F3 for LAD Insert element / Insert Inserts a break contact
break
F3 for FBD contact element / OR Inserts an OR box
box
F8 for LAD Insert element / Insert Inserts an Open branch
Open branch
element / Insert binary
F8 for FBD input Inserts a binary input
F9 for LAD Insert element / Insert Inserts a Close branch

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3.2 Menu structure

Shortcuts Menu item Reaction

LAD/FBD (source or program)
Close branch
element / Invert binary
F9 for FBD input Inverts the binary input
ALT+F9 Insert element / empty
box
CTRL+F3 Switch to FBD Switches the display
CTRL+F1 Switch to LAD

Shortcuts Menu item Reaction

Help...
SHIFT+F1 Context-sensitive help Opens the online help for the TOs axis,
measuringInput, outputCam, externalEncoder
and followingObject

Shortcuts Menu item Reaction

Hardware configuration...
CTRL+U Address overview Opens the Address Overview window
(In HW Config)
F4 Optimize layout

Shortcuts Menu item Reaction

Drive control panel
F8 Enable (bit 1 to bit 6) - Enables or disables controller
PC

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3.3 Project navigator

3.2.4 Using context menus

The tree elements of the project navigator have context menus. These provide quick access
to all major functions enabled for this tree element.
To call up a function for the tree element via context menus, proceed as follows:
1. Left-click the relevant tree element in the project navigator.
2. Right-click.
3. Left-click the appropriate menu item.

Figure 3-2 Example of a context menu

3.3 3.3 Project navigator

3.3.1 Using the project navigator

The project navigator in the SIMOTION SCOUT workbench

As standard, the project navigator has two tabs, the Project and Command library tabs.
The Project tab displays the entire project structure and is used for managing elements
within the projects.
The commands and functions required for the programming are displayed in the Command
library tab. You can search in the command library or set filters. You can use commands and
functions in the ST, LAD/FBD and MCC programming languages, e.g. for the creation of
conditions. In the MCC programming language, the functions are used, e.g. via the ST zoom
or the system function call command.

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3.3 Project navigator

3.3.2 Creating elements

Elements in SIMOTION SCOUT

There are two different ways to insert elements in the project navigator tree:

Inserting hardware
Integrate hardware using:
• SIMOTION device element: Create new device
Alternatively, you can also call up the Insert > Hardware menu.
• Drive element: Insert single drive unit

Note
You can insert a standalone drive (e.g. SINAMICS S120) with the Insert single drive unit
element in the project navigator. It is commissioned using wizards in the working area of
the workbench that contains the Starter functionality.

Elements within a SIMOTION device

Create the following elements within a SIMOTION device directly in the project navigator:
• Technology objects, e.g.:
Axes, external encoders, cams, measuring inputs, output cams, following objects,
temperature channels
• Programs
Other elements are created automatically, e.g.
• When creating a project:
– Insert monitoring function / watch table
– Insert libraries/library
• When inserting a SIMOTION device:
– AXES, EXTERNAL ENCODERS, CAMS, PROGRAMS, TECHNOLOGY folders
– I/O, EXECUTION SYSTEM, GLOBAL DEVICE VARIABLES elements
• When creating an axis:
– MEASURING INPUTS, OUTPUT CAMS folders
– Access to the configuration views
• Additionally when creating a following axis:
– Synchronous operation element

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3.3 Project navigator

Displaying the station level of a SIMOTION device

The function provides a better transparency in large SIMOTION SCOUT projects. A project
with several SIMOTION devices and a large number of drives can be displayed in a
structure. The assignment in station levels, as is well known from SIMATIC STEP7, is used.

Note
Optionally, the associated SIMATIC station of the SIMOTION device in the project navigator
can be displayed. In this way, all drive units that are assigned to a SIMATIC station are also
displayed in this structure.

Proceed as follows to activate or deactivate this function:

1. In the SIMOTION SCOUT, click the Options > Settings function.
2. Click the Workbench tab.
3. Activate/deactivate the Insert station level.
When the function is activated, all drive units that belong to a STEP7 station are also
displayed below this station.
When the function is deactivated, all drive units are displayed below the project.
4. Click OK to confirm the change.

Opening HW Config of a SIMOTION device

To call up the hardware configuration of a previously inserted SIMOTION device:
• Select the required SIMOTION device in the project navigator and select Insert >
Hardware in the menu, or
• In the project navigator, double-click the SIMOTION device whose hardware
configuration you wish to open or
• Select the desired SIMOTION device in the project navigator, open the shortcut menu
and click Open HW configuration.

Insert single drive

To open the Insert single drive element (e.g. MM4):
• In the project navigator, double-click Insert single drive unit.

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3.3 Project navigator

Inserting elements within a SIMOTION device

To insert technology objects, source files, or watch tables:
1. Open the SIMOTION device under which the element is to be created.
2. Select the relevant folder (e.g. AXES, PROGRAMS).
3. Select the desired function, e.g.:
– Insert > Technology object > ... menu or
– Insert > Program > ... menu or
– Insert > Watch table menu

3.3.3 Changing properties of the elements

You can change the properties of various elements as follows:

Caution
Changing a name can have far-reaching consequences. References to the axis, particularly
in programs, are lost. This can cause runtime errors in the program. Make sure that you also
change all name references.

1. In the project navigator, select the element to be edited, e.g. a specific axis or a specific
program.
2. Select the menu: Edit > Object properties.

Note
You define the hardware properties in the hardware configuration.

To rename an element:
1. Select the element you wish to rename in the project navigator.
2. Open the shortcut menu and select Rename.
3. Confirm the warning message.
4. Enter a new name and confirm the input by pressing the Enter key.

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3.3 Project navigator

3.3.4 Wizards for configuration support

Wizards are provided to assist you in configuring axes and external encoders. The wizards
guide you step-by-step through the configuration. Parameter interdependencies are taken
into account.

Figure 3-3 Axis configuration wizard - window for drive assignment

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3.4 Using the working area

3.4 3.4 Using the working area

The workbench displays all of the snap-in working windows in the working area. Each snap-
in provides its own working window. You can open multiple instances of these windows. You
can, for example, open several programs at the same time for editing. The online help
provides additional information.

Table 3-5 Active functions in the working area of the workbench depending on the project mode
(offline/online)

Function in project navigator Function in working area Function in working area

offline mode online mode
(Example) (Example)
Programs Create program Monitor program
(MCC, ST, LAD/FBD)
Execution system Assign program –
Technology objects Create and configure TO Change configuration data
(TO configuration) element during RUN
Cam editor Create cam Change cam
(CamEdit)
Trace Load and evaluate old Create current recordings
recordings
Axis control panel – Traverse axes during
commissioning

Using windows in the working area

You can change the size of the windows in the working area:
Click on the edge of the window, hold down the left mouse button, and drag the window to
the required size.
You can maximize or minimize each window using the shortcut CTRL+F11.
Each window opened in the working area can be accessed via a tab at the bottom edge of
the working area. To bring a window into the foreground:
• Click on the relevant tab or
• Select the appropriate entry in the Window menu.
To close the window:
• Configuration dialog boxes: Click Close.
• Editors for MCC, ST and LAD/FBD:
Click the X button in the top right-hand corner.

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3.5 Detail view

3.5 3.5 Detail view

3.5.1 Using the detail view

When you select an element in the project navigator, the associated detail view will appear in
the lower area of the workbench.
Various tabs are available depending on the element selected. The tabs available are
determined by the project mode (offline/online) and the active snap-ins.
You can maximize or minimize each tab using the shortcut CTRL+F12.

Table 3-6 Tabs available for the detail view depending on the project mode (offline/online) and the
active snap-ins

Offline Online
Tab
Workbench (default) Symbol browser (variables) Symbol browser (variables)
Axis overview Axis status
Target system output
Load to PG
Diagnostics overview
Alarms
Drive control panel (MM4)
Additionally with Compiler output Compiler output
program editors Generation of Generation of
ST code ST code
Each tab is opened only once, i.e.:
• The active tab shows the details of the selected element.
• The contents of the tab change when you select a different element.

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3.6 Adding add-ons to the workbench

3.5.2 Using the symbol browser

The symbol browser in the detail view.

The symbol browser is a tab in the detail view. It displays status values of the variables for
the element selected in the project navigator.
To activate the symbol browser:
1. Select an element in the project navigator.
2. In the detail view, select the Symbol browser tab.

Continuous display of the symbol browser

To activate/deactivate the continuous display of the symbol browser:
Click the symbol at the top right of the the symbol browser (pin).
The active element is displayed continuously until this function is deactivated. To deactivate
this function, click the pin again.

3.6 3.6 Adding add-ons to the workbench

Add-ons in SIMOTION SCOUT

SIMOTION provides you with the option of enhancing the functionality or accommodating
customer-specific requirements. You can integrate add-ons. The CamTool add-on is
currently available.

Note
More detailed information about the CamTool add-on is contained in the CamTool
configuration manual or the associated online help.

Add-ons are added to the workbench and are displayed as fully integrated:
• Menus and toolbars appear at the appropriate position in the workbench. After installation
of add-ons, the menus are visible and the toolbars are active.
• The working windows appear in the working area of the workbench and have tabs.
• The detail view of the workbench shows details about the currently active add-on. If the
associated details are distributed over several tabs, you can select the relevant tab and
place it in the foreground.

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3.7 Online help

3.7 3.7 Online help

3.7.1 Structure of the online help

SIMOTION SCOUT has a comprehensive context-sensitive help. You can find examples for
the use of the help function in the online help under SIMOTION SCOUT > General > Help.

Figure 3-4 HTML help window

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3.7 Online help

3.7.2 Types of online help

The following types of online help are available:
• Entire help
To open the entire help:
In the menu bar, select Help > Help topics or press key F1. The entire help is displayed.
• Getting Started
To open Getting Started:
In the menu bar, select Help > Getting Started.
Getting Started is displayed.
• Help button
To open the help:
Click the Help button of the respective dialog box or window.
The context-sensitive help for the dialog box is opened.
• Context-sensitive help
To open the context-sensitive help:
1. Press the SHIFT+F1 keys or click the button in the toolbar or select Help > Context-
sensitive help in the menu bar.
The cursor changes to a question mark.
2. Click the dialog, parameter, input field or menu item. The context-sensitive help for the
selected entry is displayed.

3.7.3 Searching in the online help

You can carry out a full-text search throughout the entire help in the Search tab.
With a full-text search, you have to consider certain points to ensure that the search is
successful. A simple search according to subject consists of the word or expression that you
want to find.
To refine your search, you can use wildcard expressions, nested expressions, Boolean
operators, similar word hits, the previous result list or subject titles.
To carry out a full-text search:
1. In the menu bar, select Help > Help topics or press key F1. The entire help is displayed.
2. Click the Search tab and enter the search term. You can add Boolean operators by
clicking the arrow next to the input field.

Note
If you enter the term System, this term is sought throughout the entire Help. Only the
Help pages that contain the word System are found. Compound words, e.g. Systemclock
are not found. Therefore it is usually more appropriate to search with wildcards if you are
not searching for a definite term, e.g. *system* returns all the results that contain system.

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3.7 Online help

3. Click List subjects to start the search. The search returns a maximum of the first 500 hits.
If you want to sort the subject list, click Title, Position or Order.
4. Double-click the desired subject to display the Help page. The found terms are
highlighted on the page.

Note
If the terms are not highlighted or you want to switch the highlighting off, click the Options
button and select Activate/deactivate search term highlighting in the menu displayed.

You can refine a full-text search by using wildcard expressions, nested expressions and
Boolean operators. You can also only search the last result list, include similar word hits or
only search the subject titles in the table of contents. You can find more information about
this subject in the online help.

3.7.4 Getting Started in SCOUT

Contents and settings in Getting Started

As standard, the HTML Help window with Getting Started with SIMOTION SCOUT opens
after you have installed SIMOTION SCOUT. You can deactivate this function. The Getting
Started provides a brief overview of how you can work with SIMOTION SCOUT. A typical
example is used to show you the different steps required to create a project as well as to
introduce the configuration, programming, and diagnostic tools. When you have worked
through all these steps, you will be able to create more complex projects.
To deactivate the standard setting that HTML Help opens when you open SIMOTION
SCOUT:
1. In the menu bar, select Options > Settings...
2. Click the Workbench tab.
3. Deactivate the checkbox Display "Getting Started" at the start.
4. Click OK.
To open Getting Started:
In the menu bar, select Help > Getting Started.

3.7.5 Error remedy

If error messages appear in the detail view in the SCOUT workbench, you can call up
detailed information in the online help. This is possible for technology object alarms and
alarms for drive units and I/O devices. To do this, press SHIFT+F1.

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3.8 Basic steps

3.8 3.8 Basic steps

3.8.1 Overview
In order that the machine or plant can perform the desired tasks, you must carry out the
following steps with SIMOTION SCOUT:
• Create a project:
The project is the generic term under which you store all of the relevant files.
• Configure hardware:
Provide the SIMOTION system with information about the hardware.
• Configure technology objects (TO):
Provide the SIMOTION system with information about the technologies used.
SIMOTION SCOUT provides wizards for comprehensive assistance.
• Commission and optimize drives and axes.
• Create and test open-loop and closed-loop control programs.
• Test the system and utilize the diagnostic options.
SIMOTION SCOUT provides the workbench to enable you to perform these steps easily and
efficiently.

3.8.2 Basic settings of SCOUT

In SCOUT, you have the possibility of predefining various basic settings via the Options >
Settings menu. Detailed information on the individual tabs and settings is provided in the
SIMOTION SCOUT online help.
1. Open SIMOTION SCOUT.
2. Click the Options > Settings... menu.
The Settings window is opened.
3. Select the desired tab.
4. Enter the settings.
5. Click OK.

3.8.3 SIMOTION SCOUT project

The project is the highest level in the data management hierarchy. SIMOTION SCOUT
saves all data which belongs, for example, to a production machine, in the project directory.
The project is therefore the sum of all data, programs, settings, etc.
The project encompasses all of the SIMOTION devices, drives, etc., that belong to a
machine. The axes, external encoders, cams, and programs are assigned hierarchically to
the respective devices. This hierarchical structure is displayed in the project navigator.

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3.8 Basic steps

3.8.4 Creating a new SCOUT project

To create a new project:

1. Open SCOUT from the Start menu on the Windows desktop: Start > SIMATIC > STEP 7
> SIMOTION SCOUT.
Or:
Double-click the SIMOTION SCOUT icon on your PC desktop.
SIMOTION SCOUT starts and the workbench appears.
2. In the workbench menu bar, select Project > New.
The New Project window opens.

Note
SIMOTION SCOUT creates a directory with the selected name. All files relevant to the
project are stored in this directory.
Directory names and file names are shortened to 8 characters. If you assign longer
names, these are displayed in SCOUT. However, these names are only managed with 8
characters in the Explorer.
Special characters may not be used.

Figure 3-5 Creating a new project

3. Enter the following data in the dialog box:

– Name:
Select a name for the project.
– Storage location (path):
Select the location (path) where the new project is to be stored.

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3.8 Basic steps

4. Click OK to confirm.
An icon with the full name of the project appears in the project navigator. The associated tree
is expanded.

Figure 3-6 Workbench with new project

The following entries are located beneath the project name in the project navigator:
• Create new device element. Double-click on this symbol to select the required SIMOTION
device, create and configure a new subnet and insert the new device in the HW Config
program.
• Insert single drive unit element. Double-click on this symbol to insert and commission a
stand-alone drive (e.g. MM4 Basic). Although this drive cannot be linked to or configured
in the master system of the project using a PROFIBUS DP connection, it appears in the
project navigator within the project.
• Folder labeled MONITORING
• Folder labeled LIBRARIES

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3.8 Basic steps

3.8.5 Opening an existing project

To open a project which is stored on the hard disk of the PC

You can open projects that SIMOTION SCOUT has stored locally (e.g. on the hard disk).
1. Select the Project > Open menu.
2. Select the User projects tab.
3. If the project you require is not saved under the default path, click Browse... and follow
the instructions on the screen.
4. Select the required project.
5. Click OK to confirm.
If you want to open a project that was created in an older version, a message appears
asking whether the project should be converted to the newer version. This function is
available since SIMOTION SCOUT Version V3.1.

Note
If you want to change an existing project and store it with a different name, you must save
the existing project using Save as with a different name before you make changes.
Any changes you make before you rename the project will be accepted and saved in both
the new and existing projects!

Figure 3-7 Opening a project stored on the hard disk

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3.8 Basic steps

Note
The workbench displays one project at a time.
If you wish to display two projects at the same time, e.g. in order to copy/paste parts of a
project, start SIMOTION SCOUT a second time. SIMOTION SCOUT can only be opened
twice.

3.8.6 Using program editors

Editors in SIMOTION SCOUT

Three editors are available for creating programs:
• Graphics-based MCC editor for creating motion control charts. You program by arranging
symbolic program commands similar to a flow diagram and assigning parameters to
these commands.
• Text-based editor for creating ST source files. ST is a text-based programming language
in compliance with IEC 1131-3, expanded to include motion commands (system functions
for the technology objects). An ST source file can encompass several programs.
• Graphics-based editor for creating ladder diagrams and function block diagrams .
The syntax of the statements in LAD corresponds to a schematic circuit diagram. LAD
statements consist of elements and boxes, which are graphically connected to networks.
The LAD operations work according to the rules of Boolean logic.
FBD uses the logic boxes familiar from Boolean algebra to map logic. You can represent
complex functions (e.g. mathematical functions) directly in connection with the logical
boxes.
FBD provides all the elements required for the creation of a complete user program. FBD
features a powerful command set. This includes the various basic operations with a
comprehensive range of operands and how to address them. The design of the functions
and function blocks enables you to structure the FBD program clearly.

Additional references
Please refer to the following documents on this subject
• SIMOTION MCC (Motion Control Chart), Programming Manual
• SIMOTION ST (Structured Text), Programming Manual
• SIMOTION LAD/FBD, Programming Manual
and the SIMOTION SCOUT online help.

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3.8 Basic steps

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Figure 3-8 Program editors

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3.9 Changing the SIMOTION device after a kernel upgrade or platform change

3.9 3.9 Changing the SIMOTION device after a kernel upgrade or platform
change

Requirement
You will only need to perform this operation if you intend to upgrade a kernel or change a
platform within the same station type.

To insert, for example, the SIMOTION C230-2 into the rack:

1. Open the SIMATIC 300>CPU-300 > CPU C230-2 > 6AU1 230-2AA00-0AA0 folder in the
hardware catalog.
2. Use drag-and-drop to drag the required CPU version to rack slot 2.

Note
The slot rule is applied automatically. The SIMOTION C2xx can only be inserted into
slot 2.

If you want to insert a different SIMOTION device, proceed in the same manner.
You can find the SIMOTION devices in the corresponding directories of the
hardware catalog.

Table 3-7 SIMOTION device directories in the hardware catalog

SIMOTION SIMATIC station Subdirectory

device
C230-2 SIMATIC 300 CPU-300\CPU 2x0\6AU1 230-2AA00-0AA0\V2.1
CPU-300\CPU 2x0\6AU1 230-2AA00-0AA0\V3.0
CPU-300\CPU 2x0\6AU1 230-2AA00-0AA0\V3.1
CPU-300\CPU 2x0\6AU1 230-2AA00-0AA0\V3.2
C230-2.1 SIMATIC 300 CPU-300\CPU 2x0\6AU1 230-2AA01-0AA0\V3.2
CPU-300\CPU 2x0\6AU1 230-2AA01-0AA0\V4.0
C240 SIMATIC 300 CPU-300\CPU 2x0\6AU1 240-1AA00-0AA0\V4.0
P350 SIMATIC PC station SIMOTION P350\6AU1 350-XXXXX-XXX1\V2.1
SIMOTION P350\6AU1 350-XXXXX-XXX1\V3.0
SIMOTION P350\6AU1 350-XXXXX-XXX1\V3.1
SIMOTION P350\6AU1 350-XXXXX-XXX1\V3.2
SIMOTION P350\6AU1 350-XXXXX-XXX1\
V4.0 - V2 box
P350-3 SIMATIC PC station SIMOTION P350\6AU1 350-XXXXX-XXX1\
V4.0 - V3 box
D425 Drive-based SIMOTION SIMOTION D435\6AU1 425-0AA00-0AA0\ V3.2
SIMOTION D435\6AU1 425-0AA00-0AA0\
V3.2 SINAMICS V2.3

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SIMOTION SIMATIC station Subdirectory

device
SIMOTION D435\6AU1 425-0AA00-0AA0\ V4.0
D435 Drive-based SIMOTION SIMOTION D435\6AU1 435-0AA00-0AA0\ V3.1
SIMOTION D435\6AU1 435-0AA00-0AA0\ V3.2
SIMOTION D435\6AU1 435-0AA00-0AA1\ V3.2
SIMOTION D435\6AU1 435-0AA00-0AA1\
V3.2 SINAMICS V2.3
SIMOTION D435\6AU1 435-0AA00-0AA1\ V4.0
SIMOTION D435\6AU1 435-0AA00-0AA1\
V4.0 SINAMICS S150
D445 Drive-based SIMOTION SIMOTION D435\6AU1 445-0AA00-0AA0\ V3.2
SIMOTION D435\6AU1 435-0AA00-0AA0\
V3.2 SINAMICS V2.3
SIMOTION D435\6AU1 435-0AA00-0AA0\ V4.0
SIMOTION D435\6AU1 435-0AA00-0AA0\
V4.0 SINAMICS SM150
The version of the SIMOTION D4xx listed here must not be confused with the version of the
drive firmware contained in SINAMICS integrated. The SIMOTION D4xx is supplied with a
specific version of the drive firmware. If you insert a SIMOTION D4xx into a project, this
specific version is used as default version and displayed in the "Properties". When the
SINAMICS integrated firmware is updated, the firmware must first be physically replaced and
then the drive firmware version changed in the "Properties".
After inserting the SIMOTION device, the Properties - PROFIBUS DP Master Interface
(R0/S2.1) window appears. Create the PROFIBUS DP subnets and configure the SIMOTION
device interfaces in this window.

Note
The PCI integrated PROFIBUS subnet is created and configured automatically for the
SIMOTION D4xx. The user may neither configure nor select it!

When the SIMOTION device is inserted into the rack, all interfaces and the PROFIBUS
subnets that you have created are displayed at the same time.

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3.9 Changing the SIMOTION device after a kernel upgrade or platform change

Figure 3-9 Hardware configuration of a SIMOTION C230-2

Detailed information on the configuration of the SIMOTION device is contained in the

corresponding documentation for the SIMOTION devices.

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3.10 Changing a SIMOTION device

3.10 3.10 Changing a SIMOTION device

3.10.1 Changing a SIMOTION device and TP upgrade

In order that you can upgrade or replace a SIMOTION device and subsequently perform a
TP upgrade, you must decide which of the following upgrade variants is needed:
• Upgrade within a platform and a station type
• Station change: An old station is replaced by a new type of station.
• Platform change: The platform is changed within the same SIMOTION version. For
example, a SIMOTION C230-2 is replaced by a SIMOTION P350.
When the platform is changed, it may be necessary to change the station. In special cases, it
may also be necessary to change a station within a platform. This is the case, for example,
when upgrading from P350 V2.1 to P350 V3.0.

3.10.2 Changing a SIMOTION device followed by a TP upgrade

3.10.2.1 Upgrading within a platform and a station type

An upgrade is necessary when you want to replace the type or version of the SIMOTION
device in your existing project. Perform this replacement in HW Config.

To replace a SIMOTION device:

1. Double-click the SIMOTION device to be replaced in the project navigator in SIMOTION
SCOUT. HW Config is opened.
2. Open the appropriate folder structure in the hardware catalog:

Note
Please make sure that you do not delete the module to be replaced located in slot 2!
When you drag the new module using drag-and-drop to the occupied slot 2, the old
module is replaced.

3. Confirm the displayed dialog box with Yes if you want to replace the SIMOTION device.
4. Accept the changes made to the hardware configuration with Station > Save and compile.
5. Close the HW Config.

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3.10 Changing a SIMOTION device

Note
The data for the SIMOTION device is immediately accepted in the SIMOTION SCOUT
project and the entire project is saved. In this way, the project also accepts all changes in
the project (e.g. axis configuration).
If you are using technology packages in your project, these will also need to be updated.

Upgrading technology packages

When modules are replaced or project data is imported, the versions of the technology
packages (TP) assigned to the individual technology objects (TO) are not automatically
upgraded to a version valid for the SIMOTION device. This upgrade requires a separate
step.

Adapting the technology packages version of the new SIMOTION device

1. Select the required SIMOTION device in the project navigator.
2. In the shortcut menu, select Select technology packages.

Note
If the last step you performed was to replace the SIMOTION device, the Unfamiliar
Technology Package Version dialog box appears. Confirm this with OK in order to delete
the existing links to the technology packages, enabling new technology packages to be
assigned. The Select Technology Packages dialog box will appear.

3. Activate the checkbox of the technology packages.

The technology packages must have the same version as the kernel. Consequently, in
SIMOTION SCOUT V3.0 and higher, the same version as the kernel is automatically
assigned to each technology package.
4. If TOs for your project indicating an incorrect version appear under Incorrect version, click
Update. If this is not the case, continue with step 8.
5. The Update Technology Packages dialog box appears.
Confirm this with OK.
A message appears.
6. Click OK to confirm the message.
7. If the update is successful, a message appears. Click OK to confirm.
8. Click OK to confirm the Select Technology Packages dialog box.
The upgrade of the TPs is completed.

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Note
If you are using libraries in the project, these must also have the same version as the
SIMOTION device. You can only upgrade libraries that are not write-protected. Note also
the information in the SIMOTION SCOUT online help.

Upgrade of libraries
When the version of a SIMOTION device and the technology packages changes, the
libraries created in SIMOTION SCOUT must also be adapted.
1. Select a library in the project navigator.
2. Right-click and select Properties... in the context menu.
The Object Properties window opens.
3. Click in the TPs/TOs tab.
4. Select the appropriate device and the technology packages.
5. Click OK to confirm the changes.
6. Select the same library.
7. Right-click and select Save and compile in the context menu. The upgrade is completed.
8. Repeat the operations for all created libraries.

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3.10.2.2 Changing a station

A station change is required if the station type changes.
This is the case, for example, if you want to change a platform between two of the following
SIMOTION devices:
• SIMOTION C2xx
• SIMOTION P350 V2.1 and higher
• SIMOTION D4xx
Proceed as follows:
1. In the project navigator, selectively export the project data of the SIMOTION device for
which the station change is to be performed.
2. Create a new SIMOTION device with the same or a different platform. This will be
automatically inserted in the project navigator.
3. Insert a new SIMOTION device or several master systems and configure them.
The HW Config is opened. The new station and the created master systems are already
inserted.
4. Also open the old station in the HW Config. Switch to the old station.
5. Copy the DP slaves.
6. Switch to the new station.
7. Insert the DP slaves in the new station.
8. Check the configuration of the elements of the new station.
9. Close the HW Config.
10.Delete the old device in the project navigator.
11.Perform a selective import of the data of the old device to the new device.

3.10.2.3 Changing a platform within a station type

A platform will need to be changed within a station type if you wish to switch between
SIMOTION P and SIMOTION C or vice versa.
Perform the following steps:
• Step 1: Export of the station in HW Config
• Step 2: Export of the SIMOTION device objects in SIMOTION SCOUT
• Step 3: Deletion of the SIMOTION device in SIMOTION SCOUT
• Step 4: Import of the hardware configuration of the station in HW Config.
• Step 5: Replacement of the SIMOTION device in HW Config
• Step 6: Check and update of the properties and communication connections in
HW Config
• Step 7: Import of the SIMOTION device objects in SIMOTION SCOUT
• Step 8: Upgrade of the TPs and the used libraries in SIMOTION SCOUT

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Proceed as follows:
Step 1: Export of the station in HW Config
1. In HW Config, open the station which is to be exported.
2. Select Station > Export... in the menu.
3. In the Export dialog box, specify the target directory for the export and confirm with Save.
4. Switch to the SIMOTION SCOUT application.

Note
An exported station can only be imported into a station of the same type!

Step 2: Export of the SIMOTION device objects in SIMOTION SCOUT

Selective export of the SIMOTION device to be replaced and its associated elements.
1. In the project navigator, select the SIMOTION device whose hardware configuration you
have exported.
2. Select Target device > Expert > Save project and export object in the shortcut menu.
3. In the Export Device dialog box, specify the target directory for the export and click OK to
confirm.

Note
The result and the set target path appear in the status display once you have exported a
project.

Step 3: Deletion of the SIMOTION device in SIMOTION SCOUT

A delete action removes all PROFIBUS connections, including the associated and
centralized I/O.
1. Select the SIMOTION device to be replaced in the project navigator.
2. Select Edit > Delete in the menu.
3. Click Yes to confirm the dialog box.
4. Switch to the HW Config application.
Step 4: Import of the station in HW Config
1. In the menu, select Station > Import...
2. Double-click the project in the Open Project dialog box.
3. In the Import dialog box, select the previously exported file (*.cfg) and click Open to
confirm. The hardware configuration for the station is opened in HW Config.

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3.10 Changing a SIMOTION device

Step 5: Replacement of the SIMOTION device in HW Config

1. Replace the SIMOTION devices, taking into account the following:
– SIMOTION C2xx to P350:
Delete the SIMOTION device from the rack and then the rack itself.
Click OK to confirm the warning message.
– Drag the appropriate SIMOTION device from the corresponding SIMATIC PC-based
Control 300/400 > SIMOTION P directory and drop it in the station window.
– SIMOTION P350 to C2xx:
Delete the SIMOTION device.
You must first have selected the rack for the device.
Click OK to confirm the warning message.
– Then drag a rack, a power unit and the appropriate SIMOTION device into the station
window.
Step 6: Check and update of the properties and communication connections in HW Config

Note
Check and update the properties (e.g. clock synchronization, base time on the isochronous
PROFIBUS for the MASTERDRIVE MC) of the PROFIBUS connection. Then reassign the
orphaned master systems to the SIMOTION device.

