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Siemens SINAMICS G120 Instruction Manual
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Siemens SINAMICS G120 Instruction Manual

Basic positioner (epos) for cu250-2 control units
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EPos
Function Manual
SINAMICS
SINAMICS G120
Basic positioner (EPos) for
CU250-2 Control Units
Edition
09/2020
www.siemens.com/drives

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Summary of Contents for Siemens SINAMICS G120

  • Page 1 EPos Function Manual SINAMICS SINAMICS G120 Basic positioner (EPos) for CU250-2 Control Units Edition 09/2020 www.siemens.com/drives...
  • Page 3 Changes in the current edition Fundamental safety instructions Introduction SINAMICS Basic positioner and position control SINAMICS G120 Basic positioner Permissible encoder combinations PROFIdrive interface Function Manual Commissioning Appendix Edition 09/2020, Firmware V4.7 SP13 09/2020, FW V4.7 SP13 A5E34257659B AG...
  • Page 4 Note the following: WARNING Siemens products may only be used for the applications described in the catalog and in the relevant technical documentation. If products and components from other manufacturers are used, these must be recommended or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and maintenance are required to ensure that the products operate safely and without any problems.

  • Page 5: Changes In The Current Edition

    Changes in the current edition Changes with respect to Edition 04/2018 New functions Extended setting option for evaluating the STOP cam. • Two different functions to evaluate STOP cams can be set: – Edge-triggered evaluation (factory setting) – Level-triggered evaluation Traversing beyond a STOP cam (Page 45) Basic positioner Function Manual, 09/2020, FW V4.7 SP13, A5E34257659B AG...
  • Page 6 Changes in the current edition Basic positioner Function Manual, 09/2020, FW V4.7 SP13, A5E34257659B AG...

  • Page 7: Table Of Contents

    Table of contents Changes in the current edition ......................3 Fundamental safety instructions......................7 General safety instructions....................7 Warranty and liability for application examples ..............8 Security information ......................9 Introduction ............................11 Basic positioner and position control ....................13 Permissible encoder combinations......................
  • Page 8 Table of contents 6.5.3 Cam sequencer ........................55 Referencing ........................56 6.6.1 Referencing methods ......................56 6.6.2 Setting the reference point approach.................. 57 6.6.3 Setting the flying referencing ..................... 63 6.6.4 Set reference point ......................67 6.6.5 Absolute encoder adjustment..................... 68 Jogging ..........................

  • Page 9: Fundamental Safety Instructions

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

  • Page 10: Warranty And Liability For Application Examples

    Fundamental safety instructions 1.2 Warranty and liability for application examples Warranty and liability for application examples Application examples are not binding and do not claim to be complete regarding configuration, equipment or any eventuality which may arise. Application examples do not represent specific customer solutions, but are only intended to provide support for typical tasks.

  • Page 11: Security Information

    Siemens’ products and solutions undergo continuous development to make them more secure. Siemens strongly recommends that product updates are applied as soon as they are available and that the latest product versions are used. Use of product versions that are no longer supported, and failure to apply the latest updates may increase customer’s exposure to cyber...
  • Page 12 Fundamental safety instructions 1.3 Security information Basic positioner Function Manual, 09/2020, FW V4.7 SP13, A5E34257659B AG...

  • Page 13: Introduction

    Who requires this manual and why? This manual addresses machine and plant manufacturers and commissioning engineers. The manual describes the function "basic positioner" of the SINAMICS G120 converter equipped with the CU250S-2 Control Unit. What is described in this manual?
  • Page 14 Introduction Basic positioner Function Manual, 09/2020, FW V4.7 SP13, A5E34257659B AG...

  • Page 15: Basic Positioner And Position Control

    Basic positioner and position control Overview Position control means controlling the position of an axis. An "axis" is a machine or system component that comprises the converter with active position control and the driven mechanical system. The basic positioner (EPos) calculates the traversing profile for the time-optimized traversing of the axis to the target position.
  • Page 16 Basic positioner and position control Basic positioner Function Manual, 09/2020, FW V4.7 SP13, A5E34257659B AG...

