S120基本定位S7-300通訊

1、S7-300DP 通訊控制 S120 完成基本定位功能一.通過 DP 總線實(shí)現(xiàn) S7-300 與 SINAMICSS120訊1.1 DP 總線通訊功能S7-300 與 SINAMICSS12 必問 DP 通訊借助于系統(tǒng)功能塊 SFC14/SFC151 行周期性數(shù)據(jù)通訊。周期性數(shù)據(jù)交換指的是數(shù)據(jù)的實(shí)時(shí)交換，如控制字和設(shè)定值。1.2 DP 地址設(shè)定驅(qū)動(dòng)側(cè),S120 上通過撥碼開關(guān)來設(shè)置 DP 地址，設(shè)定范圍為 1-126.控制單元上的DP地址DIP開關(guān)（見圖1）BBQQQGfl-1248163264T當(dāng)所有撥碼撥至 ONHE 者 OFF 犬態(tài)時(shí)，通過 P918 參數(shù)設(shè)置 DP 地址1.3 STEP

2、7 硬件配置在 STEP 種新建項(xiàng)目，點(diǎn)擊 Insert-Station-2.Simatic300Station曉如1.:tNUlM 如 CU320?小，浦出，：V,；*%13耗電村工-胤電V 七電耳帽DIVrCUcilHER 不亡才汴不小/中月川出曲白 a 總款 u 力芮科密效 的：iI電忙丐也電我SlMATtCManager-tl0311-C:PrtxgramFiles$iemeni51epZU/projUHtO311winceflexblBRTSharedC&daratms*ararnater打開硬件組態(tài)，新建 DPNETWORKCATALOG 選擇相應(yīng) S120 產(chǎn)品，如SIN

3、AMICSS120CU320 等其加入 DP 總線，DP 地址設(shè)置應(yīng)與驅(qū)動(dòng)側(cè)設(shè)置地址一致。$HWConfig-SIMATIC3CD0)(Confbgursthn)-Q903052*StationBdtJnswtPLCViewQptmsWndow陽p口方上Q聒茸血曲HI口需*?find8eNSSWidvd ET的由國二IET20, 二+_l+_|+-|+_|+_|ET200UET30CXFucnModjiwIDEM!IFCNC|MlodiJE-0.FL.M.1. Q-Ccimrwil12司CPO3152DPRES7W?.O2A?T竹34567g91011LOJUH選擇相應(yīng)的 S120Firmwa

4、re 版本，如 V2.5Properties-SINAMICSGcnef曰|DriveUnit/BusAddressDevice沙口畸:SINAMICSS120CU320DeviceversionE 二N*hfkComp-cmnl-i+j 號(hào) en$Bsyitem*_|5IMADYNFT2JSIMATliC：+JSIMODRrVE4_J|5IMQHEBFT_|iSIMDERT叵二)SINAMICS2s.iMonoNmazX&IMOTIONCX325M15O*：SINAMICSS1203&INI!MICS&130A5INAMIC5&150SSINAMICS&

5、;L1903SINAMIC9GM150X2 舊1mll 匚 55120 匚 U 才口 IDF&INAMIC5S120CU320I克!；iMAMicssiaA&INUMAIKMXiaX&INUMERIKNXI5+：SSINAMICSSj2 幻 NAMI 匚 SG1 皿G150i-riMi!irrirE5L3CI4M曲力圖5|513Q|SINAMICSSiSOCU320OP國酬由口鵬ES，SIMQTIQNinMc&C20landjAjccUEcmmijnicslian.ISDchicriOijEMede.DalaEMEHS印fileEdtMrtstadan*15EM

6、ATIC4DO區(qū)王AnSubnet2SEMITIC300Station57SoFtwarB57Bled.M75&t科SyrrbalT出ETextLibraryxtcrndl5cutu,351MAl1匚HStaW4SEMATICPC殳武ion5SEMATICMM5tfltiun6OtherNation1SEMATICS5”訴9SIMATICOPEloballabelingfieldPLCViewOptionsWindwHeProflram此時(shí)會(huì)要求選擇 Messageframe,點(diǎn)擊選中 Objectl,然后點(diǎn)擊 Deleteslot,這時(shí)Messageframeselection 為

