Automation and Drives

Basic Positioner

v
v1 i.e. extremely fast up-
and down-ramps
t

v2 Training objectives:
s • You are informed about the
technology functions of the
Basic Positioner

• You know how to commission

some of its basic functions
s1

s2

SITRAIN
10_Basic Positioner page 1 21/07/08
© Siemens AG 2008 - subject to modification

Content page
Controlling technological processes / BPos-functionality................................................................ 2
Extended drive control panel........................................................................................................... 3
Selection of an encoder for position control.................................................................................... 4
Position resolution and type of axis................................................................................................ 5
Connection of the BPos to the basic functions............................................................................... 6
Actual position value evaluation...................................................................................................... 7
Position controller 1(2)................................................................................................................... 8
Position controller 2(2)................................................................................................................... 9
Operating mode “Jogging“.............................................................................................................. 10
Selection of function and Start via “Digital signals“......................................................................... 11
“Wiring” to the position controller via “Analog signals“.................................................................... 12
Configuration of jogging setpoints................................................................................................... 13
Angular velocity ω and angular acceleration α................................................................................ 14

If you want to know still more.......................................................................................................... 17

SITRAIN Training for DR-SNS-SI

Automation and Industrial Solutions page 1 10_Basic Positioner
 Automation and Drives

Controlling technological processes / BPos-functionality

D4xx
position
controller
SIMOTION

with DSC / SDT 7, 110 without DSC

SINAMICS_Integrated
rsp. CU320 n* speed
controller
in all
s* position
objects
DCC
controller

in objects
“with motor“
BPos

Operating modes of the Basic Positioner

ƒ Position controlled jogging / Incremental jogging (move by “given incremental value“)
ƒ Positioning “absolute“ and “relative“ (MDI) / Setup
ƒ Automatic operation defined by traversing blocks (64 traversing blocks)
ƒ Homing “active“ and “passive“ (homing “on the fly“)

SITRAIN
10_Basic Positioner page 2 01/07/08
© Siemens AG 2008 - subject to modification

SITRAIN Training for DR-SNS-SI

Automation and Industrial Solutions page 2 10_Basic Positioner
 Automation and Drives

Extended drive control panel

start of the function

jogging homing
setup
positioning
traversing blocks

selection of the function

If the function module “Basic positioner“ is activated, the drive control panel offers additional access to control functions
and setpoints required to test the basic positioner.

Operating modes based on absolute position values are enabled only in conjunction with a (already) referenced axis.

SITRAIN
10_Basic Positioner page 3 21/07/08
© Siemens AG 2008 - subject to modification

SITRAIN Training for DR-SNS-SI

Automation and Industrial Solutions page 3 10_Basic Positioner
 Automation and Drives

Selection of an encoder for position control

Selection of the encoder system

for position control

Selection of the encoders for object SERVO_02 Assignment of mechanical conditions

SITRAIN
10_Basic Positioner page 4 21/07/08
© Siemens AG 2008 - subject to modification

SITRAIN Training for DR-SNS-SI

Automation and Industrial Solutions page 4 10_Basic Positioner
 Automation and Drives

Position resolution and type of axis

Theoretical
resolution of the
currently used
position encoder
Encoder ppr * Fine resolution

Mechanical gear

Dimension-
independent
position scaling

Deactivated
= Linear axis
Activated
= Modulo-axis

SITRAIN
10_Basic Positioner page 5 21/07/08
© Siemens AG 2008 - subject to modification

SITRAIN Training for DR-SNS-SI

Automation and Industrial Solutions page 5 10_Basic Positioner
 Automation and Drives

Connection of the BPos to the basic functions

s*
Bpos functions speed
(providing setpoints) v* precontrol
position controller 1(2)

sact
actual value evaluation

position unbalance

position controller 2(2) speed controller

SITRAIN
10_Basic Positioner page 6 01/07/08
© Siemens AG 2008 - subject to modification

SITRAIN Training for DR-SNS-SI

Automation and Industrial Solutions page 6 10_Basic Positioner
 Automation and Drives

Actual position value evaluation

Count increases with

“max. possible LU/rev“.
Overflow to 0 at 232

i.e. for ”reference on the fly”

s.act

linear axis
s.act

modulo-axis

SITRAIN
10_Basic Positioner page 7 21/07/08
© Siemens AG 2008 - subject to modification

SITRAIN Training for DR-SNS-SI

Automation and Industrial Solutions page 7 10_Basic Positioner
 Automation and Drives

Position controller 1(2)

SITRAIN
10_Basic Positioner page 8 21/07/08
© Siemens AG 2008 - subject to modification

SITRAIN Training for DR-SNS-SI

Automation and Industrial Solutions page 8 10_Basic Positioner
 Automation and Drives

Position controller 2(2)

