Application description  11/2016

Position Control with

S7-1200 and SINAMICS
V90 PN (S mode)
SINAMICS V90 Profinet Version

https://support.industry.siemens.com/cs/ww/en/view/109743917
 Warranty and liability

Warranty and liability

Note The Application Examples are not binding and do not claim to be complete
regarding the circuits shown, equipping and any eventuality. The Application
Examples do not represent customer-specific solutions. They are only intended
to provide support for typical applications. You are responsible for ensuring that
the described products are used correctly. These Application Examples do not
relieve you of the responsibility to use safe practices in application, installation,
operation and maintenance. When using these Application Examples, you
recognize that we cannot be made liable for any damage/claims beyond the
liability clause described. We reserve the right to make changes to these
Application Examples at any time without prior notice.
If there are any deviations between the recommendations provided in these
Application Examples and other Siemens publications – e.g. Catalogs – the
contents of the other documents have priority.

We do not accept any liability for the information contained in this document.
Any claims against us – based on whatever legal reason – resulting from the use of
the examples, information, programs, engineering and performance data etc.,
described in this Application Example shall be excluded. Such an exclusion shall
not apply in the case of mandatory liability, e.g. under the German Product Liability
Act (“Produkthaftungsgesetz”), in case of intent, gross negligence, or injury of life,
body or health, guarantee for the quality of a product, fraudulent concealment of a
 Siemens AG 2016 All rights reserved

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

(“wesentliche Vertragspflichten”). The damages for a breach of a substantial
contractual obligation are, however, limited to the foreseeable damage, typical for
the type of contract, except in the event of intent or gross negligence or injury to
life, body or health. The above provisions do not imply a change of the burden of
proof to your detriment.
Any form of duplication or distribution of these Application Examples or excerpts
hereof is prohibited without the expressed consent of the Siemens AG.

Security Siemens provides products and solutions with industrial security functions that
informa- support the secure operation of plants, systems, machines and networks.
tion In order to protect plants, systems, machines and networks against cyber
threats, it is necessary to implement – and continuously maintain – a holistic,
state-of-the-art industrial security concept. Siemens’ products and solutions only
form one element of such a concept.
Customer is responsible to prevent unauthorized access to its plants, systems,
machines and networks. Systems, machines and components should only be
connected to the enterprise network or the internet if and to the extent necessary
and with appropriate security measures (e.g. use of firewalls and network
segmentation) in place.
Additionally, Siemens’ guidance on appropriate security measures should be
taken into account. For more information about industrial security, please visit
http://www.siemens.com/industrialsecurity.
Siemens’ products and solutions undergo continuous development to make them
more secure. Siemens strongly recommends to apply product updates as soon
as available and to always use the latest product versions. Use of product
versions that are no longer supported, and failure to apply latest updates may
increase customer’s exposure to cyber threats.
To stay informed about product updates, subscribe to the Siemens Industrial
Security RSS Feed under http://www.siemens.com/industrialsecurity.

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 2
 Table of contents

Table of contents
Warranty and liability ................................................................................................... 2
1 Task ..................................................................................................................... 4
1.1 Overview............................................................................................... 4
2 Solution............................................................................................................... 5
2.1 Solution overview ................................................................................. 5
2.2 Hardware and Software Components .................................................. 5
2.2.1 Validity .................................................................................................. 5
2.2.2 Used Components ................................................................................ 6
3 Basics ................................................................................................................. 7
3.1 Basics regarding SINAMICS V90 PN version ...................................... 7
3.2 Basic information about using NON-isochronous
communication between PLC and drive ............................................... 8
Real-time Communication (RT) ............................................................ 8
Isochronous Real-time Communication (IRT) ...................................... 8
3.3 Improvements for a better system behavior ....................................... 10
Send clock .......................................................................................... 10
Update time (Bus cycle time) ............................................................. 11
Cycle time for PLC program ............................................................... 11
3.4 Recommendation of time setting with SIMATIC S7-1200 .................. 12
3.5 Recommendation of time setting SIMATIC S7-1500 ......................... 14
 Siemens AG 2016 All rights reserved

