On-board Technology for Position Control

“On-board“ Technology
Training objectives:
• You know how to
commission the
technology functions of
the Basic Positioner
• You know how to optimize

the SINAMICS position
controller
SINAMICS Date:
File:
06.03.2007
ABU DHABI: Page 18- 1
SITRAIN Training for
Automation and Drives
Siemens AG 2007. All rights reserved.
“On-board“Technology
Content Page
Features of the Basic Positioner....................................................................................................... 4
Standard telegrams for the Basic Positioner..................................................................................... 5
Selection of an encoder for position control...................................................................................... 6
Evaluation of the actual position value / Mechanics-related settings.................................................. 7
Linear axis / Modulo-axis, Axis cycle length...................................................................................... 8
Actual position value evaluation........................................................................................................ 9
Position controller 1(2)..................................................................................................................... 10
Position controller 2(2)..................................................................................................................... 11
Expanded drive control panel........................................................................................................... 12
Operating mode “Jogging“................................................................................................................ 13
Selection of function and Start via “Digital signals“............................................................................ 14
“Wiring” to the position controller via “Analog signals“....................................................................... 15
Configuration of jogging setpoints..................................................................................................... 16
Angular velocity w and angular acceleration a.................................................................................. 17
Positioning of a linear axis / “relative, absolute“................................................................................ 18
Positioning of a modulo-axis / “absolute“.......................................................................................... 19
continued on page 3
SINAMICS Date:
File:
06.03.2007
“On-board“Technology
Content Page
Configuration of positioning setpoints............................................................................................... 21
Operating mode “traversing blocks“ / example of application............................................................ 22
Traversing block selection and Start via “Digital signals“.................................................................. 23
Programming traversing blocks........................................................................................................ 24
Types of advance commands, example “positioning”........................................................................ 25
Active homing (referencing) with “Cam and Zero pulse“.................................................................... 26
Active homing with “Cam, Zero pulse and Reversing cam“............................................................... 27
Active homing with “Cam and Zero pulse“........................................................................................ 29
Active homing with “Only Zero pulse“............................................................................................... 30
Passive homing (homing on the fly) via “measuring probe“............................................................... 31
Passive homing via “measuring probe“............................................................................................. 32
Scheme of cascade control.............................................................................................................. 33
Preparations for the optimization of the position controller 1(2)........................................................ 34
Preparations for the optimization of the position controller 2(2)......................................................... 35
Evaluating the optimization of the position controller......................................................................... 36
Influence of the speed controller optimzation.................................................................................... 37
SINAMICS Date:
File:
06.03.2007
Features of the Basic Positioner
The Basic Positioner is available for

operating types SERVO and VECTOR in
SINAMICS S120 and S150
The Basic Positioner features essential
positioning functions along with position
actual value processing and position
controller
The Basic Positioner can be activated “per
axis”; actual value processing and position
controller can be activated by themselves
Required BiCo-wirings to the basic unit are
automatically provided on selecting the
Basic Positioner
Via BiCo-wiring and using PLC-open free
n
function blocks the Basic Positioner can be

5 io
2. rat
adapted both to the basic unit and ”within

a
rV p
itself” to many applications

fo pre
r
Function generator and measuring

de
un
functions support the optimization of the

position controller
SINAMICS Date:
File:
06.03.2007
Standard telegrams for the Basic Positioner
Pre-assigned Profidrive-Positioning Telegrams (Standard-Telegrams)

Merely on selection, standard-telegrams according to positioning-telegramt-ypes 7 and 110
automatically effect the correct “wiring” of the Basic Positioner to the PLC via PROFIBUS
SINAMICS Date:
File:
06.03.2007
Selection of an encoder for position control
Selection of the encoder system

for position control
Selection of the encoders for object SERVO_02 Assignment of mechanical conditions
SINAMICS Date:
File:
06.03.2007
Evaluation of the actual position value / Mechanics-related settings
Theoretical
resolution of the
currently used
position encoder
Encoder ppr * Fine resolution
Mechanical gear
Dimension-
independent
position scaling
Deactivated
= Linear axis
Activated
= Modulo-axis
SINAMICS Date:
File:
06.03.2007
Linear axis / Modulo-axis, Axis cycle length
travel s
actual
G M position
slide
U
overall travel
travel s actual Axis cycle length (i.e. 360 degrees)

position
G M rotary table
U
SINAMICS Date:
File:
06.03.2007
Actual position value evaluation
Count increases with