1. Click Save and compile to save the changed hardware configuration.

Step 7: Import of the SIMOTION device objects in SIMOTION SCOUT
Selective import of all previously exported elements of the original SIMOTION device.
1. Switch to the SIMOTION SCOUT application.
The SIMOTION device is inserted in the project navigator of SIMOTION SCOUT.
2. In the project navigator, select the newly inserted SIMOTION device.
3. In the shortcut menu, select Target device > Expert > Import object.
4. In the Import dialog box, specify the source directory of the import.

Note
The SIMOTION device data appears in the project navigator once you have exported the
device successfully.

Step 8: Upgrade of the TPs and the used libraries in SIMOTION SCOUT
The technology package versions are transferred for the elements saved by the export
operation.
1. Upgrade the TPs.
2. Upgrade the used libraries.

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3.10.3 Replacing a D4xx with integrated drive

Warning
The control unit can be replaced only when the load power supply has been switched off.
Therefore, switch the power supply off.

Spare part rules of the D435

In the case of spare parts, you cannot replace the modules as you wish. You must comply
with the following rules for a SIMOTION D435:
• A SIMOTION D435 V3.1 can only be replaced with a SIMOTION D435 V3.2 or another
V3.1. You cannot replace a SIMOTION D435 V3.2 with a SIMOTION D435 V3.1.
• The SIMOTION D435 V3.1 can be operated with software release 3.2. However, the
SIMOTION D435 V3.2 cannot be operated with software release 3.1. For this reason, if
you try to replace V3.1 with V3.2, you will receive an error message when performing a
download via HW Config if you are working with software release V3.1. You must
therefore load the new SIMOTION D Kernel by means of the corresponding SIMOTION
CF card.

Replacing a D4xx
You can only replace the control unit of the D4xx as a complete unit.
Remove the control unit as follows:
1. Switch off the power supply.
2. Remove the protective cover and Compact Flash card.
3. Undo the connections on the terminal strip for the power supply.
4. Disconnect the DRIVE-CLiQ connectors to the SINAMICS S120 modules, the connectors
for the PROFIBUS DP interfaces (X126 and X136), and, if necessary, the Ethernet
connectors to the X120 and X130 interfaces.
5. If necessary, disconnect the connections to the digital input and outputs at interfaces
X122 and X132.
6. Depending on the mounting method, lift the control unit from the connection to the
SINAMICS S120 drive assembly or remove the mounting screws of the control unit.
Install the new module as follows:
1. Remove the protective cover from the new control unit.
2. Mount the new control unit as described.
3. Reconnect all connectors that were removed previously.
4. Connect the load power supply on the terminal strip.
5. Reapply the provided shielding for all cables.
6. Reinsert the original Compact Flash card in the plug-in slot.

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3.11 Saving and restoring variables after a platform replacement or update

7. Reattach the protective cover and close it.

8. Switch on the power supply. The control unit is immediately ready to operate.

Additional references
Please refer to the following document on this subject
• SIMOTION D4xx, Commissioning and Installation Manual
and the online help.

3.11 3.11 Saving and restoring variables after a platform replacement or update

3.11.1 Saving data

If a SIMOTION platform has to be replaced, e.g. during a service job or before an upgrade,
you have to save the data in order to be able to use this on the new SIMOTION platform.
You can save a SIMOTION SCOUT project by exporting the data. This is described in the
section Exporting and importing a project in XML format.
You can save data that has been changed during operation and is only saved in the runtime
system via the Save variables function. You have the possibility of saving and restoring
retentive and non-retentive data, unit variables in the interface and implementation sections,
as well as global device variables. If you use the functions Save variables and Restore
variables, XML files are created that can be stored in a folder of your choice. With this
function, all segments contained in the data sets are saved and restored. In this way, you
can restore the original variable values.
The following variables can be saved:
• Retentive data that is defined as RETAIN global device variables for MCC, LAD/FBD and
ST; all variables of the type VAR_GLOBAL RETAIN
• Non-retentive global unit variables of the interface and implementation sections of the
program sources: ST source file, MCC unit and LAD/FBD source
If the "Save variables" function is selected for a SIMOTION device, a directory structure is
created in the selected path. This directory is assigned the name of the selected SIMOTION
device or the selected unit, depending on whether you want to save or restore the variables
for the entire SIMOTION device or a unit. The retentive, global device variables are saved in
the unitdata.xml file. The number of subdirectories corresponds to the number of sources in
the SIMOTION project. The names of the subdirectories correspond to the names of the
sources. Each subdirectory contains a unitdata.xml file in which the retentive unit variables
are stored. If necessary, a further file is saved which contains the global variables of the
source. This file is assigned the data set number, which is transferred by specifying the
parameter "id" for the _saveUnitDataSet or _importUnitDataSet function, as name. Detailed
information can be found under Data backup from user program. Further information can be
found in the SIMOTION SCOUT online help.

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3.11 Saving and restoring variables after a platform replacement or update

3.11.2 Save variables

Requirements:
• Variable is declared as retentive or non-retentive global unit variable in the interface part
of the source or as retentive global device variable
• The project has been downloaded to the target system
• SIMOTION SCOUT is in online mode
• Only for unit variables saved via system functions:
– The system function _saveUnitDataSet or _exportUnitDataSet must be executed in the
ST program for every source so that the global unit data is created as binary data set
in the SIMOTION device.
– When executing the system function, the memory medium (RAM or memory card)
must match the selection in the Save Variable dialog box

To save the variables:

1. Switch the SIMOTION device to STOP mode. This ensures that all the variable values
have the same time stamp.
2. Select the SIMOTION device, e.g. C230-2, or the unit.
3. Right-click to open the shortcut menu.
4. Click Save variables.
The Save Variables window appears.

Note
Activate the Retain variables checkbox if you want to save all retentive variables from the
current data memory.
Activate the Unit variables (ST) / global variables (MCC, LAD/FBD) saved via system
functions checkbox if you want to save the previously saved or exported data sets.
Select whether the data sets should be read from the memory card or from the RAM disk.
Ensure that this selection corresponds to the storage location where the data sets were
saved by the _saveUnitDataSet/_exportUnitDataSet function. Detailed information is
contained in the programming manuals.

5. Make the required settings.

6. Click OK.
The Select Folder window appears.
7. Select the storage location for the backup files.
8. Click OK to confirm.
The variables are saved.

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3.11 Saving and restoring variables after a platform replacement or update

3.11.3 Restoring variables

Requirements:
• The interface section of the source has not been changed
• The variables have been saved via the Save variable function.
• The project has been downloaded to the target system
• The SIMOTION device is in the STOP mode
• SIMOTION SCOUT is in online mode
• Only for unit variables saved via system functions:
– The system function _loadUnitDataSet or. _importUnitDataSet must be executed in
the ST program for every source so that the global unit data is created as binary data
set in the SIMOTION device.
– When executing the system function, the memory medium (RAM or memory card)
must match the selection in the Save Variable dialog box

Note
General conditions for restoring variables if there are differences between the backup
file and the project:
If the unit variable or the global device variable exists in the project, but not in the
backup file, then the contents of the unit variable in the unit or the global device
variable are retained unchanged.
If the unit variable or the global device variable exists in the backup file, but not in the
unit or on the device, then the variable is ignored.
If the unit variable or the global device variable exists in the backup file and on the unit
or device, but is of a different data type, then a type conversion is performed between
ANY_INT <-> ANY_INT, ANY_INT <-> ANY_REAL, ANY_REAL <-> ANY_REAL. If a
type conversion is possible, then the value in the backup file must fit in the new value
range of the unit variable or global device variable, otherwise this is initialized. If a type
conversion is not possible (e.g. date, time), then the UNIT variable or global device
variable is initialized.
If the unit variable or the global device variable exists in the backup file and on the unit
or device and the data type is identical, then the contents of the variables from the
backup file is transferred to the unit variable of the unit or to the global device variable
on the device.

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3.11 Saving and restoring variables after a platform replacement or update

To restore variables:
1. Select the SIMOTION device, e.g. C230-2, or the unit.
2. Right-click to open the shortcut menu.
3. Click Restore variables.
The Restore Variables window appears.

Note
Activate the Retain variables checkbox if you want to restore the previously saved
retentive variables.
Activate the Unit variables (ST) / global variables (MCC, LAD/FBD) saved via system
functions checkbox if you want to restore the previously saved data sets. Select whether
the data sets should be written to the memory card or to the RAM disk.

4. Make the required settings.

5. Click OK.
The Select Folder window appears.
6. Select the folder of the SIMOTION device or the unit in which the backup files are stored.
7. Click OK to confirm the following window.
8. Switch the SIMOTION device to RUN mode.
9. Execute the system function _loadUnitDataSet or _importUnitDataSet to initialize the
variables with the values from the backup files.

Note
To restore the global unit data, the system function _loadUnitDataSet or
_importUnitDataSet must be executed in the ST program for every source whose
variables are to be initialized with the values from the XML files.
Ensure that the parameter for the memory source corresponds to the memory to which
the data was written with the Restore Variable function. For more detailed information,
refer to the SIMOTION ST (Structured Text), Programming Manual.

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3.12 Exporting and importing projects

3.12 3.12 Exporting and importing projects

3.12.1 Exporting and importing a project in XML format

A log of the export or import is displayed in the XML export/import status display tab in the
detail view. The XML export log also contains a link to the exported file. Double-click on this
link to view the exported project data in the Internet browser.

Note
Projects are exported and imported version-neutral. However, if a project has version-
specific properties, related errors may occur following import into another SCOUT version,
e.g. when compiling of ST programs.

Exporting a project
Menu: Project > Save and export
The data format for exporting projects has been changed in SIMOTION SCOUT Version
V2.1. Activate the Use V2.0 export format checkbox to export a project in V2.1 or higher with
V2.0 format and re-import it with an older version of SIMOTION SCOUT (< V2.1). If you
activate this checkbox, an optimized XML export is not possible.
SIMOTION SCOUT V3.0 and higher features an additional function. Projects can be
exported more quickly using less memory. This is the default setting when you call the
export.
For this, activate the checkbox Use optimized export format.
If neither checkbox is activated, all data in the SCOUT project is exported, even data not
read back in during an import. This export is only required in exceptional cases.

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Importing a project

Note
Projects can only be imported in offline mode and no projects should be open in SIMOTION
SCOUT.

1. Select Project > Import in the menu bar.

The Import Project window and the XML export/import status display tab appear.
2. Under Source path and Source name of the import, select the XML file to be imported.
3. Click Open to confirm.
4. Click OK.
5. Enter the project name in the newly opened window and select a project directory by
clicking Browse.
6. Click OK.
The import is started. On completion of the import, the successfully completed import, the
project name and the target path are displayed in the XML export/import status display
tab of the detail view. The new project is displayed in the project navigator.

Additional references
Please refer to the online help on this subject

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3.13 Licensing

3.13 3.13 Licensing

3.13.1 Licensing of the runtime components

3.13.1.1 Overview for the licensing

Functions can be licensed using the following software options:
• Motion control technology functions
The licensing is performed axis-specifically for:
– POS - position; use of the technology functions for position axis
– GEAR; use of the technology functions for following axis
– CAM; use of the technology functions for cam axis
The GEAR technology function contains the POS technology function, while the CAM
technology function contains the POS and GEAR technology functions.
The MultiAxes package enables a simple licensing of multiple axis machines. It contains the
license for the unlimited use of the CAM technology function on a SIMOTION device, e.g. a
C230-2 or a D435 or a P350-3
• TControl technology function
The TControl technology package is licensed channel-specifically, in packages of 8
temperature channels.

Note
Further licensing, e.g. for SIMOTION Easy Set - Roll Feed, SIMOTION IT DIAG option or
SIMOTION IT OPC XML-DA option as well as important information, e.g. on the licensing
of the runtime software, preinstalled licenses and order data can be found in the
SIMOTION PM10 catalog 2005, Chapter 6 SIMOTION Software.

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3.13 Licensing

3.13.1.2 Licenses and license key

Depending on the type and number of runtime components used in the project, licenses
must be acquired as part of the licensing procedure for SIMOTION. The licenses required for
a SIMOTION device are assigned to a license key. This license key is stored on the memory
medium of the SIMOTION device during the licensing procedure.
You require the following information to obtain the license key:
• The serial number of the SIMOTION device memory medium
You can obtain the serial number from the memory medium or have it displayed online in
the SIMOTION SCOUT (licensing wizard).
• The serial number of the CoL (Certificate of License)
You have this number on paper.

Table 3-8 The serial number on the SIMOTION hardware assigned to the SIMOTION device

SIMOTION device Hardware serial number of module

SIMOTION C2xx SIMOTION Micro Memory card
SIMOTION P350 SIMOTION IsoPROFIBUS board
SIMOTION D4xx SIMOTION CompactFlash card
License keys can be generated separately from the licensing.

Note
When the SIMOTION memory card is deleted or formatted, the licensing data is also
deleted. Archive the licensing data in order to be able to transfer it again to the memory
medium in such a case. If the data is not backed up, you have to perform the licensing again.
You can display the entered license key in the Web License Manager.

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3.13 Licensing

3.13.1.3 Determining licensing requirements

Note
Determine your license requirement only after you have completed the configuration! A
license that has been assigned a license key cannot be withdrawn.

Once you have completed your project configuration with SIMOTION SCOUT and before
you download it to the target device, you can determine the licenses required for the project.
You have three options for determining license requirements. Before you begin, the project
must have been saved and compiled. If you have not yet acquired any licenses,
underlicensing is displayed.
Options for determining license requirements are as follows:
• Offline mode with open project
The required licenses are displayed.
• Online mode with open project
A comparison of the required and actual licenses is displayed.
• Online mode without project
The actual licenses of the selected SIMOTION device are displayed.

Proceed as follows:
1. Select the SIMOTION device in the project navigator.
2. Select Licenses in the context menu.
The required licenses for the project or a comparison of required and actual licenses are
displayed.
3. You can close the window with X or continue with Perform licensing....
The license check, i.e. the inspection of the license keys, is carried out in the target system.
Possible responses in the case of underlicensing are described in the Underlicensing
section.

Note
Memory cards can be purchased with integrated runtime licenses, which do not require
separate licensing.

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3.13.1.4 Displaying existing licenses of the SIMOTION device

Displaying via accessible nodes

You can use the list of Accessible nodes to determine the specific licenses that have
already been assigned to the SIMOTION device. You can access the data of the SIMOTION
device directly.

Note
This step is not necessary if the required and actual licenses are displayed within a project.

Requirements:
• SIMOTION SCOUT is running
• SIMOTION SCOUT is in online mode
• No projects are open

Proceed as follows:
1. Select the Project > Accessible nodes menu.
The list of accessible nodes is displayed in the working area.
2. Select the relevant SIMOTION device.
3. Select Licenses in the shortcut menu.
The Licenses dialog box appears, showing the actual licenses for the selected
SIMOTION device.
4. You can close the window with X or continue with Perform licensing....

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3.13 Licensing

3.13.1.5 Performing the licensing

To perform the licensing:

Once you have determined your actual license requirements, you can purchase the licenses
and then generate the required license key.

Requirements:
• Configuration has been completed
• The project has been saved and compiled
• The required licenses have been determined
• The license key has been determined or the serial numbers of the memory medium and
the CoL are available
• SIMOTION SCOUT is in online mode

Proceed as follows:
1. Select the relevant SIMOTION device in SIMOTION SCOUT.
2. Open the context menu and click Licensing.
3. In the Licenses dialog box, click Perform licensing...
If the Use wizard checkbox is activated, a wizard guides you through the licensing
procedure.
If the checkbox is not activated, the window for the expert licensing is opened. You can
enter the license key there without running through the wizard.
If you have not yet generated the license key, the wizard gives you the option to switch to
the Web tool to generate one. Then switch back to the wizard.
4. If you have an online connection, continue with item 5.
Otherwise, you can establish an online connection with Online in the Step 2 of 3 window.
5. Enter the license key in the Step 3 of 3 window.
6. Click Finish.
The wizard is closed. Licensing is complete.

Note
The license key is written to the retentive memory when the project data is transferred to
the target system.

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3.13 Licensing

3.13.2 Changing the license key

Reasons for changing the license key

The license key is influenced by changes to the project such as expanding the configuration.
This is why underlicensing is displayed when the project is downloaded and the SF LED
flashes.
After you have redetermined the actual requirement and purchased the necessary licenses,
generate the license key again. Now replace the license key already entered with the newly
generated one.

Note
Transition from Version V3.0 to V3.1, V3.2.1 or V4.0
In a project as of Version V3.1, the license key is stored in a different location than in a
Version 3.0 project. You must re-enter the license key in order for Version V3.0 licenses to
be recognized in a project as of V3.1.

3.13.3 Licensing during hardware replacement

If a SIMOTION device under license is replaced, the license keys that were generated for the
old SIMOTION device must be transferred to the new SIMOTION device. Contact the
Customer Support for assistance.

3.13.4 Underlicensing
If SIMOTION SCOUT detects the presence of underlicensing during license verification, an
entry is made in the diagnostics buffer. The verification is repeated every hour, and an entry
is made in the diagnostics buffer each time underlicensing is detected.
The following information can be read from the diagnostics buffer entry:
• Number of required licenses
• Number of actual licenses
• Operating mode
As an additional warning signal, the SF LED flashes as long as underlicensing is present on
the system. Underlicensing will only be displayed if no acknowledgeable technological event
is present, as it is also indicated via this SF LED.

Note
If the SIMOTION C2xx memory card has not been inserted, all components will be reported
as not licensed.

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3.14 Downloading the project

3.14 3.14 Downloading the project

When do I have to download a project to the target system?

You must reload a project to the target system:
• If you have created or modified programs.
• If you have changed the definitions of global variables or symbolic I/O variables.
• If you have made changes in the execution system.
• If you have changed the configurations of the technology objects.

Checking the project for consistency and compiling the project

Before you download the project to the target system, you must ensure that it is consistent
and that the program units have been compiled without errors.
1. Select the Project > Consistency check menu.
SIMOTION SCOUT checks, for example, whether all technology objects have been
configured and that the source files have been compiled without errors.
2. Select the Project > Save and compile all menu.
SIMOTION SCOUT recompiles all program sources, taking into account dependencies
among the individual sources and defines the compilation sequence automatically.
If errors occur, their possible causes are displayed by entries in various output tabs in the
detail view.
Correct the errors, for example, by:
• Change the configuration of the technology objects
• Change the programs
Repeat steps 1. and 2. as often as required until no more errors are displayed.

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3.14 Downloading the project

Downloading the project to the target system

There is a detailed description of which requirements have to be fulfilled and of how to
download a project to the target system in the online help.
If an error occurs, transfer of data to the target system is aborted. The tab in the detail view
where the transfer sequence and any errors are logged indicates the possible cause of the
error.

Note
As of SIMOTION SCOUT Version V3.2, a message appears in the diagnostics buffer if a
power failure occurs during the download: Starting lockout set, after you have switched to
RUN mode. Go online again and carry out the download once more.
In earlier versions, this can lead to various faults that cannot be corrected by the system.
Unexplainable error messages may appear.
If this happens:
Go online again and carry out the download once more.

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Product combination 4
4.1 4.1 Compatibility

4.1.1 General compatibility

Different hardware and software combinations as well as different Kernel and SIMOTION
SCOUT version combinations are possible when using SIMOTION. These combinations can
be found in the compatibility lists on the SIMOTION SCOUT Add-On CD and in the Internet
at http://www4.ad.siemens.de/view/cs/de/18857317.

4.1.2 Software compatibility

Technology packages with Kernel

The SIMOTION kernel and the technology packages must always have the same version.
Example: Only a TP Cam Version V3.2 technology package will run on a SIMOTION Kernel
Version V3.2.

Table 4-1 SIMOTION SCOUT with SIMOTION Kernel

SCOUT version Kernel version

V2.1.x V3.0.x V3.1.x V3.2.x V4.0
SCOUT V2.1.x x – – – –
SCOUT V3.0/SP1 x x – – –
SCOUT V3.1.x x x x – –
SCOUT V3.2.x x x x x –
SCOUT V4.0 – x x x x

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Product combination
4.1 Compatibility

Project on memory card with SIMOTION Kernel

A project is always created for a specific SIMOTION Kernel and will only run on the relevant
SIMOTION device if this exact SIMOTION Kernel version is available.

Table 4-2 SIMOTION SCOUT with project version

SCOUT version Project created with SCOUT version

V2.1.x V3.0.x V3.1.x V3.2.x V4.0
SCOUT V2.1.x x – – – –
SCOUT V3.0/SP1 x x x x x
SCOUT V3.1.x* x x x x x
SCOUT V3.2.x* x x x x x
SCOUT V4.0* x x x x x
* As of SIMOTION SCOUT Version V3.1.1 you can also save a project in the project format
of an older version (up to Version V3.0), when the project has been created with the
appropriate version.
A project with a version earlier than the installed SCOUT version can be converted if you
wish to open it.
Example: If you have installed SIMOTION SCOUT V4.0 and wish to open a project created
in SIMOTION SCOUT Version V3.2, the project is converted to V4.0.
In order to convert a project in format > V3.0 successfully to the V3.0 format, neither devices,
technology objects nor drive objects must be used which have not yet been implemented in
V3.0.

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 Product combination
4.2 Memory media of the SIMOTION devices

4.2 4.2 Memory media of the SIMOTION devices

Storing on memory media

The online project comprising the technology package and the user data. It is stored on a
memory medium secure against power loss. The data medium used will vary depending on
the SIMOTION platform and SIMOTION version.
• SIMOTION C2xx: Micro memory card
• SIMOTION P350: Virtual memory card
Handling and functionality correspond to the micro memory card of the SIMOTION C2xx.
• SIMOTION D4xx: CompactFlash card

Note
The memory card must not be inserted or removed during operation. Removing the card
in RUN mode triggers an overall reset, which results in the loss of stored data.

Additional references
Please refer to the following documents on this subject
• SIMOTION C2xx operating manual
• SIMOTION P350 and Panel Fronts, Commissioning Manual
• SIMOTION D4xx, Commissioning Manual
and the SIMOTION SCOUT online help.

Persistent data backup

Persistent data storage is performed using a non-volatile memory integrated in the
SIMOTION device, e.g. SRAM for C2xx. SuperCap and optionally a battery are used for
buffering the non-volatile memory.
You can save data from the non-volatile memory in order to avoid loss of data in the event of
a power failure. The following functions are possible:
• System function _savePersistentMemoryData for saving the non-volatile memory
• Restoration of the non-volatile memory during the ramp-up on detection of a power loss.

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Product combination
4.3 SIMOTION C2xx memory concept and interfaces

4.3 4.3 SIMOTION C2xx memory concept and interfaces

4.3.1 Onboard I/O of the SIMOTIONC2xx

Onboard I/O of the SIMOTION C2xx

Table 4-3 Onboard interfaces of the SIMOTION C2xx

Interface Meaning Address (default) Comment

X1 8 digital outputs 66.0 to 66.7
12 digital inputs 66.0 to 67.3
4 BERO inputs (homing output cams) 64.0 to 64.3
2 measuring inputs 65.4 to 65.5
X3 to X6 4 inputs for encoders 128 to 159
160 to 191
192 to 223
224 to 255
X2 4 analog outputs for drive 128 to 159
160 to 191
192 to 223
224 to 255
X8 DP1 PROFIBUS DP interface 1023 With equidistance
for Motion Control
X9 DP2 PROFIBUS-DP interface 1022 With equidistance
X7 Ethernet interface

Figure 4-1 Representation of the C230-2 onboard I/O in HW Config

See the SIMOTION C2xx Operating Instructions for more information on the interfaces.

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 Product combination
4.3 SIMOTION C2xx memory concept and interfaces

4.3.2 SIMOTION C2xx operation without memory card

The SIMOTION C2xx can also be operated without a memory card for test purposes.
Missing licenses are determined when the project is downloaded to the target system. The
licensing is associated with the hardware. A corresponding error message will appear.
However, you may continue to work without restrictions for test purposes. Likewise,
communication with SIMOTIONC 2xx is also permitted, with the exception of the Copy RAM
to ROM command.
If a memory card is missing, all data will be deleted when the SIMOTION C2xx is shut down,
with the following exceptions:
• Retain variables (stored in NVRAM)
• The following PROFIBUS interface parameters:
– Baud rate
– Address (station number)
• Diagnostics buffer

Note
The DP parameters baud rate and address (station number) are deleted.

The project must be reloaded with SIMOTIONS COUT to the SIMOTION C2xx if you shut
down and then restart the SIMOTION C2xx.

4.3.3 Formatting a SIMOTION C2xx memory card

Note
When the memory card is formatted, all data and licensing information are deleted. A file
system is then created. When formatting is performed, the SIMOTION C2xx stores the
kernel on the memory card.
If the memory card was deleted, e.g. via STEP 7, the file system will only be created and
transferred when the memory card is plugged into the SIMOTION C2xx. The LEDs flicker to
indicate this.

You can format the card inserted in the SIMOTION C2xx as follows:
• Through operator input on the SIMOTION C2xx (see SIMOTION C2xx Product Manual)
• By calling up the corresponding function in SIMOTION SCOUT
• Automatically, if the runtime software detects that the card cannot be read.

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Product combination
4.4 SIMOTION P350 memory concept and interfaces

4.4 4.4 SIMOTION P350 memory concept and interfaces

4.4.1 Using a P35 virtual memory card

The memory concept for SIMOTION P is similar to that for SIMOTION C2xx. However, the
function of the memory card is taken over by a memory area in SIMOTION P, which contains
a virtual image of the SIMOTION C2xx memory card. This virtual memory area is referred to
as the virtual memory card.
Technology packages and user data are available in this memory area.

Note
If a system error (blue screen) occurs in the SIMOTION P, it will no longer be possible to
load user data to the virtual memory card with Copy RAM to ROM!

4.4.2 Formatting a SIMOTION P350 virtual memory card

When the memory card is formatted, all data in this area is deleted. Once it has been
formatted, the memory card is ready for use again.
The card can be formatted as follows:
• Using the Target system > Format memory card menu command in SIMOTION SCOUT
• Automatically, if the runtime software detects that the card cannot be read

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 Product combination
4.5 SIMOTION D4xx memory concept and interfaces

4.4.3 SIMOTION P350 interfaces

The SIMOTION P350 has two PROFIBUS DP interfaces (X101/X102) on the
IsoPROFIBUS board. The PROFIBUS DP interfaces can be used as a PROFIBUS subnet.
They are designed for isochronous PROFIBUS operation. If required, the PROFIBUS DP
interfaces can also be operated as non-isochronous interfaces. In addition, the
SIMOTION P350 has an access for local communication [PC internal (local)] and an
Ethernet interface.
The X102 interface can optionally also be used as an MPI interface. An external PG/PC or
an operator panel can, for example, be connected to an MPI interface.
The interface of the SIMOTION P350 to the PROFINET is implemented with the MCI-PN
communication board. The communication board contains an integrated 4-port switch.
In HW Config, the I/O MPI extension (X121) appears as the third interface. It is located on
the MCI board extension, which is available as an option. It has 4 digital inputs and 4 digital
outputs that can be used as fast inputs or fast outputs. The incoming actual values (e.g. of a
TO outputCam) are transferred directly to the SIMOTION device and do not require a
PROFIBUS connection for data transmission. The X121 interface can, for example, be used
for up to four fast output cams.

Table 4-4 Designation of the SIMOTION P350 interfaces shown in HW Config.

SIMOTION P350 Designation in Properties Explanation

interface window
X101 DP R0/S2.1 Rack 0, interface 2.1
X102 DP/MPI R0/S2.2 Rack 0, interface 2.2
X121 I/O PC R0/S2.3 Rack 0, interface 2.3
X128 Local interface
Ethernet interface

4.5 4.5 SIMOTION D4xx memory concept and interfaces

4.5.1 Using a D4xx CompactFlash card

The CompactFlash card is supplied bootable with the latest SIMOTION Kernel and the latest
drive software.
The SIMOTION D435 cannot be operated without a CompactFlash card!
The licensing is associated with the CompactFlash card.
The SIMOTION CompactFlash card must not be formatted.

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Product combination
4.5 SIMOTION D4xx memory concept and interfaces

4.5.2 SIMOTION D4xx interfaces

The SIMOTION D4xx has an integrated interface (PCI integrated) and two onboard
PROFIBUS interfaces, X126 (DP1) and X136 (DP2/MPI). The PCI integrated interface is
always operated as an isochronous master for the integrated drives. In addition, two
Ethernet interfaces are with the X120 and X130 interfaces and two USB interfaces with the
X125 and X135 interfaces. The two DP1 and DP2/MPI PROFIBUS DP interfaces can be
used as a PROFIBUS subnet. They can also be operated isochronously. In this case, the
PROFIBUS cycle clocks and the baud rates must be identical. The two PROFIBUS
interfaces then run synchronously to each other.

Note
Only the DP1 or DP2 PROFIBUS interfaces can be configured as slaves. However, only one
of these two PROFIBUS interfaces can run as a slave at any one time.

As with the SIMOTION devices, the SIMATIC I/O modules are supported on the PROFIBUS.
The X136 interface can optionally also be used as an MPI interface.