7、None 點(diǎn)擊 OK保存編譯硬件組態(tài)，將其下載至 PLC 中注：此時(shí)僅將 PLC 硬件配置完成，S7-300 與 S120 之間通訊尚未建立，CPUBF 燈亮，SF 等閃爍，S120 側(cè) LEDDP 燈不亮。1.4 S120 酉己置打開 STEP7 此時(shí)會(huì)出現(xiàn) SINAMICSS120CU320 點(diǎn)擊 OpenObject 打開 S120 項(xiàng)4SIMATICManager-test0311-C:ProgramFilesSiemensSte目FileEditInsertPLCViewOptionsWindowHelp-test03l1-WSIMATIC300(1-|gCPU315-2DP-向S7

8、Fhogramfl)BlSourcesCMBlocksSINAMICSS120CU打開 S120 項(xiàng)目后，選擇在線 Connecttotargetsystem防引MOTIONSCOUT-testOll1ProjectEcftIhsBrtTargetsyslarnViSwCfitionsWindowHelp口睜舊|喇圜|刈司定|回|理閹|別回%|上|+y、廊|嗣|國圖僮|fa|三司t中m|E包LestOSl1Createnewdevice*jInsertsingledriveunitR-LJLIBRARIES壓口MONITORE西SJNAMICSJ120_CIJ320Overvi&vCo

9、nfigiMabon1.%2.%3Topology2.%2.%3函Control_Unit3.%2.%3mInfeeds4.%2.%3mInpilt/iMJtputcompcnent5.%2.%33Drives若是新的CF卡可選擇自動(dòng)配置AutomaticConfiguration,通過DRIVE-CLIQ口將S120硬件配置裝載至 PG 電腦。口今器日鼻立立飛在量囪SINAMICS|OpenObjectCtrl+Alt+0!CutCtrh-XCopyOrH-CPsteCtrl+VDeleteDelInsertNewObjectkRenameF2ObjectProperties.Alt+Ret

10、urn提示選擇 S120 驅(qū)動(dòng)類型，選擇 SERVOH 服方式SWTIONSCOUT-test0311-SINANilCS_S120_CU3?0-Oveririew%ProjectEditInsertTargetsystemViewOpbiorsWindowHelpI舊|晚|I上I胤IfIFjgll西濕|隋閩到幽聞中卬到J助I圄EBIrl|國前3&I2l-毆tesbO311匕 Createnewdevice 七|Insert 由*driveunit+LIBRARIES+_JMONITOR二j孤5加小1兀5_5iaJjCU32CAutomaticConfigurationOverview

11、Configuration叵Topalogy+*ajCorttroljUnit+Infeeds4JiInpiA/outpirtremponeintItDrivesOverview|PagenolongervalidThispagei$nolongerdvdilableonline.Remedy:PleasepeifoimLoadtoPGaDownload若是舊 CF 已有配置，可選擇工廠復(fù)位，將參數(shù)復(fù)位到出廠狀態(tài)SIMOHUNscour-lesion1-5INAMICSS120CU320-OverviewProjectEditIristT-argstsystemVBWOptignsVAidgw

12、HalpI印囪舊I則1II乂|的I|二|w題圃圄一同III穌切%|小庭I聞喝除I|，J?Overview|Pagenolongervalid.Thispageenolongeravailableonline.Rernedji：AeasepeifonmloadloPGCMDownloadT1.點(diǎn)出 Startautomaticconfiguration按鈕，開始自動(dòng)配置testOSllCreatenewdevice*1Insertsingle由iveunitI-ILIBRARIESIMONRW二二二二二士jAutomaticCoflfigurtionOverviewConfiguration+T

13、opologry吊mGontrdJJkiitfl 口|Infeeds*JInput/MJt|iutcomponent+DrivesS1WAFIIC53120CU32OConfigurationofdriveobjecttypeDriveObjectTje|Selection口fthesupposeddriveobject,ServoVectorDiiveDiiveObjectTypeIdentffic狗oiDrive1ServoIdentificationviaLEDDrive2Servo-IdentMicationviiaLEDOK.Help配置完畢出現(xiàn)下圖畫面，點(diǎn)擊 closeAutoma

14、ticConfigurdtronStatuvofthedriveunit：IMiali融linn即囪hedRunningp&rahon:AutomaticconhguulioniscompletedClose止匕時(shí)需要離線配置,點(diǎn)擊 Disconnectfromtargetsystem 配置驅(qū)動(dòng) SERVO_02 點(diǎn)擊ConfiureDDS5M$1幅OTIONSCOUT-tratD311-SlhTAMIC$_S12Q_CU3205ERO_D2-CanfiguralhR曲ProjBCtEdtInsertTangptsjfltemViwwOptimsWindowHdp出現(xiàn) S120 驅(qū)動(dòng)配

15、置畫面，將前三項(xiàng)都打勾，激活基本定位功能CDinfigijration-INAMICS5120CU3Z0-CDntrnlstructureDrive.SERVOj02rDDS0FunctionmodulesFExtendedcclpcinkcbkarmdBTeehrsolcigycanbolkervBasicposilionerEmendedinessiaaes/monirofbg艮白口:.I匚ortinueCanceltleJp配置 MotorModule,由于之前已有 Drive-CLIQ 將配置讀上來，直接 ContinueQIMW固量1電1劇_1WI，lEISIE3I用Topdow36

16、四CU_5jD04出口Infeed?R_J|TnpuUobfcpjtEngnEtB=3drivestjIrsertchBSERVOJZjiinsertMCcharts諾DriveRawqator亡Wigur的onCoribrdlogicFRM生由 3ERTO_03Open-lwpkBed-bFunctions;Mis&agMandmonilCcmrftiSigningCornrrumcationDtnostics|Escomectfromtargetsystefn|irtli&yreDPS,Denligj&ionGhivedaSEs|Communddala加季|UriU

17、Referenceparjnielei|BlockedkDiiveabjectI邢白CohlroltMi：PROF1BUSmgs&agehame:SERVD_Q2Mflloi_Modijle_2(Po!er_uni54QElnyrrtteiPav?eruriUypaOrderro.D心IemoloimcdulBKIJ6SU120-2IE130MOSERWSpeedFreelekSERVD_02,Eneoder_6|Em。Cornponcrii：nwnterSMKEncoderevalwabon:曬:PcwferjunlMotoiMotenhakfcngbi-ake,EncoderPRO

18、FIBUSprocesinSummaiy”罩|DriveCDS0CbmHiandd如sei：CDS0SERVO.OeNameDiiveobjectno.:DRMECLU彳Displai*ddlaseiswitchover出現(xiàn)提示，將 P0864Infeedinoperation 設(shè)為 1ConnectOperationsignal(IWIZ:17130)TheDperationsignalmustbeconnected!Outior:ftheinfeed底ccntroltadviaanotherCU,thaOperationsignalofhfeedr863.0mustbeconnectedt

19、oBl:Infeedoperationofdrivep9&43占3Bl匚口inferconnection.IfthisisnottakenintoccnsjdeiationrdamsgstoIhainfeedmayrsedt!OK配置電機(jī),直接由 ConnectionX1 通過 DriveCLIQ 讀出電機(jī)信息Configuration-SINAMIC5_S120_CU320-PowerunitconnectionDrive:SERVO_O2,DDS0Configurethepowerunitconnectionsfoithedoublemotormodule6SL3120-2TE13

20、QAKKl_n=3A)QcmectiofiXTLConnectionX2。u前dbySERVD_03Motor:klotw_4MotorMotorholdingbiakeEncoderMeasurement$y$temMechanicsPROFIBUSprocessdeSummaryVCcntrostructureHPower_unit0PowerunitBICOtechnDriveSERVO_02,DDS0,MDS0Configurethemotor:Motorname:f*MotorwithDRIVECLiQinterfaceReadoutmotoragainSelectstandardm

21、otorfromli-Entefmotordata1FK7synchronousmotor選擇電機(jī)是否有抱閘剎車選擇編碼器類型MotorSMIMotorholdingbrakeEncoderMeasurementsystemMechanicsPROFJBUSprocess立口SummaryCcinhclstrueLirellPcuver_ur-it0PweiunitBICOtechnPowerunitconnection已有 DriveCLIQ 讀出Encoder1在 Mechanics 畫面中設(shè)置傳動(dòng)比，Loadrevolutions 和 Motorrevolutions設(shè)置 S120 電機(jī)

22、一圈所對(duì)應(yīng)的長度單位 LU。LUperloadrevolutions(positionsetpoint/actual)畫面中斗等值設(shè)為了10000,即電機(jī)一圈代表走了 10000 個(gè) LU注：LUperloadrevolutions(positionsetpoint/actual)設(shè)置的值與編碼器精度有關(guān)，不能大于 LUperloadrevolutions(Encoderrevolutions)的值 Activemodulocorrection激活模態(tài)，對(duì)于電機(jī)設(shè)定的長度和實(shí)際長度從 360000LU 開始回到 0,循環(huán)執(zhí)行。即 0-360000 再回到 0.5Confrzlitructurc

23、EPoweLiinitHPc.-.erunitBICOteclnPowerunitccnnection回MgyMcnyholding口后，二Drive:SERVO_02,DDSDMDS口Whichencoderdoyouwanttouse?REncoder1：Encoder2Jl，eei-irir，rr一,Encoder3MeasurementsystemMschanicsPROFIBUSprocessdeSumnri5(yEncodername:Encoder6Encoderevaluation：IntegrateencoderevaluationConfiBurfltion-SINAMIC

24、S_S17O_CU3?O-Meczhanitzs選擇通訊報(bào)文，對(duì)于基本定位的報(bào)文選擇 SIEMENStelegram110,PZD-12/7Configuration-SINAMICS_S120_CU320-PROFIBUSprocessdataexchange(drive)二9uE芯ji*n”P二 d二i7型:學(xué)的ifis-smt；W*，EU，ifi-*7mriiqig，F(xiàn)FI-rhBCDControlstructureIglPcnAierunit|Poweiijr-iitBlCOrrchn11Powerunitconnec-tionMotor回卜力口，口holidiingbrake回Ei片

25、白derMsurementsv-temDriveSERM0.02.DDSThepos.controlhasbeend&s-ignedtheFolLencoder:LUperloadrcvuluitiioniEncoderresolution!4194304LUPROFIIBUSprocES：七IISummaiyLoadrevolutionsEncoderFPR2048FinererMlLititon2046LUperloadrevolution(positionsetpoinl/actualMotorrevolutions1OClOOActivatemodulocorrecticn=i

26、imAct.pos.val./Setptstartsasainal.LUOnafter前叩口口LU乜口匕自由awrsLinreararKisSControlstructurePowef_uriilRowerunitBICOtechrMPoweriniconnection目Mcilaw|MotorhaldmqbramiMibtMjrtdlh隔電nwwl.tena13n|i日國Createnewdevks七Ihseit即日匕由性u(píng)nit+UElPiES4_JMONITOR日優(yōu)tS1WAM3CS_SL2D_QJ32DOvervifiM)匚oMwotign+TopdDQF*Q3CU_5_0(H+Tin

