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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
Two axes positioning and synchronisation control module with
integrated ProfiNet IO interface and SSI sensor interface

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Summary of Contents for W.E.ST. POS-124-U-PFN

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

  • Page 2: Table Of Contents

    VMODE (Switching over the control mode) ..................27 ACCEL (Acceleration in NC mode) .....................27 VMAX (Maximum speed in NC Mode) ....................28 (Loop gain setting) ........................28 A (Acceleration (ramp) time) ......................29 D (Deceleration / braking distance) .....................29 Page 2 of 62 POS-124-U-PFN-2030 23.08.2016...
  • Page 3 Parameter / address list ........................52 Profinet – Driver Blocks for Simatic – Controllers ....................53 TIA – Portal ...............................53 STEP7 – classic ............................55 Common Properties ...........................58 Updating the module internal driver software for Profinet..................60 Notes ................................62 Page 3 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 4: General Information

    The number of the version consists of the hardware version (first two digits) and the software version (last two digits). Because of the development of the products, these numbers can vary. They are not strictly necessary for the order. We will always deliver the newest version. Page 4 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 5: Symbols Used

    We reserve the right to make technical modifications due to further development of the product described in this manual. The technical information and dimensions are non-binding. No claims may be made based on them. This document is protected by copyright. Page 5 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 6: Safety Instructions

     The module may not be used in an explosive environment.  To ensure adequate cooling the ventilation slots must not be covered.  The device must be disposed of in accordance with national statutory provisions. Page 6 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 7: Characteristics

    Superimposed synchronization controller with PT1 (optimal for hydraulic application)  Optimal use with zero lapped control valves  Synchronization control in Master/Slave or average value mode  Fault diagnosis and extended function checking  Simplified parameterization with WPC-300 software Page 7 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 8: Device Description

    38 39 40 W.E.ST. LEDs Klemmblöcke (steckbar) Ready Terminals (removable) Profinet (RJ45) Interface Profinet connection 9 10 11 12 26 27 28 42 43 44 14 15 16 30 31 32 46 47 48 Page 8 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 9: Use And Application

    Switched inductances (relays and valve coils connected to the same power supply) must always be provided with appropriate overvoltage protection directly at the coil. Page 9 of 62 POS-124-U-PFN-2030 23.08.2016...

  • 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 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 (PLC, sensor and control module) must be considered. The worst-case scenario is that a system-specific absolute fault occurs. The repeat accuracy is, however, not affected by this. volumetric flow and B-T MAX:A control direction driving out control direction driving in MAX:B Page 11 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 12: Commissioning

    Manual (HAND) operation ter disabling the HAND signal, the axis stops in a controlled manner at the current position. Optimize controller Now optimize the controller parameters according to your application and your re- quirements. Page 12 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 13: Technical Description

    This digital input signal initializes the application. The signal will be approved in connection with the software enable the corresponding axis. PIN 1 READY output: ON: The module is enabled; there are no discernible errors. OFF: Enable is deactivated or an error has been detected. Page 13 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 14: Led Definitions

    Ethernet connection is active. Blinks if there is data transmission PROFINET State LEDs. Both LEDs show same status always. YELLOW x2 OFF: Bus not started. Flash 10Hz: Error Flash 2Hz: Bus started, waiting for connection / configuration mode Connected and active Page 14 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 15: Circuit Diagram

    Circuit diagram POS-124-U-PFN ProfiNet 24 V Internal Power 24 V ProfiNet 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...

