Page 1 ______________ Overview SIMATIC ET 200S ET 200S Positioning ______________ 1STEP 5V/204kHz ______________ 1PosInc/Digital SIMATIC ______________ 1PosInc/Analog ET 200S Positioning ______________ 1PosSSI/Digital ______________ 1PosSSI/Analog Operating Instructions ______________ 1PosUniversal/Digital 05/2007 A5E00124871-04...
Page 2 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 3: Table Of Contents
Table of contents Overview..............................13 1STEP 5V/204kHz........................... 15 Product overview .........................15 Example: Commissioning 1STEP 5V/204kHz ................16 Terminal Assignment Diagram.....................21 Safety concept ..........................23 Fundamentals of Positioning......................24 2.5.1 Overview ............................24 2.5.2 Parameters and Settings ......................25 2.5.3 Traversal Curve of the 1STEP 5V/204kHz ..................26 2.5.4 Setting the Base Frequency......................29 Functions of the 1STEP 5V/204kHz ....................31...
Page 4 Table of contents 1PosInc/Digital............................53 Product overview......................... 53 Brief Introduction to Commissioning the 1PosInc/Digital ............54 Terminal Assignment Diagram....................59 Safety concept ..........................61 Fundamentals of Controlled Positioning Using Rapid/Creep Feed ..........62 Functions of the 1PosInc/Digital ....................64 3.6.1 Overview of the Functions......................
Page 5 Table of contents 1PosInc/Analog ............................. 113 Product overview ........................113 Brief Instructions on Commissioning the 1PosInc/Analog ............114 Terminal Assignment Diagram....................120 Safety concept ...........................122 Fundamentals of Controlled Positioning Using the Analog Output..........123 Functions of the 1PosInc/Analog ....................125 4.6.1 Overview of the Functions ......................125 4.6.2 Axis, Drive and Encoder ......................129 4.6.3...
Page 6 Table of contents 1PosSSI/Digital............................189 Product overview........................189 Brief Introduction to Commissioning the 1PosSSI/Digital ............190 Terminal Assignment Diagram....................196 Safety concept .......................... 198 Fundamentals of Controlled Positioning Using Rapid/Creep Feed .......... 199 Functions of the 1PosSSI/Digital ....................201 5.6.1 Overview of the Functions......................
Page 7 Table of contents 1PosSSI/Analog ............................ 241 Product Overview........................241 Brief Instructions on Commissioning the 1PosSSI/Analog ............242 Terminal Assignment Diagram....................248 Safety concept ...........................250 Fundamentals of Controlled Positioning Using the Analog Output..........251 Functions of the 1PosSSI/Analog ....................253 6.6.1 Overview of the Functions ......................253 6.6.2 Axis, Drive and Encoder ......................257 6.6.3...
Page 8 Table of contents 1PosUniversal/Digital..........................307 Product overview........................307 Brief Instructions on Commissioning the 1PosU............... 309 Terminal Assignment Diagram....................315 Safety concept .......................... 317 Fundamentals of Controlled Positioning Using Rapid/Creep Feed .......... 318 Functions of the 1PosU......................320 7.6.1 Overview of the Functions......................320 7.6.2 Axis, Drive and Encoder......................
Page 9 Table of contents Tables Table 2-1 Terminal Assignment of the 1STEP 5V/204kHz ................21 Table 2-2 Ranges for the Start-Stop Frequency, Output Frequency, and Acceleration ......30 Table 2-3 Assignment of the Inputs (I): Feedback interface ................44 Table 2-4 Assignment of the Outputs (O): Control interface................45 Table 3-1 Causes of Errors for POS_ERR....................102 Table 3-2...
Page 10 Table of contents Figures Figure 2-1 Terminal Assignment for the Example ..................17 Figure 2-2 Design of a Positioning System with a Stepping Motor (Example)..........23 Figure 2-3 Traversal Curve of the 1STEP 5V/204kHz ................. 26 Figure 2-4 Torque Characteristic Curve of a Stepping Motor ..............27 Figure 2-5 Search for Reference, Start before REF..................
Page 11: Et 200S Positioning Operating Instructions, 05/2007, A5E00124871-04
Table of contents Figure 4-7 Schematic Diagram of the Bipolar Control of a Drive ..............129 Figure 4-8 Schematic Diagram of the Unipolar Control of a Drive ..............130 Figure 4-9 Schematic Diagram of the Status of the Run................132 Figure 4-10 Interrupting the Run by Switching Off: Directly ................134 Figure 4-11 Interrupting the Run by Switching Off: Ramp ................135 Figure 4-12...
Page 12 Table of contents Figure 6-11 Interrupting the Run by Switching Off: Ramp................263 Figure 6-12 Execution of Inching........................264 Figure 6-13 Execution of Absolute Positioning (Switch-Off Parameter: Ramp) ........... 267 Figure 6-14 Execution of Relative Positioning....................270 Figure 6-15 Changing the Acceleration Tacc During Acceleration .............. 282 Figure 6-16 Changing the Deceleration Tdec During Deceleration .............
Page 13: Overview
The index contains keywords that come up in the manual. Further Support Should you have any questions on the products described which are not answered in this documentation, please contact your local Siemens partner. Your partner can be found under: http://www.siemens.com/automation/partner...
Page 14 Technical Support The Technical Support for all the A&D products can be contacted ● Via the Web form for support request http://www.siemens.de/automation/support-request ● Phone: + 49 180 5050 222 ● Fax:+ 49 180 5050 223 Further information about our Technical Support can be found on the Internet under http://www.siemens.com/automation/service.
Page 15: 1Step 5V/204Khz
● Distance up to 1 048 575 pulses Configuration You can use either of the following to configure the 1STEP 5V/204kHz: ● A DDB file (http://www.ad.siemens.de/csi/gsd) or ● STEP7 as of version V5.0 SP3 ET 200S Positioning Operating Instructions, 05/2007, A5E00124871-04...
Page 16: Example: Commissioning 1Step 5V/204Khz
1STEP 5V/204kHz 2.2 Example : Commissioning 1STEP 5V/204kHz Example: Commissioning 1STEP 5V/204kHz Task The task of the 1STEP 5V/204kHz is to position a drive on certain predefined destinations. Using the example of an incremental run, it guides you to a functioning application in which you get to know and check a positioning operation (both hardware and software) of your 1STEP 5V/204kHz.
Page 17: Figure 2-1 Terminal Assignment For The Example
1STEP 5V/204kHz 2.2 Example : Commissioning 1STEP 5V/204kHz Installation, Wiring, and Fitting 1. Install and wire the TM-E15S24-01 terminal module (see the following figure). 2. Connect the 1STEP 5V/204kHz to the terminal module (you will find detailed instructions Distributed I/O Device on how to do this in the manual).
Page 18 1STEP 5V/204kHz 2.2 Example : Commissioning 1STEP 5V/204kHz Configuring STEP 7 via HW Config You begin by adapting the hardware configuration to your existing ET 200S station. 1. Open the relevant project in SIMATIC Manager. 2. Call the HWConfig configuration table in your project. 3.
Page 19 1STEP 5V/204kHz 2.2 Example : Commissioning 1STEP 5V/204kHz Explanation Block: FC101 //Initialize control interface L#4800; //Distance 4800 pulses DB1.DBD //Multiplier 1 for output frequency DB1.DBB //Delete limit switch etc. DB1.DBB DB1.DBW SET; DB1.DBX 5.2; //Set pulse enable DRV_EN DB1.DBX 4.0; //Set incremental mode DB1.DBX 4.1;...
Page 20 1STEP 5V/204kHz 2.2 Example : Commissioning 1STEP 5V/204kHz Testing the Configuration Start an incremental run and monitor the associated feedback. 1. Using "Monitor/Modify Variables", check the residual distance and the status bits POS (positioning in operation) and STS_DRV_EN (pulse enable). 2.
Page 21: Terminal Assignment Diagram
1STEP 5V/204kHz 2.3 Terminal Assignment Diagram Terminal Assignment Diagram Wiring rules The cables (terminals 1 and 5 and terminals 4 and 8) to the power unit must be shielded, twisted-pair cables. The shield must be supported at both ends. You use the shield contact element (Order Number: 6ES7 390-5AA00-0AA0) as a shield support.
Page 22 1STEP 5V/204kHz 2.3 Terminal Assignment Diagram View Terminal assignment Remarks The cables between the terminal module and power unit must be shielded and twisted in pairs. P, /P and D, /D are signals to RS 422. ET 200S Positioning Operating Instructions, 05/2007, A5E00124871-04...
Page 23: Safety Concept
1STEP 5V/204kHz 2.4 Safety concept Safety concept Safety Measures The following measures are imperative for the safety concept of the system. Install the items carefully, and ensure they meet the system's requirements. WARNING To avoid injury and damage to property, make sure you adhere to the following: •...
Page 24: Fundamentals Of Positioning
1STEP 5V/204kHz 2.5 Fundamentals of Positioning Fundamentals of Positioning 2.5.1 Overview Introduction Below you will find out how the individual components - the electronic module, the power unit, and the motor - affect each other. Stepping motors Stepping motors are used to position axes. They represent the simple and cost-effective solution for precision positioning tasks in wide performance ranges.
Page 25: Parameters And Settings
1STEP 5V/204kHz 2.5 Fundamentals of Positioning 2.5.2 Parameters and Settings Required Information To ensure optimum interplay between the individual components, you must provide the 1STEP 5V/204kHz with information: ● One time: during parameter configuration using your configuration software – Base Frequency F –...
Page 26: Traversal Curve Of The 1Step 5V/204Khz
1STEP 5V/204kHz 2.5 Fundamentals of Positioning 2.5.3 Traversal Curve of the 1STEP 5V/204kHz Introduction Each movement of the stepping motor is executed by the 1STEP 5V/204kHz in accordance with the following traversal curve. The 1STEP 5V/204kHz forms the fundamental parameters (start-stop frequency, output frequency, and acceleration/delay) of the traversal curve with a base frequency that you select.
Page 27: Figure 2-4 Torque Characteristic Curve Of A Stepping Motor
1STEP 5V/204kHz 2.5 Fundamentals of Positioning Maximum Frequency/Velocity of the Axis F When you choose a stepping motor, remember the following: The maximum frequency/velocity is determined by your application. At this frequency, the motor must reach a torque high enough to move its load. Note this does not mean the highest possible frequency that the motor or the power unit can tolerate.
Page 28 1STEP 5V/204kHz 2.5 Fundamentals of Positioning Acceleration/delay a The maximum permitted acceleration/delay depends on the load to be moved. The motor must reach a torque high enough to accelerate or delay the load without loss of step. Depending on the application, you must also take into account additional criteria for setting the acceleration/delay, such as smooth starting and stopping.
Page 29: Setting The Base Frequency
1STEP 5V/204kHz 2.5 Fundamentals of Positioning 2.5.4 Setting the Base Frequency Introduction Through parameter assignment, the 1STEP 5V/204kHz permits the base frequency to be set in steps. The base frequency sets the range for the start-stop frequency, the output frequency, and the acceleration.
Page 30: Table 2-2 Ranges For The Start-Stop Frequency, Output Frequency, And Acceleration
1STEP 5V/204kHz 2.5 Fundamentals of Positioning The values in the table are based on reduction factor 1. If you use the reduction factor 0.1, you can reduce the range of the values without changing the parameters. Table 2-2 Ranges for the Start-Stop Frequency, Output Frequency, and Acceleration Base Range Range...
Page 31: Functions Of The 1Step 5V/204Khz
1STEP 5V/204kHz 2.6 Functions of the 1STEP 5V/204kHz Functions of the 1STEP 5V/204kHz 2.6.1 Overview Introduction The task of the 1STEP 5V/204kHz is to position a drive on certain predefined destinations. The following functions are available to you to this purpose: ●...
Page 32 1STEP 5V/204kHz 2.6 Functions of the 1STEP 5V/204kHz SYNC Status Bit The SYNC status bit informs you that the axis has been synchronized, that is, after the correct search for reference, this status bit is set and deleted during the run. The SYNC status bit is deleted ●...
Page 33: Sequence Of Execution Of The Search For Reference
1STEP 5V/204kHz 2.6 Functions of the 1STEP 5V/204kHz 2.6.3 Sequence of Execution of the Search for Reference Steps of the Search for Reference A search for reference consists of a maximum of three sections. In the first section (1) and second section (2), the system ensures that the reference cam is found.
Page 34: Figure 2-6 Search For Reference, Start After Ref
1STEP 5V/204kHz 2.6 Functions of the 1STEP 5V/204kHz Start after REF Figure 2-6 Search for Reference, Start after REF Start at REF Figure 2-7 Search for Reference, Start at REF Start at the Limit Switch in Start Direction Figure 2-8 Start at the Limit Switch in Start Direction ET 200S Positioning Operating Instructions, 05/2007, A5E00124871-04...
Page 35: Figure 2-9 Defective Reference Cam, Start Before Ref
1STEP 5V/204kHz 2.6 Functions of the 1STEP 5V/204kHz Behavior: Defective Reference Cam with Limit Switch (Interruption of Search) Figure 2-9 Defective Reference Cam, Start before REF Figure 2-10 Defective Reference Cam, start at LIMIT_P Behavior in the Case of a Constantly Set Reference Cam without Limit Switch At the end of the first section, after 1048575 pulses have been output, the search is terminated with a cleared SYNC and POS_RCD status bit.
Page 36: Incremental Mode, Relative
1STEP 5V/204kHz 2.6 Functions of the 1STEP 5V/204kHz 2.6.4 Incremental Mode, Relative Functional Description The incremental run (incremental mode) is the main function of the 1STEP 5V/204kHz. You can use it to move the stepping motor a defined distance and so approach a set position. You can determine the direction of the run and the velocity at the start.
Page 37: Stopping The Stepping Motor
1STEP 5V/204kHz 2.6 Functions of the 1STEP 5V/204kHz 2.6.5 Stopping the Stepping Motor How the Stepping Motor Is Stopped - Caused by Displayed by Feedback Bit STOP by control bit External STOP at digital input STOP_EXT Limit switch LIMIT_P reached STOP_LIMIT_P Limit switch LIMIT_M reached STOP_LIMIT_M...
Page 38 1STEP 5V/204kHz 2.6 Functions of the 1STEP 5V/204kHz Limit Switches and External STOP By assigning parameters, you can choose to wire normally open or normally closed contacts for the external STOP and the limit switches. ● Normally closed contact means: The external STOP is tripped by a 0 signal. When the limit switches are reached, delete the associated control bit.
Page 39: Pulse Enable
1STEP 5V/204kHz 2.6 Functions of the 1STEP 5V/204kHz 2.6.6 Pulse Enable Functional Description Pulse enable permits the output of pulses from the 1STEP 5V/204kHz to the power unit. A run is not possible without pulse enable. Activating Pulse Enable You can activate pulse enable by one of the following methods: ●...
Page 40: Changing Parameters During Operation
1STEP 5V/204kHz 2.6 Functions of the 1STEP 5V/204kHz 2.6.7 Changing Parameters during Operation Introduction You can change several of the 1STEP 5V/204kHz parameters during operation without having to reassign the parameters of the whole ET 200S station. This is only necessary if the areas you require for start-stop frequency F , output frequency , and acceleration/delay cannot be covered in the positioning job because of a change to the reduction factor and to the multiplier for the output frequency.
Page 41: Behavior Of The Digital Inputs
1STEP 5V/204kHz 2.6 Functions of the 1STEP 5V/204kHz 2.6.8 Behavior of the Digital Inputs Digital Input DI 3 You can assign parameters to the digital input DI 3 as one of the following: ● External pulse enable ● External STOP Digital Input DI 3 as External Pulse Enable The input must be put into operation.
Page 42: Behavior At Cpu-Master-Stop
1STEP 5V/204kHz 2.6 Functions of the 1STEP 5V/204kHz 2.6.9 Behavior at CPU-Master-STOP Introduction The 1STEP 5V/204kHz detects the CPU-master STOP. It responds by canceling the current positioning operation. Exiting the CPU-Master-STOP Status ET 200 S Station 1STEP 5V/204kHz The feedback interface of the 1STEP 5V/204kHz Without reassigning the parameters of the •...
Page 43: Parameter Assignment
1STEP 5V/204kHz 2.7 Parameter assignment Parameter assignment Setting the Parameters You set the parameters for the 1STEP 5V/204kHz by means of the device database file for STEP 7 the ET 200S using the or COM PROFIBUS parameter assignment software. Parameter List You can enter the following parameters (default bold): Parameters Value range...
Page 44: Feedback And Control Interface
1STEP 5V/204kHz 2.8 Feedback and Control Interface Feedback and Control Interface 2.8.1 Assignment of the Feedback and Control Interfaces Interface Assignment Note For the electronic module, the following data of the control and feedback interface are consistent: • Bytes 0 to 3 •...
Page 45: Table 2-4 Assignment Of The Outputs (O): Control Interface
1STEP 5V/204kHz 2.8 Feedback and Control Interface Table 2-4 Assignment of the Outputs (O): Control interface Address Assignment Bytes 0 to 3 Positioning job Byte 0: Multiplier G; F * R * G (value range 1 to 255) Byte 1: Distance (bit 19 to bit 16) Byte 2: Distance (bit 15 to bit 8) Byte 3: Distance (bit 7 to bit 0) (Value range for bytes 1 to 3 is 1 to 1 048 575)
Page 46 1STEP 5V/204kHz 2.8 Feedback and Control Interface Notes on the Feedback Bits Feedback Bits Notes DIS_NEG Shows whether the residual distance is negative when the positioning job is stopped during acceleration. More pulses were emitted during this positioning job than were defined. ERR_JOB This bit is set if the job is not clear or not possible.
Page 47 1STEP 5V/204kHz 2.8 Feedback and Control Interface Feedback Bits Notes SYNC This bit is set after a correct search for reference. The SYNC bit is deleted after parameter assignment with new ET 200S station parameters or after deletion of the pulse enable. Notes on the Control Bits Control Bits Notes...
Page 48: Starting The Positioning Job
1STEP 5V/204kHz 2.8 Feedback and Control Interface 2.8.2 Starting the Positioning Job Sequence for Starting a Positioning Job Figure 2-11 Starting the Positioning Job ET 200S Positioning Operating Instructions, 05/2007, A5E00124871-04...
Page 49: Figure 2-12 Carrying Out A Parameter Change
1STEP 5V/204kHz 2.8 Feedback and Control Interface Evaluating the ERR_JOB Error Bit As soon as the STS_JOB feedback bit is deleted at time stamp 4, evaluate the ERR_JOB error bit. Note that the STS_JOB feedback bit is only deleted if the DIR_P, DIR_M, and C_PAR control bits are deleted.
Page 50: Figure 2-13 Error Acknowledgment
1STEP 5V/204kHz 2.8 Feedback and Control Interface Application Example Error Detection The sensor supply short circuit error must be acknowledged. It was detected by the 1STEP 5 /204 kHz and displayed in the feedback interface. Channel-specific diagnostics are executed if you enabled group diagnostics when you assigned parameters. The parameter assignment error bit is acknowledged by means of correct parameter assignment.
Page 51: Technical Specifications
1STEP 5V/204kHz 2.9 Technical specifications Technical specifications Technical specifications Technical data 1STEP5V/204khZ Dimensions and weight Dimensions W × H × D (mm) 15 × 81 × 52 Weight Approx. 40 g Data for specific modules Number of channels Voltages, currents, potentials Rated load voltage L+ •...
Page 52 1STEP 5V/204kHz 2.9 Technical specifications Technical data 1STEP5V/204khZ Connection to the power unit (data to the outputs) The cables to the power unit must be Max. 100 m twisted in pairs and shielded. Differential signals for pulses and direction To RS 422 Status, interrupts, diagnostics Digital input status display for STOP or LED 3 (green)
Page 53: 1Posinc/Digital
● Diagnostics – Encoder monitoring – Load voltage monitoring Configuration You can use either of the following to configure the 1PosInc/Digital: ● A DDB file (http://www.ad.siemens.de/csi/gsd) or ● STEP 7 as of V5.1 SP2. ET 200S Positioning Operating Instructions, 05/2007, A5E00124871-04...
Page 54: Brief Introduction To Commissioning The 1Posinc/Digital
1PosInc/Digital 3.2 Brief Introduction to Commissioning the 1PosInc/Digital Brief Introduction to Commissioning the 1PosInc/Digital Introduction Using the example of inching mode, this brief introduction shows you a functioning application in which you get to know and check the hardware and software involved in a positioning operation of your 1PosInc/Digital.
Page 55 1PosInc/Digital 3.2 Brief Introduction to Commissioning the 1PosInc/Digital Installation, Wiring, and Fitting Install and wire the TM-E30S44-01 terminal module. Insert the 1PosInc/Digital in the terminal Distributed I/O Device module (you can find detailed instructions in the manual). Terminal assignment View Remarks Connection of the Incremental Connection of the Switches and...
Page 56 1PosInc/Digital 3.2 Brief Introduction to Commissioning the 1PosInc/Digital Creating Blocks and Integrating Them Into The User Program Integrate the following FC 101 block in your user program (in OB 1, for example). This block requires the DB1 data block with a length of 16 bytes. In the example below, the start is initiated by setting memory bit 30.0 (in the plus direction) or 30.1 (in the minus direction) with the programming device.
Page 57 1PosInc/Digital 3.2 Brief Introduction to Commissioning the 1PosInc/Digital Explanation CTRL: M30.2 //Set SPEED DB1.DBX0.3 DB1.DBD0 //Transfer control values to the 1PosInc/Digital PAD256 DB1.DBD4 PAD260 Test Start inching mode, and monitor the associated feedback. 1. Using "Monitor/Modify Variables", check the actual value and the status bits POS_ACK, POS_ERR, POS_DONE, ERR_ENCODER and ERR_2L+.
Page 58 1PosInc/Digital 3.2 Brief Introduction to Commissioning the 1PosInc/Digital Result The following table shows you which activity triggers which result. Activity Result The POS_ACK status bit is deleted Switch the CPU to RUN mode. • The POS_ERR status bit is deleted •...
Page 59: Terminal Assignment Diagram
1PosInc/Digital 3.3 Terminal Assignment Diagram Terminal Assignment Diagram Wiring rules The wires to the incremental encoder (terminals 1 and 5, 3 and 7 and 4 and 8) have to be in twisted pairs and shielded. The shield must be supported at both ends. You use the shield contact element (Order Number: 6ES7 390-5AA00-0AA0) as a shield support.
Page 60: Figure 3-1 Relay Contact In The Output Circuit
1PosInc/Digital 3.3 Terminal Assignment Diagram Overvoltage Protection Example The following figure shows an output circuit that requires additional overvoltage protection devices. Direct-current coils are wired with diodes or Zener diodes. Figure 3-1 Relay contact in the output circuit ET 200S Positioning Operating Instructions, 05/2007, A5E00124871-04...
Page 61: Safety Concept
1PosInc/Digital 3.4 Safety concept Safety concept Safety Measures The following measures are vital to the safety of the system. Install them with particular care, and adapt them to meet the requirements of the system. Check the measures are effective before the first run. WARNING To avoid injury and damage to property, make sure you adhere to the following: •...
Page 62: Fundamentals Of Controlled Positioning Using Rapid/Creep Feed
1PosInc/Digital 3.5 Fundamentals of Controlled Positioning Using Rapid/Creep Feed Fundamentals of Controlled Positioning Using Rapid/Creep Feed Positioning Operation From the start position, the target is approached at high speed (rapid feed). At a preset distance from the target (switchover point), there is a change to a lower speed (creep feed). Shortly before the axis reaches the target, again at a preset distance from the target, the drive is switched off (switch-off point).
Page 63 1PosInc/Digital 3.5 Fundamentals of Controlled Positioning Using Rapid/Creep Feed Definitions Term Explanation Operating range Defines the range, which you set for a particular task by means of the hardware limit switches. Maximum operating range: Linear axis - max. 0 to 16,777,215 increments •...
Page 64: Functions Of The 1Posinc/Digital
1PosInc/Digital 3.6 Functions of the 1PosInc/Digital Functions of the 1PosInc/Digital 3.6.1 Overview of the Functions Overview The 1PosInc/Digital offers you the following functions for moving your axis: ● Stop ● Search for Reference ● Inching ● Absolute Positioning ● Relative Positioning In addition to the different types of motion, the 1PosInc/Digital also offers functions for: ●...
Page 65: Figure 3-5 Control And Feedback Signals With Modes
1PosInc/Digital 3.6 Functions of the 1PosInc/Digital Interfaces to the Control Program and the Axis To execute the function, the 1PosInc/Digital has digital inputs as an interface to the axis, encoder signals for the connection to an encoder and digital outputs to control the drive. You can modify and monitor the types of motion (MODES) and functions (JOBs) with your control program using control signals and feedback signals.
Page 66: Figure 3-6 Control And Feedback Signals With Jobs
1PosInc/Digital 3.6 Functions of the 1PosInc/Digital Principle What You Do Response of the 1PosInc/Digital Provide the control interface with data corresponding to the JOB. Check the JOB_ACK feedback bit is at 0 Switch the JOB_REQ control bit from 1 to 0 The 1PosInc/Digital sets the feedback bit JOB_ACK = 1 This indicates that the initiation of the 1PosInc/Digital has been detected and that the JOB will be executed when...
Page 67: Axis, Drive And Encoder
1PosInc/Digital 3.6 Functions of the 1PosInc/Digital 3.6.2 Axis, Drive and Encoder Quadruple evaluation of the encoder signals The 1PosInc/Digital evaluates the pulses delivered by the incremental encoder four times and adds them up to form the actual value. You must take the quadruple evaluation into account when you make settings for paths in the parameters and in the control and feedback interfaces: 1 pulse of the incremental encoder corresponds to 4 increments of the 1PosInc/Digital.
Page 68: Figure 3-8 Digital Outputs With Control Mode 1
1PosInc/Digital 3.6 Functions of the 1PosInc/Digital Figure 3-8 Digital Outputs with Control Mode 1 Parameters Meaning Value range Default setting Drive Control mode Type 0 means: • • DO0 travel minus • DO1 travel plus • DO2 rapid/creep feed • Type 1 means: DO0 rapid feed •...
Page 69 1PosInc/Digital 3.6 Functions of the 1PosInc/Digital Effect of the Hardware Limit Switches The two digital inputs (DI0 and DI1) are evaluated by the 1PosInc/Digital as limit switches: ● DI0 is the minus limit switch and limits the operating range in the minus direction. ●...
Page 70: Effect Of The Directional Enables
1PosInc/Digital 3.6 Functions of the 1PosInc/Digital 3.6.3 Effect of the Directional Enables Description You enable the digital outputs directionally using the DIR_M and DIR_P control bits. ● With DIR_M = 1 you can move in the minus direction. ● With DIR_P = 1 you can move in the plus direction. Interrupting and Continuing the Run If you reset the relevant directional enable during a run, the motion of the axis is halted, all 3 digital outputs are set to 0, and the run is interrupted.
Page 71: Reference Point Run (Mode 3)
1PosInc/Digital 3.6 Functions of the 1PosInc/Digital 3.6.5 Reference Point Run (MODE 3) Definition You can use the reference point run to synchronize the axis on the basis of an external reference signal. You can use either the 3 digital inputs or the zero mark as a reference signal.
Page 72: Figure 3-9 Sequence Of Execution Of The Search For Reference
1PosInc/Digital 3.6 Functions of the 1PosInc/Digital After the reference signal has been traversed, the axis is synchronized. The 1PosInc/Digital sets the feedback signal SYNC = 1 and assigns the reference point coordinates to the actual value. Figure 3-9 Sequence of Execution of the Search for Reference ET 200S Positioning Operating Instructions, 05/2007, A5E00124871-04...
Page 73 1PosInc/Digital 3.6 Functions of the 1PosInc/Digital Control Signals: Search for Reference Address Assignment Byte 0 Bits 0.7 to 0.4: MODE 3 = Reference Point Run Bit 3: SPEED (SPEED = 0 is creep feed; SPEED = 1 is rapid feed) Bit 2: DIR_M Bit 1: DIR_P Bit 0: START...
Page 74: Figure 3-10 Search For Reference Point Run With Reducing Cam And Zero Mark
1PosInc/Digital 3.6 Functions of the 1PosInc/Digital Execution of a Reference Point Run Depending on Parameterization and Start Position In a reference point run, you have to distinguish between different cases that depend on the following: ● The start position of the drive at the start of the reference point run ●...
Page 75: Figure 3-11 Reference Point Run With Minus Limit Switch
1PosInc/Digital 3.6 Functions of the 1PosInc/Digital Example 2: Reference Point Run with Minus Limit Switch ● Start position: between the minus limit switch and the plus limit switch ● Start direction: Minus ● Reference signal: Reference switch ● Reference switch: Minus limit switch Figure 3-11 Reference Point Run with Minus Limit Switch You can also carry out synchronization at the limit switch with the following zero mark.
Page 76: Figure 3-12 Reference Point Run With Reversal Of Direction At The Plus Limit Switch
1PosInc/Digital 3.6 Functions of the 1PosInc/Digital Example 3: Reference Point Run with Reversal of Direction at the Plus Limit Switch ● Start position: between the minus limit switch and the reducing cam ● Start direction: Plus ● Reference signal: Reference switch and zero mark ●...
Page 77 1PosInc/Digital 3.6 Functions of the 1PosInc/Digital Search for reference: Causes of Errors for POS_ERR You must find out the causes of errors with JOB 15 (displays current values). Error Number Cause What to Do ERR_2L+ is displayed Check the load voltage (2L+) at terminal 15 ERR_ENCODER is displayed Check the encoder wiring Search for reference: Reference point...
Page 78: Inching (Mode 1)
1PosInc/Digital 3.6 Functions of the 1PosInc/Digital 3.6.6 Inching (MODE 1) Definition You use inching mode to control the drive directly in a particular direction using the DIR_M or DIR_P control bits. If you start MODE 1, the 1PosInc/Digital moves the drive at the preset speed (SPEED control bit) in the specified direction (control bit DIR_M or DIR_P).
Page 79 1PosInc/Digital 3.6 Functions of the 1PosInc/Digital Control Signals: Inching Address Assignment Byte 0 Bits 0.7 to 0.4: MODE 1 = Inching Bit 3: SPEED (SPEED = 0 is creep feed; SPEED = 1 is rapid feed) Bit 2: DIR_M Bit 1: DIR_P Bit 0: START Feedback Signals: Inching Address...
Page 80: Absolute Positioning (Mode 5)
1PosInc/Digital 3.6 Functions of the 1PosInc/Digital 3.6.7 Absolute Positioning (MODE 5) Definition With absolute positioning, the 1PosInc/Digital moves the drive toward absolute destinations. To do this, the axis must be synchronized. Supply the control interface with the destination, and start MODE 5 with the necessary directional enable (DIR_M, DIR_P).
Page 81: Figure 3-15 Execution Of Absolute Positioning
1PosInc/Digital 3.6 Functions of the 1PosInc/Digital Rotary axis You determine the direction in which the destination is approached by selecting the directional enable (DIR_M, DIR_P): Control bits DIR_P and DIR_M Direction DIR_P = 1 The destination is approached in the plus direction. DIR_M = 0 DIR_P = 0 The destination is approached in the minus direction.
Page 82 1PosInc/Digital 3.6 Functions of the 1PosInc/Digital Control Signals: Absolute Positioning Address Assignment Byte 0 Bits 0.7 to 0.4: MODE 5 = Absolute Positioning Bit 3: SPEED (SPEED = 0 is creep feed; SPEED = 1 is rapid feed) Bit 2: DIR_M Bit 1: DIR_P Bit 0: START Bytes 1 to 3...
Page 83 1PosInc/Digital 3.6 Functions of the 1PosInc/Digital Absolute positioning: Causes of Errors for POS_ERR You must find out the causes of errors with JOB 15 (displays current values). Error Number Cause What to Do ERR_2L+ is displayed Check the load voltage (2L+) at terminal 15 ERR_ENCODER is displayed Check the encoder wiring The axis is not synchronized (SYNC=0)
Page 84: Relative Positioning (Mode 4)
1PosInc/Digital 3.6 Functions of the 1PosInc/Digital 3.6.8 Relative Positioning (MODE 4) Definition In relative positioning the 1PosInc/Digital moves the drive from the start position in a specified direction for a certain preset distance. Supply the control interface with the distance to be traveled, and start MODE 4, specifying the direction (DIR_M or DIR_P).
Page 85 1PosInc/Digital 3.6 Functions of the 1PosInc/Digital Control Signals: Relative Positioning Address Assignment Byte 0 Bits 0.7 to 0.4: MODE 4 = Relative Positioning Bit 3: SPEED (SPEED = 0 is creep feed; SPEED = 1 is rapid feed) Bit 2: DIR_M Bit 1: DIR_P Bit 0: START Bytes 1 to 3...
Page 86 1PosInc/Digital 3.6 Functions of the 1PosInc/Digital Relative Positioning: Causes of Errors for POS_ERR You must find out the causes of errors with JOB 15 (displays current values). Error Number Cause What to Do ERR_2L+ is displayed Check the load voltage (2L+) at terminal 15 ERR_ENCODER is displayed Check the encoder wiring The limit switch that lies in the direction in which...
Page 87: Canceling Job Processing (Job 0)
1PosInc/Digital 3.6 Functions of the 1PosInc/Digital 3.6.9 Canceling JOB Processing (JOB 0) Definition If you activate JOB 0, the 1PosInc/Digital responds in the following way: ● It cancels the current JOB 9 (reference signal evaluation) ● It cancels the current JOB 10 (latch function) ●...
Page 88: Setting The Actual Value (Job 1)
1PosInc/Digital 3.6 Functions of the 1PosInc/Digital 3.6.10 Setting the Actual Value (JOB 1) Definition Setting an actual value assigns new coordinates to the actual value displayed. This moves the operating range to a different range on the axis and synchronizes the axis. Provide the control interface with the new actual value coordinates and activate JOB 1.
Page 89 1PosInc/Digital 3.6 Functions of the 1PosInc/Digital Control Signals: Setting of Actual Value Address Assignment Byte 4 Bits 4.7 to 4.4 : JOB 1 = Set the actual value Bit 0: JOB_REQ Bytes 5 to 7 Actual value coordinates (linear axis: 0 to 16 777 215; rotary axis: 0 to end of rotary axis - 1) Feedback Signals: Setting of Actual Value Address Assignment...
Page 90: Changing The Switch-Off Difference (Job 3)
1PosInc/Digital 3.6 Functions of the 1PosInc/Digital 3.6.11 Changing the Switch-Off Difference (JOB 3) Definition Changing the switch-off difference allows you to adjust the drive control to adapt to any changes in the load and mechanical conditions. Supply the control interface with the new switch-off difference, and activate JOB 3. The 1PosInc/Digital accepts the specified switch-off difference.
Page 91: Changing The Switchover Difference (Job 4)
1PosInc/Digital 3.6 Functions of the 1PosInc/Digital 3.6.12 Changing the Switchover Difference (JOB 4) Definition Changing the switchover difference allows you to adjust the drive control to adapt to any changes in the load and mechanical conditions. Supply the control interface with the new switchover difference, and activate JOB 4. The 1PosInc/Digital accepts the specified switchover difference.
Page 92: Evaluating The Reference Signal (Job 9)
1PosInc/Digital 3.6 Functions of the 1PosInc/Digital 3.6.13 Evaluating the Reference Signal (JOB 9) Definition By evaluating the reference signal you can synchronize the axis using an external reference signal during a current run in inching or relative positioning mode. You can use either the 3 digital inputs or the zero mark as a reference signal.
Page 93 1PosInc/Digital 3.6 Functions of the 1PosInc/Digital Feedback Signals: Reference Signal Evaluation Address Assignment Byte 0 Bit 3: SYNC Bytes 1 to 3 Actual value (linear axis: 0 to 16 777 215; rotary axis: 0 to end of rotary axis - 1) Byte 4 Bit 1: JOB_ERR Bit 0: JOB_ACK...
Page 94: Latch Function (Job 10)
1PosInc/Digital 3.6 Functions of the 1PosInc/Digital 3.6.14 Latch Function (JOB 10) Definition The latch function allows you to store the actual value at an edge at the DI2 digital input. You can use this function, for example, to detect edges or measure lengths. Supply the control interface with the desired edge, and activate JOB 10.
Page 95: Setting The Monitoring Of The Direction Of Rotation (Job 11)
1PosInc/Digital 3.6 Functions of the 1PosInc/Digital 3.6.15 Setting the Monitoring of the Direction of Rotation (JOB 11) Definition By setting monitoring of the direction of rotation you can adjust the monitoring of the direction of rotation of the 1PosInc/Digital to suit your load and mechanical conditions. Monitoring of the direction of rotation is always active.
Page 96 1PosInc/Digital 3.6 Functions of the 1PosInc/Digital Control Signals: Setting the Monitoring of the Direction of Rotation Address Assignment Byte 4 Bits 4.7 to 4.4 : JOB 11 = Set the monitoring of the direction of rotation Bit 0: JOB_REQ Byte 5 Byte 6,7 Path difference for monitoring of the direction of rotation (0...65 535)
Page 97: Displaying Current Values (Job 15)
1PosInc/Digital 3.6 Functions of the 1PosInc/Digital 3.6.16 Displaying Current Values (JOB 15) Definition You can display the following values in the feedback interface as feedback values: ● Residual distance ● Actual speed ● Causes of errors for POS_ERR and JOB_ERR The residual distance is set by the 1PosInc/Digital as the default for the feedback value.
Page 98 1PosInc/Digital 3.6 Functions of the 1PosInc/Digital Control Signals: Display Current Values Address Assignment Byte 4 Bits 4.7 to 4.4 : JOB 15 = Display current values Bit 0: JOB_REQ Byte 5 0: Residual distance 1: Actual speed 2: Causes of errors for POS_ERR and JOB_ERR Feedback Signals: Display Current Values Address Assignment...
Page 99: Error Detection/Diagnostics
1PosInc/Digital 3.6 Functions of the 1PosInc/Digital 3.6.17 Error Detection/Diagnostics Parameter assignment error Parameter assignment error Response of the 1PosInc/Digital The 1PosInc/Digital is not assigned parameters and cannot Causes: • execute its functions. The 1PosInc/Digital cannot identify parameters that • Generate channel-specific diagnostics •...
Page 100 1PosInc/Digital 3.6 Functions of the 1PosInc/Digital Load Voltage 2L+ Missing Response of the 1PosInc/Digital Wire Break/Short Circuit of the Encoder Signals Response of the 1PosInc/Digital The current reference point run, relative positioning, and Prerequisite: • absolute positioning modes are stopped; it is not possible to You must enable the encoder signal diagnostics •...
Page 101 1PosInc/Digital 3.6 Functions of the 1PosInc/Digital Error Acknowledgment EXTF_ACK You must acknowledge the corrected errors (load voltage missing, short circuit of the sensor supply and open circuit/short circuit of the sensor signals). What You Do Response of the 1PosInc/Digital Feedback bit ERR_2L+ = 1and/or feedback bit ERR_ENCODER=1 Your control program detects the set feedback bit ERR_2L+ or ERR_ENCODER.
Page 102: Table 3-1 Causes Of Errors For Pos_Err
1PosInc/Digital 3.6 Functions of the 1PosInc/Digital Causes of Errors for POS_ERR Table 3-1 Causes of Errors for POS_ERR Error Number Cause Remedy MODE unknown Permissible MODEs are: MODE 0 • MODE 1 • MODE 3 • MODE 4 • MODE 5 •...
Page 103: Table 3-2 Causes Of Errors For Job_Err
1PosInc/Digital 3.6 Functions of the 1PosInc/Digital Causes of Errors for JOB_ERR Table 3-2 Causes of Errors for JOB_ERR Error Number Meaning Remedy JOB unknown Permissible JOBs are: JOB 0 • JOB 1 • JOB 3 • JOB 4 • JOB 9 •...
Page 104: Cpu/Master Stop And Reset State
1PosInc/Digital 3.7 CPU /Master Stop and RESET State CPU/Master Stop and RESET State Behavior at CPU-Master-STOP Behavior at CPU-Master-STOP Response of the 1PosInc/Digital Due to power-off of the CPU/DP master The current run is stopped. • • All 3 digital outputs are set to 0. •...
Page 105: Parameter List
1PosInc/Digital 3.8 Parameter List Parameter List Overview Parameters Meaning Value range Default setting Enables Disable Group diagnostics When group diagnostics is enabled, an encoder • Disable error (ERR_ENCODER), no load voltage Enable • (ERR_2L+) or a parameter assignment error will result in a channel-specific diagnostics.
Page 106 1PosInc/Digital 3.8 Parameter List Parameters Meaning Value range Default setting Drive Control mode Type 0 means: • • DO0 travel minus • DO1 travel plus • DO2 rapid/creep feed • Type 1 means: DO0 rapid feed • DO1 creep feed (rapid feed is 0) •...
Page 107: Control And Feedback Signals
1PosInc/Digital 3.9 Control and Feedback Signals Control and Feedback Signals Assignment of the Control Interface Address Assignment Byte 0 Bits 0.7 to 0.4 stand for the MODEs MODE 0 = Stop MODE 1 = Inching MODE 3 = Reference Point Run MODE 4 = Relative Positioning MODE 5 = Absolute Positioning Bit 3: SPEED (SPEED = 0 is creep feed;...
Page 108 1PosInc/Digital 3.9 Control and Feedback Signals Address Assignment Bytes 5 to 7 Corresponding to the selected JOB: With JOB 1= actual value coordinates • With JOB 3 = switch-off difference • With JOB 4 = switchover difference • With JOB 9 = reference point coordinates •...
Page 109 1PosInc/Digital 3.9 Control and Feedback Signals Access to Control and Feedback Interface in STEP 7 Programming Configured with STEP 7 via GSD file Configured with STEP 7 via HW Config (hardware catalog\PROFIBUS DP\Other Field (hardware catalog\PROFIBUS DP\ET 200S) Devices\ET 200S) Feedback interface Read with SFC 14 "DPRD_DAT"...
Page 110: Technical Specifications
1PosInc/Digital 3.10 Technical Specifications 3.10 Technical Specifications Overview Technical Data of the 1PosInc/Digital Dimensions and weight Dimension W x H x D (mm) 30 x 81 x 52 Weight Approx. 65 g Data for specific modules Number of channels Voltages, currents, potentials Rated load voltage L+ 24 VDC Range...
Page 111 1PosInc/Digital 3.10 Technical Specifications Technical Data of the 1PosInc/Digital Output current 0 signal (leakage current) • ≤ 0.3 mA 1 signal • 0.5 A – Rated value – Permitted range 7 mA to 0.6 A Switch rate Resistive load • 100 Hz Inductive load •...
Page 112 1PosInc/Digital 3.10 Technical Specifications ET 200S Positioning Operating Instructions, 05/2007, A5E00124871-04...
Page 113: 1Posinc/Analog
– Plus hardware limit switch – Reducing cam/latch input ● Diagnostics – Encoder monitoring Configuration To configure the 1PosInc/Analog, you can use either ● A DDB file (http://www.ad.siemens.de/csi/gsd) or ● STEP 7 as of V5.1 SP2. ET 200S Positioning Operating Instructions, 05/2007, A5E00124871-04...
Page 114: Brief Instructions On Commissioning The 1Posinc/Analog
1PosInc/Analog 4.2 Brief Instructions on Commissioning the 1PosInc/Analog Brief Instructions on Commissioning the 1PosInc/Analog Introduction Using the example of inching mode, this brief introduction shows you a functioning application in which you get to know and check the hardware and software involved in a positioning operation of your 1PosInc/Analog.
Page 115: Table 4-1 Terminal Assignment Of The 1Posinc/Analog
1PosInc/Analog 4.2 Brief Instructions on Commissioning the 1PosInc/Analog Installation, Wiring, and Fitting Install and wire the TM-E30S44-01 terminal module. Insert the 1PosInc/Analog in the Distributed I/O Device terminal module (you can find detailed instructions in the manual). Table 4-1 Terminal assignment of the 1PosInc/Analog Terminal assignment View Remarks...
Page 116 1PosInc/Analog 4.2 Brief Instructions on Commissioning the 1PosInc/Analog Configured with STEP 7 via HW Config You begin by adapting the hardware configuration to your existing ET 200S station. 1. Open the relevant project in SIMATIC Manager. 2. Call the HWConfig configuration table in your project. 3.
Page 117 1PosInc/Analog 4.2 Brief Instructions on Commissioning the 1PosInc/Analog Creating Blocks and Integrating Them Into The User Program Integrate the following FC 101 block in your user program (in OB 1, for example). This block requires the DB1 data block with a length of 16 bytes. In the example below, the start is initiated by setting memory bit 30.0 (in the plus direction) or 30.1 (in the minus direction) with the programming device.
Page 118 1PosInc/Analog 4.2 Brief Instructions on Commissioning the 1PosInc/Analog Test Start inching mode, and monitor the associated feedback. 1. Use "Monitor/Modify Variables" to check the actual value and the status bits POS_ACK, POS_ERR, POS_DONE, ERR_ENCODER. 2. Select the "Block" folder in your project. Choose the "Insert > S7 Block > Variable Table menu command to insert the VAT 1 variable table, and then confirm with OK.
Page 119 1PosInc/Analog 4.2 Brief Instructions on Commissioning the 1PosInc/Analog Activity Result Check the speed of the drive in the plus direction If the drive moves at the correct speed, your wiring is Control the speed using memory marker word 32 • correct ("Variable >...
Page 120: Terminal Assignment Diagram
1PosInc/Analog 4.3 Terminal Assignment Diagram Terminal Assignment Diagram Wiring rules The wires to the incremental encoder (terminals 1 and 5, 3 and 7 and 4 and 8) have to be in twisted pairs and shielded. The shield must be supported at both ends. You use the shield contact element (Order Number: 6ES7 390-5AA00-0AA0) as a shield support.
Page 121: Figure 4-1 Relay Contact In The Output Circuit
1PosInc/Analog 4.3 Terminal Assignment Diagram Overvoltage Protection Example The following figure shows an output circuit that requires additional overvoltage protection devices. Direct-current coils are wired with diodes or Zener diodes. Figure 4-1 Relay contact in the output circuit ET 200S Positioning Operating Instructions, 05/2007, A5E00124871-04...
Page 122: Safety Concept
1PosInc/Analog 4.4 Safety concept Safety concept Principle The following measures are vital to the safety of the system. Install them with particular care, and adapt them to meet the requirements of the system. Check the measures are effective before the first run. WARNING To avoid injury and damage to property, make sure you adhere to the following: •...
Page 123: Fundamentals Of Controlled Positioning Using The Analog Output
1PosInc/Analog 4.5 Fundamentals of Controlled Positioning Using the Analog Output Fundamentals of Controlled Positioning Using the Analog Output Positioning Operation From the start position, the speed is increased (rapid feed) and the destination is approached at this speed. At a preset distance from the destination (switchover point), there is a change to a lower speed (creep feed).
Page 124 1PosInc/Analog 4.5 Fundamentals of Controlled Positioning Using the Analog Output Definitions Term Explanation Operating range Defines the range, which you set for a particular task by means of the hardware limit switches. Maximum operating range: Linear axis - max. 0 to 16,777,215 increments •...
Page 125: Functions Of The 1Posinc/Analog
1PosInc/Analog 4.6 Functions of the 1PosInc/Analog Functions of the 1PosInc/Analog 4.6.1 Overview of the Functions Overview The 1PosInc/Analog offers you the following functions for moving your axis: ● Stop ● Search for Reference ● Inching ● Absolute Positioning ● Relative Positioning In addition to the different types of motion, the 1PosInc/Analog also offers functions for: ●...
Page 126: Figure 4-4 How The 1Posinc/Analog Works
1PosInc/Analog 4.6 Functions of the 1PosInc/Analog Parameters: Define the variables that depend on the drive, axis, and encoder uniquely in the parameters. Figure 4-4 How the 1PosInc/Analog Works Interfaces to the Control Program and the Axis To execute the function, the 1PosInc/Analog has digital inputs as an interface to the axis, encoder signals for the connection of an incremental encoder, and an analog and a digital output to control the drive.
Page 127: Figure 4-5 Control And Feedback Signals With Modes
1PosInc/Analog 4.6 Functions of the 1PosInc/Analog Principle What You Do Response of the 1PosInc/Analog Provide the control interface with data depending on the MODE. Check the POS_ACK feedback bit is at 0 Switch the START control bit from 0 to 1 The 1PosInc/Analog sets the feedback bit POS_ACK = 1 and POS_DONE = 0.
Page 128: Figure 4-6 Control And Feedback Signals With Jobs
1PosInc/Analog 4.6 Functions of the 1PosInc/Analog Principle What You Do Response of the 1PosInc/Analog Provide the control interface with data corresponding to the JOB. Check the JOB_ACK feedback bit is at 0 Switch the JOB_REQ control bit from 1 to 0 The 1PosInc/Analog sets the feedback bit JOB_ACK = 1 You can tell by this that activation has been detected by 1PosInc/Analog and when JOB_ERR = 0, the JOB is...
Page 129: Axis, Drive And Encoder
1PosInc/Analog 4.6 Functions of the 1PosInc/Analog 4.6.2 Axis, Drive and Encoder Quadruple evaluation of the encoder signals The 1PosInc/Analog evaluates the pulses supplied by the incremental encoder and adds them together to obtain the actual value. You must take the quadruple evaluation into account when you make settings for paths in the parameters and in the control and feedback interfaces: 1 pulse of the incremental encoder corresponds to 4 increments of the 1PosInc/Analog.
Page 130 1PosInc/Analog 4.6 Functions of the 1PosInc/Analog You can read the status of the OUT digital output from the feedback interface, with a delay that corresponds to the updating rate. Figure 4-8 Schematic Diagram of the Unipolar Control of a Drive Changing the Voltage for Rapid Feed and Creep Feed The default setting for rapid feed is 10 V and the default setting for creep feed is 1 V.
Page 131 1PosInc/Analog 4.6 Functions of the 1PosInc/Analog Parameters Meaning Value range Default setting Directly Switch-off Use this parameter to determine the • Directly course of the voltage after the switch-off Ramp • point. It is only effective in the relative and absolute positioning modes.
Page 132: Table 4-3 Interpretation Of Bits 5 And 6
1PosInc/Analog 4.6 Functions of the 1PosInc/Analog Displaying the Status of the Run You can read the status of the run from the feedback interface from byte 0, bits 5 and 6. This status display is possible in the reference point run and absolute and relative positioning MODEs.
Page 133: Effect Of The Directional Enables
1PosInc/Analog 4.6 Functions of the 1PosInc/Analog You can see from the following table what effect the hardware limit switches have in the individual MODEs: MODE Effect of the Hardware Limit Switches Search for Reference The 1PosInc/Analog automatically reverses the direction using deceleration and acceleration when a hardware limit switch is reached.
Page 134: Stop (Mode 0)
1PosInc/Analog 4.6 Functions of the 1PosInc/Analog 4.6.4 Stop (MODE 0) Definition If you start MODE 0, the 1PosInc/Analog stops the current run by deceleration to 0 V at the analog output and the run is completed (POS_ERR = 0, POS_DONE = 1). A run terminated with MODE 0 cannot be continued.
Page 135 1PosInc/Analog 4.6 Functions of the 1PosInc/Analog If you parameterized ramp at switch-off and activate MODE 0 Figure 4-11 Interrupting the Run by Switching Off: Ramp ET 200S Positioning Operating Instructions, 05/2007, A5E00124871-04...
Page 136: Reference Point Run (Mode 3)
1PosInc/Analog 4.6 Functions of the 1PosInc/Analog 4.6.5 Reference Point Run (MODE 3) Definition You can use the reference point run to synchronize the axis on the basis of an external reference signal. You can use either the 3 digital inputs or the zero mark as a reference signal.
Page 137 1PosInc/Analog 4.6 Functions of the 1PosInc/Analog When the assigned parameter conditions are met, the axis is synchronized. The 1PosInc/Analog sets the feedback signal SYNC = 1, assigns the reference point coordinates to the actual value, and decelerates to 0 V. Figure 4-12 Sequence of Execution of the Search for Reference Control Signals: Search for Reference...
Page 138 1PosInc/Analog 4.6 Functions of the 1PosInc/Analog Feedback Signals: Search for Reference Address Assignment Byte 0 Bit 3: SYNC Bit 2: POS_ DONE Bit 1: POS_ERR Bit 0: POS_ACK Bytes 1 to 3 Actual value (linear axis: 0 to 16 777 215; rotary axis: 0 to end of rotary axis - 1) Parameters: Search for Reference Parameters Meaning...
Page 139 1PosInc/Analog 4.6 Functions of the 1PosInc/Analog Execution of a Reference Point Run Depending on Parameterization and Start Position In a reference point run, you have to distinguish between different cases that depend on the following: ● The start position of the drive at the start of the reference point run ●...
Page 140 1PosInc/Analog 4.6 Functions of the 1PosInc/Analog Example 2: Reference Point Run with Minus Limit Switch ● Start position: between the minus limit switch and the plus limit switch ● Start direction: Minus ● Reference signal: Reference switch ● Reference switch: Minus limit switch Figure 4-14 Reference Point Run with Minus Limit Switch You can also carry out synchronization at the limit switch with the following zero mark.
Page 141 1PosInc/Analog 4.6 Functions of the 1PosInc/Analog Example 3: Reference Point Run with Reversal of Direction at the Plus Limit Switch ● Start position: between the minus limit switch and the reducing cam ● Start direction: Plus ● Reference signal: Reference switch and zero mark ●...
Page 142 1PosInc/Analog 4.6 Functions of the 1PosInc/Analog Search for reference: Causes of Errors for POS_ERR You must find out the causes of errors with JOB 15 (displays current values). Error Number Cause What to Do ERR_ENCODER is displayed Check the encoder wiring Search for reference: Reference point coordinates ≥...
Page 143: Inching (Mode 1)
1PosInc/Analog 4.6 Functions of the 1PosInc/Analog 4.6.6 Inching (MODE 1) Definition You use inching mode to control the drive directly in a particular direction using the DIR_M or DIR_P control bits. You can set a voltage between 0 V and 11.7589 V (including overrange) in S7 analog value Distributed I/O Device format (you will find a detailed explanation in the manual).
Page 144 1PosInc/Analog 4.6 Functions of the 1PosInc/Analog Control Signals: Inching Address Assignment Byte 0 Bits 0.7 to 0.4: MODE 1 = Inching Bit 2: DIR_M Bit 1: DIR_P Bit 0: START Bytes 1 to 3 Voltage for inching (0 to 32 511) Feedback Signals: Inching Address Assignment...
Page 145: Absolute Positioning (Mode 5)
1PosInc/Analog 4.6 Functions of the 1PosInc/Analog 4.6.7 Absolute Positioning (MODE 5) Definition Using absolute positioning, the 1PosInc/Analog moves the drive towards absolute destinations. To do this, the axis must be synchronized. Supply the control interface with the destination, and start MODE 5 with the necessary directional enable (DIR_M, DIR_P).
Page 146 1PosInc/Analog 4.6 Functions of the 1PosInc/Analog Rotary axis You determine the direction in which the destination is approached by selecting the directional enable (DIR_M, DIR_P): Control bits DIR_P and DIR_M Direction DIR_P = 1 The destination is approached in the plus direction. DIR_M = 0 DIR_P = 0 The destination is approached in the minus direction.
Page 147 1PosInc/Analog 4.6 Functions of the 1PosInc/Analog Control Signals: Absolute Positioning Address Assignment Byte 0 Bits 0.7 to 0.4: MODE 5 = Absolute Positioning Bit 2: DIR_M Bit 1: DIR_P Bit 0: START Bytes 1 to 3 Destination (linear axis: 0 to 16 777 215; rotary axis: 0 to end of rotary axis - 1) Feedback Signals: Absolute Positioning Address Assignment...
Page 148 1PosInc/Analog 4.6 Functions of the 1PosInc/Analog Absolute positioning: Causes of Errors for POS_ERR You must find out the causes of errors with JOB 15 (displays current values). Error Number Cause What to Do ERR_ENCODER is displayed Check the encoder wiring The axis is not synchronized (SYNC=0) You can synchronize the axis with: Reference point run...
Page 149: Relative Positioning (Mode 4)
1PosInc/Analog 4.6 Functions of the 1PosInc/Analog 4.6.8 Relative Positioning (MODE 4) Definition With relative positioning, the 1PosInc/Analog moves the drive from the start position for a set distance in the specified direction. Supply the control interface with the distance to be traveled, and start MODE 4, specifying the direction (DIR_M or DIR_P).
Page 150 1PosInc/Analog 4.6 Functions of the 1PosInc/Analog Control Signals: Relative Positioning Address Assignment Byte 0 Bits 0.7 to 0.4: MODE 4 = Relative Positioning Bit 2: DIR_M Bit 1: DIR_P Bit 0: START Bytes 1 to 3 Distance (linear axis: 0 to 16 777 215; rotary axis: 0...16 777 215) Feedback Signals: Relative Positioning Address Assignment...
Page 151 1PosInc/Analog 4.6 Functions of the 1PosInc/Analog Relative Positioning: Causes of Errors for POS_ERR You must find out the causes of errors with JOB 15 (displays current values). Error Number Cause What to Do ERR_ENCODER is displayed Check the encoder wiring The limit switch that lies in the direction in Check your switches and the wiring as well as the DI0 which the drive is moved is active...
Page 152: Canceling Job Processing (Job 0)
1PosInc/Analog 4.6 Functions of the 1PosInc/Analog 4.6.9 Canceling JOB Processing (JOB 0) Definition If you activate JOB 0, the 1PosInc/Analog responds as follows: ● It cancels the current JOB 9 (reference signal evaluation) ● It cancels the current JOB 10 (latch function) ●...
Page 153: Setting The Actual Value (Job 1)
1PosInc/Analog 4.6 Functions of the 1PosInc/Analog 4.6.10 Setting the Actual Value (JOB 1) Definition Setting an actual value assigns new coordinates to the actual value displayed. This moves the operating range to a different range on the axis and synchronizes the axis. At the switchover point the 1PosInc/Digital switches from rapid feed to creep feed, and at the switch-off it terminates the run.
Page 154 1PosInc/Analog 4.6 Functions of the 1PosInc/Analog Feedback Signals: Setting of Actual Value Address Assignment Byte 0 Bit 3: SYNC Bytes 1 to 3 Actual value (linear axis: 0 to 16 777 215; rotary axis: 0 to end of rotary axis - 1) Byte 4 Bit 1: JOB_ERR Bit 0: JOB_ACK...
Page 155: Changing The Switch-Off Difference (Job 3)
1PosInc/Analog 4.6 Functions of the 1PosInc/Analog 4.6.11 Changing the Switch-Off Difference (JOB 3) Definition Changing the switch-off difference allows you to adjust the drive control to adapt to any changes in the load and mechanical conditions. Supply the control interface with the new switch-off difference, and activate JOB 3. The 1PosInc/Analog accepts the preset switch-off difference.
Page 156: Changing The Switchover Difference (Job 4)
1PosInc/Analog 4.6 Functions of the 1PosInc/Analog 4.6.12 Changing the Switchover Difference (JOB 4) Definition Changing the switchover difference allows you to adjust the drive control to adapt to any changes in the load and mechanical conditions. Supply the control interface with the new switchover difference, and activate JOB 4. The 1PosInc/Analog accepts the preset switchover difference.
Page 157: Changing The Voltage For Rapid Feed (Job 5)
1PosInc/Analog 4.6 Functions of the 1PosInc/Analog 4.6.13 Changing the Voltage for Rapid Feed (JOB 5) Definition By changing the voltage for rapid feed (JOB 5) you can adjust the speed for rapid feed. Supply the control interface with the new rapid feed voltage and activate JOB 5. You can set a voltage between 0 V and 11.7589 V (including overrange) in S7 analog value Distributed I/O Device format (you will find a detailed explanation in the...
Page 158 1PosInc/Analog 4.6 Functions of the 1PosInc/Analog Voltage for Rapid Feed: Causes of Errors for JOB_ERR Error Number Meaning What to Do Voltage setting Rapid feed speed > 32 511 See also CPU/Master Stop and RESET State (Page 176) ET 200S Positioning Operating Instructions, 05/2007, A5E00124871-04...
Page 159: Changing The Voltage For Creep Feed (Job 6)
1PosInc/Analog 4.6 Functions of the 1PosInc/Analog 4.6.14 Changing the Voltage for Creep Feed (JOB 6) Definition By changing the voltage for creep feed (JOB 6) you can adjust the speed for creep feed. Supply the control interface with the new creep feed voltage and activate JOB 6. You can set a voltage between 0 V and 11.7589 V (including overrange) in S7 analog value Distributed I/O Device format (you will find a detailed explanation in the...
Page 160: Changing The Acceleration Tacc (Job 7)
1PosInc/Analog 4.6 Functions of the 1PosInc/Analog 4.6.15 Changing the Acceleration Tacc (JOB 7) Definition By changing T (JOB 7) you can adjust the acceleration. Supply the control interface with the new acceleration value and activate JOB 7. The 1PosInc/Analog accepts the new acceleration value. The acceleration remains valid until the parameter assignment of the 1PosInc/Analog is changed.
Page 161 1PosInc/Analog 4.6 Functions of the 1PosInc/Analog Feedback Signals: Changing the acceleration (T Address Assignment Byte 4 Bit 1: JOB_ERR Bit 0: JOB_ACK Changing the acceleration T : Causes of Errors for JOB_ERR Error Number Meaning What to Do Changing the acceleration T >...
Page 162: Changing The Deceleration Tdec (Job 8)
1PosInc/Analog 4.6 Functions of the 1PosInc/Analog 4.6.16 Changing the Deceleration Tdec (JOB 8) Definition By changing T (JOB 8) you can adjust the deceleration. Supply the control interface with the new deceleration value and activate JOB 8. The 1PosInc/Analog accepts the new deceleration value. The acceleration remains valid until the parameter assignment of the 1PosInc/Analog is changed.
Page 163 1PosInc/Analog 4.6 Functions of the 1PosInc/Analog Feedback Signals: Changing the deceleration (T Address Assignment Byte 4 Bit 1: JOB_ERR Bit 0: JOB_ACK Changing the deceleration T : Causes of Errors for JOB_ERR Error Number Meaning What to Do Deceleration T >...
Page 164: Evaluating The Reference Signal (Job 9)
1PosInc/Analog 4.6 Functions of the 1PosInc/Analog 4.6.17 Evaluating the Reference Signal (JOB 9) Definition By evaluating the reference signal you can synchronize the axis using an external reference signal during a current run in inching or relative positioning mode. You can use either the 3 digital inputs or the zero mark as a reference signal.
Page 165 1PosInc/Analog 4.6 Functions of the 1PosInc/Analog Control Signals: Reference Signal Evaluation Address Assignment Byte 4 Bits 4.7 to 4.4 : JOB 9 = Evaluate the reference signal Bit 0: JOB_REQ Bytes 5 to 7 Reference point coordinates (linear axis: 0 to 16 777 215; rotary axis: 0 to end of rotary axis - 1) Feedback Signals: Reference Signal Evaluation Address Assignment...
Page 166: Latch Function (Job 10)
1PosInc/Analog 4.6 Functions of the 1PosInc/Analog 4.6.18 Latch Function (JOB 10) Definition The latch function allows you to store the actual value at an edge at the DI2 digital input. You can use this function, for example, to detect edges or measure lengths. Supply the control interface with the desired edge, and activate JOB 10.
Page 167: Setting The Monitoring Of The Direction Of Rotation (Job 11)
1PosInc/Analog 4.6 Functions of the 1PosInc/Analog 4.6.19 Setting the Monitoring of the Direction of Rotation (JOB 11) Definition You can set the direction of rotation monitoring of the 1PosInc/Analog to suit the load and mechanical conditions. Monitoring of the direction of rotation is always active. The 1PosInc/Analog recognizes whether the drive and encoder have the same direction of rotation.
Page 168 1PosInc/Analog 4.6 Functions of the 1PosInc/Analog Setting the Monitoring of the Direction of Rotation: Causes of Errors for JOB_ERR Error Number Meaning What to Do Monitoring of the direction of rotation Path difference > 65 535 See also CPU/Master Stop and RESET State (Page 176) Error Detection/Diagnostics (Page 171) ET 200S Positioning Operating Instructions, 05/2007, A5E00124871-04...
Page 169: Displaying Current Values (Job 15)
1PosInc/Analog 4.6 Functions of the 1PosInc/Analog 4.6.20 Displaying Current Values (JOB 15) Definition You can display the following values in the feedback interface as feedback values: ● Residual distance ● Actual speed ● Causes of errors for POS_ERR and JOB_ERR The 1PosInc/Analog presets the residual distance as a feedback value.
Page 170 1PosInc/Analog 4.6 Functions of the 1PosInc/Analog Control Signals: Display Current Values Address Assignment Byte 4 Bits 4.7 to 4.4 : JOB 15 = Display current values Bit 0: JOB_REQ Byte 5 0: Residual distance 1: Actual speed 2: Causes of errors for POS_ERR and JOB_ERR Feedback Signals: Display Current Values Address Assignment...
Page 171: Error Detection/Diagnostics
1PosInc/Analog 4.6 Functions of the 1PosInc/Analog 4.6.21 Error Detection/Diagnostics Parameter assignment error Parameter assignment error Response of the 1PosInc/Analog The 1PosInc/Analog is not assigned parameters and cannot Causes: • execute its functions. The 1PosInc/Analog cannot identify existing • Generate channel-specific diagnostics •...
Page 172 1PosInc/Analog 4.6 Functions of the 1PosInc/Analog Errors in the Control of MODEs and JOBs POS_ERR Response of the 1PosInc/Analog The MODE started is not executed. Causes: • The current run is stopped. Certain requirements or conditions have not been • •...
Page 173 1PosInc/Analog 4.6 Functions of the 1PosInc/Analog Parameters Parameters Meaning Value range Default setting Enables Disable Group diagnostics An encoder error (ERR_ENCODER) • Disable or parameter assignment error Enable • results in a channel-specific diagnostics if group diagnostics is enabled. Encoder signal Encoder signals A, /A and B, /B are •...
Page 174: Table 4-4 Causes Of Errors For Pos_Err
1PosInc/Analog 4.6 Functions of the 1PosInc/Analog Causes of Errors for POS_ERR Table 4-4 Causes of Errors for POS_ERR Error Number Cause Remedy MODE unknown Permissible MODEs are: MODE 0 • MODE 1 • MODE 3 • MODE 4 • MODE 5 •...
Page 175: Table 4-5 Causes Of Errors For Job_Err
1PosInc/Analog 4.6 Functions of the 1PosInc/Analog Causes of Errors for JOB_ERR Table 4-5 Causes of Errors for JOB_ERR Error Number Meaning Remedy JOB unknown Permissible JOBs are: JOB 0 • JOB 1 • JOB 3 • JOB 4 • JOB 9 •...
Page 176: Cpu/Master Stop And Reset State
1PosInc/Analog 4.7 CPU /Master Stop and RESET State CPU/Master Stop and RESET State Behavior at CPU-Master-STOP Behavior at CPU-Master-STOP Response of the 1PosInc/Analog Due to power-off of the CPU/DP master The current run is stopped. • • – Analog output QV+ is set to 0 V –...
Page 177 1PosInc/Analog 4.7 CPU /Master Stop and RESET State RESET State of the 1PosInc/Analog RESET Status of the 1PosInc/Analog and Changing the Response of the 1PosInc/Analog Parameters of the 1PosInc/Analog Changing the parameters of the 1PosInc/Analog and The axis is not synchronized and the actual value = 0. •...
Page 178: Parameter List
1PosInc/Analog 4.8 Parameter List Parameter List Overview Parameters Meaning Value range Default setting Enables Disable Group diagnostics An encoder error (ERR_ENCODER) • Disable or parameter assignment error Enable • results in a channel-specific diagnostics if group diagnostics is enabled. Encoder signal Encoder signals A, /A and B, /B are •...
Page 179 1PosInc/Analog 4.8 Parameter List Parameters Meaning Value range Default setting Reference point run and evaluation of the reference signal Reference switch and zero Reference signal This parameter defines the relevant • Reference switch and mark switch or the combination of switch zero mark and zero mark.
Page 180 1PosInc/Analog 4.8 Parameter List Parameters Meaning Value range Default setting Acceleration T in ms Time required for a change in voltage 0 - 65535 10000 via a ramp from 0 V to10 V. At 0 ms acceleration is without a ramp.
Page 181: Control And Feedback Signals
1PosInc/Analog 4.9 Control and Feedback Signals Control and Feedback Signals Assignment of the Control Interface Address Assignment Byte 0 Bits 0.7 to 0.4 stand for the MODEs MODE 0 = Stop MODE 1 = Inching MODE 3 = Reference Point Run MODE 4 = Relative Positioning MODE 5 = Absolute Positioning Bit 3: CTRL_DO...
Page 182 1PosInc/Analog 4.9 Control and Feedback Signals Address Assignment Bytes 5 to 7 Corresponding to the selected JOB: With JOB 1= actual value coordinates • With JOB 3 = switch-off difference • With JOB 4 = switchover difference • With JOB 5 = voltage for rapid feed •...
Page 183 1PosInc/Analog 4.9 Control and Feedback Signals Access to Control and Feedback Interface in STEP 7 Programming Configured with STEP 7 via GSD file Configured with STEP 7 via HW Config (hardware catalog\PROFIBUS DP\ other field (hardware catalog\PROFIBUS DP\ET 200S) devices\ET 200S) Feedback interface Read with SFC 14 "DPRD_DAT"...
Page 184: Technical Specifications For The 1Posinc/Analog
1PosInc/Analog 4.10 Technical Specifications for the 1PosInc/Analog 4.10 Technical Specifications for the 1PosInc/Analog Overview Technical Data of the 1PosInc/Analog Dimensions and weight Dimension W x H x D (mm) 30 x 81 x 52 Weight Approx. 65 g Data for specific modules Number of channels Voltages, currents, potentials Rated load voltage L+...
Page 185 1PosInc/Analog 4.10 Technical Specifications for the 1PosInc/Analog Technical Data of the 1PosInc/Analog Data on the Digital Output Output voltage Rated value • 24 VDC 0 signal • ≤ 3 V 1 signal • ≥ L+ -1 V Output current 0 signal (leakage current) •...
Page 186 1PosInc/Analog 4.10 Technical Specifications for the 1PosInc/Analog Technical Data of the 1PosInc/Analog Suppression of interference, limits of error Operational limit (in the entire temperature range, ± 0.4 % with reference to the output range) Basic error limit (operational limit at 25°C with ±...
Page 187 1PosInc/Analog 4.10 Technical Specifications for the 1PosInc/Analog Technical Data of the 1PosInc/Analog Response Times Update rate for feedback messages 2 ms Response time at the switchover or switch-off 0.1 ms - 2 ms point Latch response time Typ. 400 µs ET 200S Positioning Operating Instructions, 05/2007, A5E00124871-04...
Page 188 1PosInc/Analog 4.10 Technical Specifications for the 1PosInc/Analog ET 200S Positioning Operating Instructions, 05/2007, A5E00124871-04...
Page 189: 1Posssi/Digital
● Diagnostics – Encoder monitoring – Load voltage monitoring Configuration You can use either of the following to configure the 1PosSSI/Digital: ● A DDB file (http://www.ad.siemens.de/csi/gsd) or ● STEP 7 as of V5.1 SP2. ET 200S Positioning Operating Instructions, 05/2007, A5E00124871-04...
Page 190: Brief Introduction To Commissioning The 1Posssi/Digital
1PosSSI/Digital 5.2 Brief Introduction to Commissioning the 1PosSSI/Digital Brief Introduction to Commissioning the 1PosSSI/Digital Introduction Using the example of inching mode, this brief introduction shows you a functioning application in which you get to know and check the hardware and software involved in a positioning operation of your 1PosSSI/Digital.
Page 191 1PosSSI/Digital 5.2 Brief Introduction to Commissioning the 1PosSSI/Digital Installation, Wiring, and Fitting Install and wire the TM-E30S44-01 terminal module. Insert the 1PosSSI/Digital in the Distributed I/O Device terminal module (you can find detailed instructions in the manual). Terminal assignment View Remarks Connection of the SSI Encoder: Connection of the Switches and the...
Page 192 1PosSSI/Digital 5.2 Brief Introduction to Commissioning the 1PosSSI/Digital Configured with STEP 7 via HW Config You begin by adapting the hardware configuration to your existing ET 200S station. 1. Open the relevant project in SIMATIC Manager. 2. Call the HWConfig configuration table in your project. 3.
Page 193 1PosSSI/Digital 5.2 Brief Introduction to Commissioning the 1PosSSI/Digital Integrating into the user program Integrate the following FC 101 block in your user program (in OB 1, for example). This block requires the DB1 data block with a length of 16 bytes. In the example below, the start is initiated by setting memory bit 30.0 (in the plus direction) or 30.1 (in the minus direction) with the programming device.
Page 194 1PosSSI/Digital 5.2 Brief Introduction to Commissioning the 1PosSSI/Digital Test Start inching mode, and monitor the associated feedback. 1. Using "Monitor/Modify Variables", check the actual value and the status bits POS_ACK, POS_ERR, POS_DONE, ERR_ENCODER and ERR_2L+. 2. Select the "Block" folder in your project. Choose the "Insert > S7 Block > Variable Table menu command to insert the VAT 1 variable table, and then confirm with OK.
Page 195 1PosSSI/Digital 5.2 Brief Introduction to Commissioning the 1PosSSI/Digital Result The following table shows you which activity triggers which result. Activity Result The POS_ACK status bit is deleted Switch the CPU to RUN mode. • The POS_ERR status bit is deleted •...
Page 196: Terminal Assignment Diagram
1PosSSI/Digital 5.3 Terminal Assignment Diagram Terminal Assignment Diagram Wiring rules The wires (terminals 1 and 5, 4 and 8) must be in twisted pairs and shielded. The shield must be supported at both ends. You use the shield contact element (Order Number: 6ES7 390-5AA00-0AA0) as a shield support.
Page 197 1PosSSI/Digital 5.3 Terminal Assignment Diagram Connection of Relays and Contactors to the Digital Outputs Note Direct connection of inductivities (such as relays and contactors) is possible without external circuiting. If SIMATIC output circuits can be deactivated by additionally installed contacts (for example relay contacts), you have to provide additional overvoltage protection devices at inductivities (see the following example for overvoltage protection).
Page 198: Safety Concept
1PosSSI/Digital 5.4 Safety concept Safety concept Principle The following measures are vital to the safety of the system. Install them with particular care, and adapt them to meet the requirements of the system. Check the measures are effective before the first run. WARNING To avoid injury and damage to property, make sure you adhere to the following: •...
Page 199: Fundamentals Of Controlled Positioning Using Rapid/Creep Feed
1PosSSI/Digital 5.5 Fundamentals of Controlled Positioning Using Rapid/Creep Feed Fundamentals of Controlled Positioning Using Rapid/Creep Feed Positioning Operation From the start position, the target is approached at high speed (rapid feed). At a preset distance from the target (switchover point), there is a change to a lower speed (creep feed). Shortly before the axis reaches the target, again at a preset distance from the target, the drive is switched off (switch-off point).
Page 200 1PosSSI/Digital 5.5 Fundamentals of Controlled Positioning Using Rapid/Creep Feed Definitions Term Explanation Operating range Defines the range, which you set for a particular task by means of the hardware limit switches. In addition, the operating range is also restricted by the range covered by the SSI encoder.
Page 201: Functions Of The 1Posssi/Digital
1PosSSI/Digital 5.6 Functions of the 1PosSSI/Digital Functions of the 1PosSSI/Digital 5.6.1 Overview of the Functions Overview The 1PosSSI/Digital offers you the following functions for moving your axis: ● Stop ● Inching ● Absolute Positioning ● Relative Positioning In addition to the different types of motion, the 1PosSSI/Digital also offers functions for: ●...
Page 202 1PosSSI/Digital 5.6 Functions of the 1PosSSI/Digital Interfaces to the Control Program and the Axis To execute the function, the 1PosSSI/Digital has digital inputs as an interface to the axis, encoder signals for the connection to an encoder and digital outputs to control the drive. You can modify and monitor the types of motion (MODES) and functions (JOBs) with your control program using control signals and feedback signals.
Page 203 1PosSSI/Digital 5.6 Functions of the 1PosSSI/Digital Principle What You Do Response of the 1PosSSI/Digital Provide the control interface with data corresponding to the JOB. Check the JOB_ACK feedback bit is at 0 Switch the JOB_REQ control bit from 1 to 0 The 1PosSSI/Digital sets the feedback bit JOB_ACK = 1 This indicates that the initiation of the 1PosSSI/Digital has been detected and that the JOB will be executed when JOB_ERR = 0.
Page 204: Axis, Drive And Encoder
1PosSSI/Digital 5.6 Functions of the 1PosSSI/Digital 5.6.2 Axis, Drive and Encoder Evaluation of the Encoder Signals The 1PosSSI/Digital evaluates the encoder value supplied by the SSI encoder directly in increments and forms the actual value in increments (actual value = encoder value). The actual value lies in the encoder range from 0-(number of rotations * number of increments)-1.
Page 205: Figure 5-8 Digital Outputs With Control Mode 1
1PosSSI/Digital 5.6 Functions of the 1PosSSI/Digital Figure 5-8 Digital Outputs with Control Mode 1 Parameters Meaning Value range Default setting Drive Control mode Type 0 means: • • DO0 travel minus • DO1 travel plus • DO2 rapid/creep feed • Type 1 means: DO0 rapid feed •...
Page 206 1PosSSI/Digital 5.6 Functions of the 1PosSSI/Digital Effect of the Hardware Limit Switches The two digital inputs (DI0 and DI1) are evaluated by the 1PosSSI/Digital as limit switches: ● DI0 is the minus limit switch and limits the operating range in the minus direction. ●...
Page 207: Effect Of The Directional Enables
1PosSSI/Digital 5.6 Functions of the 1PosSSI/Digital 5.6.3 Effect of the Directional Enables Description You enable the digital outputs directionally using the DIR_M and DIR_P control bits. ● With DIR_M = 1 you can move in the minus direction. ● With DIR_P = 1 you can move in the plus direction. Interrupting and Continuing the Run If you reset the relevant directional enable during a run, the motion of the axis is halted, all 3 digital outputs are set to 0, and the run is interrupted.
Page 208: Inching (Mode 1)
1PosSSI/Digital 5.6 Functions of the 1PosSSI/Digital 5.6.5 Inching (MODE 1) Definition You use inching mode to control the drive directly in a particular direction using the DIR_M or DIR_P control bits. If you start MODE 1, the 1PosSSI/Digital moves the drive at the preset speed (SPEED control bit) in the specified direction (control bit DIR_M or DIR_P).
Page 209 1PosSSI/Digital 5.6 Functions of the 1PosSSI/Digital Control Signals: Inching Address Assignment Byte 0 Bits 0.7 to 0.4: MODE 1 = Inching Bit 3: SPEED (SPEED = 0 is creep feed; SPEED = 1 is rapid feed) Bit 2: DIR_M Bit 1: DIR_P Bit 0: START Feedback Signals: Inching Address...
Page 210: Absolute Positioning (Mode 5)
1PosSSI/Digital 5.6 Functions of the 1PosSSI/Digital 5.6.6 Absolute Positioning (MODE 5) Definition With absolute positioning, the 1PosSSI/Digital moves the drive toward absolute destinations. To do this, the axis must be synchronized. Supply the control interface with the destination, and start MODE 5 with the necessary directional enable (DIR_M, DIR_P).
Page 211 1PosSSI/Digital 5.6 Functions of the 1PosSSI/Digital Rotary axis You determine the direction in which the destination is approached by selecting the directional enable (DIR_M, DIR_P): Control bits DIR_P and DIR_M Direction DIR_P = 1 The destination is approached in the plus direction. DIR_M = 0 DIR_P = 0 The destination is approached in the minus direction.
Page 212 1PosSSI/Digital 5.6 Functions of the 1PosSSI/Digital Control Signals: Absolute Positioning Address Assignment Byte 0 Bits 0.7 to 0.4: MODE 5 = Absolute Positioning Bit 3: SPEED (SPEED=0 is creep feed; SPEED=1 is rapid feed) Bit 2: DIR_M Bit 1: DIR_P Bit 0: START Bytes 1 to 3 Destination...
Page 213 1PosSSI/Digital 5.6 Functions of the 1PosSSI/Digital Absolute positioning: Causes of Errors for POS_ERR You must find out the causes of errors with JOB 15 (displays current values). Error Number Cause What to Do ERR_2L+ is displayed Check the load voltage (2L+) at terminal 15 ERR_ENCODER is displayed Check the encoder wiring...
Page 214: Relative Positioning (Mode 4)
1PosSSI/Digital 5.6 Functions of the 1PosSSI/Digital 5.6.7 Relative Positioning (MODE 4) Description In relative positioning the 1PosSSI/Digital moves the drive from the start position in a specified direction for a certain preset distance. Supply the control interface with the distance to be traveled, and start MODE 4, specifying the direction (DIR_M or DIR_P).
Page 215 1PosSSI/Digital 5.6 Functions of the 1PosSSI/Digital Control Signals: Relative Positioning Address Assignment Byte 0 Bits 0.7 to 0.4: MODE 4 = Relative Positioning Bit 3: SPEED (SPEED=0 is creep feed; SPEED=1 is rapid feed) Bit 2: DIR_M Bit 1: DIR_P Bit 0: START Bytes 1 to 3 Distance...
Page 216 1PosSSI/Digital 5.6 Functions of the 1PosSSI/Digital Relative Positioning: Causes of Errors for POS_ERR You must find out the causes of errors with JOB 15 (displays current values). Error Number Cause What to Do ERR_2L+ is displayed Check the load voltage (2L+) at terminal 15 ERR_ENCODER is displayed Check the encoder wiring The limit switch that lies in the...
Page 217: Canceling Job Processing (Job 0)
1PosSSI/Digital 5.6 Functions of the 1PosSSI/Digital 5.6.8 Canceling JOB Processing (JOB 0) Definition If you activate JOB 0, the 1PosSSI/Digital responds in the following way: ● It cancels the current JOB 10 (latch function) ● It sets a pending JOB_ERR = 0. You can activate JOB 0 whatever the state of the axis.
Page 218: Setting The Actual Value (Job 1)
1PosSSI/Digital 5.6 Functions of the 1PosSSI/Digital 5.6.9 Setting the Actual Value (JOB 1) Definition Setting an actual value assigns new coordinates to the actual value displayed. This moves the operating range to another part of the axis. At the switchover point the 1PosInc/Digital switches from rapid feed to creep feed, and at the switch-off it terminates the run.
Page 219 1PosSSI/Digital 5.6 Functions of the 1PosSSI/Digital Feedback Signals: Setting of Actual Value Address Assignment Byte 0 Bit 3: SYNC Bytes 1 to 3 Actual value (0 to encoder range - 1) Byte 4 Bit 1: JOB_ERR Bit 0: JOB_ACK Setting an Actual Value: Causes of Errors for JOB_ERR Error Number Meaning What to Do...
Page 220: Moving The Encoder Range (Job 2)
1PosSSI/Digital 5.6 Functions of the 1PosSSI/Digital 5.6.10 Moving the Encoder Range (JOB 2) Definition When the encoder range is moved, the encoder value is adjusted so that the actual value displayed corresponds to the real actual value. Before this can be done, any active run must be terminated.
Page 221: Changing The Switch-Off Difference (Job 3)
1PosSSI/Digital 5.6 Functions of the 1PosSSI/Digital 5.6.11 Changing the Switch-Off Difference (JOB 3) Definition Changing the switch-off difference allows you to adjust the drive control to adapt to any changes in the load and mechanical conditions. Supply the control interface with the new switch-off difference, and activate JOB 3. The 1PosSSI/Digital accepts the specified switch-off difference.
Page 222: Changing The Switchover Difference (Job 4)
1PosSSI/Digital 5.6 Functions of the 1PosSSI/Digital 5.6.12 Changing the Switchover Difference (JOB 4) Definition Changing the switchover difference allows you to adjust the drive control to adapt to any changes in the load and mechanical conditions. Supply the control interface with the new switchover difference, and activate JOB 4. The 1PosSSI/Digital accepts the specified switchover difference.
Page 223: Latch Function (Job 10)
1PosSSI/Digital 5.6 Functions of the 1PosSSI/Digital 5.6.13 Latch Function (JOB 10) Definition The latch function allows you to store the actual value at an edge at the DI2 digital input. You can use this function, for example, to detect edges or measure lengths. Supply the control interface with the desired edge, and activate JOB 10.
Page 224: Setting The Monitoring Of The Direction Of Rotation (Job 11)
1PosSSI/Digital 5.6 Functions of the 1PosSSI/Digital 5.6.14 Setting the Monitoring of the Direction of Rotation (JOB 11) Definition By setting monitoring of the direction of rotation you can adjust the monitoring of the direction of rotation of the 1PosSSI/Digital to suit your load and mechanical conditions. Monitoring of the direction of rotation is always active.
Page 225 1PosSSI/Digital 5.6 Functions of the 1PosSSI/Digital Setting the Monitoring of the Direction of Rotation: Causes of Errors for JOB_ERR Error Number Meaning What to Do Monitoring of the direction of rotation Path difference > 65 535 See also CPU/Master Stop and RESET State (Page 233) Error Detection/Diagnostics (Page 228) ET 200S Positioning Operating Instructions, 05/2007, A5E00124871-04...
Page 226: Displaying Current Values (Job 15)
1PosSSI/Digital 5.6 Functions of the 1PosSSI/Digital 5.6.15 Displaying Current Values (JOB 15) Definition You can display the following values in the feedback interface as feedback values: ● Residual distance ● Actual speed ● Causes of errors for POS_ERR and JOB_ERR The residual distance is set by the 1PosSSI/Digital as the default for the feedback value.
Page 227 1PosSSI/Digital 5.6 Functions of the 1PosSSI/Digital Control Signals: Display Current Values Address Assignment Byte 4 Bits 4.7 to 4.4 : JOB 15 = Display current values Bit 0: JOB_REQ Byte 5 0: Residual distance 1: Actual speed 2: Causes of errors for POS_ERR and JOB_ERR Feedback Signals: Display Current Values Address Assignment...
Page 228: Error Detection/Diagnostics
1PosSSI/Digital 5.6 Functions of the 1PosSSI/Digital 5.6.16 Error Detection/Diagnostics Parameter assignment error Parameter assignment error Response of the 1PosSSI/Digital The 1PosSSI/Digital is not assigned parameters and cannot Causes: • execute its functions. The 1PosSSI/Digital cannot identify parameters that • Generate channel-specific diagnostics •...
Page 229 1PosSSI/Digital 5.6 Functions of the 1PosSSI/Digital Wire Break/Short Circuit of the Encoder Signals Response of the 1PosSSI/Digital The current MODEs relative positioning and absolute Prerequisite: • positioning are stopped; it is not possible to start a new run To detect errors of the encoder signals, you must •...
Page 230 1PosSSI/Digital 5.6 Functions of the 1PosSSI/Digital Error Acknowledgment EXTF_ACK You must acknowledge the corrected errors (load voltage missing, short circuit of the sensor supply and open circuit/short circuit of the sensor signals). What You Do Response of the 1PosSSI/Digital Feedback bit ERR_2L+ = 1 and/or feedback bit ERR_ENCODER=1 Your control program detects the set feedback bit ERR_2L+...
Page 231: Table 5-1 Causes Of Errors For Pos_Err
1PosSSI/Digital 5.6 Functions of the 1PosSSI/Digital Feedback Messages Address Assignment Byte 0 Bit 7: ERR_ENCODER Bit 3: SYNC Bit 2: POS_ DONE Bit 1: POS_ERR Bit 0: POS_ACK Byte 4 Bit 7: ERR_2L+ Bit 1: JOB_ERR Bit 0: JOB_ACK Causes of Errors for POS_ERR Table 5-1 Causes of Errors for POS_ERR Error Number...
Page 232: Table 5-2 Causes Of Errors For Job_Err
1PosSSI/Digital 5.6 Functions of the 1PosSSI/Digital Causes of Errors for JOB_ERR Table 5-2 Causes of Errors for JOB_ERR Error Number Meaning Remedy JOB unknown Permissible JOBs are: JOB 0 • JOB 1 • JOB 3 • JOB 4 • JOB 9 •...
