Preface

Fundamental safety
instructions 1

Part I Axis - Overview 2

SIMOTION
Axis fundamentals 3
Motion Control
TO Axis Electric / Hydraulic, External Configuring an axis 4
Encoder Support for SINAMICS
Safety Integrated Functions 5
Function Manual
Part II Hydraulic Functionality 6
Fundamentals of hydraulic
functionality 7
Part III Programming/
Reference 8
Part IV External Encoder -
Description 9
External Encoder
Fundamentals 10
Programming External
Encoders/Reference 11

Valid as from Version 4.4

04/2014
Legal information
Warning notice system
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.

DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.

WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.

CAUTION
indicates that minor personal injury can result if proper precautions are not taken.

NOTICE
indicates that property damage can result if proper precautions are not taken.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will be
used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to property
damage.
Qualified Personnel
The product/system described in this documentation may be operated only by personnel qualified for the specific
task in accordance with the relevant documentation, in particular its warning notices and safety instructions. Qualified
personnel are those who, based on their training and experience, are capable of identifying risks and avoiding
potential hazards when working with these products/systems.
Proper use of Siemens products
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. The permissible
ambient conditions must be complied with. The information in the relevant documentation must be observed.

Trademarks
All names identified by ® are registered trademarks of Siemens AG. The remaining trademarks in this publication
may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software described.
Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the information in
this publication is reviewed regularly and any necessary corrections are included in subsequent editions.

Siemens AG Copyright © Siemens AG 2014.

Industry Sector Ⓟ 04/2014 Subject to change All rights reserved
Postfach 48 48
90026 NÜRNBERG
GERMANY
Preface

Contents
This document is part of the System and Function Descriptions documentation package.

Scope
This manual is valid for SIMOTION SCOUT V4.4:
● SIMOTION SCOUT V4.4 (engineering system for the SIMOTION product range)
● SIMOTION Kernel V4.4, V4.3, V4.2, V4.1, V4.0
● SIMOTION technology packages CAM, CAM_ext and TControl in the version adapted to
the respective kernel

Chapters in this manual

The following is a list of chapters included in this manual along with a description of the
information presented in each chapter.
Part I Axis
● Overview
This chapter provides the user with an overview of the Axis Technology Object.
● Axis Fundamentals
This chapter explains the basic setting options and functions of the Axis Technology Object.
● Configuring an Axis
This chapter explains the configuration procedure with reference to various tasks.
● Support for SINAMICS Safety Integrated Functions
This chapter describes the SIMOTION-side support for safety functions for SINAMICS
drives.
Part II Hydraulic Functionality
● Overview
This chapter provides the user with an overview of the hydraulic functionality of the Axis
Technology Object.
● Fundamentals of Hydraulic Functionality
This chapter explains the basic setting options and functions concerning the hydraulic
functionality of the Axis Technology Object.
Part III Programming / Reference
● This chapter explains the commands and functions in greater detail.
Part IV External Encoder

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 3
Preface

● Description
This chapter provides the user with an overview of the External Encoder Technology Object.
● External Encoder Fundamentals
This chapter explains the basic setting options and functions of the External Encoder
Technology Object.
● Configuring an External Encoder (online help only)
This chapter explains the configuration procedure with reference to various tasks.
● Programming External Encoders / Reference
This chapter explains the commands and functions in greater detail.
Index
● Keyword index for locating information

An overview of the SIMOTION documentation can be found in the SIMOTION Documentation

Overview document.
This documentation is included as electronic documentation in the scope of delivery of
SIMOTION SCOUT. It comprises ten documentation packages.
The following documentation packages are available for SIMOTION V4.4:
● SIMOTION Engineering System Handling
● SIMOTION System and Function Descriptions
● SIMOTION Service and Diagnostics
● SIMOTION IT
● SIMOTION Programming
● SIMOTION Programming - References
● SIMOTION C
● SIMOTION P
● SIMOTION D
● SIMOTION Supplementary Documentation

Additional information
Click the following link to find information on the the following topics:
● Ordering documentation / overview of documentation
● Additional links to download documents
● Using documentation online (find and search manuals/information)
http://www.siemens.com/motioncontrol/docu
Please send any questions about the technical documentation (e.g. suggestions for
improvement, corrections) to the following e-mail address:
[email protected]

TO Axis Electric / Hydraulic, External Encoder

4 Function Manual, 04/2014
 Preface

My Documentation Manager
Click the following link for information on how to compile documentation individually on the
basis of Siemens content and how to adapt it for the purpose of your own machine
documentation:
http://www.siemens.com/mdm

Training
Click the following link for information on SITRAIN - Siemens training courses for automation
products, systems and solutions:
http://www.siemens.com/sitrain

FAQs
Frequently Asked Questions can be found in SIMOTION Utilities & Applications, which are
included in the scope of delivery of SIMOTION SCOUT, and in the Service&Support pages
in Product Support:
http://support.automation.siemens.com

Technical support
Country-specific telephone numbers for technical support are provided on the Internet under
Contact:
http://www.siemens.com/automation/service&support

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 5
Table of contents

Preface.........................................................................................................................................................3
1 Fundamental safety instructions.................................................................................................................15
1.1 General safety instructions..........................................................................................................15
1.2 Industrial security........................................................................................................................16
2 Part I Axis - Overview.................................................................................................................................17
2.1 General information about axes..................................................................................................17
3 Axis fundamentals......................................................................................................................................21
3.1 Axis technologies........................................................................................................................21
3.1.1 Overview of axis technologies.....................................................................................................21
3.1.2 Axis-drive relationship.................................................................................................................25
3.2 Axis types....................................................................................................................................27
3.2.1 Overview of axis types................................................................................................................27
3.2.2 Setting for the electric axis type..................................................................................................28
3.2.3 Setting for the hydraulic axis type...............................................................................................30
3.2.4 Setting for the virtual axis type....................................................................................................31
3.2.5 TypeOfAxis configuration data....................................................................................................31
3.3 Units and accuracies...................................................................................................................33
3.4 Axis settings / drive assignment..................................................................................................36
3.4.1 Overview of how to create an axis..............................................................................................36
3.4.2 Real and virtual axes...................................................................................................................36
3.4.3 Setting as a real axis with analog drive link.................................................................................38
3.4.4 Setting as a real axis with digital drive coupling..........................................................................39
3.4.4.1 Symbolic assignment and adaptation (as of V4.2)......................................................................39
3.4.4.2 Adapted data (SINAMICS S120 as of V2.6.2).............................................................................42
3.4.4.3 Communication and control word / status word..........................................................................45
3.4.4.4 Specific removal of drive enables in the event of a fault.............................................................48
3.4.4.5 Brake control...............................................................................................................................49
3.4.4.6 Specify control bits via the application (without TO check) [expert]...........................................50
3.4.4.7 Status diagram - PROFIdrive General State Diagram................................................................52
3.4.4.8 SIMOTION system behavior with a drive-autonomous OFF3 ramp............................................53
3.4.4.9 Technologies and telegram types...............................................................................................54
3.4.4.10 Coupling of digital drives.............................................................................................................55
3.4.5 Setting as a real axis with stepper drive C2xx (V3.2 and higher)................................................57
3.4.6 Stepper drives on IM174 and stepper drives with PROFIBUS interface.....................................57
3.4.7 Setting as a real axis with encoder signal simulation (V4.0 and higher).....................................58
3.4.8 Setting a non-exclusive drive assignment (as of V4.1 SP1)........................................................58
3.4.9 Setting as a real axis without drive (axis simulation)...................................................................59
3.5 Encoders and encoder parameters.............................................................................................62
3.5.1 Overview of encoders and encoder parameters.........................................................................62
3.5.2 Encoder for position....................................................................................................................62
3.5.3 Encoder for velocity.....................................................................................................................64

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 7
Table of contents

3.5.4 Encoder assignment and terminology.........................................................................................64

3.5.5 Encoder list..................................................................................................................................68
3.5.6 Onboard encoder interface on SIMOTION C2xx.........................................................................68
3.5.7 Encoder interface using the PROFIdrive message frame...........................................................68
3.5.8 Encoder interface as a direct value in the I/O area.....................................................................73
3.5.9 Encoder value via system variable..............................................................................................77
3.5.10 Non-exclusive encoder assignment (as of V4.1 SP1) ................................................................78
3.5.11 Diagnostic features......................................................................................................................79
3.6 Input limits, technological limiting functions.................................................................................80
3.7 Setting for axis and encoder mechanics.....................................................................................81
3.7.1 Overview of setting options for axis and encoder mechanics.....................................................81
3.7.2 Inversion of actual position value................................................................................................82
3.7.3 Boundary conditions for mechanical settings for modulo axes (long-term stability / long-term
accuracy).....................................................................................................................................82
3.8 Defaults.......................................................................................................................................86
3.9 Homing........................................................................................................................................87
3.9.1 Overview of homing.....................................................................................................................87
3.9.2 Terminology.................................................................................................................................87
3.9.3 Homing types..............................................................................................................................89
3.9.4 Active homing..............................................................................................................................89
3.9.5 Passive homing/on-the-fly homing..............................................................................................96
3.9.6 Direct homing/setting the home position.....................................................................................97
3.9.7 Relative direct homing/relative setting of home position (V3.2 and higher)................................97
3.9.8 States that require a new homing procedure for incremental encoders......................................98
3.9.9 Absolute encoder homing / absolute encoder adjustment..........................................................98
3.9.10 Homing mark monitoring...........................................................................................................100
3.9.11 Homing output monitoring.........................................................................................................101
3.9.12 Displaying actual value change during homing (V4.0 and higher)............................................101
3.9.13 Traversing with a non-homed axis............................................................................................101
3.9.14 Correcting the actual position/set position without homing.......................................................101
3.9.15 Differential position measurement (V3.2 and higher)................................................................102
3.10 Monitoring/limiting functions......................................................................................................103
3.10.1 Overview of monitoring/limiting functions (block diagram)........................................................103
3.10.2 Dynamic monitoring of following errors.....................................................................................103
3.10.3 Positioning and standstill monitoring.........................................................................................105
3.10.4 Standstill signal.........................................................................................................................107
3.10.5 Manipulated variable monitoring...............................................................................................108
3.10.6 Manipulated variable limiting (backstop) (V3.1 and higher)......................................................108
3.10.7 Hardware limit monitoring..........................................................................................................109
3.10.8 Software limit monitoring...........................................................................................................110
3.10.9 Encoder limit frequency monitoring...........................................................................................112
3.10.10 Velocity error monitoring...........................................................................................................112
3.10.11 Measuring system differential/slip monitoring...........................................................................112
3.11 Positioning axis with position control ........................................................................................113
3.11.1 Overview of positioning axis with position control.....................................................................113
3.11.2 Position control..........................................................................................................................113
3.11.3 Dynamic Servo Control (DSC)..................................................................................................120
3.11.4 DSC with spline (as of V4.4) [Expert]........................................................................................124
3.11.5 Fine interpolation.......................................................................................................................128

TO Axis Electric / Hydraulic, External Encoder

8 Function Manual, 04/2014
 Table of contents

3.11.6 Dynamic controller data.............................................................................................................128

3.11.7 Setpoint superimposition...........................................................................................................130
3.11.8 Dynamic response adaptation...................................................................................................131
3.11.9 Actual value measurement / actual value system.....................................................................132
3.11.10 Preparation of manipulated variables for electric axis...............................................................138
3.11.11 Manipulated variable superimposition.......................................................................................139
3.11.12 Manipulated variable filtering (as of V4.1 SP1).........................................................................139
3.11.13 Drift/offset compensation...........................................................................................................140
3.11.14 Static friction compensation......................................................................................................140
3.11.15 Backlash on reversal compensation..........................................................................................141
3.11.16 Traversing of the positioning axis without position control........................................................145
3.11.17 Stepper drives...........................................................................................................................145
3.11.18 Encoder signal output (V4.0 or later).........................................................................................147
3.12 Commissioning the position controller of positioning axes........................................................150
3.12.1 Overview of commissioning the position controller of positioning axes.....................................150
3.12.2 Configuration data.....................................................................................................................151
3.12.3 Example of commissioning a proportional-action controller with precontrol..............................152
3.13 Command variable calculation..................................................................................................157
3.13.1 Velocity profiles.........................................................................................................................157
3.13.2 Defining accelerations and decelerations..................................................................................159
3.13.3 Override.....................................................................................................................................161
3.13.4 Default settings for dynamic response parameters...................................................................161
3.13.5 Dynamic limiting functions.........................................................................................................163
3.13.6 Stopping with preassigned braking ramp..................................................................................166
3.13.7 Traversing the axis via velocity specifications ..........................................................................166
3.13.8 Positioning.................................................................................................................................167
3.13.9 Positioning with blending...........................................................................................................167
3.13.10 Superimposed positioning ........................................................................................................169
3.13.11 Traversing with specific motion profiles.....................................................................................170
3.13.12 Traversing according to motion vectors (V3.2 and higher)........................................................170
3.13.13 Jerk limitation for local stop response (V3.2 or higher).............................................................171
3.14 Superimposed motion...............................................................................................................172
3.15 Torque limiting via torque reduction..........................................................................................174
3.15.1 Overview of torque limiting via torque reduction.......................................................................174
3.15.2 Conversion of torque/force........................................................................................................178
3.16 Travel to fixed endstop..............................................................................................................180
3.17 Technology data........................................................................................................................183
3.18 Torque limiting B+/B- (V3.2 and higher)....................................................................................187
3.19 Additive set torque (V3.2 and higher)........................................................................................190
3.20 Force/pressure control..............................................................................................................192
3.20.1 Overview of force/pressure control............................................................................................192
3.20.2 Configuration of the actual force/pressure value sensors.........................................................193
3.20.3 Controller for force/pressure control..........................................................................................195
3.20.4 Monitoring functions / limiting functions / emergency strategies with active force/pressure
control........................................................................................................................................197
3.20.5 Activating the force/pressure control.........................................................................................198
3.20.6 Force/pressure setpoint specification........................................................................................200
3.20.7 Commissioning procedure for force/pressure control................................................................200

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 9
Table of contents

3.20.8 Force/pressure control with velocity limiting..............................................................................200

3.21 Force/pressure limiting..............................................................................................................202
3.21.1 Overview of force/pressure limiting...........................................................................................202
3.21.2 Positioning with active force/pressure limiting (V3.2 and higher)..............................................203
3.21.3 Increase limiting for pressure profiles and pressure limiting (V3.2 and higher).........................204
3.22 Data sets...................................................................................................................................206
3.22.1 Data set overview......................................................................................................................206
3.22.2 Data set switchover / encoder switchover.................................................................................206
3.23 Traversing with user-defined motion and force/pressure profiles..............................................210
3.23.1 Overview of traversing with user-defined motion and force/pressure profiles...........................210
3.23.2 Profile reference........................................................................................................................211
3.23.3 Profile types...............................................................................................................................212
3.23.4 Behavior at the end of the profile (V3.2 and higher)..................................................................214
3.24 Motion commands.....................................................................................................................215
3.24.1 Motion execution/interpolator....................................................................................................215
3.24.2 Command groups......................................................................................................................216
3.24.3 Changing motion commands into the interpolator.....................................................................222
3.24.4 Motion transitions......................................................................................................................222
3.24.5 Conditions for command advance.............................................................................................223
3.24.6 State model/axis status.............................................................................................................224
3.25 Data exchange between Axis technology object and DCC.......................................................228
3.26 Drive communication based on DPV1 services........................................................................229
4 Configuring an axis...................................................................................................................................231
4.1 Overview of axis configuration..................................................................................................231
4.2 Linking digital drives..................................................................................................................232
4.2.1 Overview of linking digital drives...............................................................................................232
4.2.2 Configuring PROFIBUS DP in HW Config to optimize run-time................................................232
4.3 Linking analog drives to SIMOTION..........................................................................................233
4.4 Axis with stepper motor connection...........................................................................................235
4.5 Using the expert list for an axis.................................................................................................237
4.6 Automatic controller setting.......................................................................................................238
4.6.1 Overview of automatic controller setting (as of V4.1 SP1)........................................................238
4.6.2 Automatic speed controller setting (as of V4.1 SP1).................................................................239
4.6.3 Automatic position controller setting (as of V4.1 SP1)..............................................................242
4.7 SIMOTION measuring functions...............................................................................................245
4.8 Axis control panel......................................................................................................................250
5 Support for SINAMICS Safety Integrated Functions................................................................................251
5.1 Overview - Support of SINAMICS Safety Integrated Functions on the Axis technology object....251
5.2 Communication.........................................................................................................................254
5.3 Main procedure for safety configuration with SIMOTION..........................................................255
5.4 Safety channel and safety channel types (when symbolic assignment is deactivated)............258
5.5 Standard (DSDB) as of SIMOTION V4.4..................................................................................259

TO Axis Electric / Hydraulic, External Encoder

10 Function Manual, 04/2014
 Table of contents

5.5.1 Display of SINAMICS Safety Integrated Functions in SIMOTION.............................................259

5.5.2 Axis configuration......................................................................................................................259
5.5.3 Safety status information (part of the DSDB)............................................................................260
5.6 Compatibility mode (SIDB) as of SIMOTION V4.1....................................................................263
5.6.1 Safety Information Data Block (SIDB).......................................................................................263
5.6.2 Safety status information (part of the SIDB)..............................................................................265
5.6.3 Display of SINAMICS Safety Integrated Functions in SIMOTION.............................................267
5.6.4 Axis configuration......................................................................................................................267
5.7 Behavior and user responses....................................................................................................269
5.7.1 Overview...................................................................................................................................269
5.7.2 Overview of safety functions.....................................................................................................270
5.7.3 Safe Torque Off (STO)As of SIMOTION V4.1...........................................................................270
5.7.4 Safe Stop 1 (SS1)As of SIMOTION V4.1..................................................................................271
5.7.5 Safe Stop 2 (SS2)As of SIMOTION V4.1..................................................................................272
5.7.6 Safe Operating Stop (SOS)As of SIMOTION V4.1...................................................................273
5.7.7 Safely-Limited Speed (SLS)As of SIMOTION V4.1...................................................................274
5.7.8 Safe Direction (SDI)As of SIMOTION V4.3...............................................................................275
5.7.9 Safe Position (SP).....................................................................................................................276
5.7.10 Safely-Limited Position (SLP)As of SIMOTION V4.4................................................................276
5.8 Safety brake test as of SIMOTION V4.4...................................................................................279
5.9 Pulse enable evaluation (when standard settings are deactivated)..........................................281
5.10 Messages and alarms...............................................................................................................282
5.11 SINAMICS Safety Message Buffer............................................................................................284
5.12 Isochronous PROFIBUS operation...........................................................................................286
5.13 Restrictions after switching from compatibility mode (SIDB) to standard (DSDB)....................287
6 Part II Hydraulic Functionality...................................................................................................................289
6.1 Hydraulic functionality overview................................................................................................289
7 Fundamentals of hydraulic functionality...................................................................................................291
7.1 Axis settings / drive assignment................................................................................................291
7.1.1 Overview of axis settings / drive assignment............................................................................291
7.1.2 Setting as a real axis with hydraulic functionality......................................................................291
7.1.3 Setting as a real axis with Q valve only.....................................................................................293
7.1.4 Setting as a real axis with Q valve + P valve/F output..............................................................296
7.1.5 Setting an axis as a real axis with P valve only (V3.2 and higher)............................................298
7.1.6 Setting an axis as a real hydraulic axis without a valve (axis simulation).................................299
7.2 Input limits, technological limiting functions...............................................................................300
7.3 Settings for axis and encoder mechanics..................................................................................301
7.4 Defaults.....................................................................................................................................302
7.5 Homing......................................................................................................................................303
7.6 Differential pressure measurement (V3.2 and higher)..............................................................304
7.7 Differential position measurement (V3.2 and higher)................................................................306
7.8 Monitoring/limiting functions......................................................................................................307

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 11
Table of contents

7.9 Motion profiles...........................................................................................................................308

7.10 Hydraulic axis with position control/velocity control...................................................................309
7.10.1 Position control for setting a positioning axis with hydraulic functionality..................................309
7.10.2 Velocity controller when setting speed-controlled axis with hydraulic functionality...................310
7.10.3 Preparation of manipulated variables for axis with hydraulic functionality................................313
7.10.4 Manipulated variable filtering (as of V4.1 SP1).........................................................................314
7.10.5 Compensations that are active only on the axis with hydraulic functionality.............................314
7.10.6 Consideration of valve characteristic when specifying a hydraulic axis....................................316
7.10.7 Access to the same final controlling element from multiple axes..............................................318
7.11 Travel to fixed endstop..............................................................................................................320
7.12 Force/pressure control with hydraulic axes with Q valve only...................................................321
7.13 Force/pressure limiting with hydraulic axes with Q valve only..................................................322
7.14 Force/pressure limiting with hydraulic axes with P valve..........................................................323
7.15 Force/pressure control with hydraulic speed-controlled axes with Q valve only.......................324
7.16 Force/pressure limiting with hydraulic speed-controlled axes with Q valve only (V4.0 and
higher).......................................................................................................................................325
7.17 Velocity limiting with hydraulic axes..........................................................................................326
8 Part III Programming/Reference...............................................................................................................327
8.1 Overview of commands.............................................................................................................327
8.1.1 Overview of commands.............................................................................................................327
8.1.2 Commands for specification and control of motion on the axis.................................................327
8.1.3 Command properties.................................................................................................................330
8.2 Enables, stop and continue commands, resets.........................................................................332
8.2.1 Setting and canceling the axis enables.....................................................................................332
8.2.2 Enabling force/pressure control depending on switchover conditions......................................340
8.2.3 Stopping motions with _stopEmergency().................................................................................340
8.2.4 Stopping motions with _stop()...................................................................................................342
8.2.5 Stopping position-controlled axes in speed-controlled mode (V3.1 and higher).......................343
8.2.6 Resuming motions.....................................................................................................................343
8.2.7 Reset axis..................................................................................................................................344
8.2.8 Resetting an axis error..............................................................................................................345
8.2.9 Canceling/deleting an axis command (as of V4.1 SP1)............................................................346
8.3 Commands for axis motions......................................................................................................347
8.3.1 Homing......................................................................................................................................347
8.3.2 Moving.......................................................................................................................................348
8.3.3 Positioning ................................................................................................................................349
8.3.4 Starting a time-related velocity profile ......................................................................................350
8.3.5 Starting a position-related velocity profile..................................................................................351
8.3.6 Positioning with user-definable position profile.........................................................................352
8.3.7 Enabling and disabling torque limiting.......................................................................................353
8.3.8 Enable force/pressure limiting with position-related force/pressure limiting profile...................353
8.3.9 Enabling force/pressure limiting with time-related motion profile..............................................354
8.3.10 Starting the time-related force/pressure profile.........................................................................355
8.3.11 Starting the position-related force/pressure profile....................................................................356
8.3.12 Enabling/disabling force/pressure limiting.................................................................................357
8.3.13 Enabling/disabling velocity limiting............................................................................................358

TO Axis Electric / Hydraulic, External Encoder

12 Function Manual, 04/2014
 Table of contents

8.3.14 Enabling velocity limiting with position-related velocity limiting profile......................................358

8.3.15 Enabling velocity limiting with time-related velocity limiting profile............................................359
8.3.16 Travel to fixed endstop..............................................................................................................359
8.4 Commands for defining the coordinate system.........................................................................360
8.4.1 Resetting the set and actual positions.......................................................................................360
8.5 Simulation commands...............................................................................................................362
8.5.1 Enabling/disabling program simulation......................................................................................362
8.6 Information functions / command buffers..................................................................................364
8.6.1 Overview of information functions/command buffer..................................................................364
8.6.2 Reading the execution status of a motion command................................................................364
8.6.3 Reading current phase of motion..............................................................................................365
8.6.4 Saving the Command ID...........................................................................................................366
8.6.5 Canceling saving of Command ID.............................................................................................366
8.6.6 Reading the status of a specific error on the axis.....................................................................366
8.6.7 Reading out pending alarms (V4.0 and higher).........................................................................366
8.6.8 Reading the status of the motion buffer on the axis..................................................................366
8.6.9 Clearing the motion buffer on the axis.......................................................................................367
8.6.10 Activating data sets...................................................................................................................367
8.6.11 Writing a data set......................................................................................................................368
8.6.12 Reading a data set....................................................................................................................368
8.6.13 Writing the force/pressure-specific data of a data set...............................................................368
8.6.14 Reading the force/pressure-specific data of a data set.............................................................369
8.6.15 Writing the data of the data set (hydraulic functionality only)....................................................369
8.6.16 Reading the force/pressure-specific data of the data set (hydraulic functionality only)............369
8.6.17 Command for calculating a braking distance............................................................................370
8.7 Assigning automatic controller optimization..............................................................................371
8.8 Technological alarms................................................................................................................375
8.8.1 Alarm reactions.........................................................................................................................375
8.8.2 Adjustable response to RELEASE_DISABLE...........................................................................378
8.8.3 Toleration of the failure of an encoder not involved in closed-loop control (V4.0 and higher)....378
9 Part IV External Encoder - Description.....................................................................................................379
9.1 External encoder overview........................................................................................................379
10 External Encoder Fundamentals..............................................................................................................381
10.1 Actual values for the external encoder technology object.........................................................381
10.2 Encoder mounting type.............................................................................................................382
10.3 Encoder for position..................................................................................................................383
10.4 Encoder for velocity...................................................................................................................386
10.5 Encoder assignment and terminology.......................................................................................387
10.6 Encoder list................................................................................................................................391
10.7 Onboard encoder interface on SIMOTION C2xx.......................................................................392
10.8 Encoder interface using the PROFIdrive message frame.........................................................393
10.9 Encoder interface as a direct value in the I/O area...................................................................398
10.10 Actual value system..................................................................................................................403

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 13
Table of contents

10.11 Overflow bit for modulo counting...............................................................................................404

10.12 Actual value smoothing.............................................................................................................405
10.13 Actual value extrapolation.........................................................................................................406
10.14 Standstill signal.........................................................................................................................407
10.15 Monitoring functions..................................................................................................................408
10.16 Synchronization / Homing.........................................................................................................409
10.16.1 Overview of synchronization / homing.......................................................................................409
10.16.2 Synchronization/homing with incremental encoders ................................................................409
10.16.3 Synchronization/homing with absolute encoders......................................................................410
11 Programming External Encoders/Reference............................................................................................413
11.1 Commands................................................................................................................................413
11.2 Technological alarms................................................................................................................415
11.2.1 Possible alarm reactions...........................................................................................................415
Index.........................................................................................................................................................417

TO Axis Electric / Hydraulic, External Encoder

14 Function Manual, 04/2014
Fundamental safety instructions 1
1.1 General safety instructions

WARNING
Risk of death if the safety instructions and remaining risks are not carefully observed
If the safety instructions and residual risks are not observed in the associated hardware
documentation, accidents involving severe injuries or death can occur.
● Observe the safety instructions given in the hardware documentation.
● Consider the residual risks for the risk evaluation.

WARNING
Danger to life or malfunctions of the machine as a result of incorrect or changed
parameterization
As a result of incorrect or changed parameterization, machines can malfunction, which in
turn can lead to injuries or death.
● Protect the parameterization (parameter assignments) against unauthorized access.
● Respond to possible malfunctions by applying suitable measures (e.g. EMERGENCY
STOP or EMERGENCY OFF).

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 15
Fundamental safety instructions
1.2 Industrial security

1.2 Industrial security

Note
Industrial security
Siemens provides products and solutions with industrial security functions that support the
secure operation of plants, solutions, machines, equipment and/or networks. They are
important components in a holistic industrial security concept. With this in mind, Siemens’
products and solutions undergo continuous development. Siemens recommends strongly
that you regularly check for product updates.
For the secure operation of Siemens products and solutions, it is necessary to take suitable
preventive action (e.g. cell protection concept) and integrate each component into a holistic,
state-of-the-art industrial security concept. Third-party products that may be in use should
also be considered. For more information about industrial security, visit http://
www.siemens.com/industrialsecurity.
To stay informed about product updates as they occur, sign up for a product-specific
newsletter. For more information, visit http://support.automation.siemens.com

WARNING
Danger as a result of unsafe operating states resulting from software manipulation
Software manipulation (e.g. by viruses, Trojan horses, malware, worms) can cause unsafe
operating states to develop in your installation which can lead to death, severe injuries and/
or material damage.
● Keep the software up to date.
Information and newsletters can be found at:
http://support.automation.siemens.com
● Incorporate the automation and drive components into a state-of-the-art, integrated
industrial security concept for the installation or machine.
For more detailed information, go to:
http://www.siemens.com/industrialsecurity
● Make sure that you include all installed products into the integrated industrial security
concept.

TO Axis Electric / Hydraulic, External Encoder

16 Function Manual, 04/2014
Part I Axis - Overview 2
2.1 General information about axes

Overview of available axis types

The instantiable Axis technology object (TO) is downloaded to the SIMOTION device with a
technology package, thus providing the function for activating and monitoring an actuator
(drive, motor, valve, etc.). As of V3.2, the Axis technology object (TO) is included in the Cam,
Path, and Cam_ext technology packages.
The functionality is set by configuration and parameter assignment/programming.
The Axis technology object can be applied to an axis with an electric drive (axis) or an axis
with a hydraulic final controlling element / valve (hydraulic functionality).
Any number of axes may be generated, based on the CPU processing power.
When programming in SIMOTION SCOUT (e.g. with MCC), an Axis technology object can be
accessed via system functions or system variables. For example, to traverse an axis at a
specified velocity to a certain position, you specify the velocity and position via system
functions. All other functions (e.g. monitoring of limit values) are specified via the configuration
data and system variables of the Axis technology object.

The following axis technologies are distinguished during the configuration phase:
● Drive axis
Motion control is implemented through a speed specification without position control.
Choosing this axis technology provides the minimum functionality for an axis.
The drive axis is referred to by the data type driveAxis in reference lists and when
programming.
● Position axis
Motions are position-controlled.
The position axis is referred to by the data type posAxis in reference lists and when
programming.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 17
Part I Axis - Overview
2.1 General information about axes

● Following axis
The following axis creates a grouping of the slave axis and synchronous object. Functions
such as master value coupling, synchronization and desynchronization, and gearing and
camming are provided via the synchronous object. The synchronous object can be
interconnected with different master values.
See the Technology Objects Synchronous Operation, Cam manual for information about
using the following axis.
The slave axis is referred to by the data type followingAxis and the synchronous object by
followingObjectType in reference lists and when programming.
● Path axis
The path axis type can be interconnected with a path object.
The path object can be used to calculate and traverse a linear, circular, or polynomial path
in the 2D/3D coordinate system for at least two path axes and up to three path axes. A
synchronous axis can be traversed in parallel to this.
The Technology Object Path Interpolation manual describes how to use the path axis with
the path object.
The path axis is referred to by the data type _pathAxis and the path object by the data type
_pathObjectType in reference lists and when programming.
All axis types can also be configured as virtual axes, i.e. they do not control a real drive but
are used as auxiliary axes for calculations, e.g. as a virtual master axis for several slave axes
(line shaft).

Axis operation in SIMOTION

● Any necessary settings can be made by means of configuration data on the axis.
● States are indicated and standard values and settings can be read and entered by means
of system variables on the axis.
● Axis motion sequences are specified by means of motion commands on the axis. The user
program can be used to check the motion status at any time and to control specific aspects
of the motion. Motions can be aborted, overridden, appended, or superimposed.
● Errors and technological alarms are indicated using alarms on the axis.

Advanced functions
Advanced functions on the axis include path interpolation, synchronous operation, measuring
inputs, and output cams. For more information refer to the manuals: Technology Object Path
Interpolation, Technology Object Synchronous Operation, and Technology Objects for Output
Cams and Measuring Inputs.

Functional interface to the drive

The functional interface to the drive is the speed setpoint interface.
The functional interface to a hydraulic valve is the analog flow rate setpoint and, if available,
the analog force limiting or pressure limit value.
It is possible to connect both analog drives and digital drives as well as stepper drives.

TO Axis Electric / Hydraulic, External Encoder

18 Function Manual, 04/2014
 Part I Axis - Overview
2.1 General information about axes

Standardized protocols are used for setpoint specification for digital drives and for
acknowledgements of encoder information.

Note
A SIMOTION axis only permits functions that are supported by the connected drive to be
executed. For further information, refer to the relevant product descriptions for the drives.

Automatic configuration as of V4.2 (Use symbolic assignment setting)

The only settings required during configuration are the preferred technology and functionality
for the axis and encoder and the drive to be used by the axis. The PROFIdrive message frames
required for communication are determined and set by the system when the online connection
is established.
Automatic adaptation is used to add relevant drive data to the TO configuration without having
to make these settings manually.
This functionality is available with SIMOTION V4.2 and higher in conjunction with SINAMICS
V2.6.2.

Programming commands/functions for the Axis technology object

The MCC and ST programming languages are available for programming axes.
Axis functions can also be addressed via the PLCopen blocks of the SIMOTION Function
Library (up to V3.2) and the SCOUT command library (as of V4.0). This can also be
accomplished in the LAD and FBD programming languages.
See the SIMOTION MCC Motion Control Chart, SIMOTION ST Structured Text and
PLCopen Programming Manuals.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 19
Axis fundamentals 3
3.1 Axis technologies

3.1.1 Overview of axis technologies

The Axis technology object can be configured as a drive axis, positioning axis, following axis,
or path axis. The various axis technologies differ according to the functionality provided on the
axis.

Figure 3-1 Axis technology setting in SIMOTION SCOUT

Possible axis functions in relation to the axis type

Table 3-1 Axis functions - Overview

Function Speed- Positioning Synchronous Path

controlled axis axis axis
axis
Speed or velocity specification X X X X
Travel with torque limitation X X X X

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 21
Axis fundamentals
3.1 Axis technologies

Function Speed- Positioning Synchronous Path

controlled axis axis axis
axis
Traversing according to motion X X X X
vectors
Positioning - X X X
Travel to fixed stop - X X X
Homing - X X X
Advanced functions
Measuring input - X X X
Output cam - X X X
Cam track - X X X
Gearing - - X X
Camming - - X X
Path interpolation - - - X

Operating modes
● Setpoint mode
Setpoint mode is the "normal" mode of the axis, in which motion commands are accepted
and executed.
● Follow-up mode
The setpoint is corrected to the actual value in follow-up mode. The actual position and
actual speed values will be updated. The axis can then also be tracked if it is moved by
external effects.
Motion commands are not accepted/executed.
● Simulation mode
The axis and position controller are active in simulation mode. Simulation mode is used to
test the programmed sequences in the control and the interaction between various axes,
for example, on the basis of trace recordings without moving the axis.
Simulation mode is only useful for real axes.
Two variants of simulation mode are possible:
– Program simulation mode
The setpoints are calculated according to the programming, but are not sent to the
position controller. The position controller setpoints remain set at the values they had
prior to switching to simulation mode.
See also Enabling/disabling program simulation (Page 362).
– Axis simulation mode
Unlike program simulation, it is possible to switch a real axis to axis simulation status
even if the drive is not connected. The position controller remains active and the drive
is simulated.
See also Setting as a real axis without drive (axis simulation) (Page 59).
The operating modes are set via commands.

TO Axis Electric / Hydraulic, External Encoder

22 Function Manual, 04/2014
 Axis fundamentals
3.1 Axis technologies

Speed-controlled axis
The speed-controlled axis type is used when the position of the axis is of no importance. Only
the speed of rotation or velocity of an axis is specified, controlled, and monitored.
The speed is monitored if an encoder is configured on the axis; otherwise, the speed is not
monitored.
The position of the speed-controlled axis is not monitored or controlled.
The speed of rotation is indicated as a unit of velocity, such as rpm.
Operating modes
● Speed controlled/speed specification (setpoint mode)
● Simulation
● Follow-up mode
Functions
● Speed of rotation or velocity specified via
– Programmable value setting
– Free velocity profile (time-related)
● Travel with torque limitation
● Force/pressure control, force/pressure limiting (for hydraulic functions only)

Positioning axis
The positioning axis type is used to specify, control, and monitor the position of the axis.
The axis is moved to a programmed target position, which can be specified as a relative or an
absolute value. The direction of motion/direction of rotation can be specified for modulo axes.
For position-controlled positioning axes, position control is possible in the CPU or in the drive,
provided the drive supports the dynamic servo control (DSC) method.
The positioning axis in SIMOTION does not have a velocity controller. The speed controller
for an electric axis is in the drive.
The positioning axis can be interconnected with a path object for path-synchronous motion as
a master axis with a following axis or as an axis.
Operating modes
As for drive axis, plus
● Position control
Functions
● Speed of rotation or velocity specified via
– Programmable value setting
– Free velocity profile (time- or position-related)
● Travel with torque limitation

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 23
Axis fundamentals
3.1 Axis technologies

● Position specified via

– Programmable value setting
– Free velocity profile (time-related)
● Travel to fixed stop
● Homing
● Force/pressure control, force/pressure limiting
● Synchronization of encoder values
● Positioning axis with path-synchronous motion (see path interpolation)

Following axis
The following axis type is used to determine the axis setpoint from a master value according
to conversion rules.
The synchronous object and slave axis are separate objects, but together they form a following
axis.
The "Axis" and "Synchronous Operation" technology objects have a reciprocal effect on each
other in terms of their operating modes and the effectiveness of the commands used.
For example, errors in the "Axis" technology object will directly affect the synchronous
operation functionality. When an axis stop response is triggered, the synchronous motion is
stopped as well.
Operating modes
As for positioning axis
Functions
In addition to the positioning axis functions, other functions are available via the synchronous
object:
● Gearing
● Camming
● Velocity gearing
● Dynamic synchronization/desynchronization
Other functions associated with the Following Axis technology object can be found in the
SIMOTION Technology Objects for Synchronous Operation, Cam Manual.

Path axis
The path axis type is used to travel along a path together with at least one additional path axis
on the path object.
Via the path object, a path can be generated for at least two and up to three path axes.
The setpoints generated for the axis on the path object are limited on the axis to the maximum
dynamic values of the axis.

TO Axis Electric / Hydraulic, External Encoder

24 Function Manual, 04/2014
 Axis fundamentals
3.1 Axis technologies

The "Path Axis" and "Path Object" technology objects have a reciprocal effect on each other
in terms of their operating modes and the effectiveness of the commands used.
For example, errors in the "Path Axis" technology object will directly affect the generation of
motion on the path object. When a stop response is triggered on the axis, the path motion is
stopped as well.
Operating modes
As for positioning axis
Functions
In addition to the positioning axis functions, other functions are available via the path object:
● Linear path interpolation
● Circular path interpolation
● Polynomial path interpolation
The path axis contains the functionality of the following axis.
Other functions associated with the Path Interpolation technology object can be found in the
SIMOTION Technology Object Path Interpolation Manual.

See also
Setting and canceling the axis enables (Page 332)

3.1.2 Axis-drive relationship

Technology objects represent the applicable real objects (e.g. an axis) in the controller.
The Axis technology object provides the user with a technological view of the drive and encoder
(actuator and sensor), provides technological functions for them and performs the specific
hardware connection.
The Axis technology object includes comprehensive functionality, e.g. communication with the
drive, actual value conditioning, position control and positioning functions. It executes control
and motion commands and indicates statuses and actual values.
The drive contains the speed and current control for the motor.
Technological limiting functions and values for the axis and encoder mechanics (e.g. leadscrew
pitch and gear) are set at the axis.
The user can then only work with technological parameters.
The Axis technology object communicates with an actuator (drive or hydraulic valve) via a field
bus system (PROFIBUS or PROFINET via PROFIdrive protocol) or via a direct setpoint
interface (analog ±10 V or pulse/direction).

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 25
Axis fundamentals
3.1 Axis technologies

6,027,21

8VHU 'ULYH
,QWHUIDFH $[LV72
HJ6,1$0,&6

Figure 3-2 Axis-drive relationship

Functional interface to the drive

Various functional interfaces to the drive are available.
Analog drives, hydraulic valves, or stepper drives can be operated at the direct setpoint
interface. See also Setting as a real axis with analog drive link (Page 38), Linking analog drives
to SIMOTION (Page 233).
Setpoint specifications and feedback signals (incl. encoder information) for drives connected
to a field bus are provided via standardized protocols (standard telegrams in accordance with
the PROFIdrive profile). See also Coupling of digital drives (Page 55).

See also
Axis with stepper motor connection (Page 235)
Overview of axis settings / drive assignment (Page 291)
Encoder interface using the PROFIdrive message frame (Page 68)

TO Axis Electric / Hydraulic, External Encoder

26 Function Manual, 04/2014
 Axis fundamentals
3.2 Axis types

3.2 Axis types

3.2.1 Overview of axis types

There are different axis types that differ according to their axis mechanism. The axis type also
determines the units used to calculate axis variables such as position, velocity, etc.
● Linear axes
Linear axes have coordinates that are specified in a unit of length. The position profile is
continuous within the traversing range. Motion instructions are specified in units of length,
for example in mm.
● Rotary axes
Rotary axes have coordinates that are specified in a unit of rotation. The position profile is
continuous within the traversing range. Motion instructions are specified in units of rotation,
for example in degrees or rad.
● Setting a linear axis or rotary axis as a modulo axis
Modulo axes have an unlimited traversing range and their position is mapped to a repeating
modulo traversing range. The modulo range is defined by the start value and the modulo
length.
If the position value or axis position overshoots the modulo length, the position is reset to
the modulo start value. If the position value undershoots the modulo start position, it is reset
to the modulo start value plus the modulo length.
Like rotary axes, linear axes can also be defined as modulo axes (modulo linear axis,
modulo rotary axis).

Axis type setting

The following settings are available for the axis type:
● Linear
● Rotary
and
● Electrical
● Hydraulic
● Virtual
The electrical, hydraulic, or virtual setting affects the subsequent menu content.

See also
Actual value measurement / actual value system (Page 132)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 27
Axis fundamentals
3.2 Axis types

3.2.2 Setting for the electric axis type

Figure 3-3 Axis type setting for an electric drive axis in SIMOTION SCOUT

Note
There is no force/pressure control for the electric drive axis. In this case, the mode is preset
to Standard and cannot be changed.

TO Axis Electric / Hydraulic, External Encoder

28 Function Manual, 04/2014
 Axis fundamentals
3.2 Axis types

Figure 3-4 Axis type setting for an electric position or following axis in SIMOTION SCOUT

Table 3-2 Axis type options

Axis type Description

Linear Setting as linear axis
Rotary Setting as rotary axis

Table 3-3 Mode options

Mode Description
Standard Position control
Standard + pressure Position control and pressure control/pressure limitation
Standard + force Position control and force control/force limitation

See also
Overview of force/pressure control (Page 192)
Overview of force/pressure limiting (Page 202)
Overview of axis types (Page 27)
TypeOfAxis configuration data (Page 31)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 29
Axis fundamentals
3.2 Axis types

3.2.3 Setting for the hydraulic axis type

Figure 3-5 Axis type setting for a hydraulic position or following axis in SIMOTION SCOUT

Table 3-4 Valve type options

Valve type Description

Q-valve Axis with Q-valve (volumetric flow control)
P-valve 1
Axis with P-valve (force/pressure control)
P+Q-valve Axis with P+Q-valve
1
Additional choice for drive axis

Table 3-5 Closed-loop control options

Closed-loop control Description

Standard Position control only
Standard + pressure Position control and pressure control
Standard + force Position control and force control

See also
Overview of force/pressure control (Page 192)
Overview of force/pressure limiting (Page 202)
Hydraulic functionality overview (Page 289)

TO Axis Electric / Hydraulic, External Encoder

30 Function Manual, 04/2014
 Axis fundamentals
3.2 Axis types

TypeOfAxis configuration data (Page 31)

Setting as a real axis with Q valve only (Page 293)
Setting as a real axis with Q valve + P valve/F output (Page 296)
Setting an axis as a real axis with P valve only (V3.2 and higher) (Page 298)

3.2.4 Setting for the virtual axis type

Figure 3-6 Axis type setting for a virtual position or following axis in SIMOTION SCOUT

3.2.5 TypeOfAxis configuration data

The axis type is entered according to the axis type parameter assignments under the
TypeOfAxis configuration data in the axis wizard. The following table shows which axis wizard
parameterization corresponds to which value under TypeOfAxis.
Assignment of TypeOfAxis based on the current axis wizard configuration:

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 31
Axis fundamentals
3.2 Axis types

&ORVHGORRS
$[LVW\SH 9DOYHW\SHG
FRQWURO

6WDQGDUGSUHVVXUH
6WDQGDUGIRUFH

34YDOYH
+\GUDXOLF
(OHFWULFDO

6WDQGDUG
/LQHDUF

4YDOYH
3YDOYH
5RWDU\

9LUWXDO
7\SH2I$[LV

9LUWXDO$[LV [ [
[ [
5HDOB$[LV [ [ [
[ [ [
5HDOB$[LVB:LWKB6LJQDOB2XWSXW [
[ [
5HDOB$[LVB:LWKB)RUFHB&RQWUROD [ [ [
[ [ [
[ [ [
[ [ [
5HDOB4)$[LV [ [ [ [
[ [ [ [
5HDOB4)$[LVB:LWKB2SHQB/RRSB)RUFHB&RQWURO [ [ [ [
[ [ [ [
[ [ [ [
[ [ [ [
5HDOB4)$[LVB:LWKB&ORVHGB/RRSB)RUFHB&RQWURO [ [ [ [
[ [ [ [
[ [ [ [
[ [ [ [

5HDOB4)$[LVB:LWKB2SHQB/RRSB)RUFHB&RQWUROBRQO\E [ [ [ [
[ [ [ [
DQRWSRVVLEOHIRUVSHHGFRQWUROOHGD[LV
EVSHHGFRQWUROOHGD[LVRQO\
FQRWSRVVLEOHIRUVSHHGFRQWUROOHGD[LV
GK\GUDXOLFIXQFWLRQDOLW\RQO\

TO Axis Electric / Hydraulic, External Encoder

32 Function Manual, 04/2014
 Axis fundamentals
3.3 Units and accuracies

3.3 Units and accuracies

Figure 3-7 Setting the units and resolution in SIMOTION SCOUT

With the SIMOTION technology objects, such as the Axis technology object, physical variables
such as position, velocity, acceleration, time, force, and torque are represented in the SI or
US system of units (metric or imperial). The unit can be defined for all variables on the relevant
technology object during configuration, for example, for:
● unit of length
– mm
– m
– km
– inch
● unit of force
– N
– kN
– tfm
ton force (metric), or tonne force (metric), metric unit
– tfs
ton force (short) or ton force (US), US unit
The defined units are used to represent system variables and configuration data.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 33
Axis fundamentals
3.3 Units and accuracies

Changing the unit settings converts the current values of the system variables and
configuration data from the engineering system to the new units.

Note
Values in the command parameters are interpreted in the defined unit on the technology
object.
Numerical values in user programs (e.g. in the motion commands) are not converted to the
new units when the unit settings are changed!
In compound variables, e.g., controller gains, the units may differ from the units of the
individual variables, e.g., force in [kN] and force/time in [N]/[sec].

The internal computational accuracy and internal representation of the position can also be
defined in the unit configuration. It defines, among other things, the accuracy with which
specifications in system variables, configuration data, and command parameters are accepted,
processed, and displayed by the system.

Note
The positioning accuracy equates to one computational increment (increments/position),
i.e. positions can only be defined at integer increment values. Intermediate values arising
during interpolation and as a result of closed-loop control may also exist between the integer
increments.
The display resolution and the resolution when entering parameter values are independent
of the increments.

This definition refers to a specific basic unit of the position, depending on the axis type.
● Linear axis: Increments/mm
● Rotary axis/drive axis: Increments/degree
The control performs internal calculations in increments with reference to these basic units.
Prior to processing, values are converted to the internal representation.

Example 1
The following configuration has been defined:
● Linear axis
● Position unit: m
● Increments/position: 1000/mm
Calculation of setpoint accuracy during positioning:
Position: 1,000/mm corresponds to 0.001 mm = 10-6 m

Example 2
The following configuration has been defined:
● Linear axis
● Position unit: mm

TO Axis Electric / Hydraulic, External Encoder

34 Function Manual, 04/2014
 Axis fundamentals
3.3 Units and accuracies

● Increments/position: 1000/mm
● Leadscrew pitch: 10.3334 mm
● Modulo length: 20.3335 mm
Determination of the effective leadscrew pitch and modulo length:
Position accuracy: 0.001 mm
● Effective leadscrew pitch for TO: 10.333 mm
● Effective modulo length: 20.333 mm
If the leadscrew pitch and the modulo length have to be mapped precisely, the positioning
accuracy on the TO has to be increased (incr/mm).

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 35
Axis fundamentals
3.4 Axis settings / drive assignment

3.4 Axis settings / drive assignment

3.4.1 Overview of how to create an axis

New axes are created using an axis wizard in which the axis parameters (configuration data
and system variables) are queried or are configured automatically. You can specify other
selected parameters via the axis parameter assignment dialog boxes (under Axis Object in
the project navigator).

3.4.2 Real and virtual axes

Setting options
In SIMOTION, you can define the axes as:
● Real axis
This axis features motion control, as well as drive and encoder interfaces.
● Real axis with force/pressure control
This axis features motion control, drive and encoder interfaces, and an interface for force/
pressure measurement and closed-loop control.
For force/pressure control, the input for the force/pressure measurement must also be
configured.
● Virtual axis
This axis features reference variable generation, but does not have closed-loop control or
a drive or encoder interface. The setpoints and actual values are always identical. A virtual
axis is generally used as an auxiliary axis, in order to generate the setpoints for several
real axes as the master axis, for example.
The controller-specific enables are set by default.
See also Overview of axis types (Page 27).

Axes with no drive assignment (as of V4.2)

A drive is assigned to the axis in the drive assignment dialog during axis configuration. It is
also possible, however, to leave the drive assignment open. The real axis can be programmed
with all functions and the system remains operational after axes with no assigned drive have
been downloaded. No consistency error is output.
One advantage of axes with no assigned drive is that you can set up and test the configuration
in advance while there is still no drive or if you do not have all the necessary drive know-how.
The axis can be connected to a drive later.

TO Axis Electric / Hydraulic, External Encoder

36 Function Manual, 04/2014
 Axis fundamentals
3.4 Axis settings / drive assignment

Runtime model and processing

The integrated motion control functionality uses a deterministic real-time runtime model for
motion control purposes. This includes, in particular:
● Isochronous system levels for
– Bus task
PROFIBUS/PROFINET communication for linking digital drives, data exchange with the
I/O
– Servo_fast (optional)
Position control and monitoring of axes, drive communication, and I/O processing
synchronized with a fast PROFINET cycle clock
– Servo
Position control and monitoring of axes, drive communication, and I/O processing
– IPO_fast
Motion control for the axes is calculated in the fast PROFINET bus system
– IPO
Interpolator = reference variable calculation/motion profile calculation of the axes
The interpolator cycle clock is set during configuration of the execution system of the
device. There are two interpolator levels in the system, IPO and IPO2.
● Adjustable transformation ratios between bus task, servo, and IPO for appropriate load
distribution and optimum system utilization
The processing cycle clock (axis-specific interpolator cycle clock ) of the axis technology object
can be set to IPO or IPO2. This makes it possible to place an interpolator for axes that do not
require a high time resolution to calculate reference variables in a cyclical system task with a
longer cycle time, thereby requiring less processing power.
For fast responses in motion control, in exceptional cases, the processing cycle clock can even
be set to servo or servo_fast, see also Motion execution/interpolator (Page 215).
The processing cycle clock is set in the axis dialog configuration.

0RWLRQFRQWURO

5HIHUHQFHYDULDEOHJHQHUDWLRQ

3RVLWLRQ 'ULYH
3URJUDP
,QWHUSRODWLRQ FRQWURO ILQDOFRQWURO
LQWHUIDFH
VHUYR OLQJHOHPHQW

9LUWXDOD[LV

5HDOD[LV
Figure 3-8 Difference between real and virtual axis (position axis example)

For real axes, the interface to the drives/final controlling elements is set.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 37
Axis fundamentals
3.4 Axis settings / drive assignment

For the hydraulic functionality, the analog output is set for manipulated variable value Q (flow
rate) and, if applicable, for manipulated variable value F (force/pressure limiting). This makes
it possible to connect valves with an analog manipulated variable.
If DSC (Dynamic Servo Control) is set for digital drives with a PROFIdrive interface, a position
controller is executed in the drive (e.g. in the closed-loop speed control cycle clock).
If symbolic assignment is used (default setting as of V4.2), DSC is selected automatically.

3.4.3 Setting as a real axis with analog drive link

Figure 3-9 Setting for analog drive link to C2xx

For interconnection of the axis-specific inputs/outputs (encoder, analog output, enables), see
the C2xx operating instructions.
In addition to the option of operating analog axes on the onboard inputs of the C2xx, the
PROFIBUS ADI4 and IM174 modules are available for use in all platforms as interfaces for
analog drive links. From the SIMOTION perspective, these modules behave like digital drive
links; see Coupling of digital drives (Page 55).
The enable signal to the drive is activated with _enableAxis() (enableMode=ALL); the enable
is displayed by the system variables actormonitoring.driveState = ACTIVE and
actormonitoring.power = ACTIVE.

TO Axis Electric / Hydraulic, External Encoder

38 Function Manual, 04/2014
 Axis fundamentals
3.4 Axis settings / drive assignment

See also
Coupling of digital drives (Page 55)

3.4.4 Setting as a real axis with digital drive coupling

3.4.4.1 Symbolic assignment and adaptation (as of V4.2)

As of V4.2, SIMOTION supports the automatic adaptation of drive data as well as the
configuration of technology objects (TOs) with symbolic assignment.
This makes it easier to configure the technical relationships between the SIMOTION
technology objects (TOs) and the SINAMICS drive objects (DOs).
Adaptation and symbolic assignment enable:
● The required axis telegrams, as well as the addresses used, to be automatically specified
by the engineering system
● Telegrams to be expanded and interconnections in the drive to be set up automatically
dependent upon the selected TO technology (e.g. SINAMICS Safety Integrated)
● Axis configuration and drive configuration to be completed as two separate procedures
● Drive and encoder data, as well as reference variables, maximum variables, torque limits,
and the selectivity associated with torque reduction on the SINAMICS S120 to be adapted
automatically on system ramp-up
For more information, please refer to the sections of the Motion Control Basic Functions manual
which deal with symbolic assignment (as of V4.2).

Requirement
The following components support adaptation and symbolic assignment:
● SIMOTION C, P and D devices, with firmware as of SIMOTION V4.2
● SINAMICS S110 drives, firmware V4.x with SINAMICS as of V4.3
● SINAMICS S120 drives, firmware V2.x with SINAMICS as of V2.6.2
● SINAMICS S120 drives, firmware V4.x with SINAMICS as of V4.3

The SINAMICS versions indicated relate to:

● SINAMICS control units connected via PROFIBUS or PROFINET
● SINAMICS Integrated on a SIMOTION D
● Controller extensions CX32/CX32-2

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 39
Axis fundamentals
3.4 Axis settings / drive assignment

Axis configuration: Drive assignment

Figure 3-10 Drive assignment dialog

The following settings can be made in the Drive assignment dialog for the axis configuration:
● Assign drive
All of the drives configured in SCOUT or HW Config are displayed as assignment partners.
To interconnect a drive, click a drive object in the table in the Drive assignment dialog.
The hardware addresses and telegrams are determined automatically by the system.
● Assign later
Enables the axes to be configured independently on the SIMOTION side and the drives to
be configured independently on the SINAMICS side.
This means, for example, that:
– The drives can be configured by a drive expert and tested and optimized using the drive
control panel
– The PLC and Motion Control functions can be configured by a programmer using
technology objects (e.g. Axis technology object)
– The technology objects can then be symbolically assigned to the drive objects at a later
point in time via an assignment dialog
● Create drive
From the Assign dialog, a new drive can be created on an existing drive unit directly (e.g.
S120 CU320-2 or SINAMICS Integrated) and the axis assigned. As a result, it is not
necessary to configure a drive before creating an axis.

TO Axis Electric / Hydraulic, External Encoder

40 Function Manual, 04/2014
 Axis fundamentals
3.4 Axis settings / drive assignment

The TO axis, TO external encoder, TO output cam, TO cam track, and TO measuring input
support symbolic assignment. Furthermore, the onboard I/O of a SIMOTION D, a SINAMICS
S120 control unit, and even selected terminal modules can be interconnected symbolically
(e.g. for hardware-limit-switch inputs on the technology object).
The list of addresses in the All addresses view provides an overview of the assignments of all
the Axis technology object interfaces. It is also possible to change the assignments from this
view via the Assign dialog (... button).

Note
The previous methods of drive and axis configuration continue to be available. Symbolic
assignment must be deactivated in such cases.
Symbolic assignment is used by default for newly created projects.
If projects < V4.2 are converted upwards, symbolic assignment is deactivated by default and
must be activated if required.
Symbolic assignment can be activated/deactivated in SIMOTION SCOUT via the Project >
Use symbolic assignment menu.

Adaptation
In addition to the benefits offered by symbolic assignment, configuration is also made easier
as of SIMOTION V4.2 with the addition of automatic adaptation of SINAMICS S120 data.
Drive and encoder data as well as reference variables, maximum values, torque limits and
granularity for SINAMICS S120 torque reduction, are taken over automatically for the
configuration data of the SIMOTION Axis and External encoder technology objects. These
data no longer have to be entered in SIMOTION.
Events and commands after which an adaptation is carried out:
● Switching the controller on (ramp-up)
● Download
● STOP-RUN transition, if no adaptation has been made yet
● Restarting a TO
● _activateTO() command
● _enableAxisInterface() command if the status "not adapted" is present at the interface with
non-exclusive drive assignment
● _adaptAxisConfigData() and _adaptExternalEncoderConfigData() user commands
● Drive data set changeover (and encoder changeover does not cause adaptation)
The adaptation of relevant drive data is activated automatically as of SIMOTION V4.2 in
conjunction with SINAMICS S120 as of V2.6.2. If projects < V4.2 are converted upwards,
automatic adaptation is deactivated by default. You can activate automatic adaptation if
required via the expert list in the configuration data element
TypeOfAxis.DriveControlConfig.dataAdaption. You can activate automatic adaptation of
encoder data in the configuration data element
TypeOfAxis.NumberOfEncoders.Encoder_n.dataAdaption.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 41
Axis fundamentals
3.4 Axis settings / drive assignment

The configured data initially contains default values for the values to be adapted. Adaptation
may result in a difference between the configured values and the adapted values. In the case
of a Copy current data to RAM, the TO would, therefore, be displayed as inconsistent in the
project navigator.
When executing the functions Copy current data to RAM and Copy RAM to ROM, the difference
will be detected and an upload of the adapted data into the SCOUT project will be executed.
However, this can be deselected in the dialog box.

3.4.4.2 Adapted data (SINAMICS S120 as of V2.6.2)

The adapted drive and encoder data is listed in the following.

Adapted drive data (motor and actuator)

Table 3-6 Reference and maximum velocity

Motor type Parameter Configuration data element

Round-frame motor p2000 driveData.nominalSpeed
Linear motor p2000 linearMotorDriveData.nominalSpeed
Round-frame motor p1082 driveData.maxSpeed
Linear motor p1082 linearMotorDriveData.maxSpeed

Table 3-7 Resolution of torque reduction

Motor type Parameter Configuration data element

Round-frame motor p1544 driveData.torqueReductionGranularity
p1520 driveData.maxTorque (and p1520 = |p1521|)
Linear motor p1544 linearMotorDriveData.forceReductionGranularity
p1520 linearMotorDriveData.maxForce (and p1520 = |
p1521|)

Table 3-8 Resolution of the reference and maximum values for B+, B-, Madd (technology data block)

Motor type Parameter Configuration data element

Round-frame motor p2003 driveData.nominalTorque
Linear motor p2003 linearMotorDriveData.nominalForce

Table 3-9 Adaptation of the parameters for specific DO types and availability in the drive

Paramete Semantics DO Servo DO Vector DO TM41 DO DCM DO

r Encoder
p2000 Reference speed x x x x x
p2003 Reference torque x x x x -
p1082 Maximum speed x x - - -
p1520 Maximum torque x x - - -

TO Axis Electric / Hydraulic, External Encoder

42 Function Manual, 04/2014
 Axis fundamentals
3.4 Axis settings / drive assignment

Paramete Semantics DO Servo DO Vector DO TM41 DO DCM DO

r Encoder
p1544 Torque reduction x - - - -
granularity
(only 100 telegrams)
p0979 Encoder information x x x x x
(only
telegram
1)

The following conditions must be observed:

● When assigning an axis on a SINAMICS drive, the following is set implicitly:
– Adaptation
driveControlConfig.dataAdaption=YES
– speedReference (speed, velocity) to nominalspeed, ~velocity
driveDate.speedreference=NOMINAL_VALUE
linearMotorDriveData.velocityReference=NOMINAL_VALUE
– torqueReference, forceReference (torque, force) to nominaltorque, ~force
driveDate.torqueReference=NOMINAL_VALUE
linearMotorDriveData.forceReference=NOMINAL_VALUE
● Adaptation is not set generally for an interconnection to a SINAMICS DO, but specifically
depending on the DO type.
This means that the properties of the DO type are known when setting the adaptation.
● Parameter p1544:driveData.torqueReductionGranularity or
linearMotorDriveData.forceReductionGranularity is only adapted when a 1xx telegram is
set.
Otherwise no adaptation, since it is not relevant or with DO vector, DO TM 41 and DO DCM
also not available.
● If parameter p1082 (maximum speed) is not available on a DO, then the maximum speed
is set equal to the reference speed in SIMOTION (driveData.maxSpeed =
driveData.nominalSpeed or linearMotorDriveData.maxSpeed =
linearMotorDriveData.nominalSpeed).
This is the case, for example, for DO TM41 or TO DCM.
● If parameter p1520 (maximum torque) is not available on a DO (e.g. DO DCM), then the
maximum torque/force is set equal to the reference torque/force on the TO
(driveData.maxTorque = driveData.nominalTorque or linearMotorDriveData.maxForce =
linearMotorDriveData.nominalForce). The torque values are not adapted when
interconnecting to DO TM41.

Adapted encoder data

The encoder type set in the axis configuration, incremental or absolute, is checked during the
adaptation.
The measuring system setting, linear or rotary, is adapted.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 43
Axis fundamentals
3.4 Axis settings / drive assignment

Table 3-10 Incremental rotary encoder

Encoder characteristic data Parameter Configuration data element

Increments/revolution p0979[2] incEncoder.incResolution
Fine resolution p0979[3] incEncoder.incResolutionMultiplierCyclic

Table 3-11 Incremental linear encoder

Encoder characteristic data Parameter Configuration data element

Grid spacing p0979[2] resolution.distance
Fine resolution p0979[3] resolution.multiplierCyclic

Table 3-12 Absolute rotary encoder

Encoder characteristic data Parameter Configuration data element

Increments/revolution p0979[2] absEncoder.absResolution
Fine resolution p0979[3] absEncoder.absResolutionMultiplierCyclic
Fine resolution for absolute p0979[4] absEncoder.absResolutionMultiplierAbsolute
value in Gn_XIST2
Data width of absolute value p0979[2] absEncoder.absDataLength
without fine resolution and
p0979[5] *)

*) The data width of the absolute value (without fine resolution) is a result of the sum of the bits for
representing the number of encoder pulses and the bits for representing the maximum number of
revolutions that can be registered by the encoder according to the type plate.
Example:
4,096 pulses/rev (= 12 bit) and maximum of 4096 revolutions that can be registered results in a 12 + 12
= 24-bit data width of the absolute value.

Table 3-13 Absolute linear encoder

Encoder characteristic data Parameter Configuration data element

Grid spacing p0979[2] resolution.distance
(resolution.multiplierCyclic has no significance for a
linear absolute encoder)
Fine resolution p0979[3] absEncoder.absResolutionMultiplierCyclic
Fine resolution for absolute p0979[4] absEncoder.absResolutionMultiplierAbsolute
value in Gn_XIST2
Data width of absolute value p0979[2] absEncoder.absDataLength
without fine resolution and
p0979[5] *)

*) The data width of the absolute value (without fine resolution) is a result of the sum of the bits for
representing the number of encoder pulses and the bits for representing the maximum number of
revolutions that can be registered by the encoder according to the type plate.
Example:
4,096 pulses/rev (= 12 bit) and maximum of 4096 revolutions that can be registered results in a 12 + 12
= 24-bit data width of the absolute value.

TO Axis Electric / Hydraulic, External Encoder

44 Function Manual, 04/2014
 Axis fundamentals
3.4 Axis settings / drive assignment

3.4.4.3 Communication and control word / status word

Communication with the drive via PROFIdrive

The communication with digital drives using PROFIBUS/PROFINET is made in accordance
with the PROFIdrive V4 specification and the application classes 1 to 4 (class 4 both with and
without DSC).
The ADI4 and IM 174 modules can be used to connect axes with analog interface to the system.
The system uses the standard 3 telegram in accordance with the PROFIdrive profiles for the
ADI4 and IM174 modules. Consequently, in this case, the axis TO sees a real axis with digital
drive coupling.
For axes with digital drive coupling using the PROFIdrive telegram, the maximum velocity is
twice the reference velocity.

Control word
Drive enables are set in conformity with PROFIdrive Profile V3.1 via control word STW1.

Control bits in control word STW1

The Axis technology object takes over control of the control word with the _enableAxis() and
_disableAxis() commands.
The system uses _enableAxis() or _disableAxis() to set the control bits in STW1 bit 0 - STW1
bit 6. Also refer to the following table for the semantics of the STW1 bit 0 – STW1 bit 6 control
word bits.
_enableAxis() (enableMode=DRIVE) is used to set Bit4 - Bit6 in STW1, while _enableAxis()
(enableMode:=POWER) is used to set Bit0 - Bit3 in STW1.
enableMode=ALL is used to set the DRIVE and POWER bits.

Table 3-14 Meaning of the control word bits STW1 bit 0 – STW1 bit 6

STW1 Bit = 0 meaning Bit = 1 meaning Notes

Bit 0 OFF, Brake on ramp-function ON Brake along the ramp
gen. (OFF 1) generator deceleration ramp
followed by pulse suppression
Bit 1 Coast stop (OFF2) No coast stop Pulse suppression
(no OFF2)
Bit 2 Quick stop (OFF3) No quick stop Brake along the OFF3
(no OFF3) deceleration ramp followed by
pulse suppression
Bit 3 Disable operation Enable operation -
Bit 4 Disable ramp generator Enable ramp generator -
Bit 5 Freeze ramp generator Unfreeze ramp generator -
Bit 6 Disable setpoint Enable setpoint -

You can find a detailed description of the bits in status and control words in the SINAMICS
List Manuals.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 45
Axis fundamentals
3.4 Axis settings / drive assignment

The control word from the drive protocol is displayed in the system variable driveData.STW
(STW1 corresponds to STW[0]).
The states are also displayed in the SCOUT at Drives - Drive_x - Diagnosis - Control/status
words.

Stop modes with PROFIdrive – Profile Drive Technology

● STW1 bit 0 = 0 (OFF1): Ramp stop
– The drive travels to zero velocity with the deceleration that can be defined on the drive.
– The stopping process can be interrupted and the drive reactivated.
– After stopping, a pulse suppression is carried out and the status changes to ready to
start.
● STW1 bit 1 = 0 (OFF2): Coast stop
– The drive immediately goes to pulse suppression and the status changes to switch-on
disable.
The drive coasts to a standstill.
● STW1 bit 2 = 0 (OFF3): Quick stop
– The drive travels to zero velocity with the torque limit that can be defined on the drive.
– The stopping process cannot be interrupted.
– After stopping, a pulse suppression is carried out and the status changes to switch-on
disable.

Status word
Status word ZSW1 contains status information of the drive in accordance with PROFIdrive
profile V3.1.

Table 3-15 Meaning of the status word bits ZSW1 bit0 – ZSW1 bit 15

ZSW1 Bit = 0 meaning Bit = 1 meaning Notes / parameters

Bit 0 Not ready to power up Ready to start BO: r0899.0
Power supply on, electronics
initialized, line contactor
released if applicable,
pulses inhibited.
Bit 1 Not ready for operation Ready for operation BO: r0899.1
Reason: No ON command Voltage at Line Module, i.e.
present line contactor closed (if
used), field is being built up.
Bit 2 Operation inhibited Operation enabled BO: r0899.2
Enable electronics and
pulses, then ramp up to
active setpoint

TO Axis Electric / Hydraulic, External Encoder

46 Function Manual, 04/2014
 Axis fundamentals
3.4 Axis settings / drive assignment

ZSW1 Bit = 0 meaning Bit = 1 meaning Notes / parameters

Bit 3 No fault active Fault active BO: r2139.3
No active fault in the fault The drive is faulty and,
buffer. therefore, out of service. The
drive switches to "switching
on inhibited" once the fault
has been acknowledged and
the cause has been
remedied.
The active faults are stored
in the fault buffer.
Bit 4 Coasting down active (OFF2) No OFF2 active BO: r0899.4
An OFF2 command is active.
Bit 5 Quick stop active (OFF3) No OFF3 active BO: r0899.5
An OFF3 command is active.
Bit 6 No "Power-on inhibit" Power-on inhibit BO: r0899.6
Switching on is possible A restart is only possible by
means of OFF1 and then
ON.
Bit 7 No alarm active Alarm active BO: r2139.7
No active alarm in the alarm The drive is operational
buffer. again. No acknowledgment
necessary.
The active alarms are stored
in the alarm buffer.
Bit 8 Setpoint/actual speed Setpoint/actual speed BO: r2197.7
monitoring not within monitoring within tolerance
tolerance band band
Actual value within a
tolerance band; dynamic
overshoot or undershoot for
t < tmax permissible, e.g.
n = nset±
f = fset±, etc.,
tmax can be parameterized
Bit 9 Local operation Control requested BO: r0899.9
Control only possible on The PLC is requested to
device assume control. Condition
for applications with
isochronous mode: Drive
synchronized with PLC
system.
Bit 10 f or n comparison value not f or n comparison value BO: r2199.1
reached. reached or exceeded. Note:
The message is parameterized
as follows:
p2141 Threshold value
p2142 Hysteresis
Bit 11 I, M or P limit reached or I, M or P limit not reached BO: r1407.7
exceeded
Bit 12 Holding brake closed Holding brake opened BO: r0899.12
Bit 13 Motor overtemperature Motor overtemperature BO: r2135.14
alarm active alarm not active

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 47
Axis fundamentals
3.4 Axis settings / drive assignment

ZSW1 Bit = 0 meaning Bit = 1 meaning Notes / parameters

Bit 14 Actual speed < 0 Actual speed > = 0 BO: r2197.3
Bit 15 Alarm, converter thermal No alarm active BO: r2135.15
overload
The overtemperature alarm
for the converter is active.

The status word from the drive protocol is displayed in the system variable driveData.ZSW
(ZSW1 corresponds to ZSW[0]).

See also
Drive communication based on DPV1 services (Page 229)
Alarm reactions (Page 375)

3.4.4.4 Specific removal of drive enables in the event of a fault

In the event of a fault (local alarm reaction RELEASE_DISABLE), all drive enables are removed
by default.
A setting can also be made to remove drive enables individually.
To access the Functions - Response to alarm dialog, select the Axis - Configuration menu and
click the Change … button under Functions.

Figure 3-11 Settings for the drive in SCOUT

The bits selected in the screen form will be reset in the control word for the
RELEASE_DISABLE local alarm response.
For the local RELEASE_DISABLE alarm response, all enables to the drive will be removed for
system setting. Before the enables in STW1 bit 0 - STW1 bit3 are removed, status word
ZSW1 bit 10 = 0 (n = 0 in the drive) will be awaited in accordance with the general state diagram

TO Axis Electric / Hydraulic, External Encoder

48 Function Manual, 04/2014
 Axis fundamentals
3.4 Axis settings / drive assignment

in SIMOTION (see figure below).

This system setting can be changed in the
TypeOfAxis.driveControlConfig.releaseDisableMode configuration data as well as in the dialog
box.

Note
At a minimum, the canceling of one enable from bit 0 to bit 6 must be set.
If the value 0 is entered in releaseDisableMode in bit 0 to bit 6, all enables are canceled.

See also
Alarm reactions (Page 375)

3.4.4.5 Brake control

The brake control is required for operating "hanging axes", for example. The integral brake
control of the drives is used for this purpose.
The brake control must be taken into account when enabling the drive and revoking the enable
signal.

System support (from SIMOTION V4.4)

The configuration data element TypeOfAxis.DriveControlConfig.disableModeSpecification
can be used to switch off the drive via AUS3 by default if OFF1_AND_OFF3_MODE is set.
OFF2 is therefore only set for the drive when e.g. the brake is closed.
This setting is also the standard setting for newly created axes.
When the enable signals are revoked (via _disableAxis() or the RELEASE_DISABLE alarm
response), the system behaves as follows if OFF1_AND_OFF3_MODE is set:
1. OFF1 and OFF3 are canceled first when the axis is switched off.
– The OFF3 ramp is therefore active.
– STW1 bit0 is already 0 (power-on inhibit canceled)
2. After the drive has transitioned to S1 or S2 as per the PROFIdrive General State Diagram,
the remaining enable signals for switching off are canceled.
This functionality is independent of the brake control configuration in the drive and is active
even when the enable signals are canceled via the axis control panel.
Directly and exclusively setting OFF2 is always effective.

Extended brake control with SINAMICS

In the case of extended brake control with SINAMICS, the ready signal "Operation enabled"
is sent to SIMOTION via status word 1 (system variable driveData.ZSW[0] Bit 2) after the brake
opening time has expired (p1216). This means the step enabling condition following
_enableAxis() is not met until the brake opening time has expired.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 49
Axis fundamentals
3.4 Axis settings / drive assignment

Please note that when using the extended brake control, the feedback signal "Brake released"
is not sent to the ZSW[0] Bit2 (operation enabled), and instead only the brake opening time is
taken into account.
When implementing a brake control in the drive, the enable signals must be specifically revoked
in the case of _disableAxis() and the RELEASE_DISABLE local alarm response (see above),
e.g.:
● First, revoke OFF3 (STW1 bit 2)
● When the brake is closed, disconnect the power (revoke STW1 bit 1)
For information on defining the reaction to technological alarms, refer also to Chapter
Adjustable response to RELEASE_DISABLE (Page 378).

3.4.4.6 Specify control bits via the application (without TO check) [expert]
As of V3.2, it is also possible to specify Bit0 - Bit6 in STW1 specifically via _enableAxis()
(enableMode:=BY_STW_BIT) and _disableAxis() (disableMode:=BY_STW_BIT). Each bit to
be set/canceled is then specified in the STWBitSet parameter. For this setting, the axis TO
checks also for single bit assignment whether the specifications of the PROFIdrive state
machine are observed.
If the axis is switched on from the S1 state, in accordance with PROFIdrive, bit 0 of the initial
state 0 for STW1 is required (pulse suppression and ready-to-start status). If STW1 bit 0 in
state S1 is not set to 0 (as result of enables being canceled using single-bit assignment or the
cancelation of some enables with the RELEASE_DISABLE alarm reaction), STW1 bit 0 must
be set to 0 by means of single-bit assignment in the _disableAxis() command or
_disableAxis() with disableMode:=ALL. If this is not the case, a switch on of the axis will be
rejected with alarm 20005: Type 1 reason 0x0100h (control signals to the PROFIdrive state
machine specified incorrectly).
The status in actorMonitoring.power is displayed as specified in STW1 in versions up to and
including V3.1. As of V3.2, it is displayed as per Bit0 - Bit2 in ZSW1.
The status indication in actorMonitoring.driveState is made in accordance with the
specifications in STW1 bit 4 - STW1 bit 6, and will not be derived from the drive status.
The control word and the status word from the drive protocol are indicated in the
drivedata.stw and drivedata.zsw system variables.
n-actual from the drive protocol is indicated in the actorData.actualspeed system variable (as
of V4.0).

Specify control bits in STW1 via the application (without checking technology object) [expert]
As of V4.1 SP2, the _disableAxis()
(disableMode:=STATE_MACHINE_CONTROL_BY_APPLICATION) setting can be used to
directly specify the control bits in STW1 bit 0 ‑ STW1 bit 6 using the _setAxisSTW() command
without the TO testing correctness in accordance with the PROFIdrive profile state machine.
This makes it possible to switch a drive on and off that does not behave conform to the
PROFIdrive profile state machine. A traversing of the drive using the TO or a motion variable
generation using the TO for the drive is not possible in this status.
Another possible use is, for example, the stopping of large drives with closed brake in the
magnetized state. If the speed controller enable is removed, after the re-setting of the speed

TO Axis Electric / Hydraulic, External Encoder

50 Function Manual, 04/2014
 Axis fundamentals
3.4 Axis settings / drive assignment

controller enable, it is possible to continue motion again without switching the drive on again
and so needing to pass through the S1 to S4 states.
The position controller must be switched to 'tracking' (servoControlMode=INACTIVE). This
setting places the control indicator variable to INACTIVE, i.e. no movement commands can
be performed. For independent drive transitions, e.g. S4->S5, no 20005 alarm will be
generated in this state. The STATE_MACHINE_CONTROL_BY_APPLICATION mode is
switched off with the _enableAxis() / _disableAxis() commands, with another setting of the
mode and with _resetAxis().
In the STATE_MACHINE_CONTROL_BY_APPLICATION mode,
● The actorMonitoring.driveState and actorMonitoring.power system variables indicate
INACTIVE.
● The setting/resetting of the STW1 bit 0 - STW1 bit 6 bits is permitted directly using the
_setAxisSTW() command.
● A fault message for the drive can be reset only using the TO control with
_resetAxisError(). The control bit STW1 bit 7 (reset fault memory / fault acknowledge)
remains in TO administration, a handling of STW1 bit 7 using _setAxisSTW() is not possible.
This means a fault is reset uniformly using the TO, whereby the acknowledgement can be
made using SCOUT/HMI or the user program.
● The TO axis no longer performs any monitoring for drive failure / independent disable of
the drive. Other monitoring functions remain active, e.g. encoder monitoring, sign-of-life
monitoring, drive error 20005: Reason 1 will be signaled and entered in the diagnostic buffer.
● All alarms are performed with RELEASE_DISABLE response as
OPEN_POSITION_CONTROL response.

When the STATE_MACHINE_CONTROL_BY_APPLICATION mode is exited and so further

handling of the state machine continues using the TO,
● The TO uses the control signals that were transferred last to the drive.
● When the mode is disabled, the current status of the state machine will be assumed. If the
axis is activated in state S4, e.g. with _enableAxis(), no reactivation of the drive is possible.
Consequently, the drive should be in a defined PROFIdrive S1-S4 state with regard to the
drive, otherwise the TO will initiate the technological alarm 20005: type 1 reason 0x04 and
the enables for the drive removed.

The status is indicated with the actorMonitoring.stateMachineControl=APPLICATION system

variables.

