Siemens Stardrive v14109743270 SINAMICS S120 TIA DOCU v10 en

Configuring a
SINAMICS S120 with

Startdrive V14
Siemens
SIMATIC S7-1500 / SINAMICS S120 Industry
Online
https://support.industry.siemens.com/cs/ww/en/view/109743270 Support
Warranty and Liability
Warranty and Liability
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SINAMICS S120 mit Startdrive V14

Entry-ID: 109743270, V1.0, 03/2017 2
Table of Contents
Table of Contents
Warranty and Liability ................................................................................................. 2
1 Introduction ........................................................................................................ 4
1.1 Overview............................................................................................... 4
1.2 Components used ................................................................................ 5
2 Engineering ........................................................................................................ 6
2.1 Function principle of the user program ................................................. 6
2.2 Configuring the SINAMICS S120 ......................................................... 9
2.2.1 Configuring the SINAMICS S120 (Offline) ........................................... 9
2.2.2 Loading the configuration of the SINAMICS S120 (Online) ............... 11
2.3 Configuring the hardware ................................................................... 13
2.3.1 Configuring the controller and the drive ............................................. 13
2.3.2 Configuring the technology objects .................................................... 18
2.3.3 Creating the S7 program .................................................................... 20
2.4 Installation and commissioning .......................................................... 22
2.4.1 IP addresses and device names ........................................................ 22
2.4.2 PG/PC settings ................................................................................... 22
2.4.3 Downloading from the project into the components ........................... 23
2.5 Operation ............................................................................................ 23
2.5.1 Control panel of the motor .................................................................. 24
2.5.2 Axis control panel ............................................................................... 24
2.5.3 MotionControlS120 watch table ....................................................... 25
3 Appendix .......................................................................................................... 26
3.1 Service and support ........................................................................... 26
3.2 Links and literature ............................................................................. 27
3.3 Change documentation ...................................................................... 27

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1 Introduction
1 Introduction
1.1 Overview
SIMATIC S7-1500 CPUs support the connection of drives as speed axis or
positioning axis via PROFINET, PROFIBUS or via an analog drive connection. As
of TIA Portal V14, it is additionally possible to configure a SINAMICS S120 drive in
a TIA Portal V14 program using the SINAMICS Startdrive V14 S120 Option
software and to operate it by means of Motion Control instructions.
Figure 1-1: Overview of the components
SIMATIC S7-1511-1 PN SINAMICS S120
PROFINET / IE
In this application example, a SINAMICS S120 is operated as position-controlled

drive. This drive shall serve as master axis for a second drive configured with gear
synchronization. The drives are configured using SINAMICS Startdrive V14 S120
Option.

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1 Introduction
1.2 Components used

This application example has been created with the following hardware and
software components:
Table 1-1: Hardware and software components
Component Qty. Article number Note
SIMATIC 1 6ES7511-1AK00-0AB0 Alternatively, a different
S7-1511-1 PN S7-1500 controller can be
used as well.
SINAMICS Control 1 6SL3040-1MA01-0AA0 -
Unit CU320-2
SINAMICS S120 1 6SL3130-6AE15-0AA0-Z -
smart line module
SINAMICS S120 1 6SL3120-2TE13-0AA0-Z -
double motor module
SMC20 sensor 1 6SL3055-0AA00-5BA1 -
module
Synchronous motor 1 1FK7022-5AK71-1AG3 -
with incremental
encoder without
DRIVE-CLIQ
interface
Synchronous motor 1 1FK7022-5AK71-1LG0 -

with absolute encoder
with DRIVE-CLIQ
interface
STEP 7 Professional 1 6ES7822-1..04-.. -
V14
SINAMICS Startdrive 1 For more information, visit:
V14 S120 https://support.industry.siemens.com/cs/ww/en/view/10
9743190
This application example consists of the following components:

Table 1-2: Components of the application example
Component Note
109743270_SINAMICS_S120_TIA_PROJ_v10.zip This zip file contains the STEP 7
V14 project.
109743270_SINAMICS_S120_TIA_DOCU_v10.pdf This document

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2 Engineering
2 Engineering
2.1 Function principle of the user program
S7-1500 Motion Control
S7-1500 Motion Control supports controlled positioning and moving of axes and is
an integral part of each S7-1500 CPU. The technology CPU S7-1500T offer
additional Motion Control functions.
The Motion Control functionality supports the following technology objects:
Speed axis
Positioning axis
Synchronous axis
External encoder
Cam and cam track (as of version 3.0)
Cam disk (for S7-1500T as of version 3.0)
Drives supporting PROFIdrive and equipped with an analog setpoint interface are
controlled by means of standardized Motion Control instructions according to
PLCopen.
The axis control panel and comprehensive online and diagnostic functions support
the commissioning and optimization of drives.
In this application example, the position-controlled operation of a SINAMICS S120

drive with the Positioning axis technology object is implemented. In addition, a
synchronous axis is configured.
Figure 2-1: Configuration as positioning axis
Note The configuration of the Positioning axis and Synchronous axis technology
objects is described in chapter 2.3.2.

