Transcript EPOS_SINAMICS_preliminaryV25_0702

Automation and Drives
SINAMICS S120 with basic positioner “Epos”
SINAMICS S120
“Basic positioner”
EPos
SINAMICS S120
Overview,
functionality
Customer benefits
Consequential innovation - proven experience !!!
STRENGTHEN EPos Masterdrives MC
+
STRENGTHEN positioning 611 U
Descriptive
text
+
NEW: Positioning also in “vector control”
Details on the
functionality
Background re:
the functionality
= EPos SINAMICS S120
Positioning
„EPos“, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary
Folie 2
Automation and Drives
Overview of the functionality:
SINAMICS S120
“Basic positioner”
 Absolute and relative positioning of linear and rotary axes (modulo)
with motor encoder or machine encoder.
EPos

SINAMICS S120

Referencing:
- reference point approach – including reversing cam functionality
- “flying referencing” – subordinate - also possible for positioning modes in operation
- reference point setting
- absolute encoder adjustment (when the positioning system is commissioned for the first time)

Operating mode “MDI / direct setpoint input” (based on “Masterdrives MC – Epos”):
“Flying and continuous” setpoint changes (e.g. via the PLC) possible while traversing
“Flying“ change between setting-up (endless closed-loop position control) and positioning
possible

Operating mode “traversing blocks” (based on “611U”):
64 traversing blocks – including block change enable conditions and specific tasks;
e.g.: program steps (skips), “continue flying”, waiting times, setting digital outputs;
(“traverse to fixed endstop”, “external block change enable signals” and “jerk” from V2.5 onwards)

Software limit switch: Traversing range limiting by evaluating the position setpoint

“Stop cam”: The traversing range is limited by evaluating hardware limit switches

Backlash compensation

Dynamic following error monitoring, positioning/ standstill [zero speed] monitoring,
2 basic cam switching signals
Overview,
Overview,
functionality
functionality
Customer benefits
Descriptive
text
Details on the
functionality
Background re:
the functionality
Jogging: Position-controlled traversing; endless or a specified “step width”
„EPos“, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary
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Automation and Drives
Overview of the functionality:

The “basic positioner” is available in control types “servo” AND “vector”
in the S120 and S150! (not in Simotion D with Sinamics Integrated)

Full graphics support (screen forms and Wizards) using Starter
From the configuration of the mechanical system including background calculations
through commissioning up to operator control and diagnostics
Overview,
Overview,
functionality
functionality

“All operating modes can be controlled via the PC” for diagnostics and commissioning
including shared “control panel” for both closed-loop speed and position controlled operation
Customer benefits

Pre-configured Profidrive positioning telegrams
Positioning telegram types (7 , 110) (9 from V2.5 onwards) are available in SINAMICS
and when selected are automatically correctly “connected-up” this therefore guarantees fast and simple connection to automation devices.

The “basic positioner” offers flexible connection and can be adapted in the application
engineering as it is predominantly equipped with BICO technology.
This results a wide range of potential applications.

The “basic positioner” can be activated depending on the requirement on an axis-foraxis basis (scalable functionality)
i.e. due to the fact that the “basic positioner” FUNCTION MODULE can be selected on an
axis-for-axis basis, the performance of the CU320 is not utilized to the maximum
when commissioning/engineering the system.