0 ms Æ P

With correct
speed pre-
control
operation only
as correction
controller

SITRAIN
10_Basic Positioner page 9 21/07/08
© Siemens AG 2008 - subject to modification

SITRAIN Training for DR-SNS-SI

Automation and Industrial Solutions page 9 10_Basic Positioner
 Automation and Drives

Operating mode “Jogging“

Position controlled jogging Incremental jogging

Sequence diagram “Set velocity“ Sequence diagram “Position increments“

v v
v1 v1 i.e. extremely fast up-
and down-ramps
t t

v2 v2

s s

s = n dt s1

s2

jogging 1

jogging 2

SITRAIN
10_Basic Positioner page 10 21/07/08
© Siemens AG 2008 - subject to modification

SITRAIN Training for DR-SNS-SI

Automation and Industrial Solutions page 10 10_Basic Positioner
 Automation and Drives

Selection of function and Start via “Digital signals“

“0“ Æ position controlled jogging

“1“ Æ incremental jogging

SITRAIN
10_Basic Positioner page 11 21/07/08
© Siemens AG 2008 - subject to modification

SITRAIN Training for DR-SNS-SI

Automation and Industrial Solutions page 11 10_Basic Positioner
 Automation and Drives

“Wiring” to the position controller via “Analog signals“

settings

Required
Required BiCo-wirings
BiCo-wirings to
to the
the basic
basic
unit
unit are
are automatically
automatically provided
provided on on
selecting
selecting the
the Basic
Basic Positioner.
Positioner.

SITRAIN
10_Basic Positioner page 12 21/07/08
© Siemens AG 2008 - subject to modification

SITRAIN Training for DR-SNS-SI

Automation and Industrial Solutions page 12 10_Basic Positioner
 Automation and Drives

Configuration of jogging setpoints

Position controlled jogging

Incremental jogging

In pop-up menu “ramp function generator“ indication only; definition of the values via
“basic positioner > limitations > traversing profile limitation“

SITRAIN
10_Basic Positioner page 13 21/07/08
© Siemens AG 2008 - subject to modification

SITRAIN Training for DR-SNS-SI

Automation and Industrial Solutions page 13 10_Basic Positioner
 Automation and Drives

Angular velocity ω and angular acceleration α

”ω” 600 rpm with 1000 LU/rev Æ 600 rpm * 1000 LU/rev = 600 000 LU/min = 600 * 1000 LU/min

Rated angular acceleration (change of angular velocity by the value of rated angular velocity in 1 s)
”α” n.rated = 6000 rpm with 1000 LU/rev = 6 000 000 LU/min
= 100 000 LU/s
α = ω / t = 100 000 LU/s /1s = 100 * 1000 LU/s2

SITRAIN
10_Basic Positioner page 14 21/07/08
© Siemens AG 2008 - subject to modification

SITRAIN Training for DR-SNS-SI

Automation and Industrial Solutions page 14 10_Basic Positioner
 Automation and Drives

SITRAIN
10_Basic Positioner page 15 21/07/08
© Siemens AG 2008 - subject to modification

SITRAIN Training for DR-SNS-SI

Automation and Industrial Solutions page 15 10_Basic Positioner
 Automation and Drives

SITRAIN
10_Basic Positioner page 16 21/07/08
© Siemens AG 2008 - subject to modification

SITRAIN Training for DR-SNS-SI

Automation and Industrial Solutions page 16 10_Basic Positioner
 Automation and Drives

If you want to know still more

Basic Positioner

Optional Topics

Background Information

SITRAIN
10_Basic Positioner page 17 21/07/08
© Siemens AG 2008 - subject to modification

Content page
If you want to know still more.......................................................................................................... 17
Linear axis / Modulo-axis, Axis cycle length................................................................................... 18
Positioning of a linear axis / “relative, absolute“.............................................................................. 19
Positioning of a modulo-axis / “absolute“........................................................................................ 20
Selection of function and Start via “Digital signals“......................................................................... 21
Configuration of positioning setpoints............................................................................................. 22
Operating mode “traversing blocks“ / application............................................................................ 23
Traversing block selection and Start via “Digital signals“................................................................ 24
Programming traversing blocks....................................................................................................... 25
Types of advance commands, example “positioning”..................................................................... 26
Active homing (referencing) with “Cam and Zero pulse“................................................................ 27
Active homing with “Cam, Zero pulse and Reversing cam“............................................................ 28
Selection of function and Start via “Digital signals“......................................................................... 29
Active homing with “Cam and Zero pulse“...................................................................................... 30
Active homing with “Only Zero pulse“............................................................................................. 31
Passive homing (homing on the fly) via “measuring probe“............................................................ 32
Passive homing via “measuring probe“........................................................................................... 33
Standard telegrams for the Basic Positioner................................................................................... 34

