SIMIT Drives BehLib EPOS Tlg111 DOC v10 en PDF

EPOS Telegram 111
for SIMIT
Siemens
SIMIT SP V10.1 Industry
Online
https://support.industry.siemens.com/cs/ww/en/view/109761007 Support
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EPOS Telegram 111 for SIMIT

Entry-ID: 109761007, V1.0, 10/2019 2
Table of contents
Table of contents
Legal information ......................................................................................................... 2
1 Description of the telegram .............................................................................. 4
1.1 Symbol.................................................................................................. 4
1.2 Function ................................................................................................ 4
1.3 Message frame format ......................................................................... 4
1.4 State machine ...................................................................................... 5
1.4.1 States ................................................................................................... 5
1.4.2 Control words ....................................................................................... 7
1.4.3 Status words ....................................................................................... 11
1.5 Sign of lifeswap via "STW2" and "ZSW2" .......................................... 15
1.6 Error codes ......................................................................................... 16
2 I/Os .................................................................................................................... 18
3 Parameters ....................................................................................................... 19
4 Operating window ............................................................................................ 20
5 Engineering ...................................................................................................... 26
5.1 Configuration ...................................................................................... 26
5.1.1 Configuration of the SINAMICS drive using GSDML ......................... 26
5.1.2 Configuration of the PLCSIM Advanced coupling .............................. 29
5.2 Parameter assignment ....................................................................... 32
5.3 Operation ............................................................................................ 33

5.3.1 Relative positioning ............................................................................ 33
5.3.2 Absolute positioning ........................................................................... 36
5.3.3 Setup mode ........................................................................................ 39
5.3.4 Homing - Homing movement ............................................................. 42
5.3.5 Homing - setting reference point ........................................................ 46
5.3.6 Traversing blocks ............................................................................... 48
5.3.7 Jogging ............................................................................................... 52
5.3.8 Incremental jogging ............................................................................ 55
5.3.9 Homing on the fly ............................................................................... 59
6 Appendix .......................................................................................................... 63
6.1 Service and support ........................................................................... 63
6.2 Links and Literature ............................................................................ 64
6.3 Abbreviations ...................................................................................... 64
6.4 Change documentation ...................................................................... 64

Entry-ID: 109761007, V1.0, 10/2019 3
1 Description of the telegram

1.1 Symbol
Figure 1-1
1.2 Function
The standard telegram 111 is typically used in conjunction with EPOS blocks to
exchange data to and from the drive. This allows the drive to be controlled with a
programmable logic controller.
Message frame 111 is very similar to message frame 110, but has only a larger
transmitting range of 12 PZDs.
Message frame 111 offers the following functionality:
• Basic positioner
• 32 bit actual position value
• 32 bit speed value
• Monitoring of signs of life
• Error codes via a cyclic interface
• Warning codes via a cyclic interface
See also manual

"SINAMICS Blocks DriveLib for the control in the TIA Portal"
https://support.industry.siemens.com/cs/ww/en/view/109475044
1.3 Message frame format

Figure 1-2
PZD PZD PZD PZD PZD PZD PZD PZD PZD PZD PZD PZD
1 2 3 4 5 6 7 8 9 10 11 12
TEL_111
STW1 POS_STW1 POS_STW2 STW2 OVERRIDE MDI_TARPOS MDI_VELOCITY MDI_ACC MDI_DEC user
Target
TEL_111 FAULT_ WARN_

ZSW1 POS_ZSW1 POS_ZSW2 ZSW2 MELDW XIST_A NIST_B user
Actual Code Code

Entry-ID: 109761007, V1.0, 10/2019 4
1.4 State machine

The behavior model "EPOS_Tel111" contains a state machine.
The state machine is described in detail in the PROFIdrive specification.
1.4.1 States
The control bits listed in the following table are used to control the state machine
(state transitions). Depending on the current state, the corresponding state bits are
set as shown in the table.
The component uses the following numerical values for editing and display:
Table 1-1
State State (hex.) Description
S1 1
S2 2 2 (POM = normal)
12 12 (POM = jog)
3
S3
S3T 13
S52 6 (only) deceleration with "MaxAcc" or coast.
S4 8 Standstill, no movement triggered or no longer active.

S41
S43 C The calculated stopping point becomes the starting
position for subsequent relative movements, (only)
deceleration according to the last movement (travel set
discarded), when S4 is reached from S1 - S3 coast (with
"CoastDec") becomes braking with "MaxAcc".
S44 B Additional partial state at STW1 bit 11 = 0, deceleration
according to the homing movement.
S441 E Unlimited movement of the homing process possible.
S442 A The homing procedure is complete, successful,
deceleration according to the homing movement or
standstill is expedient.
S451 F Traversing block active, unrestricted movement possible.
S452 D The calculated stopping point becomes the starting
position for subsequent relative movements with a
different traversing block, (only) deceleration according
to the last movement (intermediate stop).
S453 9 Once the intermediate stop has been reached, the
current stop position becomes the starting position for
subsequent relative movements with a different
traversing block, standstill.
S4T 18 Jogging, standstill (incremental jogging finished or end
position reached).
S4T1V / S42 1C Jogging 1, maintain velocity; S42 → STW1-Bit 0 = 1
S4T2V / S42 1D Jogging 2, maintain velocity; S42 → STW1-Bit 0 = 1
S4T1 / S42 1E Jogging 1 triggered, movement possible; S42 →
STW1-Bit 0 = 1
S4T2 / S42 1F Jogging 2 triggered, movement possible; S42 →
STW1-Bit 0 = 1

Entry-ID: 109761007, V1.0, 10/2019 5
State State (hex.) Description

S4T2 / S42 5 (only) deceleration according to the last movement; S42
→ last movement was jog with STW1 bit 0 = 1, the
starting position for subsequent relative movements is
set to the stopping point.
S51T 15 The starting position for subsequent relative movements,
in particular jog operations, is set to the stopping point.