Table 4-5 Designation of the PROFIBUS DP interfaces of the SIMOTION D4xx

SIMOTION D4xx interface Designation in Properties Explanation

window
PCI R0/S2.1 DP integrated rack 0, interface
2.3
X126 DP1 R0/S2.2 DP1 rack 0,
interface 2.1
X136 DP2/MPI R0/S2.3 DP2/MPI rack 0,
interface 2.2

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 Product combination
4.6 PROFINET with SIMOTION

4.6 4.6 PROFINET with SIMOTION

Overview
PROFINET is the innovative and open Industrial Ethernet standard for industrial automation.
Existing field bus systems such as PROFIBUS can be integrated without any modification of
existing devices. The broad product range based on PROFINET IO is expanded and
rounded off with the integration of the SIMOTION motion control system and the SINAMICS
S120 drive system. Both systems support standard TCP/IP communication and PROFINET
IO with the RT real-time classes for the connection of the distributed I/O and IRT
(isochronous real-time) for motion control.

Structure
PROFINET distinguishes between the controller and devices assigned to it. Controller and
devices form a PROFINET IO system, comparable to the master-slave system with
PROFIBUS. SIMOTION controls or synchronizes axes via PROFINET. This requires cyclic,
isochronous data exchange with the drives. PROFINET IO with IRT fulfills this requirement.
The functional interface between SIMOTION and the drives for PROFINET and PROFIBUS
is defined by the PROFIdrive drive profile.
The interface to PROFINET will be implemented with an optional module for the
SIMOTION P and SIMOTION D motion control systems as well as for the SINAMICS S120
drive system with the CU320 control unit. These modules have four Ethernet ports with
integrated switch functionality. The real-time communication types PROFINET IO with RT
and IRT as well as the standard protocols TCP/IP are supported.

Configurations
The following configurations are possible:
• Several SIMOTION devices with equal priority as PROFINET controller cyclically and
isochronously exchange process data via PROFINET IO with IRT
• Connection of SINAMICS S120 drives as device to SIMOTION P350 or SIMOTION D4xx
via PROFINET IO with IRT using the PROFIdrive profile
• Connection of distributed I/O as device to SIMOTION P350 and SIMOTION D4xx via
PROFINET IO with IRT
• Connection of SINAMICS S120 drives as device to SIMATIC CPUs or
SIMATIC NET CP1616 via PROFINET IO with IRT

Additional references
Please refer to the following documents and information on this subject
• SIMOTION Motion Control System, PM10 Catalog
• Commissioning manuals of the SIMOTION D4xx and P350 devices
• Compatibility lists on the Intranet

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Product combination
4.7 STEP 7

4.7 4.7 STEP 7

SIMATIC Manager
You can also open a project in the SIMATIC Manager and edit it with the tools provided.
However, you cannot access SIMOTION-specific components such as technology objects
and programs.

Note
You can use File > Manage... to show and hide the projects you have created in
SIMOTION SCOUT in the SIMATIC Manager.

4.8 4.8 HW Config

4.8.1 Inserting and configuring a SIMOTION device

Configure the hardware using the HW Config module. This informs the SIMOTION system
which hardware is present, e.g.:
• Type of SIMOTION device
• Type of the I/O modules
• Type of the drives
In addition, you also inform the SIMOTION system which parameters it should use, e.g.:
• Configuration of the SIMOTION device
• Configuration of the PROFIBUS
• Assignment of the hardware to the PROFIBUS
In this section, you learn how to use the HW Config tool:
• How to insert objects from the hardware catalog.
• How to edit objects.
• How to replace or delete objects.

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 Product combination
4.8 HW Config

4.8.2 Starting HW Config

HW Config can be started, e.g. to add a drive to the PROFIBUS.
To start HW Config:
• Double-click on the appropriate SIMOTION device in the project navigator.
• Select the appropriate device in the project navigator and confirm your selection in the
Open HW configuration shortcut menu.
• Select the appropriate device in the project navigator and confirm the Insert > Hardware
menu.

4.8.3 The HW Config program

The HW Config program is displayed as follows:
• A hardware catalog window
• A working window that is split into two:
– In the upper half, you can see the rack or station frame with the CPU previously
automatically inserted in slot 2. Insert the objects from the hardware catalog and edit
them here.
– In the lower half, you can see detailed information about the selected objects.

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Product combination
4.8 HW Config

Figure 4-2 HW Config with opened hardware catalog and the CPU previously inserted in the module

4.8.4 HW Config: Opening the hardware catalog

You can open the hardware catalog in the following ways:
• Select the Insert > Hardware components menu.
• Select the View > Catalog menu.

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 Product combination
4.9 NetPro

4.9 4.9 NetPro

NetPro in STEP7
NetPro is integrated in the STEP 7 basic package. NetPro is a supporting tool for STEP 7.
A time-controlled cyclical data transmission via MPI is possible with NetPro:
• Selection of the communication stations
• Entry of data source and data target in a table; the generation of all blocks (SDB) to be
loaded and their complete transfer to all CPUs is performed automatically.
An event-driven data transmission is also possible with:
• Specification of the communication connections
• Selection of the communication/function blocks from the integrated function block library
• Parameter assignment of the selected communication/function blocks in the usual
programming language.

Application for SIMOTION

So that network nodes can communicate, configure networks and/or subnets in NetPro. In
NetPro, you create a graphic view of the networks and subnets and specify their properties
or parameters. You can also define the node properties.
You can open NetPro via SIMOTION SCOUT; the NetPro application then opens as a
separate window. Application cases for the SIMOTION project are, for example, the
connection of the engineering system via network nodes and the creation of routing
connections.

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4.10 HMI

4.10 4.10 HMI

Overview
The Human Machine Interface (HMI) connects the world of automation with the individual
demands of the operator. As part of TIA, SIMATIC HMI supports uniform engineering under
Windows, accesses common data and communicates uniformly.
For efficient machine operation and monitoring in various performance classes, you can use
the following panels recommended for SIMOTION as well as PC-based panel systems with
membrane keyboards or touch screen operation:
• Panels
For efficient machine operation and monitoring in various performance classes, either
text-based or graphics-capable with membrane keyboards or touch screen operation.
• Multi-panels
These can be used for operator control and monitoring in the same way as the panels,
with operation by means of touch screens or membrane keyboards. Multi-panels (MP)
also permit the installation of additional applications and therefore provide typical PC
flexibility.
• Panel PCs
Are designed for demanding environmental conditions and provide the same degree of
robustness and suitability for industry.
Detailed information can be found in the SIMOTION PM 10 Catalog.
SIMATIC ProTool/Pro, a modern visualization software under Windows, and the WinCC
flexible engineering software are available for the display of the user interface.

SIMATIC ProTool/ ProTool/Pro

ProTool is the system-wide and uniform configuration software under Windows for all
SIMATIC HMI operator panels.
SIMATIC ProTool covers the applications of the machine-related area with PC-based control
and monitoring solutions for single-user systems based on ProTool/Pro through to the
SIMATIC HMI operator panels. For the configuration of the ProTool/Pro runtime for PCs as
well as SIMATIC HMI operator panels, the ProTool family has the uniform and scalable
configuration tools ProTool/Lite, ProTool and ProTool/Pro CS.
ProTool/Pro is the visualization software under Windows for the PC-based HMI in the
machine-related area. It allows quick response times and safe process control.

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 Product combination
4.11 Drive ES

SIMATIC WinCC flexible

SIMATIC WinCC flexible is the innovative HMI software under Windows 2000/XP for all
applications in the machine-related area. The engineering software enables the uniform
configuration of all Windows-based SIMATIC HMI operator panels.
WinCC flexible Runtime provides basic HMI functionality on PCs, including messaging and
logging systems and can be expanded when required via options. The runtime functions
available on the SIMATIC HMI operator panels are dependent on the device class.
Existing ProTool projects can be accepted or converted. The WinCC flexible engineering
software can be integrated in the central programming software of the SIMATIC world,
SIMATIC STEP 7, and used for the configuration of all operator panels. The engineering
software of SIMATIC HMI also accesses variable lists and message lists of the controller and
uses their communication parameters.

4.11 4.11 Drive ES

Drive ES engineering system

Drive ES is the engineering system used to easily integrate Siemens drive technology into
the SIMATIC automation world easily, efficiently and cost-effectively in terms of
communication, configuration and data management. The STEP 7 Manager user interface
provides the basis for this procedure.
Drive ES Basic is the basic software for the parameterization of all drives, online and offline.
With the Drive ES Basic software, the automation and the drives are edited on the user
interface of the SIMATIC Manager. Drive ES Basic is the starting point for common data
archiving from complete projects and for extending the use of the routing and SIMATIC
teleservice to drives. Drive ES Basic provides the engineering tools for the new motion
control functions - data exchange broadcast, equidistance and isochronous operation with
PROFIBUS DP.
The following commissioning tools are contained in Drive ES:
• STARTER Standalone for SINAMICS; is not required in connection with
SIMOTION SCOUT and cannot be used
• SIMOCOM U for SIMODRIVE
• Drive Monitor for MASTERDRIVES

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Product combination
4.12 Commissioning drives (Starter)

4.12 4.12 Commissioning drives (Starter)

The aim of STARTER is the simple and rapid commissioning, optimization and diagnostics of
all Siemens drives of the new drive generation with only one tool.
The STARTER drive/commissioning tool supports the following drives:
• SINAMICS
• MICROMASTER 420/430/440
• MICROMASTER 411 / COMBIMASTER 411
• COMBIMASTER
The following variants are available:
• STARTER Standalone:
STARTER as commissioning tool for applications without SIMOTION, but with integration
of the new drives in SIMATIC S7. STARTER Standalone is not required in connection
with SIMOTION SCOUT and cannot be used.
• STARTER integrated in SIMOTION SCOUT:
For SIMOTION applications, SIMOTION SCOUT contains the entire functionality of
STARTER.
Performance characteristics:
• Wizards support new users by providing solution-oriented dialog guidance, whereby the
uniform graphics-based display facilitates understanding.
• However, experts are also able to access the individual parameters quickly.

4.13 4.13 CAMTool

Graphic creation of cams

Simple text-based editors are already integrated in the basic SIMOTION SCOUT package
for the creation of cams. The CAMTool V2.1 SP1 option package expands
SIMOTION SCOUT with a powerful tool for the full graphical creation and optimization of
cams. CAMTool fully integrates into the SIMOTION SCOUT user interface. In SIMOTION
CAMTool, you can create, edit and optimize cams with the aid of a graphical user interface.

Additional references
Please refer to the following document on this subject
• SIMOTION CamTool, Configuration Manual

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Diagnostics 5
5.1 5.1 Controlling the target system

5.1.1 Overview
In online mode, you can control the SIMOTION device with SIMOTION SCOUT, e.g.:
• Download
• Select the operating mode
• Copy current data to RAM
• Delete the RAM of the SIMOTION device
• Set the internal clock of the SIMOTION device
• Read/write configuration data in RUN mode by means of a data set
• Archive project data

5.1.2 Setting the operating mode in SIMOTION SCOUT

Danger
Danger to personnel and machine can result from an uncontrolled change of the operating
mode.
Please note the safety regulations before you control a SIMOTION device via the mode
selector in SIMOTION SCOUT.

1. Select the SIMOTION device in the project navigator.

2. Select the Target system > Control operating mode menu.
A software switch is displayed. This represents the mode selector on the
SIMOTION device or the virtual hardware mode selector (SIMOTION P). The current
operating mode is displayed with symbolized switch setting and LEDs.
3. Select the desired operating mode.
Click the corresponding button.

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Diagnostics
5.1 Controlling the target system

The switching options are dependent on the position of the mode selector on the
SIMOTION device.
The operating mode can be monitored and switched with the device diagnostics.

Table 5-1 Operating modes of a SIMOTION device

Operating Description
mode
STOP • Technology objects inactive (enables deleted, no axis motion)
• User program is not executed
• Loading a user program is possible
• All system services are active (communication, etc.)
• All analog and digital outputs set to 0
• The I/O modules (signal modules) are in the safe state (SIMOTION D4xx)
STOP U • Technology objects are active
• Technology objects can execute jobs for testing and commissioning functions.
• Otherwise identical to STOP operating mode
• STOP U means stop user program
• User program is not executed
RUN • Technology objects are active
• Execution of the user programs assigned to the execution system
• Loading a user program is possible
• Process image of the inputs and outputs is read or written
MRES Overall reset
• Switch setting for the overall reset of the SIMOTION C2xx, SIMOTION P350 and
the SIMOTION D4xx
SERVICE • Mode selector on SIMOTION device (!) must be in the STOP U or RUN position.
• The operating mode can only be reached from the axis control panel (assume
control priority)
• Only operation via axis control panel possible

Table 5-2 The switching possibilities of the software switch depending on the position of the mode
selector on the SIMOTION device (with regard to the SIMOTION D4xx, see the
SIMOTION D4xx Product Manual)

Mode selector position of the SIMOTION device Switching options of software switch in
SIMOTION SCOUT
STOP STOP
STOP U STOP U
STOP
RUN RUN
STOP U
STOP
MRES MRES
STOP

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Table 5-3 LEDs of the mode selector

LED Description Color Meaning

5 VDC Power OK Green Power supply 5 V
• Steady:
Power supply functioning correctly.
• Flashing:
Power supply defective
RUN RUN Green RUN mode
• Steady:
SIMOTION device is in RUN mode.
• Flashing:
RUN mode is selected (by SIMOTION SCOUT or switch) and
the SIMOTION device is on its way there.
• Flashing simultaneously with STOP U
SIMOTION device is in SERVICE mode.
• Off:
SIMOTION device is not in RUN mode.
STOP STOP User Orange STOP U mode
U program • Steady:
SIMOTION device is in STOP U mode.
• Flashing:
STOP U mode is selected (by SIMOTION SCOUT or switch)
and the SIMOTION device is on its way there.
• Flashing simultaneously with RUN
SIMOTION device is in SERVICE mode.
• Off:
SIMOTION device is not in STOP U mode.
STOP STOP Orange STOP mode
• Steady:
SIMOTION device is in STOP mode.
• Flashing:
STOP mode is selected (by SIMOTION SCOUT or switch)
and the SIMOTION device is on its way there.
• Flickering (fast flashing):
Write access to the memory card
• Off:
SIMOTION device is not in STOP mode.

Note
The LED displays on SIMOTION devices are described in the associated product manuals.

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SIMOTION C2xx

Figure 5-1 Mode selector

On the SIMOTION C2xx, the operating mode can also be set via a rotary switch on the
device.

SIMOTION P350

Note
With SIMOTION P, the mode selector is displayed via the SIMOTION P Startup application.
You can call this via Start > Programs > SIMOTION P Startup.
For more information, see the SIMOTION P Product Manual.

Figure 5-2 SIMOTION P state application

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5.1 Controlling the target system

SIMOTION D4xx

Note
For the SIMOTION D4xx, it is recommended that the operating mode be switched with the
SIMOTION SCOUT.

Figure 5-3 D4xx mode selector

Additional references
Please refer to the following documents on this subject
• SIMOTION C2xx operating manual
• SIMOTION P350 and Panels Commissioning and Installation Manual
• SIMOTION D4xx, Commissioning and Installation Manual
and the SIMOTION SCOUT online help.

5.1.3 Overall reset

Proceed as follows:
1. Start the software mode selector.
2. ClickMRES.
3. Acknowledge the warning.
On the SIMOTION device, MRES automatically switches to the STOP mode once execution
is completed.
If you remove or insert the memory card on the SIMOTION C2xx during operation, this
causes an overall reset request.

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5.1 Controlling the target system

5.1.4 Setting the time of day

Proceed as follows:
1. Select the SIMOTION device in the project navigator.
2. Select the Target system > Set time of day menu.
The current date and the time of day of the PG/PC and the SIMOTION device are
displayed.
3. Change the date and time of day of the SIMOTION device, if necessary:
If you want to accept the values from the PG/PC:
– Activate the Accept from PG/PC checkbox.
If you want to enter values:
– Deactivate the Accept from PG/PC checkbox.
– Enter the values in the corresponding fields (Module).

Figure 5-4 Setting the time of day

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5.1 Controlling the target system

5.1.5 Changing configuration data

You can also change the configuration data of a technology object offline and online in the
RUN mode.
You can change the configuration data in the expert list of the respective technology object,
e.g. axis.
Proceed as follows:
1. Select the relevant technology object in the project navigator.
2. Open Expert > Expert list in the shortcut menu.
The expert list opens in the working area.
3. In the expert list, open the Configuration data subtree and, if required, other subtrees.

Figure 5-5 View of the expert list

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5.2 Using diagnostic functions

Additional references
Please also refer to the following documents on this subject:
• SIMOTION Motion Control, Basic Functions, Function Manual
• SIMOTION Lists Manuals
and the SIMOTION SCOUT online help.

5.1.6 Archive project data

The Target system > Archive project on card... function archives the complete SCOUT
project on the MMC / CompactFlash card or hard disk of the P350.
The Target system > Load project from card... function loads the archived SCOUT project
from the card or the hard disk.
A zip file is archived. This function is only possible in online mode. In addition to the zip file,
an info file is saved. This can be read with the Target system > Load project from card...
function. The following contents are written to the info file:
• The project name
• The size of the zipped project file
• The storage date

5.2 5.2 Using diagnostic functions

5.2.1 Overview of the possible diagnostic functions

A wide range of diagnostic functions can be used for the operation of SIMOTION devices in
the online mode. These diagnostic options are summarized in the diagnostics overview.
• The diagnostics overview is a tab in the detail view and is available by default in online
mode. You can call up detail displays from here.
• An Alarms tab is also available in the detail view. This provides a tabular overview of
– Technological alarms (from technology objects)
– Alarm_S messages (from user programs)
The alarms can be acknowledged either individually or all together.
• You can record signal charts with the trace tool. The values of system variables can be
recorded during runtime for diagnostic purposes.
• Program testing and debugging, e.g. variable control, program status, breakpoints

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5.2 Using diagnostic functions

5.2.2 Using the diagnostics overview

The diagnostics overview is available as a tab in the detail view when the project is in online
mode.
• In the detail view, select the Diagnostics overview tab.

Figure 5-6 Diagnostics overview in the detail view (online mode)

The following are displayed for each accessible SIMOTION device:

• Operating mode
• Memory used (absolute and percentage display)
RAM disk, RAM, memory card, retentive data
• CPU utilization (percentage display)
The drive devices specified in the hardware configuration are also displayed. To obtain a
detailed display of the individual devices, open the device diagnostics.

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5.2 Using diagnostic functions

5.2.3 Device diagnostics

In online mode, the device diagnostics function enables you to obtain a comprehensive
display of diagnostics results of the individual SIMOTION devices.
Proceed as follows:
1. Select the desired SIMOTION device in the project navigator.
2. Select the Target system > Device diagnostics... menu.
or
1. Double-click the SIMOTION device in the Diagnostics overview tab in the detail view.

Note
You may open the device diagnostics for several SIMOTION devices simultaneously.
This allows you to compare different devices.
You can also access these device diagnostics via the Accessible nodes function.

The Device Diagnostics window appears in the working area of the workbench. This window
provides you with the following information:
• General information
• Diagnostics buffer
• Slaves
• Task runtimes
• System utilization
• User log file
• RT log file
You have the following options:
• Print:
Select the Project > Print menu.
• Save it as a text file:
Click Save.
• Refresh:
Click Refresh or press the <F5> function key.
You can also monitor and change the operating mode:
• Click Control operating mode.

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5.2 Using diagnostic functions

5.2.4 Device diagnostics: General

This provides general information on the SIMOTION device:
• Select the General tab in the Device Diagnostics window.
The following information will be displayed:
• Name and system ID of the SIMOTION device
• Operating mode of the SIMOTION device
• MAC addresses
• IP addresses
• Subnet mask
• Standard gateway
• Order numbers and names of the components used,
e.g. SIMOTION device, Motion Control technology package.

Figure 5-7 Display of general information in the device diagnostics

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5.2 Using diagnostic functions

5.2.5 Device diagnostics: Diagnostics buffer

The diagnostics buffer is part of the system status list. It is possible to jump to the error
position from the diagnostics buffer (as of V3.2). It logs important events (e.g. changes in
module state) in the order in which they occur. These include the following:
• Faults in a module
• Faults in the process wiring
• System errors in the CPU
• CPU operating mode transitions
• Drive alarms
• Errors caused by the technology objects of SIMOTION
• Errors in the user program that caused an operating mode transition
• User-defined entries with the _writeAndSendMessage function
• PMC error messages (SIMOTION D4xx)
• Compatibility errors, e.g. the drive software with SIMOTION (SIMOTION D4xx)
To work with the diagnostics buffer:
1. In the Device Diagnostics window, select the Diagnostics buffer tab.
The saved events are displayed in tabular form.
2. Select the event for which you want to obtain more information.
Detailed information for the selected event is displayed in the lower pane of the window.

Figure 5-8 Example of the diagnostics buffer display in the device diagnostics

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5.2 Using diagnostic functions

5.2.6 Device diagnostics: Slaves

The devices displayed in the Slaves tab of the device diagnostics are not identical to the
display in the Accessible Nodes window.

Note
When you open the Slaves tab, you must refresh the display. Press the F5 key on the
keyboard.

After refreshing the view, the following devices are displayed in the Slaves tab:
• Devices configured in HW Config
• All devices that are configured in the Slaves function

Figure 5-9 Example of the Slaves tab display in the device diagnostics

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5.2 Using diagnostic functions

5.2.7 Device diagnostics: Task runtime and task status

You can display the task runtimes and the status of the tasks set up in the project. The
resolution of the displayed task runtimes is performed in the position control cycle clock.

Note
As the display is determined in the position control cycle clock and the task runtime can be
less than the position control cycle clock, e.g. for the IPOSynchronousTask, the value 0 ms
is displayed in this case.

Figure 5-10 Example of the task runtimes display in the device diagnostics

The display is refreshed according to the refresh rate selected. The status and the following
values are then displayed:
• Current runtime (current):
Value of last polling
• Minimum runtime (min.):
Minimum value since last transition from STOP to RUN
• Maximum runtime (max.):
Maximum value since last transition from STOP to RUN
• Mean runtime (mean value):
Value averaged from the last 10 cycles
The runtimes measured include the interruptions by higher-priority tasks.
Meaning of the various status displays:

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• RUNNING (TASK_STATE_RUNNING)
Task running, e.g.:
– Via the _startTask function
– As an active cyclic task
• STOP_PENDING (TASK_STATE_STOP_PENDING)
Task has received signal to stop; it is in a state between RUNNING and STOPPED.
Actions may be performed until the task has stopped.
• STOPPED (TASK_STATE_STOPPED)
Task stopped (e.g. via the _resetTask function), completed or not yet started.
• SUSPENDED (TASK_STATE_SUSPENDED)
Task suspended by function _suspendTask.
Use _resumeTask(name) to cancel this command. The task then resumes from the point
at which it was interrupted.
• WAITING (TASK_STATE_WAITING)
Task is waiting due to function _waitTime or WAITFORCONDITION.
• WAITING_FOR_NEXT_CYCLE (TASK_STATE_WAIT_NEXT_CYCLE)
TimerInterruptTask waiting for start trigger.
• WAITING_FOR_NEXT_INTERRUPT (TASK_STATE_WAIT_NEXT_INTERRUPT)
SystemInterruptTask or UserInterruptTask is waiting for the triggering event to occur.
When an interrupt occurs, the SystemInterruptTasks are started and executed once. Up
to 8 incoming interrupts can be stored in the buffer. If another interrupt occurs, the buffer
overflows and the CPU goes into STOP mode.
• LOCKED (TASK_STATE_LOCKED)
Task locked by function _disableScheduler.
This status prevents the activation of all user tasks (except the IPOSynchronousTask and
IPOSynchronousTask_2) until command _enableScheduler is called. It does not,
however, affect system tasks. The time watchdog for cyclic tasks is not suspended.
Note: The also prevents the activation of the SystemInterruptTasks and
UserInterruptTasks.

5.2.8 Device diagnostics: Checking the system utilization

To display the system utilization:
• Select the System utilization tab in the device diagnostics.
The utilization of the following memory areas is displayed:
• RAM disk:
After the download, the RAM disk contains the hardware and device configuration,
technology packages, configuration data of the technology objects, and the program
units. Use Copy RAM to ROM to copy the contents of the RAM disk to the memory card
and release the memory on the RAM disk. During subsequent downloads, only modified
data is loaded to the RAM disk.

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5.2 Using diagnostic functions

The RAM disk or the memory card also contains the user data that was created from the
user program using file system functions. Copy RAM to ROM applies only to the project
data from the download.
• RAM:
After the controller has ramped up, the RAM contains the code and the data of the
technology objects (technology packages and data of instantiated technology objects)
and the executable program units.
• Memory card: Memory card memory
• Retentive files: Non-volatile memory of the SIMOTION device
• CPU utilization: Utilization due to system tasks
The display appears as:
• Diagram
• Absolute value for the maximum value
• Utilization (KB or bytes)
• Percentage value
In addition, the user cycle time for the background task is displayed in ms:
• Minimum value
• Maximum value
• Current value

Figure 5-11 Example of the memory utilization display in the device diagnostics

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5.2 Using diagnostic functions

5.2.9 Device diagnostics: User log file

With the user log file, you can store your own text strings in the RT system. This is
necessary, for example, when changes, which are to be documented, are made in the
SIMOTION system on a plant which has already been commissioned. Changes can be
written in the SIMOTION SCOUT. These are loaded to the ROM of the target device. When
required, the text strings can be read out again. The text editor for the user log file is
integrated as a tab in the device diagnostics snap-in. This function is only available in online
mode.

Figure 5-12 Example of the User log file display in the device diagnostics

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5.2 Using diagnostic functions

5.2.10 Device diagnostics: RT log file

In addition to the user-defined user log file, the SIMOTION device also has an RT log file.
The ROM actions entered therein facilitate a subsequent diagnosis. This function is only
available in online mode.
The RT log file contains the following actions:
• Copy RAM to ROM
• Overall reset
• Formatting of the card from SIMOTION SCOUT

Figure 5-13 Example of the RT log file display in the device diagnostics

5.2.11 Displaying and acknowledging alarms and messages

In online mode, the pending alarms and configured messages are displayed in the Alarms
tab of the detail view. Detailed information can be found in the SIMOTION online help.

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5.2 Using diagnostic functions

5.2.12 Accessible nodes

A list of the accessible SIMOTION devices is displayed via the Accessible nodes function in
the working area of SIMOTION SCOUT.
A SIMOTION project must not be open in order to use this function.
Proceed as follows:
1. Select the Project > Accessible nodes menu.
2. Select the corresponding node.
3. Right-click and select the following functions in the context menu.
• Operating mode ...
• Device diagnostics ...
• Copy from RAM to ROM ...
• Licenses

5.2.13 Program testing and debugging

Comprehensive program testing and debugging functions are available in SIMOTION
SCOUT. You can execute the following functions:
• Control variable
• Program status
• Breakpoints

Additional references
Please refer to the following documents on this subject:
• SIMOTION ST Structured Text Programming Manual
• SIMOTION MCC Motion Control Chart Programming Manual
• SIMOTION LAD/FBD Programming Manual
and the SIMOTION SCOUT online help.

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FAQs 6
6.1 6.1 Rules for the arrangement of the modules

Slot rules
Modules must be inserted in the rack without gaps.
Exception:
Slot 3 remains empty in the configuration table. This slot is reserved.

Note
The actual arrangement has no gaps, as otherwise the bus on the backplane would be
interrupted.

Table 6-1 Slot rule for SIMOTION rack 0

Slot 1: Power supply only PS 307 xA

(valid only for SIMOTION C2xx)
Slot 2: CPU only (e.g. SIMOTION C2xx)
Slot 3: Empty or interface module
Slots 4 to 11: I/O modules or empty

SIMOTION SCOUT provides the following support when you configure a station:
• A message will appear if, for example, a module cannot be inserted into the desired slot.
• Address areas are also checked to prevent dual allocation of addresses.
• The status bar or messages displayed provide feedback, which you should pay attention
to. Important information can also be found in the help.
• Temporary rules, that is, rules that apply only to a specific version, are not considered
(such as restriction of the useable slots due to a functional restriction for individual
modules).
Consult the documentation or the current product information for the modules.

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FAQs
6.2 Routing

Note
Modules that are installed but not configured are repeatedly addressed via the PROFIBUS.
This requires additional computing time.

6.2 6.2 Routing

6.2.1 Operation of cross-subnet connections

Introduction
With STEP 7, it is possible to access S7 stations online via a PG/PC beyond the subnet
boundaries, in order to, for example, load user programs or a hardware configuration or to
perform test and diagnostics functions. You can connect this PG/PC to any position in the
network and establish an online connection to all stations that can be reached via gateways.

Operation of cross-subnet connections

With SIMATIC NET PC software and STEP 7 as well as SIMATIC NCM S7, it is possible to
operate configured S7 connections across several subnets, e.g. from a PC via Ethernet, an
IE/PB link to an AS station with PROFIBUS DP. At present, configurations with one gateway
and from Ethernet to PROFIBUS or vice versa, have been released. Gateways from
PROFIBUS to PROFINET and vice versa are possible. Gateways from Ethernet to
PROFINET and vice versa are not possible.

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6.2 Routing

6.2.2 Human Machine Interface system (HMI)

SIMOTION allows the end user to communicate with operating devices (Human Machine
Interface systems) such as operator panels.
The following constellation is possible, for example, with the SIMOTION C230-2:
• HMI device is connected to the non-isochronous PROFIBUS of SIMOTION device 1.
• Four other SIMOTION devices are connected to the PROFIBUS DP (isochronous) of
SIMOTION device1.
SIMOTION automatically also establishes connections between the HMI device and
SIMOTION devices 2 to 5 (routing). Therefore, the HMI device can also display variables,
messages, and alarms for these devices.

