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APPLICATION EXAMPLE

Configuring technology objects

with the SIMATIC S7-1500 and
SINAMICS S210 (New) in TIA Portal
SINAMICS S210
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 Table of contents

Table of contents
1. Introduction ...................................................................................................................................5

1.1. Overview ............................................................................................................................................................ 5

1.2. Validity ................................................................................................................................................................ 5
1.3. Hardware and software components used .......................................................................................................... 6

2. Useful information .........................................................................................................................7

2.1. How the user program works .............................................................................................................................. 7

2.1.1. S7-1500 Motion Control feature set .................................................................................................................... 7
2.1.2. Program structure of the leading axis ................................................................................................................. 8
2.1.3. Program structure of the following axis .............................................................................................................. 9
2.2. Installation and commissioning ........................................................................................................................ 10

3. Configuration ...............................................................................................................................11

3.1. CPU selection and configuration ....................................................................................................................... 11

3.2. Selection and configuration of the left drive ..................................................................................................... 13
3.3. Selection and configuration of the right drive ................................................................................................... 16
3.4. Configuring connections ................................................................................................................................... 16
3.4.1. Configure the PROFINET IO connection ............................................................................................................. 16
3.4.2. Configure the topology ..................................................................................................................................... 17
3.4.3. Configure isochronous mode ............................................................................................................................ 17

4. Programming ...............................................................................................................................21

4.1. Configuring the technology objects .................................................................................................................. 21

4.1.1. Configure the positioning axis .......................................................................................................................... 21
4.1.2. Configuration of the synchronous axis .............................................................................................................. 23
4.2. Creating the S7 program ................................................................................................................................... 25
4.2.1. Programming of the positioning axis ................................................................................................................ 25
4.2.2. Programming of the synchronous axis .............................................................................................................. 29
4.2.3. Programming of OB Main [OB1]........................................................................................................................ 33
4.2.4. Monitoring with the watch table....................................................................................................................... 34

5. Commissioning and tuning ...........................................................................................................36

5.1. Opening the sample project .............................................................................................................................. 36

5.2. Commissioning the sample project ................................................................................................................... 37
5.3. Tuning .............................................................................................................................................................. 38
5.3.1. Optimization of the drives ("One Button Tuning") ............................................................................................. 38
5.3.2. Tune the technology objects ............................................................................................................................. 41

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 Table of contents

6. Practical examples........................................................................................................................43

6.1. Traversing the leading axis................................................................................................................................ 43

6.1.1. Relative positioning........................................................................................................................................... 43
6.2. Traversing the leading axis and following axis .................................................................................................. 44
6.2.1. Absolute positioning ......................................................................................................................................... 44
6.2.2. JOG function ..................................................................................................................................................... 45

7. Appendix .....................................................................................................................................47

7.1. Service and support .......................................................................................................................................... 47

7.2. Links and literature ........................................................................................................................................... 48
7.3. Change documentation .................................................................................................................................... 48

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 Introduction

1. Introduction
1.1. Overview
SIMATIC S7-1500 CPUs support the linking of drives as speed axis, positioning axis or synchronous axis via PROFINET.
In TIA Portal, it is possible to control a SINAMICS S210 drive with a technology object in a TIA Portal program, operating it
with Motion Control instructions.
This application example uses two SINAMICS S210 drives. The first runs as a position-controlled drive. It functions as a
leading axis for the second drive, which is configured with synchronous operation.

The Figure below shows an overview of the automation task.

SIMATIC S7-1515TF-2 PN SINAMICS S210 PN

PROFINET

SIMOTICS S-1FK2

1.2. Validity
This application example is valid for:

• TIA Portal V19 or later

• S7-1500 CPU with PROFINET interface
• SINAMICS S210 (New) [6SL5...] with firmware ≥ V6.1
• SIMOTICS S-1FK2

Required knowledge
Basic knowledge of TIA Portal is assumed.

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 Introduction

1.3. Hardware and software components

used
This application example has been created with the following hardware and software components:

Hardware components

Component Quantity Item number Note

SIMATIC S7-1500 1 6ES7515-2UN03-0AB0 V3.1

CPU 1515TF-2 PN/DP

SINAMICS S210 PN 200V 2 6SL5310-1BB10-1CF0 V6.3

SIMOTICS S-1FK2 motor 1 1FK2102-1AG00-0SA0

SIMOTICS S-1FK2 motor 1 1FK2102-1AG00-0MA0

NOTE Alternatively, any other SIMATIC S7-1500 CPU may be used to deploy this application example.