3.6 Installation and startup ....................................................................... 16

3.6.1 Hardware installation .......................................................................... 16
3.6.2 Startup (JOG from drive side) ............................................................ 16
4 Configuration ................................................................................................... 17
4.1 Basic parameter configuration regarding SINAMICS V90 PN ........... 17
4.1.1 Configure PROFINET settings via SINAMICS V-ASSISTANT .......... 17
4.1.2 Configure PROFINET settings via the TIA Portal .............................. 19
5 Operation of the application ........................................................................... 27
6 Related literature ............................................................................................. 43
7 Contact.............................................................................................................. 43
8 History............................................................................................................... 43

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 3
 1 Task

1 Task
1.1 Overview
Introduction
In this manual the basic application “Position control with a S7-1200 and
SINAMICS V90 PN” will be described in detail.
The SINAMICS V90 PN works in this application in speed control mode (S mode)
and the communication will use PROFINET RT.
The described solution in this document contains the variations which have some
detailed technical issues to look at it.

Overview of the automation task

The figure below provides an overview of the automation task.
Figure 1-1

SIMATIC PLC PC/PG

 Siemens AG 2016 All rights reserved

Profinet cable

Encoder cable

Power cable

Servo Drive Servo Motor

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 4
 2 Solution

2 Solution
2.1 Solution overview
Schema Display
The following figure displays the most important components of the solution:
Figure 2-1

IO Supervisor

IO controller
 Siemens AG 2016 All rights reserved

IO device

Delimitation
This application does not include a description of
 Profinet communication
 SINAMICS V90 PN version
 BOP operation of SINAMICS V90
Basic knowledge of these topics is assumed.

Required knowledge
Basic knowledge on TIA Portal is assumed.

2.2 Hardware and Software Components

2.2.1 Validity

This application example is valid for

 TIA Portal V13 or newer
 S7-1200 CPU with PN interface
 SINAMICS V90 PN FW V10001.0 or newer
 SIMOTICS S-1FL6 Li motor

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 5
 2 Solution

2.2.2 Used Components

The application was generated with the following components:

Hardware components
Table 2-1
Component No. Article number Note
SIMATIC S7-1200 1217C 1 6ES7217-1AG40-0XB0 V4.1
DC/DC/DC
SINAMICS V90 PN 200V 1 6SL3210-5FB10-4UF0 400W
SIMOTICS S-1FL6 Li 1 1FL6034-2AF21-1AG1 400W
motor

Standard software components

Table 2-2
Component No. Article number Note
TIA Portal 1 V13
SINAMICS V-ASSISTANT 1 V1.04.00

Sample files and projects

 Siemens AG 2016 All rights reserved

The following list includes all files and projects that are used in this example.
Table 2-3
Component Note
109743917_CPU1217C + V90 PN for Position Control Project file
Standard Application_v90pn_S7_1200_PositionControl.docx Reference document

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 6
 3 Basics

3 Basics
3.1 Basics regarding SINAMICS V90 PN version
When SINAMICS V90 PN works in the speed control mode (S mode), the following
telegrams are supported:
 Standard telegram 1
 Standard telegram 2
 Standard telegram 3
 Standard telegram 5
 Siemens telegram 102
 Siemens telegram 105

NOTE Siemens telegram 105 is only available with TIA Portal V14, the Hardware
Support Package for V90PN for TIA Portal and in combination with S7-1500 /
1500T.

The standard telegram 1 can be used only for RT mode. The standard telegram 2,
the standard telegram 3 and the standard telegram 102 can be used either for RT
 Siemens AG 2016 All rights reserved

mode or IRT mode depending on the IO controller. The standard telegram 5 and
the standard telegram 105 can only support IRT mode and be used with TIA Portal
V14.
The telegrams 1, 2 and 102 are used for speed control axis while telegrams 3, 5
and 105 are used for positioning axis because these telegrams contain the actual
position of the encoder (Gn_XIST1).
If SIMATIC S7-1200 is used for positioning control then the TO (Technology
Object) Positioning axis has to be used. The TO Positioning axis only supports the
standard telegrams 1, 2 and 3. Thus, the standard telegram 3 will be used in
this basic application.