Note
The number of routed connections depends on the device. Between 4 and 10 routed
connections are possible. For more detailed information, see Data volume.
A maximum of two gateways are possible.
For more information, please contact your local Siemens representative.

+0,

352),%86'39

6,027,21

,VRFKURQRXV352),%86'3

6,027,21 6,027,21 6,027,21 6,027,21

Figure 6-1 Example for the connection of an HMI device to a group of SIMOTION devices

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FAQs
6.2 Routing

Note
Routing via a controller, e.g. C2xx, P350 or D4xx, is only possible if the controller has been
configured as active I-slave. However, please note that with an active I-slave, the
PROFIBUS connection can no longer be operated isochronously.

6.2.3 Higher-level automation systems

A SIMOTION device can be connected to a higher-level automation system. Communication
takes place via the MPI interface of the SIMATIC STEP 7 device or the non-isochronous
PROFIBUS interface of the SIMOTION device.

6,0$7,&6

03,352),%86'39

6,027,21

,VRFKURQRXV352),%86'3

'ULYH 'ULYH 'ULYH 'ULYH

Figure 6-2 Higher-level automation system with SIMOTION device

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6.3 Inserting drives

6.3 6.3 Inserting drives

6.3.1 Inserting drives

Note the following:

Drives must be differentiated between:
• Drives that are connected to PROFIBUS/PROFINET
• Drives that are connected directly to the SIMOTION device
The following applies to drives connected to PROFIBUS/PROFINET:
• Only drives that meet the requirements of PROFIdrive profile V3.0 can be connected:
– SINAMICS
– MICROMASTER (PROFIBUS only)
– COMBIMASTER 411 (PROFIBUS only)
– MASTERDRIVES (MC, VC) (PROFIBUS only)
– SIMODRIVE 611U (PROFIBUS only)
– SIMODRIVE POSMO (CA, CD, SI) (PROFIBUS only)
– ADI4 (analog drive interface for 4 axes)
• These drives are taken into the hardware configuration.
• The drives of the SINAMICS and MICROMASTER drive families can be configured,
assigned parameters, and commissioned with SIMOTION SCOUT.
All analog drives can be connected via one of the four analog interfaces on the
SIMOTION C2xx or via the ADI4 PROFIBUS module.
• These drives are not taken into the hardware configuration.
• The SIMOTION device requires only the actual values from the encoder at the input and
issues the setpoints at the analog output.
• The drives must be configured, assigned parameters, and commissioned directly on the
corresponding device.

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FAQs
6.3 Inserting drives

6.3.2 Inserting a SINAMICS drive on PROFIBUS DP

Starting point
• The SIMOTION device is created in SIMOTION SCOUT
• A PROFIBUS subnet has been configured, for example, as PROFIBUS DP for Motion
Control.
• The subnet interface is the master on this subnet of the SIMOTION device

Proceed as follows:
1. Open the PROFIBUS DP folder in the hardware catalog.
2. Open the SINAMICS subfolder.
3. Use drag-and-drop to drag an entry to the isochronous PROFIBUS subnet of the
SIMOTION device.

Figure 6-3 Inserting a SINAMICS drive

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6.3 Inserting drives

6.3.3 Inserting a SINAMICS drive on PROFINET IO

Starting point
• SIMATIC STEP 7 V5.4 is installed
• The SIMOTION D4x5 device with Ethernet IE2/NET (X130) interface selection has been
created in SIMOTION SCOUT
• A PROFINET IO has been configured

Proceed as follows:
1. Open the HW Config of the SIMOTION D4x5 device.
2. Open the PROFINET IO/Drives/SINAMICS folder in the hardware catalog.
3. Select the SINAMICS S120 CBE20 drive.
4. Use drag-and-drop to drag the drive to the PROFINET IO subnet of the
SIMOTION device.

Figure 6-4 Inserting a SINAMICS drive with PROFINET

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6.3 Inserting drives

6.3.4 Inserting a MICROMASTER drive

Initial situation:
• The rack with the SIMOTION device has been inserted.
• A PROFIBUS subnet has been configured, for example, as PROFIBUS DP for Motion
Control.
• The subnet interface is the master on this subnet of the SIMOTION device

Proceed as follows:
1. Open the PROFIBUS DP folder in the hardware catalog.
2. Open the SIMOVERT subfolder and then the MICROMASTER 4 subfolder.
3. Use drag-and-drop to drag an entry (e.g. MICROMASTER 420) to the isochronous
PROFIBUS subnet.

Figure 6-5 Inserting a MICROMASTER 4 drive

A window appears in which you can configure the PROFIBUS interface of the drive.

Note
Although the MICROMASTER 420 does not support isochronous operation, it can be
operated on the isochronous PROFIBUS subnet. Note that the drives of all synchronous
axes have to be connected to the same PROFIBUS subnet.

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6.3 Inserting drives

6.3.5 Inserting a MASTERDRIVES drive

Initial situation:
• The rack with the SIMOTION device has been inserted.
• A PROFIBUS subnet has been configured as PROFIBUS DP for Motion Control.
• The PROFIBUS interface is the master on this subnet of the SIMOTION device.

Proceed as follows:
1. Open the PROFIBUS DP folder in the hardware catalog.
2. Open the SIMOVERT subfolder.
3. Use drag-and-drop to drag an entry to the isochronous PROFIBUS subnet of the
SIMOTION device.

Figure 6-6 Inserting a MASTERDRIVES drive

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6.3 Inserting drives

6.3.6 Inserting a SIMODRIVE drive

Initial situation:
• The rack with the SIMOTION device has been inserted.
• A PROFIBUS subnet has been configured as PROFIBUS DP for Motion Control.
• The PROFIBUS interface is the master on this subnet of the SIMOTION device.

Proceed as follows:
1. Open the PROFIBUS DP folder in the hardware catalog.
2. Open the SIMODRIVE subfolder.
3. Use drag-and-drop to drag an entry to the isochronous PROFIBUS subnet of the
SIMOTION device:
– SIMODRIVE 611 universal
– SIMODRIVE POSMO xx

Figure 6-7 Inserting a SIMODRIVE 611U drive

A window appears in which you can configure the PROFIBUS interface of the drive.

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6.3.7 Configuring an inserted drive as a slave on the PROFIBUS

Proceed as follows:
Once you have inserted the drive, the following DP interface configuration window appears:
1. Specify the address.

Figure 6-8 Configuring the PROFIBUS interface on the drive

2. Confirm with OK.

A further window for configuring the drive as a DP slave appears.
3. Make the necessary settings.
4. Click OK to confirm.

Figure 6-9 Configuring the SIMODRIVE 611U as a PROFIBUS slave

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Figure 6-10 Example of a hardware configuration with 4 drives

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 FAQs
6.4 Commissioning the drives

6.4 6.4 Commissioning the drives

Drives that can be commissioned with SIMOTION SCOUT

You can use SIMOTION SCOUT to assign parameters to the following drives:
• SINAMICS
• MICROMASTER
• COMBIMASTER 411
For all other drives or for third-party drives, the appropriate commissioning program for the
specific drive must be used (e.g. the SIMOCOM U program for SIMODRIVE 611U). If
required, you must commission these drives directly on the drive.

Table 6-2 Commissioning of various drives

Drive Connection Commissioning

SINAMICS S120, S150, PROFIBUS DP or analog With SIMOTION SCOUT or
G110 CPM100, G120, G130, interface STARTER
G150, GM150
SINAMICS S120 PROFINET With SIMOTION SCOUT or
STARTER
MICROMASTER 410 Analog interface With SIMOTION SCOUT or
DRIVE ES Basic or
STARTER
MICROMASTER PROFIBUS DP or With SIMOTION SCOUT or
420/430/440 analog interface DRIVE ES Basic or
STARTER
COMBIMASTER 411 PROFIBUS DP or With SIMOTION SCOUT or
analog interface DRIVE ES Basic or
STARTER
SIMODRIVE 611U PROFIBUS DP or analog With SIMOCOM U or
interface DRIVE ES Basic
MASTERDRIVES MC, VC PROFIBUS DP or analog With SIMOVIS or
interface DRIVE ES Basic
SIMODRIVE POSMO PROFIBUS DP With SIMOCOM U or
CA; CD, SI DRIVE ES Basic
Third-party drives Analog interface or With commissioning tool supplied by the
PROFIBUS DP manufacturer
according to PROFIdrive
profile V3.02

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6.5 SINAMICS on SIMOTION

Note
If the Drive-ES Basic commissioning program is installed, it can be called by SIMOTION
SCOUT in the project navigator via Commissioning.

6.5 6.5 SINAMICS on SIMOTION

6.5.1 SINAMICS S120 on SIMOTION

STARTER functionality in SIMOTION SCOUT

It is possible to parameterize drives directly with SIMOTION SCOUT. As an example, the
following is a description of how a SINAMICS_Integrated drive is inserted in
SIMOTION SCOUT.

Prerequisites:
• SIMOTION SCOUT has been installed on the PC/PG
• A SIMOTION SCOUT has been created

Note
You can create the SINAMICS drive with PROFIBUS or PROFINET.

You must execute the following steps:

• Insert a SIMOTION D4x5 device
• Configure SINAMICS_integrated

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6.5 SINAMICS on SIMOTION

Commissioning in SIMOTION SCOUT

1. Open the SIMOTION project in SIMOTION SCOUT.
2. Double-click Create new device.
3. Select a SIMOTION D4x5 device.
4. Select the variant.
5. Deactivate the Open HW Config box.
6. Click OK to confirm.
7. Select the PROFIBUS interface or Ethernet.
If you have selected Ethernet, select the interface parameterization of the PG/PC.
8. Click OK to confirm.
9. Open the structure tree of the SIMOTION D4x5 device in the project navigator.
10.Open the structure tree of the SINAMICS_Integrated drive in the project navigator.
11.Double-click Configure drive unit.
The Configuration - SINAMICS_Integrated - Option Module window opens.
The STARTER functionality now starts in SIMOTION SCOUT. How you configure the
SINAMICS_Integrated drive is described in detail in the SIMOTION D4xx Commissioning
and Installation Manual.

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6.6 MICROMASTER on SIMOTION

6.6 6.6 MICROMASTER on SIMOTION

6.6.1 Commissioning a MICROMASTER

STARTER functionality in the SIMOTION SCOUT

Drive parameters can be assigned directly using SIMOTION SCOUT (starter functionality in
SIMOTION SCOUT). The commissioning of the MICROMASTER 420 is described as an
example.

Requirements:
• SIMOTION SCOUT installed on PC/PG.
• PC/PG is connected to drive.
• SIMOTION SCOUT is in online mode.

Caution
You can only commission the drive in online mode!
All configuration data is stored in the drive RAM and is lost when the drive is switched off.
You must therefore save this data to the drive ROM with Copy RAM to ROM. The
appropriate drive must be selected.

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6.6.2 Commissioning in SIMOTION SCOUT

6.6.2.1 Drive navigator

The drive navigator appears in the project navigator tree directly below the drive. It is
designed as a snap-in. You can use the drive navigator for:
• Configuration
• Terminals/bus
• Limits
Proceed as follows:
1. Open the structure tree of the MICROMASTER_420 device in the project navigator.
2. Double-click drive navigator.
The snap-in opens in the working area of SIMOTION SCOUT.
3. Maximize the window view in the working area.

Note
The content displayed for the individual drive versions is the same in offline and online
mode. Any options not available in a certain mode are grayed out. This function is then
not active in that mode. This means that you have a complete overview of the possible
functions at all times.

4. Configure the drive.

6.6.2.2 Configuring a drive

Configuring a drive

Caution
Use the drive configuration wizard to directly edit the drive data.
When you exit a window, the data is transferred to the drive immediately. A Cancel function
is not available!

Requirement:
• You have inserted a drive into the project.

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Proceed as follows:
1. Open the element (folder) for the drive unit in the project navigator.
2. Open the drive element below the folder.
3. Double-click the Configuration element.
The most important configuration data is displayed in the window.
4. Click Reconfigure drive.
A prompt appears asking you to confirm that you wish to reconfigure the drive.
5. Confirm the prompt with Yes.
The wizard for configuring the drive is started.

Figure 6-11 Configuring the MICROMASTER 420

You are now in the Drive Configuration - MICROMASTER 420 - Standard window:
6. Select the appropriate standard.
Default setting: Europe [kW], standard frequency 50 Hz (0).
A message appears.
7. Read this message and click OK to confirm.
8. Click Next >.
You are now in the Drive Configuration - MICROMASTER_420 - Motor window:

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9. Select the appropriate data.

10.If required, activate the Additional motor data function.
11.Click Next >.
You are now in the Drive Configuration - MICROMASTER_420 - Motor Data window:
12.Enter the appropriate data.
13.Click Next >.
You are now in the Drive Configuration - MICROMASTER_420 - Operating Mode window:
14.Select the appropriate operating mode.
15.Click Next >.
You are now in the Drive Configuration - MICROMASTER_420 - Command/Setpoint
Source window:
Several sources may be offered simultaneously for selection of the speed setpoint. The
meaning of the entries is as follows:
– First entry: Main setpoint
– Second entry: Additional setpoint
16.Select the appropriate data.
17.Click Next >.
A message appears.
18.Read this message and click OK to confirm.
You are now in the Drive Configuration - MICROMASTER_420 - Most Important
Parameters window:
19.Enter the appropriate data.
20.Click Next >.
You are now in the Drive Configuration - MICROMASTER 420 window for completing the
drive configuration:
21.Check the data entered.
22.Click Finish.
The drive configuration is completed.
23.Click Close.

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6.6.2.3 Configuring the drive terminals/bus

Here you define the following:
• The assignment of the input and output terminals to the parameters of the drive.
• The calibration of the analog-digital converter and the digital-analog converter.
• When BICO parameter assignment is enabled, the Digital inputs tab is only used to
display the connections. The interconnection itself is made with the appropriate function.
• In the Signal interconnection tab, assign the input parameters to the signal sources.
Proceed as follows:
1. Open the element (folder) for the drive unit in the project navigator.
2. Open the drive element below the folder.
3. Double-click Terminals/Bus.
4. Configure the inputs and outputs.
5. Configure the USS/PROFIBUS interface

Caution
The signal interconnection input window is intended only for use by experts who are
familiar with BICO technology and the MM4 parameter assignment options.
Parameter changes are not checked for plausibility. Incorrect entries may affect the
functioning of the drive.

6. Change the signal interconnection, if required.

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6.6 MICROMASTER on SIMOTION

Figure 6-12 Configuring the drive interfaces

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6.6.2.4 Configuring the USS and PROFIBUS interfaces

Use this tab to configure the interfaces only. You do not define whether they are used for
communication.
Procedure for changing station addresses or baud rates.
If you have changed the station address or the baud rate of the interface used for
communicating, test the communications.
Proceed as follows:
1. Disconnect the SIMOTION SCOUT from the target system.
2. If you:
– Have changed the station address:
Change the station address of the drive in the Properties dialog box of the drive unit or
in the hardware configuration.
– Have changed the baud rate:
Select menu Options > Set PG/PC interface and configure the interface of your PC
accordingly.
If you want to use the USS interface, you must install this.
In the PG/PC Interface window, click Select and install the PC COM-Port (USS)
module.
3. Reconnect SIMOTION SCOUT to the target system.

6.6.2.5 Parameterizing setpoints and limits

The following submenus are used for the complete parameterization of setpoints and limits:
• Limits
• Extended
– Motor potentiometer (MOP)
– Fixed frequencies
– PID controller
– Setpoints
– Shutdown functions
– Start functions
– Functions (slip compensation, programmable V/f characteristic)

Parameterizing limits
Deactivate the PID controller before parameterizing the ramp function generator. Otherwise
this has no effect.

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6.6.3 Controlling drives

You can use SIMOTION SCOUT to control the configured drive. Use the control panel for
this purpose. This is displayed as a detail view tab. Drives can only be controlled in online
mode.

Danger
Before the motor turns for the first time, pay special attention to the following potential
hazards:
Make sure that the motor is connected correctly!
Secure the surrounding area:
Secure the motors! Do not release the magnetic motor brake of vertical axes without a
safeguard!
Set the limit values! Bring the axes to neutral position! Choose low velocities and speeds!
Observe general accident prevention guidelines!
The function is released exclusively for commissioning and service purposes. The safety
shutdowns from the higher-level control have no effect.
The function should only be used by authorized technicians.
The "Emergency stop with space bar" function is not guaranteed in all operating modes.
Therefore, there must be an EMERGENCY STOP circuit in the hardware. The appropriate
measures must be taken by the user.

Proceed as follows:
1. Open the element (folder) for the drive unit in the project navigator.
2. Open the drive element below the folder.
3. Double-click the Control panel element.
The control panel is displayed in the detail view.
4. Select the drive that you want to control.
5. Select the relevant checkbox:
– Control:
You switch the drive and control its speed.
– Enables and actual value:
You monitor setpoints and actual values as well as enables and alarms.
– Links to status info:
You can switch to the drive diagnostics.

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Figure 6-13 Controlling drives with SIMOTION SCOUT

Switching the drive and controlling its speed

Proceed as follows:
1. Activate the Control checkbox.
2. Click Assume control priority.
3. Move the slider to the left.
4. Activate the Enables (bit 1 to bit 6) checkbox.
5. Switch on the drive: Click the I button.
6. Use the slider to control the speed.
To switch off the drive:
• Click the O button.
• Press the space bar.

Caution
Make sure that all windows in the working area are closed. Otherwise, delays may occur
between the entry of the control command on the PC and its execution by the drive!

Monitoring enables and actual values

• The speed setpoint and actual speed value are displayed constantly.
• Select two additional parameters for display. These parameters are displayed below the
selection box.
• The enables and alarms are displayed.

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6.6.4 Using the drive diagnostics

Diagnostics in SIMOTION SCOUT

You can use the drive diagnostics to check the communication connection between
SIMOTION SCOUT and the drive and to display individual control words and status words as
well as the operating mode.
You cannot change any system parameters. The display is only used for the diagnostics.
Proceed as follows:
1. Open the element (folder) for the drive unit in the project navigator.
2. Open the drive element below the folder.
3. Double-click Diagnostics.
4. Select the relevant tab.

Figure 6-14 Drive diagnostics with SIMOTION SCOUT - Control/status word tab

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Table 6-3 Drive diagnostics tabs

Tab Meaning
Control/status word Bit allocation of:
• Control word 1
• Control word 2
• Status word 1
• Status word 2
Operating conditions Important parameters and operating modes of the drive
Status parameters Important system variables of the drive
USS/PROFIBUS Define the communications interface in this tab; you can also monitor
the values for the individual control words and status words.

Figure 6-15 Drive diagnostics with SIMOTION SCOUT - Operating conditions tab

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6.6.5 Using the expert list

Expert list for experienced users

Caution
The expert mode is intended for experienced users. Incorrect entries may affect the
functioning of the drive.
The system does not carry out any plausibility checks.

The expert list for drives is different from the expert list for technology objects.
1. Open the element (folder) for the drive unit in the project navigator.
2. Open the drive element below the folder.
3. Select Expert > Expert list in the shortcut menu.
4. Enter the required values.

Figure 6-16 Expert list for drive commissioning - display of an array

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6.7 MICROMASTER in Conjunction with a Positioning Axis

6.7 6.7 MICROMASTER in Conjunction with a Positioning Axis

6.7.1 MICROMASTER MM4 in connection with a position axis

Introduction
This section describes how to integrate the MICROMASTER MM4 as a drive in
SIMOTION SCOUT.
In the following example, the MICROMASTER MM4 is controlled via standard message
frame 1.
Communication from SIMOTION:
• Word 1, Control word
• Word 2, Speed setpoint
Communication to SIMOTION:
• Word 1, Status word
• Word 2, Actual speed value

6.7.2 Parameterization steps

This section describes how to integrate the MICROMASTER MM4 as a drive in
SIMOTION SCOUT.
In the following example, the MICROMASTER MM4 is controlled via standard message
frame 1.
Communication from SIMOTION:
• Word 1, Control word
• Word 2, Speed setpoint
Communication to SIMOTION:
• Word 1, Status word
• Word 2, Actual speed value

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6.7 MICROMASTER in Conjunction with a Positioning Axis

Integrating MICROMASTER MM4 in HW Config

1. Select the SIMOTION device in the project navigator.
2. Open HW Config.
3. Insert a MICROMASTER MM4 into a PROFIBUS subnet.
4. Once you have inserted the drive, select Standard message frame 1, PZD-2/2.
5. Save and compile the hardware configuration.
6. Download the hardware configuration to the SIMOTION device.
7. Create a TO axis in SIMOTION SCOUT.

Inserting a virtual axis

1. Insert a virtual axis into the project navigator of SIMOTION SCOUT. This will be
converted to a real axis via the expert list when the axis wizard is completed.

Changes in the expert list

1. Select the virtual axis in the project navigator.
2. Open the expert list via the shortcut menu.
3. Open the following directory in the expert list:
ConfigurationData\TypeOfAxis
4. Make the following setting:
• TypeOfAxis = REAL_AXIS (0)

Figure 6-17 Expert list: Setting a virtual axis

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Assigning encoders
• NumberOfEncoders/Encoder_1/encoderidentification = ONBOARD (1), set EncoderType,
EncoderMode and EncoderSystem according to the encoder
• NumberOfEncoders/Encoder_1/DriverInfo/LogAddressIn = 128 (or 160, 192, 224)
• NumberOfEncoders/Encoder_1/DriverInfo/LogAddressOut = 128 (or 160, 192, 224)
• NumberOfEncoders/Encoder_1/DriverInfo/TelegramType = NO_TELEGRAM (0)
• NumberOfEncoders/Encoder_1/IncEncoder/incResolution = 1024 (or number of
increments without pulse multiplication)

Figure 6-18 Expert list: Assigning encoders

Assigning the setpoint output

• SetPointDriverInfo/mode = DPMASTER (2)
• SetPointDriverInfo/logAddressIn = 256 (or I address of DP slave)
• SetPointDriverInfo/logAddressOut = 256 (or O address of DP slave)
• SetPointDriverInfo/TelegramType = DP_TEL1_STANDARD (1) for 2 PZD words in input
and output direction

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6.7 MICROMASTER in Conjunction with a Positioning Axis

Figure 6-19 Expert list: Assigning the setpoint output

1. Commission the MICROMASTER MM4.

Note
The drive can now be addressed via SIMOTION SCOUT in conjunction with a positioning
axis.

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6.8 SIMOVERT MASTERDRIVES MC on SIMOTION

6.8 6.8 SIMOVERT MASTERDRIVES MC on SIMOTION

6.8.1 Connecting the SIMOVERT MASTERDRIVES MC

Converter requirements

Note
Derating has to be taken into account for compact devices as of 75 kW. This means that if a
converter is operated with a pulse frequency greater than 5 kHz, the permissible rated
current is reduced and the device can no longer be operated at its maximum rated power.

Software requirements
Personal computer minimum requirements
• Windows 2000 Professional Service Pack 3 or Windows XP Professional Service Pack 2
• SIMATIC STEP 7 V5.3 SP2
• Drive Monitor V5.1.1.1 or Drive ES V5.2
• SIMOTION SCOUT V3.0
Converter
Motion Control / Motion Control Compact PLUS:
• Version V1.60 or higher; readable in the parameters r69.1 and r828.1
You can find a description of how to upgrade the converter firmware in the Motion Control
compendium (Section 7.4 in the AC Edition)
PROFIBUS communication board (CBP2):
• Version V2.23 or higher; readable in the parameters r69.x and r828.x

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PROFIBUS communication board (CBP2):

A CBP2 communication board must be inserted. This can be read out on the converter in the
monitoring parameter r826.x:
If a CBP2 is connected, value 148 is output.
If a CBP1 is connected, value 143 is output.
Index x designates the slot in which the communication board is inserted:
Index 1 means the basic unit module,
Index 2, the module in slot A etc.
Further information is available in the parameter list in the Motion Control compendium.

6.8.2 Upgrading option cards firmware

Requirement

Note
A bootstrap file, e.g. CBP2_DL.hex and a program file CBP2_V223.hex of Version 2.23 or
higher is required for the upgrade.
The Drive Monitor or Drive ES may access only the converter RAM for the upgrade of the
firmware.

To upgrade the firmware of the option card:

The upgrade with the Drive Monitor software is described as an example.
1. Open the Drive Monitor

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Figure 6-20 Drive Monitor accesses the RAM of the MC

2. Click File > Download > Option card firmware.

Figure 6-21 Opening the Option Card Download window

3. Enter the path for the bootstrap file, the program file and the slot in which the CBP2 is
installed.
4. Activate the Activate diagnostics checkbox.

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Figure 6-22 Settings in the Option Cards Download window

5. Right-click a free area of the screen. The following window opens:

Figure 6-23 Additional settings for the download

6. Enter a program length of 128 KB and 8 EEPROM blocks.

7. Click the Check button.
8. Click the Start download button.
The following window opens:

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Figure 6-24 Start of the script file download

9. Click the Start button.

The download is started.
After the download, you can read out the new firmware version of the CBP2 from parameters
r69.x and r828.x.

6.8.3 Commissioning MASTERDRIVES MC

Note
The script file for the connection of SIMOVERT MASTERDRIVES Motion Control to
SIMOTION with standard message frame 5 is provided at no cost. It may be copied,
modified and used or passed on to third-parties. However, in the case of it being passed on
to a third party, it must be in its full and unmodified form, and all copyright conditions must be
observed. The commercial distribution to a third party, for example, in share/freeware
distribution is only permitted with the previous written agreement of the Siemens AG.
As this script file is provided free-of-charge, the authors and copyright holders cannot accept
any liability for this file. Its use is the sole risk and responsibility of the user. The liability of
the authors and copyright holders is restricted to damages arising from gross negligence or
intent. All other claims are excluded. In particular, the authors and copyright holders cannot
accept liability from any damages arising from defects or consequences arising from such
defects.

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Commissioning procedure

Note
This guide only describes how to set up the connection between the SIMOVERT
MASTERDRIVES Motion Control converter/inverter and SIMOTION. The guide does not
describe how to optimize the controller; it is assumed that this has already been carried out.

The commissioning procedure is divided into two parts:

• In the first part, a SIMOTION project is created and the SIMOTION SCOUT program and
the hardware manager HW Config are used to enter the settings for the SIMOTION
system. Settings which have to be made both in SIMOTION and in MASTERDRIVES MC
are highlighted.
• In the second part of the commissioning procedure, the MASTERDRIVES MC is
parameterized. The guided basic unit commissioning procedure and a preprogrammed
script file for connection to SIMOTION are used for this purpose. After the commissioning
of SIMOTION and MASTERDRIVES MC, a sample program is set up for an axis
positioning.
Various parameter settings for MASTERDRIVES MC are derived from the SIMOTION
settings. The following table contains an overview of the functions and settings which have to
be entered in both SIMOTION and MASTERDRIVES MC. These settings are described
separately in the following sections for the SIMOTION and MASTERDRIVES MC.

Table 6-4 Settings required in SIMOTION and MASTERDRIVES MC

Required setting Value

DP cycle 3 ms
Pulse frequency 5.3 kHz
Encoder type Select
(incremental encoder / absolute encoder)
Homing mode Select
Measuring Set
(yes/no)
Select encoder resolution In bits
Enter rated motor speed 6000 rpm
Ratio of
position control cycle clock: DP cycle 1:2:2
clock

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Creating a SIMOTION project

Hardware configuration
In this step, the SIMOTION device, the bus system and the MASTERDRIVES MC are
created and parameterized via SIMOTION SCOUT and HW Config.
1. Start SIMOTION SCOUT.
2. Click Project > New.
3. Enter a name, e.g. DSC_MCP_3ms.
4. Click OK.
A project is created.

Figure 6-25 Creating a project

5. Double-click Create new device.

Figure 6-26 Open HW Config (example)

6. Select the desired SIMOTION device.

7. Click OK.
8. Click Cancel twice.
The scanning of the PROFIBUS interface properties can be skipped first of all as these
are described in the following.
9. Click OK in the Selection of the Interface - C230 window.

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The HW Config application starts. The rack with the SIMOTION C230 device is displayed.

Figure 6-27 Rack

10.Double-click X8_DP.
The PROFIBUS line is created in the rack.
11.Click the Properties button in the Properties -DP1 - (R0/S2.1) window.
12.Click New.
13.Then select the Network settings tab.
14.Set 2 as the highest PROFIBUS address.
15.Set a transmission rate of 12 Mbit/s on the bus and DP as profile.

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Figure 6-28 Configuration of PROFIBUS lines

16.Click the Options button.

17.Activate the Activate isochronous bus cycle checkbox in the Isochronous mode tab.
18.Enter the desired cycle time, e.g. 3 ms in the Isochronous DP cycle field. The possible
times can be taken from the following table.

Table 6-5 DP cycle time

DP cycle time Motion Control Motion Control Performance 2

1.5 ms - Possible setting
2 ms Possible setting Possible setting
3 ms Possible setting Possible setting
The other described settings are all shown for a DP cycle of 3 ms. For 1.5 ms or 2 ms, the
setting must be modified according to the above table.
1. Confirm the settings by clicking OK four times.
All property windows are closed A PROFIBUS master system has been created.

Note
The X9-DP interface in the rack is not networked for this example. It is set per default for
PROFIBUS communication at 1.5 Mbaud.