  • Page 17: Permissible Encoder Combinations

    Permissible encoder combinations Overview You can connect two encoders to the converter. Table 4-1 Encoder combinations Encoders for the speed Encoders for the position controller controller D-sub connector -X2100 Terminal strip -X136 DRIVE-CLiQ interface -X100 HTL or TTL en‐ SSI encoder Resolver HTL encoder Encoder con‐...
  • Page 18 Permissible encoder combinations Table 4-2 Explanation regarding encoder combinations --- This combination is not permissible. ① Position controllers and speed controllers use the same encoder on the motor shaft. Depending on the gear ratio, restric‐ tions regarding the accuracy of the position control.
  • Page 19 Permissible encoder combinations ③ Position controller and speed controller use different encoders. The encoder for the speed controller must be mounted on the motor shaft. Compared to the other options of encoder assignment, this configura‐ tion provides the best control re‐ sults.
  • Page 20 Permissible encoder combinations Basic positioner Function Manual, 09/2020, FW V4.7 SP13, A5E34257659B AG...

  • Page 21: Profidrive Interface

    PROFIdrive interface The send and receive telegrams of the converter for cyclic communication are structured as follows: Basic positioner with selection of the traversing block Basic positioner with direct setpoint input (MDI) Basic positioner with direct setpoint input (MDI), override and position actual value Basic positioner with direct setpoint input (MDI), override, position actual value and speed actual value Free interconnection and length Basic positioner...
  • Page 22 PROFIdrive interface Table 5-1 Explanation of the abbreviations Abbreviation Meaning STW1 Control word 1 ZSW1 Status word 1 Control and status word 1 (Page 21) STW2 Control word 2 ZSW2 Status word 2, see also: SATZANW Selects the traversing block Control and status word 2 (Page 23) AKTSATZ Currently selected traversing block...

  • Page 23: Control And Status Word 1

    PROFIdrive interface 5.1 Control and status word 1 Control and status word 1 Control word 1 (STW1) Table 5-2 Control word 1 for active basic positioner Meaning Comments P No. 0 = OFF1 The motor brakes with the ramp-down time p1121 of the ramp- p0840[0] = function generator.
  • Page 24 PROFIdrive interface 5.1 Control and status word 1 Status word 1 (ZSW1) Table 5-3 Status word 1 when the basic positioner is active Meaning Comments P No. Telegram 110 Telegram 111 1 = Ready for switching on Power supply is switched on; electronics initialized; pulses are p2080[0] = inhibited.

  • Page 25: Control And Status Word 2

    PROFIdrive interface 5.2 Control and status word 2 Control and status word 2 Control word 2 (STW2) Meaning Signal interconnection in the converter Telegrams 2, 3 and 4 Telegrams 9, 110 and 111 1 = drive data set selection DDS bit 0 p0820[0] = r2093.0 1 = drive data set selection DDS bit 1 p0821[0] = r2093.1...

  • Page 26: Control And Status Word For The Positioner

    PROFIdrive interface 5.3 Control and status word for the positioner Control and status word for the positioner Positioning control word (POS_STW) Table 5-4 POS_STW and interconnection with parameters in the converter Meaning Comments P No. 1 = Follow-up mode The converter continuously corrects the position setpoint to fol‐ p2655[0] = low the position actual value.
  • Page 27 PROFIdrive interface 5.3 Control and status word for the positioner Bit Meaning Comments P No. 1 = Position actual value ≤ cam switching po‐ Feedback of the software cams in the converter. p2084[8] = sition 1 r2683.8 0 = Cam switching position 1 passed 1 = Position actual value ≤...

  • Page 28: Control And Status Word 1 For The Positioner

    PROFIdrive interface 5.4 Control and status word 1 for the positioner Control and status word 1 for the positioner Positioning control word 1 (POS_STW1) Table 5-6 POS_STW1 and interconnection in the converter Meaning Comments P No. Traversing block selection, bit 0 Selecting the traversing block p2625 = r2091.0 Traversing block selection, bit 1...
  • Page 29 PROFIdrive interface 5.4 Control and status word 1 for the positioner Positioning status word 1 (POS_ZSW1) Table 5-7 POS_ZSW1 and interconnection in the converter Bit Meaning Comments P No. Active traversing block bit 0 (2 Number of the currently selected traversing block. p2083[0] = r2670[0] Active traversing block bit 1 (2...