Standard software components

Component Quantity Item number Note

STEP 7 Professional V19 1 6ES7822-1AE23-0YA5 Engineering Software in TIA Portal (OSD,

Floating license)

SINAMICS Startdrive V19 1 6SL3072-4KA02-0XG5 Engineering and commissioning tool for

Advanced SINAMICS drives (OSD)

The following list contains all files and projects used in this example.

Component Note

109749795_Conf_PosAxis_SynAxis_S210_new_S7-1500_PROJ_v10.zip Project file

109749795_Conf_PosAxis_SynAxis_S210_new_S7-1500_DOC_v10_en.pdf This document

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 Useful information

2. Useful information
2.1. How the user program works
2.1.1. S7-1500 Motion Control feature set
S7-1500 Motion Control supports the controlled positioning and synchronous operation of axes. It is an integral
component of every S7-1500 CPU. The SIMATIC S7-1500T Technology CPU offers additional technology objects.
SIMATIC S7-1500(T) controllers support the following technology objects:

• Speed axis
• Positioning axis
• Synchronous axis
• External encoder
• Cam and cam track
• Cam (S7-1500T only)
• Kinematic system (S7-1500T only)

The axis control panel and comprehensive online and diagnostic functions support commissioning and tuning of drives
and technology objects.

This application example implements two axes: One "positioning axis" that acts as a leading axis, and one "synchronous
axis" that acts as a following axis.

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 Useful information

2.1.2. Program structure of the leading axis

In this application example, the SINAMICS S210 drive acting as the leading axis is configured as a positioning axis. This
position-controlled drive can be controlled with Motion Control instructions in a user program. The following instructions
have been added to the program in order to facilitate this control:

• MC_Power (FB 1206)

• MC_Reset (FB 1207)
• MC_Home (FB 1201)
• MC_Halt (FB 1200)
• MC_MoveRelative (FB1204)
• MC_MoveAbsolute (FB 1202)
• MC_MoveJog (FB 1203)

The Motion Control instructions for the leading axis are called in the "MotionControl_Pos" function block (FB 2).

Motion MC_ Motion

Main Control_Pos Control_
POWER Pos_DB
[OB1] [FB2] [DB4]
[FB1206]

MC_Servo MC_
[OB91] HOME
[FB1201]

MC_ MC_
Interpolator MOVE
RELATIVE
[OB92] [FB1204]

MC_MOVE
ABSOLUTE
[FB1202]

MC_HALT
[FB1200]

MC_
RESET
[FB1207]

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 Useful information

2.1.3. Program structure of the following axis

In this application example, the SINAMICS S210 drive acting as the following axis is configured as a synchronous axis. In
the user program, the Motion Control instruction "MC_GearIn" can be used to synchronize the following axis with the
leading axis (configured as a positioning axis).
To this end, the program for the following axis has been supplemented with the Motion Control instructions listed below:

• MC_Power (FB 1206)

• MC_Reset (FB 1207)
• MC_Halt (FB 1200)
• MC_GearIn (FB 1208)

The Motion Control instructions for the following axis are called in the "MotionControl_Sync" function block (FB 3).

Motion MC_ Motion

Main Control_ Control_
Sync POWER Sync_DB
[OB1] [FB3] [FB1206] [DB5]

MC_Servo MC_GearIn
[OB91] [FB1208]

MC_
MC_HALT
Interpolator
[FB1200]
[OB92]

MC_
RESET
[FB1207]

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 Useful information

2.2. Installation and commissioning

The following figure shows the hardware setup of the application example.

CAUTION Improper wiring can damage the drive!

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

1 AC 230V
L
N
PE

L N PE L N PE

L N PE L N PE
SINAMICS SINAMICS
S210 PN S210 PN
PM SIMATIC S7-1500 CPU
(Leading (Follow ing
axis) axis)
24V 0V 24V 0V PE X1-1 X1-2

U V W P1 P2 U V W P1 P2

M M

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 Configuration

3. Configuration
This section explains in detail the configurations for the SINAMICS S210 and the S7-1500 CPU in TIA Portal.