27、feetfe./SInput/outputcomparenft-口Drives，iInsertdiveB由SEftVO.OS力InsertDCCctiarts數(shù)nawigafcarConfiguratonCahtrHb真SetpcrirtChaiwiTeChndogEndlogic|Dptrriz-evievfp94OO|EII:OH/OFF10T|.209ft0.BO-IF1PflOFlBUSPZD-西叩8Bl:OM/OFF嶼interconnsctedbo.|Congwerd,HaukMAp210aOBI:I.Ai廠帚加0B金T|.2090:BEROTlSERWJ之2090*tn：8Q；p

28、lPRUEIBUSPZD1MCW%川；：削Q,尸四的145fO|BI:2DF2口廠pznamBi：10rfrp2imOBI:ExtB11口廠p8520|EII:EmHe中南3JH聞以b*3/BCTIF!FRCIFIE西爾。 .p2117IOBI.Elepa48O|BI:1.CF3口|m9aBi128clIF1FROFIBUSFED-2pa0JBI:2CF3口廠在 AnalogSignal 畫面中Velocityoverride 即 r20504PZD5DB1.DBW8此為點(diǎn)動(dòng)速度的倍率，通過修改其值來改變點(diǎn)動(dòng)的速度，16 進(jìn)制 4000H,10 進(jìn)制 16384 對(duì)應(yīng) 100%vsIccStp

29、overrideI癖面團(tuán);in朗。目小荷煙泥面小在 Configurejogsetpoints 畫面中設(shè)置 JOG 儕口 JOG2 勺速度和位置1.6.2 回零/尋參,點(diǎn)擊 Servo_02-Technology-BasicPsitioner-Homing,進(jìn)入 Homing 畫面 Homing又分 activehoming 主動(dòng)回零和 passivehoming(onthefly)被動(dòng)回Activehoming如下圖可以看到，主動(dòng)回零分為三種形式Homingoutputcamandencoderzeromark 使用接近開關(guān)力口編碼器零位Encoderzeromark 僅編碼器零位Exter

30、nalzeromark 僅外部零標(biāo)志最常用的就是接近開關(guān)加編碼器零位的方式Jog/corrfiguration-DigitisignalsJog/diagnostic:IIM1IIIII,IU6當(dāng)作國 45 避Configurej陽setpoints在 homing/configurationReferencingstartr2090bit11 即 DB1.DBX0.3 為尋零開始信號(hào)Searchforreference,referencecamr2092bit2 即 DB1.DBX5.2 即外部接近開關(guān)reJerencingstartHfcr2頸加IK恥1F1：用陽BHE隹o_setrefe

31、rencepoint叵_曲加92:麗加0:而沖Mid麻沌Q一帶值fencing麗白拿election口mOsearchforrderence,reJerencecamr2O92：BitiBDlFlPROFldiiveFQ一searchhrreferencereversingcamminus口inosearchforr已fetencereverjingcamplusSTO一動(dòng)作過程1,將 S120 使能,P840DB1.DBX1.0 置 12,尋零開始信號(hào)置 referencestartDB1.DBX0.3 置 1,電機(jī)開始運(yùn)行3,將外部接近開關(guān)信號(hào)對(duì)應(yīng) referencecam,當(dāng) DB1.D

32、BX5.2 為 1 時(shí)，電機(jī)減速， 搜Ho(ning/coiifigLjfatioiiWiDigitalsignal*Jr，er，s-sr-，rrHoming/diagnostics|Analogsignals尋編碼器零脈沖，遇到后停止。尋零結(jié)束當(dāng)編碼器為絕對(duì)值編碼器時(shí)，會(huì)看到以下畫面在 Homepositioncoordinate 中設(shè)置坐標(biāo)值，,點(diǎn)擊 Performabsolutevaluecalibration 做編碼器校準(zhǔn)即可1.7 基本定位_程序步(TraversingBlocks)通過使用 TraversingBlocks“程序步”模式可自動(dòng)執(zhí)行一個(gè)完整的定位程序，也可實(shí)現(xiàn)單步控制