See also
Alarm reactions (Page 375)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 51
Axis fundamentals
3.4 Axis settings / drive assignment

3.4.4.7 Status diagram - PROFIdrive General State Diagram

Power supply on

power = inactive S1: Switching On Inhibited

ZSW1 bit 6=true; 0,1,2,"p.e." 1) = false

Standstill detected
STW1 bit0=false STW1 bit1=false Coast Stop OR
enableAxis POWER AND STW1 bit1=true OR STW1 bit1=false STW1 bit3=false
OR AND STW1 bit2=true STW1 bit2=false
enableAxis ALL

S5:Switching Off Quick Stop

S2: Ready For Switching On ZSW1 bit 0,1=true
ZSW1 bit 0=true; 1,2,6,"p.e."=false bit 2,6=false
Standstill detected "p.e." =true
OR
Quick Stop
STW1 bit3=false
STW1 bit1=false STW1 bit2=false
STW1 bit0=true STW1 bit0=false
OR
STW1 bit2=false

S3: Switched On Ramp stop

disableAxis POWER ZSW1 bit 0,1=true; 2,6,"p.e."=false
OR
disableAxis ALL
OR
Coast Stop
Ramp Stop Quick Stop
STW1 bit1=false STW1 bit3=true STW1 bit3=false STW1 bit0=true STW1 bit0=false STW1 bit2=false

Simotion: State POWER S4: Operation

ZSW1 bit 0,1,2=true
bit 6= false
power = active "p.e."=true
ZSW1 bit10=false
enableAxis DRIVE disableAxis DRIVE
OR OR
STW1 bit4=true AND STW1 bit4=false OR
STW1 bit5=true AND STW1 bit5=false OR
Simotion: Waiting for STW1 bit6=true STW1 bit6=false
ZSW1.bit10=false
(n=0)

disableAxis ALL Simotion: State ALL

RELEASE_DISABLE with
all enables removed; system removes STW1 bit4, bit5, and bit6.

67:ELW[\ 7KHVHFRQWUROZRUGELWVPXVWEHVHWE\WKHFRQWUROOHU
=6:ELW[\ 7KHVHVWDWXVZRUGELWVLQGLFDWHWKHFXUUHQWVWDWXV

$EEUHYLDWLRQSH SXOVHVHQDEOHGRSWLRQDOQRWVXSSRUWHGE\6,027,21
6WDQGVWLOOGHWHFWHGDQLQWHUQDOUHVXOWRID6WRSRSHUDWLRQ
ჀჀჀಹ7KHQXPEHURISRLQWVDWWKHLOOXVWUDWHGWUDQVLWLRQVGHWHUPLQHVWKHSULRULW\
7KHPRUHSRLQWVWKHKLJKHUWKHSULRULW\
:LWK6,027,219DQGKLJKHUWZRYDULDWLRQVDUHSRVVLEOHIRUWKHSDUDPHWHUDVVLJQPHQWRIWKH
BHQDEOH$[LV FRPPDQG
32:(5'5,9($//7KH6WDWH0DFKLQHLVFRQWUROOHGE\WKH$[LVWHFKQRORJ\REMHFW
%<B67:B%,77KH6WDWH0DFKLQHLVFRQWUROOHGE\WKHXVHUSURJUDP
7KHGULYHVWDWHV\VWHPYDULDEOHLVDFWLYHLQDOOVWDWHV66LI67:ELWVWRDUHVHWWRWUXH

Figure 3-12 General state diagram in SIMOTION

TO Axis Electric / Hydraulic, External Encoder

52 Function Manual, 04/2014
 Axis fundamentals
3.4 Axis settings / drive assignment

3.4.4.8 SIMOTION system behavior with a drive-autonomous OFF3 ramp

When an OFF3 ramp is triggered (by the SS1 or SS2 safety functions, for example), the
behavior with regard to the shutting down of the SINAMICS drives during the OFF3 ramp varies
dependent upon certain settings on the Axis technology object:

A) Behavior as of SIMOTION V4.2:

As of SIMOTION V4.2, drive-autonomous motion (triggered by SS1, for example), can be
clearly identified even if the Safety Integrated Extended Functions have not been set; in other
words, even if TypeOfAxis.TechnologicalData.driveSafetyExtendedFunctionsEnabled=NO.
This requires that the configuration data item
TypeOfAxis.DriveControlConfig.pulsesEnabledEvaluation is set to YES (system setting when
new axes are set up).
This means that drive enables can be canceled during the drive-autonomous state.
If TypeOfAxis.DriveControlConfig.pulsesEnabledEvaluation is set to COMPATIBILITY_MODE
(for axes from projects converted upwards), the behavior from V4.1 applies. If DSDB
(Page 259) is used, this setting is not allowed
(TypeOfAxis.TechnologicalData.numberOfDriveSafetyDataBlock>0).

B) Behavior in SIMOTION V4.1:

If a drive-autonomous motion is triggered, it is not possible to cancel the drive enables during
the autonomous state unless the Extended Safety Functions are set
(TypeOfAxis.TechnologicalData.driveSafetyExtendedFunctionsEnabled=NO).
A drive-autonomous motion can be triggered by selecting SS1, for example. The drive enables
cannot be removed during the drive-autonomous motion - neither through the user command
_disableAxis() nor through an error on the axis with the local reaction RELEASE_DISABLE.
This is to be taken into account when designing software and hardware limit switches among
other things.
If the Extended Functions are set (that is to say if
TypeOfAxis.TechnologicalData.driveSafetyExtendedFunctionsEnabled=YES and
TypeOfAxis.DriveControlConfig.pulsesEnabled are correctly configured), it is possible to
cancel the drive enables during the autonomous state (e.g. by using the _disableAxis()
command and the RELEASE_DISABLE error response).
For TypeOfAxis.DriveControlConfig.pulsesEnabled configuration, see Pulse enable
evaluation (when standard settings are deactivated) (Page 281).
This needs to be taken into account, for example, in cases where a control has already been
configured for a V4.1 CPU and an additional control is then added via PROFIsafe or TM54F
to the OFF3 ramp via a terminal or to the Safety Integrated Basic Functions via terminals (mixed
operation).
To avoid following error limit 50102 during the OFF3 ramp in this case, the following procedure
is recommended:

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 53
Axis fundamentals
3.4 Axis settings / drive assignment

1. Cyclic evaluation of the system variables

– driveData.driveSafetyExtendedFunctionsInfoData.state.1=TRUE
– driveData.driveSafetyExtendedFunctionsInfoData.state.2=TRUE
– driveData.ZSW[0].5=FALSE
2. If a condition is fulfilled switch to follow-up mode.
(e.g. with the command _move() at velocity = 0 and movingMode=SPEED_CONTROLLED)

See also
Safe Stop 1 (SS1)As of SIMOTION V4.1 (Page 271)
Safe Stop 2 (SS2)As of SIMOTION V4.1 (Page 272)

3.4.4.9 Technologies and telegram types

Table 3-16 Technologies and telegram types supported for real axis with digital drive link

Drive Technology Telegram type

SIMODRIVE 611U universal All 1 to 6, 101, 102, 103, 105, 106 1)
SIMODRIVE 611U universal HR
SIMODRIVE POSMO CA/CD All 1 to 6, 101, 102, 103, 105, 106
SIMODRIVE POSMO SI All 1, 2, 3, 5, 101, 102, 105
SIMODRIVE sensor isochronous External encoder 81
SIMODRIVE sensor (PROFIBUS) External encoder 81
SIMODRIVE sensor (PROFINET) External encoder 81, 83
MASTERDRIVES MC All 1 to 6 2)
MASTERDRIVES VC Speed-controlled axis 1, 2
MICROMASTER 4xx Speed-controlled axis 1
SINAMICS S120 All 1 to 6, 83, 102, 103, 105, 106, 125 3), 126 3)
SINAMICS Integrated (SIMOTION D) All 1 to 6, 83, 102, 103, 105, 106, 125 3), 126 3)
SINUMERIK ADI4, SIMATIC IM174 All 3
1)
For further details, see also the SIMOTION SCOUT Configuration Manual and the accompanying 611U product description.
2)
For further details, see also the SIMOTION SCOUT Configuration Manual and the accompanying MD MC product
description.
3)
As of SIMOTION V4.4 with SINAMICS V4.7

Table 3-17 Telegram types

Telegram type Brief description

Standard telegrams
1 n-set interface, 16-bit, without encoder
2 n-set interface, 32-bit, without encoder
3 n-set interface, 32-bit, with encoder 1

TO Axis Electric / Hydraulic, External Encoder

54 Function Manual, 04/2014
 Axis fundamentals
3.4 Axis settings / drive assignment

Telegram type Brief description

4 n-set interface, 32-bit, with encoder 1 and encoder 2
5 n-set interface, 32-bit, with DSC and encoder 1
6 n-set interface, 32-bit, with DSC, encoder 1 and encoder 2
81 Encoder telegram with 1 encoder channel
83 n-act. interface, 32-bit, extended encoder telegram with 1 encoder channel
Siemens telegrams
101 n-set interface
102 n-set interface with encoder 1 and torque limiting
103 n-set interface with encoder 1, encoder 2 and torque limiting
105 n-set interface with DSC, encoder 1 and torque limiting
106 n-set interface with DSC, encoder 1, encoder 2 and torque limiting
125 n-set interface with DSC with spline, encoder 1 and torque limiting
126 n-set interface with DSC with spline, encoder 1, encoder 2 and torque limiting

Information on the activation of technology data blocks can be found in Chapter Technology
Data.

See also
Technology data (Page 183)

3.4.4.10 Coupling of digital drives

Separation of reference value and maximum value (as of V4.0 through < V4.2)
With V4.2 and higher, the reference/maximum velocity, reference/maximum torque, and
reference/maximum force are adapted by the SINAMICS drive during runtime by default. The
following is not relevant in this context.
For digital drive coupling, the reference value for sending the speed or velocity to the drive can
be configured independently of the maximum value. Alternatively, the maximum speed/velocity
can still be used as the reference value. This can be defined accordingly in the
driveData.speedReference or linearMotorDriveData.speedReference configuration data
element.
When a new axis is created and coupled with a digital drive, the normalization speed/velocity
is pre-selected as the reference value by default in the axis wizard. The maximum speed/
velocity can be entered independently.
With SIMODRIVE and MASTERDRIVE, this data must be entered manually. You must make
sure that the reference values are the same on the drive and the controller.

In all cases, you still have the option of setting the maximum velocity as the reference velocity.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 55
Axis fundamentals
3.4 Axis settings / drive assignment

Figure 3-13 Setting the normalization speed and maximum motor speed

In the axis wizard, the drive settings are displayed as default settings.
For a coupling with SINAMICS, you can use the Data transfer from the drive button to transfer
the normalization speed/velocity and the maximum speed/velocity from the offline
configuration of the drive. If the relevant drive parameters are modified online, they must be
uploaded and saved to the project prior to the data transfer.

SINAMICS Safety Integrated Extended Functions

See Overview - Support of SINAMICS Safety Integrated Functions on the Axis technology
object (Page 251).

Drive communication based on DPV1 services

Drive communication based on DPV1 services facilitates acyclic communication with the drive,
e.g. making it possible to read and write drive parameters.
For more information, see Drive communication based on DPV1 services (Page 229).

Time-of-day synchronization SIMOTION - SINAMICS

As of V4.2, SIMOTION features automatic time-of-day synchronization.
The time of day on the SINAMICS drive system is synchronized with the master SIMOTION
system and the time ratio between SINAMICS messages and SIMOTION messages is correct.

TO Axis Electric / Hydraulic, External Encoder

56 Function Manual, 04/2014
 Axis fundamentals
3.4 Axis settings / drive assignment

For firmware versions < V4.2, see Drive communication based on DPV1 services (Page 229).
The following control units support time synchronization:
● SINAMICS Integrated of the SIMOTION D
● CX32/CX32‑2 controller extensions
● SINAMICS S120 CU310, CU310‑2, CU320, CU320‑2 Control Units connected via
PROFIBUS or PROFINET
Requirement: SIMOTION V4.4 and higher

See also
Overview - Support of SINAMICS Safety Integrated Functions on the Axis technology object
(Page 251)
Adjustable response to RELEASE_DISABLE (Page 378)
Drive communication based on DPV1 services (Page 229)
Overview of torque limiting via torque reduction (Page 174)

3.4.5 Setting as a real axis with stepper drive C2xx (V3.2 and higher)
Possible drive types for stepper motors:
● Stepper motor with encoder
● Stepper motor without encoder
In this case, stepper motor is entered as the encoder mode and the encoder side is not
used.
When you select stepper motor without encoder on drive 1, encoder input 1 is assigned
automatically since this data is traced back to it within the system. Drive 1 cannot be selected
if the encoder input is no longer free.
For stepper motors, you can enter the number of steps and the stepping rate. The speed of
rotation is then calculated and displayed.

3.4.6 Stepper drives on IM174 and stepper drives with PROFIBUS interface
The IM174 module is available as the interface for stepper drives for all SIMOTION platforms.
From the SIMOTION perspective, stepper drives linked via IM174 behave like digital drive
links.
Alternatively, stepper drives can be linked with a PROFIBUS interface if they support the
PROFIdrive profile.
You can find more information in the Distributed I/Os IM 174 PROFIBUS Module Manual.

See also
Coupling of digital drives (Page 55)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 57
Axis fundamentals
3.4 Axis settings / drive assignment

3.4.7 Setting as a real axis with encoder signal simulation (V4.0 and higher)
With this setting, no drive/actuator is connected via the Axis technology object. An angle signal
is output directly to a third-party control via the SINAMICS TM41 peripheral module (encoder
simulation).
The output angle signal behaves just like the signal from an incremental encoder.

Enable signal
The enable signal to the drive is activated with _enableAxis() (enableMode=ALL); the enable
is displayed by the system variables actormonitoring.driveState = ACTIVE and
actormonitoring.power = ACTIVE.

See also
Encoder signal output (V4.0 or later) (Page 147)

3.4.8 Setting a non-exclusive drive assignment (as of V4.1 SP1)

The typeOfAxis.setpointDriverInfo.InterfaceAllocation setting is used to assign the drive/
actuator of the axis to the drive, either exclusively (in versions up to and including V4.0) or non-
exclusively (as of V4.1 SP1). For non-exclusive assignment, you must specify whether this
drive interface should be activated when the technology object is ramped up.
With non-exclusive drive assignment, you can interconnect several Axis technology objects
with one drive.
The _enableAxisInterface() and _disableAxisInterface() commands or the actor=YES function
parameter are used to activate and deactivate the actuator interface during operation.
The Activated/Deactivated drive interface status is displayed in the actorMonitoring.output
system variable.

See also
Non-exclusive encoder assignment (as of V4.1 SP1) (Page 78)

TO Axis Electric / Hydraulic, External Encoder

58 Function Manual, 04/2014
 Axis fundamentals
3.4 Axis settings / drive assignment

3.4.9 Setting as a real axis without drive (axis simulation)

It is possible to switch a real axis to simulation status even if the drive is not connected. The
axis simulation status is displayed in the configuration dialog for the axis under drive and
encoder assignment.

0RWLRQFRQWURO

5HIHUHQFHYDULDEOHJHQHUDWLRQ

3RVLWLRQ 37
3URJUDP VLPXODWLRQLQWKH
,QWHUSRODWLRQ FRQWURO FRQWUROOHU
LQWHUIDFH
VHUYR

9LUWXDOD[LV

5HDOD[LV
Figure 3-14 Axis simulation functional scheme

The dynamic behavior of the axis is simulated with the total time constant via an internal PT1
element.
The axis is thus available for the user program in the basic functions (e.g. setting of enables,
execution of motion commands), but the manipulated variable is not output to the connected
or missing drive.
There is no need for precise dynamic modeling of signals.
The simulation of an axis with an "analog output via I/O peripheral" drive assignment is not
supported.
The complete axis configuration is kept when setting the simulation status and is still available
without any changes after switching back in the expert list to the normal mode status.

Table 3-18 Settings in the configuration data

TypeOfAxis.SetPointDriverInfo.mode = SIMULATION
TypeOfAxis.SetPointDriverInfo.outputNumberOnDevice =0
TypeOfAxis.NumberOfEncoders.Encoder_1.encoderIdentification = SIMULATION
TypeOfAxis.NumberOfEncoders.Encoder_1.DriverInfo.encoderNumberOnDevice =0
TypeOfAxis.NumberOfDataSet.DataSet_x.ProcessModel.T1 (V4.0 and higher) Time constant T1
TypeOfAxis.NumberOfDataSet.DataSet_x.ProcessModel.T2 (V4.0 and higher) Time constant T2

Comments
● All real axis types can be set to SIMULATION.
● The process response/axis response is simulated from processModel.T1 and
processModel.T2 via the PT1 element with the total time constant (T1+T2).

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 59
Axis fundamentals
3.4 Axis settings / drive assignment

● Homing to the encoder zero mark and the external zero mark is not possible in Axis
simulation mode.
● Output cam functions are executed.
● Only measuring input via time stamp is possible.
● If an axis with the DSC setting is set to SIMULATION, the position controller is calculated
in the position control cycle clock in the control/simulation driver, i.e. it may be necessary
to cancel the gain and adjust the following error monitoring.
● Unlike program simulation, the drive does not need to be present and the position controller
remains active with simulated drive behavior.
● The simulation mode is provided for actuators and sensors. Technology data (such as the
technology data block) of an axis cannot be simulated. Deactivate them when the axis is
switched to simulation mode.
● The _setAxisSTW() command is not active in simulation mode.

As of SIMOTION V4.2

Axes with symbolic drive allocation

If symbolic allocation is set and if an axis allocated to a SINAMICS drive is to be removed from
axis simulation, then this axis must be reallocated to the drive again.

Axes without drive assignment

If the axis is not yet assigned (see also Real and virtual axes (Page 36)), the logical addresses
for the actuator and encoder must be converted.
To do this, set the following configuration data in the expert list to a free and valid address:
The address must not be equal to 65535 and the same one must be used for all four items of
configuration data, e.g. 15000.
Configuration data:
● TypeOfAxis.SetPointDriverInfo.logAdressIn
● TypeOfAxis.SetPointDriverInfo.logAdressOut
● TypeOfAxis.NumberOfEncoders.Encoder_n.DriverInfo.logAdressIn
● TypeOfAxis.NumberOfEncoders.Encoder_n.DriverInfo.logAdressOut
When deactivating the simulation, set each of the values for this configuration data back to
65535.

Note
A script is available to switch the axis simulation on and off for axes with and without symbolic
drive assignment. This script can be integrated into a project via the ProjectGenerator
(accessible from SCOUT). You can find the script in SIMOTION Utilities & Applications, which
is part of the scope of delivery of SIMOTION SCOUT.

TO Axis Electric / Hydraulic, External Encoder

60 Function Manual, 04/2014
 Axis fundamentals
3.4 Axis settings / drive assignment

See also
Enabling/disabling program simulation (Page 362)
Coupling of digital drives (Page 55)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 61
Axis fundamentals
3.5 Encoders and encoder parameters

3.5 Encoders and encoder parameters

3.5.1 Overview of encoders and encoder parameters

Sensing of the actual position value can be performed using:
● Motor measuring system (motor encoder)
● Additional direct measuring systems (external encoders), if necessary
The adaptation of relevant drive data is activated automatically as of SIMOTION V4.2 in
conjunction with SINAMICS S120 as of V2.6.2. The encoder parameters are adapted
automatically.
A direct measuring system measures the technological parameter directly, i.e. without the
interference of influences such as torsion, backlash, slip, etc.
This may facilitate improved smoothing of mechanical influences by means of the closed-loop
control.
Up to eight encoders can be generated on the axis. All generated encoders are internally
active, and the measured values are updated cyclically. It is possible to switch between the
encoders via data sets. Whether an encoder is active for closed-loop control is displayed in
the sensorData[n].control system variable.
Several data sets can be assigned to one axis. These data sets can contain different encoders.
A data set is active.
Encoders can be added and parameterized in the Axis technology object under
Configuration on the Encoder configuration tab.
Via the
typeOfAxis.numberOfEncoders.Encoder_1.sensorControlConfig.tolerateSensorDefect
setting (V4.0 and higher), it is possible to tolerate the failure of an encoder which is not selected
or which is not involved in the closed-loop control. This setting is defined for individual encoders.
It is output via Alarm 20015.
For more information on data set switchover and encoder configuration, see Data set
switchover / encoder switchover (Page 206).

See also
Data set overview (Page 206)

3.5.2 Encoder for position

The controller uses an encoder to detect the axis position.
From a technological standpoint, the following encoder types can be differentiated:

TO Axis Electric / Hydraulic, External Encoder

62 Function Manual, 04/2014
 Axis fundamentals
3.5 Encoders and encoder parameters

● Incremental encoder
On the controller side, only the difference between two read encoder values is evaluated.
Values are read out in the servo cycle clock at equal intervals. In order to determine the
mechanical axis position, the axis must be homed each time the system is switched on.
Position zero is displayed after it is switched on.
● Absolute encoder
This encoder supplies the absolute value or, in the case of an absolute value in the
PROFIdrive message frame, the absolute value is read one time after the system is
switched on. After this, the actual value is processed in the same way as with the
incremental encoder.
The absolute value supplied by the encoder is assigned to the associated mechanical axis
position by means of the absolute encoder adjustment. The absolute encoder adjustment
occurs only one time, and the controller remembers the compensation value/absolute
encoder offset even after it is powered on/off.
Certain situations, such as an encoder failure, a restart, etc., can require an absolute
encoder re-adjustment. For more information, refer to the chapter titled Absolute encoder
homing/Absolute encoder adjustment.
The following absolute encoder types are differentiated:
– Absolute encoder with absolute encoder setting
The measuring range of this encoder is greater than the axis traversing range.
The axis position results directly from the current encoder value since this can be
uniquely mapped.
An offset may be entered - it is not necessary to hold overflows within the controller.
There are no overflows of the absolute actual value stored when SIMOTION is switched
off. The next time it is switched on, the actual position value is generated from the
absolute actual value only.
– Absolute encoder with cyclic absolute encoder setting
The axis traversing range is greater than the range of values measured by the encoder,
and the encoder returns an absolute value within its measuring range.
The controller also counts the number of measuring ranges internally in order to hold a
unique actual axis position beyond the range of measured values.
When SIMOTION is switched off, the overflows of the absolute actual value are stored
in the retentive memory area of SIMOTION. The next time it is switched on, the stored
overflows are taken into account for the calculation of the actual position value.
The actual position of the axis is passed internally in a 64-bit integer variable.
Example of a single-turn encoder with 4,096 increments:
The position of the encoder is mapped in bits 0 to 11, and the number of overflows of
the encoder range in bits 12 to 63.
Example of a multi-turn encoder with 4,096 x 4,096 increments:
The position of the encoder is mapped in bits 0 to 23, and the number of overflows of
the encoder range in bits 24 to 63.

The overall position of the axis is retained after the controller is switched off. When the
controller is switched on again, if the actual encoder value does not match the actual
position stored in the controller, it will be corrected to a maximum of ± ½ the encoder
measuring range.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 63
Axis fundamentals
3.5 Encoders and encoder parameters

Note
If the axis/encoder is moved by more than one half the encoder measuring range with
the controller switched off, the actual value in the controller no longer matches the real
axis.

See also
Overview of homing (Page 87)

3.5.3 Encoder for velocity

Encoders for detection and display of the speed/velocity can only be applied to speed-
controlled axes.

Options are:
● Incremental encoders/absolute encoders with number of increments or pulses/revolution
(for electric axes)
● Interval counters (for hydraulic axes)
● Encoders providing the velocity as a direct value in the I/O area (for hydraulic axes)
● Read-out of the speed from the PROFIdrive message frame and provision for technological
functionality, e.g. velocity monitoring

3.5.4 Encoder assignment and terminology

The encoder type is specified with the encoder mode.

Table 3-19 Definable encoder mode depending on the encoder type

Encoder mode Encoder type

Absolute Cyclic absolute Incremental
encoder encoder encoder
PROFIdrive (with adaptation 1)) (as of V4.2) x x x
Endat (encoder data interface) x x x
SSI (synchronous serial interface) x x -
Sinusoidal - - x
Rectangle - - x

TO Axis Electric / Hydraulic, External Encoder

64 Function Manual, 04/2014
 Axis fundamentals
3.5 Encoders and encoder parameters

Encoder mode Encoder type

Absolute Cyclic absolute Incremental
encoder encoder encoder
Resolver - x 2) x
Analog encoder (value in the I/O area) x - -
1)
The adaptation setting (set by the system by default with V4.2 or higher and SINAMICS) makes
changes based on the encoder set in SINAMICS. The encoder resolution and fine resolution are
adopted during runtime.
2)
Possible with single-pole-pair resolver only
When the encoder signals are evaluated in an encoder module or drive, the actual values are
transferred to the controller in the normalized format according to the PROFIdrive profile. The
type of measured value acquisition is dependent on the drive or encoder module, e.g. Sinus,
SSI or Endat. The PROFIdrive encoder mode can therefore be set in the controller (as of V4.2).
As of SIMOTION V4.2, the system makes the settings for communication between SIMOTION
and SINAMICS drive (encoder). The project setting Use symbolic assignment is activated by
default for new projects as of V4.2. Telegrams are set automatically. Encoder characteristics
such as fine resolution, grid spacing, and the absolute value for data width are adapted
automatically when the system ramps up.
For encoder data, refer to the data sheet or type plate of the encoder. With SINAMICS, encoder
data can be transferred from the drive.
The rest of this chapter is only relevant if the project default setting Use symbolic assignment
is deactivated as of V4.2, or if you are working with a project which uses SIMOTION V4.1.

Encoder pulses per revolution

The encoder pulses per revolution is specified on the encoder type plate as the number of
signal periods per revolution (incremental encoder: Pulses/rev; absolute encoder: Pulses/rev;
resolver: Number of pole pairs (for SINAMICS and MASTERDRIVES)).
Configuration data:
● AbsEncoder.absResolution
● IncEncoder.incResolution

Grid line spacing (linear encoder system)

The grid line spacing is specified on the type plate of the encoder as the distance between
lines on the linear measuring system (linear scale).
Configuration data:
● Resolution.distance

Fine resolution
The fine resolution of the actual value is the interpolation result of a signal period of an encoder
pulse.
The fine resolution steps are generated by the measuring electronics from the raw signal of
the encoder pulses. Factors as a multiple of 2 are possible.
Example:

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 65
Axis fundamentals
3.5 Encoders and encoder parameters

● A rectangle signal has a fine resolution of 1

● Two rectangle tracks (TTL signal) offset by 90° have a fine resolution of up to 4
● Depending on the measuring electronics, a sinusoidal signal can have any fine resolution,
in principle, e.g. 2,048
Depending on the defined encoder type, the default value 0 is interpreted differently in
SIMOTION (see table: Default settings for fine resolution in SIMOTION).
In SIMOTION, the multiplication factor is specified, rather than the shift factor/number of bits
(x).
The actual value, including the fine resolution, is indicated in the
sensorData.incrementalPosition system variable.
Configuration data:
● AbsEncoder.absResolutionMultiplierCyclic
● IncEncoder.incResolutionMultiplierCyclic

Data width of absolute value (without fine resolution) for absolute encoders
The data width of the absolute value (without fine resolution) is a result of the sum of the bits
for representing the number of encoder pulses and the bits for representing the maximum
number of revolutions that can be registered by the encoder according to the type plate.
Example:
4,096 pulses/rev (= 212) and a maximum of 4,096 revolutions that can be registered yields a
12 + 12 = 24-bit data width of the absolute value.
Configuration data:
● AbsEncoder.absDataLength

Fine resolution of absolute value in Gn_XIST2.

This parameter for the format of the Gn_XIST_2 is only relevant for encoders via PROFIdrive
telegram (for more information, see Encoder interconnection via PROFIdrive telegram).
Configuration data:
● AbsEncoder.absResolutionMultiplierAbsolute
The fine resolution of the absolute value in Gn_XIST2 must be less than or equal to the fine
resolution of the absolute value in Gn_XIST1.

Default setting for fine resolution.

Depending on the encoder mode, the default settings are evaluated by the system as described
in the table below. The default settings are used if 0 is assigned to the value.

Table 3-20 Default settings for fine resolutions in SIMOTION

Encoder type Encoder mode Fine resolution (Gn_XIST1) Fine resolution on the
absolute value (Gn_XIST2)
Onboard C2xx
Incremental encoder Rectangle 4 -
Stepper motor 1 -

TO Axis Electric / Hydraulic, External Encoder

66 Function Manual, 04/2014
 Axis fundamentals
3.5 Encoders and encoder parameters

Encoder type Encoder mode Fine resolution (Gn_XIST1) Fine resolution on the
absolute value (Gn_XIST2)
Absolute encoder SSI 1 1
Encoder in PROFIdrive axis telegram
(applies to SINAMICS, SIMODRIVE 611U and MASTERDRIVES)
Incremental encoder Rectangle 2048 -
Sinusoidal 2048 -
Resolver 2048 -
Endat 2048 -
Absolute encoder Endat 2048 512
SSI 1 1
...Cyclic absolute Resolver 2048 512
(only pole pair number 1
possible)
Endat 2048 512
SSI 1 1
PROFIBUS absolute encoder in PROFIdrive encoder telegram
Absolute encoder SSI 2(32 - Number of data bits) 1

These settings are aligned to the default parameter settings of the corresponding Siemens
devices. If the behavior is different, alignment with the encoder should be performed by making
a corresponding entry in the configuration data of the technology object or in the parameters
of the drive or encoder. Depending on the device it may be necessary to assign the
corresponding parameters in the drive or encoder with the value of the exponent (shift factor).
Device-specific features for Masterdrives with Endat encoders:
For Masterdrives with Endat encoders, Endat or SSI can be selected in the encoder mode.
However, the fine resolution must always be configured in the axis wizard of the Axis or External
Encoder technology object differently from the default settings (see Encoder list (Page 68)).
Default setting:
● Fine resolution (~Encoder.~ResolutionMultiplierCyclic) = 0
● Fine resolution of the absolute encoder in Gn_XIST2
(AbsEncoder.absResolutionMultiplierAbsolute) =0
● If encoderMode=PROFIDRIVE, the values are evaluated as available, since the correct
values are adapted by the drive. A default setting of 0 is not permitted for this setting.

See also
Encoder interface as a direct value in the I/O area (Page 73)
Encoder list (Page 68)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 67
Axis fundamentals
3.5 Encoders and encoder parameters

3.5.5 Encoder list

For the most up-to-date list of encoders you can use with SIMOTION in conjunction with
SINAMICS, SIMOVERT-MASTERDRIVES, and SIMODRIVE 611U, go to http://
support.automation.siemens.com/WW/view/de/18769911.
The encoder list is also documented under FAQs > Drives > Parameters of the connectable
encoders in the SIMOTION Utilities & Applications and in the online help (look for encoder
parameter assignment in the index). SIMOTION Utilities & Applications is part of the scope of
delivery of SIMOTION SCOUT.

3.5.6 Onboard encoder interface on SIMOTION C2xx

Incremental encoders with TTL signal and absolute encoders with SSI protocol can be
connected directly to C230-2 or C240. (See the C230‑2 and C240 operating instructions and
Encoder list (Page 68))

See also
Encoder list (Page 68)

3.5.7 Encoder interface using the PROFIdrive message frame

As of SIMOTION V4.2, the system sets up communication between SIMOTION and SINAMICS
drive (encoder). For SINAMICS drives and encoders with V4.2 and higher, encoder resolution
data is transferred directly from the drive during runtime. Telegrams are set automatically.
The rest of this chapter is only relevant if the project default setting Use symbolic assignment
is deactivated as of V4.2, or if you are working with a project which uses SIMOTION V4.1.
The encoder values are transmitted in the PROFIdrive telegram (see Table Telegram types in
Section Setting as a real axis with digital drive coupling).
Encoder forced values, status values, and actual values are transmitted in the PROFIdrive
telegram.
The encoder behavior on SIMOTION is set as represented in the PROFIdrive protocol.
The encoder parameters are defined via the drive wizard during drive configuration (either
user-defined or by selecting the encoder).

TO Axis Electric / Hydraulic, External Encoder

68 Function Manual, 04/2014
 Axis fundamentals
3.5 Encoders and encoder parameters

Encoder parameters that are entered subsequently in the SIMOTION axis wizard must match
the encoder parameters in the drive.

Note
For SINAMICS drives with earlier versions than SIMOTION V4.2, it is possible to transfer the
encoder parameters from the drive. When assigning encoders in the axis wizard, click Data
transfer from the drive.
If you are using a DRIVE-CLiQ component with electronic type plate (e.g., SMI motor, DRIVE-
CLiQ encoder) you must first upload the parameters from the drive and save them in the
project (online commissioning). If the online commissioning is carried out at a later point, you
can work with the default settings of the axis wizard in the meantime during offline
configuration. Once online commissioning is complete, upload the drive parameters, save
them in the project, run the axis wizard again, and perform the Data transfer from drive
function.
If you change the encoder data in the drive, you must perform an alignment again in the axis
wizard.

Further sources of information:

● Encoder list (Page 68)
● User Manual SIMODRIVE sensor Absolute encoder with PROFIBUS‑DP
● Operating Instructions Absolute encoder with PROFINET IO (Chapter Operating with
SIMOTION)

Encoder value via PROFIdrive axis telegrams

For further information, refer to the commissioning manuals for the drives.
The first and (if present) second encoder of the PROFIdrive axis telegram can be assigned
freely to an External Encoder technology object or to the encoder of an axis.

Encoder value via PROFIdrive encoder telegram 8x

PROFINET/PROFIBUS encoders can be set in accordance with the current specifications of
the encoder profile with telegram type 81 and as of V4.2, with telegram type 83. These
encoders can be assigned freely. See also PROFINET/PROFIBUS absolute encoder via
PROFIdrive encoder telegram in the next chapter.

Inconsistent configuration
In the event of errors or inconsistencies between the configuration data in SIMOTION and the
parameter settings for the encoder in the drive, a technological alarm is triggered as soon as
an online connection is established between the control and the drive/encoder.
As off SIMOTION Runtime V4.4: Technological alarm 20025 with applicable reason
In SIMOTION Runtime < V4.4: Technological alarm error 20005: Device type:2, log.address:
1234 faulty. (Bit:0, reason: 0x80h)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 69
Axis fundamentals
3.5 Encoders and encoder parameters

For PROFIdrive encoders and encoders on the axes according to PROFIdrive, a comparison
of the parameter assignment takes place via the following drive/encoder parameters:
P979 (SensorFormat) according to PROFIdrive, which contains information about the type,
resolution, and shift factors.
For drives or encoders that do not support parameter P979, the configuration data is evaluated
as valid without alarm message.

Actual value Gn_XIST1

The incremental actual value is transferred cyclically with the defined fine resolution in
Gn_XIST1. The incremental actual value in Gn_XIST1 is steadily continued according to the
actual value change and reset when the data width of Gn_XIST1 is exceeded. If operating with
incremental and absolute encoders, the control evaluates the incremental actual value in
Gn_XIST1 according to the settings made for encoder pulses per revolution and fine resolution,
or grid line spacing for linear scaling.
When the controller is switched on, the fine resolution value within one encoder signal period
is indicated correctly in Gn_XIST1. The initial value for the number of signal periods is set by
the drive/encoder, and the actual value can then be steadily continued from this initial value.
In the PROFIdrive profile, the fine resolution is given as "shift factor" (x).
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

,QFUHPHQWV )LQHUHVROXWLRQ

Figure 3-15 Example composition of the 32-bit encoder data of the cyclic actual value Gn_XIST1

Example of for an encoder with number of encoder pulses = 2048 (data width, 11 bits)
The fine resolution in SIMOTION in the Inc/AbsResolutionMultiplierCyclic configuration data
element is set to the default setting 0 and is thus evaluated as a default fine resolution of 2048
(the default value depends on the encoder mode setting; see Table Default settings for fine
resolution in SIMOTION).
SIMODRIVE 611U:

Table 3-21 Settings

SIMOTION 611U
Encoder pulses per revolution 1)
=2048 P1007 =2048
Fine resolution 2) =0 (≡ 2048) P1042 =11
1)
Inc/AbsEncoder.Inc/AbsResolution
2)
Inc/AbsEncoder.Inc/AbsResolutionMultiplierCyclic
SINAMICS:

TO Axis Electric / Hydraulic, External Encoder

70 Function Manual, 04/2014
 Axis fundamentals
3.5 Encoders and encoder parameters

Table 3-22 Settings

SIMOTION SINAMICS
Encoder pulses per revolution 1)
=2048 P408 =2048
Fine resolution 2) =0 (≡ 2048) P418 =11
1)
Inc/AbsEncoder.Inc/AbsResolution
2)
Inc/AbsEncoder.Inc/AbsResolutionMultiplierCyclic
Note the information about the SINAMICS alignment.

Actual value Gn_XIST2

If the positions for the measuring input or homing functions are transferred to Gn_XIST_2 (n
= 1 or 2, number of encoder), they are transferred with the fine resolution defined for the
encoder.
When the absolute value is read, the value in Gn_XIST_2 is evaluated based on the settings
for the data width of the absolute value (without fine resolution) in
AbsEncoder.absDataLength and the fine resolution absolute value in Gn_XIST2 is evaluated
in AbsEncoder.absResolutionMultiplierAbsolute.
The fine resolution of the absolute value in Gn_XIST2 indicates the fine resolution factor
included in the absolute value transfer. This can match the fine resolution of the actual value,
but it can also be smaller, for example, if the 32-bit data width in Gn_XIST2 is not sufficient for
the entire fine resolution factor as a result of the data width of the absolute value (without fine
resolution).
Example:
Encoder pulses per revolution = 2048 (11 bits) and multi-turn resolution of 4,096 revolutions
(12 bits)
Thus, the data width of the absolute value without fine resolution is 11 bits + 12 bits = 23 bits.
Therefore, 9 bits remain for the fine resolution in Gn_XIST2 (32 bits - 23 bits = 9 bits). The
setting 0 for the fine resolution of the absolute value in Gn_XIST2 is thus evaluated by the
system as 512 (= 9 bits).

Table 3-23 Setting the encoder data

Encoder pulses per revolution 1) 2048

Data width of absolute value (without fine resolution) 2) 23
Fine resolution of absolute value in Gn_XIST2 3) 0 (= 512)
Fine resolution 4)
0 (= 2048)
1)
AbsEncoder.AbsResolution
2)
AbsEncoder.absDataLength
3)
AbsEncoder.absResolutionMultiplierAbsolute
4)
AbsEncoder.AbsResolutionMultiplierCyclic

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 71
Axis fundamentals
3.5 Encoders and encoder parameters

31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

0XOWLWXUQUHVROXWLRQ (QFRGHUSXOVHVSHU )LQHUHVROXWLRQ

UHYROXWLRQ
1XPEHURIGDWDELWV

Figure 3-16 Example composition of the 32-bit encoder data of the absolute actual value Gn_XIST2

The number of bits resulting from the data width of the absolute value (without fine resolution)
and the number of data bits for the fine resolution of the absolute actual value must not exceed
32. If it is less than 32, leading zeroes are added in Gn_XIST2.

Resolver in PROFIdrive axis telegram

For SINAMICS and MASTERDRIVES, parameters are assigned for the pole pair number of
the resolver rather than the encoder pulses per revolution (example: 8-pole resolver = 4 pole
pairs → input value = 4).
With SIMODRIVE, parameters are assigned for the encoder pulses per revolution based on
parameter P1011.2
As of V4.1 SP1, the resolver with pole pair number 1 is supported as an absolute encoder with
the cyclic absolute setting. (encoder pulses per revolution = 1, data width of the absolute value
= 0, default value evaluation: fine resolution = 2048, fine resolution Gn_XIST2 = 512)
When a 1-pole resolver is used as Endat encoder, the p418(XIST1) and p419(XIST2)
parameters must be set to "11" to prevent information loss of the absolute position. (Settings
on the axis: absolute encoder, cyclic absolute, Endat, line count = 1, fine resolution = 2048,
fine resolution absolute value = 2048, data width = 0)
See also the Encoder list (Page 68).

PROFINET/PROFIBUS absolute encoder via PROFIdrive encoder telegram

The data width of the encoder value in the technology object configuration data in SIMOTION
must match the parameter settings for the PROFINET/PROFIBUS absolute encoder in HW
Config.
See also the Encoder list (Page 68).
Example:
Parameter settings of a PROFIBUS absolute encoder in HW Config with 24-bit data width of
the absolute value.
The 'SIMODRIVE isochronous sensor' PROFIBUS absolute encoder in HW Config is defined
according to the default setting for 24-bit data width and encoder pulses per revolution of 4096:
measuring steps per revolution = 4096
24-bit data width for the total resolution yields 0x01000000 (32-bit HEX number). This number,
represented separately in HighWord and LowWord, equals 0x0100 in the HighWord and
0x0000 in the LowWord. The decimal values of these two parts (0x0100 = 256 decimal) are
to be entered as follows:
total resolution (high) = 256
total resolution (low) = 0
This results in the following consistent configuration for the technology object:
the encoder value is transferred left-justified to Gn_XIST1; the unused bits of the fine resolution
are set to 0 according to PROFIdrive, but must be specified in the fine resolution of the actual
value. This results in a fine resolution of 8 bits (32 bits - 24 bits = 8 bits) (28 = 256 as a factor).

TO Axis Electric / Hydraulic, External Encoder

72 Function Manual, 04/2014
 Axis fundamentals
3.5 Encoders and encoder parameters

According to the setting above, the absolute value in Gn_XIST2 has a right-justified alignment
and therefore a fine resolution of the absolute value in Gn_XIST2 of 0 bits (20 = 1 as a factor).

Encoder via PROFIdrive axis telegram on ADI4 and IM174

At least one electric or hydraulic axis must be configured on ADI4/IM174.
The defined update rate (BaudRate) for SSI encoders must be supported by the encoder.
See also the Encoder list (Page 68).
For more information about configuration and operation, refer to the ADI4 - Analog Drive
Interface for 4 Axes Manual and Distributed I/Os IM 174 PROFIBUS Module Manual. These
documents are provided on the SIMOTION Documentation DVD.

Note
An encoder in a PROFIdrive axis telegram can only be used for an external encoder TO or
for the encoder of a TO axis in cyclical operation if a TO axis is also created on the PROFIdrive
telegram and is not deactivated.

See also
Coupling of digital drives (Page 55)
Encoder list (Page 68)

3.5.8 Encoder interface as a direct value in the I/O area

Encoders can be used that
● Provide actual value information directly as absolute value in the input/output area.
● Provide a counter value in the peripheral area (as of V4.0).
● Provide an actual velocity in the peripheral area.

Actual value information directly as absolute value

These encoders must be parameterized and operated as absolute encoders, for example with
respect to homing.
The following settings are provided to set the adaptation to the properties of the measured
value:

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 73
Axis fundamentals
3.5 Encoders and encoder parameters

● The justification of the measured value in the

NumberOfEncoders.Encoder_n.AnalogSensor.DriverInfo.format configuration data
element
– signed left-justified (VALUE_LEFT_MARGIN)
– signed right-justified (VALUE_RIGHT_MARGIN)
– unsigned left-justified (VALUE_LEFT_MARGIN_WITHOUT_SIGN)
– unsigned right-justified (VALUE_RIGHT_MARGIN_WITHOUT_SIGN)
● The data width of the measured value without the sign bit in the
NumberOfEncoders.Encoder_n.analogSensor.DriverInfo.resolution configuration data
● The upper limit and lower limit, the maximum limits of the measured value in the following
configuration data
– NumberOfEncoders.Encoder_n.AnalogSensor.DriverInfo.maxValue
– NumberOfEncoders.Encoder_n.AnalogSensor.DriverInfo.maxValue
Example: Use of an ET 200S, SSI module, or an analog input.

Justification of the measured value

The measured value is mapped to an internal 32-bit wide signed data value of the DINT type
in accordance with the justification specification. The mapped value is then tested with actual
value limitation against the maximum limits and evaluated using the weighting factor for the
NumberOfEncoders.Encoder_n.AnalogSensor.ConversionData.factor direct value that
specifies the technological resolution or assignment of the LSB.
Regardless of the sign, the encoder resolution/measured value width is limited to maximum
31-bit, because the configuration data of the maximum limits are signed data values of the
DINT type.

For the Left-justified/Right-justified without sign setting, the measured value for the setting of
the encoder resolution/measured value width is processed as follows:
● At ≤16Bit the measured value left-justified/right-justified is mapped to the least-significant
byte 1 and byte 2 of an internal data value of the DINT type. In this process, the missing
16 bits minus the measured value width of the least-significant byte 1 and byte 2 are right/
left-padded with zeros and the most-significant byte 3 and byte 4 are filled with zeros.
● > At 16Bit the measured value left-justified/right-justified is mapped to an internal data value
of the DINT type. In this process, the missing 32 bits minus the measured value width are
right/left-padded with zeros.
As this mapped measured value is tested against the maximum limits of the data type DINT,
the encoder resolution/measured value width is limited to maximum 31 bits. This means
the measuring range is limited to maximum 50% of the measured value width.

TO Axis Electric / Hydraulic, External Encoder

74 Function Manual, 04/2014
 Axis fundamentals
3.5 Encoders and encoder parameters

Left-justified without sign Encoder_n.AnalogSensor.

DriverInfo.resolution
x Actual value bits
Byte 4 Byte 2 Byte 1
Data bits screen form

32 25 16 9 8 1 1 Data bits taken into account

1
0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 Hidden data bits
16
0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
17
1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
31
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
and Actual value
<17
x x x x x x x x x x x x x x x x
Raw value

and
0 0 0 0 0 0 0 0 1. . 1. 1 1 1 1 1 1 1 1 1 1 1 1 1 1 >16
x x x x x x x x x. . x. x x x x x x x x x x x x x x

Figure 3-17 Masked reading of the analog IO value left-justified without sign

Right-justified without sign Encoder_n.AnalogSensor.

DriverInfo.resolution
x Actual value bits
Byte 4 Byte 2 Byte 1
Data bits screen form

32 25 16 9 8 1 1 Data bits taken into account

1
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1
0 Hidden data bits
16
0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
17
0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
31
0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
and Actual value
<17
x x x x x x x x x x x x x x x x
Raw value

and
0 0 0 0 0 0 0 0 1. . 1. 1 1 1 1 1 1 1 1 1 1 1 1 1 1 >16
x x x x x x x x x. . x. x x x x x x x x x x x x x x

Figure 3-18 Masked reading of the analog IO value right-justified without sign

For the Left-justified/Right-justified without sign setting, the measured value for the setting of
the encoder resolution/measured value width is processed as follows:
● At <16Bit the measured value left-justified/right-justified is mapped to the least-significant
byte 1 and byte 2 of an internal data value of the DINT type. For left-justified, the missing
15 bits minus measured value width of the least-significant byte 1 and byte 2 are right-
padded with zeros and the sign bit is extended left to bit 32. For right-justified, the sign bit
is padded left to bit 32.
● At ≥16Bit the measured value left-justified/right-justified is mapped to an internal data value
of the DINT type. For left-justified, the missing 31 bits minus measured value width are right-
padded with zeros. For right-justified, the sign bit is padded left to bit 32.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 75
Axis fundamentals
3.5 Encoders and encoder parameters

Left-justified with sign

Encoder_n.AnalogSensor.
DriverInfo.resolution x Actual value bits
32 Byte 4 25 16 Byte 2 9 8 Byte 1 1 1 Data bits taken into account
Data bits screen form

1
0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Hidden data bits
15 1 Sign bit
0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
16 not
1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
31
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
>0 or >0
<16 and
x x x x x x x x x x x x x x x x and 0 0 Actual value
Raw value

0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 >15
x x x x x x x x x x x x x x x x x x x x x x x x

32 Byte 4 25 16 Byte 2 9 8 Byte 1 1

Sign bit screen form

0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1

0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 15
and
1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 16

1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 31

Figure 3-19 Masked reading of the analog IO value left-justified with sign

Right-justified with sign

Encoder_n.AnalogSensor.
DriverInfo.resolution x Actual value bits
32 Byte 4 25 16 Byte 2 9 8 Byte 1 1 1 Data bits taken into account
Data bits screen form

1
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 Hidden data bits
15 1 Sign bit
0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
16 not
0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
31
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
>0 or >0
<16 and
x x x x x x x x x x x x x x x x and 0 0 Actual value
Raw value

0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 >15
x x x x x x x x x x x x x x x x x x x x x x x x

32 Byte 4 25 16 Byte 2 9 8 Byte 1 1

Sign bit screen form

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1

0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 15
and
0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 16

1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 31

Figure 3-20 Masked reading of the analog IO value right-justified with sign

Counter value (as of V4.0)

The encoder is set as an incremental encoder. 16 bits or 32 bits can be set as counter value
width.
Example: Use of an ET 200S, COUNT module

TO Axis Electric / Hydraulic, External Encoder

76 Function Manual, 04/2014
 Axis fundamentals
3.5 Encoders and encoder parameters

Actual velocity
The actual value information can include the number of pulses between two scans or,
alternatively, the time interval between two sequential pulses. This type of encoder is used,
for example, to measure actual velocities with the hydraulic axis functionality.
Example: Use of an ET 200S, COUNT module

Direct value as absolute value in I/O area (as of V4.1 SP1)

The following bits can be configured for the direct value as absolute value in the I/O area:
● Ready bit via the elements of the analogSensor.readyStateMonitoring configuration data
element
● Error bit via the elements of the analogSensor.errorStateMonitoring configuration data
element
These can be used for evaluation on the Axis technology object of a ready identifier and an
error identifier, which are available from the peripheral module in addition to the measured
value.
In SIMOTION V4.1 SP1, this configuration data is defined directly in the expert list.
If the not ready status or an error is displayed in these identifiers during operation, and the
ready bit or error bit is configured, technology alarm 20005 is issued with the sensor error
identifier.
If the Axis technology object is ready during ramp-up, but the direct value in the I/O area is not
yet in ready status, the WAIT_FOR_VALID Sensor status is displayed on the encoder.
(sensorData[n].state system variable)
As of V4.1 SP1, the direct value in the I/O area does not have to be updated in every equidistant
communication cycle (for example, if an encoder connected to the peripheral module is not
able to supply a new measured value in each cycle during a fast communication cycle clock
due to measurement reasons or processing time reasons). In such cases, the actual value is
extrapolated by the control.
The control supports the following options:
● The peripheral module displays the new measured value set in an update bit/update
counter. The update bit or update counter is defined in the analogSensor.UpdateCounter
configuration data element.
UpdateCounter configuration: The update counter can be one (toggle) bit or several
(counter) bits in width.
● The refresh cycle of the actual value in the peripheral module is known and is defined
directly in the analogSensor.UpdateCounter.updateCycle configuration data element.
Default setting with refresh cycle = 1 (default behavior for updating in every cycle clock)

3.5.9 Encoder value via system variable

A position or velocity value can also be defined directly in a system variable
(sensorSettings.actualValue) from the user program, for example. With this value, it is possible,
for example, to simulate the actual technological value for an axis or to provide the value from

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 77
Axis fundamentals
3.5 Encoders and encoder parameters

any encoder/I/O value (for which there does not exist a TO interface) via the user program and
to apply it to the axis as an actual value.
This behavior is defined in
TypeOfAxis.numberOfEncoders.Encoder_x.encoderIdentification=SET_ACTUAL_VALUE.
This encoder type can be defined on the axis and the external encoder.
The update rate for the default setting (updateCycle) and the maximum number of servo clocks
(maxFailures) in which the system variable is not written are specified in the
StructAxisSensorSetActualValueConfig configuration data structure.
The sensorSettings.actualValue system variable must be provided in the cyclical level set in
the typeOfAxis.NumberOfEncoders.Encoder_x.SensorSetActualValue.updateCycle
configuration data. If, for example, in the user program of the IPOsynchronousTask, the actual
position is written cyclically to sensorSettings.actualValue, ~.updateCycle = IPO must be set.
The value specified in sensorSettings.actualValue is accepted using the set refresh rate
(SensorSetActualValue.updateCycle) and extrapolated linearly in between.
SensorSetActualValue.maxFailures always refers to the servo clock. The
SensorSetActualValue.updateCycle setting does not have any affect.
Example:
If the sensorSettings.actualValue system variable is updated in the IPO cycle clock and
IPO:Servo is set 2:1, SensorSetActualValue.maxFailures = 1 must be set.

3.5.10 Non-exclusive encoder assignment (as of V4.1 SP1)

The sensor/encoder of the axis can be defined as exclusive or non-exclusive in
typeOfAxis.NumberOfEncoders.Encoder_x.interfaceAllocation. If it is defined as non-
exclusive, you must also specify whether the encoder interface should be activated when the
technology object is ramped up.
The functionality supports the configuring of an encoder on several axes. However, the
encoder can only be evaluated on one axis at a time.
The _enableAxisInterface() or _disableAxisInterface() commands and the
sensor=<sensorNumber> function parameter are used to activate and deactivate the encoder
interface during operation and the specification of the sensor. Because the sensor function
parameter is encoded as bits, it is also possible to activate/deactivate several encoders
concurrently. If the bit is not set, the encoder interface status remains unchanged.
The Activated/Deactivated encoder interface status is displayed in the
sensorData.sensorData[i].input system variable.
Example:

sensor=5 Activation/deactivation of the encoder interface 1 and 3

Also refer to the parameters description in the reference lists.
These commands are not available for enabling/disabling the actuator/sensor interface on the
hydraulic axis. For information on the hydraulic functionality, see Access to the same final
controlling element from multiple axes (Page 318).

TO Axis Electric / Hydraulic, External Encoder

78 Function Manual, 04/2014
 Axis fundamentals
3.5 Encoders and encoder parameters

See also
Setting a non-exclusive drive assignment (as of V4.1 SP1) (Page 58)

3.5.11 Diagnostic features

The measuring system increments are displayed as 32-bit information in the
sensorData.incrementalPosition system variable.
It can first be verified whether the change in this variable over one encoder revolution with
allowance for the measuring gear corresponds to the increments of the encoder. If this is not
the case, the configuration of the axis and the drive must be modified accordingly (e.g.
measuring gear, (drive) parameters for setting the resolution: number of increments per
revolution, fine resolution, etc.).
In addition, the path (angle) change/revolution (sensorData.position) can be checked. If this
check reveals problems, the axis configuration must be checked (e.g., leadscrew pitch, gear
ratios, etc.).

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 79
Axis fundamentals
3.6 Input limits, technological limiting functions

3.6 Input limits, technological limiting functions

System-side input limits

All parameters that can be entered have a lower and an upper limit derived either from the
variable format range or from limits set by the system for each parameter. See the TP Cam
System Variables Reference List.
Internally there are also limits for the position specifications resulting from the accuracy of the
data format of the variables. When these limits are violated, an error message is output on the
axis: Internal traversing range limit reached.

TO Axis Electric / Hydraulic, External Encoder

80 Function Manual, 04/2014
 Axis fundamentals
3.7 Setting for axis and encoder mechanics

3.7 Setting for axis and encoder mechanics

3.7.1 Overview of setting options for axis and encoder mechanics

The following options are available on the drive side of a real axis:
● Consideration of load gear
● Consideration of spindle pitch on linear axis
● Inversion of manipulated variable/drive direction

The following options are available on the encoder side of a real axis:
● Setting of encoder mounting method
● Consideration of measuring gear
● Setting of distance per revolution
● Settings for load compensation
● Consideration of the count direction (inversion of actual position value)

Figure 3-21 Overview of encoder/linear axis mechanics

The following options are available on the final control element side for the hydraulic
functionality:

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 81
Axis fundamentals
3.7 Setting for axis and encoder mechanics

● Consideration of output characteristic

● Inversion of manipulated variables
The available encoders in SIMOTION can be used for the hydraulic functionality. They can be
configured on the Encoder configurations tab in the Configuration dialog or via the expert list.
(see SIMOTION SCOUT online help)

3.7.2 Inversion of actual position value

You can invert the count direction of an incremental or absolute encoder by selecting the Meas.
system in opposite sense check box in the Encoder/linear axis mechanics screen form. This
changes the count direction to match the technological view.
Once the Invert actual position value setting has been modified, the encoder should be
adjusted once again, this time with the new absolute encoder offset which has been set
accordingly, just as the home position offset needs to be redefined for an incremental encoder.

Special features of the absolute encoder

With an n-bit encoder (n-bit data length), the incremental position lies between 0 and 2n-1. The
position is then derived independently of the resolution, e.g. from 0 to 100 mm.
If the sign is changed by inverting the actual position value (measuring system is in opposite
direction or encoder is mounted backwards), the incremental position lies between 2n-1 and
0. The position range is inverted accordingly, e.g. from 100 to 0 mm. If the actual position in
this case is 15 mm without sign change when the encoder is switched on, then the position
with sign change is 85 mm.
Example:
A linear scale with a grid line spacing of 0.005 mm and a measuring range of 30 mm or
6,000 increments is specified. The maximum value for the incremental position can be
displayed on a computer as a data value with a width of 13 bits (213 = 8,192).
Therefore, the encoder's maximum position is in theory 40.96 mm (8,192 * 0.005 mm). If the
axis is offset in the positive direction, the displayed encoder position increases its value, moving
from 0.0 up toward 40.96 mm, and the incremental position increases from 0 up toward 8,191
increments. An incremental position of 1,000 increments, for example, corresponds to an axis
position of 5.0 mm. By contrast, changes to the axis position in the positive direction on an
encoder where the invert actual position value function has been activated will cause the
displayed encoder position to decrease its value, moving from 46.96 down toward 0.0 mm.
The inverted encoder position is derived from the difference between the encoder's theoretical
maximum position and the encoder position determined by the current incremental position.
This means that the encoder incremental position of 1,000 increments given in the example
results in a position of 35.96 mm (40.96 mm - 5.0 mm = 35.96 mm).

3.7.3 Boundary conditions for mechanical settings for modulo axes (long-term stability /
long-term accuracy)
For modulo axes, SIMOTION checks whether the long-term accuracy can be guaranteed.
Testing takes place on initial download, each restart of the CPU and each restart of the

TO Axis Electric / Hydraulic, External Encoder

82 Function Manual, 04/2014
 Axis fundamentals
3.7 Setting for axis and encoder mechanics

technology objects, if relevant data have changed. The long-term accuracy ensures the
following:
● That the axis position displayed by the controller always conforms to the real position, i.e.
the axis position can be displayed uniquely from the accumulated encoder increments.
● That the calculated position in the controller does not differ from the real position. Without
long-term accuracy, differences result, e.g. because of rounding errors or calculations with
finite accuracy.
This enables positions to be approached exactly, even after any number of modulo overflows.

Note on non-modulo axes:

Non-modulo axes are “always accurate” because of an endless traversing range, even if the
convertibility of gear ratios is not stable over the long term.
If the maximum internal position (9x1012 at 1000 increments/unit) is reached and the
convertibility of gear ratios is not stable over the long term, an alarm 50011 occurs (range limit
of the incremental actual value exceeded) and the axis must be re-homed.

The long-term accuracy/stability of modulo axes is dependent on the following:

● Internal resolution, increments/position [units/mm]
(can be set at Configuration > Axis type > Configure units)
● Encoder resolution: [incr/rev]
● Encoder fine resolution
● Spindle pitch [mm/rev] (for linear modulo axes)
● Measuring gearbox
● Load gearbox

Checking long-term accuracy as of V4.2

The long-term accuracy is only checked during runtime, as a result of the encoder data
adaptation.
Long-term accuracy means that the technological position can be determined from the
accumulated encoder increments (without rounding error) and is therefore always accurate.
With long-term accuracy, the encoder position is converted to the mechanical position via the
numerator/denominator factor of the gear ratio. If there is no long-term accuracy, an LREAL
factor is used as substitute for the conversion. Alarm 50024 (long-term stability of the actual
values is not guaranteed) is then output. NONE is the default setting for the local response.
When using the LREAL factor to take into account the gear ratio, modulo axes are accurate
as long as the total traversing distance of the axes without modular conversion does not exceed
the maximum traversing range of the axis (representation range 9x1012 at 1000 increments/
unit).
If the maximum value of the representation range is exceeded, this results in inaccuracy of the
technological position. The unavoidable rounding error in the last available position of the

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 83
Axis fundamentals
3.7 Setting for axis and encoder mechanics

LREAL factor applies in this case. However, for the generally used settings, this is only reached
after years.

Determining the maximum traversing time of an endlessly traversing axis

The maximum traversing time can be determined based on the following estimate. The
maximum position and the traversing velocity are decisive:
Maximum position = 9x1012mm at an internal resolution (default) of 1000 internal increments/
position unit
Traversing time = maximum position / velocity

Table 3-24 Example of a linear modulo axis

Velocity: 20 m/min = 2x104 mm/min

Maximum 9x1012mm
position:
Traversing time = 9x1012 mm / (2x104 mm/min) = 4.5x108 min = 856.16 years

At a higher set internal computational accuracy, the traversing time is correspondingly lower.
If the determined traversing time does not meet your requirements, you can use the alternative
procedure presented below or identify the required settings for long-term stability in
accordance with the section “Checking long-term accuracy < SIMOTION V4.2”.

Alternative procedure
Reset the position by homing if the maximum traversing time does not meet your requirements.
Incremental encoder
Home the incremental encoder again before the position value 9x1012 is reached.
Absolute encoder (as of SIMOTION V4.3 SP1 HF17)
Perform absolute encoder adjustment with preset current known position via the _homing()
function using homingMode=SET_OFFSET_OF_ABSOLUTE_ENCODER_BY_POSITION.
This resets the position values to the current measurement range in a cyclic absolute encoder.
The reset may be performed via a user program e.g. after a
Power ON.

Checking long-term accuracy < V4.2

The long-term accuracy of a modulo axis is a precondition for operating the axis.
If long-term accuracy cannot be guaranteed as a result of the mechanical settings, then one
of the following error messages is output in the engineering system during the consistency
check.
● Configured gear ratio cannot be represented
● Configured modulo length cannot be represented

TO Axis Electric / Hydraulic, External Encoder

84 Function Manual, 04/2014
 Axis fundamentals
3.7 Setting for axis and encoder mechanics

A test of the long-term accuracy is also performed on the target device during runtime. If the
long-term stability is not ensured due to the configuration, the following alarm is issued: Alarm
20006 Configuration error, reason 3041.
The reason for this error is the unsuitable selection of values in the configuration data. The
Excel list available on the Siemens Service & Support (http://support.automation.siemens.com/
WW/view/en/40786053) website assists you when checking and calculating gearbox
parameters.

See also
Encoder interface using the PROFIdrive message frame (Page 68)
Overview of setting options for axis and encoder mechanics (Page 81)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 85
Axis fundamentals
3.8 Defaults

3.8 Defaults
The axis has system variables that can be set to default values for the axis. The most important
default values, e.g., for the dynamic response of the axis, are compiled in the Dynamic
Response screen form. These default values will be used if you use Default or USER
DEFAULT in your programming.

Table 3-25 Other default values that can be set via the expert list

Default values for System variable

Clamping values userDefaultClamping
Dynamic values userDefaultDynamics
Switchover to force control userDefaultForceControl
Force/pressure limiting userDefaultForceLimiting
Homing userDefaultHoming
Positioning userDefaultPositioning
Hydraulics userDefaultQFaxis
Torque limiting userDefaultTorqueLimiting

See also
Default settings for dynamic response parameters (Page 161)

TO Axis Electric / Hydraulic, External Encoder

86 Function Manual, 04/2014
 Axis fundamentals
3.9 Homing

3.9 Homing

3.9.1 Overview of homing

On the positioning axis, inputs and displays concerning the position refer to the coordinate
system of the axis.
The coordinate system of the axis must be aligned with the real, physical position of the axis.

Absolute encoder
For absolute encoders, inclusion of the absolute encoder offset must be activated once.
For more information, refer to Section States that require re-adjustment of the absolute
encoder (Page 98).

Incremental encoder
For incremental encoders, synchronization is performed by homing when the home position
coordinates, or the home position coordinate taking into account the home position offset, are
set in active homing to a defined mechanical position of the axis. This defined mechanical
position of the axis is signaled to the controller via the encoder zero mark of the measuring
system or via the external zero mark.
For incremental encoders, if you want to establish a direct reference to the position, you must
synchronize the actual value system of the axis after every activation.

Note
Traversing commands with relative position specification can always be executed. The axis
configuration can be set to determine whether traversing commands with absolute position
specification can also be executed on a non-homed axis. Configuration data:
referencingNecessary.

See also
Homing (Page 347)

3.9.2 Terminology
Home position
When the axis has been synchronized and the reference point offset has been applied, the
axis is at the reference point and has the value specified in the reference point coordinate.
Set the home position or the home position coordinate in the
userDefaultHoming.homePosition system variable. The setting is axis-specific.
The homingCommand.state system variable displays the homing status on the axis.
Synchronization point

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 87
Axis fundamentals
3.9 Homing

In the synchronization point, the actual value of the axis due to an external or internal event is
set to the value home position coordinate minus home position offset.
Reference point offset
The offset between the home position and the synchronization point is only effective during
active homing. It is applied after synchronization of the axis by means of the homing command.
In modulo axes, the home position offset is always applied with the Shortest_Way direction
setting. (Exception: As of 4.1 SP1, the direction can be specified with the "Home in one direction
only" setting.)
Specify the home position offset in the
TypeOfAxis.NumberOfEncoders.Encoder_1.IncHomingEncoder.proceedShiftPos
configuration data element.
Reference mark
A homing mark is a hardware signal that is used for homing.
● Encoder zero mark
The encoder zero mark of an incremental encoder is used as a reference mark.
● External zero mark
An external signal (zero mark substitute) is used as the reference mark.
Homing output cam
The homing output cam outputs an enable signal for the actual reference signal (encoder zero
mark or external zero mark). The drive reduces the velocity on the basis of the switching edge
returned by the homing output cam and waits for the next incoming homing signal in order to
perform the homing operation.

Note
Device-specific properties
The homing output cam is connected to any control input for homing with homing output cam
and encoder zero mark.
For more information about the device-specific boundary conditions and additional parameter
setting requirements, see the supplementary information for drives and the product manuals.

TO Axis Electric / Hydraulic, External Encoder

88 Function Manual, 04/2014
 Axis fundamentals
3.9 Homing

3.9.3 Homing types

Open-loop control supports the following types of homing:
● Active homing
A special traversing motion is carried out for this type of homing. The following homing
modes can be selected via the configuration:
– Homing with homing output cam and encoder zero mark
– Homing with external zero mark only
– Homing with encoder zero mark only.
● Passive homing/flying homing
This type of homing occurs during motion that was not initiated by a homing command. The
following homing modes can be selected via the configuration:
– Homing with homing output cam and encoder zero mark
– Homing with external zero mark only
– Homing with encoder zero mark only.
● Direct homing / Set home position
The axis position is set without a traversing motion having taken place.
● Relative direct homing
The actual position value of the axis is shifted by a specified offset without a traversing
motion having taken place.
● Absolute encoder homing/absolute encoder adjustment
The zero point of the absolute encoder is adjusted.

Note
As of V4.2, the inputs for homing output cams and for the status of the external zero mark
and of the reversing cam can be interconnected to SINAMICS inputs symbolically instead
of via the intermediary of a logical address.

3.9.4 Active homing

During active homing, the homing operation is performed according to the specified mode by
means of a motion initiated by the homing command.
A home position offset is in effect and is applied after synchronization with the reference mark.
Once the home position offset has been applied, the axis position has the value specified in
the home position coordinate.
In active homing, the velocity specifications for the homing approach velocity, the homing
reduced velocity, and the homing entry velocity are effective.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 89
Axis fundamentals
3.9 Homing

The axis has synchronized or homed status once the reference mark is detected.

Note
The direction of approach to the reference cam or reference mark must be specified in the
user program. As of V4.1, support is provided for using hardware limit switches as reversing
cams.

Active homing with reference cam and encoder zero mark mode
The homing command causes the axis to move toward the reference cam. After the axis has
detected and left the reference cam, the axis moves to the next encoder zero mark of the
position measuring system. You can specify in a configuration data element whether the
encoder zero mark is in the positive or negative traversing direction. The axis is synchronized
with the first encoder zero mark detected after the reference cam. Then, the home position
offset is traveled at the homing entry velocity. The axis position now has the value defined in
the home position coordinate.

Figure 3-22 Parameters for active homing with reference cam and encoder zero mark

The sequence can be divided into three phases:

TO Axis Electric / Hydraulic, External Encoder

90 Function Manual, 04/2014
 Axis fundamentals
3.9 Homing

● Phase 1
Travel to the reference cam
The axis moves to the reference cam at the approach velocity. The approach direction is
parameterized.
● Phase 2
Synchronization with encoder zero mark
The axis moves to the encoder zero mark of the incremental position encoder at the reduced
velocity. The position of the encoder zero mark relative to the reference cam can be
parameterized. Depending on this position, the movement is either continued in the same
direction or reversed. The controller is synchronized to the first detected encoder zero mark
which is detected according to the configuration setting. When the encoder zero mark is
detected, the axis is considered to be synchronized, and the axis position is set to the value
specified in the home position coordinate, minus the home position offset.
● Phase 3
Travel to the home position
When the encoder zero mark is detected, the axis moves to the home position at the entry
velocity.
+RPLQJRXWSXWFDP =HURPDUN $[LVLVDW
UHDFKHG UHDFKHG KRPHSRVLWLRQ
+RPLQJDSSURDFK
YHORFLW\9DSS

+RPLQJHQWU\YHORFLW\
9HQWU\

+RPLQJUHGXFHGYHORFLW\
9UHG

3KDVH 3KDVH 3KDVH

Figure 3-23 Homing with incremental measuring systems

Hardware limit switch as reference cam (as of V4.1 SP1)

The hardware limit switches can also be defined as a reference cam. The axis is homed to the
first encoder zero mark after the direction is reversed as a consequence of approaching the
hardware limit switch. The axis cannot continue to travel in the direction of the hardware limit
switch.
This corresponds to homing with reference cam and encoder zero mark, whereby the encoder
zero mark lies in front of the reference cam.
Alternatively, a left and right hardware limit switch can be used (positive or negative approach
direction). In this case, the hardware limit switch is deactivated during homing.

Active homing with external zero mark only

Here, the homing command initiates motion toward the external zero mark. Once the axis
reaches the configured edge of the external zero mark, the home position offset is applied at

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 91
Axis fundamentals
3.9 Homing

the homing entry velocity. The axis position now has the value defined in the home position
coordinate.

Note
For homing to the external zero mark of axes with a digital drive link via PROFIdrive, the
external zero mark must be configured as a digital input on the drive (configuration of zero
mark substitute for SIMODRIVE 611U, SINAMICS). The external zero mark signal must be
connected at the same location where the encoder is measured, e.g. on the drive, on the
ADI4/IM174, or on the inputs of the C2xx intended for the external zero mark.

SINAMICS
With SINAMICS, a positive direction of motion is synchronized to a positive trigger edge and
a negative direction of motion is synchronized to a negative trigger edge, i.e. on the left side
of the external zero point signal in each case.
By inverting the signal (setting option on the drive: SINAMICS parameter via P490),
synchronization is also possible on the right side of the external zero point signal.
In SINAMICS, the homing to the encoder zero mark or the external zero mark is set in P495.
To be able to detect for drives coupled using PROFIdrive that the drive is positioned at the
external zero point, the state of the external zero point on the axis must be made available.
Because the corresponding status bit is not provided in the PROFIdrive telegram of the drive
DO, an additional input bit containing the status of the external zero mark can be configured
on the axis in the incHomingEncoder.stateDriveExternalZeroMark configuration data element
as of V4.1 SP1. For drives linked with SINAMICS, the corresponding status bit in PZD2 of
telegram 390 or 391 of the CU is transferred to the controller.
If symbolic assignment is activated, the status of the external zero mark can be assigned to
the corresponding onboard terminal on the control unit directly using the Assign dialog.
Refer to the SINAMICS documentation for the assignment of digital inputs of the drive to the
status bits of the PZD2.
The system will detect whether the axis is already positioned at the external zero point. Travel
from the external zero point is made opposite to the approach direction. This is followed by
normal homing.

SIMODRIVE 611U
With SIMODRIVE 611U, only falling edges are permitted in the positive traversing direction,
and only rising edges are permitted in the negative traversing direction, meaning that the same
output cam side is always used.
Inverting is not possible with SIMODRIVE 611U. The edges can be inverted by using initiators
of the inverted type or via an application (inaccurate).

MASTERDRIVES
With MASTERDRIVES Motion Control, only rising edges are permitted.

OnBoard C2x0
With OnBoard, only rising edges are permitted.

TO Axis Electric / Hydraulic, External Encoder

92 Function Manual, 04/2014
 Axis fundamentals
3.9 Homing

Figure 3-24 Parameters for active homing with external zero mark only

Note
- Only homing with a reference cam and an encoder zero mark should be considered for a
resolver with a pole pair number > 1.
- With a digital link to SINAMICS S120, the settings for homing are read out from the drive
on request. Changes are not written back to the drive.

Active homing with encoder zero mark only (without reference cam)
Homing without a reference cam is used, for example, in axes for which the encoder has only
one encoder zero mark in the entire axis traversing range. This homing command causes the
axis to travel to the encoder zero mark. After the encoder zero mark is detected, the axis

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 93
Axis fundamentals
3.9 Homing

approaches the shifted reference point at homing velocity. The axis position now has the value
defined in the home position coordinate.

Figure 3-25 Parameters for active homing with encoder zero mark only

Note
Only homing with a reference cam and an encoder zero mark should be considered for a
resolver with a pole pair number > 1.

Reversing cams for homing (as of V4.1 SP1)

Reversing cams, which are effective only during active homing, are used to reverse the
direction of the home position travel when approaching a reversing cam.
The reversing cams are configured as two additional input signals. The left reversing cam and
the right reversing cam can be configured and activated separately. The reversing cams are
defined once on the axis. They cannot be defined specifically for an encoder.
The following figure illustrates homing sequences based on the starting point position with
respect to the reference cam.

TO Axis Electric / Hydraulic, External Encoder

94 Function Manual, 04/2014
 Axis fundamentals
3.9 Homing

(-) 2II 2Q 2II +RPLQJRXWSXWFDP (+)

2Q 2II ,QSXWIRUUHYHUVLQJFDP 2II 2Q





All examples are programmed with the Left-hand approach direction (negative)
1 Starting point in front of reference cam
2 Axis is on reference cam
This is detected by the system, and the axis travels against the approach direction away from
the reference cam. This is followed by normal homing.
3 Axis is behind the reference cam on the left
A normal homing operation with approach direction left is started. The axis reverses direction
at the reversing cam and travels against the approach direction until it is over the reference cam.
This is followed by normal homing.

Figure 3-26 Reversing cams for homing

The hardware limit switches can also be defined as reversing cams. In this case, the hardware
limit switch is deactivated during homing.
The reversing cams are defined via the configuration data elements
typeOfAxis.homing.reverseCamPositive and typeOfAxis.homing.reverseCamNegative.

Homing in one direction only (as of V4.1 SP1)

As of V4.0, you can specify in the typeOfAxis.homing.direction configuration data element that
a direction reversal during homing should be suppressed and the specified traversing direction
should always be maintained. This setting is effective only during active homing.
The figure below shows an application example featuring a rotary axis that is not permitted to
reverse direction.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 95
Axis fundamentals
3.9 Homing

 r +RPLQJRXWSXWFDP r

2II 2Q 2II 2II 2Q 2II 



RQHUHYROXWLRQ

All examples are programmed with the Right-hand approach direction

1) Starting point in front of reference cam
Reference cam is found in the modulo area.
2) Axis is on reference cam
This is detected by the system. The axis travels in the programmed approach direction to the
next reference cam, even if the modulo area is overtraveled.

Figure 3-27 Example of homing in one direction only

3.9.5 Passive homing/on-the-fly homing

In passive homing, the homing is performed according to the mode setting using a motion not
initiated by the homing command. Passive homing is possible in position-controlled mode in
association with motion commands. A home position offset is not applied. The axis has
synchronized or homed status once it has detected the homing mark. Specifications for the
homing approach velocity, reduced velocity, and entry velocity are not applied.

Default homing mode (DEFAULT_PASSIVE)

With this setting, the homing mode is defined by the system based on the encoder type:
● With incremental sin/cos encoders, TTL encoders, or resolvers, homing is executed to an
encoder zero mark.
● With Endat encoders defined as incremental encoders, homing is executed to an external
zero mark.

Passive homing with homing output cam and encoder zero mark mode
Once the homing output cam has been detected, the next encoder zero mark takes effect
according to the synchronization specified in the configuration. Synchronization is performed
with the first encoder zero mark detected after the homing output cam. When the encoder zero
mark is detected, the axis is set to the value specified in the home position coordinate. The
axis is then given Synchronized and Homed status.

TO Axis Electric / Hydraulic, External Encoder

96 Function Manual, 04/2014
 Axis fundamentals
3.9 Homing

Passive homing with external zero mark only

Once the external zero mark has been detected, synchronization takes place according to the
configuration. When the external zero mark is detected, the axis is set to the value specified
in the home position coordinate. The axis is then in synchronized and homed status.

Passive homing with encoder zero mark only

Homing without a homing cam cam is used, for example, in axes for which the encoder has
only one homing mark in the entire axis traversing range. When the homing mark is detected,
synchronization takes place according to the configuration. Once the homing mark has been
detected, the axis is set to the value specified in the home position coordinate and is in
synchronized or homed status.

Note
Use the "homing output cam and encoder zero point" setting for homing for measuring
systems with more than one encoder zero point in the traversing distance of the axis. This
ensures that travel is made to an exact, reproducible homing position.
As an alternative, you can use the "only external zero point" setting. The external signal
means, however, that the attainable homing position is less accurate.

3.9.6 Direct homing/setting the home position

The current position of the axis is set to the value specified in the home position coordinate.
A home position offset is not applied. A traversing motion is not carried out. When the command
is executed, the axis is in synchronized or homed status.
The setting of parameters for axis homing is irrelevant here. The home position coordinate is
specified in the command.
Direct homing is not possible if the axis is traversed in speed control. Switch to position control
for the homing.

See also
Positioning (Page 349)
Synchronization/homing with incremental encoders (Page 409)

3.9.7 Relative direct homing/relative setting of home position (V3.2 and higher)
The current position of the axis is offset by the value specified in the home position coordinate,
so in this case the home position coordinate should be regarded as an offset.
This homing method can also be used during operation (while traversing).
The setting of parameters for axis homing is irrelevant here. The home position coordinate is
specified in the command.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 97
Axis fundamentals
3.9 Homing

3.9.8 States that require a new homing procedure for incremental encoders
With incremental encoders, the status is reset to not homed in the following cases:
● Error in the sensor system / encoder failure
● New homing command
● Power off
● Termination of the communication to the drive/encoder
● SCOUT is downloaded with selection of the Initialization of all retentive data setting
● Changes requiring a download or restart are made to the axis configuration
● Technology object restart is performed on the Axis technology object
● When active homing is initiated

3.9.9 Absolute encoder homing / absolute encoder adjustment

The current axis position is set to equal the encoder value + absolute encoder offset using the
_homing() command in ENABLE_OFFSET_OF_ABSOLUTE_ENCODER homing mode.

(QFRGHU]HURSRVLWLRQ $[LV]HURSRVLWLRQ

$EVROXWHHQFRGHURIIVHW

Figure 3-28 The axis zero position is the encoder zero position plus the absolute encoder offset

The absolute encoder offset (as of V3.2) may be set as an additive or absolute value.
This absolute encoder offset is stored in the NVRAM and remains in effect until the next
absolute encoder adjustment. This function must therefore be executed once when the control
is commissioned.
The offset value and its calculation are set during configuration.

2IIVHWE\
DEVROXWHHQFRGHUDGMXVWPHQW &RUUHFWLRQGXULQJ
SHUPDQHQW UXQWLPH

(QFRGHU ,QHIIHFWRQ
SRVLWLRQ 32:(521DQGUHVWDUW
$EVROXWHHQFRGHU   $FWXDOSRVLWLRQRID[LV

Figure 3-29 Incorporating the absolute encoder offset

A value may be set as a total offset using the

absHomingEncoder.setOffsetOfAbsoluteEncoder and absshift configuration data.