Entry-ID: 109761007, V1.0, 10/2019 6
1.4.2 Control words
1.4.2.1 STW1
Table 1-2
Bit Abbreviation Description
0 Off1 ON - Command: 0 = OFF1 active; 1 = ON
1 Off2 0 = OFF2 active
1 = Signal: Operating condition no coast down active
2 Off3 0 = OFF3 active
1 = Operating condition no quick stop active
3 Enc Inverter enable
4 RejTrvTsk Traversing records and direct setpoint specification / MDI
Discard traversing task
0 = active movement command is rejected / axis decelerates with
100% deceleration override
1 = Do not discard traversing task (shaft can be moved)
5 IntMStop intermediate STOP traversing blocks and MDI/setpoint direct
specification - intermediate stop 0 = active motion command is
interrupted / shaft brakes with preset deceleration override
1 = no intermediate stop (shaft can be moved)
6 TrvStart Activate traversing task

Edge setpoint acceptance if MdiType = 0
7 AckFault Acknowledgment of error
8 Jog1 Jog signal source 1
9 Jog2 Jog signal source 2
10 LB Life bit (control requested from PLC)
11 RefStart Start homing
12 Bit12 Reserved
13 Bit13 External block change (0->1)
14 Bit 14 Reserved
15 Bit 15 Reserved

Entry-ID: 109761007, V1.0, 10/2019 7
1.4.2.2 STW2
Table 1-3
0 DDSBit0 Drive data set Bit 0
5 GlbStart Global start
6 ResIComp Reset I-component of speed controller
7 ActPrkAxis Activate parking axis
8 TrvFixedStp Traversing to fixed endstop
9 GlbTrgCom Global triggercommand
10 Bit10 Reserved
11 MotSwOver Motor switchover completed (0->1)
12 MsZykBit0 Master sign of life bit 0


Entry-ID: 109761007, V1.0, 10/2019 8
1.4.2.3 POS_STW1
Table 1-4
0 TrvBit0 Set selection bit 0
6 Bit6 Reserved
7 Bit7 Reserved
8 MdiTyp Positioner type
0 = relative positioning
1 = absolute positioning
9 MdiPos Direction selection for setting up or absolute positioning of rotary
axes, in positive direction
10 MdiNeg Direction selection for setting up or absolute positioning of rotary
axes, in negative direction
11 Bit11 Reserved
12 MdiTrTyp Transfer type
0 = Applying values by rising edge on MdiEdge
1 = Signal: constant setpoint transfer
13 Bit13 Reserved
14 MdiSetup direct setpoint input/MDI – setup selection
Selection of MDI mode setup
0 = Position
1 = Setup
15 MdiStart Operating mode MDI / direct setpoint specification

Entry-ID: 109761007, V1.0, 10/2019 9
1.4.2.4 POS_STW2
Table 1-5
0 TrkMode Start tracking mode
1 SetRefPt Set reference point
2 ActRefCam Enable reference cam
3 Bit3 Enable fixed stop
4 Bit4 Reserved
5 JogInc Jog:
0 = Continuous procedure
1 = Procedure by parameterized path
6 Bit6 Reserved
7 Bit7 Reserved
8 RefTyp Homing type selection
0 = Reference point approach
1 = On-the-fly homing
9 RefStDi Reference point approach start direction
0 = positive start direction
1 = negative start direction

10 RefInpS Setting the signal source for selecting the probe for on-the-fly
(passive) homing
0 = probe 1 is enabled
1 = probe 2 is enabled
11 RefEdge passive homing: Setting the edge evaluation
0 = rising edge
1 = falling edge
12 Bit12 Reserved
13 Bit13 Reserved
14 SftLimAct Enabling of the software limit switch
15 StpCamAct Enabling of the stop cams

Entry-ID: 109761007, V1.0, 10/2019 10
1.4.3 Status words
1.4.3.1 ZSW1
Table 1-6
0 RTS Ready to power up
1 RDY Ready for operation
2 IOp Drive is switched on (condition for selecting the operating mode of
the EPos)
3 Fault Active fault
4 NoOff2Act OFF2 not activated (partial condition for switching on)
5 NoOff3Act OFF3 not activated (partial condition for switching on)
6 PowInhbt Activation disable active
7 Alarm Alarm / warning active
8 NoFlwErr Following error within tolerance
9 LbCr Control required
10 TargPos Target position reached
11 RefPSet Reference point set
12 TrvTskAck Acknowledgment traversing block activated

13 StndStill |n_ist| < speed threshold 3
This bit is used for standstill detection
14 Accel Axis accelerated
15 Decel Axis delayed

Entry-ID: 109761007, V1.0, 10/2019 11
1.4.3.2 ZSW2
Table 1-7
0 ActDDSBit0 Drive data set Bit 0
5 CmdActRelBrk Release holding brake active
6 TrqContMode Torque-controlled operation
7 ParkAxisAct Parking axis selected
8 Bit8 Reserved
9 GlbTrgReq Global trigger request
10 PulsEn Pulses enabled
11 MotSwOverAct Motor data set switchover active
12 SlvZykBit0 Slave – sign of life bit 0


Entry-ID: 109761007, V1.0, 10/2019 12
1.4.3.3 POS_ZSW1
Table 1-8
0 ActTrvBit0 Active traversing block bit 0
6 Bit6 Reserved
7 Bit7 Reserved
8 StpCamMinAct STOP cam minus active
9 StpCamPlsAct STOP cam plus active
10 JogAct Jog mode is active
11 RefAct Reference point mode active
12 FlyRefAct On-the-fly homing active
13 TrvBlAct Traversing blocks mode active
14 MdiStupAct Set-up is active in the setpoint direct presetting/MDI operating

mode.
15 MdiPosAct Positioning is active in the setpoint direct presetting/MDI operating
mode.

Entry-ID: 109761007, V1.0, 10/2019 13
1.4.3.4 POS_ZSW2
Table 1-9
0 TrkModeAct Tracking mode active
1 VeloLimAct Speed limitation active
2 SetPStat Setpoint set
3 PrntMrkOut Print mark outside outer window
4 FWD Axis moves forward
5 BWD Axis moves backwards
6 SftSwMinAct Software limit switch minus actuated
7 SftSwPlsAct Software limit switch plus actuated
8 PosSmCam1 Position actual value <= Cam switch position 1
9 PosSmCam2 Position actual value <= Cam switch position 2
10 TrvOut1 Direct output 1 via traversing block
11 TrvOut2 Direct output 2 via traversing block
12 FxStpRd Fixed stop reached
13 FxStpTrRd Fixed stop clamping torque reached
14 TrvFxStpAct Travel to fixed stop active

15 CmdAct Traversing active

Entry-ID: 109761007, V1.0, 10/2019 14
1.5 Sign of lifeswap via "STW2" and "ZSW2"

In the message frame 111 the process data "STW2“ and "ZSW2" are defined. This
is used to cyclically exchange a sign of life between the controller and the drive. If
the sign of life fails in a parameterizable sequence, an error is generated and the
application is deactivated.

