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W.E.ST. POS-124-U-PFN Technical Documentation Manual

Two axes positioning and synchronisation control module with integrated profinet io interface and ssi sensor interface
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Technical Documentation
POS-124-U-PFN
POS-124-U-ETC
Two axes positioning and synchronisation control module with
integrated ProfiNet IO interface and SSI sensor interface

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  • Page 1 Technical Documentation POS-124-U-PFN POS-124-U-ETC Two axes positioning and synchronisation control module with integrated ProfiNet IO interface and SSI sensor interface...

  • Page 2: Table Of Contents

    CONTENTS General Information ............................. 4 Order number ............................. 4 Scope of supply ............................4 Accessories ..............................4 Symbols used ............................. 5 Legal notice ..............................5 Safety instructions ............................6 Characteristics ..............................7 Device description ............................8 Use and application ............................. 9 Installation instructions ..........................
  • Page 3 VMAX (Maximum speed in NC Mode) ....................28 (Loop gain setting) ........................28 A (Acceleration ramp time) .........................29 D (Deceleration / braking distance) .....................29 PT1 (Timing of the controller) ......................30 CTRL (Deceleration characteristics) ....................30 MIN (Deadband compensation) ......................31 MAX (Output scaling) .........................31 TRIGGER (Response threshold for the MIN parameter) ..............31 OFFSET (Zero correction)........................32 Synchronous controller ..........................33...

  • Page 4: General Information

    1 General Information 1.1 Order number Two axes positioning controller with programmable output (±10 V differential voltage or 4… 20 mA), ana- logue or SSI sensor interface and optional synchronous control. POS-124-U-PFN-2140 ProfiNet IO interface POS-124-U-ETC-2131 EtherCAT IO interface Alternative products POS-124-U-PDP Version of the controller with ProfibusDP interface.

  • Page 5: Symbols Used

    1.4 Symbols used General information Safety-related information 1.5 Legal notice W.E.St. Elektronik GmbH Gewerbering 31 D-41372 Niederkrüchten Tel.: +49 (0)2163 577355-0 Fax.: +49 (0)2163 577355 -11 Homepage: www.w-e-st.de www.west-electronics.com EMAIL: info@w-e-st.de Date: 08.11.2018 The data and characteristics described herein serve only to describe the product. The user is required to evaluate this data and to check suitability for the particular application.

  • Page 6: Safety Instructions

    1.6 Safety instructions Please read this document and the safety instructions carefully. This document will help to define the product area of application and to put it into operation. Additional documents (WPC-300 for the start-up software) and knowledge of the application should be taken into account or be available. General regulations and laws (depending on the country: e.g.

  • Page 7: Characteristics

    2 Characteristics This electronic module has been developed for controlling hydraulic positioning drives. Both axes can be controlled independently or also be driven in synchronous mode via fieldbus. The differential outputs are provided for the control of proportional valves with integrated or external electron- ics (with differential input).

  • Page 8: Device Description

    2.1 Device description 99,0000 mm 67,5000 mm 13 14 15 16 25 26 27 28 41 42 43 44 13 14 15 16 29 30 31 32 45 46 47 48 114,0000 mm Made in Germany Date: Add.: W.E.ST. Elektronik D-41372 Niederkrüchten Homepage: http://www.w-e-st.de...

  • Page 9: Use And Application

    3 Use and application 3.1 Installation instructions  This module is designed for installation in a shielded EMC housing (control cabinet). All cables which lead outside must be screened; complete screening is required. It is also a requirement that no strong electro-magnetic interference sources are installed nearby when using our control and regula- tion modules.

  • Page 10: Typical System Structure

    (*2) Hydraulic cylinder (*3) Position sensor (*4) POS-124-U-PFN control module (*5) interface to PLC with analogue and digital signals 3.3 Method of operation This control module supports simple point-to-point positioning with hydraulic drives. The system works based on the principle of stroke-dependent deceleration, i.e. the control gain (deceleration stroke) is set via param- eters D:A and D:B.
  • Page 11 Positioning sequence: The positioning is controlled via Fieldbus. After switching on the ENABLE input, the command position (or target position) is set equal to the actual position of the sensor and the axis stays in closed loop position con- trol mode. The READY output indicates that the system is generally ready for operation. After setting the START-signal, the preset command value will be taken over.