SITRAIN Training for DR-SNS-SI

Automation and Industrial Solutions page 17 10_Basic Positioner
 Automation and Drives

Linear axis / Modulo-axis, Axis cycle length

travel s
actual
G M position

slide
U
overall travel

travel s actual Axis cycle length (i.e. 360 degrees)

position

G M rotary table
U

SITRAIN
10_Basic Positioner page 18 21/07/08
© Siemens AG 2008 - subject to modification

SITRAIN Training for DR-SNS-SI

Automation and Industrial Solutions page 18 10_Basic Positioner
 Automation and Drives

Positioning of a linear axis / “relative, absolute“

s Positioning “absolute“

Position
t

transfer of setpoint transfer of setpoint

s
Positioning “relative“
Position
= travel

Position
= travel
t

transfer of setpoint transfer of setpoint

SITRAIN
10_Basic Positioner page 19 21/07/08
© Siemens AG 2008 - subject to modification

SITRAIN Training for DR-SNS-SI

Automation and Industrial Solutions page 19 10_Basic Positioner
 Automation and Drives

Positioning of a modulo-axis / “absolute“

v v

destination
220 t t

pos. s s

0 = 360

220

neg.

start 0 = 360
0 = 360
220

transfer of setpoint p2650

direction positive p2651

direction negative p2652

“shortest travel“ p2651 = p2652

SITRAIN
10_Basic Positioner page 20 21/07/08
© Siemens AG 2008 - subject to modification

SITRAIN Training for DR-SNS-SI

Automation and Industrial Solutions page 20 10_Basic Positioner
 Automation and Drives

Selection of function and Start via “Digital signals“

Activation of MDI-operation

“0“ Æ positioning
“1“ Æ setup

“0“ Æ relative
“1“ Æ absolute

“0“ Æ via 0/1-flank

“1“ Æ continuously

SITRAIN
10_Basic Positioner page 21 21/07/08
© Siemens AG 2008 - subject to modification

SITRAIN Training for DR-SNS-SI

Automation and Industrial Solutions page 21 10_Basic Positioner
 Automation and Drives

Configuration of positioning setpoints

SITRAIN
10_Basic Positioner page 22 21/07/08
© Siemens AG 2008 - subject to modification

SITRAIN Training for DR-SNS-SI

Automation and Industrial Solutions page 22 10_Basic Positioner
 Automation and Drives

Operating mode “traversing blocks“ / application

A B C D E
v

A 0 mm
s

Δt
B 10 mm s
C 22 mm

D 30 mm
E 32 mm

block 0 AÆB move to position B with velocity 6n and continue flying to

block 1 BÆC .... C n
block 2 CÆD .... D 4n
block 3 DÆE .... E n
block 4 wait 500 ms
block 5 EÆA .... A - 6n

SITRAIN
10_Basic Positioner page 23 21/07/08
© Siemens AG 2008 - subject to modification

SITRAIN Training for DR-SNS-SI

Automation and Industrial Solutions page 23 10_Basic Positioner
 Automation and Drives

Traversing block selection and Start via “Digital signals“

Activation of
traversing block
operation
“1“ Æ Functions
deactivated

SITRAIN
10_Basic Positioner page 24 21/07/08
© Siemens AG 2008 - subject to modification

SITRAIN Training for DR-SNS-SI

Automation and Industrial Solutions page 24 10_Basic Positioner
 Automation and Drives

Programming traversing blocks

ENDLESS_POS move with +v to limit (Setup)

ENDLESS_NEG move with –v to limit (Setup)
GOTO step to indicated traversing block
SET_O set the defined digital output
RESET_O reset the defined digital output

SITRAIN
10_Basic Positioner page 25 21/07/08
© Siemens AG 2008 - subject to modification

SITRAIN Training for DR-SNS-SI

Automation and Industrial Solutions page 25 10_Basic Positioner
 Automation and Drives

Types of advance commands, example “positioning”

CONTINUE WITH STOP v

Requested position is reached accurately;

changeover to the following traversing block t
after reaching the requested position.
block 0 block 1 block 2

CONTINUE FLYING v

Requested position is reached accurately only if

the direction of movement is reversed; t
else changeover to the following traversing block
on reaching matching position values.
block 0 block 1 block 2

SITRAIN
10_Basic Positioner page 26 21/07/08
© Siemens AG 2008 - subject to modification

SITRAIN Training for DR-SNS-SI

Automation and Industrial Solutions page 26 10_Basic Positioner
 Automation and Drives

Active homing (referencing) with “Cam and Zero pulse“

> start of movement: positive

p2604 = 0 Reference point coordinate
> zero-pulse to the left of cam

Referencing zero pulses

Referencing cam

p2606
v
1
p2605 x Override

3 p2611
s

p2604 referencing direction

p2605 reference cam approach velocity p2600
p2608 zero mark approach velocity
p2611 reference point approach velocity p2608
p2606 max. distance to reference cam 2
p2609 max. distance to zero mark
p2600 reference point offset p2599
p2599 reference point coordinate
p2609
Start homing (referencing type p2597=0)