In the expert mode it is possible to only activate the sub-set “position controller/actual
value conditioning” i.e. without upstream position ramp-function generator) – this allows
the computation time utilization to be reduced
this allows e.g. free connection to automation systems that can/must carry-out the
interpolation themselves.
SINAMICS S120
“Basic positioner”
EPos
SINAMICS S120
Descriptive
text
Details on the
functionality
Background re:
the functionality
„EPos“, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary
Folie 4
Automation and Drives
Example of STARTER screen forms:
SINAMICS S120
“Basic positioner”
EPos
SINAMICS S120
“Drive Navigator”:
“navigates users through the
control loop”
Overview,
Overview,
functionality
functionality
Customer benefits
Descriptive
text
Details on the
functionality
Background re:
the functionality
Configuring the
MECHANICAL SYSTEM
„EPos“, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary
Folie 5
Automation and Drives
Example of STARTER screen forms:
SINAMICS S120
“Control panel”: Commissioning and diagnostics via the PC control:
“Basic positioner”
EPos
SINAMICS S120
Overview,
Overview,
functionality
functionality
Customer benefits
Descriptive
text
Details on the
functionality
Background re:
the functionality
MDI, e.g.:
Setpoints via the
PLC
„EPos“, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary
Folie 6
Automation and Drives
SINAMICS S120 with “basic positioner”
SINAMICS S120
“Basic positioner”
EPos
SINAMICS S120
Overview,
functionality
Customer
Customer benefits
benefits
Customer benefits
“flying” and “continuous” mode/setpoint changes while actually traversing without requiring
mandatory “handshaking”,
including “easy-to-use” benefits/ connection,
including “process shortening” transitions without the axes coming to a
standstill
 Can be simply and ideally connected to a PLC (..even third-party PLCs and process
data)
 Can be simply adapted in the application engineering and simple to handle
 Simple traversing block handling and implementation of “fixed” traversing blocks
Descriptive
text
Details on the
functionality
Background re:
the functionality
 Graphic configuration, commissioning and operator screen forms (tool incl.
control panel)
 “Basic positioning” is still available independent of the control technique vector / servo (..and
their associated limits and constraints)
Proven experience in this application area – with ongoing innovation
===>
===>
===>
===>
cost and time saving
an innovation jump has been made and plant/system productivity increased
supplementary resources have been eliminated thanks to the application capability
engineering costs have been reduced
„EPos“, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary
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Automation and Drives
Descriptive text (1/2) of the functionality:
SINAMICS S120
“Basic positioner”
EPos
SINAMICS S120
Overview,
functionality
Customer benefits
The basic positioner is used to position linear and rotary axes (modulo) – in either absolute/relative
terms – using a motor encoder (indirect measuring system) or an encoder mounted on the
machine (direct measuring system).
It is available as additive function module that can be activated in the basic control types – servo control and
vector control.
Further, user-friendly configuring, commissioning and diagnostic functions (graphically prompted) are available
in STARTER for the basic positioning functionality.
Using STARTER, a control panel is available for the basic positioner and closed-loop speed controlled
operation – this can be used to control the functionality per PC for commissioning or diagnostics.
When the basic positioner is activated, the closed-loop position control is also activated. This is realized
automatically when activating the basic positioner via the drive Wizards of STARTER. Further, the “internal
interconnections) (BICO technology) that are necessary are automatically established.
Pre-configured ProfiDrive positioning telegrams are available – when they are selected, the internal
“interconnection” to the basic positioner is automatically established.
Descriptive
Descriptive
text
Details on the
functionality
Background re:
the functionality
The closed-loop position control essentially comprises two parts:
-- position actual value conditioning (including the subordinate measuring probe evaluation and reference
mark search)
-- position controller (including limits, adaptation, pre-control calculation)
-- monitoring functions (standstill, positioning and dynamic following error monitoring, cam signals)
Further - using the basic positioner - the following functions can also be executed:
Mechanical system:
-- backlash compensation
-- modulo correction
Limits:
-- velocity/acceleration/deceleration limits
-- software limit switch (traversing range limiting by evaluating the position setpoint)
-- stop cams (the traversing range is limited by evaluating the hardware limit switch)
„EPos“, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary
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Automation and Drives
Descriptive text (2/2) of the functionality:
SINAMICS S120
“Basic positioner”
EPos
SINAMICS S120
Overview,
functionality
Customer benefits
Descriptive
Descriptive
text
Details on the
functionality
Background re:
the functionality
Referencing and adjusting:
-- setting the reference point (for axes are at standstill)
-- reference point approach (dedicated operating mode including the reversing cam functionality, automatic
direction of rotation reversal, referencing to “cam and encoder zero mark” or only “encoder zero mark” or “external
equivalent zero mark (BERO)")
-- flying referencing (during “normal" traversing motion, can be referenced, superimposed using the measuring
probe evaluation; generally, evaluation of e.g. a BERO proximity switch. Superimposed function for the
following operating modes “jogging”, “direct setpoint input/MDI" and “traversing blocks".
-- absolute encoder adjustment
Operating mode – traversing blocks (64 traversing blocks):
-- the traversing blocks saved in the device are used for positioning – including block change enable (advance)
conditions and specific tasks (requests) for an axis that was previously referenced