  • Page 12: Commissioning

    3.4 Commissioning Step Task Install the device in accordance with the circuit diagram. Ensure it is wired cor- Installation rectly and that the signals are well shielded. The device must be installed in a pro- tective housing (control cabinet or similar). Ensure that no unwanted movement is possible in the drive (e.g.

  • Page 13: Technical Description

    4 Technical description 4.1 Input and output signals Connection Supply PIN 3, PIN 31 and Power supply (see technical data) PIN 35 PIN 4, PIN 32 and 0 V (GND) connection. PIN 36 Connection Analogue signals PIN 11 0 V (GND), potential for analogue input signals, internally connected to PIN 4 PIN 12 0 V (GND), potential for analogue output signals, internally connected to PIN 4 Analogue input: position actual value (X1), signal range 0…...

  • Page 14: Led Definitions

    4.2 LED definitions First section with USB LEDs Description of the LED function GREEN Identical to the READY output. OFF: No power supply or ENABLE is not activated System is ready for peration Flashing: Error discovered Only active when SENS = ON STATUS output.

  • Page 15: Block Diagram

    4.3 Block Diagram POS-124-U-Ethernet 24 V Internal Power 24 V PELV Speed via Fieldbus VMODE = NC Differentialinput Output: A Control Function Output Profile Position Adaptation via Fieldbus Generator SDD or NC mode Output: B Current mode: 4... 20 mA AXIS 1 PIN 15 = +, PIN 12 = GND ANA Feedback...

  • Page 16: Typical Wiring

    4.4 Typical wiring power supply +/- 10 V (4...20mA) to valve no. 2 +24 V DC <- READY SSI 1 sensor interface CLK+ CLK- -> ENABLE DATA+ DATA- DATA- DATA+ CLK- CLK+ SSI 2 sensor interface 0..10V, 4..20mA +24 V DC sensor inputs 13 = X1, 14 = X2 +/- 10 V (4...20mA)

  • Page 17: Technical Data

    4.6 Technical data Supply voltage (Ub) [VDC] 24 (±10 %) Current requirement [mA] External protection 1 medium time lag Digital inputs OFF : < 2 ON : > 10 Input resistance [kOhm] Digital outputs OFF: < 2 ON: max. U Maximum output current [mA] 0…...

  • Page 18: Parameters

    5 Parameters 5.1 Parameter overview Group Command Default Unit Description Basic parameters MODE Parameter view System parameters (MODE = SYSTEM) Changes the language of the help texts SENS Malfunction monitor PASSFB Password for fieldbus parameterization EOUT_1 0,01 % Output signal if not ready EOUT_2 0,01 % Output signal if not ready...
  • Page 19 Group Command Default Unit Description OFFSET_2:X µm Sensor offset SSI connection SSI_1:POL Sensor polarity SSI_2:POL Sensor polarity SSI:RES 10 nm Sensor resolution SSI:BITS Number of transmitted bits SSI:CODE GRAY Type of transmission code SSI:ERRBIT Position of the error bit Positioning controller 1 (MODE = POS_1) Positioning VMODE = NC ACCEL_1 mm/s²...
  • Page 20 Group Command Default Unit Description PT1_2 PT1-filter time constant CTRL_2 SQRT1 Control characteristic MIN_2:A 0,01 % Deadband compensation MIN_2:B 0,01 % MAX_2:A 10000 0,01 % Output scaling MAX_2:B 10000 0,01 % TRIGGER_2 0,01 % Deadband compensation trigger point OFFSET_2 0,01 % Offset value for the output Synchronisation Controller (MODE = SYNC) SYNCMODE...