“max. possible LU/rev“.
Overflow to 0 at 232
i.e. for ”reference on the fly”
s.act
linear axis
s.act
modulo-axis
SINAMICS Date:
File:
06.03.2007
Position controller 1(2)
SINAMICS Date:
File:
06.03.2007
Position controller 2(2)
0 ms Æ P
With correct
speed pre-
control
operation only
as correction
controller
SINAMICS Date:
File:
06.03.2007
Expanded drive control panel

start of the function
jogging homing
setup
positioning
traversing blocks
selection of the function
Operating modes of the Basic Positioner

Position controlled jogging / Incremental jogging (move by ”given incremental value”)
Positioning ”absolute” and ”relative” (MDI) / Setup
Traversing block defined automatic operation (64 traversing blocks)
Homing ”active” and ”passive” (homing “on the fly”)
SINAMICS Date:
File:
06.03.2007
Operating mode “Jogging“
Position controlled jogging Incremental jogging
Sequence diagram “Set velocity“ Sequence diagram “Position increments“
v v
v1 v1 i.e. extremely fast up-
and down-ramps
t t
v2 v2
s s
s = n dt s1
s2
jogging 1
jogging 2
SINAMICS Date:
File:
06.03.2007
Selection of function and Start via “Digital signals“
“0“ Æ position controlled jogging
“1“ Æ incremental jogging
SINAMICS Date:
File:
06.03.2007
“Wiring” to the position controller via “Analog signals“
settings
Required BiCo-wirings
to the basic unit are
automatically provided
on selecting the Basic
Positioner
SINAMICS Date:
File:
06.03.2007
Configuration of jogging setpoints
Position controlled jogging
Incremental jogging
In pop-up menu “ramp function generator“ indication only; definition of the values via
“basic positioner > limitations > traversing profile limitation“
SINAMICS Date:
File:
06.03.2007
Angular velocity ω and angular acceleration α
”ω” 600 rpm with 1000 LU/rev Æ 600 rpm * 1000 LU/rev = 600 000 LU/min = 600 * 1000 LU/min
Rated angular acceleration (change of angular acc. by the value of rated angular acc in 1 s)
”α” n.rated = 6000 rpm with 1000 LU/rev = 6 000 000 LU/min
= 100 000 LU/s
α = ω / t = 100 000 LU/s /1s = 100 * 1000 LU/s2
SINAMICS Date:
File:
06.03.2007
Positioning of a linear axis / “relative, absolute“
s Positioning “absolute“
Position
t
transfer of setpoint transfer of setpoint
s
Positioning “relative“
Position
= travel
Position
= travel
t
transfer of setpoint transfer of setpoint
SINAMICS Date:
File:
06.03.2007
Positioning of a modulo-axis / “absolute“
v v
destination
220 t t
pos. s s
0 = 360
220
neg.
start 0 = 360
0 = 360
220
transfer of setpoint p2650
direction positive p2651
direction negative p2652
“shortest travel“ p2651 = p2652
SINAMICS Date:
File:
06.03.2007
Activation of MDI-operation
“0“ Æ positioning
“1“ Æ setup
“0“ Æ relative
“1“ Æ absolute
“0“ Æ via 0/1-flank

“1“ Æ continuously
SINAMICS Date:
File:
06.03.2007
Configuration of positioning setpoints
SINAMICS Date:
File:
06.03.2007
Operating mode “traversing blocks“ / example of application
A B C D E
v
A 0 mm
s
Δt
B 10 mm s
C 22 mm
D 30 mm
E 32 mm
block 0 AÆB move to position B with velocity 6n and continue flying to

block 1 BÆC .... C n
block 2 CÆD .... D 4n
block 3 DÆE .... E n
block 4 wait 500 ms
block 5 EÆA .... A 6n
SINAMICS Date:
File:
06.03.2007
Traversing block selection and Start via “Digital signals“
Activation of
traversing block
operation
“1“ Æ Functions
deactivated
SINAMICS Date:
File:
06.03.2007
Programming traversing blocks
ENDLESS_POS move with +v to limit (Setup)