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 7
 3 Basics

3.2 Basic information about using NON-isochronous

communication between PLC and drive
PROFINET IO is a scalable real-time communication system based on the Layer 2
protocol for Fast Ethernet. With the RT transmission method, two real-time-support
performance levels are available for time-critical process data and IRT for high
accuracy and also isochronous processes.
Figure 3-1

PROFINET with IRT

Deterministics

(Isochronous Real-Time)

PROFINET with RT
(Real-Time)
 Siemens AG 2016 All rights reserved

Real-time Communication (RT)

PROFINET IO with real-time communication (RT) is the ideal solution for
integrating IO systems. This is a solution that also uses standard Ethernet in the
devices and commercially available industrial switches as infrastructure
components. A special hardware support is not required.
PROFINET IO frames have priority over standard frames in accordance with
IEEE802.1Q. This ensures the required determinism in the automation technology.
The data is transferred via prioritized Ethernet frames.
With RT, you can achieve update times ≥ 250 μs with RT.

NOTE SIMATIC S7-1200 works only with RT communication.

Isochronous Real-time Communication (IRT)

IRT is a synchronized communication protocol for cyclic exchange of IRT data
between PROFINET devices. A reserved bandwidth is available in the send cycle
for IRT data. The reserved bandwidth ensures that the IRT data can be transferred
at reserved synchronized intervals, without being influenced also by higher other
network loads (such as TCP/IP communication, or additional real-time
communication).
Topology configuration is a prerequisite for IRT.
In addition to the reserved bandwidth, the telegrams from defined transmission
paths are exchanged for the further optimization of data transfers. For this, the
topological information from the configuration is used for planning the
communication. Thus, transmission and reception points of every individual data
telegram at every communication node are guaranteed. This allows you to achieve

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 8
 3 Basics

optimal usage of the bandwidth and reach the best possible performance in the
PROFINET IO system.
Use of IRT allows you to achieve update times with highest deterministics ≥ 250 µs
and a jitter accuracy of the send clock < 1 µs. Isochronous applications are
possible with IRT.

Fields of application

Table 3-1 Fields of application for RT and IRT

RT IRT
 Time-critical applications in factory  Considerable deterministics with large
automation quantity structures concerning the I/O user
 The implementation of large data communication (productive data)
quantity structures in line process  Considerable performance also with many
plants devices concerning the I/O user data
communication (productive data)
 Parallel transfer of productive and TCP/IP
data via a cable, even with considerable
data
 traffic whilst ensuring the forwarding of
productive data by reserving the
transmission bandwidth
 Siemens AG 2016 All rights reserved

The major differences between RT and IRT

Table 3-2 Comparison between RT and IRT

Property RT IRT
Transmission method Prioritizing the RT frames Path-based switching on the
through Ethernet priority basis of a communication
(VLAN tag) path plan; no transmission
of TCP/IP frames in the time
range with IRT
communication.
Determinism Variance of the duration of Exact, planned
transmission by the shared transmission, transmission
use of the transmission band- and reception times are
width with other protocols guaranteed for all
(e.g., TCP/IP) topologies.
Hardware support through Not required Required
special Ethernet
controllers is required
Isochronous application Yes (only for the integrated
PROFINET IO interface of
the CPU)
Starting time of the The point in time for the
isochronous application reception of the data is
planned exactly. Application
can be started synchronized
to the cycle.

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 9
 3 Basics

3.3 Improvements for a better system behavior

Figure 3-2 Communication cycle

“n-1” Bus cycle time “n+1”

Send clock 1 Send clock 2 Send clock 3 Send clock 4

Send clock
Send clock is the shortest possible time interval in data exchange.
The calculation of send clock should follow the formula below:
Send clock = 31.25 μs * Send Clock Factor

The send clock factor is 2n (n is an integral value from 0 to 9), while 31.25 μs is the
basic time unit.
 Siemens AG 2016 All rights reserved

Figure 3-3 Send clock in TIA Portal (follow step 1 to 2 to do the change of send clock)

NOTE The send clock is unable to be changed for RT communication.