  • Page 21: Basic Parameters

    5.2 Basic parameters MODE (Switching between parameter groups) Command Parameters Unit Group MODE x= SYSTEM|IO_CONF|POS_1| BASIC POS_2|SYNC|EXTRA|ALL This command switches between several views on the parameter table. In order to improve the clearness only the parameters belonging to the chosen group are displayed. There is also an option available to show all active parameters at once.

  • Page 22: Eout (Output Signal: Ready = Off)

    EOUT (Output signal: READY = OFF) Command Parameters Unit Group EOUT_1 x= -10000… 10000 0.01 % SYSTEM EOUT_2 Output value in case of a detected error or a deactive ENABLE input. A value (degree of valve opening) for use in the event of a sensor error (or the module is disabled) can be defined here. This function can be used if, for example, the drive is to move to one of the two end positions (at the specified speed) in case of a sensor error.

  • Page 23: Poswin (In-Position Monitoring Range)

    POSWIN (In-position monitoring range) Command Parameter Unit Group POSWIN_1:i i= S|D SYSTEM POSWIN_2:i x= 2… 200000 µm This parameter is entered in µm. The INPOS command defines a range for which the INPOS message is generated. This function monitors the difference between the command and actual position. If the error is less than the programmed value an INPOS message is generated.

  • Page 24: Input Output Parameters

    5.4 Input Output parameters SELECT:X (Type of position sensors) Command Parameters Unit Group SELECT x= SSI|ANA IO_CONFIG With this parameter, the appropriate sensor type can be activated. SSI: The SSI sensor interfaces are active. The SSI sensors have to be adjusted via the SSI com- mands to the sensors.

  • Page 25: Signal:u (Type And Polarity Of The Output Signal)

    SIGNAL:U (Type and polarity of the output signal) Command Parameter Unit Group SIGNAL_1:U x= U+-10|I4-12-20| IO_CONFIG SIGNAL_2:U U-+10|I20-12-4 This command is used to define the output signal (voltage or current) and to change the polarity Differential output ± 100 % corresponds with ± 10 V (0… 10 V at PIN 15 and PIN 16 or PIN 19 and PIN 20). Current output ±...

  • Page 26: N_Range (Nominal Range Of The Sensor)

    N_RANGE (Nominal range of the sensor) Command Parameter Unit Group N_RANGE_1:X x= 10… 10000 IO_CONFIG N_RANGE_2:X N_RANGE (nominal range or nominal stroke) is used to define the length of the sensor. This value should be always higher or equal in comparison with SYS_RANGE. The control parameter cannot be calculated cor- rectly in case of wrong values.

  • Page 27: Ssi:bits (Number Of Bits)

    SSI:BITS (Number of bits) Command Parameters Unit Group SSI:BITS x= 8… 31 IO_CONFIG With this command the number of data bits can be set. Take the data from the sensor’s data sheet. SSI:CODE (Signal coding) Command Parameters Unit Group SSI:CODE x= GRAY|BIN IO_CONFIG With this command the signal coding can be chosen.

  • Page 28: Positioning Controller

    5.5 Positioning controller ACCEL (Acceleration in NC mode) Command Parameters Unit Group ACCEL_1 x= 1… 20000 mm/s POS_1 / NC ACCEL_2 POS_2 / NC This command is used to define the acceleration in NC mode. The command is only active if the VMODE has been parameterized to NC.

  • Page 29: A (Acceleration Ramp Time)

    In NC Mode the following error at maximum speed is calculated using the loop gain. This following error cor- responds to the deceleration distance with stroke-dependent deceleration. The conversion and therefore also the calculation of the correct parameter value can be easily performed using this relationship. With V0:RES the resolution can be changed in order to put in significant smaller values.

  • Page 30: Pt1 (Timing Of The Controller)

    PT1 (Timing of the controller) Command Parameter Unit Group PT_1 x= 0… 300 POS_1 PT_2 POS_2 This parameter can be used to change the internal timing of the control function. Hydraulic drives are often critical to control especially in case of high speeds and very fast valves. The PT1 filter can be used to improve the damping rate and allows therefore higher loop gains.

