The EP3E-PN is a PROFINET bus servo independently developed and manufactured by Wuhan Maixin Electric Technology Co., Ltd., and the product has passed the PROFINET Interface test and certification.
PROFIdrive
AC3 messages 9 and 111; AC4 messages 3, 5, 102, and 105; conforming to PROFIdrive standards, perfectly compatible with built-in process objects in the PLC. • PROFINET communication
Supports standard PROFINET communication interface, with RT and IRT communication capabilities. Communication cycle time can be as short as 250µs, and synchronization jitter time is less than 1µs. PLCopen
A variety of complex motion control functions can be achieved using function blocks that conform to the PLCopen standard.
• Dynamic response
It can enable DSC (Dynamic Servo Control) to achieve a faster dynamic response.
Point-to-point positioning
It is compatible with the SINA_POS(FB284) function block, enabling rapid point-to-point positioning functionality.
• Real-world photos of the application solution
1. Scope of application
The EP3E PROFINET servo drive connects to the S7-1200 via a Technology Object to achieve positioning control.
2. Principle Overview
The EP3E servo drive supports PROFINET communication and PROFIdrive motion control standards. The S7-1200 PLC includes motion control components to achieve position control of the axes of process objects.
The process object reads the actual encoder value through PROFIdrive message 3, compares it with the set position to calculate the set speed, and then sends the set speed to the servo drive through message 3 to realize position closed-loop control.
3. Debugging environment
- TIAPortal V14 and above
- EP3E PROFINET device description file GSDML-V2.33-Maxsine-EP3E_PN-20190327.xml
4. Technical Implementation
4.1 Preparations
4.1.1 Hardware Connection
1) Refer to the "EP3E PROFINET Bus AC Servo Driver User Manual" to correctly complete the driver power connection and motor connection;
2) Correctly connect the power supply to the S7-1200 PLC;
3) If the PLC has only one network port, such as 1212C or 1214C, connect the X5 port of the first servo drive to the network port of the S7-1200 PLC; if there are multiple servo drives, connect the X6 port of the previous one to the X5 port of the next one; connect the X6 port of the last servo drive to the debugging computer.
4) If the PLC has more than two Ethernet ports, connect the X5 port of the first servo drive to one of the S7-1200 PLC's Ethernet ports; if there are multiple servo drives, connect the X6 port of the previous drive to the X5 port of the next drive. Connect the other Ethernet port of the PLC to the debugging computer.
4.1.2 Equipment Description Document
Download the EP3E PROFINET device description file GSDML-V2.33-Maxsine-EP3E_PN-20190327.xml from the Service and Support → Download Center on the Maxsine website (www.maxsine.com) and save it on the debugging computer.
4.1.3 Servo Driver Parameter Settings
4.2 Creating a Sample Project
4.2.1 New Construction Projects
1) Open the TIA Portal software, select "Create New Project", and fill in the project name, path, version, author and other relevant information, then click Create:
2) Click "Project View" in the lower left corner to enter the next screen:
4.2.2 Adding and Connecting Devices
1) Click "Projects" on the left side of the interface to display the sub-directories, then double-click "Add New Device":
2) In the "Add New Device" window that pops up, navigate to "Controller → SIMATIC S7-1200 → CPU → CPU 1214C DC/DC/DC → 6ES7 214-1AG40-0XB0" and click OK.
3) Click the "Options" button in the menu bar and select "Manage General Site Description Files (GSD)":
4) Next, select the source path (the location where the preparation stage data was stored), check the folder, and click "Install":
5) On the right side of the interface, uncheck the box next to "Filter". Locate "Hardware Catalog" - "Other Field Devices" - "PROFINETIO" - "Drives" - "Maxsine" - "EP3E" - "Front-end Modules" - "Maxsine EP3E_PN" and confirm that the driver has been added.
6) Select "Network View" in the middle interface, locate "Maxsine EP3E_PN" in the hardware directory on the right, and double-click or drag it to the network view on the left:
7) Connect the PLC and servo driver by dragging and dropping with the mouse:
8) Configure the IP address of the S7-1200 in the project:
9) Configure the device name and IP address of the servo driver in the project:
10) Add controller message. Select the drive device, then select "Hardware Catalog" - "Other Field Devices" → "PROFINET IO" → "Drives" → "Maxsine" → "EP3E" → "Submodule" → "Standard Message 3":
4.2.3 Set the device name and IP address for the servo driver
1) Manually set the name and IP address
a. Configure the name and IP address via TIAPortal. Click "Online Access - Update Accessible Devices" on the left to search for devices on the network:
Use the online and diagnostic functions to set the name and IP address for the servo drive. Note that the name and IP address here must match those in the project:
b. Configure the name and IP address using the PRONETA diagnostic tool. Download the PRONETA debugging and diagnostic tool from the Siemens website:
https://support.industry.siemens.com/cs/document/67460624/proneta-2-6-0-7-Debugging and Diagnostic Tools for -profinet?dti=0&dl=zh&lc=en-WW
PRONETA can display the topology of device connections in a network, facilitating device setup and diagnostics. For detailed instructions on using the PRONETA tool, please refer to the Siemens PRONETA documentation.