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 10
 3 Basics

Update time (Bus cycle time)

The update time is a time interval. IO controller and IO device/I-device exchange
IO data cyclically in the IO system within this time interval. The update time can be
configured separately for each IO device and determines the interval at which
output data is sent from the IO controller to the IO device (output
module/submodule) as well as input data from the IO device to the IO controller
(input module/submodule).
STEP 7 calculates the update time automatically in the default setting for each IO
device of the PROFINET IO system, taking into account the volume of data to be
exchanged as well as the set send clock.
The calculation of update time should follow the formula below:
Update time = 31.25 μs * Send Clock Factor * 2 = Send clock * 2
n n

2 : reduction (an integral value ≤ 16), n: reduction ratio

n

Figure 3-4 update time (bus cycle time) in TIA Portal (follow step 1 to 3 to change the bus
cycle time)
 Siemens AG 2016 All rights reserved

Cycle time for PLC program

Cycle time of PLC program is also calculated automatically within STEP 7. It can
be changed according to actual application.
The relationship between cycle time for PLC program and bus cycle time as well as
send clock (cycle n) is shown as follows:
Figure 3-5 Cycle communication

Cycle 1 Cycle 2 Cycle …

T1: cycle time for PLC program T2: Bus cycle time

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 11
 3 Basics

3.4 Recommendation of time setting with SIMATIC S7-1200

NOTICE Mechanical disturbance caused by unfavorable cycle times!

Unexpected mechanical disturbances can be caused by current and torque
disturbances.

NOTE When SINAMICS V90 PN works in RT communication, the minimum cycle time
is unchangeable and fixed to be 4 ms.

When SIMATIC S7-1200 is connected to SINAMICS V90 PN for positioning

control, OB91 (MC-Servo) must be used. The cycle time for OB91 can be changed
according to actual application requirements.
Usually, the following rules during the configuration of OB91 cycle time and bus
cycle time must be observed:
 The ratio between OB91 cycle time and Bus cycle time or vice versa must be
an even integral value
 The CPU capability must be considered
 Siemens AG 2016 All rights reserved

Following selections of bus cycle time are recommended according to our test:
Table 3-3 Recommended Bus cycle time (in ms) for SIMATIC S7-1200
OB91 cycle time Bus cycle time (IO cycle) Min. cycle time in V90 PN
2 1 4
4 1 4
8 1 4
12 1 4
16 1 4
2 2 4
4 2 4
8 2 4
12 2 4
16 2 4
2 4 4
4 4 4
8 4 4
16 4 4

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 12
 3 Basics

Figure 3-6 Example 1 of torque/speed (OB91 cycle time = 8 ms; bus cycle time = 4 ms)

Figure 3-7 Example 2 of torque/speed (OB91 cycle time = 10 ms; bus cycle time = 4 ms)
 Siemens AG 2016 All rights reserved

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 13
 3 Basics

3.5 Recommendation of time setting SIMATIC S7-1500

When SIMATIC S7-1500 is connected to SINAMICS V90 PN for positioning
control, you can select between RT communication and IRT communication.

NOTE In standard applications with S7-1500(T) and V90 PN the IRT communication is
recommended. If there is a necessary case to setup PROFINET RT then the
following description can be used.

When the RT communication has been selected, the cycle time for OB91 is
changeable and can be adjusted according to actual application.

NOTICE Mechanical disturbance caused by unfavorable cycle times!

Unexpected mechanical disturbances can be caused by current and torque
disturbances.