-- traversing block editor using STARTER
-- a traversing block contains the following information/data:
Task number and task (e.g. positioning, waiting, block jump GOTO, setting binary (digital) outputs
motion parameters (target position, velocity override for acceleration and deceleration)
mode (e.g.: skip block, block change enable conditions such as “continue_with_stop" and “continue_flying")
task parameters (e.g. delay time, block jump conditions)
Operating mode – direct setpoint input (MDI):
-- positioning (absolute, relative) and setting-up (endless, closed-loop position controlled) using direct setpoint
inputs (e.g. via the PLC using the appropriate process data)
-- the motion parameters can be continuously influenced while traversing (flying setpoint transfer) –
it is also possible to make a flying change between the setting-up and positioning modes.
-- the direct setpoint input mode (MDI) can also be used for non-referenced axis in the setting-up or relative
positioning modes; this means that when “flying referencing” is used, flying synchronization and post-referencing
(subsequent referencing) are possible.
Operating mode - jogging:
-- the axis is traversed in the closed-loop position controlled mode using the modes “endless position control” or
“incremental jogging" (in order to traverse by one “step width" – it is possible to changeover between these modes)
„EPos“, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary
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Automation and Drives
Common definition :
SINAMICS S120
“Basic positioner”
EPos
SINAMICS S120
rotary axis
(modulo)
Overview,
functionality
Customer benefits
Descriptive
Descriptive
text
linear axis
Details on the
functionality
Background re:
the functionality
„EPos“, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary
Folie 10
Automation and Drives
Details on the functionality:
SINAMICS S120
“Basic positioner”
EPos
SINAMICS S120
 4 OPERATING MODES
(can be toggled between when an axis has reached its
target position and is at a standstill):
- JOGGING (closed-loop position controlled)
Overview,
functionality
Customer benefits
- REFERENCE POINT APPROACH
- MDI/DIRECT SETPOINT INPUT (positioning based on “Masterdrives MC Epos”)
- TRAVERSING BLOCKS (positioning based on “611U”)
Descriptive
text
Details
on the
the
Details on
functionality
functionality
Priority of the operating modes with respect to one another when they are simultaneously
selected:
From “top to the bottom” – i.e. JOGGING > REF. APPROACH > MDI > TRAVERSING BLOCKS
Including subordinate (lower-level) “FLYING REFERENCING” in the operating modes
“Jogging”, “Traversing blocks” and “MDI/direct setpoint input”
Background re:
the functionality
In the operating mode “MDI/direct setpoint input” including
- “flying” and it is always possible to changeover during traversing between the modes
“setting-up” (= endless position-controlled traversing with v-set input)
and “positioning absolute/relative”
- “flying and continuous” setpoint change possible while actually traversing
„EPos“, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary
Folie 11
Automation and Drives
Details on the functionality:
SINAMICS S120
“Basic positioner”
EPos
SINAMICS S120
Overview,
functionality
Customer benefits
 Operating mode: JOGGING
The axis is traversed with position control using two modes
that can be toggled between
1. mode: Endless closed-loop position controlled using v-set input (the sign is evaluated)
2. mode: Incremental jogging ( = in order to traverse through the specified “step width”)
... two selectable setpoints are available in both modes (jogging 1 / 2)
Descriptive
text
Details
on the
the
Details on
functionality
functionality
Background re:
the functionality
„EPos“, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary
Folie 12
Automation and Drives
Example of STARTER screen forms:
SINAMICS S120
“Basic positioner”
Jogging:
EPos
SINAMICS S120
Overview,
functionality
Customer benefits
Descriptive
text
Details
on the
the
Details on
functionality
functionality
Background re:
the functionality
„EPos“, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary
Folie 13
Automation and Drives
Details on the functionality:
SINAMICS S120
“Basic positioner”
EPos
SINAMICS S120
Overview,
functionality
Customer benefits
 Operating mode: REFERENCE POINT APPROACH (“active
referencing”)
The reference point is fully automatically searched for and acquired
when using an incremental measuring system (e.g. encoder)
Reference point approach with the following evaluation possibilities:
- “cam and encoder zero mark”, “encoder zero mark” “external equivalent zero mark (Bero)”
- “set reference point” without traversing possible
Reversing cam functionality
Automatic direction of rotation reversal and search along the complete traversing range,
the start direction can be specified
Descriptive
text
Details
on the
the
Details on
functionality
functionality
Background re:
the functionality
Various approach velocities can be specified (“to the cam”, “to the reference mark”, “to the
reference point”) - e.g. to increase the accuracy of the reference mark detection
Monitoring using maximum traversing distances/tolerance bandwidths that can be specified –
e.g. to the cams, between the cams and zero mark, distance to the zero mark
Automatic traversing for “reference point offset possible” regarding reference mark and
via reference point coordinates that can be entered via BICO
Automatic direction of rotation reversal at the reference cam - so that, for example, reversing cams
or hardware limit switches (when the STOP cam functionality is disabled) can be used as reference cams
(this eliminates some of the hardware required)
(in the START direction that can be specified the zero mark has priority as reference mark BEFORE
the reference cam)
„EPos“, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary
Folie 14
Automation and Drives
Example of STARTER screen forms:
SINAMICS S120
Reference point approach ( = “active referencing”) :
“Basic positioner”
EPos
SINAMICS S120
Overview,
functionality
Customer benefits
Descriptive
text
Details
on the
the
Details on
functionality
functionality
Background re:
the functionality
„EPos“, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary
Folie 15
Automation and Drives
Details on the functionality:
SINAMICS S120
“Basic positioner”
EPos
SINAMICS S120
Overview,
functionality
Customer benefits
Descriptive
text
Details
on the
the
Details on
functionality
functionality
Background re:
the functionality
 Operating mode: TRAVERSING BLOCKS
(positioning based on “611U”
functionality)
Positioning using traversing blocks saved in the device (for a referenced axis)
64 traversing blocks are possible – including block change enable conditions and specific tasks
User-friendly traversing block editor
For each block, e.g. position and velocity can be separately set and the acceleration as
well as the deceleration override can be entered
Tasks; e.g.:
“positioning absolute / relative”, “ABS_POS/_NEG” (forced direction of rotation input for modulo axes),
“endless pos / neg”, “wait” (waiting time), “GOTO” (block jump), “SET_O / RESET_O” (setting / resetting
from up to two digital outputs simultaneously)
From V2.5 onwards: “traversing to fixed endstop” (torque limiting, endstop detection via following errror
detection or external signal, detection of fixed endstop fracture and fault reaction ) , “jerk” (activate, deactivate)
Block change conditions:
“End” , “continue with stop”, “continue flying” (at the start of braking)
From V2.5 onwards: “continue external”, “continue external wait”, “continue external alarm”
(External block transition via fast measuring probes or selectable BICO-signal)
Traversing blocks can be “skipped” (“suppressed”)
When any given traversing block is activated (BICO) a traversing block being executed can be
interrupted and a flying change made into the new traversing block !
„EPos“, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary
Folie 16
Automation and Drives
Example of STARTER screen forms:
SINAMICS S120
Traversing block editor:
“Basic positioner”
EPos
SINAMICS S120
Overview,
functionality
Customer benefits
Descriptive
text
Details
on the
the
Details on
functionality
functionality
Background re:
the functionality
„EPos“, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary
Folie 17
Automation and Drives
Details on the functionality:
SINAMICS S120
“Basic positioner”
EPos
SINAMICS S120
Overview,
functionality
 Operating mode: MDI / direct setpoint input
(positioning based on “MASTERDRIVES MC” EPos functionality)
Positioning/setting-up with direct setpoint inputs (e.g. process data, PLC)
that can also be continuously influenced even while actually traversing
“Flying and continuous” setpoint transfer is possible while the axis is actually moving
...e.g. setpoint data from the communications interface, PLC
(e.g.: position, V-set, V-override, acceleration, deceleration, signal to forcibly change the direction of rotation)
Customer benefits
Descriptive
text
Details
on the
the
Details on
functionality
functionality
Background re:
the functionality
It is possible to make a “flying” change between the various modes while the axis is
actually moving:
- mode: Setting-up ( endless closed-loop position controlled mode, v-set input)
- mode: Positioning, absolute/relative (for modulo, also: forced direction of rotation change, shortest path/distance)
In this mode it is also possible to traverse a “non-referenced” axis
(modes: setting-up + positioning relative), e.g. by using “flying synchronizing/referencing”
This is the reason that this functionality offers, for example, the following:
In the mode “MDI/direct setpoint input” in the “setting-up” mode with secondary/subordinate “flying
referencing” the axis is automatically moved and referenced in the production direction during the
continuous traversing motion. The system can then make a “flying” change into the “positioning”
mode without the axis coming to a standstill; new setpoints - e.g. via the PLC – can always be
transferred.
This can offer advantages for the following situations e.g. for
- axes, that may only be operated in one direction of rotation or continuous material webs
- minimizing the “approach time”, “waste” as well as increasing the production rate
- machines with slip can also be “post-referenced” on the fly
„EPos“, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary
Folie 18
Automation and Drives
Example of STARTER screen forms:
SINAMICS S120
“Basic positioner”
Direct setpoint input / MDI :
EPos
SINAMICS S120
Overview,
functionality
Customer benefits
Descriptive
text
Details
on the
the
Details on
functionality
functionality
Background re:
the functionality
„EPos“, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary
Folie 19
Automation and Drives
Details on the functionality:
SINAMICS S120
“Basic positioner”
EPos
SINAMICS S120
Overview,
functionality
Customer benefits
 Flying referencing (“passive referencing”)
Referencing the axis during “normal” traversing motion
using a “measuring probe” (standard setting) including possible continuous
“post-referencing” !!!
Can be executed as subordinate function in the following operating modes: “jogging”,
“traversing blocks” and “MDI/direct setpoint input” !!!
Can be selected for both incremental and absolute measuring systems (encoders)
It is possible to toggle between measuring probes (2 measuring probe inputs
can be selected, positive/negative edge) – switched over using BICO technology
Descriptive
text
Details
on the
the
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functionality
For “flying referencing” while carrying-out RELATIVE positioning it can be selected as to
whether the correction value for the traversing distance should be taken into account or not
For “post-referencing” it is possible to evaluate a “real/incorrect” BERO signal (inner/outer
position difference “window”)
Background re:
the functionality
„EPos“, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary
Folie 20
Automation and Drives
Example of STARTER screen forms:
SINAMICS S120
“Basic positioner”
Flying referencing (= “passive referencing”) :
EPos
SINAMICS S120
Overview,
functionality
Customer benefits
Descriptive
text
Details
on the
the
Details on
functionality
functionality
Background re:
the functionality
„EPos“, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary
Folie 21
Automation and Drives
Details on the functionality:
SINAMICS S120

Software limit switches for linear axes:
For a referenced axis the traversing range is limited by evaluating the position setpoint

“Stop cams”: The traversing range is limited by evaluating a hardware limit switch
The limit switches can also be used as reversing cams or reference cams for the reference
point approach – e.g. for a reference point approach the stop cam functionality is de-selected
(BI:p2568) > reduces the level of hardware resources required

Velocity override can be used in all operating modes
(for reference point approach “only” for reference cam approach velocity)

Backlash compensation
Corrects the position actual value as a result of any mechanical play (backlash) between the
motor and load

“Intermediate stop” and “reject traversing task” can be controlled in the positioning
modes (“traversing blocks” and “MDI/direct setpoint input”)
The “old” traversing direction can be continued after an “intermediate stop”

Dynamic following error monitoring
(this eliminates velocity-dependent components and therefore permits monitoring functions to
be implemented with a far more rigid tolerance – equivalent time constants of the control loop
subordinate (secondary) to the position controller are taken into account),
position monitoring (“target position reached”),
standstill monitoring

2 “basic” cam switching signals (in the closed-loop position control)
No hysteresis, cam position can “only” be parameterized (no BICO), only ONE position for signal
change for each cam (..this means no ON/OFF position for each cam), but one BICO output is
available for each cam
“Basic positioner”
EPos
SINAMICS S120
Overview,
functionality
Customer benefits
Descriptive
text
Details
on the
the
Details on
functionality
functionality
Background re:
the functionality
„EPos“, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary
Folie 22
Automation and Drives
Example of STARTER screen forms:
SINAMICS S120
“Basic positioner”
“Positioning/standstill monitoring”
EPos
SINAMICS S120
Overview,
functionality
Customer benefits
Descriptive
text
Details
on the
the
Details on
functionality
functionality
“Following error monitoring”
Background re:
the functionality
„EPos“, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary
Folie 23
Automation and Drives
Example of STARTER screen forms:
SINAMICS S120
“Basic positioner”
Software limit switches and stop cams (hardware limit switch):
EPos
SINAMICS S120
Overview,
functionality
Customer benefits
Descriptive
text
Details
on the
the
Details on
functionality
functionality
Background re:
the functionality
„EPos“, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary
Folie 24
Automation and Drives
Details on the functionality:
SINAMICS S120
“Basic positioner”

