Page 1 SIMODRIVE POSMO A User Manual 08.2013 Edition Distributed Positioning Motor on PROFIBUS–DP Manufacturer/Service Documentation...
Page 2 Product Brief Installing and Connecting–Up Commissioning SIMODRIVE POSMO A Communications via PROFIBUS DP Description of the Distributed Positioning Motor Functions on PROFIBUS DP Fault Handling Diagnostics User Manual User Manual User Manual User Manual User Manual User Manual User Manual...
Page 3 6SN2197–0AA00–1BP2 Trademarks All products mentioned may be trademarks or product designations of Siemens AG or their suppliers, whose use by third parties for their own purposes may infringe the rights of the trademark owners. We have checked that the contents of this document correspond to the hardware and software described.
Page 4 Should you wish for additional information or should exceptional prob- lems arise that are not addressed in sufficient detail in this manual, you can request the required information from your local Siemens office. Standard version The scope of the functionality described in this document can differ from the scope of the functionality of the drive system that is actually supplied.
Page 5 The sales contract contains the entire obligation of Siemens. The warranty conditions specified in the contract between the parties is the sole warranty of Siemens. Any statements contained herein neither create new warranties nor modify the existing warranty.
Page 6 Parameter 82 with index 0, 1, ... 27 (28 indices) – P82:13 Parameter 82 with index 13 – P82:x Parameter with undefined index x – P56.2 Parameter 56 bit 2 E Siemens AG 2013 All Rights Reserved SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 7 – Different union nuts for the connection cover for 75 W and 300 W motors. – ”SimoCom A” parameterizing and start–up tool – PROFIBUS: Initiating a POWER ON–RESET via P97 E Siemens AG 2013 All Rights Reserved SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 8 10.07 edition describes the functionality of SW 1.0 to 3.2. What are the essential new functions for SW 3.2 in comparison to SW 3.1? – None, contains only troubleshooting information E Siemens AG 2013 All Rights Reserved SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 9 – No new software version, but a new SimoCom A version UL certification SIMODRIVE POSMO A – 75W and – 300W have received UL certifica- tion. The UL file number is ”E192450”. E Siemens AG 2013 All Rights Reserved viii SIMODRIVE POSMO A User Manual (POS1) –...
Page 10 Qualified personnel as referred to in the safety instructions in this documentation are persons authorized to start up, ground, and label devices, systems, and circuits in accordance with the relevant safety standards. E Siemens AG 2013 All Rights Reserved SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 11 Without warning triangle indicates that material damage can result if proper precautions are not taken. Notice indicates that an undesirable result or state may arise if the relevant note is not observed. E Siemens AG 2013 All Rights Reserved SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 12 Proper use Note the following: Warning Siemens products may only be used for the applications specified in the catalog and in the associated technical documentation. If third–party products and components are used, they must be recommended or approved by Siemens. These products can only function correctly and safely if they are transported, stored, set up, mounted, installed, commissioned, operated and maintained correctly.
Page 13 When using mobile radio equipment (e.g. cellular phones, walkie–talkies) with a transmitting power of > 1 W close to SIMODRIVE POSMO A (< 1.5 m), this can have a negative impact on the functioning of the SIMODRIVE POSMO A. E Siemens AG 2013 All Rights Reserved...
Page 14 Only touch control components, option modules and memory modules at the front panel or at the edge of the PC boards. E Siemens AG 2013 All Rights Reserved xiii SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 15 (risk priority number in accordance with EN 60812 RPZ = 100). For additional information, refer to the relevant sections of the Function Manual. E Siemens AG 2013 All Rights Reserved SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 17: Table Of Contents
..........2-63 2.6.1 Technical data for SIMODRIVE POSMO A – 75 W ....2-63 2.6.2...
Page 18 ............5-182 5.5.11 Jogging without PROFIBUS and parameterization (from SW 1.4) ..5-184 E Siemens AG 2013 All Rights Reserved xvii SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 20: Product Brief
SIMODRIVE POSMO A – 75 W SIMODRIVE POSMO A – 300 W not to scale Fig. 1-1 SIMODRIVE POSMO A positioning motor with connection cover and gearbox Reader’s note The following catalog is available for SIMODRIVE POSMO A: References: /KT654/ Catalog DA 65.4...
Page 21 PROFIBUS–DP Standard slave Positioning functionality which is easy to handle Modular gearbox system with different ratios Applications SIMODRIVE POSMO A can be used in almost all industry sectors, such as: For production machines in packaging, woodworking, glass, printing, plastics For machine tools and transfer lines In medical diagnostics –...
Page 22 The DP master can read–out and evaluate positioning motor faults and warnings via PROFIBUS. Two freely parameterizable analog test outputs for measurements when service is required. E Siemens AG 2013 All Rights Reserved 1-21 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 23: Function Overview And Differences Between 75 W/300 W
06.05 05.13 1.2 Function overview and differences between 75 W/300 W Function overview and differences between 75 W/300 W An overview of the features and functions of SIMODRIVE POSMO A is Function overview provided in the following diagram. Functions Intelligent positioning motor as distributed...
Page 24 The connecting cover for POSMO A – 75 W does not fit on the POSMO A – 300 W and vice versa, i.e. they cannot be interchanged. E Siemens AG 2013 All Rights Reserved 1-23 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 25 Motor with worm gear: 3.5 kg Shaft end (motor) Without keyway Without keyway or with keyway Technical data ––> Refer to Chapter 2.6.1 ––> Refer to Chapter 2.6.2 E Siemens AG 2013 All Rights Reserved 1-24 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 26: Safety Guidelines
2. All of the work must be carried out by qualified, appropriately trained personnel. 3. Before starting any work on SIMODRIVE POSMO A, the motor must be disconnected in–line with the regulations according to the 5 safety rules. In addition to the main circuits, it is important to observe if there are any supplementary or auxiliary circuits.
Page 27 15.It is not permissible to connect the unit to the three–phase line supply as this could destroy the unit. 16.When mounting SIMODRIVE POSMO A with the shaft end facing upwards, it must be guaranteed that no liquid can penetrate into the upper bearing.
Page 28 33.Cables listed in the Siemens Catalog NC Z should be used when connecting–up SIMODRIVE POSMO A. 34.Observe the rating plate data regarding type of construction and...
Page 30: Installing And Connecting-Up
Electronics (24 V, if there is no dedicated supply) (no galvanic isolation). Fig. 2-1 System overview of SIMODRIVE POSMO A E Siemens AG 2013 All Rights Reserved 2-29 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 31: Electrical System Requirements
A power management module (DC PMM) can optionally be con- nected between the external load power supply and the input termi- nals of the SIMODRIVE POSMO A. The DC PMM serves to elimi- nate the regenerative feedback energy and to limit the conducted noise.
Page 32: Dc Power Supply (24 V, 48 V)
PROFIBUS (OFF 1). All of the power supplies must have ”protective separation”. When using SIMODRIVE POSMO A in UL–certified systems, a UL– certified varistor with the following properties is required in the power supply cable: 24 V ––>...
Page 33 Fig. 2-4 Switching–in/switching–out 24 V/48 V on the primary side with a POSMO A to be separately switched E Siemens AG 2013 All Rights Reserved 2-32 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 34 SITOP modular 48 V/20 A with regenerative feedback protection Reference: /SI1/ SITOP modular 48 V/20 A power supplies Operating Instructions Regenerative feedback protection when braking the motor refer to Chapter 2.2.3 E Siemens AG 2013 All Rights Reserved 2-33 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 35 Two SITOP power connected in series to double the voltage Reference: /KT101/ SITOP power, power supplies Catalog Regenerative feedback protection when braking the motor (refer to Chapter 2.2.3) E Siemens AG 2013 All Rights Reserved 2-34 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 36 2.2 Electrical system requirements Coincidence factor If several SIMODRIVE POSMO A are used but they are not all simulta- neously operational, then a lower rating load power supply can be used. However, a short–term overload capability must be guaranteed as...
Page 37 Warning 801/P953.1 (refer to Chapter 6.2.2) 10.5 Warning 801/P953.1 (refer to Chapter 6.2.2) t [s] Fig. 2-8 t characteristic with 300 W motor E Siemens AG 2013 All Rights Reserved 2-36 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 38: Regenerative Feedback Protection When The Motor Brakes
2.2 Electrical system requirements 2.2.3 Regenerative feedback protection when the motor brakes General If SIMODRIVE POSMO A is used in a system with low mechanical fric- information on tion, then the electrical energy, regenerated when braking, can influ- regenerative ence the load power supply. In cases such as these, regenerative feed- feedback back protection must be used.
