Home

User Manual 06/2005 Edition - Service, Support

1. Nv ee an 0869Z004SV SNEINS 9I ST vw ege VU eud TT PTS d L s ng Auwnp TT 6d g z 9z og SW oc zt 0 9 O ZT PULUNH AW IN ASH Julof papeauy seT6d V xoqueaB WOM YIM anbig Duett CG agoe adh adh ur wu nb q Buruzyyp ISCH uo papeaum 6 6unqn eypsu A S MSL Y OWSOd aA yaon s_ Tl er qu Win o ujuy L aq ul papeaitp Bd gqneuypsion Bd TIO ogee 0 798 L 00 69611 Leg zee y Lenz ioo So VzL 9S Leo F LTT ZZO F EZEZ i T0758 10 568 ra H tet 2 cop en Mi Leg SE Let Lem IST L get Se T O 0E Se T00 0 0 p lt en LH J amp Hy 00 800 G KS v 4 as A ale sf 9 Heep ste sl t R e se T J deep 8 SW Ki ZS i a DEE 1 ah 85 cl el mlw ZS 5 BIS Ee BIS ak 2 s u i D O Hl 8 Set zy 2 Ch Wl en amp D SC T S ofa uw E E wo Va z pE oo gt Gg GO 8 EIS 4 SOUS Joe z en se H 2 L6T X8TT n d par ZOTT J p ju ql yIS Lee i ee V satgs B8BINIA TA xe J ysem Duude L 00 7 696 11 E al a T O 70S N I amp a CC E E vlt SET jr or Sn 5 Q Gi vw lw t t Wa Slo D CK Di gar gt ER Leg zer v SC w T NY SO FIT 6 0 7 Z8Z s T FLYT deep STE SWI dsap g WN Fig C 3 Dimension drawing SIMODRIVE POSMO
2. STW Control word START ZSW Status word p Bit dep on the program 0 or 1 Power on inhibit s Traversing task bit of the STW l ZOW OFF 2 x Bit not defined 0 or 1 x00x x111 x111 0000 i 6 stwi o Sp Change from 0 to 1 or 1 to 0 Power from every Change from 0 to 1 and back again ON OFF 1 device state Change from 1 to 0 and back again Y oi U STW 0 Not ready to u ower up OFF 2 active 1 only valid if STW 5 0 p the speed actual value is kept ZSW ZSW constant x00x x111 x000 x000 XXXX XXXX X1x0 x000 Initialize re Ke No OFF 2 STW xxxx xxxx x000 1111 Le STW 1 1 I OFF 3 i e STW 2 0 Operation enabled from every Speed device state constant ZSW U ie STW5 0 1x0x xxxx x000 1111 OFF 3 active Enable Speed setpoint is accepted Braking down to zero _____ setpoint _ Le STW 4 S 6 1 any ZSW speed along a ramp i e STW6 1 sequence XXXX XXXX X10x x000 SC No OFF 3 ini N o XXXX XXXX X0x1 ou Inhibit setpoint Ramp up to the ie STW2 1 Le STW 6 0 setpoint ZSW Fault XXXX XXXX x111 1111 from every f device state SH _ Speed Speed constant SCH 8 increases _ 8 STW 4 0 Le Sms A STWS 0 ena Fault ZSW STW 6 11 XXXX XXXX XXXX 1XXX STW 6 01 ZSW en 8 XXXX XXXX X101 1111 i Inhibit setpoint Fault resolved i e STW 6 0 Braking acknowledge faults Enable
3. Fig 2 12 Example Regenerative feedback protection with diode and capacitor Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 2 41 2 Installing and Connecting Up 06 05 2 2 Electrical system requirements 2 42 Regenerative feedback protection with Power Management Module 48 V DC DC PMM 48V 1 DC PMM 48V can accept a braking power of 15 W Example Braking 5 motors that individually have a rated current of 5 A and a regenerative feedback energy of 3 5 Ws per braking operation once simultaneously then a DC PMM 48V is sufficient for this single bra king operation However in this case it is not possible to continuously brake the motors per second or over a longer time period as in this case the maximum permissible continuous power of 15 W would be excee ded and the t monitoring would respond The unit goes into a fault condition and can only be restarted after a reset Total current through the PMM 5x5A 25A Pulse load at the pulsed resistor 5x 3 5 Ws 17 5 Ws Continuous power through the pulsed resistor 17 5 Ws 1s 17 5 W In this application a maximum of only 4 motors could be braked once per second or over a longer periods of time without the I2t mo nitoring responding and causing the unit to go into a fault condition 4x 3 5 Ws is 14 W lt 15 W Si
4. elteren a E E ov an FTOZSZOOISV SNE INE IS xoqieab abeys e WIM MOOE Y oWIsOod ees LoIsuau p xoquieab abeys ym MOOE Y owsog Bumeip uorsuau g Base mm OSOE Ste m owe vS dl zts slovt lozesiezz lotlsz leetle s t etize tht oer GE sstzns9 TO you unu ail 6 you wu haen s et nom soner vie A pug yaslua g uyo ones xogqieso Uonszaud jo aai6aq Au yeys Voie Meznups pue pue qUBIem Ae Pyaysypy xoqe 6 q 9 d risny Lol poddns pue af Dun 104 v8 Ingesn XE re we OTXSIN Daun LOSTE poddns 104 pue G i ake Dun 10 XE OTXSIN PRAY K aan 40 SGV wo TUS S889 NIG Q 226 suolsuawuig 2 3 TUS S889 NIG Q 236 suolsuaw d gt Lt a N e sv a Im 2 Let GE Of SZZ Ka PIM uolsien Ei aie sepayged mu Bunuymysny E 4 WE e Ss Kan 9A 000 psgT z l 6100 55 9y Fig C 6 Dimension drawing SIMODRIVE POSMO A 300W with planetary gearbox 3 stage Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition C 276 C Dimension Drawings C 2 Dimension drawings for SIMODRIVE POSMO A 300W 06 05 Nv SEENEN pg aw ES VIOZ8cOO ASV asv SNEINEIS aen rau
5. Dimension drawing SIMODRIVE POSMO A 75 W without gearbox Fig C 1 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition C 270 C 271 C Dimension Drawings a LA z Pr an SN WEaIS yasy yd CUtte at sbnd Auunp TI 6d g Lesen Ze gez zi7 0 9 O 2T AUDE AWA W JSH Iof papey GCTDAl V i IER adk adh xoq ea A zaueid vm ISCH quiof papeauy Bd BungneiyssiaA Bd MSZ Y OWSOd SAINGONIS SSXE9 Od 696 T OS 0689 SLT H el 9T gT LANI SSXEI Od 6zs 2 s s9 oos z2 S 06T z 5 Ra ec oo 97 OE SW SSXEI Od 69T E S 08 T60 8 S soZ 8 CERS ou lun anbigy Huju yy iL d qow yauguwu yugu sabeys xoqe 9 P nb q Duett d 1 10 0 W q q uaymsaqetye5 610 zcoerl S O Fvel leoa ql ea seo X ql 6 0 7 86 C 1 Dimension drawings for SIMODRIVE POSMO A 75W 08 04 F z E i Ba We ZZO F EZEZ Lem seet P S v e ki 200 90 0 G E 70 v s00 st0 x TO 500
6. etssiovt wzarver east DE woe Dep Se w WEN xoqueab MOIM Jeinpow MODE Y OWUSOd J22US UOISUALIP xoqueab Mom z pow MODE Y OWSOd Bumeip uolsuauig Eesen or DEE ze Nv ef ASTA THEY CLE ST lost e 08 sesz ao Perry Tpu uu a DEE au wes eugusey EI ee TI 4aydeyd u M OOE Y OWSOd 3AIUAONIS 40 sS6umep uolsuaw p SU 9 1294 Yun SAUP PUL M 00E JO OLU ALY uo ezep UOISUAWIP JeUOHIPPY HRC di 618 Z6 Trev S 60T 9229 66 6ST TUS S889 NIC o 26 suoisu awq Pos Zi TUS S889 NIC o 29e SUOISUSWIA e ry SNEWEIS JON Che S Aer WIM UOIslan sepayge d yuu Bunuyrysny poddns pue 348 Bugy 104 INJ SN XE Y6EXSW OTXSIN ped yoddns 104 pasn dq ued pue aXe DO 104 XE OTXGW Dau str Let ER 988 a t6z p 60T Kap oez g HEN
7. Se OEV Bar test ot rer 8sor oer L ge SSTENSI To you unu ail 6 you ww w a zeg L t Taster noua a i jesuaig mu eswiarg auyo TUS S889 NIG o 226 suolsuewig feu yeys uo s an TUS S889 NIG Q 226 suolsuawig pue a6ue7 45M Vue Pyusupv adh eme Nv Lost e 08 ses ZL 229 oddns pue afa Dumu 104 Diaen XE VEEXSIN OTXSIN Dean poddns pue uw 104 XE OTXSIN Pey Aer IM uols on sepaygyed yu Bunuyrysny s96 Sve SW ya ZEENIG Buuggusa Bunuagusz D exes z zoez 5888 BB BEI 9A 4088 02 9 Fig C 4 Dimension drawing SIMODRIVE POSMO A 300 W without gearbox Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition C 274 C Dimension Drawings C 2 Dimension drawings for SIMODRIVE POSMO A 300W 08 04 Ja posers Jar ur ov an FTOZSZOOISV SNE INE IS ES EE E xoqieab afeys Z pue T WIM MOOE Y oWISOod ees UO SUaWIP xoquee6 a eys z pue T WIM MOOE Y owsog Dun uorsuawaq SIE zo um OSOE zem D Li isip 0 Bu suoppg S9dI zts slovt oc aper lotlysz leztlos
8. ZO 4aydeyd ul M OOE Y ONSOd JAAIYGONIS 40 s6uImeip UOISUAWIP SUR O Joie UN SAUP pue M OOE JOJOLU ALA uo ep UOISUAIP JeUOHIPPY ON va di ftsslovtipzeeiezz lotlvsz Kee festizz ctw tise oct mes Istenss to DES Voten siq vonoipoud jo sasad vr DEER DEENEN BEER ES ayaa xeqesseqarps ad runy TIGS889 NIG Yeu Sgeway 5 mo Fal ALT N Sr i 8 oe iza Ae WIM UOA sapayge d 21 Buruyrysny Joddns pue 348 uny 104 C 279 separate version with D Ingesn XE t ell OTXSN D aun woddns 104 pasn aq ued pue aXe DO 104 XE OTXGW Dau d JE vee Ka 08 EI m w ae a S d ia ple Lae We SC ab IS a BS ze z A 8 ZE Sal 3 antl or 5 A H bsel nl g ZS Jeer rl Zk An lic ES z d d Sl ei m dis 16 da Ga payquaid Uone gt yipow jenuew Bumeig av gt TL IL OL 6 2 9 D I I 1 stage 3 9 Dimension drawing SIMODRIVE POSMO A 300 W extension set planetary gearb
9. gt by setting SIMATIC S7 P31 to 27 3 Program the traversing block e g Block No 9 as follows gt Inthe SimoCom A using the tab Par and entry traversing blocks gt Select the relative position PSW O 1 gt Select the block change enable flying via SIMATIC S7 P0080 9 bit 5 1 gt Enter the target position max distance to the cam The sign of the distance specifies whether the signal lies in the positive or negative traversing direction to the actual value gt in the selection box PSW select flying actual value setting active PSW 10 1 gt enter the required actual value in the signaling position If a relative positioning to the new reference point is then to be carried out in block No 10 then the block change enable condition in block No 9 must be programmed for continue flying The block is now changed with delete distance to go The traversing block to find the signals has now been programmed If the signal is detected within the maximum distance via the digital in put then the actual position is set to the required actual value and the drive goes into the state reference point set ZSW1 11 1 If the subsequent traversing blocks are configured as absolute blocks these are only executed if the flying actual value setting was success ful in traversing block number 9 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manu
10. i Siemens AG 2005 All Rights Reserved XIV SIMODRIVE POSMO A User Manual POS1 06 05 Edition Table of Contents 1 Briet Description u de Hr re ee ae ee de ie eee ee 1 1 General information about SIMODRIVE POSMOA 1 2 Function overview and differences between 75 W 300 W 1 3 Safety guidelines 2 Installing and Connecting Up 0 00 cece eee nun nn nenn 2 1 System overview of SIMODRIVE POSMOA 0202 005 2 2 Electrical system requirements 00 cece eee eee 2 2 1 General electrical requirements 2 2 2 DC power supply 24 V 48 V 2 cece 2 2 3 Regenerative feedback protection when the motor brakes 2 3 Connection and wiring overview 2 3 1 Connection and setting possibilities in the connection cover 2 3 2 Protective grounding and potential bonding 2 4 Mounting SIMODRIVE POSMO A 2 4 1 Mounting overview 2 4 2 Preparing the cable 0 2 4 3 Mounting the prepared cables in the connection cover 2 4 4 Extension set separate version POSMO A 300 W 2 5 Gearbox selection 00 00 00 eee eee 2 5 1 Gearboxes for SIMODRIVE POSMO A 2bW 2 5 2 Gearboxes for SIMODRIVE POSMO A 200W aennnnn 2 6 Technical data 2 6 1 Technical data for SIMODRIVE POSMO A 75W 2 6 2 Technical data for SIMODRIVE POSMO A 200W nn 3 COMMISSIONING i002 ed epee ea ea 3
11. 6 2 Faults and alarms Fault suppression Warnings 6 236 Fault suppression should only be used for start up purposes or for spe cial traversing programs When fault suppression s are active the cor rect program execution must be monitored by the higher level control e Speed controller at endstop fault suppression The fault is converted to a warning This fault suppression should only be used for the function travel to fixed stop If this fault suppression is used in other traversing programs the appearance of the warning Speed controller at endstop must be handled by the higher level control In addition the bit of the status word Position setpoint reached ZSW 10 must be evaluated to ensure that a target position was reached correctly despite the oc currence of warnings e Undervoltage fault suppression This fault suppression serves to suppress a fault suppression upon switching on the drive if the load power supply is connected separa tely and is switched on only after the electronics power supply The fault suppression must be deactivated before starting a traver sing movement If a voltage dip occurs during a positioning instruction while the fault Load power supply undervoltage is suppressed this positioning instruction is aborted Warnings indicate to the user motor statues that do not necessarily mean that operation must be interrupted How does the DP master evaluate warning
12. Enter a gearbox step down ratio P3 e g for 1 4 5 gt P3 4 5 Traversing distance per revolution at the gearbox output P2 Normalization of the maximum speed P880 Define ramp up time P9 Define the override velocity P24 and acceleration P25 Set monitoring functions P1426 tolerance bandwidth speed actual value P1427 delay time Nset reached yes required Optimization To optimize the parameters of the control unit should be adapted refer to Fig 3 10 The speed controller is pre set in the The analog test outputs can be used to factory and this setting should be adequate support the optimization routine refer to for most applications Chapter 6 3 END Fig 3 12 Flow diagram when commissioning the system for the first time in the speed setpoint mode P700 1 Siemens AG 2005 All Rights Reserved 3 96 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 04 01 3 Commissioning 3 3 Commissioning an axis 3 3 4 Optimization runs Optimizing the speed and position controllers ZN Parameters for optimizing refer to Chapter 5 6 2 The speed and position controller is preset in the factory and should be adequate for most applications However if changes are required analog measuring outputs can be used to support the optimization procedure refer to Chapter 6 3 Caut
13. Logic operation 1 Traverse if timer or start byte condition is fulfilled 3 between timer SES EES S no with start byte 0 Traverse if timer and start byte condition is fulfilled Return program 1 Jump to the start of the program after the end of block jump M18 0 No response yes 1 Continuous path mode e Approximate positioning to the following program block e The following block is immediately processed when the time to apply the brake is reached Pos velocity motion type positioning type traversing type 10 66 POSITIONINGABSOLUTE Continuous path mode 30 100 POSITIONINGABSOLUTE Continuous path mode 20 33 POSITIONINGABSOLUTE Precise stop Example Program with 3 traversing blocks 5 Traversing type v4 no 100 66 Brake application point BOs E 33 Block 1 Block2 Block 3 Siemens AG 2005 All Rights Reserved 5 144 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 02 00 5 Description of the Functions Table 5 6 Structure of the program control word PSW P80 28 continued 5 3 Programming the traversing blocks only in the pos mode P700 2 Bit Description Traversing type Signal status description Precise stop e The position programmed in the block is precisely approa ched e The axis is braked down to standstill e The block is changed when the target area is reached pre
14. DP slave PEW 266 Speed actual value bits 0 14 sign bit 15 POSMO A EE PEB 266 PEB 267 Fig 3 3 Data transfer in the PZD area in the speed setpoint mode P700 1 addresses are only as example Siemens AG 2005 All Rights Reserved 3 76 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 02 99 3 Commissioning 3 2 Commissioning the DP master Data to the drive PAB 256 PAB 257 PAW 256 l AK i PNU parameter number PKE PAW 258 IND Index Reserved IND reserved PAW 260 PWE 1 parameter value PWE Not ote PAW 262 PWE 2 parameter value PWE The PKW area must be PAB 262 PAB 263 consistently transferred e Description of the PKW area gt Refer to Chapter 4 3 Data from the drive PEB 256 PEB 257 PEW 256 AK PNU parameter number PKE DP slave res nee POSMO A PEW 258 IND Index Reserved IND reserved PEW 260 PWE 1 parameter value PWE PEW 262 PWE 2 parameter value PWE PEB 262 PEB 263 Fig 3 4 Data transfer in the PKW area addresses are only example addresses Commissioning After establishing communications the commissioning of the DP asks after master should be completed communications have been The following tasks have to be fulfilled established 1 Carry out a function check You can set the required enable bits here for the function test gt Refer to Chapter 4 2 Move the drive as fol
15. Recommendation Route a potential bonding conductor in parallel to PROFIBUS cable cross section 4 16 mm Use the M5 threaded hole in the connection cover for the potential bonding conductor refer to Chapter 2 3 1 When using connector couplings for PROFIBUS at higher data transfer rates gt 1 5 Mbaud perfect functioning is no longer guaranteed cable reflection Ground the load power supply at the secondary side in the cabinet When using a shielded cable the shield must be connected at the sup ply point to ground potential through the largest possible surface area Ground the 24 V electronics power supply on the secondary side in the cabinet The power supply cables are routed without any shielding in the PROFIBUS cable PELV Protective Extra Low Voltage The protective extra low voltage PELV must have protective separa tion be grounded and must be safe to touch Applicable Standards DIN EN 60204 Part 1 DIN EN 60529 DIN EN 50178 DIN VDE 0160 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 2 Installing and Connecting Up 2 4 Mounting SIMODRIVE POSMO A 2 4 Mounting SIMODRIVE POSMO A 2 4 1 Mounting overview Mounting and installation steps POSMO A The following steps are required when mounting a SIMODRIVE Thoroughly remove all anti corrosion agents from the shaft end use typical solvents Release the connection cover of
16. Refer to the index entry Faults P0953 3B9 Warnings 300W 075W Min Standard Max Unit Data type Effective RO The parameter indicates bit coded which alarms are present DO corresponds to Warning 800 Biti corresponds to Warning 801 etc Note SimoCom A Read about possible warnings in the online help Help gt Help topics gt Index gt 800 812 User Manual The description of the warnings how they can be acknowledged as well as a list of all the war nings is provided in Section Fault handling and diagnostics Refer to the index entry Warnings P0954 3BA Additional information on faults warnings 300W 075W Min Standard Max Unit Data type Effective 12 RO The parameter indicates bit coded which supplementary information is available The additional information allows to diagnose the faults and warnings exactly DO corresponds to Supplementary information 900 Biti corresponds to Supplementary information 901 etc Note SimoCom A Read about possible supplementary information in the online help Help gt Help topics gt Index gt 900 911 User Manual The description of the faults warnings how they can be acknowledged as well as a list of all the faults warnings is provided in Section Fault handling and diagnostics Refer to the index entry Faults Warnings See also P947 and P953 Available from SW 1 4 Siemens AG 2005 All Rights Reserve
17. Within the traversing block outside the traversing block 0 Outside the traversing block Load power supply available load Signal name Signal status signal description 1 0 An edge is used to acknowledge that a new traversing 0 1 Same signal level as STW 6 activate traversing task sig nal edge 1 Traversing task is executed n 0 The drive is stationary after it reaches its target position 0 Signals the completion of a traversing task or standstill for intermediate stop and stop 1 Within the traversing block A traversing block is active No traversing block is active 1 Load power supply available 0 Load power supply failed power supply failed This corresponds to the undervoltage fault Note When an undervoltage condition is detected the appro priate fault is signaled and ZSW 15 is set to 0 e Before SW 1 3 the following applies ZSW 15 is set to 1 if when acknowledging the fault an undervoltage condition is no longer detected e From SW 1 3 the following applies ZSW 15 is set to 1 if an undervoltage condition is no longer detected The fault itself remains until it is acknowledged ZSW 15 indicates the status of the load power supply independent of the fault and acknowledgment Actual The block number of the actual traversing block is entered into this sta block number tus byte AktSatz If no block is active then the bloc
18. Bits which are activated when passing the signaling position and are OR d with the status sig nals RMB MMPos is reset when starting a new traversing block Note Value 0 de activates the function Refer to P81 28 target position P0097 61 Carry out POWER ON RESET 300W 075W Min Standard Max Unit Data type Effective 0 0 1 12 immed A POWER ON RESET for the drive can be carried out using this parameter 0 Output status 1 Carry out POWER ON RESET Note After P0097 1 POWER ON RESET is immediately carried out Communications is interrup ted The master does not receive an acknowledgment Available with software version 1 5 and higher P0098 62 Reset reference point set 300W 075W Min Standard Max Unit Data type Effective 0 0 1 _ 12 immed 0 No reference point set 1 Reference point set Note For a stationary referenced axis when writing zero into P98 0 the No reference point set status is re established Refer to ZSW 11 Available from SW 1 4 P0099 21 63 Program management 300W 075W Min Standard Max Unit Data type Effective 0 0 27 12 immed The parameter specifies the start of a program P99 0 gt no significance P99 1 gt start program 1 standard value 13 P99 2 gt start program 2 standard value 18 P99 3 gt start program 3 standard value 23 etc Note The parameter value can be changed while traversing Siemens AG 2005 All Rights Reserve
19. Gearbox data Planetary gear Name Description Efficiency 1 stage gearbox 90 2 stage gearbox 85 3 stage gearbox 80 Temperature Max permissible temperature 90 C Speed at the gearbox input Nominal input speed 3000 RPM Max input speed 3500 RPM Note A POSMO A with gearbox can be briefly operated up to the maximum possible speed depending on the supply voltage Shaft load capability Radial and axial shaft load capability for the gearbox shaft 1 stage 2 stage gearbox 800 700 600 500 400 Faz ON F perm N 300 Fa 500 N 200 100 Fa 1000 N 100 200 300 400 500 600 700 800 900 na RPM 3 stage gearbox 2700 2400 2100 z 1800 1500 2 Fa 1500 N u 1200 Fa 500 N 900 Fa 0N 600 F 1000 N 300 0 100 200 300 400 500 600 700 800 900 1000 na RPM Fa N axial force Fr perm N permissible radial force n RPM drive out speed Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 2 69 2 Installing and Connecting Up 06 05 2 6 Technical data Table 2 7 Technical data for the POSMO A 300 W positioning motor continued Name Description Gearbox lifetime A generally valid statement cannot be made about the lifetime as a result of
20. The drive itself identifies the selected baud rate Note The DP master can now communicate with the DP slave SIMODRIVE POSMO A that has been Dowered up Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 3 75 3 Commissioning 05 03 3 2 Commissioning the DP master Data to from the The following data transfers in the PZD and PKW areas result from the drive in the PZD peripheral addresses configured in the example and PKW areas Control signals data to the drive PR ih Note TW aaa Description of the PZD PAW 266 Select block number Start byte STB area Status signals data from the drive PAB 266 d PAB 267 gt Refer to Chapter 4 2 PEB 264 PEB 265 PEw2e4 Status word ZSW DP slave PEW 266 Actual block number Checkback signal RMB POSMO A PEB 266 PEB 267 Fig 3 2 Data transfer in the PZD area in the positioning mode P700 2 addresses are only as example Control signals data to the drive PAB 264 PAB 265 Note Paw 264 Control word STW 2 Description of the PZD area Paw 266 Speed setpoint bits 0 14 sign bit15 gt Refer to Chapter 4 2 Normalization of the speed actual PAB 266 PAB 267 J values 4000hex gt 1000hex of the speed specified in P880 Status signals data from the drive PEB 264 PEB 265 pew264 Status word ZSW
21. The following applies from SW 2 0 The drive is always dereferenced in the Speed setpoint operating mode P930 Bit 0 and bit 1 have no function in this operating mode Bit2 P gain at standstill from SW 1 3 0 P gain of holding controller active P57 1 Speed controller P gain active P54 The following applies from SW 2 0 The speed controller is always active in the Speed setpoint operating mode P930 Bit 2 has no meaning here P54 is effective at zero speed Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 217 5 Description of the Functions 06 05 5 6 Parameters for SIMODRIVE POSMO A Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 Response of Bit 10 in the status word Setpoint position reached as of SW 1 6 0 Set position reached is signaled when traversing block fully completed Abort of the traversing block by Fault Stop or OFF commands 1 Setpoint position reached is signalled only after full completion of the traversing block Open holding brake from SW 1 4 0 Brake sequence control active 1 Open holding brake Monitoring holding brake undervoltage from SW 1 4 0 Deactivatd P947 12 1 Activated P947 12 Open holding brake is also effective for external holding brakes from SW 1 4 0 Brake sequence control active 1 Open holding brake is also effective for an external holding brake Option bit for the functio
22. gt Vn 38 V DC Imax 2000 A e g SIOV S20 K30 from EPCOS at 48 V gt Vy 65 V DC Imax 6500 A e g SIOV S20 K50 from EPCOS This circuit is not required when using the DC PMM refer to Chapter 2 2 3 25 If changes occur with respect to the normal operating condition e g increased temperatures noise or oscillation if in doubt power down the motor The cause should then be determined and if necessary a SIEMENS Service Center should be contacted 26 Machines and systems equipped with SIMODRIVE POSMO A must be in full compliance with the protective requirements of the EMC Directive The plant machine manufacturer is responsible in ensuring this Note 27 It is not permitted to open up the drive units We recommend that a SIEMENS Service Center carries out any repair or service work 28 The connection covers for POSMO A 75 W and POSMO A 300 W cannot be interchanged This means that the connection cover for the 75 W motor does not fit on the 300 W motor and vice versa 29 After the product has served its lifetime the individual parts should be disposed of in compliance with local regulations 30 Possible special versions including connection systems and types of construction can differ regarding the technical details If there is any uncertainty we urgently recommend that you contact the manufacturer specifying the type designation and serial number or have the equipment repaired by a SIEMENS Service Center
23. Feedback signals of the terminals is realized using status word ZSW n set gt ZSW 11 Feedback signal terminal 1 gt ZSW 12 Feedback signal terminal 2 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 139 5 Description of the Functions 05 03 5 3 Programming the traversing blocks only in the pos mode P700 2 5 3 mode P700 2 5 3 1 Traversing blocks and programs Overview of the traversing blocks and programs Programming the traversing blocks only in the pos There are a total of 27 traversing blocks for SIMODRIVE POSMO A The components are emulated in parameters and the traversing blocks in sub parameters The sub parameter number corresponds to the traversing block number The traversing blocks are programmed by writing the appropriate parameters into SIMODRIVE POSMO A Traversing blocks and programs Table 5 1 Traversing blocks and programs factory default setting Jogging Jogging Single Program 1 Program 2 Program 3 Components blocks 1 2 3 12 13 17 18 22 23 27 P80 1 P80 2 P80 3 12 P80 13 17 P80 18 22 P80 23 27 PSW Program control word P81 1 P81 2 P81 3 12 P81 13 17 P81 18 22 P81 23 27 Target position P82 1 P82 2 P82 3 12 P82 13 17 P82 18 22 P82 23 27 Velocity or speed P83 1 P83 2 P83 3 12 P83 13 17 P83 18 22 P83 23 27 Acceleration P84
24. In this particular operating mode only modulo axes p1 gt 0 are permissible Software limit switches cannot be activated The following functions are possible in the speed setpoint mode e Rotary axis e Jerk limiting e Changeover metric inch e Control sense reversal e Digital VO e Holding brake e Speed setpoint interface e Hardware limit switches Reader s note Information on the various functions refer to Chapter 5 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 133 5 Description of the Functions 05 03 5 1 Operating mode from SW 2 0 Positioning P700 2 5 134 In the positioning mode pos mode 27 archived traversing blocks can be traversed in the drive The traversing blocks offer various possibilities for the block change enable P80 P81 and the positioning type P80 1 Relative or abso lute The following functions are possible in the positioning mode Homing Flying measurement actual value setting from SW 1 4 Travel to fixed stop Linear rotary axis Backlash compensation and correction direction from SW 1 4 Jerk limiting Changeover metric inch Reversing the control sense from SW 1 3 Standstill monitoring zero speed monitoring Digital VO Jogging without PROFIBUS and parameterization from SW 1 4 Standalone mode without bus communication from SW 1 2 Holding brake from SW 1 4 Software limi
25. Positioning operating mode Jogging Speed setpoint operating mode No function Positioning operating mode Jogging Speed setpoint operating mode No function Positioning operating mode Referencing Speed setpoint operating mode No function Positioning operating mode Automatic single block Speed setpoint operating mode No function Positioning operating mode External block change Speed setpoint operating mode No function Positioning operating mode Read in enable Speed setpoint operating mode No function Positioning operating mode Accept value directly in checkback byte bit 0 Speed setpoint operating mode No function Positioning operating mode Accept value directly in checkback byte bit 1 Speed setpoint operating mode No function Positioning operating mode Accept value directly in checkback byte bit 2 Speed setpoint operating mode No function Positioning operating mode Accept value directly in checkback byte bit 3 Speed setpoint operating mode No function Positioning operating mode Accept value directly in checkback byte bit 4 Speed setpoint operating mode No function Positioning operating mode Accept value directly in checkback byte bit 5 Speed setpoint operating mode No function Positioning operating mode Accept value directly in checkback byte bit 6 Speed setpoint operating mode No function Positioning operating mode Accept value directly in checkback byte bit 7 Speed setpoint operating mode No funct
26. Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 5 Description of the Functions 5 5 SIMODRIVE POSMO A functions 5 5 15 Telegram substitution from SW 3 0 Description ZN Behavior after being activated P701 1 For specific applications it is necessary that under no circumstances PROFIBUS DP fails that the axis of the drive comes undesirably to a standstill or the drive state can be configured to freeze to run down the master Warning For P701 1 the function is immediately effective The drive only evaluates PZD data if STW 10 1 It must be carefully ensured that the drive can always be stopped using an EMERGENCY SWITCHING OFF button function In addition we recommend that one of the two input terminals should be parameterized with the OF F1 function refer to P31 P32 The function is available for both operating modes positioning and speed setpoint P700 e PZD data that is available STW block selection and start byte is only evaluated if the STW 10 control from PLC requested is equal to 1 e If STW 10 changes from 1 to 0 then the currently active drive state PZD data being used is frozen The drive uses the last recei ved STW block selection and start byte or speed setpoint where STW 10 was 1 e PZD data that is received is only taken into account if STW 10 1 In this case PZD data must be
27. The pulse enable is withdrawn when the following events occur e STW 2 operating condition OFF 2 1 0 signal enable is withdrawn e STW 3 operation enabled operation inhibited 1 0 signal e A fault occurs where it is no longer possible to brake in a controlled fashion e g encoder fault What happens if the pulse enable is withdrawn When the pulse enable is withdrawn the drive coasts down and the output signal open holding brake is canceled The motor coasts down until the brake becomes effective mechani cally and brings the motor to a standstill After the time taken for the brake to close the drive is braked by the motor holding brake Positioning mode OFF 2 operating inhibit fault A 1 3 1 ARE o 1 Pulse enable 0 i t 4 Output signal bz control external 0 es ee a holding brake t A Speed setpoint t A _ The drive coasts down A d val The drive is braked by the RENG H holding brake t A Holding brake 0 Time t to close the holding brake Fig 5 19 Closing the brake Behavior when withdrawing pulse enable aN Warning When this type of braking is used it subjects the holding brake to mechanical wear and therefore should only be seldomly used Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 191 5 Description of the Functions 04 01 5 5 SIMODRIVE POSMO A fu
28. The fault can be changed over to a warning using P30 fault suppres sion Move away in the opposite direction Check P6 software limit switch start Remove cause set STW 7 1 0 and STW O 0 1 Braking with maximum acceleration P22 Software limit switch end The actual position lies outside the range defined by the software limit switch When traversing to a software limit switch the motor is always stop ped SW 1 6 and higher This fault is also signalled if the traversing range limits of the axis 200000mm or degrees or inches are reached In this case the Additional information 910 P954 10 is output SW 2 0 and higher This error is also output when the corresponding hardware limit switch end has been overrun In this case additional information 911 P954 11 is output Note The fault can be changed over to a warning using P30 fault suppres sion Move away in the opposite direction Check P7 software limit switch end Remove cause set STW 7 1 0 and STW 0 0 1 Braking with maximum acceleration P22 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 6 Fault Handling and Diagnostics 708 P947 8 Cause Remedy Acknowledgement Stop response 709 P947 9 Cause Remedy Acknowledgement Stop response 710 P947 10 Cause Remedy Acknowledgement Stop response 6 2 Faults and alarms Speed controller at stop
29. The speed controller is at its limit for more than 200 ms The required speed is not reached The load or friction is too high or the drive is too small The current limit P28 P16 is set too low The drive is defective Note The fault can be changed over to a warning using P30 fault suppres sion Reduce load Increase current limit Replace the positioning motor Check the drive parameterization Remove cause set STW 7 1 0 and STW O 0 1 Pulse suppression Bus communications Bus communications between the master and slave has failed The bus cable has been withdrawn or is defective The EMC faults on the bus cable are too high Check fieldbus Remove cause set STW 7 1 0 and STW O 0 1 Pulse suppression Hardware watchdog reset After a restart after initiating the CPU monitoring the positioning motor goes into a fault condition Note The following applies from SW 1 3 Afterwards the positioning motor is no longer referenced Posmo A 75W Posmo A 300W Remove cause set STW 7 1 0 and STW 0 0 1 Pulse suppression Replace the positioning motor Replace the drive unit Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 6 241 6 Fault Handling and Diagnostics 06 05 6 2 Faults and alarms 711 P947 11 Cause Remedy Acknowledgement Stop response 712 P947 12 Cause Remedy Acknowledgement Stop response 713 P947 13 Caus
30. e Generate a user parameter list The user can include a parameter in this list This list has the same functio nality as the expert list Language Menu Option Settings Language Browser The browser the lefthand window can be set to the following areas via the lo wer buttons e Parameter Par e Operator control OpCo e Diagnostics Diag Close open the browser Menu Options settings browser Siemens AG 2005 All Rights Reserved 3 84 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 02 99 3 Commissioning Table 3 1 3 2 Commissioning the DP master Information on SimoCom A continued Function Working offline Working online Description in other words you are working on the computer only and have no connection to a drive Only the opened files are included in the browser under Operate In other words you are connected to one or more drives and SimoCom A also recognizes these drives This is the case if SimoCom A has already searched for the interface once You go online if e Your default is set in the menu Options Settings Communications this is realized when starting SimoCom A e Select it with the operation Find online drives During online operation the opened files and all drives available via the interface are found in the browser under Operation Note The parameters displayed via SimoCom A are no
31. e Hardware configuration Node address 12 Part address O address PKW 256 263 256 263 PZD 264 267 264 267 not shown in the example If the condition to write the position in traversing block 4 is available then the following must occur on the master side refer to Fig 4 8 1 Write the parameter value define task Write to PKW output signals AB 256 263 with AK 8 PNU 81 IND 4 PWE 7 865 000gec 78 02 Alte 2 Check the task Evaluate the PKW input signals EB 256 263 IFAK 5 PNU 81 IND 4 and PWE 7 865 000gec gt the OK IfAK 7 gt then not OK gt evaluate the fault number in EW 262 refer to Table 4 15 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 02 00 4 Communications via PROFIBUS DP 4 3 Parameter area PKW area PG PC DP slave POSMO A SIMATIC S7 300 CPU S7 315 2 DP MPI PKW area task PKE PAW 256 1000 0000 0101 0001 AK 8 PNU 81 IND PAW 258 0000 0100 0000 0000 Index 4 PWE1 PAW 260 00 78he e g Value high PWE2 PAW 262 02 A8hex 9 Value low Input signals at the DP slave PKE IND PWE1 PWE2 PKW area response PEW 256 0101 0000 0101 0001 PEW 258 0000 0100 0000 0000 PEW 260 00 78hex 9 PEW 262 02 A8hex 9 PAW PEW
32. ege Der 03 ste SW Ya ZEENIG Buuzgus gt bunus qusz DA EH o payquaid uopesyipow rue 6umeig av gt E Fig C 7 Dimension drawing SIMODRIVE POSMO A 300 W extension set separate version without gearbox C 277 SIMODRIVE POSMO A User Manual POS1 06 05 Edition Siemens AG 2005 All Rights Reserved 06 05 C Dimension Drawings C 2 Dimension drawings for SIMODRIVE POSMO A 300W Jejnpow Nv aa gei Aen huen aegongoypow py S v z LS eg m el non a v lan rtOZ8zoogsSw SE SNaWEIS Saal zks slovtoge aigle A reet feels t cots lees rue er sezer RSS gstznso Ed EE E SEI zhs sloptrke sloaete z vet Iecker Seler Leer Groe Ap Kees iSTZNSO 0 cus x SE 17 EEST oe EE y ee em MOOE Y OWSOd Iys e Fe di ZES sortaz siortehz L TYST easy Leier Ltr evise ozzt SN iSTZNSO zo SS FS dl tzks sovtz
33. ser Manual 06 2005 Edition Se SIEMENS Distributed Positioning Motor on PROFIBUS DP SIEMENS SIMODRIVE POSMO A Distributed Positioning Motor on PROFIBUS DP User Manual Valid for Unit Software version SIMODRIVE POSMO A 75 W motor Version O 3 0 300 W motor Version G 3 0 06 05 Edition Brief Description 1 Installing and Connecting Up 2 Communications via PROFIBUS DP 4 Description of the Functions 5 Fault Handling Diagnostics 6 Installation and Service 7 List of Abbreviations A Dimension Drawings C EC Declaration of Conformity D SIMODRIVE documentation Printing history Brief details of this edition and previous editions are listed below The status of each edition is shown by the code in the Remarks column Status code in the Remarks column A New documentation B Unrevised reprint with new Order No C Revised edition with new status If factual changes have been made on the page since the last edition this is indicated by a new edition coding in the header on that page Edition Order No Remarks 02 99 6SN2197 0AA00 OBPO A 02 00 6SN2197 0AA00 OBPI c 04 01 6SN2197 0AA00 0BP2 Cc 08 01 6SN2197 O0AA00 OBP3 Cc 08 02 6SN2197 0AA00 OBP4 c 05 03 6SN2197 0AA00 0BP5 Cc 08 03 6SN2197 O0AA00 OBP6 Cc 08 04 6SN2197 0AA00 OBP7 c 06 05 6SN2197 O0AA00 OBP8 Cc Trademarks SIMATIC SIMATIC HMI SIMATIC NET SIROTEC SINUMERIK SIMODRIVE and
34. 06 05 Edition 06 05 5 Description of the Functions 0 5 6 Parameters for SIMODRIVE POSMO A The following block only waits until the time has expired if this has been parameterized with P80 x 7 0 wait for start condition The delay time runs down internally in the drive Itc anno t be controlled via P45 Inactive Bit 14 Reference to occurring zero mark from SW 2 1 1 0 Active The traversing block is canceled if a zero mark occurs The reference point is set to the value stated in the signaling position If this function is used in conjunction with an input terminal BERO which has been parameterized with an additional cam monitoring compare P31 P32 then referencing takes place only if a cam edge according to P56 7 has occurred If the corresponding signal has not occurred at the input terminal then the drive is dereferenced when it reaches the zero mark In this case fault 711 and the supplementary information 912 are signaled Inactive P0081 28 51 Target position 300W 075W Min 200000 Standard Max Unit Data type Effective 0 200000 MSR C4 immed The parameter specifies the target position in the traversing block Note Index using as an example P81 P81 0 gt no significance P81 1 gt traversing block 1 P81 2 gt traversing block 2 P81 27 gt traversing block 27 Block numbers factory default 2 3 12 13 17 18 22 23 27 Traversing block jogging T
35. 08 04 2 Installing and Connecting Up 2 5 Gearbox selection 2 5 2 Gearboxes for SIMODRIVE POSMO A 300 W Modular gearbox For SIMODRIVE POSMO A 300 W the following gearboxes can be 300 W motor selected and used according to Table 2 5 Table 2 5 System data modular gearbox with planetary gears Gearbox Stage Step Effi Torque Rated type num down ciency speed ber Permissible Available S1 briefly S1 EK 3 n 25 6 25 S1 4 min 4 min iGearbox Gearbox Nm Nm Nm Nm Nm RPM without _ _ 0 48 0 95 1 9 3500 gearbox 4 0 90 26 52 1 7 3 4 6 8 7502 4 7 0 90 26 52 3 0 6 0 12 0 4292 12 0 85 36 45 4 9 9 7 19 4 2502 Planetary 20 0 85 42 52 5 8 2 16 2 323 1502 gear 2 35 0 85 44 55 14 3 28 3 55 0 862 49 0 85 44 55 20 0 39 6 55 0 612 3 120 0 80 100 125 46 1 91 2 125 0 252 1 The specified permissible gearbox torque may not be exceeded The gearboxes may be briefly subject to higher torques 1 stage 200 continuous torque 2 and 3 stage 125 continuous torque without the gearbox being destroyed this has a negative impact on the lifetime The gearbox could be destroyed if this limit is exceeded The current limits of the positioning motor are preset in the factory to prevent destruction by the torque produced by the motor 2 Relating to the gearbox rated speed of 3000 P Notice Forced rotation acceleration or delay from the outside is permitted only within the
36. 909 P954 9 Cause Remedy Acknowledgement Stop response 910 P954 10 Cause Remedy Acknowledgement Stop response 6 248 FEPROM error upon writing or deletion Presumably there is a hardware fault in the non volatile memory FE PROM Replace the positioning motor not required None FEPROM No positional data available In order to restart the drive requires positional data This has not been saved correctly upon the last ramp down If necessary reference the drive Activate deactivate positioning motor Replace the positioning motor not required None FEPROM No factory setting available Presumably there is a hardware fault in the non volatile memory FE PROM Replace the positioning motor not required None FEPROM No user parameters available Presumably the drive was deactivated when saving the user parame ters into the non volatile memory FEPROM There may also be a hardware fault in the non volatile memory FE PROM Check and correct the motor data Restore the data in the FEPROM Replace the positioning motor not required None Traversing range limit reached Axis has reached a traversing range limit The traversing range limits of the axis are 200000mm or degrees or inches For drives turning endlessly a modulo value must be entered in Para meter 1 not required None Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 0
37. Accept value directly from checkback byte bit 3 software version 1 2 and higher Speed setpoint operating mode No function 91 O RMB 4 Positioning operating mode Accept value directly from checkback byte bit 4 software version 1 2 and higher Speed setpoint operating mode No function 92 O RMB 5 Positioning operating mode Accept value directly from checkback byte bit 5 software version 1 2 and higher Speed setpoint operating mode No function 93 O RMB 6 Positioning operating mode Accept value directly from checkback byte bit 6 software version 1 2 and higher Speed setpoint operating mode No function 94 O RMB 7 Positioning operating mode Accept value directly from checkback byte bit 7 software version 1 2 and higher Speed setpoint operating mode No function 95 O Control external holding brake software version 1 4 and higher 100 1 STW 0 OFF 1 logically ANDed with the terminal 101 I STW 1 OFF 2 logically ANDed with the terminal 102 I STW 2 OFF 3 logically ANDed with the terminal Note If a terminal is parameterized as input or output the following applies gt Addition with 256 means Positioning operating mode Status display via RMB 6 7 terminal 1 2 SW 1 4 and higher Speed setpoint operating mode Status check back via ZSW 11 terminal 1 ZSW 12 terminal 2 If a terminal is parameterized as output the following applies gt Addition with 128 means Inversion for signal output Applies from SW 2 1
38. Bit 15 13 12 11 9 8 7 6 qa Reset the fault memory J Activate traversing task edge Operating condition intermediate J Operating condition for positioning stop Note Enable operation inhibit operation i Operating condition OFF 3 1 signal 0 signal Operating condition OFF 2 ON OFF 1 Note The signals designated in this way must have at least a 1 signal in order to be able to operate a motor Furthermore STW 8 or STW 9 must be set to 1 for jogging 1 or 2 Table 4 5 Description of the individual signals in the control word STW for the pos mode Bit Signal name Signal status signal description 1 ON Ready 0 ON OFF 1 0 OFF1 Shutdown decelerating along the down ramp power dis connected tracking operation 1 Operating condition Ready 1 Operating condition OFF 2 0 OFF2 The power is disconnected and the motor coasts down power on inhibit Siemens AG 2005 All Rights Reserved 4 104 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 02 99 4 Communications via PROFIBUS DP 4 2 Process data PZD area Table 4 5 Description of the individual signals in the control word STW for the pos mode Bit Signal name Signal status signal description 1 Operating condition Ready 2 Operating condition OFF 3 0 OFF3 Deceleration along the current limit power disconnected from the motor tracking operation power on inhibit 1 Enabl
39. PKE IND PWE AK PNU Peripheral output word Peripheral input word Parameter ID Parameter value Task and response ID Parameter number Sub index sub parameter number array index Output signals at the DP slave AK 5 PNU 81 Index 4 Value high Value low Fig 4 8 Example Writing parameters via PROFIBUS Note The SIMATIC S7 FB 11 block can be used to write parameters via PROFIBUS gt Refer to Chapter 3 2 2 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 4 129 4 Communications via PROFIBUS DP 02 99 4 4 Settings at the PROFIBUS DP master 4 4 Settings at the PROFIBUS DP master 4 4 1 Performance features of the PROFIBUS devices What is a master device file GSD file GSD file for the DP slave POSMO A Data transfer consistent inconsistent 4 130 General information on the DP master PROFIBUS devices have different performance features The characteristic features of the slaves are summarized in a master device file GSD so that all of the master systems can correctly ad dress the DP slave The features for the various master systems are summarized in a stan dardized master device file GSD A master device GSD file describes the features of a DP slave ina precisely defined uniform format in accordance with EN 50 170 Vo lume 2 PROFIBUS GSD files are saved in the directory G
40. The load power supply 48 V 24 V and electronics power supply 24 V are not galvanically isolated Warning 9 Never disable protective functions and devices even for trial operation 10 For shaft ends with key the key must be secured when operated under trial conditions without drive out element 11 Check the direction of rotation with the motor uncoupled Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 1 25 1 Brief Description 08 01 1 3 Safety guidelines ZN 1 26 Caution 12 Suitable equipment must be used when mounting withdrawing drive out elements e g coupling disk belt pulley gear 13 The motor may not be used as a step 14 The valid national local and plant system specific regulations and requirements must be carefully observed Caution 15 It is not permissible to connect the unit to the three phase line supply as this could destroy the unit 16 When mounting SIMODRIVE POSMO A with the shaft end facing upwards it must be guaranteed that no liquid can penetrate into the upper bearing 17 Ensure that the unit is correctly mounted at its flange and is precisely aligned If increased noise vibration temperatures occur if in doubt power down 18 If large amounts of dirt accumulate the air ducts should be regularly cleaned 19 Axial forces are not permissible for SIMODRIVE POSMO A 300 W with integrated holding brake Aft
41. gearbox 7 176 W 5 25 EE EE Current limit S1 It i No load bi i a E operating point Cs 05st Ion 5 GmeEgg 1000 2000 3000 4000 n det Speed limit 3800 ewan Siemens AG 2005 All Rights Reserved 2 66 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 2 Installing and Connecting Up 2 6 Technical data Table 2 7 Technical data for the POSMO A 300 W positioning motor continued Name Description S1 continuous oper The equipment can operate continually at rated load without ation duty the permissible temperature being exceeded Duty cycle 0 S3 intermittent duty The equipment can only be operated at rated load during the power on duration specified as a percentage of the load duty Operating cycle without the permissible temperature being exceeded possibilities The equipment is powered down in the no load interval excerpt from 53 25 Power on duration 25 60s VDE 0930 gt at 3000 RPM and 0 95 Nm Duty cycle 4 min S3 6 25 Power on duration 6 25 15s gt at 2000 RPM and 1 9 Nm Duty cycle 4 min Measuring max 55 dB A Motor without gearbox surface max 70 dB A Motor with 2 stage gearbox sound pres Note sure level K EN 21680 Speed range 0 3000 RPM Part 1 20 45 C up to 65 C with continuous motor current reduction Ist A A 5 25 7 Continuous motor current E EE St S reduction as a function of the Permissible Be ite eee a
42. gt for PROFIBUS not to scale 120 PROFIBUS cable LE ET with electronics power supply 1 Remove cores which are not used Recommendation for 5 core reeled cable Fig 2 20 Preparing The PROFIBUS cable with electronics power supply 6ES7194 1LY00 0AA0 e 2x3x max 0 75 mm with shield flexible conductor finely stran ded Gland The dummy plug provided should be replaced by a suitable PG11 gland e g Pflitsch Company type PG15152m2x6 gland assembly PG11 13 5 mounted using a multi sealing insert for 2 cables with 6 mm diameter not to scale 10 1 8 12 VO cable 1 Shield 1 Remove cores wl 120 Gel which are not used Fig 2 21 Preparing cables for inputs outputs Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 2 53 2 Installing and Connecting Up 08 03 2 4 Mounting SIMODRIVE POSMO A Cables for potential bonding and protective conductor Example Cable prepared for installation 2 54 Cross section gt 4mm Torx T20 Thread M5 x 10 hole max 3 Nm Note T e The potential bonding conductor should be routed as far as possible in parallel to the OT ken Profibus cable This increases the PROFIBUS noise immunity e Itis not permissible that protective conductors are interrupted refer to Chapter 2 3 2 Fig 2 22 Potential bonding conductor and protective conducto
