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SINAMICS S120 with basic positioner Epos


SINAMICS S120
Basic positioner

Consequential innovation - proven experience !!! STRENGTHEN EPos Masterdrives MC

EPos SINAMICS S120


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+
STRENGTHEN positioning 611 U NEW: Positioning also in vector control

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= EPos SINAMICS S120


Positioning EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary Folie 2

Automation and Drives

Overview of the functionality:


SINAMICS S120
Basic positioner

Absolute and relative positioning of linear and rotary axes (modulo) with motor encoder or machine encoder.
Jogging: Position-controlled traversing; endless or a specified step width Referencing: - reference point approach including reversing cam functionality - flying referencing subordinate - also possible for positioning modes in operation - reference point setting - absolute encoder adjustment (when the positioning system is commissioned for the first time) Operating mode MDI / direct setpoint input (based on Masterdrives MC Epos): Flying and continuous setpoint changes (e.g. via the PLC) possible while traversing Flying change between setting-up (endless closed-loop position control) and positioning possible Operating mode traversing blocks (based on 611U): 64 traversing blocks including block change enable conditions and specific tasks; e.g.: program steps (skips), continue flying, waiting times, setting digital outputs; (traverse to fixed endstop, external block change enable signals and jerk from V2.5 onwards) Software limit switch: Traversing range limiting by evaluating the position setpoint Stop cam: The traversing range is limited by evaluating hardware limit switches Backlash compensation Dynamic following error monitoring, positioning/ standstill [zero speed] monitoring, 2 basic cam switching signals
EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary Folie 3

EPos SINAMICS S120


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Automation and Drives

Overview of the functionality:


SINAMICS S120
Basic positioner

The basic positioner is available in control types servo AND vector in the S120 and S150! (not in Simotion D with Sinamics Integrated) Full graphics support (screen forms and Wizards) using Starter From the configuration of the mechanical system including background calculations through commissioning up to operator control and diagnostics All operating modes can be controlled via the PC for diagnostics and commissioning including shared control panel for both closed-loop speed and position controlled operation Pre-configured Profidrive positioning telegrams Positioning telegram types (7 , 110) (9 from V2.5 onwards) are available in SINAMICS and when selected are automatically correctly connected-up this therefore guarantees fast and simple connection to automation devices. The basic positioner offers flexible connection and can be adapted in the application engineering as it is predominantly equipped with BICO technology. This results a wide range of potential applications. The basic positioner can be activated depending on the requirement on an axis-foraxis basis (scalable functionality) i.e. due to the fact that the basic positioner FUNCTION MODULE can be selected on an axis-for-axis basis, the performance of the CU320 is not utilized to the maximum when commissioning/engineering the system. In the expert mode it is possible to only activate the sub-set position controller/actual value conditioning i.e. without upstream position ramp-function generator) this allows the computation time utilization to be reduced this allows e.g. free connection to automation systems that can/must carry-out the interpolation themselves.
EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary Folie 4

EPos SINAMICS S120


Overview, Overview, functionality functionality Customer benefits

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Automation and Drives

Example of STARTER screen forms:


SINAMICS S120
Basic positioner

EPos SINAMICS S120


Overview, Overview, functionality functionality Customer benefits

Drive Navigator: navigates users through the control loop

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Configuring the MECHANICAL SYSTEM

EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary

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Automation and Drives

Example of STARTER screen forms:


SINAMICS S120
Basic positioner

Control panel: Commissioning and diagnostics via the PC control:

EPos SINAMICS S120


Overview, Overview, functionality functionality Customer benefits

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MDI, e.g.: Setpoints via the PLC

EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary

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Automation and Drives

SINAMICS S120 with basic positioner


SINAMICS S120
Basic positioner

Customer benefits
flying and continuous mode/setpoint changes while actually traversing without requiring mandatory handshaking, including easy-to-use benefits/ connection, including process shortening transitions without the axes coming to a standstill Can be simply and ideally connected to a PLC (..even third-party PLCs and process data) Can be simply adapted in the application engineering and simple to handle Simple traversing block handling and implementation of fixed traversing blocks