Page 39 ⇒ increment = 1696.125 W @ t – Transistor off: = 0; = 15 W – P = – 15 W ⇒ decrement = 15 W @ t E Siemens AG 2013 All Rights Reserved 2-38 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 40 Ambient temperature: Continuous power: 45 W Maximum energy drawn: 120 Ws A maximum of one DC–PMM_E/48V in combination with a DC–PMM/48V may be operated. E Siemens AG 2013 All Rights Reserved 2-39 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 41 I t monitoring would respond. The unit goes into a ”fault” condition and can only be restarted after a ”reset”. E Siemens AG 2013 All Rights Reserved 2-40 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 42 POSMO A, 1 POSMO A, 3 Elko system w 15000 μF/100 V Fig. 2-12 Example: Regenerative feedback protection with diode and capacitor E Siemens AG 2013 All Rights Reserved 2-41 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 44: Connection And Wiring Overview
Use only copper cables with a thermal stability of up to at least 60/75°C. for connection and wiring. Fig. 2-13 Connection and wiring overview (example with DC PMM and electronics power supply) E Siemens AG 2013 All Rights Reserved 2-43 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 45: Connection And Setting Possibilities In The Connection Cover
2.3.1 Connection and setting possibilities in the connection cover Connection cover The SIMODRIVE POSMO A wiring is completely realized in the con- from the top nection cover. One connection can be used as input or output. The user defines this using the appropriate wiring.
Page 46 +24 V electronics power supply output (optional) 0 V ground Fig. 2-15 SIMODRIVE POSMO A connection cover from the bottom Caution The screws are not screwed tight into the terminals when the system is delivered. These must be tightened with the specified tightening torque, in particular for unused connections as well, otherwise the screws may fall out under heavy vibration.
Page 47 The interchanged cables should be appropriately connected–up. Refer to Chapter 2.4.3 Fig. 2-16 Connection cover: Changing the cable outlet direction E Siemens AG 2013 All Rights Reserved 2-46 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 48 02.99 08.04 2 Installing and Connecting–Up 2.3 Connection and wiring overview Interfaces, All interfaces, terminals and switches of the SIMODRIVE POSMO A terminals, are listed in the following table with technical information. Switch S1 Table 2-2 Overview of the interfaces, terminals and switches...
Page 49 (all of the address switches are either OFF or ON); this means that the function ”jog operation without PROFIBUS and parameterization” is activated (refer to Chapter 5.5.11). 1) I: Input; O: Output E Siemens AG 2013 All Rights Reserved 2-48 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 50 (refer to Table 2-2). If it must be possible, with bus communications still operational, to power down the SIMODRIVE POSMO A positioning motor without resulting in errors, then the following applies: – This ”DP slave POSMO A” may neither be used as the first nor last bus node.
Page 51: Protective Grounding And Potential Bonding
PROFIBUS cabling Notice The cable shield of each bus node must be connected to ground through the largest possible surface area (at SIMODRIVE POSMO A in the PG gland). Recommendation: Route a potential bonding conductor in parallel to PROFIBUS (cable cross–section: 4 – 16 mm Use the M5 threaded hole in the connection cover for the potential bonding conductor (refer to Chapter 2.3.1).
Page 52 ––> refer to Chapter 2.3.1 Set the PROFIBUS terminating resistor ––> refer to Chapter 2.3.1 Locate the connection cover on the SIMODRIVE POSMO A and tighten the 2 screws retaining the cover (max. tightening torque, 1.8 Nm) Connect the protective and potential bonding conductors ––>...
Page 53: Preparing The Cable
PG13.5 (with shield connection) for outdoors ∅ = 6–12 mm power supply) not to scale PROFIBUS Shield 6 – 12 cable (without electronics power supply) Fig. 2-19 Preparing the PROFIBUS cable E Siemens AG 2013 All Rights Reserved 2-52 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 54 (e.g.: Pflitsch Company, type PG15152m2x6 – gland assem- bly PG11/13.5 mounted using a multi–sealing insert for 2 cables with 6 mm diameter). E Siemens AG 2013 All Rights Reserved 2-53 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 55 The following pre–assembled cable is shown in Fig. 2-23: Cables prepared The PROFIBUS cable with electronics power supply for installation Fig. 2-23 Example: Pre–assembled cable for PROFIBUS E Siemens AG 2013 All Rights Reserved 2-54 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 56: Mounting The Prepared Cables In The Connection Cover
Point 4 Ó Ó Point 5 Ó Ó Ó Ó Point 6 Ó Ó Wiring at Fig. 2-24 How are the prepared cables installed? E Siemens AG 2013 All Rights Reserved 2-55 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 57 Connection cover from the bottom ––> refer to Fig. 2-27 Fig. 2-26 Connection cover with the cables inserted: View from the top E Siemens AG 2013 All Rights Reserved 2-56 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 58 (water loop). moisture ”Water loop” Fig. 2-28 Cable connection at SIMODRIVE POSMO A with ”water loop” E Siemens AG 2013 All Rights Reserved 2-57 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 59: Extension Set "Separate Version" Posmo A - 300 W
2.4 Mounting SIMODRIVE POSMO A 2.4.4 Extension set ”separate version” POSMO A – 300 W The separate version for SIMODRIVE POSMO A – 300 W means that How is the extension set the drive unit is mounted separately from the motor. This means that...
Page 60 Potential bonding and protective conductor (both ends) M5 x 10 not to scale Fig. 2-30 Mounting the extension set ”separate version” POSMO A – 300 W E Siemens AG 2013 All Rights Reserved 2-59 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 61 Cable color Connector A Connector B green–red green white–black yellow brown–yellow brown gray black orange brown–blue blue black U/L1/C/L+ black V/L2 black W/L3/D/L– E Siemens AG 2013 All Rights Reserved 2-60 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 62: Gearbox Selection
Gearbox selection 2.5.1 Gearboxes for SIMODRIVE POSMO A – 75 W Modular gearbox, For SIMODRIVE POSMO A –75 W, the following gearboxes can be 75 W motor selected and used according to Table 2-4: Table 2-4 System data, modular gearbox with planetary/worm gearboxes...
Page 63: Gearboxes For Simodrive Posmo A - 300 W
2.5 Gearbox selection 2.5.2 Gearboxes for SIMODRIVE POSMO A – 300 W Modular gearbox, For SIMODRIVE POSMO A –300 W, the following gearboxes can be 300 W motor selected and used according to Table 2-5: Table 2-5 System data, modular gearbox with planetary gears...
Page 64: Technical Data
02.99 2 Installing and Connecting–Up 2.6 Technical data Technical data 2.6.1 Technical data for SIMODRIVE POSMO A – 75 W Table 2-6 Technical data for the POSMO A – 75 W positioning motor Designation Description 24 VDC " 20 %...
Page 65 Axial load max. 150 N (motor shaft) Radial load max. 150 N (effective 20 mm above the plane where the motor is bolted) E Siemens AG 2013 All Rights Reserved 2-64 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 66 Contrary to the specifications of the radial load of the motor shaft end this specification refers to the center of the key (shaft center)! E Siemens AG 2013 All Rights Reserved 2-65 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 67 Note: ing during Data applies for components which have been packed ready transport for transport. Pollutant Relevant Standards IEC 68–2–60 stressing E Siemens AG 2013 All Rights Reserved 2-66 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 68: Technical Data For Simodrive Posmo A - 300 W
02.99 04.01 2 Installing and Connecting–Up 2.6 Technical data 2.6.2 Technical data for SIMODRIVE POSMO A – 300 W Table 2-7 Technical data for the POSMO A – 300 W positioning motor Designation Description 48 VDC " 20 % Load power supply Supply voltage: 24 VDC "...
Page 69 Installation altitude above sea level in m Output as a % of the rated output altitude 1000 1500 2000 approved power 2500 3000 3500 4000 E Siemens AG 2013 All Rights Reserved 2-68 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 70 Backlash 1–stage planetary gear: <15’ (angular minutes) Gearbox 2–stage planetary gear: <20’ (angular minutes) data 3–stage planetary gear: <25’ (angular minutes) E Siemens AG 2013 All Rights Reserved 2-69 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 71 Contrary to the specifications of the radial load of the motor shaft end this specification refers to the center of the key (shaft center)! E Siemens AG 2013 All Rights Reserved 2-70 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 72 Note: conditions Data applies for components which have been packed ready for transport. Mechanical Relevant Standards IEC 68–2–32 ambient conditions E Siemens AG 2013 All Rights Reserved 2-71 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 73 Note: ing during Data applies for components which have been packed ready transport for transport. Pollutant Relevant Standards IEC 68–2–60 stressing E Siemens AG 2013 All Rights Reserved 2-72 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 74: Commissioning
4. Is there a master device file (GSD) and has it been installed? ––> Refer to Chapter 4.4.2 Communications SIMODRIVE POSMO A can only be controlled and parameterized via between master PROFIBUS. This is the reason that it is absolutely necessary that com- and slave munications are established between the DP master and the ”DP slave...