  • Page 30: Control And Status Word 2 For The Positioner

    PROFIdrive interface 5.5 Control and status word 2 for the positioner Control and status word 2 for the positioner Positioning control word 2 (POS_STW2) Table 5-8 POS_STW2 and interconnection with parameters in the converter Bit Meaning Comments P No. 1 = Activate follow-up mode The converter continuously corrects the position setpoint to p2655[0] = follow the position actual value.
  • Page 31 PROFIdrive interface 5.5 Control and status word 2 for the positioner Positioning status word 2 (POS_ZSW2) Table 5-9 POS_ZSW2 and interconnection with parameters in the converter Bit Meaning Comments P No. 1 = Follow-up mode active The converter is in the follow-up mode. p2084[0] = r2683.0 1 = Velocity limiting is active...

  • Page 32: Control Word Block Selection

    PROFIdrive interface 5.6 Control word block selection Control word block selection Block selection Table 5-10 Block selection and interconnection in the converter Meaning Comments P No. Block selection, bit 0 Example for selecting tra‐ p2625 = r2091.0 versing block number 5: Block selection, bit 1 p2626 = r2091.1 Block selection, bit 2...

  • Page 33: Control Word Mdi Mode

    PROFIdrive interface 5.7 Control word MDI mode Control word MDI mode MDI mode Table 5-12 Selection of the MDI mode and interconnection with parameters in the converter Meaning Comments P No. 0 = Relative positioning is selected The converter interprets the position setpoint as the p2648 = r2094.0 position setpoint relative to the start position.

  • Page 34: Status Word Messages

    PROFIdrive interface 5.8 Status word messages Status word messages Status word messages (MELDW) Table 5-13 Status word for messages and interconnection with parameters in the converter Meaning Description P No. 0 = Ramp-function generator active The motor is presently acceler‐ p2082[0] = r2199.5 ating or braking 1 = Ramp-up/ramp-down completed...

  • Page 35: Function Block Fb283

    • Transferring up to 16 traversing blocks when a function is initiated. • Reading or writing a maximum of any 10 parameters with one job, e.g. for product adaptation. You can find additional information about FB283 in the Internet: FB283 (http://support.automation.siemens.com/WW/view/en/25166781) Basic positioner Function Manual, 09/2020, FW V4.7 SP13, A5E34257659B AG...
  • Page 36 PROFIdrive interface 5.9 Function block FB283 Basic positioner Function Manual, 09/2020, FW V4.7 SP13, A5E34257659B AG...

  • Page 37: Commissioning

    Connecting cable (3 m) between PC and converter: Article number 6SL3255-0AA00-2CA0 Startdrive DVD: Article number 6SL3072-4CA02-1XG0 Startdrive, system requirements and download (https:// support.industry.siemens.com/cs/ww/en/view/109760844) Startdrive tutorial (http://support.automation.siemens.com/WW/view/en/73598459) STARTER videos (http://www.automation.siemens.com/mcms/mc-drives/en/low-voltage- inverter/sinamics-g120/videos/Pages/videos.aspx) Basic positioner Function Manual, 09/2020, FW V4.7 SP13, A5E34257659B AG...
  • Page 38 Commissioning 6.1 Commissioning sequence The screen forms to commission the basic positioner in Startdrive and STARTER essentially have the same structure. Commissioning using Startdrive is described in this manual. ① Assign encoders to the axes. → Operating instructions ② Set the communication via the fieldbus. PROFIdrive interface (Page 19) ③...

  • Page 39: Normalizing The Encoder Signal

    Commissioning 6.2 Normalizing the encoder signal Normalizing the encoder signal 6.2.1 Define the resolution Distance unit (LU): the resolution of the position actual value in the converter The converter calculates the position actual value of the axis using the neutral position unit LU (Length Unit).

  • Page 40: Modulo Range Setting

    Commissioning 6.2 Normalizing the encoder signal 3. Motor revolutions Unknown gear ratio If you do not know the gear ratio, then you must measure the ratio, for example by manually rotating the motor and counting the load revolutions. Example: After 5 motor revolutions, the load has turned through 37 °. The ratio is therefore 37 °...
  • Page 41 Commissioning 6.2 Normalizing the encoder signal Modulo axis A modulo axis is an axis with an infinite traversing range, e.g.: • Rotary table • Conveyor belt • Roller conveyor The converter maps the modulo range on the position actual value. If the load position leaves the modulo range, then the value range of the position actual value repeats in the convert‐...