ENDLESS_NEG move with –v to limit (Setup)
GOTO step to indicated traversing block
SET_O set the defined digital output
RESET_O reset the defined digital output
SINAMICS Date:
File:
06.03.2007
Types of advance commands, example “positioning”
CONTINUE WITH STOP v
Requested position is reached accurately;

changeover to the following traversing block t
after reaching the requested position.
block 0 block 1 block 2
CONTINUE FLYING v
Requested position is reached accurately only if

the direction of movement is reversed; t
else changeover to the following traversing block
on reaching matching position values.
block 0 block 1 block 2
SINAMICS Date:
File:
06.03.2007
Active homing (referencing) with “Cam and Zero pulse“

> start of movement: positive
p2604 = 0 Reference point coordinate
> zero-pulse to the left of cam
Referencing zero pulses
Referencing cam
p2606
v
1
p2605 + Override
3 p2611
s
p2604 referencing direction

p2605 reference cam approach velocity p2600
p2608 zero mark approach velocity
p2611 reference point approach velocity p2608
p2606 max. distance to reference cam 2
p2609 max. distance to zero mark
p2600 reference point offset p2599
p2599 reference point coordinate
p2609
Start homing (referencing type p2597=0)
1 movement to the referencing cam 2 synchronization to the reference zero mark 3 movement to the reference point
SINAMICS Date:
File:
06.03.2007
Active homing with “Cam, Zero pulse and Reversing cam“
> start of movement: negative Reference point

p2604 = 1 coordinate
> zero-pulse to the right of cam
Referencing zero pulses
Referencing cam
v
p2605 + Override p2608
2
Reversing p2613 = B....

cam
p2604 referencing direction 3 p2611
p2605 reference cam approach velocity
1 p2608 zero mark approach velocity p2600
p2611 reference point approach velocity
p2600 reference point offset
p2599 reference point coordinate p2599
p2613 reversing cam minus (0 = active)
p2605 + Override p2614 reversing cam plus (0 = active)
Start homing (referencing type p2597=0)
1 movement to the referencing cam 2 synchronization to the reference zero mark 3 movement to the reference point
SINAMICS Date:
File:
06.03.2007
“1“-active ; p2595
either
/ or p2596
p2597
p2612
“1“ Æ p2613 cam in negative direction
functions
deactivated p2614 cam in positive direction
Referencing type selection (p2597)

“0“ Æ search for reference The axis moves to the referencing point; if relevant, it considers the
reference point displacement.
Position-set- and position-actual-value are set to the value as defined
by the “reference point coordinate“.
“1“ Æ flying referencing The axis moves on without any change of movement;
Position-set- and position-actual-value are set to the value as defined
by the “reference point coordinate“.
This function can be superposed on any operating mode.
SINAMICS Date:
File:
06.03.2007
Active homing with “Cam and Zero pulse“
p2605
p2611
p2608 p2599
p2600
p2610
p2609
p2606
SINAMICS Date:
File:
06.03.2007
Active homing with “Only Zero pulse“
p2611
p2608
p2599
p2600
p2609
SINAMICS Date:
File:
06.03.2007
Passive homing (homing on the fly) via “measuring probe“
p2510
Zuweisung eines DI
p2511
p2601
p2602
SINAMICS Date:
File:
06.03.2007
Passive homing via “measuring probe“

v
t
s.set= s.act p2602
1
2 p2601
t
p2599
p2601 inner window
Reference point coordinate (p2599)
p2602 outer window
p2511=0
p2511=1
Start flying referencing Measuring probe