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2 Engineering
Structure of the user program for the master axis

In this application example, the SINAMICS S120 drive serving as master axis is
configured as positioning axis. In a user program, you have the possibility to
operate this position-controlled drive by means of the Motion Control instructions.
For this, the following instructions have been added to the program:
MC_HALT (FB 1200)
MC_HOME (FB 1201)
MC_MOVEABSOLUTE (FB 1202)
MC_MOVEJOG (FB 1203)
MC_POWER (FB 1206)
MC_RESET (FB 1207)
The Motion Control instructions for the master axis are called in the
MotionControlPos (FB 1) function block.
Figure 2-2: Program structure of the master axis
Motion MC_ InstMotion

Main
ControlPos HALT ControlPos

[OB1]
[FB 1] [FB 1200] [DB 3]
MC_
MC-Servo HOME
[OB91] [FB 1201]
MC- MC_MOVE
Interpolator ABSOLUTE
[OB92] [FB 1202]
MC_
MOVEJOG
[FB 1203]
MC_
POWER
[FB 1206]
MC_
RESET
[FB 1207]
User program Data blocks

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2 Engineering
Structure of the user program for the slave axis

In this application example, the SINAMICS S120 drive serving as slave axis is
configured as synchronous axis. In the user program, the slave axis can be
synchronized with the master axis configured as positioning axis by means of the
Motion Control block MC_GEARIN.
For this, the following Motion Control instructions have been added to the program
for the slave axis:
MC_POWER (FB 1206)
MC_RESET (FB 1207)
MC_GEARIN (FB 1208)
Note The Motion Control blocks MC_POWER and MC_RESET will be enabled in
parallel to the corresponding blocks of the master axis.
The Motion Control instructions for the slave axis are called in the
MotionControlSyn (FB 2) function block.
Figure 2-3: Program structure of the slave axis

Motion MC_ InstMotion

Main
ControlSyn POWER ControlSyn
[OB1]
[FB 2] [FB 1206] [DB 4]
MC_
MC-Servo
RESET
[OB91]
[FB 1207]
MC- MC_
Interpolator GEARIN
[OB92] [FB 1208]
User program Data blocks
Note For information about the Motion Control blocks, refer to the TIA Portal Online
Help or to the S7-1500 Motion Control V3.0 in TIA Portal V14 function manual
\3\.
https://support.industry.siemens.com/cs/ww/en/view/109739589
A watch table is available for operating the two drives by means of the Motion
Control instructions. This table is available in chapter 2.5.3.

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2.2 Configuring the SINAMICS S120

As of TIA Portal V14, it is possible to configure a SINAMICS S120 drive using the
option package SINAMICS Startdrive V14 S120 Option and to control it by means
of Motion Control instructions.
2.2.1 Configuring the SINAMICS S120 (Offline)
Note A detailed description of the SINAMICS S120 offline configuration is available in

chapter 2.3.1.
The offline configuration of the SINAMICS S120 is done in the Device view of
your TIA Portal program. Here, the individual components of the SINAMICS S120
drive have to be added and connected.
The following figure shows an example configuration of the SINAMICS S120
demonstration box (article no.: 6ZB2480-0BA00).
Figure 2-4: Configuring the SINAMICS S120

The components of the SINAMICS S120 drive that have been used are listed in the
Device overview.

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Figure 2-5: Modules
After successful configuration of the SINAMICS S120, you have to check or set the
parameters listed in the following table in the motor modules to ensure that the
drive can be operated in a control program by means of Motion Control
instructions.
Table 2-1: Adjusted parameters

Parameter Meaning Settings
p922 PROFIdrive telegram selection Standard telegram 3

p1082 Maximum velocity The setting must correspond to the
maximum velocity for parameterization of
the technology object (3000 1/min, see
chapter 2.3.2).
p1120 Ramp-function generator Enter parameter value 0.0
ramp-up time
p1121 Ramp-function generator
ramp-down time
Note For more information about configuration, refer to the SINAMICS S120 with
Startdrive Commissioning Manual at \5\.