Entry-ID: 109761007, V1.0, 10/2019 15
1.6 Error codes

With "ZSW1"-Bit 3 (Fault) the following error codes are displayed:
Table 1-10
Error code Description
0x1C34 (7220) Guidance requested by PLC (STW1 bit 10) or control (ZSW1 bit 9) was
reset during a running movement.
0x1D1B (7451) Position monitoring responded:
The activation of the limit switches or STOP cams is requested despite
rotary axis or "SftSwMin" >= "SftSwPls" (in POS_STW2-Bit 14, 15).
The request is canceled at the same time, e.g. to avoid division by 0 or
sign errors.
The feedback of the actual values to the internal speed results in a
speed amount > 1.5 * "MaxSpeed", and the movement must be
terminated with quick stop.
0x1D1C (7452) The distance between the actual position scaled from
"Process.Gx_XIst" and the internal position is >=
"ContouringErrorDistance".
0x1D22 (7458) At the end of a homing run at the end of the normal range, the
reference point was not crossed (e.g. wrong direction specified in
POS_STW2-Bit 9).
0x1D28 (7464) Traversing block is inconsistent (the data of a requested motion are
invalid).
0x1D33 (7475) A negative relative positioning was tried, although the starting position
is already at the beginning or below the normal range.
0x1D34 (7476) A positive relative positioning was tried, although the starting position is
already at the end or above the normal range.
0x1D39 (7481) The internal position has gone below the normal range, e.g. after
changing "XIstLowerEndSwitch".
The error is only triggered once so that movements in the direction of
the normal range remain possible after acknowledgment and restart.
0x1D3A (7482) The internal position has gone above the normal range, e.g. after
changing "XIstUpperEndSwitch".
The error is only triggered once so that movements in the direction of
the normal range remain possible after acknowledgment and restart.
0x1D3B (7485) When requested to travel to the fixed stop, the movement was
completed without the criteria for reaching the fixed stop being met at
any time.
0x1D42 (7490) The enable (STW1 bit 0-3) has been canceled during a running motion,
but not during jogging or a normal stop, not even by fast stop or
coasting.
0x1D45 (7493) "XIST_A": Range overflow
0x0E12 (3602) "NIST_B": Raw value overflow
0x0E13 (3603) "NIST_B": Raw value undercut
0x0E14 (3604) Reference speed scaling error (reference speed <= 0.0)
0x0F02 (3842) Sign-of-life error

Entry-ID: 109761007, V1.0, 10/2019 16
There are also the following messages, warnings and alarms taken from
"SINAMICS S120/S150 List Manual, 07/2018" which are displayed at output
WARN_CODE. These messages are canceled after the causes have been
eliminated by a subsequent rising edge of one of the STW1 bits 0-3, 6-9, 11 or 13.
Exceptions are:
• Warning 7457 ends when the combination of input signals is valid again,
unless after successful travel to fixed stop.
• Warning 7463 ends if not all bits 0-4 are set in STW1, ie if there is no enable or
"Discard traversing task" and external block change are thus no longer
possible. The warning will be interrupted during an intermediate stop.
• Warning 7479/7480 ends when followed by a traversing block, stopping or
standstill, as long as the target or stopping position is in the normal range, and
the deceleration did not need to be increased.
• A warning resulting from the limit switch handling ends if an error results from
the limit switch handling.
Table 1-11
Alarm code Description
0x1D1F (7455) The "MaxSpeed" speed causes the movement of more than ¼ of the
value range per SIMIT cycle of a rotary axis (parameterization error).
0x1D20 (7456) A movement with target speed > "MaxSpeed" is limited to this speed
when "MaxSpeed" is reached.
0x1D21 (7457) The combination of input signals is inadmissible (jogging, homing, etc.).
0x1D25 (7461) An absolute positioning was attempted although the system is not
homed.
0x1D26 (7462) The selected traversing block number (> "N_Trv" - 5) does not exist. No
movement can be triggered.
0x1D27 (7463) With continuation type "Continue external alarm", the external block
change was not requested in time.
0x1D29 (7465) For a continuation type other than "End", the entered traversing block
number is invalid for the continuation (> "N_Trv" - 5).
0x1D2D (7469) The target position of the traversing block is below the normal range.
0x1D2E (7470) The target position of the traversing block is above the normal range.
0x1D2F (7471) With a rotary axis, an initiated movement has an absolute target
position outside the module area, which is automatically converted.
0x1D30 (7472) Positioning type "absolute, only forward / reverse" is not possible (no
rotary axis, relative positioning).
0x1D35 (7477) The target position of an absolute positioning is below the normal range
and the current position.
0x1D36 (7478) The target position of an absolute positioning is above the normal
range and the current position.
0x1D37 (7479) The target position of a relative positioning with negative traverse path
was restricted to the lower end of the normal range, software limit
switch or STOP cam minus is approached.
0x1D38 (7480) The target position of a relative positioning with positive traverse path
was restricted to the upper end of the normal range, software limit
switch or STOP cam minus is approached.
0x1D3E (7486) An attempt was made to start a traversing block although STW1 bit 5 is
set to 0 (intermediate stop).
0x1D3F (7487) An attempt was made to start a traversing block although STW1 bit 4 is
set to 0 (discard motion job).

Entry-ID: 109761007, V1.0, 10/2019 17
2 I/Os
2 I/Os
Table 2-1
Input Description
STW1 Control word 1 from the PROFIdrive message frame
POS_STW1 Positioning control word 1 from the PROFIdrive message
frame
POS_STW2 Positioning control word 2 from the PROFIdrive message
frame
STW2 Control word 2 from the PROFIdrive message frame
OVERRIDE OVERRIDE from the PROFIdrive message frame
MDI_TARPOS Position setpoint with direct setpoint input (MDI) from the
PROFIdrive message frame
MDI_VELOCITY MDI velocity from the PROFIdrive message frame
MDI_ACC MDI acceleration value from the PROFIdrive message frame
MDI_DEC MDI deceleration value from the PROFIdrive message frame
USER_IN USER entry from the PROFIdrive message frame (user-
defined)
USER_Out USER input from external processing
NIst Velocity (raw value)
Process Sensor data
Table 2-2
Output Description
ZSW1 State word 1 from the PROFIdrive message frame
POS_ZSW1 Positioning state word 1 from the PROFIdrive message
frame
POS_ZSW2 Positioning state word 2 from the PROFIdrive message
frame
ZSW2 State word 2 from the PROFIdrive message frame
MELDW State word messages from the PROFIdrive message frame
XIST_A Actual position value (32 bit) from the PROFIdrive message
frame
NIST_B Velocity from the PROFIdrive message frame
WARN_CODE Number of the current warning from the PROFIdrive
message frame
FAULT_CODE Number of the current malfunction from the PROFIdrive
message frame
USER_OUT USER entry from the PROFIdrive message frame (user-
defined)
USER_In USER output for external processing
NSoll Setpoint velocity for external processing
XSoll Position setpoint for external processing
Drive Structure for interconnecting further PROFIdrive components

Entry-ID: 109761007, V1.0, 10/2019 18
3 Parameters
3 Parameters
Table 3-1
Parameters Description
N_Trv Enter the number of traversing blocks set up + 4 (for
jogging, homing, MDI).
G1_EncoderSystem Enter the type of encoder here
0: The sensor of the upstream PROFIdrive component is a
"SensorProcessRotatory".
1: The sensor of the upstream PROFIdrive component is a
"SensorProcessLinear".
MaxAcc Enter the maximum acceleration and deceleration here.
CoastDec Specify the deceleration for coasting here.
ReferenceAcceleration Enter the reference value for the acceleration here.
(0x4000 equivalent for "OVERRIDE", "MDI_ACC" and
"MDI_DEC")
ReferencePosition Enter the display or rotary axis range of "XIst" here.
HysteresisDistance Enter the tolerance range of "XIst" for "Target position
reached" here.
FollowingErrorDistance Enter the deviation of "XIst" for the tracking error here.
(≤ 0 = deactivation of tracking error detection)
MaxSpeed Enter the maximum permissible speed here.