  • Page 16: Typical Wiring

    A : 24 V supply B : 0 V supply C : GND or enable PIN 12 PIN 15 D : + differential input PIN 16 E : - differential input F : diagnostics PE - Page 16 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 17: Technical Data

    -10… 50 Storage Temperature [°C] -20... 70 Humidity < 95 (non-condensing) Connections USB-B 11 x 4-pole terminal blocks Profibus DP, D-Sub 9 pol. PE: via the DIN mounting rail EN 61000-6-2: 8/2002 EN 61000-6-3: 6/2005 Page 17 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 18: Parameters

    Offset of the sensors SIGNAL_1:X U0-10 Type of analogue input Axis 2 SSI_2:POL Sensor polarity SYS_RANGE_2 Axis working stroke N_RANGE_2:X Nominal range of the sensor OFFSET_2:X µm Offset of the sensors SIGNAL_2:X U0-10 Type of analogue input Page 18 of 62 POS-124-U-PFN-2030 23.08.2016...
  • Page 19 D_1:A Deceleration stroke D_1:B D_1:S PT1_1 PT1-filter time constant CTRL_1 SQRT1 Control characteristic VRAMP_2 Speed ramp time A_2:A Acceleration time A_2:B D_2:A Deceleration stroke D_2:B D_2:S PT1_2 PT1-filter time constant CTRL_2 SQRT1 Control characteristic Page 19 of 62 POS-124-U-PFN-2030 23.08.2016...
  • Page 20 Limit of the control range Special commands (TERMINAL) AINMODE EASY Input scaling mode AIN_1:X 1000 Free scaling of the analogue inputs (MATH). Re- places SIGNAL, N_RANGE and OFFSET. AIN_2:X 1000 Please contact W.E.St.. 0.01 % Page 20 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 21: Basic Parameters

    This command changes the operating mode. Various commands (defined via STD/EXP) are blanked out in Standard Mode. The commands in Expert Mode have a more significant influence on system behaviour and should accordingly be changed with care. Page 21 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 22: Input Signal Adaptation

    The SSI interface is suitable for digital position sensor. The internally processed accuracy is 1 micron. CAUTION: It can only be used SSI sensors of the same type, ie the resolution of the sensor, the number of bits transmitted and the transmission coding must be the same! Page 22 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 23: Ssi:res (Signal Resolution)

    To reverse the working direction of the sensor, with this command, the polarity can be changed. The internal resolution of the controller is 1 µm. The sensor with better resolution should not be used without consulting with the manufacturer. Page 23 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 24: Ssi:errbit (Position Of The "Out Of Range" Bit)

    Parameter Unit Group OFFSET_1:X x= -100000… µm INPUT 100000 OFFSET_2:X This parameter is entered in 0.01% units. The offset value is added to the control element signal at the output and limited to SYS_RANGE. Page 24 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 25: Signal (Type Of Input)

    This command can be used to change the type of input signal (voltages or current) and to define the direc- tion of the signal. This command is available for the analogue feedback inputs. OFF= Deactivation of the input. Page 25 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 26: Positioning Controller

    POSWIN:D Dynamic, for monitoring the following error in NC Mode POSWIN:D should always be set greater than POSWIN:S . With POSWIN:D the increasing following error can be detected (e.g. through high external force). In SDD mode both the signals are same. Page 26 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 27: Vramp (Ramp Time For External Speed Demand)

    This command is used to define the acceleration in NC mode. The command is only active if the VMODE has been parameterized to NC. For stable operation, it must be set to a little less value than technically possible acceleration. Normally the the multiple of 3…5 should be considered. Page 27 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 28: Vmax (Maximum Speed In Nc Mode)

    With V0:RES the resolution can be changed in order to put in significant smaller values. The loop gain is alternatively defined as a KV factor with the unit (m/min)/mm or as Vo in 1/s. The conversion is KV = Vo/16.67. Page 28 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 29: A (Acceleration (Ramp) Time)

    CAUTION! With older modules this parameter was specified in % of the maximum path. Since data specification for this module has now been converted to mm the relationship between the path (PATH command) and these parameters must be taken into account. Page 29 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 30: Pt1 (Timing Of The Controller)

    Figure 2 (Braking function with respect to stroke and time) The SQRT function generates constant deceleration and thus reaches the target position faster. This is achieved by increasing the gain during the deceleration process. Page 30 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 31: Synchronous Controller