Page 75 Fig. 3-1 Overview of the communications for SIMODRIVE POSMO A LED after After SIMODRIVE POSMO A has been powered up, the LED has the power–on following status, if no fault/error has been detected: LED flashes green ––> bus connection is not established (refer to Chapter 6.1)
Page 76: Commissioning The Dp Master
The drive itself identifies the selected baud rate. Note The DP master can now communicate with the SIMODRIVE POSMO A DP slave which has been powered–up. E Siemens AG 2013 All Rights Reserved 3-75 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 77 PEB 266 PEB 267 Fig. 3-3 Data transfer in the PZD area in the ”speed setpoint” mode (P700=1) (addresses are only as example) E Siemens AG 2013 All Rights Reserved 3-76 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 78 3. Generate the user program for the PKW area Generate the user software the communicate the PKW area. ––> Refer to Chapter 4.3 E Siemens AG 2013 All Rights Reserved 3-77 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 79: Simatic S7 Function Blocks
”Drive ES SIMATIC” from Version 5.3 onwards. Software Class C Siemens AG accepts no liability and no warranty that these block ex- amples operate error–free. The software license conditions according to Class C apply.
Page 80: Parameterizing And Start-Up Tool "Simocom A" (From Sw 1.5)
Which version of ”SimoCom A” optimally matches which drive and which drive software release? Refer to ”SimoCom A” as follows: Help ––> info about ”SimoCom A” ... ––> versions E Siemens AG 2013 All Rights Reserved 3-79 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 81 PC/PG <––> CP 5511/CP 5611 <––> PROFIBUS <––> drives Online operation via the MPI interface of SIMATIC S7 PC/PG <––> MPI <––> PROFIBUS <––> drives E Siemens AG 2013 All Rights Reserved 3-80 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 83 Set the PROFIBUS node address for the slaves (refer to Chapter 2.3.1) Fig. 3-5 Example for online operation via PROFIBUS: ”SimoCom A” <––> 2 drives E Siemens AG 2013 All Rights Reserved 3-82 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 84 Only the information is provided in the dialog boxes which must be available as a result of the selected configuration. Please observe the information on ”SimoCom A” in Table 3-1. E Siemens AG 2013 All Rights Reserved 3-83 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 85 The browser (the lefthand window) can be set to the following areas via the lower buttons: Parameter (Par) Operator control (OpCo) Diagnostics (Diag) Close/open the browser: Menu ”Options/settings/browser” E Siemens AG 2013 All Rights Reserved 3-84 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 86 2. Mechanical system ... here you can determine the mechanical components used (e.g. rotary axis?, external gearbox?). E Siemens AG 2013 All Rights Reserved 3-85 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 87 Traverse the drive After the drive has been configured, you can already move the axis from the Call: Menu ”Operate/Jog/ ...” or menu ”Operate/MDI/ ...” E Siemens AG 2013 All Rights Reserved 3-86 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 88 Integrated help The ”SimoCom A” tool is equipped with an integrated help function which sup- ports you when using the ”SimoCom A” and the ”SIMODRIVE POSMO A” drive. You can call the help function for ”SimoCom A”: Using the menu ”Help/help subjects ...”...
Page 89: Commissioning An Axis
(from SW 2.0). The drive must always be able to rotate endlessly and therefore to be parameterized as rotary axis. It must be de–referenced. E Siemens AG 2013 All Rights Reserved 3-88 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 91 If the modified value lies outside the valid range, then the drive rejects it and the old value is kept. E Siemens AG 2013 All Rights Reserved 3-90 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 92 Note If P2 > P1 is selected, the axis zero of the rotary axis cannot be repro- duced for several revolutions. E Siemens AG 2013 All Rights Reserved 3-91 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 93: Control Structure Positioning (Pos Mode)
The holding controller has a standstill-optimized control structure. Fig. 3-9 Closed–loop structure for the ”positioning” mode for SIMODRIVE POSMO A E Siemens AG 2013 All Rights Reserved 3-92 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 94: Control Structure, Speed Setpoint (N-Set Mode)
Note: Additional information on the parameters is provided in the parameter list. ––> Refer to Chapter 5.6.2 Fig. 3-10 Closed–loop control structure, ”speed setpoint” mode for SIMODRIVE POSMO A E Siemens AG 2013 All Rights Reserved 3-93 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 95: Flow Diagram To Commission A Simodrive Posmo A
P56.2 = 0 (holding controller active at Chapter 6.3). standstill) remains unchanged. Fig. 3-11 Flow diagram when commissioning the system for the first time in the positioning mode (P700=2) E Siemens AG 2013 All Rights Reserved 3-94 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 96 (refer to Chapter 6.3). Fig. 3-12 Flow diagram when commissioning the system for the first time in the speed setpoint mode (P700 = 1) E Siemens AG 2013 All Rights Reserved 3-95 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 97: Optimization Runs
(if P56.2 = 1, standard before SW 1.3) P gain, holding controller, standstill (if P56.2 = 0, standard from SW 1.3) Backlash compensation Jerk time constant E Siemens AG 2013 All Rights Reserved 3-96 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 98: Activate Traversing Range Adaptation (From Sw 3.1)
The adaptation band, independent of the calculation value, has a maximum value of 200000 mm. corresponds to 1073741824) The following parameters must lie in the adaptation band: E Siemens AG 2013 All Rights Reserved 3-97 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 99 P40 already lies outside the ADB, then after finally activating the option (power–on reset) the drive is non–referenced once and signals Fault 713 ”reference position lost”. E Siemens AG 2013 All Rights Reserved 3-98 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 100: Communications Via Profibus-Dp
These devices may only receive, acknowledge and transfer mes- sages to a master when so requested. Reader’s note The SIMODRIVE POSMO A positioning motor is a slave on the fieldbus. This slave is designated ”DP slave POSMO A” in the following.
Page 101 Station number can be changed via software Addressing The PROFIBUS node address and the terminating resistor are perma- nently set in the connection cover of SIMODRIVE POSMO A. ––> Refer to Chapter 2.3.1 E Siemens AG 2013 All Rights Reserved 4-100 SIMODRIVE POSMO A User Manual (POS1) –...