EPos SINAMICS S120


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Graphic configuration, commissioning and operator screen forms (tool incl. control panel) Basic positioning is still available independent of the control technique vector / servo (..and their associated limits and constraints) Proven experience in this application area with ongoing innovation

===> ===> ===> ===>

cost and time saving an innovation jump has been made and plant/system productivity increased supplementary resources have been eliminated thanks to the application capability engineering costs have been reduced
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EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary

Automation and Drives

Descriptive text (1/2) of the functionality:


SINAMICS S120
Basic positioner The basic positioner is used to position linear and rotary axes (modulo) in either absolute/relative terms using a motor encoder (indirect measuring system) or an encoder mounted on the machine (direct measuring system). It is available as additive function module that can be activated in the basic control types servo control and vector control. Further, user-friendly configuring, commissioning and diagnostic functions (graphically prompted) are available in STARTER for the basic positioning functionality. Using STARTER, a control panel is available for the basic positioner and closed-loop speed controlled operation this can be used to control the functionality per PC for commissioning or diagnostics. When the basic positioner is activated, the closed-loop position control is also activated. This is realized automatically when activating the basic positioner via the drive Wizards of STARTER. Further, the internal interconnections) (BICO technology) that are necessary are automatically established. Pre-configured ProfiDrive positioning telegrams are available when they are selected, the internal interconnection to the basic positioner is automatically established.

EPos SINAMICS S120


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The closed-loop position control essentially comprises two parts: -- position actual value conditioning (including the subordinate measuring probe evaluation and reference mark search) -- position controller (including limits, adaptation, pre-control calculation) -- monitoring functions (standstill, positioning and dynamic following error monitoring, cam signals) Further - using the basic positioner - the following functions can also be executed: Mechanical system: -- backlash compensation -- modulo correction Limits: -- velocity/acceleration/deceleration limits -- software limit switch (traversing range limiting by evaluating the position setpoint) -- stop cams (the traversing range is limited by evaluating the hardware limit switch)
EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary Folie 8

Automation and Drives

Descriptive text (2/2) of the functionality:


SINAMICS S120
Basic positioner
Referencing and adjusting: -- setting the reference point (for axes are at standstill) -- reference point approach (dedicated operating mode including the reversing cam functionality, automatic direction of rotation reversal, referencing to cam and encoder zero mark or only encoder zero mark or external equivalent zero mark (BERO)") -- flying referencing (during normal" traversing motion, can be referenced, superimposed using the measuring probe evaluation; generally, evaluation of e.g. a BERO proximity switch. Superimposed function for the following operating modes jogging, direct setpoint input/MDI" and traversing blocks". -- absolute encoder adjustment Operating mode traversing blocks (64 traversing blocks): -- the traversing blocks saved in the device are used for positioning including block change enable (advance) conditions and specific tasks (requests) for an axis that was previously referenced -- traversing block editor using STARTER -- a traversing block contains the following information/data: Task number and task (e.g. positioning, waiting, block jump GOTO, setting binary (digital) outputs motion parameters (target position, velocity override for acceleration and deceleration) mode (e.g.: skip block, block change enable conditions such as continue_with_stop" and continue_flying") task parameters (e.g. delay time, block jump conditions) Operating mode direct setpoint input (MDI): -- positioning (absolute, relative) and setting-up (endless, closed-loop position controlled) using direct setpoint inputs (e.g. via the PLC using the appropriate process data) -- the motion parameters can be continuously influenced while traversing (flying setpoint transfer) it is also possible to make a flying change between the setting-up and positioning modes. -- the direct setpoint input mode (MDI) can also be used for non-referenced axis in the setting-up or relative positioning modes; this means that when flying referencing is used, flying synchronization and post-referencing (subsequent referencing) are possible. Operating mode - jogging: -- the axis is traversed in the closed-loop position controlled mode using the modes endless position control or incremental jogging" (in order to traverse by one step width" it is possible to changeover between these modes)
EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary

EPos SINAMICS S120


Overview, functionality Customer benefits

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Automation and Drives

Common definition :
SINAMICS S120
Basic positioner

EPos SINAMICS S120


Overview, functionality Customer benefits

rotary axis (modulo)

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linear axis

EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary

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Automation and Drives

Details on the functionality:


SINAMICS S120
Basic positioner

4 OPERATING MODES

EPos SINAMICS S120


Overview, functionality Customer benefits

(can be toggled between when an axis has reached its target position and is at a standstill): - JOGGING (closed-loop position controlled) - REFERENCE POINT APPROACH - MDI/DIRECT SETPOINT INPUT (positioning based on Masterdrives MC Epos) - TRAVERSING BLOCKS (positioning based on 611U) Priority of the operating modes with respect to one another when they are simultaneously selected: From top to the bottom i.e. JOGGING > REF. APPROACH > MDI > TRAVERSING BLOCKS Including subordinate (lower-level) FLYING REFERENCING in the operating modes Jogging, Traversing blocks and MDI/direct setpoint input In the operating mode MDI/direct setpoint input including - flying and it is always possible to changeover during traversing between the modes setting-up (= endless position-controlled traversing with v-set input) and positioning absolute/relative - flying and continuous setpoint change possible while actually traversing

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EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary

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Automation and Drives

Details on the functionality:


SINAMICS S120
Basic positioner

Operating mode: JOGGING


The axis is traversed with position control using two modes that can be toggled between 1. mode: Endless closed-loop position controlled using v-set input (the sign is evaluated) 2. mode: Incremental jogging ( = in order to traverse through the specified step width)

EPos SINAMICS S120


Overview, functionality Customer benefits

... two selectable setpoints are available in both modes (jogging 1 / 2)

Descriptive text Details on the Details on the functionality functionality Background re: the functionality

EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary

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Automation and Drives

Example of STARTER screen forms:


SINAMICS S120
Basic positioner

Jogging:

EPos SINAMICS S120


Overview, functionality Customer benefits

Descriptive text Details on the Details on the functionality functionality Background re: the functionality

EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary

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Automation and Drives

Details on the functionality:


SINAMICS S120
Basic positioner

Operating mode: REFERENCE POINT APPROACH (active referencing)


The reference point is fully automatically searched for and acquired when using an incremental measuring system (e.g. encoder)
Reference point approach with the following evaluation possibilities: - cam and encoder zero mark, encoder zero mark external equivalent zero mark (Bero) - set reference point without traversing possible Reversing cam functionality Automatic direction of rotation reversal and search along the complete traversing range, the start direction can be specified

EPos SINAMICS S120


Overview, functionality Customer benefits

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Various approach velocities can be specified (to the cam, to the reference mark, to the reference point) - e.g. to increase the accuracy of the reference mark detection Monitoring using maximum traversing distances/tolerance bandwidths that can be specified e.g. to the cams, between the cams and zero mark, distance to the zero mark Automatic traversing for reference point offset possible regarding reference mark and via reference point coordinates that can be entered via BICO Automatic direction of rotation reversal at the reference cam - so that, for example, reversing cams or hardware limit switches (when the STOP cam functionality is disabled) can be used as reference cams (this eliminates some of the hardware required) (in the START direction that can be specified the zero mark has priority as reference mark BEFORE the reference cam)
EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary Folie 14

Automation and Drives

Example of STARTER screen forms:


SINAMICS S120
Basic positioner

Reference point approach ( = active referencing) :

EPos SINAMICS S120


Overview, functionality Customer benefits

Descriptive text Details on the Details on the functionality functionality Background re: the functionality

EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary

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Automation and Drives

Details on the functionality:


SINAMICS S120
Basic positioner

Operating mode: TRAVERSING BLOCKS


functionality)

(positioning based on 611U

EPos SINAMICS S120


Overview, functionality Customer benefits

Positioning using traversing blocks saved in the device (for a referenced axis)
64 traversing blocks are possible including block change enable conditions and specific tasks
User-friendly traversing block editor For each block, e.g. position and velocity can be separately set and the acceleration as well as the deceleration override can be entered Tasks; e.g.: positioning absolute / relative, ABS_POS/_NEG (forced direction of rotation input for modulo axes), endless pos / neg, wait (waiting time), GOTO (block jump), SET_O / RESET_O (setting / resetting from up to two digital outputs simultaneously) From V2.5 onwards: traversing to fixed endstop (torque limiting, endstop detection via following errror detection or external signal, detection of fixed endstop fracture and fault reaction ) , jerk (activate, deactivate) Block change conditions: End , continue with stop, continue flying (at the start of braking) From V2.5 onwards: continue external, continue external wait, continue external alarm (External block transition via fast measuring probes or selectable BICO-signal) Traversing blocks can be skipped (suppressed) When any given traversing block is activated (BICO) a traversing block being executed can be interrupted and a flying change made into the new traversing block !
EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary

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Automation and Drives

Example of STARTER screen forms:


SINAMICS S120
Basic positioner

Traversing block editor:

EPos SINAMICS S120


Overview, functionality Customer benefits

Descriptive text Details on the Details on the functionality functionality Background re: the functionality

EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary

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Automation and Drives

Details on the functionality:


SINAMICS S120
Basic positioner

Operating mode: MDI / direct setpoint input


(positioning based on MASTERDRIVES MC EPos functionality)

EPos SINAMICS S120


Overview, functionality Customer benefits

Positioning/setting-up with direct setpoint inputs (e.g. process data, PLC) that can also be continuously influenced even while actually traversing
Flying and continuous setpoint transfer is possible while the axis is actually moving ...e.g. setpoint data from the communications interface, PLC
(e.g.: position, V-set, V-override, acceleration, deceleration, signal to forcibly change the direction of rotation)

It is possible to make a flying change between the various modes while the axis is actually moving: - mode: Setting-up ( endless closed-loop position controlled mode, v-set input) - mode: Positioning, absolute/relative (for modulo, also: forced direction of rotation change, shortest path/distance) In this mode it is also possible to traverse a non-referenced axis (modes: setting-up + positioning relative), e.g. by using flying synchronizing/referencing This is the reason that this functionality offers, for example, the following: In the mode MDI/direct setpoint input in the setting-up mode with secondary/subordinate flying referencing the axis is automatically moved and referenced in the production direction during the continuous traversing motion. The system can then make a flying change into the positioning mode without the axis coming to a standstill; new setpoints - e.g. via the PLC can always be transferred. This can offer advantages for the following situations e.g. for - axes, that may only be operated in one direction of rotation or continuous material webs - minimizing the approach time, waste as well as increasing the production rate - machines with slip can also be post-referenced on the fly
EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary Folie 18

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Automation and Drives

Example of STARTER screen forms:


SINAMICS S120
Basic positioner

Direct setpoint input / MDI :

EPos SINAMICS S120


Overview, functionality Customer benefits

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EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary

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Automation and Drives

Details on the functionality:


SINAMICS S120
Basic positioner

Flying referencing (passive referencing)


Referencing the axis during normal traversing motion using a measuring probe (standard setting) including possible continuous post-referencing !!! Can be executed as subordinate function in the following operating modes: jogging, traversing blocks and MDI/direct setpoint input !!! Can be selected for both incremental and absolute measuring systems (encoders)