TO Axis Electric / Hydraulic, External Encoder

98 Function Manual, 04/2014
 Axis fundamentals
3.9 Homing

Setting an additive offset

Setting absHomingEncoder.setOffsetOfAbsoluteEncoder=RELATIVE (default behavior):
● Actual axis value: = actual encoder value + (previous offset already in effect + absshift)
● (new) offset = previous offset + absshift
absHomingEncoder.absshift is added to the existing absolute encoder offset whenever the
_homing() function is called.

Setting an absolute offset (as of V3.2)

Setting absHomingEncoder.setOffsetOfAbsoluteEncoder=ABSOLUTE (as of V3.2):
absHomingEncoder.absshift is set as the absolute encoder offset whenever the _homing()
function is called.
● Actual axis value = actual encoder value + absshift
Example of ABSOLUTE offset where actual encoder position value = 100.000:

absshift = 5.000
_homing() command called for the first time→ Position = 105.000
_homing() command called for the second → Position = 105.000
time
absshift = 7.000
_homing() command called for the third → Position = 107.000
time

Setting the axis to a predefined position (as of V4.1 SP1)

When the function parameter
homingMode=SET_OFFSET_OF_ABSOLUTE_ENCODER_BY_POSITION is set on the
_homing() command, the value in the homePosition parameter is set as the current position.
The resulting absolute encoder offset is calculated with this value, indicated in the
absoluteEncoder[n].totalOffsetValue system variable, and stored as a retain variable in the
system.
The value in the absHomingEncoder.absshift configuration data element is not changed.

Displaying the offset

The offset can be read out. (as of V3.1)
The total offset is indicated in the absoluteEncoder[x].totalOffsetValue system variable, while
the activation status of the total offset is indicated in the absoluteEncoder[x].activationState
variable.
In addition, the status indicates whether the _homing() function where homingMode=
ENABLE_OFFSET_OF_ABSOLUTE_ENCODER was executed at least once after the project
was downloaded.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 99
Axis fundamentals
3.9 Homing

Absolute encoder adjustment

Perform the following steps to adjust the absolute encoder:
1. Disable the software limit switches, because you cannot adjust the absolute encoder while
these are active.
2. Perform the absolute encoder adjustment:
– _homing() where homingMode= ENABLE_OFFSET_OF_ABSOLUTE_ENCODER
The value of the absHomingEncoder.absshift configuration data element is included
when the command is called once. (The absHomingEncoder.absshift configuration data
element can be modified online, i.e. any changes take effect immediately.)
or
– _homing() where
homingMode=SET_OFFSET_OF_ABSOLUTE_ENCODER_BY_POSITION (as of V4.1
SP1)
Move the axis to the desired reference position and call the command once.
This sets the value in the homePosition parameter as the current position. The resulting
absolute encoder offset is calculated using this value, indicated in the
absoluteEncoder[n].totalOffsetValue system variable, and stored as a retain variable in
the system.
The value in the absHomingEncoder.absshift configuration data element is not changed.
3. Enable the software limit switches again (if necessary).
Note that the absolute encoder adjustment only acts as an offset to the absolute encoder value.
The offset from the absolute encoder adjustment and the value of the absolute encoder are
determining factors for the position after a power off or restart. During operation, the current
actual position is also affected by the modulo settings for the axis and by position setting or
position correction tasks.
States that require re-adjustment of the absolute encoder
● Once a new project has been downloaded to the control, the stored offset is no longer
available.
If the control already contains a project before the new project is downloaded, and if the
technology object name is not changed, the stored offset is retained (as of V4.1 SP1). This
behavior also applies for an upgrade, i.e. it is not version-dependent.
● After power is cycled off and on, the offset is deleted unless the project was saved to the
ROM.
● After a memory reset.

See also
Encoder for position (Page 62)

3.9.10 Homing mark monitoring

If the homing mark is not reached within the defined travel path, an alarm is triggered. In homing
with homing output cam and homing mark, the path is monitored only after the axis leaves the
homing output cam.

TO Axis Electric / Hydraulic, External Encoder

100 Function Manual, 04/2014
 Axis fundamentals
3.9 Homing

If reversing cams are present, monitoring is applied again when the direction reverses as a
result of the revering cams.
When homing mark monitoring is enabled, both active and passive homing procedures are
monitored.

3.9.11 Homing output monitoring

If the homing output cam is not reached within the defined travel path, an alarm is triggered.
If reversing cams are present, monitoring is applied again when the direction reverses as a
result of the revering cams.
When homing output cam monitoring is enabled, both active and passive homing procedures
are monitored.

3.9.12 Displaying actual value change during homing (V4.0 and higher)
A change of the actual value during homing is displayed in the
homingCommand.positionDifference system variable.

3.9.13 Traversing with a non-homed axis

With the referencingNecessary configuration data element, you define whether absolute
positions can be used with a non-homed axis.
Settings:
● referencingNecessary = NO
– Relative and absolute motions are possible.
– The software limit switches are monitored with the setting swlimit.state = YES.
● referencingNecessary = YES
With a non-homed axis:
– Only relative motion is possible
– The software limit switches are not monitored even with the setting swlimit.state = YES.

3.9.14 Correcting the actual position/set position without homing

Position correction can also be used to manipulate the actual values and setpoints of individual
coordinates (basic coordinates, superimposed coordinates).
The homing status of the axis (Homed/Not homed) does not change.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 101
Axis fundamentals
3.9 Homing

See also
Resetting the set and actual positions (Page 360)

3.9.15 Differential position measurement (V3.2 and higher)

The axis position is not measured directly; it is determined as the difference between two
encoders/actual values. The system adopts this differential position as the actual position and
uses it as an absolute value.
The encoders for the individual positions may be either absolute encoders or incremental
encoders.
Homing of the differential position is not permitted.
The offset relative to the differential position can be modified online using the
positionDifferenceMeasurement.Offset configuration data element.
The differential position and the position sensors are used as encoders.
Differential position value =
Position (numberEncoderA) - Position (numberEncoderB)
Proceed as follows to specify the setting via the expert list:
● Configure at least two position sensors on the axis.
● In the expert list, increase the value of
TypeOfAxis.NumberOfEncoders.NumberOfEncoders by 1.
● Set the other sensor as the "differential position sensor" via the
TypeOfAxis.NumberOfEncoders.Encoder_n.EncoderType configuration data element with
SENSOR_POSITION_DIFFERENCE_MEASUREMENT.
● The sensors whose values are used and the individual factors are set in the elements of
the TypeOfAxis.NumberOfEncoders.Encoder_n.PositionDifferenceMeasurement
structure.

See also
Using the expert list for an axis (Page 237)

TO Axis Electric / Hydraulic, External Encoder

102 Function Manual, 04/2014
 Axis fundamentals
3.10 Monitoring/limiting functions

3.10 Monitoring/limiting functions

3.10.1 Overview of monitoring/limiting functions (block diagram)

3UHFRQWURO

$FWXDWRU
%DODQFLQJ + + 0DQLSXODWHGYDULDEOH
&RQWUROOHU
,32

ILOWHU PRQLWRULQJVSHHG WRUTXH

–
$GDSWDWLRQ

6HQVRU
(QFRGHUIUHTXHQF\
– DFFHOHUDWLRQ

'\QDPLF 3RVLWLRQLQJPRQLWRULQJ +DUGZDUH =HUR

IROORZLQJHUURU 6WDQGVWLOOPRQLWRULQJ OLPLWVZLWFKHV PDUN
PRQLWRULQJ

GLJLWDO,Q
0RQLWRULQJIXQFWLRQV

Figure 3-30 Block diagram of positioning axis monitoring functions

3.10.2 Dynamic monitoring of following errors

The following error monitoring on the position-controlled axis is performed on the basis of the
velocity-controlled following error limit.
The maximum permissible following error is dependent on the set velocity.
For velocities less than a specified lower velocity, the maximum permissible following error is
constant and set in
typeOfAxis.NumberOfDataSets.DataSet_N.DynamicFollowing.minPositionTolerance. The
lower velocity value for the characteristic of the maximum following error is set in
typeOfAxis.NumberOfDataSets.DataSet_N.DynamicFollowing.minVelocity.
Above this lower velocity, the maximum permissible following error is proportional to the set
velocity up to the maximum permissible velocity.
The maximum permissible following error for the maximum velocity of the axis is set in
typeOfAxis.NumberOfDataSets.DataSet_N.DynamicFollowing.maxPositionTolerance. The
gradient factor of the characteristic for the maximum following error is calculated from these
settings.
The dynamicFollowing.warningLimit configuration data can be used to specify a threshold as
percentage value based on the maximum permissible following error of the associated set
velocity which, when exceeded, causes the issuance of a warning.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 103
Axis fundamentals
3.10 Monitoring/limiting functions

PRWLRQ6WDWH'DWDFRPPDQG9HORFLW\

VHUYR0RQLWRULQJG\QDPLF)ROORZLQJ:DUQLQJ
VHUYR'DWDIROORZLQJ(UURU VHUYR0RQLWRULQJG\QDPLF)ROORZLQJ(UURU
0RQLWRULQJ
RIXSSHU
ORZHUOLPLWV

8SSHUDQGORZHUOLPLWVDUHGHSHQGHQWRQWKHFXUUHQWYHORFLW\

Figure 3-31 Dynamic monitoring of following errors

Figure 3-32 Function and parameters for following error monitoring

Following error determination without DSC

The following error is determined from the difference between the non-symmetrical setpoint
prior to inclusion of the dynamic response adjustment and the actual value present in the
control.
Therefore, the transfer times of the setpoint to the drive and the actual value to the control are
included in the following error.

Following error determination with DSC

The following error is determined from the difference between the non-symmetrical setpoint
delayed by the transmission times (Ti+To+Tdp+Tservo) + systemDeadTimeData.additionalTime
prior to inclusion of the dynamic response adjustment and the actual value present in the
control.
The transfer times of the setpoint to the drive and the actual value to the control are calculated
from the following error in order to refer to the following error present on the position controller
in the drive.

TO Axis Electric / Hydraulic, External Encoder

104 Function Manual, 04/2014
 Axis fundamentals
3.10 Monitoring/limiting functions

3.10.3 Positioning and standstill monitoring

Figure 3-33 Function and parameters for positioning monitoring

Positioning monitoring
The behavior of the actual position at the end of the setpoint interpolation is monitored.
(Positioning monitoring)
This positional monitoring does not distinguish whether the setpoint interpolation is ended as
a result of reaching the target position from the setpoint side or due to a position-controlled
stop during the motion performed by the interpolator (e.g. with a _stop() command). This
monitoring is referred to as positioning monitoring, although the position does not have to be
the same as the target position. The tolerance window specified for this monitoring is called
the positioning window.

SRVLWLRQLQJ6WDWHFRPPDQG3RVLWLRQ VHUYR0RQLWRULQJSRVLWLRQLQJ
 3RVLWLRQLQJ
 PRQLWRULQJ

SRVLWLRQLQJ6WDWHDFWXDO3RVLWLRQ

Figure 3-34 Positioning monitoring

Sequence:

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 105
Axis fundamentals
3.10 Monitoring/limiting functions

● When the setpoint interpolation is complete, the

typeOfAxis.positionMonitoring.posWinTolTime monitoring time is started.
● If, before this time expires, the actual value reaches a definable window
typeOfAxis.positionMonitoring.tolerance around the existing position at the end of the
setpoint interpolation, monitoring of the minimum delay time
typeOfAxis.positionMonitoring.posWinTolDelayTime is initiated. This window is indicated
as a deviation in typeOfAxis.standStillMonitoring.stillStandTolerance, meaning that half of
the window width is set.
If the actual value does not reach the window within the monitoring time
typeOfAxis.positionMonitoring.posWinTolTime, alarm 50106 (positioning monitoring) is
issued.
● If the actual value leaves this window again during the minimum dwell time
typeOfAxis.positionMonitoring.posWinTolDelayTime, the monitoring time
typeOfAxis.positionMonitoring.posWinTolTime is restarted; each time it re-enters this
window, the minimum delay time typeOfAxis.positionMonitoring.posWinTolDelayTime is
restarted.
● If the actual value remains in this window for the minimum delay time
typeOfAxis.positionMonitoring.posWinTolDelayTime, the MOTION_DONE status is set in
the system variable motionStateData.motionCommand and the standstill monitoring is
started.
In addition, the individual monitoring phases are displayed in
servoMonitoring.positioningState (as of V4.1 SP1):
● ACTUAL_VALUE_OUT_OF_POSITIONING_WINDOW = setpoint interpolation is
complete; actual value has not yet reached the positioning window.
● ACTUAL_VALUE_INSIDE_POSITIONING_WINDOW = actual value is inside positioning
window; standstill monitoring is not yet started.
The ACTUAL_VALUE_OUT_OF_POSITIONING_WINDOW is displayed when the actual
value has left the positioning window again.
● STANDSTILL_MONITORING_ACTIVE = standstill monitoring is active; positioning to the
position reached at the end of the setpoint interpolation has taken place.
● INACTIVE

Note
Positional monitoring (e.g. following error monitoring or positioning monitoring) are
disabled when the pressure control is enabled or via the pressure limiting or torque limiting
command.

Standstill (zero-speed) monitoring

Standstill monitoring is defined by the standstill window and the tolerance time during which
the standstill window may be exited without alarm 50107 (standstill monitoring) being triggered.
Standstill monitoring starts when the minimum dwell time in the positioning window has
elapsed.
The standstill window is indicated as a deviation in
typeOfAxis.standStillMonitoring.stillStandTolerance, meaning that half of the window width is
set.

TO Axis Electric / Hydraulic, External Encoder

106 Function Manual, 04/2014
 Axis fundamentals
3.10 Monitoring/limiting functions

The status of the standstill monitoring is displayed in servoMonitoring.stillstand. Standstill

monitoring is not available on the speed-controlled axis.

3.10.4 Standstill signal

The standstill signal motionStateData.stillstandVelocity is ACTIVE when the current velocity
is less than a configured velocity threshold for at least the duration of the delay time.

Note
Below this velocity, the motion is stopped in response to _stopEmergency() at zero setpoint
without a preconfigured deceleration ramp.

In speed-controlled motion, the criterion for completing the command is standstill monitoring.
The completion of commands for position-controlled motions is described in Positioning and
standstill monitoring.

PRWLRQ6WDWH'DWDDFWXDO9HORFLW\ 6WDQGVWLOO PRWLRQ6WDWH'DWDVWLOOVWDQG9HORFLW\

VLJQDOJHQHUDWLRQ

$VWDQGVWLOOVLJQDOLVJHQHUDWHGZKHQWKHDFWXDOYHORFLW\LVOHVVWKDQWKHYHORFLW\VHWIRU
WKHVWDQGVWLOOVLJQDOGXULQJFRQILJXUDWLRQ

Figure 3-35 Standstill signal generation

The standstill signal is available on the positioning axis and the drive axis.

Figure 3-36 Function and adjustable parameters for the standstill signal

See also
Positioning and standstill monitoring (Page 105)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 107
Axis fundamentals
3.10 Monitoring/limiting functions

3.10.5 Manipulated variable monitoring

The maximum manipulated variables are limited for monitoring of the assigned speed limits.
If the manipulated variables exceed the maximum value configured in MaxSpeed, alarm
"50005 speed setpoint monitoring" is triggered.
With the help of increase monitoring of the manipulated variable, the maximum possible
acceleration and thus the maximum torque are monitored. If the monitoring function is switched
on and the acceleration set in the configuration data MaxAcceleration is exceeded, alarm
50003 (limit of speed set acceleration is active) is output, and the parameter
SetPointChangeRate is set to LIMIT_EXCEEDED.

3.10.6 Manipulated variable limiting (backstop) (V3.1 and higher)

Figure 3-37 Manipulated variable limitation in static controller data

Manipulated variable limitation on an electrical positioning axis in the servo performs absolute
limiting of the position value to an upper and a lower limit value.

TO Axis Electric / Hydraulic, External Encoder

108 Function Manual, 04/2014
 Axis fundamentals
3.10 Monitoring/limiting functions

This limitation is applied prior to inversion.

The values can be modified online (with immediate effect).
If the upper value is positive and the lower value is 0, the axis can, for example, be traversed
in the positive direction only.
The manipulated variable limitation can be configured and activated by means of the
speedLimitation configuration parameter. The zero velocity must lie within the permissible
range to enable the axis standstill.
Only the setpoint is limited; reversing of the drive must also be prevented.

Note
When the Dynamic Servo Control (position controller in the drive) function is active, backstop
(limiting of the manipulated variable for the drive) is only effective for the precontrol.
Therefore, when DSC is active, the backstop must be generated in the drive.

3.10.7 Hardware limit monitoring

Traversing range limits are monitored by means of digital inputs and limit switches. Hardware
limit switches are always normally closed switches and should always be active outside the
permissible traversing range.

3HUPLWWHGWUDYHUVLQJUDQJH

6RIWZDUHOLPLWVZLWFKHV

+DUGZDUHOLPLW +DUGZDUHOLPLW
VZLWFKHV VZLWFKHV
6DIHW\UDQJH

Figure 3-38 Monitoring of the permissible traversing range by limit switches

Approaching the limit switch triggers technology alarm 50007.

This state can be remedied in two ways:

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 109
Axis fundamentals
3.10 Monitoring/limiting functions

● Manual retraction (without drive)

The axis is returned manually to the permissible traversing range. The system variables
remain in LIMIT_EXCEEDED state until the axis leaves the limit switch. Only then can the
alarm be acknowledged.
● Retraction with drive
The technology alarm must be acknowledged. Warning 50009: Limit switch overtraveled
is retained. The axis can only travel in the direction of retraction as long as the limit switch
is active. Travel in the opposite direction triggers a technology alarm and cancels the
enables. When the axis has left the limit switch, the system variables
sensorMonitoring.hwLimitSwitchMinus and sensorMonitoring.hwLimitSwitchPlus assume
the O_K state, and the Limit switch overtraveled warning can now be acknowledged.
When a limit switch is approached, its position is stored. The limit switch is not considered to
have been left until the axis moves back from the position.

NOTICE
Switching the controller off after the limit switch has been overtraveled
Once the limit switch has been overtraveled, the controller must not be switched off to avoid
a conflict between the polarity monitoring of the limit switches and the overtravel monitoring
of the limit switches in the direction of the permissible area.
If the controller is switched off, the information of the limit switch polarity is lost. The axis must
then be moved into the permissible range by the user.
When the controller is switched on, the axis must be positioned within the permissible
traversing range.
If the hardware limit switches are configured as reversing cams or reference cams for homing,
these hardware limit switches can be overtraveled during homing, even if they are activated.

If the limit switch is overtraveled and the configuration reloaded, internal states are lost.
Reloading without loss of the approach information is only possible within the valid range.
Exception: Deactivation of limit monitoring after a polarity reversal error.
A cable break can only be reset with Power On or by a one-time deactivation of the function.
The hardware end position interface can be activated and deactivated on the axis using the
_enableAxisInterface() and _disableAxisInterface() commands.
The Activated/Deactivated hardware end position interface status is displayed in the
sensorMonitoring.hwLimitSwitchInput system variable.

3.10.8 Software limit monitoring

Software limit switches can be specified and monitored as soon as the actual values are valid.
Monitoring is enabled/disabled using the swLimit.state system variable. The software limit
switch positions are defined in the swLimit system variable. Software limit switches should be
inside of the hardware limit switches.
If an axis motion, synchronous motion, or path motion is canceled by approaching the software
limit switch, because continuing the motion would violate the software limit switch, movement
to the software limit switch is performed at the braking ramp's maximum dynamic values.

TO Axis Electric / Hydraulic, External Encoder

110 Function Manual, 04/2014
 Axis fundamentals
3.10 Monitoring/limiting functions

Technological alarm 40106, "Approach SW limit switch", is only output when the software limit
switch is reached.
If the software limit switches are also to be monitored with non-homed axes,
homing.referencingNecessary = NO must be set in the configuration data element.
With the setting Homing required, active limit monitoring is only effective if the axis is homed.
If the setting Homing required is not selected, active limit monitoring is always effective.
The software limit position monitoring is effective also for isochronous movement and path
movement. For a violation of the software limit position, the isochronous movement or path
movement will be terminated and travel made to the software limit switch with maximum
deceleration and maximum jerk.
If valid actual values are present for a speed-controlled procedure, these serve as limits for
the software end position monitoring.

Monitoring the software limit switch at motion start (V3.2 and higher)
The controller checks for a violation of the limits before the motion starts. If the software limit
switch is exceeded, the axis is limited to the software limit switch position and alarm 40105 is
triggered.
If alarm 40105 is active, no more movement commands will be accepted and the limit switch
will be approached at the programmed dynamic values. The error only needs to be
acknowledged when, for example, using an application program, to stop before the limit switch
or to travel in the reverse direction.
If, for example, a second motion is superimposed and acts in the opposite direction, it is
possible for the software limit monitoring to signal an alarm when the first motion is activated,
even though the software limit switch is not reached.
The monitoringAtMotionStart configuration data element can be used to enable/disable the
check when the motion starts.

Note
The cyclical software limit monitoring check is always performed during the motion.

Passing a software limit switch

If the axis is positioned after the software limit switch due to reconfiguring of the software limit
switch, for example, or the axis has passed the software limit switch in speed-controlled mode,
alarm 40107 Software limit switch passed is output. The axis can be traversed out of the limit
switch area in position-controlled mode depending on the local error response set in alarm
40107, e.g. when setting FEEDBACK_EMERGENCY_STOP.
For retraction in speed-controlled mode, a tolerance window with the configuration data
relieveWindow can be defined. The tolerance window always refers to the current actual value.
This means that jittering of the actual value will not cause the software limit switch to respond
again during retraction. Traversing within the tolerance window is possible in both directions.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 111
Axis fundamentals
3.10 Monitoring/limiting functions

3.10.9 Encoder limit frequency monitoring

The system monitors the limit frequency of the encoders for compliance. The monitoring
function triggers an alarm. It has no effect on axis motion.

3.10.10 Velocity error monitoring

An encoder must be connected and configured to monitor the velocity error (setpoint minus
actual value) on the axis. The controlled system is simulated using a PT1 model. This model
is supplied with the setpoint as the input value, and the difference of the output value is
compared with the real actual value curve. The time constant for the PT1 model is set during
axis configuration in the dynamicData.velocityTimeConstant or
dynamicQFData.velocityTimeConstant configuration data element. Velocity error monitoring
is of relevance for the drive axis and for the position axis in SPEED_CONTROLLED mode.

3.10.11 Measuring system differential/slip monitoring

The system can monitor a measuring system difference / slip between two encoders on the
axis to a specified maximum value. The monitoring is activated with
_enableMonitoringOfEncoderDifference() and deactivated with
_disableMonitoringOfEncoderDifference().
The maximum value is specified in the _enableMonitoringOfEncoderDifference() command in
the maximalEncoderDifference function parameter and transferred with the execution of the
command in the sensorMonitoring.maximalSensorDifference system variable or the existing
value in the sensorMonitoring.maximalSensorDifference system variable is used optionally by
setting the maximalEncoderDifferenceType function parameter.
If the maximum measuring system difference specified in
sensorMonitoring.maximalSensorDifference for activated monitoring is exceeded, the alarm
20009, "the permissible difference between encode (/1/%d) and (/2/%d) has been exceeded"
will be generated and signaled with LIMIT_EXCEEDED in the
sensorMonitoring.slippageTolerance system variable.
Before activating the function (and if applicable while the function is active), check whether the
two encoders involved in the measuring system difference are valid. The check can be
performed using the system variables sensormonitoring.cyclicinterface=ACTIVE and
sensordata.state=VALID, for example.
The absolute encoder is restarted, for example, on switchover by means of data set
changeover and may then supply other values over the course of a small number of cycle
clocks, so that in this case measuring system difference monitoring may respond.

TO Axis Electric / Hydraulic, External Encoder

112 Function Manual, 04/2014
 Axis fundamentals
3.11 Positioning axis with position control

3.11 Positioning axis with position control

3.11.1 Overview of positioning axis with position control

This figure shows the block diagram of the position axis with position control.

VHUYR'DWDFRPSHQVDWHG6HUYR&RPPDQG9DOXH

VHUYR0RQLWRULQJFRQWUROVWDWH
VHUYR'DWDWRWDO6HUYR&RPPDQG9DOXH
,32VHWSRLQWV
SRVLWLRQLQJ6WDWHFRPPDQG3RVLWLRQ VHUYR'DWDVHUYR&RPPDQG9DOXH DFWRU'DWDVHWSRLQW
PRWLRQ6WDWH'DWDFRPPDQG9HORFLW\
PRWLRQ6WDWH'DWDFRPPDQG$FFHOHUDWLRQ

(QDEOHVSUHSDUDP 6HWSRLQW '\QDPLF 0DQLSXODWHG

0RWLRQ,32 )LQH &RQWUROOHUZLWK
EUDNLQJUDPS VXSHULPSRVLWLRQ UHVSRQVH YDULDEOH
LQWHUSRODWLRQ SUHFRQWURO
RSHUDWLQJPRGHV DGDSWDWLRQ SUHSDUDWLRQ
  

 ,IWKHUHLVQRHQDEOHRUSUHSDUDPHWHUL]HGEUDNLQJUDPS,32LVLQIROORZXSPRGH
WKDWLV,32VHWSRLQW ,32DFWXDOYDOXH
$FWXDOYDOXH
 6HWWLQJRSWLRQVOLQHDUFXELFTXDGUDWLFGLUHFW SRVLWLRQLQJ6WDWHDFWXDO3RVLWLRQ V\VWHP
 37HOHPHQWZLWK77 PRWLRQ6WDWH'DWDDFWXDO9HORFLW\
PRWLRQ6WDWH'DWDDFWXDO$FFHOHUDWLRQ

VHQVRU'DWDSRVLWLRQ
VHQVRU'DWDYHORFLW\
VHQVRU'DWDDFFOHUDWLRQ

Figure 3-39 Overview of position axis with position control

Note
The PDF documents button can be used in the online help to locate the function charts with
signal paths.
You can call signal flow diagrams under the Axis object in the project navigator. The signal
flow diagram illustrates the signal path and enables major items of configuration data and
important system variables to be parameterized using the signal flow.

3.11.2 Position control

When position control is active, controllers, monitoring, and compensation are active. There
are modes in which monitoring mechanisms are deactivated. They include torque limitation
and the position-related monitoring functions for pressure limitation, for example.
All compensation functions can be activated/deactivated.
Encoder systems, actual value calculation, and monitoring are active on the actual value side
when position control is not activated. Compensation functions are not taken into account.
The servoMonitoring.controlState system variable indicates whether the position controller is
active.
SIMOTION provides a P-controller with or without precontrol and a PID controller.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 113
Axis fundamentals
3.11 Positioning axis with position control

Controller with precontrol

VHUYR'DWDFRPSHQVDWHG6HUYR&RPPDQG9DOXH

VHUYR0RQLWRULQJFRQWUROVWDWH VHUYR'DWDWRWDO6HUYR&RPPDQG9DOXH

,32VHWSRLQWV VHUYR'DWDVHUYR&RPPDQG9DOXH DFWRU'DWDVHWSRLQW

(QDEOHV '\QDPLF
0RWLRQ,32 )LQH 6HWSRLQW &RQWUROOHUZLWK 0DQLSXODWHG
HPHUJHQF\VWRS UHVSRQVH
LQWHUSRODWLRQ VXSHULPSRVLWL SUHFRQWURO YDULDEOH
RSHUDWLQJ DGDSWDWLRQ
 RQ  SUHSDUDWLRQ
PRGHV

$FWXDOYDOXH
V\VWHP

VHQVRU'DWDSRVLWLRQ
VHQVRU'DWDYHORFLW\
VHQVRU'DWDDFFOHUDWLRQ

3UHFRQWURO VHUYR'DWDSUH&RQWURO9DOXH

VHUYR'DWDFRPSHQVDWHG6HUYR .SF VHUYR'DWDV\PPHWULF6HUYR&R

'LIIHUHQWLDWLRQ
&RPPDQG9DOXH  PPDQG9HORFLW\

'LIIHUHQWLDWLRQ

3RVLWLRQFRQWUROOHU
%DODQFLQJ 6\VWHP 6HWSRLQWVSHHG
GHDGWLPH  NY
ILOWHU DFWRU'DWDVHWSRLQW
VHUYR'DWDFRQWUROOHU2XWSXW
'6& 
DGMXVWPHQW VHUYR'DWDFRQWUROOHU'LIIHUHQFH
 6HOHFWDEOH VHUYR'DWDV\PPHWULF6HUYR&RPPDQG3RVLWLRQ
 37HOHPHQWZLWK77
VHQVRU'DWD>@SRVLWLRQ
VHUYR'DWDIROORZLQJ(UURU

Figure 3-40 Proportional-action controller with precontrol

TO Axis Electric / Hydraulic, External Encoder

114 Function Manual, 04/2014
 Axis fundamentals
3.11 Positioning axis with position control

Figure 3-41 Static controller data

Note
The PDF documents button can be used in the online help to locate the function charts with
signal paths.

Axis wizard default settings

● P-action controller with precontrol for the electric axis
● DSC to improve the control quality (higher servo gain values) for digitally coupled drives
(only with P controllers with precontrol)
● PID controller for hydraulic axes (allows you to switch the actual value directly to the D
component).
See also Position control for setting a positioning axis with hydraulic functionality (Page 309).

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 115
Axis fundamentals
3.11 Positioning axis with position control

Position loop gain (servo gain factor)

For a P controller with or without precontrol, the gain of the P controller can be specified via
the servo gain factor. The manipulated variable/traversing velocity component of the closed-
loop control is generated from the control error via the servo gain factor Kv.
The mathematical (proportional) relationship is:
Servo gain factor Kv = (traversing velocity v / control error Δs) [1/s]
The servo gain factor Kv affects the following characteristic values:
● Positioning accuracy and holding control
● Uniformity of motion
● Positioning time
The better the axis design (high degree of stiffness), the higher the achievable servo gain factor
Kv, and therefore the better the axis parameters are from a technological perspective (lower
following error and higher dynamic response).

Precontrol
The velocity precontrol can be used to limit the velocity-related following error during position
control. It can also help to achieve faster positioning.
With precontrol, the velocity setpoint is also switched additively to the position controller output.
This additional setpoint can be weighed with a factor.

Balancing filter for feedforward control

The balancing filter is a simplified model of the speed control loop. It is used to prevent the
position controller from overriding the manipulated velocity variable during the acceleration
and deceleration phases. This is accomplished by delaying the position setpoint of the position
controller by the balancing time with reference to the velocity precontrol.
Function of the balancing filter

$FWLYH

3UHFRQWURO N SF

G
GW

%DODQFLQJILOWHU 3RVLWLRQFRQWUROOHU
6SHHGFRQWUROORRS
Y7F Y 5HIHUHQFH
6HWSRLQW VSHHG QDFW [DFW
,QWHUSRODWRU


$FWXDOSRVLWLRQ

Figure 3-42 Balancing filter - Example of an electric axis without DSC

TO Axis Electric / Hydraulic, External Encoder

116 Function Manual, 04/2014
 Axis fundamentals
3.11 Positioning axis with position control

The speed is precontrolled; to this end, the position setpoint is adopted from the reference
variable calculation directly or with differentiation applied, and the set velocity is defined on
the speed controller directly. The position controller then simply has to compensate for any
position errors which may be present in spite of the precontrol.
The position error, therefore, is generated from the position setpoint, delayed by the speed
control loop equivalent time, and the existing actual position value.
Settings and configuration data
The setting can be made using the Closed-loop control dialog for Dynamic controller data
(activate expert mode).
When precontrol is active, allowance can be made in the balancing filter for the response of
the speed control loop prior to formation of the system deviation from the position setpoint and
actual position.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 117
Axis fundamentals
3.11 Positioning axis with position control

● With the balanceFilterMode=OFF configuration setting, the balancing filter is switched off.
● With the balanceFilterMode=MODE_1 configuration setting, a PT1 filter is used as the
balancing filter.
– For electric axis without DSC:
The following must be set as the time constant for the balancing filter in
dynamicData.velocityTimeConstant: TBalancing filter=TSpeed control loop equivalent time+Ti+To+Tdp+Tservo
The transmission dead times and process response (equivalent time of speed control
loop) must be taken into account in the time constant.
systemDeadTimeData.additionalTime is not included additively by the system in the
balancing filter.
– For electric axis with DSC:
The following must be set as the time constant for the balancing filter in
dynamicData.velocityTimeConstant: TBalancing filter=TSpeed control loop equivalent time, because the
transmission dead times for the position controller in the drive are not present in the
position control loop.
systemDeadTimeData.additionalTime is not included additively by the system in the
balancing filter.
– For the hydraulic axis:
The following must be set as the time constant for the balancing filter in
dynamicQFData.qOutputvelocityTimeConstant: TBalancing filter=TqOutputEquivalent time +
Communication times according to the setpoint output/actual value interface.
(TqOutputEquivalent time as equivalent time for the QOutput process response)
● With the balanceFilterMode=MODE_2 configuration setting (as of V3.1), the equivalent time
of the speed control loop, the dead time determined by the system for the drive, and a dead
time that can be input in additive increments by the user are taken into account in the
balancing filter.
Maximum time constant = 16 x Tservo
– For electric axis without DSC:
The following must be set as the time constant for the balancing filter in
dynamicData.velocityTimeConstant: TBalancing filter=TSpeed control loop equivalent time
Ti+To+Tdp+Tservo is taken into account by the system.
The value set in systemDeadTimeData.additionalTime is included additively by the
system in the balancing filter.
– For electric axis with DSC:
The following must be set as the time constant for the balancing filter in
dynamicData.velocityTimeConstant: TBalancing filter=TSpeed control loop equivalent time, because the
transmission dead times for the position controller in the drive are not present in the
position control loop.
systemDeadTimeData.additionalTime is not included additively by the system in the
balancing filter.
– For the hydraulic axis:
The following must be set as the time constant for the balancing filter in
dynamicQFData.qOutputvelocityTimeConstant: TBalancing filter=TqOutputEquivalent time +
Communication times according to the setpoint output/actual value interface
(TqOutputEquivalent time as equivalent time for the QOutput process response)
The setting balanceFilterMode=MODE_2 on the balancing filter is recommended.

TO Axis Electric / Hydraulic, External Encoder

118 Function Manual, 04/2014
 Axis fundamentals
3.11 Positioning axis with position control

An overswing is apparent should the dynamicData.velocityTimeConstant value be too small.

If the value is too large, the axis has limited dynamic behavior and creeps to the end position.

System deviation
The control deviation is the difference between the balanced setpoint and the actual value and
is displayed in the servoData.ControllerDifference system variable.

Note
As of runtime version V4.1 SP1, the control deviation present on the position controller in the
drive is displayed for DSC. This is calculated in the control using a model (see the Control
Structure figure in the next chapter).
With versions prior to V4.1 SP1, the control deviation present in the control is displayed with
DSC.

The servoData.controlDifferenceCommandPosition system variable (as of V4.4) displays the

setpoint present in the drive. With reference to the current actual value, this setpoint is relevant
to control deviation generation. The signal runtime and output times are taken into account.
Calculating the servoData.controlDifferenceCommandPosition system variable without
balancing filter (configuration setting balanceFilterMode=OFF):
● Without DSC
servoData.controlDifferenceCommandPosition =
servoData.symmetricServoCommandPosition
● With DSC
servoData.controlDifferenceCommandPosition =
servoData.symmetricServoCommandPosition delayed by Ti+To+Tdp+Tservo
Calculating the servoData.controlDifferenceCommandPosition system variable with balancing
filter (configuration setting balanceFilterMode<>OFF):
● Without DSC
servoData.controlDifferenceCommandPosition =
servoData.symmetricServoCommandPosition delayed by Ti+To+Tdp+Tservo
● With DSC or DSC with spline (requirement: position-control in the controller and in the drive
is to the same encoder)
servoData.controlDifferenceCommandPosition =
servoData.symmetricServoCommandPosition delayed by Ti+To+Tdp+Tservo+TadditionalTime

Control loop structures

When the mode is changed from speed-controlled to position-controlled mode while the axis
is in motion, the equivalent time of the position controller is required to apply the setpoint. The
equivalent time is set during configuration in dynamicData.positionTimeConstant (for an
electric axis) or in dynamicQFData.positionTimeConstant (for the hydraulic functionality).

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 119
Axis fundamentals
3.11 Positioning axis with position control

Quantization of the control error for stepper motors or low-resolution encoders

The commandValueQuantization.enable=YES configuration data can be used to activate the
quantization of the control deviation. A quantization of the control deviation is performed in
accordance with the encoder resolution (distance per increment) or stepper motor increment.
This prevents, for example, the motor from oscillating between two increments while at a
standstill.
With the setting commandValueQuantization.mode=DIRECT, the value for quantizing the
control deviation can also be specified directly in commandValueQuantization.value (as of
V4.1 SP1). This is sensible when for stepper motors, the encoder has a higher resolution than
the increment of the stepper motor.

Note
Quantization of the control deviation should be activated for stepper motors.

Axis data sets

Like other items of axis configuration data, controller data can be assigned to multiple data
sets. A data set is assigned to every axis when it is created.
Axis data sets are used as a means of activating multiple controller settings simultaneously.
Axis data sets are configured for axes on the Axis data sets tab under Configuration.

See also
Overview of commissioning the position controller of positioning axes (Page 150)
Hydraulic axis with position control/velocity control (Page 309)
Data sets (Page 206)

3.11.3 Dynamic Servo Control (DSC)

With the Dynamic Servo Control (DSC) function, the position controller in the drive is executed
in the cycle clock of the speed control loop. In the drive, intermediate setpoints are generated
in the speed controller cycle clock from the position setpoints transferred in the position
controller/communication cycle clock via linear fine interpolation.
It is thus possible to set a substantially greater position controller gain factor Kv. This increases
the dynamic response for the reference variable sequence and disturbance variable
compensation for highly dynamic drives.
For a position axis with position control and an assigned SINAMICS drive, the system sets
DSC by default provided this is available at the drive's DO type (e.g. when a servo drive is
assigned).

TO Axis Electric / Hydraulic, External Encoder

120 Function Manual, 04/2014
 Axis fundamentals
3.11 Positioning axis with position control

Advantages of DSC (compared to a position controller in the controller)

● Higher servo gain factor Kv (position controller gain) possible
● Larger bandwidth -> higher dynamic response
● Shorter response times for disturbance characteristic

Detailed information
The position difference (XERR) and the gain factor for the position controller in the drive are
transferred in the PROFIdrive telegram, in addition to the speed precontrol value.
To activate the DSC function, the position controller must be set as PV controller (P controller
with precontrol). In addition, the encoder in
typeOfAxis.NumberOfEncoders.DSCEncoderNumber on the axis must specify to which
increments the position differential (XERR) is normalized during operation. In SINAMICS, this
is by default the motor encoder. typeOfAxis.NumberOfEncoders.DSCEncoderNumber must
be initialized to the first encoder of the axis TO.
DSC is supported by MASTERDRIVES (standard telegrams 5 and 6 according to PROFIdrive),
SIMODRIVE 611U and SINAMICS S120 (additional SIEMENS telegrams 105 and 106).
A SCRIPT is available to support you when commissioning MASTERDRIVES.
In SINAMICS, SIMODRIVE 611U, and MASTERDRIVES, the motor measuring system is used
for normalizing the position difference in the drive.

The following is to be taken into account for DSC:

● With DSC, XERR (position error) and Kpc (position control loop gain) are also transmitted,
i.e., an 8-byte long setpoint telegram is required.
● With DSC, the communication times are taken into account in determining the following
error of the setpoint since the actual comparison of setpoint and actual value is generated
in the drive in the speed control cycle clock.
● The response time to a change in the actual position value is one speed controller cycle
clock.
● With DSC and synchronous operation with actual value coupling, the extrapolation time
must be increased by one position control cycle clock.
● If precontrol is deactivated for the DSC, zero is shown for the system variables with
reference to the controller output or manipulated variable value.
System variables:
– servodata.controllerOutput
– actorData.setPoint
– actorData.compensatedSetPoint
– actorData.totalSetPoint
The axis is moved in accordance with the system deviation (XERR) given to the drive.
● If the direction in the drive is inverted for DSC p0410.0 and p0410.1 must be set the same,
i.e. either the actual speed value and the actual position value are not inverted, or they are
both inverted.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 121
Axis fundamentals
3.11 Positioning axis with position control

Structure

ncmd NC Pos. Transmission Interpolation

Path control delay (TPC) Speed control
Speed filter
Interpolation *
xcmd xerr nNC nDrive

kpc
xact,NC
Speed
calculation

Tpc

xact

Zero Offset and

Compensation
Master Controller (NC) Drive Controller

ncmd: speed command xerr: position error command pc: position control sampling time (=TMAPC)
xcmd: position command xact: actual position kpc: position control gain

Figure 3-43 Structure of the position-control loop with the velocity setpoint interface to the drive without
DSC

,32F\FOH 6HUYRF\FOHFORFN 'ULYHF\FOHFORFN

FORFN
'\QDPLF
UHVSRQVH 3UHFRQWUROJDLQ

,32
),32 1RLVH
'\QDPLF )LQH,32
UHVSRQVH %DODQFLQJ 3RVLWLRQFRQWUROOHU GULYH Y7F
&RQWU &RQWUൺ'ULYH

-
6SHHGFRQWUROORRS
&RQWUROHUURU 'ULYHൺ&RQWU

-
)ROORZLQJHUURU

3RVLWLRQFRQWUROORRS

Figure 3-44 Control structure without DSC (simplified)

TO Axis Electric / Hydraulic, External Encoder

122 Function Manual, 04/2014
 Axis fundamentals
3.11 Positioning axis with position control

ncmd ncmd
Path Transmission Interpolation Position
delay control Speed filter Speed control
Interpolation (Tpc)
B
xcmd xerr nDrive

xact,NC kpc
Speed
calculation

1 2 3 4

xact,Drive
Tpc xact,NC Tpc Tsc

xact
Zero Offset and A
Compensation
Master Controller (NC) Drive Controller

ncmd: speed command xerr: position error command : speed control sampling time
sc kpc: position
xcmd: position command xact: actual position pc
: position control sampling time (=TMAPC) control gain

Figure 3-45 Structure of the position-control loop with DSC functionality in the drive

,32F\FOH 6HUYRF\FOHFORFN 'ULYHF\FOHFORFN

FORFN
'\QDPLF *DLQ3UHFRQWURO )LQH,32
UHVSRQVH &RQWUൺ'ULYH GULYH

,32


),32 1RLVH

'\QDPLF )LQH,32 3RVLWLRQFRQWUROOHU

UHVSRQVH %DODQFLQJ &RQWUൺ'ULYH GULYH GULYH Y7F

-
7L7R7GS7VHUYR7DGGLWLRQDO7LPH 'ULYHൺ&RQWU 6SHHGFRQWUROORRS

-
7L7R7GS7VHUYR
7DGGLWLRQDO7LPH

- 3RVLWLRQFRQWUROORRS

)ROORZLQJHUURU &RQWUROHUURU
ZLWKUHIWRGULYH 'LVSOD\LQFRQWURO
FRQWUROHUURULQGULYH

Figure 3-46 Control structure with DSC (simplified)

For more information about DSC, refer to the corresponding drive documentation, e.g. the
SINAMICS S120 Function Manual for SINAMICS.

See also
Overview of commissioning the position controller of positioning axes (Page 150)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 123
Axis fundamentals
3.11 Positioning axis with position control

3.11.4 DSC with spline (as of V4.4) [Expert]

With the Dynamic Servo Control (DSC) function, the position controller in the drive is executed
in the cycle clock of the speed control loop. In the drive, intermediate setpoints are generated
in the speed controller cycle clock from the position setpoints transferred in the position
controller/communication cycle clock via linear fine interpolation.
With the DSC with spline function, the position controller is also executed in the drive in the
cycle clock of the speed control loop. The intermediate values in the drive are generated via
polynomial functions. Intermediate setpoints are also generated for speed and torque, in
addition to position. Using the intermediate setpoints, highly dynamic motions down to the
current controller cycle clock are simulated exactly and precontrol is possible right down to the
torque.
To use DSC with spline, activate “DSC with spline” in the drive of the function module.

The setpoints are fine-interpolated in the following way:

● Position setpoint - cubic fine interpolation
● Speed setpoint - quadratic fine interpolation
● Acceleration setpoint/torque setpoint - linear fine interpolation

DSC with spline provides the following advantages and functionality:

● Linear fine interpolation and precontrol of the torque
● Extended support for highly dynamic motions
● Process response is determined by the lower current controller equivalent time

DSC with spline can be used or set as follows:

TO Axis Electric / Hydraulic, External Encoder

124 Function Manual, 04/2014
 Axis fundamentals
3.11 Positioning axis with position control

1. DSC with spline and torque precontrol

– The torque is precontrolled.
– Speed and position are controlled taking into account the equivalent time of the current
controller in the balancing filter in the drive.
– The torque is calculated in the drive from the acceleration and the total moment of inertia.
– Balancing of the position setpoint and of the speed setpoint using the current controller
equivalent time (ttc).
The total moment of inertia J is used to calculate a torque from the acceleration.
The following parameters are available in the drive for input:
– p0341 Motor moment of inertia (in motors on the motor list this parameter is
automatically preset)
– p0342 Moment of inertia ratio Load+motor / motor (should be defined during speed
controller optimization, reference model determination)
– p1498 Load moment of inertia
– p1497 Moment of inertia scaling factor
2. DSC with spline and speed precontrol
– The speed is precontrolled.
– The position is controlled taking into account the equivalent time of the speed controller
(VTC) in the balancing filter in the drive.
– The speed controller equivalent time is taken into account in the balancing filter.
3. DSC with spline without precontrol
– Speed and torque are not precontrolled.
– The position is controlled in the drive.
– The balancing filter in the drive and in the controller is not included.

Use DSC with spline with torque precontrol for constant load torque and
DSC with spline with speed precontrol for non-constant load torque.
If the torque constant of the feed motor does not remain in the overload range, the function
module Extended torque control functions can be activated. This improves the accuracy of the
torque simulation.

Requirements and settings in SIMOTION

The following requirements must be satisfied for the use of DSC with spline:
● Axis type must be a real electrical axis (REAL_AXIS)
● Telegrams 125 and 126 must be supported by the drive
(SINAMICS drives as of V4.7 that support telegrams 125 and 126)
● Activation of DSC with spline
DSC with spline is first activated when the axis is powered up if the axis is at standstill
(standstill signal active).

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 125
Axis fundamentals
3.11 Positioning axis with position control

● Consistent setpoints
Position and velocity setpoints must be consistent with each other, i.e. the setpoint pair
must originate from the same cycle clock time of the motion control.
In the setpoint calculation of the technology object, the position setpoints and the velocity
are consistent with each other and are limited to the maximum values.
If the setpoints are modified using compensation values or limits after the setpoint
calculation, the consistency of position and velocity must be ensured by the user.
If the setpoints are defined by the user, the user must ensure consistency.
System variable with DSC spline status display: servoData.dscSpline
● Fine interpolation type
Use the default setting (configuration data item FineInterpolator._type=CUBIC_MODE)
● High-resolution measuring system
DSC with spline requires a high setpoint resolution. The setpoint resolution in the system
is based on the actual value resolution. If the actual value only has a low resolution, you
can increase the setpoint resolution internally.
(Set p0418, e.g. to 18-bit)
● Recommendation: Set the equivalent time of the speed control loop and the current control
loop to at least 3x current control cycle clock
VTC configuration data item dynamicData.velocityTimeConstant
TTC configuration data item dynamicData.torqueTimeConstant
● Switching the setting from DSC with spline to standard DSC and back
controllerStruct.PV_Controller.enableDSCSpline configuration setting
Restart required
● Speed control mode
Performed via Kpc=0.
The position for the generation of the position difference (XERR) is simulated internally.
● Speed precontrol = 100%
Precontrol factor is not evaluated for the DSC with spline setting.
● Friction compensation
This setting can cause irregular splines at the start of motion.
● Backlash compensation
This setting can cause irregular splines at the direction reversal.
● Setpoint superimposition
DSC without spline is used by the system, as long as superimposition is active, by activating
system variable servoSettings.additionalCommandValueSwitch.
● Manipulated variable superimposition
DSC without spline is used by the system, as long as superimposition is active, by activating
system variable servoSettings.additionalSetPointValueSwitch.

Restrictions
The following restrictions apply in SIMOTION when using DSC with spline:
● Encoder switchover during operation or during a motion is not supported
● Pressure control is not possible
● Pressure limiting is not possible

TO Axis Electric / Hydraulic, External Encoder

126 Function Manual, 04/2014
 Axis fundamentals
3.11 Positioning axis with position control

Closed-loop control on a direct measuring system

A direct measuring system can be controlled on condition that the control is set to the same
encoder system in the controller and in the drive.
The encoder for the position control in the drive is set in p1192.
The transmission factor between the motor measuring system (MMS) (motor encoder) and the
direct measuring system (DMS) is set in p1193.
X_ERR is further normalized to the motor measuring system if not converted in the drive.
Encoder switchover during operation or during a motion is not supported.

Note
Position and velocity values must be consistent
Closed-loop control on a direct encoder in the controller in conjunction with closed-loop
control on a motor encoder in the drive is not permitted. The position and velocity values
would then no longer be consistent in the spline calculation.
The user must ensure the values are consistent with each other if the position setpoints and
velocity setpoints change.

Balancing filter
When DSC with spline is activated, the balancing filter is calculated in the drive. The balancing
time is transferred to the drive in the telegram. The setpoint to calculate X_ERR is therefore
tapped before the balancing filter.
The controller calculates the actual control error in the drive taking into account the balancing
filter.

,32F\FOH 6HUYRF\FOHFORFN
FORFN
'\QDPLF
UHVSRQVH *DLQSUHFRQWURO &RQWUൺ'ULYH

,32


),32
'\QDPLF
UHVSRQVH %DODQFLQJ HQDEOH'6&6SOLQH &RQWUൺ'ULYH

7L7R7GS7VHUYR7DGGLWLRQDO7LPH 'ULYHൺ&RQWU

-
7L7R7GS7VHUYR
7DGGLWLRQDO7LPH

)ROORZLQJHUURU &RQWUROHUURU
ZLWKUHIWRGULYH 'LVSOD\LQFRQWURO
FRQWUROHUURULQGULYH

Figure 3-47 Effect with activated DSC with spline

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 127
Axis fundamentals
3.11 Positioning axis with position control

3.11.5 Fine interpolation

The purpose of the fine interpolator (FIPO) is to generate interim setpoints for the position
setpoints when the interpolator (IPO) and the controller (servo) have different cycle clock
ratios.

Interpolation types
During configuration, the following interpolation types can be set by means of the
FineInterpolator._type configuration data element:
● DIRECT_MODE: when no fine interpolation is required
● LINEAR_MODE: linear interpolation (continuous position for positioning axis)
Use for discontinuous velocity setpoints (no precontrol)
● QUADRATIC_MODE: quadratic interpolation (continuous velocity for positioning axis)
Use for continuous velocity setpoint curves
● CUBIC_MODE (recommended, default setting): cubic interpolation
Use for continuous velocity or continuous acceleration setpoint curves
With the positioning-axis setting, the set position is interpolated.
With the speed-controlled axis setting, the set velocity is interpolated.

3.11.6 Dynamic controller data

The equivalent time of the current control loop is set in the
dynamicData.torqueTimeConstant configuration data element. The equivalent time of the
current control loop is not used at present.
The equivalent time of the speed control loop is set in the
dynamicData.velocityTimeConstant configuration data element and used in the balancing
filter. See also Balancing filters for precontrol in Position control (Page 113).
The setting can be made using the Closed-loop control dialog for Dynamic controller data
(activate expert mode).
The equivalent time of the position control loop is set in the
dynamicData.positionTimeConstant configuration data element. The equivalent time of the
position control loop is set in the following cases:
● Preassigned braking ramp
● Switchover from SPEED_CONTROLLED to POSITION_CONTROLLED
● Switchover from pressure-controlled to position-controlled operation
● A moving axis is enabled with _enableAxis()
If the equivalent time of the position control loop has not be set correctly, compensation
movements can occur for switching tasks.
With DSC, the equivalent time of the position control loop can be set as follows:

TO Axis Electric / Hydraulic, External Encoder

128 Function Manual, 04/2014
 Axis fundamentals
3.11 Positioning axis with position control

● Without precontrol
PTC = 1/Kv
● For 100% precontrol of the velocity setpoint:
The equivalent time of the position control loop can be set as equal to the equivalent time
of the speed control loop (PTC = VTC).
(Control loop optimization for minimal overshoot)

Figure 3-48 Dynamic controller data

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 129
Axis fundamentals
3.11 Positioning axis with position control

3.11.7 Setpoint superimposition

The setpoint specified by the interpolator can be superimposed in the servo via the cyclically
active system variables (servoSettings.additionalCommandValue,
servoSettings.additionalCommandValueSwitch)

VHUYR'DWDFRPSHQVDWHG6HUYR&RPPDQG9DOXH
VHUYR0RQLWRULQJFRQWUROVWDWH
VHUYR'DWDWRWDO6HUYR&RPPDQG9DOXH
,32VHWSRLQWV
SRVLWLRQLQJ6WDWHFRPPDQG3RVLWLRQ VHUYR'DWDVHUYR&RPPDQG9DOXH DFWRU'DWDVHWSRLQW
PRWLRQ6WDWH'DWDFRPPDQG9HORFLW\
PRWLRQ6WDWH'DWDFRPPDQG$FFHOHUDWLRQ

(QDEOHV 6XSHULPSRVHG '\QDPLF 0DQLSXODWHG

0RWLRQ,32 )LQH &RQWUROOHUZLWK
HPHUJHQF\VWRS VHWSRLQW UHVSRQVH YDULDEOH
LQWHUSRODWLRQ SUHFRQWURO
RSHUDWLQJPRGHV DGDSWDWLRQ SUHSDUDWLRQ
  

$FWXDOYDOXH
SRVLWLRQLQJ6WDWHDFWXDO3RVLWLRQ V\VWHP
PRWLRQ6WDWH'DWDDFWXDO9HORFLW\
PRWLRQ6WDWH'DWDDFWXDO$FFHOHUDWLRQ

VHQVRU'DWDSRVLWLRQ
VHQVRU'DWDYHORFLW\
VHQVRU'DWDDFFOHUDWLRQ
VHUYR'DWDVHUYR&RPPDQG9DOXH
VHUYR6HWWLQJVDGGLWLRQDO&RPPDQG9DOXH>@
VHUYR6HWWLQJVDGGLWLRQDO&RPPDQG9DOXH6ZLWFK

VHUYR6HWWLQJVDGGLWLRQDO&RPPDQG9DOXH>@ +
/DVWYDOXHEHIRUHRSHQLQJLVUHWDLQHG

VHUYR'DWDWRWDO6HUYR&RPPDQG9DOXH
 ,IWKHUHLVQRHQDEOHRUHPHUJHQF\VWRS,32LVLQIROORZXSPRGHLH,32VHWSRLQW ,32DFWXDOYDOXH
 6HOHFWDEOHOLQHDUFXELFTXDGUDWLFGLUHFW
 37HOHPHQWZLWK77

Figure 3-49 Setpoint superimposition

Superimposition has an effect on the position of the position axis. It is also effective during
active position control and interpolator (IPO) in follow-up mode.
No setpoint superimposition occurs for traversing the axis in the SPEED_CONTROLLED mode
and for active force/pressure control.

TO Axis Electric / Hydraulic, External Encoder

130 Function Manual, 04/2014
 Axis fundamentals
3.11 Positioning axis with position control

If the setpoint superimposition is disconnected, the last value of the setpoint superimposition
is retained. If the value should no longer function, it must be explicitly set to zero.

Note
During execution of the alarm response FEEDBACK_EMERGENCY_STOP and the
execution of _stopEmergency() with stopMode=STOP_WITH_COMMAND_VALUE_ZERO:
● The actual value (position and velocity) is accepted once and the preassigned deceleration
ramp is applied
● The superimposed setpoint is unclamped (as of V4.0)
● The switch for the superimposed setpoint is opened (status displayed in system variable).
● A switch is prevented from closing or the switch is closed via the system variable and
triggers Alarm 50021 "ServoSettings system variable (Element /1/%d) cannot be write-
accessed due to a stop response".
With the FEEDBACK_EMERGENCY_STOP alarm response, there is no setpoint
superimposition.
When a stop ramp is assigned (e.g. _stopEmergency(…
WITH_COMMAND_VALUE_ZERO) ), the superimpositions are deleted and transferred to
the setpoint generation. This triggers Alarm 50020 "Servosettings system variable (Element /
1/%d) is reset due to a stop response".
For switching to SPEED_CONTROLLED (as of V4.1 SP1) and in pressure control (as of V4.1
SP1), the setpoint superimposition is not active.

3.11.8 Dynamic response adaptation

In order to adapt the dynamic behavior of axes, the setpoint branch contains a programmable
PT2 setpoint filter with the time constants T1, T2, and Tt. This allows compensation for axes
with higher dynamic behavior with the lowest dynamic behavior (axis with the largest equivalent
time constant of the TLR position controller).
The dynamic response of the axes is determined by TRes, the resulting total time constant.
TRes = TLR 1 (axis with the smallest dynamic behavior)
TRes = Tda + TLR 2 (considered dynamic axis)
The dynamic adaptation, Tda, must be selected so that the resulting total time constants are
equal for all axes to the adapted.
The dynamic adaptation consists of
Tda = T1 + T2 + Tt

T1 additive time constant 1

(setting in the configuration data:
NumberOfDataSets.DataSet_1.DynamicComp.T1)
T2 additive time constant 2
(setting in the configuration data:
NumberOfDataSets.DataSet_1.DynamicComp.T2)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 131
Axis fundamentals
3.11 Positioning axis with position control

Tt (V4.1 SP1 and Dead time

higher) (setting in the configuration data:
NumberOfDataSets.DataSet_1.DynamicComp.deadTime)
TRes (Desired) resulting total time constant of the axis
TLR Equivalent time constant of the closed position control loop of the axis (see
dynamic~Data.positionTimeConstant)
The function is enabled/disabled via dynamicComp.enable.

Note
The used procedure means that a setpoint delay can be implemented exactly by specifying
a dead time.

3.11.9 Actual value measurement / actual value system

W\SH2I$[LVQXPEHU2I(QFRGHUVHQFRGHUBSRVLWLRQILOWHU
SRVLWLRQLQJ6WDWHDFWXDO3RVLWLRQ VHQVRU'DWD>Q@LQFUHPHQWDO3RVLWLRQ
VHQVRU'DWD>Q@SRVLWLRQ

+RPHSRVLWLRQ 37 6HQVRU 6HQVRU

FDOFXODWLRQ  6FDOLQJ
2IIVHWFRRUGLQDWH ILOWHU GULYHU (QFRGHU
V\VWHP

VHQVRU'DWD>Q@SRVLWLRQ,QFRPLQJ
VHQVRU'DWD>Q@VWDWH
VHQVRU0RQLWRULQJ]HUR0DUNHU0RQLWRULQJ

VHQVRU'DWD>Q@DFFHOHUDWLRQ

PRWLRQ6WDWH'DWDDFWXDO$FFHOHUDWLRQ
'LIIHUHQWLDWLRQ

)LOWHU /LPLWYDOXH
GGW PRQLWRULQJ

VHQVRU'DWD>Q@YHORFLW\
)LOWHU 'LIIHUHQWLDWLRQ
W\SH2I$[LVQXPEHU2I(QFRGHUVHQFRGHUBILOWHU

W\SH2I$[LVVPRRWKLQJ)LOWHU
PRWLRQ6WDWH'DWDDFWXDO9HORFLW\

(QFRGHUDFWLYHIRUPRWLRQ $FWXDOYDOXHPHDVXUHPHQWDFWXDOYDOXHV\VWHPIRUFRQILJXUHGHQFRGHU
FRQWURO

 $EVROXWHDQGLQFUHPHQWDOHQFRGHU2IIVHWFRRUGLQDWHV\VWHPHJXVLQJBUHGHILQH3RVLWLRQ DQGBKRPLQJ ZLWKWKH',5(&7B+20,1*VHWWLQJ

,QFUHPHQWDOHQFRGHU+RPHSRVLWLRQXVHU'HIDXOW+RPLQJKRPH3RVLWLRQKRPHSRVLWLRQRIIVHWLQF+RPLQJ(QFRGHUSURFHHGVKLIWSRV

 ,QFUHPHQWDOHQFRGHU3RVLWLRQVDUH]HURHGDW]HURPDUN
$EVROXWHHQFRGHU$EVROXWHHQFRGHUDGMXVWPHQWLQDEV6KLIWRUDEVROXWH(QFRGHUWRWDO2IIVHW9DOXHLVLQFOXGHG

Figure 3-50 Actual value system of technology object axis

TO Axis Electric / Hydraulic, External Encoder

132 Function Manual, 04/2014
 Axis fundamentals
3.11 Positioning axis with position control

W\SH2I$[LV(QFRGHUBSRVLWLRQILOWHU
PRWLRQ6WDWH3RVLWLRQ VHQVRU'DWD>Q@LQFUHPHQWDO3RVLWLRQ
VHQVRU'DWDSRVLWLRQ

+RPHSRVLWLRQ 37 6HQVRU 6HQVRU

2IIVHWFRRUGLQDWH FDOFXODWLRQ  ILOWHU 6FDOLQJ GULYHU (QFRGHU
V\VWHP

VHQVRU'DWDSRVLWLRQ,QFRPLQJ
VHQVRU'DWDVWDWH
VHQVRU0RQLWRULQJ]HUR0DUNHU0RQLWRULQJ

VHQVRU'DWDDFFHOHUDWLRQ

PRWLRQ6WDWHDFFHOHUDWLRQ
'LIIHUHQWLDWLRQ

)LOWHU /LPLWYDOXH
GGW PRQLWRULQJ

VHQVRU'DWDYHORFLW\
)LOWHU 'LIIHUHQWLDWLRQ
W\SH2I$[LV(QFRGHUBILOWHU

W\SH2I$[LVVPRRWKLQJ)LOWHU
PRWLRQ6WDWHYHORFLW\

(QFRGHUDFWLYHIRUPRWLRQ $FWXDOYDOXHPHDVXUHPHQWDFWXDOYDOXHV\VWHPIRUFRQILJXUHGHQFRGHU
FRQWURO

 2IIVHWFRRUGLQDWHV\VWHPHJXVLQJBUHGHILQH([WHUQDO(QFRGHU3RVLWLRQDQGBV\QFKURQL]H([WHUQDO(QFRGHUZLWKWKH',5(&7B+20,1*VHWWLQJ

 ,QFUHPHQWDOHQFRGHUXVHU'HIDXOW+RPLQJKRPH3RVLWLRQ
$EVROXWHHQFRGHUDEV6KLIW

Figure 3-51 Actual value system of technology object external encoder

The monitoring of the actual velocity and actual acceleration is used to identify errors in the
control loop of the drives. If the rise in the actual value exceeds the encoder limit frequency,
an alarm is triggered.

Note
The PDF documents button can be used in the online help to locate the function charts with
signal paths.

Display
The actual data for each sensor/encoder is displayed in the following variables:
● sensorData[n].position
● sensorData[n].velocity
● sensorData[n].acceleration
The system variables for sensorData are calculated in the servo cycle clock.
The actual axis value that is active for closed-loop control, the IPO cycle clock, and master
value coupling is displayed in the following variables:

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 133
Axis fundamentals
3.11 Positioning axis with position control

● positioningState.actualPosition
● motionStateData.actualVelocity
● motionStateData.actualAcceleration
The system variables for positioningState and motionState are calculated in the IPO cycle
clock.
These actual values comprise the reference for the output cam calculation in the IPO cycle
clock, the actual value coupling for external encoders without extrapolation, and the actual
value reference in the IPO cycle clock, e.g. for actual-position-related profiles.
Noisy encoder signals lead to high velocity jumps. These can be reduced or compensated by
using suitable filter settings.

Filtering of the velocity

The smoothingFilter configuration data element refers to the velocity calculated in the IPO
cycle clock. Here, you can select whether a PT1 filter is to be applied to the data or whether
the data is to be generated from the mean value. The mean value is determined from the ratio
of the servo cycle clock to the IPO cycle clock.
The numberOfEncoders.encoder_1.filter configuration data element relates to the velocity
calculated in the servo cycle clock. A PT1 filter is used.
During synchronous operation with master value reference to the actual axis values, these
axis values are derived separately (refer to Synchronous Operation description of functions,
Actual value coupling).

Actual position filtering (as of V4.1 SP1)

A sensor/encoder-specific actual position value filter is available.
This actual value filter is set in typeofAxis.numberOfEncoders.encoder_1.positionfilter.T1 and
~.T2 and activated via ~.enable.
The positionFilter has no effect with the velocity encoder setting
encoderValueType=VELOCITY.
The actual velocity and actual acceleration are derived from the filtered position.
The positionFilter is calculated based on the actual values in SIMOTION and so does not act
for active DSC for the actual values of the lower-level control loop in the drive.
The positionFilter present on the analog sensor input (for raw value filtering) is not dependent
on the filter described here.

Extrapolation
For a synchronized group with actual value coupling (e.g. master value is the actual encoder
value of an axis or an external encoder), the associated principle means delay times result
because of bus communication, system cycle clocks and clock-pulse scaling, fine interpolation,
position setpoint filters, and controller settings. These times can be compensated using an
extrapolation (Extrapolation.extrapolationTime).

TO Axis Electric / Hydraulic, External Encoder

134 Function Manual, 04/2014
 Axis fundamentals
3.11 Positioning axis with position control

Extrapolation means knowing what has gone before and casting a glance at what is to come
in the future (extrapolation time). In the case of dynamic changes to the master value, the
extrapolation time should be as short as possible. An IPO cycle clock ratio: Servo pulse duty
factor of 1:1 is good.

Note
Extreme care must be taken when changing the extrapolation time to the runtime; otherwise
knocking could result in the machine.

$FWXDOYDOXHFRXSOLQJZLWKRXWH[WUDSRODWLRQ $FWXDOYDOXHFRXSOLQJZLWKH[WUDSRODWLRQ
72$[LVDQG
([WHUQDO(QFRGHU
72$[LV72([WHUQDO(QFRGHU
)ROORZLQJREMHFW
&ORVHGORRSFRQWUROF\FOHFORFN ,32RU,32BF\FOHFORFN
,32RU,32BF\FOHFORFN
7\SH2I$[LV([WUDSRODWLRQ ([WUDSRODWLRQ7LPH!
([WUDSRODWLRQ7LPH ([WUDSRODWLRQ7LPH  69
69H[WUDSRODWLRQ FXUUHQW0DVWHU'DWD
69H[WUDSRODWLRQ'DWD ([WUDSROD 'DWDSRVLWLRQ YDOXH 6\QFKUR
ILOWHUHG3RVLWLRQ
WLRQZLWK
∆[ QRXV
SODXVLELOLW\
77 aYHORFLW\ aGHULYHG9DOXH RSHUDWLRQ
FKHFN
aDFFHOHUDWLRQ IXQFWLRQ
a
∆Y VHFRQG'HULYHG9DOXH
)LOWHUV
77
7\SH2I$[LV 7\SH2I$[LV 2QO\IRU72([WHUQDO
([WUDSRODWLRQ ([WUDSRODWLRQ
7\SH2I$[LV (QFRGHU
)LOWHU 7\SH2I$[LV ([WUDSRODWLRQ H[WUDSRODWHG
7ROHUDQFH5DQJH 9HORFLW\6ZLWFK
$FWLYH
69H[WUDSRODWLRQ'DWD
ILOWHUHG9HORFLW\
([WUDSRODWLRQ
3RVLWLRQ)LOWHU
)LOWHUV +\VWHUHVLVQRWDFWLYH )ROORZLQJREMHFW
[ +\VWHUHVLVDFWLYH
DFWXDO ,32RU,32BF\FOHFORFN
YDOXH
V\VWHP 69 69
$[LV SRVLWLRQLQJ6WDWHDFWXDO3RVLWLRQ FXUUHQW0DVWHU'DWD
([WHQFRGHU PRWLRQ6WDWHSRVLWLRQ YDOXH 6\QFKUR
$[LV PRWLRQ6WDWH'DWDDFWXDO9HORFLW\ QRXV
Y ([WHQFRGHU PRWLRQ6WDWHYHORFLW\ aGHULYHG9DOXH RSHUDWLRQ
)LOWHUV IXQFWLRQ
$[LV PRWLRQ6WDWH'DWDDFWXDO$FFHOHUDWLRQ a
∆Y ([WHQFRGHU PRWLRQ6WDWHDFFHOHUDWLRQ VHFRQG'HULYHG9DOXH
7\SH2I$[LV
6PRRWKLQJ)LOWHU 77
696\VWHPYDULDEOH

Figure 3-52 Actual value coupling with extrapolation for the Axis technology object or External Encoder technology object

During master value extrapolation, filtering on the actual velocity value is performed separately
by means of a PT1 filter/mean value generation that is set with
typeOfAxis.extrapolation.Filter.
The actual position value for synchronous operation can be filtered separately during
extrapolation by means of a PT2 element. (as of V4.1 SP1)
As with extrapolation, there is only one filter for each axis rather than for each sensor/encoder.
It is set in typeOfAxis.extrapolation.positionFilter.T1 and ~.T2. The filter acts on the actual
position for the extrapolation, see also Technology Objects Synchronous Operation, Cam
function manual, Actual value coupling with extrapolation section.
The velocity for the extrapolation is taken over from the actual values of the axis or External
Encoder before application of the smoothing filter (typeOfAxis.smoothingFilter).

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 135
Axis fundamentals
3.11 Positioning axis with position control

Although the velocity filter (Extrapolation.Filter) does not affect the extrapolation time, it is
significant in the case of dynamic changes to the master value (due to the values being
delayed).
The filter for the velocity during extrapolation is independent of this filter.
We recommend setting the velocity filter (Extrapolation.Filter) first; if the result is not sufficient,
use the position filter as well. The position filter times are an additional factor to be taken into
account in the extrapolation time.
For extrapolation, you can specify in typeOfAxis.extrapolation.extrapolatedVelocitySwitch
whether the master value velocity should be recalculated from the extrapolated position or
whether the velocity derived for the extrapolation should also be used as the master value
velocity.
The extrapolated and filtered actual values can be checked in the following system variables:
● Filtered and extrapolated
– extrapolationData.position
– extrapolationData.velocity
– extrapolationData.acceleration
● Filtered and not extrapolated
– extrapolationData.filteredposition
– extrapolationData.filteredvelocity
(This topic is presented in detail in the Technology Objects Synchronous Operation, Cam
Function Manual under Actual value coupling with extrapolation.)

Note
You can find a tool to help you calculate extrapolation times under Tools and Documentation
> Calculating the extrapolation time for an actual-value-coupled drive in the SIMOTION
Utilities & Applications. SIMOTION Utilities & Applications is part of the scope of delivery of
SIMOTION SCOUT.

Transferring the actual velocity from the drive (as of V4.1 SP1)
With velocity precontrol, sudden changes in velocity directly affect the control behavior
(quantization jumps primarily in the case of low-resolution encoders).
With the setting
typeOfAxis.numberOfEncoders.encoder_n.encoderValueType=POSITION_AND_PROFIDRI
VE_NIST_B, you have the option of converting the speed of rotation transferred in PROFIdrive
NIST_B to a velocity and applying this value as the actual velocity of the encoder/sensor. In
this case, the actual position of the sensor does not need to be differentiated to derive the
actual velocity.
With the setting typeofAxis.numberOfEncoders.encoder_n.encoderValueType=
POSITION_AND_DIRECT_NIST, a speed of rotation transferred in the I/O area and
normalized as NIST_B is taken as the actual value and converted to an actual velocity. In this
case, 4000H corresponds to 100%. The address is set in

TO Axis Electric / Hydraulic, External Encoder

136 Function Manual, 04/2014
 Axis fundamentals
3.11 Positioning axis with position control

typeofAxis.numberOfEncoders.encoder_n.sensorNist.logAddress, and the reference value is

set in typeofAxis.numberOfEncoders.encoder_n.sensorNist.referenceValue.
With encoders with NAct evaluation, the speed determined by the encoder and the resulting
velocity can be accepted by the encoder. In this case, the actual position of the sensor does
not need to be differentiated to derive the actual velocity.
Two transmission options are available:
● Transmission in the PROFIdrive telegram
● Transmission in the I/O area

Number of modulo revolutions (as of V3.2)

The number of modulo revolutions is displayed in the
positioningState.commandModuloCycles, positioningState.actualModuloCycles and
sensorData.moduloCycles system variables with the following constraints:
● The value is not initialized at first.
The start value must be stored in the user program so that, for example, the number of
revolutions since the start can be calculated subsequently.
● The value is reset when the system is switched on and in response to initialization tasks
such as set actual value system (_redefinePosition()) or homing (_homing()).
The modulo revolution can change via _redefinePosition(). For absolute position
specifications and stationary axes, the principle of the shortest path is used; for moving
axes, corrections are made in the direction of motion. For relative position specifications,
the correction is made over the entire position difference.
● There is no special overflow handling for the count value.
A counter overflow must be taken into account in the user program.

Table 3-26 System variables for determining the modulo revolutions

Variable State Meaning

positioningState.commandModuloCycles See the StructAxisPositioningState data type in Setpoint for modulo
the System variables parameters manual revolutions
positioningState.actualModuloCycles See the StructAxisPositioningState data type in Actual value for modulo
the System variables parameters manual revolutions
positioningState.moduloCycles See the StructAxisSensorData data type in the Actual value for modulo
System variables parameters manual revolutions

See also
Actual value coupling with extrapolation

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 137
Axis fundamentals
3.11 Positioning axis with position control

3.11.10 Preparation of manipulated variables for electric axis

DFWRU'DWDWRWDO6HWSRLQW

DFWRU'DWDVHWSRLQW DFWRU'DWDFRPSHQVDWHG6HWSRLQW DFWRU'DWDQRUPDOL]HG6HWSRLQW

0DQLSXODWHG ,QFUHDVH )LQDO

1RUPDOL]
&RQWUROOHU  YDULDEOH
ILOWHU
 OLPLWHU DWLRQ /LPLWHU (QDEOHV 'ULYHU FRQWUROOLQJ
HOHPHQW
PRQLWRULQJ

DFWRU'DWDIULFWLRQ&RPSHQVDWLRQ9DOXH
DFWRU'DWDIULFWLRQ&RPSHQVDWLRQ $&7,9(

6WDWLFIULFWLRQ
FRPSHQVDWLRQ

VHUYR6HWWLQJVVHWSRLQW2IIVHW&RPSHQVDWLRQ

'ULIW
FRPSHQVDWLRQ

0DQLSXODWHG
YDULDEOH DFWRU'DWDDFWXDO$GGLWLRQDO6HWSRLQW
VXSHULPSRVLWLRQ

Figure 3-53 Manipulated variable preparation

TO Axis Electric / Hydraulic, External Encoder

138 Function Manual, 04/2014
 Axis fundamentals
3.11 Positioning axis with position control

3.11.11 Manipulated variable superimposition

DFWRU'DWDDFWXDO$GGLWLRQDO6HWSRLQW

0DQLSXODWHG
YDULDEOH
VXSHULPSRVLWLRQ

VHUYR6HWWLQJVDGGLWLRQDO6HWSRLQW9DOXH>@
VHUYR6HWWLQJVDGGLWLRQDO6HWSRLQW9DOXH6ZLWFK

VHUYR6HWWLQJVDGGLWLRQDO6HWSRLQW9DOXH>@

Figure 3-54 Manipulated variable superimposition

Superimposition of manipulated variables is enabled by means of a switch.

Manipulated variable superimpositions remain in effect when the drive is active. The user is
responsible for handling the superimpositions.
As of V4.1 SP1, the superimposition of manipulated variables is not active for the
FEEDBACK_EMERGENCY_STOP alarm reaction and the _stopEmergency() command with
stopMode=STOP_WITH_COMMAND_VALUE_ZERO.

3.11.12 Manipulated variable filtering (as of V4.1 SP1)

A man. var. filter can be set as a PT1 filter in the setpointFilter configuration data element. This
filter acts after the controller and after the precontrol value and the additive manipulated
variable value (additionalSetpoint) have been added.
A change in the filter data takes effect immediately.
With the DSC setting, the man. var. filter is only effective for the precontrol.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 139
Axis fundamentals
3.11 Positioning axis with position control

3.11.13 Drift/offset compensation

The analog output signal of analog-coupled drives can include a drift. This can be compensated
for by an offset in the axis.
Drift is enabled/disabled using the DriftEnable configuration data element. The value is
specified in the system variable servoSettings.setpointOffsetCompensation.
The value of the system variable servoSettings.setPointOffsetCompensation is reset to 0.0
with _disableAxis() (or with the alarm response RELEASE_DISABLE). If a value not equal to
0.0 is effective when the axis is switched on, the value needs to be reset before switching on
the axis (before issuing _enableAxis()).

3.11.14 Static friction compensation

A simple compensation is available for overcoming for the forces of static friction. During
startup from a standstill, a DT1 element adds a static friction compensation signal to the
manipulated variable.

'DPSLQJWLPH
$PSOLWXGH

Figure 3-55 Static friction compensation

Static friction is added relative to the velocity setpoint. It only takes effect when processing
motion specifications and does not affect force/pressure control.
The standstill identification for static friction compensation can be set separately, as is the case
for the amplitude and the decay response. The amplitude and decay response are set in the
configuration.

TO Axis Electric / Hydraulic, External Encoder

140 Function Manual, 04/2014
 Axis fundamentals
3.11 Positioning axis with position control

Figure 3-56 Static friction compensation

3.11.15 Backlash on reversal compensation

During the power transmission between a moving machine part and the corresponding drive,
a backlash on reversal (play) usually occurs.

%DFNODVK
[$

* 0

*(QFRGHU [*
00RWRU
;*$FWXDOHQFRGHUYDOXH
;$$[LVSRVLWLRQ

Figure 3-57 Backlash

Despite the backlash on reversal, a clear derivation of the axis position from the encoder
position and an exact traversing, positioning and synchronous operation of the axis must be
possible. SIMOTION provides the backlash on reversal compensation function for this purpose.
The backlash is specified in absBacklash.length or incBacklash.length, and the backlash
compensation velocity is specified in absBacklash.velocity or incBacklash.velocity.
Backlash on reversal compensation is effective only for encoders mounted on the motor side
and is set specifically for each encoder. A direct measuring system measures the variable

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 141
Axis fundamentals
3.11 Positioning axis with position control

directly without any intermediate backlash. Therefore, any existing backlash is compensated
with closed-loop control to the direct measuring system.

Backlash type
● Positive backlash
A positive backlash is set with absBacklash._type = POSITIVE or incBacklash._type =
POSITIVE.
Setting =POSITIVE means that the mechanical position lags behind the actual encoder
value. This is the case, for example, if the ball screw has play and the encoder is attached
to the motor (normal condition, default).
When the direction is reversed, the backlash is applied by the system at the backlash
compensation velocity.
Unless stated otherwise, the POSITIVE setting is assumed in the following.
● Negative backlash
The setting incBacklash._type = NEGATIVE is not supported.
The setting absBacklash._type = NEGATIVE is not supported.

Homing with incremental encoders

In homing, the encoder value is assigned a unique (mechanical) axis position based on the
reference signal of a homing mark.
If there is a backlash, the axis must always be traversed from the same side to the
synchronization point during homing. The assignment of the actual control position to the
mechanical position of the axis is thus unique.
This applies to:
● Homing on encoder zero mark
● Homing on external zero mark
● Homing via actual value setting (setting the actual axis value to a specified value)

Note
The fraction backlash that the axis lags when traversing in the homing direction is
irrelevant. Homing yields a unique assignment of the mechanical and displayed axis
position relative to the encoder value. When traversing in this direction, the same ratios
always result.