Page 102 Parameter area (PKW, parameter identification value) This telegram section is used to read and/or write parameters and to read out faults. Description: ––> refer to Chapter 4.3 E Siemens AG 2013 All Rights Reserved 4-101 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 103 Telegram structure for cyclic data transfer PPO types There are 5 defined PPO types (PPO1 to PPO5). For SIMODRIVE POSMO A, only PPO type 1 (PPO1) can be used. PPO1 is structured as follows: 4 words for the parameter area (PKW area)
Page 104: Process Data (Pzd Area)
Control word Process data AnwSatz Select block number Parameter Process data Object Start byte Status word AktSatz Actual block number Checkback signal byte E Siemens AG 2013 All Rights Reserved 4-103 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 105: Description Of The Control Signals (Data To Drive)
Operating Condition Ready Operating condition/OFF 2 Operating condition/OFF 2 OFF 2 The power is disconnected and the motor coasts down, pow- er–on inhibit E Siemens AG 2013 All Rights Reserved 4-104 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 106 If operation is enabled and positioning is not active ––> the drive traverses closed–loop speed controlled with jogging Jogging 1 ON/jogging 1 OFF setpoint 1. ––> Refer to Chapter 5.4.1 Jogging 1 OFF E Siemens AG 2013 All Rights Reserved 4-105 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 107 26 (open holding brake), then this signal (from SW 1.4) has no effect. ––> Refer to Chapter 5.5.13 Brake sequence control effective E Siemens AG 2013 All Rights Reserved 4-106 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 108 Note: The signals designated in this way must have at least a ”1” signal in order to be able to operate a motor. E Siemens AG 2013 All Rights Reserved 4-107 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 109 Acknowledge faults (0/1 edge) Refer to Chapter 6.2 Reset the fault memory Reset the fault memory – 8, 9 Reserved E Siemens AG 2013 All Rights Reserved 4-108 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 110 26 (open holding brake), then this signal (from SW 1.4) has no effect. ––> Refer to Chapter 5.5.13 Brake sequence control effective E Siemens AG 2013 All Rights Reserved 4-109 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 111: Description Of The Status Signals (Data From The Drive)
––> P954 (supplementary information, faults/warnings) No fault present No OFF 2 present No OFF 2 present/ No OFF 2 present/ OFF 2 present OFF 2 command present E Siemens AG 2013 All Rights Reserved 4-110 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 112 Outside the ref. position Referencing was executed and is valid Reference point set/ Reference point set/ no reference point set Valid reference not available E Siemens AG 2013 All Rights Reserved 4-111 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 113 Checkback signal (feedback) of the terminal status (from SW 1.4), refer to Chapter 5.5.10 RMB.6 ––> state of terminal 1 RMB.7 ––> state of terminal 2 E Siemens AG 2013 All Rights Reserved 4-112 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 114 OFF 2 command present No OFF 3 present No OFF 3 present/ No OFF 3 present/ OFF 3 present OFF 3 command present E Siemens AG 2013 All Rights Reserved 4-113 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 115 The drive is stationary after it reaches its target position. Drive running/drive station- Drive running/drive station- Signals the completion of a traversing task or standstill for intermediate stop and stop. Reserved E Siemens AG 2013 All Rights Reserved 4-114 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 116 The fault itself remains until it is acknowledged. ZSW.15 indicates the status of the load power supply, independent of the fault and acknowledgment. E Siemens AG 2013 All Rights Reserved 4-115 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 117: Example: Operating The Drive Via The Control Signals With Jogging 1
Select block, Actual block PEB, PEW Peripheral input byte, word STB, RMB Start byte, Checkback signal byte Fig. 4-3 Example: Operating the drive with jogging 1 E Siemens AG 2013 All Rights Reserved 4-116 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 118: Example: The Drive Should Traverse With N-Set Using The Control Signals
DP slave POSMO A Peripheral output word Peripheral input word STW, ZSW Control word, Status word Fig. 4-4 Example: Drive should traverse with n–set E Siemens AG 2013 All Rights Reserved 4-117 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 119: Sequence Diagram "Variable-Speed Drives
Fault resolved, ZSW = acknowledge faults 110s xp11 0011 0111 i.e. STW.7 = Fig. 4-5 Flow diagram, ”Variable–speed drives” for the pos mode E Siemens AG 2013 All Rights Reserved 4-118 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 120 1111 Speed Speed constant, constant, i.e. STW.5 = 0 i.e. STW.5 = 0 Fig. 4-6 Flow diagram ”Variable–speed drives” for the n–set mode E Siemens AG 2013 All Rights Reserved 4-119 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 121 If STW.5 = 0, STW.4 and STW.6 brake according to how they are defined. If STW.5 is reset while braking, this does not mean that the speed is kept constant. E Siemens AG 2013 All Rights Reserved 4-120 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 122: Parameter Area (Pkw Area)
Parameter value Parameter Process data Object Process data Parameter ID value Parameter ID Task and response ID Sub–index, sub–parameter number, Parameter number array index E Siemens AG 2013 All Rights Reserved 4-121 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 123 If tasks cannot be executed, the slave responds as follows: Fault evaluation Outputs a response ID = 7 Outputs an error number in word 4 of the parameter area E Siemens AG 2013 All Rights Reserved 4-122 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 124 16 Boolean quantities combined in 2 octets Note All data are saved in the little Endian format (the same as for the PROFIBUS Standard). E Siemens AG 2013 All Rights Reserved 4-123 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 125 4 Communications via PROFIBUS–DP 02.99 4.3 Parameter area (PKW area) Transferring For SIMODRIVE POSMO A the traversing blocks are saved in parame- traversing blocks ters which means that they can only be read and changed via the PKW mechanism. Reader’s note The parameters for the traversing blocks are described in Chapter 5.3.2.
Page 126 No maximum times can be guaranteed! The response times of the PKW channel depend on the utilization level of the field bus. E Siemens AG 2013 All Rights Reserved 4-125 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 127 ––> read P947 = xx and buffer – If AK = 7, ––> then not O. K. ––> evaluate the fault number in EW 262 (refer to Table 4-15) E Siemens AG 2013 All Rights Reserved 4-126 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 128 Example: Reading parameters via PROFIBUS Note The SIMATIC S7 ”FB 11” block can be used to ”Read parameters via PROFIBUS”. ––> Refer to Chapter 3.2.2 E Siemens AG 2013 All Rights Reserved 4-127 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 129: Example: Writing Parameters Via Profibus
––> then O. K. – If AK = 7, ––> then not O. K. ––> evaluate the fault number in EW 262 (refer to Table 4-15) E Siemens AG 2013 All Rights Reserved 4-128 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 130 Example: Writing parameters via PROFIBUS Note The SIMATIC S7 ”FB 11” block can be used to ”write parameters via PROFIBUS”. ––> Refer to Chapter 3.2.2 E Siemens AG 2013 All Rights Reserved 4-129 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 131: Settings At The Profibus-Dp Master
For consistent data transfer, you require the SFC 14 and SFC 15 blocks in SIMATIC S7. E Siemens AG 2013 All Rights Reserved 4-130 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 132 If the motor is connected, the LED display elements for the DP in- terface are dark. The CPU must be in the RUN condition. E Siemens AG 2013 All Rights Reserved 4-131 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 133: Installing The New Master Device Files (Gsd)
The master device data (GSD file) supplied with the equipment con- tains all of the information/data that a DP master system requires in order to incorporate SIMODRIVE POSMO A as DP standard slave in its PROFIBUS configuration. If the third–party master system allows a GSD file to be directly incor- porated, then the file for the DP slave can be directly copied into the appropriate sub–directory.
Page 134: Description Of The Functions
Description of the Functions Operating mode (from SW 2.0) SIMODRIVE POSMO A can be either parameterized in the ”position- ing” or ”speed setpoint” mode. Mixed operation is not supported. Speed setpoint In the ”speed setpoint” mode (n–set mode) a speed setpoint can be (P700 = 1) entered via PROFIBUS–DP;...
Page 135 Hardware limit switch (from SW 2.0) Note The factory setting is the ”positioning” mode! Reader’s note Information on the various functions, refer to Chapter 5. E Siemens AG 2013 All Rights Reserved 5-134 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 136: Speed Setpoint" Mode (P700 = 1) (From Sw 2.0)
P970. This allows a defined initial status to be achieved. Reader’s note Closed–loop control structure for the speed setpoint interface, refer to Chapter 3.3.2. E Siemens AG 2013 All Rights Reserved 5-135 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 137: Ramp-Function Generator
P1 may not be set to zero in ”speed setpoint” mode so that no more traversing range limits can be activated. Referencing is not possible. E Siemens AG 2013 All Rights Reserved 5-136 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 138 = t – t Delay time P1427: Ifnt > P1427, then ”ramp–up completed” (ZSW.10 = 1) Fig. 5-2 Signal characteristics for the ramp–function generator E Siemens AG 2013 All Rights Reserved 5-137 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 139: Direction Of Rotation Reversal
At standstill, the speed controller gain (P17) is changed–over to P54 (P gain, speed controller standstill). We recommend that the factory default setting of P54 = 2 remains unchanged. E Siemens AG 2013 All Rights Reserved 5-138 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 140 The status word is used to feed back the terminal signal Status word (n–set). ––> ZSW.11: Feedback signal, terminal 1 ––> ZSW.12: Feedback signal, terminal 2 E Siemens AG 2013 All Rights Reserved 5-139 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 141: Programming The Traversing Blocks (Only In The Pos Mode, P700 = 2)
5.3.1 Overview of the traversing blocks and programs Traversing blocks There are a total of 27 traversing blocks for SIMODRIVE POSMO A. and programs The components are emulated in parameters and the traversing blocks in sub–parameters. The sub–parameter number corresponds to the traversing block number.
