Siemens SINAMICS G120 Function Manual
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Siemens SINAMICS G120 Function Manual

Low-voltage inverter; basic positioner (epos) for cu250-2 control units
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  • Page 3 Fundamental safety ___________________ Basic positioner instructions ___________________ Introduction ___________________ SINAMICS Basic positioner ___________________ Appendix SINAMICS G120 Basic positioner Function Manual Edition 04/2015, firmware V4.7 SP3 04/2015, FW V4.7 SP3 A5E34257659B AB...
  • Page 4 Note the following: WARNING Siemens products may only be used for the applications described in the catalog and in the relevant technical documentation. If products and components from other manufacturers are used, these must be recommended or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and maintenance are required to ensure that the products operate safely and without any problems.

  • Page 5: Table Of Contents

    Table of contents Fundamental safety instructions ......................7 General safety instructions ....................... 7 Industrial security ........................8 Introduction ............................. 9 Basic positioner ............................ 11 Basic positioner and position control ..................11 Permissible encoder combinations ..................12 PROFIdrive interfaces......................15 3.3.1 Control and status word 1 .......................
  • Page 6 Table of contents 3.4.7.3 Setting jogging ........................72 3.4.8 Traversing blocks ........................74 3.4.8.1 Travel to fixed stop ......................... 82 3.4.8.2 Examples ..........................87 3.4.9 Direct setpoint input (MDI) ..................... 89 Appendix .............................. 95 Manuals and technical support ....................95 A.1.1 Manuals for your converter ....................

  • Page 7: General Safety Instructions

    Fundamental safety instructions General safety instructions WARNING Risk of death if the safety instructions and remaining risks are not carefully observed If the safety instructions and residual risks are not observed in the associated hardware documentation, accidents involving severe injuries or death can occur. •...

  • Page 8: Industrial Security

    Siemens recommends strongly that you regularly check for product updates. For the secure operation of Siemens products and solutions, it is necessary to take suitable preventive action (e.g. cell protection concept) and integrate each component into a holistic, state-of-the-art industrial security concept.

  • Page 9: Introduction

    Who requires this manual and why? This manual addresses machine and plant manufacturers and commissioning engineers. The manual describes the function "basic positioner" of the SINAMICS G120 inverter equipped with the CU250S-2 Control Unit. What is described in this manual?
  • Page 10 Introduction Basic positioner Function Manual, 04/2015, FW V4.7 SP3, A5E34257659B AB...

  • Page 11: Basic Positioner And Position Control

    Basic positioner Basic positioner and position control Overview Position control means controlling the position of an axis. An "axis" is a machine or system component that comprises the inverter with active position control and the driven mechanical system. The basic positioner (EPos) calculates the traversing profile for the time-optimized traversing of the axis to the target position.

  • Page 12: Permissible Encoder Combinations

    Basic positioner 3.2 Permissible encoder combinations Permissible encoder combinations Overview You can connect two encoders to the inverter. The encoder for the speed controller must be mounted on the motor shaft. Table 3- 1 Encoder combinations Encoders for the speed Encoders for the position controller controller SUB-D connector...
  • Page 13 Basic positioner 3.2 Permissible encoder combinations Table 3- 2 Explanation regarding encoder combinations --- This combination is not permissible. ① Position controllers and speed controllers use the same encoder on the motor shaft. Advantage: Favorably-priced solution Disadvantages: Depending on the gear ratio, •...
  • Page 14 Basic positioner 3.2 Permissible encoder combinations Example An HTL encoder is connected to the terminal strip. You have the following options in this case: • You use the HTL encoder for the speed controller and operate the drive without position control.

  • Page 15: Profidrive Interfaces

    Basic positioner 3.3 PROFIdrive interfaces PROFIdrive interfaces The send and receive telegrams of the inverter for cyclic communication are structured as follows: Figure 3-2 Telegrams for cyclic communication - Position control Basic positioner Function Manual, 04/2015, FW V4.7 SP3, A5E34257659B AB...
  • Page 16 Basic positioner 3.3 PROFIdrive interfaces Table 3- 3 Explanation of the abbreviations Abbreviation Significance STW1 Control word 1 ZSW1 Status word 1, see also: Control and status word 1 (Page 17) STW2 Control word 2 ZSW2 Status word 2, see also: SATZANW Select the traversing block, see also: Control and status word 2 (Page 19) AKTSATZ...

  • Page 17: Control And Status Word 1

    Basic positioner 3.3 PROFIdrive interfaces 3.3.1 Control and status word 1 Control word 1 (STW1) Table 3- 4 Control word 1 for active basic positioner Meaning Comments P No. 0 = OFF1 The motor brakes with the ramp-down time p1121 of the p0840[0] = ramp-function generator.
  • Page 18 Basic positioner 3.3 PROFIdrive interfaces Status word 1 (ZSW1) Table 3- 5 Status word 1 when the basic positioner is active Bit Meaning Comments P No. Telegram 110 Telegram 111 1 = Ready to start Power supply is switched on; electronics initialized; pulses are p2080[0] = inhibited.

  • Page 19: Control And Status Word 2

    Basic positioner 3.3 PROFIdrive interfaces 3.3.2 Control and status word 2 Control word 2 (STW2) Table 3- 6 Control word 2 and interconnection in the converter Meaning Comments Interconnection Telegram 9 Telegrams 110, 111 Drive data set selection DDS, bit 0 p0820[0] = p0820[0] = r2092.0...

  • Page 20: Control And Status Word For The Positioner

    Basic positioner 3.3 PROFIdrive interfaces 3.3.3 Control and status word for the positioner Positioning control word (POS_STW) Table 3- 8 POS_STW and interconnection with parameters in the inverter Meaning Comments P No. 1 = Follow-up mode The inverter continuously corrects the position setpoint to p2655[0] = follow the position actual value.
  • Page 21 Basic positioner 3.3 PROFIdrive interfaces Positioning status word (POS_ZSW) Table 3- 9 POS_ZSW and interconnection with parameters in the inverter Bit Meaning Comments P No. 1 = Follow-up mode active The inverter is in the follow-up mode. p2084[0] = r2683.0 1 = Velocity limiting is active The inverter limits the velocity of the axis.

  • Page 22: Control And Status Word 1 For The Positioner

    Basic positioner 3.3 PROFIdrive interfaces 3.3.4 Control and status word 1 for the positioner Positioning control word 1 (POS_STW1) Table 3- 10 POS_STW1 and interconnection in the converter Meaning Comments P No. Traversing block selection, bit 0 Selecting the traversing block p2625 = r2091.0 Traversing block selection, bit 1 p2626 = r2091.1...
  • Page 23 Basic positioner 3.3 PROFIdrive interfaces Positioning status word 1 (POS_ZSW1) Table 3- 11 POS_ZSW1 and interconnection in the converter Bit Meaning Comments P No. Active traversing block bit 0 (2 Number of the currently selected traversing block. p2083[0] = r2670[0] Active traversing block bit 1 (2 p2083[1] = r2670[1]...

  • Page 24: Control And Status Word 2 For The Positioner

    Basic positioner 3.3 PROFIdrive interfaces 3.3.5 Control and status word 2 for the positioner Positioning control word 2 (POS_STW2) Table 3- 12 POS_STW2 and interconnection with parameters in the converter Bit Meaning Comments P No. 1 = Activate follow-up mode The converter continuously corrects the position setpoint to p2655[0] = follow the position actual value.
  • Page 25 Basic positioner 3.3 PROFIdrive interfaces Positioning status word 2 (POS_ZSW2) Table 3- 13 POS_ZSW2 and interconnection with parameters in the converter Bit Meaning Comments P No. 1 = Follow-up mode active The converter is in the follow-up mode. p2084[0] = r2683.0 1 = Velocity limiting is active The converter limits the velocity of the axis.

  • Page 26: Control Word Block Selection

    Basic positioner 3.3 PROFIdrive interfaces 3.3.6 Control word block selection Block selection Table 3- 14 Block selection and interconnection in the converter Meaning Comments P No. Block selection, bit 0 Example for selecting p2625 = r2091.0 traversing block number Block selection, bit 1 p2626 = r2091.1 Block selection, bit 2 p2627 = r2091.2...

  • Page 27: Control Word Mdi Mode

    Basic positioner 3.3 PROFIdrive interfaces 3.3.7 Control word MDI mode MDI mode Table 3- 16 Selection of the MDI mode and interconnection with parameters in the converter Meaning Comments P No. 0 = Relative positioning is selected The converter interprets the position setpoint as the p2648 = r2094.0 position setpoint relative to the start position.

  • Page 28: Status Word Messages

    Basic positioner 3.3 PROFIdrive interfaces 3.3.8 Status word messages Status word messages (MELDW) Table 3- 17 Status word for messages and interconnection with parameters in the converter Meaning Description P No. 0 = Ramp-function generator active The motor is presently accel- p2082[0] = r2199.5 erating or braking 1 = Ramp-up/ramp-down completed...

  • Page 29: Function Block Fb283

    ● Reading or writing a maximum of any 10 parameters with one job, e.g. for product adaptation. A configuration example and a description of the FB283 can be found on the Internet: FB283 (http://support.automation.siemens.com/WW/view/en/25166781). Basic positioner Function Manual, 04/2015, FW V4.7 SP3, A5E34257659B AB...

  • Page 30: Commissioning

    We strongly recommend that you commission the safety functions using a PC tool. Table 3- 18 PC-based commissioning tools Download Article No. More information STARTER 6SL3072-0AA00-0AG0 Guided tour (http://support.automation.sie (http://support.automation.siemens.com/ mens.com/WW/view/en/2623 WW/view/en/21110668) 3208) Startdrive 6SL3072-4CA02-1XG0 Tutorial (http://support.automation.sie (http://support.automation.siemens.com/ mens.com/WW/view/en/6803 WW/view/en/73598459)
  • Page 31 Basic positioner 3.4 Commissioning The screen forms to commission the basic positioner in Startdrive and STARTER essentially have the same structure. Commissioning using STARTER is described in this manual. ① Assign encoders to the axes. → Operating instructions ② Set the communication via the fieldbus. →...

  • Page 32: Normalizing The Encoder Signal

    Basic positioner 3.4 Commissioning 3.4.2 Normalizing the encoder signal 3.4.2.1 Define the resolution Distance unit (LU): the resolution of the position actual value in the inverter The inverter calculates the position actual value of the axis using the neutral position unit LU (Length Unit).
  • Page 33 Basic positioner 3.4 Commissioning 4. Check the maximum resolution based on your encoder data. 5. Calculate: Value = 360 ° / required resolution, e.g. 360 °/ 0.1 ° = 3600. Enter this value into STARTER. You have normalized the encoder signal. Parameter Meaning p2502...

  • Page 34: Modulo Range Setting

    Basic positioner 3.4 Commissioning 3.4.2.2 Modulo range setting Description Linear axis A linear axis is an axis whose traversing range is limited in both motor directions of rotation by the mechanical system of the machine, e.g.: • Stacker crane • Elevating platform •...
  • Page 35 Basic positioner 3.4 Commissioning Setting the modulo range Preconditions ● You are online with the STARTER . ● You have selected the "Mechanical system" screen. Procedure To set the modulo range, proceed as follows: 1. Enable the modulo correction. 2. Define the modulo range. Example 1: In the case of a rotary table, one load revolution corresponds to 3600 LU.

  • Page 36: Checking The Actual Position Value

    Basic positioner 3.4 Commissioning 3.4.2.3 Checking the actual position value After normalization of the encoder signal you should check the actual position value. Preconditions ● You are online with the STARTER . ● You have selected the screen for "Actual value processing". Procedure To ensure that the converter calculates the actual position value correctly, you must check the following:...

  • Page 37: Setting The Backlash

    Basic positioner 3.4 Commissioning 3.4.2.4 Setting the backlash Description Backlash (also called play, dead travel on reversing etc.) is the distance or the angle that a motor must travel through when the direction of rotation reverses until the axis actually moves in the other direction.
  • Page 38 Basic positioner 3.4 Commissioning Correcting backlash Precondition You have selected the "Mechanical system" screen. Procedure To correct the measured backlash, set the following: ● If the axis has not traveled far enough, then set a positive backlash. ● If the axis has traveled too far, then set a negative backlash. You have corrected the backlash.

  • Page 39: Limiting The Positioning Range

    Basic positioner 3.4 Commissioning 3.4.3 Limiting the positioning range Description Positioning range for linear axes The converter limits the positioning range of a linear axis using a software limit switch. The converter only accepts position setpoints that lie within the software limit switches. Figure 3-4 Limiting the positioning range of a linear axis In addition, using its digital inputs, the converter evaluates signals from stop cams.
  • Page 40 Basic positioner 3.4 Commissioning Setting the limits of the positioning range Precondition You have selected the "Limit" screen. Procedure To set the limits of the positioning range, proceed as follows: 1. Enable the software limit switch. 2. Move the axis to the positive limit position in your machine. Set the position of the software limit switches to the actual position value.
  • Page 41 Basic positioner 3.4 Commissioning Parameter Meaning p2568 STOP cam activation p2569 STOP cam, minus p2570 STOP cam, plus p2578 Software limit switch, minus signal source p2579 Software limit switch, plus signal source p2580 Software limit switch, minus p2581 Software limit switch, plus p2582 Software limit switch activation r2683.6...

  • Page 42: Setting The Position Controller

    Basic positioner 3.4 Commissioning 3.4.4 Setting the position controller 3.4.4.1 Precontrol and gain Preconditions and constraints Before you optimize the position controller, the closed-loop drive speed control must be optimally set. Dynamic response and accuracy of the closed-loop position control depend heavily on the lower-level closed-loop or open-loop control or the motor speed: ●...

  • Page 43: Optimizing The Position Controller

    Basic positioner 3.4 Commissioning 3.4.4.2 Optimizing the position controller To optimize the position controller, you must move the axis with the position control and assess the control performance. How you move an axis using the STARTER is described below. Optimizing the position controller Procedure To optimize the position controller, proceed as follows: 1.
  • Page 44 Basic positioner 3.4 Commissioning 5. Adjust the integral time. Start with an integral time of 100 ms, and test your setting by traversing the axis with the active position controller using the "jog" function. Lower integral times increase the control dynamics but can, however, result in unstable controller characteristics.
  • Page 45 Basic positioner 3.4 Commissioning 6. Following controller optimization, set the precontrol of the position controller to 100%. 7. Check the controller characteristics again. You have optimized the position controller. Parameter Meaning p2534 Speed precontrol factor p2538 Proportional gain / Kp p2539 Integral time / Tn p2731...

  • Page 46: Limiting The Traversing Profile

    Basic positioner 3.4 Commissioning 3.4.4.3 Limiting the traversing profile Description The converter calculates the traversing profile when positioning from specified values for velocity, acceleration and jerk (= acceleration change with respect to time). Figure 3-6 Example: Effect of jerk limiting If the axis must traverse more slowly or must accelerate at a lower rate or "softly", then you must set the relevant limits to lower values.
  • Page 47 Basic positioner 3.4 Commissioning 4. Reduce the maximum jerk, if you require softer acceleration and braking. 5. For permanent jerk limiting, set this signal to 1. You have now set the limitation of the traversing profile. Parameter Meaning p2571 Maximum velocity p2572 Maximum acceleration p2573...

  • Page 48: Setting The Monitoring Functions

    Basic positioner 3.4 Commissioning 3.4.5 Setting the monitoring functions 3.4.5.1 Standstill and positioning monitoring Description As soon as the setpoint for the position within a positioning operation no longer changes, then the converter sets the "Setpoint stationary" signal to 1. With this signal, the converter starts to monitor the position actual value: ●...
  • Page 49 Basic positioner 3.4 Commissioning Setting standstill monitoring and positioning monitoring Precondition You have selected the "Monitoring" screen and the "Position monitoring" tab. Procedure To set the standstill and positioning monitoring, proceed as follows: 1. Set the required positioning accuracy. 2. Set the time within which the axis must be positioned. 3.

  • Page 50: Following Error Monitoring

    Basic positioner 3.4 Commissioning 3.4.5.2 Following error monitoring Description The following error is the deviation between the position setpoint and the position actual value while the converter is positioning the axis. Figure 3-8 Monitoring the following error The converter reports fault F07452 if the following error is too high. If you set the tolerance to 0, monitoring is deactivated.
  • Page 51 Basic positioner 3.4 Commissioning Procedure To set the monitoring of the following error, proceed as follows: 1. Set the monitoring window. Start with the factory setting value. Test your setting by positioning the axis at maximum velocity, e.g. from the control panel. If the converter stops the travel with fault F07452 , you will need to either increase the monitoring window or increase the dynamics of the position controller.

  • Page 52: Cam Sequencer

    Basic positioner 3.4 Commissioning 3.4.5.3 Cam sequencer Description The converter compares the position actual value with two different positions and therefore simulates two independent cam switching signals. If you need this function, set the cam switching position to match your particular application and appropriately interconnect the cam switching signal.

  • Page 53: Referencing

    Basic positioner 3.4 Commissioning 3.4.6 Referencing 3.4.6.1 Referencing methods Overview If you are using an incremental encoder for the position actual value, after the supply voltage is switched off, the inverter loses its valid position actual value. After the supply voltage is switched on again, the inverter no longer knows the reference of the axis position to the machine.
  • Page 54 Basic positioner 3.4 Commissioning Flying referencing The inverter corrects its position actual value while traversing and reduces errors, e.g. caused by wheel slip or a gear ratio that has not been precisely set. Example: A pallet on a roller conveyor must be stopped at a specific position. However, the exact position of the pallet on the conveyor is only known when a sensor is passed.

  • Page 55: Setting The Reference Point Approach

    Basic positioner 3.4 Commissioning 3.4.6.2 Setting the reference point approach Description A reference point approach generally consists of the following three steps: 1. Travel to reference cam. When it receives a signal, the axis searches in a specified direction for the reference cam.
  • Page 56 Basic positioner 3.4 Commissioning Step 2: Travel to zero mark The behavior of the axis in step 2 depends on whether a reference cam is available: When the converter reaches the reference cam, the • Reference cam available: in the opposite direction to the start axis accelerates direction , to the "approach velocity zero mark".
  • Page 57 Basic positioner 3.4 Commissioning Step 3: Travel to reference point After the converter has detected a zero mark, the axis moves with the "approach velocity reference point" to the reference point coordinate. Figure 3-13 Step 3: Travel to reference point After the load has reached the reference point coordinate, the converter sets its position setpoint and actual value to this value.
  • Page 58 Basic positioner 3.4 Commissioning 6. Specify the reference point coordinate. 7. Specify the reference point offset. 8. Specify the max. permissible distance to the reference cam in step 1 of active referencing. 9. If a reference cam is available: Define the maximum permitted distance to the zero mark. 10.If no reference cam is available: Define the tolerance for travel to the zero mark.
  • Page 59 Basic positioner 3.4 Commissioning Defining the digital signals for controlling referencing Procedure To define the digital signals for controlling, proceed as follows: 1. This signal starts the reference point approach. 2. This signal must be 0 for the reference point approach. 3.
  • Page 60 Basic positioner 3.4 Commissioning Defining the analog signals for controlling referencing Procedure To define the analog signals for controlling, proceed as follows: 1. Define the signal source for the velocity override. See also section: Direct setpoint input (MDI) (Page 89). 2.

  • Page 61: Setting The Flying Referencing

    Basic positioner 3.4 Commissioning 3.4.6.3 Setting the flying referencing Description During motion, the load passes a reference cam. The converter evaluates the reference cam signal via a suitable fast digital input, and corrects its calculated position during travel. The fast digital inputs of the converter used for flying referencing are also called probe inputs. For flying referencing, the converter corrects the position setpoint and actual value simultaneously.
  • Page 62 Basic positioner 3.4 Commissioning Setting flying referencing Precondition 1. You have selected the "Homing" screen. 2. You have come to the settings via the button on the screen. 3. You have selected "Passive homing". Procedure To set the flying referencing, proceed as follows: 1.
  • Page 63 Basic positioner 3.4 Commissioning 7. Specify the following: – Taking into account the offset in traversing distance: The converter corrects both the actual position as well as the setpoint. The relative traversing distance is shorter or longer by the value of the correction. Example: 500 LU is the axis start position.
  • Page 64 Basic positioner 3.4 Commissioning 9. Close the screen form. You have now set flying referencing. Basic positioner Function Manual, 04/2015, FW V4.7 SP3, A5E34257659B AB...
  • Page 65 Basic positioner 3.4 Commissioning Defining the digital signals for controlling referencing Procedure To define the digital signals for controlling, proceed as follows: 1. This signal starts flying referencing. 2. For flying referencing, this signal must be 1. The other signals are of no significance for flying referencing. You have now defined the digital signals for controlling.
  • Page 66 Basic positioner 3.4 Commissioning Parameter Meaning p2595 Start referencing p2598 Reference point coordinate, signal source p2599 Reference point coordinate value p2601 Flying referencing, inner window p2602 Flying referencing, outer window p2603 Flying referencing, relative positioning mode p2612 Reference point approach, reference cam r2684.11 Reference point set p2660...

  • Page 67: Set Reference Point

    Basic positioner 3.4 Commissioning 3.4.6.4 Set reference point Description Position the load, e.g. using the "jog" function, at the reference position in the machine. Figure 3-16 Set reference point Basic positioner Function Manual, 04/2015, FW V4.7 SP3, A5E34257659B AB...
  • Page 68 Basic positioner 3.4 Commissioning Activate 'set home position' Precondition You have selected the "Homing" screen. Procedure To activate 'set home position', proceed as follows: 1. Interconnect this bit with the corresponding signal of your machine. If the axis is stationary, with the signal change 0 → 1, the inverter sets its actual position value to the reference point coordinate.

  • Page 69: Absolute Encoder Adjustment

    Basic positioner 3.4 Commissioning 3.4.6.5 Absolute encoder adjustment Absolute encoder adjustment Precondition 1. You have positioned the axis (e.g. using the "jog" function) to the reference position in the machine. 2. You have selected the "Homing" screen. 3. You have come to the settings via the button on the screen. 4.
  • Page 70 Basic positioner 3.4 Commissioning Parameter Meaning p2598 Reference point coordinate, signal source p2599 Reference point coordinate value p2507 Absolute encoder adjustment status Error has occurred in the adjustment Absolute encoder was not adjusted Absolute encoder was not adjusted and encoder adjustment was initiated Absolute encoder adjusted Basic positioner Function Manual, 04/2015, FW V4.7 SP3, A5E34257659B AB...

  • Page 71: Jogging

    Basic positioner 3.4 Commissioning 3.4.7 Jogging 3.4.7.1 Jog velocity Description Only input a setpoint velocity for the converter for velocity jog. With the signal "Jogging 1" or "Jogging 2", the converter accelerates the axis to the relevant setpoint velocity. The converter stops the axis when the respective "Jog"...

  • Page 72: Incremental Jogging

    Basic positioner 3.4 Commissioning 3.4.7.2 Incremental jogging Description In the case of incremental jogging, input a relative traversing distance and a velocity setpoint into the converter. With the signals "Jogging 1" or "Jogging 2" the converter positions the axis by the respective travel path. Figure 3-18 Incremental jogging 3.4.7.3...
  • Page 73 Basic positioner 3.4 Commissioning 7. If you use the incremental jog, set the relative position setpoint for the "jogging 1" function. This value has no significance for velocity jogging. 8. If you use the incremental jog, set the relative position setpoint for the "jogging 2" function.

  • Page 74: Traversing Blocks

    Basic positioner 3.4 Commissioning 3.4.8 Traversing blocks Description A traversing block describes a positioning instruction for the drive. The converter saves 16 different traversing blocks, which it normally executes one after the other. However, you can also directly select a specific traversing block or skip traversing blocks.
  • Page 75 Basic positioner 3.4 Commissioning Job and parameters Table 3- 20 Job and parameters Parameter Meaning Positioning Axis absolute or relative positioning. • Rotary axis with modulo correction in a positive or • negative direction, absolute positioning. Travel to fixed Force [N] or torque Traverse axis to a fixed stop: stop [0.01 Nm]...
  • Page 76 Basic positioner 3.4 Commissioning Conditions for advance Table 3- 21 Advance: Jump condition to the next traversing block Condition Meaning Traversing block CONTINUE If the axis has reached the setpoint position and has come WITH STOP to a standstill, the converter executes the next traversing block.
  • Page 77 Basic positioner 3.4 Commissioning Programming traversing blocks Precondition 1. You have selected the "Traversing blocks" screen. 2. You select the "Program traversing blocks" button. Procedure To program the traversing blocks, proceed as follows: 1. Assign a unique number for each traversing block. 2.
  • Page 78 Basic positioner 3.4 Commissioning Define digital signals for controlling Procedure To define the digital signals for controlling the traversing blocks, proceed as follows: 1. Define the signal for the start of the traversing block. The signal change 0 → 1 starts the currently selected traversing block. 2.
  • Page 79 Basic positioner 3.4 Commissioning Define analog signals for controlling Procedure To define the analog signals for controlling the traversing blocks, proceed as follows: 1. Change the signal source for the velocity override, if required. The velocity override refers to the velocity values you have set in the screen for programming the traversing blocks.
  • Page 80 Basic positioner 3.4 Commissioning Define an external signal for block change Precondition You have selected the "External block change" button. Procedure To define an external signal for the block change, proceed as follows: 1. Specify whether the external signal is received via a fast digital input (probe) or from another source, e.g.
  • Page 81 Basic positioner 3.4 Commissioning Parameter Meaning p2619[0…n] Traversing block, acceleration override p2620[0…n] Traversing block, deceleration override p2621[0…n] Traversing block, job POSITIONING GOTO FIXED STOP SET_O ENDLESS_POS RESET_O ENDLESS_NEG JERK WAIT p2622[0…n] Traversing block, job parameter p2623[0…n] Traversing block, job mode Value = 0000 cccc bbbb aaaa cccc = 0000 Positioning...

  • Page 82: Travel To Fixed Stop

    Basic positioner 3.4 Commissioning 3.4.8.1 Travel to fixed stop Preconditions The "Travel to fixed stop" function is only possible with the control type vector control with encoder (VC): "Travel to fixed stop" is not possible with the following types of control: ●...
  • Page 83 Basic positioner 3.4 Commissioning Fixed stop has been reached You have two options to define when the fixed stop is reached: 1. Fixed stop via an external sensor: At the fixed stop, the load actuates an external sensor. The sensor signals the converter that the fixed stop has been reached.
  • Page 84 Basic positioner 3.4 Commissioning Set travel to fixed stop Precondition 1. You have programmed "Travel to fixed stop" as traversing block. See also section: Traversing blocks (Page 74). 2. If you select the "Programming traversing blocks" button, the "Configuration of fixed stop" button appears.
  • Page 85 Basic positioner 3.4 Commissioning Procedure: Fixed stop using an external signal To set "Travel to fixed stop" using an external signal, proceed as follows: 1. Select "Fixed stop using an external signal". 2. Interconnect the sensor that signals when the fixed stop is reached with this signal. 3.
  • Page 86 Basic positioner 3.4 Commissioning Procedure: Fixed stop using maximum following error To set "Travel to fixed stop" using maximum following error, proceed as follows: 1. Select "Fixed stop using maximum following error": 2. Set the following error that the inverter uses to detect the fixed stop. 3.

  • Page 87: Examples

    Basic positioner 3.4 Commissioning 3.4.8.2 Examples 1. Example Table 3- 23 Traversing blocks Ind. Par. Mode Advance POSITIONING RELATIVE 10000 5000 CONTINUE WITH STOP POSITIONING ABSOLUTE 5000 Figure 3-20 Positioning an axis using traversing blocks Basic positioner Function Manual, 04/2015, FW V4.7 SP3, A5E34257659B AB...
  • Page 88 Basic positioner 3.4 Commissioning 2. Example Table 3- 24 Traversing blocks Ind. Par. Mode Advance POSITIONING RELATIVE 10000 2000 CONTINUE EXTERNAL ALARM POSITIONING RELATIVE 10000 5000 CONTINUE EXTERNAL ALARM POSITIONING ABSOLUTE 5000 The converter only goes to the next traversing block for the 0 → 1 change of the "External block selection"...