Direction reversal and switch-on behavior of incremental encoders

In a direction reversal when incBacklash._type=POSITIVE, the motor runs through the
backlash range. During this motor motion, the mechanical and thus the displayed actual
position of the axis does not change, whereas the encoder value in
sensordata.incrementalPosition does change. The axis is then traversed by the commanded
distance or to the commanded position.
In case of direction reversal, the backlash compensation is independent on the 'homed' status.
However, the first motion after the control unit is switched on is run through without backlash
compensation.

TO Axis Electric / Hydraulic, External Encoder

142 Function Manual, 04/2014
 Axis fundamentals
3.11 Positioning axis with position control

When the backlash range has been run through completely one time (no matter which
direction), the set backlash is then compensated when the direction is reversed - if backlash
compensation is enabled. This is independent of the homing status and applies to the relative
or, if applicable, absolute traversing of the axis in the non-homed state.

Homing with absolute encoders

The absolute encoder value is assigned a mechanical axis position by defining the absolute
encoder offset for homing with absolute encoders or absolute encoder adjustment.
This results in a direction dependency for the absolute encoder, too, since the position of the
backlash relative to the encoder value/axis position is relevant when setting the absolute
encoder offset or the mechanical axis position.
After the absolute encoder adjustment, backlash on reversal is carried out if the direction is
reversed, but not when traversing is continued in the same direction.
If the control unit is switched off/on, the mechanical axis position is assigned/indicated to the
actual encoder value via the absolute encoder offset. In the same way as motion restart after
absolute encoder adjustment, backlash compensation is not activated after switch-on for
motion in the same direction as the absolute encoder adjustment; however, it is activated for
motion in the opposite direction.
In the absBacklash.startupDifference configuration data element, the direction opposite to the
reference direction must be entered for setting the absolute encoder offset. For example,
absBacklash.startupDifference= NEGATIVE must be set for referencing the absolute encoder
offset to a positive direction of motion, since the backlash must be compensated in this case
when immediate travel in the negative direction occurs after switch-on. This is independent of
the position of the backlash relative to the actual axis position at the time of switch-on.

Note
Directly after switch-on, the mechanical axis position is displayed correctly only if the position
of the backlash at the time of switch-on corresponds to the position of the backlash relative
to the mechanical axis position when the absolute encoder offset is set. If this is not the case,
the mechanical axis position may deviate from the displayed axis position up to the total
amount of the backlash; that is because the control detects the actual encoder value at the
time of switch-on but it is not able to establish the position of the backlash without moving
the axis.

Direction reversal and switch-on behavior of absolute encoders

With direction reversal and the setting absBacklash._type=POSITIVE, the motor runs through
the backlash range. During this motor motion, the mechanical axis position and, thus, the
displayed actual position of the axis does not change, whereas the encoder value in
sensordata.incrementalPosition does change (also with the absolute encoder). The axis is
then traversed by the commanded distance or to the commanded position.
Backlash compensation for direction reversal is independent of the 'Homed' status (here, the
absolute encoder adjustment).
Backlash compensation is not activated for the first motion in both directions once the control
has been switched if no absolute encoder adjustment has yet been carried out. When the

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 143
Axis fundamentals
3.11 Positioning axis with position control

backlash range has been run through completely one time (no matter which direction), the set
backlash is then compensated when the direction is reversed - if backlash compensation is
enabled.

Status display
The sensorMonitoring.passingBacklash system variable indicates that the backlash is being
run through without changing the actual axis value.
Since the travel specification resulting from the specified motion and backlash recovery is
superimposed, this indication is not identical to the specification for backlash recovery.

Note
In order not to impair the response times with the backlash, the backlash compensation is
started simultaneously with the motion.

6HWSRLQWYHORFLW\IURPPRWLRQVSHFLILFDWLRQ

9HORFLW\VSHFLILFDWLRQIRUEDFNODVKUHFRYHU\

&KDQJHPRWRUSRVLWLRQ

%DFNODVK

&KDQJHDFWXDOSRVLWLRQPHFKDQLFDOSRVLWLRQLQGLFDWHGSRVLWLRQ


6WDWXVLQGLFDWLRQLQV\VWHPYDULDEOH
VHQVRU0RQLWRULQJSDVVLQJ%DFNODVK

Figure 3-58 Backlash on reversal compensation sequence

TO Axis Electric / Hydraulic, External Encoder

144 Function Manual, 04/2014
 Axis fundamentals
3.11 Positioning axis with position control

3.11.16 Traversing of the positioning axis without position control

The positioning axis can also be traversed without active position control.
Traversing motions with _move() or as velocity profiles can be applied on the position axis/
synchronized axis with position control or, alternatively, with a velocity specification only.

Table 3-27 Setting via movingMode parameter in command

Commands Function
_move() For traversing with a programmable velocity profile
_runTimeLockedVelocityProfile() For traversing with a user-definable velocity profile
_runPositionLockedVelocityProfile() For traversing with a position-related velocity profile

The transition from a position-controlled or open-loop/closed-loop pressure-controlled motion

to a motion solely with a velocity/speed specification can take place when the axis is at a
standstill or in motion; this is also the case for the transition from a motion with speed
specification to a position-controlled motion.
The decodingConfig.speedModeSetpointZero configuration data element can be used to
specify whether the current velocity is maintained during the switchover from position-
controlled or open-loop/closed-loop force-/pressure-controlled operation to operation with
velocity/speed specification, or whether the velocity is set to zero at the time of switchover.
The dynamic response parameters and the maximum values for speed specification are
derived from the settings for position-controlled axis operation.
The position-related monitoring functions are deactivated. The encoder limit frequency can be
exceeded.
It is possible to activate the position-controlled axis with _enableAxis() for the velocity
specification only.

See also
Setting and canceling the axis enables (Page 332)
Moving (Page 348)
Traversing the axis via velocity specifications (Page 166)

3.11.17 Stepper drives

The special torque characteristics of a stepper motor and the response to overloading should
be considered when assigning the stepper motor axis parameters.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 145
Axis fundamentals
3.11 Positioning axis with position control

Functionality of stepper motor axes

The Axis technology object can be used to implement the following functions:
● Positioning axis without additional encoders
– Homing with edge of external zero mark
– Rotation monitoring with external zero mark
● Position axis with additional incremental or absolute encoder
– The axis works in the same way as with a servo motor with an analog interface +/-10 V.

Behavior of a stepper motor

From a given speed of rotation of the stepper motor (around 500 rpm), the torque produced
by the motor drops logarithmically, and approaches zero at a maximum speed (around 3,000
rpm). The specific data can be found in the data sheet for the motor used.

0

0BW

      Q>USP@

 I>N+]@

Figure 3-59 Example of a stepper motor torque characteristic

Consequences of operation in the overload range

If the stepper motor is ever unable to produce the requested torque, it loses synchronization
with the predefined frequency and its speed drops suddenly. This can lead to standstill.
In this state, motion cannot be resumed unless a setpoint of 0 is entered in the meantime.
For a position axis without additional encoders, the traversing position and, as a result, the
synchronization of the axis are lost.
Avoiding operation in the overload range
When the axis is designed, a maximum motor speed should be determined using the torque
M_t required by the process. This maximum speed corresponds to the maximum velocity of
the axis. The maximum frequency of the stepper motor must not be exceeded.

TO Axis Electric / Hydraulic, External Encoder

146 Function Manual, 04/2014
 Axis fundamentals
3.11 Positioning axis with position control

3.11.18 Encoder signal output (V4.0 or later)

The real axis with the setting typeOfAxis=REAL_AXIS_WITH_SIGNAL_OUTPUT can be used
to output encoder signals via the SINAMICS TM41 module.

FRQWURO

0DVWHUYDOXH

6ODYHD[LV
)ROORZLQJD[LV ಻ VLJQDORXWSXWRQO\

'ULYH $,(

0
a

Figure 3-60 Using the axis for encoder signal output

Application
The axis position (a master value) is to be made available to a second control unit as an
encoder signal via encoder signal simulation.
The standard message frame 3 is set between control unit and drive. An offset for the zero
pulse output can be specified in the application.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 147
Axis fundamentals
3.11 Positioning axis with position control

6,027,21

72$[LV

,32

6HUYR

6WDQGDUGPHVVDJHIUDPH

6,1$0,&6

'270

70

Figure 3-61 Interface of TM41 / DO41 to Axis technology object

In order to rule out lasting position deviations in the output signal, the axis can be provided
with a PI controller that is applied to the actual position returned by TM41 / DO41.

Setting as an axis with signal output via the TM41 module only
Setting the axis as an axis with signal output only via the enumerator element
REAL_AXIS_WITH_SIGNAL_OUTPUT in TypeOfAxis.
The following functions are not practicable or cannot be activated with this setting:
● Active homing is not permitted
● Measurement via digital drive is not permitted
● Compensations are disabled
● Following error monitoring functions are disabled
● Following error monitoring is disabled
● Positioning monitoring is deactivated
● Standstill monitoring is disabled
● Hardware limit monitoring is disabled

Note
You can also find further information under FAQs in the SIMOTION Utilities &
Applications provided with SIMOTION SCOUT.

TO Axis Electric / Hydraulic, External Encoder

148 Function Manual, 04/2014
 Axis fundamentals
3.11 Positioning axis with position control

See also
Setting as a real axis with encoder signal simulation (V4.0 and higher) (Page 58)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 149
Axis fundamentals
3.12 Commissioning the position controller of positioning axes

3.12 Commissioning the position controller of positioning axes

3.12.1 Overview of commissioning the position controller of positioning axes

Basic procedure
When commissioning the position controller, you should follow a basic procedure, which is
outlined below. You can find detailed information in subsequent chapters.
● Enter/check the settings for the controller type, load gear, measuring gear, normalization
of the speed setpoint interface, leadscrew pitch, encoders, and valve characteristic (for
hydraulic axes)
● Set the speed controller on the drive
● On the SIMOTION control unit, preselect the axis data set (Page 206) whose controller
parameters are to be optimized (and, if necessary, preselect the appropriate data set on
the drive)
● Set the controller parameters
The SIMOTION measuring functions (Page 245) for manual optimization and the automatic
controller setting (Page 238) are available for this.
● Set the equivalent time constant of the position controller
● Non-volatile storage of parameters on the target device and in the offline project
You can also find a commissioning guide under FAQs in the SIMOTION Utilities &
Applications provided with SIMOTION SCOUT.

See also
Overview of automatic controller setting (as of V4.1 SP1) (Page 238)
SIMOTION measuring functions (Page 245)
Axis control panel (Page 250)
Data sets (Page 206)

TO Axis Electric / Hydraulic, External Encoder

150 Function Manual, 04/2014
 Axis fundamentals
3.12 Commissioning the position controller of positioning axes

3.12.2 Configuration data

Configuration data in the axis data set

The configuration data of a data set is contained in the structure
TypeOfAxis.NumberOfDataSets.DataSet_n (n: data set number).

Table 3-28 Configuration data in the axis data set

Parameter Configuration data element

General position control parameters
Controller type controllerStruct.conType
VTC ● Electric axis
Equivalent time of the speed control loop Axis data set: dynamicData.velocityTimeConstant
(time constant of the balancing filter). ● Hydraulic axis
With the MODE_2 setting in the balancing controllerStruct.DynamicQFData.qOutputTimeConstant
filter, VTC is effective with a maximum
value of 16 servo cycle clocks.
PTC ● Electric axis
Equivalent time of position control loop dynamicData.positionTimeConstant
● Hydraulic axis
dynamicQFData.positionTimeConstant
Proportional-action position controller with precontrol for electric drives (controller type = PV)
Balancing filter type controllerStruct.PV_Controller.balanceFilterMode
Activation of Dynamic Servo Control (DSC) controllerStruct.PV_Controller.enableDSC
Activation of DSC with spline controllerStruct.PV_Controller.enableDSCSpline
Kpc controllerStruct.PV_Controller.kpc
Weighting of velocity precontrol
Kv controllerStruct.PV_Controller.kv
P controller gain
Activation of velocity precontrol controllerStruct.PV_Controller.preCon
PID position controller with/without actual-value-dependent D component for hydraulic drives (controller type = PID/
PID_ACTUAL)
Balancing filter type controllerStruct.PID_Controller.balanceFilterMode
Activation of the integrator limitation. controllerStruct.PID_Controller.enableAntiWindUp
Delay time of DT1 element controllerStruct.PID_Controller.delayTime
Kd controllerStruct.PID_Controller.kd
D-component gain
Ki controllerStruct.PID_Controller.ki
I-component gain
Kp controllerStruct.PID_Controller.kp
P-component gain
Kpc controllerStruct.PID_Controller.kpc
Weighting of velocity precontrol
Activation of velocity precontrol controllerStruct.PID_Controller.preCon

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 151
Axis fundamentals
3.12 Commissioning the position controller of positioning axes

Parameter Configuration data element

Mechanics
Load gearbox ● Load revolutions
Gear.denFactor
● Motor revolutions
Gear.numFactor

Table 3-29 Configuration data that is not included in the axis data set

Parameter Configuration data element

Normalization of drive interface (electric drive)
Maximum speed of rotation (rotary drive) TypeOfAxis.setPointDriverInfo.DriveData.maxSpeed
Maximum traversing velocity (linear drive) TypeOfAxis.setPointDriverInfo.LinearMotorDriveData.maxSpeed
Normalization speed (rotary drive) TypeOfAxis.setPointDriverInfo.DriveData.nominalSpeed
Reference velocity (linear drive) TypeOfAxis.setPointDriverInfo.LinearMotorDriveData.nominalSpeed
Reference for normalization speed (rotary TypeOfAxis.setPointDriverInfo.DriveData.speedReference
drive)
Reference for reference velocity (linear TypeOfAxis.setPointDriverInfo.LinearMotorDriveData.speedReference
drive)
Mechanics
Leadscrew pitch leadScrew.pitchValue
Fine interpolation
Fine interpolator in the servo cycle clock Fineinterpolator._type
Encoder
Encoder parameters The encoder settings are contained in the encoder data set:
TypeOfAxis.NumberOfEncoder.encoder_x (x: Number of the encoder data set)

3.12.3 Example of commissioning a proportional-action controller with precontrol

The procedure for determining the control parameters of an electric axis manually is outlined
below using a P controller with precontrol (PV controller) as an example.
This procedure is the same whether or not the DSC setting is used.

Requirements
● The settings have been made for the controller type (PV controller), velocity precontrol,
load gear, measuring gear, normalization of the speed setpoint interface, leadscrew pitch,
and encoders.
● The fine interpolator should be set to cubic (continuous acceleration) or quadratic
(continuous velocity) interpolation in order for the velocity precontrol to provide continuous
values in the acceleration and deceleration phases.

TO Axis Electric / Hydraulic, External Encoder

152 Function Manual, 04/2014
 Axis fundamentals
3.12 Commissioning the position controller of positioning axes

● The axis data set whose control parameters are to be determined is active (if necessary,
the relevant data set on the drive must also be selected).
● Monitoring and compensation functions are deactivated
– Drift and friction compensation
– Dynamic monitoring of following errors
– Positioning monitoring

Checking the interface to the drive

Before performing the actual axis optimization, you should check whether the interface
between the SIMOTION control and the drive has been configured correctly.
The following check is useful for this purpose:
The axis is traversed at constant velocity, and the control errors are recorded with the
SIMOTION trace function in SCOUT. For this check, the servo gain factor Kv should be set to
a low value (e.g. default value: Kv = 10/s).
-> Control error: servoData.controllerDifference
If the axis is operated with 100-percent velocity precontrol, the control error in the steady-state
condition must be zero on average during the constant motion phase.
If velocity precontrol is not in effect, the control error in the steady-state condition is calculated
as follows:
Control error = set velocity/Kv
If another control error results, then the configuration of the interface between the SIMOTION
control and the drive is faulty.
A common cause for the faulty behavior is a discrepancy in the normalization speed
configuration between the SIMOTION control and the drive. Check the following setting:
Scenario 1: TypeOfAxis.setPointDriverInfo.DriveData.speedReference = MAX_VALUE
In this case: drive normalization speed = TypeOfAxis.setPointDriverInfo.DriveData.maxSpeed
Scenario 2: TypeOfAxis.setPointDriverInfo.DriveData.speedReference = NOMINAL_VALUE
In this case: drive normalization speed =
TypeOfAxis.setPointDriverInfo.DriveData.nominalSpeed

Note
Drives are typically linked to the SIMOTION control with PROFIdrive (via PROFIBUS/
PROFINET). The parameters for setting the normalization speed for the SINAMICS,
MASTERDRIVE MC, and SIMODRIVE 611U drive systems are listed below.
For SINAMICS, the normalization speed can be accepted by the drive in the axis wizard; as
of V4.2, it is adapted during runtime. See Coupling of digital drives (Page 55).

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 153
Axis fundamentals
3.12 Commissioning the position controller of positioning axes

Table 3-30 Parameters for setting the normalization speed

Drive system Parameter

SINAMICS P2000
MASTERDRIVES MC P353
SIMODRIVE 611U P880

Determining the controller parameters

The following controller parameters of the active axis data set should be determined:

Kv controllerStruct.PV_Controller.kv
P controller gain
VTC dynamicData.velocityTimeConstant
Equivalent time of the lower-level drive
(time constant of the balancing filter)
PTC dynamicData.positionTimeConstant
Equivalent time of the position control
loop

Two main optimization goals can be differentiated:

1. High dynamic response for continuous movements and synchronous operation groups.
The axis is allowed a certain amount of overswing.
2. High dynamic response for discontinuous movements, i.e. fast, time-optimized positioning
movements without overswings.
As first step, the automatic speed optimization and subsequently the automatic position
optimization (if DSC possible) are performed.
This optimization provides very good results even for the above-mentioned strategy.
The optimization of movements without overswing is described next.
Prerequisite:
The speed controller of the drive has already been set as (nearly) overshoot-free. In principle,
this can be achieved by using a low-pass filter as the speed setpoint filter or through the use
of a system model (reference model) for the I-component of the speed controller. For more
information, refer to the relevant drive documentation.
Determining the servo gain Kv of the P-controller
Disable the velocity precontrol and balancing filter in the configuration data of the axis.

controllerStruct.PV_Controller.kpc =0
dynamicData.velocityTimeConstant =0
Position the axis cyclically with a high deceleration rate and trapezoidal velocity profile and
trace the system variables for the set and actual positions of the axis with SIMOTION trace in
SCOUT. Make sure that the axis reaches the constant velocity phase during this operation.
You must also select the deceleration such that the current or torque in the drive is not limited.

TO Axis Electric / Hydraulic, External Encoder

154 Function Manual, 04/2014
 Axis fundamentals
3.12 Commissioning the position controller of positioning axes

Set position: servoData.symmetricCommandPosition

Actual position: servoData.actualPosition
Starting with Kv = 10, continue increasing the servo gain factor in five-percent increments as
long as the actual value does not overshoot or undershoot when entering the target position.
Deduct 10 percent from this maximum Kv value and make this setting on the target device.
Setting the balancing filter
When velocity precontrol is used, the entry behavior during positioning and the control errors
in the acceleration and deceleration phases can be influenced by the time constant of the
balancing filter (VTC).

VTC: dynamicData.velocityTimeConstant
The velocity precontrol must be activated to determine the time constant.

controllerStruct.PV_Controller.kpc = 100
controllerStruct.PV_Controller.preCon = YES
Position the axis cyclically with a high deceleration rate and record the control error with
SIMOTION trace in SCOUT. Make sure that the axis reaches the constant velocity phase
during this operation. You must also select the deceleration such that the current or torque in
the drive is not limited.

Control error: servoData.controllerDifference

Continue increasing the time constant of the balancing filter (VTC) incrementally until the axis
enters the target position without overshooting or undershooting.
If you have to set a very large time constant to avoid overshooting/undershooting, and if the
axis "creeps" to its target position, you may be able to achieve a smoother setpoint curve by
using the SMOOTH velocity profile. In this case, you must limit the jerk in the motion command
for entry in the target position and then repeat the balancing filter optimization.
If this still does not yield the desired result, you should check the drive setting again. It could
be that the drive setting has not yet been optimized to be overshoot-free.
You may want to allow a small overshoot/undershoot upon entry in the target position to enable
a faster settling behavior.
For axes with different balancing filter settings in a synchronous operation group, a dynamic
response adaptation is desirable, see Dynamic response adaptation (Page 131).
Setting the equivalent time of the position controller
To apply the preassigned axis stop ramp (in the event of an error, for example), the system
requires the equivalent time constant of the position controller (PTC).

PTC: dynamicData.positionTimeConstant
In this example, this time constant is derived from the time constant of the balancing filter
(VTC), due to the use of velocity precontrol (at 100%). The following relation applies:
PTC = VTC

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 155
Axis fundamentals
3.12 Commissioning the position controller of positioning axes

If the velocity precontrol is not activated, the following is true for PTC:
PTC = 1/Kv
Storing the control parameters
If the control parameters have been entered in the corresponding configuration data in the
target device, they must now be stored as non-volatile data so that they will still be available
the next time the control is powered up. The following online functions are available for this
purpose under the target device in SCOUT.

Table 3-31 Online storage functions

Function Comments
Copy ACTUAL to RAM Copies the configuration data to the RAM memory on the target
device
Copy from RAM to ROM Non-volatile storage of configuration data on memory card

In order to transfer modified configuration data to the configuration, you must select the Load
configuration data to PG function under the target device in SCOUT and then save the project.
After you have optimized the position controller, you must reset the compensations and
monitoring functions listed under "Requirements", if applicable.

TO Axis Electric / Hydraulic, External Encoder

156 Function Manual, 04/2014
 Axis fundamentals
3.13 Command variable calculation

3.13 Command variable calculation

3.13.1 Velocity profiles

Specifications of velocity changes for axes (approaching, stopping, other velocity changes)
are applied via velocity profiles.
The velocity profile defines the behavior of the axis during startup and when braking, and for
velocity changes.
The following velocity profiles are available:
● Trapezoidal velocity profile (TRAPEZOIDAL)
The trapezoidal profile is set for constant acceleration and deceleration of motion in a
positive and negative direction.
● Smooth velocity profile (SMOOTH)
This profile is used for a continuous acceleration and deceleration. The jerk can be set.
The parameters for profile, velocity, acceleration, and jerk can be assigned in the command,
or the userDefault value settings are used.
The parameter for the velocity profile is specified via the motion command (velocityProfile) or
stored as a default value in the userdefaultdynamics.profile system variable.

$FFHOHUDWLRQ 'HFHOHUDWLRQ
6WDUW (QG 6WDUW (QG

Y

W
D

W
M

W

YYHORFLW\
DDFFHOHUDWLRQ
MMHUN
WWLPH

Figure 3-62 Trapezoidal velocity profile

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 157
Axis fundamentals
3.13 Command variable calculation

$FFHOHUDWLRQ 'HFHOHUDWLRQ
6WDUW (QG 6WDUW (QG

Y

W
D

W
M

W

YYHORFLW\
DDFFHOHUDWLRQ
MMHUN
WWLPH

Figure 3-63 Smooth velocity profile

Continuous acceleration curve for smoothing

Prior to SIMOTION V4.4., the following applies to single axis motions and path motions when
a continuous acceleration curve is specified: When blending to the motion of the new command
on transition, acceleration is zeroed, i.e. the deceleration is canceled via the jerk.
As of SIMOTION V4.4, it is possible to set that the acceleration is not zeroed. See also
Positioning with blending (Page 167).

Continuous acceleration curve for reversing

For single axis movements, for path movements, for the synchronization of synchronization
movements and for the specification of a continuous acceleration curve, for any required
reversing in the reversal point of the movement direction, the acceleration is made to zero.
This means the acceleration/deceleration will be removed using the jerk and re-established
after the reversal using the jerk.
This does not apply for motion specification via user-defined profiles or for the procedure based
on motion vectors (MotionIn interface).

Setting the acceleration to zero when stopping or substituting a motion

When stopping with the _stop() and _stopEmergency() commands or substituting a motion
with the _pos() and _move() commands, an existing acceleration or deceleration can be set
immediately to zero. The existing acceleration or deceleration is not first reduced via the jerk.
The abortAcceleration function parameter is available for the stop commands as of V4.2.1 and
the substitution commands as of V4.4.

TO Axis Electric / Hydraulic, External Encoder

158 Function Manual, 04/2014
 Axis fundamentals
3.13 Command variable calculation

5DPSXSDQGBPRYH  DWY 

YRUQ
5DPS8SZLWKRXWVXEVWLWXWLRQZLWKBPRYH

BPRYH  ZLWK DERUW$FFHOHUDWLRQ 12

BPRYH  ZLWK DERUW$FFHOHUDWLRQ <(6

0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 W

6XEVWLWXWHZLWKBPRYH 
D

Figure 3-64 Velocity profile on ramp-up with and without abortAcceleration

3.13.2 Defining accelerations and decelerations

The axis acceleration and deceleration parameters can be set to take effect in relation to the
direction or state using the decodingConfig.directionDynamic configuration data element.

Parameters for direction-related setting

● positiveAccel: Acceleration in the positive direction of motion and deceleration in the
negative direction of motion
● negativeAccel: Acceleration in the negative direction of motion and deceleration in the
positive direction of motion
The option to assign parameters for a direction-dependent dynamic response is relevant,
for example, for applications such as vertical axes.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 159
Axis fundamentals
3.13 Command variable calculation

 

SRVLWLYH$FFHO QHJDWLYH$FFHO

 
  W

QHJDWLYH$FFHO SRVLWLYH$FFHO

SRVLWLYH$FFHO6WDUW-HUN
SRVLWLYH$FFHO(QG-HUN  
QHJDWLYH$FFHO6WDUW-HUN
QHJDWLYH$FFHO(QG-HUN

Figure 3-65 Operative points for acceleration and jerk parameters

Parameters for state-dependent setting

● positiveAccel: Acceleration of axis motion, irrespective of the direction of motion
● negativeAccel: Deceleration of axis motion, irrespective of the direction of motion
Y

 

SRVLWLYH$FFHO QHJDWLYH$FFHO

 
  W

SRVLWLYH$FFHO QHJDWLYH$FFHO

SRVLWLYH$FFHO6WDUW-HUN
SRVLWLYH$FFHO(QG-HUN  
QHJDWLYH$FFHO6WDUW-HUN
QHJDWLYH$FFHO(QG-HUN

Figure 3-66 Operative points for acceleration and jerk parameters

Values set by the command or set by means of a system variable

● velocity
● positiveAccel
● negativeAccel
● positiveAccelStartJerk
● positiveAccelEndJerk
● negativeAccelStartJerk
● negativeAccelEndJerk
The dynamic response parameters are set with parameters in the motion command or stored
as default values in the system variables of the userdefaultdynamics structure.

TO Axis Electric / Hydraulic, External Encoder

160 Function Manual, 04/2014
 Axis fundamentals
3.13 Command variable calculation

3.13.3 Override
Factors can be superimposed online on the current traversing velocity or acceleration/
deceleration. The velocity override is applied to the velocity, and the acceleration override is
applied to the acceleration and deceleration.
The override values can be set and read via system variables.
The override for the velocity can be set from 0 to 200%.
The override for the acceleration/deceleration can be set from 1% to 1000%.

System variables
● override.velocity
● override.acceleration

3.13.4 Default settings for dynamic response parameters

Figure 3-67 Default settings for dynamic response parameters

Stop time
This time becomes active if the default value is used for the time with _stopEmergency() and
the stopDriveMode=STOP_IN_DEFINED_TIME setting.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 161
Axis fundamentals
3.13 Command variable calculation

Dynamic response default setting

Figure 3-68 Dynamic response default setting

For the selection of the screen form, the maximum velocity, maximum acceleration and
maximum jerk fields will be displayed using the setting in the associated configuration date.
This provides the startup time to the maximum velocity and startup time to the maximum
acceleration.
If the maximum velocity or the startup time to the maximum velocity is changed, the dependent
values will be recalculated and displayed. The configuration data will be written directly and
remain at the changed values also for close without write dynamic values.
The startup time to the maximum velocity will be used as startup time assuming the constant
maximum acceleration over this time, i.e. without considering the time for building and
removing the acceleration because of the maximum jerk.
Write dyn. resp. values writes corresponding values to the configuration data and adapts
system variables, see Dynamic limiting functions (Page 163).

See also
Velocity profiles (Page 157)
Defining accelerations and decelerations (Page 159)
Defaults (Page 86)

TO Axis Electric / Hydraulic, External Encoder

162 Function Manual, 04/2014
 Axis fundamentals
3.13 Command variable calculation

3.13.5 Dynamic limiting functions

Maximum values
The properties of the drive and the mechanical system produce the maximum values for
velocity, acceleration and jerk. The values are set in the maxVelocity, maxAcceleration, and
maxJerk variables.

Technological maximum values

For programming, additional dynamic limit values are available in the plusLimitsOfDynamics
and minusLimitsOfDynamics system variables. These can be read and written in the program.
The technological maximum values are state-dependent, i.e. are not a direction-dependent
setting:
● plusLimitsOfDynamics.velocity
Technological limit value for the velocity of the axis independent of the direction of motion
● plusLimitsOfDynamics.positiveAccel
Technological limit value for the acceleration of the axis independent of the movement
direction
● plusLimitsOfDynamics.negativeAccel
Technological limit value for the deceleration of the axis independent of the movement
direction
● plusLimitsOfDynamics.positiveAccelJerk
Technological limit value for the jerk for establishing the acceleration and removing the
deceleration independent of the movement direction
● plusLimitsOfDynamics.negativeAccelJerk
Technological limit value for the jerk for removing the acceleration and establishing the
deceleration independent of the movement direction
Y

 

SOXV/LPLWVaSRVLWLYH$FFHO SOXV/LPLWVaQHJDWLYH$FFHO

 
  W

SOXV/LPLWVaSRVLWLYH$FFHO SOXV/LPLWVaQHJDWLYH$FFHO

SOXV/LPLWV2I'\QDPLFVSRVLWLYH$FFHO-HUN
SOXV/LPLWV2I'\QDPLFVQHJDWLYH$FFHO-HUN  
SOXV/LPLWV2I'\QDPLFVQHJDWLYH$FFHO-HUN
SOXV/LPLWV2I'\QDPLFVSRVLWLYH$FFHO-HUN

Figure 3-69 Technological maximum values for non-direction-dependent setting

Technological maximum values for direction-dependent setting:

● plusLimitsOfDynamics.velocity
Technological limit value for the velocity of the axis independent of the direction of motion
● minusLimitsOfDynamics.velocity
Technological limit value for the velocity of the axis independent of the direction of motion

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 163
Axis fundamentals
3.13 Command variable calculation

● plusLimitsOfDynamics.positiveAccel
Technological limit value for the acceleration of the axis in the positive movement direction
● plusLimitsOfDynamics.negativeAccel
Technological limit value for the deceleration of the axis in the positive movement direction
● minusLimitsOfDynamics.positiveAccel
Technological limit value for the acceleration of the axis in the negative movement direction
● minusLimitsOfDynamics.negativeAccel
Technological limit value for the deceleration of the axis in the negative movement direction
● plusLimitsOfDynamics.positiveAccelJerk
Technological limit for the jerk for establishing the acceleration and removing the
deceleration in the positive movement direction
● plusLimitsOfDynamics.negativeAccelJerk
Technological limit for the jerk for removing the acceleration and establishing the
deceleration in the positive movement direction
● minusLimitsOfDynamics.positiveAccelJerk
Technological limit for the jerk for establishing the acceleration and removing the
deceleration in the negative movement direction
● minusLimitsOfDynamics.negativeAccelJerk
Technological limit for the jerk for removing the acceleration and establishing the
deceleration in the negative movement direction
Y

 

SOXV/LPLWVaSRVLWLYH$FFHO SOXV/LPLWVaQHJDWLYH$FFHO

 
  W

PLQXV/LPLWVaQHJDWLYH$FFHO PLQXV/LPLWVaSRVLWLYH$FFHO

SOXV/LPLWV2I'\QDPLFVSRVLWLYH$FFHO-HUN
SOXV/LPLWV2I'\QDPLFVQHJDWLYH$FFHO-HUN  
SOXV/LPLWV2I'\QDPLFVQHJDWLYH$FFHO-HUN
SOXV/LPLWV2I'\QDPLFVSRVLWLYH$FFHO-HUN
PLQXV/LPLWV2I'\QDPLFVSRVLWLYH$FFHO-HUN
PLQXV/LPLWV2I'\QDPLFVQHJDWLYH$FFHO-HUN
PLQXV/LPLWV2I'\QDPLFVQHJDWLYH$FFHO-HUN
PLQXV/LPLWV2I'\QDPLFVSRVLWLYH$FFHO-HUN

Figure 3-70 Technological maximum values for direction-dependent setting

The minimum from the maximum value of the axis and the set technological maximum value
for the associated dynamic response quantity are used.
For system created movements with maximum dynamic response values, e.g. travel to the
software limit switch, the minimum from the maximum value and the technological maximum
value is used for the corresponding dynamic response quantity.

TO Axis Electric / Hydraulic, External Encoder

164 Function Manual, 04/2014
 Axis fundamentals
3.13 Command variable calculation

Active dynamic limitation

● Enter the maximum velocity in maxVelocity. This must always be less than or equal to the
velocity that is physically possible. The greater the difference between the two, the larger
the available control margin.
Please note that the gear is data-set-dependent. Maximum velocity is calculated per data
set. The maximum across all data sets is taken to be the maximum velocity.
● The effective limit is always the minimum of the maximum value and the technological
maximum value.
● The maxJerk limiting is only monitored for motions in jerk-controlled mode or motions with
continuous acceleration.

Dynamic limitation with synchronous operation relationships

If the axis provides a master value for a synchronous operation relationship, the maximum
velocity is also limited to less than half the modulo range/IPO cycle clock (maximum possible
master value velocity of the axis).
It is the minimum value from the following that applies when calculating the setpoint value for
the following axis:
● Maximum velocity (maxVelocity) of the following axis
● Maximum technological velocity (plusLimitsOfDynamics/minusLimitsOfDynamics)
● Maximum master-value velocity of the axis
If a velocity faster than this maximum velocity is specified, the technological alarm 40002
"velocity will be limited" will be generated and the set velocity adapted appropriately.

Dynamic limitation with active ramp calculation in the drive

Please note that when linking with digital drives and with a ramp calculation for the speed
active in the drive, additional dynamic limitation may occur, which is not taken account of
separately in the motion control and motion monitoring functions performed in the control.
The operating mode is displayed in the drive's PROFIdrive parameter R0930 (PROFIdrive
operating mode):
1. Speed-controlled operation with ramp-function generator
2. Position-controlled operation
3. Speed-controlled operation without ramp-function generator

SINAMICS drives:
● Drive object type vector
Default setting 1. Speed-controlled operation with ramp-function generator
The motion dynamic response is, therefore, limited in the drive, if applicable.
● Drive object type servo
Default setting 3. Speed-controlled operation without ramp-function generator
The motion dynamic response is not limited in the drive.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 165
Axis fundamentals
3.13 Command variable calculation

When using vector drives, therefore, you must check that the ramp-up/ramp-down time
parameterized for the drive matches the configured axis acceleration/deceleration.

3.13.6 Stopping with preassigned braking ramp

The deceleration set in the emergencyRampGenerator.maxDeceleration configuration data
element is used to stop an axis with a preconfigured braking ramp.
The current velocity is brought to zero at the assigned deceleration rate.
With position-controlled traversing, the position controller continues to be active during the
stopping procedure.
For position-controlled, and thus position-related, traversing, the application point of the actual
position value is extrapolated with the current velocity and the equivalent time of the position
control loop set in the dynamicData.positionTimeConstant configuration data element.
Therefore, the application point can only be calculated correctly if the equivalent time of the
position control loop is set correctly.
The preassigned braking ramp is effective in the following cases:
● During stopping with the _stopEmergency() command and the
STOP_WITH_COMMAND_VALUE_ZERO setting
● During the FEEDBACK_EMERGENCY_STOP alarm response
● When program simulation is enabled during axis motion using the _enableAxisSimulation
() command

3.13.7 Traversing the axis via velocity specifications

The axis can be traversed via velocity specifications. A position axis can be traversed either
via a velocity setpoint specification or in position-controlled mode.
The following is specified for the axis motion:
● Direction
● Dynamic response parameters
● Optionally, the duration of the constant motion phase

Parameters
● Direction
The direction of motion is defined using either the sign of the velocity specification or a
specific parameter.
● Velocity

TO Axis Electric / Hydraulic, External Encoder

166 Function Manual, 04/2014
 Axis fundamentals
3.13 Command variable calculation

● Duration of constant motion phase

The duration of the constant motion phase is an optional parameter. If the constant motion
phase is not specified, the _move() command triggers a continuous motion that must be
overridden by a _stop() command or another motion command.
● Dynamic response parameters
Y
'XUDWLRQ

$FFHOHUDWLRQ &RQVWDQWPRWLRQSKDVH %UDNLQJ W

Figure 3-71 Phases for moving with _move()

An acceleration phase or a deceleration phase can be ended with jerk control using the
velocityType=RESULTING parameter. The resulting velocity is then retained.

See also
Velocity profiles (Page 157)
Defining accelerations and decelerations (Page 159)

3.13.8 Positioning
The axis is moved to a target position via a parameterizable velocity profile. The entry in the
target position is monitored.

See also
Positioning and standstill monitoring (Page 105)

3.13.9 Positioning with blending

Blending is a special way of linking the positioning motion programmed in the command to a
previous positioning motion. Unlike overriding, the previous motion command is completed up
to the target position, where the transition occurs. Blending takes place between two
positioning commands. The set velocity specified in the commands for each motion is never
violated.
The previous positioning motion is performed at the velocity specified in the command up to
the target position. Exception: If the velocity of the new positioning motion is less than the set
velocity of the previous motion and both motions have the same sign, then the velocity of the

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 167
Axis fundamentals
3.13 Command variable calculation

previous positioning motion is reduced to the velocity of the new motion by the time the target
position is reached.
In versions earlier than SIMOTION V4.4, the dynamic response is planned via two traversing
blocks.
As of SIMOTION V4.4, the dynamic response is planned via three traversing blocks (current,
next and next but one) for a newly created axis. It is therefore possible to plan a higher velocity
if necessary for axis motion in the same direction. The setting is saved in the DecodingConfig.
commandsForAxisDynamics configuration data element.

BSRV SRVLWLRQ $  BSRV SRVLWLRQ % 

Y

9$

9%
3URILOHZLWKRXW
EOHQGLQJ

$ % W

Figure 3-72 Blending when velocity of the subsequent motion is lower

If the direction is reversed, the previous positioning motion is slowed down at the target point,
and transition to the new motion takes place immediately.

BSRV SRVLWLRQ $ BSRV SRVLWLRQ %

9$

$ % W

9%

Figure 3-73 Blending when the subsequent motion reverses direction

If the absolute value of the velocity of the new command is greater than the velocity of the
current motion, the velocity is increased after the transition to the new command, that is, after
the previous target position is reached.

TO Axis Electric / Hydraulic, External Encoder

168 Function Manual, 04/2014
 Axis fundamentals
3.13 Command variable calculation

BSRV SRVLWLRQ $  BSRV SRVLWLRQ % 

Y

9%

9$

3URILOHZLWKRXW
EOHQGLQJ

$ % W

Figure 3-74 Blending when velocity of the subsequent motion is higher

Active blending requires mergeMode= NEXT_MOTION or SEQUENTIAL in the command

where blending is to take place, plus timely decoding of the command. If the command in which
blending is to be carried out is not known to the interpolator at the deceleration starting point
of the current motion, the braking ramp is traveled.
The braking distance is always adhered to, even if the path length of the subsequent motion
command is shorter than the required braking distance.

Acceleration at the command transitions

Versions before SIMOTION V4.4 are limited by the fact that acceleration is zeroed on blending
with programmed, constant acceleration curve (SMOOTH) at the transition to the new
command.
As of SIMOTION V4.4, it is possible to use the DecodingConfig.blendingAcceleration
configuration data element to set that the acceleration at the transition to the new motion
command is not zeroed if not necessary for the overall motion. In a newly created axis,
WITHOUT_REDUCTION is the default.
When reversing, the acceleration is always zeroed regardless of this setting. Reversing here
means that the direction of motion of the axis changes at the blending point.

3.13.10 Superimposed positioning

Superimposed positioning is performed in the superimposed coordinate system of the axis.
The target position can be specified as an absolute or relative position in this coordinate
system. (For feedback of the target position, see Superimposed motion)
The superimposed motion has its own programmable dynamic response parameters. The
userDefault settings of the dynamic response parameters are identical to the settings of the
main motion. Blending conditions for the superimposed motion are ignored.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 169
Axis fundamentals
3.13 Command variable calculation

Y
7RWDOPRWLRQ

YEDVLF

YVXSHU
6XSHULPSRVHG
PRWLRQ
W[6WDUWRIVXSHULPSRVLWLRQ W

Figure 3-75 Superimposed positioning

See also
Superimposed motion (Page 172)

3.13.11 Traversing with specific motion profiles

In addition to traversing/positioning via system functions, the axis can also be traversed via
user-defined profiles/specific profiles.

See also
Overview of traversing with user-defined motion and force/pressure profiles (Page 210)

3.13.12 Traversing according to motion vectors (V3.2 and higher)

The axis can be traversed directly in accordance with the specification on the MotionIn
interface.
The MotionIn values can be directly picked up by another technology object, e.g., axis, external
encoder, adding object, formula object, fixed gear. Alternatively, the MotionIn values can be
specified via the default values from the user program.
The _runPositionBasedMotionIn() command activates the MotionIn interface with position-
reference and _runVelocityBasedMotionIn() activates the MotionIn interface with velocity-
reference. The MotionIn interface is replaced by motion commands, such as _move(), _pos(),
_stop(), and _stopEmergency() or it can have an overriding effect itself.
Options for linking drive and position-controlled axes (position axes, following axes) to the
motion vector:
● Linking position-controlled axis to motion vector (based on: position)
● Linking position-controlled axis to motion vector (based on: velocity) in position-controlled
or velocity-controlled mode
In this way, a position-controlled axis (position axis) is linked to a drive axis.
● Linking drive axis to motion vector (based on: velocity)
This links a drive axis to a drive axis.

TO Axis Electric / Hydraulic, External Encoder

170 Function Manual, 04/2014
 Axis fundamentals
3.13 Command variable calculation

The MotionIn values can also be directly specified cyclically via the default variables.

72$[LV
BSRV
BPRYH
BSRV ಹ
BPRYH 0RWLRQ
ಹ ,32

BUXQ3URILOH ,32YDOXHVVYD
3URILOH
ಹ ,32
72B&211(&7,21
BUXQ3URILOHಹ
0RWLRQ,Q,QWHUIDFH

BUXQ3RVLWLRQ%DVHG0RWLRQ,Q
9$/8( BUXQ9HORFLW\%DVHG0RWLRQ,Q

72B&211(&7,21ಹ6HWSRLQWVSHFLILHGYLD72LQWHUFRQQHFWLRQ
9$/8(ಹ6HWSRLQWVSHFLILHGYLDF\FOLFDOO\DFWLYHV\VWHPYDULDEOH

Figure 3-76 How the MotionIn interface works

Property
● Cyclical inclusion of MotionIn interface values
● Superimposition and overriding motion are possible
● Dynamic response parameters can be predefined in the commands for moving to the
MotionIn values and for stopping
● The dynamic response can be limited via configuration data
● The MotionIn interface on the axis is multipoint-capable
● The reference TO is specified in the activation command
● It is then possible to switch to the reference TO

Note
Further information is available under Interconnection of technology objects in the Motion
Control Basic Functions Function Manual.

3.13.13 Jerk limitation for local stop response (V3.2 or higher)

Local stop responses (stop responses triggered by alarm responses) may optionally be applied
with or without rounding and jerk limiting.
The decodingConfig.StopWithJerk configuration data element can be used to specify whether
the maximum jerk limitation of the Axis technology object is taken into account.
The jerk is only taken into account for IPO stops.
The jerk is determined from the minimum of the plusLimitsOfDynamics/
minusLimitsOfDynamics system variables and the maxJerk configuration data element.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 171
Axis fundamentals
3.14 Superimposed motion

3.14 Superimposed motion

Superimposed motion is defined with mergeMode=SUPERIMPOSED_MOTION_MERGE.
Superimposed motions are independent motions.
Superimposed motions cancel each other.
Superimposed motions can be stopped and continued separately.
Superimposed motions on a position axis are executed in the superimposed axis coordinate.

6WDUW
VXSHULPSRVHG
PRWLRQ
6XSHULPSRVHGPRWLRQRQD[LV
VXSHULPSRVHGD[LVFRRUGLQDWH
6WDUW
EDVLFPRWLRQ

%DVLFPRWLRQRQD[LV
EDVLFD[LVFRRUGLQDWH

7RWDOPRWLRQRQD[LV
WRWDOD[LVFRRUGLQDWH

$[LVFRRUGLQDWHV

Figure 3-77 Functional diagram for motion transition SUPERIMPOSED_MOTION_MERGE

Commands that allow superimposed motions on the axis include:

_move()
_pos()
_runTimeLockedVelocityProfile()
_runTimeLockedPositionProfile()

Note
Only one superimposed motion can be active on the axis at a given time, e.g. superimposed
positioning motion or superimposed synchronous operation.

Note
The dynamic limits always relate to the overall dynamic response. This may result in the
superimposed motion having a dynamic response that is not as good as that defined in the
specifications.

The superimposed motion is carried out in the superimposed axis coordinate as relative or
absolute motion, depending on how it was programmed. Likewise, the basic motion of the axis
is executed in the basic axis coordinate as an absolute motion or a relative motion, depending
on the programming.

TO Axis Electric / Hydraulic, External Encoder

172 Function Manual, 04/2014
 Axis fundamentals
3.14 Superimposed motion

The timing of the feedback of the superimposed axis coordinate to the basic axis coordinate
is set in the decodingConfig.transferSuperimposedPosition configuration data element; this
setting also specifies when superimposed motions are applied to the basic motion and, thus,
when they are overridden. When the criterion becomes effective, the basic motion accepts the
superimposed motion component.
Possible settings:
● Only on axis reset with _resetAxis()
● On axis reset and on each overriding command where mergeMode= IMMEDIATELY
● On axis reset, on each overriding command where mergeMode=IMMEDIATELY, and on
each axis standstill motionStateData.motionStat=STANDSTILL
In addition, the superimposed axis coordinate/motion is fed back to the basic axis coordinate
in the following cases:
● The axis switches into or out of follow-up mode.
● Switchover occurs between speed-controlled, position-controlled, and force-/pressure-
controlled operation.
● For force-/pressure-controlled operation
Absolute and/or relative traversing is possible in the basic axis coordinate and in the
superimposed coordinate. The total motion of the axis results from adding the position values,
velocity values, and acceleration values of the basic motion and the superimposed motion
together.

Notes on working with the superimposed axis coordinate

During active homing, a superimposed axis coordinate is always reset.
An active superimposed motion is aborted during active homing.

Display of current axis coordinates

The values/dynamic response vector of the basic axis coordinate and the superimposed
coordinate are displayed on the axis.
These coordinates can be read via the following system variables:
● Total axis coordinates:
positioningState.commandPosition: Set position (total)
motionStateData.commandVelocity: Set velocity (total)
motionStateData.commandAcceleration: Set acceleration (total)
● In basicMotion, the values of the basic axis coordinate are displayed on the axis.
basicMotion.position
basicMotion.velocity
basicMotion.acceleration
● In superimposedMotion, the values of the superimposed axis coordinate are displayed on
the axis.
superimposedMotion.position
superimposedMotion.velocity
superimposedMotion.acceleration

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 173
Axis fundamentals
3.15 Torque limiting via torque reduction

3.15 Torque limiting via torque reduction

3.15.1 Overview of torque limiting via torque reduction

On the electric axis, torque limiting is available via a torque reduction. The limit value is
specified in the command.
This function can be used with a drive axis, a position axis and a following axis. The accuracy
depends on the drive used.
To be able to use the function, the PROFIdrive telegram type 10x (apart from telegram 101)
must be set. It also requires the use of a drive that supports the function. As of V4.2, 10x
telegrams are used with automatic telegram definition.
When the function is called, the desired torque (for rotary and linear axes) or the desired force
(for linear axes only) is specified in the corresponding unit or as percentage relative to a
reference value (userDefaultTorqueLimiting.torqueLimit). 0% means no torque on the drive
and 100% means full torque on the drive.
The torque limiting is transferred to the drive as a torque reduction in the PROFIdrive telegram.
If, for example, 80% is specified for the torque limiting, SIMOTION calculates the value 20(%)
for the torque reduction for the drive and transfers this value to the drive via the PROFIBUS
interface.
The limitation acts as an absolute value and thus has the same effect on both positive and
negative torque.
If torque limiting is active, the following error monitoring and positioning monitoring functions
are deactivated.
Active motion commands and synchronous operation relationships continue to be executed.
The limiting functions can be activated before a motion or simultaneously with a motion and
can be switched by reissuing the command.
As a result of torque limiting, for example, a greater difference between actual and target values
can build up on the position-controlled axis, which can cause the axis to accelerate (in order
to reduce the difference) even if the velocity calculated by the interpolator is now lower.
Please note that if an axis is ready as a result of active torque limits/torque reduction, the
control difference to the position reference value is initially canceled and then the _stop()
command is terminated, despite a position-controlled stop motion. Alternatively, you can enter
a speed-controlled _stop() command.
If, for example, torque limiting is not required during the acceleration phase, the function must
not be activated until after the acceleration phase; otherwise, the acceleration must be reduced.

Value specifications and transferring from the drive

The maximum values SetpointDriverInfo.DriveData.maxTorque and
SetpointDriverInfo.LinearMotorDriveData.MaxForce are the reference values for the
transmission of the obtained torque reduction to the drive and must be entered in the drive
and in SIMOTION in accordance with the motor values.
With SINAMICS, the parameters are present in P1520, P1521, and P2003:
~.DriveData.maxTorque = P1520 = |P1521|

TO Axis Electric / Hydraulic, External Encoder

174 Function Manual, 04/2014
 Axis fundamentals
3.15 Torque limiting via torque reduction

If the technology data block (Page 183) is interconnected, then: ~.DriveData.maxTorque =

P2003
As of V4.2
The above still applies for the setting SetpointDriverInfo.DriveData.TorqueReference =
MAX_VALUE or SetpointDriverInfo.LinearMotorDriveData.ForceReference = MAX_VALUE.
For SINAMICS and round-frame motors, and for the setting
SetpointDriverInfo.DriveData.TorqueReference = NOMINAL_VALUE and
SetpointDriverInfo.DriveData.SpeedReference = NOMINAL_VALUE, the following applies:
● ~.DriveData.nominalSpeed = P2000
● ~.DriveData.MaxSpeed = P1082
● ~.DriveData.nominalTorque = P2003
● ~.DriveData.MaxTorque = P1520
For SINAMICS and linear motors, and for the setting
SetpointDriverInfo.LinearMotorDriveData.SpeedReference = NOMINAL_VALUE and
SetpointDriverInfo.LinearMotorDriveData.ForceReference = NOMINAL_VALUE, the following
applies:
● ~.LinearMotorDriveData.nominalSpeed = P2000
● ~.LinearMotorDriveData.MaxSpeed = P1082
● ~.LinearMotorDriveData.nominalForce = P2003
● ~.LinearMotorDriveData.MaxForce = P1520.

By default, these settings are transferred by the drive during the assignment of the axis to a
SINAMICS drive by the system as of V4.2.
By default, the settings for torque granularity (see below as well) are transferred by the system
from the drive:
~.driveData.torqueReductionGranularity = P1544
~.LinearMotorDriveData.ForceReductionGranularity = P1544

Enabling/disabling
The limiting function is disabled by default and must be specifically activated.
The torque limiting is activated using the _enableTorqueLimiting() command and has the
following effect:
● The reduced maximum torque limit is in effect immediately
● The following error and positioning monitoring are disabled
With the function parameter torqueLimitType=USER_DEFAULT (system default), the default
torque limit value set in the userDefaultTorqueLimiting.torqueLimit system variable is used.
This default can be modified by entering a value in the torqueLimit parameter. The value of
the parameter is interpreted as a percentage.
With the setting torqueLimitType=DIRECT, the value is specified as torque or force based on
the torqueLimitUnit parameter. Depending on the torqueLimitUnit parameter, this value refers

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 175
Axis fundamentals
3.15 Torque limiting via torque reduction

to the load or the motor side. For more information, see Conversion of torque/force
(Page 178).
The torque reduction is not disabled with _disableAxis(); it must be explicitly disabled via a
command.
It is disabled/canceled
● With _disableTorqueLimiting()
● In the case of _resetAxis(), _restartAxis(), etc.
● In the case of a transition to STOP

Suppression of the "Speed alignment" fault message of the drive

If torque reduction is enabled and the value is not equal to 0, the fault message of the drive
(discrepancy between actual speed and the speed setpoint) is suppressed.
If the fault message is also to be suppressed when the torque reduction is disabled or when
the torque reduction is enabled and the value is equal to 0, bit 8 in STW2 can be set for message
suppression using the _setAxisStw() function.
The setting via the _setAxisStw() function has a storing effect, i.e. it is kept during and after
the period that a torque reduction is activated.

Special features
● The commands for torque limiting (_enableTorqueLimiting()) and travel to fixed endstop
(_enableMovingToEndStop()) cannot be active simultaneously.
The transition from _enableTorqueLimiting() to _enableMovingToEndStop() is permitted
(and has an override effect).
The transition from _enableMovingToEndStop() to _enableTorqueLimiting() is not
permissible since the setpoint must be clamped when retaining the torque in the fixed
endstop.
● The _stopEmergency() command:
If a motion is ended with position control (movingMode = POSITION_CONTROLLED) with
the _stopEmergency() command, the stop ramp is generated from the current set position
in stop modes STOP_IN_DEFINED_TIME, STOP_WITH_DYNAMIC_PARAMETER, and
STOP_WITH_MAXIMAL_DECELERATION.
If a following error has built up at this time due to active torque limiting, it is removed, and
as a result, the axis does not come to an immediate standstill.
For this reason, if you are using torque limiting, you should stop the motion with speed
control (movingMode = SPEED_CONTROLLED). Alternatively, you can select the
WHEN_COMMAND_VALUE_ZERO stop mode for stopping the motion with position
control.
An active torque reduction (including when moving to a fixed end stop) is retained.
Exception:
The _stopEmergency() command with stopDriveMode =
STOP_WITH_COMMAND_VALUE_ZERO disables the torque reduction, and the travel to
fixed endstop command is aborted.

TO Axis Electric / Hydraulic, External Encoder

176 Function Manual, 04/2014
 Axis fundamentals
3.15 Torque limiting via torque reduction

● When torque limiting is active, the following error monitoring is disabled.

As a result of torque limiting, for example, a greater difference between actual and desired
values can build up on the position-controlled axis, which can cause the axis to accelerate
(to reduce the difference) even if the velocity calculated by the interpolator is now lower.
If, for example, torque limiting is not required during the acceleration phase, the function
must not be activated until after the acceleration phase; otherwise, the acceleration must
be reduced.
● The torque limits B+ / B- and the torque reduction must not be active simultaneously.

Status displays

Table 3-32 Status display variables

Variable Meaning
TorqueLimitingCommand.State
Indicates the torque limiting state.
ACTIVE: Torque limiting activated
INACTIVE: Torque limiting deactivated
TorqueLimitingCommand.torqueLimitingState
Here, it is indicated if the drive is running at the torque limit.

Note: This state is derived from the PROFIdrive profile status word ’MeldW’
(PZD 5), bit 1 (M < Mx) of the drive.

Assignment of the resolution in the drive

Table 3-33 System data

SIMOTION system data Meaning

userDefaultTorqueLimiting.torqueLimit
This data element specifies the user default setting of the torque limit value
for the torquelimit function parameter in the _enableTorqueLimiting()
command. This value is accessed when the command contains the
USERDEFAULT setting.
System default: 10.0

Setting the resolution in SIMOTION

The resolution of the torque reduction to the drive can be set, as of V4.0, in
driveData.torqueReductionGranularity or in linearMotorDriveData.forceReductionGranularity.
In terms of value transfer, also consult the above section Value specifications and transferring
from the drive.
Possible settings:

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 177
Axis fundamentals
3.15 Torque limiting via torque reduction

● BASIC (default, 1% resolution)

64H in PZD (PROFIdrive telegram) is a torque reduction of 100%.
– SINAMICS
Setting required: P1544 = 16384.0
– SIMODRIVE 611U
Standard setting: P0881 = 16384.0
● STANDARD (~0.006% resolution)
4000h in PZD (PROFIdrive telegram) is a torque reduction of 100%.
– SINAMICS
Standard setting: P1544 = 100.0
– SIMODRIVE 611U
Setting required: P0881 = 100.0

Note
Be sure to set the values in the drive consistently.

See also
Enabling and disabling torque limiting (Page 353)

3.15.2 Conversion of torque/force

Speed-controlled axes and rotary axes

When the _enableTorqueLimiting() function is programmed, there is always a torque specified
in Nm, kNm or MNm.
If the TORQUE setting is specified when calling the function with the torqueLimitUnit function
parameter, the specified torque refers to the motor. The gear ratio is not taken into account.
If the DEFAULT_UNIT setting is selected in the function parameter torqueLimitUnit, the torque
refers to the load side and the gear ratio is taken into account. The following conversion formula
applies:
MLoad = MMotor x (motor revolution/load revolution)

Linear axes with standard motor

In the _enableTorqueLimiting() function, the following can be optionally specified: a torque in
Nm, kNm or MNm in relation to the motor, or a force in N, kN or MN in relation to the load side.
If the TORQUE setting is specified when calling the function with the torqueLimitUnit function
parameter, the programmed value is interpreted as torque in relation to the motor. The gear
ratio, leadscrew pitch, and efficiency of the leadscrew are not taken into account.
If the DEFAULT_UNIT setting is selected in the function parameter torqueLimitUnit, the
programmed value is interpreted as force in relation to the load side. The gear ratio, leadscrew

TO Axis Electric / Hydraulic, External Encoder

178 Function Manual, 04/2014
 Axis fundamentals
3.15 Torque limiting via torque reduction

pitch, and efficiency of the leadscrew are taken into account in this setting. The following
conversion formula applies, whereby S is the leadscrew pitch (adjustable in
leadscrew.pitchval) and η is the efficiency of the leadscrew (adjustable in
leadscrew.efficiency):
F = MMotor x 2 x π x (ηLeadscrew / S) x (motor revolution/load revolution)

Linear axes with linear motor

There is always a force in N, kN or MN specified when programming.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 179
Axis fundamentals
3.16 Travel to fixed endstop

3.16 Travel to fixed endstop

The _enableMovingToEndStop( ) function activates the monitoring of travel to fixed endstop
in parallel with an axis motion activated by a motion command and the retention of a clamping
torque once the fixed endstop has been reached. The operation is also referred to as
clamping.
This function requires that torque reduction be supported by the digital coupled drive.
Positioning with an immediate step enabling condition must take place first (position-controlled
traversing).
During configuration, a setting can be made in clampingMonitoring.recognitionMode to define
which of the following methods is to be used for detecting that the fixed stop has been reached:
● The following error limit is exceeded
● The torque limit is exceeded (evaluation of the | M | < Mx message bit in the PROFIdrive
telegram / status word (message word bit1 for SIEMENS telegram 101, 102, 103, 104, 105,
106, 125 and 126))
As of V4.2, 10x telegrams are used with automatic telegram definition.
If the criterion is met, the fixed endstop status is regarded as having been reached, the
movingToEndStop.clampingState= ACTIVE system variable is enabled, and the clamping
tolerance is activated. Following error monitoring is switched off as soon as the command
becomes effective. The setpoint at the input of the position controller is maintained. Provided
that the position of the fixed endstop does not change, the difference between the setpoint
and actual value remains the same.

Figure 3-78 Function and parameters for travel to endstop with detection of fixed endstop by means
of following error

The motion command is aborted with an error message; closed-loop control remains active.
The setpoint at the input of the position controller is clamped. For new motion commands, the
clamping set position is used as the start position. Motion commands in the direction of
clamping are aborted. Motion commands in the opposite direction to the clamping direction
are executed, thereby reducing the torque.

TO Axis Electric / Hydraulic, External Encoder

180 Function Manual, 04/2014
 Axis fundamentals
3.16 Travel to fixed endstop

Travel to fixed stop is canceled when the clamping tolerance window is exited.
Issuing the _enableMovingToEndStop() command again can cause the torque to switch over,
even if clamping is active.

The following commands cancel the function:

● _resetAxis()
● _disableAxis()
● _disableMovingToEndStop()
– Up to and including V4.1 SP3: Cancel if outside the clamping window
– As of V4.1 SP3 HF4: Cancel always
● _cancelAxisCommand() as of V4.1 SP3 HF4
Non-stepped torque transitions and torque retention over a defined time period can be
implemented in the user program, as can specification of torque profiles.

Note
If the clamping torque is increased during clamping (by a new _enableMovingToEndStop()
command), then this torque might not be achieved. Position control is active, but no more
setpoints are generated for a motion in the direction of clamping.

The _disableMovingToEndStop() command deactivates the Travel to fixed endstop function.

The _disableMovingToEndStop() command has no effect while clamping is active. The
_disableMovingToEndStop command can be issued in parallel to position-controlled motion.
If a breakaway of the fixed endstop occurs, the position controller abruptly reduces this
difference. This response is used for monitoring purposes. Clamping monitoring saves the
current actual value that applies at the time of clamping. The clamping tolerance window then
wraps around this value (see the figure above). This is why the clamping tolerance value should
be lower than the setpoint/actual value difference at the point when clamping is detected. An
error is only detected if the axis leaves the clamping tolerance window during abrupt reduction
of the setpoint/actual value difference. In this case, a 50108 alarm is triggered.
If the clamping tolerance window is exited, alarm 50108: Clamping monitoring error is triggered
and the travel to fixed stop is aborted.
In the command, the limiting force for the clamping value is set in [N] for linear axes, while for
rotary axes, the limiting torque is set in [Nm].
If the _enableMovingToEndStop() command is active and the fixed stop has not been detected,
the system behaves the same as with active torque limiting.
The _enableMovingToEndStop() and _enableTorqueLimiting() commands cannot be active
simultaneously.
The transition from "torque limiting" (_enableTorqueLimiting()) to "travel to fixed stop"
(_enableMovingToEndStop()) is permitted (and has an override effect), but the reverse is not
permitted.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 181
Axis fundamentals
3.16 Travel to fixed endstop

System variables

Table 3-34 System variables for travel to fixed stop

Variable State Meaning

MovingToEndStopCommand.state ACTIVE / INACTIVE Command status
MovingToEndStopCommand.clampingState ACTIVE / INACTIVE Clamping torque reached status

Note
In the case of travel to fixed stop with fixed stop detection by means of the following error,
the entry for the position tolerance applicable to the fixed stop detection should be significantly
less than the entry for the following error for the fixed stop detection.

Note
If the "travel to fixed stop" function is to be used in combination with the
RecognitionMode=CLAMP_WHEN_TORQUE_LIMIT_REACHED setting, the following
setting must also be made on the 611U and in SINAMICS:
● 611U
Set parameter P1426 ("tolerance band for nset = nact message") to the maximum speed
of the drive (P880).
● SINAMICS
Set parameter P2163 ("Speed 4 threshold value") to the maximum possible value.
● Axis with digital drive link and no setting of a 1xx telegram (i.e. telegram without torque
reduction and without actual torque identification)
The "travel to fixed stop" functionality is only possible by means of the following error
criterion.

You will also find further information about travel with torque limiting and travel to fixed stop in
the corresponding drive documentation.

See also
Overview of torque limiting via torque reduction (Page 174)

TO Axis Electric / Hydraulic, External Encoder

182 Function Manual, 04/2014
 Axis fundamentals
3.17 Technology data

3.17 Technology data

Technology data can be specified cyclically from the controller to the drive or read cyclically
by activating the technology data block.
The technology values are needed to implement winder functionality with SIMOTION, for
example.
The setting of the motor type determines whether the physical quantity is force or torque (round-
frame motor: torque, linear motor: force).
For more information, refer to ’LREAL’ interconnection interface type in the Motion Control
Basic Functions manual.
The additive data block 1 contains:
● Controller → drive:
– Additive torque setpoint: 16 bits
(display of the value in the additiveTorque.value system variable)
– Positive torque limit (B+): 16 bits
(display the value in the torqueLimitPositive.value system variable)
– Negative torque limit (B-): 16 bits
(display of the value in the torqueLimitNegative.value system variable)
● Drive → controller:
– Actual torque value: 16 bits
(display of the value in the actualTorque.value system variable)
As of SIMOTION V4.2, the technology data block is set up and connected automatically.
The technology data is appended as INT to the In/Out drive protocol. This is activated in the
technologicalData.enable configuration data element.
The logical addresses for the technology data are displayed in the technologicalDataOutInfo
and technologicalDataInInfo configuration data elements.
● They are set when the telegram is specified in the axis wizard. (When you set the axis
telegram in HW Config, the relevant data must be created via the PZD area.)
The values B+, B- and additive torque setpoint
● Are indicated and entered according to their associated units.
● Are normalized to the specified maximum values (maxTorque, maxForce) before they are
transferred to the drive and are sent to the drive as % values.
● Can be sent to the drive as values from 0 to +/- 200%.
The positive and negative torque limits (torqueLimitPositive (B+), torquelimitNegative (B-)) are
sent as a weighting, rather than as a reduction.
The values are sent with reference to the 100% value:
● 4000H corresponds to 100%
● 7FFFH corresponds to 200%

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 183
Axis fundamentals
3.17 Technology data

Negative values are possible.

Note
The SetpointDriverInfo.DriveData.maxTorque or
SetpointDriverInfo.LinearMotorDriveData.MaxForce configuration data and the P2003
parameter on the drive serve as normalization basis on the axis. The values must be equal.
See also Chapter Overview of torque limiting via torque reduction (Page 174) Section
Specification of the values and transfer from the drive.

Creating technology data block 1 (e.g. with SINAMICS drive):

The drive has already been configured.
Telegram extension (as of V4.2)
As of V4.2, with SINAMICS drives and the Use symbolic assignment SCOUT setting (default
setting) activated, telegram extension is set automatically by the system.
Telegram extension in HW Config (up to V4.1 SP1)
● Set standard telegram for the drive, then add to the PZD via Details:
– Input: +1 (PZD)
– Output: +3 (PZD)
● Save HW Config
Telegram extension in SCOUT (as of V4.1 SP1)
● In the project navigator, select the drive device (e.g. "SINAMICS_Integrated") and open the
configuration:
Project - CPU (e.g. D435) - drive device (e.g. SINAMICS_Integrated) - configuration
● Mark the line of the drive, e.g. "Drive_1"
● Click the "Insert line" button and select "Telegram extension"
● Set one word for the input data and three words for the output data
● Click the "Transfer to HW Config" button and confirm the comparison with HW Config
● Click the "Configure telegram" button
● For "PROFIBUS receive direction" and "PROFIBUS send direction", enter the telegram
extension according to the table below at:
Project - CPU (e.g. D435) - drive device (e.g. SINAMICS_Integrated) - Drives - Drive_x -
Communication - PROFIBUS

Table 3-35 BICo interconnections

PROFIdrive telegram - receive direction

1st additional PZD (M_Add) P1511
2nd additional PZD (B+) P1522
3rd additional PZD (B-) P1523

TO Axis Electric / Hydraulic, External Encoder

184 Function Manual, 04/2014
 Axis fundamentals
3.17 Technology data

PROFIdrive telegram - send direction

1st additional PZD (M_act) E.g. R0080 (actual torque value)

The values are normalized in the drive via P2003.

NOTICE
Scaling of additional torque 1
The P1512 parameter ("Additional torque 1 scaling") must be interconnected with 100% so
that M_Add is transferred correctly.

Activation in SIMOTION
The technology data block is created when the axis is configured.
The technology data block can only be assigned correctly by the system for active symbolic
assignment, manual telegram setting and deactivated automatic telegram extension when the
correct BICO interconnection for the technology data block is available on the drive side.

Figure 3-79 Activating a technology data block

Alarms
20005 "Logical address of technology data block driver not found"

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 185
Axis fundamentals
3.17 Technology data

The limiting values and additive values are initialized/transferred regardless of the activation
and error status of the axis.

TO Axis Electric / Hydraulic, External Encoder

186 Function Manual, 04/2014
 Axis fundamentals
3.18 Torque limiting B+/B- (V3.2 and higher)

3.18 Torque limiting B+/B- (V3.2 and higher)

The torque limits B+/B- can be cyclically specified on the electric axis downstream of the speed
controller using the expanded drive message frame to the drive.
As a prerequisite, the technology data block (Page 183) must have been activated on the
electric axis. The torque limits B+ and B- are set downstream of the speed controller.

By specifying the upper limit B+ and the lower limit B-, it is possible to enter a specific range
that does not have to be symmetrical with respect to the zero position.
The limit values can be predefined on the axis directly by means of cyclically effective system
variables. These values can be preset.
The limit values can also be defined on the axis by means of interconnection with other
technology objects.
The B+ value and the B- value can be interconnected by means of an LREAL interface or an
LREAL connector (using a formula object or a controller object, for example).
See also:
● SIMOTION Supplementary Technology Objects function description
● Motion Control Basic Functions manual, Interconnection using general interconnection
dialog box and 'LREAL' interface type chapters

Note
If the manipulated variable is inverted on the Axis technology object, then B+/B- are also
reversed on the Axis technology object. You must take this into account when specifying
the torque limits B+/B-.

Units
The unit settings are used.
The physical quantity depends on the type of motor:
● For rotary motors: Torque [Nm]
● For linear motors: Force [N]

Commands and effectiveness

The limiting is deactivated by default and has to be explicitly activated.
The torque limits are activated using the _enableAxisTorqueLimitPositive() /
_enableAxisTorqueLimitNegative() commands.
The command specifies whether the limits relate to the interconnected value, the system
variable or a value defined on the command itself. If they relate to the system variable, then
this is applied cyclically; in other words, a change in the system variables takes effect
immediately.
If torque limitation B+/B- is activated using the above commands, this will deactivate the
following monitoring and limiting functions:

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 187
Axis fundamentals
3.18 Torque limiting B+/B- (V3.2 and higher)

● Following error monitoring

● Velocity error monitoring via reference model
● Time-outs for positioning monitoring and standstill monitoring
The torque limits are not disabled with _disableAxis(); they must be disabled explicitly using a
command.

The torque limits are deactivated or aborted using the following commands:
● _disableAxisTorqueLimitPositive() / _disableAxisTorqueLimitNegative()
● _resetAxis(), _restartAxis(), etc.
● In the case of a transition to STOP
If the function is not activated, the maximum torque and maximum force are output via the
interface in accordance with maxTorque and maxForce.
With activated torque limiting B+ / B- (_enableAxisTorqueLimitPositive() /
_enableAxisTorqueLimitNegative()), as of V4.2, with setting
TypeOfAxis.SetPointDriverInfo.DriveData.torqueReference, the = MAX_VALUE maximum of
the set value in ~.DriveData.maxTorque or maxForce is transferred to the drive.
In the versions <V4.2 up to 200% of this value are possible with activated torque limitation.
If the torque limiting function B+ / B- is not activated, the maximum value set in ~.maxTorque
is transferred in V4.2 as well as in versions <V4.2.
When using the technology data block and with the setting ~.torqueReference = MAX_VALUE
in ~.maxTorque , the 100% reference value for torque transmission to the drive must be set,
i.e., for the value corresponding to p2003 (reference torque), a greater maximum torque is
possible in the drive, in accordance with the value in p1520 (maximum torque).
The separation of reference and maximum torque has been introduced in the reference
variables with V4.2.
In projects with V4.2 or higher, the new configuration data ~.torqueReference is set to
MAX_VALUE. As such, only the reference torque value can be set as maximum torque
limitation without changing projects.
Remedy:
If, in the case of activated torque limiting, a value greater than the reference value in p2003 is
transferred to the drive, ~.torqueReference = NOMINAL_VALUE needs to be set, in
~.nominalTorque the value corresponding to p2003 and in ~.maxTorque the value
corresponding to p1520 must be entered.
With the deactivated torque limiting function B+ / B, the set value in maxTorque is transferred
to the drive.
For new TOs created in V4.2, ~.torqueReference = NOMINAL_VALUE is set, as well as for
the default set adaption the reference values for ~.nominalTorque and ~.maxTorque for
runtime are transferred from the drive.

TO Axis Electric / Hydraulic, External Encoder

188 Function Manual, 04/2014
 Axis fundamentals
3.18 Torque limiting B+/B- (V3.2 and higher)

System variables

Table 3-36 System variables for torque limitation

Variable Meaning
torqueLimitPositiveIn Value, state and validity of the interconnected positive limitation
torqueLimitPositiveInDefault Default
torqueLimitNegativeIn Value, state and validity of the interconnected negative limitation
torqueLimitNegativeInDefault Default
torqueLimitPositive Shows the programmed limit value
torqueLimitNegative
torqueLimitPositiveCommand Command status / function status
torqueLimitNegativeCommand

Suppression of the "Motor blocked" fault message of the drive

Message: F07900 (N, A) drive: Motor blocked / speed controller at its endstop
Cause: The motor has been operating at the torque limit for longer than the time specified in
p2177 and below the speed threshold set in p2175.
If the fault message is to be suppressed, the _setAxisStw() function can be used once to set
bit 8 in ctrl word2 for message suppression.
The setting via the _setAxisStw() function has a storing effect, i.e., it is kept during and after
the period that a torque reduction is activated.
The p2175 (0.0) parameter to suppress the fault message on the drive.

See also
Coupling of digital drives (Page 55)
Technology data (Page 183)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 189
Axis fundamentals
3.19 Additive set torque (V3.2 and higher)

3.19 Additive set torque (V3.2 and higher)

An additive set torque can be transmitted to the drive on the axis.
This requires that an axis with digital drive link is used and that the technology data block
(Page 183) is activated.
The additive setpoint torque can be set on the axis directly using a cyclically effective system
variable (defaultAdditiveTorque). This value can be preset.
The additive setpoint torque can also be defined on the axis by means of interconnection with
other technology objects.
The additive torque can be interconnected by means of an LREAL interface or an LREAL
connector (using a formula object or a controller object, for example).
See also:
● SIMOTION Supplementary Technology Objects function description
● Motion Control Basic Functions manual, Interconnection using general interconnection
dialog box and 'LREAL' interface type chapters
The function is activated via the _enableAxisAdditiveTorque() command. Without an activation,
the transmitted additive torque is = 0.
The command specifies whether the limits relate to the interconnected value, the system
variable or a value defined on the command itself. If they relate to the system variable, then
this is applied cyclically; in other words, a change in the system variables takes effect
immediately.
The additiveTorque configuration data element can be used to determine whether the last valid
value or the replacement value is used if an interconnection value is activated but is invalid.
After system start-up, the last valid value is 0.
The additive set torque can also be specified directly via the replacement value.
The replacement value can be preset.
This value takes effect immediately after a change if the function is active.
For more information, refer to ’LREAL’ interconnection interface type in the Motion Control
Basic Functions manual.

Unit
The unit setting is used.
The physical quantity depends on the type of motor:
● For rotary motors: Torque [Nm]
● For linear motors: Force [N]

Commands
_enableAxisAdditiveTorque() enables the additive torque.
The additive set torque is not disabled with _disableAxis(); instead it must be explicitly
deactivated via a command.
It is disabled/canceled

TO Axis Electric / Hydraulic, External Encoder

190 Function Manual, 04/2014
 Axis fundamentals
3.19 Additive set torque (V3.2 and higher)

● with _disableAxisAdditiveTorque()
● In the case of _resetAxis(), _restartAxis(), etc.
● In the case of a transition to STOP

System variables

Table 3-37 System variables for the additive set torque

Variable Meaning
additiveTorqueIn Value, state and validity of the additive set torque
defaultAdditiveTorque Default
additiveTorque Value that is sent to the drive (before normalization)

Suppression of the "Motor blocked" fault message of the drive

See Torque limiting B+/B- (V3.2 and higher) (Page 187).

See also
Coupling of digital drives (Page 55)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 191
Axis fundamentals
3.20 Force/pressure control

3.20 Force/pressure control

3.20.1 Overview of force/pressure control

Force/pressure control requires at least the position axis technology. If a hydraulic axis is used
as a hydraulic drive axis, force/pressure control is also possible here.
Pressure control and force control are available on the position axis. The actual pressure or
force value is measured using an external sensor. Several force/pressure sensors can be
connected to the axis. The actual force/pressure values can be smoothed with a PT1 filter. A
PT2 filter is available at the output of the pressure control.
The manipulated variable on the drive is still the speed or velocity setpoint.
Monitoring for maximum force, control deviation, force/pressure entry (see positioning
monitoring) and force/pressure end value is performed on the actual value side. Limiting
functions on the setpoint side include speed setpoint limiting (manipulated variable limitation)
and anti-windup (I-component) with manipulated variable limitation.
Conditions can be specified in a specific activation command
_enableForceControlByCondition() for switchover from position-controlled motion to force/
pressure controlled status. The force/pressure setpoint or profile is specified using commands.
The commands for force/pressure control can also be programmed on the virtual axis.
Commands that cannot be executed, such as activate force/pressure controller, position-
related profile, or data set commands generate a technological alarm, Technological alarm:
030015: Technology not configured.
PRWLRQ6WDWH'DWDFRPPDQG9HORFLW\

[VHW 3RVLWLRQ QVHW

,32 ),32 ,QWHJUDWRU
YVHW  FRQWUROOHU
[DFWXDO
[VHW
),32

SRVLWLRQLQJ6WDWHSRVLWLRQ 6HWSRLQW 2XWSXWYDOXH

V\VWHP

IRUFH6WDWH'DWDFRPPDQG9DOXH

3UHVVXUH
),32
SVHW SVHW  FRQWUROOHU QVHW 3UHVVXUHFRQWUROOHUHQDEOHGGLVDEOHG
SDFWXDO
)LQHLQWHUSRODWLRQ

Figure 3-80 Overview of control structure for force/pressure control

TO Axis Electric / Hydraulic, External Encoder

192 Function Manual, 04/2014
 Axis fundamentals
3.20 Force/pressure control

Note
The PDF documents button can be used in the online help to locate the function charts with
signal paths.
You can call signal flow diagrams under the Axis object in the project navigator. The signal
flow diagram illustrates the signal path and enables major items of configuration data and
important system variables to be parameterized using the signal flow.

Possible operating modes with force/pressure control

● Force/pressure control active, setpoint mode
Actual force/pressure value is controlled to force/pressure setpoint.
Monitoring and limiting functions are active.
● Force/pressure control active, follow-up mode
Force/pressure setpoint is controlled to actual force/pressure value.
Force/pressure monitoring and limiting functions are not active in follow-up mode.
● Program simulation
(analogous to positioning mode)
Force/pressure setpoints are calculated but not output.
Actual force/pressure value is set to force/pressure setpoint.
● Velocity-limited mode
The closed-loop force/pressure control or open-loop force/pressure control is the master.
The velocity is limited in parallel.

Remark
While the force/pressure controller is active, the position values of the IPO are corrected.
Switchover between position-controlled motion and force/pressure-controlled motion is
performed by the application.

Fine interpolation
The force/pressure values undergo linear fine interpolation (V4.1 SP1 and later).