ReferenceSpeed Enter the reference speed here.
(used to calculate the output "NIST_B")
HysteresisSpeed Enter the permitted speed deviation of the "NIst" input from
the setpoint for status bit 8 in "ZSW1".
SftSwMin Enter the lower limit switch position of "XIst" here.
SftSwPls Enter the upper limit switch position of "XIst" here.
PosSmCam Enter the cam switch position of "XIst" here.
DefaultIncrement Enter the default setting of the travel distance for incremental
jogging here.
DefaultSpeed Enter the default speed for jogging or homing here.
DefaultAcc Enter the default acceleration for jogging or homing here.
DefaultDec Enter the default deceleration for jogging or homing here.
FeedbackRateTotal Enter the total feedback rate here
(0 = deactivation of the feedback of "XIst" and "NIst" to the
internal position and velocity)
FeedbackRateXIst Enter the share of "XIst" (instead of "NIst") in the feedback
here
OffsetMeanFactor Enter the factor with which new values (for
"FeedbackRateXIst" <> 0.0) are inserted into the moving
"XIst" "XSoll" offset mean value here.
(0 = deactivation of the mean-value calculation)
AllowedLifeSignErrors Enter the counter reading of the life sign monitoring up to the
transmission of a life sign error.
LifeSignTolerance Enter the length of the tolerance range for life sign
recognition here.

Entry-ID: 109761007, V1.0, 10/2019 19
4 Operating window
4 Operating window
The operating window is divided into six areas due to its wide range of functions.
Figure 4-1
2 3 4 5
6
Table 4-1
No. Description Operating window
1. The current position and speed of the axis are 1
displayed in this area of the operating window:

1. Display of the current position. 2 3 4
2. Analog display of the current velocity,

symmetrical around the zero point.
3. Display for the full range of the 2nd part of
the operating window.
4. Button for rescaling the speed display.
2. In this area of the operating window, the inputs
for the positions of limit switches, cam 1
controller and the setting of standard motion 2
data are made during simulation.

1. Position (XIst value) of the lower limit 3
4
switch (STOP cam minus).
2. Position (XIst value) of the upper limit
switch (STOP cam plus). 5
6
3. Position (XIst value) of cam switch 7
position 1. 8
4. Position (XIst value) of cam switch

position 2.
5. Default setting of the increment for the
operating mode "Incremental jogging".
6. Default velocity setting for the operating
mode "Jog" and "Homing".
7. Default acceleration setting for the
operating mode "Jog" and "Homing".
8. Default deceleration setting for the

Entry-ID: 109761007, V1.0, 10/2019 20
4 Operating window

operating mode "Jog" and "Homing".
3. The entries for the traversing blocks created
are made or displayed in this area of the 1
operating window. 2
3
1. Traversing block number or special value: 4
• -1: Jog 1 5
6
• -2: Jog 2 7
8
•
9
-3: Homing approach 10
11
• -4: MDI (only readable, update via 13

12
the MDI data in the message frame) 14
2. Absolute target position or relative travel

distance / increment
3. Maximum traversing velocity
4. Acceleration
5. Deceleration
6. Type of movement and continuation:
Bit 0-5:
Traversing block number for a possible
continuation.
Bit 6, 7:
Entries for POS_ZSW2-Bit 10, 11 (direct
output 1, 2 active).
Bit 8-10:
Type of positioning:
• 0 (2, 4, 6): relative
• 1: absolute, fastest way, with on-the-
fly transition not necessarily the
shortest one
• 3: absolute, only forward
• 5: absolute, only backwards
• 7: absolute, shortest path
Bit 12-14:
Condition for advancing (continuation
type):
• 0 (6, 7): End (termination of the
current traversing block when the
target position has been reached. No
other traversing block)
• 1: Continue with stop
(The next traversing block is
executed when the target position is
reached and the machine is at a
standstill).
• 2: Continue on the fly
activated at the brake application
point).
• 3: Continue externally on the fly
(Next traversing block with external
signal E: STW1-Bit 13; if the signal E
is missing it continues with
"Continue on the fly").
• 4: Continue external maintenance

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• 5: Continue external alarm
7. Displaying the validity of the default
values.
8. Display of validity with respect to
traversing block number or special value.
9. Button for reading out the set traversing
block data depending on the set
traversing block number.
10. Button for entering the set traversing
block data depending on the set
traversing block number.
11. Button for the calculation of acceleration
and deceleration for a relative movement
from travel distance and velocity.
12. Button for taking over the current default
settings of position / increment, speed,
acceleration, deceleration from the preset
menu.
13. Button for transferring the current MDI
input values to the traversing block data of
the traversing block numbers.
14. Button to display the active traversing
block.
4. This area of the operating window displays the
motion information of the EPOS system. 1

2
1. Display of the current position. 3
4
2. Display of the current absolute target 5
position. 6
7
3. Display of the current velocity. 8
4. Display of the current acceleration or 9
deceleration.
5. Type of positioning and continuation:
10
Bit 0-5:
Traversing block number for a possible
continuation
Bit 6, 7:
Entries for POS_ZSW2-Bit 10, 11 (direct
output 1, 2 active)
Bit 8-10:
Type of positioning:
• 0 (2, 4, 6): relative
• 1: absolute, fastest way, with on-the-
fly transition not necessarily the
shortest one
• 3: absolute, only forward
• 5: absolute, only backwards
• 7: absolute, shortest path
Bit 12-14:
Condition for advancing (continuation
type):
• 0 (6, 7): End (termination of the
current traversing block when the
target position has been reached. No
other traversing block)
• 1: Continue with stop