3.1. CPU selection and configuration

• Open TIA Portal and create a new project.
• Switch to the "Project view".
• Select the SIMATIC S7-1500 CPU you are using in the hardware catalog.
• Name the CPU "PLC_1" and add it to your project.
• After creating the CPU, set the security and network settings.

Security settings

NOTE The Security Wizard opens automatically after creating the CPU if no users have been created yet.
You can manually access the wizard at any time by navigating to "Protection & Security" in the CPU's
properties. Here you can find it in the "Security settings wizard" section.

No. Action Comments

1. Uncheck the box "Protects the PLC configuration data The test project does not involve any confidential data on
from the TIA P... " and click Next >>. the controller. If you have sensitive data on your
controller, leave the checkbox checked and assign a
password.

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 Configuration

No. Action Comments

2. Uncheck the box "Only allow secure PG/PC and HMI In the test project, you can also access the controller via
communication" and click on "Next >>". non-secure PG/PC or HMI communication.

Depending on the security policies required by the

machine, you might be required to set up more stringent
access protection.

3. Highlight the "Disable access control" option, In the test project, neither user management nor access
confirm the dialog box with "OK" and click on "Next >>". control is required.

You may need to set them up, depending on the required

security policies of the machine.

4. Confirm legacy access control and click "Next >>".

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 Configuration

No. Action Comments

5. Confirm the configuration and click on "Finish".

Network settings
• In the CPU properties, navigate to "PROFINET interface [X1]" → "Ethernet addresses" and assign the IP address
there. The example project uses the IP address 192.168.0.1 and the subnet mask 255.255.255.0 .
• In the "PROFINET" section, make sure that the checkbox "Generate PROFINET device name automatically" is
checked. The PROFINET name is then generated from the device name. The example project uses the PROFINET name
"plc_1.profinet interface_1".

NOTE The default settings of the S7-1500 may be used for this application example. No further configuration
is necessary.

3.2. Selection and configuration of the left

drive
• Select the SINAMICS drive you are using in the hardware catalog, name it "Drive_left" and add it your project.

NOTE You do not need to go through the available "Guided Quick Setup" for this application example
because the presets do not need to be adjusted. However, you can use them to limit the maximum
speed, for example.

• After setting up the drive, configure the security settings, motor settings and network settings.

NOTE The Security Wizard opens automatically after the drive has been created if no user has yet been
created.
You can manually access the wizard at any time by navigating to "Protection & Security" in the drive's
properties. Here you can find it in the "Wizard for security settings" section.

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 Configuration

Security settings

No. Action Comments

1. In the Security Wizard, select "Continue with low In the test project, none of the security functions are
security settings" to use low security settings. required for the drive.

You may need to set them up, depending on your

machine's required security policy.

You can find help with this in the application example

"Cybersecurity for SINAMICS drives with UMAC in TIA
Portal and via web server" (see \5\).

2. Confirm the alert for the security level with "OK".

3. Confirm the configuration and click on "Finish".

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 Configuration

Motor settings

No. Action Note

1. Open the Device view for the SINAMICS S210 you added,
then click the motor icon "MOT" under the converter.
Then, in the Properties window, select "Motor –
selection – 1FK2".

2. In the Properties window, select the motor you are using.

Network settings
• Navigate to "Ethernet addresses" in the properties of the drive and assign the IP address there. The example project
uses the IP address 192.168.0.2 with the subnet mask 255.255.255.0.
• In the "PROFINET" section, make sure that the checkbox "Generate PROFINET device name automatically" is
checked. The PROFINET name is then generated from the device name. The example project uses the PROFINET name
"drive_left".

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 Configuration

3.3. Selection and configuration of the

right drive
When selecting and configuring the right drive, proceed in the same way as described in the two chapters on the left
drive.
Name the new drive "Drive_right" and use the IP address 192.168.0.3 with the subnet mask 255.255.255.0 in the
network settings.
The PROFINET name is automatically assigned as "drive_right".

3.4. Configuring connections

3.4.1. Configure the PROFINET IO connection
After configuring the CPU and drives, you need to assign the PROFINET connections.

No. Action Comments

1. Switch to the Network view.

2. In the "Drive_left" station, click on "Not assigned" and

select "PLC_1.PROFINET interface_1".

3. In the Network view, click on "Not assigned" in the

"Drive_right" station and select "PLC_1.PROFINET
interface_1".

After this, all stations will be networked with each other.