  • Page 31: Min (Deadband Compensation)

    MIN (Deadband compensation) MAX (Output scaling) TRIGGER (Response threshold for the MIN parameter) Command Parameters Unit Group i= A|B POS_1 MIN_1:i x= 0… 6000 0.01 % POS_2 MAX_1:i x= 3000… 10000 0.01 % TRIGGER_1 x= 0… 4000 0.01 % MIN_2:i x= 0…...

  • Page 32: Offset (Zero Correction)

    OFFSET (Zero correction) Command Parameters Unit Group OFFSET_1 x= -4000… 4000 0.01 % POS_1 OFFSET_2 POS_2 This parameter is entered in 0,0 1% units. The offset value is added to the output value. Valve zero offsets can be compensated with this parameter. Page 32 of 65 POS-124-U-Ethernet 08.11.2018...

  • Page 33: Synchronous Controller

    5.6 Synchronous controller SYNCMODE (Operation mode synchronous run) Command Parameters Unit Group SYNCMODE x= MS|AV SYNC With this command the behavior of synchronization controller be selected Master Slave Control. Axis 2 is always the Slave Average value control Position controller Ramp- Synchronous Fieldbus...

  • Page 34: Syncwin (Synchronization Monitoring Range)

    SYNCWIN (synchronization monitoring range) Command Parameter Unit Group SYNCWIN_1:i x= 2… 200000 µm SYNC SYNCWIN_2:i This parameter is entered in µm. The SYNCWIN command defines a range for which the ���� − ���������� message is generated. This function monitors the difference between the command and actual position. The controlling process is not influenced by this message and remains active.

  • Page 35: Special Functions

    5.7 Special functions Drift compensation / high accurate positioning The high accurate positioning or the drift compensation can be used if external influences limit the position- ing accuracy. These function can be critical because limit cycling could be caused by wrong parameteriza- tion.

  • Page 36: Dc:av (Activation Value)

    Typical setup Valve pressure gain: 2,5 %; the activation point has to be set to 3… 5 % (DC:AV 300… 500). Valve hysteresis: 0,5 %; the deactivation point has to be set to 0,7… 1,0 % (DC:DV 70… 100). The lower the value the better the accuracy.

  • Page 37: Special Commands

    5.8 Special commands Please contact W.E.St. in case of using these commands. AINMODE (Input scaling mode) Command Parameter Unit Group AINMODE_1 x x= EASY|MATH TERMINAL AINMODE_2 x This command is used to switch over the method of input scaling. The AINMODE is used to define the kind of parameterizing of the analogue inputs. The EASY mode (DEFAULT) supports a simple and application oriented input scaling.

  • Page 38: Etc_Loop (Transfer Rate)

    Typical settings: Command Input Description AIN_1:X 1000 1000 0… 10 V Range: 0… 100 % Range: 0… 100 %; 1 V = 1000 used for the offset and AIN_1:X 1000 V 1… 9 V gained by 10 / 8 (10 V divided by 8 V (9 V -1 V)) AIN_1:X 1000 1000 V...

  • Page 39: Common Device Functions

    6 Common device functions 6.1 Failure monitoring Following possible error sources are monitored continuously when SENS = ON/AUTO: Source Fault Characteristic Feedback signal PIN 13 Out of range or broken wire. The output will be switched off. 4... 20 mA Feedback signal PIN 14 Out of range or broken wire.
  • Page 40 FAULT CAUSE / SOLUTION The flashing READY LED signals that a fault is been detected by the module. The fault ENABLE is active, the could be: READY LED is flashing.  A broken cable or no signal at the input (PIN 14 or 13), if 4… 20 mA signals are pa- rameterized.