  • Page 42: Checking The Actual Position Value

    Commissioning 6.2 Normalizing the encoder signal You have now set the modulo range. ❒ Parameter Meaning p2576 Modulo offset, modulo range p2577 Modulo correction activation (signal = 1) r2685 Offset value 6.2.3 Checking the actual position value After normalization of the encoder signal you should check the actual position value. Requirements •...

  • Page 43: Setting The Backlash

    Commissioning 6.2 Normalizing the encoder signal 6.2.4 Setting the backlash Description Backlash (also called play, dead travel on reversing etc.) is the distance or the angle that a motor must travel through when the direction of rotation reverses until the axis actually moves in the other direction.
  • Page 44 Commissioning 6.2 Normalizing the encoder signal Correcting backlash Requirement You have selected the "Mechanical system" screen. Procedure • If the axis has not traveled far enough, then set a positive backlash. • If the axis has traveled too far, then set a negative backlash. You have corrected the backlash.

  • Page 45: Limiting The Positioning Range

    Commissioning 6.3 Limiting the positioning range Limiting the positioning range 6.3.1 Setting limits Description Positioning range for linear axes The converter limits the positioning range of a linear axis using a software limit switch. The converter only accepts position setpoints that lie within the software limit switches. Figure 6-2 Limiting the positioning range of a linear axis In addition, using its digital inputs, the converter evaluates signals from stop cams.
  • Page 46 Commissioning 6.3 Limiting the positioning range Procedure 1. Enable the software limit switch. 2. Move the axis to the positive end position in your machine. Set the position of the software limit switches to the actual position value. 3. Move the axis to the negative end position in your machine. Set the position of the software limit switches to the actual position value.

  • Page 47: Traversing Beyond A Stop Cam

    Commissioning 6.3 Limiting the positioning range Parameter Meaning p2582 Software limit switch activation p2584 Configuring EPOS functions 1 signal: Position feedback is activated When the axis reaches the tolerance window (p2688), for traversing blocks with absolute target positions (p2617[x]), the converter outputs the traversing block number (p2616[x]) bit-coded (r2689).
  • Page 48 Commissioning 6.3 Limiting the positioning range Inadequate position actual value resolution in the speed controlled mode If the position actual value resolution is not adequate in the speed-controlled mode, when returning to the positioning range, the converter cannot identify whether the axis is again within the positioning range.

  • Page 49: Setting The Position Controller

    Commissioning 6.4 Setting the position controller Setting the position controller 6.4.1 Precontrol and gain Preconditions and constraints Before you optimize the position controller, the closed-loop drive speed control must be optimally set. Dynamic response and accuracy of the closed-loop position control depend heavily on the lower- level closed-loop or open-loop control or the motor speed: •...

  • Page 50: Optimizing The Position Controller

    Commissioning 6.4 Setting the position controller 6.4.2 Optimizing the position controller To assess the control performance of the position controller, you must move the axis with the position control and assess the control performance e.g. via the timing of the following error. Optimizing the position controller Procedure 1.
  • Page 51 Commissioning 6.4 Setting the position controller You have optimized the position controller. ❒ Parameter Meaning p2534 Speed precontrol factor p2538 Proportional gain / Kp p2539 Integral time / Tn p2731 Signal = 0: activate position controller Advanced settings If you permanently activate the integral time of the position controller, the characteristics of the position control change as follows: •...

  • Page 52: Limiting The Traversing Profile

    Commissioning 6.4 Setting the position controller 6.4.3 Limiting the traversing profile Description The traversing profile is the acceleration, velocity and position characteristics of an axis when being positioned. You can influence the traversing profile by limiting velocity, acceleration or jerk (= change of the acceleration over time).
  • Page 53 Commissioning 6.4 Setting the position controller Procedure 1. Set the maximum velocity with which the converter may position the axis. 2. Set the maximum acceleration. 3. Set the maximum delay. ② The "override" in the traversing blocks or for the direct setpoint input refers to the values ③...