(Referencing type p2597=1) (p2510)
1 movement in any operating mode 2 movement is maintained after flying referencing
A drive previously referenced will execute the flying referencing only, if the deviation Δ (position actual
value - referencing coordinate) is larger than the inner window and smaller than the outer window.
SINAMICS Date:
File:
06.03.2007
Scheme of cascade control
Basic-Positioner Basic functionality
Torque pre-control
Speed pre-control
position c. speed c. current c. motor encoder

xset nset Iset PWM
Position setpoint
M G
- xact - nact - Iact
IU
Iq Iα
Motor- 2 IV
Position- Id Iβ
interpolation model 3 IW
speed rotor position encoder evaluation

position
Position actual value
SINAMICS Date:
File:
06.03.2007
Preparations for the optimization of the position controller 1(2)
pre-control
deactivated
disconnected
connected to step deactivated

of position setpoint
SINAMICS Date:
File:
06.03.2007
Preparations for the optimization of the position controller 2(2)
pre-control deactivated
0 ms Æ
P-controller
signal analyzed for

limitation according quality of optimization
to requested
correction value
SINAMICS Date:
File:
06.03.2007
Evaluating the optimization of the position controller

limiting of position
controller output
speed setpoint
too small proportional gain optimum too large
As response to a step of position setpoint the speed setpoint (position controller output) should reach zero
after coming out of the limitation as quickly as possible, yet harmonically WITHOUT overshooting.
speed setpoint speed setpoint
actual position actual position
position
position controller
controller not
optimized optimized
The optimized position controller (as correction controller) responds dynamically to a step of disturbance variable (load)
SINAMICS Date:
File:
06.03.2007
Influence of the speed controller optimzation
Steps of position setpoint are near exclusively dealt with by the speed pre-control; the position controller has only a
marginal influence acting as correction controller.
In consequence, a defaulted respectively optimized position controller show much the same response.
actual position actual position
dynamically optimized Speed control loop

speed control loop as defaulted
(independent of the (independent of the
optimization of the position optimization of the position
controller) controller)
speed setpoint speed setpoint
An optimized speed control loop is inevitable to respond dynamically to the speed pre-control.
speed controller optimized speed controller: DEF

rise time = 1300 μs rise time = 18 ms
SINAMICS Date:
File:
06.03.2007

On-board Technology for Position Control

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On-board Technology for Position Control

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“On-board“ Technology

• You know how to optimize

Features of the Basic Positioner

 The Basic Positioner is available for

function blocks the Basic Positioner can be

adapted both to the basic unit and ”within

itself” to many applications

 Function generator and measuring

functions support the optimization of the

Pre-assigned Profidrive-Positioning Telegrams (Standard-Telegrams)

Selection of an encoder for position control

Selection of the encoder system

Selection of the encoders for object SERVO_02 Assignment of mechanical conditions

Linear axis / Modulo-axis, Axis cycle length

travel s actual Axis cycle length (i.e. 360 degrees)

Count increases with

i.e. for ”reference on the fly”

Position controller 1(2)

Expanded drive control panel

selection of the function

Operating modes of the Basic Positioner

Position controlled jogging Incremental jogging

Sequence diagram “Set velocity“ Sequence diagram “Position increments“

Selection of function and Start via “Digital signals“

“0“ Æ position controlled jogging

“1“ Æ incremental jogging

Configuration of jogging setpoints

Position controlled jogging

Positioning of a linear axis / “relative, absolute“

transfer of setpoint transfer of setpoint

transfer of setpoint transfer of setpoint

transfer of setpoint p2650

direction positive p2651

direction negative p2652

“shortest travel“ p2651 = p2652

Selection of function and Start via “Digital signals“

“0“ Æ via 0/1-flank

Operating mode “traversing blocks“ / example of application

block 0 AÆB move to position B with velocity 6n and continue flying to

Programming traversing blocks

ENDLESS_POS move with +v to limit (Setup)

CONTINUE WITH STOP v

Requested position is reached accurately;

Requested position is reached accurately only if

Active homing (referencing) with “Cam and Zero pulse“

Referencing zero pulses

p2604 referencing direction

> start of movement: negative Reference point

Referencing zero pulses

Reversing p2613 = B....

Start homing (referencing type p2597=0)

Selection of function and Start via “Digital signals“

“1“ Æ p2613 cam in negative direction

Referencing type selection (p2597)

Active homing with “Only Zero pulse“

Passive homing via “measuring probe“

s.set= s.act p2602

Start flying referencing Measuring probe

1 movement in any operating mode 2 movement is maintained after flying referencing

Basic-Positioner Basic functionality

position c. speed c. current c. motor encoder

- xact - nact - Iact

The Basic Positioner is available for

Function generator and measuring