2. Open the PROFIBUS DP \ SIMOVERT \ MASTERDRIVES CBP2 directories in the

hardware catalog.
3. Click the PROFIBUS line. This is displayed in black.

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4. Double-click the type: Motion Control Plus.

The Properties - PROFIBUS Interface MASTERDRIVES CBP2 window appears.

Figure 6-29 Attaching a MASTERDRIVES Motion Control Plus to the PROFIBUS

5. Click OK.
The Properties - Drive window appears.
6. Click OK.
7. In the Configuration tab of the DP Slave Properties window, select the Standard message
frame 5 PZD-9/9 as default.
8. In the Clock Synchronization tab, activate the Synchronize drive with equidistant DP cycle
setting.

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Figure 6-30 Selecting isochronous operation

The DP cycle must be set in SIMOTION and in the MASTERDRIVES MC.

SIMOTION
1. Enter the value 5.3 in the Pulse frequency (P340) field.
2. Click the Alignment button.
A message appears.
3. Click Yes.
4. In the DP cycle > Time frame/time base field, enter the value 3.0.
5. Click the Alignment button.
6. Click OK to confirm the changes.

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SIMOVERT MASTERDRIVES MC
Parameter: P340 (pulse frequency)
Meaning:
The pulse frequency must be matched to the DP cycle so that the converter/inverter can be
synchronized with this. Frequencies from 5 to 8 kHz can be set.

Table 6-6 The following relationships between DP cycle time, pulse frequency and task result:

DP cycle time Pulse frequency Task

1.5 ms 5.3 kHz 3 (only possible with Motion Control
Performance 2)
2 ms 8 kHz 4
3 ms 5.3 kHz 4
1. Save and compile the project with Station > Save and compile.
2. Click Station > Check consistency.
3. Click OK to confirm the message.
4. Click Target system > Load to module.
The hardware configuration is completed.
5. Close HW Config.

Note
After loading the hardware configuration, the red BUS1F LED on the C230 may still flash.
The keyswitch is in position STOP. This bus error occurs if the PROFIBUS address and
pulse frequency configured in the HW Config have not yet been set on the
MASTERDRIVES MC.
If communication between the two devices is to be tested at this point, the basic functions
of the MASTERDRIVES MC should be commissioned and the connection to
MASTERDRIVES MC established.
If the settings in SIMOTION and MASTERDRIVES MC match, the BUS2F error does not
occur and the LEDs on the PROFIBUS module of the MASTERDRIVES MC flash in
synchronism.

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FAQs
6.8 SIMOVERT MASTERDRIVES MC on SIMOTION

Creating an axis in SIMOTION SCOUT

1. Open the Axes folder in the project navigator under C230.
The axis wizard opens when you create an axis. This guides you through the
configuration of the axis and cannot be aborted.

Figure 6-31 Inserting an axis

2. Double-click Insert axis.

3. Enter a name for the axis.
4. Click OK.
The Axis configuration - Axis name - Axis type window is opened.

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Figure 6-32 Axis configuration: Axis type

5. Specify the axis type.

In the example, the linear axis setting is retained.
6. Click Continue.
The Axis configuration - Axis name - Units window is opened.
7. Click Continue.
The Axis configuration - Axis name - Modulo window is opened.
8. Click Continue.
The HW Config data is read out. The Axis configuration - Axis name - Drive assignment
window is opened.

Figure 6-33 Axis configuration: Drive assignment

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9. Select the MASTERDRIVES CBP2 as drive unit. The standard message frame 5 is set
automatically. If this is not the case, select standard message frame 5 in the field for the
message frame type.
10.Enter the value 6000 in the Rated speed field.
11.Click Continue.
The Axis - Drive Relationship window is opened.
12.Read the note and click OK.
The online help is opened.
The Axis configuration - Axis name - Encoder assignment window is opened.
13.Select the appropriate properties.
In the example, Incremental encoder in the Encoder type field and SINE in the Encoder
mode field.
The encoder data settings required for SIMOTION are listed in the following table. Only
the input values listed in the tables are evaluated for the respective encoder.
The encoder and resolution must be specified in SIMOTION and in
MASTERDRIVES MC.

Figure 6-34 Example: Axis configuration - selecting the encoder type for an absolute encoder

14.Click Continue.
The Axis configuration - Axis name - Encoder - data window is opened.

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Figure 6-35 Example: Axis configuration - input of the resolution for an absolute encoder

Pulse encoders, resolvers and encoders must be configured according to the tables
under "Encoder settings". This results in the following settings, for example, for the
encoder.

Figure 6-36 Example: Axis configuration - selecting the encoder type for an incremental encoder

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Figure 6-37 Example: Axis configuration - input of the resolution for an incremental encoder

The settings in SIMOTION are specified with the name of the configuration data and can be
shown using the expert list. The following assignments apply to the axis configuration
windows:
Encoder type
• TypeOfAxis.NumberOfEncoders.Encoder_1.encoderType
Encoder mode
• TypeOfAxis.NumberOfEncoders.Encoder_1.encoderMode
Resolution
• TypeOfAxis.NumberOfEncoders.Encoder_1.IncEncoder.IncResolution
• TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsResolution
Number of data bits
• TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsDataLength
Multiplication factor of the cyclic encoder actual value
• TypeOfAxis.NumberOfEncoders.Encoder_1.IncEncoder.IncResolution
• MultiplierCyclic
• TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsResolution
• MultiplierCyclic
Multiplication factor of the absolute encoder actual value
• TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsResolution
• MultiplierAbsolute

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SIMOVERT MASTERDRIVES MC
The required settings of the parameters can be found in the following tables.
Parameter: U922 Index 1 (encoder actual values)
Meaning:
The actual position value is connected via U922.i001 to the encoder interface. With an
absolute encoder, the absolute value from the encoder is specified as the actual position
value. Please note that it takes a moment to read this value after initialization of the Motion
Control system.

Note
If a resolver or encoder is used, the connector KK120 (actual
position value) is set in U922.i001(actual position value of the encoder interface).
If, however, a multiturn encoder is used, the connector KK100
(absolute position) is set in U922.i001(actual position value of the encoder interface).

Parameter: P183 Index 1 (configuration of the position measurement)

Meaning:
The configuration of the position measurement is entered via this parameter.
The last digit enables the position measurement.
xxx1 = resolver/encoder enabled
xxx2 = multiturn encoder enabled (x means not relevant)
Parameter: P171 (position resolution)
Meaning:
In MASTERDRIVES, the position resolution is entered together with a fine resolution
(multiplication factor). The resolution is specified with a power of two.
The position resolution must be set as follows:
2P171 = number of increments * multiplication factor of the cyclic encoder actual value
i.e. for incremental encoders: IncResolution * IncResolutionMultiplierCyclic
i.e. for absolute encoders: AbsResolution * AbsResolutionMultiplierCyclic

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Encoder settings

Table 6-7 Encoder: 1Fxxxxx-xxxxx-xExx ENDAT 2048 S/R

MASTERDRIVES MC settings
U922.1: 100
P171: 22
P183.1: xxx2
SIMOTION settings
TypeOfAxis.NumberOfEncoders.Encoder_1.encoderType=ABS or CYCL_ABS
TypeOfAxis.NumberOfEncoders.Encoder_1.encoderMode=ENDAT
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsResolution=2048
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsDataLength=23
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsResolutionMultiplierCyclic=2048
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsResolutionMultiplierAbsolute=4

Table 6-8 Encoder: 1Fxxxxx-xxxxx-xHxx ENDAT 512 S/R

MASTERDRIVES MC settings
U922.1: 100
P171: 20
P183.1: xxx2
P148.1: 9
SIMOTION settings
TypeOfAxis.NumberOfEncoders.Encoder_1.encoderType=ABS or CYCL_ABS
TypeOfAxis.NumberOfEncoders.Encoder_1.encoderMode=ENDAT
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsResolution=512
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsDataLength=21
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsResolutionMultiplierCyclic=2048
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsResolutionMultiplierAbsolute=4

Table 6-9 Encoder: 1Fxxxxx-xxxxx-xGxx ENDAT 32 S/R

MASTERDRIVES MC settings
U922.1: 100
P171: 12
P183.1: xxx2
SIMOTION settings
TypeOfAxis.NumberOfEncoders.Encoder_1.encoderType=ABS or CYCL_ABS
TypeOfAxis.NumberOfEncoders.Encoder_1.encoderMode=ENDAT
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsResolution=32
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsDataLength=17
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsResolutionMultiplierCyclic=128
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsResolutionMultiplierAbsolute=4

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Table 6-10 Encoder: 1Fxxxxx-xxxxx-xTxx Resolver 2p

MASTERDRIVES MC settings
U922.1: 120
P171: 11
P183.1: xxx1
SIMOTION settings
TypeOfAxis.NumberOfEncoders.Encoder_1.encoderType=INC
TypeOfAxis.NumberOfEncoders.Encoder_1.encoderMode=RESOLVER
TypeOfAxis.NumberOfEncoders.Encoder_1.IncEncoder.IncResolution=1

Table 6-11 Encoder: 1Fxxxxx-xxxxx-xSxx Resolver np

MASTERDRIVES MC settings
U922.1: 120
P171: 12 (for resolver 4p)
13 (for resolver 6p)
13 (for resolver 8p)
P183.1: xxx1
SIMOTION settings
TypeOfAxis.NumberOfEncoders.Encoder_1.encoderType=INC
TypeOfAxis.NumberOfEncoders.Encoder_1.encoderMode=RESOLVER
TypeOfAxis.NumberOfEncoders.Encoder_1.IncEncoder.IncResolution= 2 (for resolver 4p)
4 (for resolver 6p)
4 (for resolver 8p)
Comment on P171:
The value is calculated using the formula: P171 = 11 + x; where
x = log2 (n/2) with x must be rounded up to the next integer
log2 is logarithm to base 2
n is the pole count of the resolver
Comment on TypeOfAxis.NumberOfEncoders.Encoder_1.IncEncoder.IncResolution:
This value is calculated from P171 according to the formula:
TypeOfAxis.NumberOfEncoders.Encoder_1.IncEncoder.IncResolution = 2(P171 - 11)

Table 6-12 Encoder: 1Fxxxxx-xxxxx-xAxx optical incremental encoder 2048 I/R 1 Vpp

MASTERDRIVES MC settings
U922.1: 120
P171: 22
P183.1: xxx1
SIMOTION settings
TypeOfAxis.NumberOfEncoders.Encoder_1.encoderType=INC
TypeOfAxis.NumberOfEncoders.Encoder_1.encoderMode=SINUS
TypeOfAxis.NumberOfEncoders.Encoder_1.IncEncoder.IncResolution=2048
With incremental encoders, a fine resolution of 0 (default value) in the parameter
TypeOfAxis.NumberOfEncoders.Encoder_1.IncEncoder.IncResolutionMultiplierCyclic means a fine
resolution of 211 = 2048.

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Differences between ABS and CYCLE_ABS:

• In the case of ABS, the absolute actual position of the encoder is assumed after switching
on the C230 or following an encoder error.
• In the case of CYCL_ABS, overflows of the encoder areas are carried over in the NVRAM
and taken into account when the cycle is resumed. With this setting, an overall reset must
be carried out on the controller prior to initial loading of the project. Then, the encoder
must be readjusted. If the settings for the absolute encoder are modified, the encoder
must likewise be readjusted.
With the controller switched off, the encoder may only be moved a maximum distance ≤
"half the encoder range" in both traversing directions in order to still be able to detect the
exact position.

Completing the axis configuration

1. Click Next. The set data is displayed.

Figure 6-38 Last window of the axis configuration

2. Click Finish.
The settings are saved. A message appears, read the information and confirm this
window.
Once you have created the axis, certain further settings need to be entered, in order to
optimize the interaction between SIMOTION and MASTERDRIVES MC.

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Deactivating the following error monitoring in SIMOTION SCOUT

To prevent the following error monitoring interrupting an axis motion, it can be set to a higher
value or deactivated. A high following error can occur, for example, as a result of a missing
drive optimization.
1. In the project navigator, open the folder of the created axis.
2. Double-click Monitoring.
3. Click the Following error monitoring tab in the working area.
4. Deactivate the Dynamic following error monitoring active checkbox.
5. Click Close.
The following error monitoring must be matched to the requirements and mechanical system
of the plant when commissioning an application.

Warning
If the following error monitoring is increased or deactivated, larger incorrect motions can also
occur on the axis in the case of an error (e.g. incorrect position control direction). This is
particularly important, for example, when the axis only has a limited traversing range.

Figure 6-39 Deactivating the following error monitoring

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Setting the position control configuration in SIMOTION SCOUT

1. In the project navigator, double-click Control under Axis.
2. Set the following data in the working area:
Kv factor: Enter
Speed precontrol: Activate
Fine interpolator: Select constant velocity interpolation
Dynamic drive control (DSC): Leave activated

Figure 6-40 Position control configuration

3. Click Close.

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Setting system cycle clocks in SIMOTION SCOUT

1. In the project navigator, right-click Execution system and select Expert > Set system
cycle clocks.
2. Set the values.
3. Click OK.
A message appears, read the information and confirm with OK.

Figure 6-41 Setting system cycle clocks

Specifying the system cycle clocks

The system cycle clock settings in SIMOTION affects the position setpoint adaptation in
MASTERDRIVES MC.

SIMOTION
The ratio of DP cycle clock to position control cycle clock and to interpolator cycle clock is
set to 1:2:2, for example. This represents a DP clock cycle of 3 ms, a position controller
clock cycle of 6 ms and an interpolator clock cycle of 12 ms.
For instructions on how to activate and use interpolator cycle clock 2, see the online
documentation in SIMOTION SCOUT.

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SIMOVERT MASTERDRIVES MC
Parameter: P770 (time slice interpolator)
Meaning:
The transition from the position control cycle clock (SIMOTION) to the sampling time of the
position controller (Motion Control) is controlled by an interpolator which compensates for the
transformation ratio.
• Up to MASTERDRIVES software Version V2.2
The transformation ratio can only be specified in the form position control cycle clock / DP
cycle = 2(P770-1).
I.e. if the DP cycle and the position control cycle clock are the same, then you must enter
the value 1 in P770. If the position control cycle is double the DP cycle, you must set the
value to 2.
• As of MASTERDRIVES software Version V2.2
The transformation ratio can only be specified in the form position control cycle clock / DP
cycle = 2(P770-3).
I.e. if the DP cycle and the position control cycle clock are the same, then you must enter
the value 3 in P770. If the position control cycle is double the DP cycle, you must set the
value to 4.

Correction of system-related dead times in SIMOTION SCOUT

1. Right-click the axis.
2. Right-click and select Expert > Expert List.
The expert list opens in the working area.
3. Click the Configuration data tab.
4. Open the structure under typeOfAxis > SystemDeadTimeData.
5. Enter the appropriate value in additionalTime.
In our example, the value 0.002625.

Table 6-13 Values of system-related dead times

DP cycle time Motion control up to SW V2.2 Motion control as of SW V2.2

1.5 ms 0.003 s (only possible with Motion 0.001875 s
Control
Performance 2)
2 ms 0.002 s 0.001750 s
3 ms 0.003 s 0.002625 s
1. Confirm the input by pressing the Enter key.

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Figure 6-42 Input window for correction of the system-related dead time

Specifying the homing mode

Note
The statements with respect to the homing modes in this section and the screenshots only
refer to the homing settings for axes on a C2xx in connection with a MASTERDRIVES MC.
The homing options depend on the respective drive.

If the connected axis is to be homed, the homing mode must be specified in both SIMOTION
and MASTERDRIVES MC.
1. In the project navigator, double-click Homing under Axis.
2. Enter the required homing mode and the appropriate data.
3. Click Close.

Additional references
Please refer to the following document on this subject
• SIMOTION Motion Control, TO axis, TO externalEncoder, Description of Functions

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Homing mode "External zero mark only"

When a defined edge of the external zero mark is crossed, the position is accepted.

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Figure 6-43 Hardware configuration: Homing (External zero mark only)

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SIMOTION
If External zero mark only is selected as the homing mode, the approach direction can be
selected by means of homing direction.
Signal control and BERO edge are not significant, as the positive edge is always evaluated
in Motion Control with the parameterization of the script file (e.g. "STDTLG5_T4_V21.ssc").
The homing external zero mark for Motion Control must be connected to digital input 4
(interrupt-capable inputs / terminal X101/6). With the script file, the digital inputs 4 or 5 are
configured as measuring input 1 and measuring input 2 and can be addressed via
SIMOTION. Digital input 4 can be used as external zero mark and as measuring input.
Digital input 5 can be used as measuring input.
The parameterization of U922.i005 and U923.i001 in Motion Control should be set to KK122
and B212 for MASTERDRIVES MC in accordance with the description below. As the zero
position is of no significance here, the parameterization of the 2nd position of P183.i001 has
no effect.

Figure 6-44 Axis homing in SIMOTION (homing mode External zero mark only)

Homing mode "Encoder zero mark only"

An external zero mark signal is not necessary. The position is accepted at the next zero
mark of the encoder.

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SIMOTION
If Encoder zero mark only is selected as the homing mode, the approach direction can be
selected by means of homing direction.
This must be compatible with the parameterization of the 2nd digit of P183.i001 in the Motion
Control.
If Zero mark in negative direction ... is selected in the window, P183.i001=xx2x must be
entered in the Motion Control.
If Zero mark in positive direction ... is selected, P183.i001 = xx1x must be set in the Motion
Control.

Figure 6-45 Axis homing in SIMOTION (homing mode Encoder zero mark only)

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Homing mode "Homing output cam and encoder zero mark"

The axis traverses in the specified homing direction. Once the BERO signal is reached, the
velocity of the axis switches from the homing approach velocity to the homing reduced
velocity. Once the BERO is left, the axis is homed at the next detected zero mark of the
encoder.
The homing BERO is connected to an unassigned SIMOTION I/O input.

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Figure 6-46 Hardware configuration: Homing (Homing output cam and encoder zero mark)

If Homing output cam and encoder zero mark is selected as the homing mode, the
evaluation position of the zero mark and the approach direction as the homing direction can
be selected via zero mark.
These must be compatible with the parameterization of the 2nd digit of P183.i001 in the
Motion Control.
This means: If the negative direction is chosen as the homing direction in the window and
the zero mark is "behind the home position switch", the setting P183.i001=xx2x must be
configured in the Motion Control; if negative direction is selected and zero mark is "before
the home position switch", the setting P183.i001=xx1x must be configured in the Motion
Control.
If, however, the positive direction is chosen as the homing direction in the window and the
zero mark is "behind the home position switch", the setting P183.i001=xx1x must be
configured in the Motion Control; if positive direction is selected and zero mark is "before the
home position switch", the setting P183.i001=xx2x must be configured in the Motion Control.
The homing external zero mark must be connected to a freely selectable digital input of
SIMOTION which has been configured in the Home Axis window. When the external zero
mark is reached, homing is enabled in the drive.

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Figure 6-47 Axis homing in SIMOTION (homing mode Homing output cam and encoder zero mark)

SIMOVERT MASTERDRIVES MC
Parameter: U922 index 5 (encoder actual values)
Meaning:
The homing value is connected to the encoder interface via U922.i005. If Homing output cam
and encoder zero mark or Zero mark only are used for homing, the homing procedure is
performed via the home position detection in the Motion Control. However, if External zero
mark only is used for homing, the position measured value memory in Motion Control is used
for the homing procedure.
If Homing output cam and encoder zero mark or Encoder zero mark only are used for
homing, connector KK124 (home position measured value) should be set in U922.i005
(encoder interface homing value).
If External zero mark only is used for homing, connector KK122 (position measured value
memory) should be set in U922.i005 (encoder interface homing value).
Parameter: U923 index 1 (encoder checkback signal)
Meaning:
The checkback signal (acknowledgement) "home position detected" is connected to the
encoder interface via U923.i001. If Homing output cam and encoder zero mark or Zero mark
only are used for homing, the homing procedure is performed via the home position
detection in the Motion Control. However, if External zero mark only is used for homing, the
position measured value memory in Motion Control is used for the homing procedure.
If Home position switch and zero mark or Encoder zero mark only are used for homing,
binector B210 (home position detected acknowledgement) should be set in U923.i001
(homing value detected checkback signal, encoder interface).

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If, however, External zero mark only is used for homing, binector B212 (measured value
valid acknowledgement) should be set in U923.i001 (homing value detected checkback
signal, encoder interface).
Parameter: P183 index 1 (position measurement configuration)
Meaning:
The position detection configuration is entered in this parameter.
xx1x=The 1st zero position to the right of the coarse pulse (external zero mark) is evaluated
xx2x=The 1st zero position to the left of the coarse pulse (external zero mark) is evaluated
(x means not relevant)
The SIMOTION project is now configured. The MASTERDRIVES MC is set in the next step.

"Measuring" function
You can use the "measuring" function to acquire the actual position of an axis at any time. A
typical application is the acquisition of a print mark for the purpose of synchronizing the axis
to this mark.
The measuring input must be connected to fast input X101/6 or X101/7. The input is isolated.
This enables more than one input to be switched in parallel, whereby the reference potential
of the 24 V supply of the measuring input (for example, from the network supply) must also
be wired.

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Figure 6-48 Hardware configuration: Measuring

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Inserting a measuring input in SIMOTION SCOUT

1. Open the Measuring inputs folder in the project navigator.
2. Double-click Insert measuring input.
3. Enter a name for the measuring input.
4. Click OK.
5. Click Close.
Two measuring inputs can be connected to the MASTERDRIVES:
• Measuring input 1 to X101/6
• Measuring input 2 to X101/7
Only one measuring input can be activated at any time. For example, before you activate
Measuring input 2, you must make sure that Measuring input 1 is not active.
The measuring input number is assigned as follows:
• Measuring input 1 ⇒ "1"
• Measuring input 2 ⇒ "2"

SIMOVERT MASTERDRIVES Motion Control

Settings in the Edge field (SIMOTION; calling the measuring function in the user program):
• Rising edge or
• Falling edge
If you select another setting, the last valid value is taken over (rising or falling).

Response times for the measuring function

In SIMOTION, measuring can be used in various configurations. Depending on the
connection of the axis (via PROFIBUS DP) and the processing level (position control cycle
clock or IPO cycle clock), you must take different response times for the measuring function
into account in the application.
In the user program, measuring is started with the function call
_enableMeasuringInput. You can specify when the measuring function is to be active during
the call:
• Immediately (without measuring window)
MeasuringRangeMode = WITHOUT_SPECIFIC_AREA
• Within a position-dependent measuring window
MeasuringRangeMode = WITH_SPECIFIC_AREA
When measuring without measuring window, the measuring input is immediately activated
with _enableMeasuringInput.
Before the measuring edge is evaluated at the hardware input, there is a
configuration-dependent runtime. To be certain to detect the measuring edge, you must
ensure that _enableMeasuringInput is executed earlier by this amount of runtime in the user
program.

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When measuring with measuring window, the job is first only registered in the system with
_enableMeasuringInput. Only when the axis has reached the start of the measuring window
is the measuring input activated.
From the time of reaching the start position of the measuring window on the axis
(mechanical) until the evaluation of the measuring edge at the hardware input, there is a
configuration-dependent runtime. In order that the measuring input is active when the start
position of the measuring window on the axis is reached, you must move the start of the
measuring window forward depending on the axis velocity and the response time during the
function call.
This is also valid for the end of the measuring window. It is important that the measuring
input is no longer active when the end of the measuring window on the axis (mechanical) is
passed.
These runtimes can be compensated with the MeasuringRange.activationTime configuration
data item.

Note
The runtimes are only compensated without error for constant axis velocity.

The offset of the measuring window only functions reliably when the axis velocity
• Within the measuring window is constant and
• Known before the function call.
You can determine the response times for your configuration using the following tables. The
values in the tables refer to set system cycle clocks. By using the actual times, you can
calculate the response time in milliseconds.
The following abbreviations are used in the tables:
• (IS) IPO cycle clock or position control cycle clock
(is dependent on whether the measuring input is processed in the IPO or position control
cycle clock; can be selected during the configuration of the measuring input)
• (DP) Cycle time on the PROFIBUS DP
• (DR) Cycle time in the drive (time slice in which the measuring function is evaluated)

Table 6-14 Measuring without measuring window

MASTERDRIVES MC
_enableMeasuringInput 2 (IS) + 3 (DP) + 3 (DR)
Ready to detect the measuring edge
Detection of the measuring edge 2 (IS) + 8 (DP)
Result in SIMOTION for further processing
Total 5 (IS) + 11 (DP) + 2 (DR)
Minimum time between two measurements
In addition, the restrictions of the respective system must be taken into
account.

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Table 6-15 Measuring with measuring window: Measuring edge is detected in the window

MASTERDRIVES MC
_enableMeasuringInput 2 (IS)
Ready for the evaluation of the measuring range (start of the measuring
window)
Start of the measuring window on the axis (mechanical) reached 2 (IS) + 3 (DP) + 2 (DR)
Ready to detect the measuring edge
Detection of the measuring edge 2 (IS) + 8 (DP)
Result in SIMOTION for further processing
Total 5 (IS) + 11 (DP) + 2 (DR)
Minimum time between two measurements
In addition, the restrictions of the respective system must be taken into
account.

Table 6-16 Measuring with measuring window: No measuring edge in the window

MASTERDRIVES MC
_enableMeasuringInput 2 (IS)
Ready for the evaluation of the measuring range (start of the measuring
window)
Start of the measuring window on the axis (mechanical) reached 2 (IS) + 3 (DP) + 2 (DR)
Ready to detect the measuring edge
Start of the measuring window on the axis (mechanical) reached 2 (IS) + 3 (DP) + 2 (DR)
Reset: "Ready to detect the measuring edge"
Resetting of the ready to measure 2 (IS) + 8 (DP)
Checkback signal in SIMOTION for further processing
Total 7 (IS) + 14 (DP) + 4 (DR)
Minimum time between two measurements
In addition, the restrictions of the respective system must be taken into
account.

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6.8.4 Basic commissioning of MASTERDRIVES MC

What has to be observed?

One of the commissioning tools, Drive Monitor or Drive ES, is used to commission the
Masterdrives MC. If the connection is made via the serial interface USS, the bus address in
Parameter P700 and the baud rate in Parameter P701
• 6 → 9600 baud
• 7 → 19200 baud
• 8 → 38400 baud
must match the settings in the commissioning tool used.

Setting the basic functions

The initial step in a guided commissioning procedure is to configure the hardware (used
power unit, motor, encoder, etc.), the interfaces, etc. This is performed with one of the
commissioning tools, Drive Monitor or Drive ES, by calling up the Parameter > Guided
commissioning > Basic functions menu item.
1. Open the Configuration window.
2. Select for
– Motion Control devices, the power unit according to the order no. of the converter and
enter the supply voltage.
– Motion Control Compact Plus devices, the supply voltage. The power unit of this
device cannot be changed, it is automatically detected and displayed with a gray
background (like the individual slot assignments).

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Figure 6-49 Guided commissioning of the basic device: Configuration window

3. Click Next.
4. Select the connected motor in the Motor window.

Figure 6-50 Guided commissioning of the basic device: Motor window

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5. Click Next.
6. Select the connected motor encoder in the Motor Encoder window.

Figure 6-51 Guided commissioning of the basic device: Motor Encoder window

7. Click Next.
8. In the Setpoints, Control Type window, select the setting PROFIBUS DP and terminal
strip.

Figure 6-52 Guided commissioning of the basic device: Setpoints and Control Type window

9. Click Next.

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10.In the Closed-loop Control window, enter the optimized speed controller parameters
(Kp and Tn), torque limits, etc.
11.Click Next.
Do not make any settings in the following window.
12.Click Next.
13.Set the bus address in the Communication window.

Figure 6-53 Guided commissioning of the basic device: Communication window

14.Click Next.
At the end of the guided commissioning, a summary of the parameterization is displayed.

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Figure 6-54 Guided commissioning of the basic device: Summary

15.When you click Accept configuration and confirm your entries with OK and Next, the
parameterization is loaded to the converter.
A message window confirms that the parameterization has been successfully loaded.
16.Click OK to confirm the message.
The guided commissioning of the basic device is completed. You must now connect
MASTERDRIVES MC to SIMOTION.

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Connecting MASTERDRIVES MC to SIMOTION

In this step, the parameterization is performed for the connection of the Motion Control to
SIMOTION for standard message frame type 5. This is performed with a script file in
accordance with the DP cycle time. The script files are stored on the Add-On CD in folder
4_Accessories.

Table 6-17 DP cycle times and associated script files

DP cycle time Script file

1.5 ms STDTLG5_T3_V21.ssc
(only possible with Motion Control Performance 2)
2 ms STDTLG5_T4_V21.ssc
3 ms
The appropriate script file implements the following parameter assignments / functionalities
on the Motion Control converter/inverter:
• All digital outputs and speed setpoint interconnections are reset.
• Instructions for setting application-dependent parameters are provided initially in a
message box. The settings are configured in the next dialog box that is displayed.
All application-dependent parameters have already been described in the "Creating a
SIMOTION project" section. Examples are parameters U922 and U923 (encoder
interface), which have to be modified etc. depending on the application (e.g. homing with
zero mark or with External zero mark only).
• Errors occurring after Power On are acknowledged automatically.
• The SST1 interface is located in the T6 time slice.
• Motor potentiometer functionality is excluded from the time slice.
• The DSC kernel function is implemented with free blocks.
• Interconnection of free modules for the implementation of the functionalities homing with
External zero mark only and measuring.
• Wiring of the standard message frame 5 process data in the converter/inverter.
• Wiring of the motor encoder interface. A wiring of the external encoder interface is not
implemented.
The following section describes the procedure for the execution of script file
STDTLG5_T4_V21.ssc. The procedure is the same for script file STDTLG5_T3_V21.ssc:
1. Open the Drive Monitor or Drive ES commissioning tool.
2. Click File > Execute script file... in the menu bar.
3. Select the STDTLG5_T4_V21.ssc script file for the standard message frame 5 and open
it.