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executed when the target position is
reached and the machine is at a
standstill).
• 2: Continue on the fly
activated at the brake application
point).
• 3: Continue externally on the fly
(Next traversing block with external
signal E: STW1-Bit 13; if the signal E
is missing it continues with
"Continue on the fly").
• 4: Continue external maintenance
(If signal E is absent, the current
traversing block is terminated. This
signal will continue to be waited for).
• 5: Continue external alarm
(At standstill, warning A07463 is
output).
6. Last action triggered by the State machine
n:
Bit 0:
The target position of relative movements
is based on the previous target position.
Bit 2:
is based on the stop position.
Bit 3:
is based on the current position.
• The priority is Bit 3 > Bit 2 > Bit 0.
• Bit 0, 2, 3 = 0: The target position is
maintained.
Bit 4:
Introduction of a movement according to
the traversing block or MDI
Bit 5:
Jog 1
Bit 6:
Jog 2
Bit 7:
Jog, maintain velocity
Bit 8:
Homing approach
Bit 9:
Stop according to parameterized
deceleration
Bit 10:
Rapid stop / coast-out
• The priority is Bit 10 > Bit 9 > all
other bits
7. Sequence of motion types:
• 0: Standstill
• 1: same type of movement forwards
• 2: Acceleration forward

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• 3: Deceleration forward
• 7: Rapid stop / coast-out forward
• 8: Standstill with continuation option
• 9: same type of movement
backwards
• A: Acceleration backwards
• B: Deceleration backwards
• F: Rapid stop / coast-out backwards
8. States triggered by the State machine
9. Durations of the (3rd part) movement
types.
10. Total duration of the last movement
initiated or completed.
5. The current values of MELDW are displayed in 1 13
14
this area of the operating window. The current 2
3
error and warning code is also displayed. 4
5
1. Here the message frame value (Input-
PZD 5) "MELDW" is displayed in hex 6
7
format. 8
9
2. Indicates whether the current speed is

equal to the speed reference. 10
11
3. Display whether torque utilization < torque 12
threshold value (The bit can be switched

by the assigned switch)
4. Display whether velocity amount <
threshold value 3
5. Display whether velocity amount <
threshold value 2
6. Signaling function (The bit can only be
switched by the assigned switch)
7. Display whether motor temperature is in
the permissible range (The bit can be
switched by the assigned switch)
8. Indication whether the temperature of the
power electronics is within the permissible
range (The bit can be switched by the
assigned switch)
9. Display whether current deviation of
actual and target velocity within the
permissible tolerance "HysteresisSpeed".
10. Display whether speed controller enabled
and movement possible.
11. Display whether the drive is ready for
operation.
12. Display whether the drive is switched on.
PZD 10) "FAULT_CODE" is displayed in
hex format.
PZD 11) "WARN_CODE" is displayed in
hex format.

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6. The control and status words of message
frame 111 are displayed in this area of the 1 2 3 4 5 6 7 8
operating window.
1. Status bits of control word "STW1" (see
chapter 1.4.2.1)
2. Status bits of control word "ZSW1" (see 9 10 11 12 13
chapter 1.4.3.1)
3. Status bits of control word "STW2" (see
chapter 1.4.2.2)
4. Status bits of control word "ZSW2" (see
chapter 1.4.3.2)
5. Status bits of control word "POS_STW1"
(see chapter 1.4.2.3)
6. Status bits of control word "POS_ZSW1"
7. Status bits of control word "POS_STW2"
8. Status bits of control word "POS_ZSW1"
9. Number of simulation cycles between the
last two changes of the received life sign
bits or 0 if no meaningful bit sequence
was detected or after a restart of the
simulation.
10. Maximum number of simulation cycles

detected between two changes of the
received life sign bits or 0 if no meaningful
bit sequence was detected or after a
restart of the simulation. The valid value
range is set in the "LifeSignTolerance"
parameter.
11. Activating life-sign monitoring:
• Green:
The life sign monitoring has detected
a valid bit sequence and changes
within the tolerance, is activated and
outputs the "ZSW2" life sign bits.
12. Error in the life sign monitoring:
• Red:
Number of detected errors in the
received life sign bits ((point 13) / 10)
has exceeded the parameterized
value "AllowedLifeSignError". The
reset takes place together with the
acknowledgment of fault.
13. Counter reading of life sign monitoring

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The application example shows how to use the behavior model "EPOS_Tel111"
with the application example "SINAMIC S: Epos configuration with startdrive and
control with SINA_POS".
Note The application example and the corresponding application documentation are
available at the following link:
To be able to use the application example with the behavior model EPOS_Tel111,
further steps have to be taken with the application example. The reason for this is
that it is currently not possible to perform a PLCSIM advanced coupling with an
integrated drive component from the hardware catalog. For this purpose, a drive
component must be used using a GSDML.
The use of integrated drive components from the hardware catalog is planned for
one of the upcoming TIA Portal versions.
The adapted application example describes the interaction of the SINA_POS with
the behavior model. This document describes the reaction of the behavior model
"EPOS_Tel111" when using the individual operating modes on the SINA_POS.
Note The description of the individual operating modes of the SINA_POS can be
found in chapter 5.2 "Operating mode type selection of the Epos with
SINA_POS" of the manual "Blocks for controlling the SINAMICS with SIMATIC
S7 in the TIA Portal"

5.1 Configuration
5.1.1 Configuration of the SINAMICS drive using GSDML
With the GSDML variant of a SINAMICS drive, you can load the configuration of
the SINAMICS S120 station used into PLCSIM Advanced and establish a link to
SIMIT. The following step-by-step procedure describes how this must be done.
Table 5-1
No. Action Note
1. Add a SINAMICS S120/S150 CU320-2
PN V5.1 (GSDML-V2.32-SIEMENS-
SINAMICS_S_CU3X0-20171107.XML)
to the "Network view" of your TIA
Portal V15 project.

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No. Action Note

2. Assign a PROFINET subnet to the
SINAMICS S120/S150 CU320-2 PN
V5.1 and assign the device name and
the IP address according to the drive
you are using.
3. Assign an IO controller to the device.

4. Add the "DO SERVO" module to slot 1

in the "Device view".
5. In the "Device view" add the

submodule "SIEMENS message frame
111, PZD-12/12; SERVO" to slot 1 3.

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No. Action Note

6. 1. Open network 1 of OB1 (main)
2. Select the Input "HWIDSTW"
3. Select the Hw_SubModule for the
message frame 111 of the
SINAMICS S120/S150 CU320-2
PN V5.1 (GSDML-V2.32-
SIEMENS-SINAMICS_S_CU3X0-
20171107.XML).
7. 1. Select the Input "HWIDZSW"

2. Select the Hw_SubModule for the
message frame 111 of the
SINAMICS S120/S150 CU320-2
PN V5.1 (GSDML-V2.32-
SIEMENS-SINAMICS_S_CU3X0-
20171107.XML).