Using the PRONETA diagnostic tool, set the name and IP address for the servo drive. Note that the name and IP address here must match those in the project:
2) The controller automatically assigns names to the devices.
In certain application scenarios, such as mass production of equipment, the controller can be set to automatically assign names to the equipment, saving debugging time; at the same time, it can also save the step of renaming after replacing equipment.
To set up automatic name assignment, you must first configure the network topology. Select "Topology View" and connect the PLC and servo drive according to the actual hardware wiring sequence. Note that port 2 on the right side of the diagram corresponds to port X5 on the servo drive.
After setting up the topology, select the PLC's PROFINET interface (X1) → Advanced Options → Interface Options, check "Support device replacement without replaceable media", and check "Allow overwriting all assigned IO device names":
After configuration, when the PLC is powered on, it will assign names and IP addresses to devices in the network according to the pre-configured topology. It is essential to ensure that the hardware connection order is completely consistent with the settings in the topology.
4.2.4 Axis Configuration
1) Select "Process Object", double-click "Add Object", and the "Add Object" dialog box will pop up. Select "Axis" - "TO_PositongingAxis". You can choose either V6.0 or V5.0. This article uses V6.0 as an example:
2) On the Axis 1 interface, select "PROFIdrive" as the drive:
3) Configure drivers and encoders.
a. Configuration driver
Click on the driver, select "PROFIdrive" and then select "PROFINET IO-SYSTEM(100)—MAXSINE-EP3E-PN—Message 3". Check the box, and finally uncheck the box before "Automatically transfer drive parameters in the device".
b. Configuration encoder
Click on the encoder, select the encoder on PROFINET/PROFIBUS, check "Show all modules", select "PROFINET IO-SYSTEM(100)-MAXSINE-EP3E-PN-Message 3" for "PROFIdrive encoder", click to check, and then uncheck the box before "Automatically transfer encoder parameters in the device".
- When active homing is required via an external homing switch, select "Rotational Increment" for the encoder type, set the number of steps per revolution to 131072 (this value is independent of the number of bits in the encoder supplied with the motor), and set "Bits in Actual Increment Value" to 0 in High Precision.
- When returning to the origin via absolute value, select Rotational Absolute encoder type, set the number of steps per revolution to 131072 (this data is independent of the number of bits in the encoder equipped with the motor), set the number of revolutions to 32768, and set both "Bits in Incremental Actual Value" and "Bits in Incremental Actual Value" to 0 in High Precision. If you encounter a situation where "Bits in Incremental Actual Value" is grayed out and cannot be set, close the current configuration window and reopen it to set it.
When using the absolute value method to return to the origin, the P090 parameter of the driver needs to be set to 1 to enable the multi-turn function. After enabling the multi-turn function for the first time, the driver will display an Err 47 alarm when powered on again. The encoder can be reset through the Fn36 function. For specific operation, please refer to the relevant chapters in the "EP3EPROFINET User Manual".
4) Set extended parameters
Based on the actual machinery, set the following parameters in the extended parameters: machinery, module, position limit, dynamics, etc.
To use active homing, the active homing mode must be set. When using active homing, the encoder configuration must be incremental. If the configuration is absolute, this setting is invalid, and the homing operation must be performed through Mode 6 or 7 of the MC_Home function block in the program.
Currently, the supported method for returning to the origin is the third one: "using the origin switch via digital input".
When the actual value of the shaft or encoder moves in the specified return direction, the system will immediately check the status of the digital input. After reaching the return mark (set by the digital input) in the specified return direction, the actual position of the process object will be set to the return mark position.
5) Save the project configuration and download it to the PLC.
Click PLC_1, then click Online → Download to Device. Select "PN/IE" for the PG/PC interface type and "PN/IE_1" for the interface/subnet connection. Click "Start Search". Once the download is complete, proceed to online debugging.
4.3 Debugging
4.3.1 Testing and Operation
1) Locate the process parameters on the left side of the interface, and click on the following buttons in sequence: Process Parameters → Axis_1 → Debug → Monitor All Buttons → Activate Button:
2) Click "Enable" and observe whether the servo motor is enabled. After enabling, click "Reverse Jog" and "Forward Jog" to perform an operation test:
