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Technical Documentation
POS-124-U-PFN
POS-124-U-ETC
1
POS-124-U-PDP
Two axes positioning and synchronization control module with
integrated fieldbus interface and SSI as well as analog sensor interface
1
The picture shows the hardware of the ethernet based variations, the Profibus device contains a 9 pin D-SUB socket
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Table of Contents
Related Manuals for WEST POS-124-U-PFN
Summary of Contents for WEST POS-124-U-PFN
- Page 1 Technical Documentation POS-124-U-PFN POS-124-U-ETC POS-124-U-PDP Two axes positioning and synchronization control module with integrated fieldbus interface and SSI as well as analog sensor interface The picture shows the hardware of the ethernet based variations, the Profibus device contains a 9 pin D-SUB socket...
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Page 2: Table Of Contents
CONTENTS General Information ..............................5 Order number ..............................5 Scope of supply ..............................5 Accessories ............................... 5 Symbols used ..............................6 Legal notice ............................... 6 Safety instructions ............................. 7 Characteristics ................................8 Device description ............................. 9 Use and application ..............................10 Installation instructions ............................ - Page 3 VRAMP (Ramp time for external speed demand) ................... 29 ACCEL (Acceleration in NC mode) ......................29 VMAX (Maximum speed in NC Mode) ....................30 (Loop gain setting) ..........................30 A (Acceleration ramp time) ........................31 D (Deceleration / braking distance) ......................31 PT1 (Timing of the controller) ........................
- Page 4 Coding of the control bits ........................54 10.2 Data sent to Fieldbus ............................56 Description of the bus signals ......................... 57 Coding of the status bits .......................... 58 Parameterizing via Fieldbus ............................ 60 11.1 Procedure ................................ 60 11.2 Parameter List ..............................61 Profinet –...
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Page 5: 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 Control via Profinet - IO interface POS-124-U-ETC Control via EtherCAT interface... -
Page 6: 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 EMAIL: contact@w-e-st.de Date: 24.01.2022 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 7: 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 8: 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 9: 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 48 121,0000 mm 114,0000 mm Made in Germany Date: Add.: W.E.ST. -
Page 10: 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 11: Typical System Structure
3.2 Typical system structure This minimal system consists of the following components: (*1) Proportional valve with OBE (*2) Hydraulic cylinder (*3) Position sensor (*4) interface to PLC with analogue and digital signals (*5) POS-124-U control module 3.3 Method of operation This control module supports simple point-to-point positioning with hydraulic drives. - Page 12 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.
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Page 13: 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 14: Technical Description
4 Technical description 4.1 Input and output signals Connection Supply PIN 3 Power supply control module (see technical data) PIN 31 Power supply Profibus extension (see technical data) PIN 35 Power supply SSI extension (see technical data) PIN 4 0 V (GND) connection control module. PIN 32 0 V (GND) connection Profibus extension. -
Page 15: Led Definitions
4.2 LED definitions First section with USB LEDs Description of the LED function Identical to the READY output. GREEN 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 16: Block Diagram
4.3 Block Diagram POS-124-U General power supply Supply Power supply SSI extension Speed via Feldbus Supply Power supply Profibus extension Profibus Analog Profile Control Output Position Output Control signal via Feldbus Generator Function Adaptation Driver Unversal output AXIS 1 SDD / NC ANA Feedback Input Position 1... -
Page 17: 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- Fieldbus Interface DATA- DATA+ CLK- CLK+ SSI 2 sensor interface 0..10V, 4..20mA +24 V DC sensor inputs 13 = X1, 14 = X2... -
Page 18: Technical Data
4.6 Technical data Common Supply voltage (Ub) [VDC] 24 (±10 %) Current requirement [mA] External protection 1 medium time lag Digital inputs < 2 > 10 Input resistance [kOhm] Digital outputs < 2 max. Ub Maximum current [mA] Analogue inputs 0…... -
Page 19: Fieldbus
Fieldbus EtherCat Transmission rate [Mbit/s] Standard [IEE] 802.3 Connections RJ45 in, RJ45 out Profinet IO Transmission rate [Mbit/s] Conformity CC-B Connections 2 * RJ45 Profibus DP Transmission rate [kBit/s] 9.6,19.2,93.75,187.5,500,1500,3000,6000,12000 ID Number 1810h Connections 9 pol. D-SUB Page 19 of 70 POS-124-U 24.01.2022... -
Page 20: Parameters
5 Parameters 5.1 Parameter overview Group Command Default Unit Description Basic parameter MODE SYSTEM Parameter view System settings Changing language help texts PDPADR Profibus adress (only with the PDP variant) PASSFB Password for fieldbus parameterizing SENS Malfunction monitor Axis 1 SYS_RANGE_1 Axis working stroke HAND_1:A... - Page 21 Group Command Default Unit Description Positioning controller Axis 1 VMODE_1 Method of positioning VRAMP_1 Speed ramp time PT1_1 PT1-filter time constant CTRL_1 SQRT1 Control characteristic Profile generator (NC) ACCEL_1 mm/s² Acceleration VMAX_1 mm/s Maximum velocity V0_1:A Loop gain V0_1:B V0_1:RES Loop gain resolution Control parameters ( SDD) A_1:A...