  • Page 54: Setting The Monitoring Functions

    Commissioning 6.5 Setting the monitoring functions Setting the monitoring functions 6.5.1 Standstill and positioning monitoring Description As soon as the setpoint for the position within a positioning operation no longer changes, then the converter sets the "Setpoint stationary" signal to 1. With this signal, the converter starts to monitor the position actual value: •...
  • Page 55 Commissioning 6.5 Setting the monitoring functions Procedure 1. Set the required positioning accuracy. 2. Set the time within which the axis must be positioned. 3. Set the required standstill window. The standstill window must be larger than the positioning window. 4.

  • Page 56: Following Error Monitoring

    Commissioning 6.5 Setting the monitoring functions 6.5.2 Following error monitoring Description The following error is the deviation between the position setpoint and the position actual value while the converter is positioning the axis. Figure 6-6 Monitoring the following error The converter reports fault F07452 if the following error is too high. If you set the tolerance to 0, monitoring is deactivated.

  • Page 57: Cam Sequencer

    Commissioning 6.5 Setting the monitoring functions 1. Set the monitoring window. Start with the factory setting value. Test your setting by positioning the axis at maximum velocity, e.g. from the control panel. If the converter stops the travel with fault F07452 , you will need to either increase the monitoring window or increase the dynamics of the position controller.

  • Page 58: Referencing

    Commissioning 6.6 Referencing Referencing 6.6.1 Referencing methods Overview If you are using an incremental encoder for the position actual value, after the supply voltage is switched off, the converter loses its valid position actual value. After the supply voltage is switched on again, the converter no longer knows the reference of the axis position to the machine.

  • Page 59: Setting The Reference Point Approach

    Commissioning 6.6 Referencing Set the reference point and adjust the absolute encoder The converter takes the reference point coordinate as the new axis position. 6.6.2 Setting the reference point approach Description A reference point approach generally consists of the following three steps: 1.
  • Page 60 Commissioning 6.6 Referencing Under one of the following conditions, the converter skips the first step and starts with step 2: • The axis is already at the reference cam. • There is no reference cam available. Step 2: Travel to zero mark The behavior of the axis in step 2 depends on whether a reference cam is available: •...
  • Page 61 Commissioning 6.6 Referencing Figure 6-10 Travel to the zero mark if a reference cam is not available Step 3: Travel to reference point After the converter has detected a zero mark, the axis moves with the "approach velocity reference point" to the reference point coordinate. Figure 6-11 Step 3: Travel to reference point After the load has reached the reference point coordinate, the converter sets its position setpoint...
  • Page 62 Commissioning 6.6 Referencing Setting the reference point approach Requirements 1. You have selected the "Homing" screen. 2. You have come to the settings via the button on the screen. 3. You have selected "Active homing". Procedure 1. You specify the referencing mode: –...
  • Page 63 Commissioning 6.6 Referencing 4. Set the approach velocity to the reference point. 5. Set the approach velocity to the zero mark. 6. Specify the reference point coordinate. 7. Specify the reference point offset. 8. Specify the max. permissible distance to the reference cam in step 1 of active referencing. 9.
  • Page 64 Commissioning 6.6 Referencing Defining the analog signals for controlling referencing Procedure 1. Define the signal source for the velocity override. Direct setpoint input (MDI) (Page 88) 2. Change the source for the reference point coordinate, if necessary. You have now defined the analog signals for controlling. ❒...

  • Page 65: Setting The Flying Referencing

    Commissioning 6.6 Referencing 6.6.3 Setting the flying referencing Description During motion, the load passes a reference cam. The converter evaluates the reference cam signal via a suitable fast digital input, and corrects its calculated position during travel. The fast digital inputs of the converter used for flying referencing are also called probe inputs. For flying referencing, the converter corrects the position setpoint and actual value simultaneously.
  • Page 66 Commissioning 6.6 Referencing Procedure 1. Set the edge of the reference cam signal the converter should use to reference its actual position value: 0: Rising edge 1: Falling edge 2. Interconnect the switchover of reference cams 1 and 2 with a signal of your choice. 3.
  • Page 67 Commissioning 6.6 Referencing 4. Select the digital input with which reference cam 2 is interconnected. Several reference points: If you require several reference points for an axis, then you must do the following: – Assign the corresponding digital input to the respective reference point. –...
  • Page 68 Commissioning 6.6 Referencing Defining the digital signals for controlling referencing Procedure 1. This signal starts flying referencing. 2. For flying referencing, this signal must be 1. The other signals are of no significance for flying referencing. You have now defined the digital signals for controlling. ❒...