  • Page 41: Ethercat Io Interface

    7 EtherCAT IO interface 7.1 ETHERCAT CoE EtherCAT is an ethernet-based field bus system, developed by Beckhoff and the EtherCAT Technology Group (ETG). EtherCAT is an open technology standardized in the international standards IEC 61158 and IEC 61784 as well as in ISO 15745-4. EtherCAT can provide the same communication mechanisms as are known from CANopen: object directory, PDO (process data objects) and SDO (service object objects).

  • Page 42: Ethercat Device Profiles (Esi)

    Object list: Index objectindex PDO Subindex subindex PDO Name surname of PDO Flag RW read or write status of PDO Flag RO read only status of PDO, it is not possible to write data to the object Flag P an additional P characterizes the object as a process data object Value value of the object 7.4 EtherCAT device profiles (ESI)

  • Page 43: Standard Objects

    Standard Objects Index Name Description Type Flags Default Subi. Device type of the EtherCAT slave UINT32 0x00000000 1000 Device Type Device name of the EtherCAT slave STRING POS-124-U- 1008 Manufacturer Device Name 1009 Hardware version Hardware version of the EtherCAT slave UINT16 0x0014 Software version of the EtherCAT slave...

  • Page 44: Profinet Io Rt Interface

    8 ProfiNet IO RT interface 8.1 PROFINET IO function PROFINET is the standard for industrial ethernet based on IEEE 802.xx. PROFINET is based on the 100 Mb/s-version of full-duplex and switched Ethernet. PROFINET IO is designed for the fast data exchange between Ethernet-based controllers (master functionality) and field devices (slave functionality) with cycle times up to 10 ms.

  • Page 45: Device Data File (Gsdml)

    8.4 Device data file (GSDML) The characteristics of an IO device are described by the device manufacturer in a general station description (GSD) file. The language used for this purpose is the GSDML (GSD Markup Language) - an XML based lan- guage.

  • Page 46: Process Data

    9 Process data Positioning resolution of 1 µm (independent from the real sensor resolution), max. 0x989680 (10.000.000) is used. The command position is limited by the parameter SYSRANGE. The command speed is interpreted in percentage of the programmed speed or of the output signal. The value of 0x3fff corresponds with 100 % speed.
  • Page 47 Byte Function Type Range Unit Control_1 UINT8 Control_2 UINT8 Control_3 UINT8 Control_4 UINT8 Position_1 High (MSB) - - - 0… 10000000 UINT32 0,001 mm - - - Position_1 Low (LSB) Velocity_1 High 0… 0x3fff UINT16 (0… 100 %) Velocity_1 Low Position_2 High (MSB) - - - 0…...
  • Page 48 Description of the Control 1: Name Description Type Default BOOL DC_Freeze_1 Storing of the drift compensation value as offset for the BOOL output. DC_Active_1 Drift compensation function (look at chapter drift BOOL compensation 5.6.7). DC_F_Pos_1 Fine positioning function (look at chapter drift compensation BOOL 5.6.7).
  • Page 49 Description of the Control_3 Name Description Type Default LIVEBIT Here the controller can provide an alternating input signal in BOOL order to monitor the funtioning of the bus connection. It will be returned by the output “LIVEBIT_OUT”. BOOL BOOL BOOL BOOL BOOL Synchronous control.

  • Page 50: Data Sent To Fieldbus

    9.2 Data sent to Fieldbus Process data such as current position, internal position, a 32 Byte data frame is in use. Name Description Index Subi.- 6000:1 Status_1 The state of the module is reported via status bits. The status byte 1 contains information about axis 1.
  • Page 51 Byte Function Type Range Unit Status_1 UINT8 Status_2 UINT8 Status_3 UINT8 Status_4 UINT8 Actual_Position_1 High (MSB) - - - 0… 10000000 UINT32 0,001 mm - - - Actual_Position_1 Low (LSB) Internal command position 1 High (MSB) - - - 0… 10000000 UINT32 0,001 mm - - -...
  • Page 52 Description of the status byte 1: Name Description Type Default Sensor error. Monitored are SSI and 4… 20 mA input Senserror_1 BOOL signals. Attention: Inverted signal, an error exists if the bit is not set. BOOL BOOL BOOL Syncwin Synchronous run monitoring. Message for being within the BOOL preset window for synchronous error.
  • Page 53 Description of the status byte 3: Name Description Type Default BOOL BOOL BOOL BOOL BOOL BufferOV BufferOverflow data overflow, only ProfiNet BOOL Attention: Inverted signal, an error exists if the bit is not set. Chkerror Error in the checksum of the EtherCAT data transferring. BOOL Attention: Inverted signal, an error exists if the bit is not set.