EPos SINAMICS S120


Overview, functionality Customer benefits

It is possible to toggle between measuring probes (2 measuring probe inputs can be selected, positive/negative edge) switched over using BICO technology
Descriptive text Details on the Details on the functionality functionality Background re: the functionality For flying referencing while carrying-out RELATIVE positioning it can be selected as to whether the correction value for the traversing distance should be taken into account or not For post-referencing it is possible to evaluate a real/incorrect BERO signal (inner/outer position difference window)

EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary

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Automation and Drives

Example of STARTER screen forms:


SINAMICS S120
Basic positioner

Flying referencing (= passive referencing) :

EPos SINAMICS S120


Overview, functionality Customer benefits

Descriptive text Details on the Details on the functionality functionality Background re: the functionality

EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary

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Automation and Drives

Details on the functionality:


SINAMICS S120
Basic positioner

Software limit switches for linear axes: For a referenced axis the traversing range is limited by evaluating the position setpoint Stop cams: The traversing range is limited by evaluating a hardware limit switch The limit switches can also be used as reversing cams or reference cams for the reference point approach e.g. for a reference point approach the stop cam functionality is de-selected (BI:p2568) > reduces the level of hardware resources required Velocity override can be used in all operating modes (for reference point approach only for reference cam approach velocity) Backlash compensation Corrects the position actual value as a result of any mechanical play (backlash) between the motor and load Intermediate stop and reject traversing task can be controlled in the positioning modes (traversing blocks and MDI/direct setpoint input) The old traversing direction can be continued after an intermediate stop Dynamic following error monitoring (this eliminates velocity-dependent components and therefore permits monitoring functions to be implemented with a far more rigid tolerance equivalent time constants of the control loop subordinate (secondary) to the position controller are taken into account), position monitoring (target position reached), standstill monitoring 2 basic cam switching signals (in the closed-loop position control) No hysteresis, cam position can only be parameterized (no BICO), only ONE position for signal change for each cam (..this means no ON/OFF position for each cam), but one BICO output is available for each cam
EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary Folie 22

EPos SINAMICS S120


Overview, functionality Customer benefits

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Automation and Drives

Example of STARTER screen forms:


SINAMICS S120
Basic positioner

Positioning/standstill monitoring

EPos SINAMICS S120


Overview, functionality Customer benefits

Descriptive text Details on the Details on the functionality functionality Background re: the functionality Following error monitoring

EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary

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Automation and Drives

Example of STARTER screen forms:


SINAMICS S120
Basic positioner

Software limit switches and stop cams (hardware limit switch):

EPos SINAMICS S120


Overview, functionality Customer benefits

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EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary

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Automation and Drives

Details on the functionality:


SINAMICS S120
Basic positioner

EPos SINAMICS S120


Overview, functionality Customer benefits

Referencing types that are available: > Reference point approach (active referencing) (operating mode: see details in previous overheads) > Flying referencing (passive referencing) (see details in previous overheads) > Reference point setting Reference point setting is possible in the initial state (= target position reached and axis stationary (zero speed)), none of the operating modes are active) and from V2.5 onwards also in intermediate stop (MDI and Traversing blocks) > Absolute encoder adjustment (when commissioning for the first time: Determining the offset at standstill [zero speed] using the reference coordinates) The following functions are not possible for a NON-referenced axis: - traversing blocks operating mode - in the operating mode MDI/direct setpoint input the Absolute positioning (i.e. setting-up and relative positioning are also possible here - and are often practical!)

Descriptive text Details on the Details on the functionality functionality Background re: the functionality

Changing-over between units - mm, inch, Degrees, LU including selectable resolutions of between 1 and 0.00001 (in V2.4 and V2.5, only LU was possible)
The units LU permit the most accurate and the most flexible adaptation of the position actual value resolution; this is because the internal high-resolution position actual value resolution precise to one increment can also be used externally (customer perspective, setpoint input), and customers are able to select any setpoint normalization/actual value normalization.

EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary

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Automation and Drives

Details on the functionality:


SINAMICS S120
Basic positioner

EPos SINAMICS S120


Overview, functionality Customer benefits

From V2.5 onwards: Jerk limiting (jerk) can be permanently activated or via PZD (BICO) in ALL operating modes. In the traversing blocks mode, this can be additionally activated/de-activated as a function of the particular task, if the jerk is not permanently or via PZD (BICO) activated. In V2.4, the position setpoint filter (p2533) can be used in the position controller for rounding-off. This is also easily possible as the position setpoint filter influences both the position setpoint as well as also the speed pre-control (assuming the symmetrical adaptation of the setpoints) and a filter that can be separately set (p2535/p2536) is available for the pre-control symmetrization (delay, position setpoint at the position controller as a ratio to the speed pre-control, following error compensation). EPos is implemented as function module (computation time is only utilized when the function is actually selected). The necessary interconnections to the basic system are AUTOMATICALLY established. (BICO technology interconnections are automatically established and parameterized when the function module is selected). Further, these interconnections both to the basic system as well as within the EPos can be adapted using Bico technology as part of the application engineering to implement the customers specific requirements; this therefore results in a wide range of possible applications. In the expert mode, it is possible to only activate the sub-set position controller/ actual value preparation (i.e. without the upstream position ramp-function generator) to reduce the load on the computation time. This allows, e.g. free link to the automation systems that handle the interpolation and the position ramp-function generator channel. Further, this means that the complex handshaking technique, executed via the control, can be eliminated e.g. when initiating/retrieving position measured values per measuring probe (I.e.: Gn_XIST1, Gn_XIST2, Gn_STW, Gn_ZSW), this is because the position actual value conditioning module to a large extent automatically executes this.
EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary Folie 26

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Automation and Drives

Details on the functionality:


SINAMICS S120
Basic positioner

Position controller: PI controller algorithm is also possible (and not only P controller), in order to position, for example, large flywheel masses. Extremely large control loop time constants when compared to the sum of the small time constants are handled using position controller=PI controller /n controller=P controller. Kv can be adapted using BICO technology (PZD input) and position controller output limiting, controlled using BICO technology for e.g. moments of inertia that change, or influence during the traversing profile or approach behavior (presses, partial cross-cutter functionality), or simplified starting behavior when connecting to a third-party PLC etc.

EPos SINAMICS S120


Overview, functionality Customer benefits Descriptive text Details on the Details on the functionality functionality Background re: the functionality

Speed pre-control as well as torque pre-control available from the closed-loop position control. Position actual value inversion is included in the basic device functionality. From V2.4 onwards, in addition, the direction of rotation bit is included in the basic device functionality (feedback and manipulated variables are inverted together, e.g. drive mounting RIGHT/LEFT at the machine but only one production direction).

EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary

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Automation and Drives

Example of STARTER screen forms:


SINAMICS S120
Basic positioner

Position controller screen form:

EPos SINAMICS S120


Overview, functionality Customer benefits

Descriptive text Details on the Details on the functionality functionality Background re: the functionality

EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary

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Automation and Drives

Background regarding the functionality:


SINAMICS S120
Basic positioner

Encoder systems / position actual value conditioning in conjunction with EPos: Rotary and linear encoders
All of the encoder systems (p0400) released for the basic device functionality are supported with the exception measuring systems with distance-coded zero marks. The evaluation of an indirect linear measuring system being used (motor linear encoder) as direct measuring system (encoder connected to the machine) is not supported using Starter screen forms but is possible using the expert mode (parameter list).

EPos SINAMICS S120


Overview, functionality Customer benefits

Rotary axis functionality (modulo) or linear axis functionality can be FREELY ASSIGNED both for rotary as well as also for linear motor encoders (indirect measuring system) or machine encoders (direct measuring system).
Therefore, also: Rotary encoders (either mounted at the machine or motor) can be consciously operated with linear axis functionality

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Absolute encoders are supported. - Absolute value adjustment at standstill (first commissioning).
Recommendation for rotary absolut encoder e.g. for linear axes: Choose the traversing range and absolut value adjustment in +/- half of the multi-turn range (Xist2). With it one electrical overflow of the encoder because of mechanical mounting within EXACT ONE (..not several) complete multi-turn range is in control of software (...even without position tracking for absolut encoders) - Flying referencing possible (exception).