Page 142 Block 23 – 27 8 Program 2 Block 18 – 22 8 Program 1 Block 13 – 17 Note: refer to Table 5-1 E Siemens AG 2013 All Rights Reserved 5-141 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 143 1) Traversing block 1: Traverse with maximum speed and maximum acceleration in a negative direction 2) Traversing block 2: Traverse with maximum speed and maximum acceleration in a positive direction E Siemens AG 2013 All Rights Reserved 5-142 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 144 Traversing blocks 3 to 27: Closed–loop position contr. operation: Accel. = P83:x S P25 S P22 5) Negative value: ––> Reversal of the motor direction E Siemens AG 2013 All Rights Reserved 5-143 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 145 100 POSITIONING ABSOLUTEPath controlled operation POSITIONING ABSOLUTEPrecise stop Example: Traversing type Program with 3 traversing blocks Brake application point –33 Block 1 Block 2 Block 3 E Siemens AG 2013 All Rights Reserved 5-144 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 146 ”Execute block” is present. Program end when the end of the block is reached Program stop Program stop (from SW 1.2) No response E Siemens AG 2013 All Rights Reserved 5-145 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 147 (from SW 1.4) lated and traversed. Programming the traversing direction using the velocity sign is ineffective when the function is active (refer to Chapter 5.5.3). E Siemens AG 2013 All Rights Reserved 5-146 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 148 Start bit = 1 Start bit = 0 Block 1 Block 2 nt (P80:13 = 1) nt is the timer value of block 1 E Siemens AG 2013 All Rights Reserved 5-147 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 149 Bit 9 = 1 (set reference position) or Bit 10 = 1 (flying actual value setting) or Bit 11 = 1 (flying measurement) Reserved – – – E Siemens AG 2013 All Rights Reserved 5-148 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 150 Note: MMPos is ineffective when the ”set reference position” (PSW.9 = 1) or ”flying actual value setting” (PSW.10 = 1) function is activated. E Siemens AG 2013 All Rights Reserved 5-149 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 151 – trol word (PSW). This means, for example, in the speed controlled closed–loop range, the target position is ignored. position controlled E Siemens AG 2013 All Rights Reserved 5-150 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 152: Selecting And Controlling Traversing Blocks And Programs
Selecting and controlling traversing blocks and programs Signals for The following PROFIBUS signals are available to select and control the traversing blocks traversing blocks and programs saved in SIMODRIVE POSMO A: and programs Control signals Status signals Description, refer to Chapter 4.2.2 Description, refer to Chapter 4.2.1...
Page 153: Behavior Of Speed-Controlled Traversing Blocks
(P24) is set to zero the control word STW.5 is set to zero (intermediate stop), then the SIMODRIVE POSMO A remains in speed control and regulates the speed to zero, regardless of the current actual position of the axis.
Page 154: Operating Modes (Only The Pos Mode)
5 Description of the Functions 5.4 Operating modes (only the pos mode) Operating modes (only the pos mode) As standard, SIMODRIVE POSMO A is in the automatic mode. The operating mode can be changed using the bits in the control word. 5.4.1...
Page 155: Manual Data Input (Mdi)
5.4.2 Manual Data Input (MDI) Description For SIMODRIVE POSMO A, the MDI mode is replaced when selecting a single traversing block. New coordinates are programmed by overwriting one of the traversing blocks which is then transferred at the next start.
Page 156: Simodrive Posmo A Functions
1) The actual position to be written is corrected by the distance which was traveled since the last zero mark. 2) This function must be emulated using the existing traversing blocks (refer to the following examples). E Siemens AG 2013 All Rights Reserved 5-155 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 157 Suitable measures must be implemented in the system (e.g. hardware limit switches) in order to avoid injury to personnel and damage to the machine. E Siemens AG 2013 All Rights Reserved 5-156 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 158 P40 tion actual value). For a stationary axis, this position is accepted as position actual value, and after this, SIMODRIVE POSMO A is considered to have been ref- erenced. Move, e.g. using ”jogging” to the required axis position. Reference the positioning motor by writing the actual value, valid for this axis position, into P40 (position actual value).
Page 159 Set the ”stop referencing” depending on ”reference point set” (ZSW.11). Reader’s note ”Travel to fixed stop” function refer to Chapter 5.5.3 E Siemens AG 2013 All Rights Reserved 5-158 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 160 Start program As soon as ZSW.14 = ”0” (outside traversing block) is signaled, the reference point can be set with STW.11 (start referencing/stop refer- E Siemens AG 2013 All Rights Reserved 5-159 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 161 A cam length should be selected so that the axis brakes from the approach velocity to the shutdown velocity while still at the cam. E Siemens AG 2013 All Rights Reserved 5-160 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 162 Start program As soon as ZSW.14 = ”0” (outside traversing block) is signaled, the reference point can be set with STW.11 (start referencing/stop refer- E Siemens AG 2013 All Rights Reserved 5-161 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 163 Remedy: The referencing program should be modified so that the axis initially moves away from the cam. E Siemens AG 2013 All Rights Reserved 5-162 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 164 Reference to occurring zero mark, start in front of the cam Referencing is performed at the zero mark occurring after leaving the cam. E Siemens AG 2013 All Rights Reserved 5-163 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 165 The reference dialog allows the configuration of a referencing program with 4 traversing blocks, in accordance with the diagrams shown in the dialog. E Siemens AG 2013 All Rights Reserved 5-164 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 166 The pulses should be cancelled before switching–off the load and electronics power supply (e.g. using STW.1 = 0). E Siemens AG 2013 All Rights Reserved 5-165 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 167: Flying Measurement/Actual Value Setting (From Sw 1.4)
––> set PSW.11 to ”1” 4. Read the measured value after a 0/1 signal edge has been detected ––> P62 (measuring position) = measured position value E Siemens AG 2013 All Rights Reserved 5-166 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 168 1. Connect the signal transmitter to digital input 1 (X5 terminal I/Q1) ––> the signal transmitter must be high active ––> refer to Chapter 2.3 and 2.4 E Siemens AG 2013 All Rights Reserved 5-167 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 169 The program can be started under the ”Control” tab, entry ”Automatic”. The program with the number of the start block must be selected to do this. E Siemens AG 2013 All Rights Reserved 5-168 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 170 BERO outputs a signal via the digital input, the program with block 11 is continued without a position having been measured. E Siemens AG 2013 All Rights Reserved 5-169 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 171 ––> set PSW.10 to ”1” 4. Enter the value for ”actual value setting” ––> P85:28 (signaled position) = required actual value E Siemens AG 2013 All Rights Reserved 5-170 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 172 If the subsequent traversing blocks are configured as absolute blocks, these are only executed if the ”flying actual value setting” was success- ful in traversing block number 9. E Siemens AG 2013 All Rights Reserved 5-171 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 173 This means that before the start of the program, the POSMO A must always be ”de–referenced” (P98 = 0). E Siemens AG 2013 All Rights Reserved 5-172 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 174: Travel To Fixed Stop
Limit the traversing velocity to a value which is significantly below the maximum velocity at the rated speed. E Siemens AG 2013 All Rights Reserved 5-173 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 175 1/10 rad, in other words about 6 degrees. The user must check whether this much twisting can be accepted. E Siemens AG 2013 All Rights Reserved 5-174 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 176 P81:4 = 520 ––> the axis moves in the positive direction through P81:4 = –10 ––> the axis moves in the negative direction through 10 – Velocity Velocity: is entered via P82:28 E Siemens AG 2013 All Rights Reserved 5-175 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 177 Software limit switch, start (refer to Chapter 5.6.2) Software limit switch, end The software limit switches are de–activated with P6 = P7. E Siemens AG 2013 All Rights Reserved 5-176 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 178: Backlash Compensation And Correction Direction (From Sw 1.4)
Note down the actual position 2 (read P40) The backlash is obtained from the difference between actual position 1 and actual position 2. E Siemens AG 2013 All Rights Reserved 5-177 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 179 The backlash value becomes effective immediately and is taken into account in the display. Parameter Backlash compensation (refer to Chapter 5.6.2) E Siemens AG 2013 All Rights Reserved 5-178 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 180: Jerk Limitation
P23 = T [s] = Time r [mm/s Jerk time Velocity Fig. 5-14 Jerk limitation Parameter Jerk time constant (refer to Chapter Maximum acceleration 5.6.2) E Siemens AG 2013 All Rights Reserved 5-179 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 181: Changeover, Metric/Inch
Traversing in the posi- Clockwise Counter–clockwise tive direction Traversing in the nega- Counter–clockwise Clockwise tive direction Parameter Gearbox ratio (refer to Chapter 5.6.2) E Siemens AG 2013 All Rights Reserved 5-180 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 182: Zero Speed Monitoring
Switching–off When the next block is started, the standstill monitoring is disabled. Parameter Target range (refer to Chapter Monitoring time 5.6.2) Standstill range E Siemens AG 2013 All Rights Reserved 5-181 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 183: Digital I/O
5.5 SIMODRIVE POSMO A functions 5.5.10 Digital I/O Description For SIMODRIVE POSMO A, there are 2 freely–parameterizable input/ output terminals. The function of a terminal is defined by appropriately parameterizing it. Designation of the input/output terminals (refer to Chapter 2.3.1) –...
Page 184 ––> parameter value = 74 + 128 = 202 (refer to Chapter 5.6.2) ––> set P31 to 202 ––> a signal is set at the terminal if SIMODRIVE POSMO A is not referenced. Signaling the terminal state (from SW 1.4)
Page 185: Jogging Without Profibus And Parameterization (From Sw 1.4)
Chapter 5.4.1 Stand–alone mode is possible as usual after configuration of a PROFIBUS node address 0 0 or 0 127 (refer to Chapter 5.5.12). E Siemens AG 2013 All Rights Reserved 5-184 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 186: Standalone Mode (Without Bus Communication) (From Sw 1.2)
The terminal signals remain active with the highest priority. A maximum of ten traversing blocks in the range 3 to 27 can be preset with SIMODRIVE POSMO A in P101:11 for the standalone mode. These specified blocks are then processed consecutively in standalone mode.