43. look in the Appendix under Index for this term The Chapter number as well as the page number is specified where information on this term can be found 2 Identifying new or revised information The documentation 02 99 edition is the first edition How is the new or revised information identified for the other edi tions e This is specified directly next to the information from SW x y e The edition is in the header line on the respective page gt 02 99 3 Notation e means corresponds to e Numerical representation examples FFFFhex Hexadecimal number 0101pin Binary number 100gec Decimal number e PROFIBUS signals examples STW 3 Control word bit 3 ZSW 11 Status word bit 11 e Parameter examples P10 Parameter 10 without index P82 28 Parameter 82 with index 0 1 27 28 indices P82 13 Parameter 82 with index 13 P82 x Parameter with undefined index x P56 2 Parameter 56 bit 2 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 Foreword Edition of the documentation Software release What is new There is a fixed relationship between the edition of the documentation and positioning motor software release The first edition 02 99 describes the functionality of SW 1 0 The 02 00 edition describes the functionality of SW 1 0 to 1 2 What are the essential new functions for SW 1 2 in comparis
44. tztiss Lee SPIGEIZIEL Pet SSTENSI vo Sai zts slovt yse sloet lotlysz wes sttlzs Lee Liv eet SSTENSI 0 S dl zts slovt tri ert lotlysz tzts s emies Lee 6v SE OZ ZT nen SSTENSI zo vS dl zts slovt zee rlvzt lotlysz Islas Lets Lee Liv past SSTENSI To yuuu tal 6 you unu o m Se ym aeq opm sone psuaig qmyepierd ane sones xoqieao onrejaid jo see qu6iey yeys uosa meznys pue 36ug7 ayam Ae Pryaysypy xoqieabjaqaine5 d ON poddns pue aXe Buny 104 Wan XE Y6EXSIN OTXSIN PESI LOSTE poddns pue 08 CN S LW x z21 9 ae uI 10 KE OTXSIN PEUL TUS S889 MOO 206 suorsuauig T US S889 NIG o 226 suolsuauid a 620 Poel Sz Z 6021 8T Ka PIM UOJSI A sepaygyed yu Bunuyrysny S SNEINSIS D es DEn B000 anre 9100 og 9y Fig C 5 Dimension drawing SIMODRIVE POSMO A 300W with planetary gearbox 1 stage 2 stage C 275 SIMODRIVE POSMO A User Manual POS1 06 05 Edition Siemens AG 2005 All Rights Reserved 08 04 C Dimension Drawings C 2 Dimension drawings for SIMODRIVE POSMO A 300W NV Nv
45. 1 2 for SW 1 3 wi Identification of vi Node address station address 2 45 2 48 Notes Danger and warning information a discharge sensitive devices xiii Hotline Technical xi Technical Support Numbers for faults for warnings Numerical formats O Offline with SimoCom A from SW 1 5 3 85 Online with SimoCom A from SW 1 5 3 85 Operating mode Positioning 5 134 Speed setpoint 5 133 E 288 Operating modes fromarie 5 154 Homing 5 155 Jogging operation 5 153 EISEN Tracking operation 5 154 Operation with third party master 4 132 Operation without bus communications Order No for 300 W motor 1 23 for 48 V rectifier_unit 2 34 for 75 W motor 1 23 for catalogs and documentation B 265 for DC PMM Power Management Mo dule 2 38 2 39 for SITOP power module 48V 20A 2 33 for spare parts 7 257 Overview Closed loop control structure pos mode 3 93 Closed loop control structure n set mode 3 94 Connecting up Connection 2 43 Control signals 4 104 4 108 Faults 6 234 Functions 2 60 2 61 5 230 Gearbox Parameters 5 202 References B 265 Status signals 4 110 4 113 System 2 29 Traversing blocks 5 140 Warnings 6 234 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 E Index p Process data PZD area 4 101
46. 1 General information on commissioning 3 2 Commissioning the DP master 3 2 1 Commissioning and communications for the master 3 2 2 SIMATIC S7 function blocks 3 2 3 Parameterizing and start up tool SimoCom A from SW 1 5 3 2 4 Parameterizing and start up tool C1 master SIMODRIVE POSMO A PROFIBUS MASTER 00 cece cece ete eens 3 3 Commissioning an als 3 3 1 Control structure positioning Pos model 3 3 2 Control structure speed setpoint n set model 3 3 3 Flow diagram to commission a SIMODRIVE POSMO A 3 3 4 Optimization rUNS 2 teens Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition XV Table of Contents xvi Communications via PROFIBUS DP 00 0 cece eee eee 4 1 4 2 4 2 1 4 2 2 4 2 3 4 2 4 4 2 5 4 3 4 3 1 4 3 2 4 3 3 4 4 4 4 1 4 4 2 4 4 3 Description of the Functions 5 1 5 2 5 2 1 5 2 2 5 2 3 5 2 4 5 2 5 5 2 6 5 2 7 5 3 5 3 1 5 3 2 5 3 3 5 3 4 5 4 5 4 1 5 4 2 5 4 3 5 4 4 5 5 5 5 1 5 5 2 5 5 3 5 5 4 5 5 5 5 5 6 5 5 7 5 5 8 5 5 9 5 5 10 5 5 11 General information about PROFIBUS DP Process data PZD area cece eect teens Description of the control signals data to drive Description of the status signals data from the drive Example Operating the drive via the contr
47. 103 4 107 Status signals Actual block number AktSatz 4 103 Actual speed value 4 103 Checkback signal RMB 4 103 4 112 Status word ZSW 4 103 Status word ZSW n set mode 4 113 Status word ZSW pos mode 4 110 PROFIBUS DP Address 2 45 2 48 Baud rate 4 100 Bus monitor 6 252 Cable for 2 52 Data transfer technolog Example Operate drive 4 116 4 117 Example Reading parameters Example Writing parameters General information 4 99 Master and slave 4 99 Node address station address 2 45 Terminating resistor 2 45 2 48 2 49 Programs 1 21 5 140 5 141 Classifying the 5 141 Program areas 5 140 Program control word PSW 5 144 Selecting and controlling 5 151 Protective conductor 2 44 Protective grounding 2 50 Q Qualified personnel ix E 289 E Index 06 05 R SimoCom A from SW 1 5 References B 265 Entry 3 83 Referencing homing Limitations for 5 156 Reset from SW 1 4 5 156 Set via actual value 5 157 5 161 to cam with reversal to cam without reversal 5 159 to occurring zero mark from SW 2 1 to zero mark via the traversing block from SW 1 4 via fixed endstop Regenerative feedback protection 2 37 Replacing the drive unit 300 W motor the gearbox 300 W motor 7 255 the motor 7 253 Replacing a motor 7 253 Replacing the drive unit only 300 W motor 7 258 R
48. 7 2 Mounting or replacing a gearbox only relevant for 300 W motors 7 255 7 3 Spare parts for SIMODRIVE POSMOA cee eee eee 7 3 1 List of spare parts for the 300 W motors 0 00 e eee eens 7 3 2 Drive unit as spare part only the 300 W motor List f Abbreviations ra ENN eg Sele deren bee ee References u UNIEN ere E AEN d SCENE un Auen Dimension Drawings 0 00e cece eee nennen nennen nennen C 1 Dimension drawings for SIMODRIVE POSMO A 75W C 269 C 2 Dimension drawings for SIMODRIVE POSMO A 300W C 273 EC Declaration of Conformity Siemens AG 2005 All Rights Reserved a SIMODRIVE POSMO A User Manual POS1 06 05 Edition XVII Table of Contents Space for your notes ma Siemens AG 2005 All Rights Reserved XVII SIMODRIVE POSMO A User Manual POS1 06 05 Edition Brief Description 1 1 1 General information about SIMODRIVE POSMO A Intelligent SIMODRIVE POSMO A is an intelligent distributed positioning motor positioning motor connected as node to the PROFIBUS DP field bus SIMODRIVE POSMO A can be operated via PROFIBUS DP This means that all of the signals and data required to commission start up and operate the drive and also to evaluate faults are transferred via PROFIBUS Further the positioning motor can be operated in the standalone mode This means that in this case bus communications ar
49. A 75W with worm gearbox Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition C 272 06 05 C Dimension Drawings C 2 Dimension drawings for SIMODRIVE POSMO A 300W C 2 Dimension drawings for SIMODRIVE POSMO A 300W Contents The dimension drawings for the SIMODRIVE POSMO A 300W posi tioning motor with the following gearboxes are provided in this chapter e Motor without gearbox gt refer to Fig C 4 e Motor with planet gearbox 1 stage 2 stages gt refer to Fig C 5 e Motor with planetary gearbox 3 stage gt refer to Fig C 6 e SIMODRIVE POSMO A 300 W extension set separate version Motor without gearbox gt refer to Fig C 7 Motor with planet gearb 1 stage 2 stages gt refer to Fig C 8 Motor with planetary gearbox 3 stage gt refer to Fig C 9 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition C 273 08 04 C Dimension Drawings C 2 Dimension drawings for SIMODRIVE POSMO A 300W NV Ja posers Jo ae ov an Oo FTOZSZOOISV SINE WEIS xoqueab oym MOOE Y OWSOd Pays volsuawu p xoqueab oym MOOE Y OWSOd Dun uolsuauid 998 0e9 zz 9T I SNINIIS
50. Abbreviations 04 01 FW GSD Hardware HEX HWE LED MB MDI MPI MSR N2 nact NN nset O OB oc Order No MLFB Out OW A 262 Firmware Master device file describes the features of a DP slave Hardware Abbreviation for a hexadecimal number Hardware limit switches PROFIBUS parameter format PROFIBUS parameter format Gearbox step down ratio Input Input byte Commissioning International Electrotechnical Commission International standard in electrical technology Input Sub index sub parameter number array index Part of a PKW Integer Integer number Input word Position loop gain Kv factor Light Emitting Diode Ground Mega byte Manual Data Input Multi Point Interface Multi point serial interface Dimension system grid PROFIBUS parameter format Speed actual value Standard zero average sea level Speed setpoint Output Output byte Operating condition Machine Readable Product Designation Order No Output Output word Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 04 01 A List of Abbreviations P Parameter PAB Peripheral output byte PAW Peripheral output word PC Personal Computer PEB Peripheral input byte PELV Protective extra low voltage Protective extra low voltage The protective extra low voltage PELV must have protective separa tion be grounded and shockproof PEW Peripheral input word PG Programming device PK
51. Block X 2 Reference to occurring zero mark e Block X 3 Traverse to absolute position The selected input terminal is automatically monitored for a cam signal edge through the use of the dialog in SimoCom A P56 7 can be used to configure whether the cam signal edge to be mo nitored should be a negative P56 7 0 standard value for leaving the cam or a positive P56 7 1 leaving an inverted cam The traversing program generated by the dialog is only created accor ding to the standard setting setting P56 7 0 If no corresponding cam signal edge occurs the program is aborted in traversing block X 2 with error message 711 and supplementary infor mation 912 In this case use of the referencing program with cam mo nitoring the drive is de referenced Before SW 1 2 the following is valid If a referenced axis is switched out then it is still referenced after it has been switched in again if it was not moved when it was switched out refer to ZSW 13 0 From SW 1 2 the following applies Another behavior when the axis is switched in again can be set using P56 operating options gt refer to Chapter 5 6 2 under P56 For axes with extremely low friction it should be noted that a motor can move into a preferred position when it is powered down In the least favorable case this uncontrolled compensation movement is 11 de grees on the motor shaft If the electronics power supply is simultaneousl
52. Effective 1 2 100 14 immed This parameter specifies the P gain for axis at standstill Note Refer to P56 2 The parameter value can be changed while traversing 075W Min Standard Max Unit Data type Effective 1 5 100 14 immed This parameter specifies the P gain for axis at standstill Note The following applies before SW 1 2 Max value 40 The following applies before SW 1 4 Min value 0 Refer to P56 2 The parameter value can be changed while traversing P0055 37 Signal position 300W 075W Min Standard Max Unit Data type Effective MSR C4 RO Last position for external block change or when canceling the program block by withdrawing the start byte condition Note The following is valid for the position for rotary axis The following applies before SW 1 3 gt no modulo evaluation The following applies from SW 1 3 gt modulo evaluation P0056 38 Operating options 300W 075W Min Standard Max Unit Data type Effective 0 0 FFFF Hex V2 immed Bit 1 0 Drive referenced and behavior after restart from SW 1 2 00 The motor is referenced when powering up again if it had already been referen ced when powered down and was stationary The behavior is as it was before SW 1 2 01 The motor is referenced when powering up again if it was already referenced when powered down and was not stationary ZSW 13 1x The motor is not referenced when powering up again x the bit can either 0 or 1
53. It only operates in a group with the DC PMM 48V Type Order No MLFB DC PMM_E 48V 9AL2137 2BA00 1AAO Note Operating instructions in German and English are provided with the Power Management Module DC PMM Fig 2 10 Power Management Module Extension DC PMM_E 48V Functions features and technical data group comprising DC PMM 48V and DC PMM_E 48V e Additional regenerative feedback protection e Max continuous motoring current capacity 25A e Ambient temperature 0 55 C e Continuous power 45W e Maximum energy drawn 120 Ws e As a maximum one DC PMM_E 48V may be operated in conjunc tion with a DC PMM 48V Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 2 39 2 Installing and Connecting Up 06 05 2 2 Electrical system requirements Regenerative feedback protection for 24 V supply 75 W motor 2 40 Depending on the type of power supply the following possibilities are available to provide regenerative feedback protection when the motors brake Non regulated 24 V power supply transformer rectifier The regenerative feedback protection depends on the following factors Effective total moment of inertia Coincidence factor Power supply used output rating Regulated 24 V power supply SITOP power Regenerative feedback protection with diode and capacitor An example is shown in Fig 2 11 where up to 3 drives can be ope ra
54. Motor efficiency 75 motor 68 motor and drive unit Motor moment of Ratio i without holding brake with holding brake inertia e referred to the without gearbox 58 00 10 6 kgm 65 00 10 kgm motor out drive e gearbox 4 1 424 0 10 kgm 1 536 0 10 kgm referred to the ge 7 4 267 9 10 6 kgm 4 610 9 10 6 kgm arbox out drive 12 13 017 6 10 6 kgm 14 025 6 10 8 kgm 20 35 480 0 10 8 kgm 38 280 0 10 8 kgm 35 107 065 0 10 6 kgm 115 640 0 10 6 kgm 49 209 847 4 10 6 kgm 226 654 4 10 6 kgm 120 1 856 160 0 10 kgm 1 956 960 0 1078 kgm Shaft load capability e Axial load motor shaft Motor without holding brake max 210 N Motor with holding brake forces not permissible e Radial load max 240 N effective 30 mm above the plane where the motor is bol ted Brake type EBD 0 13BS Holding torque M4 1 1 Nm Gage DC current 0 4A olding eer brake Opening time 30 ms Closing time 10 ms Number of emergency 2000 with a regenerative feedback energy of 13 Ws braking operations Backlash 1 stage planetary gear lt 15 angular minutes Gearbox i j data 2 stage planetary gear lt 20 angular minutes 3 stage planetary gear lt 25 angular minutes Siemens AG 2005 All Rights Reserved 2 68 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 08 04 2 Installing and Connecting Up 2 6 Technical data Table 2 7 Technical data for the POSMO A 300 W positioning motor continued
55. Note The system does not go into the drive referenced state when writing into P40 The write from P40 the drive must be in closed loop control but with the condition STW 4 0 internal setpoint 0 5 2 5 Adaptation of the speed controller At standstill the speed controller gain P17 is changed over to P54 P gain speed controller standstill Siemens AG 2005 All Rights Reserved 5 138 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 05 03 5 Description of the Functions 5 2 Speed setpoint mode P700 1 from SW 2 0 5 2 6 Parameters for n set operation The following parameters are used for the general parameterization in the speed setpoint mode e P8 Maximum speed e P9 Ramp up time e P25 Override acceleration e P58 Holding brake brake opening time e P59 Speed close holding brake e P60 Holding brake brake delay time e P61 Holding brake controller inhibit time e P700 Selector switch mode e P880 Normalizing N SET e P930 Actual operating mode e P1426 Tolerance bandwidth speed actual value e P1427 Delay time Nset reached 5 2 7 Terminal signals It is not possible to feed back the terminal signals as was the case pre viously pos mode This is because the feedback signal byte RMB is used to display the speed actual value The relevant bits of the control and status word in the n set mode are interlocked with the terminals using the appropriate parameterization P31 P32
56. P21 P17 P18 P20 et P54 i lac M ar P16 P28 Actual value nact e 4096 Na DP JL EE PZD 2 P880 e P3 ct Parameters Measuring signals P8 Maximum speed 1 Current actual value P9 Ramp up time 2 Speed setpoint P16 Maximum overcurrent 3 Current setpoint from the speed controller P17 P gain n controller 4 Current setpoint smoothed P18 Integral action time n controller 5 Speed actual value P20 Current ron sinoptning Note P21 Speed setpoint smoothing These signals can be output via the analog P23 Jerk time constant measuring outputs P25 Override acceleration gt Refer to Chapter 6 3 P28 Maximum current P54 P gain n controller standstill Note Additional information on the parameters is provided in the parameter list gt Refer to Chapter 5 6 2 Fig 3 10 Closed loop control structure speed setpoint mode for SIMODRIVE POSMO A 3 94 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 05 03 3 Commissioning 3 3 Commissioning an axis 3 3 3 Flow diagram to commission a SIMODRIVE POSMO A START y Prerequisites e Start up tool has been installed Define the dimension units P4 0 mm 1 degr 2 inch e Communications established between the master and slave Rotary axis Linear axis Modulo value Enter modulo value P1 0 e g P1 360 degrees Enter a gearbox step down ratio
57. P3 e g for 1 4 5 gt P3 4 5 Traversing distance per revolution at the gearbox output P2 Define maximum velocity P10 P8 P2 P3 Define maximum acceleration P22 The acceleration can be increased as a maximum up to drive current limit Define the software limit switch P6 P7 P6 P7 gt SW limit switched de activated Set monitoring functions P12 maximum following error P14 standstill range yes required Optimization i The speed and position controllers are preset in the factory and these settings should be adequate for most applications To optimize the parameters of the control unit should be adapted refer to Fig 3 9 The analog test outputs can be used to support the optimization routine refer to Chapter 6 3 END Fig 3 11 Flow diagram when commissioning the system for the first time in the positioning mode P700 2 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 3 95 3 Commissioning 05 03 3 3 Commissioning an axis Prerequisites e Start up tool has been installed e Communications established between the master and slave START n set no P700 2 operation Refer to the flow diagram Fig 3 11 yes P700 1 Rotary axis P1 gt 0 0 Define dimension units P4 1 degr
58. Read in enable no read in enable STW 14 Operating condition interm stop STW 5 Operating condition stop Status signals Description refer to Chapter 4 2 2 Actual block number AktSatz Within the traversing block outside the traversing block gt SIMODRIVE POSMO A ZSW 14 Drive traversing drive stationary gt ZSW 13 Setpoint traversing task acknowledged edge ZSW 12 Reference position reached outside reference position gt ZSW 10 Following error no following error gt STW 4 ZSW 8 Fig 5 4 Signals for traversing block and programs Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 151 5 Description of the Functions 08 04 5 3 Programming the traversing blocks only in the pos mode P700 2 5 3 4 Behavior of speed controlled traversing blocks Description What has to be observed 5 152 Speed controlled traversing blocks use the speed controller to regulate the actual speed to the setpoint speed Because the actual position value position setpoint has no influence on this control the position setpoint is set equal to an actual position value resulting from the speed change If aspeed controlled traversing block is terminated by a stop command e g due to expired timer or by an external block change and no error is present then e if the SIMODRIVE POSMO A switches
59. SIMODRIVE POSMO A Warning Mount the SIMODRIVE POSMO A motor without connection cover refer to the dimension drawings in Chapter C Prevent dirt falling into the open drive 4 Prepare the connection cover for mounting e Prepare the cable e Install the cables in the connection cover e Set the PROFIBUS node address e Switch 8 setting OFF for PROFIBUS communications e Set the PROFIBUS terminating resistor gt refer to Chapter 2 4 2 gt refer to Chapter 2 4 3 gt refer to Chapter 2 3 1 gt refer to Chapter 2 3 1 gt refer to Chapter 2 3 1 y retaining the cover max tightening torque 1 8 Nm Locate the connection cover on the SIMODRIVE POSMO A and tighten the 2 screws y Connect the protective and potential bonding conductors gt refer to Chap 2 3 2 i Switch on the power supply for the load and electronics e Load power supply if no independent electronics power supply is present e Load and electronics power supply if both of the power supplies are separate LED Troubleshooting diagnostics gt Refer to Chapter 6 off yes or red steady light no Commisssion the drive system gt Refer to Chapter 3 Fig 2 17 Mounting and installation steps Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 2 51 2
60. Spare parts for SIMODRIVE POSMO A The drive unit is replaced as follows Caution The positioning motor must be brought into a no voltage condition before the drive unit is replaced 1 Remove the connection cover Tool Screwdriver Size 4 1 0 x 6 5 2 Release the four screws retaining the drive unit Tool Allen key SW 3 3 Remove the old drive unit 4 Mount the new drive unit 5 Tighten the four screws retaining the drive unit Tool Allen key SW 3 Tighten the screws diagonally Tightening torque 2 5 3Nm 6 Locate the connection cover and tighten the screws Tool Screwdriver Size 4 1 0 x 6 5 7 Load the parameter set The parameter set provided must be downloaded into the new drive unit from the old drive unit 8 Testing the positioning motor Note For the separate version where the motor and drive unit are separated the installation sequence when replacing the drive unit is the same However in this case the drive unit is removed from the extension set separate version The spare drive unit has the following Order No Order No MLFB 6SN2157 0AA01 0BA1 Refer to Chapter 7 1 under Address to return the positioning motor for the address of the regional spare parts department that is responsible for you Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 7 259 7 Installation and Service 06 05 7 3 Spare parts for SIMODRIVE POSMO
61. Use an active bus terminating resistor The active RS485 terminating element bus component has its own 24 V supply voltage and can terminate the bus indepen dently of the DP slave Order No MLFB 6ES7972 0DA00 0AAO Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 2 49 2 Installing and Connecting Up 08 03 2 3 Connection and wiring overview 2 3 2 Protective grounding Preparing the grounding Cable shields grounding PROFIBUS cabling Grounding load power supply Grounding electronics power supply optional Power supply 2 50 Protective grounding and potential bonding Use the M5 threaded hole in the connection cover for the protective conductor refer to Chapter 2 3 1 Notice When removing a POSMO A it is not permissible that the protective conductor is interrupted We recommend the following when connecting up the protective conductor e Star type configuration or e The input and output of the protective conductor at the connection cover must be crimped in one cable lug refer to Fig 2 13 Connect cable shields ground connections and electronic grounds to ground through the largest surface area The cable shields must be connected in the gland to the largest surface area Notice The cable shield of each bus node must be connected to ground through the largest possible surface area at SIMODRIVE POSMO A in the PG gland
62. When a fault or warning is detected then this is displayed in the positio ning motor by setting the appropriate status signal and the fault war ning bits in P947 P953 and P954 The faults and warnings can be evaluated as follows e Via PROFIBUS in cycle operation By reading the status signal and evaluating the bit coded parameter values for the faults and warnings P947 P953 and P954 e Via SimoCom A in online operation The faults or warnings that have occurred are converted into an ap propriate fault warning number and displayed Table 6 2 Overview of faults and warnings Fault bit Fault number Status signal Meaning Warning bit Warning number for SimoCom A P947 0 700 Fault 700 ZSW 3 o a i L P947 15 715 aute presen Fault 715 P953 0 800 Warning 800 ZSW 7 P953 15 815 ovarning presenti Warning fe P954 0 900 Supplementary information 900 from SW D ZSW3 or ZSW7 et 1 4 915 Supplementary information 915 P954 15 6 234 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 05 03 6 Fault Handling and Diagnostics Differences between faults and warnings Faults 6 2 Faults and alarms What is the difference between a fault and a warning e Faults refer to Table 6 2 A fault causes an appropriate response for the positioning motor Faults must be acknowledged after the fault cause has been re moved The motor signals fa
63. after the traversing distance specified in block 9 to block 10 e The drive stops because this does not contain a start condition This means that in comparison to a speed controlled solution it can be ensured that the drive does not endlessly move if the cam BERO is either not wired at all or is defective Fig 5 10 Example Position controlled traversing motion to cam BERO with stop Using a special configuration of the traversing blocks the flying mea surement function can be executed so that the drive stops if the BERO cam is not reached within a specified maximum distance In this particular case the program is still active and must be interrupted using a stop command In this case the first program block selected is e g block No 9 What should be done The following has to be done in order to use the flying measurement function 1 Connect the signal transmitter to digital input 1 X5 terminal Q1 gt the signal transmitter must be high active gt refer to Chapter 2 3 and 2 4 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 167 5 Description of the Functions 08 04 5 5 SIMODRIVE POSMO A functions 2 Assign digital input 1 the function accept value directly in the start byte bit 7 gt Inthe SimoCom A using the tab Dar and entry digital inputs outputs gt by setting SIMATIC S7 P0031 to 25 3 Program the traversin
64. all of the address switches are either OFF or ON this means that the function jog operation without PROFIBUS and parameterization is activated refer to Chapter 5 5 11 1 I Input O Output 2 48 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 02 00 2 Installing and Connecting Up 2 3 Connection and wiring overview Bus termination The following must be taken into consideration for the bus termination for PROFIBUS at the PROFIBUS DP in connection with the DP Slave POSMO A e The terminating resistor must be switched in at the first and last bus nodes e ls the DP slave POSMO A the first or last bus node If yes gt The bus termination must be switched in using switch S1 refer to Table 2 3 gt The bus termination that has been switched in is only effective if the electronics power supply of the positioning motor is powered up and the connection is inserted If no gt The bus termination must be switched out using switch S1 refer to Table 2 3 e f it must be possible with bus communications still operational to power down the SIMODRIVE POSMO A positioning motor without resulting in errors then the following applies This DP slave POSMO A may neither be used as the first nor last bus node For this DP slave POSMO A the bus termination must be switched out using switch S1 refer to Table 2 3 Recommendation
65. be withdrawn and inserted under voltage inserting the with the motor stationary OFF 1 connection cover If the PROFIBUS terminating resistor is not switched in on this node under voltage i e if this drive is not the first or last node then communications to the other bus nodes is not interrupted Notice When the connection is withdrawn the actual position is not saved This means that the drive must be re referenced after the cover has been inserted i t limitation This limiting function protects the positioning motor against permanent overload If the positioning motor is operated for an excessive time over the per missible load limit then the available motor current is automatically limi ted according to a characteristic I A 4 not to scale 9 45 Warning e gt 801 P953 1 refer to Chapter 6 2 2 e gt 0 15 t s Fig 2 7 i t characteristic with 75 W motor I A 4 not to scale 21 207 A Warning gt 801 P953 1 refer to Chapter 6 2 2 15 10 5 10 5 Warning e gt 801 P953 1 refer to Chapter 6 2 2 L gt 0 60 t s Fig 2 8 i t characteristic with 300 W motor Siemens AG 2005 All Rights Reserved 2 36 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 08 04 2 Installing and Connecting Up 2 2 Electrical system requirements 2 2 3 Regenerative feedback protection when the motor brakes General info
66. blocks in the reference program have the following functions Block 1 Traverse up to cam Block 2 Leave cam Block 3 Reference to occurring zero mark Block 4 Traverse to absolute position e Case 1 Starting in front of the cam e g referencing with direction reversal Zero marks i Zero mark Reference cam signal Block 1 Reference cams Traversing profile AN Block 4 Block 3 Block 2 Fig 5 7 Reference to occurring zero mark start in front of the cam Referencing is performed at the zero mark occurring after leaving the cam Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 163 5 Description of the Functions 08 04 5 5 SIMODRIVE POSMO A functions e Case 2 Starting at the cam e g referencing with direction reversal Zero mark Traversing profile Reference cams Block 4 Block 3 Block 2 Block 1 is immediately rejected because the start condition traverse up to cam is rejected Fig 5 8 Reference to occurring zero mark start atthe cam Referencing is performed at the zero mark occurring after leaving the cam The function reference to occurring zero mark can be assigned to an individual traversing block with the No X of the drive The activation takes place with P80 X 14 1 The corresponding traversing block relative position absolut
67. cause set STW 7 1 0 and STW O 0 1 Pulse suppression Reference position lost During shutdown the drive was in motion Therefore the reference po siton has not been accepted The drive is not referenced Reference drive Remove cause set STW 7 1 0 and STW O 0 1 Pulse suppression Error in the FEPROM We have detected a fault in the non volatile memory FEPROM Additional information gt Evaluate P954 Remove cause set STW 7 1 0 and STW 0 0 1 Pulse suppression Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 6 Fault Handling and Diagnostics 715 P947 15 Cause Remedy Acknowledgement Stop response 800 P953 0 Cause Remedy Acknowledgement Stop response 801 P953 1 Cause Remedy Acknowledgement Stop response 802 P953 2 Cause Remedy Acknowledgement Stop response 6 2 Faults and alarms System error An internal fault was detected in the drive Activate deactivate positioning motor Check and correct the motor data Posmo A 75W Replace the positioning motor Posmo A 300W Replace the drive unit Remove cause set STW 7 1 0 and STW O 0 1 Pulse suppression Electronics temperature warning The electronics temperature is gt 90 degrees Celsius If the permissible maximum electronics temperature is exceeded for longer than the time specified in P29 electronics temperature tolerance time then a fa
68. cise stopping window e A precise stop is always executed at the end of program Pos velocity motion type positioning type traversing type 20 66 POSITIONING ABSOLUTE Precise stop 40 100 POSITIONING RELATIVE Precise stop 10 33 POSITIONING RELATIVE Precise stop va Il EE Example Program with 3 traversing blocks 66 Ee Ne Block1 Bock Block3 t Effective for sin gle blocks no Negate start byte condition The block is executed if at least one of the bits configured in the start mask is not set Normal evaluation no SMStart type from SW 1 2 The following is valid dependent on the condition defined in SMStart e fulfilled then the block is executed e not fulfilled then the block is skipped Wait until the start condition is fulfilled according to SMStart The block is executed if the condition is fulfilled and Execute block is present no Program stop from SW 1 2 Program end when the end of the block is reached No response no Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 145 5 Description of the Functions 08 04 5 3 Programming the traversing blocks only in the pos mode P700 2 Table 5 6 Structure of the program control word PSW P80 28 continued path from SW 1 4 when the bits are set the shortes
69. compact power connection drive converter power sec tion closed loop motor control positioning control open loop com munication and bus connection on the motor A 24 V supply voltage for the 75 W motor and 48 V for the 300 W motor supply the drive power Reference KT101 SITOP power power supplies Catalog The motor can be equipped and operated without a gearbox or with a gearbox from a modular gearbox system e 75W motor Modular gearbox system refer to Chapter 2 5 1 e 300 W motor Modular gearbox system refer to Chapter 2 5 2 Standard cables are used for all connections If mounting space is restricted it is possible to separate the drive unit from the motor Using the extension set separate version for SIMODRIVE POSMO A 300 W the drive unit can be mounted sepa rately from the motor The power and signal cables required draggable are supplied pre fa bricated as the extension set separate version refer to Table 1 1 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 04 01 1 Brief Description 1 1 General information about SIMODRIVE POSMO A Traversing The positioning motor can be traversed as follows possibiites e Traverse to an end position with a velocity and acceleration which examples Traversing blocks and programs Communications Diagnostics can be overridden e Traverse through a distance in a direction with velocity and accele r
70. dependent parameters factory presetting default Gearbox P964 7 P3 P10 P16 P22 P28 Gearbox Maximum Maximum Maximum Maximum Step Gear step velocity overcur acceler current down down rent ation T b ype ratio ox factor i code ei mm min A mm s2 A 75 W motor Gearbox dependent parameters factory default setting without gearbox 2049 1 30000 18 0 1000 9 0 4 5 2050 4 5 6660 13 33 225 7 8 8 2058 8 3750 75 125 4 6 20 25 2059 20 25 1480 18 0 50 9 0 Planetary 36 2060 36 830 11 11 30 7 9 gearbox 50 2061 50 600 8 0 20 5 6 126 5625 2062 126 5625 237 9 48 8 7 8 162 2063 162 185 7 4 6 6 0 5 2064 5 6000 18 0 200 9 0 Worm gear 24 2065 24 1250 7 3 40 7 3 75 2066 75 400 2 7 13 5 3 Siemens AG 2005 All Rights Reserved 5 230 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 08 04 5 Description of the Functions 5 6 Parameters for SIMODRIVE POSMO A Table 5 10 Gearbox dependent parameters factory presetting default continued Gearbox P964 7 P3 P10 P16 P22 P28 Gearbox Maximum Maximum Maximum Maximum Step Gear step velocity overcur acceler current down down rent ation Type ratio box factor i code Gearbox mm min A mm s A 300 W motor Gearbox dependent parameters factory default setting 20511 K eyway 20672 won Smooth 2075 1 30000 42 0 4000 21 0 Gearbox
71. fail then after 3 seconds the control word is replaced by this value The terminal signals remain active with the highest priority A maximum of ten traversing blocks in the range 3 to 27 can be preset with SIMODRIVE POSMO A in P101 11 for the standalone mode These specified blocks are then processed consecutively in standalone mode Rules when executing the blocks e Execution sequence from P101 1 to P101 10 e If it is recognized that P101 x 0 then the last block which is ent ered is continuously repeated e If the block lies within a program range then the program is execu ted as programmed from this block The factory default setting for P101 11 is as follows refer to Table 5 9 Table 5 9 P101 11 block sequence in the standalone mode factory default setting Index P101 11 S 1 2 3 4 5 6 7 8 9 10 Value 0 0 0 0 0 0 0 0 0 0 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 185 5 Description of the Functions 04 01 5 5 SIMODRIVE POSMO A functions Jogging operation Assumption in the standalone mode Jogging 1 and 2 are permanently connected via digital inputs and para meterized using P31 and P32 refer to Chapter 5 5 10 This means that when the bus communications fail in order that the positioning motor can still be jogged via these inputs the following ap plies e Before SW 1 3 the following applies In order to be able to jog o
72. flying actual value setting PSW 10 1 this parameter is the setting value The signal position function is then inactive Contains a mask that determines which bits of the start byte STB in the PZD are to be evaluated as additional start bits to start program blocks A program block starts as soon as in addition to the normal start enable signals all of the configured bits are set If one of the bits is withdrawn traversing motion stops and the block is exited A value of 0 de activates the function Contain bit masks which are OR d with the status signals feedback signal byte RMB when a pre defined event occurs These events include es MMStart Start of the traversing block Bits that are activated at the start of a traversing block MMStart is reset at the end of block e MMStop End of the traversing block as for ZSW 14 Bits that are activated at the end of a traversing block MMStop is reset at the start of a new traversing block e MMPos Passing the signaled position Bits that are activated when passing the signaled position MMPos is reset when a new traversing block is started Note MMPos is ineffective when the sei reference position PSW 9 1 or flying actual value setting PSW 10 1 function is activated Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 149 5 Description of the Functions 02 99 5 3 Programming the tr
73. gt refer to Fig C 2 e Motor with worm gearbox gt refer to Fig C 3 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition C 269 08 04 C Dimension Drawings C 1 Dimension drawings for SIMODRIVE POSMO A 75W SEET a ee an 7Z8L69Z00 ASV siawais 9L 8T rin K is U2eu d TL FIS eddy s6nid Auump IT d a KSE acloe SN ec 20 0 9 0ZL PULUAH AWS W ASH gl pape GeTOd V MSZ Y OWSOd 3AIYAONIS Onb a Buruanu L aiqes EI sti qu UN anbiqy Duett CG agoe quiof papeauy Bd BungneiyssiaA Bd Leo 7 Z88 r S O rel Leo zer 8 0 FSZT Ezeo eze z L O 76S So reg Too p86 00 0272 Leg 08r z T 00T 200 882 6 0 eer 7 oste T00 amp 0 0 x Leo 90 0 Q v 60 o8r Zl Lg a v 6E0 F 484S T FLHT oolzol le LEE Feet Sr Lon ole CO eme 1200 cole TO Se Leon SZS T L 00 eet B e D deep 922 il i Al deep Z a deep az Sail l deep Z WN Nea am EH sw Sn vw 6 0 7 S6L Z TTL
74. i 35 i 49 6SN2157 2BD20 0BA0 6SN2157 2BF20 0BA0 6SN2157 2BH20 0BAO 6SN2157 2CK20 0BAO 6SN2157 2CM20 0BAO 6SN2157 2CP20 0BAO 7 257 7 Installation and Service 06 05 7 3 Spare parts for SIMODRIVE POSMO A 7 3 2 Drive unit as spare part only the 300 W motor Replacing the We recommend the following procedure if a drive unit is to replaced drive unit E 2 slotted screws Ze Be 1 0 x 6 5 E L Connection cover C 4 self tapping Allen keys m M4 x 16 2 5 3 Nm Gearbox Drive unit not to scale Fig 7 1 Replacing the drive unit 2 Reader s note Up to date and binding information on this subject should be taken from the documentation provided with the spare parts Installation and mounting instructions replacing the drive unit What is required to The following are required to replace the drive unit replace the drive g 1 Tools unit Screwdriver Size 4 1 0 x 6 5 Allen key SW3 2 New drive unit 3 Parameter sets of the old drive unit save and make available Siemens AG 2005 All Rights Reserved 7 258 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 7 Installation and Service How do you replace the drive unit Order No MLFB Address to return the drive unit 300 W motor 7 3
75. in all of the documentation associated with this product should be carefully observed Please refer to the Catalogs or contact your local SIEMENS office for the ordering data 2 All of the work must be carried out by qualified appropriately trained personnel 3 Before starting any work on SIMODRIVE POSMO A the motor must be disconnected in line with the regulations according to the 5 safety rules In addition to the main circuits it is important to observe if there are any supplementary or auxiliary circuits According to DIN VDE 0105 the 5 safety rules are as follows Disconnect from the power source lock out against reclosure ensure that the equipment really is in a no voltage condition ground and short circuit and cover or partition off adjacent parts that are under voltage live The previously mentioned measures may only be reversed restored after all of the work has been completed and the motor has been completely installed 4 All rating plates warning labels and information labels on the SIMODRIVE POSMO A must be carefully observed 5 Commissioning is prohibited until it has been clearly identified that the machine in which this component is to be installed fulfills the conditions of Directive 98 37 EC 6 Caution when coming into contact When SIMODRIVE POSMO A is operational surface temperatures of over 100 C can occur Danger of fire 7 It is prohibited to use POSMO A in hazardous zones and areas 8
76. is transferred between the master and slaves according to the PROFIBUS master slave principle The drives are always the slaves This permits extremely fast cyclic data transfer Essential For SIMODRIVE POSMO A for communications via PROFIBUS the properties of bus following properties are involved communications Table 4 1 Essential properties of bus communications Features Which of these does the DP slave POSMO A have Supports 9 6 kbaud Yes Supports 19 2 kbaud Yes Supports 45 45 kbaud Yes Supports 93 75 kbaud Yes Supports 187 5 kbaud Yes Supports 500 kbaud Yes Supports 1 5 Mbaud Yes Supports 3 Mbaud Yes Supports 6 Mbaud Yes Supports 12 Mbaud Yes Supports the FREEZE control command Yes Supports the SYNC control command Yes Supports automatic baud rate search Yes Station number can be changed via software No Addressing The PROFIBUS node address and the terminating resistor are perma nently set in the connection cover of SIMODRIVE POSMO A gt Refer to Chapter 2 3 1 Siemens AG 2005 All Rights Reserved 4 100 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 02 99 4 Communications via PROFIBUS DP 4 1 General information about PROFIBUS DP Protocol for the DP slave POSMO A PNO Guideline profile for variable speed drives DP Master Class 1 PLC e g SIMATIC S7 PROFIBUS DP Cyclic data transfer PZD part Non cyc
77. machine in which the components described here are to be installed fulfills the regulations specifications of the Directive 98 37 EC N Warning The information and instructions in all of the documentation supplied and any other instructions must always be observed to eliminate hazardous situations and damage e The information in the catalogs and offers also applies to the design of special machine and device variants e Further all of the relevant national local land plant system specific regulations and specifications must be taken into account e All work must be undertaken with the system in a no voltage condition Caution When using mobile radio equipment e g cellular phones walkie talkies with a transmitting power of gt 1 W close to SIMODRIVE POSMO A lt 1 5 m this can have a negative impact on the functioning of the SIMODRIVE POSMO A ei Siemens AG 2005 All Rights Reserved xII SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 Foreword ESDS information ElectroStatic Discharge Sensitive Devices and instructions A ba Components which can be destroyed by electrostatic discharge are individual components integrated circuits or boards which when handled tested or transported could be destroyed by electrostatic fields or electrostatic discharge These components are referred to as ESDS ElectroStatic Discharge Sensitive Devices Handling ESDS boards When handl
78. made before mounting or changing have to be made gearboxes e This point is only valid if the gearbox is be replaced Remove the cover from the mounting hole Rotate the clamping hub with respect to the adapter plate in or der to line up the mounting holes Release the clamping hub coupling of the gearbox Release the 4 screws between the motor and gearbox Remove the gearbox e Prepare the gearbox to be mounted Clean the opening for the gearbox input shaft Clean the mounting surface and remove any possible damage e g impressions in the mating surfaces burs e Preparing the motor Clean the motor shaft Clean the mounting surface and remove any possible damage e g impressions in the mating surfaces burs Apply a sealing agent to the motor flange Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 7 255 7 Installation and Service 04 01 7 2 Mounting or replacing a gearbox only relevant for 300 W motors What are the steps when mounting a gearbox 7 256 When mounting a gearbox proceed as follows 1 Carefully locate the gearbox on the motor by applying gentle pres sure until there is no longer a gap between the motor and gearbox 2 Tighten the clamping hub coupling Tool Allen key SW 4 Torque max 6 Nm 3 Establish the connection between the motor and gearbox Tool Allen key SW 5 Tighten the screws d
79. overview of the complete documentation and the languages in which it is available updated on a monthly basis is available in the Internet under the following address http www siemens com motioncontrol Follow the menu items gt Support gt Technical Documentation gt Documentation Overview The Internet edition of DOConCD DOConWEB is available under http www automation siemens com doconweb You will find the certificates for the products described in this documen tation under http intra1 erlf siemens de qm home index html Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition V Foreword 06 05 Goal Information about using this manual vi This user manual provides detailed information required for operating the positioning motor SIMODRIVE POSMO A Should you wish for additional information or should exceptional pro blems arise that are not addressed in sufficient detail in this manual you can request the required information from your local Siemens of fice The following should be observed when using this manual 1 Help The following help is available for the reader e Complete table of contents e Header line as orientation the main chapter is in the upper header line the sub chapter is in the lower header line e Appendix with Abbreviations and List of References Index If you require information on a specific term
80. parameter value can be changed while traversing P0021 15 Speed setpoint smoothing 300W 075W Min Standard Max Unit Data type Effective 2 2 100 ms C4 immed Lowpass PT1 characteristics Note The parameter value can be changed while traversing P0022 16 Maximum acceleration 300W Min Standard Max Unit Data type Effective 0 4000 200000 MSR s2 C4 immed Max acceleration for closed loop position controlled operation Note This parameter has a gearbox dependent factory default 075W Min Standard Max Unit Data type Effective 0 1000 200000 MSR s2 C4 immed Max acceleration for closed loop position controlled operation Note This parameter has a gearbox dependent factory default P0023 17 Jerk time constant 300W 075W Min Standard Max Unit Data type Effective 0 0 400 ms T4 immed The acceleration deceleration is changed over this time Note Input resolution 10 ms Siemens AG 2005 All Rights Reserved 5 208 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 5 Description of the Functions 5 6 Parameters for SIMODRIVE POSMO A P0024 18 Override velocity 300W 075W Min Standard Max Unit Data type Effective 0 16384 16384 N2 immed Closed loop speed control referred to P8 maximum speed Closed loop position controlled referred to P10 maximum velocity Note The parameter value can be changed while traversing P0025 19 Override acceleration 300W 075W Min Standard Max Unit Data type E
81. power connected in series to double the voltage Reference KT101 SITOP power power supplies Catalog Regenerative feedback protection when braking the motor refer to Chapter 2 2 3 Our third recommendation for the 48 V power supply Use a rectifier unit to generate the 48 V load power supply The rectifier unit is an uncontrolled DC power supply with safety trans former and varistor circuit e Order No 4AV3596 0EG30 0C e Applicable regulations EN 61558 EN 61131 2 Conducted Immunity EN 50082 2 Interference Emission EN 50081 1 Suitable for connection to public or industrial supply systems in accordance with EN 61000 3 2 3 3 e Installation conditions Upright mounting position Installation altitude up to 1000 m above sea level M6 bolt mounting using a bracket Rooms with outdoor climatic conditions according to DIN 50010 Ambient temperature 25 C to 40 C Storage temperature 25 C to 60 C e Cable using protection refer to Chapter 2 2 1 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 02 99 2 Installing and Connecting Up e Technical data 2 2 Electrical system requirements Table 2 2 Technical data of the rectifier unit Name Input voltage Description 3 ph 480 V 400 V AC 6 10 Frequency 50 60 Hz Output voltage 48 V DC Output current 25 ADC Output rating 20 000 uF 100 V Re
82. scope of permissible torques Due to the run up time of the gearbox elevated currents may occur when commissioning for the first time grease distribution in the gearbox Reader s note Additional gearbox data Dimension drawings of motors and gearboxes Gearbox dependent parameters Mounting or replacing gearboxes gt refer to Chapter 2 6 2 gt refer to Chapter C 2 gt refer to Chapter 5 6 3 gt refer to Chapter 7 2 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 2 61 2 Installing and Connecting Up 02 99 2 6 Technical data 2 6 Technical data 2 6 1 Technical data for SIMODRIVE POSMO A 75 W Table 2 6 Technical data for the POSMO A 75 W positioning motor Name Description Load power supply Supply voltage 24 VDC 20 Power consumption rated lt 4 5 A for 200 overload S3 lt 9A Note The rated output and rated speed are reduced when the 24 V Electrical power supply voltage is fallen below data Electr power supply Voltage 24VDC 20 optional Current drain lt 250 mA Digital inputs Voltage 24VDC 20 Current drain lt 15 mA Digital outputs Maximum current output 100 mA A A ITA M Nm 200 overload PA 75 W 9 0 36 eg Torque speed characteristic l Rated motor operating Min point characteristic 4 5 HM Ss eee 62 5 W Motor witho
83. signal description 1 ON Ready 0 ON OFF 1 0 OFF1 Shutdown decelerating along the down ramp power dis connected tracking operation 1 Operating condition Ready 1 Operating condition OFF 2 0 OFF2 The power is disconnected and the motor coasts down power on inhibit 1 Operating condition Ready 2 Operating condition OFF 3 0 OFF3 Deceleration along the current limit power disconnected from the motor tracking operation power on inhibit Siemens AG 2005 All Rights Reserved 4 108 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 4 Communications via PROFIBUS DP Table 4 7 4 2 Process data PZD area Description of the individual signals in the control word STW for the n set mode continued Bit Signal name Enable operation Signal status signal description Enable operation Ready 3 inhibit operation 0 Inhibit operation Power disconnected from the motor motor coasts down operation inhibited status 1 Enables the ramp function generator The motor accelerates to the speed setpoint along the para meterized ramp Ramp function generator 4 Ger g 0 e Standstill The motor does not accelerate up to its speed setpoint e While traversing Braking with the maximum acceleration Ramp function generator 1 Motor accelerates corresponding to the parameterized ramp 5 start ramp fu