Usually, the following rules during the configuration of OB91 cycle time and bus
cycle time must be observed:
 The ratio between OB91 cycle time and Bus cycle time or vice versa must be
an even integral value
 Siemens AG 2016 All rights reserved

 The CPU capability must be considered

Following selections of time configurations are recommended according to our test:

Table 3-4 Recommended time configurations (in ms) for SIMATIC S7-1500
OB91 cycle time Bus cycle time (IO cycle) Min. cycle time in V90 PN
2 1 4
4 1 4
8 1 4
12 1 4
16 1 4
2 2 4
4 2 4
8 2 4
12 2 4
16 2 4
2 4 4
4 4 4
8 4 4
12 4 4
16 4 4
2 8 4
4 8 4
8 8 4
16 8 4

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 14
 3 Basics

Figure 3-8 Example 1 of torque/speed (OB91 cycle time = 4 ms; bus cycle time = 2 ms)

Figure 3-9 Example 2 of torque/speed (OB91 cycle time = 4 ms; bus cycle time = 3 ms)
 Siemens AG 2016 All rights reserved

NOTICE Mechanical disturbance caused by unfavorable cycle times!

Unexpected mechanical disturbances can be caused by current and torque
disturbances.

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 15
 3 Basics

3.6 Installation and startup

3.6.1 Hardware installation

The figure below shows the hardware configuration of the application:

CAUTION Wrong wiring can damage the drive!

In this application, the one phase 230V power supply is used. It is a must for you
to check the supply voltage; otherwise, the drive can be damaged!

Figure 3-1
L
1-phase N
230V
PE

L1 L2 PE

L1 N PE
SIMATIC S7-1200
CPU 1217C
X1P1 X1P2 24V+ 0V PE

SINAMICS V90 PN
 Siemens AG 2016 All rights reserved

U V W Port2 Port1

3.6.2 Startup (JOG from drive side)

Table 3-1
Nr. Action Remarks
1. Set drive parameter p29108 to be 1. JOG function is enabled when p29108=1
2. Switch to JOG menu with drive BOP operation.
3. Press or button to run the motor.
4.

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 16
 4 Configuration

4 Configuration
In this chapter the configurations for position control with RT mode will be
described in detail. The used standard telegram is “3”.

4.1 Basic parameter configuration regarding SINAMICS

V90 PN
4.1.1 Configure PROFINET settings via SINAMICS V-ASSISTANT

The following parameters can be configured with the SINAMICS V-ASSISTANT

from the PROFINET settings menu field:

In this menu filed, you can configure:

 Communication telegram: in this tab you can also check the PZD
structure and values:
 Siemens AG 2016 All rights reserved

 Network:

Note: the configurations must be saved for activation.

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 17
 4 Configuration

 Active configure: The active PROFINET settings can be checked from

the tab.

Table 3-1: PROFINET relevant parameters

Par. No. Description Set value
P922 Telegram selection 3
P8921 PN IP address. There are four indexes. Example IP address: 192.168.0.2
Each index maps to a segment of the IP P8921[0]=192
address. P8921[1]=168
Note: after successful configuration, the P8921[2]=0
values will be changed to 0
automatically. P8921[3]=2

P8923 PN Subnet Mask of Station. There are Example Subnet mask:

 Siemens AG 2016 All rights reserved

four indexes. Each index maps to a 255.255.255.0

segment of the subnet mask. P8923[0]=255
Note: after successful configuration, the P8923[1]=255
values will be changed to 0 P8923[2]=255
automatically.
P8923[3]=0
P8925 PN interface configuration 2
Note: after successful configuration, the Note: after setting p8921 and
values will be changed to 0 p8923, p8925 should be set to be 2
automatically. for activating the PN
communication.
r8931 PN IP address of station active
r8932 PN default gateway of station active
r8933 PN MAC address of station

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 18
 4 Configuration

4.1.2 Configure PROFINET settings via the TIA Portal

4.1.2.1 Create a new project

1. Open the TIA Portal and create a new project:

 Siemens AG 2016 All rights reserved

2. Switch to “Project view”:

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 19
 4 Configuration

4.1.2.2 Add S7-1200 CPU into the project

Add S7-1200 CPU into the project as follows:

1. Double-click the node “Add new device” from the Device tree:


2. Here, if you know the detailed information about the S7-1200 modules, you
can directly find the type and add it into the project
 Siemens AG 2016 All rights reserved

Otherwise, you can add an unspecified CPU 1200 into the project:

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 20
 4 Configuration

3. If an unspecified 1200 CPU has been added into the project, you can
detect the connected CPU by clicking the “Detect” and search it with online
access:

Start the search by clicking the “Start search” button, and the connected
S7-1200 CPU will be found if the PROFINET network communication
works properly:
 Siemens AG 2016 All rights reserved

4. Press “Detect” button to detect the connected CPU:

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 21
 4 Configuration

4.1.2.3 Add SINAMICS V90 PN into the project

Add SINAMICS V90 PN into the project in the TIA Portal as follows:
1. Input the V90 PN GSD file.
NOTE Installation of V90 PN GSD file is only necessary for TIA Portal prior to V14 (not
including V14).
For the GSD file, you can download from following internet site:
https://support.industry.siemens.com/cs/document/109737269/sinamics-
v90%3A-profinet-gsd-file?dti=0&pnid=13211&lc=en-WW

2. Find the GSD file and select it. Press the “Install” button to install it.
 Siemens AG 2016 All rights reserved

3. In the network view, select V90 PN from the “other filed drives” of catalog
tree on the right side.

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 22
 4 Configuration

4. Double-click the V90 PN node or drag it to the network view:

 Siemens AG 2016 All rights reserved

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 23
 4 Configuration

4.1.2.4 Device configuration for S7-1200 CPU

Make device configurations for S7-1200 CPU as follows:

1. In the device view, select the PLC:

2. Double-click the PLC CPU to enter properties of the CPU:

 Siemens AG 2016 All rights reserved

Here, you can configure information about the device name, Ethernet
address…
You can also use the “Online access” to find the accessible device and make
sure the information is consistent:

NOTE Important!
The Profinet name is very important. You must double-check
such information in the SINAMICS V90 PN configuration.

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 24
 4 Configuration

4.1.2.5 Device configuration for SINAMICS V90 PN

Make device configurations for S7-1200 CPU as follows:

1. In the device view, select the SINAMICS V90 PN:

2. Double-click the V90 PN to enter the properties field:

 Siemens AG 2016 All rights reserved

Here, you can configure information about the device name, Ethernet
address…
You can also use the “Online access” to find the accessible device and make
sure the information is consistent:

NOTE Important!
The Profinet name is very important. You must double-check
such information in the SINAMICS V90 PN configuration.

3. In the device view of SINAMICS V90 PN, select the standard telegram 3 from
the submodules:

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 25
 4 Configuration

4.1.2.6 Connect SINAMICS V90 PN with S7-1200 CPU

After the configurations of both SINAMICS V90 PN and S7-1200 CPU, you need to
connect SINAMICS V90 PN to S7-1200 CPU:
1. In the network view, click the “Not assign” and select “PLC_1.PROFINET
Interface_1”:

2. And the connected network view is shown as follows:

 Siemens AG 2016 All rights reserved

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 26
 5 Operation of the application

5 Operation of the application

In the following paragraph, we will use TO (Technology Object) of positioning axis
for programming and run the motor:

1. Add a new object by double-click “Add new object” from the project tree:
Figure 5-1
 Siemens AG 2016 All rights reserved

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 27
 5 Operation of the application

2. Select the “TO_PositioningAxis” from the “Motion Control” list:

Figure 5-2
 Siemens AG 2016 All rights reserved

3. When a new object has been added successfully, the object node is added into
the device tree and the configuration panel for this newly added axis is opened:
Figure 5-3

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 28
 5 Operation of the application

4. Make configurations step by step.

In this example, we firstly need to configure the type of drive to be
“PROFIdrive” under general information of basic parameters:
Figure 5-4
 Siemens AG 2016 All rights reserved

5. After configuring the type of drive, we need to select a PROFIdrive in the drive
information of basic parameters:
Figure 5-5

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 29
 5 Operation of the application

6. After that, change the steps per revolution to 2500 because an incremental
encoder with the resolution of 2500 ppr is used in our example:
Figure 5-6
 Siemens AG 2016 All rights reserved

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 30
 5 Operation of the application