Page 187 ––> jogging is effective before repeating block 7 Parameter P100 Control word simulation (refer to Chapter P101:11 Block sequence in standalone mode 5.6.2) E Siemens AG 2013 All Rights Reserved 5-186 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 188: Holding Brake (From Sw 1.4)
= Opening time = Closing time Fig. 5-16 Terminology (time) for holding operation Reader’s note Technical data, refer to Chapter 2.6.2, Table 2-7. E Siemens AG 2013 All Rights Reserved 5-187 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 189 – PROFIBUS Control signal STW.15 Open holding brake Output signal – Output terminal (X5, I/Q1, I/Q2) Function number 95 Control external holding brake E Siemens AG 2013 All Rights Reserved 5-188 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 190 Ä Ä Ä Ä Ä Time to open the holding brake Fig. 5-17 Opening the brake: Behavior when the status changes from ”ready” to ”operation enabled” E Siemens AG 2013 All Rights Reserved 5-189 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 191 The controller inhibit time should be harmonized so that the closed– setting loop control is only withdrawn after the brake has been closed. This prevents an axis from possibly sagging. E Siemens AG 2013 All Rights Reserved 5-190 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 192 Warning When this type of braking is used, it subjects the holding brake to mechanical wear and therefore should only be seldomly used. E Siemens AG 2013 All Rights Reserved 5-191 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 193 P6 or P7). Does the axis sag (drop slightly)? ––> yes, then increase the controller inhibit time (P61) ––> no, then the settings are OK E Siemens AG 2013 All Rights Reserved 5-192 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 194 P32 = 95 Terminal 2 as output with the ”control external holding brake” function Fig. 5-20 Example: Integrated holding brake – external holding brake E Siemens AG 2013 All Rights Reserved 5-193 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 195 The axis is braked down to the maximum velocity set using P28 (maximum velocity). The following fault is signaled: – Fault 706/707 software limit switch, start/end – Supplementary info 911 hardware limit switch, passed/reached E Siemens AG 2013 All Rights Reserved 5-194 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 196 For a linear axis or rotary axis with modulo correction, the following is valid: ––> the software limit switches can be activated via P6<P7 and set via P6 and P7. E Siemens AG 2013 All Rights Reserved 5-195 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 197 In the jog mode or via velocity, move away in a direction opposite to the approach direction withdraw the controller enable (OFF1) and ”manually” move the drive. E Siemens AG 2013 All Rights Reserved 5-196 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 198: Telegram Substitution (From Sw 3.0)
STW.10 = 1. Also in this case, PZD data must be sent from the same master type as before the connection was interrupted. E Siemens AG 2013 All Rights Reserved 5-197 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 199 Response for The drive behavior is compatible to previous software releases. P701 = 0 PZD data is always evaluated independently of STW.10. (factory default) E Siemens AG 2013 All Rights Reserved 5-198 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 200: Parameters For Simodrive Posmo A
The majority of the parameters required when commissioning the information system for the first time are, for SIMODRIVE POSMO A, already pre- set in the factory (factory default setting). All of the motor, power module and encoder data are known because of the fixed hardware.
Page 201 5 Description of the Functions 02.99 04.01 5.6 Parameters for SIMODRIVE POSMO A Setting the factory The factory setting of parameters for SIMODRIVE POSMO A can be default re–established if required. Establish the factory default setting? Set P970 from 1 to 0 Download is automatically acknowledged with P970 = 1 The parameters are now in the volatile memory (RAM).
Page 202 The complete list is updated corresponding to the Edition of the documentation (refer to the Edition status in the header line) and corresponds to the software release of SIMODRIVE POSMO A documented here. The parameters that are dependent on the software release are appropriately identified.
Page 203 5 Description of the Functions 02.99 04.01 08.06 10.07 05.13 5.6 Parameters for SIMODRIVE POSMO A Parameter list The following parameters are available for SIMODRIVE POSMO A: Version: 05.03.02 P0001 / 01 Axis type 300W Standard Unit Data type Effective 200000 immed.
Page 204 In addition to the preceding formulas the following condition applies for parameter P2: The travel per gear revolution P2 must be less than or equal to the rotary axis circumference P1 (P2 P1). E Siemens AG 2013 All Rights Reserved 5-203 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 205 Data type Effective –200000 200000 immed. The parameter specifies the position at the reference point. Note: The parameter value can be changed while traversing. E Siemens AG 2013 All Rights Reserved 5-204 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 206 The ramp-up time can be changed with immediate effect in the ”Speed setpoint” operating mode. This is also possible when the drive is moving. E Siemens AG 2013 All Rights Reserved 5-205 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 207 Data type Effective 200000 200000 immed. Tolerance range for the closed-loop position control at standstill. Note: The parameter value can be changed while traversing. E Siemens AG 2013 All Rights Reserved 5-206 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 208 Note: The parameter value can be changed while traversing. The following applies before SW 1.2: Max. value = 40 Also refer to P54 E Siemens AG 2013 All Rights Reserved 5-207 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 209 Unit Data type Effective 1000 200000 MSR/s immed. Max. acceleration for closed-loop position controlled operation. Note: This parameter has a gearbox-dependent factory default. E Siemens AG 2013 All Rights Reserved 5-208 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 210 300W 075W Standard Unit Data type Effective 8192 16384 immed. Refer to P9 (acceleration time). Is calculated in addition to P25 (override acceleration). E Siemens AG 2013 All Rights Reserved 5-209 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 211 The following applies from SW 2.0: The meaning of terminal parameterization depends on the operating mode (P930). Parameters with different meanings are marked. E Siemens AG 2013 All Rights Reserved 5-210 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 212 Speed setpoint operating mode: No function 24 I (STB.6) Positioning operating mode: Accept value directly in start byte (bit 6). Speed setpoint operating mode: No function E Siemens AG 2013 All Rights Reserved 5-211 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 213 88 O (RMB.1) Positioning operating mode: Accept value directly from checkback byte (bit 1) (SW 1.2 and higher). Speed setpoint operating mode: No function E Siemens AG 2013 All Rights Reserved 5-212 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 214 FC6A Position actual value FC32 Current actual value FC38 I set (speed controller) FC3A I set (smoothed) Note: The parameter value can be changed while traversing. E Siemens AG 2013 All Rights Reserved 5-213 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 215 Position setpoint 300W 075W Standard Unit Data type Effective – – – This parameter specifies the position setpoint in the selected unit of measurement. E Siemens AG 2013 All Rights Reserved 5-214 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 216 This parameter serves to monitor the electronics temperature in the >0 range to avoid possi- ble overheating of the module. Temperatures in the negative temperature range are not monitored and not correctly displayed. E Siemens AG 2013 All Rights Reserved 5-215 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 217 Data type Effective – – – – The parameter indicates the firmware version of the drive. Example: = 10202 ––> Firmware version 01.02.02 E Siemens AG 2013 All Rights Reserved 5-216 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 218 The speed controller is always active in the ”Speed setpoint” operating mode (P930). Bit 2 has no meaning here. P54 is effective at zero speed. E Siemens AG 2013 All Rights Reserved 5-217 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 219 Refer to P56.2 075W Standard Unit Data type Effective – immed. P gain for axis standstill. Note: Refer to P56.2 Available from SW 1.3. E Siemens AG 2013 All Rights Reserved 5-218 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 220 The program control word defines the general behavior of a traversing block. Bit 0 Motion type = 1: Enter position and velocity = 0: Enter speed E Siemens AG 2013 All Rights Reserved 5-219 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 221 This function is valid only for the following traversing block (after skipping the following traversing block, the started delay time is no longer evaluated). E Siemens AG 2013 All Rights Reserved 5-220 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 222 Standard Unit Data type Effective 16384 16384 immed. The parameter specifies the acceleration in the traversing block. Note: Refer to P81:28 (target position). E Siemens AG 2013 All Rights Reserved 5-221 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 223 If one of the bits is withdrawn, traversing motion stops and the block is ended. Note: Value 0 de-activates the function. Refer to P81:28 (target position). E Siemens AG 2013 All Rights Reserved 5-222 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 224 P99:2 ––> start, program 2 (standard value = 18) P99:3 ––> start, program 3 (standard value = 23), etc. Note: The parameter value can be changed while traversing. E Siemens AG 2013 All Rights Reserved 5-223 