84. speed controller at the endstop fault P30 0 1 Fault speed controller at its limit gt this is re defined to become a warning e Move to the fixed endstop closed loop speed controlled PSW O 0 or jogging When the endstop is reached it is displayed as follows ZSW 7 1 gt means warning present and P953 7 1 gt means speed controller at the endstop e Stop traversing What has to be The following has to be observed observed Note e The travel to fixed stop function can only be practically used when traversing in the closed loop speed controlled mode PSW O 0 or jogging For closed loop position controlled techniques PSW O 1 the fixed endstop reached state can only be exited using OFF commands e Limit P28 and P16 to values at which torques significantly below the torque limit occur at the gearbox output P28 maximum current P16 maximum overcurrent e Limit the traversing velocity to a value which is significantly below the maximum velocity at the rated speed Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 173 5 Description of the Functions 08 04 5 5 SIMODRIVE POSMO A functions The following must also be observed The function travel to fixed stop causes an externally forced rotation delay and therefore an externally forced torque that must be below the permissible
85. start byte bit 1 Speed setpoint operating mode No function Positioning operating mode Accept value directly from start byte bit 2 Speed setpoint operating mode No function Positioning operating mode Accept value directly from start byte bit 3 Speed setpoint operating mode No function Positioning operating mode Accept value directly from start byte bit 4 Speed setpoint operating mode No function Positioning operating mode Accept value directly from start byte bit 5 Speed setpoint operating mode No function Positioning operating mode Accept value directly from start byte bit 6 Speed setpoint operating mode No function Positioning operating mode Accept value directly from start byte bit 7 Speed setpoint operating mode No function Positioning operating mode Accept value directly from checkback byte bit 0 software version 1 2 and higher Speed setpoint operating mode No function Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 5 Description of the Functions 5 6 Parameters for SIMODRIVE POSMO A 88 O RMB 1 Positioning operating mode Accept value directly from checkback byte bit 1 software version 1 2 and higher Speed setpoint operating mode No function 89 O RMB 2 Positioning operating mode Accept value directly from checkback byte bit 2 software version 1 2 and higher Speed setpoint operating mode No function 90 O RMB 3 Positioning operating mode
86. start condition and there fore goes into the state wait for start condition In this case the program has not been completed When the cam sig nal or BERO outputs a signal via the digital input the program with block 11 is continued without a position having been measured Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 169 5 Description of the Functions 04 01 5 5 SIMODRIVE POSMO A functions Flying actual value setting from SW 1 4 Setting of the actual value can be triggered via a 0 1 signal edge at in put terminal 1 during processing of a block The dimension system is then re synchronized The following blocks are then executed in the new reference system Input signal flying measuring actual value setting What happens for a 0 1 signal edge No input signal detected A Block 13 Block 14 H e Brakes along the braking ramp Block change with delete distance to go The actual value is set to the position in P85 28 signal position gt the new reference system applies from this position e Traverses as programmed in the block Fig 5 11 Example Flying actual value setting 5 170 What should be done The following has to be done in order to use the flying actual value setting function 1 Connect the signal transmitter to digital input 1 X5 terminal 1 Q1 gt the signal transmitter must be high a
87. system Incremental integrated Resolution 816 increments motor revolution Rated motor speed 3 300 RPM S1 Note 2 000 RPM S3 25 1 min The data is only va lid for supply volta Rated motor torque 0 18 Nm S1 ges of gt 24 V without gearbox 0 36 Nm S3 25 1 min Rated motor power 62 5 W S1 without gearbox 75 W S3 25 1 min Motor data Rated motor current 4 5A Motor efficiency 65 Motor moment of Ratio i Without holding brake inertia e referred to the without gearbox 60 00 10 8 kgm motor out drive e gearbox 45 1 233 2 108 kgm referred to the ge 8 3 897 6 10 8 kom arbox out drive 20 25 24 972 8 10 6 kgm 36 78 926 4 10 6 kgm 50 152 250 0 10 6 kgm 126 5625 975 500 2 10 8 kgm 162 1 598 259 6 10 8 kgm 5 1 537 5 10 kgm 24 35 424 0 10 kgm 75 345 937 5 10 8 kgm Shaft load capability Axial load max 150 N motor shaft Radial load max 150 N effective 20 mm from the mounting plane Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 2 63 2 Installing and Connecting Up 08 04 2 6 Technical data Table 2 6 Technical data for the POSMO A 75 W positioning motor continued Name Description S1 continuous oper The equipment can operate continually at rated load without ation duty the permissible temperature being exceeded Duty cycle 0 Operating S3 intermittent duty The equipment can only b
88. to closed loop position con trol e the actual position present after the standstill is kept according to the controller setting If during a speed controlled traversing block e the override speed P24 is set to zero or e the control word STW 5 is set to zero intermediate stop then the SIMODRIVE POSMO A remains in speed control and regula tes the speed to zero regardless of the current actual position of the axis From this follows gt H for example the drive mechanical system moves from the actual position opposing the maximum possible motor current then the SIMODRIVE POSMO A controls the mechanical system so that at the new position the actual speed is zero The positional shift does not affect the closed loop control gt For closed loop control at zero speed a minimum drive velocity can occur due to the closed loop control This is not evaluated by the drive as the axis has no speed when seen over the average If the SIMODRIVE POSMO A should keep its position at zero speed then the closed loop speed control traversing block must be ended and changed over to closed loop position control Note The execution of an intermediate stop for instance to stop the axis temporarily at a position is not recommended in speed controlled traversing blocks due to the behavior described above Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 05 03 5 Description of
89. traversing blocks 31 271 Parameters Value Parameters Value Components P80 3 3 end P80 27 3 PSW program control word P81 3 0 ei P81 27 0 Target position P82 3 100 Seg P82 27 100 Velocity or speed P83 3 100 Si P83 27 100 Acceleration P84 3 0 bi P84 27 0 Timer value P85 3 0 a P85 27 0 Signaling position P86 3 0000Hex i P86 27 0000Hex SMStart MMStart P87 3 0000Hex Si P87 27 0000Hex MMStop MMPos 1 Traversing blocks 3 to 27 Traverse with the maximum speed and maximum acceleration 0 mm relative Such traversing blocks are zero blocks Such a block can be very simply converted into a standard positioning block by setting the target position and program control word PSW Pre assignment of Traversing blocks 1 and 2 are reserved for jogging and are pre assi traversing blocks 1 gned as follows and 2 for jogging Table 5 4 Pre assignment of traversing blocks 1 and 2 for jogging factory presetting Pre assignment of traversing blocks for jogging 11 22 Parameters Value Parameters Value Components P80 1 0 P80 2 0 PSW program control word P81 1 0 P81 2 0 Target position P82 1 100 P82 2 100 Velocity or speed P83 1 100 P83 2 100 Acceleration P84 1 0 P84 2 0 Timer value P85 1 0 P85 2 0 Signaling position P86 1 0000Hex P86 2 0000Hex SMStart MMStart P87 1 0000Hex P87 2 0000Hex MMStop MMPos 1 Traversing block 1 Traverse with maximum speed and maximum acceleration in a negative di
90. using this parameter The following applies from SW 2 0 The meaning of terminal parameterization depends on the operating mode P930 Parameters with different meanings are marked Siemens AG 2005 All Rights Reserved 5 210 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 5 Description of the Functions 5 6 Parameters for SIMODRIVE POSMO A Parameters which are not marked have the same function in both operating modes 0 1 10 11 12 13 14 15 16 17 18 19 20 21 22 23 STW 4 STW 5 STW 6 STW 8 STW 9 STW 11 STW 12 STW 13 STW 14 RMB 0 RMB 1 RMB 2 RMB 3 RMB 4 RMB 5 RMB 6 RMB 7 STB 0 STB 1 STB 2 STB 3 STB 4 STB 5 No function Positioning operating mode Operating condition positioning Stop and reject the actual traversing task on cancelation Stop Speed setpoint operating mode Ramp function generator enable Stop with maximum acceleration on cancelation Positioning operating mode Operating condition positioning Stop without rejecting the actual traversing task on cancelation Stop Speed setpoint operating mode Ramp function generator START Ramp function generator STOP The actual speed remains constant on cancelation Positioning operating mode Activate traversing task Speed setpoint operating mode Setpoint enable Deceleration at the ramp on cancelation
91. 0 gt to t t At gt P1427 ee At t1 to Delay time P1427 IfAt gt P1427 then ramp up completed ZSW 10 1 Fig 5 2 Signal characteristics for the ramp function generator Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 137 5 Description of the Functions 06 05 5 2 Speed setpoint mode P700 1 from SW 2 0 5 2 3 Direction of rotation reversal P880 is used to normalize the speed which is obtained at the gearbox output of the motor when a setpoint of 1000hex 4096 ge is entered using control word STW If a negative value is entered into P880 then in addition the motor direction of rotation is inverted There is the following assignment between inversion direction of rota tion and setpoint e Without inversion the motor rotates clockwise for a positive setpoint e With inversion the motor rotates anti clockwise for a positive set point Definition of the direction of rotation e When viewing the output shaft the shaft rotates counter clockwise The motor direction of rotation is counter clockwise e When viewing the output shaft the shaft rotates clockwise The motor direction of rotation is clockwise 5 2 4 Displays the position actual value The position actual value can be set with P40 when commissioning the system and so that the axis position can be tracked P40 corresponds with the settings of P1 to P4
92. 0 2 4 0 6 1 3 660 SO 1 24 0 50 3 5 7 2 2 4 3 138 gear 75 0 25 4 8 3 4 6 8 44 1 The specified permissible gearbox torque may not be exceeded Gearboxes can be briefly loaded 1 2 s when starting with higher torques up to a maximum of twice the continuous torque without causing permanent damage but this does have a negative impact on the gearbox lifetime The gearbox could be destroyed if this limit is exceeded The current limits of the positioning motor are preset in the factory to prevent destruction by the torque produced by the motor Notice If the worm gear has to be rotated due to the mechanical design then the mounting screws must be subsequently tightened to a torque of 2 Nm and secured using Loctite 274 No warranty is accepted for damage caused by incorrect changes 3 Torsional play lt 1 d Notice Forced rotation acceleration or delay from the outside is permitted only within the scope of permissible torques Due to the run up time of the gearbox elevated currents may occur when commissioning for the first time grease distribution in the gearbox D Header e note Additional gearbox data gt refer to Chapter 2 6 1 Dimension drawings of motors and gearboxes gt refer to Chapter C 1 Gearbox dependent parameters gt refer to Chapter 5 6 3 Siemens AG 2005 All Rights Reserved 2 60 SIMODRIVE POSMO A User Manual POS1 06 05 Edition
93. 0 K6710 A101 B4 Order No E86060 K6710 A101 B4 7600 English P1 PROFIBUS DPVI1 Basics Tips and Tricks for Users H thig Manfred Popp EN50170 ISBN 3 7785 2781 9 P2 PROFIBUS DP Fast Entry PROFIBUS User Organisation e V Manfred Popp Order No 4 071 P3 PROFIBUS Profile for Variable Speed Drives PROFIDRIVE September 1997 Edition PROFIBUS User Organization e V 76131 Karlsruhe Haid und Neu Stra e 7 Order No 3 071 P4 Decentralization with PROFIBUS DP Design Configuring and Using PROFIBUS DP with SIMATIC S7 SIEMENS Publics MCD Verlag Josef Weigmann Gerhard Kilian Order No A19100 L531 B714 ISBN 3 89578 123 1 P5 Manual for PROFIBUS Networks SIEMENS Order No 6GK1 970 5CA10 O0AAO Siemens AG 2005 All Rights Reserved B 266 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 B References Manufacturer Service documentation POS1 SIMODRIVE POSMO A 06 05 Edition User Manual Order No 6SN2 197 0AA00 0BP8 POS2 SIMODRIVE POSMO A 08 03 Edition Mounting Instructions 75 300 W Motor provided with each drive Order No On request posa_mv SIMODRIVE POSMO A 300 W 03 05 Edition Mounting Instructions Extension Set Separate Version Order No On request posa_mta SIMODRIVE POSMO A 300 W 12 01 Edition Mounting Instructions Replacing the Drive Unit Order No On request posa_mtg SIMODRIVE POSMO A 02 04 Edition Mounting Instructions Replacing the Gearbox O
94. 1 06 05 Edition 08 01 2 Installing and Connecting Up Table 2 7 2 6 Technical data Technical data for the POSMO A 300 W positioning motor continued Tested vibra tion and shock stres sing in oper ation Name Description e Vibration stressing in operation Frequency range With constant deflection 7 mm 2 9 Hz Frequency range With constant acceleration 20 m s 2 g 9 200 Hz Relevant Standards IEC 68 2 6 DIN EN 60721 Parts 3 0 and 3 3 Class 3M6 e Shock stressing in operation Peak acceleration max 250 m s 25 g Shock duration 6 ms Relevant Standards DIN EN 60721 Part 3 0 and Part 3 3 Class 3M6 Note In order to ensure a long lifetime the motor should be supported if it is subject to exter nal vibration stressing e g continuous operation at the resonant frequency Tapped holes are provided to support the motor Vibration and Relevant Standards DIN EN 60721 Part 3 3 Class 2M2 shock stres Note sing during Data applies for components which have been packed ready transport for transport Pollutant Relevant Standards IEC 68 2 60 stressing Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 2 71 2 Installing and Connecting Up 06 05 2 6 Technical data Space for your notes Siemens AG 200
95. 1 P84 2 P84 3 12 P84 13 17 P84 18 22 P84 23 27 Timer value P85 1 P85 2 P85 3 12 P85 13 17 P85 18 22 P85 23 27 Signal position P86 1 P86 2 P86 3 12 P86 13 17 P86 18 22 P86 23 27 SMStart MMStart P87 1 P87 2 P87 3 12 P87 13 17 P87 18 22 P87 23 27 MMStop MMPos Note Note Traversing blocks 1 and 2 are perma nently reserved for jogging Traversing blocks 3 to 27 are set in the factory The allocation of block numbers to individual traversing blocks and programs can be changed using P99 21 Pro gram Manager 5 140 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 02 99 5 Description of the Functions 5 3 Programming the traversing blocks only in the pos mode P700 2 Difference The single traversing blocks and programs have the same structure Single block referred to the parameter structure program e The following is valid for single traversing blocks These blocks must be individually selected and started The program specific instructions which occur in the traversing blocks e g path mode are ignored in the traversing blocks re fer to Table 5 6 e The following is valid for programs A program is started by selecting and starting a block within the program The additional blocks are then automatically executed as programmed How are Blocks 3 to 27 can be combined to form p
96. 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition D 283 D EC Declaration of Conformity 08 02 Annex C to the EC Declaration of Conformity No E002 Die Ubereinstimmung der Produkte mit der Richtlinie des Rates 89 336 EWG inklusive Ande rungen 91 263 EWG 92 31 EWG 93 68 EWG und 93 97 EWG wurde durch ber pr fung gem nachfolgender Produktnorm Fachgrundnormen und der darin aufgelisteten Grundnormen nachgewiesen F r die Produktkategorien SINUMERIK SIMOTION SIMATIC SIROTEC und SIMODRIVE gelten unterschiedliche Normenanforderungen C1 Produktkategorie SINUMERIK au er 810D SIMOTION SIMATIC SIROTEC Fachgrundnorm St raussendung Industriebereich EN 50081 2 1 Grundnormen Priifthema EN 55011 Al Bbl 1 2 Funkst rungen Fachgrundnorm St rfestigkeit Industriebereich EN 61000 6 2 3 Grundnormen Priifthema EN 61000 4 2 Al 4 Statische Entladung EN 61000 4 3 Al 5 Hochfrequente Einstrahlung amplitudenmoduliert EN 61000 4 4 6 Schnelle Transienten Burst EN 61000 4 6 7 HF Bestromung auf Leitungen EN 61000 4 8 8 Magnetfelder mit energietechnischen Frequenzen EN 61000 4 11 9 Spannungseinbriiche und Spannungsunterbrechungen C2 Produktkategorie SIMODRIVE SINUMERIK 810D Produktnorm Priifthema EN 61800 3 All 10 Drehzahlver nderbare elektrische Antriebe EMV Produktnorm einschlie lich spezieller Pr fverfahren C3 Miterf llte Nor
97. 234 Status signal ZSW 7 4 111 4 114 6 236 Which warnings are there 6 234 Water loop 2 57 Weights for a 300 W motor 2 70 for a 75 W motor 2 64 What is new for SW 1 2 for SW 1 3 for SW 1 4 vii for SW 1 5 vii for SW 2 0 viii for SW 2 1 viii for SW 3 0 will Wiring overview 2 43 X X1 2 45 2 47 X2 2 45 2 47 X3 2 45 2 47 X4 2 45 2 47 X5 2 45 0 47 X6 2 45 2 48 X7 2 45 2 48 X9 2 45 2 48 Z Zero mark 5 156 5 159 5 161 E 291 E Index 06 05 Space for your notes Siemens AG 2005 All Rights Reserved E 292 SIMODRIVE POSMO A User Manual POS1 06 05 Edition To SIEMENS AG A amp D MC BMS P O Box 3180 D 91050 Erlangen Phone Fax 49 0 180 5050 222 Hotline Fax 49 0 9131 98 63315 Documentation Email motioncontrol docu siemens com From Name Your company address Dept Address Postal zip code City Phone Telefax Recommendations and or corrections Recommendations Corrections for document SIMODRIVE POSMO A Distributed Positioning Motor on PROFIBUS DP Manufacturer Service Documentation User Manual Order No 6SN2197 0AA00 0BP8 Edition 06 05 If you come across any printing errors in this document please let us know using this form We would also appreciate your ideas and suggestions for improvement SIMODRIVE PO
98. 235 Evaluating via PROFIBUS 6 235 Overview 6 234 Status signal ZSW 3 4 110 4 113 6 235 Which warnings are there 6 234 ing actual value setting from SW 1 4 15170 Flying measurement from SW 1 4 5 166 Function block 1 22 8 78 FB 10 CONTROL_POSMO_A from 02 00 3 78 FB 11 PARAMETERIZE_POSMO_A from 02 00 3 78 FB 12 PARAMETE RIZE_ALL_POSMO_A from 05 00 F Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 E Index Function overview 1 22 Inversion FW version Direction of rotation motor shaft 5 180 Output terminals 5 183 G Gear Selection of 1 20 Gearbox 300 W motor Data 2 68 2 69 2 70 Dependent parameters M n characteristic Modular system 2 61 75 W motor Data 2 64 Dependent parameters M n characteristic 2 62 Modular system 2 60 as spare part 300 W motor Degree of protection IP54 7 257 Degree of protection IP65 7 257 Code 5 230 5 231 Permissible torque 2 60 2 61 Replacing 300 W motor Gearbox dependent parameters factory presetting default 5 230 Grounding 2 50 H Hardware limit switch 5 194 Help for the reader Holding brake from SW 1 4 5 187 5 194 4 Holding controller from SW 1 3 Integral action time 3 93 B 94 Hotline HW version ix i2t characteristic 2 36 Importing station GSD Individual traversing blocks Inputs o
99. 25 refer to Chapter 5 5 10 Program the following traversing program example Program block e g block 13 SMStart bit 7 as start condition Program control word PSW 224gec 00 1110 0000pin EOhex closed loop speed controlled with smoothing negated start byte skip when start byte is not fulfilled Speed e g 20 approach velocity Acceleration 100 Program block e g block 14 SMStart bit 7 as start condition Program control word PSW 384 dec 01 1000 0000bin 1 80hex closed loop speed controlled without negated start byte Speed e g 5 shutdown velocity with direction reversal Acceleration 100 Program end when the end of the block is reached Start program As soon as ZSW 14 0 outside traversing block is signaled the reference point can be set with STW 11 start referencing stop refe rencing Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 161 5 Description of the Functions 08 03 5 5 SIMODRIVE POSMO A functions 5 162 Set reference coordinate The position of the last zero mark before the end of the second pro gram block is therefore set to the value in P5 reference point coor dinate Set simplified reference position from SW 1 4 The drive is automatically referenced when the above traversing pro gram is run if the following is specified in the second block P85 14 signaling po
100. 31 Immediately contact the transport company if damage is identified after the equipment has been shipped In case of damage the drive units should not be commissioned 32 When connecting up it should be ensured that the connecting cables are protected against torsional stressing strain and pressure it should also be ensured that cables cannot kink 33 Cables listed in the Siemens Catalog NC Z should be used when connecting up SIMODRIVE POSMO A 34 Observe the rating plate data regarding type of construction and degree of protection to ensure that they coincide with the conditions at the point of installation 35 The equipment must be mounted so that any thermal power loss is adequately dissipated Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 1 27 1 Brief Description 06 05 1 3 Safety guidelines Space for your notes Siemens AG 2005 All Rights Reserved 1 28 SIMODRIVE POSMO A User Manual POS1 06 05 Edition Installing and Connecting Up 2 1 System overview of SIMODRIVE POSMO A System overview SIMODRIVE POSMO A positioning motor comprises the following and components components Gating conirol electronics PROFIBUS DP master e g SIMATIC S7 300 DP Be PROFIBUS DP e g PG 740 TTT e Checkback signal e g BERO optional Cables re
101. 4 103 Parameter area PKW area 4 101 4 121 Data types 4 123 Fault evaluation 4 122 How is a task executed 4 124 Structure of 4 121 Task response processing 4 124 Task response IDs Transferring traversing blocks 4 124 Parameterizing using SimoCom A from SW 1 5 3 79 Parameterizing and start up tool SimoCom A from SW 1 5 3 79 Parameters All modified All supported Factory default setting for identification Formats for 4 123 Gearbox dependent 300 W motor 5 231 Gearbox dependent 75 W motor 5 230 5 199 General information List of 5 202 Listing the 5 201 Saving 5 199 Service functions 5 200 Path controlled operation 5 144 PELV 2 50 Personnel qualified ix PG gland 2 56 Position measuring encoder 300 W motor 75 W motor 2 63 POSMO A 300 W Extension set sepa rate version 1 20 Potential bonding 2 50 Potential bonding conductor 2 44 Power Management Module DC PMM Power Management Module Extension DC PMM_E 48V 2 39 Power on inhibit 4 111 4 114 4 118 4 119 Powering down 15 165 65 PPO types Precise stop Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition Control signals Control word STW 4 103 Control word STW n set mode Control word STW pos mode Select block number AnwSaitz 4 103 4 107 Speed setpoint Start byte STB 4
102. 4 V for the 75 W motor x1 SL 24 V 48 V O 48 V for the 300 W motor 6L 24 V 48 V UO gt Technical data on the power sup max ply refer to Chapter 2 6 1 or 2 6 2 4 mm2 X2 5M Ground 24 V 48 V UO OV 6M Ground 24 V 48 V UO OV PROFIBUS DP bus connection max x3 Al A cable UO 0 35 B1 B cable o mm PROFIBUS DP bus connection max x4 A2 A cable UO 0 35 B2 B cable o l mm Electr power supply optional 3L 24 V UO 24V 20 3M Ground 24 V UO Current drain lt 250 mA The electronics can be separately max supplied with 24 V via these terminals 0 75 Advantage When the load power sup mm2 ply is shut down the electronics are still supplied with power and remain functional no galvanic isolation 1VS P24 output O e Output terminals Q1 and Q2 UO Input output terminal 1 UO Maximum current output 1M M24 output 6 100 mA DVS P24 output el e Supply terminal VS Q2 Input output terminal 2 UO Max current terminal X5 100 mA 2M M24 output O max e Input terminals I1 and 12 0 75 Current drain lt 15 mA mm 24V 20 The following can be connected e BERO 3 wire PNP e External relay e Logical I Os PLC Electr power supply optional 4L 24 V UO 24V 20 max 4M Ground 24 V UO ee The electronics of an additional unit am can be supplied from these terminals Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 2 47 2 Installing a
103. 5 All Rights Reserved 2 72 SIMODRIVE POSMO A User Manual POS1 06 05 Edition Commissioning 3 3 1 General information on commissioning Prerequisites for commissioning Communications between master and slave The following prerequisites must be fulfilled before commissioning the drive 1 Has the drive been completely installed cabled and is it ready to be powered up gt Refer to Chapter 2 Has the PROFIBUS DP node address been set at the connection cover of SIMODRIVE POSMO A gt Refer to Chapter 2 3 1 Has the terminating resistor been set at the first and last bus no des gt Refer to Chapter 2 3 1 and Chapter 2 3 Is there a master device file GSD and has it been installed gt Refer to Chapter 4 4 2 SIMODRIVE POSMO A can only be controlled and parameterized via PROFIBUS This is the reason that it is absolutely necessary that com munications are established between the DP master and the DP slave POSMO A that is to be commissioned What are the communication possibilities C1 master SIMODRIVE POSMO A PROFIBUS MASTER gt Refer to Chapter 3 2 4 C2 master Parameterizing and start up tool SimoCom A gt Refer to Chapter 3 2 3 C1 master SIMATIC S5 or SIMATIC S7 gt Refer to Chapter 4 4 Third party master gt Refer to the documentation associated with the third party master Standalone operation can be set via P100 and P101 11 This means that
104. 5 Current setpoint from the speed controller P17 P gain n controller 6 Current setpoint smoothed P18 Integral action time n controller Note P19 Kv factor position loop gain These signals can be output via the analog P20 Current setpoint smoothing measuring outputs P21 Speed setpoint smoothing gt Refer to Chapter 6 3 P22 Maximum acceleration P23 Jerk time constant P28 Maximum current P54 P gain n controller standstill if P56 2 1 this was standard before SW 1 3 P57 P gain holding controller standstill if P56 2 0 this was standard from SW 1 3 Note Additional information on the parameters is provided in the parameter list gt Refer to Chapter 5 6 2 Fig 3 9 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition Closed Ioop structure for the positioning mode for SIMODRIVE POSMO A 3 93 3 Commissioning 05 03 3 3 Commissioning an axis 3 3 2 Control structure speed setpoint n set mode Description The structure of the current speed controller in the speed setpoint mode n set mode is shown in the following figure Setpoint ear PROFIBUS DP setpoint P880 e P3 PZD2 4096 Pg Speed controller P9 Closed loop Current regulator P23 speed controlled pe Pa o 6 Nset i y u ru VER 0 i eelef On K se 8
105. 5 Description of the Functions 04 01 5 5 SIMODRIVE POSMO A functions Correction direction from SW 1 4 Parameter refer to Chapter 5 6 2 5 178 The correction direction of the backlash compensation is defined as follows using the sign of P15 P15 positive gt positive correction direction The following applies when first traversing after power on e Traversing in the positive direction backlash is corrected e Traversing in the negative direction backlash is not corrected P15 negative gt negative correction direction The following applies when first traversing after power on e Traversing in the positive direction backlash is not corrected e Traversing in the negative direction backlash is corrected Note The following applies when entering a value in P15 backlash compensation Depending on the sign of P15 the actual value can be immediately shifted by the value entered for the backlash The backlash value becomes effective immediately and is taken into account in the display P15 Backlash compensation Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 02 99 5 Description of the Functions 5 5 SIMODRIVE POSMO A functions 5 5 6 Jerk limiting Description Acceleration and deceleration are step like if jerk limiting is not used Using jerk limiting a ramp type increase can be parameterized for both quantities so that ap
106. 5 Edition 02 99 3 Commissioning 3 2 Commissioning the DP master 3 2 Commissioning the DP master 3 2 1 Commissioning and communications for the master How are The procedure on how to establish communications between the communications master and slave is shown using an example with the following prere established quisites between the master and slave Assumptions and prerequisites e The master is a SIMATIC S7 315 2 DP e The prerequisites for commissioning have been fulfilled refer to Chapter 3 1 e The DP slave POSMO AT should be integrated into an existing SIMATIC S7 project e The GSD file for the DP slave POSMO A is available and installed refer to Chapter 4 4 2 How communications are established 1 Open the existing SIMATIC project 2 Inthe hardware catalog under PROFIBUS DP add the station SIMODRIVE POSMO A 3 Set the PROFIBUS address under properties The same address must be set at the positioning motor DP slave using switch S1 refer to Chapter 2 3 1 4 Set the I O address Part address O address PKW 256 263 256 263 each 8 bytes addresses as example PZD 264 267 264 267 each 4 bytes addresses as examples 5 Close the project and transfer to the master 6 Power up the drive and check the LED LED has steady green light yes gt normal operation communications is running error free no gt evaluate the state of the LED refer to Chapter 6 1
107. 5 Edition 06 05 6 Fault Handling and Diagnostics 911 P954 11 Cause Remedy Acknowledgement Stop response 912 P954 12 Cause Remedy Acknowledgement Stop response 6 2 Faults and alarms Hardware limit switch crossed reached The axis has reached or crossed a hardware limit switch The exact limit switch is defined by the simultaneously output error or warning of the software limit switch Acknowledge fault Continued travel in opposite direction Note Continued travel is generally only possible in the opposite direction If the hardware limit switch is crossed continued travel in the original direction is only possible if travel continues in the opposite direction following fault acknowledgement and if the hardware switch is crossed again This ensures that the axis is within the permitted traversing range not required None No cams occurred before the zero mark This supplementary information has been reported together with the fault 711 Flying measurement actual value setting The function Reference to occurring zero mark has been activated in the current traversing block In addition an input terminal has been parameterized with the function Cam monitoring However a reference cam edge was not detected before the zero mark occurred The drive has therefore been dereferenced for safety reasons Ensure that the input terminal connected to the cam is correctly para meterized
108. 54 11 is output Note The warning is only signaled if the appropriate fault is suppressed Move away in the opposite direction Check P6 software limit switch start not required None Software limit switch end The actual position lies outside the range defined by the software limit switch When traversing to a software limit switch the motor is always stop ped SW 1 6 and higher This warning is also signalled if the traversing range limits of the axis 200000mm or degrees or inches are re ached In this case the additional information 910 P954 10 is output SW 2 0 and higher This warning is also output when the corresponding hardware limit switch end has been overrun In this case additional information 911 P954 11 is output Note The warning is only signaled if the appropriate fault is suppressed Move away in the opposite direction Check P7 software limit switch end not required None Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 6 Fault Handling and Diagnostics 805 P953 5 Cause Remedy Acknowledgement Stop response 806 P953 6 Cause Remedy Acknowledgement Stop response 807 P953 7 Cause Remedy Acknowledgement Stop response 808 P953 8 Cause Remedy Acknowledgement Stop response 6 2 Faults and alarms Jogging Jogging not possible Drive not enabled Jogging already selected T
109. 6 263 not shown in the example PZD 264 267 264 267 SIMATIC S7 300 CPU S7 315 2 DP PG PC Control signals AnwSatz STB PAB 266 0 PAB 267 0 STW PAW 264 0100 0101 0011 1111 PROFIBUS DP eee eee ee ee ee sm zm ef ee ee ee er er er er ee eee ee eee eee eee eee ee e Status signals ZSW PEW 264 1111 x011 0011 0111 AktSatz RMB PEB 266 0 PEB 267 0 Input signals at the DP slave Output signals at the DP slave DP slave POSMO A BAB PAW Peripheral output byt d STW ZSW Control word Status word wor BLE PEW cee ou oe b i g AnwSatz AktSatz Select block Actual block i ripheral input byte wor Sage STB RMB Start byte Checkback signal byte Fig 4 3 Example Operating the drive with jogging 1 Siemens AG 2005 All Rights Reserved 4 116 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 05 03 4 Communications via PROFIBUS DP 4 2 Process data PZD area 4 2 4 Example The drive should traverse with n set using the control signals Example The drive should be operated with n 500 rpm gearbox output in Traverse drive n set mode St r Assumptions for the slave e The drive has been completely commissioned is connected to PROFIBUS DP and is ready to run e PROFIBUS node address 12 Assumptions for the master e The DP master is a SIMATIC S7 CPU S7 315 2 DP e Hardware configura
110. 7 Ze N H BA N SP SPR PS ge Seas t u ri ole JE I bi 6 wo N l le D Zi E 2 gt es e x F z amp 400 So har 1 GP S D oqlesg Ki xoqieay N ISTXLST Jeysem Dann V S U S 8889 NIC et Jeysem Bunds d 2 Qi T ZS CC Cy ola C D D DN T S su j S A vu ee A Leg F ger a v Ay 6E0 7 S6L Z SOFTI TFL 6 0 0F_ 2825 Lt Siemens AG 2005 All Rights Reserved Fig C 2 Dimension drawing SIMODRIVE POSMO A 75 W with planetary gearbox SIMODRIVE POSMO A User Manual POS1 06 05 Edition 08 04 C Dimension Drawings C 1 Dimension drawings for SIMODRIVE POSMO A 75W
111. A Space for your notes Siemens AG 2005 All Rights Reserved 7 260 SIMODRIVE POSMO A User Manual POS1 06 05 Edition List of Abbreviations A ABS AC AK AktSatz AMPROLYZER AnwSatz Bin BLDC C1 master C2 master CA COM CP CPU DC Dec DIL DP DPMC1 2 EMC EN EPROM ESD ESDS FB FLASHEPROM FOC Absolute Alternating Current Task and response ID Actual block number Part of the status signals Advanced Multicard PROFIBUS Analyzer Bus monitor for PROFIBUS Select block number Part of the control signals Abbreviation for binary number Brushless Direct Current Permanent magnet brushless servomotor PROFIBUS master Class 1 PROFIBUS master Class 2 PROFIBUS parameter format Communications module Communications processor Central Processing Unit Direct current Abbreviation for decimal number Dual In Line Distributed Periphery DP Master Class 1 2 DP Master Class 1 2 ElectroMagnetic Compatibility Europ ische Norm European Standard Program memory with fixed program Modules components that can be destroyed by electrostatic discharge Electrostatic Discharge Sensitive Devices components sensitive to electrostatic discharge Function block Flash EPROM Memory which can be read and written into Fiber optic cable Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition A 261 A List of
112. C S7 P0086 10 bit 15 1 This means that the traversing block is only executed if the BERO cam was also reached The program can be started under the Control tab entry Automatic The program with the number of the start block must be selected to do this Siemens AG 2005 All Rights Reserved 5 168 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 08 02 5 Description of the Functions 5 5 SIMODRIVE POSMO A functions Possible program sequence 1 The following happens if the BERO cam in block 9 signals a 0 1 edge at the digital input before the braking phase The motor brakes along the braking ramp A block change with delete distance to go is initiated The measured position value is written into P0062 measuring position The program continues with block 10 As a result of the cam feedback signal via start byte bit 7 this immediately receives the start condition specified in the SM MM start and changes to block 11 2 The following happens if the BERO cam in block 9 did not provide a signal at the digital input before the braking phase The motor brakes along the braking ramp and then changes after this has been initiated to traversing block 10 If the cam still outputs a signal in the braking phase then the measuring function in block 10 is executed and a change is made to traversing block 11 If acam does not output a signal in the braking phase then tra versing block 10 does not have a valid
113. Cause Remedy Acknowledgement Stop response 812 P953 12 Cause Remedy Acknowledgement Stop response 6 246 Program cannot be started Drive not enabled Invalid block number selected Enable signals missing A traversing block is already being processed STW 11 start referencing is set Traversing block with absolute position data and drive not referenced Positioning mode not enabled STW 4 STW 5 Note Additional information gt evaluate P954 not required None Invalid program selection An attempt was made to either select block 0 or a block gt 27 Select valid block 1 to 27 not required None Speed limiting active The required axis velocity requires a higher speed than that specified in P8 max speed Up to SW 1 5 The velocity is limited to the maximum speed The following applies from SW 1 6 P24 Override speed is limited so that maximum speed is used Enter lower velocity Adapt P10 max velocity Adapt P8 max speed not required None Undervoltage of the load current supply The following applies from SW 1 6 The load voltage has fallen below 17 V The load power supply is overloaded SITOP The load voltage was powered down when braking due to over voltage Increase load power supply rating SITOP Provide regenerative feedback protection not required None Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 E
114. E Parameter identification Part of a PKW PKW Parameter identification value Parameterizing part of a PPO PLC Programmable logic controller e g SIMATIC S7 PMM Power Management Module PNO PROFIBUS User Organization PNU Parameter numbers PO POWER ON POSMO A Positioning Motor Actuator Positioning motor PPO Parameter process data object Cyclic data telegram when transferring data with PROFIBUS DP and the variable speed drives profile PROFIBUS Process Field Bus Serial data bus PS Power supply PSW Program control word PZD Process data Process data section of a PPO Q Output RAM Random Access Memory Program memory that can be read and written into REL Relative RMB Checkback signal byte RO Read Only S1 Continuous duty 3 Intermittent duty SN Siemens Standard SNR Block number ss Interface Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition A 263 A List of Abbreviations 04 01 STB STW SW x y SW x SWE T4 Term VDE VDI VS xact xset ZSW A 264 Start byte Control word Software x y Key size x mm Software limit switch PROFIBUS parameter format Terminal Verband Deutscher Elektrotechniker Association of German Electrical Engineers Verein Deutscher Ingenieure Association of German Engineers Power supply Position actual value Position setpoint value Status word Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manua
115. Installing and Connecting Up 08 04 2 4 Mounting SIMODRIVE POSMO A 2 4 2 Preparing the cable Note We recommend that connector sleeves are used but these are not absolutely necessary The outer cable diameter should be maintained in order to guarantee the IP 54 IP64 IP65 degree of protection Cable for the load power supply e 2x max 4 mm with or without shield flexible conductor finely stranded e Gland PG13 5 with shield connection for outdoors 6 12 mm 10 not to scale Load cable 6 12 Shield a shield is g p not SS absolutely necessary Pal 120 10 Fig 2 18 Preparing load power supply cable Cable for PROFIBUS e 2x 0 35 mm with shield without electronics power Gland supply PG13 5 with shield connection for outdoors 6 12 mm 8 not to scale PROFIBUS Shield cable 6 12 without electronics bam power supply Ai 100 5 Fig 2 19 Preparing the PROFIBUS cable Recommendation for 2 core reeled cable e Not of trailing type 6XV1830 0EH10 e Trailing type 6XV1830 3BH10 Siemens AG 2005 All Rights Reserved 2 52 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 08 02 2 Installing and Connecting Up 2 4 Mounting SIMODRIVE POSMO A Cable for PROFIBUS with electronics power supply Cables for inputs outputs e 3x 0 75 mm with or without shield gt for electronics power supply 2 x 0 35 mm2 with shield
116. PG and SIMATIC CPU Note Going online offline in cyclic operation via PROFIBUS While PROFIBUS is in cyclic operation SimoCom A with CP xxxx can be attached or disconnected from the fieldbus via the following plug in cable without creating a fault Order No MLFB 6ES7901 4BD00 0XA0 plug in cable Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 3 81 3 Commissioning 05 03 3 2 Commissioning the DP master Settings for For SimoCom A communications should be set as follows via SimoCom A PROFIBUS DP e Options Settings Communications gt Interface dialog e With For Go online connect via set the following gt direct connection if a coupling is directly established using the fieldbus or gt routed via S7 if coupled via an MPI interface Online operation can be directly established to the drive directly via the fieldbus using the Go online function Example Online operation via PROFIBUS SimoCom A SIMATIC S7 300 CPU S7 315 2 DP parameterizing PG PC and start up tool 8 or Setup exe CP 5511 or CP 5611 or First note ran here the master gt Switch in the terminating resistor PROFIBUS DP e At be last node in this case at the left gt switch in the terminating resistor refer to Chapter 2 3 1 e Set the PROFIBUS node address for the sla
117. POS1 06 05 Edition Cable Changing the outlet direction 2 46 Example Prepared 2 54 for electronics power supply 2 53 for inputs outputs for PROFIBUS DP 2 52 for the low power supply 2 Cable installation Example 2 56 How 2 55 Moisture protections SS Certificates Changing the cable outlet direction 2 46 Characteristic Ambient temperature 2 62 2 67 GU 2 36 M n 300 W motor M n 75 W motor 2 62 Closed loop control structure pos mode 3 93 Closed Ioop control structure n set mode 3 94 Closed loop position control Overview 3 93 Standstill monitoring zero speed moni toring 5 181 Coincidence factor 2 35 Commissioning an axis 3 90 Establish communieations 3 75 Prerequisites 3 Tool for 3 79 6 88 3 88 Communications via PROFIBUS 1 21 1 21JR 99 Components E 285 E Index 06 05 Connection cover 75 300 W motor 1 23 2 45 2 48 from below 2 45 from the top 2 44 Withdraw insert under voltage 2 36 Connection overview 2 43 Consistent data transfer Continuous duty S1 2 64 2 67 Control authority from SW 1 5 3 85 CP 5511 3 89 Correct use CP 5611 3 89 Current documentation D Danger information Data transfer Consistent 4 130 4 130 Inconsistent Data type 4 123 5 201 DC PMM 2 38 DC PMM_E 48V 2 39 Declaration of Conformity D 281 Devic
118. ROFIBUS Order No MLFB 6GK1561 1AA00 CP 5613 PROFIBUS connection via a short PCI card Structure Short PCI card with 9 pin SUB D socket to connect to PROFIBUS diagnostic LEDs PROFIBUS controller ASPC2 StepE Order No MLFB 6GK1561 3AA00 For newer PGs this communications interface is already included Software requirements SIMATIC NET SOFTNET DP Windows 98 NT 4 0 5 0 or newer Order No MLFB 6GK1704 5DWOD 3AA0 TCL TK Interpreter Version 8 0 this is included in the installation software This is how you can un install the C1 master from your PG PC Select the control panel gt START gt SETTINGS gt CONTROL PANEL Double click on the Software symbol Select the program to be uninstalled Press the add remove button and then follow the instructions Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 3 89 3 Commissioning 05 03 3 3 Commissioning an axis 3 3 Commissioning an axis The appropriate parameters must be appropriately set to adapt the axis Parameters for The most important parameters for general settings are general settings e PI Axis type refer to Chapter 5 6 2 e P2 Travel per gearbox revolution e P3 Gearbox ratio es P4 Dimension unit e P8 Maximum speed e P10 Maximum velocity e P22 Maximum acceleration Parameters for The most important parameters for monitoring functions are moni
119. SD The associated bitmaps are saved in the directory Bitmaps The master device file GSD for the DP slave POSMO A is available as ASCII file as follows File name SIEM8054 GSD Where is the GSD file for the DP slave POSMO A From your local Siemens office sales partner or via the Internet http www profibus com gsd The PKW must be consistently transferred Consistent data include input output data areas which from the con tents contain closed information which cannot be accommodated using a byte word or double word structure For consistent data transfer you require the SFC 14 and SFC 15 blocks in SIMATIC S7 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 02 99 4 Communications via PROFIBUS DP 4 4 Settings at the PROFIBUS DP master Setting up Proceed as follows to generate the required user program for consi consistent data stent data transfer transfer e g for SIMATIC S7 Open OB1 object folder In the Program Editor enter the CALL SFC 14 command and press the RETURN key The SCF 14 is displayed with its input and output parameters Supply the input and output parameters Now call up SFC 15 and appropriately supply the parameters When the two SFCs are called up the associated block shells for these standard functions are automatically copied into the block ob ject folder from the STEP 7 standard library In order
120. SIMODRIVE POSMOS are Siemens trademarks Other product names used in this documentation may be trademarks which if used by third parties could infringe the rights of their owners Other functions not described in this documentation might be executable in Additional information can be found at the control However no claim can be made regarding the availability of http www ad siemens com mc these functions when the equipment is first supplied or in the event of servicing This publication was produced with Interleaf V 7 We have checked that the contents of this document correspond to the hardware and software described Nevertheless differences might exist and therefore we cannot guarantee that they are completely identical The information in this document is regularly checked and necessary corrections are included in reprints Suggestions for improvement are also welcome Siemens AG 2005 All rights reserved Subject to change without prior notice Order No 6SN2197 0AA00 0BP8 Siemens Aktiengesellschaft Printed in the Federal Republic of Germany Foreword Structure of the documentation Target group Technical Support Internet address Current documen tation Certificates Instructions when reading The SIMODRIVE documentation is subdivided into the following levels e General Documentation Catalogs e User Documentation e Manufacturer Service Documentation You can obtain more detailed information on the docum
121. SMO A General Documentation Catalogs N Z RZ supplied with each drive SINUMERIK SIMODRIVE Catalog Catalog Catalog DA 65 4 SL 01 System solutions KT 10 1 Power supplies SIMODRIVE 611 universal IK Pl Industrial Communication SITOP power and POSMO and Field Devices ST70 SIMATIC Catalog NC 60 CA01 Components for ST80 SIMATIC HMI Automation Systems for Automation amp Drives Machine Tools Manufacturer Service Documentation SINUMERIK SIROTEC M SIMODRIVE SIMODRIVE SIMODRIVE anya POSMO A POSMO A User Manual Mounting EMC Design Distributed Instructions Guidelines UO System ET200 75 W motor SINUMERIK PROFIBUS Configuring 300 W motor mg Guidelines Electronic Documentation SINUMERIK SIMODRIVE 840D 810D FM NC 611 Motors DOC ON CD The SINUMERIK System
122. SMO A 300 W P1 lt 2147483647 P2 Fe 4096 e P3 P2 gt Die Fe 4096 P3 2147483647 P3 lt 2147483647 P2 Fe 4096 e P1 From SW 1 6 the following applies When changing P1 P2 or P3 a check is automatically made in the drive as to whether these three parameter values fulfill the appropriate formula If the modified value lies outside the valid range then the drive rejects it and the old value is kept Siemens AG 2005 All Rights Reserved 3 92 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 05 03 3 Commissioning 3 3 Commissioning an axis 3 3 1 Control structure positioning pos mode Description The structure of the current speed and position controller in the posi tioning mode pos mode is shown in the following figure P8 SC Speed Nset Closed loop controller Current Vr speed controlled regulator 0 S Program control word e wl a Ge a a PSW 0 Ba 1 pay set P17 P18 P20 set Sset P54 VA Pree Closed loop l P10 P19 position lact P15 P57 controlled i i p22 P16 P28 P23 5 i osition controller i s A act Ti Parameters Measuring signals P8 Maximum speed 1 Current actual value P9 Ramp up time 2 Speed actual value P10 Maximum velocity 3 Speed setpoint P15 Backlash compensation 4 Position actual value P16 Maximum overcurrent
123. SMO A User Manual POS1 06 05 Edition Installation and Service D 7 1 Replacing the motor Replacing the We recommend the following procedure when the positioning motor motor has to be replaced 1 Save the parameters of the SIMODRIVE POSMO A The parameters will be required again for the new motor 2 Cancel the pulses Control signal STW 1 OFF 2 0 3 Power down the load and electronics power supplies 4 Release and remove the connection cover of the positioning motor 2 screws Protect the connecting cover and now open positioning motor against dirt appropriately cover 5 Unscrew the complete defective positioning motor together with the gearbox 6 Bolt on the new complete SIMODRIVE POSMO A Before installing clean the shaft ends thoroughly of anti corrosion agents with a typi cal solvent 7 Release and withdrawn the connection cover of the new SIMODRIVE POSMO A 2 screws Protect the connecting cover and now open positioning motor against dirt appropriately cover 8 Locate the wired old cover on the new positioning motor which has been bolted into place and tighten the screws 2 screws 9 Power up the load and electronics power supplies 10 Re load the parameters saved under the first point 11 Check Does the positioning motor run fault free ifyes gt then the old connection cover is O K ifno gt the old connection cover is possibly defective replace the connection c
124. Set the browser to Parameter and work through the following dialog boxes one after the other Configuration re configure drive gt Mechanical system gt Traversing blocks enter the drive type gearbox stage and braking option only for 300 W motor used If this data is changed this causes the parameters which are dependent on it to be re calculated i e changes previously made to the parameters involved are overwritten here you can define the mechanical system being used e g rotary axis external gearbox Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 3 85 3 Commissioning 05 03 3 2 Commissioning the DP master Table 3 1 Information on SimoCom A continued Function Description 3 Limits here you can define the basic limit values and properties of all of the posi 4 Digital VO 5 Monitoring 6 Controller 7 Traversing blocks only the pos mode 8 Referencing only the pos mode 9 Speed setpoint in terface only n set mode from version 4 0 onwards tion controlled or speed controlled traversing blocks This defines the charac teristics of the time velocity profile and for speed control sets the characteris tics of the time speed profile The maximum current and the maximum overcur rent ofthe drive can be defined both digital inputs outputs can be parameterized here The function
125. This function can be used only with the function Reference to occurring zero mark gt Addition with 512 means the terminal input is monitored for an edge The addition of 512 is only possible for terminal parameterizations from the interval 18 25 accept the value in the start byte The type of the edge to be monitored can be parameterized in P56 7 The parameter value can be changed during the procedure P0032 20 Function terminal 2 300W 075W Min Standard Max Unit Data type Effective 0 0 793 _ 12 immed Refer to P31 function terminal 1 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 213 5 Description of the Functions 06 05 5 6 Parameters for SIMODRIVE POSMO A P0033 21 Address test socket 1 300W 075W Min Standard Max Unit Data type Effective 0 FC32 FFFFFFFF Hex 14 immed The parameter addresses the measured value for output via the analog test output FC00 Speed setpoint motor shaft FC66 Actual speed value motor shaft FC6A Position actual value FC32 Current actual value FC38 set speed controller FC3A set smoothed Note The parameter value can be changed while traversing P0034 22 Shift factor test socket 1 300W 075W Min Standard Max Unit Data type Effective 0 7 F Hex 12 immed Shift factor for analog test socket 1 Note Shift factor change of 1 corresponds to doubling the value Shift factor change by 1 corresponds to h
126. V AC 50 60 Hz 47 63 Hz 48 V DC 3 DC 0 20 A IP20 acc to IEC 529 Safety class 240 x 125 x 125 Input voltage Frequency Output voltage setting range Output current Degree of protection Dimensions W x H x D in mm er Regener ative SITOP u 48 V feedback On protection 48 V e g DC PMM Fig 2 5 SITOP modular 48 V 20 A with regenerative feedback protection Reference SI1 SITOP modular 48 V 20 A power supplies Operating Instructions Regenerative feedback protection when braking the motor refer to Chapter 2 2 3 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 2 33 2 Installing and Connecting Up 06 05 2 2 Electrical system requirements 2 34 Our second recommendation for the 48 V power supply Use two SITOP power regulated power supply modules connected in series to provide the 48 V load power supply There are units with current ratings of 10 A 20 A and 40 A L Regener SITOP power 24 V v lative M feedback protection 48 V e g L DC PMM SITOP power 24V Vo M Note e V Protective diode blocking voltage 40 V current 3 A e g Type SB 540 from RS Components Spoerle Order No 183 4337 e When connected in series the SITOP power must have the same current ratings Fig 2 6 Two SITOP
127. VE POSMO A P0058 3A Holding brake brake opening time 300W 075W Min Standard Max Unit Data type Effective 0 100 1000 ms T4 immed For pulse enable the setpoint is output delayed by this time Note Available from SW 1 4 P0059 3B Speed close holding brake 300W 075W Min Standard Max Unit Data type Effective 0 10 3000 rpm C4 immed When withdrawing controller enable and this speed is fallen below the holding brake is closed The holding brake is always closed after the time in P60 has expired Note Available from SW 1 4 P0060 3C Holding brake brake delay time 300W 075W Min Standard Max Unit Data type Effective 0 400 15000 ms T4 immed When withdrawing controller enable this time is started and after it expires the holding brake is closed The holding brake can also be closed if the speed in P59 is fallen below Note Available from SW 1 4 P0061 3D Holding brake control blocking time 300W 075W Min Standard Max Unit Data type Effective 0 100 1000 ms T4 immed When withdrawing the brake control signals this time is started and after it has expired the pul ses are deleted Note Available from SW 1 4 P0062 3E Measuring position 300W 075W Min Standard Max Unit Data type Effective 200000 0 200000 MSR C4 immed The position value for the flying measurement function is written into this parameter Note This parameter is overwritten at each measuring operation Availab
128. W DC PMM 24V 15 W DC PMM 48V Maximum energy drawn 40 Ws Example for POSMO A 300 W for 75 W the following applies Pp 10 W For power ratings above 15 W the drives that are above 15 W are integrated up according to the following formula and may not ex ceed 40 Ws T T J P dt Pp dt lt Emax 40 Ws 0 0 Transistor on 2 2 P Vs BBI _ 711 125 w Pp 15W Remo ZOU Vs switching threshold PMM 58 1 58 5 V Remm 2 Q Pt Pp 1711 125 W 15 W 1696 125 W gt increment 1696 125 W t Transistor off P 0 Pp 15W P Pp 15W gt decrement 15W t Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 2 Installing and Connecting Up Power Management Module Extension DC PMM_E 48V 2 2 Electrical system requirements The maximum number of positioning motors that can be connected to a DC PMM depends on the current carrying capacity the coincidence factor of the regenerative feedback and the regenerative feedback energy If 1 Power Management Module is not sufficient to convert the braking energy then an additional supply line with an additional DC PMM 75 W 300 W must be provided or a Power Management Module Exten sion DC PMM_E 48V 300 W can be used The DC PMM_E 48 V is connected between the DC PMM 48V and the first SIMODRIVE POSMO A The DC PMM_E 48V cannot be used as an autonomous standalone device
129. __ _ 7 135 180 Positioning type ABSOLUTE Example 1 PSW 12 0 P81 4 315 P82 4 100 gt Traverse with 100 to 315 negative Example 2 PSW 12 0 P81 4 315 P82 4 100 gt Traverse with 100 to 315 positive 180 Positioning type RELATIVE Example 1 P81 4 90 P82 4 100 gt Traverse with 100 through 90 negative Example 2 P81 4 135 P82 4 100 gt Traverse with 100 through 135 positive Fig 5 12 Example Programming rotary axes Signal position P85 28 Signal position P55 The following should be observed for the signaling position e Before SW 1 3 the following applies The drive has precisely one zero position refer to Chapter 5 5 1 The signal position is viewed referred to this position A modulo evaluation is not made e The following applies from SW 1 3 The signal position is saved evaluated as modulo value Software limit switch e P6 e P7 The software limit switches act the same as for a linear axis Software limit switch start refer to Chapter 5 6 2 Software limit switch end The software limit switches are de activated with P6 P7 5 176 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 04 01 5 Description of the Functions 5 5 SIMODRIVE POSMO A functions 5 5 5 Backlash compensation and correction direction f
130. a H H 0 64 m u SIMODRIVE POSMO A ou X11 with cover removed S 2 54 2 54 ae zzi V sga Z anono 25y LS DN ofthe SCH E d Test sockets meas signal Q O E p 2 fo 0 64 mm ST Fig 6 1 SIMODRIVE POSMO A test sockets with the cover removed Siemens AG 2005 All Rights Reserved 6 250 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 04 01 6 Fault Handling and Diagnostics 6 3 Analog test outputs Caution In order to guarantee the degree of protection of SIMODRIVE POSMO A after measurements have been made at the analog test sockets the cover must be screwed back on Standard The test sockets provide the following signals as standard assignment DAU 1 current actual value P33 ADDRESS FC32hex 64562dec P34 shift factor 7 AV 1 9V 9A gt 75W motor AV 1 0V 12 A gt 300 W motor P35 offset 80hex 128dec DAU 2 speed actual value P36 ADDRESS FC66hex 64614ge0 P37 shift factor 0 AV 0 625 V 1000 RPM P38 offset 80nex 128dec Sa 4 AV 0 625 V 1000 RPM for a shift factor 0 Offset 55 y Se V naq 0 RPM 80hex OV gt AV 1 25 V 1000 RPM for a shift factor 1 Fig 6 2 Voltage values when measuring the speed actual value Note With offset 80hex a voltage of 2 5 V is output for 0 A shift factor change of 1 corresponds to doub
131. aft when viewing the motor shaft drive out end P3 positive P3 negative from SW 1 3 Traversing in the posi Clockwise Counter clockwise tive direction Traversing in the nega Counter clockwise Clockwise tive direction Parameter P3 Gearbox ratio refer to Chapter 5 6 2 Siemens AG 2005 All Rights Reserved 5 180 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 02 00 5 Description of the Functions 5 5 9 Standstill Description Mode of operation 5 5 SIMODRIVE POSMO A functions monitoring zero speed monitoring Using the standstill monitoring function the system can detect when the axis leaves the target position under load for hanging axes etc The monitoring time P13 is started after the motion block has been completed position reference value target setpoint After the monitoring time P13 has expired it is cyclically monitored as to whether the actual axis position remains within the standstill range P14 around the target position Objective Continually check whether the position of the axis is also maintained Position 4 Target range P11 value y D Target AERE EE position 7 i Position Position ck e range reference actual value valuy The standstill monitoring is oe cyclically evaluated from here gt Monitoring time P13 Fig 5 15 Standstill monitoring zero speed monitoring Fau
132. after the brake opening time P58 The drive goes into the operation enabled status after the time in P58 has expired Objective when setting the brake opening time brake The following applies Brake opening time P58 Time to open the holding brake The brake opening time should be selected so that after the controller enable is issued the speed controller becomes active when the motor holding brake opens For all other settings the control acts against the control external Ready Transitio Operation enabled o m o gt fa Controller enable 0 gt t Output signal 4 A holding brake Holding controller Speed setpoint Speed controller active Holding brake eg wl P58 holding brake brake opening time to open the holding brake Fig 5 17 Opening the brake Behavior when the status changes from ready to operation enabled Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 189 5 Description of the Functions 04 01 5 5 SIMODRIVE POSMO A functions Closing the brake The controller enable is withdrawn for the following events when withdrawing STW 0 ON OFF 1 1 0 signal the controller enable e STW 2 operating condition OFF 3 1 0 signal e A fault occurs where it is possible to brake in a controlled fashion e g software limit switch actuated What happens if t
133. al POS1 06 05 Edition 5 171 5 Description of the Functions 02 99 5 5 SIMODRIVE POSMO A functions However in this case it is necessary that the drive is in the state refe rence point is not set ZSW1 11 0 before the start of traversing block No 9 If the drive was already referenced when block No 9 was started and a signal was not found then it is possible that the absolute blocks were executed in the incorrect reference system This is the reason that be fore the program is started POSMO A must always be de referenced P98 0 Siemens AG 2005 All Rights Reserved 5 172 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 04 01 5 Description of the Functions 5 5 SIMODRIVE POSMO A functions 5 5 3 Travel to fixed stop Description A linear or rotary axis can be moved in the closed loop speed control led mode to a fixed endstop using the travel to fixed stop function Upon reaching a fixed endstop the defined torque force is then built up This feature can be used e g as follows e To clamp workpieces e g to press the spindle sleeve against the workpiece e To approach the mechanical reference point refer to Chapter 5 5 1 What should be The following has to be done to traverse to a fixed endstop doner e Set the current to a permissible value for a fixed endstop P28 max current required current P16 max overcurrent required overcurrent e Suppress the
134. alization as to which speed sets in at the gear output when a setpoint of 1000h 4096d is specified via the control word STW P0918 396 PROFIBUS node address 300W 075W Min Standard Max Unit Data type Effective _ 12 RO The node address is read from address switch S1 P0928 3A0 Control authority PZD 300W 075W Min Standard Max Unit Data type Effective 1 1 2 V2 immed Request for control authority from a Class 2 DP master Note Available from SW 1 4 P0930 3A2 Actual operating mode 300W 075W Min Standard Max Unit Data type Effective _ _ 12 RO This parameter indicates the active operating mode P930 2 means Positioning operating mode software version 2 0 and higher P930 1 means Speed setpoint operating mode Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 225 5 Description of the Functions 06 05 5 6 Parameters for SIMODRIVE POSMO A P0947 3B3 Faults 300W 075W Min Standard Max Unit Data type Effective _ 12 RO The parameter indicates bit coded which faults are present BitO corresponds to Fault 700 Biti corresponds to Fault 701 etc Note SimoCom A Read about possible faults in the online help Help gt Help topics gt Index gt 700 715 User Manual The description of the faults how they can be acknowledged as well as a list of all the faults is provided in Section Fault handling and diagnostics
135. alving the value The parameter value can be changed while traversing P0035 23 Offset test socket 1 300W 075W Min Standard Max Unit Data type Effective 0 80 FF Hex 12 immed Offset for analog test socket 1 Note With offset 80 hex for 0 2 5 V is output The parameter value can be changed while traversing P0036 24 Address test socket 2 300W 075W Min Standard Max Unit Data type Effective 0 FC66 FFFFFFFF Hex 14 immed Note Refer to P33 address test socket 1 P0037 25 Shift factor test socket 2 300W 075W Min Standard Max Unit Data type Effective 0 0 F Hex 12 immed Note Refer to P34 shift factor test socket 1 P0038 26 Offset test socket 2 300W 075W Min Standard Max Unit Data type Effective 0 80 FF Hex 12 immed Note Refer to P35 offset test socket 1 Siemens AG 2005 All Rights Reserved 5 214 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 5 Description of the Functions 5 6 Parameters for SIMODRIVE POSMO A P0039 27 Position setpoint 300W 075W Min Standard Max Unit Data type Effective _ _ MSR C4 RO This parameter specifies the position setpoint in the selected unit of measurement P0040 28 Position actual value 300W 075W Min Standard Max Unit Data type Effective 200000 0 200000 MSR C4 immed This position is directly accepted as new actual value by writing the required position into P40 The drive must be closed loop controlled and stationary T
136. ameter In this case the operator is not additionally supported by dialog boxes Parameterization using the expert list should only be used in exceptional cases Operating information e Call Menu Start up Additional parameters Expert list e The standard value and the value limits for the actual parameters are displayed via the tooltip e Modified values only become effective after pressing the Enter key or if another parameter was selected Values which are not active have a yellow background e Expert list selected gt Menu List or the righthand mouse key The following functions can be executed in this window Display filter Here you have the possibility of selecting as to which data should appear in the expert list e g all data or only the controller data Search Using F3 or menu List Search you can search for specific terminals For instance you can search for temp if you wish to know the value for the electronics temperature Bit coded values With the cursor go to the line and press F4 or menu List bit value You then obtain a plain text display of the individual bits and can select these at a click of the mouse Data transfer Also here the program attempts to think with you If you are presently working on a drive and select File Download into drive then the program assumes that you wish to download a file still to be selected into this particular drive If a f
137. an input or output e can be parameterized as either input or output Load electronics power supply e Viaa common cable e Via a separate cable C1 master SIMODRIVE POSMO A PROFIBUS MASTER for PC PG or notebook SimoCom A Parameterizing and commissioning tool from SW 1 5 Communications via PROFIBUS DP e Various functions can be parameterized 2 test outputs 0 5 V Load power supply e PZD area e 75W motor 24 V DC control words status words e 300Wmotor 48vDC LED for diagnostics e PKW area Different read write parameters colors and flashing Modular gearbox system frequencies Function blocks e 75W motor e FB10 CONTROL_POSMO_A from 02 00 Planetary worm gear e FBI PARAMETERIZE_POSMO A from 02 00 e 300 W motor Planetary gear can be e FB12 PARAMETERIZE_ALL_POSMO_A from 05 00 interchanged Fig 1 2 Overview of SIMODRIVE POSMO A functions Siemens AG 2005 All Rights Reserved 1 22 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 1 Brief Description Differentiating features of the various motor types Table 1 1 1 2 Function overview and differences between 75 W 300 W There are the following basic differences between POSMO A with 75 W and POSMO A with 300 W Difference POSMO A with 75 W and 300 W Name Order No MLFB SIMODRIVE POSMO A 75 W 11 1BA1 6SN2 132 300 W 6SN2 155 xy 1BA1 x 1 gt motor driv
138. an the cable outlet direction be changed gt refer to Fig 2 16 1 In the unwired connection cover release the four screws of the con nection module 2 Rotate the connection module and screw back into place 3 Interchange the load current and PROFIBUS cabling in the connec tion cover at the top x Connection module Connection cover the Screws bottom Screw type Oval head screw M3 x 6 8 8 N SN 60730 Torx T10 max 1 8 Nm Connection cover from the top After turning the connection module connect up as follows e Dummy plugs 1 gt reserved for future connections e Dummy plug 2 When this connection is used the dummy plug is replaced by a PG11 PG gland for the digital input output cable e The interchanged cables should be appropriately connected up Refer to Chapter 2 4 3 RS lt lt lt My Oey Fig 2 16 Connection cover Changing the cable outlet direction Siemens AG 2005 All Rights Reserved 2 46 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 08 04 2 Installing and Connecting Up 2 3 Connection and wiring overview Interfaces All interfaces terminals and switches of the SIMODRIVE POSMO A terminals are listed in the following table with technical information switch S1 Table 2 3 Overview of the interfaces terminals and switches No Name Function Type Technical data Cross 1 section Load power supply 2
139. and start up tool PROFIBUS Initiating a POWER ON RESET via P97 Siemens AG 2005 All Rights Reserved K SIMODRIVE POSMO A User Manual POS1 06 05 Edition Vil Foreword 06 05 UL certification viii The 08 01 edition describes the functionality of SW 1 0 to 1 5 This edition contains troubleshooting information and updates which have been obtained since the 04 01 edition The 08 02 edition describes the functionality of SW 1 0 to 1 6 This edition contains troubleshooting information and updates which have been obtained since the 08 01 edition The 05 03 edition describes the functionality of SW 1 0 to 2 0 This edition contains troubleshooting information and updates which have been obtained since the 08 02 edition What are the essential new functions for SW 2 0 in comparison to SW 1 6 Speed setpoint interface Choice of positioning or speed setpoint operating mode P700 Hardware limit switches The 08 03 edition describes the functionality of SW 1 0 to 2 0 This edition contains troubleshooting information and updates which have been obtained since the 05 03 edition The same connection union for connection covers for 75 W and 300 W motors The 08 04 edition describes the functionality of SW 1 0 to 2 1 What are the essential new functions for SW 2 1 in comparison to SW 2 0 Reference to occurring zero mark Defined delay before next traversing block New
140. and that the cam is connected to the correct input terminal Ensure that the type of BERO NC contact NO contact corresponds to P56 bit7 not required None Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 6 249 6 Fault Handling and Diagnostics 04 01 6 3 Analog test outputs 6 3 Analog test outputs Description There are analog test outputs at the rear of the SIMODRIVE POSMO A that are only accessible when the cover has been unscrewed removed N Caution Measurements may only be made in exceptional cases by appropriately trained personnel The correct text sockets must be used as short circuits will permanently damage the module refer to Fig 6 1 The following parameters are available for the analog test sockets e P33 P34 P35 address shift factor and offset for DAU 1 e P36 P37 P38 address shift factor and offset for DAU 2 Which signal is output via the test outputs e This is defined by entering an appropriate address in P33 or P36 gt A f SIMODRIVE POSMO A with cover attached Screw type Counter sunk screw M4 x 12 8 8 Wees gt SN 63261 S pi Torx T15 80 Pin Function max 3 9 Nm 1 DAU 1 SIE S 2 DAU 2 E 3 M reference Test pins Pin 3 2 1 gt 75 W motor Pin 1 2 3 300 W motor P
141. ange parameter value array word 4 Change parameter value array double 5 word 9 Request number of array elements 6 Note e The negative response ID is 7 i e this is a task that cannot be executed gt fault ID refer to Table 4 15 The IDs for the response telegram master gt slave should be taken from the following table 4 14 Table 4 14 Response IDs slave gt master Response ID Function 0 No response 1 Transfer parameter value word 2 Transfer parameter value double word 3 4 Transfer parameter value array word 5 Transfer parameter value array double word 6 Transfer number of array elements 7 Task cannot be executed with error number 8 9 and 10 If tasks cannot be executed the slave responds as follows e Outputs a response ID 7 e Outputs an error number in word 4 of the parameter area Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 04 01 4 Communications via PROFIBUS DP 4 3 Parameter area PKW area Table 4 15 Error IDs for the DP slave POSMO A Error ID Error cause 0 Illegal parameter number the parameter does not exist 1 Parameter value cannot be changed the parameter can only be read or is write protected 2 Upper or lower value limit exceeded 3 Incorrect sub index 4 No array parameter does not have any sub parameter 5 Incorrect data t
142. as complete unit This is the reason that for this particular application the drive unit is to be separated from the motor and connected to the motor using the ex tension set separate version It is only permissible to use the pre fabricated extension set from Siemens Refer to Chapter 1 2 for ordering data When disassembling the drive unit refer to Fig 2 29 and when moun ting installing the extension set refer to Fig 2 30 proceed in the follo wing sequence N Warning Before disassembling the drive unit the positioning motor must be brought into a no voltage condition and locked out so that it cannot be powered up again 1 Release and remove the four retaining screws of the drive unit do not re use gt Allen key SW 3 2 Remove the drive unit LOY YI RA LZ iW ins A a ll POSMO A 300 W i ail e me ii Dal el Fig 2 29 Withdraw the drive unit from the motor Siemens AG 2005 All Rights Reserved 2 58 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 2 Installing and Connecting Up 2 4 Mounting SIMODRIVE POSMO A 3 Insert the extension set separate version POSMO A 300 W at the motor and drive unit 4 Using the 4 retaining screws supplied screw the extension set to the motor and drive unit Torque wrench Allen key SW 3 Tighten the screws diagonally Torque 1 8 Nm 5 Attach th
143. astel do e Controlling SIMODRIVE POSMO A via control signals e Displaying status signals e g status word actual values e Programming selecting and starting traversing blocks e Reading and writing individual parameters e Saving and downloading all parameters including the traversing blocks e Establishing the factory presetting etc Where can I obtain You can obtain the master at no charge from your local Siemens office the C1 master sales partner The software is available through the Internet as follows e German http www ad siemens de mc html_00 info download e English http www ad siemens de mc html_76 info download Siemens AG 2005 All Rights Reserved 3 88 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 05 03 3 Commissioning 3 2 Commissioning the DP master System As a minimum the following hardware and software environment is requirements Un installing the C1 master required in order to operate the C1 master The PG PC or Notebook must have Operating system Windows 95 98 32 MB RAM memory 10 MB free memory on the hard disk Requirements placed on the communications CP 5511 PROFIBUS coupling via PCMCIA card Structure PCMCIA card type 2 adapter with 9 pin SUB D socket con nector to connect to PROFIBUS Order No MLFB 6GK1551 1AA00 CP 5611 PROFIBUS connection via a short PCI card Structure Short PCI card with 9 pin SUB D socket to connect to P
144. ation which can be overridden e Traverse with a speed and acceleration which can be overridden direction is defined by the sign as long as a time of logic condition is fulfilled e Traverse as soon as an additional time or logic condition is fulfilled e Traverse as long as a time or logic condition is fulfilled There are a total of 27 traversing blocks which can be used as indivi dual blocks or as program The traversing blocks are subdivided as follows Trav block Use e 1and2 Reserved for jogging 3 12 Individual traversing blocks 13 17 Program 1 standard can be freely parameterized 18 22 Program 2 standard can be freely parameterized 23 27 Program 3 standard can be freely parameterized This setting is used as standard Blocks 3 to 27 can be freely used as single blocks or programs The PROFIBUS DP field bus allows fast cyclic data transfer between the individual DP slaves and the higher Ievel DP master DP masters include for example e Central controller of SIMATIC S7 e Master capable communication processes e g CP 5613 e Communications modules e g CP 342 5 e Standard masters from other manufacturers Reference IKPI Industrial Communications and Field Devices Catalog Local diagnostics using LEDs for Fault Ready The DP master can read out and evaluate positioning motor faults and warnings via PROFIBUS Two freely parameterizable analog test outputs for measurements when servic
145. aversing blocks only in the pos mode P700 2 STWbt6 i Be 1 Start from the master i ZSW bit 12 GC 2 Acknowledgment from the BCE Vs u Tu 3 ee MMStart i SE 3 Pass over the signaling Gd oe GE BE eg position Se Block completed 4 5 Start the next block from MMStop the master 6 Next block tt Mes It Fig 5 3 Signal timing for feedback signals from program blocks Difference The parameters which are saved in the traversing blocks are only closed loop speed evaluated if it makes sense in the mode specified by the program con controlled trol word PSW This means for example in the speed controlled closed loop range the target position is ignored position controlled Siemens AG 2005 All Rights Reserved 5 150 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 02 99 5 Description of the Functions 5 3 Programming the traversing blocks only in the pos mode P700 2 5 3 3 Selecting and controlling traversing blocks and programs Signals for The following PROFIBUS signals are available to select and control the traversing blocks traversing blocks and programs saved in SIMODRIVE POSMO A and programs Control signals Description refer to Chapter 4 2 1 Select block number AnwSatz Activate traversing task edge STW 6 Automatic single block operation automatic STW 12 External block change no external block change STW 13
146. between a master and the slaves assigned to this master For PROFIBUS DP a differentiation is made between master and slave e Master active bus device Devices which represent a master on the bus define data transfer along the bus and are therefore known as active bus nodes For the masters a differentiation is made between 2 classes DP Master class 1 DPMC1 These are central master systems that exchange data with the slaves in defined message cycles Examples SIMATIC S5 SIMATIC S7 etc DP Master class 2 DPMC2 These are devices for configuring commissioning operator con trol and monitoring in bus operations Examples Programming units operator control and visualization devices e Slave passive bus node These devices may only receive acknowledge and transfer messa ges to a master when so requested Reader s note The SIMODRIVE POSMO A positioning motor is a slave on the fieldbus This slave is designated DP slave POSMO AT in the following Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 4 99 4 Communications via PROFIBUS DP 02 99 4 1 General information about PROFIBUS DP Data transfer At power up the DP slave POSMO A automatically detects the baud technology baud rate set on the fieldbus rate When commissioning the fieldbus the baud rate is defined the same for all devices starting from the master Data transfer via Data
147. bserve the information tips and tricks provided in this file Insert the software CD into the appropriate drive of your PG PC Run the setup exe file in the disk1 directory of the required ver sion of SimoCom A START RUN gt OPEN SETUP EXE gt OK Follow the instructions which the installation program displays step by step Result The SimoCom A tool has now been installed in the target direc tory which you selected The tool can e g be started as follows gt START PROGRAMS gt SIMOCOMA gt SimoComA gt mouse click This is how you can un install the SimoCom A parameterizing and start up tool from your PG PC Using the program operation of SimoCom A The SimoCom A tool can be e g un installed as follows gt START gt PROGRAMS gt SIMOCOMA gt un install SimoComA gt mouse click Using the Control Panel just like any other Windows program Select the control panel gt START gt SETTINGS gt CONTROL PANEL Double click on the Software symbol Select the SimoCom A program from the selection field Press the add remove button and then follow the instructions You can go into online operation as follows Online operation via the CP 5511 CP 5611 directly with the fieldbus PC PG lt gt CP 5511 CP 5611 lt gt PROFIBUS lt gt drives Online operation via the MPI inte
148. ced by a PG11 PG gland Ras e Cables for digital inputs outputs Cross section n Der SS AA N or e PROFIBUS and electronics power Load power supply cable Input output gt e g to the next drive supply Cable for Input output e PROFIBUS or Slotted screw S f 1 0 x 6 5 Input output max 1 8 Nm gt e g to the next drive e PROFIBUS and electronics power supply Fig 2 14 SIMODRIVE POSMO A connection cover from the top Caution In order to guarantee the degree of protection all of the connections must be provided with either a dummy plug or with a PG gland both of these must be tightly screwed in Siemens AG 2005 All Rights Reserved 2 44 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 08 04 2 Installing and Connecting Up Connection cover from the bottom 2 3 Connection and wiring overview 1 X3 LA X6 X9 Setting PROFIBUS Load power Internal load power supply u Re DP cable supply Note node address e PROFIBUS Input output Input output Equipping differs depending
149. cing The actual position to be written is corrected by the distance which was traveled since the last zero mark Prerequisite The axis must be at a standstill and be in closed loop control If the axis is moving then the value is not accepted and an alarm is output If the motor was not moved after being powered up i e a zero mark has still not been passed and therefore there is no valid position for a zero mark then referencing is rejected and a warning output The referenced status is lost Generally the following is valid ZSW 11 reference point set no reference point set is used to dis play whether an axis is referenced Resetting the status reference point set from SW 1 4 For a stationary axis that has been referenced the mo reference point set state is re established by writing a 0 into P98 The following applies for a non referenced axis No blocks with absolute position data are executed The axis zero of the axis is the position after the drive has been powered up N Warning For non referenced axes the software limit switches are not monitored Suitable measures must be implemented in the system e g hardware limit switches in order to avoid injury to personnel and damage to the machine 5 156 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 04 01 5 Description of the Functions Setting actual value by writing i
150. cne ambient temperature ambient tem T perature oe GR er Are SRN u 2 4 ER ij EE ie Bes AN ees E 20 45 50 55 60 65 C Degree of IP54 or IP65 can be ordered protection EN 10034 Part5 IEC 34 5 Installation Installation altitude above sea level inm Output as a of the rated output altitude 1000 100 and 1500 97 Permissible 2000 94 output 2500 90 3000 86 3500 82 4000 77 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 2 67 2 Installing and Connecting Up 06 05 2 6 Technical data Table 2 7 Technical data for the POSMO A 300 W positioning motor continued Name Description Motor type 3 phase brushless servomotor Note The motor corresponds to the 1FK6 motor series Cooling Non ventilated free convection Note The clearance 100 mm must be maintained to adjacent parts and components on at least three sides of the SIMODRIVE POSMO A Overload monitoring i2t limitation Measuring system Incremental integrated Resolution 4096 increments motor revolution Rated motor speed 3500 RPM S1 Note 3000 RPM S3 25 4 min The data is only va Rated motor torque 0 48 Nm S1 lid for supply volta without gearbox 0 95 Nm S3 25 4 min ges of 48 V Rated motor power 176 W S1 without gearbox 300 W S3 25 4 min Rated motor current 5 25A S1 Motor data 10 5A S3 25 4 min
151. ct when the parameter set is saved in the FEPROM P971 0 gt 1 followed by a Powerl If SimoCom A is in use the operating mode should be selected via the configuration dialog The following operating modes are supported 1 gt Speed setpoint 2 gt Positioning The parameter corresponds to parameter 930 Note Before changing the operating mode load factory default setting via P970 This allows achieving a pre defined initial status Available with software version 2 0 and higher Siemens AG 2005 All Rights Reserved 5 224 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 5 Description of the Functions 5 6 Parameters for SIMODRIVE POSMO A P0701 2BD Activate substitution 300W 075W Min Standard Max Unit Data type Effective 0 0 1 12 immed The parameter is used to activate the telegram substitution function WARNING The parameter acts i m mediate ly After activation the drive responds only to PZD control signals provided STW 10 1 Read b e f o r e using the parameter the further description in the online help for SimoComA Menu Help gt Short Introduction SimoComA gt Contents gt Telegram substitution P701 1 Telegram substitution activated P701 0 Telegram substitution deactivated Available from SW3 0 and higher P0880 370 N SETPOINT normalization 300W 075W Min Standard Max Unit Data type Effective 100000 4096 100000 rpm C4 immed This parameter defines the norm
152. ctive gt refer to Chapter 2 3 and 2 4 Assign digital input 1 to the flying measurement actual value set ting function gt Inthe SimoCom A using the tab Dar and entry digital inputs outputs gt by setting SIMATIC S7 P31 to 27 Program the traversing block activating the flying actual value set ting function gt set PSW 10 to 1 Enter the value for actual value setting gt P85 28 signaled position required actual value Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 08 02 5 Description of the Functions 5 5 SIMODRIVE POSMO A functions Example Flying actual value setting followed by absolute positioning from SW 1 4 The following example shows how the actual value can be set flying when approaching a BERO cam and then an absolute or relative posi tioning operation can be started However for safety reasons positioning should be interrupted if neither BERO nor cam were detected within a specified maximum distance In this case the first program block selected is e g block No 9 1 Connect the signal transmitter to digital input 1 X5 terminal I Q1 gt the signal transmitter must be high active gt refer to Chapter 2 3 and 2 4 2 Assign digital input 1 to the flying measurement actual value set ting function gt Inthe SimoCom A using the tab Dar and entry digital inputs outputs
153. d 5 226 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 5 Description of the Functions 5 6 Parameters for SIMODRIVE POSMO A P0964 8 3C4 Drive identification 300W 075W Min Standard Max Unit Data type Effective v2 RO Indices 0 Siemens 42d 1 Drive type POSMO A 75W 300W 1201 1202 2 Firmware version x yy ZZ 3 Firmware date year xxxx decimal 4 Firmware date day month ddmm decimal 5 No of axes always 1 6 No of option modules always 0 7 Gearbox code Note Available from SW 1 4 P0967 3C7 Control word 300W 075W Min Standard Max Unit Data type Effective 0 0 FFFF Hex V2 immed This parameter corresponds to the control signals control word STW Note The following applies from SW 1 4 If the Class 2 DP master has control authority then control is realized via this parameter The following applies from SW 2 0 The meanings of bits 4 5 6 8 9 11 12 13 and 14 depend on the active operating mode SimoCom A Please consult the online help for more detailed information Help gt Help topics gt Index gt PROFIBUS diagnostics User Manual Bit assignment refer to Section Communications via PROFIBUS DP Refer to the index entry Process data P0968 3C8 Image of current status word 300W 075W Min Standard Max Unit Data type Effective Hex V2 RO This parameter corresponds to the status signals status word ZSW The following app
154. d SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 223 5 Description of the Functions 06 05 5 6 Parameters for SIMODRIVE POSMO A P0100 64 Control word simulation 300W 075W Min Standard Max Unit Data type Effective 0 0 FFFF V2 immed If the cyclic communication with Master Class 1 is interrupted for more than 3 seconds this control word is used All terminal signals remain active with priority 0 gt no simulation 17471 dec 443F hex gt value recommended for simulation Note The parameter value can be changed while traversing P101 must be gt 0 When operating the system with Master Class 2 alone SimoCom A the simulation mode is activated immediately when making entries in P100 Available from SW 1 2 P0101 11 65 Block sequence in standalone operation 300W 075W Min Standard Max Unit Data type Effective 0 0 27 _ 12 immed For standalone operation a maximum of 10 traversing blocks can be entered in the range 3 to 27 in P101 11 These specified blocks are executed one after the other in the standalone mode P101 0 gt no significance P101 1 gt 1st block P101 2 gt 2nd block etc Note The parameter value can be changed while traversing Available from SW 1 2 P0700 2BC Operating mode selector switch 300W 075W Min Standard Max Unit Data type Effective 1 2 2 12 PO This parameter is used for selecting the operating mode Operating mode changes only take effe
155. ddress PKW 256 263 256 263 PZD 264 267 264 267 not shown in the example If the input signal from the peripheral area I O area 1265 3 ZSW1 3 fault present no fault present has a 1 signal then the following must be executed on the master side refer to Fig 4 7 1 Programming SFC14 and SFC15 The standard functions SFC 14 Read slave data and SFC15 write slave data are required in order to consistently transfer more than 4 bytes 2 Request parameter value Write into the PKW output signals AB 256 263 with AK 1 PNU 947 IND 0 PWE no significance 3 Read parameter value and save Evaluate the PKW input signals EB 256 263 If AK 1 PNU 947 IND 0 and PWE xx gt then OK gt P947 xx read and buffer IfAK 7 gt then not OK gt evaluate the fault number in EW 262 refer to Table 4 15 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 02 00 4 Communications via PROFIBUS DP 4 3 Parameter area PKW area PG PC PKW area task SIMATIC S7 300 CPU S7 315 2 DP PKE PAW 256 0001 0011 1011 0011 AK 1 PNU 947 IND PAW 258 0000 0000 0000 0000 Index 0 PWE1 PAW 260 0000 0000 0000 0000 Value high PWE2 PAW 262 0000 0000 0000 0000 Value low 4 PKE IND PWE1 DP slave PWE2 POSMO A PAW Peripheral outpu
156. de address for the slaves refer to Chapter 2 3 1 24V 1 en 24 V electronics power supply Ground e g SITOP power optional 24 V 48V Lan 24 V 48 V Power Management Module Load power supply Ground _ DC PMM optional Ground e g SITOP power 1 The protective conductor may not be interrupted refer to Chapter 2 3 2 Fig 2 13 Connection and wiring overview example with DC PMM and electronics power supply Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 2 Installing and Connecting Up 08 03 2 3 Connection and wiring overview 2 3 1 Connection and setting possibilities in the connection cover Connection cover The SIMODRIVE POSMO A wiring is completely realized in the con from the top nection cover One connection can be used as input or output The user defines this using the appropriate wiring All of the cable connections are fed through PG glands Load power supply Dummy plugs reserve cable Refer under the index entry changing the cable outlet Input output direction When using this connection the dummy plug is replaced by aPG11 PG gland gt Torx T2 Protective conductor amis GA max 3 Nm Cap A O e u When using this II OI ken connection the dummy D Potential bonding protective connection cable with cable lug and screw plug is repla
157. distributed ET 200X I O device References ET200X Distributed ET 200X I O e All of the bus nodes should be certified for PROFIBUS use Note When using connector couplings for PROFIBUS at higher data transfer rates gt 1 5 Mbaud perfect functioning is no longer guaranteed cable reflection e An external power supply is required 24 V for a 75 W motor and 48 V for a 300 W motor refer to Chapter 2 6 1 or 2 6 2 for technical data e The maximum conductor cross section for the load power supply is 4 mm If the power supply being used can supply more current than is permissible for the cable then the appropriate slow acting fuses must be provided e g Neozed fuse e A power management module DC PMM can optionally be connec ted between the external load power supply and the input terminals of the SIMODRIVE POSMO A The DC PMM serves to eliminate the regenerative feedback energy and to limit the conducted noise For higher levels of regenerative feedback energy a Power Mana gement Module Extension DC PMM_E 48 V can be connected refer to Chapter 2 2 3 e If the bus communications and position sensing are to remain active even with the load power supply switched out then an optional electronics power supply 24 V 20 can be used The cables are routed in the ET 200X bus cable distributed peripheral system e A BERO can only be connected as type 3 wire PNP e The length of the I O cables their ground cab
158. dition 06 05 6 Fault Handling and Diagnostics 900 P954 0 Cause Remedy Acknowledgement Stop response 901 P954 1 Cause Remedy Acknowledgement Stop response 902 P954 2 Cause Remedy Acknowledgement Stop response 903 P954 3 Cause Remedy Acknowledgement Stop response 904 P954 4 Cause Remedy Acknowledgement Stop response 905 P954 5 Cause Remedy Acknowledgement Stop response 6 2 Faults and alarms Operation not enabled Bits to enable the drive missing Set enable signals in the control word STW not required None Illegal operating status If the program is running jogging or referencing is not possible not required None Single block active If the program is running and in the single block mode jogging or refe rencing is not possible not required None Both jogging signals active not required None Positioning mode not enabled Operating condition for program missing STW 4 not required None Axis has still not been moved The axis was still not moved after power on not required None Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 6 247 6 Fault Handling and Diagnostics 06 05 6 2 Faults and alarms 906 P954 6 Cause Remedy Acknowledgement Stop response 907 P954 7 Cause Remedy Acknowledgement Stop response 908 P954 8 Cause Remedy Acknowledgement Stop response
159. e Remedy Acknowledgement Stop response 714 P947 14 Cause Remedy Acknowledgement Stop response 6 242 Flying measurement actual value setting The flying measurement actual value setting function has not been correctly parameterized The bit combination for the program control word PSW is illegal No function is executed When the function is running terminal 1 was re parameterized as out put The motion is cancelled and the axis is braked with the maximum deceleration From SW 2 1 This fault is also signaled if a fault has occurred during the execution of the function Reference to occurring zero mark see P80 P31 32 P56 In this case the supplementary information 912 is also signaled The function Reference to occurring zero mark cannot be used in conjunction with P80 x 9 P80 x 10 or P80 x 11 Check program control word PSW 9 PSW 10 PSW 11 Check terminal parameterization P31 27 or other input parameteriza tion Remove cause set STW 7 1 0 and STW O 0 1 Pulse suppression Holding brake undervoltage At least the following voltage characteristics are required in order to open and hold the integrated holding brake Open Load power supply gt 24 V Stop Load power supply gt 18 V The drive is stopped if the load power supply voltage is too low Note This fault can be disabled for a motor without holding brake P56 5 0 Check the load power supply and increase rating Remove
160. e 2 inch P0005 05 Reference point coordinate 300W 075W Min Standard Max Unit Data type Effective 200000 0 200000 MSR C4 immed The parameter specifies the position at the reference point Note The parameter value can be changed while traversing Siemens AG 2005 All Rights Reserved 5 204 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 5 Description of the Functions 5 6 Parameters for SIMODRIVE POSMO A P0006 06 Software limit switch start 300W 075W Min Standard Max Unit Data type Effective 200000 200000 200000 MSR C4 immed The parameter specifies the software limit switch left negative de activated P6 P7 activated P6 lt P7 Note Also refer to P7 If the drive is programmed as a rotary axis P1 gt 0 the start and end of software limit switches must lie within the modulo range Furthermore P6 gt 0 and P7 lt P1 must apply The following applies from SW 2 0 Software limit switches are not possible in the Speed setpoint operating mode P930 P0007 07 Software limit switch end 300W 075W Min Standard Max Unit Data type Effective 200000 200000 200000 MSR C4 immed The parameter specifies the software limit switch right positive de activated P6 P7 activated P6 lt P7 Note Also refer to P6 If the drive is programmed as a rotary axis P1 gt 0 the start and end of software limit switches must lie within the modulo range Furthermore P6 gt 0 and P7 l
161. e achieved D Header e note Closed Ioop control structure for the speed setpoint interface refer to Chapter 3 3 2 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 135 5 Description of the Functions 05 03 5 2 Speed setpoint mode P700 1 from SW 2 0 Transmission The speed setpoint and the speed actual feedback value are transfer elements red using PZD data Input n set Primary speed BR PZD2 setpoint Limiting P8 PZD2 P880 e P3 7FFFhex Ap 4096 If np _PROFIBUS DP gt greater than less STW 1000hex P880 than i 0000p SES Speed ex i P gt Limiting setpoint 8000hex to P8 Y Ramp fct Act value PZD2 generator 7FFFhex Hex value to feed back Ar the speed actual value PROFIBUS DP 1000nex P880 nact e 4096 zam I nact ep ZSW 0000hex hex S ja Actual speed value 8000hex Fig 5 1 Transfer speed setpoint actual value Di Header e note PZD data refer to Chapter 4 2 5 2 2 Ramp function generator General information How do the software limit switches function 5 136 The ramp function generator is used to limit the acceleration when the speed setpoint changes as a step function POSMO A transfers the speed setpoint from the DP master to the ramp function generator as soon as it is in a spec
162. e have bus What are the fault possibilities Color How is it lit OK none from no The equipment is powered down or is defective The power supply is incorrectly connected incorrect polarity Steady light no Critical hardware defect CPU cannot be used Briefly after power up even if the unit is OK Red Disappears after the system has completely run up Flashing yes Fault present drive not ready Head out the fault number gt refer to Chapter 6 2 Red yellow Alternating no Bus communications interrupted flashing light Steady light yes Standard operation Flashing yes Run up bus being initialized baud rate adjustment configuration parameterization Green No bus connection established Bus cables not OK Address incorrectly set Bus parameterizing error Steady light no Bus run up incorrect configuration telegram Yellow Flashing no Bus run up incorrect parameterizing telegram Yellow Alternating no Standalone mode is active green flashing light gt Refer to Chapter 5 5 12 from SW From SW 3 0 1 2 P701 1 telegram substitution activated and the re ceived STW 10 0 The drive uses precisely the last valid STW with STW 10 1 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 6 233 6 Fault Handling and Diagnostics 08 04 6 2 Faults and alarms 6 2 Faults and alarms 6 2 1 General information on faults and warnings Preliminary comment
163. e identification en LED 1 21 6 233 PROFIBUS Difference 75 300 W motor 1 23 Digital inputs outputs Connecting up Description Rules 5 183 Status from SW 1 4 4 112 5 183 Digital outputs Dimension drawing C 269 300 W motor with planetary gearbox 1 stage with planetary gearbox 2 stage with planetary gearbox 3 stage without gearbox C 274 75 W motor with planetary gearbox with worm gearbox without gearbox Dimension drawing extension set separate version 300 W motor with planetary gearbox 1 stage with planetary gearbox 2 stage with planetary gearbox 3 stage without gearbox C 277 E 286 Direction of rotation changeover 5 143 Direction of rotation definition motor 5 153 Display terminal status from SW 1 4 Drive unit as spare part 300 W motor 7 257 7 259 Replacing 300 W motor 7 259 E EC Declaration of Conformity D 281 Effective 5 201 Electrical design Coincidence factor 2 35 i2t limiting 2 36 Power supply 2 31 Regenerative feedback protection 2 37 ESDS instructions xiii Establish communications Establish factory default setting Expert list from SW 1 5 Explanation of symbols External block change 4 106 F Fault evaluation 6 233 6 234 Fault suppression 6 236 Fault LED 6 233 Faults 6 235 Acknowledgment 4 105 4 109 6 235 Bits and numbers 6 234 Difference to warnings 6
164. e is required Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 1 21 1 Brief Description 06 05 1 2 Function overview and differences between 75 W 300 W 1 2 Function overview and differences between 75 W 300 W Function overview An overview of the features and functions of SIMODRIVE POSMO A is provided in the following diagram Intelligent positioning motor as distributed FREE aa node connected to PROFIBUS e Software limit switch f e Hardware limit switch from SW 2 0 The motor can be operated in the following e 27 traversing blocks 2 for jogging modes e Backlash compensation e Closed loop speed controlled operation e Set actual value e Positioning Brake sequence e Rotary axis with modulo correction control rom SW 1 4 Jerk limiting f e Standstill monitoring zero speed Connection cover with monitoring integrated PROFIBUS address Gees j Travel to fixed stop switch and terminating resistor Flying block change Standalone mode from SW 1 2 Non volatile memory Holding controller from SW 1 3 FLASHEPROM for Control sense can be reversed user data parameters from SW 1 3 e Jogging without PROFIBUS and parameterization from SW 1 4 e Flying measurement actual value setting from SW 1 4 Speed setpoint interface from SW 2 0 Telegram substitution from SW 3 0 Straightforward commissioning by adapting a few parameters 2 terminals for