EPos
SINAMICS S120
Overview,
functionality
Customer benefits
Referencing types that are available:
> Reference point approach (“active referencing”) (operating mode: see details in
previous overheads)
> Flying referencing (“passive referencing”) (see details in previous overheads)
> Reference point setting
“Reference point setting” is possible in the initial state (= target position reached and axis
stationary (zero speed)), none of the operating modes are active) and from V2.5 onwards also in
“intermediate stop” (“MDI” and “Traversing blocks”)
> Absolute encoder adjustment
(when commissioning for the first time: Determining the offset at standstill [zero speed]
using the reference coordinates)
The following functions are not possible for a NON-referenced axis:
- “traversing blocks” operating mode
- in the operating mode “MDI/direct setpoint input” the “Absolute positioning” (i.e. setting-up
and relative positioning are also possible here - and are often practical!)
Descriptive
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Details
on the
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functionality

Changing-over between units - mm, inch, Degrees, LU – including selectable resolutions
of between 1 and 0.00001
(in V2.4 and V2.5, only LU was possible)
Background re:
the functionality

The units LU permit the “most accurate” and the most flexible adaptation of the
position actual value resolution;
this is because the internal high-resolution position actual value resolution – precise to
one increment – can also be used “externally” (customer perspective, setpoint input),
and customers are able to select “any” setpoint normalization/actual value normalization.
„EPos“, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary
Folie 25
Automation and Drives
Details on the functionality:
SINAMICS S120
“Basic positioner”

From V2.5 onwards:
Jerk limiting (“jerk”) can be permanently activated or via PZD (BICO) in ALL operating modes.
In the “traversing blocks” mode, this can be additionally activated/de-activated as a function
of the particular task, if the jerk is not permanently or via PZD (BICO) activated.
In V2.4, the position setpoint filter (p2533) can be used in the position controller for “rounding-off”.
This is also easily possible as the position setpoint filter influences both the position setpoint as well as
also the speed pre-control (assuming the symmetrical adaptation of the setpoints) and a filter that can be
separately set (p2535/p2536) is available for the pre-control symmetrization (delay, position setpoint at
the position controller as a ratio to the speed pre-control, “following error compensation”).

EPos is implemented as function module (computation time is only utilized when the function
is actually selected).
The necessary interconnections to the “basic system” are AUTOMATICALLY established. (BICO
technology interconnections are automatically established and parameterized when the function module
is selected). Further, these “interconnections” – both to the basic system as well as within the
EPos – can be adapted using Bico technology as part of the application engineering to implement
the customer’s specific requirements; this therefore results in a wide range of possible
applications.

In the expert mode, it is possible to only activate the sub-set “position controller/ actual value
preparation” (i.e. without the upstream position ramp-function generator) to reduce the load on the
computation time.
This allows, e.g. free link to the automation systems that handle the interpolation
and the position ramp-function generator channel.
Further, this means that the “complex” handshaking technique, executed via the control, can be
eliminated e.g. when initiating/retrieving position measured values per measuring probe
(I.e.: Gn_XIST1, Gn_XIST2, Gn_STW, Gn_ZSW), this is because the “position actual value conditioning”
module to a large extent automatically executes this.
EPos
SINAMICS S120
Overview,
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Customer benefits
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Background re:
the functionality
„EPos“, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary
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Automation and Drives
Details on the functionality:
SINAMICS S120
“Basic positioner”

PI controller algorithm is also possible (and not only P controller), in order to position,
for example, large flywheel masses.
Extremely large control loop time constants when compared to the sum of the small time constants
are handled using position controller=PI controller /n controller=P controller.
EPos
SINAMICS S120
Overview,
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Kv can be adapted using BICO technology (PZD input) and position controller output
limiting, controlled using BICO technology for e.g. moments of inertia that change, or
influence during the traversing profile or approach behavior (presses, partial cross-cutter
functionality), or simplified starting behavior when connecting to a third-party PLC etc.
Customer benefits
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Position controller:

Speed pre-control as well as torque pre-control available from the closed-loop position control.

Position actual value inversion is included in the basic device functionality.
From V2.4 onwards, in addition, the direction of rotation bit is included in the basic device
functionality (feedback and manipulated variables are inverted together, e.g. drive mounting
RIGHT/LEFT at the machine but only one production direction).
Background re:
the functionality
„EPos“, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary
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Automation and Drives
Example of STARTER screen forms:
SINAMICS S120
“Basic positioner”
“Position controller” screen form:
EPos
SINAMICS S120
Overview,
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Customer benefits
Descriptive
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functionality
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Automation and Drives
Background regarding the functionality:
SINAMICS S120
“Basic positioner”
EPos
SINAMICS S120
Overview,
functionality
Customer benefits