- Page 22 Group Command Default Unit Description Output signal adaption Axis 1 MIN_1:A 0.01 % Deadband compensation MIN_1:B 0.01 % MAX_1:A 10000 0.01 % Output scaling MAX_1:B 10000 0.01 % TRIGGER_1 0.01 % Deadband compensation trigger point OFFSET_1 0.01 % Offset value for the output SIGNAL_1:U U+-10 Type and polarity of output signals...
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Page 23: 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 24: Sens (Malfunction Monitoring)
SENS (Malfunction monitoring) Command Parameters Unit Group SENS x= ON|OFF|AUTO SYSTEM This command is used to activate/deactivate the monitoring functions of the module. All monitoring functions are active. Detected failures can be reset by deactivating the ENABLE input. OFF: No monitoring function is active. AUTO: Auto reset mode. -
Page 25: 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 POSWIN command defines a range for which the POSWIN message is generated. This function monitors the difference between the command and actual position. If the error is less than the programmed value an POSWIN message is generated. -
Page 26: Input Signal Adaption
5.4 Input signal adaption SELECT:X (Type of position sensors) Command Parameters Unit Group SELECT x= SSI|ANA INPUT 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 27: Ssi:code (Signal Coding)
SSI:CODE (Signal coding) Command Parameters Unit Group SSI:CODE x= GRAY|BIN INPUT With this command the signal coding can be chosen. Take the data from the sensor’s data sheet. SSI:ERRBIT (Position of the “out of range” bit) Group Command Parameter Unit SSI:ERRBIT x= 0…... -
Page 28: 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 INPUT 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 29: Positioning Controller
5.5 Positioning controller VMODE (Selecting the control mode) Command Parameters Unit Group VMODE_1 x= SDD|NC POS_CTRL VMODE_2 The fundamental control structure can be changed with this parameter. SDD: Stroke-Dependent Deceleration. In this mode, stroke-dependent deceleration is activated. This mode is the default mode and is suitable for most applications. With stroke-dependent decelera- tion the drive comes to a controlled stop at the target position. -
Page 30: Vmax (Maximum Speed In Nc Mode)
VMAX (Maximum speed in NC Mode) Command Parameters Unit Group VMAX_1 x= 1… 5000 mm/s POS_CTRL VMAX_2 Specification of the maximum speed in NC Mode. This value is defined by the drive system and should be specified as precisely as possible (not too high under any circumstances). The maximum speed is scaled with the external speed demand. -
Page 31: A (Acceleration Ramp Time)
A (Acceleration ramp time) Command Parameters Unit Group A_1:i i= A|B POS_CTRL A_2:i x= 1… 5000 Ramp function for the 1 and 3 quadrants in SDD mode. The acceleration time for positioning is depending on the direction. ‘A’ corresponds to connection 15 and ‘B’ corresponds to connection 16 (if POL = +). -
Page 32: Pt1 (Timing Of The Controller)
PT1 (Timing of the controller) Command Parameter Unit Group PT_1 x= 0… 300 POS_CTRL PT_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 33: Synchronous Controller
5.6 Synchronous controller SYNCMODE (Operation mode synchronous run) Command Parameters Unit Group SYNCMODE x= MS|AV SYNC_CTRL 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 SYSTEM 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 n ot influenced by this message and remains active. -
Page 35: Output Signal Adaption
5.7 Output signal adaption MIN (Deadband compensation) MAX (Output scaling) TRIGGER (Response threshold for the MIN parameter) Command Parameters Unit Group i= A|B OUTPUT MIN_1:i x= 0… 6000 0.01 % MAX_1:i x= 3000… 10000 0.01 % TRIGGER_1 x= 0… 4000 0.01 % MIN_2:i x= 0…... -
Page 36: Offset (Zero Correction)
OFFSET (Zero correction) Command Parameters Unit Group OFFSET_1 x= -4000… 4000 0.01 % OUTPUT OFFSET_2 This parameter is entered in 0.01% units. The offset value is added to the output value. Valve zero offsets can be compensated with this parameter. SIGNAL:U (Type and polarity of the output signal) Command Parameter... -