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2 Engineering
2.2.2 Loading the configuration of the SINAMICS S120 (Online)
With the option "SINAMICS Startdrive V14 S120", it is also possible to load the
configuration of the SINAMICS S120 station used into a TIA project. The necessary
steps are listed in the following table.
Table 2-2: Loading the drive configuration

No. Action Remark
1. 1. In the Network view, add the CU
320-2 PN and assign the desired IP 1
address.
2. However, do not assign a controller
to the drive yet!
2. Establish an online connection to the drive

and open the parameter list.
3. Check the value entered for parameter p9

Device commissioning parameter filter.
This parameter should have the value 1.
4. Enter the desired drive type for parameter -
p97 Select drive object type.
1 = Servo
2 = Vector
5. Now, the value entered for parameter p98
Actual device topology will be taken over
for parameter p99 Device target topology.
6. Set the value entered for parameter p9 -

Device commissioning parameter filter to
0.

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No. Action Remark

7. After another startup of the drive,
disconnect the online connection to the CU
320-2 PN and load the configuration into
your TIA project.
8. The configuration of the drive is taken over

into the TIA project.
9. After successful loading of the

configuration, the individual components of
the SINAMICS S120 drive are displayed in
the TIA program.
10. Check in the Device overview whether all

components of the SINAMICS S120 drive
have been detected.
If there are unspecified modules, these
modules have to be configured offline. This
configuration is described in chapter 2.3.1.
11. Now, you can establish an online -

connection to the individual components of
the SINAMICS S120 drive and take
necessary measures for commissioning.
Note Automatic loading of the topology with SINAMICS Startdrive V14 S120 is
supported as of TIA Portal V14 SP1.

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2.3 Configuring the hardware

The tables below describe how to configure the SIMATIC S7 CPU and the
SINAMICS S120 drive. It is assumed that the software is installed on your PG/PC
according to Table 1-1.
2.3.1 Configuring the controller and the drive
Table 2-3: Configuring the controller and the drive

No. Action Remark
1. Open TIA Portal and create a new project.
2. Double-click Add new device.

3. Add a controller of your choice.

1. Select Controllers.
2. Select the desired CPU.
3. Then, click OK.

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No. Action Remark

4. Open the Network view and add a new
subnet. Then, set the desired network
address in the Properties of the controller.
5. Add the SINAMICS S120 drive and

connect it to the SIMATIC controller.
6. 1. Select the assignment option of the

SINAMICS S120 drive.
2. Assign the drive to the controller used.
7. Configure the SINAMICS S120 drive in the

Device view. Add a double motor module
to the Device view.
(The SINAMICS S120 supply used in this

application example is not equipped with a
DRIVE-CLIQ interface. For this reason, the
supply does not need to be configured in
this case.)

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2 Engineering
No. Action Remark

8. You have the option to change the name in
the Properties of the motor module.
9. 1. Select the motor module in the Device

view.
2. Then, go to the Properties of the

double motor module and select the
module used.
10. 1. Take a 1FK7 synchronous motor from

the Catalog and add it to the first
motor module.
motor and select the module used.

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No. Action Remark

11. Keep the sensor module on the SMI20.
12. 1. Take another 1FK7 synchronous

motor from the Catalog and add it to
the second motor module.
motor and select the module used.
13. Select the SMC20 as sensor module in the

second motor module.

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No. Action Remark

14. Add the terminal board TB30 to the Device
view and then check the DRIVE-CLiQ
connections.
15. The components used are listed in the

Device overview.
16. In the Device view, select the CU_320-2

PN. Go to Cyclic data exchange and set
standard telegram 3 for the motor modules.
17. Go to the Parameter view of the motor

modules and check the parameters
according to Table 2-1.
18. Save the configuration. -

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2 Engineering
2.3.2 Configuring the technology objects
For this application example, two technology objects are configured:

1. A Positioning axis for being operated as master axis,
2. A Synchronous axis for being operated as slave axis.
Table 2-4: Configuring the technology object

No. Action Remark
1. Add the Positioning axis technology
object (TO_PositioningAxis) for the
master axis to the controller project.
1. Select the Positioning axis
technology object.
2. Then, click OK.
2. In the Basic parameters of the drive,

enter PROFIdrive as Drive type. As
Drive entry, select the desired motor

module of the SINAMICS S120.
3. In the Basic parameters of the encoder,

enable the Connection to the drive option.
4. Then, check the settings made for Data

exchange.