Page 233: Cpu/Master Stop And Reset State
1PosSSI/Digital 5.7 CPU /Master Stop and RESET State CPU/Master Stop and RESET State Behavior at CPU-Master-STOP Behavior at CPU-Master-STOP Response of the 1PosSSI/Digital Due to power-off of the CPU/DP master The current run is stopped. • • All 3 digital outputs are set to 0. •...
Page 234: Parameter List
1PosSSI/Digital 5.8 Parameter List Parameter List Overview Parameters Meaning Value range Default setting Enables Disable Group diagnostics When group diagnostics is enabled, an • Disable encoder error (ERR_ENCODER), no load Enable • voltage (ERR_2L+) or a parameter assignment error will result in a channel- specific diagnostics.
Page 235 1PosSSI/Digital 5.8 Parameter List Parameters Meaning Value range Default setting Drive Control mode Type 0 means: • • DO0 travel minus • DO1 travel plus • DO2 rapid/creep feed • Type 1 means: DO0 rapid feed • DO1 creep feed (rapid feed is 0) •...
Page 236: Control And Feedback Signals
1PosSSI/Digital 5.9 Control and Feedback Signals Control and Feedback Signals Assignment of the Control Interface Address Assignment Byte 0 Bits 0.7 to 0.4 stand for the MODEs MODE 0 = Stop MODE 1 = Inching MODE 3 = Reference Point Run MODE 4 = Relative Positioning MODE 5 = Absolute Positioning Bit 3: SPEED (SPEED = 0 is creep feed;...
Page 237 1PosSSI/Digital 5.9 Control and Feedback Signals Assignment of the Feedback Interface Address Assignment Byte 0 Bit 7: ERR_ENCODER Bit 6: STATUS DO 2 Bit 5: STATUS DO 1 Bit 4: STATUS DO 0 Bit 3: SYNC Bit 2: POS_ DONE Bit 1: POS_ERR Bit 0: POS_ACK Bytes 1 to 3...
Page 238: Technical Specifications
1PosSSI/Digital 5.10 Technical specifications 5.10 Technical specifications Overview Technical Data of the 1PosSSI/Digital Dimensions and weight Dimension W x H x D (mm) 30 x 81 x 52 Weight Approx. 65 g Data for specific modules Number of channels Voltages, currents, potentials Rated load voltage L+ 24 VDC Range...
Page 239 1PosSSI/Digital 5.10 Technical specifications Technical Data of the 1PosSSI/Digital Data for the Digital Outputs Output voltage Rated value • DC 24 V 0 signal • ≤ 3 V 1 signal • ≥ L+ -1 V Output current 0 signal (leakage current) •...
Page 240 1PosSSI/Digital 5.10 Technical specifications Technical Data of the 1PosSSI/Digital Status, Diagnostics Change in actual value (up) UP LED (green) Change in actual value (down) DN LED (green) Status display positioning in operation LED POS (green) Status display DI0 (minus hardware limit switch) LED 9 (green) Status display DI1 (plus hardware limit switch) LED 13 (green)
Page 241: 1Posssi/Analog
– Plus hardware limit switch – Reducing cam/latch input ● Diagnostics – Encoder monitoring Configuration To configure the 1PosSSI/Analog, you can use either A DDB file (http://www.ad.siemens.de/csi/gsd) or ● STEP 7 as of V5.1 SP2. ET 200S Positioning Operating Instructions, 05/2007, A5E00124871-04...
Page 242: Brief Instructions On Commissioning The 1Posssi/Analog
1PosSSI/Analog 6.2 Brief Instructions on Commissioning the 1PosSSI/Analog Brief Instructions on Commissioning the 1PosSSI/Analog Introduction Using the example of inching mode, this brief introduction shows you a functioning application in which you get to know and check the hardware and software involved in a positioning operation of your 1PosSSI/Analog.
Page 243: Table 6-1 Terminal Assignment Of The 1Posssi/Analog
1PosSSI/Analog 6.2 Brief Instructions on Commissioning the 1PosSSI/Analog Installation, Wiring, and Fitting Install and wire the TM-E30S44-01 terminal module. Insert the 1PosSSI/Analog in the Distributed I/O Device terminal module (you can find detailed instructions in the manual). Table 6-1 Terminal assignment of the 1PosSSI/Analog Terminal assignment View Remarks...
Page 244 1PosSSI/Analog 6.2 Brief Instructions on Commissioning the 1PosSSI/Analog Configured with STEP 7 via HW Config You begin by adapting the hardware configuration to your existing ET 200S station. 1. Open the relevant project in SIMATIC Manager. 2. Call the HWConfig configuration table in your project. 3.
Page 245 1PosSSI/Analog 6.2 Brief Instructions on Commissioning the 1PosSSI/Analog Creating Blocks and Integrating Them Into The User Program Integrate the following FC 101 block in your user program (in OB 1, for example). This block requires the DB1 data block with a length of 16 bytes. In the example below, the start is initiated by setting memory bit 30.0 (in the plus direction) or 30.1 (in the minus direction) with the programming device.
Page 246 1PosSSI/Analog 6.2 Brief Instructions on Commissioning the 1PosSSI/Analog Test Start inching mode, and monitor the associated feedback. 1. Use "Monitor/Modify Variables" to check the actual value and the status bits POS_ACK, POS_ERR, POS_DONE, ERR_ENCODER. 2. Select the "Block" folder in your project. Choose the "Insert > S7 Block > Variable Table menu command to insert the VAT 1 variable table, and then confirm with OK.
Page 247 1PosSSI/Analog 6.2 Brief Instructions on Commissioning the 1PosSSI/Analog Result The following table shows you which activity triggers which result. Activity Result The POS_ACK status bit is deleted Switch the CPU to RUN mode. • The POS_ERR status bit is deleted •...
Page 248: Terminal Assignment Diagram
1PosSSI/Analog 6.3 Terminal Assignment Diagram Terminal Assignment Diagram Wiring rules The wires (terminals 1 and 5, 4 and 8) must be in twisted pairs and shielded. The shield must be supported at both ends. You use the shield contact element (Order Number: 6ES7 390-5AA00-0AA0) as a shield support.
Page 249 1PosSSI/Analog 6.3 Terminal Assignment Diagram Overvoltage Protection Example The following figure shows an output circuit that requires additional overvoltage protection devices. Direct-current coils are wired with diodes or Zener diodes. Figure 6-1 Relay contact in the output circuit ET 200S Positioning Operating Instructions, 05/2007, A5E00124871-04...
Page 250: Safety Concept
1PosSSI/Analog 6.4 Safety concept Safety concept Principle The following measures are vital to the safety of the system. Install them with particular care, and adapt them to meet the requirements of the system. Check the measures are effective before the first run. WARNING To avoid injury and damage to property, make sure you adhere to the following: •...
Page 251: Fundamentals Of Controlled Positioning Using The Analog Output
1PosSSI/Analog 6.5 Fundamentals of Controlled Positioning Using the Analog Output Fundamentals of Controlled Positioning Using the Analog Output Positioning Operation From the start position, the speed is increased (rapid feed) and the destination is approached at this speed. At a preset distance from the destination (switchover point), there is a change to a lower speed (creep feed).
Page 252 1PosSSI/Analog 6.5 Fundamentals of Controlled Positioning Using the Analog Output Definitions Term Explanation Operating range Defines the range, which you set for a particular task by means of the hardware limit switches. In addition, the operating range is also restricted by the range covered by the SSI encoder.
Page 253: Functions Of The 1Posssi/Analog
1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog Functions of the 1PosSSI/Analog 6.6.1 Overview of the Functions Overview The 1PosSSI/Analog offers you the following functions for moving your axis: ● Stop ● Inching ● Absolute Positioning ● Relative Positioning In addition to the different types of motion, the 1PosSSI/Analog also offers functions for: ●...
Page 254 1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog Parameters: Define the variables that depend on the drive, axis, and encoder uniquely in the parameters. Figure 6-4 How the 1PosSSI/Analog Works Interfaces to the Control Program and the Axis To execute the function, the 1PosSSI/Analog has digital inputs as an interface to the axis, encoder signals for the connection of an encoder, and an analog and a digital output to control the drive.
Page 255 1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog Principle What You Do Response of the 1PosSSI/Analog Provide the control interface with data depending on the MODE. Check the POS_ACK feedback bit is at 0 Switch the START control bit from 0 to 1 The 1PosSSI/Analog sets the feedback bit POS_ACK = 1 and POS_DONE = 0.
Page 256 1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog Principle What You Do Response of the 1PosSSI/Analog Provide the control interface with data corresponding to the JOB. Check the JOB_ACK feedback bit is at 0 Switch the JOB_REQ control bit from 1 to 0 The 1PosSSI/Analog sets the feedback bit JOB_ACK = 1 You can tell from this that activation has been detected by the 1PosSSI/Analog and when JOB_ERR = 0, the JOB is...
Page 257: Axis, Drive And Encoder
1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog 6.6.2 Axis, Drive and Encoder Evaluation of the Encoder Signals The 1PosSSI/Analog evaluates the encoder value supplied by the SSI encoder directly in increments and forms the actual value in increments (actual value = encoder value). The actual value lies in the encoder range from 0 to (number of rotations * number of increments) -1.
Page 258 1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog If you select Direction, the following applies: The control is unipolar. The drive is controlled using the analog output QV+/M with 0 V to +10 V. The 1PosSSI/Analog controls the direction using the OUT digital output. You can read the status of the OUT digital output from the feedback interface, with a delay that corresponds to the updating rate.
Page 259 1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog Changing the Voltage for Rapid Feed and Creep Feed The default setting for rapid feed is 10 V and the default setting for creep feed is 1 V. You can only change these settings using JOBs 5 and 6. After the 1PosInc/Analog starts up or after parameter assignment with changed parameters, the values are accepted from the parameters.
Page 260: Table 6-3 Interpretation Of Bits 5 And 6
1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog Parameters Meaning Value range Default setting Switchover difference Defines the distance from the 0 - 65 535 1000 destination at which the drive is slowed down from rapid feed to creep feed. Acceleration T in ms Time required for a change in voltage 0 - 65 535 10000...
Page 261 1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog Effect of the Hardware Limit Switches The two digital inputs (DI0 and DI1) are evaluated by the 1PosSSI/Analog as hardware limit switches: ● DI0 is the minus limit switch and limits the operating range in the minus direction. ●...
Page 262: Effect Of The Directional Enables
1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog 6.6.3 Effect of the Directional Enables Description Using control bits DIR_M and DIR_P, you can enable control of the drive in the corresponding direction: ● With DIR_M = 1 you can move in the minus direction. ●...
Page 263 1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog Completing/Interrupting a Run If you parameterized and activate MODE 0 Figure 6-10 Interrupting the Run by Switching Off: Directly If you parameterized "Ramp" at switch-off and activate MODE 0 Rapid feed Creep feed Path (plus) Start position MODE 0...
Page 264: Inching (Mode 1)
1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog 6.6.5 Inching (MODE 1) Definition You use inching mode to control the drive directly in a particular direction using the DIR_M or DIR_P control bits. When you start MODE 1, the 1PosSSI/Analog moves the drive with the set voltage for inching mode (from the control interface) in the specified direction (control bits DIR_M or DIR_P).
Page 265 1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog Control Signals: Inching Address Assignment Byte 0 Bits 0.7 to 0.4: MODE 1 = Inching Bit 2: DIR_M Bit 1: DIR_P Bit 0: START Bytes 1 to 3 Voltage for inching (0 to 32 511) Feedback Signals: Inching Address Assignment...
Page 266: Absolute Positioning (Mode 5)
1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog 6.6.6 Absolute Positioning (MODE 5) Definition With absolute positioning, the 1PosSSI/Analog moves the drive toward absolute destinations. To do this, the axis must be synchronized. Supply the control interface with the destination, and start MODE 5 with the necessary directional enable (DIR_M, DIR_P).
Page 267 1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog Rotary axis You determine the direction in which the destination is approached by selecting the directional enable (DIR_M, DIR_P): Control bits DIR_P and DIR_M Direction DIR_P = 1 The destination is approached in the plus direction. DIR_M = 0 DIR_P = 0 The destination is approached in the minus direction.
Page 268 1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog Control Signals: Absolute Positioning Address Assignment Byte 0 Bits 0.7 to 0.4: MODE 5 = Absolute Positioning Bit 2: DIR_M Bit 1: DIR_P Bit 0: START Bytes 1 to 3 Destination (0 to encoder range - 1) Feedback Signals: Absolute Positioning Address Assignment...
Page 269 1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog Absolute positioning: Causes of Errors for POS_ERR You must find out the causes of errors with JOB 15 (displays current values). Error Number Cause What to Do ERR_ENCODER is displayed Check the encoder wiring The axis is not synchronized (SYNC=0) You can synchronize the axis with: Reference point run...
Page 270: Relative Positioning (Mode 4)
1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog 6.6.7 Relative Positioning (MODE 4) Definition In relative positioning the 1PosSSI/Analog moves the drive from the start position in a specified direction for a certain preset distance. Supply the control interface with the distance to be traveled, and start MODE 4, specifying the direction (DIR_M or DIR_P).
Page 271 1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog Control Signals: Relative Positioning Address Assignment Byte 0 Bits 0.7 to 0.4: MODE 4 = Relative Positioning Bit 2: DIR_M Bit 1: DIR_P Bit 0: START Bytes 1 to 3 Distance (linear axis: 0 to 16 777 215; rotary axis: 0...16 777 215) Feedback Signals: Relative Positioning Address Assignment...
Page 272 1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog Relative Positioning: Causes of Errors for POS_ERR You must find out the causes of errors with JOB 15 (displays current values). Error Number Cause What to Do ERR_ENCODER is displayed Check the encoder wiring The limit switch that lies in the direction in which Check your switches and the wiring as well as the drive is moved is active...
Page 273: Canceling Job Processing (Job 0)
1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog 6.6.8 Canceling JOB Processing (JOB 0) Definition If you activate JOB 0, the 1PosSSI/Analog responds as follows: ● It cancels the current JOB 9 (reference signal evaluation) ● It cancels the current JOB 10 (latch function) ●...
Page 274: Setting The Actual Value (Job 1)
1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog 6.6.9 Setting the Actual Value (JOB 1) Definition Setting an actual value assigns new coordinates to the actual value displayed. This moves the operating range to a different range on the axis and synchronizes the axis. At the switchover point the 1PosInc/Digital switches from rapid feed to creep feed, and at the switch-off it terminates the run.
Page 275 1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog Feedback Signals: Setting of Actual Value Address Assignment Byte 0 Bit 3: SYNC Bytes 1 to 3 Actual value (0 to encoder range - 1) Byte 4 Bit 1: JOB_ERR Bit 0: JOB_ACK Setting an Actual Value: Causes of Errors for JOB_ERR Error Number Meaning What to Do...
Page 276: Moving The Encoder Range (Job 2)
1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog 6.6.10 Moving the Encoder Range (JOB 2) Definition When the encoder range is moved, the encoder value is adjusted so that the actual value displayed corresponds to the real actual value. Before this can be done, any active run must be terminated.
Page 277 1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog Move Encoder Range: Causes of Errors for JOB_ERR Error Number Meaning What to Do ERR_ENCODER is displayed Check the encoder wiring JOB 2 (move encoder range) cannot be initiated because there is an active run With JOB 2: Offset not in encoder range ET 200S Positioning Operating Instructions, 05/2007, A5E00124871-04...
Page 278: Changing The Switch-Off Difference (Job 3)
1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog 6.6.11 Changing the Switch-Off Difference (JOB 3) Definition Changing the switch-off difference allows you to adjust the drive control to adapt to any changes in the load and mechanical conditions. Supply the control interface with the new switch-off difference, and activate JOB 3. The 1PosSSI/Analog accepts the preset switch-off difference.
Page 279: Changing The Switchover Difference (Job 4)
1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog 6.6.12 Changing the Switchover Difference (JOB 4) Definition Changing the switchover difference allows you to adjust the drive control to adapt to any changes in the load and mechanical conditions. Supply the control interface with the new switchover difference, and activate JOB 4. The 1PosSSI/Analog accepts the preset switchover difference.
Page 280: Changing The Voltage For Rapid Feed (Job 5)
1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog 6.6.13 Changing the Voltage for Rapid Feed (JOB 5) Definition By changing the voltage for rapid feed (JOB 5) you can adjust the speed for rapid feed. Supply the control interface with the new rapid feed voltage and activate JOB 5. You can set a voltage between 0 V and 11.7589 V (including overrange) in S7 analog value Distributed I/O Device format (you will find a detailed explanation in the...
Page 281: Changing The Voltage For Creep Feed (Job 6)
1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog 6.6.14 Changing the Voltage for Creep Feed (JOB 6) Definition By changing the voltage for creep feed (JOB 6) you can adjust the speed for creep feed. Supply the control interface with the new creep feed voltage and activate JOB 6. You can set a voltage between 0 V and 11.7589 V (including overrange) in S7 analog value Distributed I/O Device format (you will find a detailed explanation in the...
Page 282: Changing The Acceleration Tacc (Job 7)
1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog 6.6.15 Changing the Acceleration Tacc (JOB 7) Definition By changing T (JOB 7) you can adjust the acceleration. Supply the control interface with the new acceleration value and activate JOB 7. The 1PosSSI/Analog accepts the new acceleration value. The acceleration remains valid until the parameter assignment of the 1PosSSI/Analog is changed.
Page 283 1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog Feedback Signals: Changing the acceleration (T Address Assignment Byte 4 Bit 1: JOB_ERR Bit 0: JOB_ACK Changing the acceleration T : Causes of Errors for JOB_ERR Error Number Meaning What to Do Changing the acceleration T >...
Page 284: Changing The Deceleration Tdec (Job 8)
1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog 6.6.16 Changing the Deceleration Tdec (JOB 8) Definition By changing T (JOB 8) you can adjust the deceleration. Supply the control interface with the new deceleration value and activate JOB 8. The 1PosSSI/Analog accepts the new deceleration value. The acceleration remains valid until the parameter assignment of the 1PosSSI/Analog is changed.