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 225 Before changing the operating mode load factory default setting via P970. This allows achieving a pre-defined initial status. Available with software version 2.0 and higher. E Siemens AG 2013 All Rights Reserved 5-224 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 226 This parameter defines the normalization as to which speed sets in at the gear output when a setpoint of 1000h (4096d) is specified via the control word (STW). E Siemens AG 2013 All Rights Reserved 5-225 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 227 The description of the warnings, how they can be acknowledged as well as a list of all the war- nings is provided in Section ”Fault handling and diagnostics”. Refer to the index entry ”Warnings”. E Siemens AG 2013 All Rights Reserved 5-226 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 228 Help ––> Help topics ––> Index ––> PROFIBUS diagnostics User Manual: Bit assignment, refer to Section ”Communications via PROFIBUS-DP”. Refer to the index entry ”Process data”. E Siemens AG 2013 All Rights Reserved 5-227 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 229 The speed setpoint is transferred using these bits in the ”Speed setpoint” operating mode (P930). The setpoint specifies the speed at the gear output. E Siemens AG 2013 All Rights Reserved 5-228 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 230 ”Speed within tolerance band” is output (ZSW.8). Note: This parameter is visible in SimoCom A only in operating mode ”Speed setpoint” (P930). Available with software version 2.0 and higher. E Siemens AG 2013 All Rights Reserved 5-229 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 231 18.0 Planetary Planetary 2060 11.11 gearbox gearbox 2061 126.5625 2062 126.5625 9.48 2063 2064 6000 18.0 Worm Worm 2065 1250 gearbox gearbox 2066 E Siemens AG 2013 All Rights Reserved 5-230 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 232 Table 5-10. P964:7 (gearbox code) can only be changed with ”SimoCom A” using the drive configuration. E Siemens AG 2013 All Rights Reserved 5-231 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 233 5 Description of the Functions 02.99 04.01 10.07 5.6 Parameters for SIMODRIVE POSMO A Space for your notes E Siemens AG 2013 All Rights Reserved 5-232 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 234: Fault Handling And Diagnostics
P701 = 1 (telegram substitution activated) and the re- ceived STW.10 = 0. The drive is presently using the last valid STW (with STW.10 = 1). E Siemens AG 2013 All Rights Reserved 6-233 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 235 Warning 800 ZSW.7 (warning present) P953.15 Warning 815 P954.0 Supplementary information 900 ... (from SW ZSW.3 or ZSW.7 1.4) Supplementary information 915 P954.15 E Siemens AG 2013 All Rights Reserved 6-234 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 236 If the status signal ZSW.3 (fault effective) is not ”0”, then the above points should be repeated for the fault or faults that are still present. SIMODRIVE POSMO A can only resume normal operation after all of the faults that are present have been acknowledged.
Page 237: 6.2 Faults And Warnings
If the status signal ZSW.7 (warning effective) is not ”0”, then the above points must be repeated for the warning or warnings that are still present. Warnings are described in detail in Chapter 6.2.2. E Siemens AG 2013 All Rights Reserved 6-236 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 238 Replacing the positioning motor ––> refer to Chapter 7.1 Replacing the drive unit (only POSMO A – 300 W) ––> refer to Chapter 7.3.2 E Siemens AG 2013 All Rights Reserved 6-237 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 239: List Of Faults And Warnings
The complete list is updated corresponding to the Edition of the documentation (refer to the Edition status in the header line) and corresponds to the software release of SIMODRIVE POSMO A documented here. The individual faults and warnings are not designated as a function of the software release.
Page 240 The fault can be changed-over to a warning using P30 (fault suppression). Remedy Check P14 (standstill area). Acknowledgement Remove cause, set STW.7 = 1/0 and STW.0 = 0/1 Stop response Pulse suppression E Siemens AG 2013 All Rights Reserved 6-239 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 241 Check P7 (software limit switch, end). Acknowledgement Remove cause, set STW.7 = 1/0 and STW.0 = 0/1 Stop response Braking with maximum acceleration (P22) E Siemens AG 2013 All Rights Reserved 6-240 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 242 POSMO A 300W : Replace the drive unit. Acknowledgement Remove cause, set STW.7 = 1/0 and STW.0 = 0/1 Stop response Pulse suppression E Siemens AG 2013 All Rights Reserved 6-241 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 243 The drive is not referenced. Remedy Reference drive. Acknowledgement Remove cause, set STW.7 = 1/0 and STW.0 = 0/1 Stop response Pulse suppression E Siemens AG 2013 All Rights Reserved 6-242 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 244 The motor was moved out of the standstill area (P14) in the closed-loop controlled status. Note: The warning is only signaled if the appropriate fault is suppressed. Remedy – Acknowledgement not required Stop response None E Siemens AG 2013 All Rights Reserved 6-243 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 245 The warning is only signaled if the appropriate fault is suppressed. Remedy Move away in the opposite direction. Check P7 (software limit switch, end). Acknowledgement not required Stop response None E Siemens AG 2013 All Rights Reserved 6-244 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 246 A block with absolute position data can only be started for a referenced drive. Remedy Reference drive. Acknowledgement not required Stop response None E Siemens AG 2013 All Rights Reserved 6-245 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 247 SITOP: The load voltage was powered-down when braking due to over- voltage. Remedy Increase load power supply rating. SITOP: Provide regenerative feedback protection. Acknowledgement not required Stop response None E Siemens AG 2013 All Rights Reserved 6-246 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 248 Axis has still not been moved Cause The axis was still not moved after power-on. Remedy – Acknowledgement not required Stop response None E Siemens AG 2013 All Rights Reserved 6-247 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 249 Remedy For drives turning endlessly, a modulo value must be entered in Para- meter 1. Acknowledgement not required Stop response None E Siemens AG 2013 All Rights Reserved 6-248 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 250 Parameterize reference points only in such a way that they are not po- sitioned on the limit values of the adaptation band. Acknowledgement not required Stop response None E Siemens AG 2013 All Rights Reserved 6-249 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 251: Analog Test Outputs
6.3 Analog test outputs Analog test outputs Description Analog test outputs are provided at the rear of the SIMODRIVE POSMO A which are only accessible after the cover has been unscrewed. Caution Measurements may only be made in exceptional cases by appropriately trained personnel.
Page 252 2.5 V is output for ”0”. A shift factor change of +1 corresponds to doubling the value A shift factor change of –1 corresponds to halving the value E Siemens AG 2013 All Rights Reserved 6-251 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 253: Bus Monitor Amprolyzer For Profibus-Dp
The self–extracting EXE file can be downloaded. For more information on the AMPROLYZER bus monitor, please refer to the information in the Internet and the files supplied. E Siemens AG 2013 All Rights Reserved 6-252 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 254: Installation And Service
– cover all of the open components. 5. Unscrew the complete defective positioning motor together with the gearbox. 6. Bolt on the new complete SIMODRIVE POSMO A. Before installing, clean the shaft ends thoroughly of anti–corrosion agents with a typi- cal solvent.
Page 255 Product group: SIMODRIVE Note If the ”old” connection cover of the SIMODRIVE POSMO A is not defective, then it should be left at the mounting location and should then be re–mounted on the ”new” positioning motor with the existing wiring.
Page 256: Mounting Or Replacing A Gearbox (Only Relevant For 300 W Motors)
– Clean the mounting surface and remove any possible damage (e.g. impressions in the mating surfaces, burs) – Apply a sealing agent to the motor flange E Siemens AG 2013 All Rights Reserved 7-255 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 257 If another gearbox has been mounted, the gearbox–dependent parameters no longer match the gearbox being used and these parameters must be appropriately changed. ––> Refer to Chapter 5.6.3 E Siemens AG 2013 All Rights Reserved 7-256 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 258 Spare parts for SIMODRIVE POSMO A 7.3.1 List of spare parts for the 300 W motors What spare parts The following spare parts are available for SIMODRIVE POSMO A – 300 W: are there? Drive unit 6SN2157–0AA01–0BA1 300 W connection module...
Page 259: Drive Unit As Spare Part (Only The 300 W Motor)
Size 4 (1.0 x 6.5) – Allen key SW 3 2. New drive unit 3. Parameter sets of the old drive unit (save and make available) E Siemens AG 2013 All Rights Reserved 7-258 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 260 Refer to Chapter 7.1 under ”Address to return the positioning motor” for the drive unit the address of the regional spare parts department that is responsible (300 W motor) for you. E Siemens AG 2013 All Rights Reserved 7-259 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 261 Torx T10 max. 1.8 Nm Drive unit not to scale Fig. 7-2 Replacing the connection module, e. g. SIMODRIVE POSMO A – 75 W What is required to The following are required to replace the connection module: replace the con- 1.