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Note
The 6SE70MC converter/inverter must not be in the "RUN" mode (r001=14).
The settings for the sources of the digital outputs which are possible via the menu
Parameters > Guided commissioning > Basic functions are reset at the next Execute
script file...!

You are now guided online via Windows windows.

4. Click the Start button.

Figure 6-55 Starting the script file STDTLG5_T4_V21.ssc

5. Accept the exclusion of liability.

6. Confirm the connection of the Motion Control to SIMOTION for the standard message
frame 5.

Note
You can stop the execution of the script file by clicking the Cancel button.

7. Read the contents of the message box with the setting information for the application-
dependent parameter P340 (pulse frequency).
8. Click OK to confirm the message.

Figure 6-56 Message box with setting information for P340

9. Set the required value for the application-dependent parameter P340 (pulse frequency).

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Figure 6-57 Dialog box for setting P340

10.Read the contents of the message box with the setting information for the application-
dependent parameter U922.i001 (actual position value of the encoder interface).
11.Click OK to confirm the message.

Figure 6-58 Message box with setting information for U922.i001

12.Set the required value for the application-dependent parameter U922.i001 (actual
position value of the encoder interface).

Figure 6-59 Dialog box for setting U922.i001

13.Read the contents of the message box with the setting information for the application-
dependent parameter U922.i005 (homing value of the encoder interface).
14.Click OK to confirm the message.

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Figure 6-60 Message box with setting information for U922.i005

15.Set the required value for the application-dependent parameter U922.i005 (homing value
of the encoder interface).

Figure 6-61 Dialog box for setting U922.i005

16.Read the contents of the message box with the setting information for the application-
dependent parameter U923.i001 (home position checkback signal of the encoder
interface).
17.Click OK to confirm the message.

7KHDFNQRZOHGJHPHQWIRUWKHKRPLQJSURFHGXUHLVHQWHUHGLQWKHIROORZLQJGLDORJER[ 8L 
,IWKHKRPLQJLVWREHSHUIRUPHGZLWK([WHUQDO]HURPDUNDQG]HURSXOVHWKHGHIDXOWYDOXH % 
RQO\KDVWREHFRQILUPHG,IKRZHYHUWKHKRPLQJLVWREHSHUIRUPHGZLWK([WHUQDO]HURPDUNRQO\
WKHYDOXH% LQ8L PXVWEHHQWHUHG

Figure 6-62 Message box with setting information for U923.i001

18.Set the required value for the application-dependent parameter U923.i001 (home position
checkback signal of the encoder interface).

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Figure 6-63 Dialog box for setting U923.i001

19.Read the contents of the message box with the setting information for the application-
dependent parameter P171 (position resolution).
20.Click OK to confirm the message.

Figure 6-64 Message box with setting information for P171

21.Set the required value for the application-dependent parameter P171 (position
resolution).

Figure 6-65 Dialog box for setting P171

22.Read the contents of the message box with the setting information for the application-
dependent parameter P183.i001 (position measurement configuration).

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23.Click OK to confirm the message.

Figure 6-66 Message box with setting information for P183.i001

24.Set the required value in the dialog box for the application-dependent parameter
P183.i001 (position measurement configuration):

Figure 6-67 Dialog box for setting P183.i001

25.Read the contents of the message box with the setting information for the application-
dependent parameter P205 (rated velocity).
26.Click OK to confirm the message.

Figure 6-68 Message box with setting information for P205

27.Set the required value for the application-dependent parameter P205 (rated velocity).

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Figure 6-69 Dialog box for setting P205

28.Read the contents of the message box with the setting information for the application-
dependent parameter P770 (interpolator).
29.Click OK to confirm the message.

Figure 6-70 Message box with setting information for P770

30.Set the required value for the application-dependent parameter P770 (interpolator).

Figure 6-71 Dialog box for setting P770

31.Click OK.
A message appears after the successful commissioning. Confirm this with OK.

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Note
If an "Error" message is also to appear, then open the associated LOG file (name the
same as the script file but with the extension .LOG) either with the Log button or an editor
for the troubleshooting. You can find the LOG file in the commissioning tool in the same
directory as the script file.
After configuration, the green 5 VDC LED and the yellow STOP LED light up on the
SIMOTION. The keyswitch is in the STOP position.
The 3 LEDs of the PROFIBUS module flash in synchronism on the MASTERDRIVES MC.

6.8.5 Creating a sample program for positioning in SIMOTION SCOUT

Program overview
In this section, a program for positioning the connected axis is created in the MCC (Motion
Control Chart) editor.

Inserting the programs

Create four programs with MCC.
motion_1
backgr
perfault
tecfault

Creating a program with MCC

1. Open the Programs folder under the created SIMOTION device in the project navigator.
2. Double-click Insert MCC unit.
3. Enter the name motion_1 for the MCC unit.
4. Click the Compiler tab.
5. Activate the required settings.
6. Click OK. An MCC unit is created in the project navigator.
7. Double-click the MCC unit motion_1 in the project navigator.
8. Double-click Insert MCC chart.
9. Enter the name motion_1 for the MCC.
10.Click OK. The MCC is opened.
11.Click the Single-axis commands > Switch axis enable icon.
The command is inserted.
12.Click the Single-axis commands > Position axis icon.
The command is inserted.
13.Click the Single-axis commands > Remove axis enable icon. The command is inserted.

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Figure 6-72 Menu bar of the single-axis commands

Figure 6-73 Opened command: Position axis

14.Double-click the Switch axis enable command.

15.Click OK.
16.Double-click the Position axis command.

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17.Enter the value 2000 at Position.

18.Select Relative in the Type field.

Figure 6-74 Arrangement of the single-axis commands in MCC motion_1

19.Click OK.
20.Double-click the Remove axis enable command.
21.Click OK.
22.Click the Save and compile button.

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Creating the backgr program

1. Double-click Insert MCC unit.
2. Enter the name backgr for the MCC unit.
3. Click the Compiler tab.
4. Activate the required settings.
5. Click OK. An MCC unit is created in the project navigator.
6. Double-click the MCC unit backgr in the project navigator.
7. Double-click Insert MCC chart.
8. Enter the name backgr for the MCC.
9. Click OK. The MCC is opened.
10.Enter the variables data in the MCC unit.
– In the Name field: Run
– As variable type, select: VAR_GLOBAL
– As data type, select: BOOL
– In the Initial value field: False

Figure 6-75 Entering a global variable

11.Click the IF program branch icon in the command bar.

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Figure 6-76 IF program branch under basic commands

12.Double-click the IF program branch command.

13.Select Formula and enter the condition Run=true.

Figure 6-77 Configuration of the IF program branch

14.Confirm the input with OK.

15.Click the Task commands > Start task icon.
The command is inserted.
16.Click the Important commands > Variable assignment icon.
The command is inserted.
17.Double-click the Start task command.

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18.Click OK to confirm.
19.Double-click the Variable assignment command.
20.Enter the statement Run:=false.

Figure 6-78 Configuration of the variable assignment

21.Click OK.

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Figure 6-79 Completed program of the BackgroundTask

22.Click the Save and compile button.

Creating the perfault program

1. Double-click Insert MCC unit.
2. Enter the name perfault for the MCC unit.
3. Click the Compiler tab.
4. Activate the required settings.
5. Click OK. An MCC unit is created in the project navigator.
6. Double-click the MCC unit perfault in the project navigator.
7. Double-click Insert MCC chart.
8. Enter the name perfault for the MCC.
9. Click OK. The MCC is opened.
10.Click the Save and compile button.

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Creating the tecfault program

1. Double-click Insert MCC unit.
2. Enter the name tecfault for the MCC unit.
3. Click the Compiler tab.
4. Activate the required settings.
5. Click OK. An MCC unit is created in the project navigator.
6. Double-click the MCC unit tecfault in the project navigator.
7. Double-click Insert MCC chart.
8. Enter the name tecfault for the MCC.
9. Click OK. The MCC is opened.
10.Click the Save and compile button.

Assigning programs to the execution system

1. In the project navigator, double-click Execution system under the SIMOTION device. The
execution system is opened in the working area.

Figure 6-80 Execution system of the SIMOTION device

2. Click the MotionTasks button.

3. Assign the motion_1 program to MotionTask_1.

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4. Assign the backgr program to the BackgroundTask.

5. Assign the perfault program to the PeripheralFaultTask.
6. Assign the tecfault program to the TechnologicalFaultTask.

Figure 6-81 Assignment of the tasks in the task system

7. Click the Save and compile project button.

Loading the programs to the SIMOTION device and switching to RUN

The keyswitch of the C230 is still set to STOP.
1. Establish an online connection. Click the Connect to target system button.
2. Click the Download project to target system button.
This can take several minutes.
3. Switch the SIMOTION device to RUN via the keyswitch after the project has been
downloaded to the target system. Two LEDs, the green 5 VDC and the RUN LED, light
up.

Monitoring and controlling in SIMOTION SCOUT

1. Click the Connect to target system button.

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2. Select the backgr program.

3. Select the Symbol browser tab.
4. As control value, enter the variable Run "TRUE".
5. Activate the setting in Status value.
6. Click Start status. The value FALSE is displayed.
7. Activate the setting in Control value.
8. Click Control immediately.

Figure 6-82 Monitoring and controlling the variable in the BackgroundTask

The motor now rotates at 6000 rpm and approaches the position 2000 mm. You can check
this by selecting Axis_1 under Axes, opening positioningstate in the symbol browser, and
noting the actualposition.
1. Select the variable to be monitored.
2. Click Start status.

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Figure 6-83 Checking the positioning motion in the symbol browser of Axis_1

When the axis has finished positioning, a value of 2000 mm appears here. If the positioning
is restarted, the actual position value increases by 2000 mm for each motion.

6.8.6 MASTERDRIVES MC commissioning tool

Commissioning tool
This section explains how to establish a connection to the MASTERDRIVES MC via a serial
interface using the Drive Monitor or Drive ES commissioning tools.
The serial interface of the MASTERDRIVES MC is set to 9600 baud and the bus address is
set to 0 at the factory. The bus address can be read out via parameter P700 on the PMU
operator panel of the converter.
The baud rate is in parameter P701, whereby:
• 6 → means 9600 baud
• 7 → means 19200 baud
• 8 → means 38400 baud.

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Communication via DRIVE ES

1. Open the SIMATIC Manager.
2. Insert a drive in the project directory via Insert > Drive.
3. Insert a MASTERDRIVES MC Plus with Version 01.6 and bus address 0.
4. Click OK.
5. Right-click the inserted drive and select Target system > Drive > Overview in the context
menu.
6. Select Options > Interface settings.
7. Select USS in the Bus type tab.
8. Set 9600 baud in the COM interface used in the Interface tab.
9. Close the window.
10.In the menu bar, click Target systems > Drive > Parameterization.
11.Parameterize the drive.

Communication via Drive Monitor

1. Start the Drive Monitor.
2. Create a parameter set via the menu File > New > Empty parameter set.
3. Insert a MASTERDRIVES MC with Version 01.6 and bus address 0.
4. Click OK.
The file is saved and the parameter set is opened offline.
5. In the menu bar, click View > Online (EEPROM).
The connection to the drive is established. If a connection cannot be established, you
must set the interface via Options > ONLINE settings.

6.8.7 MASTERDRIVES VC in connection with an axis

Introduction
This section describes how to integrate the MASTERDRIVES Vector Control converter unit
as a drive in the SIMOTION SCOUT program. This description is valid for the
MASTERDRIVES VC connection to a drive axis or a position axis. With a position axis, you
must also assign the encoders. This is noted at the appropriate position in this description.
In the following example, the converter unit is controlled via standard message frame 1.

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Inserting a MASTERDRIVES VC in HW Config

1. In the project navigator, double-click the SIMOTION device.
HW Config opens.
2. Insert the converter unit used from the HW catalog into the PROFIBUS subnet. To do
this, use the following components from the HW catalog:

Note
The SIMOVERT/MASTERDRIVES CBP2/Vector Control CUVC has a front panel that can
be swung open and behind this there is a plug-in card drawer unit with at least one plug-
in card.

– SIMOVERT/MASTERDRIVES CBP2/Vector Control CUVC or

– SIMOVERT/MASTERDRIVES CBP2/Vector Control Plus
3. Select the standard message frame 1, PZD-2/2.
4. Click the Save and compile button.
5. Click the Load to module button.
6. Close HW Config.

Inserting and modifying a virtual axis in SIMOTION SCOUT

1. Insert a virtual axis into the project navigator of SIMOTION SCOUT.
2. Call the expert list.
3. Convert the virtual axis into a real axis.
4. Select the virtual axis in the project navigator.
5. Open the expert list via the shortcut menu.
6. Open the following directory in the expert list: ConfigurationData\TypeOfAxis.
7. Make the following setting:
• typeOfAxis = REAL_AXIS (0)

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Figure 6-84 TypeOfAxis configuration data

Assigning encoders
• NumberOfEncoders/Encoder_1/encoderIdentification = ONBOARD (1), set EncoderType,
EncoderMode and EncoderSystem according to the encoder installed
• NumberOfEncoders/Encoder_1/DriverInfo/logAddressIn = 128 (or 160, 192, 224)
• NumberOfEncoders/Encoder_1/DriverInfo/logAddressOut = 128 (or 160, 192, 224)
• NumberOfEncoders/Encoder_1/DriverInfo/telegramType = NO_TELEGRAM (0)
• NumberOfEncoders/Encoder_1/IncEncoder/incResolution = 1024 (or number of
increments without pulse multiplication)

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Figure 6-85 Encoder configuration data

Assigning the setpoint output

• SetPointDriverInfo/mode = DP MASTER (2)
• SetPointDriverInfo/logAddressIn = 256 (or I address of DP slave)
• SetPointDriverInfo/logAddressOut = 256 (or O address of DP slave)
• SetPointDriverInfo/telegramType = standard message frame 1 (1)

Figure 6-86 Setpoint output configuration data

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Commissioning the MASTERDRIVES VC

The converter unit is commissioned with the Drive Monitor or Drive ES Basic program.
1. Establish an online connection to the converter unit.
2. Start the guided basic device commissioning via the menu item Parameter > Basic device
commissioning.
With the guided basic device commissioning, you should have selected the following
settings:
– PROFIBUS DP and terminal strip selection, parameterize all digital inputs without
function
– Without motor encoder:
Speed control without tachometer (F control)
– With motor encoder connected to the Vector Control:
Speed control with tachometer (n control)
– Setting the PROFIBUS address
– Set the ramp-function generator according to the dynamic requirements (please make
sure you have the correct units)
3. Adapt the following parameters. You can then address MASTERDRIVES Vector Control
from SIMOTION via a PROFIBUS connection:
– P571 = P572 = 1 (pos. and neg. direction of rotation)
– P573 = P574 = 0 (motor potentiometer higher/lower)
– P575 = 1 (external error, low-active)

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6.9 6.9 SIMODRIVE 611U to SIMOTION

6.9.1 Connecting SIMODRIVE 611U to SIMOTION

Standard options when using the SIMODRIVE 611U

This section describes the most important standard options when using the
SIMODRIVE 611U on SIMOTION. Although additional functions can be executed with the
SIMODRIVE 611U, these must be examined on an individual basis.
This description does not replace the device documentation for the SIMODRIVE 611U. A
complete functional description of the SIMODRIVE 611U can be found in the Description of
Functions for SIMODRIVE 611 Universal "Closed-loop Control Components for Speed
Control and Positioning".

POSMO C and POSMO S

POSMO C and POSMO S drives can also be used on SIMOTION. These drives belong to
the SIMODRIVE 611U family and are parameterized with the same commissioning tools.
The adaptation to SIMOTION is comparable to the approach described for the
SIMODRIVE 611U. However, the functional scope is different and is contained in the
corresponding device description.

Note
The following sections refer only to the SIMODRIVE 611U. The described approach also
applies to POSMO S and POSMO C.

Restrictions
The data exchange broadcast function of the SIMODRIVE 611U cannot yet be used in
connection with SIMOTION.
If a double-axis module is used, either both axes must be created as a technology object
(TO) or both axes must be addressed from the user program via the PZD interface. A mixed
operation, in which one axis is operated as a TO axis and the other axis from the user
program via the process data interface, is not possible.

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Requirements of the 611U converter

• SIMODRIVE 611U closed-loop control module
• PROFIBUS DP3 option module for isochronous PROFIBUS DP
Closed-loop control module options:
2-axis for encoder sin/cos 1 Vpp n-set 6SN1 118-0NH0_-0AA_
2-axis for encoder sin/cos 1 Vpp positioning 6SN1 118-1NH0_-0AA_
2-axis for resolver n-set 6SN1 118-0NK0_-0AA_
2-axis for resolver positioning 6SN1 118-1NK0_-0AA_
1-axis for resolver n-set 6SN1 118-0NJ0_-0AA_
1-axis for resolver positioning 6SN1 118-1NJ0_-0AA_
PROFIBUS DP3 option module 6SN1 114-0NB01-0AA0

Note
As a general principle, a closed-loop control card for speed setpoint operation is sufficient for
operation with SIMOTION. This is also the case when DSC is used.
If you want to use an external encoder on the axis, you must select a 2-axis closed-loop
control module, whereby the second axis cannot be used to control a motor.

Software requirements

Personal computer minimum requirements

• Windows 2000 Professional Service Pack 3 or Windows XP Professional Service Pack 2
• SIMATIC STEP 7 V5.3 Service Pack 3
• SimoCom U V4.x
(depends on the firmware version of the SIMODRIVE 611U)
• SIMOTION SCOUT V3.0

Minimum converter requirements

• SIMODRIVE 611U firmware Version V4.x; can be read out in parameter P1799
• PROFIBUS V4.x option module; can be read out in parameter P1795

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6.9.2 Upgrading the firmware

Proceed as follows:
1. Connect SimoCom U to the drive via the RS-232-C.

Note
SimoCom U may not be connected via PROFIBUS DP!
Do not cancel the downloading operation or interrupt the online connection to the
SIMODRIVE 611U under any circumstances.

Figure 6-87 Firmware upgrade: Interface window

2. Open the commissioning tool.

3. In the menu bar, click Options >Service > . . .
If you want to upgrade the drive, select Firmware upgrade.
If you want to upgrade the PROFIBUS module, select Firmware upgrade of PROFIBUS
option module.
You are guided through the upgrade.

Note
This example shows the procedure for upgrading the firmware of the drive.

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Figure 6-88 SimoCom U firmware upgrade

4. Confirm the information message with OK.

Figure 6-89 Firmware upgrade: Message window

5. Select the file with the desired firmware and confirm your input with Open.

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Figure 6-90 Firmware upgrade: Select file

Figure 6-91 Firmware upgrade: Load window

Figure 6-92 Firmware upgrade: SimoCom U window

6. Confirm the prompt with Yes. The drive executes a RESET.

7. The firmware upgrade for the drive is completed. If required, you can now perform the
firmware upgrade for the PROFIBUS module.

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6.9.3 Commissioning SIMODRIVE 611U

Introduction
This section describes the standard commissioning procedure using a sample configuration.
The settings required in SIMOTION and in the SIMODRIVE 611U are explained. The sample
configuration is based on the control of two position-controlled axes with DSC. Control is via
PROFIBUS message frame 105, and a SIMODRIVE611U double-axis module is used as
drive.
If you use another axis or message frame type or another SIMODRIVE 611U closed-loop
control module, the structure of the input windows may differ from those described below.
However, the principle approach remains the same.
Moreover, you can use additional functions of the SIMODRIVE 611U in the user program (for
example, reading of operating modes, etc.). Information on this can be found in the "Expert
functions" section

Note
These instructions ensure only the connection of the SIMODRIVE 611U converter to
SIMOTION. The guide does not describe how to optimize the controller; it is assumed that
this has already been carried out.

Commissioning procedure
The commissioning procedure is divided into two parts:
• In the first part, a SIMOTION project is created and the SIMOTION SCOUT program and
the hardware manager HW Config are used to enter the settings for the SIMOTION
system. The settings that have to be made both in SIMOTION and in the
SIMODRIVE 611U are given special attention.
• In the second part, the SIMODRIVE 611U is parameterized. The basic device
commissioning for connection to SIMOTION is used for this.
After commissioning SIMOTION and the SIMODRIVE 611U, a sample program is set up for
axis positioning.
Various parameter settings for the SIMODRIVE 611U are derived from the SIMOTION
settings. The following table contains an overview of the functions and settings which have to
be entered in both SIMOTION and in the SIMODRIVE 611U. These settings are described
separately in the following sections for SIMOTION and the SIMODRIVE 611U.

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Table 6-18 Settings required in SIMOTION and SIMODRIVE 611U

Required setting Sample values

DP cycle 2 ms
Pulse frequency 5.3 kHz
Select encoder type Incremental encoder
Select homing mode Homing output cam and encoder zero mark
Encoder zero mark only
External zero mark only
Measuring Yes
No
Rated motor speed / 6000 rpm
max. axis speed
Master application cycle / Factor 1
position control cycle clock
Message frame type 2 axes, message frame 105, PZD-10/10
see selection table
PROFIBUS address ...
Per default, the SIMODRIVE 611U is connected to SIMOTION via PROFIBUS DP.
Depending on the desired axis functionality, this connection can be made using various
device-specific message frames. The following selection table shows the options for the
individual message frame types:

Table 6-19 Selection table

Sign-of-life 1. 2. Dynamic Torque Required

monitoring encoder encoder Servo reduction message
________ Control (DSC) (Mred) frame
__
Measurin
g
Speed- 1
controlled x 2
axis
x x 101
Position- x x 3
controlled x x x 4
axis /
following x x x 5
axis x x x x 6
x x x 102
x x x x 103
x x x x 105
x x x x x 106

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Note
The message frame types < 100 are standard message frames. These are standardized via
the PROFIdrive V3 profile. The message frame types > 100 are device-specific message
frame types for the SIMODRIVE 611U.

Creating a SIMOTION project

Hardware configuration
In this step, the SIMOTION device, the bus system and the SIMODRIVE 611U are created
and parameterized via SIMOTION SCOUT and HW Config.
1. Start SIMOTION SCOUT.
2. Click Project > New.
3. Enter a name, e.g. DSC_SIMODRIVE.
4. Click OK.
A project is created.

Figure 6-93 Project: Creating DSC_SIMODRIVE

5. Double-click Create new device.

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Figure 6-94 Open HW Config (example)

6. Select the desired SIMOTION device.

7. Click OK.
8. Click Cancel twice.
The scanning of the PROFIBUS interface properties can be skipped first of all as these
are described in the following.
9. Click OK in the Selection of the Interface - C230 window.
The HW Config application starts. The rack with the SIMOTION C230 device is displayed.

Figure 6-95 Rack

10.Double-click X8_DP.
The PROFIBUS line is created in the rack.
11.Click the Properties button in the Properties -DP- (R0/S2.1) window.

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12.Click New.
13.Then select the Network settings tab.
14.Set a transmission rate of 12 Mbit/s on the bus and DP as profile.

Figure 6-96 Configuration of PROFIBUS lines

15.Click the Options button.

16.Activate the Activate isochronous bus cycle checkbox in the Isochronous mode tab.
17.Enter the desired cycle time, e.g. 2 ms in the Isochronous DP cycle field.
18.Confirm the settings by clicking OK four times.
All property windows are closed. A PROFIBUS master system has been created.

Note
The X9-DP interface in the rack is not networked for this example. It is set per default for
PROFIBUS communication at 1.5 Mbaud.

19.Open the PROFIBUS DP / SIMODRIVE directory in the hardware catalog.

20.Click the PROFIBUS line. This is displayed in black.
21.Double-click the type: SIMODRIVE 611 universal.
22.Enter the address ≥ 3.

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Figure 6-97 Attaching a SIMODRIVE 611U to the PROFIBUS

23.Click OK.
24.In the Configuration tab of the DP Slave Properties window, select the required
PROFIBUS message frame for the connection. In this example, a 611U double-axis
module connected via message frame 105 is selected. The subsequent axis motion will
be position-controlled.

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Figure 6-98 Setting standard message frame 105 on the slave

SIMOTION
The message frame selected here is specified again when the axis is subsequently created.
The setting is automatically taken over from the hardware configuration when the axis is
created.

SIMODRIVE 611U
The PROFIBUS address must be set in the 611U in parameter P918. The message frame
selected here must be specified in parameter P922 in the SIMODRIVE 611U. With
SimoCom U, the entry can be made in the PROFIBUS Parameterization window.
1. Click the Isochronous operation tab.
2. Activate Synchronize drive with equidistant DP cycle.
3. Enter the following settings.

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Figure 6-99 Selecting isochronous operation for SIMODRIVE 611U

• Master application cycle:

Here, you specify the cycle clock in which the master is to supply new values to the
SIMODRIVE 611U. For SIMOTION, this is the position control cycle clock (servo). You
must note this value and enter it later when configuring the execution system as position
control cycle clock in SIMOTION SCOUT.

Note
It is mandatory that the master application cycle match the position control cycle clock of
the CPU!

• DP cycle:
Bus cycle clock: It depends on the number of slaves
(minimum of 1 ms for P350 and 1.5 ms for C230).
• Actual value acquisition:
Measured value is latched in the SIMODRIVE 611U as soon as possible before the DP
cycle clock (Input 1: → 0.125 ms before the next DP cycle clock).
• Setpoint acceptance:
Setpoint is output in the SIMODRIVE 611U as soon as possible after the DP clock cycle.
The time depends on the number of isochronous slaves. It must be ensured that the last
slave has also received the setpoint values in the current DP cycle. Otherwise, the drive
signals it is "not isochronous with the master".
• With several axis modules on the PROFIBUS, click Align.

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1. Click OK to confirm the changes.

2. Save and compile the project with Station > Save and compile.
3. Click Station > Check consistency.
4. Click OK to confirm the message.
5. Click Target system > Load to module.
The hardware configuration is completed.
6. Close HW Config.

Note
After loading the hardware configuration, the red BUS1F LED on the C230 may still flash.
The keyswitch is in position STOP. The bus error occurs if the PROFIBUS address
configured in HW Config and the selected message frame type have not yet been set in
the SIMODRIVE 611U.
If communication between the two devices is to be checked at this point, then the basic
functions of the SIMODRIVE 611U must have been commissioned.
If the settings in SIMOTION and the SIMODRIVE 611U match, the BUS1F error does not
occur and the LED on the PROFIBUS module of the SIMODRIVE 611U is green.

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Creating an axis in SIMOTION SCOUT

1. Open the Axes folder in the project navigator under C230.
The axis wizard opens when you create an axis. This guides you through the
configuration of the axis and cannot be aborted.

Figure 6-100 Inserting an axis

2. Double-click Insert axis.

3. Enter a name for the axis.
4. Click OK.
The Axis configuration - Axis name - Axis type window is opened.

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Figure 6-101 Axis configuration: Axis type

5. Specify the axis type.

In the example, the linear axis setting is retained.
6. Click Continue.
The Axis configuration - Axis name - Units window is opened.
7. Click Continue.
The Axis configuration - Axis name - Modulo window is opened.
8. Click Continue.
The HW Config data is read out. The Axis configuration - Axis name - Drive assignment
window is opened.

Figure 6-102 Axis configuration: Drive assignment

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9. Select the SIMODRIVE_611U_DP2_DP3 as drive unit. The message frame 105 should
be set automatically. If this is not the case, select message frame 5 in the field for the
message frame type.
10.Enter the value 6000 in the Rated speed field.
11.Click Continue.
The Axis - Drive Relationship window is opened.
12.Read the note and click OK.
The online help is opened.
The Axis configuration - Axis name - Encoder assignment window is opened.
13.Select the appropriate properties.
In the example, Incremental encoder in the Encoder type field and Endat in the Encoder
mode field.
The encoder data settings required for SIMOTION are listed in the following table. Only the
input values listed in the tables are evaluated for the respective encoder.
The encoder and resolution must be specified in SIMOTION and in MASTERDRIVES MC.

Figure 6-103 Example: Axis configuration - selecting the encoder type for an absolute encoder

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Figure 6-104 Example: Axis configuration - input of the resolution for an absolute encoder

Pulse encoders, resolvers and encoders must be configured according to the tables under
"Encoder settings". This results in the following settings, for example, for the encoder.