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 Configuration

3.4.2. Configure the topology

In order to establish an isochronous connection between the CPU and the drives, you need to configure the topology of
the stations.

No. Action Note

1. Change to the Topology view.

2. Drag and drop a connection from the top CPU port to the The topology configures the ports of the interfaces via
left port of the left drive. which the devices connect to each other to establish an
isochronous connection.

3. Drag and drop a connection from the right port of the left
drive to the left port of the right drive.

3.4.3. Configure isochronous mode

To ensure seamless operation of the drives, they must be run off the SIMATIC S7-1500 in isochronous mode. Perform the
following steps to configure isochronous mode:

No. Action Comments

1. Open the device properties of the CPU and navigate to

"PROFINET interface[X1]" → "Advanced options" →
"Real time settings".

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 Configuration

No. Action Comments

2. Configure the CPU as "Sync master" and set the send Note:
clock. A small send clock increases the dynamics, but increases
utilization of the S7 CPU. Typical values are 1ms or 4ms.

3. Open the device settings of the first drive and navigate to

"PROFINET interface [X150]" → "Telegram
configuration" → "Drive control-Telegrams":

4. In the "Send (Actual value)" section, click "... " next to If the organization block "MC-Servo" has already been
the "Organization blocks" display box. created on the controller, it can be selected straight from
If there is no "MC-Servo" to select in the list box, click on the list. In this case, select "MC-Servo" and skip Step 5.
"Create".

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 Configuration

No. Action Comments

5. In the "Add new block" dialog box, select the "MC-Servo" The organization block "MC-Servo" is created in the CPU
organization block. and selected as the organization block for the process
Uncheck the checkbox "Add new and open" and confirm image of the drive telegrams.
this with "OK".

6. In the drive's device settings, navigate to "PROFINET

interface[X150]" → "Advanced options" →
"Isochronous mode" and check whether "Isochronous
mode" is enabled.
Tick the corresponding checkbox if necessary.

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 Configuration

No. Action Comments

7. In the project tree, open the "Program blocks" directory

and right-click on "MC-Servo[OB91]".
Click the "Properties" button in the context menu.

8. In the navigation menu of the module dialog, click on Note:

"Cycle time". These settings cause the organization block "MC_Servo"
Activate the option "Synchronous to the bus" and select to run in sync with the isochronous PROFINET IO system.
"PROFINET IO-System (100)" from the "Source of the
send clock" listbox.
Click "OK" to apply the settings.

9. Repeat steps 3 to 6 for the right drive.

Since "MC-Servo" was created for the first drive, you can
select it in Step 4 in the list box.

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 Programming

4. Programming
4.1. Configuring the technology objects
For this application example, you will configure two technology objects:

• One "positioning axis" that is run as a leading axis;

• One "synchronous axis" that is run as a following axis.

4.1.1. Configure the positioning axis

No. Action Comments

1. In the project tree, navigate to "PLC_1 → Technology

Objects" and double-click on "Add new object".

2. Open the "Motion Control" section and select

"TO_PositioningAxis". Click "OK" to confirm your
selection.

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 Programming

No. Action Comments

3. Click on "Hardware interface" in the navigation and set Note:

the following parameters: When an object has been added, the object node will be
Drive type: "PROFIdrive" added to the device tree and the configuration for this
newly added axis will open.
Drive: "Drive_left" (under PROFINET IO system (100))

The finished parameterization looks like this:

4. Click on "Data exchange with the drive" in the Note:

navigation and check whether automatic data transfer Automatic data transfer on controller startup up only
from the drive is activated. Only then will the drive data works if "continue with low security" was selected in the
be automatically transferred to the technology object. Security Wizard, or if modification of drive data was
enabled in the "Fieldbus" section.

TIA Portal offers the ability to read data:

• Offline from the drive configuration in Startdrive
• Online on controller startup, from the actual values of
the drive

Click on "Data exchange with the encoder" in the

navigation and also check automatic data transfer.

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 Programming

No. Action Comments

5. Save and compile the project.

4.1.2. Configuration of the synchronous axis

No. Action Comments

1. In the project tree, navigate to "PLC_1 → Technology

Objects" and double-click on "Add new object".

2. Open the "Motion Control" section and select

"TO_SynchronousAxis". Click "OK" to confirm your
selection.