7. Select encoder coupling under the encoder information of the basic

parameters. In this example, it should be “Encoder on drive”:
Figure 5-7
 Siemens AG 2016 All rights reserved

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 31
 5 Operation of the application

8. After selecting “Encoder on drive”, the information about the data exchange
and encoder type is displayed and needs to be configured:
Figure 5-8
 Siemens AG 2016 All rights reserved

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 32
 5 Operation of the application

9. In this example, we use standard telegram 3 for data exchanging and an

incremental encoder with the resolution of 2500 ppr (fine resolution: 2 bits):
Figure 5-9
 Siemens AG 2016 All rights reserved

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 33
 5 Operation of the application

10. Compile the project and then download it into device.

Figure 5-10

Figure 5-11
 Siemens AG 2016 All rights reserved

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 34
 5 Operation of the application

Figure 5-12

Figure 5-13
 Siemens AG 2016 All rights reserved

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 35
 5 Operation of the application

11. Switch to the commissioning panel by double-clicking the “Commissioning”

under the technology object tree:
Figure 5-14

12. Click the “Activate” button:

Figure 5-15
 Siemens AG 2016 All rights reserved

13. In the pop-up dialog box, click “OK” button to proceed the operation.
Figure 5-16

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 36
 5 Operation of the application

14. Click the “Enable” button to make servo drive at SON (servo is on) state:
Figure 5-17
 Siemens AG 2016 All rights reserved

15. When the drive SON (servo is on) has been enabled, you can select a
command from the command list:
Figure 5-18

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 37
 5 Operation of the application

16. Select the command “Homing”, and then click “Set home position” to set
current position to be position 0:
Figure 5-19
 Siemens AG 2016 All rights reserved

17. Press the command of “Positioning” :

Figure 5-20

18. Input values for positioning, for example, travel by a position or to target
position of 100 mm with acceleration/deceleration of 50 mm/s^2:
Figure 5-21

Remarks:
According to the configuration of mechanics, 100 mm means 10 motor revolutions.

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 38
 5 Operation of the application

19. Press “Absolute” or “Relative” to move the axis:

Figure 5-22

20. Deactivate the axis control and switch to offline mode. Open the main program
block OB1 after that.

21. Program with the technology instructions at the right side:

Figure 5-23
 Siemens AG 2016 All rights reserved

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 39
 5 Operation of the application

22. Program as follows:

 Siemens AG 2016 All rights reserved

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 40
 5 Operation of the application

23. Add a new watch table and put all the necessary signals into this table:
Figure 5-24

24. Add a new watch table and put all the necessary signals into this table:
Figure 5-25
 Siemens AG 2016 All rights reserved

25. Compile and load the project into devices.

26. Switch to online mode and activate the monitoring function of the watch table:
Figure 5-26

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 41
 5 Operation of the application

27. Modify M10.0 to 1 to make drive SON:

Figure 5-27

28. Modify M10.2 to 1 to perform homing:

Figure 5-28

29. Modify M10.2 to 0 to complete homing and then modify M10.4 to 1 to move
 Siemens AG 2016 All rights reserved

absolute position of 1000 mm with the speed of 100 mm/s:

Figure 5-29

30. Modify M10.4 to 0 and then modify M10.5 to 1 to move a position of 100 mm
with the speed of 100 mm/s:
Figure 5-30

31. Modify both M10.4 and M10.0 to 0 to complete operation.

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 42
 6 Related literature

6 Related literature
Table 6-1
Topic
\1\ Siemens Industry Online Support
http://support.industry.siemens.com
\2\ Download page of this entry
https://support.industry.siemens.com/cs/ww/en/view/109743917
\3\

7 Contact
Siemens Ltd., China
DF M3-BF GMC

No. 18 Siemens Road

Jiangning Development Zone
 Siemens AG 2016 All rights reserved

Nanjing, 211100
China
mailto: [email protected]

8 History
Table 8-1
Version Date Modifications
V1.0 11/2016 First version

Position Control with S7-1200 and V90 via IRT Profinet

Entry-ID: 109743917, V1.0, 11/2016 43