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SIMOCRANE Application
for
Drive-Based Technology
(based on CU320-2)
Siemens Cranes
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
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Table of contents
Table of contents
Warranty and liability................................................................................................... 2
1 Task ..................................................................................................................... 4
1.1 Overview............................................................................................... 4
1.2 Function ................................................................................................ 5
2 Solution............................................................................................................... 6
2.1 Software structure ................................................................................ 6
2.2 Closed – loop structure in drive ............................................................ 7
2.3 Hardware and Software Components .................................................. 8
2.3.1 Validity .................................................................................................. 8
2.3.2 Used Components ................................................................................ 9
3 Communication interface................................................................................ 10
3.1 General information ............................................................................ 11
3.2 Configuring the PROFIBS connection ................................................ 12
3.2.1 Telegram definition SIMATIC SINAMICS ...................................... 13
3.2.2 Telegram definition SINAMICS SIMATIC ...................................... 14
4 Installation, Startup and Commissioning ...................................................... 16
4.1 Installation of the hardware ................................................................ 16
4.2 Startup and Commissioning ............................................................... 17
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1 Task
1 Task
1.1 Overview
Introduction
A sector solution based on the platform of SIMOTION / SINAMICS SIMOCRANE
Basic Technology was launched into the market in the middle of 2007. The new
platform based on SIMATIC + SIMOTION + SINAMICS is available for both harbor
and industrial cranes. The solution covers high-performance crane applications and
allows a modular, scalable closed – loop control system for all types of cranes by
adding the Advanced Technology (e.g. Sway Control).
However, in the meantime, the industrial crane market has developed further at a
fast rate. As a consequence, in recent years a broad range of applications for mid-
performance cranes has been opened up. With SIMOCRANE Drive-Based
Technology, Siemens Crane meets the challenges of this market.
The new mid-performance crane solution will not take market share from
SIMOCRANE Basic Technology. In fact, the SIMOCRANE Drive-Based
Technology perfectly adapts this high performance solution to the mid-performance
market.
SIMOCRANE Drive-Based Technology is drive-based and offers a compact
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1 Task
1.2 Function
Overview of the function
The figure below provides an overview of the configuration of the application. This
OHBC has simply three main drives: hoist, short travel (Trolley) and long travel
(Gantry). Commands and setpoints are given by the PLC via Profibus DP. The
crane specified technology is embedded in drive controller CU320-2.
Note In the application a separate infeed (Active Line Module, Basic Line Module or
Smart Line Module) is necessary, when DC – AC motor modules are used. The
separate infeed is not necessary, when for the main drives AC – AC motor
modules are used.
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2 Solution
2 Solution
2.1 Software structure
Every main drive uses the standard speed setpoint channel in Sinamics. The crane
specified technology is generated in the graphic programming language "Drive
Control Charts" (DCC), and connected to the speed setpoint channel. It processes
the speed setpoint additionally and monitors various functions (e.g. current
distribution monitoring, overspeed). All crane-specific technologies are
implemented in a DCC chart. The number and functionality of the DCC blocks in
this chart are identical for all main drives. The not required DCC blocks must be
disabled in the execution system in the STARTER expert list in order to avoid any
unnecessary computational load.
When scripting is used, the connections among the DCC blocks depending on the main
Note
drive (Hoist, Short travel (Trolley) or Long travel (Gantry)), the main setpoint channel in
Sinamics and communication (PROFIBUS DP) are performed automatically.
DO DO DO
Hoist Trolley Gantry
Note The DCC blocks are described in detail in the documentation of the
SIMOCRANE Drive-Based Technology (Chapter 4 in Ref. 1).
The documentation can be found in the Internet here
https://support.industry.siemens.com/cs/ww/de/ps/20087/man
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2 Solution
Figure 2-2: Hoist setpoint channel using the example of control via PROFIBUS
Pulse Width
PLC / Terminal Interface Masterswitch LoadDependingFieldWeak PreLimitSwitch Rampfunction generator Speed controller Modulation
PLC via v v v
PROFIBUS /
Controlled by
Terminal Deflection
PWM
Interface M t
OverSpeed CurrentDistribution
v i
t t
StartPulse
T T 0
I
Figure 2-3: Gantry/trolley setpoint channel using the example of the control via PROFIBUS
PLC / Terminal Rampfunction Pulse Width
Interface Masterswitch PreLimitSwitch generator Speed controller Modulation
PLC via v v
PROFIBUS /
Controlled by
Terminal Deflection
PWM
Interface t
OverSpeed CurrentDistribution
v i
t t
Speed path
The setpoint speed is first interconnected to the block MasterSwitch in the DCC. If
the master switch functionality is to be used, then the master switch curve must be
configured and enabled. Otherwise, the speed setpoint is directly connected from
the input to the block output without any change.
The speed setpoint is then connected to the LoadDependingFieldWeak block (only
for hoisting gear applications). When traveling at a constant speed in the rated
speed range, this block determines the load. The maximum speed is limited as a
function of the load.
The speed setpoint is further connected to the PreLimitSwitch block. Depending on
the operation, the setpoint speed can be reduced. Finally, the setpoint speed is
interconnected with the main setpoint of the SINAMICS basic system.
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2 Solution
Advantages
Delimitation
This application does not include a description of
• SINAMICS functions, refer to (Ref.2-4)
• Cranes functions, refer to (Ref. 1)
Required knowledge
Basic knowledge on SINAMICS and CRANES technology is assumed.