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 Programming

No. Action Comments

3. Click on "Hardware interface" in the navigation and set Note:

the following parameters: When an object has been added, the object node will be
Drive type: "PROFIdrive" added to the device tree and the configuration for this
newly added axis will open.
Drive: "Drive_right" (under PROFINET IO system (100))

The finished parameterization looks like this:

4. Click on "Leading value interconnections" in the

navigation and select the configured positioning axis in
the "Possible leading value" field.

5. Save and compile the project.

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 Programming

4.2. Creating the S7 program

The structure of the S7 program and the Motion Control instructions are used as shown in chapter 3.

4.2.1. Programming of the positioning axis

No. Action Comments

1. Double-click on "Add new block" in the project tree to

create a new function block.

2. Select "Function block" and give it the name

"MotionControl_Pos".
Activate the checkbox "Add new and open" so that the
block will be opened immediately after it is added.
Click "OK" to add the block.

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 Programming

No. Action Comments

3. Open the "Instructions" task card, the "Technology"

palette, and the "Motion Control" folder.
Double-click on the "MC_Power" instruction, copying it
into the first network.

4. In the dialog box, select the data block type "Multi

instance".
Click "OK" to confirm your selection.

5. Connect the device as shown here.

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 Programming

6. Also add the instructions

• MC_Reset
• MC_Home
• MC_Halt
• MC_MoveAbsolute
• MC_MoveRelative
• MC_MoveJog

one after the other by dragging and dropping them into a

network of the function block; then connect the blocks as
shown below.

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 Programming

No. Action Comments

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 Programming

4.2.2. Programming of the synchronous axis

No. Action Comments

1. Double-click on "Add new block" in the project tree to

create a new function block.

2. Select "Function block" and give it the name

"MotionControl_Sync".
Activate the checkbox "Add new and open" so that the
block will be opened immediately after it is added.
Click "OK" to add the block.

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 Programming

No. Action Comments

3. Open the "Instructions" task card, the "Technology"

palette, and the "Motion Control" folder.
Double-click on the "MC_Power" instruction, copying it
into the first network.

4. In the dialog box, select the data block type "Multi

instance".
Click "OK" to confirm your selection.

5. Connect the device as shown here.

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 Programming

No. Action Comments

6. Also add the instructions

• MC_Reset
• MC_Halt

one after the other by dragging and dropping them into a

network of the function block; then connect the blocks as
shown below.

7. Open the "Synchronous motion" folder.

Click on the "MC_GearIn" instruction and drag and drop it
into a network of the function block.

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 Programming

No. Action Comments

8. In the dialog box, select the data block type "Multi

instance".
Click "OK" to confirm your selection.

9. Connect the device as shown here.

10. Save and compile the project.

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 Programming

4.2.3. Programming of OB Main [OB1]

No. Action Comments

1. Open the "Main [OB1]" block in the project tree by

double-clicking.

2. Drag and drop the "MotionControl_Pos [FB2]" and

"MotionControl_Sync [FB3]" blocks into a network of the
cyclic OB.

3. Save and compile the project.

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 Programming

4.2.4. Monitoring with the watch table

This example uses a watch table to monitor and control the drives.

Left drive (leading axis)

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 Programming

Right drive (following axis)

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 Commissioning and tuning

5. Commissioning and tuning

5.1. Opening the sample project

If you did not create the project yourself, as an option you can also use the example project from this application
example. Follow the steps below to open the example project:

No. Action Comments

1. Download the example project, available as a ZIP file, and

extract it to a local folder.

2. Start TIA Portal and click on the "Open Project" icon in

the Project view.
Next, click "Browse".

3. Select the locally saved project and click "Open".

If necessary, select the target directory where you wish to
extract the folder.

The sample project is now ready for operation.

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 Commissioning and tuning

5.2. Commissioning the sample project

To download the sample project to the CPU and drives, follow these steps.

No. Action Comments

1. Download the project to the SIMATIC S7-1500 CPU.

2. Download the parameterization to the SINAMICS S210 Note:

drives. During the download, enable the option "Save Perform this step for both drives.
parameterization retentively" in order to save the
parameter assignment in the retentive memory of the
drive.

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 Commissioning and tuning

5.3. Tuning
To improve the positioning accuracy of the technology objects, you should tune the control on the drive and optimize
technology object.
The SINAMICS S210 offers the "One Button Tuning" function that allows for easy tuning of the drive's control behavior.
The values obtained from "One Button Tuning" can then be applied to the control structure of the technology object if
desired.