  • Page 69: Set Reference Point

    Commissioning 6.6 Referencing You have now defined the analog signals for controlling. ❒ Parameter Meaning p2595 Start referencing p2598 Reference point coordinate, signal source p2599 Reference point coordinate value p2601 Flying referencing, inner window p2602 Flying referencing, outer window p2603 Flying referencing, relative positioning mode p2612 Reference point approach, reference cam...

  • Page 70: Absolute Encoder Adjustment

    Commissioning 6.6 Referencing Procedure 1. Interconnect this bit with the corresponding signal of your machine. If the axis is stationary, with the signal change 0 → 1, the converter sets its actual position value to the reference point coordinate. For this function, all of the other signals are of no significance. 2.
  • Page 71 Commissioning 6.6 Referencing Procedure 1. Specify the reference point coordinate. 2. Accept the reference point coordinate in the position actual value. You have now adjusted the absolute encoder. ❒ Parameter Meaning p2598 Reference point coordinate, signal source p2599 Reference point coordinate value p2507 Absolute encoder adjustment status Error has occurred in the adjustment...

  • Page 72: Jogging

    Commissioning 6.7 Jogging Jogging 6.7.1 Jog velocity Description Only input a setpoint velocity for the converter for velocity jog. With the signal "Jogging 1" or "Jogging 2", the converter accelerates the axis to the relevant setpoint velocity. The converter stops the axis when the respective "Jog" signal returns to zero. Figure 6-15 Jog velocity Basic positioner...

  • Page 73: Incremental Jogging

    Commissioning 6.7 Jogging 6.7.2 Incremental jogging Description In the case of incremental jogging, input a relative traversing distance and a velocity setpoint into the converter. With the signals "Jogging 1" or "Jogging 2" the converter positions the axis by the respective travel path. Figure 6-16 Incremental jogging 6.7.3...
  • Page 74 Commissioning 6.7 Jogging Procedure 1. Interconnect the signal that defines the mode for the "jog" function. 0: Velocity jogging 1: Incremental jogging 2. Interconnect the signal for jogging 1 3. Interconnect the signal for jogging 2. 4. Select the button for the other settings. 5.
  • Page 75 Commissioning 6.7 Jogging You have set the "jog" function. ❒ Parameter Meaning p2585 Jogging 1 setpoint velocity p2586 Jogging 2 setpoint velocity p2587 Jogging 1 traversing distance p2588 Jogging 2 traversing distance p2589 Jogging 1 signal source p2590 Jogging 2 signal source p2591 Incremental jogging Basic positioner...

  • Page 76: Traversing Blocks

    Commissioning 6.8 Traversing blocks Traversing blocks Description A traversing block describes a positioning instruction for the drive. The converter saves 16 different traversing blocks, which it normally executes one after the other. However, you can also directly select a specific traversing block or skip traversing blocks. Table 6-1 Components of a traversing block Element...
  • Page 77 Commissioning 6.8 Traversing blocks Parameter Meaning Set, reset Set output 1 Set or reset internal signals in the converter: Set output 2 • Output 1: r2683.10 Set outputs 1 and 2 • Output 2: r2683.11 You can interconnect the signals with digital outputs of the converter or with bit 10 and 11 of the positioning status word of the fieldbus.

  • Page 78: Setting The Traversing Blocks

    Commissioning 6.8 Traversing blocks 6.8.1 Setting the traversing blocks Programming traversing blocks Requirement 1. You have selected the "Traversing blocks" screen. 2. You select the "Program traversing blocks" button. Procedure 1. Assign a unique number for each traversing block. 2. Define the command and the corresponding parameters. 3.
  • Page 79 Commissioning 6.8 Traversing blocks Define digital signals for controlling Procedure 1. Define the signal for the start of the traversing block. The signal change 0 → 1 starts the currently selected traversing block. 2. In the factory setting, this signal is interconnected with the appropriate internal signals of the converter.
  • Page 80 Commissioning 6.8 Traversing blocks Define analog signals for controlling Procedure 1. Change the signal source for the velocity override, if required. The velocity override refers to the velocity values you have set in the screen for programming the traversing blocks. You have now defined the analog signals for controlling the traversing blocks.
  • Page 81 Commissioning 6.8 Traversing blocks Procedure 1. Specify whether the external signal is received via a fast digital input (probe) or from another source, e.g. via the fieldbus. 2. To initiate a block change via the machine control system, you must interconnect this signal with a signal of your choice.
  • Page 82 Commissioning 6.8 Traversing blocks Parameter Meaning p2615 Maximum number of traversing blocks p2616[0…n] Traversing block, block number p2617[0…n] Traversing block, position p2618[0…n] Traversing block, velocity p2619[0…n] Traversing block, acceleration override p2620[0…n] Traversing block, deceleration override p2621[0…n] Traversing block, job POSITIONING GOTO FIXED STOP SET_O...