Drive data set changeover (DDS) including encoder data set (EDS, 3 encoder data sets) Presently, the position actual value conditioning for EPos can evaluate one encoder at the same time (each encoder data set) and more is also not practical for the Epos functionality.
However it is still planned to be able to evaluate two additional encoders at the same time through the position actual value conditioning for the EPos; e.g. for monitoring purposes or to transfer to the PLC (..as an alternative to Gn_Xist1/Gn_Xist2, etc.).
EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary Folie 29

Automation and Drives

Background regarding the functionality:


SINAMICS S120
Basic positioner

Explanation of system terminology that is necessary for a better understanding (from V2.4): Measuring gearbox means: (functionality in the basic device, encoder data set EDS) Ratio between the motor motor encoder or load machine encoder Load gearbox means: (functionality of the position actual value conditioning/EPos) Ratio between the load - motor The measuring gearbox between the motor motor encoder also influences the commutation angle (closed-loop current control) and must thus correspond to the real relationships and for example - cannot be used to adapt to the axis cycle (product cycle, position control loop). In this case a load gearbox should be used! If a measuring gearbox is used between the load and encoder mounted on the machine then it goes without saying that an adaptation can be made to the axis cycle (product cycle). The following is implemented from V2.4 onwards: - measuring gearbox (motor motor encoder, load encoder mounted at the machine) and load gearbox for rotary axes/modulo or linear axis
Geber_3 (z.B. EDS2)

EPos SINAMICS S120


Overview, functionality Customer benefits

Descriptive text Details on the functionality Background re: Background re: the functionality the functionality

Messgetriebe

~
Messgetriebe Lastgetriebe

Last
Messgetriebe

Geber_1 (z.B. EDS0)

Geber_2 (z.B. EDS1)

EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary

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Automation and Drives

Background regarding the functionality:


SINAMICS S120
Basic positioner

Position tracking for absolute encoders

EPos SINAMICS S120


Overview, functionality Customer benefits

Position tracking is only necessary for absolute encoders and under the follow. conditions: - overflow of the multi-turn range AND multi-turn count / gearbox" is NOT AN INTEGER NUMBER or - extension of the measuring range beyond the multi-turn range for linear axes
Lage 8 7 6 5 4 3 2 1 Lastlage Lage Absolutwertgeber

Descriptive text Details on the functionality Background re: Background re: the functionality the functionality

9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 Lage Motor Versatz bei Geberberlauf 6 7 8

Example: Gearbox ratio 1:3, the absolute encoder can count 8 revolutions

Position tracking from V2.4 onwards: - only when a measuring gearbox is used between the motor and motor encoder or load and encoder mounted on the machine for rotary axis/modulo (e.g. : 1FW3 torque motors with absolute encoder non integer number for the toothed belt ratio) Additional Position tracking from V2.5 onwards (..essentially the completion): - for measuring gearboxes between the motor and motor encoder for linear axis - for measuring gearboxes between the load and encoder mounted to the machine for linear axis - for load gearboxes (motor load) for rotary axis/modulo and linear axis
EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary Folie 31

Automation and Drives

Background regarding the functionality:


SINAMICS S120
Basic positioner

Functional expansions of V2.5 in detail (part 1/5):


Traversing blocks / new task: traversing to fixed endstop
- torque limiting - endstop detection via following errror detection or external signal - detection of fixed endstop fracture and fault reaction - Starter-mak: Basic positioner/Program traversing blocks/Job

EPos SINAMICS S120


Overview, functionality Customer benefits

Descriptive text Details on the functionality Background re: Background re: the functionality the functionality

EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary

Folie 32

Automation and Drives

Background regarding the functionality:


SINAMICS S120
Basic positioner

Functional expansions of V2.5 in detail (part 2/5):


Traversing blocks / new block change conditions: External block transition
- continue external, continue external wait, continue external alarm External block transition via fast measuring probes or selectable BICO-signal - Starter-mask: Basic positioner/Program traversing blocks/configuration and Basic positioner/Program traversing blocks/Advance

EPos SINAMICS S120


Overview, functionality Customer benefits

Descriptive text Details on the functionality Background re: Background re: the functionality the functionality

EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary

Folie 33

Automation and Drives

Background regarding the functionality:


SINAMICS S120
Basic positioner

Functional expansions of V2.5 in detail (part 3/5):


Additional Position tracking from V2.5 onwards (..essentially the completion) for absolut encoders
- for load gearboxes (motor load) for rotary axis/modulo and linear axis
- for measuring gearboxes between the motor and motor encoder for linear axis - for measuring gearboxes between the load and encoder mounted to the machine for linear axis
Geber_3 (z.B. EDS2)

EPos SINAMICS S120


Overview, functionality Customer benefits

- Starter-mask: Position control / Mechanics or axis assistent, configuration (load gearboxes)

Messgetriebe

Descriptive text
Messgetriebe

~
Lastgetriebe

Last
Messgetriebe

Details on the functionality Background re: Background re: the functionality the functionality

Geber_1 (z.B. EDS0)


Lage 8 7 6 5 4 3 2 1 0 1 2 3 4 5 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 Lage Motor Versatz bei Geberberlauf 6 7 8 Lastlage Lage Absolutwertgeber

Geber_2 (z.B. EDS1)

Example: Gearbox ratio 1:3 the absolute encoder can count 8 revolutions

Hint: For linear axis with rotary absolut encoder max. +/-31 overflows behind the gearbox are allowed.

EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary

Folie 34

Automation and Drives

Background regarding the functionality:


SINAMICS S120
Basic positioner

Functional expansions of V2.5 in detail (part 4/5):


Jerk limiting (jerk)
- Jerk can be permanently activated or via process data (BICO) in ALL operating modes. - In the traversing blocks mode, this can be additionally activated/de-activated as a function of the particular task, if the jerk is not permanently or via process data (BICO) activated. - Starter-mask: Basic positioner/.. ..limits/traversing profile limitation and ..Program traversing blocks/Job

EPos SINAMICS S120


Overview, functionality Customer benefits

Descriptive text Details on the functionality Background re: Background re: the functionality the functionality

EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary

Folie 35

Automation and Drives

Background regarding the functionality:


SINAMICS S120
Basic positioner

Functional expansions of V2.5 in detail (part 5/5):


Profidrive Positioning telegram type 9 (... 7 and 110 from V2.4 onwards)
- Starter-mask: e.g. Communication/PROFIBUS or axis wizard

EPos SINAMICS S120


Overview, functionality Customer benefits

Reference point setting also in intermediate stop


- Starter-mask: Basic positioner/Homing

(MDI and Traversing blocks)

Descriptive text Details on the functionality Background re: Background re: the functionality the functionality

configuration of standstill/position monitoring


- F07450 (standstill monitoring) and F07451 (position monitoring ) correspond to F07452 (following error monitoring) are configurable from F (fault) to A (alarm). E.g. thereby it makes possible a selective tolerance via PLC (BICO) in case of further on activated monitoring.

Reversing cam functionality also with reference point approach without cam mark
...means even in mode only encoder zero mark or external equivalent zero mark (Bero) - Starter-mask: Basic positioner/Homing

EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary

Folie 36

Automation and Drives

Thank you very much for your attention !


SINAMICS S120
Basic positioner

EPos SINAMICS S120


Overview, functionality Customer benefits

EPos

Basic positioner

Descriptive text Details on the functionality Background re: the functionality

EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary

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