  • Page 89: Direct Setpoint Input (Mdi)

    Basic positioner 3.4 Commissioning 3.4.9 Direct setpoint input (MDI) Description For direct setpoint input (MDI, Manual Data Input), a higher-level control provides the converter with the position setpoint and traversing profile. Example 1 The higher-level control specifies the value of the setpoint either as a relative or an absolute position setpoint: Figure 3-22 Axis with direct setpoint input (MDI) positioning...
  • Page 90 Basic positioner 3.4 Commissioning Defining the digital signals for controlling direct setpoint input Precondition You have selected the "Direct setpoint input (MDI)" screen. Procedure Interconnect the signals to control the direct setpoint input using the appropriate signals from your machine control. Basic positioner Function Manual, 04/2015, FW V4.7 SP3, A5E34257659B AB...
  • Page 91 Basic positioner 3.4 Commissioning ① Enables MDI. This bit must be = 1 if you control the converter using MDI. ② Specifies the MDI mode: 0: Positioning: Traverse the axis with position control using the target position. 1: Set up: Traverse the axis position-controlled using velocity input While operational, the axis operating mode can be switched over from "Set up"...
  • Page 92 Basic positioner 3.4 Commissioning Defining the analog signals for controlling direct setpoint input Precondition You have selected the "Direct setpoint input (MDI)" screen. Procedure Interconnect the signals to control the direct setpoint input using the appropriate signals from your machine control: ①...
  • Page 93 Basic positioner 3.4 Commissioning Set fixed setpoint In some applications it is sufficient if the inverter moves the axis for each task in the same way, absolute or relative to the position setpoint. This approach can be achieved with fixed setpoints.
  • Page 94 Basic positioner 3.4 Commissioning Parameter Meaning p2640 Intermediate stop (0 signal) p2641 Reject traversing job (0 signal) p2642 Direct setpoint input/MDI, position setpoint p2643 Direct setpoint input/MDI, velocity setpoint p2644 Direct setpoint input/MDI, acceleration override p2645 Direct setpoint input/MDI, deceleration override p2646 Velocity override p2647...

  • Page 95: A.1 Manuals And Technical Support

    Italian, (http://support.automation. French, Span- sie- Operating Instructions Installing the inverter and ish, Chinese mens.com/WW/view/en/22 for the SINAMICS G120 inverter commissioning. Description 339653/133300) with the CU250S-2 Control Unit of the inverter functions. SINAMICS Manu- Function Manual Basic Positioner (this manual)
  • Page 96 Infor- Manual Contents Available Download or article num- mation languages depth Hardware Installation Manual Installing power modules, English, Ger- for the following SINAMICS G120 reactors and filters. Power Modules: Maintaining power modules. PM240 • PM240-2 • PM250 • PM260 •...

  • Page 97: A.1.2 Configuring Support

    Manual or tool Contents Available Download or article number languages Catalog D 31 Ordering data and technical English, Ger- Everything about SINAMICS G120 information for SINAMICS G man, Italian, (www.siemens.en/sinamics-g120) inverters French, Span- Online catalog (Industry Ordering data and technical...

  • Page 98: A.1.3 Product Support

    Product Support You can find additional information on the product and more in the Internet under: Product support (http://www.siemens.com/automation/service&support). In addition to our documentation, under this address we offer our complete knowledge base online: You can find the following information: ●...

  • Page 99: Index

    Index Following error, 45, 50, 83 Follow-up mode, 21, 24 Function block FB283, 29 Absolute encoder, 69 Accuracy, 42, 49 Actual position value, 32, 36 Axis, 11 Gate/door drive, 34 Gear ratio, 32 Getting Started, 95 Backlash, 37 Block selection, 26 Hardware Installation Manual, 95 Hoisting gear, 42 Hotline, 98...
  • Page 100 Index Manuals Pulse cancelation, 17 Download, 95 Pulse enable, 17 Function Manual for Safety Integrated, 95 Inverter accessories, 95 Overview, 95 MDI, 11 Questions, 98 MDI (Manual Data Input), 89 MDI mode, 27 Mechanical fixed stop, 82 MELDW (status word messages), 28 Modulo axis, 34 Reference cam, 24, 24, 55 Modulo correction, 35...
  • Page 101 Index Target position reached, 49 Terminal strip, 14 Tilting station, 34 Traversing block, 11, 23, 74 Traversing block selection, 22 Traversing profile, 46 Value range, position actual value, 36 Zero mark, 55 ZSW1 (status word 1), 18 ZSW2 (status word 2), 19 Basic positioner Function Manual, 04/2015, FW V4.7 SP3, A5E34257659B AB...

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