Page 37: Drift Compensation / High Accurate Positioning
5.8 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 38: 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 39: Special Commands
5.9 Special commands SELPLUS (additionally transmitted bus signals) Command Parameters Unit Group SELPLUS:I X I= 1|2 EXTENDED x= -|E1|U1|ES|E2|U2 Bytes 20 - 23 of the output signals to the fieldbus can be freely connected to two of the internal process variables. -
Page 40: Ainmode (Input Scaling Mode)
AINMODE (Input scaling mode) Command Parameter Unit Group AINMODE_1 x= EASY|MATH TERMINAL AINMODE_2 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 41 Typical settings: Command Input Description AIN_1:X 1000 1000 0… 10 V Range: 0… 100 % AIN_1:X 1000 V 1… 9 V Range: 0… 100 %; 1 V = 1000 used for the offset and gained by 10 / 8 (10 V divided by 8 V (9 V -1 V)) AIN_1:X 1000 1000 V...
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Page 42: Process Data (Monitoring)
5.10 PROCESS DATA (Monitoring) Command Parameters Unit External command position axis 1 Actual command position after ramp function axis 1 Feedback positon axis 1 Control deviation axis 1 Speed set point axis 1 Control signal axis 1 Synchronisation error External command position axis 2 Actual command position after ramp function axis 2 Feedback positon axis 2 Control error axis 2... -
Page 43: 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 44 FAULT CAUSE / SOLUTION ENABLE is active, the The flashing READY LED signals that a fault is been detected by the module. The fault 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.
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Page 45: Remote Control Mode
6.3 Remote control mode This function allows the user controlling the device via the USB interface. When active the module is inde- pendent from the external demands. So we offer the possibility to put an axis into operation and test it with- out having the fieldbus available. -
Page 46: 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 47: Ethercat Device Profiles (Esi)
With so-called "intelligent" EtherCAT devices, the process data information is also available in the CoE direc- tory. However, any changes in this CoE directory which lead to deviating PDO settings prevent the slave from booting successfully. It is not recommended to configure other than the intended process data, since the device firmware (if available) is tuned to these PDO combinations. -
Page 48: Standard Objects
Standard Objects Index Name Description Type Flags Default Subi. 1000 Device Type Device type of the EtherCAT slave UINT32 0x00000000 1008 Manufacturer Device name of the EtherCAT slave STRING POS-124-U- Device Name 1009 Hardware version Hardware version of the EtherCAT slave UINT16 0x0014 Software version of the EtherCAT slave... -
Page 49: 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 50: 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 51: Process Data
10 Process data 10.1 Data sent to the device The demand PDO consists of the following 32 byte data frame: Index Byte Function Type Range Unit 7000:1 Control_1 UINT8 7000:2 Control_2 UINT8 7000:3 Control_3 UINT8 7000:4 Control_4 UINT8 7010:1 Position_1 High (MSB) - - - 0…... -
Page 52: Description Of The Bus Signals
Description of the bus signals The module is controlled with two control words consisting of following bits: Bit name Description of the bit ENABLE General activation of the axis. Error messages are deleted and the output signal gets activated (in combination with the hardware enable). The actual position is taken over as command position for actively staying in position. - Page 53 Further demands like command position, speed and parameterizing. Byte notation Description of the byte (COMMAND) With the resolution of 1 µm the position which will be driven to after setting START is preset. POSITION Sets the maximum possible speed of the axis in SDD mode. 3FFF allows (COMMAND) 100%, if the parameterization allows it.