See also
Force/pressure control with hydraulic speed-controlled axes with Q valve only (Page 324)
Technology data (Page 183)

3.20.2 Configuration of the actual force/pressure value sensors

More than one pressure or force sensor can be configured.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 193
Axis fundamentals
3.20 Force/pressure control

The various sensors can be of different types and have different interfaces. The sensor for the
transition criterion can be specified in the switchover command.
There can be up to eight (8) sensors for the force/pressure value on the axis and up to eight
(8) binary inputs on the axis, for example, for switchover criteria.
Because the sensor can be accessed via the logical address, the same sensor can therefore
be used on several axes. The sensor data must be set separately on each axis.
In V4.0 or higher, a calculated value from the user program can also be specified as the actual
sensor value via the cyclically effective forceActualValueSetting.value system variable. This
requires the setting additionalSensorType= SET_ACTUAL_VALUE.

Figure 3-81 Setting the force/pressure sensor

The force/pressure sensor interface can be activated and deactivated on the axis using the
_enableAxisInterface() and _disableAxisInterface() commands.

TO Axis Electric / Hydraulic, External Encoder

194 Function Manual, 04/2014
 Axis fundamentals
3.20 Force/pressure control

The Activated/Deactivated force/pressure sensor interface status is displayed in the

additionalSensorData.additionalSensorData[i].input system variable.

3.20.3 Controller for force/pressure control

The force/pressure control is carried out via an adjustable PID controller.
The controller has the same structure for force/pressure control and for force/pressure limiting.
One controller for both tasks is available; the controller parameters for each task can be
accessed by switching the data set.
The I component of the controller is implicitly set during enabling. When the data set is changed
over, the system sets the I component so that a continuous setpoint curve is obtained.
When pressure limiting is enabled, the most recent position setpoint is maintained during the
switchover to pressure control; otherwise, the actual value is applied. The force/pressure
setpoint is set the same as the actual force/pressure value at the switchover time.
The initial value of the force/pressure controller can be limited by an upper value
(forceControllerData.outputLimits._max) and a lower value
(forceControllerData.outputLimits._min). It is thus possible to react in one direction only, e.g.
to maintain pressure, to move in one direction only in the event of overpressure, to not actively
build up pressure.
If the interpolator cycle clock is not the same as the position control cycle clock, a linear fine
interpolation is carried out for the force/pressure setpoint. The force/pressure setpoints are
limited to a maximum value.
If the hydraulic functionality of the axis is used, specific factors can be predefined for the sliding
friction and the additive offset for the force/pressure control.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 195
Axis fundamentals
3.20 Force/pressure control

VHUYR'DWDHIIHFWLYH6HUYR&RPPDQG9DOXH

VHUYR'DWDFRPSHQVDWHG6HUYR&RPPDQG9DOXH

IRUFH&RQWUROOHU6HWWLQJVDGGLWLRQDO9DOXH 7UDYHUVLQJVHWSRLQW
IRUFH&RQWUROOHU6HWWLQJVDGGLWLRQDO9DOXH6ZLWFK 
3UHVVXUHOLPLWLQJYDOXH
IRUFH&RQWUROOHU'DWDWRDO&RPPDQG9DOXH

6XPPDWLRQ
IRUFH&RQWUROOHU'DWDDQWL:LQGXS
/LPLW
YDOXHDQGDQWLZLQGXS
$SSOLFDWLRQ 3UHVVXUH
6HWSRLQW 37ILOWHU
GLUHFWLRQ FRQWUROOHU
VXSHULPSRVHG
,FRQWUROOHU PDQLSXODWHG
YDULDEOH
SVHW 

IRUFH6WDWH'DWDFRPPDQG9DOXH IRUFH&RQWUROOHU'DWDILOWHUHG9DOXH
FRPPDQG'HULYHG9DOXH 3FRQWUROOHU
IRUFH&RQWUROOHU'DWDFRQWUROOHU2XWSXW
SDFWXDO IRUFH&RQWUROOHU'DWDOLPLWHU6WDWH
IRUFH6WDWH'DWDDFWXDO9DOXH
IRUFH&RQWUROOHU'DWDDFWXDO9DOXH IRUFH&RQWUROOHU'DWDOLPLWHU2XWSWXW
'FRQWUROOHU
IRUFH&RQWUROOHU'DWDL9DOXH

IRUFH&RQWUROOHU'DWDFRQWUROOHU'LIIHUHQFH
IRUFH&RQWUROOHU'DWDS9DOXH

IRUFH&RQWUROOHU'DWDG9DOXH

Figure 3-82 Overview of pressure controller/pressure limiting controller

TO Axis Electric / Hydraulic, External Encoder

196 Function Manual, 04/2014
 Axis fundamentals
3.20 Force/pressure control

Figure 3-83 Controller setting

Reducing the I component via the user program (as of V4.1 SP1):
It is now possible to reduce the I component of the pressure controller with a PT1 filter (setting
in PID_Controller.iValueFeedbackTimeConstant configuration data element) using the write-
accessible forceControllerSettings.integratorMode system variable from the user program.
This enables faster reduction of the I component, for example, following the switchover from
pressure limiting to pressure control.

See also
Compensations that are active only on the axis with hydraulic functionality (Page 314)

3.20.4 Monitoring functions / limiting functions / emergency strategies with active force/
pressure control
The actual force/pressure value is monitored for a maximum value or limit value. The control
deviation is monitored for a maximum value.
Based on a force/pressure entry window, you can monitor correct termination of a force/
pressure profile (force/pressure entry monitoring) – refer to positioning monitoring during
positioning.
You can also monitor observance of a constant force/pressure setpoint within a tolerance band
(force/pressure end value monitoring) – see standstill monitoring on a position-controlled axis.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 197
Axis fundamentals
3.20 Force/pressure control

Travel to software limit switch:

When traveling to the software limit switch, pressure limitation is deactivated.
You must ensure that the maximum deceleration values are set correctly so that the setpoints
of the software limit switches are not overtraveled when the system switches automatically
from pressure-limited operation to position-controlled operation.

Limiting functions are available for:

● Force/pressure setpoint
● Force/pressure controlled variable
● Actual force/pressure value

Note
To allow an immediate stop with active force/pressure control, e.g. via the
_stopEmergency() command (stopDriveMode=WITH_COMMAND_VALUE_ZERO), the
control switches to pressure limitation and, with pressure limitation active for the force/
pressure setpoint, moves to velocity 0 using the specified velocity profile for active position
control.
If the STOP_EMERGENCY alarm response occurs for active pressure control, a switch
is made to position control using pressure limitation. The pressure setpoint is active at the
switching point. If in this case, the actual pressure value is higher than the pressure
setpoint or limit value, the actual pressure value will be removed appropriately.

See also
Dynamic limiting functions (Page 163)

3.20.5 Activating the force/pressure control

Force/pressure control is activated by commands from the application.
SIMOTION supports different activation modes.

TO Axis Electric / Hydraulic, External Encoder

198 Function Manual, 04/2014
 Axis fundamentals
3.20 Force/pressure control

● Direct activation
Direct activation is achieved using the axis-enable command (_enableAxis() or
_enableQFAxis()) (forceControlMode parameter = ACTIVE). When enabled, the last actual
force/pressure value is taken as the force/pressure setpoint. The position controller must
also be enabled.
The direct activation of the pressure control is possible in the stopped state
(motionStateData.stillStandVelocity = ACTIVE).
● Direct deactivation
Direct deactivation occurs via the command to reset the axis enable or the command for
axis enable without the parameter for force/pressure control.
● Automatic activation with condition
There is a separate command for automatic activation. The conditions are verified and the
switchover takes place in the position control cycle clock. The axis is switched over to a
pressure-time profile. The conditions (force, pressure, position, time, and input) are
specified in the command and can be linked in the command in several stages. The
conditions can also be changed before they occur by reissuing the command. The force,
pressure, position, and time are stored at the time of switchover. The values are available
through system variables.

Switching from position control to force/pressure control:

To obtain a continuous manipulated variable curve for switching from the position control to
force/pressure control, the I component of the process controller will be initialized so that the
new manipulated variable from the process controller corresponds to the estimated
manipulated variable from the position controller.
The estimated manipulated variable is the last manipulated variable of the position controller
plus the filtered actual acceleration multiplied with the clock time.

Switching from force/pressure control to position control:

To obtain a continuous manipulated variable curve for switching from force/pressure control
to force/pressure control, the setpoint generation and the position controller will be restarted.
The current actual value measured by the encoder modified with the estimated following error
is used as starting value for the set position.
The estimated following error is calculated from the current manipulated variable multiplied by
the replacement time constant of the position control loop PTC
(typeOfAxis.NumberOfDataSets.DataSet_1.DynamicData.positionTimeConstant
configuration data item).
The position controller then outputs in the first cycle clock after the switching the same
manipulated variable as the force/pressure controller before the switching.

Note
In certain situations, the reference to the current manipulated variable can cause problems.
This is the case, for example, when an offset compensation is active. The PTC for the
switching time should then be set to zero. PTC can be switched with the data set.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 199
Axis fundamentals
3.20 Force/pressure control

3.20.6 Force/pressure setpoint specification

Force/pressure setpoints can be specified as follows:
● Directly as a value
● Via a time-related force/pressure profile
● Via a position-related force/pressure profile
The derivation value for the transition to the setpoint, or starting value can be specified in the
command. The last force/pressure setpoint is maintained at the end of the profile.
Even with direct setpoint value specification, the command requires different runtimes for its
execution on account of the possible transition to the pressure setpoint (pressure entry
monitoring). Synchronous and asynchronous command execution can be set.
With direct force/pressure setpoint specification, the setpoint is always active immediately.
mergeMode can be set in the force/pressure profile commands (sequential execution).
In position-related profiles the absolute position reference of the profile applies at the starting
point. During ramp up to the profile and ramp down from the profile, the
additionalSensorData.derivedValue refers to derivation of the setpoint over time.
An error message is output for starting at a position outside the profile.

3.20.7 Commissioning procedure for force/pressure control

Procedure for commissioning:
1. Commission the drive.
2. Commission the position controller for positioning mode.
3. Set the force/pressure controller. To do this, you can define setpoints for the force/pressure
controller via the additive force/pressure setpoint using a function generator.

3.20.8 Force/pressure control with velocity limiting

On the position axis, velocity limiting (flow rate limiting for hydraulic functionality) can be
activated in parallel with the force/pressure control. Velocity limitation is effective within
pressure control.
It is activated in the same way, for example, as force limiting with limiting value setting or limiting
profile enabling. Explicit deactivating is possible by means of a specific command.
If the velocity/flow rate limit is reached, the flow rate is limited, and the I component is stopped
in the force/pressure controller.
Like torque limiting, velocity limiting can be activated in parallel with the motion commands.
Velocity limiting is enabled by means of the following commands:

TO Axis Electric / Hydraulic, External Encoder

200 Function Manual, 04/2014
 Axis fundamentals
3.20 Force/pressure control

● Activate position-related limiting profile

_enablePositionLockedVelocityLimitingProfile()
● Activate time-related limiting profile
_enableTimeLockedVelocityLimitingProfile( )
● Activate limiting value
_enableVelocityLimitingValue()
Velocity limiting is disabled by means of the following command:
● _disableVelocityLimitingValue()
In the event of an error, the velocity limiting remains inactive, the force/pressure control is
replaced by the force/pressure limiting and the velocity limiting is disabled.
The velocity limiting direction can be activated by means of the velocityLimitingDirection
parameter (as of V4.1 SP1).
The set direction is indicated in velocityLimitingCommand.velocityLimitingDirection.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 201
Axis fundamentals
3.21 Force/pressure limiting

3.21 Force/pressure limiting

3.21.1 Overview of force/pressure limiting

The force/pressure limiting functionality requires position axis technology. If a hydraulic axis
is used as a drive axis, force/pressure limiting is possible here, too.
The position controller is active as a lower-level controller if force/pressure limiting is active.
PRWLRQ6WDWH'DWDFRPPDQG9HORFLW\

[UHV 3RVLWLRQ QVHW

,32 ),32  ,QWHJUDWRU
YVHW  FRQWUROOHU

[DFWXDO

[VHW
),32  ,QWHJUDWRU

SRVLWLRQLQJ6WDWHSRVLWLRQ

3UHVVXUHOLPLWLQJ
FRQWUROOHU
IRUFH6WDWH'DWDFRPPDQG9DOXH

),32 
SOLPLW SOLPLW 
SDFWXDO
)LQHLQWHUSRODWLRQ

Overview of control structure for force/pressure limiting

With force/pressure limiting, the force/pressure controller is not activated until the force/
pressure limit is exceeded (pact > plimit). It is limited to positive force/pressure values.

Note
The PDF documents button can be used in the online help to locate the function charts with
signal paths.

The force/pressure limiting is switched on using commands, e.g.:

● _enableTimeLockedForceLimitingProfile()
● _enableMotionInPositionLockedForceLimitingProfile()
● _enablePositionLockedForceLimitingProfile()
● _enableForceLimitingValue()
● _enableForceLimitingByCondition()
Time-related monitoring is deactivated.
The force/pressure limiting remains active in the event of an error, except for the
RELEASE_DISABLE and OPEN_POSITION_CONTROL error reactions.
Position-related monitoring (e.g. following error monitoring or positioning monitoring) are
deactivated when pressure control is activated or via the pressure limitation command.

TO Axis Electric / Hydraulic, External Encoder

202 Function Manual, 04/2014
 Axis fundamentals
3.21 Force/pressure limiting

You can configure the monitoring functions to remain active with external pressure/force
limiting in the servoMonitoring.motionMonitoringWhenExternalForceLimiting configuration
data element.
A PT2 filter on the force/pressure limiting controller output (as of V3.2) will prevent abrupt signal
changes. The filter time constants can be modified online and take effect immediately.
The pressure limiting value is not subject to fine interpolation if _enableForceLimitingValue()
or _enable...LimitingProfile() with derivativeLimitingMode=WITHOUT_LIMITING is set.
The status of the pressure limiting is displayed via the system variable
forceControllerData.limitingState. The requirement for updating the status variable is that the
pressure controller must be in operation (kp must not be equal to 0).

See also
Force/pressure limiting with hydraulic speed-controlled axes with Q valve only (V4.0 and
higher) (Page 325)

3.21.2 Positioning with active force/pressure limiting (V3.2 and higher)

With position-related motions and active pressure limitation, cyclic continuation of the
interpolator position and velocity can be set.

Y

Y,32

$
YOLP

$

W

Figure 3-84 Position-related motion with pressure limitation and cyclic continuation

This example shows a v/t profile in which the velocity is reduced by the pressure limitation.
Cyclic continuation allows continuous interpolation to the end point, starting from the current
position and, optionally, the velocity.
The decodingConfig.cyclicSetUpInForceLimiting configuration data element defines how the
continuation should take place.
With the setting decodingConfig.cyclicSetUpInForceLimiting = POSITION_BASED, cyclic
continuation at the current set position and the non-reduced velocity of the interpolator takes
place.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 203
Axis fundamentals
3.21 Force/pressure limiting

With the setting decodingConfig.cyclicSetUpInForceLimiting =

POSITION_AND_DYNAMIC_BASED, cyclic continuation at the current position and velocity
takes place.
Recommended setting: decodingConfig.cyclicSetUpInForceLimiting = POSITION_BASED

Braking phase initiated via software limit switch

Cyclic continuation stops from the time at which the braking phase is initiated because the
software limit switch is reached. The drive shuts down at maximum deceleration. The pressure
limitation remains active.
At standstill, the axis switches from position control to velocity control.

Behavior during positioning/moving to the target position

● Reaching the target position and actual position within the positioning window
– The target point is reached with respect to the setpoint with cyclic continuation
– The axis is positioned within the positioning window
– MOTION_DONE is set and the command is ended as EXECUTED
● Reaching the target position within the positioning window
– The target point is reached with respect to the setpoint with cyclic continuation
– The axis is not positioned within the positioning window
– MOTION_DONE is not set and the positioning monitoring alarm is suppressed due to
active pressure limitation
– Standstill monitoring is activated, and an alarm is triggered if the standstill window is
overshot, which cancels the command if necessary
● As a result of pressure limitation, the target position is not reached even through cyclic
continuation
– The target point is not reached with respect to the setpoint even with cyclic continuation
– No alarm is triggered
– The command is not ended

Note
Cyclic continuation is not practicable with active torque limitation. In this case, the
torque limitation takes place in the drive, and the setpoints limited by the drive are not
known to the control.

3.21.3 Increase limiting for pressure profiles and pressure limiting (V3.2 and higher)
Increase limitation can be specified for _enable…ForceLimiting() commands.
Determining the output value for the increase limitation

TO Axis Electric / Hydraulic, External Encoder

204 Function Manual, 04/2014
 Axis fundamentals
3.21 Force/pressure limiting

When determining the output value, it is necessary to ascertain whether the pressure limitation
is already active when the _enable…ForceLimiting() command is activated.

Note
If you prefer to specify the output value directly:
- Use _enableForceLimitingValue() to set the output value
- Wait until the value is reached
- Use a new command to ramp up to the target value
A programmed increase limitation can then be used to move to new values.

Initial activation of the pressure limitation

● Output value when pressure sensor not present is FValue=0.0
● If pressure sensor is activated, the output value is the measured actual pressure value
● When pressure control is triggered by means of pressure limitation, the output value is the
pressure setpoint in the IPO

New pressure limitation command with pressure limitation already activated

The output value is the limit value in the IPO.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 205
Axis fundamentals
3.22 Data sets

3.22 Data sets

3.22.1 Data set overview

The configuration data belonging to the axis data set (ADS) can be seen on the Axis data
sets tab in the Configuration dialog for the axis.
Details of the parameters can be found in the TP Cam Configuration Data Reference List.
ADS contain axis configuration data for the axis, especially that pertaining to the servo
(controller data, encoder data, process data, data for axis gearing, and data for force/pressure
control, for example).
Data sets must be defined and activated as a group because some data, such as controller
data, can only be activated simultaneously in groups to ensure consistency of the controller
and function.

3.22.2 Data set switchover / encoder switchover

Data sets can be switched over in the runtime application. This switchover is also possible
within one IPO cycle clock (e.g., to activate new controller data or to switch over to a second
encoder).
One axis can use several encoders for the position control, but only one encoder at a time.
One data set and one encoder are assigned to each axis when it is set up. If you need additional
data sets or encoders, they must be added. Data sets can be added in the Axis technology
object under Configuration on the Axis data sets tab.
In V4.0 and higher, the smoothingTimeByChangeDifference configuration data element can
be used to configure a switchover smoothing filter. This switchover smoothing filter is active
for all status transitions/switchovers in which an offset in the manipulated variable can occur
due to the switchover. Gear switchover in the data set is not smoothed.
The data sets must have the same control structure and must not contain any change that
requires a restart. For example, if data set 1 has DSC, data set 2 must have DSC too, or if
following error monitoring is disabled for data set 1, it must also be disabled for data set 2.
Data sets with different structures cannot be set up.
Data sets are specified and selected using their numbers.
You can also define which data record is to be loaded for the technology object during CPU
power up.

TO Axis Electric / Hydraulic, External Encoder

206 Function Manual, 04/2014
 Axis fundamentals
3.22 Data sets

Figure 3-85 Configuration of axis data sets in SIMOTION SCOUT

The individual data sets appear next to each other on the Axis data sets tab.
Configuration data which must be the same for all data sets can only be entered in ADS 1. A
change in ADS 1 is only mapped in the other ADS if the configuration data has to be set
identically for all ADS.
If parameters for axis data sets undergo changes in the expert list, consistency conditions may
be violated (check during download). This may happen with controller settings, for example.
In this case, the line and cell are highlighted on the Axis data sets tab.
Only variables which are effective immediately can be changed online.
The parameter assignment dialog boxes for the Axis technology object (e.g. Control) display
the configuration data for one data set at a time. A function bar at the bottom of the dialogs

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 207
Axis fundamentals
3.22 Data sets

features a combo box with the option to switch over the axis data set. This
switches over the data set displayed (not the active data set).

Note
Please also note the tooltips above the parameter fields in the individual screen forms for the
axis. These show the name of the variable, from which you can also tell whether the variable
is assigned to a specific axis data set.

The number of data sets is specified with the structural elements for the NumberOfDataSets
configuration data element. Up to 16 data sets are possible.
The data set changeover mode is specified in the NumberOfDataSets.changeMode parameter.

Table 3-38 Parameter NumberOfDataSets.changeMode

NEVER No data set changeover takes place.

IN_STANDSTILL Data set changeover takes place when the standstill signal is applied.
IMMEDIATELY Data set changeover takes place immediately.
IN_POSITION Data set changeover takes place when the positioning window is reached.

Switchover to another encoder via the data set switchover

The data set shows which encoder is used with this data set. You can define up to 8 different
encoders. All configured measuring systems (encoders) are internally active, and the
measured values are updated cyclically.
The encoder contained in the data set is specified and selected using its number
(EncoderNumber).
The basic settings for encoders are made under Configuration on the Encoder configuration
tab.

Note
Please also note the tooltips above the parameter fields in the individual screen forms for the
axis. These show the name of the variable, from which you can also tell whether the variable
is assigned to a specific encoder.

Activating data sets

Data set commands can be used to read, write, and activate data sets on the axis.
The configuration data of a data set are contained in the structure
TypeOfAxis.NumberOfDataSets.DataSet_n (n: data set number). The display depends on the
technology set on the axis.
Data sets must be defined and activated as a group because some data, such as controller
data, can only be activated simultaneously in groups to ensure consistency of the controller
and function.

TO Axis Electric / Hydraulic, External Encoder

208 Function Manual, 04/2014
 Axis fundamentals
3.22 Data sets

● _getAxisDataSetParameter() reads a data set on the axis

● _setAxisDataSetParameter() overwrites a data set on the axis
● _setAxisDataSetActive() sets the data set specified in the function parameter to active

Note
If the active measuring system is switched via a data set changeover, the
_setAndGetEncoderValue() system function should be used to synchronize the two
measuring systems before the switchover takes place. This will prevent unwanted
compensating movements of the position controller if differences in position are identified.

See also
Activating data sets (Page 367)
Writing a data set (Page 368)
Reading a data set (Page 368)
Writing the force/pressure-specific data of a data set (Page 368)
Reading the force/pressure-specific data of a data set (Page 369)
Writing the data of the data set (hydraulic functionality only) (Page 369)
Reading the force/pressure-specific data of the data set (hydraulic functionality only)
(Page 369)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 209
Axis fundamentals
3.23 Traversing with user-defined motion and force/pressure profiles

3.23 Traversing with user-defined motion and force/pressure profiles

3.23.1 Overview of traversing with user-defined motion and force/pressure profiles

In addition to traversing/positioning via system functions, the axis can also be traversed directly
via user-defined profiles.
The curve specification of a cam is used as profile function. The cam can be set using the
SIMOTION SCOUT engineering system (CamEdit, CamTool) or, alternatively, by means of
the application.
A system command is used to assign the appropriate technological variables of the axis to the
domain and range.

5DQJH

'RPDLQ

Figure 3-86 Application of cam/technological profiles

A defined start is also possible within a profile.

Application:
Specific adaptation and optimization of traversing specifications.
Additional information about cams can also be found in the SIMOTION CamTool Manual and
in the SIMOTION SCOUT online help.

Table 3-39 Possible assignments

Designation Definition Value range Command

range
Position-related velocity Position 1) 2) Velocity specification _runPositionLockedVelocityProfile()1)
profile _runMotionInPositionLockedVelocityProfile() 2)
Time-related Time Velocity specification _runTimeLockedVelocityProfile()
velocity profile
Time-related position Time Position _runTimeLockedPositionProfile()
profile
Time-related Time Force/pressure _runTimeLockedForceProfile()
force/pressure profile specification
Position-related Position 1) 2) Force/pressure _runPositionLockedForceProfile() 1)
force/pressure profile specification _runMotionInPositionLockedForceProfile()2)
Position-related Position 1) 2)
Force/pressure _enablePositionLockedForceLimitingProfile() 1)
force/pressure limiting limiting _enableMotionInPositionLockedForceLimitingProfile() 2)
profile

TO Axis Electric / Hydraulic, External Encoder

210 Function Manual, 04/2014
 Axis fundamentals
3.23 Traversing with user-defined motion and force/pressure profiles

Designation Definition Value range Command

range
Time-related force/ Time Force/pressure _runTimeLockedForceLimitingProfile()
pressure limiting profile limiting
Time-related velocity Time Velocity limitation _runTimeLockedVelocityLimitingProfile()
limiting profile
Position-related velocity Position 1) 2) Velocity limitation _enablePositionLockedVelocityLimitingProfile() 1)
limiting profile _enableMotionInPositionLockedVelocityLimitingProfile() 2)

1) Actual position of axis – the axis position is assigned to the definition range.
2) Interconnected position – the actual position present at the MotionIn interface is assigned to the definition range.

3.23.2 Profile reference

Time-related profiles
The domain of the cam to be used in the command is interpreted as time in the time unit of
the axis. The profile can be executed from start to finish or, alternatively, from a starting point
that can be predefined.

Position-related profiles with respect to the axis' own position

The domain of the cam to be used in the command is interpreted as the position in the position
unit of the axis.
The profile reference is equivalent to the absolute axis position. The profile is started from the
current axis position.
The velocity traversing profiles are related to the resulting position setpoint.
The velocity limiting profiles and the force/pressure profiles are related to the actual position
value.

Position-related profiles with respect to interconnected position (V3.2 and higher)

The profile is related to the position interconnected via MotionIn connectors.

Table 3-40 Possible commands for reference to a position interconnected via MotionIn

Command Description
_runMotionInPositionLockedForceProfile() Force profile related to an interconnected position (MotionIn)
_runMotionInPositionLockedVelocityProfile() Velocity profile related to an interconnected position (MotionIn)
_enableMotionInPositionLockedForceLimitingProfile() Force limiting profile related to an interconnected position
(MotionIn)
_enableMotionInPositionLockedVelocityLimitingProfile() Velocity limiting profile related to an interconnected position
(MotionIn)

Separate system variables are available for status queries, e.g.:

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 211
Axis fundamentals
3.23 Traversing with user-defined motion and force/pressure profiles

● forceMotionInPositionProfileCommand for force/pressure profiles

● velocityMotionInPositionProfileCommand for velocity profiles

3.23.3 Profile types

Velocity profile/velocity limiting profile

The range of the cam to be used in the command is interpreted as the velocity in the velocity
unit of the axis. The motion direction, acceleration, and jerk are calculated accordingly.
A transition profile is generated by the axis for discontinuous transitions. The dynamic response
parameters of this profile are specified using the command parameters for acceleration and
jerk.

Position profile
The range of the cam to be used in the command is interpreted as the position in the position
unit of the axis. The motion direction, position, acceleration, and jerk are calculated from this
relationship.
The position reference to the axis can be selected as either absolute or relative.
A transition profile is generated by the axis for discontinuous transitions. The dynamic response
parameters of this profile are specified using the command profile parameters for acceleration,
jerk, and velocity.

Force/pressure profile and force/pressure limiting profile

The range of the cam to be used in the command is interpreted as the force/pressure in the
pressure unit of the axis. The derivation of force/pressure for any necessary transition motions
(for entering the profile and exiting the profile, for example), can be programmed in the
command. The behavior at the end of the profile is set during axis configuration.

TO Axis Electric / Hydraulic, External Encoder

212 Function Manual, 04/2014
 Axis fundamentals
3.23 Traversing with user-defined motion and force/pressure profiles

Limitation of the acceleration and braking ramps (V3.2 and higher)

The DecodingConfig.profileDynamicsLimiting configuration data element is used to determine
whether the permitted acceleration and braking ramps should be limited by the programmed
values (derivedCommandValue) or the maximum values (configuration data).
● Limiting by programmed values:
The axis is ramped up to the profile or to the values specified in the motion vector (MotionIn)
using the minimum value from the dynamic values defined in the command and the
maximum values set in MaxJerk, MaxAcceleration, and MaxVelocity.
While traversing on the profile, the axis is limited to the lowest value of the programmed
values and the set maximum values.
● Limiting by maximum values:
The axis is ramped up to the profile or to the values specified in the motion vector (MotionIn)
using the minimum value from the dynamic values defined in the command and the
maximum values set in MaxJerk, MaxAcceleration, and MaxVelocity.
While traversing on the profile, the axis is only limited to the set maximum values.

Status display during profile processing (V3.2 and higher)

During profile processing, extended states are displayed in the system variables for the
profiles, e.g. in positionTimeProfileCommand.processingState.
The PROFILE_END status is set if the end of profile has already been reached, but the
command is still active.

21B352),/(

VWRS :,7+287B$%257 

352),/(B(1'

BUXQ3URILOH 
BFRQWLQXH
127B$&7,9$7('

67233('B:,7+287B$%257
127B$&7,9$7('

,1B,17(532/$7,21B%87B127B21B352),/(

Figure 3-87 Status displays when traveling through a profile (example)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 213
Axis fundamentals
3.23 Traversing with user-defined motion and force/pressure profiles

See also
Positioning with user-definable position profile (Page 352)
Enable force/pressure limiting with position-related force/pressure limiting profile (Page 353)
Enabling force/pressure limiting with time-related motion profile (Page 354)
Starting the time-related force/pressure profile (Page 355)
Starting the position-related force/pressure profile (Page 356)
Starting a time-related velocity profile (Page 350)
Starting a position-related velocity profile (Page 351)
Enabling velocity limiting with position-related velocity limiting profile (Page 358)
Enabling velocity limiting with time-related velocity limiting profile (Page 359)

3.23.4 Behavior at the end of the profile (V3.2 and higher)

The decodingConfig.behaviourAtTheEndOfProfile configuration data element is used to
configure various behaviors.

Table 3-41 Assignable behaviors

Setting Meaning
MOVE_WITH_CONSTANT_SPEED Constant continuous motion
● Position/velocity:
Hold value
● Force/pressure:
Hold value
STOP_IN_PROFILE_END Decelerate to target point/velocity 0
● Position/velocity:
Velocity 0 at the end of profile (via ramp)
● Force/pressure:
Value at the profile end point (= Hold value)
STOP_WHEN_PROFILE_END_REACHED Decelerate after completed traverse
● Position/velocity:
Velocity 0 when end of profile reached (via ramp)
● Force/pressure:
Value at the profile end point (= Hold value)

Changes can be made online and take effect immediately.

Note
For position-related profiles with the setting STOP_IN_PROFILE_END, it should be
remembered that the velocity calculated by the system can cause vibration.

TO Axis Electric / Hydraulic, External Encoder

214 Function Manual, 04/2014
 Axis fundamentals
3.24 Motion commands

3.24 Motion commands

3.24.1 Motion execution/interpolator

Axis motion is executed in the interpolator, in the servo, and in Servo_fast.
The servo for all axes is calculated in the position-control cycle clock.
The reference variables are calculated in the interpolator. The interpolator cycle clock of the
device is set during the configuration of the execution system. There are two interpolator levels
in the system, IPO and IPO2.
The processing cycle clock (axis-specific interpolator cycle clock ) of the Axis technology object
can be set to IPO or IPO2.
For the possible setting IPO_fast, see the chapter titled Second position control cycle clock
(Servo_fast) in the Motion Control Basic Functions manual.
This makes it possible to place an interpolator for axes that do not require a high time resolution
to calculate reference variables in a cyclical system task with a longer cycle time, thereby
requiring less processing power.

Setting for shorter axis reaction times (e.g. faster start of motion) (as of V4.1 SP1)
The Execution.executionLevel=SERVO or processing clock = Servo setting in the
configuration screen form can be used to execute the IPO system component of the axis in
the servo following actual value measurement. After the actual value system in the servo, the
IPO system functionality is calculated first, followed by the controller and the setpoint system.
This reduces the response time to the switching of external signals or synchronous operation
in the control to one servo cycle clock.

Note
Due to the higher performance requirement, this setting should only be used for selected (i.e.
a limited number of) axes.
Temporarily high IPO system components in the servo of the axis can result in a level overflow
in the servo, thus causing the CPU to go to STOP mode.

For the possible setting Servo_fast, see the chapter titled Second position control cycle clock
(Servo_fast) in the Motion Control Basic Functions manual.

System and user tasks

In addition to the technology object system tasks of ServoTask, IPOTask, and IPOTask_2,
there are also synchronous user tasks called ServoSynchronousTask, IPOSynchronousTask,
and IPOSynchronousTask_2.
How the system and user tasks interact with each other is demonstrated in the following
example for the Axis technology object. At the end of cyclic data transfer, the
ServoSynchronousTask and ServoTask are started, followed by the IPOSynchronousTask
and IPOTask. Axis data which is active in the servo (e.g. superimposed setpoint or manipulated
variable value) can be modified in the ServoSynchronousTask. In the IPOSynchronousTask,
issued motion commands are processed directly in the subsequent IPOTask (e.g. switchover
to superimposed motion or registration mark).

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 215
Axis fundamentals
3.24 Motion commands

Because the ServoSynchronousTask is executed before the IPO system component in the
servo level even if execution.executionLevel=SERVO is set, this enables a very rapid response
with motion affected at user level as well.

&RQWURO
,SR6\QFKURQRXV7DVN ,SR7DVN

,32

6HUYR6\QFKURQRXV7DVN 6HUYR7DVN

6(592

'DWD,Q 'DWD2XW

$F\FOLFGDWD )LHOGEXV

&\FOLFGDWD ';
*OREDO&RQWURO
/HJHQG

$SSOLFDWLRQ
6\VWHPIXQFWLRQV 7HFKQRORJ\REMHFWV XVHUSURJUDP

7DVNVHWWLQJ'36HUYR,32 

Figure 3-88 Example of cycle clock settings

See also the chapters titled Execution system/Tasks/System cycle clocks and Dynamic
response to data processing in the control in the Motion Control Basic Functions Function
Manual.

3.24.2 Command groups

Commands on the axis are divided into command groups to enable multiple commands to be
active in one IPO cycle clock. Commands on the axis are read in and processed in the IPO
cycle clock. If the user program issues more than one command for a command group within
an interpolator cycle clock and the user program can run, for example, in another task, then a
specific behavior is defined for the command group. The commands assigned to a command
group are implicitly assigned to the corresponding command buffer.
The overwritten commands trigger technological alarm "030002 Command aborted".

TO Axis Electric / Hydraulic, External Encoder

216 Function Manual, 04/2014
 Axis fundamentals
3.24 Motion commands

Command buffers and their properties

Every axis has command buffers that can buffer one command each. These buffers are read
out in every interpolator cycle clock.
● Buffer1) for _stopEmergency(), _stop(), and _continue() commands
This buffer contains _stopEmergency(), _stop() without command abort, and _continue().
The procedure followed when motions stop depends on the command priorities. Higher
priorities are indicated by larger numbers. A command with the same or higher priority
displaces a command already in the buffer.
– Priority 1: _stop() without command abort and _continue()
– Priority 2: _stopEmergency() with time ramp
– Priority 3: _stopEmergency() with maximum deceleration
– Priority 4: _stopEmergency() with setpoint zero
● Buffer2) for Enable- and Disable commands
This buffer contains the enable and disable commands. The commands displace each other
from the command buffer.
● Buffer3) for superimposed commands
Commands that are executed in parallel or superimposed to a main motion are, for example:
– Motion commands with mergeMode=SUPERIMPOSED_MOTION_MERGE
– _redefinePosition()
– _enableAxisAdditiveTorque()
– _homing() with homingMode=DIRECT_HOMING or PASSIVE_HOMING
The following applies to SIMOTION < V4.4:
The buffer has an entry. These commands overwrite each other if they are issued within
one IPO cycle clock.
As of SIMOTION V4.4, the following applies:
A maximum of 10 command entries are possible in the command buffer for superimposed
commands. The number can be set in the
DecodingConfig.lenghtOfBufferForSuperimposedCommands configuration data element.
When a new axis is created, five entries are preset by the system.
● Buffer4) for overriding and sequential commands
Acceptance of all commands, in particular motion commands that have been programmed
as sequential motion using the mergeMode=SEQUENTIAL function parameter or as
overriding motion using the mergeMode=IMMEDIATELY function parameter.
In the case of sequential motions with immediate command advance
(nextCommand=IMMEDIATELY and mergeMode=SEQUENTIAL), new commands to be
entered can return with errors if the buffer is full.
In the case of sequential motions with immediate command advance, if the motion
command can be accepted by the system (nextCommand=WHEN_BUFFER_READY and
mergeMode=SEQUENTIAL), the command does not advance until the motion command
has been accepted by the system.
In the case of mergeMode=NEXT_MOTION or mergeMode=IMMEDIATELY, the command
can always be accepted by the system, because the next motion command in the command
buffer or the current motion command in the interpolator is overwritten.
The following table shows the assignment of axis commands to command buffers.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 217
Axis fundamentals
3.24 Motion commands

Table 3-42 Allocation of commands to the command buffers

Command Position
_continue() 1
Resume motion
_stop() 1
Stop a motion without traversing command abort
_stop() 4
Stop a motion with traversing command abort
_stopEmergency() 1
Stop the motion with cancellation of the motion commands without further
motion commands having any affect
_disableAxis() 2
Remove axis enable
_disableQFAxis() 2
Remove enable for axis with hydraulic functionality
_enableAxis() 2
Set axis enable
_enableQFAxis() 2
Set enable for axis with hydraulic functionality
_adaptAxisConfigData() 3
Adapts the characteristic data for motors and/or encoders
_disableAxisAdditiveTorque() 3
Deactivate additive set torque
_disableAxisSimulation() 3
Disable simulation mode
_disableForceLimiting() 3
Deactivate force/pressure limiting
_disableMovingToEndStop() 3
Disabling command for travel to fixed endstop
_disableTorqueLimiting() 3
Deactivate torque limiting
_disableAxisInterface() 3
Deactivate actuator interface
_disableAxisTorqueLimitNegative() 3
Activate negative torque limiting
_disableAxisTorqueLimitPositive() 3
Activate positive torque limiting
_disableMonitoringOfEncoder() 3
Deactivate differential encoder monitoring
_disableVelocityLimiting() 3
Deactivate velocity limiting
_enableAxisAdditiveTorque() 3
Activate additive set torque

TO Axis Electric / Hydraulic, External Encoder

218 Function Manual, 04/2014
 Axis fundamentals
3.24 Motion commands

Command Position
_enableAxisInterface() 3
Activate actuator interface
_enableAxisSimulation() 3
Enable simulation mode
_enableAxisTorqueLimitNegative() 3
Activate negative torque limiting
_enableAxisTorqueLimitPositive() 3
Activate positive torque limiting
_enableForceControlByCondition() 3
Switch over to p(t) profile with switchover criterion
_enableForceLimitingByCondition() 3
Switchover to force/pressure limiting when the switchover criterion defined in
the command is reached
_enableForceLimitingValue() 3
Activate force/pressure limiting with constant force/pressure limit value
_enableMonitoringOfEncoder() 3
Activate differential encoder monitoring
_enableMotionInPositionLockedForceLimitingProfile() 3
Force limiting profile related to an interconnected position (MotionIn)
_enableMotionInPositionLockedVelocityLimitingProfile() 3
Velocity limiting profile related to an interconnected position (MotionIn)
_enableMovingToEndStop() 3
Enabling command for travel to fixed endstop
_enablePositionLockedForceLimitingProfile() 3
Activate force/pressure limiting with p(s) profile
_enablePositionLockedVelocityLimitingProfile() 3
Activate velocity limiting with position-related limiting profile
_enableTimeLockedForceLimitingProfile() 3
Activate force/pressure limiting with time-related limiting profile
_enableTimeLockedVelocityLimitingProfile() 3
Activate velocity limiting with time-related limiting profile
_enableTorqueLimiting() 3
Activate torque limiting
_enableVelocityLimitingValue() 3
Activate velocity limiting
_redefinePosition() 3
Reset actual and set position
_setAndGetEncoderValue() 3
Synchronize measuring systems
_setAxisDataSetActive() 3
Switch over data set
_homing() 3
Homing 4 homingMode =
ACTIVE_HOMING

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 219
Axis fundamentals
3.24 Motion commands

Command Position
_move() 4
Rotate 3 for mergeMode =
SUPERIMPOSED
_pos() 4
Positioning 3 for mergeMode =
SUPERIMPOSED
_runMotionInPositionLockedForceProfile() 4
Force profile related to an interconnected position (MotionIn) 3 for mergeMode =
SUPERIMPOSED
_runMotionInPositionLockedVelocityProfile() 4
Velocity profile related to an interconnected position (MotionIn) 3 for mergeMode =
SUPERIMPOSED
_runPositionBasedMotionIn() 4
Activate MotionIn interface with position reference 3 for mergeMode =
SUPERIMPOSED
_runPositionLockedForceProfile() 4
Run a p(s) profile
_runPositionLockedVelocityProfile() 4
Apply a v(s) profile 3 for mergeMode =
SUPERIMPOSED
_runTimeLockedForceProfile() 4
Run a p(t) profile
_runTimeLockedPositionProfile() 4
Apply an s(t) profile 3 for mergeMode =
SUPERIMPOSED
_runTimeLockedVelocity() 4
Apply a v(t) profile 3 for mergeMode =
SUPERIMPOSED
_runVelocityBasedMotionIn() 4
MotionIn interface with velocity reference activated 3 for mergeMode =
SUPERIMPOSED
_setForceCommandValue() 4
Set force/pressure setpoint
_bufferAxisCommandId() 5
Store command status permanently
_cancelAxisCommand() 5
Abort command with the specified CommandID
_getAxisDataSetParameter() 5
Read a data set
_getAxisErrorNumberState() 5
Read out error number status
_getAxisErrorState() 5
Read out error status, alarm number and alarm parameter of up to eight
pending alarms

TO Axis Electric / Hydraulic, External Encoder

220 Function Manual, 04/2014
 Axis fundamentals
3.24 Motion commands

Command Position
_getAxisInternalPosition() 5
Convert from axis coordinates to encoder position values
_getAxisStoppingData() 5
Calculate braking distance depending on a specified actual velocity, actual
acceleration, traversing profile and dynamic response parameters
_getAxisUserPosition() 5
Convert from encoder positions to axis coordinate system
_getForceControlDataSetParameter() 5
Read a data set
_getMotionStateOfAxisCommand() 5
Read out motion phase of a command
_getProgrammedTargetPosition() 5
Display programmed absolute end position including superimposition
_getStateOfAxisCommand() 5
Read out command status
_getStateOfMotionBuffer() 5
Shows whether the command queue can be filled
_getQFAxisDataSetParameter() 5
Read specific parameters for the axis with hydraulic functionality in the data set
_removeBufferedAxisCommandId() 5
End permanent storage of the command status
_resetAxis() 5
Reset axis
_resetAxisConfigDataBuffer() 5
Clear the configuration data in the buffer without activation
_resetAxisError() 5
Reset error on the axis
_resetMotionBuffer() 5
Reset command queue
_setAxisDataSetParameter() 5
Overwrite data set
_setAxisSTW() 5
Specify control bits in STW1 directly
_setForceControlDataSetParameter() 5
Overwrite data set
_setQFAxisDataSetParameter() 5
Overwrite the specific parameters for the axis with hydraulic functionality in an
inactive data set
_setQFAxisPCharacteristics() 5
Set characteristics for P value
_setQFAxisQCharacteristics() 5
Set characteristics for Q value

1) Buffer for emergency stop and stop-continue commands

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 221
Axis fundamentals
3.24 Motion commands

2) Buffer for enable and disable commands

3) Buffer for superimposed commands
4) Buffer for overriding and sequential commands
5) Not allocated to the command buffers; commands are executed synchronously as called

3.24.3 Changing motion commands into the interpolator

A DecodingConfig.decodeSequentialMotionCommand configuration data item can be used to
set when the next SEQUENTIAL or NEXT_MOTION command is switched in or executed in
the interpolator - immediately in the same cycle clock or in the next IPO cycle clock.
● If the setting is IMMEDIATELY (default), the next command is switched in immediately and
started in the same cycle clock once interpolation/execution of the current command in the
IPO cycle clock is complete.
● If the setting is NEXT_IPO_CYCLE, the next command is not changed into the interpolator
until the previous command has been completely interpolated.
This prevents execution of multiple motion commands in the interpolator, thus preventing
a greater-than-average interpolator load from being called forth in one cycle clock.

3.24.4 Motion transitions

The behavior during a transition between two motions is defined by mergeMode.
The programmed motion transitions are decisive for the active motion. The priority of the task
in which the motion command is issued does not affect the priority assignment of the command.

Definable motion transitions

● IMMEDIATELY (substitute)
The motion specified with the command is activated immediately. Motions which are already
active are overridden and pending commands/motions are aborted.
● NEXT_MOTION (attach, delete pending command)
Execute after the active motion and delete further pending commands/motions.

TO Axis Electric / Hydraulic, External Encoder

222 Function Manual, 04/2014
 Axis fundamentals
3.24 Motion commands

● SEQUENTIAL (attach)
Append to previous commands/motions.
● SUPERIMPOSED_MOTION_MERGE (superimpose)
Superimposed motion on the axis is possible in addition to the basic motion

72LQVWDQFH
0RWLRQ%XIIHU

352*5$0
6(48(17,$/
&RPPDQG,G
1(;7B
0RWLRQFRPPDQG 027,2
1 
SDUDPHWHU
683
(5,0
326
,00 ('B
&RPPDQG,G (',$ 027
,21B
7(/ 0(5
< *(
&RPPDQGSDUDPHWHU

'LUHFW ,QWHUSRODWRU ,QWHUSRODWRU

FRPPDQG EDVLFPRWLRQ VXSHULPSRVHG
H[HFXWLRQ PRWLRQ

&RPPDQGJURXSV

1RWDOORFDWHGWRWKHFRPPDQGEXIIHUVFRPPDQGVDUHH[HFXWHGV\QFKURQRXVO\DVFDOOHG
6HHDOVRDOORFDWLRQ LQWKHWDEOHWLWOHG$OORFDWLRQRIFRPPDQGVWRWKHFRPPDQGEXIIHUV

Figure 3-89 Command reactions in the Axis technology object

3.24.5 Conditions for command advance

If the condition for the command advance is satisfied, the next command in the user program
is executed. Specifying a step enabling condition affects the execution time of the next
command in the same user task.
● IMMEDIATELY
As soon as the command has been issued, irrespective of whether or not the commanded
motion can be executed
● WHEN_BUFFER_READY
After the command has been entered in the motion buffer
● AT_MOTION_START (motion start)
After the command has been changed into the interpolator
● WHEN_ACCELERATION_DONE (end of acceleration)
When the acceleration phase is completed
● AT_DECELERATION_START (start of deceleration phase)
When the deceleration phase starts
● WHEN_INTERPOLATION_DONE (end of setpoint interpolation)
When the setpoint interpolation for this command is completed
● WHEN_MOTION_DONE (positioning window reached)
When the setpoint interpolation is complete and the configured positioning window has
been reached

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 223
Axis fundamentals
3.24 Motion commands

● WHEN_COMMAND_DONE (when command is completed or aborted)

After completion of the command, for example, for commands that require time for their
execution, but do not contain a motion element
● WHEN_TORQUELIMIT_REACHED (as soon as the torque is limited)
When torque limiting is triggered
● WHEN_TORQUELIMIT_GONE (as soon as the torque limiting is switched off)
When torque limiting is removed
● WHEN_LIMITING_COMMAND_ACTIVATED (when the velocity limiting command is
activated)
When velocity limiting is activated
● WHEN_LIMIT_REACHED (as soon as the velocity is limited)
When velocity limiting is triggered
● AT_PROFILE_START
Beginning of interpolation with profile
● BY_PROFILE_END
End of setpoint interpolation with profile
● WHEN_AXIS_HOMED (when axis is homed)
Axis was homed
● WHEN_ENDSTOP_REACHED (when clamping value is reached)
Clamping value reached (travel to fixed endstop)
● WHEN_FUNCTION_DISABLED (when command is aborted or completed)
Command is completed or aborted (travel to fixed endstop)

3.24.6 State model/axis status

Table 3-43 The axis status is indicated in:

● Axis inactive/can be control= INACTIVE

activated:
● Axis active: control= ACTIVE
● Motion: motionStateData.motionCommand= IN_MOTION
● Fault: error= YES and ErrorReaction <> NONE
● StopEmergency: stopEmergencyCommand.state= ACTIVE

TO Axis Electric / Hydraulic, External Encoder

224 Function Manual, 04/2014
 Axis fundamentals
3.24 Motion commands

3RZHURQ
$[LV
FDQEH
DFWLYDWHGLQDFWLYH
 
BGLVDEOH$[LV BUHVHW$[LV(UURUBUHVHW$[LV

)DXOW
BHQDEOH$[LV BGLVDEOH$[LV


BVWRS(PHUJHQF\ BUHVHW$[LV(UURUBUHVHW$[LV
6WRS(PHUJHQF\ $[LV
(UURU
$FWLYH
BUHVHW$[LV  )DXOW
  

0RWLRQFRPPDQGV BUHVHW$[LVBVWRS $ERUW 

BUHVHW$[LV(UURU
BVWRS(PHUJHQF\

 )DXOW

0RWLRQ


BVWRS BFRQWLQXH

0RWLRQVWRS
ZLWKRXWDERUW

Figure 3-90 State model/axis status

When the axis is configured as an axis with hydraulic functionality (QFAxis) in TypeOfAxis,
_enableAxis() must be replaced with _enableQFAxis() and _disableAxis() must be replaced
with _disableQFAxis() in the state model for the axis.
The status of _stopEmergency() is displayed in the stopEmergencyCommand system variable.
Following a reset, this variable must be scanned explicitly by means of _disableAxis().

Table 3-44 The following commands and functions are active in the individual states of the axis:

*1 Axis can be enabled/is inactive with respect to motion control of the axis; also includes
the disabled state
*2 For active drive, output and control:
● Switch from follow-up mode or to follow-up mode
● Enable/disable the control
*3 Depending on the stop or error states, _disableAxis() / _disableQFAxis() and
_stopEmergency() are permitted
*4 Faults are handled according to existing criteria. Higher-priority local stop reactions can
be handled.
*5 Superimposed motions and motions on the following axis are included.
*6 resetAxis() permitted
*7 Motion commands permitted
*8 If axis is in position control

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 225
Axis fundamentals
3.24 Motion commands

Axis in inactive/can be activated state

When the control is switched on, the technology object goes into follow-up mode. In that case:
● All commands in the motion buffer are deleted
● The axis and controller are inactive
● System variables are set either to the configured values or to start values
● The motions commanded by motion commands are not executed; the axis is in follow-up
mode
● The _enableAxis() or _enableQFAxis() command enables the controller and switches the
technology object state to active
● Changing from STOP U operating state to RUN, and vice versa, has no effect on the Axis
technology object
● During the transition from STOP to STOP U operating state, all alarms that can be reset
are acknowledged and the motion buffer is cleared
● Encoders/actual value system is/are active in the STOP operating state
The axis position is retained, unless an alarm is triggered.

Axis in active state

Motion commands can be issued and executed in this state.

Axis in motion state

● Motion jobs are executed and motion commands can be issued in this state.
● Motion can be stopped by sending the _stop() command, stopMode=
STOP_WITHOUT_ABORT setting, and resumed by sending the _continue() command
● Motion is aborted with the _stop() command, stopMode= STOP_AND_ABORT

Axis in fault technology object state

In fault technology object state, the following actions are possible:
● Actions that reset the fault state
● Actions that cause a higher-priority stop reaction
● Actions that do not affect the state
● Actions that are generally permitted according to criteria for technological alarms
Motion jobs and the simulation command _enableAxisSimulation() are not executed.
The fault is remedied with the _resetAxis() or _resetAxisError() command if these commands
are permitted for the fault in question.
The status commands _getStateOfAxisCommand() and _getStateOfMotionBuffer() are
permitted, as are the reset commands _resetMotionBuffer() and _disableAxis() or
_disableQFAxis().
Aborted motion commands trigger a technological alarm and a notice in the alarm window.

TO Axis Electric / Hydraulic, External Encoder

226 Function Manual, 04/2014
 Axis fundamentals
3.24 Motion commands

The reactions on the axis can be configured in the technological alarm.

Note
Errors can be acknowledged in SIMOTION SCOUT, the program or the operating panel.
You can find additional information under Error handling in the Motion Control Basic
Functions Function Manual.

Axis in StopEmergency state

The _stopEmergency() command
● Does not cause the alarm task to start immediately
● Does not disable the axis and drive
● Is not active if the axis is in follow-up mode
● Is not immediately active if a following error has built up during active torque limitation
● Is not immediately active if a pressure axis switches from closed-loop pressure control to
pressure limitation
A _stopEmergency() command with a higher-priority stop reaction cancels a lower-priority
reaction.
The _stopEmergency() command generates the _stopEmergency_Status. This status can be
canceled with the _disableAxis() / _disableQFAxis() or _resetAxis() commands.
Commands active in the interpolator are aborted.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 227
Axis fundamentals
3.25 Data exchange between Axis technology object and DCC

3.25 Data exchange between Axis technology object and DCC

For data exchange between the Axis technology object and DCC charts/DCC blocks, system
variables of the technology object can be interconnected directly with block inputs and block
outputs.
The update/effectiveness of the system variables is specified in the reference lists.
● Cyclically updated display data in the IPO include:
– motionStateData.actualVelocity
– motionStateData.actualAcceleration
– positioningState.actualPosition
● Cyclically effective system variables in the IPO include:
– defaultMotionIn.x (when activated by means of a command)
– defaultMotionIn.y (when activated by means of a command)
– defaultMotionIn.z (when activated by means of a command)
– override.velocity
– override.acceleration
– plusLimitsOfDynamics.velocity
– plusLimitsOfDynamics.postiveAccel
– plusLimitsOfDynamics.negativeAccel
● Cyclically updated display data in the servo includes:
– sensorData[n].position
– sensorData[n].velocity
– sensorData[n].acceleration
– sensorData[n].incrementalPosition
● Cyclically effective system variables in the servo include:
– servoSettings.additionalCommandValue
– servoSettings.additionalSetpointValue
You can find additional information about DCC in the Motion Control Basic Functions Manual.

TO Axis Electric / Hydraulic, External Encoder

228 Function Manual, 04/2014
 Axis fundamentals
3.26 Drive communication based on DPV1 services

3.26 Drive communication based on DPV1 services

Drive communication based on PROFIdrive provides the basis for the digital SIMOTION/
SINAMICS drive system.
The focus is primarily on cyclic services. Acyclic DPV1 services also provide the option of on-
demand data transfer, e.g. to set various parameters or options for slave devices during
operation.
The LDPV1 library provides the basis for the quick and easy use of DPV1 services in
applications.
Functions supported:
● Buffer management
● Time-of-day synchronization SIMOTION-SINAMICS
● Ramp-up coordination
● Assignment of SIMOTION technology objects to SINAMICS objects
● Reading of SINAMICS errors and warnings
● Activation and deactivation of technology objects and drive objects
● Reading and writing of SINAMICS parameters
● Functions for SINAMICS Safety Integrated

You can find the LDPV1 library in the SIMOTION Utilities & Applications included in the scope
of delivery of SIMOTION SCOUT (under Applications > Cross-sector applications > Drive
communication).
Each individual function supported is accompanied by documentation describing the actual
application.

Note
As of SIMOTION firmware V4.2, time-of-day synchronization between SIMOTION and
SINAMICS is automatic.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 229
Configuring an axis 4
4.1 Overview of axis configuration
Axes are configured using an axis wizard,
which is started automatically when a new axis is created. In order to change the axis settings,
the configuration can be launched using Configure displayed data set... in the Configuration
axis parameter assignment dialog box. Important axis parameters and drive connections are
configured in the axis wizard.
Data sets are also managed in the Configuration axis parameter assignment dialog for the
purpose of data set changeover and encoder configuration.
For more information, see Data sets (Page 206).
You can specify other selected parameters via the axis parameter assignment dialog boxes,
which can be accessed under Axis Object in the project navigator. You can also use the expert
list to access all configuration data and system variables relating to the Axis technology object
in list format.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 231
Configuring an axis
4.2 Linking digital drives

4.2 Linking digital drives

4.2.1 Overview of linking digital drives

The Assign dialog for the drive link is included in the axis wizard when setting up an axis. Once
an axis has been set up, this dialog can also be called via the ... button in the Configuration
axis dialog or from the address list (All addresses view). Drives can also be assigned
symbolically, see Coupling of digital drives (Page 55).
Digital drives are linked to the SIMOTION Axis technology object via a PROFIdrive message
frame.

Figure 4-1 SINAMICS drive assignment

The dialog for drive assignment supports both immediate and retrospective drive assignment.
Furthermore, a new drive can be created and assigned to the axis. See also Coupling of digital
drives (Page 55).

4.2.2 Configuring PROFIBUS DP in HW Config to optimize run-time

The configuration of PROFIBUS DP in HW Config to optimize run-time is described in the
Motion Control Basic Functions manual under Configuring PROFIBUS DP in HW Config to
optimize run-time.

TO Axis Electric / Hydraulic, External Encoder

232 Function Manual, 04/2014
 Configuring an axis
4.3 Linking analog drives to SIMOTION

4.3 Linking analog drives to SIMOTION

Connection of any drive with an analog setpoint interface to a SIMOTION device (e.g. C2xx).
Axis - analog drive relationship
For an axis with an analog drive, the speed setpoint is applied to the analog output as a voltage
signal, and the actual value is read in via an encoder interface.

Figure 4-2 Drive assignment of analog drives

Drive
A drive is controlled with +/- 10 V via an analog interface.

Axis-drive connection
An axis is connected to a drive by entering the logical address of the selected analog output
of the SIMOTION device when the axis is configured. Use the axis configuration wizard to do
this.
If you change the hardware configuration in HW Config at a later time, the specified logical
addresses may become incorrect. In this case, repeat the configuration in the hardware
configuration wizard.
Make sure that the Volt >> Speed setting in the drive matches the setting in the axis.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 233
Configuring an axis
4.3 Linking analog drives to SIMOTION

ADI4/IM174
In addition to the option of operating analog axes on the onboard inputs of the C2xx, the ADI4
and IM 174 modules are available for use in all platforms as interfaces for analog drive
connections. From the SIMOTION perspective, these modules behave like digital drive links.
See also Coupling of digital drives (Page 55) for more information.
You can find further information in the ADI4 - Analog drive interface for 4 axes and Distributed
I/O, PROFIBUS module IM174 manuals.

See also
Coupling of digital drives (Page 55)
Setting as a real axis with analog drive link (Page 38)

TO Axis Electric / Hydraulic, External Encoder

234 Function Manual, 04/2014
 Configuring an axis
4.4 Axis with stepper motor connection

4.4 Axis with stepper motor connection

Connection of a stepper drive with a pulse/direction interface to a SIMOTION device (e.g.
C2xx).
For an axis with stepper motor connection, there is one clock pulse, directional signal, and
enable signal output per axis.
For a link via a bus system (e.g., to IM174 via PROFIBUS DP), the general information for
configuring PROFIdrive drives is applicable, with special consideration of the behavior of a
stepper motor (see Stepper drives (Page 145)).

Figure 4-3 Drive assignment of the stepper motor

An axis with stepper motor connection can be moved either with or without an encoder. With
an encoder, the actual value signals are read in via the encoder interface; without an encoder,
the actual value information is generated from the output motor pulses.

Note
The product of the maximum frequency of the stepper motor and the reciprocal of the number
of steps per motor revolution gives the maximum speed available to the control loop
(corresponds to maxSpeed for conventional drives).

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 235
Configuring an axis
4.4 Axis with stepper motor connection

Note
When an encoderless stepper motor connection is configured on a position axis, an encoder
input is still automatically reserved and cannot be used for an external encoder, for example.
With a drive axis, the encoder interface is available for and can be assigned to an Axis or
External Encoder technology object.

For operation without an encoder, additional data can be specified in the configuration data
for rotation monitoring.
● NumberOfEncoders.Encoder_1.stepMotorMonitoring.enable for enabling/disabling the
monitoring function
● NumberOfEncoders.Encoder_1.stepMotorMonitoring.beroCycleDistance for setting the
permitted deviation in terms of motor steps per revolution
● NumberOfEncoders.Encoder_1.stepMotorMonitoring.beroCycleTolerance for setting a
tolerance range around the beroCycleDistance
Rotation monitoring can be activated for operation without an encoder:
An external zero mark is used and is connected to the associated external zero mark input of
the axis channel.
For a linear axis, the external zero mark must monitor the rotation of the motor shaft.
If a signal is not received within the specified motor steps + tolerance, a technological alarm
is issued.

IM174/PROFIBUS drives
In addition to the option of operating stepper drives on the onboard inputs of the C2xx, the
IM174 module is available for use in all platforms as an interface for stepper drives. From the
SIMOTION perspective, stepper drives linked via IM174 behave like digital drive links.
Alternatively, stepper drives can be linked with a PROFIBUS interface if they support the
PROFIdrive profile. See Coupling of digital drives (Page 55).
You can find more information in the Distributed I/O IM 174 PROFIBUS Module Manual.

See also
Position control (Page 113)
Setting as a real axis with stepper drive C2xx (V3.2 and higher) (Page 57)
Stepper drives (Page 145)

TO Axis Electric / Hydraulic, External Encoder

236 Function Manual, 04/2014
 Configuring an axis
4.5 Using the expert list for an axis

4.5 Using the expert list for an axis

For the standard SIMOTION application, the required parameters (configuration data and
system variables) are queried in the axis configuration wizard or are specified automatically.
For the Axis technology object (TO), you can specify additional selected parameters via the
axis parameter assignment dialog boxes (under Axis Object in the project navigator).
The expert list provides read/write access to all configuration data and system variables of the
Axis technology object. The list includes data which cannot be set in the axis wizard or in axis
parameter assignment dialog boxes.
With V4.1 SP1 and higher, the Selected Parameters tab in the expert list provides a default
view of the most important configuration data and system variables.
This tab also shows the most important configuration data and system variables for
programming and diagnostics of the virtual, drive, and position axis types, the following object
of a following axis, and the external encoder.

Note
In individual SIMOTION applications, it may be necessary to change automatically specified
parameters. These configuration data and system variables can only be displayed and
changed in the expert list.

To open the expert list for the Axis technology object:

1. In the project navigator, double-click TO Axis. The configuration window appears in the
working area and the Axis menu is displayed.
2. Double-click the Expert list entry under the Axis TO in the project navigator.
The expert list is displayed in the working area.
Additional information on working with the expert list can be found in the Motion Control Basic
Functions Function Manual.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 237
Configuring an axis
4.6 Automatic controller setting

4.6 Automatic controller setting

4.6.1 Overview of automatic controller setting (as of V4.1 SP1)

In the Automatic Controller Setting screen form, you can configure an automatic setting of the
speed controller and the DSC position controller for SINAMICS drive units. The necessary
steps for this calculation can be controlled from this screen form. The calculated parameter
values for the speed controller or position controller are displayed and can then be transferred
online to the drive or axis on the control.

Open the Automatic Controller Setting screen form

The following options are available for opening this screen form:
● Via the Target System – Automatic Controller Setting menu command from the main menu
● From the project navigator (under Drive – Commissioning)
● Via the main toolbar (in the Trace/Measuring Functions group)
● From the Static Controller Data dialog box for the axis via a button next to the Kv factor

Requirements
The conditions for the automatic speed controller setting and position controller setting are
listed below. You can find additional requirements for the automatic position controller setting
in the section about the automatic position controller setting (Page 242).
● Drive is a SINAMICS drive
● Drive is operated in the "SERVO" operating type
● The control is performed with the motor encoder
● An online connection to the associated drive device exists

Note
The software limit switches for the axes do not function during automatic controller setting.

Note
In certain cases, automatic controller setting may not be able to determine the optimum
controller settings for servo. This applies to the positioning of band-stops, for example.

Supported devices
An automatic controller setting is possible with the following devices: SINAMICS Integrated,
CX32, CX32-2, S120 - CU320, S120 - CU320-2, S120 - CU310 and S120 - CU310-2.

Procedure
The sequence below must be followed for the automatic controller setting:

TO Axis Electric / Hydraulic, External Encoder

238 Function Manual, 04/2014
 Configuring an axis
4.6 Automatic controller setting

1. Set the speed controller

(see also Automatic speed controller setting (as of V4.1 SP1) (Page 239))
2. Set the DSC position controller
(see also Automatic position controller setting (as of V4.1 SP1) (Page 242))

Note
You can cancel automatic controller setting by pressing the SPACEBAR.
● The step currently being executed is canceled.
● The drive enable is inhibited.

See also
Overview of commissioning the position controller of positioning axes (Page 150)
Assigning automatic controller optimization (Page 371)

4.6.2 Automatic speed controller setting (as of V4.1 SP1)

In the Automatic Controller Setting screen form, you can select the SINAMICS drive unit and
the drive for which you want to carry out an automatic speed controller setting.
The automatic setting is divided into individual steps in which the measuring functions on the
drive can be initiated, among other things. Drive parameters are changed online to perform
these steps. After an individual step has been executed or canceled, the parameter set is
restored with its status before the step was performed.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 239
Configuring an axis
4.6 Automatic controller setting

Figure 4-4 Automatic controller setting - Speed controller example

Features
The automatic speed controller setting has the following characteristics:
● Damping of resonances in the speed control section
● Setting of filters in the current setpoint branch
● Automatic setting of the Kp gain factor and the Tn reset time of the speed controller
● The speed setpoint filter and the reference model are not changed
The requirements for the speed controller setting are described in Overview of the automatic
controller settings (Page 238).

Save the current settings

Online drive parameters are changed during a step. It is recommended that the current settings
are saved before setting the controller. If the online connection is canceled during the execution
of a step, you can restore these saved settings.
Proceed as follows to make a backup:

TO Axis Electric / Hydraulic, External Encoder

240 Function Manual, 04/2014
 Configuring an axis
4.6 Automatic controller setting

1. In the project navigator, select the SINAMICS unit with the drive for which you want to
perform the automatic setting
2. Load it to the programming device (Target System - Load - Load to PG…)
To restore the data, perform a download.

Procedure
Perform the following steps for the automatic setting of the speed controller:
1. Call the Automatic Controller Setting screen form (the automatic speed controller setting is
already preset in the Controller field)
2. Select the drive unit and drive
3. Assume control priority
4. Enable the drive
5. Perform these four steps in automatic mode or in individual steps
6. Consider the calculation results for the relevant parameters
7. Transfer the calculated speed controller parameter values to the drive
8. Disable the drive
9. Return control priority
10.Save the online parameters

Note
Emergency cancelation of automatic setting with <space key>
The following actions are performed:
● The step currently being executed is canceled
● The drive is disabled

Transferring the calculated parameter values to the online parameters

You initiate the transfer of the calculated parameter values to the corresponding online
parameters of the drive with the "Accept" button.

Backing up the automatically set parameters

Proceed as follows to save the parameters:
1. In the project navigator, select the SINAMICS unit with the drive for which you want to
perform the automatic setting
2. Copy RAM to ROM (Target System - Copy RAM to ROM)
3. Load it to the programming device (Target System - Load - Load to PG…)

Note
If required, the automatic controller settings can be checked using the measuring functions.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 241
Configuring an axis
4.6 Automatic controller setting

See also
SIMOTION measuring functions (Page 245)
Assigning automatic controller optimization (Page 371)

4.6.3 Automatic position controller setting (as of V4.1 SP1)

In the Automatic Controller Setting screen form, you can select the SINAMICS drive unit and
the drive for which you want to carry out an automatic DSC position controller setting. The
necessary steps for this calculation can be performed from this screen form. The calculated
Kv value is displayed and can then be accepted online in the configuration data of the axis
that is assigned to the drive.

Figure 4-5 Automatic controller setting - Position controller example

Requirements and boundary conditions

In addition to the General requirements (Page 238) for the automatic controller setting, the
following requirements/boundary conditions apply:

TO Axis Electric / Hydraulic, External Encoder

242 Function Manual, 04/2014
 Configuring an axis
4.6 Automatic controller setting

● DSC or DSC with spline is required for the position controller setting.
– You use a telegram that supports DSC (telegram 5, 6, 105, 106, 125 or 126)
– If you have selected a telegram which does not support DSC, you must select one of
the telegrams mentioned above instead.
As various presettings are required for DSC that can only be set when running through
the axis wizard the first time, you have to make these settings manually:
- Static controller data: Precontrol with weighting factor 100%
(NumberOfDataSets.DataSet_1.ControllerStruct.PV_Controller.preCon = YES and
NumberOfDataSets.DataSet_1.ControllerStruct.PV_Controller.kpc = 100%)
- Static controller data: Symmetry filter (extended symmetry filter active)
(NumberOfDataSets.DataSet_1.ControllerStruct.PV_Controller.balanceFilterMode =
MODE_2)
- Static controller data: Fine interpolator (acceleration continuous interpolation)
(FineInterpolator._type = CUBIC_MODE)
- Dynamic controller data: Speed control loop 0.0 equivalent time and position control
loop 0.0 equivalent time
(NumberOfDataSets.DataSet_1.DynamicData.positionTimeConstant = 0.0 and
NumberOfDataSets.DataSet_1.DynamicData.velocityTimeConstant = 0.0)
● The speed controller has been set previously (e.g. with the automatic speed controller
setting).
● At least one axis is connected to the SINAMICS drive (servo).
● The actual values and the manipulated variables between the controller and the drive have
been correctly scaled by the user. No validation is performed.
Match the configurations of the SIMOTION controller with the drive, for example, using the
"Transfer data from the drive" button in the axis wizard.
The following parameters in the drive are used for SINAMICS:
P2000: Normalization speed
P1082: Maximum speed
See also Coupling of digital drives (Page 55).
● An online connection to the SIMOTION device must exist for the result of the automatic
position controller to be transferred.
● The balancing filter is not changed.
● For operation without precontrol, the equivalent time constant of the position controller must
be adjusted manually by the user (PostionTimeConstant = 1/Kv).
● Vibration on the load side is not taken into account for the position controller setting.

Procedure
Perform the following steps for the automatic setting of the position controller:
1. Open the Automatic Controller Setting screen form
2. Select the drive unit and drive (axis)
3. Specify the "Position controller (DSC)" controller preselection
4. Assume control priority
5. Enable the drive
6. Perform these two steps in automatic mode or in individual steps

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 243
Configuring an axis
4.6 Automatic controller setting

7. Select the axis data sets to which the Kv factor are to be transferred
8. Transfer the calculated Kv factor to the axis data sets you have selected
9. Disable the drive
10.Return control priority
11.Back up the online parameters

Note
Emergency cancelation of the automatic setting with <spacebar>
The following actions are performed:
● The step currently being executed is canceled
● The drive is disabled

Transferring the calculated parameter values to the online parameters

You initiate the transfer of the calculated Kv factor to the axis data set of the target device with
the "Accept" button.

Backing up the automatically set parameters

Proceed as follows to back up the parameters:
1. In the project navigator, select the SIMOTION unit with the axis for which you want to
perform the automatic setting
2. Copy current data to RAM function (Target System - Copy current data to RAM)
3. Copy RAM to ROM (Target System - Copy RAM to ROM)
4. Load the configuration data to the programming device (Target System - Load - Load
Configuration Data to PG)

Note
If required, the automatic controller settings can be checked using the measuring functions.

See also
SIMOTION measuring functions (Page 245)
Assigning automatic controller optimization (Page 371)

TO Axis Electric / Hydraulic, External Encoder

244 Function Manual, 04/2014
 Configuring an axis
4.7 SIMOTION measuring functions

4.7 SIMOTION measuring functions

The SIMOTION measuring functions are used to commission the axis controller without
requiring a user program. In SIMOTION SCOUT, the user can choose a predefined measuring
function from a selection of functions. Based on this selection, parameters are then assigned
in the target device for the SIMOTION Trace, the function generator, and the required axis
enables and motion functions. The user can then launch these measuring functions via
SIMOTION SCOUT and evaluate the resulting measurements in the SIMOTION Trace
diagrams.
DSC with spline is deactivated when the measuring functions are executed.
The user can configure a user-defined measuring function in expert mode.
The following measuring functions are available:
● Final controlling element jump (as of V4.0)
● Final controlling element frequency response (as of V4.0)
● Position control ramp (as of V4.0)
● Position control reference frequency response (as of V4.0)
● Expert mode (as of V4.0)
In addition, the circularity test is also available for synchronous operation.

Table 4-1 Available measuring functions based on the axis type

0 1 2 3 4 5 6 7
Positioning/following axis
Final controlling element jump X - X X X X - -
Final controlling element frequency response X - X X X X - -
Position control ramp X - X X X X - -
Position control reference frequency response X - X X X X - -
Expert mode X - X X X X - X
Circularity test X - X X X X - X
Speed-controlled axis
Final controlling element jump X - X X X X - -
Final controlling element frequency response X - X X X X - -
Expert mode X - X X X X - -

0 Real electric axis (REAL_AXIS)

1 Virtual axis (VIRTUAL_AXIS)
2 Real electric axis with force/pressure control (REAL_AXIS_WITH_FORCE_CONTROL)
3 Real hydraulic axis (Q valve) (REAL_QFAXIS)
4 Real hydraulic axis with force/pressure specification (Q-valve and P-valve)
(REAL_QFAXIS_WITH_OPEN_LOOP_FORCE_CONTROL)
5 Hydraulic axis with pressure/force control (Q valve)
(REAL_QFAXIS_WITH_CLOSED_LOOP_FORCE_CONTROL)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 245
Configuring an axis
4.7 SIMOTION measuring functions

6 Real hydraulic axis with force/pressure specification (P-valve)

(REAL_QFAXIS_WITH_OPEN_LOOP_FORCE_CONTROL_ONLY)
7 Real electric axis with master value output via encoder signal simulation
(REAL_AXIS_WITH_SIGNAL_OUTPUT)

Note
Requirements
● An online connection to the SIMOTION device must be established.
● The target device must contain the current axis configuration. If necessary, download the
project or upload the configuration data for alignment purposes (Target system > Load >
Load configuration data to PG).
● It must be permissible to change the operating mode to STOP_U in the SIMOTION device.
An automatic switchover to the STOP_U operating mode will be performed.
● No alarms may be pending on the axis. If necessary, acknowledge the pending alarms in
the alarm window and restart the measuring function.

Final controlling element jump measuring function (as of V4.0)

This measuring function can be used for optimizing the lower-level control loop or process
(e.g. speed control) in the time range.
A jump function is superimposed on the manipulated variable.

Signal form Jump with velocity offset

Superimposition point internalServoSettings.additionalSetpointValue[0]
Measured variables ● Superimposed manipulated variable
internalServoSettings.additionalSetpointValue[0]
● Actual velocity
sensorData[x].velocity 1)
1)
The index is based upon the selected measuring system. The measuring system is selected by the
user.

Final controlling element frequency response measuring function (as of V4.0)

This measuring function can be used for optimizing the lower-level control loop or process
(e.g. speed control) in the frequency range.
This measuring function can also be used to determine the frequency response of an actuator
(e.g. hydraulic process).
A PRBS signal (Pseudo-Random-Binary-Signal) generated by the signal generator is
superimposed on the manipulated variable. The control loop is opened.

TO Axis Electric / Hydraulic, External Encoder

246 Function Manual, 04/2014
 Configuring an axis
4.7 SIMOTION measuring functions

Signal form PRBS signal

Superimposition point internalServoSettings.additionalSetpointValue[0]
Measured variables ● Superimposed manipulated variable
internalServoSettings.additionalSetpointValue[0]
● Actual velocity
sensorData[x].velocity 1)
1)
The index is based upon the selected measuring system. The measuring system is selected by the
user.

Position control ramp measuring function (as of V4.0)

This measuring function can be used to optimize the position controller in the time range.
A ramp function is superimposed on the position setpoint. The position control loop is closed.
There are two variations of this measuring function:
● Position control ramp:
The signal is injected before the dynamic response adaptation.
● Position control ramp without precontrol and setpoint filter:
The setpoint is injected directly before the summation point of the position controller.

Signal form Rectangle + rectangular integrator

Superimposition point ● A) Position control ramp
internalServoSettings.additionalCommandValue[0]
● B) Position control ramp without precontrol and setpoint filter
internalServoSettings.additionalControllerCommandValue[0]
Measured variables ● Superimposed setpoint
Superimposition point A) or B)
● Manipulated variable
actorData.totalSetpoint
● Actual velocity
sensorData[x].velocity 1)
1)
The index is based upon the selected measuring system. The measuring system is selected by the
user.

Position control reference frequency response measuring function (as of V4.0)

This measuring function can be used to optimize the position controller in the frequency range.
A PRBS signal (pseudo random binary signal) is superimposed on the position setpoint. The
position control loop is closed.
There are two variations of this measuring function:
● Position control reference frequency response:
The signal is injected before the dynamic response adaptation.
● Position control reference frequency response without precontrol and filter:
The setpoint is injected directly before the summation point of the position controller.

Function generator 1 for reference frequency response (ramp)

Signal form Ramp (continuous in 1st derivation)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 247
Configuring an axis
4.7 SIMOTION measuring functions

Superimposition ● A) Position control reference frequency response

point internalServoSettings.additionalCommandValue[0]
● B) Position control reference frequency response and precontrol and
setpoint filter
internalServoSettings.additionalControllerCommandValue[0]
Function generator 2 for reference frequency response
Signal form PRBS signal
Superimposition ● C) Position control reference frequency response
point internalServoSettings.additionalCommandValue[1]
● D) Position control reference frequency response and precontrol and
setpoint filter
internalServoSettings.additionalControllerCommandValue[1]
Measured variables ● Superimposed position setpoint 1, ramp
Application of function generator 1 A) or B)
● Superimposed set position 2, PRBS
Application of function generator 2 C) or D)
● Actual position
sensorData[x].position 1)
● Modulo overflow counter, actual value
sensorData[x].moduloCycles 1)
1)
The index is based upon the selected measuring system. The measuring system is selected by the
user.

Expert mode measuring function (as of V4.0)

Various settings can be changed individually in expert mode. Thus, the signal type and
superimposition point can be selected explicitly.
Possible signal types:
● PRBS (pseudo random binary signal)
● Jump
● Triangular
● Sinusoidal
The internalServoSettings.~ structure contains internal system variables for setpoint and
manipulated variable override of the measuring functions.

Table 4-2 Possible superimposition points (internalServoSettings.~ structure)

Identifier Variable Comment/function

Setpoint additionalCommandValue Setpoint superimposition before dynamic response adaptation
Same function as servoSettings.additionalCommandValue
Manipulate additionalSetpointValue Manipulated variable superimposition
d variable Same function as servoSettings.additionalSetpointValue
Setpoint on additionalControllerComm Setpoint superimposition on the controller
the andValue 1) Setpoint superimposition before the summation point of the position/speed
controller controller
1)
For measurements that are performed without precontrol or setpoint filter (dynamic response adaptation, balancing filter),
the setpoint excitation must occur directly before the summation point of the position or speed controller.

TO Axis Electric / Hydraulic, External Encoder

248 Function Manual, 04/2014
 Configuring an axis
4.7 SIMOTION measuring functions

Note
The system variables for superimposition are intended for exclusive use by the SIMOTION
measuring functions. These variables cannot be modified by the user.

Circularity test - evaluation of the axis dynamics for synchronous operation with angular
synchronism
Minor deviations of amplitude and phase can be seen clearly in a circularity diagram. Another
advantage of the circularity test is that it enables exclusive observation of actual values. In
contrast, a disadvantage of a following error observation is that the following error
(followingError system variable) is corrected, for example, with DSC, and is thus subject to
error in a sense.