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2 Solution
Hardware components
Table 2-1: Hardware components
Component No. Order number Note
e. g. plc is depending
on your project
SIMATIC S7-300,
1 6ES7318-3EL01-0AB0 requirements. Smaller
CPU 319-3 PN/DP
or bigger plc can also
be used
e. g. 8MByte card,
SIMATIC Micro size of the MMC is
1 6ES7953-8LP20-0AA0
Memory Card depending on your plc
program
SINAMICS Control
1 6SL3240-1MA00-0AA0 S120 Control Unit
Unit CU320 – 2DP
CF card with V4.5
SINAMICS Compact Firmware Version
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1 6SL3054-0EF00-1BA0
Flash card without Performance
extension
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3 Communication interface
3 Communication interface
In this application the drives are controlled via PROFIBUS DP. For PROFIBUS DP
communication between the higher-level SIMATIC S7 control and the drive, a
maximum of 16 process data for each axis are provided for the send and receive
directions.
SINAMICS
Profibus DP
max 16/16 PZD
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3 Communication interface
SIMATIC S7
• Crane overview
• I/O signal processing
• Safety-related monitoring
• Setpoint and control commands for main drives
• Control commands for infeed
SINAMICS
• Crane technology in DCC
• Ramp-function generator
• Closed-loop speed control
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Prerequisites
In order to establish disturbance-free communication between the two parties, the
reference data in SIMATIC and SINAMICS modules must be identically configured.
The reference data must be normalized to the maximum data.
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3 Communication interface
Note Parameter p0922 must be set to a free telegram (999) when configuring the
system. With the execution of the script from the selection screen, the
communication interconnection is automatically set to the correct values for the
telegram data words.
The type and baud rate of the communication between SIMATIC and SINAMICS is
configured in the HW-Configuration. The PROFIBUS communication is used.
The communication between SIMATIC and SINAMICS is implemented using a
telegram defined for Drive-Based Technology. The standard telegram is extended
to a free telegram (999) with 16 process data on the send and receive side,
separately.
The address ranges for communications between SIMATIC and SINAMICS should
be configured as follows. These addresses can be adapted in the HW-
Configuration.
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Note • The script file should be executed offline. The changes then have to be
downloaded to the drive.
• The script file to establish communication with the S7 control has the
same name for all main drives
• The reference data should be checked and adapted in every script file.
• All connections, which are established by the script, are listed in the
STARTER output window.
• Further, a report after running scripting can be generated. The report can
be saved on the hard disk.
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3 Communication interface
The communication from the SIMATIC plc to the SINAMICS drive is defined in the
following table:
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3 Communication interface
The communication from the SINAMICS drive to the SIMATIC plc is defined in the
following table:
Table 3-3: Telegram Sinamics Simatic
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3 Communication interface
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4 Installation, Startup and Commissioning
Note The installation guidelines for SINAMICS S120 always have to be followed, refer
to Ref. 5 & 6.
In the application a separate infeed (Active Line Module, Basic Line Module or
Smart Line Module) is necessary, when DC – AC motor modules are used. The
separate infeed is not necessary, when for the main drives AC – AC motor
modules are used.
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4 Installation, Startup and Commissioning
Note The startup and the commissioning procedure are described in detail in the
documentation of the SIMOCRANE Drive-Based Technology (Chapter 6 in Ref.
1).
If with standard settings the system utilization is still too high (for example when
drives are used smaller than 250kW because of standard current controller
sampling time of 250us, speed controller 1000us) please change also the settings
for each drive in expert mode (p112 set to 0) like the following figure shows or the
figure 4-3.
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4 Installation, Startup and Commissioning
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4 Installation, Startup and Commissioning
To take the original task settings shown in figure 4-5 and 4-6 please execute the
relevant script (set_run_time_group_XXX_dcc) in script folder for each drive.
Figure 4-7: Script file for execution group of Hoist and Trolley
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5 Related literature
5 Related literature
Table 5-1 Related literatures
Topic Title / Link
SIMOCRANE
1 https://support.industry.siemens.com/cs/ww/de/ps/20087/man
Drive-Based Technology
SINAMICS/SIMOTION
Programming and
2 Operating Manual Editor
Description
DCC, 02/2012
SINAMICS S120 Getting
Started for the STARTER
3 https://support.industry.siemens.com/cs/ww/en/ps/13231/man
Commissioning Tool,
01/2012
Equipment Manual for the
4
SINAMICS S120
Commissioning Manual
5
for the SINAMICS S120
List Manual for the
6
SINAMICS S120
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6 Contact
6 Contact
Additional information
The latest information about SINAMICS products, product support, and FAQs can
be found on the Internet here
https://support.industry.siemens.com/cs/ww/de/ps/20087
You can find information about Crane Application Notes on the Internet here
https://support.industry.siemens.com/cs/ww/en/ps/20087/ae
Additional support
We also offer training courses to help you familiarize yourself with SIMOCRANE.
You can find more information here (www.siemens.nl/training/cranes).
Under following link you can find a video for introduction and training of
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• Europe hotline
Tel.: +49 (0) 911 895 7 222
Fax: +49 (0) 911 895 7 223
E-mail: support.automation@siemens.com
• America hotline
Tel.: +1 423 262 5710
Fax: +1 423 262 2231
E-mail: support.america.automation@siemens.com
• Asia/Pacific hotline
Tel.: +86 10 6475 7575
Fax: +86 10 6474 7474
E-mail: support.asia.automation@siemens.com
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7 History
7 History
Table 7-1 Changelog
Version Date Modifications
V1.0 03/2014 First version by T.T. & B.Ö.
V1.1 04/2014 modified by T.T. & B.Ö.
V1.3 04/2014 Modified by Q.C.
V1.4 02/2015 modified by T.T. & B.Ö.
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