Sinamics S210, position at torque.

Goal:
Measure product height.

Resources:
TIA V15 Update 2
CPU 1510SP F-1 PN (6ES7510-1SJ01-0AB0)
Servo S210 (6SL3210-5HB10-2UF0)
S-1 FK2 (1FK2203-2AG10-1CA0).

How:
Servo moves piston down towards soft product. When piston presses against product and torque reach limit (recipe), motion stops. Position is saved = product height. Height is compared to limits (recipe). Depending on result, product is accepted / discarded.

I have not worked with servos in TIA before. I only have preinstalled motion control v2.0 installed.

Anyone have solution or idea how this is implemented? Meanwhile, I will continue researching the forums.

Thank you for the support so far.
I have made some progress during the day.

By now I have imported the S210 drive to Devices & networks and assigned telegram 105. I can see telegram 750 so I will add it too. I will also need ProfiSafe, but I focus on the movements for now.

Auxiliary problems:
I had a hard time getting the Technology object \ Motion Control \ TO_PositioningAxis to work.
The drive was not visible in PositioningAxis [DBx] \ Configuration \ Hardware interface \ Drive: ...
However, when I changed CPU from V1.8 to V2.5, I was able to choose Motion Control V3.0 and V4.0 and then the drive appeared.
If someone have similar problems...

I will continue tomorrow and next week.

Hello SandstromDJ,

were you succesfull with S210 solution for you application.

I have similar application.

Thank you

Jan Hrabovský

Hello SandstromDJ,

were you succesfull with S210 solution for you application.

I have similar application.

Thank you

 Dear Jan Hrabovský,

Were you successful with S210 solution for you application ?

Can you give me an project example please ?

Best Regards,

Vorapob

[snip]

SandstromDJ

Thank you for the support so far.
I have made some progress during the day.

By now I have imported the S210 drive to Devices & networks and assigned telegram 105. I can see telegram 750 so I will add it too. I will also need ProfiSafe, but I focus on the movements for now.

Auxiliary problems:
I had a hard time getting the Technology object \ Motion Control \ TO_PositioningAxis to work.
The drive was not visible in PositioningAxis [DBx] \ Configuration \ Hardware interface \ Drive: ...
However, when I changed CPU from V1.8 to V2.5, I was able to choose Motion Control V3.0 and V4.0 and then the drive appeared.
If someone have similar problems...

I will continue tomorrow and next week.

Dear SandstromDJ,

Do you successful with S210 solution for you application ?

I have similar application.

Best Regrads,

Vorapob

TechSupport SINAMICS S210

Hello,

To move the Axis you should use “Positioning axis technology object” combined with telegram 105. For additional requirements on the torque control is telegram 750 required. Then you will be able to work with the “MC_torque Commands”, where you are able to control the torque. You will find further information about the “MC_torque Commands” in the motion control manual starting on page 417.

https://support.industry.siemens.com/cs/ww/en/view/109749262

Hints:

Telegram 750 is a supplementary telegram for torque control with the following data:
● The controller sends the supplementary torque (M_ADD) as well as the positive and negative
torque limit (M_LIMIT_POS, M_LIMIT_NEG) to the converter.
● The converter sends the actual torque (M_ACT) to the controller.

When using a technology object, you can read out the actual torque value in the variable"PositioningAxis_1".StatusTorqueData.ActualTorque.

First the supplementary telegram 750 is set in the HW configuration. Then the technology object is still permitted to take into account the torque data as additional data. This must be enabled in the TO configuration under "Data exchanged with the drive -> Additional data" with the check mark "Torque data".

Please check the screenshot attached.

Your Technical Support for SINAMICS S210

 Dear Technical Support for SINAMICS S210,

Can drive configuration more than one telegram ?

How to programming it ?

Best Regards,

Vorapob