Function generator 1 of the circularity test, Axis 1

Signal form Sinusoidal
Superimposition ● internalServoSettings.additionalCommandValue[0]
point
Function generator 2 of the circularity test, Axis 2
Signal form Sinusoidal
Superimposition ● internalServoSettings.additionalCommandValue[0]
point
Measured variables ● Position setpoint, Axis 1
internalServoSettings.additionalCommandValue[0]
● Position setpoint, Axis 2
internalServoSettings.additionalCommandValue[0]
● Actual position, Axis 1
sensorData[x].position 1)
● Actual position, Axis 2
sensorData[x].position 1)
● Actual value modulo overflows, Axis 1
sensordata[x].moduloCycles 1)
● Actual value modulo overflows, Axis 2
sensordata[x].moduloCycles 1)
1)
The index is based upon the selected measuring system. The measuring system is selected by the
user.

See also
Setpoint superimposition (Page 130)
Manipulated variable superimposition (Page 139)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 249
Configuring an axis
4.8 Axis control panel

4.8 Axis control panel

The axis control panel is used to control and monitor individual axes without requiring a user
program. You can use it to traverse axes along with the drive.

Application examples
● Function test on individual axes before the axes are traversed in a coordinated manner
under the control of a program
● Traversing axes before the user program is available or if only parts of the user program
are available
● Traversing the axes for optimization purposes (controller setting)
● Axis homing or absolute encoder adjustment
● Enabling and disabling an axis
● Acknowledging axis alarms
● Retracting an axis: Traverse the axis to another position quickly and independently of the
program

Requirements
● An online connection to the SIMOTION device must be established.
● The target device must contain the current axis configuration. If necessary, download the
project or upload the configuration data for alignment purposes (Target System - Load -
Configuration Data to PG).

WARNING
Danger to life through unexpected machine movement
Failure to observe the safety instructions can result in personal injury and material damage.
Note the safety instructions in the Assume Control Priority SCOUT dialog box.

The system variable controlPanel indicates whether the control panel on the Axis technology
object is active.
The control panel can be used in operating state STOPU and (from V4.4) in operating state
RUN. Please refer to the additional information in the SCOUT Online Help (Axis control panel
index).

TO Axis Electric / Hydraulic, External Encoder

250 Function Manual, 04/2014
Support for SINAMICS Safety Integrated Functions 5
5.1 Overview - Support of SINAMICS Safety Integrated Functions on the
Axis technology object
SIMOTION provides support for SINAMICS drives that can perform safety-related functions.
The safety status information of the drive is provided in the system variables.
As of V4.4, SIMOTION commands for triggering safety-related functions are possible on the
drive (e.g. SBT).
The purpose of this support from SIMOTION is to prevent stop responses on the drive side by
ensuring for the safety-related monitoring functions that the drive does not exit the monitored
operating state.
As of SIMOTION V4.4, the SIMOTION-side support for SINAMICS Safety Integrated
Functions has been simplified and adapted to a generic concept with Drive Safety Data Block
(DSDB).
If symbolic assignment is activated (standard setting for new projects), communication is
automatically adjusted to the safety-related functions enabled on the drive.
Always use the standard setting (DSDB) on the Axis technology object in conjunction with
symbolic assignment for new projects as of V4.4.
For projects < V4.4, the compatibility mode with Safety Information Data Block (SIDB) is
available.
The following figure provides decision guidance for managing projects < V4.4 with SCOUT as
of V4.4.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 251
Support for SINAMICS Safety Integrated Functions
5.1 Overview - Support of SINAMICS Safety Integrated Functions on the Axis technology object

SIMOTION Project < V4.4

New safety functions

Use as of SIMOTION Runtime Yes
V4.4 and SINAMICS V4.7
?

No

No change required Upgrade the project and SIMOTION device to

(Compatibility mode with SIDB is SIMOTION as of V4.4
active)

Check and if necessary activate symbolic assignment

for the project

Select standard support for SINAMICS Safety

Integrated Functions in the configuration dialog of the
axis

Adjust the user program to the new system variables

driveData.safety.status1 and ~.status2

Figure 5-1 Using older SIMOTION projects with SIMOTION SCOUT as of V4.4

If the project was created with SCOUT < V4.2, please refer to Chapter Restrictions after
switching from compatibility mode (SIDB) to standard (DSDB). (Page 287).
The status information < V4.4 (Page 265) is still provided for compatibility reasons, even with
the standard setting (DSDB), with the exception of SSM.

Note
Further documentation
The safety-related functions of SINAMICS: are described comprehensively in the SINAMICS
Safety Integrated Function Manual.

As of SIMOTION V4.4
Simplification and implementation of the SIMOTION-side support with DSDB
Extension of the safety-relevant functionality:

TO Axis Electric / Hydraulic, External Encoder

252 Function Manual, 04/2014
 Support for SINAMICS Safety Integrated Functions
5.1 Overview - Support of SINAMICS Safety Integrated Functions on the Axis technology object

● SIMOTION-side support of the DSDB with automatic selection of telegram extension

● SINAMICS Safety Integrated BASIC Functions support on the axis TO
● Support for new safety-related functions: SP, SLP, SBT
● Support for an additional PROFIsafe telegram (902 on the TIA portal)

As of SIMOTION V4.3
Extension of the safety-relevant functionality:
● SDI function is available in SIDB
● SKS stage 1 can be evaluated with a factor transferred via PROFIsafe, whereby almost
any SLS limit values can be specified online
● Support for new SINAMICS V4.5 functions
● Support for additional PROFIsafe telegrams (31 and 901)

As of SIMOTION V4.2
Extension of the safety-relevant functionality:
● SIMOTION-side support for SIDB with automatic telegram extension
● Additional generation of the technological alarm 50023 in the event of drive-autonomous
changes in status
Drive-autonomous changes in status occur e.g. when SS1 or SS2 is selected
● Read-out of the safety message buffer via system function
See also Coupling of digital drives (Page 55).

As of SIMOTION V4.1 SP1

SIMOTION supports the SINAMICS Safety Integrated Extended Functions for the axis TO in
the following way:
● Display of the status of safety-related functions in the drive in system variables of the
technology object
● Message of a new safety event in the safety message buffer of the drive (alarm TO)
● Message of the status for SLS, SOS and SS2 (alarm TO)

See also
Technology data (Page 183)
Safety status information (part of the DSDB) (Page 260)
Safety channel and safety channel types (when symbolic assignment is deactivated)
(Page 258)
Standard (DSDB) as of SIMOTION V4.4 (Page 259)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 253
Support for SINAMICS Safety Integrated Functions
5.2 Communication

5.2 Communication
As of SIMOTION V4.4, the safety information is transferred between the drive and SIMOTION
by default as a telegram extension via the DSDB. Both SINAMICS Safety Integrated Basic
Functions and SINAMICS Safety Integrated Extended Functions are supported.
Prior to SIMOTION < V4.4, the safety information is transferred from the drive via the SIDB.
SINAMICS Safety Integrated Extended Functions are supported.

)&38

6,027,21 6,027,21 6,027,21 6,027,21

6,'% '6'% 6,'% '6'% '6'% 6,'% '6'%

'5,9(&/L4

6,1$0,&6 6,1$0,&6 70) 6,1$0,&6 7HUPLQDOV 6,1$0,&6

:LWKVHOHFWLRQ :LWKRXWVHOHFWLRQ

2SWLRQDO6,'% FRPSDWLELOLW\PRGH RU'6'% VWDQGDUG

6,'%6XSSRUWVWKH6,1$0,&66DIHW\,QWHJUDWHG([WHQGHG)XQFWLRQV
'6'% DVRI6,027,219 6XSSRUWVWKH6,1$0,&66DIHW\,QWHJUDWHG%DVLF ([WHQGHG)XQFWLRQV

Figure 5-2 Communication with DSDB or SIDB in different safety configurations

TO Axis Electric / Hydraulic, External Encoder

254 Function Manual, 04/2014
 Support for SINAMICS Safety Integrated Functions
5.3 Main procedure for safety configuration with SIMOTION

5.3 Main procedure for safety configuration with SIMOTION

To use the support for the SINAMICS Safety Integrated Extended Functions to the axis TO,
proceed as follows:
● Start up the axis and the drive without safety functions
● Configure the safety-related functions in the drive (see SINAMICS Safety Integrated
Function Manual)
● If the safety-related function is to be activated via PROFIsafe, configure PROFIsafe
communication to a safety PLC (e.g. SIMATIC S7 CPU317F).
See Chapter PROFIsafe in the SIMOTION SCOUT Communication System Manual.
● Activate the SIMOTION-side support for the safety-related functions
– Connect the drive symbolically in the axis configuration to the axis To do so, click on
the button under drive assignment.
or
– Activate the safety-related functions in the safety dialog.
● Only if symbolic assignment is deactivated:
Configure the DSDB or SIDB as extension in the telegram.
As of SIMOTION V4.2, this is set up automatically by the system and interconnected in the
drive if symbolic assignment is activated.
The safety status information transferred by DSDB (Page 260) or SIDB (Page 265) can be
evaluated via system variables on the TO. The status is required for many safety functions to
bring the axis into the permissible operating range via the user program.
The SINAMICS Safety Integrated Functions are displayed in the configuration dialog of the
axis.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 255
Support for SINAMICS Safety Integrated Functions
5.3 Main procedure for safety configuration with SIMOTION

Figure 5-3 Safety dialog

Table 5-1 Support safety functions and their status information

Safety-related function in DSDB - standard SIDB - compatibility mode

the drive (driveData.safety.status1 and (driveSafetyExtendedFuncti
driveData.safety.status2) onsInfoData.state)
STO Safe Torque Off Status1 - bit 0 (STO_ACTIVE) Bit 0 (STO_ACTIVE)
SS1 Safe Stop 1 (SS1) Status1 - bit 1 (SS1_ACTIVE) Bit 1 (SS1_ACTIVE)
SS2 Safe Stop 2 (SS2) Status1 - bit 2 (SS2_ACTIVE) Bit 2 (SS2_ACTIVE)
SOS Safe operating stop Status1 - bit 3 (SOS_SELECTED) Bit 3 (SOS_SELECTED)
Status2 - bit 4 (SOS_ACTIVE)
SLS Safely Limited Speed Status1 - bit 5 (SLS_SELECTED) Bit 4 (SLS_SELECTED)
Status1 - bit 6
(SLS_LIMIT_BIT0_SELECTED)
Status1 - bit 7
(SLS_LIMIT_BIT1_SELECTED)
Status2 - bit 5 (SLS_ACTIVE)
SSM Safe Speed Monitor - Bit 7 (SSM_ACTIVE)
(SSM)
SDI Safe Direction (safe Status1 - bit 8 (SDI_P_SELECTED) Bit 12 (SDI_P_SELECTED)
direction of motion) Status1 - bit 9 (SDI_N_SELECTED) Bit 13 (SDI_N_SELECTED)

TO Axis Electric / Hydraulic, External Encoder

256 Function Manual, 04/2014
 Support for SINAMICS Safety Integrated Functions
5.3 Main procedure for safety configuration with SIMOTION

Safety-related function in DSDB - standard SIDB - compatibility mode

the drive (driveData.safety.status1 and (driveSafetyExtendedFuncti
driveData.safety.status2) onsInfoData.state)
SP Safe Position Status1 - bit 23 -
(REF_POS_LATCHED_OR_VALID)
Status1 - bit 24 (REF_REQUESTED)
SLP Safely Limited Position Status1 - bit 11 (SLP_SELECTED) -
(SLP) Status1 - bit 12
(SLP_LIMIT_BIT0_SELECTED)
Status1 - bit 23
(REF_POS_LATCHED_OR_VALID)
Status1 - bit 24 (REF_REQUESTED)
SBT Safe Brake Test (SBT) Status2 - bit 15 (SBT_SELECTED) -
Status2 - bit 16
(SBT_CONTROL_PRIO_DRIVE)
Status2 - bit 17 (SBT_SIGN_LOAD)
Status2 - bit 18 (SBT_BT_BRAKE_2)
Status2 - bit 19 (SBT_BT_ACTIVE)
Status2 - bit 20 (SBT_BT_OK)
Status2 - bit 21
(SBT_BT_FINISHED)
Status2 - bit 22
(SBT_BT_BRAKE_CLOSE_REQ)

The stop responses in the drive (e.g. STOP A) for the applicable safety-related functions are
described in the SINAMICS Safety Integrated Function Manual.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 257
Support for SINAMICS Safety Integrated Functions
5.4 Safety channel and safety channel types (when symbolic assignment is deactivated)

5.4 Safety channel and safety channel types (when symbolic assignment is
deactivated)
This chapter is only applicable if the project standard setting Use symbolic assignment has
been deliberately deactivated.
For communication, a distinction is made between various SC types (safety channel types).
The various SC types can be used on the SC channels (SIDB, DSDB_1, DSDB_2).
In compatibility mode, the SIDB is the only SC type, so there is no need to distinguish between
types.
Use of SIDB and DSDB is optional. Parallel use is not possible.

Table 5-2 List of SC types in SIDB

SC types Supported safety- Input parameter Output parameter

of SIDB relevant functions
SIDB STO r9722.0 -
SS1 r9722.1
SS2 r9722.2
SOS r9722.11
SLS r9720.4, r9733[2]
SDI r9734.12, r9734.13

Note
Support for DSDB when symbolic assignment is deactivated
Note that the standard setting (DSDB) must not be used for SINAMICS drives < V4.7.

Table 5-3 List of SC types in DSDB

SC types Supported safety- Input parameter Output parameter

of DSDB_x relevant functions
SC1 STO r9734 -
SS1
SS2
SOS
SLS
SDI
SC2 as SC1 r9734 p10250
SLP r9743
SC3 as SC2 r9734 p10250
SBT r9743 p10235
r10234
SC100 r9733[2] -

TO Axis Electric / Hydraulic, External Encoder

258 Function Manual, 04/2014
 Support for SINAMICS Safety Integrated Functions
5.5 Standard (DSDB) as of SIMOTION V4.4

5.5 Standard (DSDB) as of SIMOTION V4.4

DSDB is the standard setting for safety as of SIMOTION V4.4. The setting provide the complete
safety functionality set up on the drive at the TO. Configuration is automatic and uses the
DSDB channel (Drive Safety Data Blocks).

Note
The Drive Safety Data Block is an extension of the PROFIdrive axis telegrams. Transmission
is according to PROFIdrive and is therefore not a secure safety telegram.

5.5.1 Display of SINAMICS Safety Integrated Functions in SIMOTION

If support for SINAMICS Safety Integrated Functions is activated
(technologicalData.numberOfDriveSafetyDataBlock > 0), the following information is displayed
via the system variable:
● driveData.safety.status1
Contains safety status information to which the user program generally must respond
immediately.
● driveData.safety.status2
Contains safety status information to which no time-critical response is generally needed.
● driveData.safety.slsSpeedLimitSelected
Effective absolute set velocity limitation in the drive from the DSDB.
slsSpeedLimitSelected contains the maximum set velocity at which the
Axis technology object may run.

Note
The value in slsSpeedLimitSelected is already weighted with drive parameter p9533. If
p9533 < 100%, it does not represent the maximum possible actual velocity monitored by
the drive (p9531[x]).

If technologicalData.numberOfDriveSafetyDataBlock (standard with DSDB) = 0 and

technologicalData.driveSafetyExtendedFunctionsEnabled (compatibility mode with SIDB) =
NO, there is no support for SINAMICS Safety Integrated Functions on the Axis technology
object.
In the system variables, zero is displayed or the contents are irrelevant.

5.5.2 Axis configuration

If SINAMICS Safety Integrated Functions are configured in the drive, support is activated
automatically on the Axis technology object if a drive is assigned.
The following configuration data settings are made:

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 259
Support for SINAMICS Safety Integrated Functions
5.5 Standard (DSDB) as of SIMOTION V4.4

● technologicalData.numberOfDriveSafetyDataBlock > 0
● technologicalData.SafetyDataBlock_n = type, logAddressIn, logAddressOut

Deactivated symbolic assignments

The rest of the chapter is only relevant if the project standard setting Use symbolic
assignments is deliberately deactivated.

To configure the SINAMICS Safety Integrated Functions, proceed as follows:

● Select the SC type in the safety dialog for a maximum of two data blocks (DSDB_1 and
DSDB_2) and enter the logical base addresses.
● Evaluate the status of the pulse enable of the drive on the Axis technology object
(Page 281).
If a safety commissioning of the SINAMICS Safety Integrated Functions in the drive has already
been performed and the data has been loaded into the configuration (load into the PG), click
the "Data transfer from the drive" button (drive assignment in the axis wizard) to make these
settings.
If this is not required, SINAMICS Safety Integrated Functions support can be deactivated by
setting the technologicalData.numberOfDriveSafetyDataBlock=0 configuration data element.

5.5.3 Safety status information (part of the DSDB)

The following tables show the structure of the safety status information in system variables on
the axis TO.

Table 5-4 Allocation of the system variable driveData.safety.status1

Bit State Identifier Interconnection in the

drive
0 STO is active STO_ACTIVE r9734.0
1 SS1 is active SS1_ACTIVE r9734.1
2 SS2 is active SS2_ACTIVE r9734.2
3 SOS is selected SOS_SELECTED r9734.5
4 - - -
5 SLS is selected SLS_SELECTED r9734.6
6 Bit 0 for selected SLS limit value SLS_LIMIT_BIT0_SELEC r9734.9
TED
7 Bit 1 for selected SLS limit value SLS_LIMIT_BIT1_SELEC r9734.10
TED
8 SDI positive selected SDI_P_SELECTED r9734.12
9 SDI negative selected SDI_N_SELECTED r9734.13
10 - - -
11 SLP selected SLP_SELECTED r9743.7

TO Axis Electric / Hydraulic, External Encoder

260 Function Manual, 04/2014
 Support for SINAMICS Safety Integrated Functions
5.5 Standard (DSDB) as of SIMOTION V4.4

Bit State Identifier Interconnection in the

drive
12 Bit 0 for selected SLP limit value SLP_LIMIT_BIT0_SELEC r9743.4
TED
13 - - -
14 SLP acceptance test on the drive is active ACCEPTANCE_TEST_S r10234.14
LP_ACTIVE
15 - - -
16 - - -
17 - - -
18 - - -
19 - - -
20 - - -
21 - - -
22 - - -
23 Pos latch command has been recognized REF_POS_LATCHED_O r9743.15
by the drive R_VALID
24 Axis is not homed - SLP and SP function REF_REQUESTED r9743.14
not available
25 - - -
26 - - -
27 Acceptance test on the drive is selected ACCEPTANCE_TEST_S r10234.15
ELECTED
28 Test stop sequence running on the drive TESTSTOP_ACTIVE r9743.12
29 Test stop timer has ended TESTSTOP_REQUESTE r9743.13
D
30 Entry present in the SINAMICS safety S_FAULT_PRESENT r9734.15
fault buffer
31 Safety error has occurred INTERNAL_EVENT r9734.7

Table 5-5 Allocation of the system variable driveData.safety.status2

Bit State Identifier Interconnection in the

drive
0 - - -
1 - - -
2 - - -
3 - - -
4 Safe standstill monitoring is active SOS_ACTIVE r9734.3
5 Safe speed monitoring is active SLS_ACTIVE r9734.4
6 - - -
7 - - -
8 Request retract function ESR_REQUESTED r9734.14
9 - - -
10 - - -

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 261
Support for SINAMICS Safety Integrated Functions
5.5 Standard (DSDB) as of SIMOTION V4.4

Bit State Identifier Interconnection in the

drive
11 - - -
12 - - -
13 - - -
14 - - -
15 Safe brake test is selected SBT_SELECTED r10234.0
16 Setpoint specified during safe break test in SBT_CONTROL_PRIO_D r10234.1
the drive RIVE
17 Sign of the load torque is positive SBT_SIGN_LOAD r10234.7
18 Test being performed with brake 2 SBT_BT_BRAKE_2 r10234.2
19 Brake test sequence is active SBT_BT_ACTIVE r10234.3
20 Test of brake was OK SBT_BT_OK r10234.4
21 Brake test was completed SBT_BT_FINISHED r10234.5
22 Request close external brake SBT_BT_BRAKE_CLOSE r10234.6
_REQ
23 - - -
24 - - -
25 - - -
26 - - -
27 - - -
28 - - -
29 - - -
30 - - -
31 - - -

TO Axis Electric / Hydraulic, External Encoder

262 Function Manual, 04/2014
 Support for SINAMICS Safety Integrated Functions
5.6 Compatibility mode (SIDB) as of SIMOTION V4.1

5.6 Compatibility mode (SIDB) as of SIMOTION V4.1

The compatibility mode is available for the following projects:

● Projects < SIMOTION V4.4 with Safety Information Data Block (SIDB)
● Projects that have been converted upwards from < V4.4
This mode can only be activated if the SINAMICS Safety Integrated Extended Functions
settings have been set on the drive.

5.6.1 Safety Information Data Block (SIDB)

The Safety Information Data Block (SIDB) shows the state of the activated SINAMICS Safety
Integrated Extended Functions in SIMOTION.

Note
The Safety Information Data Block (SIDB) is an extension of the PROFIdrive axis telegrams.
Transmission is according to PROFIdrive and is therefore not a secure safety telegram.

Table 5-6 Structure of the Safety Information Data Block (SIDB) in the actual value telegram

Word Meaning
1 Safety status word (Page 265)
2 Effective absolute set velocity limitation in the drive
3 Note:
This double word must be interconnected with r9733[0] (up to SINAMICS V4.4 only) or
with r9733[2] (as of SINAMICS V4.4).
For the Interconnection of the Safety Information Data Block (SIDB) to the actual value
telegram in the drive, see figure below.

As of SIMOTION V4.2, the Safety Information Data Block (SIDB) is set up by the system and
automatically interconnected in the drive.

Telegram extension (V4.1 only or with symbolic assignment deactivated)

The rest of this chapter is only relevant if the project default setting Use symbolic assignment
is deliberately deactivated as of V4.2, or if you are working with a project which uses SIMOTION
V4.1.
The SIMOTION support for SINAMICS Safety Integrated Extended Functions requires the
actual value telegram to be extended by the Safety Information Data Block (SIDB) (three
words).

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 263
Support for SINAMICS Safety Integrated Functions
5.6 Compatibility mode (SIDB) as of SIMOTION V4.1

6HWSRLQWWHOHJUDP

72 $FWXDOYDOXHWHOHJUDP
'2
$[LVWHFKQRORJ\REMHFWZLWKVXSSRUW 'ULYHREMHFWZLWK6DIHW\
IRU6DIHW\([WHQGHG)XQFWLRQV ([WHQGHG)XQFWLRQV

6HWSRLQWWHOHJUDP

352),GULYHWHOHJUDP 7HFKQRORJ\GDWDEORFN 
HJVWDQGDUGWHOHJUDP $GGLWLRQDOGDWD

$FWXDOYDOXHWHOHJUDP
ZRUGV

352),GULYHWHOHJUDP 7HFKQRORJ\GDWDEORFN 6DIHW\LQIRUPDWLRQ 

HJVWDQGDUGWHOHJUDP GDWDEORFN $GGLWLRQDOGDWD

 2SWLRQDO

Figure 5-4 Layout of a drive telegram with Safety Information Data Block

In order for the SINAMICS Safety Integrated Extended Functions to be displayed in

SIMOTION, the corresponding SINAMICS parameters must be interconnected with the Safety
Information Data Block (SIDB) using BICO.

TO Axis Electric / Hydraulic, External Encoder

264 Function Manual, 04/2014
 Support for SINAMICS Safety Integrated Functions
5.6 Compatibility mode (SIDB) as of SIMOTION V4.1

6HQG3='
3=' 6WDQGDUG
WHOHJUDPV

3='Q
6WDWXVZRUG 7HFKQRORJ\
 GDWDEORFN
U %LQHFWRU& 352),%86352),1(7

3='Q
U RQQHFWRU
U
 &RQYHUWHU RSWLRQDO

U 3='P 6DIHW\LQIRUPDWLRQ
U
 GDWDEORFN
U 3='P
 3='P
U
'RXEOHZRUG
 3='P $GGLWLRQDOGDWD
U

3='P[
)83
)83

 )XQFWLRQFKDUWVFDQEHDFFHVVHGLQRQOLQHKHOSYLDWKHಯ3')GRFXPHQWVರEXWWRQ
 ,IWHFKQRORJ\GDWDEORFNLVDYDLODEOHP Q
,IQRWHFKQRORJ\GDWDEORFNLVDYDLODEOHP Q

Figure 5-5 Interconnection of the Safety Information Data Block (SIDB) to the actual value telegram in the drive

The configuration of the telegram extension is configured using the SINAMICS device >
Communication > Telegram configuration dialog with an extension of the input data of the axis
telegram by three words.
Via Configure telegram, the interconnection of the user-defined PZDs can be carried out using
a binector-connector converter.
The logical base address for the Safety Information Data Block (SIDB)
technologicalData.driveSafetyExtendedFunctionsInfoDataIn.logAddress results as follows:
standard telegram base address + (m-1) * 2
(m is the number of the PZD where the Safety Information Data Block (SIDB) begins). (See
also figure above).
Also refer to the information for creating the technology data block in Chapter Coupling of
digital drives (Page 55).

See also
Display of SINAMICS Safety Integrated Functions in SIMOTION (Page 267)

5.6.2 Safety status information (part of the SIDB)

The following table shows the structure of the safety status word:
If standard SINAMICS Safety Integrated functionality with DSDB is activated, the displays in
the safety status word of the SIDB are also updated for compatibility reasons. The content of
the driveSafetyExtendedFunctionsInfoData.state system variable then also displays the
information for the Safety Integrated Basic Function in this case.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 265
Support for SINAMICS Safety Integrated Functions
5.6 Compatibility mode (SIDB) as of SIMOTION V4.1

Table 5-7 Structure of the safety status word

Bit State Identifier Interconnectio

n in the drive
0 STO is active STO_ACTIVE 1-active r9722.0
1 SS1 is active SS1_ACTIVE 1-active r9722.1
2 SS2 is active SS2_ACTIVE 1-active r9722.2
3 SOS is selected SOS_SELECTED 1-active r9722.11
4 SLS is selected SLS_SELECTED 0-active r9720.4
5 Reserved - - -
6 Reserved - - -
7 SSM (n below limit) SSM_ACTIVE 1-active r9722.15
(See also Restrictions after switching from compatibility
mode (SIDB) to standard (DSDB). (Page 287))
8 Reserved - - -
9 Reserved - - -
10 Reserved - - -
11 Reserved - - -
12 SDI positive selected (as of SINAMICS V4.4) SDI_P_SELECTED 1-active r9734.12
13 SDI negative selected (as of SINAMICS V4.4) SDI_N_SELECTED 1-active r9734.13
14 Reserved - - -
15 An internal event has occurred and at least one new event INTERNAL_EVENT 1-active r2139.5
is present in the Safety Fault Buffer
(See SINAMICS Safety Fault Buffer (Page 284))

TO Axis Electric / Hydraulic, External Encoder

266 Function Manual, 04/2014
 Support for SINAMICS Safety Integrated Functions
5.6 Compatibility mode (SIDB) as of SIMOTION V4.1

5.6.3 Display of SINAMICS Safety Integrated Functions in SIMOTION

If support for SINAMICS Safety Integrated Extended Functions is activated
(technologicalData.driveSafetyExtendedFunctionsEnabled=YES), the following information is
displayed via the system variable:
● driveData.driveSafetyExtendedFunctionsInfoData.state
Displays the safety status word (Page 265).
The status word can be used to evaluate the status of the safety functions in the drive in
the controller. The status is required for many safety functions, in order to bring the axis
from the user program to the permissible operating range. See also Overview (Page 269).
● driveData.driveSafetyExtendedFunctionsInfoData.safeSpeedLimit
Effective absolute set velocity limitation in the drive from the Safety Information Data Block
(SIDB), see also the table for the Structure of the Safety Information Data Block (SIDB)
(Page 263).
safeSpeedLimit contains the maximum set velocity at which the Axis technology object may
run.

Note
The value in safeSpeedLimit is already weighted with drive parameter p9533. If
p9533 < 100%, it does not represent the maximum possible actual velocity monitored by
the drive (p9531[x]).

If technologicalData.numberOfDriveSafetyDataBlock = 0 (standard with DSDB) and

technologicalData.driveSafetyExtendedFunctionsEnabled = NO (compatibility mode with
SIDB), there is no support for SINAMICS Safety Integrated Functions on the Axis technology
object.
In the system variables, zero is displayed or the contents are irrelevant.

5.6.4 Axis configuration

As of SIMOTION V4.2, if SINAMICS Safety Integrated Extended Functions are configured,
support is activated automatically in SIMOTION.
The configuration data element technologicalData.driveSafetyExtendedFunctionsEnabled =
YES is also set.

Symbolic assignments deactivated or SIMOTION < V4.2

The rest of this chapter is only relevant if the project default setting Use symbolic assignment
is deliberately deactivated as of V4.2, or if you are working with a project which uses SIMOTION
V4.1.

To configure the SINAMICS Safety Integrated Extended Functions, proceed as follows:

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 267
Support for SINAMICS Safety Integrated Functions
5.6 Compatibility mode (SIDB) as of SIMOTION V4.1

● Set the technologicalData.driveSafetyExtendedFunctionsEnabled configuration data

element to YES. This activates the Extended Functions support.
● Enter the logical base address for the Safety Information Data Block (SIDB) in
technologicalData.driveSafetyExtendedFunctionsInfoDataIn.logAddress.
● Evaluate the status of the pulse enable of the drive on the axis technology object
(Page 281).
If a safety commissioning of the SINAMICS Safety Integrated Extended Functions in the drive
has already been performed and the data has been loaded into the configuration (load to PG),
click the Data transfer from the drive button (drive assignment in the axis wizard) to make these
settings.
If this is not required, SINAMICS Safety Integrated Extended Functions support can be
deactivated by setting the technologicalData.driveSafetyExtendedFunctionsEnabled
configuration data item to NO.

TO Axis Electric / Hydraulic, External Encoder

268 Function Manual, 04/2014
 Support for SINAMICS Safety Integrated Functions
5.7 Behavior and user responses

5.7 Behavior and user responses

5.7.1 Overview
The safety functions in the drive are selected and deselected either from a Safety PLC (e.g.
SIMATIC S7 CPU317F) using secure PROFIsafe communication, from a safety-related
SINAMICS terminal module TM54F or using the fail-safe terminals on the CU (D410-2,
CU310-2 or CU305). The safety functions can be selected and deselected independently of
the Motion Control user program.
Many safety functions (e.g. SOS, SLS) contain monitoring functions and must be supported
by the SIMOTION user program so that the drive can be set to or kept in the monitored
operating state. If the monitored limits are exceeded, this causes a safety-related stop
response in the drive.
The user can evaluate the safety status word via system variables. See also the status
information for DSDB (Page 260) and SIDB (Page 265).

General recommendation for the user program when using SINAMICS Safety Integrated Functions as
of SIMOTION V4.2
The system responds automatically to the selection of SS1 or SS2 by switching the axis to
follow-up mode. The following requirements must be satisfied to do this:
● Default settings for symbolic assignment
● Automatic telegram selection
● Evaluation of the pulses enabled bits must not be changed
When STO is selected, the drive shuts down automatically.
Therefore, safety functions STO, SS1, and SS2 do not require any provision to be made in the
user program in terms of a response.
For other functions such as SOS or SLS, it must be ensured via the user program that the
monitored operating state is not violated.

See also
Overview - Support of SINAMICS Safety Integrated Functions on the Axis technology object
(Page 251)
Display of SINAMICS Safety Integrated Functions in SIMOTION (Page 267)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 269
Support for SINAMICS Safety Integrated Functions
5.7 Behavior and user responses

5.7.2 Overview of safety functions

How the drive reacts and what user responses we recommend in SIMOTION are described
below.

Note
Design your user program in accordance with the priority of the safety drive functions. Take
into account possible consecutive responses of the drive, e.g. STOP_B in the event of SLS
limit value violation.
Evaluate the status bits cyclically in your user program.
Also take into account user responses for connected axes.

Table 5-8 Responses of the drive and responses in the user program when a safety function is
selected

Functi Drive response Recommended response in the user program

on
STO Drive switches off immediately No response possible
SS1E Drive switches off after expiration of a Bring axis to a standstill before expiration of the
delay time delay time and switch off the drive
SS1 Drive decelerates on the OFF3 ramp and Set axis to follow-up mode (automatic as of
then switches off SIMOTION V4.2)
SS2 Drive decelerates on the OFF3 ramp and Set axis to follow-up mode (automatic as of
then monitors the operating stop SIMOTION V4.2)
SOS Drive monitors the operating stop after Bring axis to a standstill and remain at a standstill
expiration of the delay time
SLS Drive monitors the maximum permissible Limit the axis velocity accordingly
velocity after expiration of a delay time
SDI Drive monitors the direction of motion after Maintain or stop the direction of motion of the axis
expiration of a delay time accordingly
SP Drive transfers actual position to the F- -
CPU
SLP Drive monitors compliance with a defined Maintain position range of the axis accordingly
position range after expiration of a delay
time

5.7.3 Safe Torque Off (STO)As of SIMOTION V4.1

When the STO is selected, pulse suppression will be activated directly in the drive: A moving
motor coasts to standstill. If there is a motor holding brake and activation via sequential control
system, the brake closes.
If the drive enables have been canceled by STO, they can be reset by the SIMOTION user
program with the _enableAxis() command. An enable, however, is possible only when STO
has been deselected again (safe power-on disable).

TO Axis Electric / Hydraulic, External Encoder

270 Function Manual, 04/2014
 Support for SINAMICS Safety Integrated Functions
5.7 Behavior and user responses

In compatibility mode with SIDB, STO is only supported in conjunction with the SINAMICS
Safety Integrated Extended Functions on the axis.

See also
Safety status information (part of the DSDB) (Page 260)
Safety status information (part of the SIDB) (Page 265)

5.7.4 Safe Stop 1 (SS1)As of SIMOTION V4.1

SS1 with OFF3

When SS1 is selected, the drive independently decelerates on the OFF3 ramp in a speed-
controlled manner (n=0) and enters pulse suppression after a configured delay time.
The drive is shut down when pulse suppression is achieved. This is indicated on the Axis
technology object by alarm 20005 reason 4.

NOTICE
Abort of the OFF3 ramp
For certain settings, the OFF3 ramp cannot be aborted on the control side!
See SIMOTION system behavior with a drive-autonomous OFF3 ramp (Page 53).

User response as of SIMOTION V4.2:

The system responds automatically to SS1 selection if the configuration data item
TypeOfAxis.DriveControlConfig.pulsesEnabledEvaluation is set to YES (set accordingly when
creating an axis as of SIMOTION V4.2).
At the start of the OFF3 ramp, TO alarm 50023 (drive makes transition to autonomous state,
default local response = OPEN_POSITION_CONTROL) is signaled, switching the axis to
follow-up mode automatically.
Consequently, both the position controller enable and following error monitoring are inactive
during the OFF3 ramp, and no more motion commands are effective. The drive enables can
be canceled with the _disableaxis() user command, for example.
Automatic follow-up mode is only activated for the axis concerned in each case. For a possible
synchronous operation line-up, the corresponding responses must be converted in the
application.
If the drive enables have been canceled by SS1, they can be reset by the SIMOTION user
program with the _enableAxis() command. An enable, however, is possible only when SS1
has been deselected again (safe power-on disable).

User response with SIMOTION V4.1 or

TypeOfAxis.DriveControlConfig.pulsesEnabledEvaluation=COMPATIBILITY_MODE:
When SS1 is selected (status information SS1_ACTIVE=TRUE), the current axis motion must
be canceled and the position setpoint switched to follow-up mode (with the _stop() command
at velocity = 0 and movingMode=SPEED_CONTROLLED, for example). This prevents the

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 271
Support for SINAMICS Safety Integrated Functions
5.7 Behavior and user responses

enables for the drive from having to be canceled (as a result of alarm 50102, following error
monitoring, for example).

SS1E external stop (as of SINAMICS V4.5 and SIMOTION V4.3)

If SS1E is selected, the drive switches off after a delay time (p9652 Safety Integrated Basic
Functions / p9556 Safety Integrated Extended Functions) without being autonomously
decelerated along the OFF3 ramp. Within the delay time, synchronous axes can be stopped
synchronously via the user program.
User response to use of the DSDB (SIMOTION V4.4 and higher) or the SIDB (for Safety
Integrated Extended Functions):
If SS1E is selected (status information SS1_ACTIVE = TRUE), stop the axis before the delay
time elapses and switch off the drive.
User response to Safety Integrated Basic Functions in the user program in SIMOTION V4.3:
The following section is only relevant to SIMOTION V4.3 or if the DSDB is not used.
Transfer parameters p9772.2 and p9872.2 and check them cyclically, for example, in the IPO-
synchronous task.
As soon as at least one of the two parameters is TRUE, the axis must be stopped before the
delay time elapses and the drive switched off.

Control via terminals

If controlling via terminals, please see the SINAMICS Safety Integrated Functional Manual,
Chapter Simultaneity and tolerance time of the two monitoring channels.

See also
Safety status information (part of the DSDB) (Page 260)
Safety status information (part of the SIDB) (Page 265)

5.7.5 Safe Stop 2 (SS2)As of SIMOTION V4.1

When Safe Stop 2 is selected, the drive decelerates on the speed-controlled OFF3 ramp (n=0)
and then switches to the Safe Operating Stop (SOS). The drive then decouples itself from the
SIMOTION setpoint interface.

NOTICE
Abort of the OFF3 ramp
For certain settings, the OFF3 ramp cannot be aborted on the control side!
See SIMOTION system behavior with a drive-autonomous OFF3 ramp (Page 53).

TO Axis Electric / Hydraulic, External Encoder

272 Function Manual, 04/2014
 Support for SINAMICS Safety Integrated Functions
5.7 Behavior and user responses

Note
If the drive is not yet ready to run and SS2 has already been selected, all drive enables can
only be set once SS2 has been deselected.
This may be the case following a further ramp up of the selected SS2, for example.
The drive enables can be set using the _enableaxis() user command, for example.

User response as of SIMOTION V4.2:

The system responds automatically to SS2 selection if the configuration data item
TypeOfAxis.DriveControlConfig.pulsesEnabledEvaluation is set to YES (set accordingly when
creating an axis as of SIMOTION V4.2):
As a result, the user does not have to carry out cyclic evaluation of whether SS2 is selected.
At the start of the OFF3 ramp, TO alarm 50023 (drive makes transition to autonomous state,
default local response = OPEN_POSITION_CONTROL) is signaled, switching the axis to
follow-up mode automatically.
As long as SS2 is selected, the position controller enable and the following error monitoring
therefore remain inactive and no more motion commands are effective. The drive enables can
be canceled with the _disableaxis() user command, for example.
Automatic follow-up mode is only activated for the axis concerned in each case. For a possible
synchronous operation line-up, the corresponding responses must be converted in the
application.
After SS2 has been deselected, the position controller enable has to be reset with the
_enableaxis() user command, for example, so that the axis can be traversed again.

User response with SIMOTION V4.1 or

TypeOfAxis.DriveControlConfig.pulsesEnabledEvaluation=COMPATIBILITY_MODE:
When SS2 is selected (status information SS2_ACTIVE=TRUE), cancel the current motion on
the axis and switch the position setpoint to follow-up mode, e.g. using the _stop() command
at velocity = 0 and movingMode=SPEED_CONTROLLED. This prevents the enables for the
drive from having to be canceled (as a result of alarm 50102, following error monitoring, for
example).
Deselecting SS2 (status information SS2_ACTIVE=FALSE) terminates standstill monitoring
in the drive. If no other safety function is active, the axis can be traversed again without the
drive enables having to be reset.

See also
Safety status information (part of the DSDB) (Page 260)
Safety status information (part of the SIDB) (Page 265)

5.7.6 Safe Operating Stop (SOS)As of SIMOTION V4.1

When SOS is selected, the drive continues to follow the setpoint interface and activates the
standstill monitoring after the delay time configured in the drive.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 273
Support for SINAMICS Safety Integrated Functions
5.7 Behavior and user responses

Response in the user program:

When SOS is selected (status information SOS_SELECTED=TRUE)), bring the drive to a
standstill within the time parameterized in p9551/p9531 and keep it in this state.
When SOS is deselected, the standstill monitoring in the drive will be deactivated; the drive
can traverse again without restriction provided no other safety function is active.

See also
Safety status information (part of the DSDB) (Page 260)
Safety status information (part of the SIDB) (Page 265)

5.7.7 Safely-Limited Speed (SLS)As of SIMOTION V4.1

When SLS is selected, the drive continues to follow the setpoint interface and activates the
maximum velocity monitoring after the delay time configured in the drive.
When using SLS, ensure that the checkbox SLS limit value absolute is selected in the safety
dialog.

Response in the user program:

When SLS is selected (status information SLS_SELECTED), the velocity must be reduced to
the defined maximum velocity (system variable driveData.safety.slsSpeedLimitSelected). For
this purpose, ensure that the application observes the distance to the actual limit value
monitored in the drive. Reduction either on the drive side using the p9533 parameter or using
a programming reduction factor.

Note
It should be noted that updating the system variables with the status information and the
defined maximum velocity is not necessarily simultaneous. Two cases must therefore be
allowed for in the user program:
1. SLS is selected in the drive
The system variable with the status information reports this.
The system variable ~.slsSpeedLimitSelected still includes the maximum velocity of the
axis and not the limited velocity.
2. SLS is deselected in the drive.
The system variable with the status information still reports SLS selected.
The system variable ~.slsSpeedLimitSelected already contains the maximum velocity of
the axis.
Please also see the note regarding the reduction factor for ~.slsSpeedLimitSelected in
Chapter Display of SINAMICS Safety Integrated Functions in SIMOTION (Page 259)

The velocity limit value monitored in the drive can be changed by switching between the SLS
levels. Therefore, the system variable ~.safeSpeedLimit should be continuously monitored for
changes while SLS is selected.

TO Axis Electric / Hydraulic, External Encoder

274 Function Manual, 04/2014
 Support for SINAMICS Safety Integrated Functions
5.7 Behavior and user responses

In the user program, the activation of velocity reduction or the change to the reduced speed
must be cyclically checked and the current velocity setpoint must be compared with the safe
maximum velocity.
A detailed procedure can be found in the table below.

Table 5-9 User responses for SLS

SLSnew selected SLS active and new SLS speed activated

SLSnew is greater than SLSold SLSnew is less than SLSold
Production speed is less than No response If production speed is greater No response necessary
the limited speed SLSnew necessary than SLSold, increase to
production speed is possible
Production speed is greater Deceleration to Increase to SLSnew is permissible Deceleration to limited speed
than the limited speed SLSnew limited speed SLSnew SLSnew required
required

Production speed = set velocity before selecting a safety function

Note
For active velocity monitoring on a following axis (synchronous coupling and with a fixed gear
or coupling via MotionIn interface), the speed of the master axis is reduced or, if this is not
possible, synchronous operation during the reduction is canceled.

Compatibility mode with SIDB

The defined maximum speed is saved in the system variable
driveData.driveSafetyExtendedFunctionsInfoData.safeSpeedLimit.
Please also see the note regarding the reduction factor for ~.safeSpeedLimit in Chapter Display
of SINAMICS Safety Integrated Functions in SIMOTION (Page 267)

See also
Safety status information (part of the DSDB) (Page 260)
Safety status information (part of the SIDB) (Page 265)

5.7.8 Safe Direction (SDI)As of SIMOTION V4.3

After selecting SDI (status information SDI_P_SELECTED or SDI_N_SELECTED), the motion
may only be performed in the enabled direction.

Response in the user program:

If the direction of motion is incorrect, the motion must be stopped via the SIMOTION user
program and it must be ensured that the motion is only performed in the enabled direction.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 275
Support for SINAMICS Safety Integrated Functions
5.7 Behavior and user responses

See also
Safety status information (part of the DSDB) (Page 260)
Safety status information (part of the SIDB) (Page 265)

5.7.9 Safe Position (SP)

Function SP can be selected optionally by homing to an absolute position. Use of SLP with
transfer of the safe position SP corresponds to using SP with reference to an absolute position.
To update the relevant status bits in DSDB, drive parameter p9501.27 must be set.

Using SP with a safe absolute position

Like for SLP (Page 276), safe homing of the drive is required.
The position transferred via PROFIsafe can be used in the F-CPU to evaluate the position.

Using SP without a safe absolute position

The position transferred via PROFIsafe can only be used in the F-CPU to ascertain the speed
of the drive.

See also SINAMICS S120 Safety Integrated Function Manual.

5.7.10 Safely-Limited Position (SLP)As of SIMOTION V4.4

Monitor the absolute traversing range of an axis using SLP. You may define a maximum of
two traversing ranges in the drive. The active traversing range is displayed in
SLP_LIMIT_BIT0_SELECTED of the system variable driveData.safety.status1.
The motion limitation when SLP function is activated must be performed by the user program.
SLP activation is displayed in SLP_SELECTED of system variable driveData.safety.status1.
To update the status bits relevant for SLP in the DSDB, drive parameter p9501.27 must be
set.

Requirement
The safe limited position can only be monitored if the following conditions are met:
● The drive must be homed at standstill while the machine is being commissioned.
● User agreement must be set once during commissioning after homing.
Exception: It is reset by the user or by a positional tolerance violation in the drive.
● The SLP acceptance test must be performed.

TO Axis Electric / Hydraulic, External Encoder

276 Function Manual, 04/2014
 Support for SINAMICS Safety Integrated Functions
5.7 Behavior and user responses

Status REF_REQUESTED of the system variable driveData.safety.status1 indicates whether

the drive has been homed and/or whether homing has been requested by the drive. Homing
must be performed again, for example, after the CU has been started up.

Note
Status of user agreement
The DSDB does not indicate whether user agreement is lost after successful homing of the
drive. Only the S_FAULT bit is set. Evaluation via acyclic read requests may take too long to
recognize this state and trigger a response in the user program if SLP is selected or already
active.
Make sure a suitable response is implemented in the F-CPU user program in this case. For
example, evaluate the "safely homed" bit in the PROFIsafe telegram. For example, trigger
SOS if the drive is not safely homed.

Homing and user agreement

Homing must be performed once and user agreement set during commissioning. This can be
done in the expert list of the drive or via an HMI.
Therefore home the TO axis and set the user agreement via an HMI:
1. Home the TO axis to a position that you can check in situ and make the axis remain
stationary at this position.
2. Transfer the current position of the axis to the drive and apply the home position at standstill
(two acyclic _writeDriveParameter() requests).
3. Wait for at least five safety cycles, then read the actual position of the drive (r9708[0]) and
transfer it to the HMI.
4. Check whether the position of the TO axis is the same as the drive position and that this
position corresponds to the machine position.
5. If the positions in step 4. are equal, set the user agreement with a
_writeDriveMultiParameter() command.

Note
If the command is executed and user agreement is active, user agreement will be reset.

6. Now perform the SLP acceptance test.

In the Internet, you will find a program example for homing and setting user agreement as an
FAQ (http://support.automation.siemens.com/WW/view/en/89038143).

Violation of the traversing range when the SLP Retraction function is activated
If an SLP limit is exceeded, a safety error is displayed on the drive. A safe stop response is
triggered on the drive as error response.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 277
Support for SINAMICS Safety Integrated Functions
5.7 Behavior and user responses

The INTERNAL_EVENT in the system variable driveData.safety.status1 displays the safety

error on the Axis technology object.
Retract the axis after an SLP violation as follows:
1. Activate the SDI function in the opposite direction to the violated direction of travel.
Depending on the application, implement further safety requirements. For example,
additionally activate the lowest SLS level and/or ensure that the drive can only be retracted
by the F-CPU when a button is permanently pressed.
2. Deactivate SLP as soon as SDI is active.
3. Acknowledge the safety errors.
4. Travel the axis manually back into the valid SLP traversing range.
5. Activate the SLP function.
6. Deactivate the SDI function as soon as SLP is active.

TO Axis Electric / Hydraulic, External Encoder

278 Function Manual, 04/2014
 Support for SINAMICS Safety Integrated Functions
5.8 Safety brake test as of SIMOTION V4.4

5.8 Safety brake test as of SIMOTION V4.4

As of V4.4, SIMOTION support the SINAMICS safe brake test. It is triggered by a SIMOTION
command from the Axis technology object. During the SBT, the drive no longer follows the
controller setpoint.
During the test, the load torque applied at the motor is measured once. The test torque is then
increased n times depending on the direction and the number of brakes, maintained for a
period of time and then reduced again.
The brake test can be performed for a maximum of two brakes in one test cycle. One internal
and one external or two external brakes are possible if there are two brakes. Each brake can
be tested against two different holding torques.

Requirements for the safe brake test

● The axis must be enabled with the _enableAxis() command in mode enableMode=POWER
with servoControlMode=INACTIVE.
● All brakes present on the motor must be open.

Perform the safe brake test for an internal brake as follows:

1. Start the test by calling the _executeAxisSafetySbt() function in the user program.
2. Monitor the status if necessary via the driveData.safety.sbtState system variable.
3. Wait until the function has finished and then check the return value of the function.

Perform the safe brake test as follows if there is at least one external brake:
1. Start the test by calling the _executeAxisSafetySbt() function in the user program.
2. If there are two external brakes:
Check the status SBT_BT_BRAKE2 of the system variable driveData.safety.status2 to see
whether brake 1 or 2 is tested.
3. Check the status SBT_BT_BRAKE_CLOSE_REQ of system variable
driveData.safety.status2 cyclically in the user program. Open or close the external brake,
depending on the status.
4. Report the current status of the external brake to the system using the
_setAxisSafetySbtExtBrakeState() function.
After a change of status of SBT_BT_BRAKE_CLOSE_REQ, the feedback must be provided
within 11 seconds.
5. Monitor the status if necessary via the driveData.safety.sbtState system variable.
6. Repeat steps 2 to 5 until the _executeAxisSafetySbt() function has ended and then check
the return value of the function.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 279
Support for SINAMICS Safety Integrated Functions
5.8 Safety brake test as of SIMOTION V4.4

Note
External brakes
Take into account the brake opening and closing times for status feedback.

TO Axis Electric / Hydraulic, External Encoder

280 Function Manual, 04/2014
 Support for SINAMICS Safety Integrated Functions
5.9 Pulse enable evaluation (when standard settings are deactivated)

5.9 Pulse enable evaluation (when standard settings are deactivated)

This chapter is only applicable if standard settings such as Use symbolic assignment have
been deactivated.
For SINAMICS Safety Integrated Functions support, the status of the pulse enable of the drive
on the Axis technology object must be evaluated. This status information is transferred to
various positions in the telegram depending on the telegram type.
This means the driveControlConfig.pulsesEnabled.pzdNumber and
driveControlConfig.pulsesEnabled.bitNumber configuration data as appropriate for the
telegram configuration must be set as follows:
● Standard telegram 2-6
pzd = 4; bit = 10 (ZSW2; "Enable pulses")
(possible as of SINAMICS V2.6)
● Ten SIEMENS telegrams
pzd = 5; bit = 13 (message word; "Enable pulses")
● Non-assigned telegrams
The user has sole responsibility for ensuring that both of the configuration data settings
referred to are set according to the position of the pulse enable status bit within the telegram.

Note
● Standard telegram 1 cannot be used to support safety functions SS1 and SS2, since
it does not transmit the status of the pulse enable.
● Depending on the telegram used, set p2038 as follows:
– For standard telegrams in the drive p2038=0
– For SIEMENS telegrams in the drive p2038=1

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 281
Support for SINAMICS Safety Integrated Functions
5.10 Messages and alarms

5.10 Messages and alarms

The messages are displayed as technological alarms of the SINAMICS Safety Integrated
Extended Functions on the SIMOTION Axis technology object.
Technological alarms:
● Alarm 50023: Drive makes transition to autonomous state (as of SIMOTION V4.2)
If the drive behaves autonomously, e.g. braking on the OFF3 ramp in response to an SS2
selection, alarm 50023 is signaled.
● Alarm 50201: Safety alarm in the drive (see SINAMICS Safety Message Buffer)
A new event is present in the safety message buffer of the drive.

Note
Acknowledgment of alarm 50201
Earlier than SIMOTION V4.4:
Then alarm can only be acknowledged permanently if there are no longer any entries in
the safety message buffer.
As of SIMOTION V4.4 (with DSDB):
Then alarm can only be acknowledged permanently if neither S_FAULT_PRESENT nor
INTERNAL_EVENT is set.

● Alarm 50202: SINAMICS Safety Integrated Extended Function is selected

Alarm 50202 is signaled if the safety functions SS2/SOS/SLS are selected and, as of V4.4,
SDI/SLP as well.
Exceptions:
– On transition to SOS with SS2 active (automatic transition or explicit selection), no new
50202 alarm is activated.
– If the SINAMICS Safety Integrated Extended Functions are activated using PROFIsafe,
alarm 50202 is generated after a SINAMICS reset without a safety function being
selected.
– If the SINAMICS Safety Integrated Extended Functions are activated using PROFIsafe,
alarm 50202 is generated if the SIMOTION CPU or F-CPU switches to STOP.
The alarm is used only for display in the SCOUT or HMI.
User responses should reference system variable driveData.safety.status1/
driveData.safety.status2 or driveData.driveSafetyExtendedFunctionsInfoData.state.

TO Axis Electric / Hydraulic, External Encoder

282 Function Manual, 04/2014
 Support for SINAMICS Safety Integrated Functions
5.10 Messages and alarms

● Alarm 50203: SINAMICS Safety Integrated Extended Function is deselected

Alarm 50203 is signaled if the last active safety function SS2/SOS/SLS is deselected and,
as of V4.4, SDI/SLP as well.
Exception:
When controlling the SINAMICS Safety Integrated Extended Functions via PROFIsafe, the
PROFIsafe driver is acknowledged (user action on the F-CPU side as an additional
prerequisite for full drive enable (drive parameter r46.8)), alarm 50203 is generated without
a safety function being deselected.

The alarm is used only for display in the SCOUT or HMI.

User responses should reference system variable driveData.safety.status1/
driveData.safety.status2 or driveData.driveSafetyExtendedFunctionsInfoData.state.
● Alarm 50209: Error on brake test
Alarm 50209 is signaled if an error occurs when the SBT brake test is performed.

Note
Alarm 50023 only becomes active on the Axis technology object if configuration data
TypeOfAxis.DriveControlConfig.pulsesEnabledEvaluation is set to YES.
Alarms 50201, 50202 and 50203 are only displayed on the TO axis when DSDB and SIDB
are activated.
No safety alarm is triggered when STO and SS1 are selected. Alarm 20005 reason 4 is
signaled if the pulses are deleted by the drive. There is no alarm to signal that the functions
have been deselected.

Illustration of safety alarm behavior (50202, 50203) based on a pulse diagram

6/6 DFWLYH

626 DFWLYH

$ODUP

$ODUP

Figure 5-6 Pulse diagram illustrating safety alarm behavior

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 283
Support for SINAMICS Safety Integrated Functions
5.11 SINAMICS Safety Message Buffer

5.11 SINAMICS Safety Message Buffer

Errors in the safety function in the drive or stop responses that are triggered by the monitoring
functions initiate messages.
Messages for the SINAMICS Safety Integrated Basic Functions are displayed in the drive’s
message buffer (r947).
Messaged for the SINAMICS Safety Integrated Extended Functions are displayed in the safety
message buffer (r9747).

Table 5-10 Basic structure of the message buffer

Parameter Meaning
r944 Message buffer change count
r947 [0…63] Message code
r949 [0…63] Additional information
r952 Messages counter

Table 5-11 Basic structure of the safety message buffer

Parameter Meaning
r9744 Message buffer change count
r9747 [0…63] Message code
r9749 [0…63] Additional information
r9752 Messages counter

Acknowledge
Errors in the safety functions or stop responses may only be acknowledged on a fail-safe basis.
A distinction must be made here between the Basic Functions and Extended Functions.
Basic Functions: Acknowledgment via two-channel selected/deselection by STO
Extended Functions: Acknowledgment of safety PLC via the PROFIsafe signal
Internal_Event_Acknowledge - Bit 7 of the PROFIsafe control word or via a terminal on TM54F
or F-DI OnBoard for D410-2.
With extended alarm acknowledgment, the messages can be acknowledged via the
acknowledgment mechanism of the Basic Functions.

Note
Limitation for SINAMICS V2.5
Fail-safe acknowledgment via PROFIsafe bit or a fail-safe digital input following violation of
SLS limit value is only possible if STOP C (p9563=2) has been configured as a fault response.
For other stop responses, an acknowledgment is only possible by means of Power Off/Power
On.

For further information, see the SINAMICS Safety Integrated function manual.

TO Axis Electric / Hydraulic, External Encoder

284 Function Manual, 04/2014
 Support for SINAMICS Safety Integrated Functions
5.11 SINAMICS Safety Message Buffer

Display and evaluate an error message

An entry in the safety message buffer is displayed by S_FAULT_PRESENT in the system
variable driveData.safety.status1 (Bit 30).
The occurrence of a safety STOP response is displayed by INTERNAL_EVENT in the system
variable driveData.safety.status1 (Bit 31).
If this bit is set, the 50201 Safety Alarm in the drive alarm will be triggered in SIMOTION.
The _readDriveFaults() system function can be used to read out the message code.
As of SIMOTION V4.2 it is possible to fetch data from the safety message buffer directly by
setting faultType=SAFETY (drive parameter p9747). The additional information for the
message code can be read out by the user program using the system function
_readDriveParameter() from drive parameter r9749.

Compatibility mode with SIDB

The occurrence of a safety STOP response is displayed by INTERNAL_EVENT in the system
variable driveData.driveSafetyExtendedFunctionsInfoData.state (Bit 15). If this bit is set, the
50201 Safety Alarm in the drive alarm will be triggered in SIMOTION.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 285
Support for SINAMICS Safety Integrated Functions
5.12 Isochronous PROFIBUS operation

5.12 Isochronous PROFIBUS operation

PROFIsafe data must be transferred isochronously.
When PROFIsafe data is transferred isochronously, additional configuration and programming
steps are required or are useful.

Essential settings for isochronous PROFIsafe operation

1. Synchronization of the SIMOTION CPU with the F-CPU
In the I-slave F-proxy and I-device F-proxy topologies, synchronize the connection from
the SIMOTION user program to the _enableDpInterfaceSynchronizationMode() system
function.
2. Consistent process image partition for the safety program
Make sure that the update of the process image partition for isochronous operation is not
performed during the processing of the safety program.
An example can be found in Chapter F-CPU: Isochronous operation and safety operation
of the FAQ Actuating internal drive safety functions via SIMOTION and PROFINET with
PROFIsafe (http://support.automation.siemens.com/WW/view/en/50207350).

Additional recommended settings for isochronous PROFIsafe operation

1. Check the "synchronous" status on the SIMOTION controller
Check for error-free synchronization through an I/O status query of the PROFIsafe PZD
("synchronous").
2. Call the safety program on the F-CPU in a multiple of the SI monitoring cycle
Select the cycle of the cyclic interrupt in which the safety program is called (typically OB35)
as a multiple of the SI cycle (drive parameter p9500).
In this way, you avoid problems during startup (SINAMICS fault 1611/1711 with fault value
6165).

TO Axis Electric / Hydraulic, External Encoder

286 Function Manual, 04/2014
 Support for SINAMICS Safety Integrated Functions
5.13 Restrictions after switching from compatibility mode (SIDB) to standard (DSDB).

5.13 Restrictions after switching from compatibility mode (SIDB) to standard

(DSDB).
The following points should be noted when switching from compatibility mode (SIDB) to
standard (DSDB):
● Safe Speed Monitor, SSM
Safe speed monitoring via the SSM bit is no longer available after switching to standard
(DSDB).
● System variable safeSpeedLimit
The system variable is only provided after switching to standard (DSDB) if the following
conditions are met:
– The SINAMICS Safety Integrated Extended Functions are configured.
– The SLS limit value absolute option is selected.
● Alarm 50201
The alarm is only triggered by INTERNAL_EVENT if the SIMOTION runtime is lower than
V4.4.
As of SIMOTION runtime V4.4, the alarm can also be triggered by S_FAULT_PRESENT.
See also SINAMICS Safety Message Buffer (Page 284).
● Always evaluate pulses enabled bit
The config data item TypeOfAxis.DriveControlConfig.pulsesEnabledEvaluation must be set
to YES if the DSDB is used and correct transfer of the pulses-enabled bits must be ensured.

See also
Axis configuration (Page 259)
Safety channel and safety channel types (when symbolic assignment is deactivated)
(Page 258)
Overview - Support of SINAMICS Safety Integrated Functions on the Axis technology object
(Page 251)
Safety status information (part of the DSDB) (Page 260)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 287
Part II Hydraulic Functionality 6
6.1 Hydraulic functionality overview
The hydraulic functionality is contained in the Axis technology object (TO).
Like the electric axis, the hydraulic axis can be configured with the following technologies:
● Speed-controlled axis
● Positioning axis
● Synchronous axis
The user view of the electric and hydraulic axes is maintained together, to the extent possible.
Example:
● Motion commands
● Axis settings

Important differences compared to the electric axis include:

● Allowance for a valve characteristic curve
● Special compensation
● A valve can be switched between more than one axis
● No lower-level velocity limiting or torque control in the actuator / drive
● Separate actuators/valves for flow (Q valve) and force/pressure (P valve), if necessary

The hydraulic functionality is explained in the following sections, building on the description of
the axis.

See also
Overview of axis technologies (Page 21)
General information about axes (Page 17)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 289
Fundamentals of hydraulic functionality 7
7.1 Axis settings / drive assignment

7.1.1 Overview of axis settings / drive assignment

3URJUDP +\GUDXOLFVSHFLILF &KDUDFWHULVWLFFXUYH 9DOYH

,QWHUSRODWRU 6HUYR &RPSHQVDWLRQ DGDSWDWLRQ
LQWHUIDFH GULYHU

Figure 7-1 Overview of motion control for axes with hydraulic functionality

Valve types:
● Q valve (valve for closed-loop control of volumetric flow, path valve)
Hydraulic valve for control of direction and volume of a material flow, suitable for closed-
loop velocity control
● PQ valve
Special Q valve suitable for force, position, velocity, and pressure control
● P valve (pressure limiting valve)
Valve used for limiting the system pressure, suitable for protecting a hydraulic system
against excessive pressure (overpressure protection)

7.1.2 Setting as a real axis with hydraulic functionality

The manipulated variable values for the final controlling elements (valves) are defined as
analog or direct values.
Options are:
● Analog outputs on the C2xx
● Analog outputs in the I/O area
● Analog outputs on a PROFIBUS module, e.g. SINUMERIK ADI4, SIMATIC IM174
With SIMODRIVE ADI4 and SIMATIC IM174, PROFIdrive profile standard message frame
3 must be used.
A specific enable signal is available for each final controlling element (see the drive enable
signal for electric axes).
The enable signal for the Q valve is set/reset via the qOutputEnable parameter in the
_enableQFAxis()/_disableQFAxis() command. The status of the enable signal is indicated in
the actorMonitoring.driveState and actorMonitoring.power system variables. When the
hydraulic output is connected to the IM174, these system variables are formed using the bits
returned in the status word. The status of the Q output is displayed in
actorMonitoring.qOutputState.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 291
Fundamentals of hydraulic functionality
7.1 Axis settings / drive assignment

The enable signal for the P valve is set/reset via the fOutputEnable parameter in the
_enableQFAxis()/_disableQFAxis() command. The status of the enable signal for the P valve
is displayed with the actorMonitoring.fOutputEnable system variable. The status of the P output
is displayed in actorMonitoring.fOutputState.
When defining an axis as an axis with hydraulic functionality, it is possible to assign several
axes to a final controlling element during configuration. During runtime, they are assigned using
the _enableQFAxis()/_disable QFAxis() enable/disable commands.
A real axis with hydraulic functionality has manipulated variables for the flow rate (Q, Q valve)
and, if required, a separate manipulated variable for direct force/pressure limiting or force/
pressure control (F, P valve).
On axes with a P valve, the technological commands and system variables for force/pressure
limiting can be used to specify the force and pressure.
The addresses in the I/O area for outputting the Q value and, if applicable, for outputting the
F/P value can be set on the axis.

Note
You can find application examples for hydraulic axes under FAQs > Technology in the
SIMOTION Utilities & Applications provided with SIMOTION SCOUT.

See also
Access to the same final controlling element from multiple axes (Page 318)

TO Axis Electric / Hydraulic, External Encoder

292 Function Manual, 04/2014
 Fundamentals of hydraulic functionality
7.1 Axis settings / drive assignment

7.1.3 Setting as a real axis with Q valve only

With hydraulic axes with Q valve only, the functions for traversing the axis, for velocity limitation,
for force/pressure control, and for force/pressure limiting are available as with the electric axis.

Figure 7-2 Setting the axis type

Table 7-1 Setting the control

Standard Motion via Q valve

Standard+pressure Motion and force/pressure control via Q valve
Unit: Pascal, bar
Standard+force Motion and force/pressure control via Q valve
Unit: Newton

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 293
Fundamentals of hydraulic functionality
7.1 Axis settings / drive assignment

Figure 7-3 Example configuration of the Q output using analog output module

The bit resolution of the analog output module is set under Resolution.

TO Axis Electric / Hydraulic, External Encoder

294 Function Manual, 04/2014
 Fundamentals of hydraulic functionality
7.1 Axis settings / drive assignment

Figure 7-4 Example of configuration for the encoder assignment

The logical hardware address of the input module can be found in the HW Config in SCOUT.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 295
Fundamentals of hydraulic functionality
7.1 Axis settings / drive assignment

Figure 7-5 Example of configuration for the position value

The Factor (scaling factor) and Offset are used to convert the internal value into a physical
variable that can be represented.
The value can be output as right-justified or left-justified within the word width (16 bits).
The minimum and maximum raw values are the limitations. If the measured actual value is
outside these limits, technological alarm 50013: The permissible range limit has been
exceeded is issued and the internal actual value is set to the limit value.
The error tolerance time states how long an error can be pending before a technological alarm
is set.

See also
Setting for the hydraulic axis type (Page 30)
TypeOfAxis configuration data (Page 31)

7.1.4 Setting as a real axis with Q valve + P valve/F output

With hydraulic axes with Q valve + P valve/F output, the functions for traversing the axis (Q
valve) are available. In addition, a manipulated variable can be controlled and output on the
P valve/F output.
The following variants are available:

TO Axis Electric / Hydraulic, External Encoder

296 Function Manual, 04/2014
 Fundamentals of hydraulic functionality
7.1 Axis settings / drive assignment

● Two valves (P valve and Q valve)

● One valve with two connections (analog)
● One variable-capacity pump
On the Axis technology object, one analog controller output is configured and controlled for
the Q valve (flow, velocity) and one for the P valve (force/pressure limiting).

Figure 7-6 Setting the axis type

Table 7-2 Setting the control

Standard+pressure Motion at the Q output and pressure limiting at the P valve/F output
Unit: Pascal, bar
Standard+force Motion at the Q output and force limiting at the P valve/F output
Unit: Newton

Hydraulic axes with Q valve and P valve/F output do not have any pressure control (pressure
control commands are rejected); in this case, the pressure limiting commands act on the P
valve/F output. The pressure limiting value in the command is issued as a manipulated variable
at the P valve/F output.

See also
Setting for the hydraulic axis type (Page 30)
TypeOfAxis configuration data (Page 31)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 297
Fundamentals of hydraulic functionality
7.1 Axis settings / drive assignment

7.1.5 Setting an axis as a real axis with P valve only (V3.2 and higher)
At the P valve (F output of the axis), a time-related or actual-position-related profile or a
manipulated variable can be output. This means that no position control, velocity control or
force/pressure control takes place. There are no force/pressure sensors required, but they can
be configured.
Position encoders cannot be configured.
You must configure a speed-controlled axis.
The following commands are possible on this axis:
● _resetAxis()
● _resetAxisError()
● _getStateOfAxisCommand()
● _bufferAxisCommandId()
● _removeBufferedAxisCommandId()
● _enableQFAxis()
● _disableQFAxis()
Commands to output a force/pressure limiting value or a force/pressure limiting profile can
also be used:
● _enableForceLimitingValue()
● _enableTimeLockedForceLimitingProfile()
● _enableMotionInPositionLockedForceLimitingProfile()
● _disableForceLimiting()
Position encoders cannot be configured or activated.

TO Axis Electric / Hydraulic, External Encoder

298 Function Manual, 04/2014
 Fundamentals of hydraulic functionality
7.1 Axis settings / drive assignment

Figure 7-7 Creating an axis with P valve only

Table 7-3 Setting the control

Standard+pressure Force/pressure control at the P valve/F output

Unit: Pascal, bar
Standard+force Force/pressure control at the P valve/F output
Unit: Newton

See also
Overview of axis technologies (Page 21)
Setting for the hydraulic axis type (Page 30)
TypeOfAxis configuration data (Page 31)

7.1.6 Setting an axis as a real hydraulic axis without a valve (axis simulation)
Hydraulic axes with manipulated variable output directly in the I/O area cannot be defined for
axis simulation.
Axis simulation with hydraulic axes is only possible with a Q valve and with a digital drive
interface or onboard C2xx.
For more information, see Setting as a real axis without drive (axis simulation) (Page 59).

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 299
Fundamentals of hydraulic functionality
7.2 Input limits, technological limiting functions

7.2 Input limits, technological limiting functions

Information about the system input limits and technological limitations is contained in Input
limits, technological limiting functions (Page 80).

TO Axis Electric / Hydraulic, External Encoder

300 Function Manual, 04/2014
 Fundamentals of hydraulic functionality
7.3 Settings for axis and encoder mechanics

7.3 Settings for axis and encoder mechanics

Note
With the hydraulic axis, not all of the setting options for the electric axis are required or
displayed.

See also
Overview of setting options for axis and encoder mechanics (Page 81)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 301
Fundamentals of hydraulic functionality
7.4 Defaults

7.4 Defaults
Information about default settings for system variables can be found in Defaults (Page 86).

TO Axis Electric / Hydraulic, External Encoder

302 Function Manual, 04/2014
 Fundamentals of hydraulic functionality
7.5 Homing

7.5 Homing
A short summary for homing, absolute encoder and incremental encoder is contained in
Overview of homing (Page 87).

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 303
Fundamentals of hydraulic functionality
7.6 Differential pressure measurement (V3.2 and higher)

7.6 Differential pressure measurement (V3.2 and higher)

The actual pressure value can be set as a pressure difference.
The pressure difference is implemented as a separate sensor type that determines the
resulting differential pressure from two sensor-measured values using the following formula:
Fact = (pA x AA - pB x AB) x Ffactor
(Ffactor: force factor)

$$ $% &\OLQGHU

)%
)$

$ %
A A
3$ 3%
0HDVXUHGYDOXH
DFTXLVLWLRQ

$$ $%

)$ )%
˂) )SLVWRQ )DFW
)VHW
$$UHD
33UHVVXUH
)RUFHFRQWUROOHU ))RUFH

Figure 7-8 Example of a pressure difference measurement

Like the measuring sensors, the pressure difference is defined as force/pressure sensors.
Proceed as follows to specify the setting via the expert list:
● Configure at least two pressure sensors on the axis.
● In the expert list, increase the value of TypeOfAxis.NumberOfAdditionalSensors.number
by 1.
● Set the other sensor as a "differential pressure sensor" with
PRESSURE_DIFFERENCE_MEASUREMENT via the
TypeOfAxis.NumberOfAdditionalSensors.AdditionalSensor_n.additionalSensorType
configuration data element.
● The sensors whose values are being used and the individual factors are set in the elements
of the
TypeOfAxis.NumberOfAdditionalSensors.AdditionalSensor_n.pressureDifferenceMeasure
ment structure.
The pressure difference may be the pressure difference at a cylinder or another pressure
difference. All sensors used for the pressure difference measurement must be configured on
the same technology object.
The pressure difference measurement may also be applied to the electric axis.

TO Axis Electric / Hydraulic, External Encoder

304 Function Manual, 04/2014
 Fundamentals of hydraulic functionality
7.6 Differential pressure measurement (V3.2 and higher)

If pressure difference measurement is used, force control is available in accordance with the
function definition. In this case, the pressure sensors are also displayed in the force unit,
dependent upon the system.

See also
Using the expert list for an axis (Page 237)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 305
Fundamentals of hydraulic functionality
7.7 Differential position measurement (V3.2 and higher)

7.7 Differential position measurement (V3.2 and higher)

Information on differential position measurement is contained in Differential position
measurement (V3.2 and higher) (Page 102)

TO Axis Electric / Hydraulic, External Encoder

306 Function Manual, 04/2014
 Fundamentals of hydraulic functionality
7.8 Monitoring/limiting functions

7.8 Monitoring/limiting functions

The monitoring/limiting functions of the electrical axis are applied.
For the hydraulic axis, the pressure control and limiting functions can also be applied to the
drive axis.

See also
Overview of monitoring/limiting functions (block diagram) (Page 103)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 307
Fundamentals of hydraulic functionality
7.9 Motion profiles

7.9 Motion profiles

The motion profiles that can be applied are the same as for the electrical axis.

See also
Overview of traversing with user-defined motion and force/pressure profiles (Page 210)

TO Axis Electric / Hydraulic, External Encoder

308 Function Manual, 04/2014
 Fundamentals of hydraulic functionality
7.10 Hydraulic axis with position control/velocity control

7.10 Hydraulic axis with position control/velocity control

7.10.1 Position control for setting a positioning axis with hydraulic functionality
Block diagram of the hydraulic axis with closed-loop control:
VHUYR'DWDFRPSHQVDWHG6HUYR&RPPDQG9DOXH

VHUYR0RQLWRULQJFRQWUROVWDWH
VHUYR'DWDWRWDO6HUYR&RPPDQG9DOXH
,32VHWSRLQWV
SRVLWLRQLQJ6WDWHFRPPDQG3RVLWLRQ VHUYR'DWDVHUYR&RPPDQG9DOXH DFWRU'DWDVHWSRLQW
PRWLRQ6WDWH'DWDFRPPDQG9HORFLW\
PRWLRQ6WDWH'DWDFRPPDQG$FFHOHUDWLRQ

(QDEOHVSUHSDUDP 6HWSRLQW '\QDPLF 0DQLSXODWHG

0RWLRQ,32 )LQH &RQWUROOHUZLWK
EUDNLQJUDPS VXSHULPSRVLWLRQ UHVSRQVH YDULDEOH
LQWHUSRODWLRQ SUHFRQWURO
RSHUDWLQJPRGHV DGDSWDWLRQ SUHSDUDWLRQ
  

 ,IWKHUHLVQRHQDEOHRUSUHSDUDPHWHUL]HGEUDNLQJUDPS,32LVLQIROORZXSPRGH
WKDWLV,32VHWSRLQW ,32DFWXDOYDOXH
$FWXDOYDOXH
 6HWWLQJRSWLRQVOLQHDUFXELFTXDGUDWLFGLUHFW SRVLWLRQLQJ6WDWHDFWXDO3RVLWLRQ V\VWHP
 37HOHPHQWZLWK77 PRWLRQ6WDWH'DWDDFWXDO9HORFLW\
PRWLRQ6WDWH'DWDDFWXDO$FFHOHUDWLRQ

VHQVRU'DWDSRVLWLRQ
VHQVRU'DWDYHORFLW\
VHQVRU'DWDDFFOHUDWLRQ

Figure 7-9 Overview of hydraulic axis with closed-loop control

VHUYR'DWDFRPSHQVDWHG6HUYR&RPPDQG9DOXH
VHUYR0RQLWRULQJFRQWUROVWDWH VHUYR'DWDWRWDO6HUYR&RPPDQG9DOXH

VHUYR'DWDVHUYR&RPPDQG9DOXH DFWRU'DWDVHWSRLQW
,32VHWSRLQWV

(QDEOHV 0DQLSXODWHG
)LQH '\QDPLF &RQWUROOHUZLWK
0RWLRQ SUHSDUDPEUDNLQJ 6HWSRLQW YDULDEOH
LQWHUSRODWLRQ UHVSRQVH SUHFRQWURO
,32 UDPSRSHUDWLQJ VXSHULPSRVLWLRQ SUHSDUDWLRQ
 DGDSWDWLRQ 
PRGHV

$FWXDOYDOXH
V\VWHP

VHQVRU'DWDSRVLWLRQ
VHQVRU'DWDYHORFLW\
VHQVRU'DWDDFFOHUDWLRQ
VHUYR'DWDSUH&RQWURO9DOXH

'LIIHUHQWL
NSF
DWLRQ VHUYR'DWDV\PPHWULF6HUYR
VHUYR'DWDFRPSHQVDWHG6HUYR&RPPDQG9DOXH
'LIIHUHQWL &RPPDQG9HORFLW\
DWLRQ
,
%DODQFLQJ 
3 DFWRU'DWDVHWSRLQW
ILOWHU 
'7
 6HWWLQJRSWLRQVOLQHDUFXELF 3,'FRQWUROOHU
TXDGUDWLFGLUHFW VHUYR'DWDFRQWUROOHU2XWSXW
 37HOHPHQWZLWK77

VHUYR'DWDV\PPHWULF6HUYR&RPPDQG3RVLWLRQ

Figure 7-10 PID controller with precontrol

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 309
Fundamentals of hydraulic functionality
7.10 Hydraulic axis with position control/velocity control

Note
The PDF documents button can be used in the online help to locate the function charts with
signal paths.

Remark
You can specify during configuration whether the D component of the controller refers to the
control deviation or the actual value (in the ControllerStruct.conType configuration data
element).
The dynamic behavior of the process is taken into account in the balancing filter.
With the hydraulic positioning axis, the dynamic response of the position control loop is
specified in the dynamicData.positionTimeConstant configuration data element. The dynamic
response of the process is specified in dynamicQFData.qOutputTimeConstant.
The hydraulic position axis can now be activated in non-position-controlled mode with the
_enableQFAxis() command via the parameter movingMode= SPEED-CONTROLLED (as of
V4.1 SP1).

See also
Overview of positioning axis with position control (Page 113)
Position control (Page 113)

7.10.2 Velocity controller when setting speed-controlled axis with hydraulic functionality
When an axis is set as a drive axis with hydraulic functionality, the velocity controller is
calculated in SIMOTION.
With the electric drive axis, the velocity controller is included in the drive and the control
specifies the speed setpoint.

TO Axis Electric / Hydraulic, External Encoder

310 Function Manual, 04/2014
 Fundamentals of hydraulic functionality
7.10 Hydraulic axis with position control/velocity control

VHUYR'DWDFRPSHQVDWHG6HUYR&RPPDQG9DOXH
VHUYR0RQLWRULQJFRQWUROVWDWH

VHUYR'DWDVHUYR&RPPDQG9DOXH DFWRU'DWDVHWSRLQW
,32VHWSRLQWV
3UHSDUDWLRQ
5HOHDVHV 6HWSRLQW &RQWUROOHUZLWK RI
0RWLRQ )LQH
(PHUJHQF\VWRS VXSHULPSRVHG SUHFRQWURO PDQLSXODWHG
,32 LQWHUSRODWLRQ
2SHUDWLQJ YDULDEOHV

PRGHV

$FWXDOYDOXH
V\VWHP

VHQVRU'DWDSRVLWLRQ
VHQVRU'DWDYHORFLW\
VHQVRU'DWDDFFOHUDWLRQ
VHUYR'DWDSUH&RQWURO9DOXH

NSF
VHUYR'DWDFRPSHQVDWHG6HUYR&RPPDQG9DOXH VHUYR'DWDV\PPHWULF6HUYR&RPPDQG9HORFLW\

,
%DODQFLQJ 
ILOWHU 3 DFWRU'DWDVHWSRLQW

'7
 6HWWLQJRSWLRQVOLQHDUFXELF 3,'FRQWUROOHU
TXDGUDWLFGLUHFW VHUYR'DWDFRQWUROOHU2XWSXW

VHUYR'DWDV\PPHWULF6HUYR&RPPDQG9HORFLW\

Figure 7-11 Block diagram of the velocity controller

Setting an axis as a drive axis with hydraulic functionality

Functionality:
● PID controller available as velocity controller
● Precontrol of the manipulated variable available
● Velocity monitoring available
If a controller is applied, the axis is traversed with closed-loop velocity control. If no controller
is applied, the axis is traversed with open-loop velocity control.