Encoder systems / position actual value conditioning in conjunction with EPos:
Rotary and linear encoders
All of the encoder systems (p0400) released for the basic device functionality are supported
with the exception measuring systems with distance-coded zero marks.
The evaluation of an indirect linear measuring system being used (motor linear encoder) as
direct measuring system (encoder connected to the machine) is not supported using Starter screen forms – but is
possible using the expert mode (parameter list).
Rotary axis functionality (modulo) or linear axis functionality
can be FREELY ASSIGNED both for rotary as well as also for linear motor encoders
(indirect measuring system) or machine encoders (direct measuring system).
Therefore, also: Rotary encoders (either mounted at the machine or motor) can be consciously operated with
“linear axis functionality”
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Absolute encoders are supported.
- Absolute value adjustment at standstill (first commissioning).
Recommendation for rotary absolut encoder e.g. for linear axes:
Choose the traversing range and absolut value adjustment in +/- half of the multi-turn range (Xist2).
With it one “electrical overflow of the encoder because of mechanical mounting” within EXACT ONE (..not several)
complete multi-turn range is in control of software (...even without “position tracking for absolut encoders”)
- “Flying referencing” possible (exception).
Drive data set changeover (DDS) including encoder data set (EDS, 3 encoder data sets)
Presently, the position actual value conditioning for EPos can evaluate one encoder at the
same time (each encoder data set) – and more is also not practical for the “Epos” functionality.
However it is still planned to be able to evaluate two additional encoders at the same time
through the position actual value conditioning for the EPos; e.g. for “monitoring purposes”
or to “transfer to the PLC”
(..as an alternative to Gn_Xist1/Gn_Xist2, etc.).
„EPos“, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary
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Automation and Drives
Background regarding the functionality:
SINAMICS S120
“Basic positioner”
EPos
SINAMICS S120
Overview,
functionality
Customer benefits
Descriptive
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
Explanation of system terminology that is necessary for a better understanding (from V2.4):
“Measuring gearbox” means: (functionality in the basic device, encoder data set EDS)
Ratio between the motor – motor encoder or load – machine encoder
“Load gearbox” means: (functionality of the position actual value conditioning/EPos)
Ratio between the load - motor
The measuring gearbox between the motor – motor encoder also influences the
commutation angle (closed-loop current control) and must thus correspond to the real
relationships – and for example - cannot be used to adapt to the axis cycle
(product cycle, position control loop). In this case a load gearbox should be used!
If a measuring gearbox is used between the load and encoder mounted on the machine then
it goes without saying that an adaptation can be made to the axis cycle (product cycle).
The following is implemented from V2.4 onwards:
- measuring gearbox (motor – motor encoder, load – encoder mounted at the machine)
and load gearbox for rotary axes/modulo or linear axis
Geber_3
(z.B. EDS2)
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functionality
Messgetriebe
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M
Last
~
Messgetriebe
Geber_1 (z.B. EDS0)
Lastgetriebe
Messgetriebe
Geber_2 (z.B. EDS1)
„EPos“, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary
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Automation and Drives
Background regarding the functionality:
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“Basic positioner”
EPos
SINAMICS S120
Overview,
functionality