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Page 54: Coding Of The Control Bits
Coding of the control bits Description of control 1 (axis 1) Name Description Type Default BOOL DC_FREEZE_1 Storing of the drift compensation offset axis 1 BOOL DC_ACTIVE_1 General activation of the extended functionality axis 1 BOOL DC_F-POS_1 Fine positioning function axis1 BOOL HAND_B_1 Manual mode value B axis 1... - Page 55 Description of the Control_3 (device) Name Description Type Default LIVEBIT Communication monitoring BOOL BOOL BOOL BOOL BOOL BOOL Synchronous control BOOL DIRECT Direct mode for new command positions BOOL Description of the Control_4 (parameterizing) Name Description Type Default BOOL BOOL BOOL BOOL BOOL...
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Page 56: Data Sent To Fieldbus
10.2 Data sent to Fieldbus The status PDO consists of the following 32 byte data frame: Index Byte Function Type Range Unit 6000:1 Status_1 UINT8 6000:2 Status_2 UINT8 6000:3 Status_3 UINT8 6000:4 Status_4 UINT8 6010:1 Actual_Position_1 High (MSB) - - - 0…... -
Page 57: Description Of The Bus Signals
Description of the bus signals Report from the controller via the fieldbus happens by two status words with the following bits: Bit name Description of the bit General operational readiness of the axis. ENABLE signals are available and no error READY was detected. -
Page 58: Coding Of The Status Bits
Coding of the status bits Description of the status byte 1 (axis 1) Type Default Name Description Sensor error axis 1 BOOL SENSERROR_1 BOOL BOOL BOOL SYNCWIN Synchronous error within the window BOOL POSWIN_1:D Following error within the window axis 1 BOOL POSWIN_1:S Reaching target position with set accuracy axis 1... - Page 59 Description of the status byte 3 (error messages) Name Description Type Default BOOL BOOL BOOL BOOL BOOL BufferOverflow data overflow, only Profinet BOOL BUFFER_OF Error in the checksum of the EtherCAT or Profinet data BOOL CHK_ERROR transfer. Internal data error. BOOL D_ERROR Fieldbus specific status messages, only available in the relating device type.
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Page 60: Parameterizing Via Fieldbus
11 Parameterizing via Fieldbus 11.1 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 61: Parameter List
11.2 Parameter List The following table shows the parameters which can be adjusted via the fieldbus and their addresses: Address Parameter Comment 0x2001 POSWIN_1:S 0x2002 POSWIN_1:D 0x2003 ACCEL_1 0x2004 V0_1:A 0x2005 V0_1:B 0x2006 VRAMP_1 0x2007 A_1:A 0x2008 A_1:B 0x2009 D_1:A 0x2010 D_1:B 0x2011... -
Page 62: Profinet - Driver Blocks For Simatic - Controllers
12 Profinet – Driver Blocks for Simatic – Controllers 12.1 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 63 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 63 of 70 POS-124-U 24.01.2022...
- Page 64 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.
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Page 65: Step7 - Classic
12.2 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 66 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 67 A view of the block in FUP w/o interconnection Page 67 of 70 POS-124-U 24.01.2022...
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Page 68: Common Properties
12.3 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 69 Page 69 of 70 POS-124-U 24.01.2022...
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Page 70: Notes
13 Notes Page 70 of 70 POS-124-U 24.01.2022...