Page 285 1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog Changing the deceleration T : Causes of Errors for JOB_ERR Error Number Meaning What to Do Deceleration T > 65 535 See also CPU/Master Stop and RESET State (Page 296) ET 200S Positioning Operating Instructions, 05/2007, A5E00124871-04...
Page 286: Latch Function (Job 10)
1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog 6.6.17 Latch Function (JOB 10) Definition The latch function allows you to store the actual value at an edge at the DI2 digital input. You can use this function, for example, to detect edges or measure lengths. Supply the control interface with the desired edge, and activate JOB 10.
Page 287: Setting The Monitoring Of The Direction Of Rotation (Job 11)
1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog 6.6.18 Setting the Monitoring of the Direction of Rotation (JOB 11) Definition By setting monitoring of the direction of rotation you can adjust the monitoring of the direction of rotation of the 1PosSSI/Analog to suit the load and mechanical conditions. Monitoring of the direction of rotation is always active.
Page 288 1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog Setting the Monitoring of the Direction of Rotation: Causes of Errors for JOB_ERR Error Number Meaning What to Do Monitoring of the direction of rotation Path difference > 65 535 See also CPU/Master Stop and RESET State (Page 296) Error Detection/Diagnostics (Page 291) ET 200S Positioning Operating Instructions, 05/2007, A5E00124871-04...
Page 289: Displaying Current Values (Job 15)
1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog 6.6.19 Displaying Current Values (JOB 15) Definition You can display the following values in the feedback interface as feedback values: ● Residual distance ● Actual speed ● Causes of errors for POS_ERR and JOB_ERR The 1PosSSI/Analog presets the residual distance as a feedback value.
Page 290 1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog Control Signals: Display Current Values Address Assignment Byte 4 Bits 4.7 to 4.4 : JOB 15 = Display current values Bit 0: JOB_REQ Byte 5 0: Residual distance 1: Actual speed 2: Causes of errors for POS_ERR and JOB_ERR Feedback Signals: Display Current Values Address Assignment...
Page 291: Error Detection/Diagnostics
1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog 6.6.20 Error Detection/Diagnostics Parameter assignment error Parameter assignment error Response of the 1PosSSI/Analog The 1PosSSI/Analog is not assigned parameters and cannot Causes: • execute its functions. The 1PosSSI/Analog cannot identify existing • Generate channel-specific diagnostics •...
Page 292 1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog Wire Break/Short Circuit of the Encoder Signals Response of the 1PosSSI/Analog The current MODEs relative positioning and absolute Prerequisite: • positioning are stopped; it is not possible to start a new run To detect errors of the encoder signals, you must •...
Page 293 1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog Error Acknowledgment EXTF_ACK You must acknowledge the corrected errors (short circuit of the sensor supply and open circuit/short circuit of the sensor signals). What You Do Response of the 1PosSSI/Analog Feedback bit ERR_ENCODER=1 Your control program detects the set feedback bit ERR_ENCODER.
Page 294: Table 6-4 Causes Of Errors For Pos_Err
1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog Causes of Errors for POS_ERR Table 6-4 Causes of Errors for POS_ERR Error Number Cause Remedy MODE unknown Permissible MODEs are: MODE 0 • MODE 1 • MODE 4 • MODE 5 • ERR_ENCODER is displayed Check the encoder wiring The axis is not synchronized (SYNC=0) Eliminate the encoder error.
Page 295 1PosSSI/Analog 6.6 Functions of the 1PosSSI/Analog Error Number Meaning Remedy With JOB 2: Offset not in encoder range Setting an Actual Value: Actual value coordinates ≥ encoder range Display current values: Selection unknown Latch Function: Edge selection unknown Display current values: JOB 15 cannot be activated with the latch function running.
Page 296: Cpu/Master Stop And Reset State
1PosSSI/Analog 6.7 CPU /Master Stop and RESET State CPU/Master Stop and RESET State Behavior at CPU-Master-STOP Behavior at CPU-Master-STOP Response of the 1PosSSI/Analog Due to power-off of the CPU/DP master The current run is stopped. • • – Analog output QV+ is set to 0 V –...
Page 297 1PosSSI/Analog 6.7 CPU /Master Stop and RESET State RESET State of the 1PosSSI/Analog RESET Status of the 1PosSSI/Analog and Changing Response of the 1PosSSI/Analog the Parameters of the 1PosSSI/Analog Changing the parameters of the 1PosSSI/Analog The axis is not synchronized and the actual value = 0. •...
Page 298: Parameter List
1PosSSI/Analog 6.8 Parameter List Parameter List Overview Parameters Meaning Value range Default setting Enables Disable Group diagnostics An encoder error (ERR_ENCODER) • Disable or parameter assignment error Enable • results in a channel-specific diagnostics if group diagnostics is enabled. Encoder signal Encoder signals D, /D and C, /C are •...
Page 299 1PosSSI/Analog 6.8 Parameter List Parameters Meaning Value range Default setting Drive Adapt direction If you adjust the direction, this results • in the polarity reversal of your drive • Output Function DO Output: • Output Direction • Your drive is controlled by the analog output using ±10 V.
Page 300: Control And Feedback Signals
1PosSSI/Analog 6.9 Control and Feedback Signals Control and Feedback Signals Assignment of the Control Interface Address Assignment Byte 0 Bits 0.7 to 0.4 stand for the MODEs MODE 0 = Stop MODE 1 = Inching MODE 4 = Relative Positioning MODE 5 = Absolute Positioning Bit 3: CTRL_DO Bit 2: DIR_M...
Page 301 1PosSSI/Analog 6.9 Control and Feedback Signals Address Assignment Bytes 5 to 7 Corresponding to the selected JOB: With JOB 1= actual value coordinates • With JOB 2= encoder range • With JOB 3 = switch-off difference • With JOB 4 = switchover difference •...
Page 302 1PosSSI/Analog 6.9 Control and Feedback Signals Access to Control and Feedback Interface in STEP 7 Programming Configured with STEP 7 via GSD file Configured with STEP 7 via HW Config (hardware catalog\PROFIBUS DP\ other field (hardware catalog\PROFIBUS DP\ET 200S) devices\ET 200S) Feedback interface Read with SFC 14 "DPRD_DAT"...
Page 303: Technical Specifications Of The 1Posssi/Analog
1PosSSI/Analog 6.10 Technical Specifications of the 1PosSSI/Analog 6.10 Technical Specifications of the 1PosSSI/Analog Overview Technical Data of the 1PosSSI/Analog Dimensions and weight Dimension W x H x D (mm) 30 x 81 x 52 Weight Approx. 65 g Data for specific modules Number of channels Voltages, currents, potentials Rated load voltage L+...
Page 304 1PosSSI/Analog 6.10 Technical Specifications of the 1PosSSI/Analog Technical Data of the 1PosSSI/Analog Data on the Digital Output Output voltage Rated value • DC 24 V 0 signal • ≤ 3 V 1 signal • ≥ L+ -1 V Output current 0 signal (leakage current) ≤...
Page 305 1PosSSI/Analog 6.10 Technical Specifications of the 1PosSSI/Analog Technical Data of the 1PosSSI/Analog Data for selecting an actuator Output range (rated value) ±10 V Load resistance Min. 1.0 kΩ For capacitive load • max. 1 µF Short-circuit protection • ca. 25 mA Short-circuit current •...
Page 306 1PosSSI/Analog 6.10 Technical Specifications of the 1PosSSI/Analog ET 200S Positioning Operating Instructions, 05/2007, A5E00124871-04...
Page 307: 1Posuniversal/Digital
1PosUniversal/Digital Product overview Order number 6ES7 138-4DL00-0AB0 Features ● Positioning module 1 Pos Universal (1 Pos U) for controlled positioning by means of rapid/creep feed – Switchover and switch-off difference can be set using your control program ● An incremental encoder with 5 V differential signals or 24 V signals –...
Page 308 Configuration In order to configure the 1PosU use one of the following ● A DDB file (http://www.ad.siemens.de/csi/gsd) or ● STEP 7 as from Version V5.3 SP 2 or with the HSP (hardware support package from the Internet) as from STEP 7 Version V5.2 SP 1...
Page 309: Brief Instructions On Commissioning The 1Posu
1PosUniversal/Digital 7.2 Brief Instructions on Commissioning the 1PosU Brief Instructions on Commissioning the 1PosU Introduction Using the example of inching mode, this brief introduction shows you a functioning application in which you get to know and check the hardware software involved in a positioning operation of your 1PosU.
Page 310: Table 7-1 Terminal Assignment Of The 1Posu
1PosUniversal/Digital 7.2 Brief Instructions on Commissioning the 1PosU Installation, Wiring, and Fitting Install and wire the TM-E30S44-01 terminal module. Insert the 1PosU in the terminal module Distributed I/O Device (you can find detailed instructions in the manual). Table 7-1 Terminal assignment of the 1PosU Terminal assignment View Remarks...
Page 311 1PosUniversal/Digital 7.2 Brief Instructions on Commissioning the 1PosU Configured with STEP 7 via HW Config You begin by adapting the hardware configuration to your existing ET 200S station. 1. Open the relevant project in SIMATIC Manager. 2. Call the HWConfig configuration table in your project. 3.
Page 312 1PosUniversal/Digital 7.2 Brief Instructions on Commissioning the 1PosU Integrating into the user program Integrate the following FC 101 block in your user program (in OB 1, for example). This block requires the DB1 data block with a length of 16 bytes. In the example below, the start is initiated by setting memory bit 30.0 (in the plus direction) or 30.1 (in the minus direction) with the programming device.
Page 313 1PosUniversal/Digital 7.2 Brief Instructions on Commissioning the 1PosU Test Start inching mode, and monitor the associated feedback. 1. Using "Monitor/Modify Variables", check the actual value and the status bits POS_ACK, POS_ERR, POS_DONE, ERR_ENCODER and ERR_2L+. 2. Select the "Block" folder in your project. Choose the "Insert > S7 Block > Variable Table menu command to insert the VAT 1 variable table, and then confirm with OK.
Page 314 1PosUniversal/Digital 7.2 Brief Instructions on Commissioning the 1PosU Result The following table shows you which activity triggers which result. Activity Result The POS_ACK status bit is deleted Switch the CPU to RUN mode. • The POS_ERR status bit is deleted •...
Page 315: Terminal Assignment Diagram
1PosUniversal/Digital 7.3 Terminal Assignment Diagram Terminal Assignment Diagram Wiring Rules If a position encoder with 5 V differential signals is used, the wires to the terminals 9 and 13, the terminals 12 and 16, as well as at incremental encoders the wires to the terminals 11 and 15 have to be in twisted pairs and shielded.
Page 316 1PosUniversal/Digital 7.3 Terminal Assignment Diagram Connection of Relays and Contactors to the Digital Outputs Note Direct connection of inductivities (such as relays and contactors) is possible without external circuiting. If SIMATIC output circuits can be deactivated by additionally installed contacts (for example relay contacts), you have to provide additional overvoltage protection devices at inductivities (see the following example for overvoltage protection).
Page 317: Safety Concept
1PosUniversal/Digital 7.4 Safety concept Safety concept Principle The following measures are vital to the safety of the system. Install them with particular care, and adapt them to meet the requirements of the system. Check the measures are effective before the first run. WARNING To avoid injury and damage to property, make sure you adhere to the following: •...
Page 318: Fundamentals Of Controlled Positioning Using Rapid/Creep Feed
1PosUniversal/Digital 7.5 Fundamentals of Controlled Positioning Using Rapid/Creep Feed Fundamentals of Controlled Positioning Using Rapid/Creep Feed Positioning Operation From the start position, the target is approached at high speed (rapid feed). At a preset distance from the target (switchover point), there is a change to a lower speed (creep feed). Shortly before the axis reaches the target, again at a preset distance from the target, the drive is switched off (switch-off point).
Page 319 1PosUniversal/Digital 7.5 Fundamentals of Controlled Positioning Using Rapid/Creep Feed Definitions Term Explanation Operating range Defines the range, which you set for a particular task by means of the hardware limit switches. At an SSI encoder the operating range is limited additionally by the range covered by the SSI encoder.
Page 320: Functions Of The 1Posu
1PosUniversal/Digital 7.6 Functions of the 1PosU Functions of the 1PosU 7.6.1 Overview of the Functions Overview The 1PosU offers you the following functions for moving your axis: ● Stop ● Search for Reference ● Inching ● Absolute Positioning ● Relative Positioning In addition to the different types of motion, the 1PosU also offers functions for: ●...
Page 321 1PosUniversal/Digital 7.6 Functions of the 1PosU Dosing operation: If incremental encoders are used, the 1PosU can be used for dosing. Dosing operation is set once in the parameters. In dosing operation the 1PosU only evaluates the encoder signal A (/A). The actual value is incremented at each rising edge. In dosing operation only the functions inching and relative positioning are available for controlling the digital outputs.
Page 322 1PosUniversal/Digital 7.6 Functions of the 1PosU Principle What You Do Response of the 1PosU Provide the control interface with data depending on the MODE. Check the POS_ACK feedback bit is at 0 Switch the START control bit from 0 to 1 The 1PosU sets the feedback bits POS_ACK = 1 and POS_DONE = 0.
Page 323 1PosUniversal/Digital 7.6 Functions of the 1PosU Principle What You Do Response of the 1PosU Provide the control interface with data corresponding to the JOB. Check the JOB_ACK feedback bit is at 0 Switch the JOB_REQ control bit from 1 to 0 The 1PosU sets the feedback bit JOB_ACK = 1 This indicates that the initiation of the 1PosU has been detected and that the JOB will be executed when JOB_ERR = 0.
Page 324: Axis, Drive And Encoder
1PosUniversal/Digital 7.6 Functions of the 1PosU 7.6.2 Axis, Drive and Encoder Evaluation of the Encoder Signals The 1PosU evaluates the signals supplied by the position encoder differently depending on the position encoder type: SSI encoder: The 1PosU evaluates the encoder value supplied by the SSI encoder directly in increments and forms the actual value in increments (actual value = encoder value).
Page 325: Figure 7-7 Digital Outputs With Control Mode 0
1PosUniversal/Digital 7.6 Functions of the 1PosU Controlling the Drive The drive is controlled using the 3 digital outputs of the 1PosU. You can select the speed with the SPEED control bit (SPEED=0 is creep feed; SPEED=1 is rapid feed). You can also change the speed during the run. You can bring about a change in direction with the T direction change parameter.
Page 326 1PosUniversal/Digital 7.6 Functions of the 1PosU Parameters Meaning Value range Default setting Drive Control mode Type 0 means: • • DO0 travel minus • DO1 travel plus • DO2 rapid/creep feed • Type 1 means: DO0 rapid feed • DO1 creep feed (rapid feed is 0) •...
Page 327 1PosUniversal/Digital 7.6 Functions of the 1PosU Starting on the hardware limit switch Direction Response of the 1PosU Starting into the operating range The 1PosU starts the specified MODE. Starting away from the operating range The POS_ERR=1 feedback bit is set. ET 200S Positioning Operating Instructions, 05/2007, A5E00124871-04...
Page 328: Effect Of The Directional Enables
1PosUniversal/Digital 7.6 Functions of the 1PosU 7.6.3 Effect of the Directional Enables Description You enable the digital outputs directionally using the DIR_M and DIR_P control bits. ● With DIR_M = 1 you can move in the minus direction. ● With DIR_P = 1 you can move in the plus direction. Interrupting and Continuing the Run If you reset the relevant directional enable during a run, the motion of the axis is halted, all 3 digital outputs are set to 0, and the run is interrupted.
Page 329: Inching (Mode 1)
1PosUniversal/Digital 7.6 Functions of the 1PosU 7.6.5 Inching (MODE 1) Definition You use inching mode to control the drive directly in a particular direction using the DIR_M or DIR_P control bits. If you start MODE 1, the 1PosU moves the drive at the preset speed (SPEED control bit) in the specified direction (control bit DIR_M or DIR_P).
Page 330 1PosUniversal/Digital 7.6 Functions of the 1PosU Control Signals: Inching Address Assignment Byte 0 Bits 0.7 to 0.4: MODE 1 = Inching Bit 3: SPEED (SPEED = 0 is creep feed; SPEED = 1 is rapid feed) Bit 2: DIR_M Bit 1: DIR_P Bit 0: START Feedback Signals: Inching Address...
Page 331: Reference Point Run (Mode 3)
1PosUniversal/Digital 7.6 Functions of the 1PosU 7.6.6 Reference Point Run (MODE 3) Definition A reference point run can only be started at incremental encoders and non-activated dosing operation. You can use the reference point run to synchronize the axis on the basis of an external reference signal.
Page 332 1PosUniversal/Digital 7.6 Functions of the 1PosU After the reference signal has been traversed, the axis is synchronized. The 1PosU sets the feedback signal SYNC = 1 and assigns the reference point coordinates to the actual value. Figure 7-10 Sequence of Execution of the Search for Reference ET 200S Positioning Operating Instructions, 05/2007, A5E00124871-04...
Page 333 1PosUniversal/Digital 7.6 Functions of the 1PosU Control Signals: Search for Reference Address Assignment Byte 0 Bits 0.7 to 0.4: MODE 3 = Reference Point Run Bit 3: SPEED (SPEED = 0 is creep feed; SPEED = 1 is rapid feed) Bit 2: DIR_M Bit 1: DIR_P Bit 0: START...
Page 334 1PosUniversal/Digital 7.6 Functions of the 1PosU Execution of a Reference Point Run Depending on Parameterization and Start Position In a reference point run, you have to distinguish between different cases that depend on the following: ● The start position of the drive at the start of the reference point run ●...
Page 335 1PosUniversal/Digital 7.6 Functions of the 1PosU Example 2: Reference Point Run with Minus Limit Switch ● Start position: between the minus limit switch and the plus limit switch ● Start direction: Minus ● Reference signal: Reference switch ● Reference switch: Minus limit switch Figure 7-12 Reference Point Run with Minus Limit Switch You can also carry out synchronization at the limit switch with the following zero mark.