Position tracking for absolute encoders
Position tracking is only necessary for absolute encoders and under the follow. conditions:
- overflow of the multi-turn range AND multi-turn count / “gearbox" is NOT AN INTEGER NUMBER
or
- extension of the measuring range beyond the multi-turn range for linear axes
Lage
8
Lage Absolutwertgeber
7
Customer benefits
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5
4
3
2
Lastlage
1
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0
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5
9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24
Lage
Motor
Versatz bei Geberüberlauf
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7
8
Example: Gearbox ratio 1:3, the absolute encoder can count 8 revolutions
Position tracking from V2.4 onwards:
- “only” when a measuring gearbox is used between the motor and motor encoder or load and
encoder mounted on the machine for rotary axis/modulo
(e.g. : 1FW3 torque motors with absolute encoder – “non integer number for the toothed belt ratio”)
Additional Position tracking from V2.5 onwards (..essentially the completion):
- for measuring gearboxes between the motor and motor encoder for linear axis
- for measuring gearboxes between the load and encoder mounted to the machine for linear
axis
- for load gearboxes (motor – load) for rotary axis/modulo and linear axis
„EPos“, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary
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Automation and Drives
Background regarding the functionality:
SINAMICS S120
“Basic positioner”
EPos
SINAMICS S120
Overview,
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Functional expansions of V2.5 in detail (part 1/5):
 Traversing blocks / new task: „traversing to fixed endstop“
- torque limiting
- endstop detection via following errror detection or external signal
- detection of fixed endstop fracture and fault reaction
- Starter-mak: „„Basic positioner/Program traversing blocks/Job“
Customer benefits
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functionality
Background
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re:
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thefunctionality
functionality
„EPos“, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary
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Automation and Drives
Background regarding the functionality:
SINAMICS S120
“Basic positioner”
EPos
SINAMICS S120
Overview,
functionality
Functional expansions of V2.5 in detail (part 2/5):
 Traversing blocks / new block change conditions: „External block transition“
- “continue external”, “continue external wait”, “continue external alarm”
External block transition via fast measuring probes or selectable BICO-signal
- Starter-mask: „Basic positioner/Program traversing blocks/configuration
and „Basic positioner/Program traversing blocks/Advance“
Customer benefits
Descriptive
text
Details on the
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Background
Background re:
re:
the
thefunctionality
functionality
„EPos“, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary
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Automation and Drives
Background regarding the functionality:
SINAMICS S120
“Basic positioner”
EPos
SINAMICS S120
Overview,
functionality
Functional expansions of V2.5 in detail (part 3/5):
 Additional Position tracking from V2.5 onwards (..essentially the completion)
for absolut encoders
- for load gearboxes (motor – load) for rotary axis/modulo and linear axis
- for measuring gearboxes between the motor and motor encoder for linear axis
- for measuring gearboxes between the load and encoder mounted to the machine for linear
axis
- Starter-mask: „Position control / Mechanics“ or „axis assistent, configuration“ (load gearboxes)
Customer benefits
Geber_3
(z.B. EDS2)
Messgetriebe
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Messgetriebe
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Lastgetriebe
Messgetriebe
Geber_1 (z.B. EDS0)
Geber_2 (z.B. EDS1)
Lage
8
Lage Absolutwertgeber
7
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Last
~
6
Example: Gearbox ratio 1:3
the absolute encoder can count 8 revolutions
5
4
3
2
Lastlage
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0
1
2
3
4
5
9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24
Lage
Motor
Versatz bei Geberüberlauf
6
7
8
Hint: For „linear axis“ with rotary absolut encoder
max. +/-31 overflows behind the gearbox are allowed.
„EPos“, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary
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Automation and Drives
Background regarding the functionality:
SINAMICS S120
“Basic positioner”
EPos
SINAMICS S120
Overview,
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Functional expansions of V2.5 in detail (part 4/5):
 Jerk limiting (“jerk”)
- “Jerk” can be permanently activated or via process data (BICO) in ALL operating modes.
- In the “traversing blocks” mode, this can be additionally activated/de-activated as a function
of the particular task, if the jerk is not permanently or via process data (BICO) activated.
- Starter-mask:
„Basic positioner/..“ „..limits/traversing profile limitation“ and „..Program traversing blocks/Job“
Customer benefits
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text
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Background
Background re:
re:
the
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„EPos“, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary
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Automation and Drives
Background regarding the functionality:
SINAMICS S120
“Basic positioner”
Functional expansions of V2.5 in detail (part 5/5):
EPos
SINAMICS S120
Overview,
functionality
Customer benefits
 Profidrive Positioning telegram type 9 (... 7 and 110 from V2.4 onwards)
- Starter-mask: e.g. „Communication/PROFIBUS“ or „axis wizard“
 “Reference point setting” also in “intermediate stop”
(“MDI” and “Traversing blocks”)
- Starter-mask: „Basic positioner/Homing“
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 configuration of standstill/position monitoring
- F07450 (standstill monitoring) and F07451 (position monitoring )
correspond to F07452 (following error monitoring) are configurable from F (fault) to A (alarm).
E.g. thereby it makes possible a selective tolerance via PLC (BICO) in case of further on activated
monitoring.
 Reversing cam functionality also with „reference point approach“ without cam
mark
...means even in mode „only“ “encoder zero mark” or “external equivalent zero mark (Bero)”
- Starter-mask: „Basic positioner/Homing“
„EPos“, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary
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Automation and Drives
Thank you very much for your attention !
SINAMICS S120
“Basic positioner”
EPos
SINAMICS S120
Overview,
functionality
Customer benefits
EPos
Basic positioner
Descriptive
text
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„EPos“, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary
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