Note
The closed-loop velocity-controlled hydraulic axis cannot be moved with open-loop velocity
control via movingMode=SPEED_CONTROLLED.

The status of the velocity controller is displayed in the servoControl.controlState system

variable.
Controller error monitoring is displayed in servoMonitoring.controllerDifferenceError.
The components dynamicFollowingError, dynamicFollowingWarning, positioning, and
standstill in servoMonitoring are irrelevant.
With setting ControllerStruct.conType = DIRECT, the controller can be disconnected.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 311
Fundamentals of hydraulic functionality
7.10 Hydraulic axis with position control/velocity control

Monitoring
Data and statuses for the velocity controller on the axis are displayed in the servoData
components.
See the list manuals for details.
For the velocity controller, the setpoints, actual values, and superimpositions refer to the
velocity. Position-related information such as actualPosition or
symmetricServoCommandPosition are irrelevant.
preControlValue displays the precontrol value.
In servosettings, the additionalCommandValue setting refers to the velocity.
Standstill monitoring is not available on the drive axis.
The standstill signal is available.

Remarks
Dynamic response adaptation is not active on the axis with hydraulic functionality.
Superimpositions are in effect.
With the hydraulic drive axis, the dynamic response of the velocity control loop is specified in
the dynamicQFData.velocityTimeConstant configuration data element; the dynamic response
of the process is specified in the dynamicQFData.qOutputTimeConstant configuration data
element.

See also
Overview of positioning axis with position control (Page 113)

TO Axis Electric / Hydraulic, External Encoder

312 Function Manual, 04/2014
 Fundamentals of hydraulic functionality
7.10 Hydraulic axis with position control/velocity control

7.10.3 Preparation of manipulated variables for axis with hydraulic functionality

Preparation of manipulated variables for axis with hydraulic functionality, Q output
DFWRU'DWDWRWDO6HWSRLQW DFWRU'DWD42XWSXW9DOXH

DFWRU'DWD6HWSRLQW DFWRU'DWDFRPSHQVDWHG6HWSRLQW DFWRU'DWDQRUPDOL]HG6HWSRLQW

&KDUDFWHULVWLF ,QWHUIDFH 6SHFLILF ,QWHUIDFH

LQFUHDVH
&RQWUROOHU  OLPLWLQJ
FXUYH VSHFLILF LQFUHDVH VSHFLILF 'ULYHUV $FWXDWRU
FRPSHQVDWLRQ 6XSHULPSRVLWLRQ OLPLWHU 6FDOLQJ

DFWRU'DWDIULFWLRQDGGLWLRQDO2IIVHW9DOXH

$GGLWLYHRIIVHW

DFWRU'DWDVOLGLQJIULFWLRQ&RPSHQVDWLRQ9DOXH

6OLGLQJIULFWLRQ

DFWRU'DWDIULFWLRQ&RPSHQVDWLRQ9DOXH
DFWRU'DWDIULFWLRQ&RPSHQVDWLRQ $&7,9( 

6WDWLFIULFWLRQ
FRPSHQVDWLRQ

VHUYR6HWWLQJVVHWSRLQW2IIVHW&RPSHQVDWLRQ

'ULIW
FRPSHQVDWLRQ

0DQLSXODWHG
YDULDEOH DFWRU'DWDDFWXDO$GGLWLRQDO6HWSRLQW
VXSHULPSRVLWLRQ

Figure 7-12 Preparation of manipulated variables for axis with hydraulic functionality, Q output

Preparation of manipulated variables for axis with hydraulic functionality, F output

DFWRU'DWD)9DOXH DFWRU'DWD)2XWSXW9DOXH

&KDUDFWHULVWLF ,QWHUIDFH 6SHFLILF ,QWHUIDFH

VSHFLILF $FWX
FXUYH LQFUHDVH VSHFLILF 'ULYHU DWRU
VXSHULPSR
FRPSHQVDWLRQ VLWLRQ OLPLWHU QRUPDOL]DWLRQ

Figure 7-13 Preparation of manipulated variables for axis with hydraulic functionality, F output

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 313
Fundamentals of hydraulic functionality
7.10 Hydraulic axis with position control/velocity control

Note
For hydraulic axes, a valve characteristic can be assigned to each output (P or Q). If this is
not the case, a linear characteristic is used. Here, 100% corresponds to the limit value of the
axis (TypeOfAxis.MaxVelocity, TypeOfAxis.MaxForceCommandData).
The interface-specific superimposition is specified as a percentage (%), e.g. for specifying
manipulated variables when recording of the characteristic curve.
An increase limiting is specified in the command for output activation and for activation of the
characteristic curve because the manipulated variable must be continuos on the valve, e.g.
the increase limiting (ramp function) is used to prevent a step change. If the increase limiting
is active, the I component is retained in the position controller or force/pressure controller.
The specific increase limiting after allowing for the valve characteristic is only in effect for the
transition at _setQFAxisFCharacteristics(), _setQFAxisQCharacteristics(), and
_disableQFAxis(), _enableQFAxis(). The increase limiting is specified in the command
(default in userDefaultQFAxis.maxDerivative).

Note
If the RELEASE_DISABLE or OPEN_POSITION_CONTROL alarm responses occur, the
setpoint or manipulated variable = 0 will be output. For hydraulic axes, the value 0 will be
converted into an appropriate output value using the valve characteristic.

A velocity encoder must be present for speed-controlled operation. The control supports the
following velocity encoders:
● Pulse encoder via SM335 or E510
● Analog velocity encoder via analog input modules

See also
Overview of positioning axis with position control (Page 113)

7.10.4 Manipulated variable filtering (as of V4.1 SP1)

A man. var. filter can be set as a PT1 filter in the setpointFilter configuration data element. This
filter acts after the controller and after the precontrol value and the additive manipulated
variable value (additionalSetpoint) have been added.
A change in the filter data takes effect immediately.

7.10.5 Compensations that are active only on the axis with hydraulic functionality
A static compensation component (additive sliding friction) and a compensation component
proportional to velocity (sliding friction) can be set on the axis with hydraulic functionality.

TO Axis Electric / Hydraulic, External Encoder

314 Function Manual, 04/2014
 Fundamentals of hydraulic functionality
7.10 Hydraulic axis with position control/velocity control

These settings are made in the Closed-Loop Control view in the project navigator under the
axis. The Further Compensations tab appears when Expert mode is selected.

Figure 7-14 Sliding-friction compensation/additive sliding-friction compensation on an axis

Sliding-friction compensation
Sliding friction is applied relative to the velocity setpoint in axis motion via motion specification,
and relative to the actual velocity value in axis motion via force/pressure specification.
The factor for sliding-friction compensation can be set specifically for axis motion via motion
specification (factorMotionControl) and for axis motion via force/pressure specification
(factorForceControl) in the structure elements for SlidingFriction.
The current value of the sliding-friction compensation is displayed in the
actorDataSlidingFrictionCompensationValue system variable.

Additive sliding-friction compensation (offset application)

Additive sliding friction is applied relative to the velocity setpoint in axis motion via motion
specification, and relative to the actual velocity value in axis motion via force/pressure
specification.
The factor for additive sliding friction can be set specifically for axis motion via motion
specification, and separately for each velocity direction, in factorMotionControlPositive and
factorMotionControlNegative; it can be set for axis motion via force/pressure specification in
factorForceControlPositive and factorForceControlNegative.
These factors are set in the structure elements for AdditionalOffset. The current value is set
in frictionAdditionalOffsetValue (direction-dependent sliding-friction compensation value).
The current value for additive sliding friction is indicated in the
actorDataFrictionAdditionalOffsetvalue system variable.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 315
Fundamentals of hydraulic functionality
7.10 Hydraulic axis with position control/velocity control

See also
Overview of positioning axis with position control (Page 113)

7.10.6 Consideration of valve characteristic when specifying a hydraulic axis

The existing non-linearity between the technological manipulated variable, for example, an oil
flow rate (Q) or a velocity or force/pressure value (F), and the manipulated variable value of
the valve is mapped by means of a characteristic curve in the open-loop control system and
is taken into account in calculating the manipulated variable value.
The valve characteristic is set using a cam. See the Technology Objects Synchronous
Operation, Cam description of functions.

7HFKQRORJLFDOPDQLSXODWHGYDULDEOH

YPD[

8PLQ
8PD[ 9ROWDJH

YPLQ

Figure 7-15 Characteristic curve setting for hydraulic axis

In the cams for the characteristic curves, the technological manipulated variable (velocity,
pressure/force) is specified by means of the manipulated variable value of the final controlling
element.
The valve characteristic curves are selected/switched using _setQFAxisQCharacteristics() or
_setQFAxisFCharacteristics(). They can also be switched during the motion.
If several characteristic curves are interconnected with an axis, one characteristic curve must
be explicitly selected with the command.
If only one valve characteristic curve is available for an axis, then a selection command is not
required.
If there is no valve characteristic curve selected for the hydraulic axis under the Profiles screen
form, the value in the TypeOfAxis.MaxVelocity configuration data element is determinative for
the manipulated variable normalization. In the valve characteristic curve for the P output, the
TypeOfAxis.MaxForceCommandData configuration data element is determinative.

TO Axis Electric / Hydraulic, External Encoder

316 Function Manual, 04/2014
 Fundamentals of hydraulic functionality
7.10 Hydraulic axis with position control/velocity control

Assignment of range limits

● The valve position is specified as a percentage (%).
– Cam - master: manipulated variable -100% to +100%
– Cam - slave: velocity or pressure -min% to +max%
See the figure below for an example of how to assign characteristic curve parameters in
SCOUT.
● The value specified in maxSetpointVoltage or maxOutputVoltage is assigned to 100%.
● A valve position of zero is mapped onto an output voltage of zero; thus, the mapping is
defined explicitly.
● The interface-specific superimposition is specified as a percentage (%).
● The technology variable is specified in the application unit.

Procedure for recording the characteristic curve for a Q valve

● Enable the axis via _enableQFAxis() without controller
● Specify an output value between -100% and +100% via the
servosettings.additionalQOutputValue (servosettings.additionalFOutputValue for P valve)
system variable

Note
Only traverse the machine within valid range!

● Measure the actual velocity (QOutputValue and velocity can be recorded using the trace
function)
● Read out the resulting technological variables
● Enter the values and the technological variables in the characteristic curve
Each technological variable received for a specified output voltage is entered in the
characteristic curve
● Assign the cam to the axis and activate it under Profiles/Valves

Note
With F output, the procedure applies for P valves accordingly.

Example of how to set the characteristic curve in SCOUT

Figure 7-16 Valve characteristic curve from the manufacturer's catalog

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 317
Fundamentals of hydraulic functionality
7.10 Hydraulic axis with position control/velocity control

Figure 7-17 Assigning characteristic curve parameters in SCOUT

At 100% manipulated variable, a velocity of 2,200 mm/s is reached in the example (position
axis).

See also
Overview of positioning axis with position control (Page 113)

7.10.7 Access to the same final controlling element from multiple axes
The axis with hydraulic functionality has its own activation/deactivation command
_enableQFAxis()/_disableQFAxis().

$[LV

$[LVQ

Figure 7-18 Axis with hydraulic functionality: one valve for several axes

TO Axis Electric / Hydraulic, External Encoder

318 Function Manual, 04/2014
 Fundamentals of hydraulic functionality
7.10 Hydraulic axis with position control/velocity control

When an axis is specified as an axis with hydraulic functionality, you can assign a final
controlling element to more than one axis in the configuration. Only one axis can specify the
setpoint for a final controlling element at a given time.
Application example: one variable-capacity pump for several axes. The axes are traversed
sequentially. After the motion is ended, the axis is disabled (_disableQFAxis() with valve
enable). Digital valves switch to the next axis. The next axis can be enabled.
This assignment is made during runtime using the qOutput or fOutput parameter in the
_enableQFAxis()/_disableQFAxis() activation and deactivation commands and is displayed in
the actorMonitoring.qOutputState or actorMonitoring.fOutputState system variable. A final
controlling element that has been activated, and thus occupied, by an axis must be re-enabled
by this axis before another axis can activate and occupy this final controlling element for itself.
Replacement values (stop values) can be predefined for enabling a final controlling element.
This is achieved by enabling the final controlling element (command _disableQFAxis(),
qOutput/fOutput = DISABLE) but without canceling the enabling signal (command
_disableQFAxis(), qOutputEnable/fOutputEnable =. DO_NOT_CHANGE). The default
replacement value 0% is output at the final controlling element. With qOutputValueSetMode/
fOutputValueSetMode = set and qOutputValue/fOutputValue = 5 in the _disableQFAxis()
command, a manipulated variable of 5% is output. The replacement value is output until a
technology object occupies the final controlling element again (_enableQFAxis()).
The manipulated variable change is limited when the final controlling element with replacement
value is applied or when changing to a different characteristic curve on the axis. These limits
are specified in the userDefaultQFAxis.maxDerivative system variable.
The enabling signal for a final controlling element can be configured and set on multiple axes.
The axis does not specifically occupy the enabling signal; rather, the enable is performed
directly.

See also
Overview of positioning axis with position control (Page 113)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 319
Fundamentals of hydraulic functionality
7.11 Travel to fixed endstop

7.11 Travel to fixed endstop

The travel to fixed endstop functionality is not available for hydraulic axes.

See also
Travel to fixed endstop (Page 180)

TO Axis Electric / Hydraulic, External Encoder

320 Function Manual, 04/2014
 Fundamentals of hydraulic functionality
7.12 Force/pressure control with hydraulic axes with Q valve only

7.12 Force/pressure control with hydraulic axes with Q valve only

On the hydraulic axis with Q valve only, the force/pressure control acts on the velocity setpoint
(Q valve manipulated variable value) analogous to how the force/pressure control acts on the
speed setpoint on the electric axis.
The handling requirements and functionality are therefore the same as for the electric axis.
The _enableForceControlByCondition() switchover command is active.
The _enableForceLimitingByCondition() switchover command is not active.
For the local RELEASE_DISABLE or OPEN_POSITION_CONTROL alarm response, the
manipulated value 0 will be output using the valve characteristic value.

Note
The PDF documents button can be used in the online help to locate the function charts with
signal paths.

Note
Special Q valves (so-called PQ valves) also support pressure control.

See also
Overview of force/pressure control (Page 192)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 321
Fundamentals of hydraulic functionality
7.13 Force/pressure limiting with hydraulic axes with Q valve only

7.13 Force/pressure limiting with hydraulic axes with Q valve only

With hydraulic axes with Q valve only, the force/pressure limiting control is available the same
as with the electric axis.
The handling requirements and functionality are therefore the same as for the electric axis.

Note
The PDF documents button can be used in the online help to locate the function charts with
signal paths.

See also
Overview of force/pressure limiting (Page 202)

TO Axis Electric / Hydraulic, External Encoder

322 Function Manual, 04/2014
 Fundamentals of hydraulic functionality
7.14 Force/pressure limiting with hydraulic axes with P valve

7.14 Force/pressure limiting with hydraulic axes with P valve

The specifications for force/pressure limiting are switched to the P valve/F output. The pressure
limitation value in the commands is output on the P-valve/F output as a manipulated variable.
The _enableForceLimitingByCondition() switchover command with condition is active.
The pressure limiting value is not subject to fine interpolation if _enableForceLimitingValue()
or _enable...LimitingProfile() with derivativeLimitingMode=WITHOUT_LIMITING is set.
When the event occurs, the motion is not aborted; the motion specifications continue to be
output to the Q-valve. An application can be used to switch back to the motion.
No force/pressure limiting controller is in effect.
No force/pressure control is in effect.

Note
The PDF documents button can be used in the online help to locate the function charts with
signal paths.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 323
Fundamentals of hydraulic functionality
7.15 Force/pressure control with hydraulic speed-controlled axes with Q valve only

7.15 Force/pressure control with hydraulic speed-controlled axes with Q

valve only
Force/pressure control is available for hydraulic speed-controlled axes (V3.2 and higher).
(typeOfAxis=REAL_QFAXIS_WITH_CLOSED_LOOP_FORCE_CONTROL)
On-the-fly switching between pressure control and speed control is possible (V4.0 and higher).

Note
Note the following points for the transitions from speed control to pressure control and vice
versa:
● Apply the force/pressure control during motion (as of V4.0)
● Switch on pressure control at standstill (as of V3.2)
● Switch off pressure control at standstill (as of V3.2)
● Transition to speed control from force/pressure control (as of V4.0)
● If pressure control is active, only the RELEASE_DISABLE stop reaction is in effect. (V3.2)
– No applying / overriding of the pressure control through motion
– No preassigned braking ramp
● Switchover with condition not available

Note
The PDF documents button can be used in the online help to locate the function charts with
signal paths.

TO Axis Electric / Hydraulic, External Encoder

324 Function Manual, 04/2014
 Fundamentals of hydraulic functionality
7.16 Force/pressure limiting with hydraulic speed-controlled axes with Q valve only (V4.0 and higher)

7.16 Force/pressure limiting with hydraulic speed-controlled axes with Q

valve only (V4.0 and higher)
Force/pressure limiting on the hydraulic drive axis is available (V4.0 and higher).
With the hydraulic drive axis, the pressure limiting component is added to the velocity setpoint.
The pressure limiting value is not subject to fine interpolation if _enableForceLimitingValue()
or _enable...LimitingProfile() with derivativeLimitingMode=WITHOUT_LIMITING is set.

YUHV TVHW
,32 ),32 
YVHW  
YDFWXDO

3UHVVXUHOLPLWLQJ
FRQWUROOHU

),32 
SOLPLW SOLPLW 
SDFWXDO
)LQHLQWHUSRODWLRQ

Figure 7-19 Overview of control structure for force/pressure limiting on hydraulic drive axis

Note
The PDF documents button can be used in the online help to locate the function charts with
signal paths.

Features:
● Parallel pressure limiting
● Transition from pressure-limited to pressure-controlled
● Transition from pressure-controlled to speed-controlled (with/without pressure limiting)
The same controller is used as the pressure controller on the drive axis and as the force/
pressure limiting controller.
On-the-fly switching between pressure control and speed control (open-loop and closed-loop)
and vice versa is possible (as of V4.0).
Error responses / StopEmergency
If the FEEDBACK_EMERGENCY_STOP error response occurs in combination with the
_stopEmergency() command with the STOP_WITH_COMMAND_VALUE_ZERO setting in
active pressure control, the preassigned braking ramp is executed and the pressure limiting
remains active. However, the pressure limiting can be deactivated via a command.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 325
Fundamentals of hydraulic functionality
7.17 Velocity limiting with hydraulic axes

7.17 Velocity limiting with hydraulic axes

Velocity limiting on the hydraulic axis with Q valve only
This velocity limiting is available:
● On the positioning axis (V3.2 and higher)
● On the speed-controlled axis (V4.0 and higher)

Velocity limiting on the hydraulic axis with P valve and Q valve

The velocity limiting is output to the Q valve as velocity setpoints.

TO Axis Electric / Hydraulic, External Encoder

326 Function Manual, 04/2014
Part III Programming/Reference 8
8.1 Overview of commands

Note
You can also find information about the system functions in the SIMOTION Cam Technology
Package list manual.

8.1.1 Overview of commands

Programming (execution of commands)
The axis is controlled by means of commands. These commands are used to enable and
disable functions, specify and influence motions, specify data, and read out status information.

8.1.2 Commands for specification and control of motion on the axis

Table 8-1 Overview of commands for specification and control of motion on the axis

Command Meaning D P G
Enables, stop and continue commands, resets
_enableAxis() Enable axis X X X
_enableQFAxis( )* Enable hydraulic axis X X X
_disableAxis() Disable axis X X X
_disableQFAxis( )* Disable hydraulic axis X X X
_enableForceControlByCondition() Activating force/pressure control depending on - X X
switchover conditions
_setForceCommandValue( ) Set force/pressure setpoint - X X
_setQFAxisQCharacteristics*( ) Set characteristics for Q value X X X
_setQFAxisPCharacteristics*( ) Set characteristics for P value X X X
_stopEmergency() Rapid stop with motion abort X X X
_stop() Stop axis motion with/without abort X X X
_continue() Resume an interrupted motion X X X
_resetAxis() Reset axis X X X
_getAxisErrorNumberState() Read out error number status X X X
_resetAxisError() Acknowledge axis error X X X
_cancelAxisCommand( ), as of V4.1 SP1 Abort command with the specified CommandID X X X
* Active only when the TypeOfAxis setting is QFAxis.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 327
Part III Programming/Reference
8.1 Overview of commands

Command Meaning D P G
Axis motions
_homing() Homing - X X
_move() Continuous turning (speed- or position-controlled) X X X
_pos() Positioning - X X
_runTimeLockedVelocityProfile() Rotational speed profile X X X
_runTimeLockedPositionProfile() Velocity profile - X X
_runPositionLockedVelocityProfile() Position-related velocity profile - X X
_enableTorqueLimiting() Switch on torque limitation X X X
_disableTorqueLimiting() Deactivate torque limitation X X X
_enableAxisAdditiveTorque( ) Activate input interconnection for additive torque X X X
_disableAxisAdditiveTorque( ) Deactivate input interconnection for additive torque X X X
_enableAxisTorqueLimitPositive( ) Activate input interconnection B+ X X X
_disableAxisTorqueLimitPositive( ) Deactivate input interconnection B+ X X X
_enableAxisTorqueLimitNegative( ) Activate input interconnection B- X X X
_disableAxisTorqueLimitNegative( ) Deactivate input interconnection B- X X X
_enableVelocityLimitingValue() Activate velocity limiting X X X
_disableVelocityLimiting() Deactivate velocity limiting X X X
_enablePositionLockedForceLimitingProfile() Activate force/pressure limiting with position-related - X X
force/pressure limiting profile
_enablePositionLockedVelocityLimitingProfile() Activate velocity limiting with position-related limiting - X X
profile
_runTimeLockedForceProfile() Starting the time-related force/pressure profile - X X
_runPositionLockedForceProfile() Starting the position-related force/pressure profile - X X
_enableForceLimiting() Enable force limiting - X X
_disableForceLimiting() Disable force limiting - X X
_enableMovingToEndStop( ) Activate travel to fixed endstop - X X
_disableMovingToEndStop() Deactivate travel to fixed endstop - X X
_enableTimeLockedVelocityLimitingProfile( ) Activate velocity limiting with time-related limiting profile X X X
_enableTimeLockedForceLimitingProfile() Activate force/pressure limiting with time-related - X X
limiting profile
Coordinate system
_redefinePosition( ) Set actual value system - X X
_setAndGetEncoderValue( ) Synchronize measuring systems - X X
_enableMonitoringOfEncoderDifference() Activate encoder difference monitoring - X X
_disableMonitoringOfEncoderDifference() Deactivate encoder difference monitoring - X X
_getAxisUserPosition( ) Return user position for specified encoder value - X X
_getAxisInternalPosition( ) Return encoder value for specified user position - X X
Simulation
_enableAxisSimulation() Activate program simulation X X X
_disableAxisSimulation() Deactivate program simulation X X X
Information functions / command buffers
_getStateOfAxisCommand() Reading the execution status of a motion command X X X
_getMotionStateOfAxisCommand() Reading current phase of motion X X X

TO Axis Electric / Hydraulic, External Encoder

328 Function Manual, 04/2014
 Part III Programming/Reference
8.1 Overview of commands

Command Meaning D P G
_bufferAxisCommandId() Save CommandId X X X
_removeBufferedAxisCommandId() Remove buffered CommandId X X X
_getStateOfMotionBuffer() Read status of motion buffer X X X
_resetMotionBuffer() Reset motion buffer X X X
_getProgrammedTargetPosition( ) Read the programmed absolute end position - X X
_getAxisErrorNumberState() Reading the status of a specific error on the axis X X X
Data set commands
_setAxisDataSetActive() Activate data set X X X
_setAxisDataSetParameter() Write data set X X X
_getAxisDataSetParameter( ) Read a data set X X X
_setForceControlDataSetParameter() Writing the force/pressure-specific data of a data set - X X
_getForceControlDataSetParameter() Reading the force/pressure-specific data of a data set - X X
_resetAxisConfigDataBuffer( ) Clear the configuration data in the buffer without X X X
activation

D = drive axis
P = positioning axis
G = synchronized axis

PLCopen commands
The blocks listed below can be used in cyclic programs/tasks in SIMOTION.
They are used primarily in the LAD/FBD programming language. PLCopen blocks are available
as standard functions (directly from the command library).

Table 8-2 SingleAxis functions for the axis (as of V4.0)

Function Description
_MC_Power() Enabling an axis
_MC_Stop() Stopping the axes
_MC_Reset() Resetting the axis
_MC_Home() Homing axes
_MC_MoveAbsolute() Absolute positioning axes
_MC_MoveRelative() Relatively positioning axes
_MC_MoveVelocity() Traversing axes at defined velocity
(position axis travels position-controlled)
_MC_MoveAdditive() Relative traversing of axes by a defined path additively to the
remaining path
_MC_MoveSuperimposed() Relative superimposing of a new motion on an existing motion
_MC_PositionProfile() Traversing axis by a predefined and specified position/time
profile
_MC_VelocityProfile() Traversing axis by a predefined and specified velocity/time
profile
_MC_ReadActualPosition() Reading the actual position of axis
_MC_ReadStatus() Reading the status of an axis
_MC_ReadAxisError() Reading the error of an axis

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 329
Part III Programming/Reference
8.1 Overview of commands

Function Description
_MC_ReadParameter() Reading the axis parameter data type LREAL
_MC_ReadBoolParameter() Reading the axis parameter data type BOOL
_MC_WriteParameter() Writing the axis parameter data type LREAL
_MC_WriteBoolParameter() Writing the axis parameter data type BOOL
Apart from the standard PLCopen functions, the following additional standard axis function is included:
_MC_Jog() Continuous or incremental jogging

Table 8-3 MultiAxis functions for the axis (as of V4.0)

Function Description
_MC_CamIn() Start camming between a master and a slave
_MC_CamOut() End camming
_MC_GearIn() Start gearing between a master and a slave
_MC_GearOut() End gearing
_MC_Phasing() Offsets the position of the slave axis relative to the master

Table 8-4 Functions for external encoder (as of V4.1 SP1)

Function Description
_MC_Home() Home external encoder
_MC_Power() Enable external encoder
_MC_ReadStatus() Read status of external encoder
_MC_ReadAxisError() Read error of external encoder
_MC_Reset() Reset external encoder
_MC_ReadParameter() Read external encoder parameters of data type LREAL
_MC_ReadBoolParameter() Read external encoder parameters of data type BOOL
_MC_ReadActualPosition() Read actual position of external encoder

You can find additional information in the PLCopen blocks Function Manual and in the online
help.

8.1.3 Command properties

Function parameters
Motion commands have the following function parameters:
● Information on the type of motion (_pos(), _move(), etc.) and any function parameters for
specification (e.g. direction specification)
● Information regarding the response to active motions/commands (mergeMode)
● Parameters for the motion (dynamic response parameters)

TO Axis Electric / Hydraulic, External Encoder

330 Function Manual, 04/2014
 Part III Programming/Reference
8.1 Overview of commands

● Parameters for advancing in the program (nextCommand)

● In the case of profile commands, information regarding the starting point within the profile,
if required
The dynamic response parameters for motions and motion transitions (velocity, acceleration,
and jerk) can be specified in the commands.

Additional properties
The following is applicable for profiles:
● The specified quantity corresponding to a cam-defined function is traversed
● Dynamic response parameters can be specified for travel to the start value in the cam or
for travel from the end value
● If the profile is specified with a user-definable cam function, a value within the definition
range of the cam must also be specified as the starting point from which the profile is to be
applied
● The function in the cam is traversed to the end
● The definition range of the cam is evaluated in the user-defined time unit for time-related
profiles and in the user-defined position unit for position-related profiles; the range is
evaluated in the user-defined unit of the quantity to be traversed
● The direction of motion, velocity, and acceleration are calculated accordingly
● Behavior at the end of the profile can be configured
● The axis override function has no effect on the positioning profiles. The velocity override
and acceleration override are included in the velocity profiles.

The status of motion commands can be seen from the system variable for the command; if
necessary, additional information such as the braking distance and remaining distance for the
positioning command is provided in the posCommand system variable.
Commands that contain a CommandId parameter allow the CommandId to be initialized to its
defaults (value 0.0) (V3.1 and higher). This does not apply to _getStateOf...CommandId()
commands, since initialization to defaults would not be practicable in this case. The
CommandId should be explicitly specified here.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 331
Part III Programming/Reference
8.2 Enables, stop and continue commands, resets

8.2 Enables, stop and continue commands, resets

8.2.1 Setting and canceling the axis enables

The commands for enabling and disabling the axis are:
● _enableAxis(), _enableQFAxis()
● _disableAxis(), _disableQFAxis()

The following enables can be set specifically for the electric axis using _enableAxis() /
_disableAxis():
● Controller enable
● Drive enable
● Power enable
● Follow-up mode (motion commands are not accepted/executed)
● Force/pressure enable

The following enables can be set specifically for the hydraulic axis using _enableQFAxis() /
_disableQFAxis():
● Controller enable
● Q output enable
● F output enable
● Follow-up mode (motion commands are not accepted/executed)
● Force/pressure enable

The axis enables for the virtual axis have exactly the same effect as for the electric axis.

Note
Drive and encoder error messages can be acknowledged, even when the error is still present.
The same error is not to be signaled again.
The status of the actuator or sensor can be tested in the status indication of the corresponding
system variable (state).

TO Axis Electric / Hydraulic, External Encoder

332 Function Manual, 04/2014
 Part III Programming/Reference
8.2 Enables, stop and continue commands, resets

Activate/deactivate axis
● The _enableAxis() / _disableAxis() commands are used to enable/disable an axis as an
electric axis where the TypeOfAxis is set to REAL_AXIS....
● The _enableQFAxis() / _disableQFAxis() commands are used to enable/disable an axis as
a hydraulic axis where the TypeOfAxis is set to REAL_QFAXIS....
These commands can be issued while the axis is in motion. Canceling enables results in a
technological alarm; the configured alarm response is executed.

Note
If, for example, _disableAxis() is called immediately after _enableAxis(), the commands can
displace one another from the command buffer.

● With _enableAxis(), _enableQFAxis() the position controller in SIMOTION is enabled

immediately, provided nothing different is set in the command parameters.
● The parameter movingMode=POSITION_CONTROLLED enables speed and position-
controlled operation.
With SPEED_CONTROLLED, speed-controlled operation is enabled. When activating in
speed mode, command parameter servoControlMode=ACTIVE must be set so that the
setpoint path is activated in the servo.
In SPEED_CONTROLLED mode, the axis can be traversed if the encoder fails and there
are no pending error responses (see section Switching on the speed specification mode
with _enableAxis (V4.0 and higher)).
● As of V4.1 SP1, it is also possible to activate the hydraulic positioning axis in non-position-
controlled mode using the movingMode = SPEED_CONTROLLED parameter with
command _enableQFAxis()
The closed-loop velocity-controlled hydraulic axis cannot be moved with open-loop velocity
control via movingMode=SPEED_CONTROLLED.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 333
Part III Programming/Reference
8.2 Enables, stop and continue commands, resets

● If, when activating the drive with _enableAxis(), the position controller is not enabled in
SIMOTION or the axis remains in follow-up mode because user-defined functions such as
motor identification, brake release, etc. are executed in the drive, settings options are
available with servoControlMode = INACTIVE or servoCommandToActualMode = ACTIVE.
Thus, the position controller does not position on the setpoint when _enableAxis() is
activated.
After the transition to the Operation or S4 drive state of the PROFIdrive state machine
(displayed in the actorMonitoring.power = ACTIVE system variable), the position controller
can then be enabled in SIMOTION with the _enableAxis() command and the
servoControlMode = ACTIVE parameter setting or switched from follow-up mode with
servoCommandToActualMode = INACTIVE.
● Axes can also be activated when the actual velocity is not equal to zero. You can use the
configuration data item decodingConfig.speedModeSetPointZero to set the mode for
getting the axis to zero velocity when the enables are set.
– decodingConfig.speedModeSetPointZero=YES
The velocity setpoint (and acceleration) of the axis are set directly to zero without a
braking ramp.
As of SCOUT V4.2, this is the standard setting when creating a new axis TO.
– decodingConfig.speedModeSetPointZero=NO
The axis is stopped via a braking ramp with the maximum dynamic values.
See also Manipulated variable superimposition (Page 139).
Please note that braking may be superseded by other motions which become effective
immediately after the axis is activated.

TO Axis Electric / Hydraulic, External Encoder

334 Function Manual, 04/2014
 Part III Programming/Reference
8.2 Enables, stop and continue commands, resets

Axis enable and follow-up mode

In the following tables, the behavior and displays with different configurations of _enableAxis() /
_enableQFAxis() are described.

Table 8-5 Behavior and displays for axis enable with traversing mode "position and speed controlled"

Follow-up mode ACTIVE Follow-up mode INACTIVE

(Follow-up setpoint) (Do not follow-up setpoint)
Position controller ACTIVE Special case STANDARD SETTING
(servoControlMode=ACTIVE) ● Traverse of the axis using setpoint ● Axis is in position control
superimposition is possible (see (servoMonitoring.controlState=ACTIVE)
Setpoint superimposition (Page 130)) ● Motion commands can be executed
using (control=ACTIVE)
servosettings.additionalCommandValu
e (e.g., for commissioning the position
controller)
● Axis is in position control
(servoMonitoring.controlState=
ACTIVE)
● Motion commands CANNOT be
performed (due to follow-up mode,
control=INACTIVE)
● Set position IPO is tracked
● Servo set position is not tracked
● Monitoring functions are not active
Position controller INACTIVE Special case Special case
(servoControlMode=INACTIVE) ● The drive is only enabled for drive- In real axes, "Do not follow up setpoint" is
autonomous motions and functions only effective if all the other enables have
● Axis is NOT in position control been assigned.
(~.controlState=INACTIVE)
● Motion commands CANNOT be
executed
● IPO set position and servo is tracked
● Monitoring functions are not active

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 335
Part III Programming/Reference
8.2 Enables, stop and continue commands, resets

Table 8-6 Behavior and display for axis enable with traversing mode "speed controlled"

Follow-up mode ACTIVE Follow-up mode INACTIVE

(Follow-up setpoint) (Do not follow-up setpoint)
Position controller ACTIVE Special case STANDARD SETTING
(servoControlMode=ACTIVE) ● Traversing the axis without position ● Axis is NOT in position control (but servo
control using manipulated variable setpoint enable is active, so
superimposition is possible (see ~.controlState=ACTIVE)
Manipulated variable superimposition ● Motion commands for speed-controlled
(Page 139) using procedures are possible
servosettings.additionalSetpointValue (control=ACTIVE)
● Axis is NOT in position control (but ● Set position in IPO and servo are tracked
servo setpoint enable is active, so using the following error model (set and
~.controlState=ACTIVE) actual position are offset by the following
● Motion commands CANNOT be error)
performed (due to follow-up mode, ● Standstill monitoring is not active
control=INACTIVE) (internal follow-up mode, as speed-
● IPO set position and servo are tracked controlled mode)
using following error model (set and
actual position are offset by following
error)
● Monitoring functions are not active
Position controller INACTIVE Special case Special case
(servoControlMode=INACTIVE) ● The drive is only enabled for drive- In real axes, "Do not follow up setpoint" is
autonomous motions and functions only effective if all the other enables have
● Axis is NOT in position control been assigned.
(~.controlState=INACTIVE)
● Motion commands CANNOT be
executed
● IPO set position and servo is tracked
● Monitoring functions are not active

Remove axis enable

In the command _disableAxis() or _disableQFAxis(), (Remove axis enable) the position
controller, drive and power enable withdrawn, "Do not follow up setpoint" has no effect.

Enabling line infeed

Infeed must be enabled before activating the axis.
Infeed can be activated and deactivated, and basic diagnostics can be carried out, with the
_LineModule_control function block (as of V4.2).
The following infeeds are supported by the _LineModule_control function block:
● Basic Line Modules (BLM)
● Smart Line Modules (SLM)
● Active Line Modules (ALM)
The _LineModule_control function block is part of the command library of the SIMOTION
SCOUT engineering system. You can find the function block under Drives > SINAMICS.

TO Axis Electric / Hydraulic, External Encoder

336 Function Manual, 04/2014
 Part III Programming/Reference
8.2 Enables, stop and continue commands, resets

For more detailed information about the _LineModule_control function block, see the
SIMOTION SCOUT online help (standard function for Line Modules) or the Function Manual
Standard Function for SINAMICS S120 Line Modules.
The LineModule_control function block can be used for firmware versions < V4.2. You can find
the block under Applications > Cross-sector applications > Function block for controlling Line
Modules in the SIMOTION Utilities & Applications.

Monitoring
The status of the current drive and power enables for an electric axis is displayed in the
following system variables:
● actormonitoring.drivestate (drive enable)
● actormonitoring.power (power enable)
In a hydraulic axis, the occupation status of the Q final controlling element and F controlling
element is displayed in the following system variables:
● actorMonitoring.QOutputState (Q output)
● actorMonitoring.FOutputState (F output)
The Q valve enable is displayed in actormonitoring.drivestate.
If the axis is switched from follow-up mode, the Control system variable switches to ACTIVE.
The Control system variable indicates whether the axis is able to generate motions.
The axis goes into follow-up mode after control startup. Enables are not mandatory in follow-
up mode.
For position-controlled axes, disabling an electric drive results in automatic disabling of the
position controller. The position control enable signal is ignored for speed-controlled axes. For
a hydraulic axis, enabling or disabling of the Q output results in disabling of the controller.

Behavior of electric axis should a digital drive be missing or switched off

If a digital drive is missing or switched off, the _enableAxis() command and motion commands
behave as follows:
● If a drive is missing, _enableAxis() is aborted with an error message
● If the drive is switched on but is not yet in cyclic operation, if commands are issued
synchronously, the system waits for the command; the command is not aborted and the
command job is executed even if it is an asynchronous command; the command remains
active even with asynchronous programming
● The cyclicInterface system variable on the axis indicates whether the drive is in cyclic
operation, i.e. cyclicInterface= ACTIVE; cyclic operation is determined using the life-sign
Comment:
– On analog onboard axes, cyclic operation active is always indicated.
– If a drive error is present (e.g. temperature error), the system variable displays
INACTIVE.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 337
Part III Programming/Reference
8.2 Enables, stop and continue commands, resets

Force/pressure control
Force/pressure control can be explicitly enabled using the forceControlMode function
parameter in the enable/disable command. This requires that the axis is at a standstill (standstill
signal motionStateData.motionState=STANDSTILL).
When enabled, the last actual force/pressure value is taken as the force/pressure setpoint.
Force/pressure control is deactivated using the _disableAxis() or _disableQFAxis() command,
or by deselecting force/pressure control in the _enableAxis() or _enableQFAxis() command.
For switching over during motion, the conditional switchover with switchover criterion with
active pressure limitation is available.

System variables

Table 8-7 System variables

Variable State Meaning

.control Active / Axis active or inactive
Inactive
.servomonitoring.controlstate Active / Position controller active or inactive
Inactive
.actormonitoring.drivestate Active / Drive enable (drive ON) for electric axis
Inactive Q valve enable for hydraulic axis
.actormonitoring.power Active / Power enable (pulse enable)
Inactive (for electric axis only)
.actorMonitoring.qOutputState Active / Q output active
Inactive (for axis with hydraulic functionality only)
.actorMonitoring.fOutputState Active / F output active
Inactive (for axis with hydraulic functionality only)
.actorMonitoring.fOutputEnable Enabled / Status of F output enable
Disabled (for axis with hydraulic functionality only)
.cyclicInterface Active / Communication active
Inactive (only for DP, this is always active for analog or
onboard axes;
if a drive error is present (e.g. temperature error), the
system variable displays INACTIVE.)
.velocityControllerServo Active / Velocity controller on the hydraulic drive axis active
Monitoring.controlstate Inactive or inactive

Setting enables individually

For PROFIdrive-coupled drives, the BY_STW_BIT parameter of the _enableAxis() and
_disableAxis() functions provide an interface for setting and canceling of individual enables.
This allows the users to implement their own state machine transitions.
Bits 0 to 6 of the ctrl word1 control word can be set and reset using the BY_STW_BIT parameter:
_enableAxis() sets the bits transferred in the parameter in the control word
_disableAxis() clears the bits transferred in the parameter in the control word

TO Axis Electric / Hydraulic, External Encoder

338 Function Manual, 04/2014
 Part III Programming/Reference
8.2 Enables, stop and continue commands, resets

For non-PROFIdrive-coupled drives, these bits have no significance and are rejected with
'illegal command parameters'.
The statuses can be read from status word STW via the driveData system variable. The state
display in the actorMonitoring.driveState and actorMonitoring.power system variable remains
unchanged.
Entering control bits 0 to 6 directly using the _enableAxis() and _disableAxis() functions can
be combined with specifying the command mode (DRIVE or POWER).
For detailed information about linking drives using PROFIdrive, refer to Coupling of digital
drives (Page 55).
For information on defining the reaction to technological alarms, refer also to Section
Adjustable response to RELEASE_DISABLE (Page 378).

Note
STW1 is initialized by the drive and the actorMonitoring.driveState and
actorMonitoring.power system variables are generated in STW1 according to the drive status.
(as of V3.2)
The status display in these system variables is thus delayed by one cycle clock relative to
the control word specifications. (as of V3.2)

Enabling the speed specification mode with _enableAxis (as of V4.0)

By enabling speed specification mode (parameter movingMode=SPEED_CONTROLLED of
_enableAxis()), it is possible to continue motion in the event of the failure of a selected encoder
that is not involved in closed-loop control. When activating in speed mode, command
parameter servoControlMode=ACTIVE must be set so that the setpoint path is activated in the
servo.
In position-controlled operation, the axis is brought to a standstill if a selected encoder involved
in the position control fails. The drive enable to be canceled can be specified
(driveControlConfig.releaseDisableMode configuration data element).
After the axis is stopped and the error is acknowledged, the axis can be switched to activation
mode with speed specification. This allows non-position-controlled axis motion in the case of
an encoder failure.

Note

● Failure of an encoder involved in the closed-loop control for position-controlled positioning

still causes the axis to be brought to a standstill.
● In differential position measurement, all involved encoders are in the active state.
● If a command is issued to an encoder which has an error, alarm 20005 is issued as
previously. This can be the case, for example, with an encoder that has an error in the
data set.
● In SIMOTION, the encoder selected for closed-loop control is specified in the data set.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 339
Part III Programming/Reference
8.2 Enables, stop and continue commands, resets

See also
Command groups (Page 216)
Enabling force/pressure control depending on switchover conditions (Page 340)
Coupling of digital drives (Page 55)
Dynamic limiting functions (Page 163)
Positioning and standstill monitoring (Page 105)

8.2.2 Enabling force/pressure control depending on switchover conditions

The _enableForceControlByCondition() command causes a switch to force/pressure control
when the switchover criterion defined in the command is satisfied.
The switchover criterion is checked in the servo. The switchover criterion can be a position,
pressure, time, or digital input. The conditions are specified in the command and can be
logically combined in the command in multiple stages. Reissuing the command before the
conditions are met enables you to switch between conditions.
After the switchover to force/pressure control, the axis executes the function specified in the
cam according to the profile specification. The rise in pressure for any necessary transitional
motions, e.g. for entering and exiting the profile, can be programmed in the command.
Force/pressure, position, and time are stored at the time of switchover and are available in the
system variables.
Velocity limiting can also be activated as a dependent condition in the switchover command,
and a velocity limit value can be set.
The velocity limit is set directly, or the current set velocity (manipulated variable) or actual
velocity can be retained as the velocity limit (as of V4.1 SP1).
A pressure/time profile or a pressure/position profile (V4.1 SP1 and higher) is enabled or the
pressure value can be directly specified (as of V4.1 SP1) when the switchover occurs.

Axis with Q valve

The conditional switchover is triggered by the _enableForceControlByCondition() command.

Axis with P valve

Only the force limiting commands have any effect; the conditional switchover is triggered by
the _enableForceLimitingByCondition() command.

8.2.3 Stopping motions with _stopEmergency()

The _stopEmergency() function stops the axis with a programmable stop mode. If a motion
command is active, it is aborted and cannot be continued with a _continue command. The axis
does not switch to follow-up mode. The axis is prevented from receiving additional motion

TO Axis Electric / Hydraulic, External Encoder

340 Function Manual, 04/2014
 Part III Programming/Reference
8.2 Enables, stop and continue commands, resets

commands. This status can be reset with _resetAxis() or _disableAxis (). The command
becomes active immediately.
The motion on the axis is stopped according to the behavior set in the command; the position
control is not affected. Torque limiting, any active torque reduction (including when traveling
to fixed stop) and force/pressure limiting are retained.
Active and pending motion commands on the axis are aborted and cannot be resumed.

Note
When a motion is stopped using _stopEmergency() and a smooth velocity profile with jerk
specification is present during the axis acceleration phase, the velocity can continue to
increase until the acceleration is reduced by means of the jerk which has been set.
In extreme cases, the velocity can rise still further, until it reaches the configured maximum
velocity. The axis is only decelerated once acceleration has been reduced by the jerk.
With the parameter abortAcceleration (as of V4.2.1), you can set that a possible acceleration
does not exceed the jerk limitation, but is immediately cleared.

Status
The stopEmergencyCommand.state= ACTIVE status is set. Motion commands on the axis are
not active in this status.

Table 8-8 System variable for _stopEmergency command

Variable State Meaning

stopEmergencyCommand.state ACTIVE The _stopEmergency() command was triggered.
INACTIVE No _stopEmergency() command was triggered, or
the command was acknowledged with
_resetAxis() or _disableAxis().

stopEmergencyCommand=ACTIVE status is canceled with _disableAxis() or _resetAxis().

Note
The stopEmergencyCommand=ACTIVE status may last longer than the _disableAxis()
command is active, so the stopEmergencyCommand=INACTIVE status should be checked
explicitly before the enables are reset.

The axis enables are not deactivated.

The command has no effect if the axis is in follow-up mode; the status is not set.
A _stopEmergency() command with a higher-priority stop response overrides a lower-priority
response.
The stop behavior can be set using the stopDriveMode function parameter.
The priority setting is defined in the stop behavior as follows:

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 341
Part III Programming/Reference
8.2 Enables, stop and continue commands, resets

● Specification of timing for stop motion (STOP_IN_DEFINED_TIME), irrespective of current

velocity
● Stopping with maximum dynamic response values on the axis
(STOP_WITH_MAXIMAL_DECELERATION)
● Stopping with dynamic response parameters (STOP_WITH_DYNAMIC_PARAMETER)
This is set during configuration.
● Stop axis with setpoint zero (STOP_WITH_COMMAND_VALUE_ZERO)

StopEmergency with dynamic response parameters (as of V3.2)

The stopDriveMode=STOP_WITH_DYNAMIC_PARAMETER setting allows dynamic values
to be entered and enabled directly in the _stopEmergency() command.
The defaults defined in the userDefaultDynamics system variable are used as default
parameters.

See also
Stopping with preassigned braking ramp (Page 166)

8.2.4 Stopping motions with _stop()

The _stop() and _continue() commands can be used to stop and resume motions.
The _stop command is effective in the following technology object states: motion, motion stop
without abort. It stops the entire motion or a portion of the motion of the axis using a
programmed braking ramp.
The motion to be stopped can be interrupted or terminated. The portion of the motion to be
stopped is specified using the Command ID or the type of motion.
An interrupted motion (entire motion or portion of motion) that was stopped with _stop(),
stopMode=STOP_WITHOUT_ABORT and was not completely interpolated before the stop
command was issued can be resumed using the _continue() command. When a motion is
resumed, the dynamic response parameters of the interrupted command, such as velocity
profile, acceleration, etc., are used.
Motions interrupted by _stop() commands in stopMode=STOP_WITHOUT_ABORT can be
overridden by motion commands with mergeMode IMMEDIATELY. The NEXT or
SEQUENTIAL merge modes do not cause the motion to be executed immediately.
stopMode=STOP_AND_ABORT aborts the commands selected in the stop command. The
aborted commands are returned with errors. When motion commands are aborted, the
Command Aborted technology alarm is generated.
A command containing a position-controlled stop motion changes from ACTIVE to EXECUTED
if the interpolation is completed, and the actual value is in the positioning window and the
minimum dwell time has elapsed (MOTION_DONE). If the axis does not achieve this status,
e.g., due to active torque limiting for deactivated following error monitoring and deactivated

TO Axis Electric / Hydraulic, External Encoder

342 Function Manual, 04/2014
 Part III Programming/Reference
8.2 Enables, stop and continue commands, resets

position monitoring (and therefore no canceling of a command due to a local alarm response),
the command status remains ACTIVE.

Note
When a motion is stopped using _stop() and a smooth velocity profile with jerk specification
is present during the axis acceleration phase, the velocity can continue to increase until the
acceleration is reduced by means of the jerk which has been set.
In extreme cases, the velocity can rise still further, until it reaches the configured maximum
velocity. The axis is only decelerated once acceleration has been reduced by the jerk.
With the parameter abortAcceleration (from V4.2.1), you can set that a possible acceleration
does not exceed the jerk limitation, but is immediately cleared.

8.2.5 Stopping position-controlled axes in speed-controlled mode (V3.1 and higher)

● The movingMode=SPEED_CONTROLLED parameter of the _stop() and
_stopEmergency() commands can be used to stop position-controlled axes in speed-
controlled mode.
The speed ramp takes effect immediately, and any pending following error is not removed.
This also means that in force-controlled mode, force-limited mode, torque-limited mode,
and velocity-limited mode, the axis is stopped immediately with the ramp via
_stopEmergency() on switching over to speed-controlled mode.
● Axes can be stopped with position control in the
movingMode=POSITION_CONTROLLED setting.
With a drive axis, the POSITION_CONTROLLED setting is ignored.
● In the movingMode=CURRENT_MODE setting (default setting, compatibility mode), the
axis is stopped in the last traversing mode set on the axis.
In force-/pressure-controlled operation as well, the axis is stopped in the last traversing
status (position-controlled or speed-controlled) set on the axis.
This enables a transition on the position-controlled axis with _stopEmergency() from each
operating mode to speed-controlled mode and to position-controlled mode.
Comment:
Position-controlled commands cannot be resumed after the _stop() command is set with
movingMode= SPEED_CONTROLLED; the motion command is aborted.

8.2.6 Resuming motions

The _continue() function resumes the complete motion or portion of a motion of the specified
axis if it was stopped with stop() and STOP_WITHOUT_ABORT in the stopMode parameter.
The portion of the motion to be resumed is specified with the Command ID or by the type of
motion.
When a motion is resumed, the dynamic response parameters of the interrupted command,
such as velocity profile and acceleration, are used.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 343
Part III Programming/Reference
8.2 Enables, stop and continue commands, resets

Resuming motions after _disableAxis() (V3.2 or higher)

With setting TypeOfAxis.DecodingConfig.disableMotionOperation=No, motion commands
that are stopped with _stop() (stopMode=STOP_WITHOUT_ABORT) are not aborted by
_disableAxis(), and may be resumed after _enableAxis() with _continue().
The following restrictions apply:
● Only the main motion (basic motion) can be resumed.
● If motions are superimposed, continuation is only possible if the superimposed coordinate
system is returned to while in the stop state.
To do this, the decodingConfig.transferSuperimposedPosition configuration data element
must be configured with TRANSFER_STANDSTILL.
● Relative positioning is started again, i.e. it is run through again in full after _continue().

Note
_stopEmergency() is used to abort all motion commands; it is not possible to continue in
this case.

8.2.7 Reset axis

The _resetAxis() command places the axis in a defined initial state.
● All active motions are stopped with a preassigned braking ramp, and the axis enables are
retained.
● Commands in the motion buffer and commands pending at the motion buffer are deleted;
synchronous commands are aborted. The Command aborted technology alarm is
suppressed.
● Optionally, the axis can be restarted using a function parameter in the command.
● The command is executed synchronously.
● The command can also be executed asynchronously (V3.1 and higher).
● Pending errors on the axis are reset. The command is terminated with a negative
acknowledgment if any errors occur that must not be acknowledged at this point.
● Any system variables changed by the program are reset to the configured values upon
request. Actual values are retained.
● The homing status is retained.

Restart
When restart is activated on the technology object with the activateRestart parameter, the
technology object performs a restart.
● An active motion on the axis is aborted without error messages or the like.
● The actual value system of the axis and, thus, the homing status is reset.

TO Axis Electric / Hydraulic, External Encoder

344 Function Manual, 04/2014
 Part III Programming/Reference
8.2 Enables, stop and continue commands, resets

● All commands on the axis are aborted.

● All connections to other technology objects are removed and reestablished.

The _resetAxis() command stops any synchronous operation command that is in effect on this
axis. The Synchronous Operation technology object on the synchronous axis is not reset.

Note
Setting restartActivation initiates a restart that is performed asynchronously. For this reason,
it can take some time for the TO restart to begin.
If synchronous processing is required, _resetAxis() with the ACTIVATE_RESTART
parameter must be used.

System variables

Table 8-9 System variables for the _resetAxis() command

Variable State Meaning

.reset ACTIVE/INACTIVE Reset command is active or not active
.restartActivation ACTIVATE_RESTART Setting the restartActivation variable to
ACTIVATE_RESTART activates a restart
of the technology object.
NO_RESTART_ACTIVATION Once the restart of the technology object is
completed, the system resets the variable
to NO_RESTART_ACTIVATION.

See also
Saving the Command ID (Page 366)

8.2.8 Resetting an axis error

The _resetAxisError() function resets a specified error or all errors on the axis. The command
is terminated with a negative acknowledgment if any errors occur that must not be
acknowledged at this point.
The command is asynchronous. The command can also be issued synchronously (V3.1 and
higher). If necessary, the error is not reset until the local reaction triggered by the error has
been completed.
Please also note the information in the Motion Control Basic Functionsmanual under Display
and acknowledge technological alarms.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 345
Part III Programming/Reference
8.2 Enables, stop and continue commands, resets

System variables

Table 8-10 System variables for the _resetAxisError() command

Variable State Meaning

.error NO/YES No errors/warnings are pending on the axis,
or one or more errors/warnings are pending
on the axis.
.errorReaction See the EnumAxisErrorReaction data Indicates the response that occurs based
type as defined in the reference list for on one or more technological alarms
the system variables

8.2.9 Canceling/deleting an axis command (as of V4.1 SP1)

The _cancelAxisCommand() function cancels the execution of the command or function with
the CommandId specified in the _cancelAxisCommand() command and removes the
command from the job list.
With _cancelAxisCommand(), commands such as _homing() with setting
homingMode=PASSIVE_HOMING can be canceled too, as long as they are not the active
motion.
The motion is cancelled with the maximum dynamic values. This also applies to superimposed
motions, whereby the dynamic values from either motion cannot exceed the maximum values.

TO Axis Electric / Hydraulic, External Encoder

346 Function Manual, 04/2014
 Part III Programming/Reference
8.3 Commands for axis motions

8.3 Commands for axis motions

8.3.1 Homing
The _homing() command homes the axis.
Various homing modes can be set by means of the homingMode parameter:
● Active homing (ACTIVE_HOMING)
The axis is homed according to the sequence defined in the configuration.
● Setting of current position value (DIRECT_HOMING)
The axis coordinate system is set to the value of the home position coordinate. The axis
does not move.
● Offsets the actual position value (DIRECT_HOMING_RELATIVE)
The axis coordinate system is offset by the value of the home position coordinate. The axis
does not move.
● Absolute encoder adjustment
– homingMode=ENABLE_OFFSET_OF_ABSOLUTE_ENCODER
The configured value for the absolute encoder adjustment is compensated additively
with the retentively stored offset. The total offset is stored in the NVRAM and is available
after the control is switched off.
– homingMode=SET_OFFSET_OF_ABSOLUTE_ENCODER_BY_POSITION (as of V4.1
SP1)
The value in the homePosition parameter is set as the current position, and the resulting
absolute encoder offset is calculated based on this. The total offset is stored retentively
and is available after the control is switched off.

Note
Once a new project has been downloaded to the control, the stored offset is no longer
available.

● Passive homing (PASSIVE_HOMING)

The _homing() command with the PASSIVE_HOMING setting does not itself trigger an
active axis motion; rather, homing occurs during the next axis motion. The axis is homed
according to the sequence defined in the configuration.
The motion command can be triggered before or after the _homing() command. The
_homing() command is active in parallel until the axis is homed.
Disabling the command in SIMOTION versions earlier than V3.2
– _resetAxis()
– _disableAxis()
Disabling the command as of SIMOTION V3.2 with
– _resetAxis()
– _stopEmergency()
The sequences for active homing, homingMode=ACTIVE_HOMING, and the criteria for
passive homing, homingMode=PASSIVE_HOMING, are set in the configuration.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 347
Part III Programming/Reference
8.3 Commands for axis motions

The dynamic parameters for homing are programmable and refer to all phases of the homing
procedure.
An axis has homed status when the axis coordinate system has been aligned with the homing
signal. The status can be read out in the positioningstate.homed system variable.

System variables

Table 8-11 System variables for the _homing() command

Variable State Meaning

.userDefaultHoming See the StructAxisHomingDefault data User defaults for homing
type as defined in the reference list of
the system variables
.homingCommand See the StructAxisHomingCommand Status of the homing sequence
data type as defined in the reference list
of the system variables
.positioningstate.homed YES/NO Axis is/is not homed

See also
Homing (Page 87)

8.3.2 Moving
The _move() command can be applied to all axis types.
With the speed-controlled axis, the motion is implemented with speed specification.
With the positioning axis, the motion is implemented as velocity specification. In this case, the
motion can be implemented with position-control (signal-integrated velocity) or only as a
velocity specification without position control.
This selection is made using the movingMode parameter in the command.
● Position-controlled motion (POSITION_CONTROLLED)
● Speed-controlled motion (SPEED_CONTROLLED)
The movingMode parameter has no effect on the speed-controlled axis.
The _move() command can be applied as a superimposed command.
AS of SIMOTION V4.4, an existing acceleration or deceleration can be set to zero immediately
when a motion is initiated by the _move() command. The existing acceleration or deceleration
is not first reduced via the jerk. The abortAcceleration function parameter is available for this
purpose.

TO Axis Electric / Hydraulic, External Encoder

348 Function Manual, 04/2014
 Part III Programming/Reference
8.3 Commands for axis motions

Table 8-12 System variables for moving with _move()

Variable State Meaning

moveCommand.state INACTIVE / Indicates that a _move() command is active on the axis. A
ACTIVE_ABSOLUTE / distinction is made according to whether the
ACTIVE_RELATIVE moveCommand.TargetVelocity variable indicates an absolute
or relative value.
moveCommand.TargetVelocity Indicates the absolute or relative velocity.
moveCommand.relativeActual Indicates the current velocity relative to the target velocity.
VelocityToTargetVelocity

See also
Traversing the axis via velocity specifications (Page 166)

8.3.3 Positioning
● The _pos() motion command moves the axis to the programmed target position using an
assignable velocity profile.
● The position can be specified as an absolute or relative position.
● The direction of motion can be specified for modulo axes because the target position can
be attained in various directions with such axes. The various modes must be entered using
the direction parameter (see table).
● _pos() commands have a special blending mode that links the _pos command to the
previous _pos command.
● The _pos commands can be applied as superimposing commands.

Note
While the positioning motion is active, if the setpoint system is reset using
_redefinePosition() or _homing() (DIRECT_HOMING / PASSIVE_HOMING), the motion
is resumed as follows:
● For absolute positioning, the target position is approached in the newly-defined
coordinate system.
● For relative motion, the relative path is traveled. In this case, offsetting the logical
coordinate system has no effect.

AS of SIMOTION V4.4, an existing acceleration or deceleration can be set to zero immediately

when a motion is initiated by the _move() command. The existing acceleration or deceleration
is not first reduced via the jerk. The abortAcceleration function parameter is available for this
purpose.
The following table provides an overview of the possible combinations of direction
specification, axis type, and positioning mode.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 349
Part III Programming/Reference
8.3 Commands for axis motions

Table 8-13 Possible specifications for direction in the _pos( ) command

Non-modulo axis / Non-modulo axis / Modulo axis / absolute Modulo axis /

absolute positioning relative positioning positioning relative positioning
POSITIVE Direction determined Positive direction Positive direction Positive direction
from the target position
NEGATIVE Direction determined Negative direction Negative direction Negative direction
from the target position
BY_VALUE Direction determined Direction determined Direction determined Direction determined
from the target position from the sign of the from the sign of the from the sign of the
distance specification position specification distance specification
SHORTEST_WAY Direction determined Direction determined Direction is selected to Direction determined
from the target position from the sign of the achieve shortest from the sign of the
distance specification distance to target distance specification

System variables

Table 8-14 System variables for superimposed positioning

Variable State Meaning

posCommand See the StructAxisPosCommand data Status of the positioning motion contains
type as defined in the reference list for status, current target position, remaining
system variables distance, and target braking distance

See also
Positioning (Page 167)
Positioning with blending (Page 167)

8.3.4 Starting a time-related velocity profile

With the _runTimeLockedVelocityProfile() command, the axis is traversed via a user-definable
time-related velocity profile.
The velocity profile is stored in a cam.
The profile is applied from a definable starting point to the end. The dynamic response
parameters for any necessary transition motions, e.g. for entering the profile and exiting the
profile, can be programmed on the command.
The traversing behavior at the end of the profile is set during configuration in
decodingConfig.behaviourAtTheEndOfProfile.
For position-controlled axes, the movingMode parameter in the command can be used to
specify whether the axis is to move with position control or at a defined velocity.

TO Axis Electric / Hydraulic, External Encoder

350 Function Manual, 04/2014
 Part III Programming/Reference
8.3 Commands for axis motions

Y

Y>YHORFLW\XQLWRID[LV@ W
W>WLPHXQLWRID[LV@

Figure 8-1 Example of a time-related velocity profile

The status and values are displayed in the elements of the velocityTimeProfileCommand
system variable.

See also
Behavior at the end of the profile (V3.2 and higher) (Page 214)
Traversing with user-defined motion and force/pressure profiles (Page 210)

8.3.5 Starting a position-related velocity profile

With the _runPositionLockedVelocityProfile() and
_runMotionInPositionLockedVelocityProfile() commands, the axis is traversed via a user-
definable position-related velocity profile.
The domain / the x coordinate of the cam corresponds to the absolute axis position (setpoint).
The profile is started at the current axis position. This must fall within the domain of the profile,
otherwise the command is aborted and an alarm is triggered.

Note
The set velocity must be a value other than zero at the starting point.

The dynamic response parameters for any necessary transition motions, e.g. for entering the
profile and exiting the profile, can be programmed on the command.
The traversing behavior at the end of the profile is set during configuration in
decodingConfig.behaviourAtTheEndOfProfile.
In addition, a tolerance for the detection of the end of the profile can be specified via the
TypeOfAxis.VelocityPositionProfile.endPositionTolerance configuration data element. The
tolerance is required if the above command has been preassigned with the
WHEN_MOTION_DONE command transition.
The movingMode parameter in the command can be used to specify whether the axis is to
move with position control or only at a defined velocity.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 351
Part III Programming/Reference
8.3 Commands for axis motions

Y

Y>YHORFLW\XQLWRID[LV@ V
V>SRVLWLRQXQLWRID[LV@

Figure 8-2 Example of a position-related velocity profile

The status and values are displayed in the elements of the velocityPositionProfileCommand
system variable.

See also
Behavior at the end of the profile (V3.2 and higher) (Page 214)
Traversing with user-defined motion and force/pressure profiles (Page 210)

8.3.6 Positioning with user-definable position profile

With the _runTimeLockedPositionProfile() and _runMotionInPositionLockedVelocityProfile()
commands, the axis is traversed via a user-definable time-related position profile. A starting
point can be specified in the cam.
The profile is applied from a definable starting point to the end. An absolute or relative position
reference can be selected in the command.
The traversing behavior at the end of the profile is set during configuration in
decodingConfig.behaviourAtTheEndOfProfile.
A transition profile is generated by the axis for discontinuous transitions. The transition profile
is specified in a dynamic response parameter using the acceleration, jerk, and velocity profile
parameters of the command.

V

V>SRVLWLRQXQLWRID[LV@ W
W>WLPHXQLWRID[LV@

Figure 8-3 Example of a time-related position profile

TO Axis Electric / Hydraulic, External Encoder

352 Function Manual, 04/2014
 Part III Programming/Reference
8.3 Commands for axis motions

The status and values are displayed in the elements of the positionTimeProfileCommand
system variable.

See also
Behavior at the end of the profile (V3.2 and higher) (Page 214)
Traversing with user-defined motion and force/pressure profiles (Page 210)

8.3.7 Enabling and disabling torque limiting

The _enableTorqueLimiting() command enables torque limiting in the drive, which takes effect
immediately. The limiting value is specified in the command.
Active motion commands and synchronous operation relationships continue to be executed.
The limiting functions can be enabled before a motion or simultaneously with a motion and
can be switched by reissuing the command.
The commands for travel to fixed endstop (_enableMovingToEndStop()) and torque limiting
(_enableTorqueLimiting()) cannot be active at the same time.
The _disableTorqueLimiting() command cancels the torque limiting.

System variables

Table 8-15 System variables for torque limiting

Variable State Meaning

TorqueLimitingCommand.State ACTIVE/INACTIVE Indicates the torque limiting status
UserDefaultTorqueLimiting.Torq Default for torque limiting
ueLimit
actualTorque Actual torque on the axis
See also Technology data.

See also
Overview of torque limiting via torque reduction (Page 174)
Technology data (Page 183)
Traversing with user-defined motion and force/pressure profiles (Page 210)

8.3.8 Enable force/pressure limiting with position-related force/pressure limiting profile

With the _enablePositionLockedForceLimitingProfile() and
_enableMotionInPositionLockedForceLimitingProfile() commands, the pressure limitation is
activated with a position-related force/pressure limiting profile. The profile is set by means of
a cam.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 353
Part III Programming/Reference
8.3 Commands for axis motions

The domain of the cam to be used in the command is interpreted as a position, and the range
as a force/pressure limiting value in the respective position and force/pressure units of the axis.
Behavior at the end of profile:
● Last value is still in effect
● Force/pressure limiting remains active
The profile is started at the current axis position. This must fall within the domain of the profile,
otherwise the command is aborted and an alarm is triggered.

S

S>IRUFHSUHVVXUHXQLWRID[LV@ V
V>SRVLWLRQXQLWRID[LV@

Figure 8-4 Example of a position-related force/pressure limiting profile

The status and values are displayed in the elements of the forceLimitingCommand system
variable.

See also
Traversing with user-defined motion and force/pressure profiles (Page 210)

8.3.9 Enabling force/pressure limiting with time-related motion profile

The _enableTimeLockedForceLimitingProfile() command activates pressure limiting with a
time-related limiting profile. The profile is set by means of a cam.
The starting point can be specified in the cam.
Behavior at the end of profile:

TO Axis Electric / Hydraulic, External Encoder

354 Function Manual, 04/2014
 Part III Programming/Reference
8.3 Commands for axis motions

● Last value is still in effect

● Force/pressure limiting remains active
S

S>IRUFHSUHVVXUHXQLWRID[LV@ W
W>WLPHXQLWRID[LV@

Figure 8-5 Example of a time-related limiting profile

With the axis setting TypeOfAxis=REAL_QFAXIS_WITH_OPEN_LOOP_FORCE_CONTROL,

the profile is output as a manipulated variable on the F output.

See also
Traversing with user-defined motion and force/pressure profiles (Page 210)

8.3.10 Starting the time-related force/pressure profile

The _runTimeLockedForceProfile() command starts the time-related force/pressure profile.
The axis executes the function specified in the cam as a force/pressure profile.
The domain of the cam to be used in the command is interpreted as time, and the range as a
force/pressure in the respective time and force/pressure units of the axis.
The profile is applied from a definable starting point to the end.
Behavior at the end of profile:
● Last value is still in effect
● Force/pressure limiting remains active
The derivation of pressure for any necessary transition motions, e.g. for entering and exiting
the profile, can be programmed in the command. The behavior at the end of the profile is set
during axis configuration.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 355
Part III Programming/Reference
8.3 Commands for axis motions

S

S>IRUFHSUHVVXUHXQLWRID[LV@ W
W>WLPHXQLWRID[LV@

Figure 8-6 Example of a time-related force/pressure profile

The status and values are displayed in the elements of the forceTimeProfileCommand system
variable.
If the step enabling condition is satisfied or the status is WHEN_INTERPOLATION_DONE, a
pressure/time profile can switch from pressure control to position control.

See also
Traversing with user-defined motion and force/pressure profiles (Page 210)

8.3.11 Starting the position-related force/pressure profile

Possible start commands:
● _runPositionLockedForceProfile()
● _runMotionInPositionLockedForceProfile()
The axis executes the function specified in the cam as a force/pressure profile.
The definition range of the cam to be used in the command is interpreted as a position and
the value range as a force/pressure in the relevant position and force/pressure units of the
axis.
The profile is started at the current axis position. This must fall within the definition range of
the profile, otherwise the command is aborted and an alarm is triggered.
Behavior at the end of profile:
● Last value is still in effect
● Force/pressure limiting remains active
The derivation of pressure for any necessary transitions, e.g. for entering and exiting the profile,
can be programmed in the command. The behavior at the end of the profile is set during axis
configuration.

TO Axis Electric / Hydraulic, External Encoder

356 Function Manual, 04/2014
 Part III Programming/Reference
8.3 Commands for axis motions

S

S>IRUFHSUHVVXUHXQLWRID[LV@ V
V>SRVLWLRQXQLWRID[LV@

Figure 8-7 Example of a position-related force/pressure profile

The status and values are displayed in the elements of the forcePositionProfileCommand
system variable.

See also
Traversing with user-defined motion and force/pressure profiles (Page 210)

8.3.12 Enabling/disabling force/pressure limiting

The _enableForceLimitingValue() command enables force/pressure limiting on the axis. The
limit value is specified in the command.
Active motion commands and synchronous operation relationships continue to be executed.
The limiting functions can be enabled before a motion or simultaneously with a motion. They
can be switched by reissuing the command.
Active limiting disables the following error and positioning monitoring.
The _disableForceLimiting() command cancels the force/pressure limiting.
With the axis setting TypeOfAxis=REAL_QFAXIS_WITH_OPEN_LOOP_FORCE_CONTROL,
a manipulated variable is output or canceled on the F output with these commands.

System variables

Table 8-16 System variables for force/pressure limiting

Variable State Meaning

forceLimitingCommand.state ACTIVE / INACTIVE Activation status of a command for the
force limitation on the axis

See also
Overview of force/pressure limiting (Page 202)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 357
Part III Programming/Reference
8.3 Commands for axis motions

8.3.13 Enabling/disabling velocity limiting

The _enableVelocityLimitingValue() command enables velocity limiting on the axis. The limiting
value is specified in the command.
If the velocity limit is reached, the Anti-windup functionality in the pressure controller is
activated, i.e., the I component is stopped.
Velocity limiting can be enabled in parallel to motion commands.
In addition to a force/pressure specification, the velocity is limited in the case of dwell pressure,
so that if an error occurs in the process, the velocity no longer increases, as is otherwise
permitted.
In the event of an error, velocity limiting remains active except in the case of the
RELEASE_DISABLE error reaction.
The _disableVelocityLimitingValue() command cancels velocity limiting.

System variables

Table 8-17 System variables for velocity limiting

Variable Status Meaning

velocityLimitingCommand.state ACTIVE/INACTIVE Status of the velocity limiting
command on the axis

See also
Force/pressure control with velocity limiting (Page 200)

8.3.14 Enabling velocity limiting with position-related velocity limiting profile

Possible enabling commands:
● _enablePositionLockedVelocityLimitingProfile()
● _enableMotionInPositionLockedVelocityLimitingProfile()
This command activates velocity limiting with a position-related velocity profile. The profile is
set by means of a cam. The velocity limit value is not implicitly deactivated at the end of the
profile.
For position-related profiles, the absolute position reference of the profile is the starting point.
This also applies when modulo axes are used, thus allowing the profile to remain valid beyond
the end of the modulo range.
The profile is started at the current axis position. This must fall within the definition range of
the profile, otherwise the command is aborted and an alarm is triggered.
Behavior at the end of profile:
● Last value is still in effect
● Force/pressure limiting remains active

TO Axis Electric / Hydraulic, External Encoder

358 Function Manual, 04/2014
 Part III Programming/Reference
8.3 Commands for axis motions

See also
Force/pressure control with velocity limiting (Page 200)

8.3.15 Enabling velocity limiting with time-related velocity limiting profile

The _enableTimeLockedVelocityLimitingProfile() command activates velocity limiting with a
time-related limiting profile. The profile is set by means of a cam. Force/pressure limiting is not
implicitly disabled at the end of the profile.
The starting point can be specified in the cam.
Behavior at the end of profile:
● Last value is still in effect
● Force/pressure limiting remains active

See also
Force/pressure control with velocity limiting (Page 200)

8.3.16 Travel to fixed endstop

The _enableMovingToEndStop( ) and _disableMovingToEndStop( ) commands are available
for the travel to fixed endstop function.

See also
Travel to fixed endstop (Page 180)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 359
Part III Programming/Reference
8.4 Commands for defining the coordinate system

8.4 Commands for defining the coordinate system

8.4.1 Resetting the set and actual positions

The _redefinePosition() command is used to set/offset the axis coordinate system. Either the
setpoint or actual value is specified. The value that is not specified is aligned to keep the
following error constant. The servo values (actual values, setpoints) are not modified.
The _redefinePosition command is effective in the following technology object states: Active,
Motion, and Motion stop without abort.
In the case of a virtual axis, the velocity and acceleration can also be set.
The setpoint and actual values of an axis can be changed using the _redefinePosition()
command. The position value is specified as an absolute value or as a relative position offset.
The behavior can be specified by means of the RedefineSpecification parameter:
● COMMAND_VALUE setting: The setpoint of the axis position is modified.
● ACTUAL_VALUE setting: The actual value of the axis position is modified.
● COMMAND_VALUE_BASIC_MOTION setting: Like COMMAND_VALUE, but with
reference to the basic coordinate system
● COMMAND_VALUE_SUPERIMPOSED_MOTION setting: Like COMMAND_VALUE, but
with reference to the superimposed coordinate system
The other value in each case is aligned.

%HIRUHBUHGHILQH3RVLWLRQ
BUHGHILQH3RVLWLRQ 
$FWXDOYDOXH 6HWSRLQW

$FWXDOYDOXH 6HWSRLQW
$IWHUBUHGHILQH3RVLWLRQ

Figure 8-8 Absolute offset of axis position relative to setpoint

TO Axis Electric / Hydraulic, External Encoder

360 Function Manual, 04/2014
 Part III Programming/Reference
8.4 Commands for defining the coordinate system

%HIRUHBUHGHILQH3RVLWLRQ
BUHGHILQH3RVLWLRQ 
$FWXDOYDOXH 6HWSRLQW

$FWXDOYDOXH 6HWSRLQW
$IWHUBUHGHILQH3RVLWLRQ

Figure 8-9 Absolute offset of axis position relative to actual value

If the set positions and/or actual positions of several axes must be re-set concurrently, this can
be realized as follows:
● Programming of the _redefinePosition() commands for the various axes within the IPO-
synchronous user task
Requirement: For the associated axes, the appropriate IPO cycle clock must be set for this
IPO-synchronous user task.
● Programming of the _redefinePosition() commands within a block for the synchronous
processing
(See Motion Control Base Functions manual, Synchronous Start section).

Basic coordinate system or superimposed coordinate system (as of V3.1)

_redefinePosition() can act on the basic coordinate system or the superimposed coordinate
system. The behavior can be specified by means of the RedefineSpecification parameter.

See also
Superimposed motion (Page 172)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 361
Part III Programming/Reference
8.5 Simulation commands

8.5 Simulation commands

8.5.1 Enabling/disabling program simulation

The _enableAxisSimulation() command sets the axis to program simulation. If the axis is in
motion, it is stopped using the preassigned braking ramp. As for a virtual axis, the actual values
are taken from the setpoints. The axis enables and setpoint generation remain active, as do
the active motion commands.
While simulation is active, the command variable is calculated and the actual value of the
interpolator is set to the setpoint of the interpolator, irrespective of the real actual value of the
axis. The real actual value of the axis is not affected by the program simulation.
If the axis is operated in simulation mode, a program with command variable calculation can
be executed; in this case, motions are not executed by the axis, but are only simulated.

Terminate simulation.
The _disableAxisSimulation() command resets the axis out of program simulation. The real
actual values then continue to be accepted. All other states remain unchanged. Any existing
following error is removed immediately.
The following examples describe how to avoid the following error being removed immediately.

Example: Travel onwards from the actual position of axis

1. Switch the module off and on again.
2. Deactivate the simulation.
Before deactivation, the setpoint has been set to the actual value.

Example: Travel onwards from the new setpoint

1. Determine the different between the setpoint and actual value.
2. Set the setpoint to the actual value using _redefinePosition().
3. Deactivate the simulation.
4. Travel the difference between the setpoint and actual value.

The _resetAxis() command also terminates the program simulation of the axis.

Effectiveness and status

The _enableAxisSimulation() and _disableAxisSimulation() commands are effective in the
following TO states: Inactive, Active, Motion, and Motion stop without abort.
The current simulation mode can be scanned by means of the simulation system variable
(program simulation).

TO Axis Electric / Hydraulic, External Encoder

362 Function Manual, 04/2014
 Part III Programming/Reference
8.5 Simulation commands

Note
The outputting of setpoint values may be blocked by the simulation.
Axis errors, such as "Drive not connected" or "Encoder fault" cannot be avoided in this way;
the axis must be functional same as a non-simulated axis.

System variables

Table 8-18 System variables for program simulation

Variable State Meaning

Simulation ACTIVE/INACTIVE Simulation status

See also
Setting as a real axis without drive (axis simulation) (Page 59)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 363
Part III Programming/Reference
8.6 Information functions / command buffers

8.6 Information functions / command buffers

8.6.1 Overview of information functions/command buffer

The information commands on the axis can be used to read out the command and motion
status of axis commands. It is possible to store the command status for longer than the period
during which the command is in effect on the axis. The commands are identified with the
CommandId. To scan the status, you need to specify the axis as well as the CommandId
assigned to the command.