165. e not required in order to move the positioning motor SIMODRIVE POSMO A 75 W SIMODRIVE POSMO A 300 W not to scale Fig 1 1 SIMODRIVE POSMO A positioning motor with connection cover and gearbox 3 Reader s note The following catalog is available for SIMODRIVE POSMO A References KT654 Catalog DA 65 4 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 1 19 1 Brief Description 06 05 1 1 General information about SIMODRIVE POSMO A Main features Applications Typical applications Design Gearbox selection Cables Extension set separate version POSMO A 300 W being prepared 1 20 The main features are e Power module and complete motion control in the motor e Coupled using a communication and power bus e PROFIBUS DP Standard slave e Positioning functionality which is easy to handle e Modular gearbox system with different ratios SIMODRIVE POSMO A can be used in almost all industry sectors such as e For production machines in packaging woodworking glass printing plastics e For machine tools and transfer lines e In medical diagnostics for example to move examination tables and X ray equipment Here are two typical applications from many e Adjusting formats or endstops e Setting process quantities e g via valves The positioning motor is a 1 axis actuating drive with low envelope di mensions and
166. e operated at rated load during the possibilities power on duration specified as a percentage of the load duty excerpt from S3 25 cycle without the permissible temperature being exceeded VDE 0530 2 The equipment is powered down in the no load interval Overload factor 2 Duty cycle 1 min Duration 25 of the duty cycle Measuring max 55 dB A Motor without gearbox surface Note sound pres sure level Speed range 0 3300 RPM EN 21680 Part 1 Backlash 1 stage planetary gear 1 0 degrees 2 stage planetary gear 1 0 degrees 3 stage planetary gear 1 5 degrees Worm gear lt 1 0 degrees Shaft load capability Axial load Radial load Gearbox shaft for center key Planetary gear max 500 N max 350 N Worm gear 300 N max 500 N max Gearbox Gearbox lifetime A generally valid statement cannot be made about the lifetime data as a result of the various possible applications and the resul ting load types as well as varying ambient conditions Factors which influence the lifetime include e Duty types from continuous operation with one direction of rotation up to extreme start stop operation with load levels from partial load up to full load and significant surge loa ding e Forced rotation accelerations or delays from the outside e External mechanical loads in the form of a vibration and shock e The ambient temperature and humidity moisture e Motor without gearbox 3 1 kg e Motor with 1 stage gearbox 3 5 kg Weight
167. e operation Ready Enable operation S 3 inhibit operation 0 Inhibit operation Power disconnected from the motor motor coasts down operation inhibited status 1 Operating condition for program The signal must be continuously present in order to execute a traversing task 4 Operating condition for pro 0 Stop gram stop Su Deceleration along the current limit The motor remains stationary with the holding torque The actual traversing task is rejected 1 Operating condition for program The signal must be continuously present in order to execute a traversing task Operating condition for pro Q EE stop i 5 gram intermediate stop The drive brakes from an active traversing task along the ramp to n 0 and then remains stationary with the holding torque The traversing task is not rejected For a change to bit 5 1 the traversing task is continued 1 0 Each edge enables a traversing task or a new setpoint tog gle bit Activate traversing task An edge change may only be realized if bit 12 of the status 6 edge 0 1 Word is used to acknowledge that the previous traversing task was accepted A program start is valid as a traversing task 1 Acknowledge faults 0 1 edge Refer to Chapter 6 2 0 7 Reset fault memory 1 Jogging 1 ON If operation is enabled and positioning is not active gt the drive traverses closed loop speed controlled with jogging 8 Joggin
168. e positi on speed controlled is executed until occurrence of a zero mark The drive is referenced at the zero mark to the position given in the signal position P85 X If the function is executed in connection with a positioning block rela tive position absolute position the specified path must pass over a zero mark A speed controlled block stops at the zero mark Note The function Reference to occurring zero mark cannot be used simultaneously with one of the following functions in a traversing block e Flying measurement P80 X 11 1 e Flying actual value setting P80 X 11 1 e Gei reference position P80 X 9 1 Using the function with the help of the parameterizing and start up tool SimoCom A from version 4 02 xx The reference dialog allows the configuration of a referencing program with 4 traversing blocks in accordance with the diagrams shown in the dialog Siemens AG 2005 All Rights Reserved 5 164 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 08 04 5 Description of the Functions Referenced axis when powering up again Behavior when powering down 5 5 SIMODRIVE POSMO A functions As in the previous referencing function before SW 2 1 all required data must be entered in the dialog This data must then be confirmed with Generate traversing program Functions of the referencing program e Block X Traverse up to cam e Block X 1 Leave cam e
169. e potential bonding and protective conductor cross sec tion gt 4 mm At the drive unit Two screw terminals M5 on the cover gt refer to Chapter 2 3 1 At the motor Two of the three screw threads M5 for the trans port lugs gt refer to Fig 2 30 Note Minimum bending radius of the cables 100 mm 4 screws supplied loose with the equipment A gl Pe 12 ER ER not to scale Fig 2 30 Mounting the extension set separate version POSMO A 300 W Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 2 59 2 Installing and Connecting Up 08 04 2 5 Gearbox selection 2 5 Gearbox selection 2 5 1 Gearboxes for SIMODRIVE POSMO A 75 W Modular gearbox For SIMODRIVE POSMO A 75 W the following gearboxes can be 75 W motor selected and used according to Table 2 4 Table 2 4 System data modular gearbox with planetary worm gearboxes Gearbox Stage Reduc Effi Torque Rated type Gee oe e Permissible Available spoed ei Briefly s1 s3 n 25 S1 1 min iGearbox NGearbox Nm Nm Nm Nm RPM nal m _ _ S 0 18 0 36 3300 gearbox 4 5 0 85 1 2 2 4 0 7 1 4 733 1 8 0 85 1 2 2 4 1 2 2 4 413 20 25 0 72 8 16 2 6 5 2 163 Planetary 2 36 0 72 8 16 4 7 93 92 gearbox 50 0 72 8 16 6 5 13 0 66 126 5625 oe 24 48 13 9 27 8 26 3 162 0 61 24 48 17 8 35 6 20 5 0 7
170. e unit IP64 gearbox IP54 x 2 gt Degree of protection IP65 y 1 gt with motor holding brake y 0 gt without motor holding brake Extension set separate version Not possible Outlet direction side A Length m 6FX8002 6AA00 1ABO 3m 6FX8002 6AA00 1 ADO 5m 6FX8002 6AA00 1AFO Outlet direction side B Length m 6FX8002 6AA10 1ABO 3 m 6FX8002 6AA10 1ADO 5 m 6FX8002 6AA10 1AFO Software all available versions possible from version A SW 1 5 Supply voltages 24 V DC 20 48 V DC 20 Rated output 62 5 W S1 75 W S3 25 1 min 176 W S1 300 W S3 25 4 min Rated speed 3300 RPM S1 2000 RPM S3 25 1 min 3500 RPM S1 3000 RPM S3 25 4 min 816 increments motor revolution Rated torque 0 18 Nm S1 0 48 Nm S1 0 36 Nm S3 25 1 min 0 95 Nm S3 25 4 min Meas system integrated integrated 4096 increments motor revolution Ambient temperature 0 45 C 20 45 C Gear without gearbox Planetary gearbox 1 stage Planetary gearbox 2 stage Planetary gearbox 3 stage Worm gear without gearbox Planetary gearbox 1 stage Planetary gearbox 2 stage Planetary gearbox 3 stage from SW 2 0 Note The gearbox can be interchanged Connection cover The connection cover for POSMO A 75 W does not fit on the POSMO A 300 W and vice versa i e they cannot be intercha
171. e version 1 4 and higher Positioning operating mode On the fly measurement actual value setting software version 1 4 and higher This function is only possible via terminal 1 Other input parameters can also be used The input is updated in a 125 microsecond grid for the function On the fly measurement actual value setting Speed setpoint operating mode No function Hardware limit switch start closing contact as of SW 2 0 Hardware limit switch end closing contact as of SW 2 0 Hardware limit switch start opening contact as of SW 3 0 Hardware limit switch end opening contact as of SW 3 0 Ready for power up Ready Operation enabled Fault OFF 2 OFF 3 Power on inhibit Warning Positioning operating mode Following error Speed setpoint operating mode Speed within tolerance band Positioning operating mode Setpoint position reached Speed setpoint operating mode Ramp up complete Positioning operating mode Reference point set Speed setpoint operating mode Checkback from Terminal Positioning operating mode Acknowledge traversing task Speed setpoint operating mode Checkback from Terminal2 Drive moves Positioning operating mode Within traversing block Speed setpoint operating mode No function Load power supply available Positioning operating mode Accept value directly from start byte bit 0 Speed setpoint operating mode No function Positioning operating mode Accept value directly from
172. ection of rotation is negative counter clockwise gt This can be achieved e g using jogging 1 motor e If the shaft rotates in the clockwise direction gt the motor direction of rotation is positive clockwise gt This can be achieved e g using jogging 2 From SW 1 3 the required motor direction of rotation can be set using P3 gearbox step down factor refer to Chapter 5 5 8 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 153 5 Description of the Functions 02 99 5 4 Operating modes only the pos mode 5 4 2 Manual Data Input MDI Description 5 4 3 Automatic Description For SIMODRIVE POSMO A the MDI mode is replaced when selecting a single traversing block New coordinates are programmed by overwriting one of the traversing blocks which is then transferred at the next start In the automatic mode traversing blocks and programs can be selec ted started and their behavior significantly influenced via the interface When programs are run it is possible to change over into the automa tic single block mode using the control signal STW 12 This is used to test the drive system 5 4 4 Tracking mode Description 5 154 If an axis is in the tracking mode then the control is disabled and its position reference value tracks the actual position actual value For SIMODRIVE POSMO A the tracking mode cannot be explicitly selected I
173. ee gt The axis remains stationary after exiting the reference cam The position of the last zero mark which was passed is overwritten with the reference posi d Axis tion m with re Reference approach to the BERO with direction i ference reversal P cams an oe gt The axis remains stationary after exiting the fe reference cam vl The position of the last zero mark which was passed is overwritten with the reference posi tion Reference to occurring zero mark from SW 2 1 Refer to Chapter 5 5 1 Flying Flying actual value setting function Refer to Chapter 5 5 2 from SW 1 4 1 The actual position to be written is corrected by the distance which was traveled since the last zero mark 2 This function must be emulated using the existing traversing blocks refer to the following examples Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 155 5 Description of the Functions 04 01 5 5 SIMODRIVE POSMO A functions Secondary The following limitations apply when referencing conditions when referencing The positioning motor supplies the following zero marks 75W motor gt 4 zero marks per motor revolution 300 W motor gt 1 zero mark per motor revolution The position of the zero mark which was last recognized is over written with the value in P5 reference point coordinate by setting STW 11 start referencing stop referen
174. egative temperature range are not monitored and not correctly displayed P0048 30 Actual traversing block block number 300W 075W Min Standard Max Unit Data type Effective 12 RO The parameter specifies the block number of the traversing block presently being processed P0049 31 Following block block number 300W 075W Min Standard Max Unit Data type Effective 12 RO The parameter specifies the block number of the next block The following block is the next traversing block to be executed P0050 32 Velocity setpoint 300W 075W Min Standard Max Unit Data type Effective MSR min 14 RO P0051 33 Actual velocity 300W 075W Min Standard Max Unit Data type Effective MSR min 14 RO P0052 34 Hardware version 300W 075W Min Standard Max Unit Data type Effective z 14 RO The parameter indicates the hardware version of the motor 1 gt Hardware version A 4 gt Hardware version D etc P0053 35 Firmware version 300W 075W Min Standard Max Unit Data type Effective a 14 RO The parameter indicates the firmware version of the drive Example 10202 gt Firmware version 01 02 02 Siemens AG 2005 All Rights Reserved 5 216 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 5 Description of the Functions 5 6 Parameters for SIMODRIVE POSMO A P0054 36 P gain speed controller standstill 300W Min Standard Max Unit Data type
175. emens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 08 03 2 Installing and Connecting Up 2 3 Connection and wiring overview Connection and wiring overview e g SIMATIC S7 300 DP e g relay e g switch PROFIBUS interface D First node in this case the master Protective conductor PE switch in the terminating refer to Chapter 2 3 2 resistor Wh Potential bonding conductor refer O gt to Chapter 2 3 2 g 24 V 48 V d Ground S d AIBIEIDIEIF AIBICIDIEIF 24 V Ground S 2 A cable x E x S lt SI B cable O e S oR O E 7 Ok eh HN ge HEN ge Last node here to the right gt switch in the terminating resistor refer to Chapter 2 3 1 Set the PROFIBUS no
176. enly a corresponding safety factor must be accounted for in the brake time calculation As an alternative to a carefully soft design of the endstop the mechani cal limitation of the torque during forced braking can also be implemen ted with a coupling on the gearbox output The coupling then exhibits the required flexibility kro in the direction of rotation whereby only the translated motor moment of inertia need then be considered as centri fugal mass Mmax_perm 1 48 Ne m 1 i Krot e 410N mrad rot mot 2 Nshan 0 00006 kg m2 1622 See d rpm 60 smin Upon transfer of the maximum permissible torque for this gearbox the coupling twists by approx 1 10 rad in other words about 6 degrees The user must check whether this much twisting can be accepted Siemens AG 2005 All Rights Reserved 5 174 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 04 01 5 Description of the Functions 5 5 4 Rotary axis 5 5 SIMODRIVE POSMO A functions Parameterizing A rotary axis is parameterized using the following parameters rotary axes e Pi axis type e g 360 e P2 travel per gearbox revolution e g 360 e P3 gearbox step down factor e g 18 e P4 dimension units e g 1 Example refer to Chapter 3 3 A rotary axis with modulo 360 and dimension units of degrees is para meterized with these typical values Programming The traversing characteristics of a rotary axis are dependent on wh
177. ents listed in the documentation overview as well as additional SIMODRIVE docu mentation from your local Siemens office This manual does not purport to cover all details or variations in equip ment nor to provide for every possible contingency to be met in con nection with installation operation or maintenance The contents of this document are not part of an earlier or existing con tract or agreement nor do they change this The sales contract contains the entire obligation of Siemens The warranty conditions specified in the contract between the parties is the sole warranty of Siemens Any statements contained herein neither create new warranties nor modify the existing warranty This documentation addresses machine manufacturers and service personnel who use the SIMODRIVE POSMO A positioning motor If you have any questions please contact the following Hotline A amp D Technical Support Tel 49 0 180 5050 222 Fax 49 0 180 5050 223 email mailto adsupport siemens com Internet www siemens com automation support request If you have any questions regarding the documentation suggestions corrections please send a fax or email Fax 49 0 9131 98 63315 email mailto motioncontrol docu siemens com Fax form Refer to the correction sheet at the end of the documentation You can obtain continually updated information about our product in the Internet under http www siemens com motioncontrol An
178. er supply factor Note If possible the load power supply should be switched in switched out on the primary side If this is not possible for technical reasons a power management module DC PMM must be connected between the switch element and the SIMODRIVE POSMO A refer to Chapter 2 2 3 e Switching in and switching out the 24 V 48 V load power supply on the primary side line specific Line a supply Con tactor 400 V e g SITOP 24 V 48 V Optional according to Chapter 2 2 3 DC PMM _ J y ol T art lt SIMODRIVE Al A POSMOA amp k j Fig 2 2 Switching in and switching out the 24 V 48 V on the primary side Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 2 31 2 Installing and Connecting Up 08 03 2 2 Electrical system requirements e Switching in switching out the 24 V 48 V load power supply on the primary side line specific Line supply 400 V e g SITOP 24 V 48 V Con tactor This is absolutely necessary in order DC PMM to eliminate cable borne disturbances SIMODRIVE lt POSMOA amp Fig 2 3 Switching in switching out the 24 V 48 V load power supply on the secondary side e Switching in switching out the 24 V 48 V load power supply on the primary side line specific with a POSMO A which is to be separa tely s
179. er the motor has been mounted the brake should be checked to ensure that it functions perfectly The brake is only designed for a limited number of emergency braking operations It is not permissible to use the brake as operating brake 20 Supporting SIMODRIVE POSMO A 300 W If the motor is subject to extreme vibration shock loads then it must be supported using the three M5 threaded holes and an appropriate bracket Degree of protection It is not permissible that foreign bodies dirt or moisture accumulate at the connections Cable entry glands that are not used must be sealed so that they are dust tight and watertight In order to guarantee the degree of protection all of the connections must be sealed using plugs or with an appropriate PG gland 22 When mounting and withdrawing drive out elements at the output shaft it is neither permissible to apply heavy knocks e g using a hammer to the shaft end nor exceed the maximum permissible axial or radial load at the shaft end 23 The motors must be stored under the following ambient conditions Dry dust free and low vibration levels Vrms 0 2 mm s 2 ch Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 1 Brief Description 1 3 Safety guidelines Notice 24 When using SIMODRIVE POSMO A in UL certified systems a UL certified varistor with the following properties is required in the power supply cable at 24 V
180. evaluating the parameter index IND 5 For response telegrams that contain parameter values the slave for this cyclic repeat process always responds with the updated value This involves all responses to the tasks request parameter value and request parameter value array Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 02 99 4 Communications via PROFIBUS DP 4 3 Parameter area PKW area Note The time between sending a change task and when the change actually becomes effective is not always the same No maximum times can be guaranteed The response times of the PKW channel depend on the utilization level of the fieldbus Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 4 125 4 Communications via PROFIBUS DP 02 00 4 3 Parameter area PKW area 4 3 2 Example Reading parameters via PROFIBUS Example Reading parameters via PROFIBUS What has to be programmed on the master side 4 126 It at least one fault is present the drive fault buffer P947 should be read out and buffered on the master side Assumptions for the slave e The drive has been completely commissioned is connected to PROFIBUS DP and is ready to run e PROFIBUS node address 12 Assumptions for the master e The DP master is a SIMATIC S7 CPU S7 315 2 DP e Hardware configuration Node address 12 Part address O a
181. evisions Rotary axis 3 92 5 175 S S1 continuous duty 2 64 2 67 S1 switch S1 2 45 2 48 S3 intermittent duty 2 64 2 67 Safety information Screwdriver for connection cover 2 44 for connection module 2 46 for cover measuring for erminals E Sequence diagram Variable speed drives n set mode pos mode Set actual value Flying from SW 1 4 via traversing block Write via P40 Settings at the DP master 4 130 Shaft load capability Gearbox shaft 300 W motor Motor shaft 300 W motor Motor shaft 75 W motor SIMATIC blocks 3 78 E 290 Information on 3 84 Installing un installing 3 80 Integrated help 3 87 Optimum version 3 79 SIMODRIVE POSMO A Brief description 1 19 Function overview 1 22 System overview 2 29 Wiring overview 2 43 SITOP Power 2 33 2 34 Software Class Cj 3 78 Software limit switch Software release Spare parts 7 254 17 257 Speed controller Be Integral action time 3 93 3 94 P gain 3 93 8 94 P gain standstill zero speed 3 93 8 94 Standalone mode from SW 1 2 Standstill monitoring zero speed monito geg 5 181 Status signal for faults ZSW 3 for warnings ZSW 7 Step down ratio 2 60 2 61 Support SW limit switches 5 195 Switchover Closed loop speed position controlled Metric inch System overview System requirements 2 30 T Technical data 300 W mot
182. fer to d Control signal e g relay optional Chapter 2 3 Continues to the power supply of the next SIMODRIVE POSMO A Connection cover SITOP power removable Regulated power Gear supply module external power Power bus SUPP r Cables refer to i Chapter 2 3 Continues to Power Management the next Module DC PMM i PROFIBUS optional node e lt Internal pulsed resistor for braking Electronics SITOP power 24 V external supply for electronics and Regulated power optional power electronics supply module external power Note supply If the electronics is separately supplied External supply for then the power electronics can be e Power electronics 24 V or 48 V powered up powered down independently of the electronics power supply no electrical isolation and e Electronics 24 V if there is no dedicated supply Fig 2 1 System overview of SIMODRIVE POSMO A Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 2 29 2 Installing and Connecting Up 06 05 2 2 Electrical system requirements 2 2 Electrical system requirements 2 2 1 General electrical requirements General The following general requirements must be observed requirements e The PROFIBUS DP is coupled in conformance with the Standard A standard PROFIBUS cable can be used In order to loop in the optional electronics power supply the same bus cable can be used that is used in the
183. ffective 0 16384 16384 K N2 immed Closed loop speed control referred to P9 acceleration time P25 50 means Doubling of rampl P25 10 means Multiplication by 10 of rampi Closed loop position controlled referred to P22 maximum acceleration The following applies from SW 2 0 The acceleration override can be changed with immediate effect in the Speed setpoint oper ating mode This is also possible when the drive is moving P0026 1A Override speed jogging 300W 075W Min Standard Max Unit Data type Effective 0 3276 16384 N2 immed Referred to P8 maximum speed Is calculated in addition to P24 override velocity Note The parameter value can be changed while traversing P0027 1B Override acceleration jogging 300W 075W Min Standard Max Unit Data type Effective 0 8192 16384 N2 immed Refer to P9 acceleration time Is calculated in addition to P25 override acceleration Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 209 5 Description of the Functions 06 05 5 6 Parameters for SIMODRIVE POSMO A P0028 1C Max current 300W Min Standard Max Unit Data type Effective 0 10 5 21 A C4 immed Upper limit motor current Note The parameter value can be changed while traversing This parameter has a gearbox dependent factory default Maximum values depend on the gear unit gt see User Manual under the headi
184. for processing tasks responses 4 124 For SIMODRIVE POSMO A the traversing blocks are saved in parame ters which means that they can only be read and changed via the PKW mechanism Reader s note The parameters for the traversing blocks are described in Chapter 5 3 2 When mapping the traversing blocks to the parameters the parameter number defines the block components position velocity etc and the sub parameter number of the traversing block number Example P0081 17 gt position parameter 81 with traversing block 17 Addressing in the PKW mechanism e The parameter ID PKE addresses the block components e The sub index IND addresses the traversing block number This means that a complete set can only be read or changed one after the other via the individual components Additionally 1 Machine data is mapped to the parameters 2 Additional parameters e g P947 P953 etc are possible from the PROFIBUS Guidelines The following rules apply for the task response processing 1 Atask or a response can always only be referred to one parameter 2 The master must repeat a task until it has received the appropriate response from the slave clock cycle 10 ms 3 The slave provides the response until the master has formulated a new task 4 The master recognize the response to a task which it issued by evaluating the response ID by evaluating the parameter number PNU if required by
185. g 1 ON jogging 1 OFF setpoint 1 gt Refer to Chapter 5 4 1 0 Jogging 1 OFF Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 4 105 4 Communications via PROFIBUS DP 06 05 4 2 Process data PZD area Table 4 5 Description of the individual signals in the control word STW for the pos mode Bit Signal name Signal status signal description Jogging 2 ON If operation is enabled and positioning is not active gt the drive traverses closed loop speed controlled with jogging 9 Jogging 2 ON jogging 2 OFF setpoint 2 gt Refer to Chapter 5 4 1 Jogging 2 OFF Not used or permanent 1 signal From SW 3 0 If P701 1 gt process data PZD are ac cepted 10 Control from PLC requested u From SW 3 0 If P701 1 gt drive state is kept constant last valid pro cess data with STW 10 1 Referencing is executed u Start refereneing Requirement Operation enabled stop referencing Normal operation Automatic single block operation Disables programmed path controlled operation 42 Automatic single block oper Each block has to be re started ation automatic Automatic Programmed path controlled operation is effective External block change The active block is interrupted and the subsequent block is selected This is realized dependent on the program with 13 External block change approxima
186. g block e g Block No 9 as follows gt Inthe SimoCom A using the tab Par and entry traversing blocks gt Select the relative traversing type via SIMATIC S7 P0080 9 bit 0 0 gt Enter the target position max distance to the cam The sign of the distance specifies whether the signal lies in the positive or negative traversing direction to the actual value If this distance was moved through the drive stops and changes to the following traversing block gt Select the block change enable continue flying via SIMATIC S7 P0080 9 bit 5 1 gt In the section block PSW select flying measurement active via SIMATIC S7 P0080 9 bit 10 1 4 Then program the following traversing block as follows e g block No 10 gt Select the relative traversing type via SIMATIC S7 P0080 10 bit 0 0 gt Position 0 set the velocity to the value of block 9 v 0 via SIMATIC S7 P0081 10 0 P0082 10 0 gt Select the block change enable continue flying via SIMATIC S7 P0080 10 bit 5 1 gt inthe selection box PSW OM start type check the default setting SM start type wait bit 0 via SIMATIC S7 P0080 10 bit 7 0 gt in the selection box PSW select flying measurement active via SIMATIC S7 P0080 10 bit 10 1 This means that a measurement is also made if the cam is passed while braking gt Set SM MM start bit 15 1 via SIMATI
187. he controller enable is withdrawn e The axis is actively braked and the brake delay time started The axis is actively braked according to the data entered ramp or maximum deceleration The brake delay time P60 is started e The brake control signal is withdrawn The brake control signal is withdrawn if Nact holding brake P59 or The brake delay time P60 has expired e Start the controller inhibit time P61 and then cancel the pulses A 1 An Speed setpoint Positioning o we OFF 1 OFF 3 fault mode a Le i b t Actual speed value 17 Drive braked actively e g regenerative braking Nholding brake Free To i SE t Output signal L zl A control external 4 plane prake ben Holding brake t A La Drake delay time Internal pulse enable Syan e 0 4 1 _ Holding brake t 4 Sh controller inhibit time Holding brake 0 i to close the holding brake Fig 5 18 Closing the brake Behavior when withdrawing controller enable Objective for this The controller inhibit time should be harmonized so that the closed setting loop control is only withdrawn after the brake has been closed This prevents an axis from possibly sagging Siemens AG 2005 All Rights Reserved 5 190 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 04 01 5 Description of the Functions Closing the brake when the pulse 5 5 SIMODRIVE POSMO A functions
188. he axis is then considered to have been referenced The following applies from SW 2 0 It is possible to write the actual position value in the Speed setpoint operating mode The axis is always dereferenced in this operating mode P0041 29 Speed setpoint 300W 075W Min Standard Max Unit Data type Effective rpm C4 RO Positioning operating mode Indicates the speed setpoint relative to the motor shaft P0042 2A Actual speed 300W 075W Min Standard Max Unit Data type Effective rpm C4 RO Positioning operating mode Indicates the speed setpoint relative to the motor shaft P0043 2B Current setpoint 300W 075W Min Standard Max Unit Data type Effective A C4 RO P0044 2C Current actual value 300W 075W Min Standard Max Unit Data type Effective A C4 RO P0045 2D Timer status 300W 075W Min Standard Max Unit Data type Effective ms T4 RO P0046 2E Following error 300W 075W Min Standard Max Unit Data type Effective MSR C4 RO Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 215 5 Description of the Functions 06 05 5 6 Parameters for SIMODRIVE POSMO A P0047 2F Electronics temperature 300W 075W Min Standard Max Unit Data type Effective C C4 RO This parameter serves to monitor the electronics temperature inthe gt 0 C range to avoid pos sible overheating of the module Temperatures in the n
189. he holding brake is connected at the parameteri zed output terminal Parameter The following parameters are available for the Holding brake function refer to Chapter e 5 6 2 P31 Function terminal 1 e P32 Function terminal 2 e P56 4 Open holding brake e P56 5 Monitoring holding brake undervoltage e P56 6 Open the holding brake also for an external holding brake e P58 Holding brake brake opening time e P59 Speed close holding brake e P60 Holding brake brake delay time e P61 Holding brake controller inhibit time Signals The following signals are relevant for the holding brake function refer to Chapter e ee stoen 5 5 10 put sig Input terminal X5 Q1 1 Q2 Function number 26 Open holding brake PROFIBUS Control signal STW 15 Open holding brake e Output signal Output terminal X5 Q1 Q2 Function number 95 Control external holding brake Siemens AG 2005 All Rights Reserved 5 188 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 04 01 5 Description of the Functions Open brake 5 5 SIMODRIVE POSMO A functions When the brake control is activated when the status changes from re ady to operation enabled the brake is opened At the same time the pulses are enabled and the axis goes into closed loop controlled oper ation without a traversing task The holding controller is switched in In order to give the brake the necessary time to mechanically open the drive starts
190. he occurrence of a zero mark The reference point is set to the value given in the signal position 1 If this function is used together with a digital input BERO that is configured with an additional cam monitoring P31 P32 referen cing only takes place if a cam signal edge has occurred in accor Reference to dance with P56 7 If the corresponding signal has not occurred at 14 Occurring zero the digital input the drive is de referenced upon reaching the yes mark zero mark In this case error 711 912 is signaled from SW 2 1 f Inactive Note Bit 14 0 if e Bit 9 1 set reference position or Bit 10 1 flying actual value setting or Bit 11 1 flying measurement 15 Reserved _ Siemens AG 2005 All Rights Reserved 5 148 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 02 99 5 Description of the Functions 5 3 Programming the traversing blocks only in the pos mode P700 2 Timer value Contains the time required for the timer A value of 0 de activates the P84 28 function Signaling position P85 28 SMStart P86 28 high byte MMsStart P86 28 low byte MMStop P87 28 high byte MMPos P87 28 low byte When this position is passed the bits specified in the MMPos are set and signaled to the master via the feedback signal byte RMB From SW 1 4 the following applies When the set reference position function is activated PSW 9 1 or
191. iagonally Torque max 5 Nm 10 4 Secure the screws Loctite Notice If another gearbox has been mounted the gearbox dependent parameters no longer match the gearbox being used and these parameters must be appropriately changed gt Refer to Chapter 5 6 3 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 08 04 7 Installation and Service 7 3 Spare parts for SIMODRIVE POSMO A 7 3 Spare parts for SIMODRIVE POSMO A 7 3 1 List of spare parts for the 300 W motors What spare parts are there The following spare parts are available for SIMODRIVE POSMO A 300 W Drive unit 6SN2157 0AA01 OBA1 Planetary gearbox degree of protection IP54 gt Only available as a new part with a delivery time of 10 days Planetary gearbox Planetary gearbox Planetary gearbox Planetary gearbox Planetary gearbox Planetary gearbox Planetary gearbox i 4 i 7 i 12 i 20 i 35 i 49 i 120 6SN2157 2BD10 0BAO 6SN2157 2BF10 0BAO 6SN2157 2BH10 0BAO 6SN2157 2CK10 0BAO 6SN2157 2CM10 0BAO 6SN2157 2CP10 0BAO 6SN2157 2DU10 0BAO Planetary gearbox degree of protection IP65 gt Only available as a new part with a delivery time of 10 days Planetary gearbox Planetary gearbox Planetary gearbox Planetary gearbox Planetary gearbox Planetary gearbox Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition i 4 i 7 i 12 i 20
192. ich po sitioning type has been programmed either ABSOLUTE or RELATIVE e Absolute motion Target position The target position is programmed in the traversing block using P81 28 and is executed modulo corrected Example P81 4 520 gt for modulo 360 the axis is positioned to 160 Velocity and traversing direction The velocity and traversing direction is programmed in the tra versing block using P82 28 Velocity Absolute value of P82 28 Traversing direction Sign of P82 28 gt positive direction gt negative direction Traverse through the shortest distance PSW 12 1 from SW 1 4 e Relative motion Target position and traversing direction The target position is programmed in the traversing block using P81 28 and is not executed modulo corrected P81 28 gt 0 gt positive traversing direction P81 28 lt 0 gt negative traversing direction Examples P81 4 520 gt the axis moves in a positive direction through 520 P81 4 10 gt the axis moves in a negative direction through 10 Velocity Velocity is entered via P82 28 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 175 5 Description of the Functions 04 01 5 5 SIMODRIVE POSMO A functions 0 Example 1 0 Example 1 315 315 Start Start i 270 T 90 270 S 90 A S Example 2 Example 2 bei X X 225 Saala 135 225 S
193. idual parts and components Example The following diagrams show a connection cover that has been con Connection cover nected up mounted e Connection cover from the top gt refer to Fig 2 26 e Connection cover from the bottom gt refer to Fig 2 27 Fig 2 26 Connection cover with the cables inserted View from the top Siemens AG 2005 All Rights Reserved 2 56 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 02 99 2 Installing and Connecting Up 2 4 Mounting SIMODRIVE POSMO A Fig 2 27 Connection cover with the cables inserted View from below Additional When routing the connecting cable additional moisture protection can protection against be achieved by appropriately angling the connecting cable water loop moisture Water loop Fig 2 28 Cable connection at SIMODRIVE POSMO A with water loop Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 2 57 2 Installing and Connecting Up 06 05 2 4 Mounting SIMODRIVE POSMO A 2 4 4 Extension set separate version POSMO A 300 W How is the The separate version for SIMODRIVE POSMO A 300 W means that extension set the drive unit is mounted separately from the motor This means that mounted for applications with restricted space the space requirement of the motor can be flexibly adapted to the mounting space available The SIMODRIVE POSMO A 300 W is supplied
194. ific state of the PROFIBUS state machine refer to Chapter 4 2 2 At run up the software limit switches are automatically de activated P6 P7 and a rotary axis parameterized In this case P1 is set to the maximum value which corresponds to the parameterized values P2 and P3 P1 may not be set to zero in speed setpoint mode so that no more traversing range limits can be activated Referencing is not possible Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 5 Description of the Functions 5 2 Speed setpoint mode P700 1 from SW 2 0 The software limit switches must remain de activated so that the drive can always rotate endlessly This is the reason that in the speed set point mode the drive must be parameterized as rotary axis and be de referenced Input output For the ramp function generator the following signals are used signals for the ramp function generator Ramp function generator enable STW 4 1 e Input signals Ramp function generator start ramp function generator stop STW 5 1 Enable setpoint inhibit setpoint STW 6 1 e Output signals Speed in the tolerance bandwidth speed outside the tolerance bandwidth ZSW 8 Ramp up completed ramp up not completed ZSW 10 RFG input Nset une g RFG output Nset 4 Nact Speed in the tolerance bandwidth ZSW 8 Ramp up completed ZSW 1
195. ignaled Fault 706 707 Supplementary info 911 software limit switch start end hardware limit switch passed reached Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 05 03 5 Description of the Functions How do you move away froma hardware limit switch Software limit switches SW limit switches P6 P7 5 5 SIMODRIVE POSMO A functions If an axis is located at a hardware limit switch then it can be moved away as follows 1 Acknowledge the fault 2 Return the axis to the valid traversing range In the jog mode or via velocity move away in a direction opposite to the approach direction or 1 Withdraw the controller enable control signal ON OFF 1 2 Set the input terminal function number 28 29 to 0 Note If the hardware limit switch was passed then it is only possible to continue to traverse in the original direction if after acknowledging the fault the axis is traversed in the opposite direction and again passes over the hardware limit switch The software limit switch start P6 and software limit switch end P7 can be correspondingly set to limit the operating range or to protect the machine Notice The software limit switches only become active if the following conditions exist e P6 lt P7 e pos mode The axis is referenced reference point set output signal Only then is it certain that the axis will be immediately stop
196. ile is presently open then the program assumes that using the same command you wish to download this open data set into a drive still to be selected If these assumptions are not applicable then you can always undo by canceling Integrated help The SimoCom A tool is equipped with an integrated help function which sup ports you when using the SimoCom A and the SIMODRIVE POSMO A drive You can call the help function for SimoCom A e Using the menu Help help subjects or e By pressing the Help button or e By pressing key EI Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 3 87 3 Commissioning 02 99 3 2 Commissioning the DP master 3 2 4 Parameterizing and start up tool C1 master SIMODRIVE POSMO A PROFIBUS MASTER Brief description The SIMODRIVE POSMO A PROFIBUS MASTER allows data to be transferred between a PC PG or notebook as Class 1 master C1 master with SIMODRIVE POSMO A via the PROFIBUS DP fieldbus A connection to PROFIBUS is implemented using the SIMATIC NET DP programming interface D Header e note Limitations and important information should be taken from the readme file supply with the system A description of the tool is available as online help You will find installation instructions on the last installation floppy disk What can the C1 The most important functions of the master include in
197. in Standard Max Unit Data type Effective 0 20 100 14 immed The parameter specifies the P gain for traversing operation Note The parameter value can be changed while traversing The following applies before SW 1 2 Max value 40 Also refer to P54 P0018 12 Integral action time speed controller 300W Min Standard Max Unit Data type Effective 2 10 1000 ms T2 immed The parameter specifies the component for the speed controller Note The parameter value can be changed while traversing 075W Min Standard Max Unit Data type Effective 2 22 1000 ms T2 immed The parameter specifies the component for the speed controller Note The parameter value can be changed while traversing Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 207 5 Description of the Functions 06 05 5 6 Parameters for SIMODRIVE POSMO A P0019 13 Kv factor position loop gain 300W 075W Min Standard Max Unit Data type Effective 0 1 1 9 9 1000 min CA immed The parameter defines at which traversing velocity of the axis which following error is obtained Kv factor significance Low Slow response to a setpoint actual value difference following error is high High Fast response to a setpoint actual value difference following error is low P0020 14 Current setpoint smoothing 300W 075W Min Standard Max Unit Data type Effective 0 3 0 3 10 ms C4 immed Lowpass PT1 characteristics Note The
198. inals A hardware terminal has a higher priority than a PROFIBUS sig nal If a terminal is parameterized as input then this terminal comple tely assumes the function i e a control signal with the same significance received via PROFIBUS is ignored Exceptions If a terminal is parameterized to the value 100 101 or 102 OFF 1 OFF 2 OFF 3 logically AND ed with the terminal then the fol lowing applies The signals are only present if they are set from both the termi nal and the PROFIBUS DP master this is a safety measure Ifthe 2 input terminals are assigned the same function number then terminal 2 has priority OG Warning The appropriate signals from PROFIBUS DP are ignored e Rules for output terminals Output signals are output via a terminal without influencing PROFIBUS communications Inversion The outputs can be inverted by adding 128 to the values speci fied in the function list Example The reference point set signal should be output inverted via terminal 1 gt Parameter value 74 128 202 refer to Chapter 5 6 2 gt set P31 202 gt a signal is set at the terminal if SIMODRIVE POSMO A is not referenced e Signaling the terminal state from SW 1 4 The actual state of the terminal can be displayed in the feedback signal byte RMB by adding 256 to the value specified in the func tion list RMB 6 gt state of terminal 1 RMB 7 gt s
199. ing an appropriately parameterized digital output Warning e tis not permissible to use the integrated holding brake as working brake as generally it is only designed for a limited number of emergency braking operations e Axial forces may not be applied to the shaft both when installing and operating the system Current IA Voltage V Brake opened A Up to el Ell t to Opening time te Closing time Fig 5 16 Terminology time for holding operation Pi Header e note Technical data refer to Chapter 2 6 2 Table 2 7 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 187 5 Description of the Functions 04 01 5 5 SIMODRIVE POSMO A functions Holding brake The brake sequence control operates with the open holding brake connection output signal The signal can be output as follows e Motor with integrated holding brake only 300 W motors No additional wiring is required for the brake sequence control e Motor with external holding brake The external holding brake is controlled using a digital output with function number 95 open holding brake The following must be observed Output terminal X5 1 Q1 I Q2 Activated via P56 4 and P56 6 Parameterizing the output terminal gt refer to Chapter 5 5 10 Connecting up the output terminal gt refer to Chapter 2 3 The relay for t
200. ing devices which can be destroyed by electrostatic discharge personnel workstations and packaging must be well grounded Electronic boards should only be touched when absolutely necessary Personnel may only come into contact with the components if they are continuously grounded through ESDS wristlets they wear ESDS shoes ESDS shoe grounding strips in conjunction with an ESDS floor surface Boards may only be placed on conductive surfaces table with ESDS surface conductive ESDS foam rubber ESDS packing bag ESDS transport containers Boards may not be brought close to data terminals monitors or television sets minimum clearance to the screen gt 10 cm Boards may not be brought into contact with highly insulating materials which can be statically charged e g plastic foils insulating desktops clothing manufactured from man made fibers Measuring work may only be carried out on the boards if the measuring unit is grounded e g via protective conductor or for floating measuring equipment the probe is briefly discharged before making measurements e g a bare metal control housing is touched Only touch control boards option modules and memory modules at the front panel or at the edge of the PC boards Siemens AG 2005 All Rights Reserved Ar SIMODRIVE POSMO A User Manual POS1 06 05 Edition XIII Foreword 06 05 Space for your notes
201. ing parameters P0052 HW version P0053 SW version P0964 from SW 1 4 Device identification refer to Section 5 6 2 Definition The associated equipment system may only be set up and operated in Who are conjunction with the documentation Only qualified personnel may qualified commission and operate such equipment system Qualified personnel personnel in the sense of safety relevant information of this documentation are persons who are authorized to commission ground and tag the equip ment systems and circuits according to the standards of safety techno logy Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition IX Foreword 06 05 Safety information ZN This manual includes information and instructions that you must care fully observe for your own personal safety and to avoid material da mage Information and instructions relating to your own personal safety highlighted using warning triangles Information and instructions regar ding general material damage do not have a warning triangle Depen ding on the level of danger the warning information and instructions are shown in the sequence of decreasing importance Danger This symbol is always used if death severe personal injury or substantial material damage will result if proper precautions are not taken Warning This symbol is always used if death severe personal injury or substantial material damage ca
202. int operating mode P930 Siemens AG 2005 All Rights Reserved 5 202 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 5 Description of the Functions 5 6 Parameters for SIMODRIVE POSMO A P0002 02 Distance per gearbox revolution 300W Min Standard Max Unit Data type Effective 0 0001 10 200000 MSR C4 immed The parameter specifies the travel which is moved through in the reference system after a gear box revolution Note The following applies from SW 1 6 With a modulo axis P1 gt 0 the path per gear revolution is limited by the axis type and the gear reduction ratio The following formula applies F Conversion factor mm gt F 1 inch gt F 25 4 P2 gt P1 F 4096 P3 2147483647 075W Min Standard Max Unit Data type Effective 0 0001 10 200000 MSR C4 immed The parameter specifies the travel which is moved through in the reference system after a gear box revolution Note The following applies from SW 1 6 With a modulo axis P1 gt 0 the path per gear revolution is limited by the axis type and the gear reduction ratio The following formula applies F Conversion factor mm gt F 1 inch gt F 25 4 P2 gt P1 F 816 P3 2147483647 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 203 5 Description of the Functions 06 05 5 6 Parameters for SIMODRIVE POSMO A P0003 03 Gearbox step down
203. ion Only appropriately trained personnel with control knowhow may optimize the speed and current controllers The following parameters must be configured in this order to optimize the speed and position controller e P17 P gain n controller e P18 Integral action time n controller e P20 Current setpoint smoothing e P19 Kv factor position loop gain e P22 Maximum acceleration e P21 Speed setpoint smoothing e P54 P gain n controller standstill if P56 2 1 this was standard before SW 1 3 e P57 P gain holding controller standstill if P56 2 0 this was standard from SW 1 3 e P15 Backlash compensation e P23 Jerk time constant Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 3 97 3 Commissioning 06 05 3 3 Commissioning an axis Space for your notes Siemens AG 2005 All Rights Reserved 3 98 SIMODRIVE POSMO A User Manual POS1 06 05 Edition Communications via PROFIBUS DP d 4 1 General information about PROFIBUS DP General information Master and slave PROFIBUS DP is an international open fieldbus standard and is defi ned in the following Standards e European fieldbus EN 50170 Part 2 DIN 19245 Part 1 and 3 e IEC 61158 PROFIBUS DP is optimized for fast data transfer at the field level for time critical applications The fieldbus is used for cyclic and non cyclic data transfer
204. ion Positioning operating mode Accept value directly in start byte bit 0 Speed setpoint operating mode No function Positioning operating mode Accept value directly in start byte bit 1 Speed setpoint operating mode No function Positioning operating mode Accept value directly in start byte bit 2 Speed setpoint operating mode No function Positioning operating mode Accept value directly in start byte bit 3 Speed setpoint operating mode No function Positioning operating mode Accept value directly in start byte bit 4 Speed setpoint operating mode No function Positioning operating mode Accept value directly in start byte bit 5 Speed setpoint operating mode No function Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 211 5 Description of the Functions 06 05 5 6 Parameters for SIMODRIVE POSMO A 24 STB 6 25 STB 7 26 STB 15 27 64 O ZSW 0 65 O ZSW 1 66 O ZSW 2 67 O ZSW 3 68 O ZSW 4 69 O ZSW 5 70 O ZSW 6 7 8 74 75 76 77 78 79 80 N O O OO OO O O 0 00000000 0MMmm 81 82 O STB 3 83 O STB 4 84 O STB 5 85 O STB 6 86 O STB 7 87 O RMB 0 5 212 Positioning operating mode Accept value directly in start byte bit 6 Speed setpoint operating mode No function Positioning operating mode Accept value directly in start byte bit 7 Speed setpoint operating mode No function Open holding brake softwar