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5.1.2 Configuration of the PLCSIM Advanced coupling
The following step table describes the necessary procedure for coupling the
behavior model "EPOS_Tel111" via a PLCSIM advanced coupling with the GSDML
variant of the SINAMICS S120 station.
Table 5-2
No. Action Note
1. In order to better assign the
individual inputs and outputs in the
PLCSIM Advanced coupling, these
should be created according to
Message frame format as a PLC
tag.
2. 1. Open a "PLC tag table".

2. Create all necessary PLC tags
for the complete address range

of message frame 111. Note
the assignment of the data type
Word or DWord.
3. 1. Select the PLC.

2. Compile the changes to the
hardware and software.
3. Save the changes to the
project.
4. 1. Define a project name for your

SIMIT project.
2. Create the SIMIT project.

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No. Action Note

5. 1. Include a library under "Own
components".
2. Select the library component
3. Open the library component
6. 1. Create a chart.
2. Select the behavior model
"EPOS_Tel111" from the
component library under "Own
components and drag it into the
chart via drag & drop.
7. 1. Create a new PLCSIM

Advanced coupling.
2. Select the TIA Portal project

3. Import the station and its
symbolic address assignment.
8. The signals including symbolic

names are now available in the
PLCSIM Advanced coupling.
9. Drag the signals from the PLCSIM

Advanced coupling into the diagram
by holding down the key
combination "ALT"+"Shift" and
connect them to the corresponding
inputs and outputs of the behavior
model "EPOS_Tel111".

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No. Action Note

10. Connect the "NIst" input to the
"NSoll" output of the
"EPOS_Tel111" behavior model.
11. 1. Select the behavior model

"SensorProcessLinear" from the
catalog of basic components
and drag and drop it into the
chart.
2. Connect the "Process" input of
the "EPOS_Tel111" behavior
model to the "Sensor" output of
the "SensorProcessLinear"
behavior model.
3. Connect the "Gx_XIst" input of
the "SensorProcessLinear"
behavior model to the "XSoll"
output of the "EPOS_Tel111"

behavior model.

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5.2 Parameter assignment

The following step table describes the necessary procedure for the parameter
assignment of the behavior model "EPOS_Tel111". These settings apply to all
operating modes described in chapter 5.3.
Table 5-3
No. Action Note
1. 1. Select the component to display
its parametrization.
2. Select the "Parameters" menu.
2. Assign parameters to the following

values:
1. MaxAcc = 10.0
2. ReferenceAcceleration = 10.0
3. HysteresisDistance = 0.0001 (0.1
LU)
4. MaxSpeed = 600.0
5. ReferenceSpeed = 300.0
6. SftSwMin = 1.000.0
7. SftSwPls = 9.000.0
8. PosSmCam1 = 4.000.0
9. PosSmCam2 = 6.000.0
The following table shows the parameter assignment between SIMIT and
Startdrive.
Table 5-4
No. SIMIT Startdrive
p2544 HysteresisDistance LR Positioning window
p2546 FollowingErrorDistance LR dynamic following error monitoring tolerance
p2547 PosSmCam[0] LR cam switch position 1
p2548 PosSmCam[1] LR cam switch position 2
p2571 MaxSpeed EPOS maximum speed

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5.3 Operation
5.3.1 Relative positioning
The operating mode " Relative positioning " enables the position-controlled
movement of travel paths via the integrated position controller of the behavior
Table 5-5
No. Action Note
1. 1. Select the created chart in
SIMIT.
2. Start the SIMIT simulation.
When the simulation is started, an
instance with the coupling
parameters is automatically created
at PLCSIM Advanced.
2. 1. Select the HMI in the TIA Portal

project
2. Start the HMI simulation.
If you have started the SIMIT
simulation for the first time, you must
load the hardware configuration and
the user program of the TIA Portal
V15-Projektes in the instance created
under PLCSIM Advanced. The data
is then stored in the memory of the
instance under PLCSIM Advanced.
3. Start the application via "Start

Application".

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No. Action Note

4. To set the "Relative positioning"
function, proceed as follows in the
HMI operating window:
1. Select the "positioning" menu
item.
2. Enter the value "1" when
entering "ModePos".
3. Switch on the device via
"EnableAxis".
5. Enter the travel path using the

following entries:
1. Position = 1.000 LU
2. Velocity = 60.000 LU/Min
6. Set the dynamics using the following

entries:
1. Select the "override" menu item.
2. speed override = 100%
3. acceleration override = 2%
4. delay override = 4%

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No. Action Note

7. 1. "ExecuteMode" starts the
execution of the set relative
movement.
"ActPosition" displays the current
position. The "PosOk" display
indicates that the final position has
been reached and that the axis is
stationary.
8. Open the operating window of the

behavior model "EPOS_Tel111".
9. The behavior model "EPOS_Tel111"

reaches internal position 1.0 starting
from position 0.0 and is displayed in

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5.3.2 Absolute positioning
The operating mode "Absolute positioning" enables position-controlled approach of

absolute positions via the integrated position controller of the behavior model
"EPOS_Tel111".
Table 5-6
No. Action Note
1. 1. Select the created chart in SIMIT.
instance with the coupling parameters
is automatically created at PLCSIM
Advanced.

project

under PLCSIM Advanced. The data is
then stored in the memory of the

Application".
4. To execute an absolute movement, See 5.3.5 Homing - setting reference point

the axis must be homed.

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No. Action Note

5. To set the "Absolute positioning"
item.
2. Enter the value "2" when entering
"ModePos".
"EnableAxis".
6. Enter the absolute position using the

following entries:

entries:

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No. Action Note

movement.
indicates that the final position has
been reached and that the axis is
stationary.

10. The behavior model "EPOS_Tel111"

reaches internal position 1.0 starting
from position 0.0 and is displayed in

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5.3.3 Setup mode
The operating mode "set-up mode" enables position-controlled movement of the

axis in positive or negative direction at constant speed without specifying a target
position.
Table 5-7
No. Action Note
instance with the coupling parameters is
automatically created at PLCSIM
Advanced.

project
If you have started the SIMIT simulation

for the first time, you must load the
hardware configuration and the user
program of the TIA Portal V15-Projektes
in the instance created under PLCSIM
Advanced. The data is then stored in
the memory of the instance under
PLCSIM Advanced.

Application".