8.6.2 Reading the execution status of a motion command

The _getStateOfAxisCommand() command returns the execution status of a motion command.
The status can be scanned while the command is being executed. Upon completion, the
CommandId is deleted.
If a CommandId scan is required beyond this time period, it can be stored in a buffer and then
cleared at any time, see _bufferAxisCommandId and _removeBufferedAxisCommandId.
The following statuses are reported:
● Command is being executed
● CommandId not known or command already completed
● Command is decoded, execution has not yet started
● Command is decoded, waiting for a synchronous start
● Execution of the command has been completed
● Execution of the command has been aborted
The "Execution of the command has been completed" and "Execution of the command has
been aborted" statuses are only returned when the command status is stored. The
_bufferAxisCommandId( ) command can be used to store the CommandId and command
status in the system beyond the end of the command.
For the "Execution of the command has been aborted" status (ABORTED), the reason for
aborting is also given (V3.2 and higher)

System variables
None

See also
Saving the Command ID (Page 366)

TO Axis Electric / Hydraulic, External Encoder

364 Function Manual, 04/2014
 Part III Programming/Reference
8.6 Information functions / command buffers

8.6.3 Reading current phase of motion

The _getMotionStateOfAxisCommand() command returns the current phase of the motion.
The following statuses are reported:
● NOT_EXISTENT
CommandId not known or command already completed
See also Saving the Command ID (Page 366)
● BUFFERED
Command is in the command queue
● IN_EXECUTION
Command is being executed
● IN_ACCELERATION
The motion generated by the command is in the acceleration phase
● IN_CONSTANT_MOTION
The motion generated by the command is in the constant motion phase
● IN_DECELERATION
The motion generated by the command is in the deceleration phase
● AXIS_HOMED
Axis synchronized
● INTERPOLATION_DONE
The setpoint interpolation of the command is completed
● SYNCHRONIZING
Synchronizing
● DESYNCHRONIZING
Desynchronizing
● SYNCHRONIZED
Synchronous operation
● MODIFICATION_ACTIVE
Compensating movement is active with scaling or offset in synchronous operation
● EXECUTED
Execution of the command has been completed
See also Saving the Command ID (Page 366)
● ABORTED
Execution of the command has been aborted

System variables
None

See also
Saving the Command ID (Page 366)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 365
Part III Programming/Reference
8.6 Information functions / command buffers

8.6.4 Saving the Command ID

The _bufferAxisCommandId() command causes the command status and the CommandId to
be stored beyond the command execution time. This permits a command status to be queried
even if the command has already been completed.
In V3.2 and higher, the command includes an additional parameter that can suppress deletion
of the CommandId on resetting.

Note
The maximum number of CommandIds with command status that can be stored is specified
in the decodingConfig.numberOfMaxBufferedComandId configuration data element. This
must be managed by the user program. If the buffer overflows, the command will be rejected
with a return value.

8.6.5 Canceling saving of Command ID

The _removeBufferedAxisCommandId() command clears the specified CommandId and the
command status from the buffer. Alternately, all stored CommandIds can be deleted.

8.6.6 Reading the status of a specific error on the axis

The _getAxisErrorNumberState() command is used to read the status of a specific error on
the axis.

8.6.7 Reading out pending alarms (V4.0 and higher)

The error status, alarm number, and alarm parameters of up to eight pending alarms can be
read out with the _getAxisErrorState() command.

8.6.8 Reading the status of the motion buffer on the axis

The information command _getStateOfMotionBuffer() on the MotionBuffer can be used to
manage the buffer on the axis. This can be used to check whether the axis is ready to accept
motion commands before those commands are issued. All sequentially effective commands
are stored in the motion buffer.
The _getStateOfMotionBuffer() command returns the status of the motion buffer on the axis:
EMPTY, FULL, or WRITEABLE.

TO Axis Electric / Hydraulic, External Encoder

366 Function Manual, 04/2014
 Part III Programming/Reference
8.6 Information functions / command buffers

8.6.9 Clearing the motion buffer on the axis

The information command and the reset command on the motion buffer can be used to manage
the motion buffer on the axis. This can be used to check whether the axis is ready to accept
motion commands before those commands are issued.
The _resetMotionBuffer() command deletes all commands in the motion buffer and the
commands pending for the motion buffer. The current command is not deleted. The
_resetMotionBuffer() command is executed synchronously. The command is active in all axis
states.

8.6.10 Activating data sets

Data set commands can be used to read, write, and activate data sets on the axis.
The _setAxisDataSetActive() command sets the data set specified in the function parameter
to active.

System variables

Table 8-19 System variables for activating data sets

Variable State/type Meaning

dataSetMonitoring See the Information for data set
StructDataSetMonitoring data changeover
type as defined in the reference ● State
list of the system variables
● Requested data set
● Current data set

Note
If the active measuring system is switched via a data set changeover, the
_setAndGetEncoderValue() system function should be used to synchronize the two
measuring systems before the switchover takes place. This will prevent unwanted
compensating motions of the position controller if differences in position are identified.
The data sets must have the same control loop structure and must not contain a change that
requires a restart. This means that when DS_1 is with DSC, DS_2 must also be with DSC.
Settings that require a restart cannot be activated via a data set changeover.

See also
Data sets (Page 206)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 367
Part III Programming/Reference
8.6 Information functions / command buffers

8.6.11 Writing a data set

The _setAxisDataSetParameter() command can be used to overwrite an inactive data set on
the axis. The data set number is specified in the command.

See also
Data set overview (Page 206)

8.6.12 Reading a data set

The _getAxisDataSetParameter() command can be used to read any data set on the axis. The
data set number is specified in the command.
The command reads the data that can be written with the _setAxisDataSetParameter()
command.

See also
Data set overview (Page 206)

8.6.13 Writing the force/pressure-specific data of a data set

The _setForceControlDataSetParameter() command can be used to overwrite the force/
pressure-related data of an inactive data set. The data set number is specified in the command.
The following force-/pressure-related data is contained in the data set:
● Monitoring of the control deviation of the force controller
● Force controller data
Force controller setting
Limitations of the manipulated variable of the force controller
PID controller setting
Controller type
Effective direction of the manipulated variable (can be switched with V4.2 and higher)
Inversion of the force controller manipulated variable
Detailed information about the parameters can be found in the TP Cam System Functions
Reference List.

Note
The force/pressure-specific data of the data set cannot be written on the speed-controlled
axis.

TO Axis Electric / Hydraulic, External Encoder

368 Function Manual, 04/2014
 Part III Programming/Reference
8.6 Information functions / command buffers

8.6.14 Reading the force/pressure-specific data of a data set

The _getForceControlDataSetParameter() command can be used to read the force/pressure-
related data in the data set. The data set number is specified in the command.
The command reads the data that can be written with the
_setForceControlDataSetParameter() command.

Note
The force-/pressure-specific data of the data set cannot be read on the drive axis.

8.6.15 Writing the data of the data set (hydraulic functionality only)
The _setQFAxisDataSetParameter() command can be used to overwrite the specific
parameters for the axis with hydraulic functionality in an inactive data set. The data set number
is specified in the command.
The following specific parameters of the axis with hydraulic functionality are contained in the
data set:
● Inversion of F output
● Dynamic response adaptation to the axis with hydraulic functionality
● Data for the speed controller on the drive axis with hydraulic functionality
Detailed information about the parameters can be found in the TP Cam System Functions
Reference List.

Note
The specific data for the axis with hydraulic functionality in the data set cannot be written on
the drive axis.

8.6.16 Reading the force/pressure-specific data of the data set (hydraulic functionality only)
The _getQFAxisDataSetParameter() command can be used to read the specific parameters
for the axis with hydraulic functionality in the data set. The data set number is specified in the
command.
The command reads the data that can be written with the _setQFAxisDataSetParameter()
command.

Note
The specific data for the axis with hydraulic functionality in the data set cannot be read on
the speed-controlled axis.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 369
Part III Programming/Reference
8.6 Information functions / command buffers

8.6.17 Command for calculating a braking distance

With the _getAxisStoppingData() command, the system calculates the braking distance as a
function of a specified actual velocity, actual acceleration, motion profile, and dynamic
response parameters.

TO Axis Electric / Hydraulic, External Encoder

370 Function Manual, 04/2014
 Part III Programming/Reference
8.7 Assigning automatic controller optimization

8.7 Assigning automatic controller optimization

Here, you operate the automatic controller optimization. To perform the automatic controller
setting, you must have an ONLINE connection to the drive device of the relevant drive.

 





1 Measuring functions status display

2 Drive unit
3 Operator buttons
4 Controller selection
5 Drive selection
6 Progress message box
7 Description of current step
8 Result display

Figure 8-10 Automatic optimization - Example: speed controller

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 371
Part III Programming/Reference
8.7 Assigning automatic controller optimization

The following operator input options and displays are available:

Field/Button Meaning/Instruction
Measuring functions status display This area shows whether or not the drive is active in the step. The following
information is displayed:
● Measuring function active
Drive/axis is moving
● Measuring function inactive
Drive/axis is not moving
Drive unit This combo box offers all the SINAMICS drive units in the open project that
contain drives operated in the "SERVO" closed-loop control type and that the
motor measuring system uses as encoders.
Selection is possible provided the master control has not yet been assumed.
Assume control priority/ This allows you to assume master control in order to perform automatic
Give up control priority controller setting.
Master control can be released only once the drive has been switched off.
Operator buttons
Drive ON
This button can be pressed if master control has already been assumed.
This enables the infeed and assigns the drive enable. This is not the same as
a POWER ON of the hardware. Afterwards, the controller setting can be started.
To cancel and then restart the function, perform the following operating input
sequence:
Switch off drive -> Switch on drive
Drive OFF
You can use this button to reset the functions initiated by Drive ON.
This enables the infeed and inhibits the drive enable. This is not the same as a
POWER OFF of the hardware. If it is detected that calculated parameters are
present (the last step has been completed) that have not yet been transferred
to the drive/axis, a confirmation prompt will be issued, asking whether the
controller setting is now complete and, as a result, the calculated parameters
should be discarded.
Automatic execution
Automatically performs all steps of the controller setting starting with the current
selection on the step display.
This button will be deactivated once the last possible step has been performed.
Execute step
The single step of the controller optimization selected on the step display will
be performed and the step display then incremented by one step.
This button will be deactivated once the last possible step has been performed.
Step back
Sets the step display back one step. If the step display is at step 1, the button
is deactivated.
Cancel step
Cancels the execution of the current step; the step display remains at the
canceled step.
Help
Opens the help for this screen form.

TO Axis Electric / Hydraulic, External Encoder

372 Function Manual, 04/2014
 Part III Programming/Reference
8.7 Assigning automatic controller optimization

Field/Button Meaning/Instruction
Controller selection In Controller selection, you can select which controller to set. The view on the
screen form will then show the appropriate controller.
The combo box contains the following selection options:
● "Speed controller" (always available)
● "Position controller (DSC)" (offered only if SCOUT is installed on the PC).
Before the setting is applied, a few call conditions are checked and any
unfulfilled conditions are displayed.
The selection can be changed at any time, provided no step is currently being
executed.
Drive selection In Drive selection, a drive corresponding to the setting in the Drive unit field can
be selected.
The following rules apply for the "Drive" input field:
● The field is labeled "Drive". If SCOUT is installed on the PC, it is called "Drive
(axis)".
● If SCOUT is installed and the drive is connected to at least one axis, the
connected axis is appended to the drive name in brackets, in the form
"(<device>.<axis name>)". If the drive is to be connected to multiple axes,
"..." is appended to the first axis name.
● The tool tip for the Drive field contains all names in the syntax shown above
for the axes connected with the drive.
The field can only be operated provided the master control has not yet been
assumed.
As soon as the "Drive selection" field registers a change, the parameters of the
newly selected drive are registered in the "Current value" column in the result
display for a cyclic update.
Progress message box The step control presents the status overview of the steps of the "automatic
controller setting" on the left.
The step has been executed.
Selection of the step that will be executed next or is currently being executed.
Step has not yet been executed.
Expert mode Checkbox
If the checkbox for Expert mode is selected, the Amplitude, Bandwidth,
Averaging operations, and Offset input fields are displayed. The user can enter
special settings for the next optimization step in these fields.
The checkbox is deselected as the default setting. If the checkbox is
deactivated, the parameter settings determined by the optimization tool are
used for the measurement.
Kv factor As a result of step 2 of the position controller optimization ("Calculation of the
(controller = position controller) position controller setting"), the determined Kv factor is indicated. Provided no
new value has been calculated, the display shows "–". This is also the standard
display when the screen form starts.
Select axes and data sets This button can be used to call a dialog that shows the possible axes (in
button "…" accordance with the relevant requirements and supplementary conditions) and
their axis data sets in which the Kv factor can be accepted.
(controller = position controller)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 373
Part III Programming/Reference
8.7 Assigning automatic controller optimization

Field/Button Meaning/Instruction
Result display This table displays the parameters whose values were determined during the
controller optimization.
The Current value column displays the current value of the parameter read out
cyclically from the target device.
The Calculated value column displays the value of the parameter determined
from the controller setting. Provided no new value has been calculated, the "–"
character is displayed instead of the value. This is also the standard display
when the screen form starts.
Accept The Accept button is active only when step 4 of the speed controller optimization
(controller = speed controller) has been completed successfully.
The calculated values are applied to the drive.
Accept The Accept button is active only under the following conditions:
(controller = position controller) ● Step 2 for the position controller optimization must have completed
successfully.
● An online connection to the associated SIMOTION device must exist.
● The axis is online-consistent.
● The axis data set table contains at least one data set.
The calculated values are applied to the drive.

Note
Emergency cancelation of automatic setting with <spacebar>
The following actions are performed:
● The step currently being executed is canceled
● The drive is disabled

See also
Overview of automatic controller setting (as of V4.1 SP1) (Page 238)

TO Axis Electric / Hydraulic, External Encoder

374 Function Manual, 04/2014
 Part III Programming/Reference
8.8 Technological alarms

8.8 Technological alarms

8.8.1 Alarm reactions

The reactions of the axis to technological alarms (local reaction) are implemented by the
system.
The local reactions are preset on an alarm-specific basis or they can be set in the alarm
configuration.
The following local reactions on the axis are available:
● NONE
– No reaction
– The responses can be specified by the user in the TechnologicalFaultTask.
● DECODE_STOP
– Command processing aborted
– The current motion (thus, for example, also the MotionIn command) and commands in
the motion buffer are still executed.
– New motion commands are rejected.
– Further reactions can be specified by the user in the TechnologicalFaultTask.
● END_OF_MOTION_STOP
– Abort at the end of the command causing the error
– Stop of the motion at the end of the command
– The current motion command (thus also the MotionIn command) is still executed.
– New motion commands are rejected.
– Further reactions can be specified by the user in the TechnologicalFaultTask.
● MOTION_STOP
– Controlled motion stop with programmed ramp values.
– The current motion command (thus also the MotionIn command) is stopped.
– New motion commands are rejected.
– Motion commands are not canceled and are resumed when the error reaction is
acknowledged.
– No more new motion commands are accepted.
– Further reactions can be specified by the user in the TechnologicalFaultTask.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 375
Part III Programming/Reference
8.8 Technological alarms

● MOTION_EMERGENCY_STOP
– Controlled motion stop with maximum ramp values/limits for the axis.
– The current motion command (thus also the MotionIn command) is stopped.
– New motion commands are rejected.
– Motion commands are not canceled and are resumed when the error reaction is
acknowledged.
– No more new motion commands are accepted.
– Further reactions can be specified by the user in the TechnologicalFaultTask.
● MOTION_EMERGENCY_ABORT
– Controlled motion stop with maximum axis dynamic values (starting from the current
setpoint).
– Active commands (IPO) are aborted and signaled back to the user program with an error
code.
– The drive remains active.
– The position controller remains active.
– The IPO remains active.
– Further reactions can be specified by the user in the TechnologicalFaultTask.
– After the error is acknowledged with _resetError(), the axis can travel again.
(provided that the cause of the error no longer exists)
● FEEDBACK_EMERGENCY_STOP
– Motion stop with preassigned braking ramp.
See Stopping with preassigned braking ramp (Page 166).
– Manipulated variable superimposition not effective.
– Active commands (IPO) are aborted and signaled back to the user program with an error
code.
– The drive remains active.
– The position controller remains active.
– The IPO goes into follow-up mode, preassigned braking ramp servo (time specification
in the servo for preassigned braking ramp)
IPO and servo are then active again.
– Further reactions can be specified by the user in the TechnologicalFaultTask.
– After the error is acknowledged with _resetError() and the axis is reset with
_resetAxis(), the axis can be traversed further (provided the cause of the problem no
longer exists).

TO Axis Electric / Hydraulic, External Encoder

376 Function Manual, 04/2014
 Part III Programming/Reference
8.8 Technological alarms

● OPEN_POSITION_CONTROL
– Motion stop with speed setpoint zero and abort
– The position control loop is decoupled from the setpoint circuit.
– Active commands (IPO) are aborted and signaled back to the user program with an error
code.
– The position controller enable is canceled.
– The control unit transmits the setpoint to the drive.
– The drive stops (because of setpoint 0).
– The drive remains active.
– The Ipo goes into follow-up mode.
– Further reactions can be specified by the user in the TechnologicalFaultTask.
– After the error is acknowledged with _resetError() and the drive and position controller
are activated with _enableAxis(), the axis can travel again (provided that the cause of
the problem no longer exists).
● RELEASE_DISABLE
– Motion disable with controller disable and abort of all commands
– The drive enables are canceled.
See also Coupling of digital drives (Page 55) and Adjustable response to
RELEASE_DISABLE (Page 378).
– The controller enables are canceled.
– Active commands (IPO) are aborted and signaled back to the user program with an error
code.
– Position controller and Ipo go into follow-up mode.
– Further reactions can be specified by the user in the TechnologicalFaultTask.
– After the error is acknowledged with _resetError() and the drive and position controller
are activated with _enableAxis(), the axis can travel again (provided that the cause of
the problem no longer exists).

Note
Active commands are commands in the IPO or commands that are being executed;
these commands are no longer in the motion buffer.
When you acknowledge an error with _resetAxisError(), you must delete any
commands in the motion buffer with _resetMotionBuffer().
The preset responses of the technology alarms can be overwritten by higher-priority
stop responses.
Global alarm reactions can be set on the technology object (execution system,
FaultTasks).

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 377
Part III Programming/Reference
8.8 Technological alarms

See also
Jerk limitation for local stop response (V3.2 or higher) (Page 171)

8.8.2 Adjustable response to RELEASE_DISABLE

The drive response to the RELEASE_DISABLE alarm response can be set (with a digital drive
link).
See Coupling of digital drives (Page 55).

See also
Alarm reactions (Page 375)

8.8.3 Toleration of the failure of an encoder not involved in closed-loop control (V4.0 and
higher)
If an encoder that is not involved in closed-loop control fails, the system should neither stop
the axis nor disable the drive.
In the following cases, an encoder is not involved in closed-loop control:
● If the encoder is not selected.
That is, one of the 8 possible encoders of the axis is configured and active (running) but it
is not the selected encoder at the moment.
● If the encoder is selected but not involved in closed-loop control.
This behavior is set using the
typeOfAxis.numberOfEncoders.Encoder_1.sensorControlConfig.tolerateSensorDefect
configuration data element.
As of SINAMICS V2.6.2, the failure of an encoder not involved in closed-loop control is
indicated by alarm 20015.

TO Axis Electric / Hydraulic, External Encoder

378 Function Manual, 04/2014
Part IV External Encoder - Description 9
9.1 External encoder overview
The External Encoder technology object ("ExternalEncoder") records a position and provides
the position to the control. The determined position can be evaluated in the user program.
The reference of the encoder position to a defined position is produced by parameterization
of the mechanical properties and a homing procedure.
The position is stated independently of the encoder type and depending on the selected unit
system:
● Linear unit system
The position is given as a length dimension, e.g. millimeters (mm).
● Rotary unit system
The position is given as an angle dimension, e.g. degrees (°).
Information from the External Encoder technology object can be used as input variables for
other technology objects, such as the Synchronous Operation technology object, Output Cam
technology object, or Measuring Input technology object, or to display the actual value of an
external motion.
The External Encoder technology object can be used with
● Incremental encoders
● Absolute encoders
● Resolvers
● Encoders on direct value/analog value
● Encoders on count value
● …
An external encoder can be used only on one position-related encoder.
The external encoder is referred to by the data type externalEncoderType in reference lists
and when programming.
From V3.2 onwards, the External Encoder technology object is included in the Cam and
Cam_ext technology packages.

Interconnections
The External Encoder technology object can be interconnected with the following technology
objects:
● Synchronous Operation technology object
The External Encoder technology object is used to provide a master value.
● TO output cam
The External Encoder technology object is used to provide a reference value.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 379
Part IV External Encoder - Description
9.1 External encoder overview

● TO cam track
The External Encoder technology object is used to provide a reference value.
● TO measuring input
The External Encoder technology object is used to provide a reference value.

Programming commands/functions for the External Encoder technology object

The MCC and ST programming languages are available for programming external encoders.
See the SIMOTION MCC Programming Manual or the MCC programming language in the
online help.

TO Axis Electric / Hydraulic, External Encoder

380 Function Manual, 04/2014
External Encoder Fundamentals 10
10.1 Actual values for the external encoder technology object
Each position actual value possible on the technology object type can be used as the actual
value of the external encoder technology object.
These are, for example:
● Actual value (encoder1 or encoder2) from a PROFIdrive axis telegram
– Encoder from a PROFIdrive axis telegram to a SINAMICS drive object
With SINAMICS it is possible to configure multiple encoders, from which a maximum of
two encoder values can be transmitted in each axis telegram.

Note
An encoder in a PROFIdrive axis telegram can only be used for an external encoder
TO or for the encoder of a TO axis in cyclical operation if a TO axis is also created on
the PROFIdrive telegram and is not deactivated.

– Encoder from a PROFIdrive axis telegram to ADI4 (at least one axis must be created
on the ADI4)
– Encoder from a PROFIdrive axis telegram to IM174 (at least one axis must be created
on the IM174)
– Encoder from a PROFIdrive axis telegram to a non-SINAMICS drive
● Actual value from a PROFIdrive encoder telegram
– Encoder from a PROFIdrive encoder telegram to a SINAMICS encoder object, e.g. to
an SMC module
– Encoder from a PROFIdrive encoder telegram to a PROFIBUS encoder module, e.g.
SIMODRIVE sensor
– Encoder from a PROFIdrive encoder telegram to a PROFINET encoder module, e.g.
MC encoder
– Encoder from a PROFIdrive encoder telegram to any other encoder module
● Actual value as a direct value in the I/O area
● Only C2xx: Actual value via encoder signal evaluation directly at the SIMOTION CPU

For further information, refer to the relevant hardware manuals.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 381
External Encoder Fundamentals
10.2 Encoder mounting type

10.2 Encoder mounting type

Figure 10-1 Definition of the mounting type of an external encoder in SIMOTION SCOUT

Mounting types for the external encoder

● On the drive side
● On the load side
● External
The transmission ratios must be entered via configuration data:
● For "drive side" mounting using the adaptdrive configuration data element
● For "load side" mounting using the adaptload configuration data element
● For "external" mounting using the adaptextern configuration data element
● For linear encoder system mounting, the transmission ratio is always 1.

TO Axis Electric / Hydraulic, External Encoder

382 Function Manual, 04/2014
 External Encoder Fundamentals
10.3 Encoder for position

10.3 Encoder for position

The controller uses an encoder to detect the axis position.
From a technological standpoint, the following encoder types can be differentiated:

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 383
External Encoder Fundamentals
10.3 Encoder for position

● Incremental encoder
On the controller side, only the difference between two read encoder values is evaluated.
Values are read out in the servo cycle clock at equal intervals. In order to determine the
mechanical axis position, the axis must be homed each time the system is switched on.
Position zero is displayed after it is switched on.
● Absolute encoder
This encoder supplies the absolute value or, in the case of an absolute value in the
PROFIdrive message frame, the absolute value is read one time after the system is
switched on. After this, the actual value is processed in the same way as with the
incremental encoder.
The absolute value supplied by the encoder is assigned to the associated mechanical axis
position by means of the absolute encoder adjustment. The absolute encoder adjustment
occurs only one time, and the controller remembers the compensation value/absolute
encoder offset even after it is powered on/off.
Certain situations, such as an encoder failure, a restart, etc., can require an absolute
encoder re-adjustment. For more information, refer to the chapter titled Absolute encoder
homing/Absolute encoder adjustment.
The following absolute encoder types are differentiated:
– Absolute encoder with absolute encoder setting
The measuring range of this encoder is greater than the axis traversing range.
The axis position results directly from the current encoder value since this can be
uniquely mapped.
An offset may be entered - it is not necessary to hold overflows within the controller.
There are no overflows of the absolute actual value stored when SIMOTION is switched
off. The next time it is switched on, the actual position value is generated from the
absolute actual value only.
– Absolute encoder with cyclic absolute encoder setting
The axis traversing range is greater than the range of values measured by the encoder,
and the encoder returns an absolute value within its measuring range.
The controller also counts the number of measuring ranges internally in order to hold a
unique actual axis position beyond the range of measured values.
When SIMOTION is switched off, the overflows of the absolute actual value are stored
in the retentive memory area of SIMOTION. The next time it is switched on, the stored
overflows are taken into account for the calculation of the actual position value.
The actual position of the axis is passed internally in a 64-bit integer variable.
Example of a single-turn encoder with 4,096 increments:
The position of the encoder is mapped in bits 0 to 11, and the number of overflows of
the encoder range in bits 12 to 63.
Example of a multi-turn encoder with 4,096 x 4,096 increments:
The position of the encoder is mapped in bits 0 to 23, and the number of overflows of
the encoder range in bits 24 to 63.

The overall position of the axis is retained after the controller is switched off. When the
controller is switched on again, if the actual encoder value does not match the actual
position stored in the controller, it will be corrected to a maximum of ± ½ the encoder
measuring range.

TO Axis Electric / Hydraulic, External Encoder

384 Function Manual, 04/2014
 External Encoder Fundamentals
10.3 Encoder for position

Note
If the axis/encoder is moved by more than one half the encoder measuring range with
the controller switched off, the actual value in the controller no longer matches the real
axis.

See also
Absolute encoder homing / absolute encoder adjustment (Page 98)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 385
External Encoder Fundamentals
10.4 Encoder for velocity

10.4 Encoder for velocity

Encoders for detection and display of the speed/velocity can only be applied to speed-
controlled axes.

Options are:
● Incremental encoders/absolute encoders with number of increments or pulses/revolution
(for electric axes)
● Interval counters (for hydraulic axes)
● Encoders providing the velocity as a direct value in the I/O area (for hydraulic axes)
● Read-out of the speed from the PROFIdrive message frame and provision for technological
functionality, e.g. velocity monitoring

TO Axis Electric / Hydraulic, External Encoder

386 Function Manual, 04/2014
 External Encoder Fundamentals
10.5 Encoder assignment and terminology

10.5 Encoder assignment and terminology

The encoder type is specified with the encoder mode.

Table 10-1 Definable encoder mode depending on the encoder type

Encoder mode Encoder type

Absolute Cyclic absolute Incremental
encoder encoder encoder
PROFIdrive (with adaptation 1)) (as of V4.2) x x x
Endat (encoder data interface) x x x
SSI (synchronous serial interface) x x -
Sinusoidal - - x
Rectangle - - x
Resolver - x 2) x
Analog encoder (value in the I/O area) x - -
1)
The adaptation setting (set by the system by default with V4.2 or higher and SINAMICS) makes
changes based on the encoder set in SINAMICS. The encoder resolution and fine resolution are
adopted during runtime.
2)
Possible with single-pole-pair resolver only
When the encoder signals are evaluated in an encoder module or drive, the actual values are
transferred to the controller in the normalized format according to the PROFIdrive profile. The
type of measured value acquisition is dependent on the drive or encoder module, e.g. Sinus,
SSI or Endat. The PROFIdrive encoder mode can therefore be set in the controller (as of V4.2).
As of SIMOTION V4.2, the system makes the settings for communication between SIMOTION
and SINAMICS drive (encoder). The project setting Use symbolic assignment is activated by
default for new projects as of V4.2. Telegrams are set automatically. Encoder characteristics
such as fine resolution, grid spacing, and the absolute value for data width are adapted
automatically when the system ramps up.
For encoder data, refer to the data sheet or type plate of the encoder. With SINAMICS, encoder
data can be transferred from the drive.
The rest of this chapter is only relevant if the project default setting Use symbolic assignment
is deactivated as of V4.2, or if you are working with a project which uses SIMOTION V4.1.

Encoder pulses per revolution

The encoder pulses per revolution is specified on the encoder type plate as the number of
signal periods per revolution (incremental encoder: Pulses/rev; absolute encoder: Pulses/rev;
resolver: Number of pole pairs (for SINAMICS and MASTERDRIVES)).
Configuration data:
● AbsEncoder.absResolution
● IncEncoder.incResolution

Grid line spacing (linear encoder system)

The grid line spacing is specified on the type plate of the encoder as the distance between
lines on the linear measuring system (linear scale).
Configuration data:

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 387
External Encoder Fundamentals
10.5 Encoder assignment and terminology

● Resolution.distance

Fine resolution
The fine resolution of the actual value is the interpolation result of a signal period of an encoder
pulse.
The fine resolution steps are generated by the measuring electronics from the raw signal of
the encoder pulses. Factors as a multiple of 2 are possible.
Example:
● A rectangle signal has a fine resolution of 1
● Two rectangle tracks (TTL signal) offset by 90° have a fine resolution of up to 4
● Depending on the measuring electronics, a sinusoidal signal can have any fine resolution,
in principle, e.g. 2,048
Depending on the defined encoder type, the default value 0 is interpreted differently in
SIMOTION (see table: Default settings for fine resolution in SIMOTION).
In SIMOTION, the multiplication factor is specified, rather than the shift factor/number of bits
(x).
The actual value, including the fine resolution, is indicated in the
sensorData.incrementalPosition system variable.
Configuration data:
● AbsEncoder.absResolutionMultiplierCyclic
● IncEncoder.incResolutionMultiplierCyclic

Data width of absolute value (without fine resolution) for absolute encoders
The data width of the absolute value (without fine resolution) is a result of the sum of the bits
for representing the number of encoder pulses and the bits for representing the maximum
number of revolutions that can be registered by the encoder according to the type plate.
Example:
4,096 pulses/rev (= 212) and a maximum of 4,096 revolutions that can be registered yields a
12 + 12 = 24-bit data width of the absolute value.
Configuration data:
● AbsEncoder.absDataLength

Fine resolution of absolute value in Gn_XIST2.

This parameter for the format of the Gn_XIST_2 is only relevant for encoders via PROFIdrive
telegram (for more information, see Encoder interconnection via PROFIdrive telegram).
Configuration data:
● AbsEncoder.absResolutionMultiplierAbsolute
The fine resolution of the absolute value in Gn_XIST2 must be less than or equal to the fine
resolution of the absolute value in Gn_XIST1.

TO Axis Electric / Hydraulic, External Encoder

388 Function Manual, 04/2014
 External Encoder Fundamentals
10.5 Encoder assignment and terminology

Default setting for fine resolution.

Depending on the encoder mode, the default settings are evaluated by the system as described
in the table below. The default settings are used if 0 is assigned to the value.

Table 10-2 Default settings for fine resolutions in SIMOTION

Encoder type Encoder mode Fine resolution (Gn_XIST1) Fine resolution on the
absolute value (Gn_XIST2)
Onboard C2xx
Incremental encoder Rectangle 4 -
Stepper motor 1 -
Absolute encoder SSI 1 1
Encoder in PROFIdrive axis telegram
(applies to SINAMICS, SIMODRIVE 611U and MASTERDRIVES)
Incremental encoder Rectangle 2048 -
Sinusoidal 2048 -
Resolver 2048 -
Endat 2048 -
Absolute encoder Endat 2048 512
SSI 1 1
...Cyclic absolute Resolver 2048 512
(only pole pair number 1
possible)
Endat 2048 512
SSI 1 1
PROFIBUS absolute encoder in PROFIdrive encoder telegram
Absolute encoder SSI 2(32 - Number of data bits) 1

These settings are aligned to the default parameter settings of the corresponding Siemens
devices. If the behavior is different, alignment with the encoder should be performed by making
a corresponding entry in the configuration data of the technology object or in the parameters
of the drive or encoder. Depending on the device it may be necessary to assign the
corresponding parameters in the drive or encoder with the value of the exponent (shift factor).
Device-specific features for Masterdrives with Endat encoders:
For Masterdrives with Endat encoders, Endat or SSI can be selected in the encoder mode.
However, the fine resolution must always be configured in the axis wizard of the Axis or External
Encoder technology object differently from the default settings (see Encoder list (Page 391)).
Default setting:
● Fine resolution (~Encoder.~ResolutionMultiplierCyclic) = 0
● Fine resolution of the absolute encoder in Gn_XIST2
(AbsEncoder.absResolutionMultiplierAbsolute) =0
● If encoderMode=PROFIDRIVE, the values are evaluated as available, since the correct
values are adapted by the drive. A default setting of 0 is not permitted for this setting.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 389
External Encoder Fundamentals
10.5 Encoder assignment and terminology

See also
Encoder list (Page 391)

TO Axis Electric / Hydraulic, External Encoder

390 Function Manual, 04/2014
 External Encoder Fundamentals
10.6 Encoder list

10.6 Encoder list

For the most up-to-date list of encoders you can use with SIMOTION in conjunction with
SINAMICS, SIMOVERT-MASTERDRIVES, and SIMODRIVE 611U, go to http://
support.automation.siemens.com/WW/view/de/18769911.
The encoder list is also documented under FAQs > Drives > Parameters of the connectable
encoders in the SIMOTION Utilities & Applications and in the online help (look for encoder
parameter assignment in the index). SIMOTION Utilities & Applications is part of the scope of
delivery of SIMOTION SCOUT.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 391
External Encoder Fundamentals
10.7 Onboard encoder interface on SIMOTION C2xx

10.7 Onboard encoder interface on SIMOTION C2xx

Incremental encoders with TTL signal and absolute encoders with SSI protocol can be
connected directly to C230-2 or C240. (See the C230‑2 and C240 operating instructions and
Encoder list (Page 391))

See also
Encoder assignment and terminology (Page 387)
Encoder list (Page 391)

TO Axis Electric / Hydraulic, External Encoder

392 Function Manual, 04/2014
 External Encoder Fundamentals
10.8 Encoder interface using the PROFIdrive message frame

10.8 Encoder interface using the PROFIdrive message frame

As of SIMOTION V4.2, the system sets up communication between SIMOTION and SINAMICS
drive (encoder). For SINAMICS drives and encoders with V4.2 and higher, encoder resolution
data is transferred directly from the drive during runtime. Telegrams are set automatically.
The rest of this chapter is only relevant if the project default setting Use symbolic assignment
is deactivated as of V4.2, or if you are working with a project which uses SIMOTION V4.1.
The encoder values are transmitted in the PROFIdrive telegram (see Table Telegram types in
Section Setting as a real axis with digital drive coupling).
Encoder forced values, status values, and actual values are transmitted in the PROFIdrive
telegram.
The encoder behavior on SIMOTION is set as represented in the PROFIdrive protocol.
The encoder parameters are defined via the drive wizard during drive configuration (either
user-defined or by selecting the encoder).
Encoder parameters that are entered subsequently in the SIMOTION axis wizard must match
the encoder parameters in the drive.

Note
For SINAMICS drives with earlier versions than SIMOTION V4.2, it is possible to transfer the
encoder parameters from the drive. When assigning encoders in the axis wizard, click Data
transfer from the drive.
If you are using a DRIVE-CLiQ component with electronic type plate (e.g., SMI motor, DRIVE-
CLiQ encoder) you must first upload the parameters from the drive and save them in the
project (online commissioning). If the online commissioning is carried out at a later point, you
can work with the default settings of the axis wizard in the meantime during offline
configuration. Once online commissioning is complete, upload the drive parameters, save
them in the project, run the axis wizard again, and perform the Data transfer from drive
function.
If you change the encoder data in the drive, you must perform an alignment again in the axis
wizard.

Further sources of information:

● Encoder list (Page 391)
● User Manual SIMODRIVE sensor Absolute encoder with PROFIBUS‑DP
● Operating Instructions Absolute encoder with PROFINET IO (Chapter Operating with
SIMOTION)

Encoder value via PROFIdrive axis telegrams

For further information, refer to the commissioning manuals for the drives.
The first and (if present) second encoder of the PROFIdrive axis telegram can be assigned
freely to an External Encoder technology object or to the encoder of an axis.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 393
External Encoder Fundamentals
10.8 Encoder interface using the PROFIdrive message frame

Encoder value via PROFIdrive encoder telegram 8x

PROFINET/PROFIBUS encoders can be set in accordance with the current specifications of
the encoder profile with telegram type 81 and as of V4.2, with telegram type 83. These
encoders can be assigned freely. See also PROFINET/PROFIBUS absolute encoder via
PROFIdrive encoder telegram in the next chapter.

Inconsistent configuration
In the event of errors or inconsistencies between the configuration data in SIMOTION and the
parameter settings for the encoder in the drive, a technological alarm is triggered as soon as
an online connection is established between the control and the drive/encoder.
As off SIMOTION Runtime V4.4: Technological alarm 20025 with applicable reason
In SIMOTION Runtime < V4.4: Technological alarm error 20005: Device type:2, log.address:
1234 faulty. (Bit:0, reason: 0x80h)
For PROFIdrive encoders and encoders on the axes according to PROFIdrive, a comparison
of the parameter assignment takes place via the following drive/encoder parameters:
P979 (SensorFormat) according to PROFIdrive, which contains information about the type,
resolution, and shift factors.
For drives or encoders that do not support parameter P979, the configuration data is evaluated
as valid without alarm message.

Actual value Gn_XIST1

The incremental actual value is transferred cyclically with the defined fine resolution in
Gn_XIST1. The incremental actual value in Gn_XIST1 is steadily continued according to the
actual value change and reset when the data width of Gn_XIST1 is exceeded. If operating with
incremental and absolute encoders, the control evaluates the incremental actual value in
Gn_XIST1 according to the settings made for encoder pulses per revolution and fine resolution,
or grid line spacing for linear scaling.
When the controller is switched on, the fine resolution value within one encoder signal period
is indicated correctly in Gn_XIST1. The initial value for the number of signal periods is set by
the drive/encoder, and the actual value can then be steadily continued from this initial value.
In the PROFIdrive profile, the fine resolution is given as "shift factor" (x).
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

,QFUHPHQWV )LQHUHVROXWLRQ

Figure 10-2 Example composition of the 32-bit encoder data of the cyclic actual value Gn_XIST1

Example of for an encoder with number of encoder pulses = 2048 (data width, 11 bits)
The fine resolution in SIMOTION in the Inc/AbsResolutionMultiplierCyclic configuration data
element is set to the default setting 0 and is thus evaluated as a default fine resolution of 2048
(the default value depends on the encoder mode setting; see Table Default settings for fine
resolution in SIMOTION).
SIMODRIVE 611U:

TO Axis Electric / Hydraulic, External Encoder

394 Function Manual, 04/2014
 External Encoder Fundamentals
10.8 Encoder interface using the PROFIdrive message frame

Table 10-3 Settings

SIMOTION 611U
Encoder pulses per revolution 1)
=2048 P1007 =2048
Fine resolution 2) =0 (≡ 2048) P1042 =11
1)
Inc/AbsEncoder.Inc/AbsResolution
2)
Inc/AbsEncoder.Inc/AbsResolutionMultiplierCyclic
SINAMICS:

Table 10-4 Settings

SIMOTION SINAMICS
Encoder pulses per revolution 1)
=2048 P408 =2048
Fine resolution 2) =0 (≡ 2048) P418 =11
1)
Inc/AbsEncoder.Inc/AbsResolution
2)
Inc/AbsEncoder.Inc/AbsResolutionMultiplierCyclic
Note the information about the SINAMICS alignment.

Actual value Gn_XIST2

If the positions for the measuring input or homing functions are transferred to Gn_XIST_2 (n
= 1 or 2, number of encoder), they are transferred with the fine resolution defined for the
encoder.
When the absolute value is read, the value in Gn_XIST_2 is evaluated based on the settings
for the data width of the absolute value (without fine resolution) in
AbsEncoder.absDataLength and the fine resolution absolute value in Gn_XIST2 is evaluated
in AbsEncoder.absResolutionMultiplierAbsolute.
The fine resolution of the absolute value in Gn_XIST2 indicates the fine resolution factor
included in the absolute value transfer. This can match the fine resolution of the actual value,
but it can also be smaller, for example, if the 32-bit data width in Gn_XIST2 is not sufficient for
the entire fine resolution factor as a result of the data width of the absolute value (without fine
resolution).
Example:
Encoder pulses per revolution = 2048 (11 bits) and multi-turn resolution of 4,096 revolutions
(12 bits)
Thus, the data width of the absolute value without fine resolution is 11 bits + 12 bits = 23 bits.
Therefore, 9 bits remain for the fine resolution in Gn_XIST2 (32 bits - 23 bits = 9 bits). The
setting 0 for the fine resolution of the absolute value in Gn_XIST2 is thus evaluated by the
system as 512 (= 9 bits).

Table 10-5 Setting the encoder data

Encoder pulses per revolution 1) 2048

Data width of absolute value (without fine resolution) 2) 23

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 395
External Encoder Fundamentals
10.8 Encoder interface using the PROFIdrive message frame

Fine resolution of absolute value in Gn_XIST2 3) 0 (= 512)

Fine resolution 4) 0 (= 2048)
1)
AbsEncoder.AbsResolution
2)
AbsEncoder.absDataLength
3)
AbsEncoder.absResolutionMultiplierAbsolute
4)
AbsEncoder.AbsResolutionMultiplierCyclic

31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

0XOWLWXUQUHVROXWLRQ (QFRGHUSXOVHVSHU )LQHUHVROXWLRQ

UHYROXWLRQ
1XPEHURIGDWDELWV

Figure 10-3 Example composition of the 32-bit encoder data of the absolute actual value Gn_XIST2

The number of bits resulting from the data width of the absolute value (without fine resolution)
and the number of data bits for the fine resolution of the absolute actual value must not exceed
32. If it is less than 32, leading zeroes are added in Gn_XIST2.

Resolver in PROFIdrive axis telegram

For SINAMICS and MASTERDRIVES, parameters are assigned for the pole pair number of
the resolver rather than the encoder pulses per revolution (example: 8-pole resolver = 4 pole
pairs → input value = 4).
With SIMODRIVE, parameters are assigned for the encoder pulses per revolution based on
parameter P1011.2
As of V4.1 SP1, the resolver with pole pair number 1 is supported as an absolute encoder with
the cyclic absolute setting. (encoder pulses per revolution = 1, data width of the absolute value
= 0, default value evaluation: fine resolution = 2048, fine resolution Gn_XIST2 = 512)
When a 1-pole resolver is used as Endat encoder, the p418(XIST1) and p419(XIST2)
parameters must be set to "11" to prevent information loss of the absolute position. (Settings
on the axis: absolute encoder, cyclic absolute, Endat, line count = 1, fine resolution = 2048,
fine resolution absolute value = 2048, data width = 0)
See also the Encoder list (Page 387).

PROFINET/PROFIBUS absolute encoder via PROFIdrive encoder telegram

The data width of the encoder value in the technology object configuration data in SIMOTION
must match the parameter settings for the PROFINET/PROFIBUS absolute encoder in HW
Config.
See also the Encoder list (Page 387).
Example:
Parameter settings of a PROFIBUS absolute encoder in HW Config with 24-bit data width of
the absolute value.
The 'SIMODRIVE isochronous sensor' PROFIBUS absolute encoder in HW Config is defined
according to the default setting for 24-bit data width and encoder pulses per revolution of 4096:
measuring steps per revolution = 4096

TO Axis Electric / Hydraulic, External Encoder

396 Function Manual, 04/2014
 External Encoder Fundamentals
10.8 Encoder interface using the PROFIdrive message frame

24-bit data width for the total resolution yields 0x01000000 (32-bit HEX number). This number,
represented separately in HighWord and LowWord, equals 0x0100 in the HighWord and
0x0000 in the LowWord. The decimal values of these two parts (0x0100 = 256 decimal) are
to be entered as follows:
total resolution (high) = 256
total resolution (low) = 0
This results in the following consistent configuration for the technology object:
the encoder value is transferred left-justified to Gn_XIST1; the unused bits of the fine resolution
are set to 0 according to PROFIdrive, but must be specified in the fine resolution of the actual
value. This results in a fine resolution of 8 bits (32 bits - 24 bits = 8 bits) (28 = 256 as a factor).
According to the setting above, the absolute value in Gn_XIST2 has a right-justified alignment
and therefore a fine resolution of the absolute value in Gn_XIST2 of 0 bits (20 = 1 as a factor).

Encoder via PROFIdrive axis telegram on ADI4 and IM174

At least one electric or hydraulic axis must be configured on ADI4/IM174.
The defined update rate (BaudRate) for SSI encoders must be supported by the encoder.
See also the Encoder list (Page 387).
For more information about configuration and operation, refer to the ADI4 - Analog Drive
Interface for 4 Axes Manual and Distributed I/Os IM 174 PROFIBUS Module Manual. These
documents are provided on the SIMOTION Documentation DVD.

Note
An encoder in a PROFIdrive axis telegram can only be used for an external encoder TO or
for the encoder of a TO axis in cyclical operation if a TO axis is also created on the PROFIdrive
telegram and is not deactivated.

See also
Encoder assignment and terminology (Page 387)
Encoder list (Page 391)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 397
External Encoder Fundamentals
10.9 Encoder interface as a direct value in the I/O area

10.9 Encoder interface as a direct value in the I/O area

Encoders can be used that
● Provide actual value information directly as absolute value in the input/output area.
● Provide a counter value in the peripheral area (as of V4.0).
● Provide an actual velocity in the peripheral area.

Actual value information directly as absolute value

These encoders must be parameterized and operated as absolute encoders, for example with
respect to homing.
The following settings are provided to set the adaptation to the properties of the measured
value:
● The justification of the measured value in the
NumberOfEncoders.Encoder_n.AnalogSensor.DriverInfo.format configuration data
element
– signed left-justified (VALUE_LEFT_MARGIN)
– signed right-justified (VALUE_RIGHT_MARGIN)
– unsigned left-justified (VALUE_LEFT_MARGIN_WITHOUT_SIGN)
– unsigned right-justified (VALUE_RIGHT_MARGIN_WITHOUT_SIGN)
● The data width of the measured value without the sign bit in the
NumberOfEncoders.Encoder_n.analogSensor.DriverInfo.resolution configuration data
● The upper limit and lower limit, the maximum limits of the measured value in the following
configuration data
– NumberOfEncoders.Encoder_n.AnalogSensor.DriverInfo.maxValue
– NumberOfEncoders.Encoder_n.AnalogSensor.DriverInfo.maxValue
Example: Use of an ET 200S, SSI module, or an analog input.

Justification of the measured value

The measured value is mapped to an internal 32-bit wide signed data value of the DINT type
in accordance with the justification specification. The mapped value is then tested with actual
value limitation against the maximum limits and evaluated using the weighting factor for the
NumberOfEncoders.Encoder_n.AnalogSensor.ConversionData.factor direct value that
specifies the technological resolution or assignment of the LSB.
Regardless of the sign, the encoder resolution/measured value width is limited to maximum
31-bit, because the configuration data of the maximum limits are signed data values of the
DINT type.

For the Left-justified/Right-justified without sign setting, the measured value for the setting of
the encoder resolution/measured value width is processed as follows:

TO Axis Electric / Hydraulic, External Encoder

398 Function Manual, 04/2014
 External Encoder Fundamentals
10.9 Encoder interface as a direct value in the I/O area

● At ≤16Bit the measured value left-justified/right-justified is mapped to the least-significant

byte 1 and byte 2 of an internal data value of the DINT type. In this process, the missing
16 bits minus the measured value width of the least-significant byte 1 and byte 2 are right/
left-padded with zeros and the most-significant byte 3 and byte 4 are filled with zeros.
● > At 16Bit the measured value left-justified/right-justified is mapped to an internal data value
of the DINT type. In this process, the missing 32 bits minus the measured value width are
right/left-padded with zeros.
As this mapped measured value is tested against the maximum limits of the data type DINT,
the encoder resolution/measured value width is limited to maximum 31 bits. This means
the measuring range is limited to maximum 50% of the measured value width.

Left-justified without sign Encoder_n.AnalogSensor.

DriverInfo.resolution
x Actual value bits
Byte 4 Byte 2 Byte 1
Data bits screen form

32 25 16 9 8 1 1 Data bits taken into account

1
0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 Hidden data bits
16
0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
17
1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
31
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
and Actual value
<17
x x x x x x x x x x x x x x x x
Raw value

and
0 0 0 0 0 0 0 0 1. . 1. 1 1 1 1 1 1 1 1 1 1 1 1 1 1 >16
x x x x x x x x x. . x. x x x x x x x x x x x x x x

Figure 10-4 Masked reading of the analog IO value left-justified without sign

Right-justified without sign Encoder_n.AnalogSensor.

DriverInfo.resolution
x Actual value bits
Byte 4 Byte 2 Byte 1
Data bits screen form

32 25 16 9 8 1 1 Data bits taken into account

1
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1
0 Hidden data bits
16
0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
17
0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
31
0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
and Actual value
<17
x x x x x x x x x x x x x x x x
Raw value

and
0 0 0 0 0 0 0 0 1. . 1. 1 1 1 1 1 1 1 1 1 1 1 1 1 1 >16
x x x x x x x x x. . x. x x x x x x x x x x x x x x

Figure 10-5 Masked reading of the analog IO value right-justified without sign

For the Left-justified/Right-justified without sign setting, the measured value for the setting of
the encoder resolution/measured value width is processed as follows:

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 399
External Encoder Fundamentals
10.9 Encoder interface as a direct value in the I/O area

● At <16Bit the measured value left-justified/right-justified is mapped to the least-significant

byte 1 and byte 2 of an internal data value of the DINT type. For left-justified, the missing
15 bits minus measured value width of the least-significant byte 1 and byte 2 are right-
padded with zeros and the sign bit is extended left to bit 32. For right-justified, the sign bit
is padded left to bit 32.
● At ≥16Bit the measured value left-justified/right-justified is mapped to an internal data value
of the DINT type. For left-justified, the missing 31 bits minus measured value width are right-
padded with zeros. For right-justified, the sign bit is padded left to bit 32.

Left-justified with sign

Encoder_n.AnalogSensor.
DriverInfo.resolution x Actual value bits
32 Byte 4 25 16 Byte 2 9 8 Byte 1 1 1 Data bits taken into account
Data bits screen form

1
0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Hidden data bits
15 1 Sign bit
0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
16 not
1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
31
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
>0 or >0
<16 and
x x x x x x x x x x x x x x x x and 0 0 Actual value
Raw value

0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 >15
x x x x x x x x x x x x x x x x x x x x x x x x

32 Byte 4 25 16 Byte 2 9 8 Byte 1 1

Sign bit screen form

0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1

0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 15
and
1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 16

1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 31

Figure 10-6 Masked reading of the analog IO value left-justified with sign

TO Axis Electric / Hydraulic, External Encoder

400 Function Manual, 04/2014
 External Encoder Fundamentals
10.9 Encoder interface as a direct value in the I/O area

Right-justified with sign

Encoder_n.AnalogSensor.
DriverInfo.resolution x Actual value bits
32 Byte 4 25 16 Byte 2 9 8 Byte 1 1 1 Data bits taken into account
Data bits screen form

1
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 Hidden data bits
15 1 Sign bit
0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
16 not
0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
31
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
>0 or >0
<16 and
x x x x x x x x x x x x x x x x and 0 0 Actual value
Raw value

0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 >15
x x x x x x x x x x x x x x x x x x x x x x x x

32 Byte 4 25 16 Byte 2 9 8 Byte 1 1

Sign bit screen form

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1

0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 15
and
0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 16

1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 31

Figure 10-7 Masked reading of the analog IO value right-justified with sign

Counter value (as of V4.0)

The encoder is set as an incremental encoder. 16 bits or 32 bits can be set as counter value
width.
Example: Use of an ET 200S, COUNT module

Actual velocity
The actual value information can include the number of pulses between two scans or,
alternatively, the time interval between two sequential pulses. This type of encoder is used,
for example, to measure actual velocities with the hydraulic axis functionality.
Example: Use of an ET 200S, COUNT module

Direct value as absolute value in I/O area (as of V4.1 SP1)

The following bits can be configured for the direct value as absolute value in the I/O area:
● Ready bit via the elements of the analogSensor.readyStateMonitoring configuration data
element
● Error bit via the elements of the analogSensor.errorStateMonitoring configuration data
element
These can be used for evaluation on the Axis technology object of a ready identifier and an
error identifier, which are available from the peripheral module in addition to the measured
value.
In SIMOTION V4.1 SP1, this configuration data is defined directly in the expert list.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 401
External Encoder Fundamentals
10.9 Encoder interface as a direct value in the I/O area

If the not ready status or an error is displayed in these identifiers during operation, and the
ready bit or error bit is configured, technology alarm 20005 is issued with the sensor error
identifier.
If the Axis technology object is ready during ramp-up, but the direct value in the I/O area is not
yet in ready status, the WAIT_FOR_VALID Sensor status is displayed on the encoder.
(sensorData[n].state system variable)
As of V4.1 SP1, the direct value in the I/O area does not have to be updated in every equidistant
communication cycle (for example, if an encoder connected to the peripheral module is not
able to supply a new measured value in each cycle during a fast communication cycle clock
due to measurement reasons or processing time reasons). In such cases, the actual value is
extrapolated by the control.
The control supports the following options:
● The peripheral module displays the new measured value set in an update bit/update
counter. The update bit or update counter is defined in the analogSensor.UpdateCounter
configuration data element.
UpdateCounter configuration: The update counter can be one (toggle) bit or several
(counter) bits in width.
● The refresh cycle of the actual value in the peripheral module is known and is defined
directly in the analogSensor.UpdateCounter.updateCycle configuration data element.
Default setting with refresh cycle = 1 (default behavior for updating in every cycle clock)

TO Axis Electric / Hydraulic, External Encoder

402 Function Manual, 04/2014
 External Encoder Fundamentals
10.10 Actual value system

10.10 Actual value system

Actual value processing for the external encoder is described using the actual value processing
on the axis.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 403
External Encoder Fundamentals
10.11 Overflow bit for modulo counting

10.11 Overflow bit for modulo counting

The number of modulo revolutions (V3.2 and higher) is described in Chapter Actual value
measurement / Actual value system.

See also
Actual value measurement / actual value system (Page 132)

TO Axis Electric / Hydraulic, External Encoder

404 Function Manual, 04/2014
 External Encoder Fundamentals
10.12 Actual value smoothing

10.12 Actual value smoothing

The actual values are read in the position control cycle clock.
Other quantities, such as the velocity, are calculated from these data. The system variables
for SensorData are calculated in the position control cycle clock, whereas the system variables
for MotionState are calculated in the IPO cycle clock.
The filter for the velocity in the position control cycle clock is set in
typeOfAxis.Encoder_1.filter.
The filter for the velocity in the interpolator cycle clock is set in typeOfAxis.SmoothFilter.

See also
Actual value measurement / actual value system (Page 132)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 405
External Encoder Fundamentals
10.13 Actual value extrapolation

10.13 Actual value extrapolation

In the case of synchronous operation with master value reference to external encoder position
values, a setting can be made during configuration to specify whether the actual values are to
be generated using extrapolation (see "Actual value coupling" in the Synchronous Operation
description of functions).
The velocity is filtered / averaged separately using a filter that is set via extrapolation.Filter.
The extrapolated actual values are displayed in extrapolationData.position and
extrapolationData.velocity.

See also
Actual value measurement / actual value system (Page 132)

TO Axis Electric / Hydraulic, External Encoder

406 Function Manual, 04/2014
 External Encoder Fundamentals
10.14 Standstill signal

10.14 Standstill signal

The standstill signal motionState.stillstandVelocity is ACTIVE when the current velocity is less
than a configured velocity threshold for at least the duration of the delay time.
The StandStillSignal configuration data element can be used to specify when the standstill
signal is to be output.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 407
External Encoder Fundamentals
10.15 Monitoring functions

10.15 Monitoring functions

● Zero mark monitoring for incremental encoders
You can activate the function for monitoring the number of increments between two encoder
zero marks.
● Permissible changes to the actual value of an absolute encoder
The user can activate the function for monitoring permissible changes to the actual value
for an absolute encoder.
● Limiting frequency
The encoder limit frequency can be monitored.
● Current velocity
The permissible maximum value of the actual velocity can be monitored. If the maximum
value is exceeded, the system variable sensordata.sensorMonitoring.velocity is output as
limitexceeded. The velocity is not limited to this value.
● Cyclical data exchange (as of V3.1)
The system variable sensorMonitoring.cyclicInterface indicates whether cyclic data
exchange is active on the active encoder. The cyclical data exchange is determined using
the sign-of-life.
Application: The encoder may be located on a different drive than the actuator of the axis,
or it may even have its own protocol (PROFIBUS/PROFINET encoder).
● Number of the active encoder (as of V3.1)
The number of the active encoder is output directly via system variable
sensorMonitoring.actualSensor.

TO Axis Electric / Hydraulic, External Encoder

408 Function Manual, 04/2014
 External Encoder Fundamentals
10.16 Synchronization / Homing

10.16 Synchronization / Homing

10.16.1 Overview of synchronization / homing

SIMOTION supports different synchronization/homing modes for the external encoders.
You can set the reference position of the external encoder using the
_synchronizeExternalEncoder() function.

10.16.2 Synchronization/homing with incremental encoders

● Direct homing / Set home position
Direct homing is set with the function parameter synchronizingMode=DIRECT_HOMING.
The current actual position of the encoder is set to the value of the home position coordinate
(syncPosition system variable) without a traversing motion having taken place.
● Relative direct homing
Relative direct homing is set with the function parameter
synchronizingMode=DIRECT_HOMING_RELATIVE.
The current actual position of the encoder is offset by the value of the home position
coordinate
(syncPosition system variable), without a traversing motion having occurred.
● Passive homing/flying homing
Passive homing is set with the function parameter
synchronizingMode=PASSIVE_HOMING.
At the synchronization point, the external encoder is set to the value of the home position
coordinate.
IncHomingEncoder.passiveHomingMode can be set as synchronization event in the
configuration data:
● Encoder zero mark (ZM_PASSIVE)
● External zero mark (CAM_PASSIVE)
● Next encoder zero mark after homing output cam (CAM_AND_ZM_PASSIVE)
The path traveled after the homing output cam is exited up until the encoder zero mark is
reached can be monitored.
● Encoder zero mark or external zero mark system setting dependent on the encoder type
(DEFAULT_PASSIVE).

See also
Passive homing/on-the-fly homing (Page 96)
Direct homing/setting the home position (Page 97)
Relative direct homing/relative setting of home position (V3.2 and higher) (Page 97)

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 409
External Encoder Fundamentals
10.16 Synchronization / Homing

10.16.3 Synchronization/homing with absolute encoders

Direct homing/Set home position
Direct homing is set with the function parameter synchronizingMode=DIRECT_HOMING.
The current actual position of the encoder is set to the value of the home position coordinate
(syncPosition system variable) without a traversing motion having taken place.

Relative direct homing

Relative direct homing is set with the function parameter
synchronizingMode=DIRECT_HOMING_RELATIVE.
The current actual position of the encoder is offset by the value of the home position coordinate.
(syncPosition system variable), without a traversing motion having occurred.

Absolute value conversion

The value of the external encoder is set equal to the encoder value + absolute encoder offset
using the _synchronizeExternalEncoder() command and the setting of the function parameter
synchronizingMode=ENABLE_OFFSET_OF_ABSOLUTE_ENCODER. The absolute encoder
offset is set in the absHomingEncoder.absshift configuration data.

(QFRGHU]HURSRVLWLRQ =HURSRVLWLRQRIWKHH[WHUQDOHQFRGHU

$EVROXWHHQFRGHURIIVHW

Figure 10-8 The external encoder value is the encoder zero position plus the absolute encoder offset.

The absolute encoder offset (as of V3.2) may be set as an additive or absolute value.
This absolute encoder offset is stored in the NVRAM and remains in effect until the next
absolute encoder adjustment. This function must therefore be executed once when the control
is commissioned.
The offset value and its calculation are set during configuration.

2IIVHWE\
DEVROXWHHQFRGHUDGMXVWPHQW
SHUPDQHQW &RUUHFWLRQGXULQJUXQWLPH

,QHIIHFWRQ
(QFRGHU 32:(521DQG
SRVLWLRQ UHVWDUW
$EVROXWHHQFRGHU   9DOXHRIWKHH[WHUQDOHQFRGHU

Figure 10-9 Incorporating the absolute encoder offset

A value may be set as a total offset using the

absHomingEncoder.setOffsetOfAbsoluteEncoder and absshift configuration data.
Setting an additive offset
Setting absHomingEncoder.setOffsetOfAbsoluteEncoder=RELATIVE (default behavior):

TO Axis Electric / Hydraulic, External Encoder

410 Function Manual, 04/2014
 External Encoder Fundamentals
10.16 Synchronization / Homing

● Actual external encoder value = actual encoder value + (previous offset already in effect +
absshift)
● (new) offset = previous offset + absshift
absHomingEncoder.absshift is added to the existing absolute encoder offset whenever the
_synchronizeExternalEncoder() function is called.
Setting an absolute offset (as of V3.2)
Setting absHomingEncoder.setOffsetOfAbsoluteEncoder=ABSOLUTE (as of V3.2):
absHomingEncoder.absshift is set as the absolute encoder offset whenever the
_synchronizeExternalEncoder() function is called.
● Actual external encoder value = actual encoder value + absshift
Setting the value of the external encoder to a predefined position (as of V4.1 SP1)
When the synchronizingMode=SET_OFFSET_OF_ABSOLUTE_ENCODER_BY_POSITION
function parameter is set on the _synchronizeExternalEncoder() command, the value in the
syncPosition parameter will be set as the current position. The resulting absolute encoder
offset is calculated with this value, indicated in the absoluteEncoder[n].totalOffsetValue system
variable, and stored as a retain variable in the system.
The value in the absHomingEncoder.absshift configuration data element is not changed.
Displaying the offset
The offset can be read out. (as of V3.1)
The complete offset is indicated in the absoluteEncoder.totalOffsetValue system variable and
the activation status of the complete offset indicated in the absoluteEncoder.activationState
variable.
In addition, the status indicates whether the _synchronizeExternalEncoder() function with
synchronizingMode= ENABLE_OFFSET_OF_ABSOLUTE_ENCODER has been executed at
least once after the project was downloaded.
States that require a new setting of the external encoder value
● Once a new project has been downloaded to the control, the stored offset is no longer
available.
If the control already contains a project before the new project is downloaded, and if the
technology object name is not changed, the stored offset is retained (as of V4.1 SP1). This
behavior also applies for an upgrade, i.e. it is not version-dependent.
● After power is cycled off and on, the offset is deleted unless the project was saved to the
ROM.
● After a memory reset.

See also
Absolute encoder homing / absolute encoder adjustment (Page 98)
Direct homing/setting the home position (Page 97)
Relative direct homing/relative setting of home position (V3.2 and higher) (Page 97)
Absolute encoder homing/absolute encoder adjustment

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 411
Programming External Encoders/Reference 11
11.1 Commands
The External Encoder technology object can be addressed in the user program using the
following commands:
● _enableExternalEncoder()
Activate external measuring system; enables updating of actual values in the IPO.
● _disableExternalEncoder()
Deactivate external measuring system; disables updating of actual values in the IPO. Actual
values are frozen in the IPO, they remain unchanged until the next activation of the
measuring system.
● _resetExternalEncoder()
Reset External Encoder technology object.
● _resetExternalEncoderError()
Reset an error on the External Encoder technology object.
● _synchronizeExternalEncoder()
Homing of the measuring system by setting the synchronous position directly or by enabling
the synchronous position with the next external zero mark / encoder zero mark / homing
output cam and encoder zero mark or absolute encoder adjustment.
The command is only performed in the active TO state.
● _resetExternalEncoderConfigDataBuffer()
This function clears the configuration data collected in the buffer since the last activation
without activating them.
● _bufferExternalEncoderCommandID()
Enables the saving of commandId and the associated command status beyond the
execution period of the command.
● _removeBufferedExternalEncoderCommandId()
Stops the saving of commandId and the associated command status beyond the execution
period of the command.
● _enableMonitoringOfEncoderDifference()
Activates the monitoring of the maximum permissible difference between the measuring
systems specified in the command.
● _disableMonitoringOfEncoderDifference()
Deactivates the encoder monitoring.
● _getStateOfExternalEncoderCommand() (as of V3.1)
Read out command status
● _getExternalEncoderErrorNumberState() (as of V3.1)
Readout of error number status

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 413
Programming External Encoders/Reference
11.1 Commands

● _redefineExternalEncoderPosition() (as of V3.2)

Sets the encoder coordinate system
● _cancelExternalEncoderCommand() (as of V4.1 SP1)
Cancels the command with the specified CommandID.

Note
You can also find information about the system functions in the SIMOTION Cam
Technology Package parameters manual.

TO Axis Electric / Hydraulic, External Encoder

414 Function Manual, 04/2014
 Programming External Encoders/Reference
11.2 Technological alarms

11.2 Technological alarms

11.2.1 Possible alarm reactions

● NONE
No response.
● DECODE_STOP
Command preparation aborted. The current function remains active.
Processing on the technology object can be continued after _resetExternalEncoder() or
_resetExternalEncoderError().
● SIMULATION_STOP
Calculation of the simulation value by a function is stopped. The simulation function is not
aborted. Simulation can be continued with _resetExternalEncoderError().
● SIMULATION_ABORT
Calculation of the simulation value by a function is stopped. The simulation function is
aborted.
● ENCODER_DISABLE
Stops and aborts all commands.

Note
Local alarm responses are specified by means of the system.

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 415
Index
_disableAxisSimulation(), 362
_disableForceLimiting(), 357
A _disableMovingToEndStop(), 180
_disableQFAxis(), 332
Absolute actual value, external encoder, 71, 395
_disableTorqueLimiting() , 353
Absolute encoder, 98, 410
_disableVelocityLimiting(), 358
Synchronization, 410
_enableAxis(), 332
Absolute encoder adjustment, 98, 410
_enableAxisSimulation(), 362
Absolute value conversion, 410
_enableForceControlByCondition(), 340
Acceleration ramp, 213
_enableForceLimiting(), 357
Active homing
_enableMotionInPositionLockedForceLimitingProf
With encoder zero mark, 93
ile(), 353
With external zero mark, 91
_enableMotionInPositionLockedVelocityLimitingV
With reference cam and encoder zero mark, 90
alue(), 358
Actual value acquisition, Axis technology object
_enableMovingToEndStop(), 180
Filter, 134
_enablePositionLockedForceLimitingProfile(),
Actual value extrapolation for external encoder, 406
353
Actual value smoothing for external encoder, 405
_enablePositionLockedVelocityLimitingValue(),
Adaptation, 39
358
ADS, 206
_enableQFAxis(), 332
Alarm reactions
_enableTimeLockedForceLimitingProfile(), 354
Axis, 375
_enableTimeLockedVelocityLimitingValue(), 359
Alarm responses
_enableTorqueLimiting(), 353
External Encoder, 415
_enableTorqueLimiting() , 175
Analog drive link, 38
_enableVelocityLimitingValue(), 358
Automatic configuration, 19
_getAxisDataSetParameter(), 368
Automatic controller optimization
_getAxisErrorNumberState(), 366
Settings for automatic optimization, 371
_getAxisErrorState(), 366
Automatic controller setting
_getAxisStoppingData(), 370
Position controller, 242
_getForceControlDataSetParameter(), 369
Speed controller, 239
_getMotionStateOfAxisCommand(), 365
Axis
_getQFAxisDataSetParameter(), 369
Automatic configuration, 19
_getStateOfAxisCommand(), 364
Canceling/deleting command, 346
_getStateOfMotionBuffer(), 366
Homing, 87
_homing(), 347
No drive assignment, 36
_move(), 348
Real, 36
_pos(), 349
Reset error, 345
_removeBufferedAxisCommandId(), 366
Resetting, 344
_resetAxis(), 344
Virtual, 36
_resetAxisError(), 345
With analog drive link, 38
_resetMotionBuffer(), 367
With C2xx stepper drive, 57
_runMotionInPositionLockedForceProfile(), 356
with digital drive link, 52
_runMotionInPositionLockedVelocityProfile(), 351
with encoder signal simulation, 58
_runPositionLockedForceProfile(), 356
with force/pressure control, 36
_runPositionLockedVelocityProfile(), 351
Axis command
_runTimeLockedForceProfile(), 355
_bufferAxisCommandId(), 366
_runTimeLockedPositionProfile(), 352
_cancelAxisCommand(), 346
_runTimeLockedVelocityProfile(), 350
_continue(), 343
_setAxisDataSetActive(), 367
_disableAxis(), 332

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 417
Index

_setAxisDataSetParameter(), 368 Cyclic actual value, external encoder, 70, 394

_setForceControlDataSetParameter(), 368, 369 Cyclic continuation, Axis technology object, 203
_setQFAxisDataSetParameter(), 369
_stop(), 342
_stopEmergency(), 341 D
Properties, 330
Data set changeover, Axis technology object, 206
Specifying and controlling motions, 327
Data types
Axis data set, 206
Axis technology object, 17
Axis functions - Overview, 21
External Encoder, 379
Axis setting for hydraulic functionality, 291
Defaults, Axis technology object, 86
Axis settings, 36
Diagnostics, external encoder, 79
Axis simulation, 362
Digital drive link, 52
Axis status, 224
Additive data block, 183
Axis technology, 21
Stepper drives, 57
Following axis, 24
Telegram types, 55
Path axis, 24
Direct homing, 97
Positioning axis, 23
External encoder, 409, 410
Speed-controlled axis, 23
DPV1 services, 56, 229
Axis types
Drive assignment
Electric, 28
Analog, 38
Hydraulic, 30
digital, 52
Linear axis, 27
For the axis, 36
Modulo rotary axis, 27
Hydraulic functionality, 291
Rotary axis, 27
Drive axis
TypeOfAxis configuration data, 31
Data type, 17
Virtual, 31
With force/pressure limiting, 325
Axis-drive relationship, 25
Drive Safety Data Block (DSDB), 251, 260
DSC, 120
Basic principles, 120
B DSC with spline, 124
Backlash compensation, Axis technology object, 141 DSDB (Drive Safety Data Block), 251, 260
Balancing filter, 116 Dynamic response
Balancing filters Setting defaults, Axis technology object, 162
Setting, 155 Dynamic response parameters, 161
Behavior at the end of profile, Axis technology object, Dynamic Servo Control (DSC), 120
214
Brake control via the axis, 50
Braking ramp, Axis technology object, 166 E
Limiting, 213
Encoder
absolute, 410
Absolute, 98
C Encoder pulses per revolution, 65, 387
C2xx stepper drive Encoder assignment
Connecting an axis, 57 Adaptation, 64, 387
Circularity test, 249 Non-exclusive, 78
Command buffer, Axis technology object, 217, 364 Encoder failure
Properties, 217 On the axis, 378
Command groups, Axis technology object, 216 Encoder list, 68, 391
Commissioning Encoder pulses per revolution, 65, 387
Position controller for position axis, 150 Encoder signal output
Connectable encoders (external encoders), 381 Via TM41, 147

TO Axis Electric / Hydraulic, External Encoder

418 Function Manual, 04/2014
 Index

Encoder signal simulation Commissioning, 200

Via TM41, 58 Control Structure , 192
Encoder switchover Emergency strategies, 197
Axis technology object, 206 Limits, 197
Expert list, Axis technology object Monitoring, 197
Using, 237 Setpoint specification, 200
External encoder
Data type, 379
External Encoder, 379 G
Interconnecting, 379
Gear parameters, Axis technology object
External encoder command
Preventing overflows, 85
_bufferExternalEncoderCommandID(), 413
General state diagram in SIMOTION, 52
_cancelExternalEncoderCommand(), 414
Overview of commands, 224
_disableExternalEncoder(), 413
Gn_XIST1 external encoder, 70, 394
_disableMonitoringOfEncoderDifference(), 413
Gn_XIST2 external encoder, 71, 395
_enableExternalEncoder(), 413
_enableMonitoringOfEncoderDifference(), 413
_getExternalEncoderErrorNumberState(), 413
_getStateOfExternalEncoderCommand(), 413
H
_redefineExternalEncoderPosition(), 414 Hardware limit monitoring, 109
_removeBufferedExternalEncoderCommandId(), Homing, 87
413 Absolute encoder, 98, 410
_resetExternalEncoder(), 413 Absolute encoder adjustment, 100
_resetExternalEncoderConfigDataBuffer(), 413 Differential position measurement, 102
_resetExternalEncoderError(), 413 Direct, 97
_synchronizeExternalEncoder(), 413 Displaying the offset, 99, 411
External encoder synchronization, 409 Homing mark monitoring, 100
Relative direct, 97
Setting an additive offset, 99, 410
F Setting the axis to a predefined position, 99, 411
Setting the offset as a total value, 99, 411
Final controlling element characteristic for hydraulic
Homing axes - Terms
functionality, 316
Home position, 87
Fine interpolation, Axis technology object, 128
Home position coordinate , 88
Fine resolution of absolute value, external encoder in
Homing output cam, 88
Gn_XIST2, 71, 395
Reference mark, 88
Fine resolution, external encoder, 65, 388
Reference point offset, 88
Default settings, 66, 389
Synchronization point, 87
Flying homing
Homing of external encoder, 409
External encoder, 409
Hydraulic final controlling element characteristic, 316
Following axis, 24
Hydraulic functionality
Data type, 18
Additive offset, 315
Force control for hydraulic functionality, 321
Additive sliding-friction compensation, 315
Force control, Axis technology object, 192
Offset application, 315
Activating, 340
Pressure difference measurement, 304
Force limitation on the axis, 357
Sliding-friction compensation, 315
Force limiting for hydraulic functionality, 322
Force limiting profile on the axis, 353
Force limiting profile, Axis technology object, 212
Force profile, 210, 212
I
Position-related, 356 Incremental encoder
Time-related, 355 Homing, 409
Force/pressure control, Axis technology object, 195 Synchronization, 409

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 419
Index

Information functions on the axis, 364 Increase monitoring, 108

Interpolator Limits, 110
Motion command, 222 Manipulated variable, 108
Measuring system differential, 112
Positioning, 105
J Reference mark, 100
Slip monitoring, 112
Jerk limiting for local stop response, 171
Standstill (zero-speed) monitoring, 106
Standstill signal, 107
Velocity error, 112
L Monitoring functions for external encoder, 408
Leadscrew pitch for linear axes, 178 Current velocity, 408
Limits Life-sign, 408
Acceleration ramp, 213 Limiting frequency, 408
Backstop, 108 Permissible changes to the actual value of an
Braking ramp , 213 absolute encoder, 408
Dynamic limitation functions, 163 Zero marks for incremental encoders, 408
Force, 357 Motion command, Axis technology object
Force/pressure control, 197 Interpolator, 222
Manipulated variable, 108 Load, 222
Pressure limiting, 202 Motion profiles for the hydraulic functionality, 308
Printing, 357 Motion profiles, Axis technology object, 210
Technological, 163 Motion transition, 222
Velocity limiting, 200 MotionIn interface, Axis technology object
Linear axis, 27 Motion vectors, 170
Linking digital drives, 232 Traversing, 170
Local alarm response Mounting type for external encoders, 382
Axis, 375
TO External Encoder, 415
Long-term accuracy O
Modulo axis, 83
Operating mode
Long-term stability
Axis simulation mode, 22
Modulo axis, 83
Follow-up mode, axis, 22
Program simulation mode, axis, 22
Setpoint mode, axis, 22
M Simulation mode, axis, 22
Man. var. filter, 139, 314 Overview of commands
Manipulated variable filter, 138 Axis motion commands, 327
Manipulated variable preparation External Encoder, 413
Electrical axis, 138
Maximum velocity, 165
Measuring function, 245 P
Mechanics, Axis technology object
P valve, 291
Gear parameters, 85
Passive homing
Settings, 81
External encoder, 409
Modulo rotary axis, 27
with encoder zero mark, 97
Monitoring
with external zero mark, 97
Encoder limit frequency, 112
with homing output cam and encoder zero mark,
Following error, 103
96
Force limiting, 202
Path axis
Force/pressure control, 197
Data type, 18
Hardware end positions, 109

TO Axis Electric / Hydraulic, External Encoder

420 Function Manual, 04/2014
 Index

PLCopen commands for the axis, 329

Position axis
Commissioning the position controller, 150 S
Data type, 17
Safety channel, 258
Position controller
Safety Information Data Block (SIDB), 263
Automatic setting, 242
Safety on the Axis technology object, 251
Positioning axis, 23
SBT, 279
Position control, 113
SDI, 275
Precontrol, 114
SLP, 276
Position-related profiles, Axis technology object, 211
SLS, 274
PQ valve, 291, 321
SOS, 273
Preparation of manipulated variables for hydraulic
SS1, 271
functionality, 313
SS2, 272
Pressure control for hydraulic functionality, 321
STO, 270
Pressure control, Axis technology object, 192
Safety status information for DSDB, 260
Activating, 340
Safety status word for SIDB, 265
Pressure limitation
Set reference point, 97
Axis technology object, 357
SIDB (Safety Information Data Block), 263
Hydraulic functionality, 204
Signal output, Axis technology object
Pressure limiting
TM41 module, 148
Hydraulic functionality, 322
SIMOTION status diagram
Pressure limiting profile on the axis, 212, 353
Overview of commands, 224
Pressure profile, 210, 212
Software limit monitoring, 110
Position-related, 356
Speed controller
Time-related, 355
Automatic setting, 239
Pressure profile for the hydraulic functionality
Speed precontrol, 125
Increase limiting, 204
Speed-controlled axis, 23
Profile
With force/pressure control, 324
Force limiting profile, 212
Standstill signal for external encoder, 407
Force profile, 212
State model/axis status, 224
Position profile, 212
Static friction compensation, Axis technology object,
Position-related, 211
140
Pressure limiting profile, 212
Status diagram
Pressure profile, 212
PROFIBUS, 52
Time-related, 211
Status displays during profile processing, Axis
Velocity limiting profile, 212
technology object, 213
Velocity profile, 212
Stepper drives, Axis technology object
Behavior, 146
Digital drive link, 57
Q Overload range, 146
Q-valve, 291 Torque characteristic, 146
Stepper motor axis, 235
Superimposed motions, 172
R Switching between final controlling elements for
hydraulic functionality, 318
Recording the characteristic, 317
Switchover smoothing filter, Axis technology object,
References, 4
206
Relative direct homing, 97
Symbolic assignment, 39
Retraction, 111
Synchronization of absolute value encoder, 410
Rotary axis, 27
Synchronization of incremental encoder
Direct homing, 409
Flying homing, 409

TO Axis Electric / Hydraulic, External Encoder

Function Manual, 04/2014 421
Index

Passive homing, 409

System variable for external encoder
MotionState, 405
SensorData, 405
sensordata.sensormonitoring.velocity, 408

T
Technological alarms
External Encoder, 415
TO Axis, 375
Technology data, 183
Technology data block, 183
Telegram types for digital drive link, 55
tfm unit of force, Axis technology object, 33
tfs unit of force, Axis technology object, 33
Time-of-day synchronization, 56
Time-related profiles, Axis technology object, 211
torque limitation
Axis, 187
Torque precontrol, 125
Travel to fixed stop, 180

U
Unit of force, Axis technology object
tfm, 33
tfs, 33
Units
Axis technology object, 33

V
Valve type
P valve, 291
PQ valve, 291
Q-valve, 291
Velocity controller
Drive axis with hydraulic functionality, 310
Velocity limiting profile, Axis technology object, 212
Velocity profile, 212
Motion control, 157
Position-related, 351
Smooth, 157
Time-related, 350
Trapezoidal, 157

TO Axis Electric / Hydraulic, External Encoder

422 Function Manual, 04/2014