Figure 6-105 Example: Axis configuration - selecting the encoder type for an incremental encoder

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Figure 6-106 Example: Axis configuration - input of the resolution for an incremental encoder

The settings in SIMOTION are specified with the name of the configuration data and can be
shown using the expert list. The following assignments apply to the axis configuration
windows:
Encoder type
TypeOfAxis.NumberOfEncoders.Encoder_1.encoderType
Encoder mode
TypeOfAxis.NumberOfEncoders.Encoder_1.encoderMode
Resolution
TypeOfAxis.NumberOfEncoders.Encoder_1.IncEncoder.IncResolution
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsResolution
Number of data bits
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsDataLength
Multiplication factor of the cyclical encoder actual value
TypeOfAxis.NumberOfEncoders.Encoder_1.IncEncoder.IncResolution
MultiplierCyclic
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsResolution
MultiplierCyclic
Multiplication factor of the absolute encoder actual value
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsResolution
MultiplierAbsolute

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Encoder settings

Table 6-20 Encoder: 1Fxxxxx-xxxxx-xExx ENDAT 2048 S/R

SIMOTION settings
TypeOfAxis.NumberOfEncoders.Encoder_1.encoderType=ABS or CYCL_ABS
TypeOfAxis.NumberOfEncoders.Encoder_1.encoderMode=ENDAT
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsBackLash=NO
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsResolution=2048
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsDataLength=23
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsResolutionMultiplierCyclic=2048 (0)
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsResolutionMultiplierAbsolute=512 (0)

Table 6-21 Encoder: 1Fxxxxx-xxxxx-xHxx ENDAT 512 S/R

SIMOTION settings
TypeOfAxis.NumberOfEncoders.Encoder_1.encoderType=ABS or CYCL_ABS
TypeOfAxis.NumberOfEncoders.Encoder_1.encoderMode=ENDAT
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsBackLash=NO
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsResolution=512
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsDataLength=21
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsResolutionMultiplierCyclic=2048 (0)
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsResolutionMultiplierAbsolute=512 (0)

Table 6-22 Encoder: 1Fxxxxx-xxxxx-xGxx ENDAT 32 S/R

SIMOTION settings
TypeOfAxis.NumberOfEncoders.Encoder_1.encoderType=ABS or CYCL_ABS
TypeOfAxis.NumberOfEncoders.Encoder_1.encoderMode=ENDAT
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsBackLash=NO
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsResolution=32
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsDataLength=17
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsResolutionMultiplierCyclic=2048 (0)
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsResolutionMultiplierAbsolute=512 (0)

Table 6-23 Encoder: 1Fxxxxx-xxxxx-xAxx optical incremental encoder 2048 I/R 1Vpp

SIMOTION settings
TypeOfAxis.NumberOfEncoders.Encoder_1.encoderType=INC
TypeOfAxis.NumberOfEncoders.Encoder_1.encoderMode=SINE
TypeOfAxis.NumberOfEncoders.Encoder_1.IncEncoder.IncResolution=2048
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsResolutionMultiplierCyclic=2048 (0)
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsResolutionMultiplierAbsolute=512 (0)
Encoder: 1Fxxxxx-xxxxx-xTxx Resolver 2p (1-speed) 1Fxxxxx-xxxxx-xSxx Resolver np (n-
speed)

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SIMODRIVE parameter bit P1011.2 = 0

Table 6-24 SIMOTION settings

TypeOfAxis.NumberOfEncoders.Encoder_1.encoderType=INC
TypeOfAxis.NumberOfEncoders.Encoder_1.encoderMode=RESOLVER
TypeOfAxis.NumberOfEncoders.Encoder_1.IncEncoder.IncResolution =1024 (Resolver 2p)
=2048 (Resolver 4p)
=3072 (Resolver 6p)
=4096 (Resolver 8p)
TypeOfAxis.NumberOfEncoders.Encoder_1.IncEncoder.IncResolutionMultiplierCyclic=2048 (0)

SIMODRIVE parameter bit P1011.2 = 1

Table 6-25 SIMOTION settings

TypeOfAxis.NumberOfEncoders.Encoder_1.encoderType=INC
TypeOfAxis.NumberOfEncoders.Encoder_1.encoderMode=RESOLVER
TypeOfAxis.NumberOfEncoders.Encoder_1.IncEncoder.IncResolution =4096 (Resolver 2p)
=8192 (Resolver 4p)
=12288 (Resolver 6p)
=16384 (Resolver 8p)
TypeOfAxis.NumberOfEncoders.Encoder_1.IncEncoder.IncResolutionMultiplierCyclic=2048 (0)
Comment:
For the encoders, a fine resolution of 0 (default value)
• in parameter TypeOfAxis.NumberOfEncoders.Encoder_1.IncEncoder.
IncResolutionMultiplierCyclic means a fine resolution of 211 = 2048
• in parameter TypeOfAxis.NumberOfEncoders.Encoder_1.IncEncoder.
IncResolutionMultiplierAbsolute means a fine resolution of 29 = 512

Differences between ABS and CYCLE_ABS:

• In the case of ABS, the absolute actual position of the encoder is assumed after switching
on the C230 or following an encoder error.
• In the case of CYCL_ABS, overflows of the encoder areas are carried over in the NVRAM
and taken into account when the cycle is resumed. With this setting, an overall reset must
be carried out on the controller prior to initial loading of the project. Then, the encoder
must be readjusted. If changes are made to the settings of the absolute encoder, the
encoder must also be adjusted.
With the controller switched off, the encoder may only be moved a maximum distance
≤ "half the encoder range" in both traversing directions in order to still be able to detect
the exact position.

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Completing the axis configuration

1. Click Continue.
The settings are summarized again:

Figure 6-107 Last window of the axis configuration

2. Click Finish.
The settings are saved. A message appears, read the information and confirm this
window.
After the axis is created, a few more settings have to be made to optimize the interaction
between SIMOTION and SIMODRIVE 611U.

Deactivating the following error monitoring in SIMOTION SCOUT

To prevent the following error monitoring interrupting an axis motion, it can be set to a higher
value or deactivated. A high following error can occur, for example, as a result of a missing
drive optimization.
1. In the project navigator, open the folder of the created axis.
2. Double-click Monitoring.
3. Click the Following error monitoring tab in the working area.
4. Deactivate the Dynamic following error monitoring active checkbox.
5. Click Close.
The following error monitoring must be matched to the requirements and mechanical system
of the plant when commissioning an application.

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Warning
If the following error monitoring is increased or deactivated, larger incorrect motions can also
occur on the axis in the case of an error (e.g. incorrect position control direction). This is
particularly important, for example, when the axis only has a limited traversing range.

Figure 6-108 Deactivating the following error monitoring

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Setting the position control configuration in SIMOTION SCOUT

1. In the project navigator, double-click Control under Axis.
2. Set the following data in the working area:
Kv factor: Enter
Speed precontrol: Activate
Fine interpolator: Select constant velocity interpolation
Dynamic drive control (DSC): Leave activated
3. Click Close.

Figure 6-109 Position control configuration

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Setting system cycle clocks in SIMOTION SCOUT

1. In the project navigator, right-click Execution system and select Expert > Set system
cycle clocks.
2. Set the values.
3. Click OK.
A message appears, read the information and confirm with OK.

Figure 6-110 Setting system cycle clocks 2

Specifying the system cycle clocks

The specifications for system cycle clocks in SIMOTION affect the position setpoint
adjustment in the SIMODRIVE 611U.

SIMOTION
The ratio of DP cycle clock to position control cycle clock and to interpolator cycle clock is
set to 1:2:2, for example. This represents a DP cycle clock of 2 ms, a position controller
cycle clock of 4 ms and an interpolator cycle clock of 8 ms.

Note
Important: The position control cycle clock entered here must match the master application
cycle in the HW Config!

For instructions on how to activate and use interpolator cycle clock 2, see the online
documentation in SIMOTION SCOUT.

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Specifying the homing mode

Note
The statements with respect to the homing modes in this section and the screenshots only
refer to the homing settings for axes on a C2xx in connection with a MASTERDRIVES MC.
The homing options depend on the respective drive.

If the connected axis is to be homed, the homing mode must be specified in

SIMOTION SCOUT. Depending on the mode selected, settings may also be necessary in
the SIMODRIVE 611U.

Additional references
Please refer to the following document on this subject
• SIMOTION Motion Control, TO axis, TO externalEncoder, Description of Functions
Proceed as follows:
1. In the project navigator, double-click Homing under Axis.
2. Enter the required homing mode and the appropriate data.
3. Click Close.

Homing mode "External zero mark only"

When a defined edge of the external zero mark is crossed, the position is accepted.

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Figure 6-111 Homing (External zero mark only)

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SIMOTION
If External zero mark only is selected as the homing mode, the approach direction can be
selected by means of Homing direction.

Figure 6-112 Axis homing in SIMOTION (homing mode External zero mark only)

SIMODRIVE 611U
The homing external zero mark must be connected to input I0.x (x: Drive A or B) on the
SIMODRIVE 611U.
Parameterize input I0.x with the Equivalent zero mark function. You must enable the
equivalent zero mark via parameter P879 Bit 13.
Follow the procedure outlined in the section below on "Standard commissioning of
SIMODRIVE 611U" for the parameterization of input I0.x.
Comment on the internal 611U edge detection:
For travel in the positive direction, only the signal change 1 → 0 is recognized as equivalent
zero mark. For travel in the negative direction, only the 0 → 1 edge is recognized as
equivalent zero mark. As a result, not all of the approach directions that can be selected in
combination with SIMODRIVE 611U can be used.

Homing mode "Encoder zero mark only"

An external zero mark signal is not necessary. The position is accepted at the next zero
mark of the encoder.

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SIMOTION
If Encoder zero mark only is selected as the homing mode, the approach direction can be
selected by means of homing direction.

Figure 6-113 Axis homing in SIMOTION (homing mode Encoder zero mark only)

SIMODRIVE 611U
With this mode, a motor with an incremental encoder or resolver must be connected on the
SIMODRIVE 611U. Otherwise, no additional settings are necessary.

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Homing mode "Homing output cam and encoder zero mark"

The axis traverses in the specified homing direction. Once the external zero mark signal is
reached, the velocity of the axis switches from the homing approach velocity to the homing
reduced velocity. Once the external zero mark is left, the axis is homed at the next detected
zero mark of the encoder.
The homing external zero mark is connected to an unassigned SIMOTION I/O input.

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9'&
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Figure 6-114 Homing (Homing output cam and encoder zero mark)

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SIMOTION
If "Homing output cam and encoder zero mark" is selected as the homing mode, the
evaluation position of the zero mark can be selected via zero mark and the approach
direction via homing direction.
The homing external zero mark must be connected to a freely selectable digital input of
SIMOTION which has been configured in the Home Axis window. When the external zero
mark is reached, homing is enabled in the drive.

Figure 6-115 Axis homing in SIMOTION (homing mode Homing output cam and encoder zero mark)

SIMODRIVE 611U
With this mode, a motor with an incremental encoder or resolver must be connected on the
SIMODRIVE 611U. Otherwise, no additional settings are necessary.

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"Measuring" function
You can use the "measuring" function to acquire the actual position of an axis at any time. A
typical application is the acquisition of a print mark for the purpose of synchronizing the axis
to this mark.
The measuring input must be connected to the fast input I0.x. The input is isolated. This
enables more than one input to be switched in parallel, whereby the reference potential of
the 24 V supply of the measuring input (for example, from the network supply) must also be
wired.

6,02'5,9(8
(QFRGHU
0
SIMOTION C230-2

0HDVXULQJLQSXW


,QSXW
WHUPLQDO,[
5HIHUHQFH
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352),%86'3
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Figure 6-116 Measuring

Inserting a measuring input in SIMOTION SCOUT

1. Open the Measuring inputs folder in the project navigator.
2. Double-click Insert measuring input.
3. Enter a name for the measuring input.
4. Click OK.
5. Click Close.

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SIMODRIVE 611U
Parameterize the SIMODRIVE 611U with SimoCom U so that input I0.x addresses the
measuring input.
Comment on 611U-internal edge detection in HW versions up to 6SN 1118-xxxxx--xxx1:
For travel in the positive direction, only the 1 → 0 signal change is detected as a measuring
signal.
For travel in the negative direction, only the 0 → 1 edge is recognized as a measuring signal.
You must take this into account when activating the measuring input.
Settings in the Edge field (→ SIMOTION; calling the measuring function in the user program):
• Rising edge or
• Falling edge
If you select another setting, the last valid value is taken over (rising or falling).

Response times for the measuring function

In SIMOTION, measuring can be used in various configurations. Depending on the
connection of the axis (via PROFIBUS DP) and the processing level (position control cycle
clock or IPO cycle clock), you must take different response times for the measuring function
into account in the application.
In the user program, measuring is started with the function call
_enableMeasuringInput. You can specify when the measuring function is to be active during
the call:
• Immediately (without measuring window)
MeasuringRangeMode = WITHOUT_SPECIFIC_AREA
• Within a position-dependent measuring window
MeasuringRangeMode = WITH_SPECIFIC_AREA
When measuring without measuring window, the measuring input is immediately activated
with _enableMeasuringInput.
Before the measuring edge is evaluated at the hardware input, there is a configuration-
dependent runtime. To be certain to detect the measuring edge, you must ensure that
_enableMeasuringInput is executed earlier by this amount of runtime in the user program.
When measuring with measuring window, the job is first only registered in the system with
_enableMeasuringInput. Only when the axis has reached the start of the measuring window
is the measuring input activated.
From the time of reaching the start position of the measuring window on the axis
(mechanical) until the evaluation of the measuring edge at the hardware input, there is a
configuration-dependent runtime. In order that the measuring input is active when the start
position of the measuring window on the axis is reached, you must move the start of the
measuring window forward depending on the axis velocity and the response time during the
function call.
This is also valid for the end of the measuring window. It is important that the measuring
input is no longer active when the end of the measuring window on the axis (mechanical) is
passed.
These runtimes can be compensated with the MeasuringRange.activationTime configuration
data item.

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Note
The runtimes are only compensated without error for constant axis velocity.

The offset of the measuring window only functions reliably when the axis velocity
• Within the measuring window is constant and
• Known before the function call.
You can determine the response times for your configuration using the following tables. The
values in the tables refer to set system cycle clocks. By using the actual times, you can
calculate the response time in milliseconds.
The following abbreviations are used in the tables:
• (IS) IPO cycle clock or position control cycle clock
(is dependent on whether the measuring input is processed in the IPO or position control
cycle clock; can be selected during the configuration of the measuring input)
• (DP) Cycle time on the PROFIBUS DP

Table 6-26 Activate measuring immediately

SIMODRIVE 611U
_enableMeasuringInput 3 (IS) + 7 (DP)
→ Ready to detect the measuring edge
Detection of the measuring edge 2 (IS) + 10 (DP)
→ Result in SIMOTION for further processing
Total 5 (IS) + 17 (DP)
Minimum time between two measurements *)

Table 6-27 Measuring in the measuring window: Measuring edge is detected in the window

SIMODRIVE 611U
_enableMeasuringInput 2 (IS)
→ Ready for the evaluation of the measuring range (start of the
measuring window)
Start of the measuring window on the axis (mechanical) reached 2 (IS) + 7 (DP)
→ Ready to detect the measuring edge
Detection of the measuring edge 2 (IS) + 10 (DP)
→ Result in SIMOTION for further processing
Total 5 (IS) + 17 (DP)
Minimum time between two measurements *)

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Table 6-28 Measuring in the measuring window: No measuring edge in the window

SIMODRIVE 611U
_enableMeasuringInput 2 (IS)
→ Ready for the evaluation of the measuring range (start of the
measuring window)
Start of the measuring window on the axis (mechanical) reached 2 (IS) + 7 (DP)
→ Ready to detect the measuring edge
Start of the measuring window on the axis (mechanical) reached 2 (IS) + 7 (DP)
→ Reset: "Ready to detect the measuring edge"
Resetting of the ready to measure 2 (IS) + 10 (DP)
→ Checkback signal in SIMOTION for further processing
Total 7 (IS) + 24 (DP)
Minimum time between two measurements *)
*) In addition, the restrictions of the respective system must be taken into account.

Drive configuration for SIMODRIVE 611U

The commissioning tool SimoCom U is used for commissioning the SIMODRIVE 611U. This
SimoCom U commissioning tool is intuitive for the most part. You are guided through the
individual steps.
The connection to the drive can either be made via a serial interface or PROFIBUS DP.
1. Start SimoCom U.
2. A window appears in which you are asked whether you want to change the data for the
drive.
3. Establish a serial connection (PROFIBUS DP) between SimoCom U and the drive.
4. Select Find online drives....
The advantage of this is that you do not have to enter the data for the controller card and
the PROFIBUS module. This data is read out and displayed by SimoCom U.

Figure 6-117 Drive configuration for SIMODRIVE 611U

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Figure 6-118 Drive configuration for SIMODRIVE 611U with SimoCom U

5. Click Configuration under Drive A.

6. Click the Reconfigure drive button in the working area.

Note
If you use a double axis module, you must perform the following procedure twice, for
Drive A and Drive B. You must make sure that the PROFIBUS address setting is
applicable to both drives. The same PROFIBUS message frame must be used for both
drives.

7. Enter a name for the drive.

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Figure 6-119 SimoCom U: Drive Configuration window

8. Click Next.
In the Select SIMODRIVE window, the order numbers of the controller module and the
PROFIBUS module are displayed with a gray background, as you are connected online with
the SIMODRIVE 611U. These input values cannot be changed.

Figure 6-120 SimoCom U: SIMODRIVE Selection window

1. Enter the PROFIBUS address.

The address must agree with the bus address specified in the SIMOTION hardware
configuration.

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Figure 6-121 SimoCom U: Motor Selection window

2. Select the connected motor. You can find the data on the type plate of the motor.
3. Click Next.

Figure 6-122 SimoCom U: Measuring System / Encoder window

4. Select the measuring system.

5. Click Next.
You require this data in SIMOTION to adjust the encoder when you commission the axis.
Use this number to find the corresponding input values for the SIMOTION axis configuration
in the "List of encoder data".
• In the Operating Mode window, you must select the speed/torque setpoint. This option is
only available for the 611U closed-loop control modules that are also capable of
positioning operation.

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Figure 6-123 SimoCom U: Operating Mode window

1. Select the operating mode.

2. Click Next.

Figure 6-124 SimoCom U: Direct Measuring System / Encoder window

3. If desired, select the direct measuring system.

This encoder can only be measured on a double-axis module via the measuring input for
Axis B. As a result, Axis B is no longer available for controlling an axis.
If you use the direct measuring system, you must select a PROFIBUS message frame that
contains a second encoder. In SIMOTION, you can assign this encoder for the position
control or create an external encoder that accesses this actual value.
1. Click Next.

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Figure 6-125 SimoCom U: Completion of the Drive Configuration window

The Completion of the Drive Configuration window displays a summary of the inputs.
1. Click Calculate controller data, save, reset.
2. Select the PROFIBUS Parameterization window. Here you can select the PROFIBUS
address of the drive, 3 in this example, and the message frame, 105 in this example.
In SIMOTION, specify this data during the hardware configuration to adjust the drive.

Note
Error message for the drive enable.
If a TO alarm appears for the axis enable with absolute encoder, the encoder data is not yet
valid on the drive interface. The status of the encoder system must be queried before calling
the enable command. The enable command can be issued when the axis system variable
sensordata[1].state displays the status VALID.

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Figure 6-126 SimoCom U - Drive A

• Optional: Select the Digital Inputs window. Here you can define the function of input I0.x.
If you want to use the "Measuring" function in SIMOTION, you must select the "Flying
measurement / length measurement" function here.
If you want to use the "External zero mark only homing" function in SIMOTION, you must
select the "Equivalent zero mark" function here. In addition, you must enable the
equivalent zero mark function via parameter P879 Bit 13.

Note
You cannot have "Measuring" and "Equivalent zero mark" active on a drive at the same
time, because you may only select the functions on input I0.x. If you need both functions
on a drive, you must switch the function. The section on "Expert functions" describes how
you can write (switch) parameters in the drive from the user program.

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Figure 6-127 SimoCom U - Drive A digital inputs

Not all of the parameters for the SIMODRIVE 611U can be specified by means of technology
screen forms. To enter parameters directly (e.g. parameter P879), open the expert list. Here
you can select and modify the relevant parameters.

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Figure 6-128 SimoCom U - Drive A expert list

Parameters to be entered directly:

• P879 Bit 13:
Enabling of the Equivalent zero mark function. This setting is necessary if you use the
"External zero mark only homing" function. In addition, you must select the Equivalent
zero mark function for input I0.x.
• P880:
This specifies the scaling of the PROFIBUS speed value. For the maximum motor speed,
a setpoint NSET = 4000 0000hex is transferred to the drive via the PROFIBUS. The P880
parameter is used to inform the SIMODRIVE 611U which speed should be set when
NSET = 4000 0000 hex. This speed must agree with the "maximum motor speed" value
specified when the axis was created (SIMOTION SCOUT: Axis Configuration - Drive
window).
This concludes the drive configuration. If there are no errors, the green 5 VDC LED and the
yellow STOP LED are now illuminated on the SIMOTION. The keyswitch is in the STOP
position. The LED on the PROFIBUS module of the SIMODRIVE 611U is illuminated green.
The standard commissioning is now completed. You can continue with the section Creating
a sample program for positioning in SIMOTION SCOUT.
If you would like to use special functions of the SIMODRIVE 611U from the user program,
you should also read the Expert functions section.

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6.9.4 Creating a sample program for positioning in SIMOTION SCOUT

Program overview
In this section, a program for positioning the connected axis is created in the MCC (Motion
Control Chart) editor.

Inserting the programs

Create four programs with MCC.
motion_1
backgr
perfault
tecfault

Creating a program with MCC

1. Open the Programs folder under the created SIMOTION device in the project navigator.
2. Double-click Insert MCC unit.
3. Enter the name motion_1 for the MCC unit.
4. Click the Compiler tab.
5. Activate the required settings.
6. Click OK. An MCC unit is created in the project navigator.
7. Double-click the MCC unit motion_1 in the project navigator.
8. Double-click Insert MCC chart.
9. Enter the name motion_1 for the MCC.
10.Click OK. The MCC is opened.
11.Click the Single-axis commands > Switch axis enable icon.
The command is inserted.
12.Click the Single-axis commands > Position axis icon.
The command is inserted.
13.Click the Single-axis commands > Remove axis enable icon. The command is inserted.

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Figure 6-129 Menu bar of the single-axis commands

Figure 6-130 Opened command: Position axis

14.Double-click the Switch axis enable command.

15.Click OK.
16.Double-click the Position axis command.

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17.Enter the value 2000 at Position.

18.Select Relative in the Type field.

Figure 6-131 Arrangement of the single-axis commands in MCC motion_1

19.Click OK.
20.Double-click the Remove axis enable command.
21.Click OK.
22.Click the Save and compile button.

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Creating the backgr program

1. Double-click Insert MCC unit.
2. Enter the name backgr for the MCC unit.
3. Click the Compiler tab.
4. Activate the required settings.
5. Click OK. An MCC unit is created in the project navigator.
6. Double-click the MCC unit backgr in the project navigator.
7. Double-click Insert MCC chart.
8. Enter the name backgr for the MCC.
9. Click OK. The MCC is opened.
10.Enter the variables data in the MCC unit.
– In the Name field: Run
– As variable type, select: VAR_GLOBAL
– As data type, select: BOOL
– In the Initial value field: False

Figure 6-132 Entering a global variable

11.Click the IF program branch icon in the command bar.

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Figure 6-133 IF program branch under basic commands

12.Double-click the IF program branch command.

13.Select Formula and enter the condition Run=true.

Figure 6-134 Configuration of the IF program branch

14.Confirm the input with OK.

15.Click the Task commands > Start task icon.
The command is inserted.
16.Click the Important commands > Variable assignment icon.
The command is inserted.
17.Double-click the Start task command.

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18.Click OK to confirm.
19.Double-click the Variable assignment command.
20.Enter the statement Run:=false.

Figure 6-135 Configuration of the variable assignment

21.Click OK.

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Figure 6-136 Completed program of the BackgroundTask

22.Click the Save and compile button.

Creating the perfault program

1. Double-click Insert MCC unit.
2. Enter the name perfault for the MCC unit.
3. Click the Compiler tab.
4. Activate the required settings.
5. Click OK. An MCC unit is created in the project navigator.
6. Double-click the MCC unit perfault in the project navigator.
7. Double-click Insert MCC chart.
8. Enter the name perfault for the MCC.
9. Click OK. The MCC is opened.
10.Click the Save and compile button.

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Creating the tecfault program

1. Double-click Insert MCC unit.
2. Enter the name tecfault for the MCC unit.
3. Click the Compiler tab.
4. Activate the required settings.
5. Click OK. An MCC unit is created in the project navigator.
6. Double-click the MCC unit tecfault in the project navigator.
7. Double-click Insert MCC chart.
8. Enter the name tecfault for the MCC.
9. Click OK. The MCC is opened.
10.Click the Save and compile button.

Assigning programs to the execution system

1. In the project navigator, double-click Execution system under the SIMOTION device. The
execution system is opened in the working area.

Figure 6-137 Execution system of the SIMOTION device

2. Click the MotionTasks button.

3. Assign the motion_1 program to MotionTask_1.

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4. Assign the backgr program to the BackgroundTask.

5. Assign the perfault program to the PeripheralFaultTask.
6. Assign the tecfault program to the TechnologicalFaultTask.

Figure 6-138 Assignment of the tasks in the task system

7. Click the Save and compile project button.

Loading the programs to the SIMOTION device and switching to RUN

The keyswitch of the C230 is still set to STOP.
1. Establish an online connection. Click the Connect to target system button.
2. Click the Download project to target system button.
This can take several minutes.
3. Switch the SIMOTION device to RUN via the keyswitch after the project has been
downloaded to the target system. Two LEDs, the green 5 VDC and the RUN LED, light
up.

Monitoring and controlling in SIMOTION SCOUT

1. Click the Connect to target system button.

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2. Select the backgr program.

3. Select the Symbol browser tab.
4. As control value, enter the variable Run "TRUE".
5. Activate the setting in Status value.
6. Click Start status. The value FALSE is displayed.
7. Activate the setting in Control value.
8. Click Control immediately.

Figure 6-139 Monitoring and controlling the variable in the BackgroundTask

The motor now rotates at 6000 rpm and approaches the position 2000 mm. You can check
this by selecting Axis_1 under Axes, opening positioningstate in the symbol browser, and
noting the actualposition.
1. Select the variable to be monitored.
2. Click Start status.

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Figure 6-140 Checking the positioning motion in the symbol browser of Axis_1

When the axis has finished positioning, a value of 2000 mm appears here. If the positioning
is restarted, the actual position value increases by 2000 mm for each motion.

6.9.5 Expert functions

This section explains functions that can be used in conjunction with the SIMODRIVE 611U
and that go beyond the standard connection.
These functions primarily involve evaluating or influencing data (parameters) of the
SIMODRIVE 611U in the user program. Several options are available for this:
• If the desired value is already contained in the message frame used for the axis
connection, you can poll the value directly (cyclically).
• If the desired value is not contained in the used message frame, but can be provided
cyclically by the SIMODRIVE 611U, it is possible to lengthen the message frame.
• If the value is not available cyclically, you can expand the message frame to include the
parameter identifier value (PIV) mechanism and access the parameters of the
SIMODRIVE 611U acyclically.
Furthermore, you can make certain operational settings on the SIMODRIVE 611U such as
control of just one axis with the double-axis module, or utilize functions such as using
unassigned analog inputs and outputs in the user program.

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Note
This section assumes that you are well-acquainted with the functions of the SIMODRIVE
611U. The function options are only briefly presented. For more information, refer to the
Description of Functions for SIMODRIVE 611 universal "Closed-Loop Control Components
for Closed-Loop Speed Control and Positioning".

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Important parameters on the SIMODRIVE 611U

The table lists the parameters of the SIMODRIVE 611U that are evaluated in connection with
SIMOTION or must be taken into account during adaptation to SIMOTION.
Some of the listed parameters are entered during the standard commissioning.

Table 6-29 Selection of some parameters and their meaning

Parameter Meaning
P 660 Function selection for input I0.x
79 Equivalent zero mark
If the zero mark of the encoder cannot be evaluated during homing, a signal
supplied by an appropriately mounted encoder can be fed in as
"equivalent zero mark" via this input.
80 Measuring input
Maximum number of measuring inputs for SIMODRIVE 611U = 1;
Caution: Measuring can only be performed via this input (I0.x).
P 700 Operating mode
For 2-axis module only: Axis B can be deselected.
P 875 Expected optional module type
PROFIBUS communication for Drive B can be deactivated here, if only one axis is
operated on the 2-axis module.
P 879 Sign-of-life monitoring in the drive is active
Bits 0, 1, 2: Permissible sign-of-life errors
Bit 8: Deselect sign-of-life monitoring
Bit 12: Activate direct measuring system
Bit 13: Use incremental measuring system with equivalent zero mark
P 880 Specifies scaling of the speed for motion with PROFIBUS DP. Here you specify the
maximum speed of the motor. You must also specify this speed when creating the axis
in SIMOTION SCOUT.
P 881 Specifies scaling of torque reduction for motion with PROFIBUS DP.
P 915 PZD setpoint assignment for PROFIBUS
P 916 PZD actual value assignment for PROFIBUS
P 918 DP slave address as specified in the project with HW Config.
P 922 Message frame type as specified in the project on the axis.
P 1001 Speed controller cycle clock
Input value 4 → 4 x 31.25 ∝s = 125 ∝s for sin/cos 1 Vpp drives
Input value 16 → 16 x 31.25 ∝s = 500 ∝s for resolver drives
P 1042 Fine resolution of absolute track G1_XIST1 → fixed input value: 11
P 1044 Fine resolution of absolute track G2_XIST1 → fixed input value: 11
P 1043 Fine resolution of absolute track G1_XIST2 → fixed input value: 9
P 1045 Fine resolution of absolute track G2_XIST2 → fixed input value: 9
P 1795 Firmware for option module
P 1799 Firmware for closed-loop controller

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PROFIBUS message frame

Your application may require that certain drive data be evaluated in the user program. Using
the message frame structure, you can see which data are available by default for evaluation
with the respective message frame. You may read, but not modify the data in the user
program as this data is supplied by the axis.