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No. Action Remark

5. Add the Synchronous axis technology
object (TO_SynchronousAxis) for the
slave axis to the controller project.
1. Select the Synchronous axis
technology object.
2. Then, click OK.
6. In the Basic parameters of the drive,

enter PROFIdrive as Drive type. As
Drive entry, select the desired motor
module of the SINAMICS S120.
7. In the Basic parameters of the encoder,

enable the Connection to the drive option.
8. Then, check the settings made for Data

exchange.
9. For Leading value interconnections,

select the positioning axis.

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2.3.3 Creating the S7 program
The structure of the S7 program and the Motion Control instructions used are
shown in chapter 2.1. Follow the steps listed in the table below for each drive.
Table 2-5: Creating the S7 program

No. Action Remark
1. Add a function block to the program.
1. Select a function block.
2. Set the desired address and
programming language of the block.
3. Confirm with OK.
2. Go to the Instructions tab and open the

Motion Control folder.
3. Add the desired instructions from the

Motion Control folder to the function block
that has been created in step 1 of this
table.
4. Use the option of using multi-instances

when adding the Motion Control
instructions.

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No. Action Remark

5. Call the function block with the Motion
Control instructions in organization block
OB1.


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2.4 Installation and commissioning

2.4.1 IP addresses and device names
Table 2-6: IP addresses and device names

Components Device name IP addresses
SIMATIC S7-1516F-3 PN/DP PLC 192.168.0.1
SINAMICS S120 CU320-2 PN CU_320 192.168.0.2
PG/PC - 192.168.0.200
The network mask is always 255.255.255.0 and no router is used.
2.4.2 PG/PC settings
To establish a connection between the components of the application example and

your development system (PG/PC), you need to assign a fixed IP address to the
network card of the PG/PC. These settings are made in the Control Panel of the
PG/PC.
Table 2-7: PG/PC settings

No. Action Remark
1. In the Control Panel, set the PG/PC

interface. Select S7ONLINE
(STEP 7) as access path of the
application example and TCP/IP ->
<network card used> as interface
parameter assignment used.
2. Assign a free, fixed IP address

192.168.0.x (e. g. x = 200) to the
network card used and assign the
subnet mask 255.255.255.0.
These settings are intended for
accessibility of the components
used in this application example.

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2.4.3 Downloading from the project into the components
Table 2-8: Downloading into the components

No. Action Remark
1. Retrieve the project -
109743270_SINAMICS_S120_TIA
_PROJ_v10.zip available as zip file
into a local directory.
2. Double-click the ap14 file in the -
project folder just retrieved in order
to open the project in TIA Portal.
3. If TIA Portal opens in the Portal
view, go to the bottom left to switch
to the Project view.
4. Download the program of the

SIMATIC controller:
1. Select the S7 controller in the
project tree.
2. Load the project into the
controller.
5. Load the configuration of the

SINAMICS drive:
1. Select the drive in the project
tree.
2. Load the project into the drive.
2.5 Operation
There are three options available for operation:
Control panel of the motor in Startdrive,
Axis control panel in the TIA Portal,
Watch table in the control program.

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2.5.1 Control panel of the motor
If you do not want to transfer the control program, you can operate the motor via a
control panel in the Startdrive configuration.
Figure 2-6: Control panel of the motor
2.5.2 Axis control panel
After having transferred the control program, the axis control panel of the
technology object is available to you. It is located in the Commissioning folder of
the technology object.

The axis control panel offers the following operating modes:
Referencing
Set reference point
Jogging
Velocity / speed specification
Relative positioning
Absolute positioning
Figure 2-7: Axis control panel

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Note For information on how to operate the axis control panel, refer to the S7-1500
Motion Control V3.0 in TIA Portal V14 Function Manual \3\.
2.5.3 MotionControlS120 watch table
The MotionControlS120 watch table is intended for operating the Motion Control
blocks. These blocks can be used for positioning the master axis. Moreover, the
slave axis can be enabled as well using the MC_GEARIN instruction.
Figure 2-8: MotionControlS120 watch table

Note For information about the Motion Control blocks, refer to the TIA Portal Online
Help and to the S7-1500 Motion Control V3.0 in TIA Portal V14 Function
Manual \3\.