1 movement to the referencing cam 2 synchronization to the reference zero mark 3 movement to the reference point

SITRAIN
10_Basic Positioner page 27 21/07/08
© Siemens AG 2008 - subject to modification

SITRAIN Training for DR-SNS-SI

Automation and Industrial Solutions page 27 10_Basic Positioner
 Automation and Drives

Active homing with “Cam, Zero pulse and Reversing cam“

> start of movement: negative Reference point

p2604 = 1 coordinate
> zero-pulse to the right of cam

Referencing zero pulses

Referencing cam

v
p2605 x Override p2608
2

Reversing p2613 = B....

cam
p2604 referencing direction
3 p2611
p2605 reference cam approach velocity
1 p2608 zero mark approach velocity p2600
p2611 reference point approach velocity
p2600 reference point offset
p2599 reference point coordinate p2599
p2613 reversing cam minus (0 = active)
p2605 x Override p2614 reversing cam plus (0 = active)

Start homing (referencing type p2597=0)

1 movement to the referencing cam 2 synchronization to the reference zero mark 3 movement to the reference point

SITRAIN
10_Basic Positioner page 28 21/07/08
© Siemens AG 2008 - subject to modification

SITRAIN Training for DR-SNS-SI

Automation and Industrial Solutions page 28 10_Basic Positioner
 Automation and Drives

Selection of function and Start via “Digital signals“

“1“-active ; p2595
either
/ or p2596

p2597

p2612

“1“ Æ p2613 cam in negative direction

functions
deactivated p2614 cam in positive direction

Referencing type selection (p2597)

“0“ Æ search for reference The axis moves to the referencing point; if relevant, it considers the
reference point displacement.
Position-set- and position-actual-value are set to the value as defined
by the “reference point coordinate“.
“1“ Æ flying referencing The axis moves on without any change of movement;
Position-set- and position-actual-value are set to the value as defined
by the “reference point coordinate“.
This function can be superposed on any operating mode.

SITRAIN
10_Basic Positioner page 29 21/07/08
© Siemens AG 2008 - subject to modification

SITRAIN Training for DR-SNS-SI

Automation and Industrial Solutions page 29 10_Basic Positioner
 Automation and Drives

Active homing with “Cam and Zero pulse“

p2605

p2611

p2608 p2599

p2600

p2610

p2609

p2606

SITRAIN
10_Basic Positioner page 30 21/07/08
© Siemens AG 2008 - subject to modification

SITRAIN Training for DR-SNS-SI

Automation and Industrial Solutions page 30 10_Basic Positioner
 Automation and Drives

Active homing with “Only Zero pulse“

p2611

p2608
p2599

p2600

p2609

SITRAIN
10_Basic Positioner page 31 21/07/08
© Siemens AG 2008 - subject to modification

SITRAIN Training for DR-SNS-SI

Automation and Industrial Solutions page 31 10_Basic Positioner
 Automation and Drives

Passive homing (homing on the fly) via “measuring probe“

p2510

assignment of a DI

p2511

p2601

p2602

SITRAIN
10_Basic Positioner page 32 21/07/08
© Siemens AG 2008 - subject to modification

SITRAIN Training for DR-SNS-SI

Automation and Industrial Solutions page 32 10_Basic Positioner
 Automation and Drives

Passive homing via “measuring probe“

v
t

s.set= s.act p2602

1
2 p2601
t
p2599
p2601 inner window
Reference point coordinate (p2599)
p2602 outer window

p2511=0

p2511=1

Start flying referencing Measuring probe

(Referencing type p2597=1) (p2510)

1 movement in any operating mode 2 movement is maintained after flying referencing

A drive previously referenced will execute the flying referencing only, if the deviation Δ (position actual
value - referencing coordinate) is larger than the inner window and smaller than the outer window.

SITRAIN
10_Basic Positioner page 33 21/07/08
© Siemens AG 2008 - subject to modification

SITRAIN Training for DR-SNS-SI

Automation and Industrial Solutions page 33 10_Basic Positioner
 Automation and Drives

Standard telegrams for the Basic Positioner

Pre-assigned Profidrive-Positioning Telegrams (Standard-Telegrams)

Merely on selection, standard-telegrams according to positioning-telegram-types 7 and 110
automatically effect the correct “wiring” of the Basic Positioner to the PLC via PROFIBUS

SITRAIN
10_Basic Positioner page 34 21/07/08
© Siemens AG 2008 - subject to modification

SITRAIN Training for DR-SNS-SI

Automation and Industrial Solutions page 34 10_Basic Positioner