33、；但只有當(dāng)前程序步執(zhí)行完后下一個(gè)程序步才有效。在 S120 中提供了最多 64 個(gè)程序步供使用。攙昀愀 一甀洀戀攀爀攀攙開昀攙挀挀 挀攙 攀昀 愀戀戀 攀昀戀挀挀攀程序步設(shè)置點(diǎn)擊 Servo_02-Technology-BasicPositioner-TraversingBlocks 畫面Traversingblock?/configurationTraversingblocks/diagnostics*DigitalsignalsExternalNockchangeactivatetraversing(ask0-1)(2090:B15：BO:IF1PRORBUSFZ1fixedstoprea

34、ched?11r252E；Bit4.山后口：LRMatuswordQfixedstopoutiidethemonihringwindow3111r2526:Bit5.CO/BO:LR$taiuswordtorquelimitreached)11r1407:Bit7,CO/BO:Shtjsspintermediatestop0signal)r209Q:Eit5,BO:IF1PROFIBUSF71reiectUaversingtask(0signal|i頌門口評(píng)QFiEus兩OTraversingblockselectionBitj2d3i1o一fixedstopreachedT11B讓4：CWB

35、RLRdatuswordQ一fixedstopoutsidethemonitoringwindow)J:52E:BitS.tCMBCl:國線atus內(nèi)mdQtorquelimitre-ached27山1407:Bit7一巾芯口：Status加 E 八Q一irtermediatestop(0signal)曲。:i門麗仃在聞金也iorejecttraveriinatask(0signal)I眠4：:一可麗麗嶼電Q一TraversingblockselectionBit1-grBi0既舊PRQRd【混QTraversingblockselectionBit:二一羽1：頊而3。IF1PRORdriYe

36、raQTraversingblockselectionBit;5|一的曲2皆面府i閑口。加帕包【OTraversingblock.寫electionBit口怩陋i二琉aR。im用而加端。1.8Directsetponitspecification/MDI(直接設(shè)定點(diǎn)輸入方式/手動(dòng)數(shù)據(jù)設(shè)定方式)MDI 有兩種不同模式位置(position)模式 P2653=0手動(dòng)定位或稱速度模式(settingup)P2653=1 這兩種模式可在線切換速度模式是指軸按照設(shè)定的速度及加減速運(yùn)行，不考慮軸的實(shí)際位置。位置模式是指軸按照設(shè)定的位置、速度、加減速運(yùn)行；位置模式又可分為絕對(duì)位置（P2648=1）和相對(duì)位置

37、（P2648=o 兩種方式MDI 執(zhí)行步驟1.使能 S120P2647=r2091bit15.選擇不拒絕任務(wù)P2641=r2090bit4P2640=r2090bit5即 DB1.DBX2.7 置1rejecttraversingtask即 DB1.DBX1.4r2090:Bit白口：IF1P.RORBUSPZIP840=r2090bit0 即 DB1.DBX1.0 置 12.directsetpointinput/MDIselection選才?MDI 模式和沒有停止命令即 DB1.DBX1.5者 B 置 1MDIZcontigurfltionMDI/diagnostics|“Digitals

38、ignalsP-Analogcignal$directsetpoHinput/MDIselection畫31：而t花二白口二曲麗Fid前田O-directsetpointinput/MDIsetting-upEZfoOintermediate罟2P(0signalr2090:Bit5；BO;IF1PRQF1BUSPSQ一rejectHave怙ingtask(0signal42090:Fit4：BO:：IF1PROHBUSP3Qdirectselpcintinput/MDIpositioningtypeSetpointacceptanceedge但闕匕而商3國3用Q童嶼佗O回.CONTINUOUS=1-I:ITransfertypeselection.設(shè)置 MDI 位置速度加減速參數(shù)Velocityoverride 速度倍率P2646=r20504,即 DB1.DBW8W#16#4000 應(yīng) 100%Directsetpointinput/MDIpositionMDI 位置P2642=r20605,即 DB1