  • Page 83: Travel To Fixed Stop

    Commissioning 6.8 Traversing blocks Parameter Meaning p2688 Position feedback signal tolerance window The parameter is only active for p2584.0 = 1 If, for a positioning operation, the actual position (r2521) is within the tolerance window of the target position, then r2689 indicates the traversing block number. r2689 Position feedback signal display The parameter is only active for p2584.0 = 1...
  • Page 84 Commissioning 6.8 Traversing blocks When traveling to a fixed stop, the fol‐ lowing applies: • You must specify the position set‐ point far enough behind the me‐ chanical fixed stop. The load must reach the mechanical fixed stop be‐ fore the converter brakes the axis. •...
  • Page 85 Commissioning 6.8 Traversing blocks Figure 6-17 Converter detects the fixed stop using the following error Set travel to fixed stop Requirement 1. You have programmed "Travel to fixed stop" as the traversing block. Setting the traversing blocks (Page 76) 2. If you select the "Programming traversing blocks" button, the "Configuration of fixed stop" button appears.
  • Page 86 Commissioning 6.8 Traversing blocks Procedure: Fixed stop using an external signal 1. Select "Fixed stop using an external signal". 2. Interconnect the sensor that signals when the fixed stop is reached with this signal. 3. Set the tolerance. After the fixed stop is detected, the converter monitors the actual position of the axis. If the position actual value changes by more than this distance, then the converter stops the axis and outputs fault F07484.

  • Page 87: Application Examples

    Commissioning 6.8 Traversing blocks 1. Select "Fixed stop using maximum following error": 2. Set the following error that the converter uses to detect the fixed stop. 3. Set the tolerance. After the fixed stop is detected, the converter monitors the actual position of the axis. If the position actual value changes by more than this distance, then the converter stops the axis and outputs fault F07484.
  • Page 88 Commissioning 6.8 Traversing blocks Figure 6-18 Positioning an axis using traversing blocks 2nd example Table 6-6 Traversing blocks Ind. Par. Mode Advance POSITIONING RELATIVE 10000 2000 CONTINUE EXTERNAL ALARM POSITIONING RELATIVE 10000 5000 CONTINUE EXTERNAL ALARM POSITIONING ABSOLUTE 5000 The converter only goes to the next traversing block for the 0 → 1 change of the "External block selection"...
  • Page 89 Commissioning 6.8 Traversing blocks Figure 6-19 Positioning an axis using traversing blocks Basic positioner Function Manual, 09/2020, FW V4.7 SP13, A5E34257659B AG...

  • Page 90: Direct Setpoint Input (Mdi)