205. ion faults warnings refer to Chapter 6 2 0 No fault present No OFF 2 present 1 No OFF 2 present OFF 2 present 0 OFF 2 command present Siemens AG 2005 All Rights Reserved 4 110 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 08 02 4 Communications via PROFIBUS DP 4 2 Process data PZD area Table 4 9 Description of the individual signals in the status word ZSW in the pos mode continued Bit Signal name Signal status signal description No OFF 3 present 1 No OFF 3 present OFF 3 present 0 OFF 3 command present 1 Power on inhibit The system can only be powered up using OFF 1 follo 6 Power on inhibit wed by ON no power on inhibit 0 No power on inhibit 1 Warning present The drive still remains operational Acknowledgment is Warning present not required no warning present Which warning is present 7 gt refer to P953 warnings and refer to Chapter 6 2 gt P954 supplementary information faults warnings 0 Warning not present 1 No following error The dynamic target reference actual position compari son is made within the defined following error window The following error window is defined using P12 maxi mum following error refer to Chapter 5 6 2 8 No following error following error 0 Following error 1 Master Class 1 Control requested 0 No master Class 1 but master Class 2 9
206. k number of the selected traversing block is signaled back i e the block which should be the next block to be started Checkback signal The programmed block components MMStart MMStop and byte RMB 4 112 MMPos corresponding to the program sequence are output in this status byte This means that the master has information about programmed block for additional processing and evaluation Checkback signal feedback of the terminal status from SW 1 4 refer to Chapter 5 5 10 e RMB 6 gt state of terminal 1 e RMB 7 gt state of terminal 2 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 05 03 4 Communications via PROFIBUS DP 4 2 Process data PZD area Status word ZSW The slave signals its current status to the master using the status word n set mode ZSW Table 4 10 Structure of the status word ZSW for the n set mode Load power supply available load power supply failed Reserved Drive traversing drive stationary Status terminal 2 Status terminal 1 ft completed ramp up active C requested local control Speed in the tolerance bandwidth outside the tolerance bandwidth AAA EAEN CARE Warning present no warning present J I Power on inhibit no power on inhibit No OFF 3 present OFF 3 No OFF 2 present OFF 2 present Note Fault present no fault present Operation enabled operation inhibited Ready or no fault Ready to be powe
207. ke videz A reen feels T zisler oorr rr ur F RST sercweg 10 MOOE Y OWSOd Sumeip u lsustuld koup Tan 5a your wan caon ES uon gt afa d A E al zahle na ep EE ent V i elen apuun oou out uop gt ajaud jo ze fac age jnotpmyiaqe OLAIM jaqey au Dia yeys uosa E zem el 9 NIQ megnyps Luet 6ue7 ayb am 4M9 bom qaimag _Veyaysypy xoqe 6 q m 9 SAL 133A up o Duo g OSTE E 08 E 7D adeyyo ul M OOE Y OWSOd SAIYCONIS 104 s6uImeip UOISUAIP SUR O Joie YUN SAUP pue M OOE JOJOLU ALA UO ep UOISUAIP eUORIPPY 3 SON ap Jon Ki snapas o a 5 L TUS S889 NIG Q 236 suojsuawq NM Lues S889 NIG Q 236 suoIsuaw dq d poddns pue 348 Buny 104 Aer IM UOISlan i d 5 Injesn XE ter Se OTXSN Pe S 60T red sepayge d Hu Bunuyrysny 16 aoddns 10 pasn dq ued pue re 3 aie upp 104 XE OTXSIN peauy L 8 pas i 4 CG d a He RS F T Qu _ Hand ST Ji a SI Lu i D 712 S S t a u 215 bse als a 6 Blo S o oa dso T IST Sl ole OE KE I v payquaid uORe gt ypaw jenuew Bumeig avD 8 9 Ss v z I Fig C 8 Dimension drawing SIMODRIVE POSMO A 300 W extension set separate version with stage 2 stage Lk planetary gearbox Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition C 278 C Dimension Drawings C 2 Dimension drawings for SIMODRIVE POSMO A 300W 06 05 zov fan emeng
208. l POS1 06 05 Edition References General documentation KT654 BU IZI IST7 KT101 S11 STEP7 Catalog DA 65 4 e 2005 SIMODRIVE 611 universal and POSMO Order No E86060 K5165 A401 A4 Catalog NC 60 e 2004 Automation Systems for Machine Tools Order No E86060 K4460 A101 B1 Order No E86060 K4460 A101 B1 7600 English MOTION CONNECT Connections amp System Components for SIMATIC SINUMERIK MASTERDRIVES and SIMOTION Catalog NC Z Order No E86060 K4490 A001 B1 Order No E86060 K4490 A001 B1 7600 English SIMATIC Programmable Logic Controllers Catalog SIMATIC S7 Catalog ST 70 Order No E86 060 K4670 A111 A3 SITOP power Power Supplies Catalog KT 10 1 2002 Order No E86060 K2410 A101 A4 SITOP modular 48V 20A Power Supplies 6EP1 457 3BA00 Operating Instructions 07 2002 Order No C98130 A7552 A1 1 6419 Automation with STEP 7 in STL SIMATIC S7 300 400 Programmable Logic Controllers SIEMENS Publicis MCD Verlag Hans Berger Order No A19100 1531 B665 ISBN 3 89578 036 7 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition B 265 B References 06 05 Electronic documentation CD1 The SINUMERIK System DOC ON CD with all SINUMERIK 840D 840Di 810D FM NC and SIMODRIVE publications Order No 6FC5 298 7CA00 0AG2 Documentation for PROFIBUS AKPI Catalog IK PI e 2005 Industrial Communications and Field Devices Order No E8606
209. le from SW 1 4 P0080 28 50 Program control word PSW 300W 075W Min Standard Max Unit Data type Effective 0 3 FFFF Hex V2 immed The program control word defines the general behavior of a traversing block BitO Motion type 1 Enter position and velocity 0 Enter speed Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 219 5 Description of the Functions 06 05 5 6 Parameters for SIMODRIVE POSMO A Bit 1 Positioning type only when positioning 1 Relative 0 Absolute Bit2 Timer type 1 Traverse as long as the timer no longer runs 0 Traverse as long as the timer runs Bit 3 Logic operation between timer with start byte 1 Traverse if the timer or start bytes are fulfilled 0 Traverse if the timer and start byte are fulfilled Bit4 Return jump to program 1 Jump to the start of the program after the end of the block 0 Noresponse Bit5 Traversing type 1 Continuous path mode 0 Precise stop Bit6 Negate start byte condition 1 Block is executed if at least one of the bits set in the start mask is not configured 0 Normal evaluation Bit 7 SMStart type from SW 1 2 1 The following is valid dependent on the condition defined in SMStart Fulfilled gt Execute block Not fulfilled gt Skip block 0 Wait until the start condition is fulfilled acc to SMStart Bit8 Program stop from SW 1 2 1 End of program at end of block 0 Noresponse Bit9 Set reference po
210. les and their 24 V supply cables may be a maximum of 30 m refer to Table 2 3 e The grounding concept is specified corresponding to the data provi ded in Chapter 2 3 e The signal and power cables should be routed with a minimum 20 cm clearance between them and as close as possible to grounded parts Siemens AG 2005 All Rights Reserved 2 30 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 2 Installing and Connecting Up 2 2 2 General 2 2 Electrical system requirements e When using a contactor in the load power supply before opening the contactor it must be ensured that the pulses have been cance led via PROFIBUS OFF 1 e All of the power supplies must have protective separation e When using SIMODRIVE POSMO A in UL certified systems a UL certified varistor with the following properties is required in the power supply cable 24V gt Vyn 38 V DC Imax 2000 A e g SIOV S20 K30 from EPCOS 48V gt Vy 65 V DC Imax 6500 A e g SIOV S20 K50 from EPCOS This circuit is not required when using the DC PMM refer to Chap ter 2 2 3 e When using POSMO A 300 W in the temperature range 20 0 C it should be ensured that all of the system components are certi fied for this temperature range DC power supply 24 V 48 V The load power supply must be dimensioned as a function of the num information onthe ber of positioning motors SIMODRIVE POSMO A and the coincidence pow
211. lic data transfer PKW part DP slave POSMO A Fig 4 1 Protocol for the DP slave POSMO A Net data structure The structure of the net data for cyclic operation is referred to as according to PPOs a parameter process data object PPO in the PROFIBUS profile for variable speed drives Reference P3 PROFIBUS Profile for variable speed drives The net data structure for cyclic data transfer is sub divided into two areas which are transferred in each telegram e Process data area PZD process data This area contains the control words setpoints and status informa tion and actual values The following data is transferred with the process data Control words and setpoints task master gt drive or Status words and actual values responses drive gt master Description gt refer to Chapter 4 2 e Parameter area PKW parameter identification value This telegram section is used to read and or write parameters and to read out faults Description gt refer to Chapter 4 3 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 4 101 4 Communications via PROFIBUS DP 02 99 4 1 General information about PROFIBUS DP Telegram structure The telegrams for cyclic data transfer have the following basic struc for cyclic ture data transfer ee ee eae i Net data PPO a Parameter Process i ame identifier data AS header val
212. lies from SW 2 0 The meanings of bits 8 10 11 12 14 depend on the active operating mode P930 Note SimoCom A Please consult the online help for more detailed information Help gt Help topics gt Index gt PROFIBUS diagnostics User Manual Bit assignment refer to Section Communications via PROFIBUS DP Refer to the index entry Process data Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 227 5 Description of the Functions 06 05 5 6 Parameters for SIMODRIVE POSMO A P0970 3CA Factory default download 300W 075W Min Standard Max Unit Data type Effective 0 1 1 Hex V2 immed 1 0 gt Download the factory default Note Downloading is automatically acknowledged with a 1 P0971 3CB Write into FEPROM 300W 075W Min Standard Max Unit Data type Effective 0 0 1 Hex V2 immed 0 1 gt Save parameter set in a non volatile memory Note Saving is automatically acknowledged by a 0 P0972 3CC Select block number and PZD start byte n setpoint 300W 075W Min Standard Max Unit Data type Effective 0 0 FFFF Hex V2 immed This parameter corresponds to the control signals select block number and start byte If the Class 2 DP master has control authority then control is realized via this parameter Note Available from SW 1 4 The following applies from SW 2 0 The speed setpoint is transferred using these bits in the Speed se
213. ling the value A shift factor change of 1 corresponds to halving the value Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 6 251 6 Fault Handling and Diagnostics 08 02 6 4 Bus monitor AMPROLYZER for PROFIBUS DP Possible The following supplementary addresses are available supplementary addresses e Speed setpoint FCOOhex 64512gec same normalization as the speed act value e Position actual value FC6Ahex 64618 dec shift factor 6 1 motor revolution 4V gt 75 W motor 4 1 motor revolution 5V gt 300 W motor e Let n controller FC38hex 64568ge same normalization as the current act value Iset smoothed FC3Ahex 64570gee same normalization as the current act value D Header e note The signals are shown in Chapter 3 3 1 6 4 Bus monitor AMPROLYZER for PROFIBUS DP Description The AMPROLYZER bus monitor can be used to diagnose monitor and trace data transfer in PROFIBUS networks AMPROLYZER Advanced Multicard PROFIBUS Analyzer Internet address The software is freeware and is available from the Internet as follows gt http www ad siemens com simatic cs gt search for the article number 338386 The self extracting EXE file can be downloaded For more information on the AMPROLYZER bus monitor please refer to the information in the Internet and the files supplied Siemens AG 2005 All Rights Reserved 6 252 SIMODRIVE PO
214. local control Note from SW 1 4 Before SW 1 4 the following is valid The signal is not supported a permanent 1 signal 1 Reference position reached Before SW 1 6 the following applies e The position reference value is located at the end of a traversing task within the positioning window e The traversing task was interrupted by a fault stop or OFF commands From SW 1 6 the following applies The behavior is dependent on P56 bit 3 10 Reference position reached e P56 3 1 outside reference position The position reference value is located at the end of a traversing task within the positioning window e P56 3 0 The position reference value is located at the end of a traversing task within the positioning window The traversing task was interrupted by a fault stop or OFF commands 0 Outside the refer position 1 Referencing was executed and is valid 11 Reference point set no reference point set 0 Valid reference not available Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 4 111 4 Communications via PROFIBUS DP 04 01 4 2 Process data PZD area Table 4 9 Description of the individual signals in the status word ZSW in the pos mode continued Bit 12 13 14 15 Setpoint task or setpoint was transferred traversing task acknowled ged edge Drive traversing drive statio nary
215. lows Jogging 1 to the left 20 of 3000 RPM motor revolutions or Jogging 2 to the right 20 of 3000 RPM 2 Generate the user program for the PZD area Generating a user program in the DP master to supply the control and status words gt Refer to Chapter 4 2 3 Generate the user program for the PKW area Generate the user software the communicate the PKW area gt Refer to Chapter 4 3 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 3 77 3 Commissioning 05 03 3 2 Commissioning the DP master 3 2 2 SIMATIC S7 function blocks Brief description Which blocks are available Where are these function blocks Software Class C Installation 3 78 These function blocks make it easier to control and assign parameters for a SIMODRIVE POSMO A positioning motor from the SIMATIC S7 program This means that a drive for example can be parameterized without being knowledgeable about PROFIBUS parameter formats and the task IDs The following function blocks are available e FB10 CONTROL_POSMO_A from 02 00 e FB 11 PARAMETERIZE_POSMO_A from 02 00 e FB 12 PARAMETERIZE_ALL_POSMO_A from 05 00 You can obtain all of the function blocks up to Version 1 5 at no charge from your local Siemens office sales partner However these function blocks do not support the speed setpoint mode and will not be further innovated Function blocks with e
216. lt Switching off Parameter refer to Chapter 5 6 2 When the standstill monitoring responds an appropriate fault is signaled When the next block is started the standstill monitoring is disabled P11 Target range P13 Monitoring time P14 Standstill range Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 181 5 Description of the Functions 04 01 5 5 SIMODRIVE POSMO A functions 5 5 10 Digital UO Description 5 182 For SIMODRIVE POSMO A there are 2 freely parameterizable input output terminals The function of a terminal is defined by appropriately parameterizing it e Designation of the input output terminals refer to Chapter 2 3 1 X5 terminal VO Terminal 1 X5 terminal Q2 Terminal 2 e Parameterization of the input output terminals refer to Chapter 5 6 2 P31 Function terminal 1 P32 Function terminal 2 Note The digital inputs outputs are updated every 10 ms Reader s note List of function numbers for digital inputs outputs gt refer to Chapter 5 6 2 under P31 function terminal 1 The list is valid for terminals 1 and 2 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 04 01 5 Description of the Functions 5 5 SIMODRIVE POSMO A functions Control The following rules apply for allocating functions e The hardware inputs outputs are high active e Rules for input term
217. m Windows 95 Windows 98 or Windows NT Windows ME or Windows 2000 Windows XP e 32 MB RAM memory e 30 MB free memory on the hard disk The SimoCom A parameterizing and start up tool is available through the Internet as follows e German http www ad siemens de mc html_00 info download e English http www ad siemens de mc html_76 info download The SimoCom A parameterizing and start up tool can be used for all SIMODRIVE POSMO A drives from SW 1 5 onwards The functional scope of the SimoCom A tool is continually adapted to the expanded functionality of these drives In order to parameterize and handle all of the functions of a drive using SimoCom AT the optimum matching SimoCom A must be used This depends on the drive software release Reader s note Which version of SimoCom A optimally matches which drive and which drive software release Refer to SimoCom A as follows Help gt info about SimoCom A gt versions Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 3 79 3 Commissioning 02 99 3 2 Commissioning the DP master Installing SimoCom A EA Un installing SimoCom A Online operation SimoCom A with drive 3 80 This is how you install the SimoCom A tool on your PG PC Reader s note The readme txt file is provided on the software CD Please o
218. men 1 VDE 0839 Teil 81 2 6 VDE 0847 Teil 4 4 TEC 61000 4 4 2 VDE 0875 Teil 11 Bbl 1 7 VDE 0847 Teil 4 6 TEC CISPR 11 Al 28 IEC 61000 4 6 3 VDE 0839 Teil 6 2 8 VDE 0847 Teil 4 8 IEC 61000 6 2 IEC 61000 4 8 4 VDE 0847 Teil 4 2 Al 9 VDE 0847 Teil 4 11 TEC 61000 4 2 Al IEC 61000 4 11 5 VDE 0847 Teil 4 3 10 VDE 0160 Teil 100 IEC 61000 4 3 Al IEC 61800 3 Copyright C Siemens AG 2000 All rights reserved For internal use only Version 00 11 27 konfferk 002 anh_c CU Fig D 3 Annex C to the EC Declaration of Conformity excerpt Siemens AG 2005 All Rights Reserved D 284 SIMODRIVE POSMO A User Manual POS1 06 05 Edition Index A Abbreviations Acknowledging faults Address 2 45 P 48 Documentation Fax email M Internet Technical Support Ambient conditions 2 70 AMPROLYZER bus monitor 6 252 Analog test outputs Standard assignment Supplementary addresses 6 252 Applications 1 20 Automatic Axis type 3 91 8 92 B Backlash compensation 5 177 Bits for faults for warnings 6 234 Blocks FB 10 11 12 Brake sequence control from SW 1 4 5 187 5 194 Bus communications Addressing 4 100 L Data transfer via PROFIBUS 4 100 Establishing the 3 75 Features Bus monitor 6 252 Bus termination 2 48 P 49 C C1 master Eee ea C2 master Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual
219. meters e Request number of array elements Structure of the The PKW area comprises the parameter ID PKE the sub index IND PKW area and the parameter value PWE Table 4 12 Structure of the parameter area PKW Net data PKW PZD PKE IND PWE Word 1 2 3 4 1 2 PPO1 aaa AB y Bit 15 sh 0 Bit15 Pr 0 Value with the appropriate data type Word 3 Word 4 Bit 15 Ai 8 7 ae 0 Sub parameter number Reserved Word 2 index Bit 15 iz 12 11 10 ee 0 AK Re Value range 0 15 Word 1 refer to Table 4 13 served Value range 1 1 999 Abbreviations PPO Parameter Process data Object PWE Parameter value PKW Parameter ID value PZD Process data PKE Parameter ID AK Task and response ID IND Sub index sub parameter number PNU Parameter number array index Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 4 121 4 Communications via PROFIBUS DP 02 99 4 3 Parameter area PKW area Task telegram IDs Response telegram IDs Fault evaluation 4 122 The IDs for the task telegram master gt slave should be taken from the following table 4 13 Table 4 13 Task IDs master gt slave Task Function Response IDs identifica positive tion 0 No task 0 1 Request parameter value 1 2 2 Change parameter value word 3 Change parameter value double word 2 4 5 6 Request parameter value array 4 5 Ch
220. mode continued Bit Signal name Signal status signal description 1 Load power supply available Load power supply available 19 load power supply failed 0 Load power supply failed This corresponds to the undervoltage fault Note When an undervoltage condition is detected the appro priate fault is signaled and ZSW 15 is set to 0 e Before SW 1 3 the following applies ZSW 15 is set to 1 if when acknowledging the fault an undervoltage condition is no longer detected e From SW 1 3 the following applies ZSW 15 is set to 1 if an undervoltage condition is no longer detected The fault itself remains until it is acknowledged ZSW 15 indicates the status of the load power supply independent of the fault and acknowledgment Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 4 115 4 Communications via PROFIBUS DP 02 00 4 2 Process data PZD area 4 2 3 Example Operating the drive via the control signals with jogging 1 Example The drive should be operated with jogging 1 Traverse drive with jogging 1 Assumptions for the slave e The drive has been completely commissioned is connected to PROFIBUS DP and is ready to run e PROFIBUS node address 12 Assumptions for the master e The DP master is a SIMATIC S7 CPU S7 315 2 DP e Hardware configuration PROFIBUS node address 12 Part address O address PKW 256 263 25
221. mple Program block e g block 13 SMStart bit 7 as start condition Program control word PSW 224gec 00 1110 0000pin EOhex closed loop speed controlled with smoothing negated start byte skip when start byte is not fulfilled Speed e g 20 approach velocity Acceleration 100 Program block e g block 14 SMStart bit 7 as start condition Program control word PSW 384 dec 01 1000 0000bin 1 80hex closed loop speed controlled without negated start byte Speed e g 5 shutdown velocity Acceleration 100 Program end when the end of the block is reached Start program As soon as ZSW 14 0 outside traversing block is signaled the reference point can be set with STW 11 start referencing stop refe rencing Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 159 5 Description of the Functions 04 01 5 5 SIMODRIVE POSMO A functions 5 160 Set reference coordinate The position of the last zero mark before the end of the second pro gram block is therefore set to the value in P5 reference point coor dinate Set simplified reference position from SW 1 4 The drive is automatically referenced when the above traversing pro gram is run if the following is specified in the second block P85 14 signaling position for block 14 set required reference point coordinate Set PSW 9 set reference p
222. n Reference to occurring zero mark from SW 2 1 The following applies if one of the two input terminals has been parameterized with the function Cam monitoring 0 A check is made as to whether a negative cam edge leaving the cam occurred before the zero mark 1 A check is made as to whether a positive cam edge leaving an inverted cam occurred before the zero mark Bit 14 This bit controls the response to the fault message undervoltage load power supply The following applies as of SW 3 0 this fault only occurs if the drive is to be switched from follow up mode to control mode If no enable signals are set in the control word and only the power supply to the electronics is switched on the alarm Undervoltage load power supply is signalled This alarm automatically disappears when the load power supply is switched in 0 Response to fault 701 as described previously 1 Response to fault 701 as in previous software versions P0057 39 P gain holding controller standstill 300W Min Standard Max Unit Data type Effective 5 20 250 14 immed P gain for axis standstill Note Refer to P56 2 075W Min Standard Max Unit Data type Effective 50 100 250 14 immed P gain for axis standstill Note Refer to P56 2 Available from SW 1 3 5 218 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 5 Description of the Functions 5 6 Parameters for SIMODRI
223. n fact it becomes implicitly active if e g closed loop control is no lon ger active after withdrawing STW O Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 08 04 5 Description of the Functions 5 5 SIMODRIVE POSMO A functions 5 5 SIMODRIVE POSMO A functions 5 5 1 Referencing Description For SIMODRIVE POSMO A an incremental position measuring system is used In order that the positioning motor identifies the axis zero the measuring system must be synchronized with the axis Table 5 7 What are the referencing possibilities Type Referencing possibilities Sketch Approach the visual mark Set the actual value via P40 S Gees gt This position is assigned to the required actual value gl Approach the endstop i Set the actual value via P40 ee SE gt This position is assigned to the required actual value as r ay e Axis wi thout re Approach the visual mark ference rg cams Set STW 11 Se 0 gt The position of the last zero mark which was passed is overwritten by the value from ge P51 reference point coordinate Approach the endstop Set STW 11 ZZZZZZZZZ Zi gt The position of the last zero mark which was passed is overwritten by the value from a P51 reference point coordinate Reference travel to BERO without direction re versal Tr rn
224. n is not permissi ble The number of increments between two rotor position signals lies out side the permissible tolerance The motor or the electronics is defective Replace the positioning motor Remove cause set STW 7 1 0 and STW O 0 1 Pulse suppression Standstill monitoring The motor was moved out of the standstill area P14 in the closed loop controlled status Note The fault can be changed over to a warning using P30 fault suppres sion Check P14 standstill area Remove cause set STW 7 1 0 and STW O 0 1 Pulse suppression Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 6 239 6 Fault Handling and Diagnostics 06 05 6 2 Faults and alarms 706 P947 6 Cause Remedy Acknowledgement Stop response 707 P947 7 Cause Remedy Acknowledgement Stop response 6 240 Software limit switch start The actual position lies outside the range defined by the software limit switch When traversing to a software limit switch the motor is always stop ped SW 1 6 and higher This fault is also signalled if the traversing range limits of the axis 200000mm or degrees or inches are reached In this case the Additional information 910 P954 10 is output SW 2 0 and higher This error is also output when the corresponding hardware limit switch start has been overrun In this case additional information 911 P954 11 is output Note
225. n of the axis e g P1 360 gt 0 0 359 9 Note If the drive is programmed as a rotary axis P1 gt 0 the start and end of software limit switches must lie within the modulo range Furthermore P6 gt 0 and P7 lt P1 must apply The following applies from SW 1 6 The parameter is limited in relation to the gear reduction factor and the travel per gear revolu tion The following formula applies F Conversion factor mm gt F 1 inch gt F 25 4 P1 lt 2147483647 P2 F 4096 P3 The following applies from SW 2 0 Only the procedure with modulo axes is possible in the Speed setpoint operating mode P930 075W Min Standard Max Unit Data type Effective 0 0 200000 MSR C4 immed 0 0 gt Linear axis gt 0 0 gt rotary axis The value corresponds to the modulo correction of the axis e g P1 360 gt 0 0 359 9 Note If the drive is programmed as a rotary axis P1 gt 0 the start and end of software limit switches must lie within the modulo range Furthermore P6 gt 0 and P7 lt P1 must apply The following applies from SW 1 6 The parameter is limited in relation to the gear reduction factor and the travel per gear revolu tion The following formula applies F Conversion factor mm gt F 1 inch gt F 25 4 P1 lt 2147483647 P2 F 816 P3 The following applies from SW 2 0 Only the procedure with modulo axes is possible in the Speed setpo
226. n result if proper precautions are not taken Caution This symbol is always used if minor personal injury or material damage can result if proper precautions are not taken Caution This warning without warning triangle indicates that material damage can result if proper precautions are not taken Notice This warning indicates that an undesirable situation or condition can occur if the appropriate instructions information are not observed Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 Foreword Correct use Please carefully observe the following N Warning The equipment may only be used for those applications described in the Catalog and technical description Further equipment may only be used in conjunction with third party equipment devices and compo nents that are recommended or certified by Siemens The perfect safe operation of the product assumes that it has been correctly transpor ted correctly stored mounted and installed Further it assumes that it is professionally handled and serviced Additional information Note This symbol indicates important information about the product or part ofthe document where the reader should take special note D Reader e note This symbol is shown if it relates to important information which the reader must observe Technical information N Warning Operational elect
227. nction genera tor stop 0 The speed is kept at the actual value 0 1 Setpoint enable acceleration along the ramp i Enable setpoint 1 0 Se inhibit Rn inhibit setpoint o ramp up at standsti e While traversing Braking along the ramp 1 Acknowledge faults 0 1 edge 7 Reset fault memory Refer to Chapter 6 2 0 8 9 Reserved 1 Not used or permanent 1 signal From SW 3 0 If P701 1 gt process data PZD are ac cepted 10 Control from PLC requested 0 From SW 3 0 If P701 1 gt drive state is kept constant last valid pro cess data with STW 10 1 11 to Reserved 14 1 Open holding brake The integrated holding brake can be controlled using this signal Open holding brake The signal corresponds to P56 4 open holding brake brake sequence control ef Note ID fective If the holding brake is controlled using an input terminal with from SW 1 4 function number 26 open holding brake then this signal has no effect gt Refer to Chapter 5 5 13 0 Brake sequence control effective Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 4 109 4 Communications via PROFIBUS DP 05 03 4 2 Process data PZD area 4 2 2 Description of the status signals data from the drive Status word ZSW The slave signals its current status to the master using the status word pos mode ZSW Table 4 8 Structure of the status word ZSW in the pos mode L
228. nctions Example Motor with external holding brake 5 192 Task and assumptions A motor with external holding brakes should be used for hanging axes The holding brake is to be controlled via output terminal 1 What other settings are required 1 Connect the relay to control the motor holding brake to output termi nal 1 Assign the control external holding brake function to output termi nal 1 P31 95 Activate the brake sequence control in the drive P56 4 0 STW 15 0 Set the parameters to open the holding brake P58 holding brake brake opening time The brake opening time must be set so that it is equal to or grea ter than the time required to actually open the holding brake Set the parameters to close the holding brake when controller enable is withdrawn P59 speed close holding brake P60 holding brake brake delay time The brake delay time P60 must be harmonized with the speed at which the holding brake is closed P59 P61 holding brake controller inhibit time The controller inhibit time must be harmonized with the time that it takes to close the brake so that the drive cannot sag Example to determine the controller inhibit time Mark the position of the axis and initiate a fault which results in the controller enable being withdrawn e g change the setting of the software limit switch in P6 or P7 Does the axis sag drop slightly g
229. nd Connecting Up 06 05 2 3 Connection and wiring overview Table 2 3 Overview of the interfaces terminals and switches continued No Name Function Type Technical data Cross 1 section X6 Equippi i i z quipping differs depending on whe _ X9 Internal load power supply Q ther it is a 75 W or 300 W motor X7 Internal interface UO 15 pin D sub socket connector B Potential bonding conductor OV route as far as possible oO OV 4 16 in parallel to the PROFIBUS ca mm ble OV Protective conductor S S O oV mm S1 PROFIBUS node address DIL switch 10 pin PROFIBUS terminating resistor Terminating Terminating 10 On off ON on OFF off N lg On off ON on OFF off E 3 On off OFF PROFIBUS communications X N PROFIBUS node address 7 e Example 1 2 6 25 32 S7 ON 64 OFF 0 5 24 16 S6 ON 32 ON 32 4 23 8 gt S5 ON 16 OFF 0 0224 S4 OFF 0 OFF 0 3 7 S3 OFF 0 ON 4 ak S2 OFF 0 OFF 0 1 2 1 S1 ON 1 ON 1 r 113 37 Standard setting Note Valid addresses which can be set 3 to 126 For the first and last physical PROFIBUS nodes the terminating resistor must be switched in Switches 9 and 10 must always be in the same setting The selected address is indicated using P918 PROFIBUS node address From SW 1 4 the following applies When powering up the positioning motor PROFIBUS node address 0 or 127 is detected
230. nfluenced via the start byte e P86 x high byte 0 If there is no function The block is not influenced by the start byte e P86 x high byte gt 0 Function available The block can only be started if the bits set in P86 x high byte are also set in the start byte The program control can be additionally influenced via P80 x bit 6 and bit 7 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 4 107 4 Communications via PROFIBUS DP 05 03 4 2 Process data PZD area Control word The master issues its commands to the slave using control word STW STW n set mode Table 4 6 Structure of the control word STW for the n set mode Open holding brake close holding brake from SW 1 4 Reserved Control requested no control requested u u z I Reserved 12 11 10 o u 4 Reset the fault memory SW Enable setpoint inhibit setpoint Ramp function generator start ramp function generator stop Ramp function generator enable Enable operation inhibit operation Bit 15 14 13 mele Operating condition OFF 3 1 signal O signal Operating condition OFF 2 ON OFF 1 Note The signals designated in this way must have at least a 1 signal in order to be able to oper ate a motor Table 4 7 Description of the individual signals in the control word STW for the n set mode Bit Signal name Signal status
231. ng Gear unit dependant parameters factory settings 075W Min Standard Max Unit Data type Effective 0 9 9 A C4 immed Upper limit motor current Note The parameter value can be changed while traversing This parameter has a gearbox dependent factory default Maximum values depend on the gear unit gt see User Manual under the heading Gear unit dependant parameters factory settings P0029 1D Electronics temperature tolerance time 300W 075W Min Standard Max Unit Data type Effective 0 120000 2000000 ms T4 immed For an electronics overtemperature condition after this time the warning is changed to a fault i e the appropriate response is activated Note The electronics temperature is displayed using P47 Input resolution 10 ms The parameter value can be changed while traversing P0030 1E Fault suppression 300W 075W Min Standard Max Unit Data type Effective 0 0 F Hex 12 immed If the bit is set instead of the appropriate fault only a warning is output Bit 0 Speed controller at its endstop Bit 1 Start software limit switch or end software limit switch Software limit switches always stop an axis Bit 2 Standstill monitoring Bit 3 Undervoltage of the load current supply from SW 1 6 Note The parameter value can be changed while traversing P0031 1F Function terminal 1 300W 075W Min Standard Max Unit Data type Effective 0 0 793 12 immed The function of the terminal is defined
232. ng measurement actual value setting from SW 1 4 Travel to fixed stop Rotary KEREN Backlash compensation and correction direction from SW 1 4 Jerk limiting 244 04 2402 en na ia Changeover metric inch 00 cece cee tenet eee n eee Reversing the control sense from SW I32 cece cece Standstill monitoring zero speed monitoring Digital VO 2 un ee een ee Jogging without PROFIBUS and parameterization from SW 1 4 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition Table of Contents 5 5 12 Standalone mode without bus communication from SW 1 2 5 5 13 Holding brake from SW IA 5 5 14 Limit switch monitoring functions 5 5 15 Telegram substitution from SW 3 0 0 0 eee eee eee ees 5 6 Parameters for SIMODRIVE POSMOA 00 eee ee eees 5 6 1 General information on parameters 5 6 2 List of parameters 5 6 3 Gearbox dependent parameters factory default settings Fault Handling and Diagnostics 6 1 LED fault display 6 2 Faults and alarms 6 2 1 General information on faults and warnings 6 2 2 List of faults and warnings 2 222222 cece eee eee eee 6 3 Analog test outputs 6 2 teens 6 4 Bus monitor AMPROLYZER for PROFIBUS DP Installation and Service 02 cece eee eee eens 7 1 Replacing the motor 00 cece cece teen eens
233. ng them into the non volatile memory The parameters are loaded from the non volatile memory after power up Transfer into the non volatile memory e Set P971 from 0 to 1 e Data save is automatically acknowledged with P971 0 For safety reasons some parameters can only be changed if a traver sing block is not active i e the motor is not moving equalization move ments initiated by the closed loop position control are an exception Exceptions e Itis always possible to change parameters of traversing blocks which are not selected e Itis always possible to change parameters which do not have an appropriate ID Illegal change tasks are rejected in the PKW part with PROFIBUS fault number 17 task not able to be executed due to the operating state refer to Chapter 5 1 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 199 5 Description of the Functions 04 01 5 6 Parameters for SIMODRIVE POSMO A Setting the factory The factory setting of parameters for SIMODRIVE POSMO A can be default re established if required Establish the factory default setting e Set P970 from 1 to 0 e Download is automatically acknowledged with P970 1 The parameters are now in the volatile memory RAM After the parameters have been transferred into the non volatile memory the factory default setting is loaded when powering up e Set P971 from 0 to 1 e Data save is automatically ack
234. nged Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 1 23 1 Brief Description 04 01 1 2 Function overview and differences between 75 W 300 W Table 1 1 Difference POSMO A with 75 W and 300 W continued Name Dimensions without gearbox approximate data SIMODRIVE POSMO A L 202 W 71 H 163 mm L 254 W 80 H 172 mm Weights approximate data Motor without gearbox 3 1 kg Motor with 1 stage gearbox 3 5 kg Motor with 2 stage gearbox 3 7 kg Motor with 3 stage gearbox 3 9 kg Motor with worm gear 3 5 kg Motor without gearbox 3 9 kg Motor with 1 stage gearbox 5 1 kg Motor with 2 stage gearbox 5 4 kg Motor with 3 stage gearbox 8 2 kg Shaft end motor Without keyway Without keyway or with keyway Technical data gt Refer to Chapter 2 6 1 gt Refer to Chapter 2 6 2 1 24 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 08 04 1 Brief Description 1 3 Safety guidelines 1 3 Safety guidelines Di ZN Reader s note In addition to the technical information instructions specified in the foreword to this documentation the following danger and warning information instructions should be carefully observed when using SIMODRIVE POSMO A Danger 1 In order to avoid danger and damage the data and instructions
235. nged P1426 592 Tolerance band for actual setpoint value 300W Min Standard Max Unit Data type Effective 0 100 3800 rom C4 immed 075W Min Standard Max Unit Data type Effective 0 100 3600 rpm C4 immed This parameter defines the tolerance band for the actual speed value If the actual speed value is within this tolerance band around the specified setpoint the bit Speed within tolerance band is output ZSW 8 Note This parameter is visible in SimoCom A only in operating mode Speed setpoint P930 Available with software version 2 0 and higher P1427 593 Delay time Nsetpoint has elapsed 300W 075W Min Standard Max Unit Data type Effective 0 0 15000 ms T2 immed This parameter defines the delay time following which the bit Ramp up complete ZSW 10 is output If the actual speed value for the specified time is within the tolerance band P1426 ZSW 10 is output Note This parameter is visible in SimoCom A only in operating mode Speed setpoint P930 Available with software version 2 0 and higher Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 229 5 Description of the Functions 08 04 5 6 Parameters for SIMODRIVE POSMO A 5 6 3 Gearbox dependent parameters factory default settings Gearbox Depending on the gearbox used the parameters listed in Table 5 10 dependent are pre set before the equipment is supplied parameters Table 5 10 Gearbox
236. nly one block without traversing motion may be entered in P101 1 e g P101 1 5 P101 2 10 0 block 5 with standard values e The following applies from SW 1 3 In order to be able to jog P101 1 10 O or 0 If a block sequence is specified in P101 10 then a jogging signal which is present is always effective before repeating the last speci fied block e g P101 1 5 P101 2 7 and P101 3 10 0 gt Jogging becomes effective before repeating block 7 Parameter P100 Control word simulation refer to Chapter 5 6 2 P101 11 Block sequence in standalone mode Siemens AG 2005 All Rights Reserved 5 186 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 05 03 5 Description of the Functions 5 5 SIMODRIVE POSMO A functions 5 5 13 Holding brake from SW 1 4 Description Using the brake sequence control the axes can be held at standstill to avoid undesirable motion The sequence control can be used both for motors with integrated hol ding brake as well as to control an external holding brake e Holding brake for 75 W motors 75 W motors do not have an integrated holding brake An external holding brake can always be used In this case it is controlled using an appropriately parameterized digital output e Holding brake for 300 W motors 300 W motors are optionally available with integrated holding brake An external holding brake can always be used In this case the brake is controlled us
237. nowledged with P971 0 Service functions For SIMODRIVE POSMO A the following service functions are avail for parameters able with reference to parameters to Chapter e P980 78 Supported parameters List of all supported parameters e P990 78 Changes with respect to the factory default setting List of all of the parameters that have been changed with respect to the factory default setting Parameters for The following parameters are available for positioning motor identifica identification refer tion to Chapter 5 6 2 e P52 Hardware version e P53 Firmware version e P964 8 from SW 1 4 Drive identification Siemens AG 2005 All Rights Reserved 5 200 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 5 Description of the Functions 5 6 Parameters for SIMODRIVE POSMO A 5 6 2 List of parameters D Header e note The parameters listed in the following are valid for all software releases of SIMODRIVE POSMO A The complete list is updated corresponding to the Edition of this documentation refer to the Edition status in the header line and corresponds to the software release of SIMODRIVE POSMO A documented here The parameters that are dependent on the software release are appropriately identified Explanation of the The parameters are listed as follows parameter list Parameter number examples P0010 Parameter 10 without index P0082 28 Parameter 82 with index 0 1 27 28 indice
238. nto P40 Set the reference position to the zero mark via the traversing block from SW 1 4 Set the actual value via the traversing block before SW 1 4 5 5 SIMODRIVE POSMO A functions The SIMODRIVE POSMO A positioning motor can be referenced at a specific axis position by writing the required actual value into P40 posi tion actual value For a stationary axis this position is accepted as position actual value and after this SIMODRIVE POSMO A is considered to have been refe renced e Move e g using jogging to the required axis position e Reference the positioning motor by writing the actual value valid for this axis position into P40 position actual value Note For set actual value the same conditions must exist as when referencing i e the drive must be closed loop controlled and be stationary The reference position can be set to a zero mark using the traversing block as shown in the following program example Example e Program control word PSW 515gec 10 0000 0011 pin P80 x Bit 9 1 gt Set reference position Bit 1 1 gt relative Bit 0 1 gt enter the position and velocity closed loop pos contr e Target position 100 0 mm P81 x e Speed 100 P82 x e Acceleration 100 P83 x e Time 0 ms P84 x e MeldPos 50 0 P85 x For this traversing block the axis traverses through 100 mm relative At the end of the block the setting value for the reference p
239. oad power supply available load power supply failed Within the traversing block outside the traversing block Drive traversing drive stationary Setpoint traversing task acknowledged edge Reference point set no reference point set Reference position reached outside reference position Control requested local control u No following error following error 12 11 10 3 2 1 0 Bit 15 14 13 9 8 7 6 5 4 Warning present no warning present a Power on inhibit no power on inhibit No OFF 3 present OFF 3 present No OFF 2 present OFF 2 present Note Fault present no fault present Operation enabled operation inhibited Ready or no fault Ready to be powered up not ready to be powered up 1 signal 0 signal Table 4 9 Description of the individual signals in the status word ZSW in the pos mode Bit Signal name Signal status signal description Ready to be powered up 1 Power supply powered up 0 not ready to be powered up 0 Not ready to power up 1 Ready 1 Ready or no fault 0 Not ready 1 Operation enabled 2 Operation enabled operation inhibited 0 Operation inhibited 1 The drive is faulted and not operational The drive goes into the power on inhibit after the fault has been successfully removed and acknowledged Fault present 2 no fault present Which faults are present 3 gt refer to P947 faults and gt P954 supplementary informat
240. of an in put output can be very quickly defined by selecting a text It is then still possible to display the actual status of the input output in SimoCom A or to invert an in put output here you can define several parameter values which are required for correct and safe sequence of a traversing motion These included eg e Software limit switch e Maximum following error e Precise stop and standstill window Faults and warnings which are possible in operation can also be re defined here here you can define the parameters of the control loop here you can generate the traversing programs by parameterizing the indivi dual traversing blocks here you can generate the traversing program in an automated way which allows a reference approach travel to a BERO with or without direction reversal here you can define the parameters for the speed setpoint interface Traverse the drive After the drive has been configured you can already move the axis from the PC Call Menu Operate Jog or menu Operate MDI 3 86 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 02 99 3 Commissioning 3 2 Commissioning the DP master Table 3 1 Information on SimoCom A continued Function Description Expert list You can influence the complete parameter set of a drive using the expert list i e you can individually change each par
241. ol signals with jogging 1 Example The drive should traverse with n set using the control signals Sequence diagram Variable speed drive Parameter area PKW area 0 eee eee Structure and description of the parameter area Example Reading parameters via PROFIBUS Example Writing parameters via PROFIBUS Settings at the PROFIBUS DP master General information on the DP master Installing the new master device files GSD Operating the slave with a third party master Operating mode from SW 20 Speed setpoint mode P700 1 from SW 2 0 General information on the speed setpoint mode Ramp function generator 0 cece ees Direction of rotation reversal 0 cece cece eens Displays the position actual value 0 006 e eee Adaptation of the speed controller Parameters for n set operation 00 eee eee es Terminal Signals Programming the traversing blocks only in the pos mode P700 2 Overview of the traversing blocks and programs 22 222220 Structure and description of the traversing blocks Selecting and controlling traversing blocks and programs Behavior of speed controlled traversing bock Operating modes only the pos mode JOQGING EE Manual Data Input MDDI AUTOMAlIC zen iota ee Moan wot EEN EEN bod eae bE oe ake Tracking mode SIMODRIVE POSMO A functions Referencing u rer a Flyi
242. ollowing limit switch monitoring functions can be used e Hardware limit switch from SW 2 0 e Software limit switch The limit switch monitoring functions can be used to limit the operating range or to protect the machine and are also available in the n set mode Hardware limit Software limit Software limit Hardware limit switch switch switch switch ty start start end end NO contact pg P7 NO contact 1 Mechanical Mechanical end of end of traversing traversing range range Input terminal with the function number 29 311 Hardware limit switch end Input terminal with the function number 28 301 Hardware limit switch start 1 From SW 3 0 the following applies The hardware limit switch can also be implemented as an NC contact refer to P31 P32 Fig 5 21 Limit switch monitoring functions There is a hardware limit switch for every axis and every approach di rection The hardware limit switches must be connected to an input ter minal P31 P32 with the following function numbers e Function hardware limit switch start gt function number 28 e Function hardware limit switch end gt function number 29 gt Refer to Chapter 5 6 2 When traversing to a hardware limit switch the associated input signal is set and the following response is automatically initiated e The axis is braked down to the maximum velocity set using P28 maximum velocity e The following fault is s
243. on terminating resistor whether it is a 75 W or 300 W motor Ie Q Li Ba S 3L 5M SL x5 m AECH x6 x9 aL S vat DO 8 MM z S VS V Q2 ei ah E S 4L o ra am N Es X2 X7 PROFIBUS DP cable Load power supply Internal interface Input output X5 Input output 3L 24 V electronics power supply input optional G 3M 0 V ground fT 1VS Supply 1 Note UO Digital input output 1 Screwdriver for terminals slotted screws 1M 0 V ground Where Size Tightening torque 2VS Supply 2 e X1 and X2 1 0 5 x 3 5 0 6 0 8 Nm 1 Q2 Digital input output 2 e X3 X4andX5 0 0 4x2 5 0 22 0 25 Nm 2M 0 V ground 4L 24 V electronics supply output optional 4M 0 V ground Fig 2 15 SIMODRIVE POSMO A connection cover from the bottom Caution When supplied the screws in the terminals are not tightened These must be tightened to the specified tightening torque even when the terminals are not being used as otherwise the screws could fall out when the unit is subject to vibration Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 2 45 2 Installing and Connecting Up 08 03 2 3 Connection and wiring overview Connection cover The cable outlet direction is as standard in the opposite direction to Change cable the motor drive shaft outlet direction Depending on the mounting situation the cable outlet direction of the positioning motor can be changed How c
244. on to SW 1 0 Runup mode can be set when the unit is powered up again P56 Stand alone mode without bus communication P100 P101 Suppress block skip block Program stop via traversing block Set actual position via traversing block The 04 01 edition describes the functionality of SW 1 0 to 1 5 What are the essential new functions for SW 1 3 in comparison to SW 1 2 Rotary axis Signal position with modulo evaluation Direction of rotation of the motor shaft can be reversed P3 Holding controller P56 2 P57 Status bit ZSW 15 Modified behavior Behavior when shutting down supplemented FB 12 PARAMETERIZE_ALL_POSMO_A from 05 00 Reading and writing the parameter set of a drive What are the essential new functions for SW 1 4 in comparison to SW 1 3 Worm gear SG 75 Resetting the reference point set status via P98 Checkback signal status of the input output terminals 1 and 2 Brake sequence control Additional diagnostics via P954 Jogging without PROFIBUS and parameterization Backlash compensation with correction direction Flying measurement actual value setting What are the essential new functions for SW 1 5 in comparison to SW 1 4 First software for 300 W motors Shared software for 75 W and 300 W motors Different union nuts for the connection cover for 75 W and 300 W motors SimoCom A parameterizing