Page 262 – Tool Screwdriver, Size 4 (1,0 x 6,5) 7. Connect the power and signal cables (refer to Chapter 2.3.1) 8. Test the positioning motor E Siemens AG 2013 All Rights Reserved 7-261 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 263 7 Installation and Service 04.01 10.07 7.3 Spare parts for SIMODRIVE POSMO A Space for your notes E Siemens AG 2013 All Rights Reserved 7-262 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 264: List Of Abbreviations
Electrostatic Discharge Sensitive Devices: components sensitive to electrostatic discharge Function block FLASHEPROM Flash EPROM: Memory which can be read and written into Fiber–optic cable E Siemens AG 2013 All Rights Reserved A-263 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 265 PROFIBUS parameter format nact Speed actual value Standard zero (average sea level) nset Speed setpoint Output Output Byte Operating Condition Output word Output E Siemens AG 2013 All Rights Reserved A-264 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 266 Program Memory, i.e. program memory that can be read and written to Relative Checkback signal byte Read Only Continuous duty Intermittent duty Siemens Standard Block number Interfaces E Siemens AG 2013 All Rights Reserved A-265 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 267 Verband Deutscher Elektrotechniker [Association of German Electrical Engineers] Verein Deutscher Ingenieure [Association of German Engineers] Supply voltage xact Position actual value xset Position setpoint value Status word E Siemens AG 2013 All Rights Reserved A-266 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 268 Automation with STEP 7 in STL /STEP7/ SIMATIC S7–300/400 Programmable Logic Controllers SIEMENS; Publicis MCD Verlag; Hans Berger Order No.: A19100–L531–B665 ISBN 3–89578–036–7 E Siemens AG 2013 All Rights Reserved B-267 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 269 Order No.: 6SN2 197–0AA00–1BP1 SIMODRIVE POSMO A (08.03 Edition) /POS2/ Installation Instructions 75/300 W motor (is provided with each drive) Order No.: On request E Siemens AG 2013 All Rights Reserved B-268 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 270: B References
The current Declaration of Conformity is in the Internet under http://support.automation.siemens.com Please enter here the ID number: 15257461 in the field ’Search’ (top right) and then click on ’go’. E Siemens AG 2013 All Rights Reserved B-269 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 272: Dimension Drawings
Dimension Drawings Dimension drawings for SIMODRIVE POSMO A – 75W The dimension drawings for the SIMODRIVE POSMO A – 75W posi- Contents tioning motor with the following gearboxes are provided in this chapter: Motor without gearbox ––> refer to Fig. C-1 Motor with planetary gearbox, stages 1, 2, 3 ––>...
Page 273 08.03 08.04 C.1 Dimension drawings for SIMODRIVE POSMO A – 75W Fig. C-1 Dimension drawing: SIMODRIVE POSMO A – 75 W without gearbox E Siemens AG 2013 All Rights Reserved C-272 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 274 C Dimension Drawings C.1 Dimension drawings for SIMODRIVE POSMO A – 75W Fig. C-2 Dimension drawing: SIMODRIVE POSMO A – 75 W with planetary gearbox E Siemens AG 2013 All Rights Reserved C-273 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 275 08.03 08.04 C.1 Dimension drawings for SIMODRIVE POSMO A – 75W Fig. C-3 Dimension drawing: SIMODRIVE POSMO A – 75W with worm gearbox E Siemens AG 2013 All Rights Reserved C-274 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 276: Dimension Drawings For Simodrive Posmo A - 300W
C.2 Dimension drawings for SIMODRIVE POSMO A – 300W Dimension drawings for SIMODRIVE POSMO A – 300W Contents The dimension drawings for the SIMODRIVE POSMO A – 300W posi- tioning motor with the following gearboxes are provided in this chapter: Motor without gearbox ––>...
Page 277 02.99 08.04 C.2 Dimension drawings for SIMODRIVE POSMO A – 300W Fig. C-4 Dimension drawing: SIMODRIVE POSMO A – 300 W without gearbox E Siemens AG 2013 All Rights Reserved C-276 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 278 C Dimension Drawings C.2 Dimension drawings for SIMODRIVE POSMO A – 300W Fig. C-5 Dimension drawing: SIMODRIVE POSMO A – 300W with planetary gearbox (1–stage, 2–stage) E Siemens AG 2013 All Rights Reserved C-277 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 279 08.04 C.2 Dimension drawings for SIMODRIVE POSMO A – 300W Fig. C-6 Dimension drawing: SIMODRIVE POSMO A – 300W with planetary gearbox (3–stage) E Siemens AG 2013 All Rights Reserved C-278 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 280 06.05 C Dimension Drawings C.2 Dimension drawings for SIMODRIVE POSMO A – 300W Fig. C-7 Dimension drawing: SIMODRIVE POSMO A – 300 W extension set ”separate version” without gearbox E Siemens AG 2013 All Rights Reserved C-279 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 281 02.99 06.05 C.2 Dimension drawings for SIMODRIVE POSMO A – 300W Fig. C-8 Dimension drawing: SIMODRIVE POSMO A – 300 W extension set ”separate version” with planetary gearbox (1–stage, 2–stage) E Siemens AG 2013 All Rights Reserved C-280 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 282 06.05 C Dimension Drawings C.2 Dimension drawings for SIMODRIVE POSMO A – 300W Fig. C-9 Dimension drawing: SIMODRIVE POSMO A – 300 W extension set ”separate version” with planetary gearbox (3–stage) E Siemens AG 2013 All Rights Reserved C-281 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 283 C Dimension Drawings 02.99 10.07 C.2 Dimension drawings for SIMODRIVE POSMO A – 300W Space for your notes E Siemens AG 2013 All Rights Reserved C-282 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 284: Ec Declaration Of Conformity
POSMO A is provided in the following. The complete EC Declaration of Conformity can be found as follows: Reference: /EMC/ EMC Configuring Guidelines E Siemens AG 2013 All Rights Reserved D-283 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 286 08.02 10.07 D EC Declaration of Conformity Fig. D-2 Annex A to the EC Declaration of Conformity (excerpt) E Siemens AG 2013 All Rights Reserved D-285 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 287 D EC Declaration of Conformity 08.02 10.07 Fig. D-3 Annex C to the EC Declaration of Conformity (excerpt) E Siemens AG 2013 All Rights Reserved D-286 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 288 75/300 W motor, 1-23, 2-45, 2-48 from below, 2-45 C1 master, 4-99, 4-111, 4-114 from the top, 2-44 C2 master, 4-99, 4-111, 4-114 Withdraw/insert under voltage, 2-36 E Siemens AG 2013 All Rights Reserved E-287 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 289: E Index
2–stage, C-280 FB 12 (PARAMETER- with planetary gearbox 3–stage, C-281 IZE_ALL_POSMO_A, from 05.00), without gearbox, C-279 3-78 Direction of rotation definition, motor, 5-153 E Siemens AG 2013 All Rights Reserved E-288 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 290 Kv factor (position loop gain)-, 3-92 Hotline, iv LED display, 6-233 i2t characteristic, 2-36 Linear axis, 3-89 Importing station GSD, 4-132 Individual traversing blocks, 5-141 E Siemens AG 2013 All Rights Reserved E-289 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 291 (300 W motor), 7-259 ule), 2-38, 2-39 MSR (dimension system grid), 5-201 for SITOP power module 48V/20A, 2-33 for spare parts, 7-257 E Siemens AG 2013 All Rights Reserved E-290 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 292 Path controlled operation, 5-144 Node address (station address), 2-45, PELV, 2-50 2-48 Personnel – Qualified?, ix Terminating resistor, 2-45, 2-48, 2-49 PG gland, 2-56 E Siemens AG 2013 All Rights Reserved E-291 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 293 SW limit switches-, 5-195 S1 continuous duty, 2-65, 2-68 System overview, 2-29 S1 switch S1, 2-45, 2-48 System requirements, 2-30 S3 intermittent duty, 2-65, 2-68 E Siemens AG 2013 All Rights Reserved E-292 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...
Page 294 SIMODRIVE POSMO A General Documentation/Catalogs SINUMERIK SIMODRIVE Catalog Catalog Catalog DA 65.4 SL 01 System Solutions KT 10.1 Power supplies SIMODRIVE 611 universal SITOP power IK PI Industrial Communication and POSMO and Field Devices ST 70 SIMATIC Catalog NC 60...
Page 295 UL approval, viii, 1-27, 2-31 Unit, 5-201 Using the manual, v Zero mark, 5-156, 5-159, 5-161 Zero speed monitoring, 5-181 Varistor, 1-27, 2-31 E Siemens AG 2013 All Rights Reserved E-293 SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition...

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