5.3.1. Optimization of the drives ("One Button

Tuning")
No. Action Comments

1. Select the left drive in the project tree and click "Go
Online".

2. In the project tree, open "Drive_left [S210 PN]" and

double-click on "Rotate & optimize".
In the workspace navigation, click on "One Button
Tuning".

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 Commissioning and tuning

No. Action Comments

3. Select the desired dynamic setting and the path limit Caution:
during tuning: Select the path limit so that the motor is able to move
freely within the limit. During tuning, the motor will
move in both directions at up to 80% of its maximum
velocity.

Note:
For tips on choosing dynamic settings, consult the
manual (see \4\).

4. Click "Activate" and confirm the safety prompt with "OK".

5. Click "Start" to initiate "One Button Tuning". Note:

You can abort the "One Button Tuning" process by
clicking the "Stop" button.

Note:
The values that are measured/calculated during "One
Button Tuning" will be applied straightaway to the drive
parameterization in online mode.

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 Commissioning and tuning

No. Action Comments

6. Save the values retentively in the drive.

7. Terminate the online connection by clicking on "Go

offline".
Then, in the project tree, select "Upload from device
(Software)" in the context menu of the left drive.

8. Carry out "One Button Tuning" for the right drive.

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 Commissioning and tuning

5.3.2. Tune the technology objects

In order to use the optimized values from "One Button Tuning" for the control structure of the technology objects, you
must optimize the technology objects.

No. Action Comments

1. Establish an online connection with the S7-1500 CPU.

2. In the project tree, open the "Technology objects"

directory under "PLC_1" and double-click on
"Commissioning".
In the workspace navigation, click on "Tuning".

3. Click "Activate" and confirm the safety prompt with "Yes".

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 Commissioning and tuning

No. Action Comments

4. Click "Enable".

5. Click on "Take values from drive" to read the values from The "Tuning" screen lets you move the technology object
the drive: and record the step response. This application example
does not use this function, as the data for position tuning
were already acquired in the SINAMICS S210 during "One
Button Tuning" and could be applied to the technology
object.

6. Copy the value "Speed control loop substitute time:"

read from the drive.
Then click on the icon to the right of it and paste the
copied value into the "Start value project" field.

7. Repeat the last step for the Kv factor.

8. Save the project and download it to the CPU.

9. Check the behavior of the axes after tuning.

CAUTION Check the behavior of the axes after tuning!

The kv gain for position control determined during the optimization of the drive (see Steps 4 and 5 of
the table) may be too high, causing the axes to shake or become very noisy, for example.
In this case, reduce kv to values between 10 and 70.

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 Practical examples

6. Practical examples
6.1. Traversing the leading axis
6.1.1. Relative positioning

No. Action Comments

1. Go online, open the watch table, and click on the After pressing the button, the "Monitor value" column will
"Monitor all" button. appear in orange.

2. Activate the left drive by right-clicking on the value To speed up the process, you can use the following
"Enable" under "MC_POWER" and selecting "Modify to 1" keyboard shortcuts:
from the context menu under "Modify".
Ctrl+F3: "Modify to 0"
Ctrl+F2: "Modify to 1"
Shift+F9: "Modify now"

3. Under "MC_MOVERELATIVE", enter the desired values for Realistic values could be, for example:
"Distance" and "Velocity" in the fields of the "Modify Distance: 1000
value" column. Velocity: 50

4. Right-click on one of the changed values and select

"Modify now" from the context menu under "Modify".

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 Practical examples

No. Action Comments

5. Start the left drive by right-clicking on the value Homing with the Motion Control instruction "MC_Home"
"Execute" under "MC_MOVERELATIVE" and selecting is not necessary in order to implement relative
"Modify to 1" from the context menu under "Modify". positioning with the technology object.

6. Stop the left drive by right-clicking on the value "Execute"

under "MC_MOVERELATIVE" and selecting "Modify to 0"
from the context menu under "Modify".

7. Disable the left drive by right-clicking on the value

"Enable" under "MC_POWER" and selecting "Modify to 0"
from the context menu under "Modify".

6.2. Traversing the leading axis and

following axis
6.2.1. Absolute positioning

No. Action Note

1. Go online and click on the "Monitor all" button in the Note:

watch table. In this section, we will only show you the relevant
settings for each process.
Detailed activities are described in section 6.1.1 .