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 3=' 3=' 3=' 3=' 3=' 3=' 3=' 3=' 3=' 3=' 3=' 3=' 3=' 3=' 3=' 3='
               
0)B 67: 16(
VHW  7B$

0)B =6: 1$&7
DFW  B$

0)B
 67:
 16(7B% 67:
VHW  

0)B =6: 1$&7B% =6:
DFW  

0)B 67: 16(7B% 67: *B

VHW
   67:
0)B =6: 1$&7B% =6: *B (J (J
DFW    =6: *B;,67 *B;,67
   
0)B 67: 16(7B% 67: *B *B
VHW   67: 67:

0)B =6:
 1$&7B% =6:
 *B  (J  (J  *B (J (J
DFW   =6: *B;,67 *B;,67 =6: *B;,67 *B;,67

0)B 67: 16(7B%  67: *B ;(55 .3&

VHW   67:

0)B =6: 1$&7B%

 =6: *B (J (J 
DFW   =6: *B;,67 *B;,67
       
0)B 67: 16(7B% 67: *B *B ;(55 .3&
VHW    67: 67:
0)B =6: 1$&7B% =6: *B  (J (J *B (J (J
DFW   =6: *B;,67 *B;,67 =6: *B;,67 *B;,67
 
0) 67: 16(7B% 67: 0B5 '$& '$&
     
VHW   HG  
0) =6: 1$&7B%  =6: 0HOG        
DFW
   :  
0) 67: 16(7B% 67: 0B5 *B
VHW    HG 67:    
       
0) =6: 1$&7B% =6: 0HOG *B (J (J
DFW    : =6: *B;,67 *B;,67
 
0) 67: 16(7B% 67:
 0B5
 *B
 *B

VHW   HG 67: 67:
      
0) =6: 1$&7B% =6: 0HOG *B (J (J *B (J (J
DFW   : =6: *B;,67 *B;,67 =6: *B;,67 *B;,67
0) 67: 16(7B%  67: 0B5 *B
;(55 .3&
VHW   HG 67:
    
0) =6: 1$&7B% =6: 0HOG *B (J (J
DFW   : =6: *B;,67 *B;,67

0) 67: 67: 

0B5 *B  *B
16(7B% ;(55 .3&
VHW   HG 67: 67:

0) =6:
 1$&7B% =6: 0HOG *B  (J  (J *B (J (J
DFW   : =6: *B;,67 *B;,67 =6: *B;,67 *B;,67

Figure 6-141 Message frame structure

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Table 6-30 Signal list assignment

SIMODRIVE 611U signal Name Short designation Signal length

number
50001 Control word 1 STW1 16 bits
50003 Control word 2 STW2 16 bits
50005 Speed setpoint A NSET_A 16 bits
(nset–h)
50007 Speed setpoint B NSET_B 32 bits
(n-set (h + l))
50009 Encoder 1 control word G1_STW 16 bits
50013 Encoder 2 control word G2_STW 16 bits
50017 Encoder 3 control word G3_STW 16 bits
50025 System deviation (DSC) XERR 32 bits
50026 Position controller gain factor KPC 32 bits
(DSC)

50002 Status word 1 ZSW1 16 bits

50004 Status word 2 ZSW2 16 bits
50006 Actual speed value A NACT_A 16 bits
(nact-h)
50008 Actual speed value B NACT_B 32 bits
(n-act (h + l))
50010 Encoder 1 status word G1_ZSW 16 bits
50011 Encoder 1 actual position G1_XIST1 32 bits
value 1
50012 Encoder 1 actual position G1_XIST2 32 bits
value 2
50014 Encoder 2 status word G2_ZSW 16 bits

Device-specific signals for "SIMODRIVE 611 universal":

50015 Encoder 2 actual position G2_XIST1 32 bits
value 1
50016 Encoder 2 actual position G2_XIST2 32 bits
value 2
50101 Torque reduction MomRed 16 bits
50103 Analog output DAC1 16 bits
Terminal 75.x/15
50105 Analog output DAC2 16 bits
Terminal 16.x/15
50107 Digital outputs DIG_OUT 16 bits
Terminals O0.x to O3.x
50111 Distributed inputs DezEing 16 bits
50113 Torque setpoint MsetExt 16 bits
external
50102 Message word MeldW 16 bits
50104 Analog input ADC1 16 bits
Terminal 56.x/14

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SIMODRIVE 611U signal Name Short designation Signal length

number
50106 Analog input ADC2 16 bits
Terminal 24.x/20
50108 Digital inputs DIG_IN 16 bits
Terminals I0.x to I3.x
50110 Utilization Ausl 16 bits
50112 Active power Pactive 16 bits
50114 Smoothed torque setpoint Mset 16 bits
50116 Smoothed torque-producing IqGl 16 bits
current Iq

Adapting message frames individually

The drive may require additional functions, beyond the predefined message frames, for an
application. It is possible to expand the predefined message frame for this purpose. These
additional words can be addressed via the I/O interface of SIMOTION. The technology object
does not access this data.
To adapt a message frame individually:
1. Find the message frame type required for your axis type from the table above.
2. In HW Config, append the desired number of additional words after the last word of the
selected message frame.
Note: As the message frame structure no longer corresponds to the selected message
frame type, another message frame or "no message frame" is displayed.
3. When creating the TO in SIMOTION, you must specify the originally selected message
frame type. The TO evaluates only the number of words corresponding to the specified
message frame type. The additional words can be processed in the user program.
4. In the SIMODRIVE 611U, you must generate the desired message frame structure
manually using the signal numbers. To do this, set parameter P922 to 0. You can use
parameter P915 Index 1 to 16 and parameter P916 Index 1 to 16 to enter the signal
numbers corresponding to the message frame.
A maximum of 16 PZD words can be read or written.
Furthermore, an expansion to include the PIV area is possible. This enables parameter
contents to be read or written by means of a job mechanism.
The following procedure must be followed:
1. Find the message frame type required for your axis type in the table.
2. In HW Config, select the PIV area.
Comment: As the message frame structure no longer corresponds to the selected
message frame type, another message frame or "no message frame" is displayed.
The step-by-step procedure for the expansion of the message frame is described using two
examples.

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Example 1: Expanding the process data area

The signals of the process data area are updated in the PROFIBUS cycle clock. The
evaluation takes place on the SIMODRIVE 611U in the speed control cycle clock (default
125 s).

Task
Based on the desired axis functionality, message frame 102 is to be used to connect the
SIMODRIVE 611U.
Both of the analog inputs of the SIMODRIVE 611U are to be read in the user program.
An analog value of 0 to 10 V is to be output via the two analog outputs.
The actual torque value of the drive is to be evaluated in the user program.

Note
The analog channels on the SIMODRIVE 611U are not required for the PROFIBUS
connection, and the user can make use of these as desired.

In order to utilize the functions, message frame 102 must be expanded as follows:

 
3=' 
3=' 
3=' 
3=' 
3=' 
3=' 
3=' 
3=' 
3=' 
3=' 3=' 
3=' 
3=' 3='
             


     
0) 67: 16(7B% 67: 0B5HG *B6 '$& '$&
VHW 7:


3        

8 

0) =6: 1$&7B% =6: 0HOG *B= *B;,67 *B;,67 $'& $'& 0VHW
DFW : 6:

3             
8 

0HVVDJHIUDPH $GGLWLRQDOIXQFWLRQV 1RWDVVLJQHG

Figure 6-142 Message frame 102

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 FAQs
6.9 SIMODRIVE 611U to SIMOTION

Adaptations for SIMODRIVE 611U with SimoCom U

Settings differ from those described in the section on "Commissioning" as follows:
1. Call up the Analog outputs menu item in the SimoCom U.
2. Parameterize
the function Signal DAC1 from PROFIBUS PP0 for the first output,
the function Signal DAC2 from PROFIBUS PP0 for the second output.
3. Expand the PROFIBUS message frame via the expert list as follows.
• Procedure:
– P922 = 102
This results in a standard assignment of the P915 and P916 parameters
corresponding to message frame 102.
– P922 = 0
This setting enables you to freely set up the message frame using the P915 and P916
parameters. The standard assignment (step 1) is still available, i.e. you only have to
enter the additional signals.
P915:1 to P915:6 → standard assignment corresponding to message frame 102 setpoints
P915:7 = 50103 → analog output 1 (DAC1)
P915:8 = 50105 → analog output 2 (DAC2)
P916:1 to P916:10 → standard assignment corresponding to message frame 102 actual
values
P916:11 = 50104 → analog input 1 (ADC1)
P916:12 = 50106 → analog input 2 (ADC2)
P916:13 = 50114 → smoothed torque setpoint (Mset)

Settings via SIMOTION SCOUT

Settings differ from those described in the section on "Commissioning" as follows:

Configuring the hardware:

• Message frame selection:
Select message frame 102.
• Change the length from 6 to 8 in the Setpoint line
(2 additional words DAC1 and DAC2)
• Change the length from 10 to 13 in the Actual value line
(3 additional words ADC1, ADC2 and Mset)
Note the I/O start address for both areas, for example, 256.

Note
Due to this change, the message frame structure no longer corresponds to message frame
102. For this reason, either "No message frame" or another message frame type is displayed
after the change, which you can ignore. You address the drive using the originally intended
message frame type, 102 in our example.

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FAQs
6.9 SIMODRIVE 611U to SIMOTION

Creating the TO axis

• Axis configuration:
The drives created in the HW configuration can be selected here. Select the required
drive.
• Message frame:
Specify message frame type 102. The part of the message frame relevant for the
TO axis, corresponds to message frame 102.

Creating the I/O area

Create two I/O output words and three I/O input words for the additional functions in the I/O
container. The addresses are calculated are follows:
• Address = message frame start address + (PZD number - 1) x 2
• Example for ADC2:
Message frame start address: 256
ADC2 is on PZD12: 12
I/O input address for ADC2 = 256 + (12 - 1) x 2= 278

Activating the PIV area

You can perform the following tasks via the PIV area (PIV = parameter identifier value):
• Request parameter value (reading of parameters)
• Change parameter value (writing of parameters)
The PIV area consists of 8 bytes.

Table 6-31 PIV area

Bit 0-10 = PNU Reserved IND PWE

Bit 12-15 = AK
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
PNU: parameter number
AK: request or response ID
IND: subindex, subparameter number, array index
PWE: parameter value
The exact structure and handling of the area is contained in the Description of Functions for
SIMODRIVE 611U.

Task in example 2
• Based on the desired axis functionality, message frame 102 is to be used to connect the
SIMODRIVE 611U.
• The motor temperature is to be read out from parameter P603 in the user program.

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Adaptations for SIMODRIVE 611U with SimoCom U

Settings differ from those described in the section on "Commissioning" as follows: None

Settings via SIMOTION SCOUT

Settings differ from those described in the section on "Commissioning" as follows:

Configuring the hardware

• Message frame selection: Select message frame 102
• Click the "No PIV area" cell and select the "PIV area" setting.
Note the I/O start address for the PIV area, for example, 256.

Note
Due to this change, the message frame structure no longer corresponds to message frame
102. For this reason, either "No message frame" or another message frame type is displayed
after the change, which you can ignore. You address the drive using the originally intended
message frame type (102 in our example).

Creating the TO axis

• Axis configuration:
The drives created in the HW configuration can be selected here. Select the required
drive.
• Message frame:
Specify message frame type 102. The message frame structure relevant for the TO axis,
corresponds to message frame 102.

Creating the I/O area

Create one I/O input byte array for the response area and one I/O output byte array for the
request area in the I/O container, with each array having a length of 8 bytes. The start is on
the I/O address you noted for the PIV area (hardware configuration).
Example for requesting the P603 parameter (motor temperature):
Request ID: 6 → (request parameter value (array); refer to SIMODRIVE 611U description)
Parameter number: 603 = 16#25B
Index: 0

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6.9 SIMODRIVE 611U to SIMOTION

Table 6-32 PIV area

Bit 0-10 = PNU Reserved IND PWE

Bit 12-15 = AK
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Request 16#62 16#5B 0 0 0 0 0 0
area
Respons 16#42 16#5B 0 0 Data 4 Data 3 Data 2 Data 1
e area

Note
The entered response identifier (4) corresponds to the positive request transaction.

Deactivating the sign-of-life monitoring

The PROFIBUS connection between SIMOTION and the SIMODRIVE 611U is monitored
using the sign-of-life. As a general principle, sign-of-life monitoring must be active during
operation. Sign-of-life monitoring is automatically selected when the axis is created. In case
of problems (for example, alarm 832 on the SIMODRIVE 611U), the sign-of-life monitoring
can be deactivated temporarily for diagnostic purposes.
In SIMOTION, parameters for the sign-of-life monitoring can be selected or deselected on
the TO axis via Expert list > Configuration data ....lifeSignCheck.
The sign-of-life monitoring can be deactivated in the SIMODRIVE 611U via parameter
P879 Bit 8.

2. Activating the second encoder

In SIMOTION, you can use the second encoder input on the SIMODRIVE 611U double-axis
module for the actual value acquisition. Axis B of the SIMODRIVE 611U cannot then be used
to control a motor.
A PROFIBUS message frame must be used for the second encoder in SIMOTION.
When creating Axis A in the SIMODRIVE 611U:
Create the second encoder by specifying Which direct measuring system are you using? >
Enter data. Then enter the required encoder type. Depending on the configuration of the
SIMODRIVE 611U, it is necessary to adapt the following parameters:
Parameter P879 Bit 12 = 1 → Enable direct measuring system (Axis A)
Parameter P922 → PROFIBUS message frame type (Axis A)
Parameter P700 = 0 → Deselect Axis B (Axis B)
Parameter P875 = 0 → Expected option module type (Axis B)

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6.9 SIMODRIVE 611U to SIMOTION

6.9.6 Commissioning the 611U with DSC

To operate SIMOTION with DSC (dynamic servo control) on the SIMODRIVE 611U via the
PROFIBUS, you must enter special settings in three places when you assign parameters.

Hardware configuration
For SIMODRIVE 611U, you must select a PROFIBUS message frame type that supports
DSC. Here they are the message frames 5, 6, 105 and 106.

Figure 6-143 Message frame type in the HW Config

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FAQs
6.9 SIMODRIVE 611U to SIMOTION

Activating DSC in SIMOTION SCOUT

You must activate a parameter in SIMOTION SCOUT in order to use the DSC function. DSC
can be activated individually for each axis. This means that mixed operation is also possible.
DSC is activated via:
• Axis/Expert/Expert list/Configuration
data/TypeOfAxis/NumberOfDataSets/DataSet_1/ControllerStruct/PV_Controller/enableD
SC=YES

Figure 6-144 Activating DSC in SIMOTION SCOUT

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 FAQs
6.9 SIMODRIVE 611U to SIMOTION

Setting in the SIMODRIVE 611U

In the SIMODRIVE 611U, DSC is automatically activated when the PROFIBUS message
frame type is set, i.e. the drive internal position controller is active as soon as Xerr (following
error) and Kpc (position controller gain) are sent to the drive.
You should set the same message frame type selected in HW Config under PROFIBUS
parameterization / message frame selection (corresponds to P922 in the expert list).

Figure 6-145 Setting during operation

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Technical data 7
7.1 7.1 Quantity framework

Technical data

Table 7-1 Quantity framework for SIMOTION devices

SIMOTION devices C2xx; P350; D4xx

Task system SynchronousTasks 2 (IPO cycle clocks)
5 (TControl)
servo synchronous user task
SystemInterruptTasks 5
UserInterruptTasks 2
TimerInterruptTasks 5
MotionTasks 32
(with C230-2 only 20)
BackgroundTask 1
StartupTask 1
ShutdownTask 1
Communication Guaranteed engineering system 1
connections
Guaranteed operator panel connections 1
Number of connection points 16
Number of routed connections 10
PROFIBUS DP Equidistance Possible
Baud rates 1.5; 3; 6; 12 Mbaud
Number of slaves Max. 64 per DP line
PROFINET Number of slaves Max. 128 per DP line
(not C230-2)
Diagnostics and Diagnostics buffer 100 entries
alarms
Technological alarms 160 entries
Alarm_S (buffer) 40 entries
Cycle clocks and DP cycle clock : position control cycle 1:1 to 1:4
times clock ratio
(isochronous bus)
Position control cycle clock : IPO cycle 1:1, 1:2, 1:3, 1:4, 1:5 or 1:6
clock ratio

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Configuration Manual, 03.2006 Edition 7-1
Technical data
7.1 Quantity framework

SIMOTION devices C2xx; P350; D4xx

IPO cycle clock : IPO2 cycle clock ratio 1:2 to 1:64

Table 7-2 Quantity framework for SIMOTION C2xx

SIMOTION device C230-2 C240

User memory RAM disk for user data 9/11 MB 9/11 MB
User RAM 11/15 MB 11/15 MB
Retentive user variables 10 KB 10 KB
(retain variables)
Memory medium for retentive user data on the MMC 16 MB / 32 MB 16 MB / 32 MB
(Micro Memory Card)
Memory space available to the user on the memory medium 16: 10 MB 16: 10 MB
32: 26 MB 32: 26 MB
Address space Permanent process image for 64 bytes 64 bytes
BackgroundTask (I/O variables)
Additional configurable process image for Yes Yes
cyclic task (I/O variables)
Logical address space 2 KB 4 KB
Address range 0..2047 0..4095
Technology objects Axes Up to 16 Up to 16
Onboard inputs for measuring inputs Max. 2 Max. 4
Onboard outputs for output cams Max. 8 (140 µs) Max. 8 (140 µs)
Cycle clocks and DP cycle clock 1.5 to 8 ms 1.5 to 8 ms
times
Position control cycle clock ≥1.5 ms ≥1.5 ms
IPO cycle clock (interpolator cycle clock) ≥1.5 ms ≥1.5 ms
TControl PWM task Multiple of the position control cycle clock

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 Technical data
7.1 Quantity framework

Table 7-3 Quantity framework for SIMOTION P350

SIMOTION device P350 P350-3

User memory RAM disk for user data V3.1/V3.2 16 MB -
User RAM V3.1/V3.2 14 MB -
User RAM V4.0 14 MB 14 MB
Retentive user variables 15 KB 15 KB
(retain variables) to 256 KB with UPS to 256 KB with UPS
Memory medium for retentive user data: File on hard disk 16 MB 16 MB
Memory space available to the user on the memory medium V3.1 16 MB -
Memory space available to the user on the memory medium as of Arbitrary 1) -
V3.2
Memory space available to the user on the memory medium as of Arbitrary 1) Arbitrary 1)
V4.0
Address space Permanent process image for 64 bytes 64 bytes
BackgroundTask (I/O variables)
Additional configurable process image for Yes Yes
cyclic task (I/O variables)
Logical address space 2 KB 2 KB
Address range 0..2047 0..2047
PROFINET 4 KB 4 KB
0..4095 0..4095
Technology objects Axes Up to 64 Up to 64
Onboard inputs for - –
measuring inputs
Onboard outputs for output cams Max. 4
(extension board 100 µs)
Cycle clocks and DP cycle clock 1 to 8 ms
times
Position control cycle clock ≥1 ms
IPO cycle clock (interpolator cycle clock) ≥1 ms
TControl PWM task Multiple of the position control cycle clock
1) Data on partition F in the Windows file system
The memory space can be configured on the SIMOTION P350.

Note
Retentive variables must be defined in one source file so that the specified memory space is
available. If retentive variables are defined in several source files, less memory is available.

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Configuration Manual, 03.2006 Edition 7-3
Technical data
7.1 Quantity framework

Table 7-4 Quantity framework for SIMOTION D4xx

SIMOTION device D425 D435 D445

User memory RAM disk for user data V3.1 – 11 MB –
RAM disk for user data V3.2 11 MB 11 MB 11 MB
User RAM V3.1 – 15 MB –
User RAM V3.2/V4.0 15 MB 15 MB 30 MB
Retentive user variables 320 KB 320 KB 320 KB
(retain variables)
Memory medium for retentive user data: 32 MB 32 MB 64 MB
CompactFlash card (CF card) 64 MB 64 MB
Memory space available to the user on the memory medium 32: 15 MB
64: 47 MB
Address space Permanent process image for 64 bytes
BackgroundTask (I/O variables)
Additional configurable process image for Yes
cyclic task (I/O variables)
Logical address space 4 KB
Address range 0..4095
PROFINET 4 KB
0..4095
Technology objects Axes Up to 16 Up to 32 Up to 64
Onboard inputs for measuring inputs Max. 6* (in the DP cycle clock)
Onboard outputs for output cams Max. 8* (in the DP cycle clock)
Cycle clocks and DP cycle clock 1 to 10 ms 0.5 to 10 ms
times
Position control cycle clock ≥1 ms ≥0.5 ms
IPO cycle clock (interpolator cycle clock) ≥1 ms ≥0.5 ms
TControl PWM task Multiple of the position control cycle clock
* Additional hardware support is possible with TM15/TM17

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 Technical data
7.2 Memory requirement

7.2 7.2 Memory requirement

Memory requirement

Table 7-5 Memory requirement for each instance of a technology object

Technology object Memory requirement / KB

Drive axis 150
Position axis 200
Following axis with following object 300
External encoder 150
Output cam 100
Measuring input 100
Cam 100
In addition for each interpolation point pair 1
TController: Heating controller 85
TController: Cooling controller 70
TController: Heating/cooling controller 100

SIMOTION SCOUT
Configuration Manual, 03.2006 Edition 7-5
Index
Overall reset, 5-5
Detail view, 3-4
A Symbol browser, 3-18
Using, 3-17
Accessible nodes, 5-19
Device diagnostics, 5-10
Add-ons, 3-18
Accessible nodes, 5-19
Archiving, 5-8
Diagnostics buffer, 5-10
Authorization
General, 5-10
Installing, SIMOTION SCOUT Standalone, 2-10
General information, 5-11
Authorization
RT log file, 5-10
Installing, 2-10
Slaves, 5-10, 5-13
Available nodes, 3-47
System utilization, 5-10, 5-15
Task runtime, 5-10, 5-14
Task status, 5-14
C User log file, 5-10
CamTool, 4-16 Diagnostic functions
Checking the system utilization, 5-15 Overview, 5-8
Commissioning Diagnostics, 5-8
MICROMASTER 420, 6-16 Accessible nodes, 5-19
Communication Device diagnostics, 5-10
Industrial Ethernet, 2-6 Diagnostics buffer, 5-12
PROFIBUS DP, 2-5 Diagnostics overview, 5-9
PROFINET, 2-6 General information, 5-11
CompactFlash card, 4-7 Slaves, 5-13
Data backup, 4-3 System utilization, 5-15
Using, 4-7 Task runtimes, 5-14
Compatibility, 4-1 Task status, 5-14
Software, 4-1 Diagnostics of the drive, 6-25
Configuration data Displaying symbol browser continuously, 3-18
Changing online, 5-7 Download
Configuring Project, 3-50
Interface card, 2-2 Drive
MICROMASTER 420, 6-17, 6-20 Configuring PROFIBUS interface, 6-11
MM420 expert list, 6-27 Controlling, 6-23
PROFIBUS interface, 6-22 Controlling speed, 6-24
Time of day, 5-6 Insert, 6-32
USS interface, 6-22 Inserting, 6-5, 6-13, 6-95
Context menu, 3-11 Monitoring actual values, 6-24
Control panel, 6-23 Monitoring enables, 6-24
Switching, 6-24
Drive diagnostics, 6-25
D Drive ES, 4-15
Data backup
Persistent, 4-3
Deleting

SIMOTION SCOUT
Configuration Manual, 03.2006 Edition Index-1
Index

E L
Error remedy, 3-21 LAD/FBD, 1-7
Expert list, 6-27 Ladder Logic / Function Block Diagram, 1-7
Exporting Libraries
Optimized export format, 3-42 Upgrade, 3-33
License key, 3-45
Changing, 3-49
F Entering, 3-48
Saving, 2-11
Formatting
Transferring, 2-11
Memory card, 4-5
Licenses
Virtual memory card, 4-6
Determining, 3-46
Displaying, 3-47
Licensing, 3-44
G Accessible nodes, 3-47
Getting Started, 3-21 Hardware replacement, 3-49
Performing, 3-48
Underlicensing, 3-49
H Limits, 6-22
Hardware catalog, 4-12
Hardware configuration
SIMODRIVE 611 U, 6-159
M
Starting, 4-11 Main menu, 3-4
HMI, 4-14 MCC, 1-6
ProTool, 4-14 Memory card
WinCC flexible, 4-15 Formatting, 4-5
HW Config, 4-10 Memory media, 4-3
Memory requirement
Technology object, 7-5
I Menu
Context menu, 3-11
I/O
Main menu, 3-4
SIMOTION C2xx, 4-4
Menu structure, 3-4
Inserting drive
Menu bar, 3-3
SINAMICS on PROFIBUS, 6-6
Menu items, 3-7
SINAMICS on PROFINET, 6-7
MICROMASTER 420
Installing
Commissioning, 6-16
Interface card, 2-1
Configuring, 6-17
SIMOTION SCOUT, 2-8
Expert list, 6-27
SIMOTION SCOUT Standalone, 2-9
Inserting, 6-8
Interface, 2-4
Parameterizing limits, 6-22
Interface card
Parameterizing setpoints, 6-22
Configuring, 2-2
Signal interconnection, 6-20
Installing, 2-1
Terminals/bus, 6-20
Interfaces
MICROMASTER MM4
SIMOTION C2xx, 4-4
Parameterization steps, 6-29
SIMOTION D4xx, 4-8
Module
SIMOTION P350, 4-7
Slot rule, 6-1
Motion Control Chart, 1-6
K
Keyboard action, 3-6

SIMOTION SCOUT
Index-2 Configuration Manual, 03.2006 Edition
 Index

N Project data
Archiving, 5-8
NetPro, 4-13
Project navigator, 3-3, 3-11
New
Changing elements, 3-14
Drive, 6-5, 6-13, 6-32, 6-95
Creating elements, 3-12
MICROMASTER 420, 6-8
Display station level, 3-13
Project, 3-23
Properties
Project navigator, element, 3-12
Elements in the project navigator, 3-14
SIMODRIVE 611U, 6-9, 6-10
ProTool, 4-14
SIMOTION device, 3-28, 4-10
SINAMICS, 6-6, 6-7
Q
O Quantity framework, 7-1
Online help
Searching, 3-20
Online Help, 3-19
R
Opening Routing, 6-2
Hardware catalog, 4-12 HMI, 6-3
Project, 3-25
Operating mode, 5-2
MRES, 5-2 S
RUN, 5-2
Saving
SERVICE, 5-2
License key, 2-11
STOP, 5-2
Setpoints, 6-22
STOP U, 5-2
Shortcuts, 3-6
Optimized export format, 3-42
SIMATIC Manager, 4-10
Overall reset, 5-5
SIMATIC station level, 3-13
Overview
SIMODRIVE 611U
Diagnostic functions, 5-8
Activating DSC, 6-160
Hardware configuration, 6-159
Inserting, 6-9, 6-10
P Setting, 6-161
Platform change, 3-31 SIMOTION C230-2
Without station change, 3-34 Slot rule, 6-1
PROFIBUS interface SIMOTION C2xx
Configuring DP slave, 6-11 Onboard I/O, 4-4
Drive, 6-11 SIMOTION D4xx
Program editors, 3-26 Interfaces, 4-8
Programming language SIMOTION device
LAD/FBD, 1-7 Changing, 3-31
MCC, 1-6 Creating, 4-10
ST, 1-8 Inserting, 3-28
Programming languages, 1-5 SIMOTION P350
Project Interfaces, 4-7
Compiling, 3-50 SIMOTION SCOUT
Consistency check, 3-50 Installing, 2-8
Creating, 3-23 Installing authorization, 2-10
Download, 3-50 Uninstalling, 2-12
Downloading, 3-51 Upgrade, 2-12
Exporting, 3-42 Upgrade authorization, 2-11
Importing, 3-43 SIMOTION SCOUT Standalone
Opening, 3-25 Installing, 2-9

SIMOTION SCOUT
Configuration Manual, 03.2006 Edition Index-3
Index

SINAMICS Responses, 3-49

Insert, 6-7 Uninstalling
Inserting, 6-6 SIMOTION SCOUT, 2-12
Slaves Upgrade, 3-31
Device diagnostics, 5-13 Libraries, 3-33
Slot rule SIMOTION SCOUT, 2-12
SIMOTION C2xx, 6-1 Technology package, 3-32
Snap-in, 3-2 Within a platform, 3-31
ST, 1-8 Without station change, 3-31
STARTER, 4-16 Upgrade authorization, 2-11
Starting Using
Hardware configuration, 4-11 CompactFlash card, 4-7
Station change, 3-31, 3-34 Detail view, 3-17
STEP7, 4-10 Virtual memory card, 4-6
Structured Text, 1-8 Working area, 3-16
Symbol browser, 3-18
System overview, 1-2
System requirements, 2-1, 2-7 V
Virtual memory card, 4-6
Formatting, 4-6
T Using, 4-6
Target system
Controlling, 5-1
Operating mode, 5-2 W
Overall reset, 5-5
WinCC flexible, 4-15
Time of day, 5-6
Wizards, 3-15
Task runtimes
Workbench, 1-3, 3-2
Device diagnostics, 5-14
Detail view, 3-4
Task status
Elements, 3-3
Device diagnostics, 5-14
Menu bar, 3-3
Technology object, 1-4
Project navigator, 3-3
Memory requirement, 7-5
Toolbar, 3-3
Technology package, 1-4
Working area, 3-3
Upgrade, 3-32
Working area, 3-3
Time of day
Snap-in, 3-2
Setting, 5-6
Using, 3-16
Toolbar, 3-3
Transferring
License key, 2-11
X
XML format
U Exporting, 3-42
Importing, 3-42
Underlicensing, 3-49

SIMOTION SCOUT
Index-4 Configuration Manual, 03.2006 Edition