    Commissioning 6.9 Direct setpoint input (MDI) Direct setpoint input (MDI) Description For direct setpoint input (MDI, Manual Data Input), a higher-level control provides the converter with the position setpoint and traversing profile. Example 1 The higher-level control specifies the value of the setpoint either as a relative or an absolute position setpoint: Figure 6-20 Position axis with direct setpoint input (MDI)
  • Page 91 Commissioning 6.9 Direct setpoint input (MDI) Defining digital signals to control the direct setpoint input Requirement You have selected the "Direct setpoint input (MDI)" screen. Procedure Interconnect the signals to control the direct setpoint input using the appropriate signals from your machine control.
  • Page 92 Commissioning 6.9 Direct setpoint input (MDI) ④ Discard traversing block: 0: The converter stops the axis and maintains the axis in position after standstill. The con‐ verter can no longer continue the current traversing block, however. 1: Axis waits for a new start command. ⑤...
  • Page 93 Commissioning 6.9 Direct setpoint input (MDI) Procedure Interconnect the signals to control the direct setpoint input using the appropriate signals from your machine control: ① ③ Override velocity, referred to ② Position setpoint ③ Velocity setpoint for the traversing profile. ④...
  • Page 94 Commissioning 6.9 Direct setpoint input (MDI) Procedure 1. Select the button for configuring the fixed setpoint: 2. Set the values suitable to your application: You have set the fixed setpoints. ❒ Parameter Meaning p2640 Intermediate stop (0 signal) p2641 Reject traversing job (0 signal) p2642 Direct setpoint input/MDI, position setpoint p2643...
  • Page 95 Commissioning 6.9 Direct setpoint input (MDI) Parameter Meaning p2654 Direct setpoint input/MDI, mode adaptation p2690 Position fixed setpoint Interconnect fixed setpoint: p2642 = 2690 p2691 Velocity fixed setpoint Interconnect fixed setpoint: p2643 = 2691 p2692 Acceleration override fixed setpoint Interconnect fixed setpoint: p2644 = 2692 p2693 Deceleration override fixed setpoint Interconnect fixed setpoint: p2645 = 2693...
  • Page 96 Commissioning 6.9 Direct setpoint input (MDI) Basic positioner Function Manual, 09/2020, FW V4.7 SP13, A5E34257659B AG...

  • Page 97: Appendix

    Appendix Manuals and technical support A.1.1 Overview of the manuals You can find manuals here with additional information for downloading • CU250S-2 operating instructions (https://support.industry.siemens.com/cs/ww/en/ view/109482997) Installing, commissioning and maintaining the converter. Advanced commissioning • CU250S-2 List Manual (https://support.industry.siemens.com/cs/ww/en/view/ 109482981) List of all parameters, alarms and faults, graphic function diagrams.
  • Page 98 A.1 Manuals and technical support Configuring a manual Further information about the configurability of manuals is available in the Internet: MyDocumentationManager (https://www.industry.siemens.com/topics/global/en/ planning-efficiency/documentation/Pages/default.aspx). Select "Display and configure" and add the manual to your "mySupport-documentation": Not all manuals can be configured.

  • Page 99: Configuring Support

    Catalog Ordering data and technical information for the converters SINAMICS G. Catalogs for download or online catalog (Industry Mall): Everything about SINAMICS G120 (www.siemens.en/sinamics-g120) SIZER The configuration tool for SINAMICS, MICROMASTER and DYNAVERT T drives, motor starters, as well as SINUMERIK, SIMOTION controllers and SIMATIC technology...

  • Page 100: Product Support

    A.1 Manuals and technical support A.1.3 Product Support Overview You can find additional information about the product on the Internet: Product support (https://support.industry.siemens.com/cs/ww/en/) This URL provides the following: • Up-to-date product information (product announcements) • FAQs • Downloads • The Newsletter contains the latest information on the products you use.

  • Page 101: Index

    Index Flying referencing, 27, 28 Following error, 49, 54, 83 Follow-up mode, 24, 28 Function block FB283, 33 Absolute encoder, 68 Function Manual, 95 Accuracy, 47, 53 Actual position value, 37, 40 Application example, 85 Axis, 13 Gate/door drive, 38 Gear ratio, 38 Backlash, 41 Block selection, 30...
  • Page 102 Index Mechanical fixed stop, 81 MELDW (status word messages), 32 Modulo axis, 39 Modulo correction, 39 Reference cam, 28, 57 Modulo range, 39 Reference point, 57 Reference point approach, 27, 28, 56, 57 referencing Flying, 56 Neutral distance unit LU, 37 Referencing, 13 Absolute encoder adjustment, 56 Set reference point, 56...
  • Page 103 Index Value range, position actual value, 40 Zero mark, 57 ZSW1 (status word 1), 22 Basic positioner Function Manual, 09/2020, FW V4.7 SP13, A5E34257659B AG...
  • Page 104 Index Basic positioner Function Manual, 09/2020, FW V4.7 SP13, A5E34257659B AG...
  • Page 106 Further information SINAMICS converters: www.siemens.com/sinamics Safety Integrated www.siemens.com/safety-integrated PROFINET www.siemens.com/profinet Siemens AG Digital Factory Motion Control Postfach 3180 91050 ERLANGEN Germany Scan the QR code for additional information about SINAMICS G120.

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