245. operation is possible without PROFIBUS communications refer to Chapter 5 5 12 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 3 73 3 Commissioning 02 99 3 1 General information on commissioning Overview of the communications Master PROFIBUS DP Standard slave Slave PROFIBUS DP Standard slave PROFIBUS DP telegram data e Install GSD files 7 300 with integrated DP interface S7 400 SFC14 SW SFC15 SW S7 312 CP 342 5 FC1 SW FC2 SW PC PG CP 5412 CP 5511 CP 5611 Any third party master e Connect up For SIMODRIVE POSMO A the e Set the address following is valid e PPO type 1 PPO1 SEL GEEEE terminating resistor PROFIBUS DP Cyclic data refer to Chapter 4 2 e g e Control word STW e Status word ZSW SIMODRIVE POSMO A Parameterizing data refer to Chapter 4 3 e g e Parameter number Index e parameter value PROFIBUS DP e When required set the ale Bie cele e IW cies Fig 3 1 LED after power on Overview of the communications for SIMODRIVE POSMO A e LED flashes green gt bus connection is not established refer to Chapter 6 1 3 74 After SIMODRIVE POSMO A has been powered up the LED has the following status if no fault error has been detected Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 0
246. or 2 66 75 W motor 2 62 Ambient conditions 2 70 Electrical data 2 62 2 66 Holding brake 300 W motor Motor data 300 W motor 2 68 Motor data 75 W motor 2 63 Technical Support Telegram structure for cyclic data transfer 4 102 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 E Index Telegram substitution from SW 3 0 Terminal status from SW 1 4 4 112 5 183 Terminals 2 44 2 45 2 47 5 182 Terminating resistor 2 45 2 48 2 49 Tool for connection cover for connection module for cover measuring for replacing gearboxes 300 W motor for replacing the drive unit 300 W 5 158 5 173 Traversing blocks 1 21 5 140 Classifying the Pre assignment block 3 to 27 Pre assignment blocks 1 and 2 Programming the Selecting and controlling Structure of FESTE Traversing possibilities Traversing without PROFIBUS and parame terization from SW 1 4 5 184 U UL certification UL approval 1 27 2 31 Units 5 201 Using the manual Wi V Varistor 1 27 2 31 Version of SimoCom A of the firmware ji of the hardware i overview the motor Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition W Warning information Warnings 6 236 Bits and numbers Difference to faults Evaluating via PROFIBUS 6 236 Overview 6
247. or e Bit 14 1 reference to occurring zero mark from SW 2 1 Active Inactive See along Note 12 ee For axes with modulo correction and absolute position data yes 5 146 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 08 04 5 Description of the Functions 5 3 Programming the traversing blocks only in the pos mode P700 2 Table 5 6 Structure of the program control word PSW P80 28 continued Bit Description Signal status description Effective for sin gle blocks Active If a traversing block with the number x 1 should be started after a specified time following traversing block x this specified time must be configured in traversing block x The following conditions must be observed for implementation e Traversing block x Timer mode Traverse as long as the timer is running P80 x 2 0 Timer value desired delay in ms P84 x PSW program control word Defined delay before next traversing block P80 x 13 1 e Traversing block x 1 PSW program control word Wait for start condition P80 x 1 7 0 This special delay is handled internally in the drive It can not be checked via parameter P45 timer status In this case traversing block x 1 starts regardless of the length of the traversing path in traversing block x If traversing block x is interrupted early due to the loss of a sta
248. order numbers MLFB for replacement parts New order numbers MLFB for UL certification of the 75W and 300W motor The 06 05 edition describes the functionality of SW 1 0 to 3 0 What are the essential new functions for SW 3 0 in comparison to SW 2 1 POSMO A 300 W with extended temperature range Separate version POSMO A 300 W being prepared Telegram substitution function SIMODRIVE POSMO A 75W and 300W have received UL certifica tion The UL file number is E192450 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 Foreword Motor version The following relationships exist between the version of the positioning software version motor the software version of the drive software the motor type and motor type SimoCom A SimoCom A Table 1 1 Version software release motor type SimoCom A Motor version Software Using SimoCom A stamped on the motor release 75 W motor 300 W motor 75 W motor 300 W motor can be Version replaced A 1 0 yes no no B 1 1 yes no no u C 1 1 yes no no D 1 2 yes no no u E 1 2 yes no no em F _ 1 3 yes no no G H A 1 4 yes yes no J K B C 1 5 yes yes yes 1 0 2 0 3 0 L D 1 6 yes yes yes 3 0 M E 2 0 yes yes yes 4 0 N F 2 1 yes yes yes 4 2 O G 3 0 yes yes yes 4 3 Information about the positioning motor can be read from the follow
249. ormity with the provisions of the following European Directives 89 336 EWG Richtlinie des Rates zur Angleichung der Rechtsvorschriften der Mitgliedstaaten ber die elektromagnetische Vertr glichkeit ge ndert durch S126VEWG S23 1 EWG SABLEWG und SQI7 EWG Counci Directive on the approximation of the laws of the Member States relating to electromagnetic compatibility amended by 91 263 EEC 923S1 EEC 936R EEC and 93 97 EEC Die Einhaltung dieser Richtlinie setzt einen EMV gerechten Einbau der Produkte gem EMV Aufbau richtlinie f r SINUMERIK SIROTEC SIMODRIVE Best Nr 6FC 5297 0AD30 0APO in die Gesamtanlage voraus Anlagenkonfigurationen bei der die Einhaltung dieser Richtlinie nachgewiesen wurde sowie angewandte Normen siehe For keeping the directive is required to install the products according to EMC Mounting regulation for SINUMERIK SIROTEC SIMODRIVE Order No innerer tel TTE PAER SP EES SERGE directives as wel as for the standards applied Anhang A Anlagenkonfigurationen Annex A system configurations Version 02 01 10 Anhang B Komponenten Annex B components Version 00 01 14 Anhang C Normen Annex C standards Version 00 11 27 Erlangen den the 10 01 2002 Siemens AG R M ller Entwicklungsleitung Name Funktion Nama function pjese i bescheinigt die bereinstimmung mit den genannten Richtlinien ist jedoch keine Zusicherung von Leen Die Sicherheitshinwei
250. osition to 1 In this case the last part of the example above is eliminated Note If the direction of rotation is reversed in both traversing blocks negative velocity the reference point approach is executed in the opposite direction In order to select the last zero mark at the reference cam as reference point coordinate the shutdown velocity should be selected low enough so that when braking after leaving the cam no other zero marks are passed Reference cam length A cam length should be selected so that the axis brakes from the approach velocity to the shutdown velocity while still at the cam Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 02 99 5 Description of the Functions 5 5 SIMODRIVE POSMO A functions Reference The reference point approach is executed via program The axis traver approach to the ses with direction reversal depending on the reference cam signal BERO with direction reversal Reference mark Zero marks o Reference cam signal e g from BERO Reference cams Traversing profile Fig 5 6 Reference approach to the BERO with direction reversal Prerequisites Connect reference cam signal to terminal 1 X5 Q1 refer to Chapter 2 3 Define terminal 1 as input and transfer the input terminal signal di rectly into the start byte e g start byte bit 7 gt P31
251. osition is read from MeldPos in order to correct the distance moved since the last zero mark The axis is then referenced This function corresponds to referencing an axis with reference cams refer to Table 5 7 The actual value can be set via a traversing block as shown in the above program example At the end of the block the position saved in MeldPos becomes the new actual position of the drive Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 157 5 Description of the Functions 02 99 5 5 SIMODRIVE POSMO A functions Reference approach with traverse to fixed endstop Di 5 158 The travel to fixed stop function can be used as follows for referen cing Set the current to a permissible value for the fixed endstop P28 max current required current P16 max overcurrent required overcurrent Suppress the speed controller at the endstop fault P30 0 1 Fault speed controller at its limit gt is re defined to become a warning Traverse to the fixed endstop by jogging When the endstop is reached it is displayed as follows ZSW 7 1 gt means warning present and P953 7 1 gt means speed controller at the endstop Cancel jogging Set a valid position actual value for the fixed endstop position Write a valid position actual value into P40 P40 requested actual val
252. otor 2 2 Electrical system requirements Total current through the PMM 5x5A 25A Pulse load at the pulsed resistor 5x3 Ws 15 Ws Continuous power through the pulsed resistor 15 Ws 1s 15 W In this application a maximum of only 3 motors could be braked once per second or over a longer periods of time without the 12t mo nitoring responding and causing the unit to go into a fault condition 3x3 Ws 1s 9W lt 10 W Depending on the type of power supply the following possibilities are available to provide regenerative feedback protection when the motors brake Non regulated 48 V power supply transformer rectifier The regenerative feedback protection depends on the following factors e Effective total moment of inertia e Coincidence factor e Power supply used output rating Regulated 48 V power supply SITOP power e Regenerative feedback protection with diode and capacitor An example is shown in Fig 2 12 where up to 3 drives can be ope rated under the following conditions Effective overall moment of inertia motor moment of inertia Coincidence factor 1 Braking from rated speed in S3 duty 48 V SITOP modular lt I gt K E 2 SITOP power 24 V ODETA EECHER Diode adapt the current load capacity to SITOP if required use a heatsink ES eV ie mt u To the M SIMODRIVE SIMODRIVE J remaining Elko POSMOA 1 POSMOA 3 system gt 15000 uF 100 V
253. over 12 Screw the connection cover back onto the positioning motor 13 Return to the following address Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 7 253 7 Installation and Service 08 01 7 1 Replacing the motor Addresses to return the positioning motor 7 254 You can also obtain the address of your local regional spare parts cen ter at the following Internet address e Address http www3 ad siemens de partner e Product group SIMODRIVE Note If the old connection cover of the SIMODRIVE POSMO A is not defective then it should be left at the mounting location and should then be re mounted on the new positioning motor with the existing wiring Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 08 01 7 Installation and Service 7 2 Mounting or replacing a gearbox only relevant for 300 W motors 7 2 Mounting or replacing a gearbox only relevant for 300 W motors What is required to The following materials and tools are required to mount or replace a mount or replace gearbox gearboxes 1 Four retaining screws per motor M6 x 20 acc to DIN 6912 2 Tools SW 4 and SW 5 Allen keys 3 Sealing agent e g Fluid D from Teroson 4 Loctite e g Loctite Type 649 5 Solvent e g Sevenax 72 6 New gearbox refer to the modular gearboxes in Chapter 2 5 2 What preparations The following preparations must be
254. ower on inhibit 1 Warning present The drive still remains operational Acknowledgment is Warning present not required no warning present Which warning is present 7 gt refer to P953 warnings and refer to Chapter 6 2 gt P954 supplementary information faults warnings 0 Warning not present Speed in the tolerance band 1 Speed is within the parameterized tolerance window 8 width outside the tolerance R R i bandwidth 0 Speed is outside the parameterized tolerance window 1 Master Class 1 Control requested 0 No master Class 1 but master Class 2 9 local control Note from SW 1 4 Before SW 1 4 the following is valid The signal is not supported a permanent 1 signal 10 Ramp up completed ramp 1 Ramp up completed up active 0 Ramp up not completed 11 Status terminal 1 Checkback signal from the parameterized terminal signals 12 Status terminal 2 Checkback signal from the parameterized terminal signals 1 Traversing task is executed n 0 e Drive traversing drive statio The drive is stationary after it reaches its target position nary 0 Signals the completion of a traversing task or standstill for intermediate stop and stop 14 Reserved Siemens AG 2005 All Rights Reserved 4 114 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 05 03 4 Communications via PROFIBUS DP 4 2 Process data PZD area Table 4 11 Description of the signals in the status word ZSW for the n set
255. ox SIMODRIVE POSMO A User Manual POS1 06 05 Edition Siemens AG 2005 All Rights Reserved Fig C C Dimension Drawings 06 05 C 2 Dimension drawings for SIMODRIVE POSMO A 300W Space for your notes Siemens AG 2005 All Rights Reserved C 280 SIMODRIVE POSMO A User Manual POS1 06 05 Edition EC Declaration of Conformity D Note An excerpt of the EC Declaration of Conformity for SIMODRIVE POSMO A is provided in the following The complete EC Declaration of Conformity can be found as follows Reference EMC EMC Configuring Guidelines Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition D 281 D EC Declaration of Conformity 08 02 SIEMENS EG Konformitatserklarung EC Declaration of Conformity No E002 Version 02 01 10 Hersteller SIEMENS AG Manufacturer Anschrift SIEMENS AG A amp D MC Address Frauenauracherstra e 80 91056 Erlangen Produkt SINUMERIK 802D 802S 805 805SM P 805SM TW 810 810D bezeichnung 820 840C 840CE 840D 840DE 840Di FM NC Product SIMOTION C230 C230 2 P350 description SIMATIC FM 353 FM 354 FM 357 SIROTEC RCM1D RCM1P SIMODRIVE 610 611 MCU FM STEPDRIVE POSMO A SI CA CD Die bezeichneten Produkte stimmen in den von uns in Verkehr gebrachten Ausf hrungen mit den Vorschriften folgender Europ ischer Richtlinie berein The products described above in the form as delivered is in conf
256. parameters AK 7 C4 gt AK 3 for array parameters AK 8 2 Formats gt refer to Chapter 4 3 Table 4 16 3 Traversing blocks 1 and 2 Speed P82 x P26 P24 P8 Traversing blocks 3 to 27 Closed loop speed controlled operation Speed P82 x e P24 e P8 Closed Ioop position contr operation Velocity P82 x e P24 e P10 4 Traversing blocks 1 and 2 Acceleration P83 x P27 P25 P9 Traversing blocks 3 to 27 Closed loop speed contr operation Acceleration P83 x P25 P9 Closed loop position controlled mode Accel P83 x e P25 e P22 5 Negative value gt Reversal of the motor direction Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 143 5 Description of the Functions 02 99 5 3 Programming the traversing blocks only in the pos mode P700 2 PSW The program control word defines the general properties and character Program control istics of a traversing block word P80 28 Table 5 6 Structure of the program control word PSW P80 28 Bit Description Signal status description Effective for sin gle blocks 1 Enter position and velocity position control 0 Motion t u onon type 0 Enter speed speed control index Positioning type 1 Relative 1 only for positio 0 Absolute ning 1 Traverse as soon as the timer no longer runs 2 Timer type no YR 0 Traverse as long as the timer is running
257. pe Effective 0 2 200000 MSR C4 immed The parameter specifies the precise stopping range precise stopping window Note P0011 may not be set too low as otherwise a traversing task cannot be completed The setting is dependent on the encoder resolution and the gear ratio P0012 0C Max following error 300W 075W Min Standard Max Unit Data type Effective 0 200000 200000 MSR C4 immed The parameter specifies the maximum permissible following error Note The following error status is displayed using status signal ZSW 8 no following error following error P0013 0D Monitoring time 300W 075W Min Standard Max Unit Data type Effective 0 100 2000000 ms T4 immed After the motion block has been completed position ref value target ref value this time is started After the time has expired the standstill monitoring and P gain are activated for standstill P54 P57 P0014 OE Standstil range 300W 075W Min Standard Max Unit Data type Effective 0 200000 200000 MSR C4 immed Tolerance range for the closed loop position control at standstill Note The parameter value can be changed while traversing P0015 OF Backlash compensation 300W 075W Min Standard Max Unit Data type Effective 200000 0 200000 MSR C4 immed The mechanical backlash for direction reversal can be compensated using this parameter P15 negative gt Correction direction negative P15 positive gt Correction direction positive No
258. ped if it attempts to move out of the permissible range Note The SW limit switch monitoring is dependent on the axis type as follows For a linear axis or rotary axis with modulo correction the following is valid gt The software limit switches can be activated via P6 lt P7 and set via P6 and P7 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 195 5 Description of the Functions 05 03 5 5 SIMODRIVE POSMO A functions Traverse to a software limit switch How do you move away from a software limit switch 5 196 Upon traversing to a software limit switch the following reaction is au tomatically triggered e When the axis reaches the software limit switch then the axis is braked down to the velocity set in P10 maximum velocity The axis therefore comes to a standstill after the limit switch e One of the following faults warnings is signaled Fault 706 software limit switch start Fault 707 software limit switch end Alarm 803 software limit switch start Alarm 804 software limit switch end If an axis is located at a software limit switch then it can be moved away as follows 1 Acknowledge the fault 2 Return the axis to the valid traversing range In the jog mode or via velocity move away in a direction opposite to the approach direction or withdraw the controller enable OFF1 and manually move the drive
259. proach and braking are smooth jerk limited Applications Jerk limiting can be used e g for positioning tasks using liquids or ge nerally to reduce the mechanical stressing on an axis a Acceleration a mm s2 r Jerk P23 Tp s S t Time mme Tr Jerk time v Velocity Fig 5 14 Jerk limiting Parameter P23 Jerk time constant Seed to Chapter P22 Maximum acceleration Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 179 5 Description of the Functions 04 01 5 5 SIMODRIVE POSMO A functions 5 5 7 Changeover metric inch Description When changing over between mm and inch and vice versa all existing values dependent on length measurements are automatically chan ged All of the following inputs and outputs are handled in the new dimen sion units Parameter P4 Dimension unit refer to Chapter 5 6 2 5 5 8 Reversing the control sense from SW 1 3 Description Before SW 1 3 the following applies The direction of rotation of the motor shaft depends on whether it tra verses in the positive or negative direction and cannot be changed From SW 1 3 the following applies The direction of rotation of the motor shaft can be set as required de pendent on whether traversing in the positive or negative direction using P3 Table 5 8 Traversing and direction of rotation of the motor shaft Traversing direction Rotation of the motor sh
260. r The following pre assembled cable is shown in Fig 2 23 e The PROFIBUS cable with electronics power supply Fig 2 23 Example Pre assembled cable for PROFIBUS Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 02 99 2 Installing and Connecting Up 2 4 Mounting SIMODRIVE POSMO A 2 4 3 Mounting the prepared cables in the connection cover How are the The following sequence should be maintained when installing the pre prepared cables pared cables into the connection cover refer to Fig 2 24 installed 1 Release the nut dummy plugs and terminal insert seal from the PG gland 2 Locate the nut and clamping insert seal onto the cable 3 Open up the shield braiding remove the insulating foil beneath it The shield must cover the O ring by approx 2 mm Cleanly cut off any excessively long shield wires 4 Assemble the nut with clamping insert seal 5 Insert these into the PG gland and tighten the nut 6 Connect the ends of the cables to the lower side of the connection cover Point 1 BM A M20 gland Nut Clamping insert seal Oring Shield Point 4 Point 5 Wiring at X20 Fig 2 24 How are the prepared cables installed Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 2 55 2 Installing and Connecting Up 08 03 2 4 Mounting SIMODRIVE POSMO A Fig 2 25 Example PG gland with all of the indiv
261. r 1 a eae R 0 x00x x111 x111 0000 OFF 2 GEESS EE Power i e STW 1 0 Change from 0 to 1 and back again ON from every Change from 1 to 0 and back again U SC i device state Not ready to STW0 power up ZSW OFF 2 active x00x x111 x000 x000 ZSW SM XXXX XXXX X1Xx0 x000 3 Initialize Referencing homing ie i ZSW STW 0100 0100 0011 1111 er 100x 1111 0011 0111 L Referencing Ss che homing OFF Referencing i e De homing ON STW 11 0 en Le STW 11 1 device state Operation enabled j ZSW Jogging ON OFF 3 active ie STW8 9 1 100x x111 0011 0111 Y Jogging chon 000 S OFF XXXX XXXX X10X X Jogging i e __ STW8 9 0 Traversing task Stop No OFF 3 ZSW i e u i e ie STW2 1 111x x011 0011 0111 STW 6 STW 4 oe i Traversing task Fault active from every ZSW Wi device state 11ps xp11 0011 0111 No DES stop intermediate stop Fault JE i e ZSW STW 5 0 STW 5 1 XXXX XXXX XXXX 1XXX Intermediate stop gd Fault resolved ZSW acknowledge faults 110s xp11 0011 0111 i e STW 7 Fig 4 5 Flow diagram Variable speed drives for the pos mode Siemens AG 2005 All Rights Reserved 4 118 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 05 03 4 Communications via PROFIBUS DP 4 2 Process data PZD area n set operation
262. ratio 300W Min Standard Max Unit Data type Effective 200000 1 200000 z C4 immed The step down ratio should be entered in accordance with the gear used Note P3 0 is not permissible Sign change gt direction of rotation change This parameter has a gearbox dependent factory default The following applies before SW 1 3 Min value 0 0001 The following applies from SW 1 6 With a modulo axis P1 gt 0 the gear reduction ratio is limited by the path per gear revolution and the axis type The following formula applies F Conversion factor mm gt F 1 inch gt F 25 4 P3 lt 2147483647 P2 F 4096 P1 075W Min Standard Max Unit Data type Effective 200000 1 200000 C4 immed The step down ratio should be entered in accordance with the gear used Note P3 0 is not permissible Sign change gt direction of rotation change This parameter has a gearbox dependent factory default The following applies before SW 1 3 Min value 0 0001 The following applies from SW 1 6 With a modulo axis P1 gt 0 the gear reduction ratio is limited by the path per gear revolution and the axis type The following formula applies F Conversion factor mm gt F 1 inch gt F 25 4 P3 lt 2147483647 P2 F 816 P1 P0004 04 Dimension units 300W 075W Min Standard Max Unit Data type Effective 0 0 2 12 immed Dimension units for parameter values 0 mm 1 degre
263. raversing block being processed Note Additional information gt evaluate P954 not required None Referencing Position not accepted When referencing the position was not accepted Motor moving ZSW 13 1 Drive not enabled Traversing block being processed After power on The motor has still not moved Note Additional information gt evaluate P954 The motor must be stationary and closed loop controlled not required None Speed controller at stop The speed controller is at its limit for more than 200 ms The required speed is not reached The load or friction is too high or the drive is too small The current limit P28 P16 is set too low The drive is defective For the traverse to fixed endstop function this warning is output when the fixed endstop is reached Note The warning is only signaled if the appropriate fault is suppressed Reduce load Increase current limit Replace the positioning motor not required None Start absolute block not possible A block with absolute position data can only be started for a referenced drive Reference drive not required None Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 6 245 6 Fault Handling and Diagnostics 06 05 6 2 Faults and alarms 809 P953 9 Cause Remedy Acknowledgement Stop response 810 P953 10 Cause Remedy Acknowledgement Stop response 811 P953 11
264. raversing block jogging Single block Program 1 Program 2 Program 3 All blocks before program 1 are single blocks P0082 28 52 Velocity or speed 300W 075W Min 16384 Standard Max Unit Data type Effective 16384 16384 N2 immed The parameter specifies the velocity or speed in the traversing block Note Refer to P81 28 target position P0083 28 53 Acceleration 300W 075W Min 0 Standard Max Unit Data type Effective 16384 16384 N2 immed The parameter specifies the acceleration in the traversing block Note Refer to P81 28 target position Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 221 5 Description of the Functions 06 05 5 6 Parameters for SIMODRIVE POSMO A P0084 28 54 Timer value 300W 075W Min Standard Max Unit Data type Effective 0 0 20000000 ms T4 immed Contains the time required for the timer Note Value 0 de activates the function Input resolution 10 ms Refer to P81 28 target position P0085 28 55 Message position 300W 075W Min Standard Max Unit Data type Effective 200000 0 200000 MSR C4 immed When passing this position the bits specified in MMPos P87 28 are set and signaled to the master via the return byte RMB Note The following is valid for the position for rotary axis The following applies before SW 1 3 gt no modulo evaluation The following applies from SW 1 3 gt modulo e
265. rder No On request S7H SIMATIC S7 300 2002 Edition Installation Manual Technological Functions Reference Manual CPU Data HW Description Reference Manual Module Data Order No 6ES7 398 8AA03 8AA0 S7HT SIMATIC S7 300 03 97 Edition Manual STEP 7 Fundamentals V 3 1 Order No 6ES7 810 4AC02 8AAO S7HR SIMATIC S7 300 03 97 Edition Manual STEP 7 Reference Manuals V 3 1 Order No 6ES7 810 4CA02 8ARO ET200X SIMATIC 05 01 Edition Distributed ET 200X Manual EWA ANER 780 6016 01 04 Part of the package with Order No 6ES7 198 8FA01 8AA0 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition B 267 B References 06 05 EMV SINUMERIK SIROTEC SIMODRIVE 06 99 Edition EMC Design Guidelines Configuration Manual HW Order No 6FC5 297 0AD30 O0BP1 You will find an up to date declaration of conformity on the Internet at http www4 ad siemens de Please enter the ID No 15257461 in the field Search top right and then click on go Siemens AG 2005 All Rights Reserved B 268 SIMODRIVE POSMO A User Manual POS1 06 05 Edition Dimension Drawings C C 1 Dimension drawings for SIMODRIVE POSMO A 75W Contents The dimension drawings for the SIMODRIVE POSMO A 75W positio ning motor with the following gearboxes are provided in this chapter e Motor without gearbox gt refer to Fig C 1 e Motor with planetary gearbox stages 1 2 3
266. rection 2 Traversing block 2 Traverse with maximum speed and maximum acceleration in a positive direction Siemens AG 2005 All Rights Reserved 5 142 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 02 99 5 Description of the Functions 5 3 Programming the traversing blocks only in the pos mode P700 2 5 3 2 Structure and description of the traversing blocks Structure of the The traversing blocks are emulated in parameters as follows traversing blocks Table 5 5 Parameters for traversing blocks Block memory Description Memory Block Block Components Min Stan Max Units Format Block 1 2 dard 1 2 27 80 1 80 2 PSW 0000Hex FFFFhex v2 80 27 Program control word 81 1 81 2 Target position 2 105 22109 mm C4 81 27 Degrees inch 82 1 82 2 Velocity or 1009 100 N2 82 27 speed 3 83 1 83 2 Acceleration 0 100 N2 83 27 4 84 1 84 2 Timer value 0 2 106 10 ms T4 84 27 85 1 85 2 Signaling posi 2 105 22109 mm C4 85 27 tion Degrees inch 86 1 86 2 SMStart 0000Hex FFFFhex v2 86 27 MMStart 87 1 87 2 MMStop 0000Hex FFFFhex v2 87 27 MMPos _ ES The task ID to change a value can be derived from the data width 2 or 4 specified in the format Examples I2 gt AK 2 for array
267. red up not ready to be powered up 1 signal 0 signal Table 4 11 Description of the signals in the status word ZSW for the n set mode Bit Signal name Signal status signal description g Ready to be powered up 1 Power supply powered up not ready to be powered up 0 Not ready to power up 1 Ready 1 Ready or no fault y 0 Not ready 2 Operation enabled EEN operation inhibited 0 Operation inhibited 1 The drive is faulted and not operational The drive goes into the power on inhibit after the fault has Fault present been successfully removed and acknowledged no fault present Which faults are present 3 gt refer to P947 faults and f h 2 EELER gt P954 supplementary information faults warnings 0 No fault present i No OFF 2 present 1 No OFF 2 present OFF 2 present 0 OFF 2 command present No OFF 3 present 1 No OFF 3 present OFF 3 present 0 OFF 3 command present Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 4 113 4 Communications via PROFIBUS DP 05 03 4 2 Process data PZD area Table 4 11 Description of the signals in the status word ZSW for the n set mode continued Bit Signal name Signal status signal description 1 Power on inhibit S Power on inhibit The system can only be powered up using OFF 1 follo no power on inhibit wed by ON 0 No p
268. rement What should be done The following has to be done in order to use the flying measurement function 1 Connect the signal transmitter to digital input 1 X5 terminal 1 Q1 gt the signal transmitter must be high active gt refer to Chapter 2 3 and 2 4 2 Assign digital input 1 to the flying measurement actual value set ting function gt Inthe SimoCom A using the tab Dar and entry digital inputs outputs gt by setting SIMATIC S7 P31 to 27 3 Program the traversing block activating the flying measurement function gt set PSW 11 to 1 4 Read the measured value after a 0 1 signal edge has been detected gt P62 measuring position measured position value Siemens AG 2005 All Rights Reserved 5 166 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 08 02 5 Description of the Functions 5 5 SIMODRIVE POSMO A functions Example Position controlled traversing motion to the cam BERO with stop if a cam was not detected on a V Block 9 t Input signal vi flying measurement Input signal flying measurement not detected What happens for a 0 1 signal edge What happens if an edge is v Block 10 Block 9 wee d t e Brakes along the braking ramp e Block change with delete distance to go e The position value is written into P62 measuring position e Continue the program here block 10 e The drive changes
269. rface of SIMATIC S7 PC PG lt gt MPI lt gt PROFIBUS lt gt drives Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 05 03 3 Commissioning Prerequisites for online operation 3 2 Commissioning the DP master The following prerequisites must be fulfilled in order to establish online operation between SimoCom A and a drive via the PROFIBUS DP fieldbus 1 Communication modules if connect via PROFIBUS CP 5511 PROFIBUS coupling via PCMCIA card Structure PCMCIA card type 2 adapter with 9 pin SUB D socket con nector to connect to PROFIBUS Order No MLFB 6GK1551 1AA00 or CP 5611 PROFIBUS coupling through a short PCI card Structure Short PCI card with 9 pin SUB D socket to connect to PROFIBUS Order No MLFB 6GK1561 1AA00 CP 5613 PROFIBUS connection via a short PCI card Structure Short PCI card with 9 pin SUB D socket to connect to PROFIBUS diagnostic LEDs PROFIBUS controller ASPC2 StepE Order No MLFB 6GK1561 3AA00 For newer PGs this communications interface is already included 2 SIMATIC CPU if connect via MPI interface A routing capable SIMATIC CPU is required for a coupling via MPI interface 3 S7 DOS from V5 0 The software is also installed when installing SimoCom A 4 Connecting cable between CP 5511 or CP 5611 and the PROFIBUS fieldbus or between the MPI interface from the
270. rical equipment has parts and components which are at hazardous voltage levels Incorrect handling of these units i e not observing the warning information can therefore lead to death severe bodily injury or significant material damage Only appropriately qualified personnel may commission start up this equipment This personnel must have in depth knowledge regarding all of the warning information and service measures according to this manual Perfect safe and reliable operation of the equipment assumes that it has been professionally transported stored mounted and installed as well as careful operator control and service Hazardous axis motion can occur when working with the equipment Siemens AG 2005 All Rights Reserved A SIMODRIVE POSMO A User Manual POS1 06 05 Edition xl Foreword 06 05 Note When handling cables observe the following e They may not be damaged e they may not be stressed e they may not come into contact with rotating components N Warning When testing the voltage of the electrical equipment of the machines on the system side all of the SIMODRIVE drive unit connections must be withdrawn or disconnected EN 60204 1 VDE 0113 1 Pt 20 4 This is necessary as the SIMODRIVE insulation has already been tested and should not be subject to a new test additional voltage stressing N Warning Commissioning is absolutely prohibited until it has been ensured that the
271. rm automatically disappears when the load power supply is switched in The response to the fault can be set with P56 14 Increase load power supply rating SITOP Provide regenerative feedback protection Remove cause set STW 7 1 0 and STW 0 0 1 Pulse suppression Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 6 Fault Handling and Diagnostics 702 P947 2 Cause Remedy Acknowledgement Stop response 703 P947 3 Cause Remedy Acknowledgement Stop response 704 P947 4 Cause Remedy Acknowledgement Stop response 705 P947 5 Cause Remedy Acknowledgement Stop response 6 2 Faults and alarms Electronics temperature The electronics temperature is gt 90 degrees Celsius and has been pre sent for longer than specified in P29 electronics temperature tolerance time An excessive electronics temperature is first signaled using warning 800 warning electronics temperature The ambient temperature is too high Observe the de rating characteristic Reduce ambient temperature Remove cause set STW 7 1 0 and STW O 0 1 Braking with maximum acceleration P22 Overcurrent fault The current limit has been exceeded The motor or the electronics is defective Replace the positioning motor Remove cause set STW 7 1 0 and STW 0 0 1 Pulse suppression Encoder fault The signal sequence for the rotor position identificatio
272. rmation on regenerative feedback protection Braking energy Rules when using regenerative feedback protection If SIMODRIVE POSMO A is used in a system with low mechanical fric tion then the electrical energy regenerated when braking can in fluence the load power supply In cases such as these regenerative feedback protection must be used The regenerative feedback protection is dependent on the following e The coincidence factor on the line up of POSMO A drives e The number of positioning motors operated on one line e The degree of efficiency of the mechanical system e The friction e The moments of inertia e The regenerative feedback energy of a drive is calculated as follows without taking into account losses W d eJ o W Braking energy Ws kgm2 s2 J Moment of inertia kgm2 O Angular frequency 2 ne n 60 Dis with n RPM Under the specified conditions the following typical braking energy per drive is obtained e Conditions Braking from rated speed in S3 duty Effective overall moment of inertia motor moment of inertia e Braking energy in consideration of typically arising losses 1 0 Ws gt SIMODRIVE POSMO A 75 W 2 5 Ws gt SIMODRIVE POSMO A 300 W The effective total moment of inertia and the braking energy have a linear interrelationship i e for twice the moment of inertia twice the braking energy is generated when the motor brakes The following r
273. rograms via P99 21 Program single blocks and Manager programs defined The following rules apply when defining programs 1 The value saved under an index of P99 21 is the block number of the first block in the appropriate program area 2 The block number of the last block in the program area is obtained from the start of the block of the next area minus 1 3 Valid block starts lie in the range between 3 and 27 4 The last block of the last valid program area is 27 5 All block numbers from the first block of the first program area are single blocks 6 All entries from P99 21 are evaluated in the sequence of the index until an invalid block start or a value less than the previous value is found The factory default setting for P99 21 is as follows Table 5 2 P99 21 program management factory default setting Index Value 13 18 23 0 0 0 Ge 0 0 Program 3 Block 23 27 Program 2 Block 18 22 Program 1 Block 13 17 Note refer to Table 5 1 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 141 5 Description of the Functions 02 99 5 3 Programming the traversing blocks only in the pos mode P700 2 Pre assignment of Traversing blocks 3 to 27 are preset as follows the traversing blocks 3 27 Table 5 3 Pre assignment of traversing blocks 3 27 factory presetting Presetting of standard
274. rom SW 1 4 Description Example Determining the backlash When an indirect measuring system is used position measuring enco der at the motor at each direction reversal the mechanical play is first traveled through before the axis moves For this measuring system mechanical play falsifies the traversing distance This is because at direction reversal the axis moves too little by the absolute value of the play After entering the backlash compensation and the correction direction at each direction reversal the axis actual value is corrected depending on the actual traversing direction Table lt Backlash M Motor G Encoder zzz LLLLL LLL For a direction reversal the encoder actual value leads the actual value table gt the table does not traverse far enough Fig 5 13 Backlash The following procedure is recommended to determine the backlash of an axis e Traverse the axis e g in the positive direction take up the play e Mount a dial gauge on the axis mechanical system e Note down the actual position 1 read P40 e Traverse the axis in the negative direction until axis movement can be detected at the dial gauge e Note down the actual position 2 read P40 The backlash is obtained from the difference between actual position 1 and actual position 2 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 177
275. rt condition SMStart traversing block X 1 also will not start until the time has expired case 4 va Case 1 Normal process Defined delay time to the next Block 1 Block 2 13 A traversing block t from SW 2 1 At P80 13 1 V Case 2 Traversing block longer than timer value abortion i no Block 1 X Block 2 At P80 13 1 t Case 3 Terminal function SimoCom A v4 Start bit 1 Block 1 Block 2 gt At P80 13 1 t Case 4 Terminal function SimoCom A v 4 Start bit 1 Start bit 0 Block 1 Block 2 At P80 13 1 t At is the timer value of block 1 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 147 5 Description of the Functions 08 04 5 3 Programming the traversing blocks only in the pos mode P700 2 Table 5 6 Structure of the program control word PSW P80 28 continued Bit Description Signal status description Effective for sin gle blocks Note Upon an external block change e If the target position in traversing block x has not yet been Defined delay 4 reached an external block change acts like the loss of a start 43 time to the next condition in traversing block x Vera S i e e However if traversing block x 1 has already been selected i as the current traversing block P48 an external block change acts on traversing block x 1 0 Inactive Active The traversing block is aborted upon t
276. s 1 By reading the status signal ZSW 7 warning effective A 1 signal indicates that there is at least 1 warning present 2 By reading P953 8B9hex The parameter value indicates bit coded which warnings are pre sent refer to Table 6 2 and Chapter 6 2 2 3 By reading P954 3BAhex from SW 1 4 The parameter value indicates bit coded which supplementary information is present refer to Table 6 2 and Chapter 6 2 2 Note If the status signal ZSW 7 warning effective is not 0 then the above points must be repeated for the warning or warnings that are still present Warnings are described in detail in Chapter 6 2 2 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 08 02 6 Fault Handling and Diagnostics 6 2 Faults and alarms Remedy For faults and warnings measures are described which can be applied to remove withdraw the fault warning In this case one of the possibilities specified is to replace the positio ning motor For POSMO A 300 W it is also possible corresponding to the information given as counter measure to only change the drive unit e Replacing the positioning motor gt refer to Chapter 7 1 e Replacing the drive unit only POSMO A 300 W gt refer to Chapter 7 3 2 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 6 237 6 Fault Handling and Diagnostics 06 05 6 2 Fa
277. s P0082 13 Parameter 82 with index 13 P0082 x Parameter 82 with undefined index x P0056 2 Parameter 56 bit 2 Data type Parameter text gt Refer to Chapter 4 3 1 decimal hexadecimal l a E Pdddd hh word word word word 075W 300W Min Standard Max Units Datatype Effective XX XX XX XX yy zz Parameter description Motor type Specifies for which motor the parameter is valid Effeetive 075W gt 75 W motor immediately gt becomes immediately 300W gt 300 W motor effective when a change is made Units When a parameter is changed it is not permissible MSR Dimension system grid 1MSR 1mm forP4 0 1 MSR 1 degr for P4 1 1MSR 1inch forP4 2 In the speed setpoint mode this means that STW 4 that a traversing block is active If a parameter can be changed while the axis is traversing then an explicit reference is made must be 0 e RO gt Read Only The parameter can only be read and not written into Fig 5 22 Parameter list Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 201 5 Description of the Functions 06 05 5 6 Parameters for SIMODRIVE POSMO A Parameter list The following parameters are available for SIMODRIVE POSMO A Version 04 03 02 P0001 01 Axis type 300W Min Standard Max Unit Data type Effective 0 0 200000 MSR C4 immed 0 0 gt Linear axis gt 0 0 gt rotary axis The value corresponds to the modulo correctio
278. s e Motor with 2 stage gearbox 3 7 kg e Motor with 3 stage gearbox 3 9 kg e Motor with worm gear 3 5 kg Siemens AG 2005 All Rights Reserved 2 64 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 08 01 2 Installing and Connecting Up 2 6 Technical data Table 2 6 Technical data for the POSMO A 75 W positioning motor continued Name Description Relevant Standards IEC 68 2 1 IEC 68 2 2 Operating temperature 0 45 C Climatic envi range ronmental f conditions Extended operating to 65 C with continuous reduced motor current temperature range Relevant Standards according to DIN EN 60721 Part 3 3 Class 3K5 Transport and storage 40 70 C temperature range Climatic Relevant Standards according to DIN EN 60721 Part 3 1 and 3 2 Class 2K4 and transport and 1K4 storage conditions Note Data applies for components which have been packed ready for transport Mechanical Relevant Standards IEC 68 2 32 ambient conditions Tested vibra tion and shock stres sing in oper ation e Vibration stressing in operation Frequency range With constant deflection 7 mm 2 9 Hz Frequency range With constant acceleration 20 m s 2 g 9 200 Hz Relevant Standards IEC 68 2 6 DIN EN 60721 Parts 3 0 and 3 3 Class 3M6 e Shock stressing in operation Peak acceleration max 250 m s 25 g Shock duration 6 ms Relevant Standards DIN EN 60721 Par
279. s signals refer to Chapter 4 2 2 Positioning mode P700 2 Speed setpoint mode P700 1 15 0 15 8 7 0 Select Control word block number ey STW AnwSaitz Actual block Checkback Status word ZSW number signal byte AktSatz RMB 15 0 15 0 Control word STW Speed setpoint bits 0 14 sign bit 15 Status word ZSW Speed actual value bits 0 14 sign bit 15 Abbreviations PKW Parameter ID value STW PZD Process data AnwSatz PPO Parameter Process data Object STB ZSW AktSatz RMB Control word Select block number Start byte Status word Actual block number Checkback signal byte Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 4 103 4 Communications via PROFIBUS DP 05 03 4 2 Process data PZD area 4 2 1 Description of the control signals data to drive Control word The master issues its commands to the slave using the control word STW STW pos mode Table 4 4 Structure of control word STW for the pos mode Open holding brake close holding brake from SW 1 4 Read in enable no read in enable External block change no external block change Automatic single block operation automatic Start referencing stop referencing Control requested no control requested Jogging 2 ON jogging 2 OFF m Jogging 1 ON jogging 1 OFF
280. se der mitgelteterten Produktdokumentation sind zu beachten certifies the conformity to the directives but contains no assurance of but The safety documentation accampenying the product shal be considered in detail Fig D 1 EC Declaration of Conformity Siemens AG 2005 All Rights Reserved D 282 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 08 02 D EC Declaration of Conformity Anhang A zur EG Konformit tserkl rung Nr E002 A15 Typische Anlagenkonfiguration SIMODRIVE POSMO A SIMATIC S7 300 P Potentialausgleichsleitung gt 4mm Abstand zwischen PROFIBUS und P so nahe wie m glich e Alle Komponenten die gem Bestellunterlage f r den Anlagenverbund von SIMODRIVE POSMO A zugelassen sind erf llen im Verbund die Richtlinie 89 336 EWG e Normenkonformit t siehe Anhang C Hinweis In der Skizze der Anlagenkonfiguration werden nur die grunds tzlichen Ma nahmen zur Einhaltung der Richtlinie 89 336 EWG einer typischen Anlagenkonfiguration aufgezeigt Zus tzlich besonders bei Abweichung von dieser Anlagenkonfiguration sind die Installationshinweise f r EMV gerechten Anlagenaufbau der Produktdokumentation und der EMV Aufbaurichtlinie f r SINUMERIK SIROTEC SIMODRIVE Bestell Nr 6FC 5297 OAD30 0APX zu beachten Siemens AG 2002 All Rights reserved Version 02 01 10 konf erkV002 anh_a A 15 23 Fig D 2 Annex A to the EC Declaration of Conformity excerpt Siemens AG
281. sent from the same master type as before the connection was lost It is not possible to interrupt a con nection with a Class 1 master S7 CPU and resume communica tions with a Class 2 master PG SimoCom A refer to P928 e If the drive is powered up power on and P701 1 was previously saved in the FEPROM refer to P971 then the drive only responds when PZD data is available if STW 10 1 e If the bus connection to the drive fails then the currently active drive state is frozen The drive uses the last received STW block selec tion and start byte where STW 10 was 1 After the bus connection has been restored PZD data that is recei ved is only taken into account again if STW 10 1 Also in this case PZD data must be sent from the same master type as before the connection was interrupted Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 197 5 Description of the Functions 06 05 5 5 SIMODRIVE POSMO A functions Behavior for P701 0 factory pre setting 5 198 The drive LED indicates when PZD data is being actively substituted P701 1 and STW 10 0 In this case the LED flashes alternating between yellow green If STW 10 1 then the behavior of the LED is compatible to the behavior with P701 0 The function cannot be used in the standalone mode refer to P100 Independent of the operating mode and independent of P701 para meters P967 and P972 al
282. setpoint ie STW4 0 Le STW 7 i e STW 6 1 i L H i Braking with maximum Braking with maximum 8 acceleration acceleration ZSW ZSW XXXX XXXX XOXO 1111 XXXX XXXX x1x0 1111 Speed Speed constant constant B i e STW 5 0 i e STW 5 0 Fig 4 6 Flow diagram Variable speed drives for the n set mode Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 4 119 4 Communications via PROFIBUS DP 05 03 4 2 Process data PZD area Note The following conditions should be observed e Control word STW 4 has priority over STW 6 e Control words STW 4 and STW 6 have priority over STW 5 This means e If the drive brakes along the ramp then when STW 4 is withdrawn the drive brakes with the maximum deceleration e If STW 5 0 STW 4 and STW 6 brake according to how they are defined e If STW 5 is reset while braking this does not mean that the speed is kept constant Siemens AG 2005 All Rights Reserved 4 120 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 02 99 4 Communications via PROFIBUS DP 4 3 Parameter area PKW area 4 3 Parameter area PKW area 4 3 1 Structure and description of the parameter area Tasks For PPO Type 1 for the net data a parameter with 4 words is also transferred The following tasks are possible using the parameter range e Request parameter value reading parameters e Change parameter value writing into para
283. shaft wi thout key 99762 way 2052 4 4 7 42 1 21 2068 500 0 000 0 2053 7 7 42 42 7 21 2069 85 0 570 0 2054 12 12 2 7 21 2070 500 37 5 330 0 2055 Planetary gearbox 20 3071 20 1500 26 25 200 21 0 2056 15 7 11 14 35 2072 35 855 5 5 8 2057 4 4 1 11 2 10 9 2073 9 610 80 0 6 2078 12 12 2 10 4 10 4 0 2079 0 50 0 33 0 1 Upper value 2 Lower value Siemens AG 2005 All Rights Reserved gt gearbox code for the motor without holding brake gt gearbox code for the motor with holding brake Notice After another gearbox type has been mounted the gearbox dependent parameters no longer match the gearbox and must therefore be changed corresponding to Table 5 10 P964 7 gearbox code can only be changed with SimoCom A using the drive configuration SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 231 5 Description of the Functions 06 05 5 6 Parameters for SIMODRIVE POSMO A Space for your notes Siemens AG 2005 All Rights Reserved 5 232 SIMODRIVE POSMO A User Manual POS1 06 05 Edition Fault Handling and Diagnostics 6 1 LED fault display LED An LED with the following significance is provided on the rear of the fault display positioning motor for diagnostics LED Table 6 1 What does an LED mean when it is bright LED display Is the What status does the driv
284. sidual ripple lt 5 Insulating material class T 40 B Degree of protection IPOO Safety class Coincidence factor Regenerative feedback protection when braking the motor refer to Chapter 2 2 3 If several SIMODRIVE POSMO A are used but they are not all simulta neously operational then a lower rating load power supply can be used However a brief overload capability of the power supply must be gua ranteed otherwise the electronics of the SIMODRIVE POSMO A would interpret voltage dips as an undervoltage condition and trip Example 1 3 SIMODRIVE POSMO A 75 W Coincidence factor 1 Rated output full speed gt 3 45Ae1 13 5A gt SITOP power 20 A Example 2 3 SIMODRIVE POSMO A 75 W Coincidence factor 0 7 not all drives are simultaneously oper ational Rated output full speed gt 3 45A 0 7 9 45A gt SITOP power 10 A Example 3 3 SIMODRIVE POSMO A 300 W Coincidence factor 1 Rated output full speed gt 3 5 25A 1 15 75A gt SITOP power 20 A Example 4 3 SIMODRIVE POSMO A 300 W Coincidence factor 0 5 not all drives are simultaneously oper ational Rated output full speed gt 3 5 25A 05 7 875A gt SITOP power 10 A Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 2 35 2 Installing and Connecting Up 02 99 2 2 Electrical system requirements Withdrawing The connection cover can