  • Page 54: Parameterizing Via Fieldbus

    10 Parameterizing via Fieldbus 10.1 Procedure Preparation: Power supply of the different sections has to be available. For safety issues the system should not be active. If active, the ENABLE bit in the control word has to be reset. Attention: Parameterization via fieldbus can also be done having an active system. In this case it should be done very carefully because changes are directly operative.

  • Page 55: Parameterlist

    10.2 Parameterlist The following table shows the parameter which can be changed through the fieldbus, their range and their addresses: Parameter table Address Parameter Range Comment 0x0002… 0x30D40 0x2001 POSWIN_1:S 0x0002… 0x30D40 0x2002 POSWIN_1:D 0x0001… 0x4E20 0x2003 ACCEL_1 0x0001… 0x00C8 0x2004 V0_1:A 0x0001…...

  • Page 56: Profinet - Driver Blocks For Simatic - Controllers

    11 Profinet – Driver Blocks for Simatic – Controllers 11.1 TIA – Portal For use within the „TIA Portal“ software we provide two driver blocks that enable a convenient access out of the application program: a) The source WEST_POS124U_PFN.scl for controllers of the S7-1200 and -1500 series b) The source WEST_POS124U_PFN_TIA_KLASSIK.scl for controllers of the S7-300 and -400 series Below their integration in the TIA project and the interconnections are explained.
  • Page 57 4.) The driver block is supplied as SCL – source. In order to assemble it into the project, the file has to be added to the TIA – Portal as “new external file”: Page 57 of 65 POS-124-U-Ethernet 08.11.2018...
  • Page 58 5.) Subsequently click on the imported file and chose “generate blocks from source”. After this step the driver block can be found in the “blocks” folder. Its number may differ. This FB can now be called out of the application program. This must happen in a cyclic interrupt with an exe- cution time >= 20 ms in order to avoid overloading the module internal gateway.

  • Page 59: Step7 - Classic

    11.2 STEP7 – classic If controllers of the S7-300/-400 series are used, their programming can alternatively be done using the “Si- matic Manager”. First the GSDML – file has to be imported in the HW – configurator. Then create a Profinet – system and choose the component „UNIGATE IC-Profinet 2Port“ from the catalogue folder “PROFINET IO / Additional Field Devices”...
  • Page 60 After saving the symbol list, the FB can be created by right button click on the source and choosing “Compile”: The translation should terminate successfully and the block folder will then contain the new FB. This FB can now be called out of the application program. This must happen in a cyclic interrupt with an execution time >= 20 ms in order to avoid overloading the module internal gateway.
  • Page 61 A view of the block in FUP w/o interconnection Page 61 of 65 POS-124-U-Ethernet 08.11.2018...

  • Page 62: Common Properties

    11.3 Common Properties The connectors of the driver block correspond as far as possible to the description in the previous chapter. The following differences have to be considered:  Transduction of setpoint positions in the number format “real” and unit [mm] ...
  • Page 63 Page 63 of 65 POS-124-U-Ethernet 08.11.2018...

  • Page 64: Updating The Module Internal Driver Software For Profinet

    12 Updating the module internal driver software for Profinet If the driver for the Profinet interface needs to be updated, the user will receive a new firmware update from W.E.St.. The approaching is described in the WPC help file. After updating the firmware the fieldbus script can be updated.

  • Page 65: Notes

    13 Notes Page 65 of 65 POS-124-U-Ethernet 08.11.2018...

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