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No. Action Note

4. To set the "Setup mode" function,
proceed as follows in the HMI operating
window:
1. Select the "positioning" menu item.
"ModePos".
"EnableAxis".
5. Enter the speed using the following

input:
• Velocity = 60.000 LU/Min

entries:

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No. Action Note

7. 1. Use "Positive" to select the positive
travel direction.
2. "ExecuteMode" starts the execution
of the set movement in a positive
direction.
When "Positive" is deactivated, the
movement is stopped with the set
deceleration and the stop position is
adopted as the target position.
The current position and velocity are
displayed under "ActPosition" and
"ActVelocity".
8. 1. Use "Negative" to select the

negative travel direction.
of the set movement in a negative
direction.
When "Negative" is deactivated, the
The current position and velocity are
displayed under "ActPosition" and

"ActVelocity".

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5.3.4 Homing - Homing movement
The operating mode "Homing - Homing movement" enables the axis to perform a
homing movement in positive or negative direction with a defined speed in homing
mode.
Table 5-8
No. Action Note
instance with the coupling parameters is
automatically created at PLCSIM
Advanced.

project
If you have started the SIMIT simulation

for the first time, you must load the
hardware configuration and the user
program of the TIA Portal V15-Projektes
in the instance created under PLCSIM
Advanced. The data is then stored in
the memory of the instance under
PLCSIM Advanced.

Application".

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No. Action Note

4. To set the " Homing - Homing
approach" function, proceed as follows
in the HMI operating window:
"ModePos".
"EnableAxis".
5. Enter the speed using the following

input:
• Velocity = 60.000 LU/Min

entries:

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No. Action Note

7. 1. "ExecuteMode" starts the execution
of the set homing movement.
position. The "PosOk" display indicates
that the homing position has been
reached and that the axis is stationary.
The "Ref" display indicates that the axis
has been referenced.
2. The reference point is assumed to
be the center of the limit switch
2
positions "SftSwMin" and
"SftSWPls".
In this example, the reference point is
5.000.
8. 1. "ExecuteMode" starts the execution

of a second homing movement,
which cancels the current homing
movement.
2. The limit switch positions of the
upper limit switch "SftSWPls" are
assumed as the new target
position.
3. When the target position of the
upper limit switch "SftSWPls" has
3 2
been reached, the error message
"8401" is displayed and the display
shows "Error".
9. 1. Select the "status" menu item.

The error code "7458" is transmitted
from the behavior model
"EPOS_Tel111" and displayed when
there is a "fault notice".

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No. Action Note

10. To acknowledge the error, proceed as
follows:
2. Disable the device via
"EnableAxis".
3. Disable "ExecuteMode".
4. Acknowledge the fault via
"AckError".
11. 1. Use "Negative" to select the

negative travel direction.
Since the current position is above the
reference point, you must select
"Negative" for another reference point
movement.
of a third homing movement.
position. The "PosOk" display indicates
that the homing position has been

reached and that the axis is stationary.
The "Ref" display indicates that the axis
has been referenced.

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5.3.5 Homing - setting reference point
The operating mode "Homing - Set reference point" allows the axis to be
referenced at any position.
Table 5-9
No. Action Note
Advanced.

project



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No. Action Note

4. To set the "Set reference point"
function, proceed as follows:
item.
"ModePos".
3. Via "ExecuteMode" you reference
the axis with the current position
"ActPosition". 4
4. The "Ref" display indicates that

the axis has been referenced.

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5.3.6 Traversing blocks
The operating mode " Traversing blocks " enables the retraction of stored settings.
Table 5-10
No. Action Note
Advanced.

project


Application".

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No. Action Note

4. To set the "Traversing blocks"
function, proceed as follows in the HMI
operating window:
item.
"ModePos".
"EnableAxis".
The behavior model "EPOS_Tel111"
generates a warning and signals it with
the display "Warning".
5. 1. Select the "status" menu item.

The error code "7457" is transmitted
from the behavior model
"EPOS_Tel111" and displayed when
there is a "fault notice".

7. 1. To create the first traversing

block, in the operating window of 1
the behavior model
"EPOS_Tel111" parameterize the
following values:
• Traversing set = 0
• Position = 1000.0
• Speed = 15.0
• Acceleration = 0.01
• Deceleration = 0.01
• Mode = 1001
2. Set the button "Set" to save the
traversing block "0".

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No. Action Note

8. 1. To create the second traversing
block, in the operating window of 1
the behavior model
"EPOS_Tel111" parameterize the
following values:
• Traversing set = 1
• Position = -1000.0
• Speed = 15.0
• Acceleration = 0.01
• Deceleration = 0.01
• Mode = 1000
2. Set the button "Set" to save the
traversing block "1".
3. Set the button "Show processed
set" to display the traversing block
"1".
execution of the traversing blocks.
10. 1. The traversing block "0" is

enabled and is run.
1
2. The stored value of the "Position" 2
3
parameter from traversing block
"0" is displayed as the target
position.
3. The speed assumes a positive
value because the movement is
carried out in the forward
direction.

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No. Action Note

11. 1. Due to the set mode in traversing
block "0", traversing block "1" is 1
automatically displayed and 2
traversed after reaching the target 3
position.
2. The stored value of the "Position"
parameter from traversing block
"1" is added to the current position
and displayed as the target
position.
3. The velocity assumes a positive
value because the movement is
carried out in the reverse
direction.

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5.3.7 Jogging
The "Jog" operating mode enables position-controlled, speed-dependent

movement of axes via the integrated position controller of the "EPOS_Tel111"
behavior model.
Table 5-11
No. Action Note
values:
1. DefaultSpeed = 24.0
2. DefaultAcc = 0.2
3. DefaultDec = 0.25

SIMIT.
at PLCSIM Advanced.


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No. Action Note

4. 1. The parameterization from step
1 on the behavior model
"EPOS_Tel111" is displayed in
2. Set the "Show processed set"
switch in the operating window.

project

Application".
7. To set the "Jog" function, proceed as

follows in the HMI operating window:
1. Select the "JOG" menu item.
entering "ModePos".
"EnableAxis".

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No. Action Note

8. "JOG 2" starts the movement in the
positive direction.
The velocity value thus becomes
positive.
When "JOG 2" is deactivated, the

negative direction.
negative.
10. The "PosOk" display indicates that

the axis is stationary and that the jog
function has ended.

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5.3.8 Incremental jogging
The operating mode "Incremental jogging" enables position-controlled, distance-

dependent movement of axes via the integrated position controller of the behavior
Table 5-12
No. Action Note
values:
1. DefaultIncrement = 1200.0
2. DefaultSpeed = 36.0
3. DefaultAcc = 0.3
4. DefaultDec = 0.36

SIMIT.
at PLCSIM Advanced.