    Page 31 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 32: Syncwin (Synchronization Monitoring Range)

    In the NC-mode parameters of the SYNC: V0 is in s-1 (1 / s) specified. In this mode, the loop gain is entered. The parameter SYNC: T1 causes a delayed action of the synchronized controller. The stability of the control- ler can be increased by the upstream T1-filter in critical cases. Page 32 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 33: Output Signal Adaptation

    HAND input the output is set to the EOUT value. This is necessary if using valves without error detection for signals lower than 4 mA. If the valve has an error detection, it moves into a defined position after switching off the output. Page 33 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 34: Min (Deadband Compensation)

    TRIGGER value should be set to approximately 200 and the MIN value to 100. The gain in the zero point is thus halved and an overall higher gain can often be set. Page 34 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 35: Offset (Zero Correction)

    The valve have to be deactivated in case of < 4 mA input signal. Otherwise the EOUT command can be used to get a defined output signal. The older POL command is removed. Page 35 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 36: Drift Compensation / High Accurate Positioning

    In this case, the hydraulic system is the limiting factor in the accuracy. This is relevant for zero lapped control valves and servo valves. To prevent / minimize position overshoots the static drift compensation have to be done first. Page 36 of 62 POS-124-U-PFN-2030 23.08.2016...
  • Page 37 This parameter is used to define the integrator time. The lower this value the faster the compen- sation. Low values will result in „limit cycling“. DC:CR The output range of the DC function will be limited (CR = control range) by this parameter. Page 37 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 38: Terminal Mode Commands

    ). Last but not least ( ) has to be set to C choosing current signal. In this case AIN command would look like this: AIN:I 20 16 2000 C or AIN:I 1250 1000 2000 C. Page 38 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 39: Process Data (Monitoring)

    Feedback positon axis 2 Control error axis 2 Speed set point axis 2 Control signal axis 2 The process data are the variables which can be continuously observed on the monitor or on the oscillo- scope. Page 39 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 40: Appendix

    If the power supply exists, an attempt should be made to see whether the system can be moved by means of the HAND+ and HAND- signals (measuring the output signal to the valve helps). Page 40 of 62 POS-124-U-PFN-2030 23.08.2016...
  • Page 41  The hydraulic system is over-sized. The entire parameterization of the movement cycle cannot be reproduced (overlap and deceleration distance settings) The stability criterion of the hydraulic axes must be taken into account. Page 41 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 42: Profinet Io Rt Interface

    In the configuration of transmission data select 32 bytes for input and 32 bytes for output. Page 42 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 43: Description Of The Profinet Interface

    New value for a parameter to be changed via the fieldbus (for possible vlaues PARAMETER VALUE and ranges look at chapter 7.8). PARAMETER ADRESS Adress of the parameter to be changed (look at chapter 7.8). Page 43 of 62 POS-124-U-PFN-2030 23.08.2016...
  • Page 44 Attention: Inverted signal, an error exists if the bit is not set. PARA_ACTIVE Parameterization via fieldbus (PARAMODE). Confirmation for transferring new parameter value to the module (validation of the PARA_READY PARAVALID command) A set bit (signal 1) signalizes the relative message. Page 44 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 45: Commands Via Profinet

    Command speed 2 Low Parameter value High (MSB) Depends Value range of the re- - - - lating parameter long - - - parameter Parameter value Low (LSB) Parameter adress High Parameter adress Low Page 45 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 46: Overview Control Word Bits

    Drift compensation axis 2 DC_F-POS2 Fine positioning axis 2 HandB2 Manual mode axis 2 HandA2 Manual mode axis 2 START2 Start positioning axis 2 ENABLE2 Unblocking axis 2 Bit = 1 means active function. Page 46 of 62 POS-124-U-PFN-2030 23.08.2016...
  • Page 47 To initiate the communication and as watchdog signal Synchronous controller DIRECT Direct mode for command position Byte 3 – Control word 2 Low Byte Funktion PARAVALID Transferring the changed parameters PARAMODE Parameterizing via fieldbus Bit = 1 means active function. Page 47 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 48: Data Sent To Profinet