Page 336 1PosUniversal/Digital 7.6 Functions of the 1PosU Example 3: Reference Point Run with Reversal of Direction at the Plus Limit Switch ● Start position: between the minus limit switch and the reducing cam ● Start direction: Plus ● Reference signal: Reference switch and zero mark ●...
Page 337 1PosUniversal/Digital 7.6 Functions of the 1PosU Search for reference: Causes of Errors for POS_ERR You must find out the causes of errors with JOB 15 (displays current values). Error Number Cause What to Do Impermissible MODE in dosing operation ERR_2L+ is displayed Check the load voltage (2L+) at terminal 7 ERR_ENCODER is displayed Check the encoder wiring...
Page 338: Relative Positioning (Mode 4)
1PosUniversal/Digital 7.6 Functions of the 1PosU 7.6.7 Relative Positioning (MODE 4) Definition In relative positioning the 1PosU moves the drive from the start position in a specified direction for a certain preset distance. Supply the control interface with the distance to be traveled, and start MODE 4, specifying the direction (DIR_M or DIR_P).
Page 339 1PosUniversal/Digital 7.6 Functions of the 1PosU Control Signals: Relative Positioning Address Assignment Byte 0 Bits 0.7 to 0.4: MODE 4 = Relative Positioning Bit 3: SPEED (SPEED=0 is creep feed; SPEED=1 is rapid feed) Bit 2: DIR_M Bit 1: DIR_P Bit 0: START Bytes 1 to 3 Distance...
Page 340 1PosUniversal/Digital 7.6 Functions of the 1PosU Relative Positioning: Causes of Errors for POS_ERR You must find out the causes of errors with JOB 15 (displays current values). Error Number Cause What to Do ERR_2L+ is displayed Check the load voltage (2L+) at terminal 7 ERR_ENCODER is displayed Check the encoder wiring The limit switch that lies in the...
Page 341: Absolute Positioning (Mode 5)
1PosUniversal/Digital 7.6 Functions of the 1PosU 7.6.8 Absolute Positioning (MODE 5) Definition With absolute positioning, the 1PosU moves the drive toward absolute destinations. To do this, the axis must be synchronized. Absolute positioning is not possible at activated dosing operation. Supply the control interface with the destination, and start MODE 5 with the necessary directional enable (DIR_M, DIR_P).
Page 342 1PosUniversal/Digital 7.6 Functions of the 1PosU Rotary axis You determine the direction in which the destination is approached by selecting the directional enable (DIR_M, DIR_P): Control bits DIR_P and DIR_M Direction DIR_P = 1 The destination is approached in the plus direction. DIR_M = 0 DIR_P = 0 The destination is approached in the minus direction.
Page 343 1PosUniversal/Digital 7.6 Functions of the 1PosU Control Signals: Absolute Positioning Address Assignment Byte 0 Bits 0.7 to 0.4: MODE 5 = Absolute Positioning Bit 3: SPEED (SPEED = 0 is creep feed; SPEED = 1 is rapid feed) Bit 2: DIR_M Bit 1: DIR_P Bit 0: START Bytes 1 to 3...
Page 344 1PosUniversal/Digital 7.6 Functions of the 1PosU Absolute positioning: Causes of Errors for POS_ERR You must find out the causes of errors with JOB 15 (displays current values). Error Number Cause What to Do Impermissible MODE in dosing operation ERR_2L+ is displayed Check the load voltage (2L+) at terminal 7 ERR_ENCODER is displayed...
Page 345: Canceling Job Processing (Job 0)
1PosUniversal/Digital 7.6 Functions of the 1PosU 7.6.9 Canceling JOB Processing (JOB 0) Definition If you activate JOB 0, the 1PosU responds as follows: ● It cancels the current JOB 9 (reference signal evaluation) ● It cancels the current JOB 10 (latch function) ●...
Page 346: Setting The Actual Value (Job 1)
1PosUniversal/Digital 7.6 Functions of the 1PosU 7.6.10 Setting the Actual Value (JOB 1) Definition Setting an actual value assigns new coordinates to the actual value displayed. This moves the operating range to another part of the axis. The axis is synchronized at incremental encoders and non-activated dosing operation. At the switchover point the 1PosInc/Digital switches from rapid feed to creep feed, and at the switch-off it terminates the run.
Page 347 1PosUniversal/Digital 7.6 Functions of the 1PosU Feedback Signals: Setting of Actual Value Address Assignment Byte 0 Bit 3: SYNC Bytes 1 to 3 Actual value at incremental encoder (linear axis: 0 to 16 777 215; rotary axis: 0 to end of rotary axis-1), at SSI encoder (0 to encoder range - 1) Byte 4 Bit 1: JOB_ERR...
Page 348: Moving The Encoder Range (Job 2)
1PosUniversal/Digital 7.6 Functions of the 1PosU 7.6.11 Moving the Encoder Range (JOB 2) Definition The move encoder range function can only be executed at SSI encoders. When the encoder range is moved, the encoder value is adjusted so that the actual value displayed corresponds to the real actual value.
Page 349 1PosUniversal/Digital 7.6 Functions of the 1PosU Move Encoder Range: Causes of Errors for JOB_ERR Error Number Meaning What to Do Invalid JOB at incremental encoder ERR_ENCODER is displayed Check the encoder wiring JOB 2 (move encoder range) cannot be initiated because there is an active run With JOB 2: Offset not in encoder range ET 200S Positioning Operating Instructions, 05/2007, A5E00124871-04...
Page 350: Changing The Switch-Off Difference (Job 3)
1PosUniversal/Digital 7.6 Functions of the 1PosU 7.6.12 Changing the Switch-Off Difference (JOB 3) Definition Changing the switch-off difference allows you to adjust the drive control to adapt to any changes in the load and mechanical conditions. Supply the control interface with the new switch-off difference, and activate JOB 3. The 1PosU accepts the specified switch-off difference.
Page 351: Changing The Switchover Difference (Job 4)
1PosUniversal/Digital 7.6 Functions of the 1PosU 7.6.13 Changing the Switchover Difference (JOB 4) Definition Changing the switchover difference allows you to adjust the drive control to adapt to any changes in the load and mechanical conditions. Supply the control interface with the new switchover difference, and activate JOB 4. The 1PosU accepts the specified switchover difference.
Page 352: Evaluating The Reference Signal (Job 9)
1PosUniversal/Digital 7.6 Functions of the 1PosU 7.6.14 Evaluating the Reference Signal (JOB 9) Definition The evaluate reference signal function is only available at incremental encoders and non-active dosing operation. By evaluating the reference signal you can synchronize the axis using an external reference signal during a current run in inching or relative positioning mode.
Page 353 1PosUniversal/Digital 7.6 Functions of the 1PosU Control Signals: Reference Signal Evaluation Address Assignment Byte 4 Bits 4.7 to 4.4 : JOB 9 = Evaluate the reference signal Bit 0: JOB_REQ Bytes 5 to 7 Reference point coordinates (linear axis: 0 to 16 777 215; rotary axis: 0 to end of rotary axis - 1) Feedback Signals: Reference Signal Evaluation Address Assignment...
Page 354: Latch Function (Job 10)
1PosUniversal/Digital 7.6 Functions of the 1PosU 7.6.15 Latch Function (JOB 10) Definition The latch function allows you to store the actual value at an edge at the DI2 digital input. You can use this function, for example, to detect edges or measure lengths. Supply the control interface with the desired edge, and activate JOB 10.
Page 355 1PosUniversal/Digital 7.6 Functions of the 1PosU Latch Function: Causes of Errors for JOB_ERR Error Number Meaning What to Do ERR_ENCODER is displayed Check the encoder wiring Edge selection unknown See also CPU/Master Stop and RESET State (Page 367) Displaying Current Values (JOB 15) (Page 358) ET 200S Positioning Operating Instructions, 05/2007, A5E00124871-04...
Page 356: Setting The Monitoring Of The Direction Of Rotation (Job 11)
1PosUniversal/Digital 7.6 Functions of the 1PosU 7.6.16 Setting the Monitoring of the Direction of Rotation (JOB 11) Definition The monitoring of the direction of rotation function is not available in dosing operation. By setting monitoring of the direction of rotation you can adjust the monitoring of the direction of rotation of the 1PosU to suit your load and mechanical conditions.
Page 357 1PosUniversal/Digital 7.6 Functions of the 1PosU Setting the Monitoring of the Direction of Rotation: Causes of Errors for JOB_ERR Error Number Meaning What to Do Impermissible JOB in dosing operation Monitoring of the direction of rotation Path difference > 65 535 See also CPU/Master Stop and RESET State (Page 367) Displaying Current Values (JOB 15) (Page 358)
Page 358: Displaying Current Values (Job 15)
1PosUniversal/Digital 7.6 Functions of the 1PosU 7.6.17 Displaying Current Values (JOB 15) Definition You can display the following values in the feedback interface as feedback values: ● Residual distance ● Actual speed ● Causes of errors for POS_ERR and JOB_ERR The residual distance is set by the 1PosU as the default for the feedback value.
Page 359 1PosUniversal/Digital 7.6 Functions of the 1PosU Control Signals: Display Current Values Address Assignment Byte 4 Bits 4.7 to 4.4 : JOB 15 = Display current values Bit 0: JOB_REQ Byte 5 0: Residual distance 1: Actual speed 2: Causes of errors for POS_ERR and JOB_ERR Feedback Signals: Display Current Values Address Assignment...
Page 360: Error Detection/Diagnostics
1PosUniversal/Digital 7.6 Functions of the 1PosU 7.6.18 Error Detection/Diagnostics Parameter assignment error Parameter assignment error Response of the 1PosU The 1PosU is not assigned parameters and cannot execute Causes: • its functions. The 1PosU cannot identify existing parameters as its •...
Page 361 1PosUniversal/Digital 7.6 Functions of the 1PosU External Errors Load Voltage 2L+ Missing Response of the 1PosU The current run is halted; it is not possible to start a new run. Causes: • – All 3 digital outputs are set to 0. Load voltage 2L+ not present or too low at •...
Page 362 1PosUniversal/Digital 7.6 Functions of the 1PosU Wire Break/Short Circuit of the Encoder Signals Response of the 1PosU The current MODEs relative positioning and absolute If an SSI encoder is used: • positioning are stopped; it is not possible to start a new run Prerequisite: in these MODEs.
Page 363 1PosUniversal/Digital 7.6 Functions of the 1PosU Errors in the Control of MODEs and JOBs POS_ERR Response of the 1PosU The MODE started is not executed. Causes: • The current run is stopped. • Certain requirements or conditions have not been •...
Page 364 1PosUniversal/Digital 7.6 Functions of the 1PosU Parameters Parameters Meaning Value range Default setting Enables Disable Group diagnostics When group diagnostics is enabled, an • Disable encoder error (ERR_ENCODER), no load Enable • voltage (ERR_2L+) or a parameter assignment error will result in a channel- specific diagnostics.
Page 365: Table 7-3 Causes Of Errors For Pos_Err
1PosUniversal/Digital 7.6 Functions of the 1PosU Causes of Errors for POS_ERR Table 7-3 Causes of Errors for POS_ERR Error Number Cause Remedy MODE unknown Permissible MODEs are: MODE 0 • MODE 1 • MODE 3 (not possible at SSI encoders or in •...
Page 366: Table 7-4 Causes Of Errors For Job_Err
1PosUniversal/Digital 7.6 Functions of the 1PosU Causes of Errors for JOB_ERR Table 7-4 Causes of Errors for JOB_ERR Error Number Meaning Remedy JOB unknown or impermissible Permissible JOBs are: JOB 0 • JOB 1 • JOB 2 (only possible at SSI encoders) •...
Page 367: Cpu/Master Stop And Reset State
1PosUniversal/Digital 7.7 CPU /Master Stop and RESET State CPU/Master Stop and RESET State Behavior at CPU-Master-STOP Behavior at CPU-Master-STOP Response of the 1PosU Due to power-off of the CPU/DP master The current run is stopped. • • All 3 digital outputs are set to 0. •...
Page 368: Parameter List
1PosUniversal/Digital 7.8 Parameter List Parameter List Overview Parameter List at Incremental Encoders with 5 V Differential Signals Parameters Meaning Value range Default setting Enables Disable Group diagnostics When group diagnostics is enabled, an • Disable encoder error (ERR_ENCODER), no load Enable •...
Page 369 1PosUniversal/Digital 7.8 Parameter List Parameters Meaning Value range Default setting Reference point run and evaluation of the reference signal Reference switch and Reference signal This parameter defines the relevant switch • Reference switch and zero mark or the combination of switch and zero mark. zero mark Reference switch •...
Page 370 1PosUniversal/Digital 7.8 Parameter List Parameter List at Incremental Encoders with 24 V Signals Parameters Meaning Value range Default setting Enables Disable Group diagnostics When group diagnostics is enabled, an • Disable encoder error (ERR_ENCODER), no load Enable • voltage (ERR_2L+) or a parameter assignment error will result in a channel- specific diagnostics.
Page 371 1PosUniversal/Digital 7.8 Parameter List Parameters Meaning Value range Default setting Drive Control mode Type 0 means: • • DO0 travel minus • DO1 travel plus • DO2 rapid/creep feed • Type 1 means: DO0 rapid feed • DO1 creep feed (rapid feed is 0) •...
Page 372 1PosUniversal/Digital 7.8 Parameter List Parameter List at SSI Encoder: Parameters Meaning Value range Default setting Enables Disable Group diagnostics When group diagnostics is enabled, an • Disable encoder error (ERR_ENCODER), no load Enable • voltage (ERR_2L+) or a parameter assignment error will result in a channel- specific diagnostics.
Page 373 1PosUniversal/Digital 7.8 Parameter List Parameters Meaning Value range Default setting Drive Control mode Type 0 means: • • DO0 travel minus • DO1 travel plus • DO2 rapid/creep feed • Type 1 means: DO0 rapid feed • DO1 creep feed (rapid feed is 0) •...
Page 374: Control And Feedback Signals
1PosUniversal/Digital 7.9 Control and Feedback Signals Control and Feedback Signals Assignment of the Control Interface Address Assignment Byte 0 Bits 0.7 to 0.4 stand for the MODEs MODE 0 = Stop MODE 1 = Inching MODE 3 = Reference Point Run MODE 4 = Relative Positioning MODE 5 = Absolute Positioning Bit 3: SPEED (SPEED = 0 is creep feed;...
Page 375 1PosUniversal/Digital 7.9 Control and Feedback Signals Address Assignment Bytes 5 to 7 Corresponding to the selected JOB: With JOB 1= actual value coordinates • With JOB 3 = switch-off difference • With JOB 4 = switchover difference • With JOB 9 = reference point coordinates •...
Page 376: Technical Specifications
1PosUniversal/Digital 7.10 Technical specifications 7.10 Technical specifications Overview Technical specifications 1PosU Dimensions and weight Dimension W x H x D (mm) 30 x 81 x 52 Weight Approx. 65 g Data for specific modules Number of channels Voltages, currents, potentials Rated load voltage L+ 24 VDC Range...
Page 377 1PosUniversal/Digital 7.10 Technical specifications Technical specifications 1PosU Output current 0 signal (leakage current) • ≤ 0.3 mA 1 signal • 0.5 A – Rated value – Permitted range 7 mA to 0.6 A Switch rate Resistive load • 100 Hz Inductive load •...
Page 378 1PosUniversal/Digital 7.10 Technical specifications Technical specifications 1PosU Encoder connection SSI Position detection Absolute Differential signals for SSI data and SSI clock According to RS422 125 kHz max. 320 m Data transmission rate and line length with • absolute encoders (twisted pair and shielded) 250 kHz max.
Page 379: Index
Index 1PosSSI/Digital, 190 1STEP 5V/204kHz, 16 1PosInc/Analog Technical specifications, 184 Terminal Assignment Diagram, 120 Canceling JOB 10, 87, 152, 217, 273, 345 1PosInc/Digital Canceling JOB 9, 87, 152, 217, 273, 345 Technical specifications, 110 Canceling JOB processing, 87, 152, 217, 273, 345 Terminal Assignment Diagram, 59 Causes of Errors for JOB_ERR, 89, 93, 94, 96, 98, 1PosSSI/Analog...
Page 380 Index Behavior of the 1STEP 5V/204kHz, 42 Change switch-off difference, 64 Change Switchover Difference, 64 Display Current Values, 64 Error Detection/Diagnostics, 64 Inching, 64 Diagnostics, 53, 99, 111, 113, 171, 186, 189, 228, 240, Latch Function, 64 241, 291, 305, 308, 360, 378 Reference signal evaluation, 64 Digital Input DI 3, 41 Relative Positioning, 64...
Page 381 Index Setting the Monitoring of the Direction of Rotation, 320 Parameter assignment error, 43, 99, 171, 228, 291, Stop, 320 Functions of the 1STEP 5V/204kHz Parameters Incremental Mode, Relative, 36 during operation, 40 Pulse Enable, 39 Parameters of the 1PosInc/Analog, 178 Search for Reference, 31 Parameters of the 1PosInc/Digital, 105 Stopping the Stepping Motor, 37...
Page 382 Index Setting up a positioning control, 23, 61, 63, 122, 124, Switchover difference, 63, 124, 200, 252, 319 198, 250, 252, 317 Switchover point, 63, 124, 200, 252, 319 Start position, 63, 124, 200, 252, 319 Start position of the reference point run, 74, 139, 334 Starting Positioning job, 48 Target, 63, 124, 252...

Siemens simatic et 200s Operating Instructions Manual

1 Overview

1 STEP 5V/204Khz

1 Posinc/Digital

1 Posinc/Analog

1 Posssi/Digital

1 Posssi/Analog

1 Posuniversal/Digital

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