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No. Action Note

4. 1. The parameterization from step
1 on the behavior model
"EPOS_Tel111" is displayed in
2. Set the "Show processed set"
switch in the operating window.

project

Application".
7. To set the "Incremental jogging"

1. Select the "JOG" menu item.
entering "ModePos".
"EnableAxis".

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No. Action Note

positive direction.
positive.
9. After activating "JOG 2", the

parameter "DefaultIncrement" is
added to the current position to
define the target position.
Disabling "JOG 2" after the braking
point no longer affects the target
position as the deceleration remains
active.

negative direction.
negative.

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No. Action Note

11. After activating "JOG 1", the
parameter "DefaultIncrement" is
subtracted from the current position
to define the target position.
Disabling "JOG 1" after the braking
point no longer affects the target
position as the deceleration remains
active.
12. The "PosOk" display indicates that

the axis is stationary and that the jog
function has ended.

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5 Engineering
5.3.9 Homing on the fly
The "Homing on the fly" mode of operation allows the drive to be referenced during
operation.
Table 5-13
No. Action Note
1. Assign a parameter to the following
value:
• FollowingErrorDistance = 0.1
2. 1. Select the behavior model "ADD"

from the catalog of basic
components and drag and drop it

into the chart.
2. Connect the output "XSoll" of the
behavior model "EPOS_Tel111"
with an input of the behavior
model "ADD".
3. Connect the "Gx_XIst" input of the
"SensorProcessLinear" behavior
model to the output of the "ADD"
behavior model.

Advanced.

project

Entry-ID: 109761007, V1.0, 10/2019 59
5 Engineering
No. Action Note

Application".
6. To set the "Homing on the fly"

function, proceed as follows in the HMI
operating window:
item.
"ModePos".
"EnableAxis".
4. Via "FlyRef " you activate the

function "Homing on the fly".
7. Enter the travel path using the

following entries:

Entry-ID: 109761007, V1.0, 10/2019 60
5 Engineering
No. Action Note

entries:

movement.
10. To simulate an offset between the

output "XSoll" of the behavior model
"EPOS_Tel111" and the input
"Gx_XIst" of the behavior model
"SensorProcessLinear", enter the
value "0.09" at the open input of the
behavior model "ADD".
11. 1. "ActPosition" displays the current

indicates that the homing position
has been reached and that the
axis is stationary.
2. The "Ref" display indicates that
the axis has been referenced.
In this example, the reference point
has the position 6.000.
1 2

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5 Engineering
No. Action Note

12. 1. Select the component to display
its state.
2. Select the menu "State".
3. When the reference point is
passed over, the simulated offset
is stored in the state "XOffset1" of
the behavior model
"EPOS_Tel111".

Entry-ID: 109761007, V1.0, 10/2019 62
6 Appendix
6 Appendix
6.1 Service and support
Industry Online Support
Do you have any questions or need assistance?
Siemens Industry Online Support offers round the clock access to our entire
service and support know-how and portfolio.
The Industry Online Support is the central address for information about our
products, solutions and services.
Product information, manuals, downloads, FAQs, application examples and videos
– all information is accessible with just a few mouse clicks:
support.industry.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:
www.siemens.com/industry/supportrequest
SITRAIN – Training for Industry

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:
www.siemens.com/sitrain
Service offer
Our range of services includes the following:
• Plant data services
• Spare parts services
• Repair services
• On-site and maintenance services
• Retrofitting and modernization services
• Service programs and contracts
You can find detailed information on our range of services in the service catalog
web page:
support.industry.siemens.com/cs/sc
Industry Online Support app

You will receive optimum support wherever you are with the "Siemens Industry
Online Support" app. The app is available for Apple iOS, Android and Windows
Phone:
support.industry.siemens.com/cs/ww/en/sc/2067

Entry-ID: 109761007, V1.0, 10/2019 63
6 Appendix
6.2 Links and Literature

Table 6-1
No. Topic
\1\ Siemens Industry Online Support
https://support.industry.siemens.com
\2\ Link to the entry page of the application example
\3\ SIMATIC SIMIT Simulation Platform - Overview
\4\ SINAMICS S: Epos configuration with startdrive and control with SINA_POS.
\5\ SINAMICS DriveLib communication modules for control in the TIA Portal
6.3 Abbreviations
PZD Process data
PLC Programmable logic controller
6.4 Change documentation

Table 6-2
Version Date Change
V1.0 10/2019 First version

Entry-ID: 109761007, V1.0, 10/2019 64

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EPOS Telegram 111

EPOS Telegram 111 for SIMIT

5.3 Operation ............................................................................................ 33

EPOS Telegram 111 for SIMIT

1 Description of the telegram

See also manual

1.3 Message frame format

TEL_111 FAULT_ WARN_

EPOS Telegram 111 for SIMIT

1.4 State machine

S4 8 Standstill, no movement triggered or no longer active.

EPOS Telegram 111 for SIMIT

State State (hex.) Description

EPOS Telegram 111 for SIMIT

1.4.2 Control words

6 TrvStart Activate traversing task

EPOS Telegram 111 for SIMIT

14 MsZykBit2 Master sign of life bit 2

EPOS Telegram 111 for SIMIT

EPOS Telegram 111 for SIMIT

1 = negative start direction

EPOS Telegram 111 for SIMIT

1.4.3 Status words

12 TrvTskAck Acknowledgment traversing block activated

EPOS Telegram 111 for SIMIT

14 SlvZykBit2 Slave – sign of life bit 2

EPOS Telegram 111 for SIMIT

14 MdiStupAct Set-up is active in the setpoint direct presetting/MDI operating

EPOS Telegram 111 for SIMIT

14 TrvFxStpAct Travel to fixed stop active

EPOS Telegram 111 for SIMIT

1.5 Sign of lifeswap via "STW2" and "ZSW2"

EPOS Telegram 111 for SIMIT

1.6 Error codes

EPOS Telegram 111 for SIMIT

EPOS Telegram 111 for SIMIT

Process Sensor data

EPOS Telegram 111 for SIMIT

MaxSpeed Enter the maximum permissible speed here.

EPOS Telegram 111 for SIMIT

displayed in this area of the operating window:

2. Analog display of the current velocity,

controller and the setting of standard motion 2

data are made during simulation.

4. Position (XIst value) of cam switch

EPOS Telegram 111 for SIMIT

No. Description Operating window

• -4: MDI (only readable, update via 13

the MDI data in the message frame) 14

2. Absolute target position or relative travel

EPOS Telegram 111 for SIMIT

No. Description Operating window

motion information of the EPOS system. 1

1. Display of the current position. 3

4. Display of the current acceleration or 9

EPOS Telegram 111 for SIMIT

No. Description Operating window

EPOS Telegram 111 for SIMIT

No. Description Operating window

2. Indicates whether the current speed is

threshold value (The bit can be switched

EPOS Telegram 111 for SIMIT

No. Description Operating window