    - - - - - - Actual position 2 Low (LSB) Internal command position 1 High (MSB) Signalauflösung: 1 µm (0,001 mm) - - - - - - Internal command position 1 Low (LSB) Page 48 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 49: Overview Status Word Bits

    Axis 2 following error within the window POSWIN2:S Axis 2 target position reached READY2 operational readiness axis 2 Bit = 1 means message active. Messages with overbar are inverted, means bit = 0 reports activity. Page 49 of 62 POS-124-U-PFN-2030 23.08.2016...
  • Page 50 Function LIVEBIT_OUT Feedback (= LIVEBIT), monitoring of the communication PARA_READY Parameter transferred successfully PARA_ACTIVE Parameterizing via fieldbus Bit = 1 means message active. Messages with overbar are inverted, means bit = 0 reports activity. Page 50 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 51: Parameterizing Via Profinet

    Select parameter to change from the list. Type in the value and address in the relating bytes. For transferring set PARAVALID bit to high (1). If you were successful the PARA_READY bit will report this. Page 51 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 52: Parameter / Address List

    0x2032 CTRL_2 0x0000… 0x1770 0x2033 MIN_2:A 0x0000… 0x1770 0x2034 MIN_2:B 0x0000… 0x0BB8 0x2035 TRIGGER_2 0xF060… 0x0FA0 0x2036 OFFSET_2 0x0002… 0x30D40 0x2041 SYNCWIN 0x0001… 0x30D40 0x2042 SYNC:P 0x0001… 0x00C8 0x2043 SYNC:V0 0x0001… 0x00C8 0x2044 SYNC:T1 Page 52 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 53: Profinet - Driver Blocks For Simatic - Controllers

    The identifier can be found in the “Properties” – window of the IN/OUT module: If a controller of the S7-300 and -400 series is used, the input and output addresses of the I/O – Module are the required information for the driver block, see over. Page 53 of 62 POS-124-U-PFN-2030 23.08.2016...
  • Page 54 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 54 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 55: Step7 - Classic

    Then you can open up the device in the right window and take the element „IN/OUT: 32 bytes“ from the “bidi- rectional” subfolder and place it in the slot 1 of the device (window left / bottom). Page 55 of 62 POS-124-U-PFN-2030 23.08.2016...
  • Page 56 This must happen in a cyclic interrupt with an execution time >= 20 ms in order to avoid overloading the module internal gateway. A view of the block in FUP w/o interconnection can be seen on the next page. Page 56 of 62 POS-124-U-PFN-2030 23.08.2016...
  • Page 57 Page 57 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 58: Common Properties

    On the following page an example with minimum usage of the signals is shown, basis is a positioning of two independent axes. No manual commands are used and the control should be permanently active. Drift com- pensation and fine positioning are no used in this case. Page 58 of 62 POS-124-U-PFN-2030 23.08.2016...
  • Page 59 Page 59 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 60: Updating The Module Internal Driver Software For Profinet

    1. Make sure the device is not in the READY state by turning off the ENABLE signal. 2. Go to the WPC terminal window Type in „SCRDL“ and press the Enter key. 4. The update process will start and will take a couple of minutes to finish. Page 60 of 62 POS-124-U-PFN-2030 23.08.2016...
  • Page 61 This procedure needs to be done only one time after the firmware update. It is mandatory if the bus driver in the firmware has been changed. This will be announced by W.E.St. Otherwise it is not necessary but could be performed without adverse effects. Page 61 of 62 POS-124-U-PFN-2030 23.08.2016...

  • Page 62: Notes

    10 Notes Page 62 of 62 POS-124-U-PFN-2030 23.08.2016...

This manual is also suitable for:

Pos-124-u-etcPos-124-u-pdpPos-124-u-pfn-2030

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