285. sioning 02 99 3 2 Commissioning the DP master Information on The information in the following provides basic information on data on SimoCom A how to handle the parameterizing and commissioning tool SimoCom A Table 3 1 Information on SimoCom A Function Description Tasks e Check the wiring go into the Online Help connection diagrams which can be handled e Establish a connection to the drive to be parameterized FEIER e Change the parameters The essential parameters are changed dialog prompted You can change all of the parameters using the expert list e Traverse the axis e Diagnose the drive status Obtain an overview of all of the connected drives and their status Detect the connected hardware Display the terminal status Alarms and information on how they can be removed e Carry out diagnostics Parameterize test sockets DAU1 DAU2 Selected signals in the drive can be routed to the test sockets for measurement with an oscilloscope e Save the results Save the parameters in the drive FEPROM Save the parameters in a file open a file Print the parameters e Compare parameter sets This allows the difference between 2 parameters sets to be identified e Initialize the drive The drive can be initialized using this function It is then necessary to confi gure a drive e Load the factory setting The status of a drive when originally shipped can be established using this function
286. sition actual position 1 Active Before SW 1 4 the following applies At the end of the block the actual position is set the same as the signaled position The following applies from SW 1 4 At the end of the block the position of the last zero mark is set the same as the signaled position and the drive is referenced 0 Inactive Bit 10 Flying actual value setting from SW 1 4 1 Active 0 Inactive Bit 11 Flying measurement from SW 1 4 1 Active 0 Inactive Bit 12 Traverse through the shorted path from SW 1 4 1 Active only for modulo correction with absolute position data 0 Inactive Note Refer to P81 28 target position Bit 13 Defined delay time until the next traversing block from SW 2 1 1 Active The next traversing block begins after exactly the time parameterized in the timer value irrespective of the distance to be traversed in the current traversing block and irrespective of the discontinuance of any start conditions As a result of external block change during the traversing motion the following block also waits until the delay time has expired This function is valid only in conjunction with the timer type traverse as long as the timer runs compare bit 2 This function is valid only for the following traversing block after skipping the following traversing block the started delay time is no longer evaluated Siemens AG 2005 All Rights Reserved 5 220 SIMODRIVE POSMO A User Manual POS1
287. sition for block 14 set required reference point coordinate Set PSW 9 set reference position to 1 In this particular case the last section in the example above is eliminated Note If the direction of rotation is reversed in both traversing blocks the reference point approach is executed in the opposite direction In order to select the last zero mark at the reference cam as reference point coordinate the shutdown velocity should be selected low enough so that when braking after leaving the cam no other zero marks are passed Reference cam length The cam length should be selected so that the axis brakes from the approach velocity to standstill while still at the cam Position of the reference cam If the reference cam is not favorably mounted when the traversing program starts from the cam a different reference point can be obtained than when starting in front of the reference cam Remedy Extend the referencing homing program so that initially the axis moves away from the cam Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 08 04 5 Description of the Functions 5 5 SIMODRIVE POSMO A functions Reference to Use of the function in a traversing program occurring zero mark from SW 2 1 Note Before starting the function the drive should be de referenced set P98 to 0 The following two cases show examples of a referencing program The
288. t P1 must apply The following applies from SW 2 0 Software limit switches are not possible in the Speed setpoint operating mode P930 P0008 08 Maximum speed 300W Min Standard Max Unit Data type Effective 0 3000 3800 rpm C4 immed Max motor speed referred to the motor axis 075W Min Standard Max Unit Data type Effective 0 3000 3600 rpm C4 immed Max motor speed referred to the motor axis P0009 09 Acceleration time 300W 075W Min Standard Max Unit Data type Effective 10 100 15000 ms T2 immed During this time in the speed controlled operation the setpoint is set as follows Ramp up From zero up to the maximum permissible actual speed Ramp down From the maximum permissible actual value down to zero The following applies from SW 2 0 The ramp up time can be changed with immediate effect in the Speed setpoint operating mode This is also possible when the drive is moving Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 205 5 Description of the Functions 06 05 5 6 Parameters for SIMODRIVE POSMO A P0010 0A Maximum motor velocity 300W 075W Min Standard Max Unit Data type Effective 0 30000 2000000 MSR min 14 immed Max permissible velocity dependent on the system The max speed in P8 was not exceeded in operation Note This parameter has a gearbox dependent factory default P0011 OB Target range 300W 075W Min Standard Max Unit Data ty
289. t yes then increase the controller inhibit time P61 gt no then the settings are OK Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 04 01 5 Description of the Functions 5 5 SIMODRIVE POSMO A functions 24 V Open close the holding brake Terminal 1 Terminal 2 Brake sequence control PZZZZIZT YIIIIIERG Motor with integrated External holding brake holding brake optional Parameters P31 Function terminal 1 P32 Function terminal 2 P56 4 Open holding brake P56 5 Monitoring holding brake undervoltage P56 6 Open the holding brake also for an external holding brake P58 Holding brake brake opening time P59 Speed close holding brake P60 Holding brake brake delay time P61 Holding brake controller inhibit time Inputs Outputs P31 26 Terminal 1 as input with open holding brake function P32 95 Terminal 2 as output with the control external holding brake function Fig 5 20 Example Integrated holding brake external holding brake Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 193 5 Description of the Functions 06 05 5 5 SIMODRIVE POSMO A functions 5 5 14 Limit switch monitoring functions Description Hardware limit switch HW limit switch Traverse to a hardware limit switch 5 194 For POSMO A the f
290. t 3 0 and Part 3 3 Class 3M6 Vibration and shock stres Relevant Standards DIN EN 60721 Part 3 3 Class 2M2 Note sing during Data applies for components which have been packed ready transport for transport Pollutant Relevant Standards IEC 68 2 60 stressing Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 2 65 2 Installing and Connecting Up 04 01 2 6 Technical data 2 6 2 Technical data for SIMODRIVE POSMO A 300 W Table 2 7 Technical data for the POSMO A 300 W positioning motor Name Description Load power supply Supply voltage 48 VDC 20 24 V DC 20 optional Power consumption lt 5 25 A with S1 Note e A supply voltage less than 48 V means gt lower speed Electrical e For motors with integrated holding brake the power supply data voltage must be gt 24 V DC Electr power supply Voltage 24VDC 20 optional Current drain lt 500 mA Digital inputs Voltage 24VDC 20 Current drain lt 15mA digital outputs Maximum current output 100 mA Voltage limiting Voltage limiting ITA A M Nm A characteristic 24 V characteristic 48 V 207 ER 21 0 7 19 Current limit S3 16 Rated operating point Torque speed 15 75 N dee S3 intermittent duty characteristic 12 Rated operating point motor 48 V 300 W Mn 10 5 0 95 F characteristic 0 8 Continuous Motor without f power rating
291. t cyclically read Working in the drive or in the file You can work directly in the drive or only at the PC in the file but only with one data set at any one time For example you can be connected with a POSMO A 300 W 4A anda POSMO A 75 W 6A so that you have access to the parameter sets in both of the drives and at the same time have several files open All of these parameter sets are displayed in the browser under Operate and also in the menu File If you select Drive 4A then you will see the current status and parameters of drive 4A but no others When changing over for example to the My par file then you only see the parameters associated with this file Parameters files which have been opened can be re closed using the File Close file menu Assign the PC the master control Returning the control authority means that the DP Slave POSMO A should be controlled from the PC How is the control authority transferred to the PC e The C1 master must signal OFF 1 OFF 2 or OFF 3 e Transfer the control authority to the PC using the menu Operator control control authority for PC means that the DP Slave POSMO A should be controlled from the C1 master How is the control authority returned e Bring the drive to a standstill e Withdraw the PC controller enable Procedure when com missioning 1 Configuration 2 Mechanical system Recommendation
292. t it is always possible to edit this project using an addi tional configuring engineering tool to which the project was transferred even if the GSD files for the DP devices to be used have still not been installed on this device GSD files that are only saved in existing projects but not in the general GSD directory are transferred into the generally valid GSD directory using GSD import This means that they can be used for additional new projects 4 4 3 Operating the slave with a third party master GSD file required 4 132 The master device data GSD file supplied with the equipment con tains all of the information data that a DP master system requires in order to incorporate SIMODRIVE POSMO A as DP standard slave in its PROFIBUS configuration If the third party master system allows a GSD file to be directly incor porated then the file for the DP slave can be directly copied into the appropriate sub directory Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition Description of the Functions 5 5 1 Operating mode from SW 2 0 Speed setpoint P700 1 from SW 2 0 SIMODRIVE POSMO A can be either parameterized in the positio ning or speed setpoint mode Mixed operation is not supported In the speed setpoint mode n set mode a speed setpoint can be entered via PROFIBUS DP the speed is then controlled to this speed setpoint at the gearbox output Note
293. t switch Hardware limit switch from SW 2 0 Note The factory setting is the positioning mode Reader s note Information on the various functions refer to Chapter 5 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 5 Description of the Functions 5 2 Speed setpoint mode P700 1 from SW 2 0 5 2 Speed setpoint mode P700 1 from SW 2 0 5 2 1 General information on the speed setpoint mode Description For operation with a DP master a speed setpoint can be cyclically input into the POSMO A 75 W 300 W drives via PROFIBUS DP The speed actual value is also cyclically fed back via PROFIBUS DP The speed setpoint mode is activated via P700 1 and de activated via P700 2 however only power on is effective The active operating mode is displayed in P930 Note The following control bit must be set to change most of the parameters in the speed setpoint mode e STW O 0 ON OFF 1 or e STW 4 0 ramp function generator enable Corresponds to the state no traversing block active in the positioning mode If the factory pre setting is downloaded then the speed setpoint mode is immediately de activated and the system goes into the posi tioning mode Note Before changing the operating mode the factory pre setting should be downloaded using P970 This allows a defined initial status to b
294. t traversing distance is calcula ted and traversed Programming the traversing direction using the velocity sign is ineffective when the function is active refer to Chapter 5 5 3 Bit Description Signal status description Effective for sin gle blocks Before SW 1 4 the following applies The actual position is set the same as the signaled position at the end of the block In conjunction with this the end of block means the following e For an exact stop After entry into the exact stop window e For smoothing After entry into the exact stop window of the next block e After withdrawing the start conditions or an external block Set reference change 9 position Immediately after entering the exact stop window no from SW 1 2 From SW 1 4 the following applies At the end of the block the position of the last zero mark is set the same as the signal position and the drive is referenced Note Bit 9 Oif e Bit 10 1 flying actual value setting or e Bit 11 1 flying measurement or e Bit 14 1 reference to occurring zero mark from SW 2 1 Active Inactive Flying actual va Note 10 lue setting Bit 10 Oif yes from SW 1 4 e Bit 9 1 set reference position or e Bit 11 1 flying measurement or e Bit 14 1 reference to occurring zero mark from SW 2 1 Active Inactive Flying measure Note 41 ment Bit 11 0 if yes from SW 1 4 e Bit 9 1 set reference position or e Bit 10 1 flying actual value setting
295. t word PEW Peripheral input word PKE Parameter ID Input signals at the DP slave PKW area response PEW 256 0001 0011 1011 0011 PEW 258 0000 0000 0000 0000 PEW 260 0000 0000 0000 0000 PEW 262 0000 0001 0010 0000 Bit 8 gt Speed controller at its limit Bit5 gt Standstill monitoring Refer to Chapter 6 2 IND Sub index sub parameter number array index PWE Parameter value AK Task and response ID PNU Parameter number Output signals at the DP slave AK 1 PNU 947 Index 0 Value high Value low Fig 4 7 Example Reading parameters via PROFIBUS Note The SIMATIC S7 FB 11 block can be used to Head parameters via PROFIBUS gt Refer to Chapter 3 2 2 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 4 127 4 Communications via PROFIBUS DP 02 00 4 3 Parameter area PKW area 4 3 3 Example Writing parameters via PROFIBUS Example Reading parameters via PROFIBUS What has to be programmed on the master side 4 128 Dependent on a condition a value of 786 5 mm should be written into the position in traversing block 4 P81 4 via PROFIBUS Assumptions for the slave e The drive has been completely commissioned is connected to PROFIBUS DP and is ready to run e PROFIBUS node address 12 Assumptions for the master e The DP master is a SIMATIC S7 CPU S7 315 2 DP
296. tate of terminal 2 Feedback signal byte RMB refer to Chapter 4 2 and 4 2 2 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 183 5 Description of the Functions 04 01 5 5 SIMODRIVE POSMO A functions 5 5 11 Jogging without PROFIBUS and parameterization from SW 1 4 Description What should be done 5 184 Using this function it is possible to immediately traverse the positioning motor in the jog mode using the input terminals without PROFIBUS communication and without parameterization If PROFIBUS node address 0 or 127 is detected when the positioning motor is powered up all address switches are either OFF or ON then the following is executed e The factory default setting for the parameters is downloaded e Parameters which were possibly changed beforehand are ignored e Jogging is selected with the following data P100 17471 dec gt simulation of the control word P31 4 function terminal 1 lt gt jogging P32 5 function terminal 2 lt gt jogging These changes are not saved The following has to be done to be able to use the positioning motor in the jogging mode without parameterization and PROFIBUS 1 Connect the load power supply and both digital inputs gt refer to Chapter 2 3 and 2 4 2 Set the PROFIBUS node address to 0 or 127 gt refer to Chapter 2 3 1 and Table 2 3 Caution For reliable operation it is absolu
297. te The following applies before SW 1 4 Min value 0 0 Siemens AG 2005 All Rights Reserved 5 206 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 5 Description of the Functions 5 6 Parameters for SIMODRIVE POSMO A P0016 10 Max overcurrent 300W Min Standard Max Unit Data type Effective 0 10 5 42 A C4 immed Max overcurrent for the breakaway torque Note This parameter has a gearbox dependent factory default The parameter is valid for n lt 100 RPM and max 500 ms Maximum values depend on the gear unit gt see User Manual under the heading Gear unit dependant parameters factory settings The following applies as from SW 1 5 The parameter value can be changed while traversing 075W Min Standard Max Unit Data type Effective 0 9 18 A C4 immed Max overcurrent for the breakaway torque Note This parameter has a gearbox dependent factory default The parameter is valid for n lt 100 RPM and max 500 ms Maximum values depend on the gear unit gt see User Manual under the heading Gear unit dependant parameters factory settings The following applies as from SW 1 5 The parameter value can be changed while traversing P0017 11 P gain speed controller 300W Min Standard Max Unit Data type Effective 0 3 100 14 immed The parameter specifies the P gain for traversing operation Note The parameter value can be changed while traversing Also refer to P54 075W M
298. te positioning or precise stop no external block change When the block change is recognized the position actual value of the axis is written into P55 signal position No external block change Read in enable Read in enable The following program block is enabled for execution 14 no read in enable No read in enable Open holding brake The integrated holding brake can be controlled using this signal Open holding brake The signal corresponds to P56 4 open holding brake 15 brake sequence control ef Note fective If the holding brake is controlled using an input terminal with from SW 1 4 function number 26 open holding brake then this signal has no effect gt Refer to Chapter 5 5 13 Brake sequence control effective Siemens AG 2005 All Rights Reserved 4 106 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 02 99 4 Communications via PROFIBUS DP 4 2 Process data PZD area Select The master selects the traversing block to be started by entering the block number required block number into this control byte Anwsatz The selection becomes effective if e If neither a traversing block nor program is active e The program or the traversing block has been completely executed e The program or the traversing block was canceled by an external signal or a fault Start byte The start byte is compared with a bit mask SMStart P86 x program STB med in a traversing block This means that the program sequence can be i
299. ted under the following conditions Effective overall moment of inertia motor moment of inertia Coincidence factor 1 Braking from rated speed in S3 duty SITOP power Diode adapt the current load capacity to SITOP if required use a heatsink Te 24V CH ty ML To the M SIMODRIVE SIMODRIVE remaining Elko POSMO A 1 POSMOA 3 system gt 15000 uF 50 V Fig 2 11 Example Regenerative feedback protection with diode and capacitor Regenerative feedback protection with Power Management Module 24 V DC DC PMM 24V 1 DC PMM 24V can accept a braking power of 10 W Example Braking 5 motors that individually have a rated current of 5 A and a regenerative feedback energy of 3 Ws per braking operation once simultaneously then a DC PMM 24V is sufficient for this single bra king operation However in this case it is not possible to continuously brake the motors per second or over a longer time period as in this case the maximum permissible continuous power of 10 W would be excee ded and the I t monitoring would respond The unit goes into a fault condition and can only be restarted after a reset Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 2 Installing and Connecting Up Regenerative feedback protection for 48 V supply 300 W m
300. tely necessary that the motor is correctly mounted and connected up refer to Chapter 2 3 Switch on the load power supply 4 Operate the positioning motor in the jogging mode 24 V 0 V at X5 WO gt jogging 1 ON OFF jogging 24 V 0 V at X5 Q2 gt jogging 2 ON OFF jogging Note e Jogging mode refer to Chapter 5 4 1 e After setting a PROFIBUS node device address 0 or 127 then standalone operation is possible as usual refer to Chapter 5 5 12 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 04 01 5 Description of the Functions 5 5 SIMODRIVE POSMO A functions 5 5 12 Standalone mode without bus communication from SW 1 2 Description ZN Setting standalone mode Safety signals such as e g OFF1 are continually required This means that when bus communications are interrupted the motor is immediately shut down with fault This can be prevented using P100 simulation of the control word Caution In standalone mode the drive is automatically reset in event of an error in other words e The faults which occur are automatically acknowledged e Before SW 1 3 the following applies The block sequence is re started e From SW 1 3 the following applies The block sequence is continued from the next defined block If the value of P100 is not equal to zero e g 443Fhex when powering up without a master or if communications
301. the Functions 5 4 Operating modes only the pos mode 5 4 Operating modes only the pos mode As standard SIMODRIVE POSMO A is in the automatic mode The operating mode can be changed using the bits in the control word 5 4 1 Jogging Description Traversing blocks 1 and 2 are reserved for jogging Note Pre assignment of traversing blocks 1 and 2 for jogging gt refer to Chapter 5 3 1 The jog mode has the following functions e After setting the appropriate control signal the jog traversing block is selected and immediately executed Control signal STW 8 Jogging 1 ON OFF Control signal STW 9 Jogging 2 ON OFF e After this signal has been withdrawn the block is stopped The distance to go is rejected After this the block selection is re activa ted via the control signal SNR e f both jogging signals are simultaneously set or if the axis is not at standstill due to an active traversing block then jogging is rejected with an alarm e When jogging speed and acceleration override are effective Speed P82 x P26 P24 e P8 refer to Chapter 5 6 2 Acceleration P83 x P27 P25 e P9 refer to Chapter 5 6 2 e Stop and intermediate stop do not influence the jogging blocks Defining the The following is valid when viewing the output shaft of the positioning direction of motor rotation of the e If the shaft rotates in the counter clockwise direction gt the motor dir
302. the various possible applications and the resul ting load types as well as varying ambient conditions Factors which influence the lifetime include Gearbox e Duty types from continuous operation with one direction of data rotation up to extreme start stop operation with load levels Planetary gear from partial load up to full load and significant surge loa ding e Forced rotation accelerations or delays from the outside e External mechanical loads in the form of a vibration and shock e The ambient temperature and humidity moisture e Motor without gearbox 3 9 kg s e Motor with 1 stage gearbox 5 1 kg Weights e Motor with 2 stage gearbox 5 4 kg e Motor with 3 stage gearbox 8 2 kg Climatic envi Relevant Standards IEC 68 2 1 IEC 68 2 2 ronmental conditions Climatic oper Operating temperature range 20 45 C ating condi Extended operating to 65 C with continuous reduced motor current tions temperature range Relevant Standards according to DIN EN 60721 Part 3 3 Class 3K5 Transport and storage 40 70 C temperature range Climatic Relevant Standards according to DIN EN 60721 Part 3 1 and 3 2 Class 2K4 and transport and 1K4 storage conditions Note Data applies for components which have been packed ready for transport Mechanical Relevant Standards IEC 68 2 32 ambient conditions Siemens AG 2005 All Rights Reserved 2 70 SIMODRIVE POSMO A User Manual POS
303. tion PROFIBUS node address 12 Part address O address PKW 256 263 256 263 not shown in the example PZD 264 267 264 267 SIMATIC S7 300 CPU S7 315 2 DP PG PC Prerequisites e Gearbox ratio is entered in P3 e P880 4096 Control signals STW PAW 264 xxxx xxxx x111 1111 PAW 266 0000 0001 1111 01000 PROFIBUS DP e em em e em e e e em e e Status signals ZSW PEW 264 1010 0111 0011 0111 PEW 266 0000 0001 1111 0100 Input signals at the DP slave Output signals at the DP slave DP slave POSMO A PAW Peripheral output word PEW Peripheral input word STW ZSW Control word Status word Fig 4 4 Example Drive should traverse with n set Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 4 117 4 Communications via PROFIBUS DP 05 03 4 2 Process data PZD area 4 2 5 Sequence diagram Vartable speed drives pos mode STW Control word START ZSW Status word p Bit dep on the program 0 or 1 Traversing task bit of the STW Power on inhibit s i ZSW Bit not defined 0 o
304. tive but the drive has not been re ferenced so that it can be traversed up to a maximum of 200000 mm degrees inch Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 3 91 3 Commissioning 04 01 3 3 Commissioning an axis Example How are the assumed values represented in Fig 3 8 in the appropriate Parameterizing parameters a rotary axis Motor Gearbox Gearbox Traversing range 3000 RPM 1 45 1 4 0 to 360 degrees modulo 360 degrees Posmoa gt lt D Fig 3 8 Example Parameterizing a rotary axis e P1 360 Axis type rotary axis modulo 360 degrees e P2 360 Travel per gearbox revolution e P3 18 4 5 4 Gearbox ratio e P4 1 Dimension units degrees e P6 P7 0 For a rotary axes deactivate the software limit switch e P8 3000 Maximum speed e P10 60000 Maximum velocity Vmax 3000 RPM 360 degrees 18 60000 degrees min For a rotary axis the internal position actual value calculation limits the maximum modulo value with which a drive can be parameterized The following inter relationship exists F in the following is a conversion factor which depends on the dimen sion system Dimension system inch F 25 4 Dimension system mm degrees F 1 e POSMO A 75 W P1 lt 2147483647 P2 Fe 816 e P3 P2 gt Die Fe 816 P3 2147483647 P3 lt 2147483647 P2 Fe 816 P1 e PO
305. to be able to simply check the data transfer in the applica tion example allocate the data as shown in the example to an ap propriate data block Now save OB 1 with save and close the window of the program edi tor for the OB 1 Now create DB 40 Using the task bar change from Windows 95 NT to the SIMATIC Manager and select the blocks object folder The block objects system data OB 1 DB 40 SFC 14 and SCF 15 are in this object folder Transfer these with download all blocks into the CPU 315 2DP After the transfer has been completed the CPU 315 2DP must be switched back to RUN If the motor is connected the LED display elements for the DP in terface are dark The CPU must be in the RUN condition Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 4 131 4 Communications via PROFIBUS DP 02 99 4 4 Settings at the PROFIBUS DP master 4 4 2 Installing the new master device files GSD Installing a new GSD file Importing station GSD When configuring a PROFIBUS DP system where DP devices are to be incorporated which the configuring tool does not know then the new GSD files must be appropriately installed How is a new GSD file installed with SIMATIC S7 New GSD files are installed in HW Config as follows TOOLS gt Installing new GSD file All of the GSD files of DP devices of a plant system are saved in the project e g for SIMATIC S7 This means tha
306. toring e P6 Software limit switch start functions WE refer to e P7 Software limit switch end Chapter 5 6 2 e P12 Maximum following error e P14 Standstill range Note There are neither software switches nor traversing range limits in the n set mode from SW 2 0 The drive must always be able to rotate endlessly and therefore to be parameterized as rotary axis It must be de referenced Siemens AG 2005 All Rights Reserved 3 90 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 04 01 3 Commissioning 3 3 Commissioning an axis Example How are the assumed values represented in Fig 3 7 in the appropriate Parameterizing a linear axis parameters Motor Gearbox Traversing range 3000 RPM 1 4 5 1000 1000 Table 20 Leme POSMO A D Errr bee aad Spindle Fig 3 7 Example Parameterizing the linear axis e P1 0 Axis type linear axis e P2 20 Travel per gearbox revolution es P3 45 Gearbox ratio e P4 0 Dimension units mm e P6 1000 SW limit switch start e P7 1000 SW limit switch end e P8 3000 Maximum speed e P10 13333 33 Maximum velocity Vmax 3000 RPM e 1 4 5 e 20 mm 13333 33 mm min When parameterizing a linear axis the maximum possible traversing range is automatically defined as 200000 mm degrees inch This means that e the software limit switches are de activated POOO5 P0006 or e the software limit switches are ac
307. torques indicated in Chapter 2 5 1 for POSMO A 75 W and 2 5 2 for POSMO A 300 W The electrical torque limiter is inef fective here The torque must therefore be limited with mechanical measures for for ced braking The endstop therefore cannot be designed to be perma nently fixed rather it must be flexible enough that the forced braking process is extended over a specific minimum time At The minimum time results from e The translated moment of inertia of the motor Jmot s i2 e The speed at the gearbox output Nsnatt at which the endstop is approached The speed must be entered in rad s for computational inspection e The maximum permissible gearbox torque for the POSMO A 75 W with i 162 1 and a speed of 18 rpm cor responds to a motor speed of 2916 rpm yields for example 2en 18 rom e _ e 0 00006 kg e m2 e 1622 Nsnatt Umot iP 60 smin SC At 65ms Mmax_perm 48Nem The mechanical components of the endstop according to the diagrams in Table 5 7 must therefore be designed to be flexible enough that the motion is not braked abruptly but is extended over at least 65 ms The centrifugal masses that are braked to a standstill by the mechanical endstop comprise not only the moment of inertia of the motor as in the above example but all moments of inertia and linearly moved masses participating in the motion For the event that the mechanical forced braking takes place unev
308. tpoint operating mode P930 The setpoint specifies the speed at the gear output P0973 3CD Actual block number and checkback byte n actual 300W 075W Min Standard Max Unit Data type Effective Hex V2 RO For the complete PZD status the actual block number and the return byte in the PKW channel are signaled here Note Available from SW 1 4 The following applies from SW 2 0 The actual speed value is returned using these bits in the Speed setpoint operating mode P930 The actual value represents the speed at the gear output 0980 116 3D4 Supported parameters 300W 075W Min Standard Max Unit Data type Effective gt RO All of the parameters supported by the device are listed here in an increasing sequence P980 0 gt no significance P980 1 1 P1 P980 77 990 P990 Siemens AG 2005 All Rights Reserved 5 228 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 5 Description of the Functions 5 6 Parameters for SIMODRIVE POSMO A 0990 116 3DE Changes with respect to the factory default 300W 075W Min Standard Max Unit Data type Effective 12 RO All of the parameters which have been changed over the factory default are listed here in an increasing sequence P990 0 gt no significance P990 1 4 e g P4 P990 2 990 P990 P990 3 after the end of the list Note For parameters with index the parameter number is listed if at least 1 parameter of the array was cha
309. ue Position actual value or Assign a valid position actual value from P5 The position of the last zero mark is set to the value in P5 refe rence point coordinate by start referencing and stop referen cing STW 11 The actual position to be written is corrected by the distance which was traveled since the last zero mark Set the stop referencing depending on reference point set ZSW 11 Reader s note Travel to fixed stop function refer to Chapter 5 5 3 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 02 99 5 Description of the Functions 5 5 SIMODRIVE POSMO A functions Reference point The reference point approach is executed via program The axis traver approach to BERO ses without direction of reversal dependent on the reference cam sig without direction nal reversal Zero marks lt lt i oa Reference Reference cam i oa mark signal e g from BERO Reference cams Traversing f MN profile Fig 5 5 Reference travel to BERO without direction reversal Prerequisites Connect reference cam signal to terminal 1 X5 I Q1 refer to Chapter 2 3 Define terminal 1 as input and transfer the input terminal signal di rectly into the start byte e g start byte bit 7 gt P31 25 refer to Chapter 5 5 10 Program the following traversing program exa
310. ue PZD trailer PKW Ba a Fa a E ae Fi Zus ME D et Zn a ae Fig 4 2 Telegram structure for cyclic data transfer PPO types There are 5 defined PPO types PPO1 to PPO5 For SIMODRIVE POSMO A only PPO type 1 PPO1 can be used PPO1 is structured as follows e 4 words for the parameter area PKW area e 2 words for the process data area PZD area Table 4 2 Structure of Parameter Process Data Object 1 PPO 1 Net data PKW PZD e Refer to Chapter 4 3 e Refer to Chapter 4 2 PKE IND PWE Pa tae 1st 2nd 3rd 4th 1st 2nd word word word word word word PPO1 Abbreviations PPO Parameter Process data Object PKW Parameter ID value PKE Parameter ID IND Sub index sub parameter number array index PWE Parameter value PZD Process data Siemens AG 2005 All Rights Reserved 4 102 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 05 03 4 Communications via PROFIBUS DP 4 2 Process data PZD area 4 2 Process data PZD area Structure The process data area for PPO type 1 consists of 2 words PZD 1 and PZD 2 Table 4 3 Structure of the process data PZD Net data PKW PZD e Refer to Chapter 4 3 PKE 1st word PPO1 Bit Master gt slave Control signals refer to Chapter 4 2 1 Master lt slave Status signals refer to Chapter 4 2 2 Bit Master gt slave Control signals refer to Chapter 4 2 1 Master lt slave Statu
311. ules must be observed for regenerative feedback protec tion e Regenerative feedback protection must be used when using a clocked load power supply e g SITOP power e If the regenerative feedback energy is unknown then regenerative feedback protection should always be used Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 2 37 2 Installing and Connecting Up 06 05 2 2 Electrical system requirements Power If multiple axes are braked simultaneously in a system for operational Management reasons e g in the event of an EMERGENCY STOP or quasi simulta Module neous traversing a power management module DC PMM must be DC PMM used in order to convert the regenerative feedback energy The DC PMM is connected between the load power supply and the first positioning motor SIMODRIVE POSMO A Type Order No MLFB SIEMENS DCPMM 24y DC PMM 24V 9AL2137 1AA00 1AA0 se DC PMM 48V 9AL2137 1BA00 1AA0 Note Operating instructions in German and English are provided with the power management module DC PMM Fig 2 9 Power Management Module DC PMM Functions features and technical data 2 38 Converting the regenerative feedback energy using an integrated pulsed resistor with Dt monitoring Regenerative feedback protection Signals e g ready fault Max continuous motoring current capacity 25A Ambient temperature 0 55 C Continuous power 10
312. ult is output and the drive is powered down The ambient temperature is too high Observe the de rating characteristic Reduce ambient temperature not required None Motor i2t monitoring The I2t limiting for the motor current is active the current is limited to Irated The load or the load duty cycle is too high Reduce load duty cycle not required None Standstill monitoring The motor was moved out of the standstill area P14 in the closed loop controlled status Note The warning is only signaled if the appropriate fault is suppressed not required None Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 6 243 6 Fault Handling and Diagnostics 06 05 6 2 Faults and alarms 803 P953 3 Cause Remedy Acknowledgement Stop response 804 P953 4 Cause Remedy Acknowledgement Stop response 6 244 Software limit switch start The actual position lies outside the range defined by the software limit switch When traversing to a software limit switch the motor is always stop ped SW 1 6 and higher This warning is also signalled if the traversing range limits of the axis 200000mm or degrees or inches are re ached In this case the additional information 910 P954 10 is output SW 2 0 and higher This warning is also output when the corresponding hardware limit switch start has been overrun In this case additional information 911 P9
313. ult present using its diagnostics LED red flashing light e Warnings refer to Table 6 2 Warnings are automatically deleted after the cause of the fault has been removed Faults indicate to the user positioning motor states where the motor can only be shut down or switched into a no current condition How does the DP master evaluate faults 1 By reading the status signal ZSW 3 fault present A 1 signal indicates that there is at least 1 fault 2 By reading P947 8B3hex The parameter value indicates bit coded which faults are present refer to Table 6 2 and Chapter 6 2 2 3 By reading P954 3BAhex from SW 1 4 The parameter value indicates bit coded which supplementary information is present refer to Table 6 2 and Chapter 6 2 2 How are the faults acknowledged 1 Remove the cause of this fault refer to Chapter 6 2 2 2 STW 7 reset the fault memory set 0 1 signal edge 3 Set the STW O ON OFF 1 to 0 and 1 Note If the status signal ZSW 3 fault effective is not 0 then the above points should be repeated for the fault or faults that are still present SIMODRIVE POSMO A can only resume normal operation after all of the faults that are present have been acknowledged The faults are described in detail in Chapter 6 2 2 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 6 235 6 Fault Handling and Diagnostics 08 04
314. ults and alarms 6 2 2 List of faults and warnings Di 700 P947 0 Cause Remedy Acknowledgement Stop response 701 P947 1 Cause Remedy Acknowledgement Stop response 6 238 Reader s note The faults and warnings listed in the following are valid for all software releases of SIMODRIVE POSMO A The complete list is updated corresponding to the Edition of the documentation refer to the Edition status in the header line and corresponds to the software release of SIMODRIVE POSMO A documented here The individual faults and warnings are not designated as a function of the software release Version 04 03 02 Overvoltage The load voltage has exceeded 35 V 75 W motor or 60 V 300 W motor When braking the braking energy is excessive which causes an inad missible increase in the load voltage Provide regenerative feedback protection Remove cause set STW 7 1 0 and STW O 0 1 Pulse suppression Undervoltage of the load current supply The load voltage has fallen below 17 V The load power supply is overloaded SITOP The load voltage was powered down when braking due to over voltage The following applies as of SW 3 0 this fault only occurs if the drive is to be switched from follow up mode to control mode If no enable sig nals are set in the control word and only the power supply to the elec tronics is switched on the alarm Undervoltage load power supply is signalled This ala
315. ut i gearbox S1 continuous i No load Uy 24 VDC duty operating point Or SES gt 2000 GE n Nn 3300 rev min Nno Ioad 3600 0 45 C up to 65 C with continuous motor current reduction Is Al 4 g ast Continuous motor current Dr d ee IN Fr reduction as a function of the Permissible u ambient temperature ambient tem SEE SE SASS ER perature op i 2 EE ee NER SE K LA 0 45 50 55 60 65 ot Siemens AG 2005 All Rights Reserved 2 62 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 2 Installing and Connecting Up Table 2 6 2 6 Technical data Technical data for the POSMO A 75 W positioning motor continued Name Description Degree of IP 54 protection Note EN 10034 IP40 at the motor shaft and planetary gearbox shaft If necessary an external seal must Part 5 be provided The shaft may not run in an oil bath If necessary grease lubrication must IEC 34 5 be provided Installation Installation altitude above sea levelinm Output as a of the rated output altitude 1000 100 1500 97 eng 2000 94 permissible 2500 90 output 3000 86 3500 82 4000 77 Motor type Permanent magnet brushless servomotor brushless DC BLDC Cooling Non ventilated free convection Note The clearance gt 100 mm must be maintained to adjacent parts and components on at least three sides of the SIMODRIVE POSMO A Overload monitoring i2t limitation Measuring
316. utputs digital Installation altitude 2 63 2 67 Integrated help Interfaces 2 47 Intermittent duty S3 2 64 2 67 Internet address Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition Start byte condition 5 145 J Jerk limiting 5 179 Jogging operation 5 153 In the standalone mode 5 186 without PROFIBUS and parameterization from SW 1 4 5 184 K Kv factor position loop gain 3 93 L LED display 6 233 Linear axis 3 91 List of abbreviations of faults of gearbox dependent parameters of parameters of references B 265 of the gearboxes 300 W motor of the terminal functions of warnings Class 2 4 99 4 111 4 114 Master device file GSD 4 130 EIER Meas system 300 W motor 75 W motor 2 63 Measurement flying from SW 1 4 5 166 Measuring outputs 6 250 Modulo value 3 92 5 175 Moisture protection 2 57 E 287 E Index 06 05 Monitoring when positioning Following error 4 111 Reference position reached 4 111 Standstill monitoring zero speed moni toring 5 181 Motor holding brake from SW 1 4 5 187 5 194 Motor identification 5 200 Motor type 1 19 1 23 5 201 Mounting and installation steps for gearboxes 300 W motor 7 256 for motor mounting 2 51 for the drive unit 300 W motor 7 259 MSR dimension system grid 5 201 N New information for SW
317. valuation The following applies from SW 1 4 If the set reference position function is activated PSW 9 1 or flying actual value setting PSW 10 1 this parameter is the setting value The signaling position function is then inactive Refer to P81 28 target position P0086 28 56 SMStart MMStart 300W 075W Min Standard Max Unit Data type Effective 0 0 FFFF Hex V2 immed Message mask start MMStart Contains the bit mask which is activated when starting a traversing block and which is OR d with the status signals RMB Start mask start SMStart Contains a mask which defines which bits of the start byte STB are evaluated in the PZD as additional start bits The block starts as soon as all of the configured bits are set in addition to the normal start enable signals If one of the bits is withdrawn traversing motion stops and the block is ended Note Value 0 de activates the function Refer to P81 28 target position Siemens AG 2005 All Rights Reserved 5 222 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 06 05 5 Description of the Functions 5 6 Parameters for SIMODRIVE POSMO A P0087 28 57 MMPos MMStop 300W 075W Min Standard Max Unit Data type Effective 0 0 FFFF Hex V2 immed Message mask stop MMStop Bits which are activated at the end of a traversing block and on the status signals RMB MMStop is reset when starting a new traversing block Message mask position MMPos
318. ves refer to Chapter 2 3 1 Fig 3 5 Example for online operation via PROFIBUS SimoCom A lt gt 2 drives Siemens AG 2005 All Rights Reserved 3 82 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 02 99 3 Commissioning 3 2 Commissioning the DP master Entry into Prerequisites SIngSOmER The parameterizing and start up tool SimoCom A is installed on the PG PC and can be started The following basic screen is displayed after the first start IP Neue Offline Datei er Vorhandene Datei off Online Antriebe suchi Fig 3 6 Basic display of SimoCom A Note This is what you really need to know when using SimoCom A The program attempts to think with you e If you select a command which is presently not available for a specific reason e g you are offline and wish to move an axis then the program does what you would probably wish it to do It goes online and offers you a list of drives and after the required drive has been selected it opens the traversing window However if you do not wish to do this then you can exit and continue as required e Only the information is provided in the dialog boxes which must be available as a result of the selected configuration Please observe the information on SimoCom A in Table 3 1 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 3 83 3 Commis
319. ways display the PZD data presently being internally used in the drive This can used when establishing a connection to the drive after bus failure or replacing the master to immediately send the last va lid control word for which STW 10 1 the last valid block selection and start byte or speed setpoint to the drive This means that the connection can be immediately restored without changing the status of the drive The drive behavior is compatible to previous software releases PZD data is always evaluated independently of STW 10 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 04 01 5 Description of the Functions 5 6 Parameters for SIMODRIVE POSMO A 5 6 Parameters for SIMODRIVE POSMO A 5 6 1 General information on parameters General information Saving parameters Changing parameters The majority of the parameters required when commissioning the system for the first time are for SIMODRIVE POSMO A already pre set in the factory factory default setting All of the motor power module and encoder data are known because of the fixed hardware This means that the commissioning start up data is limited to defining the gearbox refer to Chapter 5 6 3 and the system geometry as well as some positioning data and software limit switches There is a non volatile memory to save parameters After parameters have been changed they must be saved by transfer ri
320. witched Line supply Con tactor 400 V e g SITOP 24 V 48 V T aa me DC PMM Optional according to Chapter 2 2 3 SIMODRIVE 3 Pa PA j tactor This is absolutely necessary DC PMM in order to eliminate SIMODRIVE POSMO A e g for a protective gate Fig 2 4 Switching in switching out 24 V 48 V on the primary side with a POSMO A to be separately switched Siemens AG 2005 All Rights Reserved 2 32 SIMODRIVE POSMO A User Manual POS1 06 05 Edition 08 03 2 Installing and Connecting Up 24 V supply 75 W motor 48 V supply 300 W motor 2 2 Electrical system requirements Technical data for the 24 V supply refer to Chapter 2 6 1 Recommendation for the 24 V power supply Use a regulated SITOP power power supply module to provide the 24 V power supply There are units with current ratings of 10 A 20 A and 40 A Reference KT101 SITOP power power supplies Catalog Regenerative feedback protection when braking the motor refer to Chapter 2 2 3 Technical data for the 48 V supply refer to Chapter 2 6 2 First recommendation for the 48 V power supply Use a regulated SITOP modular 48V 20A power supply module to pro vide the 48V load power supply The SITOP 48 V 20 A power supply is a chassis unit e Order No 6EP1 457 3BA00 Table 2 1 Technical data SITOP modular 48V 20A Name Description 3 ph 230 400 V 288 500
321. xpanded functional scope including the speed setpoint operating mode are available in the software package Drive ES SIMATIC from Version 5 3 onwards Siemens AG accepts no liability and no warranty that these block ex amples operate error free The software license conditions according to Class C apply gt Refer to the description of the function blocks which has also been installed Prerequisites SIMATIC S7 Manager version 4 02 and higher Run the unzipped file setup exe and following the instructions The function blocks are then available in the SIMATIC Manager under the Posmo A Library Vx library The associated description of the function blocks is available as pdf document under Start gt Simatic gt S7 Manuals gt Posmo A Library Reader s note In order that you always have an up to date description which matches the blocks please refer to the information on the blocks provided in the PDF document which was also installed Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 08 03 3 Commissioning 3 2 Commissioning the DP master 3 2 3 Parameterizing and start up tool SimoCom A from SW 1 5 Prerequisite Where can I get SimoCom A Which version is the optimum SimoCom A version Di A PG PC is required to install the tool it must fulfill the following mini mum requirements e Operating syste
322. y switched out then this drive motion is not detected Possible counter measures include e If there are separate electronics and load power supplies then the electronics power supply must be switched off with a delay after the load power supply has been switched off e The pulses should be cancelled before switching off the load and electronics power supply e g using STW 1 0 Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 5 165 5 Description of the Functions 08 02 5 5 SIMODRIVE POSMO A functions 5 5 2 Flying measurement actual value setting from SW 1 4 Note For the flying measurement actual value setting function digital input 1 is updated in a 125 us grid While the motor is braking a 0 1 edge is ineffective and the flying measurement actual value setting function is not executed Flying The positioning motor can be used for test purposes using the flying measurement measurement function from SW 1 4 Input signal flying measuring actual value setting e Brakes along the braking ramp Block change with delete distance to go The position value is written into P62 measuring position e Continue the program o What happens for a 0 1 signal edge S e Traverses as programmed in the block e The measured value in P62 measuring position is not updated No input signal detected Fig 5 9 Example Flying measu
323. ype 9 Descriptive element not available 17 Task cannot be executed due to the operating state 18 Other error Data types The data type to which the parameter is assigned must be written into the parameter values using the PKW mechanism The following apply for the format names acc to the recommended PROFIBUS guideline Table 4 16 Parameter formats Format Length Description byte C4 4 Fixed point value 32 bit with 4 decimal places value number 10 000 Example P11 75 000 gt 7 5mm 14 4 32 bit integer number 32 bit integer 12 2 16 bit integer number 16 bit integer T4 4 32 bit time constant as for unsigned 32 bit integer Time as a multiple of the sampling time of 10 ms T2 2 16 bit time constant as for unsigned 16 bit integer Time is entered as a multiple of the sampling time Speed control 1 ms position control 10 ms N2 2 Linear normalized value 200 100 4 000hex 16 384 gc E2 2 Linear fixed point value 16 bit with 7 binary decimal places D Ohex 128 4 000hex v2 2 Bit sequence 16 Boolean quantities combined in 2 octets Note All data are saved in the little Endian format the same as for the PROFIBUS Standard Siemens AG 2005 All Rights Reserved SIMODRIVE POSMO A User Manual POS1 06 05 Edition 4 123 4 Communications via PROFIBUS DP 02 99 4 3 Parameter area PKW area Transferring traversing blocks EAI Rules

User Manual 06/2005 Edition - Service, Support

Contents

Download Pdf Manuals

Related Search

Related Contents