2. Activate the left and right drives by setting the "Enable"

value to "TRUE" under "MC_POWER".

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 Practical examples

No. Action Note

3. Home the left drive by setting the "Position" value to "0" Instead of "0", you can also specify a different position.
under "MC_HOME".
The following axis does not need to be homed with the
Motion Control instruction "MC_GearIn" for gear
synchronization.

4. Enable synchronous operation for the right drive by

setting the "Execute" value to "TRUE" under
"MC_GEARIN".

5. Under "MC_MOVEABSOLUTE", enter the desired values Realistic values could be, for example:
for "Distance" and "Velocity" and run the "Modify now" Distance: 1000
command. Velocity: 50

6. Start the drives by setting the "Execute" value under

"MC_MOVEABSOLUTE to "TRUE".

7. Stop the drives by setting the value of "Execute" to

"FALSE" under "MC_MOVEABSOLUTE".

8. Disable both drives by right-clicking on the "Enable" value

under "MC_POWER" and setting it to "FALSE".

6.2.2. JOG function

No. Action Note

1. Go online and click on the "Monitor all" button in the Note:

watch table. In this section, we will only show you the relevant
settings for each process.
Detailed activities are described in section 6.1.1 .

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 Practical examples

No. Action Note

2. Activate the left and right drives by setting the "Enable"

value to "TRUE" under "MC_POWER".

3. Enable synchronous operation for the right drive by

setting the "Execute" value to "TRUE" under
"MC_GEARIN".

4. Under "MC_MOVEJOG", enter the desired value for An example of a realistic value is "50".
"Velocity" and run the "Modify now" command.

5. Start the drives by setting the values "JogForward" or

"JogBackward" to "TRUE" under "MC_MOVEJOG".

6. Stop the drives by setting the values "JogForward" or

"JogBackward" to "FALSE" under "MC_MOVEJOG".

7. Disable both drives by right-clicking on the "Enable" value

under "MC_POWER" and setting it to "FALSE".

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 Appendix

7. Appendix
7.1. Service and support
SiePortal
The integrated platform for product selection, purchasing and support - and connection of Industry Mall and Online
support. The SiePortal home page replaces the previous home pages of the Industry Mall and the Online Support Portal
(SIOS) and combines them.

• Products & Services

In Products & Services, you can find all our offerings as previously available in Mall Catalog.

• Support
In Support, you can find all information helpful for resolving technical issues with our products.

• mySieportal
mySiePortal collects all your personal data and processes, from your account to current orders, service requests and
more. You can only see the full range of functions here after you have logged in.
You can access SiePortal via this address: sieportal.siemens.com

Technical Support
The Technical Support of Siemens Industry provides you fast and competent support regarding all technical queries with
numerous tailor-made offers – ranging from basic support to individual support contracts.
Please send queries to Technical Support via Web form: support.industry.siemens.com/cs/my/src

SITRAIN – Digital Industry Academy

We support you with our globally available training courses for industry with practical experience, innovative learning
methods and a concept that’s tailored to the customer’s specific needs.
For more information on our offered trainings and courses, as well as their locations and dates, refer to our web page:
siemens.com/sitrain

Industry Online Support app

You will receive optimum support wherever you are with the "Industry Online Support" app. The app is available for iOS
and Android:

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 Appendix

7.2. Links and literature

No. Topic

\1\ Siemens Industry Online Support

https://support.industry.siemens.com

\2\ Link to the article page of the application example

https://support.industry.siemens.com/cs/ww/en/view/xxx

\3\ S7-1500/S7-1500T Motion Control Overview V7.0 as of STEP 7 V18

https://support.industry.siemens.com/cs/ww/en/view/109812056

S7-1500/S7-1500T Motion Control Overview V6.0 as of STEP 7 V17

https://support.industry.siemens.com/cs/ww/en/view/109781848

\4\ SINAMICS S210/SIMOTICS S-1FK2 and S-1FT2

https://support.industry.siemens.com/cs/ww/en/view/109801184

\5\ Application example: "SINAMICS: Cybersecurity for SINAMICS drives with UMAC in TIA Portal and via web server"
https://support.industry.siemens.com/cs/ww/en/view/109820695

7.3. Change documentation

Version Date Change

V1.0 03/2024 First version

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