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3 Appendix
3 Appendix
3.1 Service and support
Industry Online Support
Do you have any questions or need support?
Siemens Industry Online Support offers access to our entire service and support
know-how as well as to our services.
Siemens Industry Online Support is the central address for information on our
products, solutions and services.
Product information, manuals, downloads, FAQs and application examples all
information is accessible with just a few mouse clicks at
https://support.industry.siemens.com/ .
Technical Support
Siemens Industry's Technical Support offers quick and competent support
regarding all technical queries with numerous tailor-made offers from basic
support to individual support contracts.
Please address your requests to the Technical Support via the web form:
www.siemens.com/industry/supportrequest
Service offer
Our service offer comprises, among other things, the following services:
Product Training
Plant Data Services
Spare Parts Services
Repair Services
Field & Maintenance Services
Retrofit & Modernization Services
Service Programs & Agreements
Detailed information on our service offer is available in the Service Catalog:
https://support.industry.siemens.com/cs/sc
Industry Online Support app

Thanks to the "Siemens Industry Online Support" app, you will get optimum
support even when you are on the move. The app is available for Apple iOS,
Android and Windows Phone.
https://support.industry.siemens.com/cs/de/en/sc/2067

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3 Appendix
3.2 Links and literature

Table 3-1: Links and literature
No. Topic
\1\ Siemens Industry Online Support
https://support.industry.siemens.com
\2\ Link to this entry page of this application example
\3\ Function Manual for SIMATIC S7-1500
S7-1500 Motion Control V3.0 in the TIA Portal V14
\4\ List Manual for SINAMICS S120/S150
\5\ Commissioning Manual for SINAMICS S120 with Startdrive
3.3 Change documentation

Table 3-2: Change documentation
Version Date Modifications
V1.0 03/2017 First version

Entry-ID: 109743270, V1.0, 03/2017 27

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Configuring a

SINAMICS S120 with

Warranty and Liability

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

SINAMICS S120 mit Startdrive V14

SINAMICS S120 mit Startdrive V14

Figure 1-1: Overview of the components

SIMATIC S7-1511-1 PN SINAMICS S120

In this application example, a SINAMICS S120 is operated as position-controlled

SINAMICS S120 mit Startdrive V14

1.2 Components used

Synchronous motor 1 1FK7022-5AK71-1LG0 -

This application example consists of the following components:

SINAMICS S120 mit Startdrive V14

the commissioning and optimization of drives.

In this application example, the position-controlled operation of a SINAMICS S120

Figure 2-1: Configuration as positioning axis

SINAMICS S120 mit Startdrive V14

Structure of the user program for the master axis

Figure 2-2: Program structure of the master axis

Motion MC_ InstMotion

ControlPos HALT ControlPos

User program Data blocks

SINAMICS S120 mit Startdrive V14

Structure of the user program for the slave axis

Figure 2-3: Program structure of the slave axis

Motion MC_ InstMotion

User program Data blocks

SINAMICS S120 mit Startdrive V14

2.2 Configuring the SINAMICS S120

2.2.1 Configuring the SINAMICS S120 (Offline)

Note A detailed description of the SINAMICS S120 offline configuration is available in

Figure 2-4: Configuring the SINAMICS S120

SINAMICS S120 mit Startdrive V14

Figure 2-5: Modules

Table 2-1: Adjusted parameters

p922 PROFIdrive telegram selection Standard telegram 3

SINAMICS S120 mit Startdrive V14

2.2.2 Loading the configuration of the SINAMICS S120 (Online)

Table 2-2: Loading the drive configuration

2. Establish an online connection to the drive

3. Check the value entered for parameter p9

6. Set the value entered for parameter p9 -

SINAMICS S120 mit Startdrive V14

No. Action Remark

8. The configuration of the drive is taken over

9. After successful loading of the

10. Check in the Device overview whether all

11. Now, you can establish an online -

SINAMICS S120 mit Startdrive V14

2.3 Configuring the hardware

2.3.1 Configuring the controller and the drive

Table 2-3: Configuring the controller and the drive

2. Double-click Add new device.

3. Add a controller of your choice.

SINAMICS S120 mit Startdrive V14

No. Action Remark

5. Add the SINAMICS S120 drive and

6. 1. Select the assignment option of the

7. Configure the SINAMICS S120 drive in the

(The SINAMICS S120 supply used in this

SINAMICS S120 mit Startdrive V14

No. Action Remark