gefran POS-MINI SIEIDrive User manual

.....Instruction Manual
SIEIDrive
ONE-AXIS POSITIONER
POS-MONO

The information held in this manual can be modified without notice and
it is not strictly binding for GEFRAN S.p.A.
For no reason no part of this manual can be reproduced in any form or by
any means (including recording and photocopying) without a written
consent of GEFRAN S.p.A.
GEFRAN S.p.A. is not responsible for those mistakes that may be found
in this manual and for the damages that they may cause.
Before the inverter installation, wiring, commissioning and inspection,
read the instruction section carefully.
All rights reserved.

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Table of contents
Introduction ................................................................................................................ 7
1. Commands .............................................................................................................. 7
1.1. Command Single Parameter ...................................................................................................... 7
1.2. Zero Cycle ................................................................................................................................. 8
1.3. Jog Commands ......................................................................................................................... 8
1.4. IncrJog Commands ................................................................................................................... 8
1.5. Move1 Command...................................................................................................................... 9
1.6. Move2 Command.................................................................................................................... 10
1.7. MoveN Command ................................................................................................................... 11
2. Functions .............................................................................................................. 12
3. Configurator .......................................................................................................... 13
3.1. Main Page ............................................................................................................................... 13
3.2. Command Page ....................................................................................................................... 14
3.3. Position Set ............................................................................................................................. 15
3.4. 01-04 Area .............................................................................................................................. 16
3.5. Digital Input Configuration 1 .................................................................................................... 17
3.5.1. Digital Input Configuration 2 ............................................................................................17
3.6. Digital Output Configuration .................................................................................................... 18
3.7. Command Configuration .......................................................................................................... 19
3.7.1. Move 1 Command Configuration .................................................................................... 19
3.7.2. Move 2 Command Configuration .................................................................................... 20
3.7.3. Move N Command Configuration .................................................................................... 20
3.8. Axis Configuration................................................................................................................... 21
3.9. Encoder Configuration ............................................................................................................. 22
3.10. Absolute Encoder Configuration ............................................................................................23
3.11. About Application... .............................................................................................................. 24
4. Description of the Axis Configuration Parameters .............................................. 25
5. Configuration Examples ....................................................................................... 26
5.1. Configuration Example of a Linear Moved Axis with Absolute Encoder ................................... 26
5.1.1. Axis Features................................................................................................................... 26
5.1.1.1. Absolute Encoder ............................................................................................................. 26
5.1.1.2. Incremental Encoder ......................................................................................................... 26
5.1.1.3. Motor ............................................................................................................................... 26
5.1.1.4. Motor Reducer ................................................................................................................. 26
5.1.1.5. Axis .................................................................................................................................. 26
5.1.1.6. Requirements ................................................................................................................... 26
5.1.2. Phase 1: Preliminary Calculation of the Axis Parameters ................................................. 26
5.1.2.1. Operation Sequence ......................................................................................................... 26
5.1.2.2. Parameter First Configuration ........................................................................................... 27
5.1.2.3. DltDisp Calculation ........................................................................................................... 27
5.1.2.4. MaxSpd Calculation ......................................................................................................... 28
5.1.2.5. MaxAcc Calculation ......................................................................................................... 28
5.1.2.6.OutNorm Calculation ......................................................................................................... 28

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5.1.3. Phase 2: Check of the Set Parameters ............................................................................. 28
5.1.3.1. Operation Sequence ......................................................................................................... 28
5.1.3.2. First Steps ........................................................................................................................ 28
5.1.3.3. Check of the Incremental Encoder. ................................................................................... 28
5.1.3.4. Check of the Absolute Encoder ......................................................................................... 28
5.1.3.5. Check that the axis remains stopped and closed in the position loop ............................... 28
5.1.3.6. Check of the manual commands ...................................................................................... 29
5.1.3.7. Check of the axis unit of measure .................................................................................... 29
5.1.3.8. Calibration of the Absolute Encoder .................................................................................. 29
5.1.3.9. Zero Cycle execution ........................................................................................................ 29
5.1.3.10. Detection of the Electronic Limit Switches ..................................................................... 30
5.1.3.11. Zero Cycle repetition ...................................................................................................... 30
5.1.3.12. Check of the Electronic Limit Switches........................................................................... 30
5.1.3.13. Calibration of the ideal value........................................................................................... 30
5.1.3.14. Tuning of the Proportional Gain .......................................................................................31
5.1.3.15. Tuning of the maximum error for a static positioning ...................................................... 31
5.1.3.16. Tuning of the maximum dynamic error ........................................................................... 31
5.1.3.17. Tuning of the test threshold for a positioned axis............................................................ 31
5.1.3.18. Automation of the zero cycle procedure ......................................................................... 32
5.1.3.19. End of the operations...................................................................................................... 32
5.2. Configuration Example for a Linear Moved Axis with an Incremental Encoder ........................ 32
5.2.1. Axis Features................................................................................................................... 32
5.2.1.1. Incremental Encoder ......................................................................................................... 32
5.2.1.2. Motor ............................................................................................................................... 32
5.2.1.3. Motor Reducer .................................................................................................................32
5.2.1.4. Axis .................................................................................................................................. 32
5.2.1.5. Requirements ................................................................................................................... 32
5.2.2. Phase 1: Preliminary Calculation of the Axis Parameters ................................................. 33
5.2.2.1. Operation Sequence ......................................................................................................... 33
5.2.2.2. Parameter First Configuration ........................................................................................... 33
5.2.2.3. DltDisp Calculation ........................................................................................................... 34
5.2.2.4. MaxSpd Calculation ......................................................................................................... 34
5.2.2.5. MaxAcc Calculation ......................................................................................................... 34
5.2.2.6. OutNorm Calculation ........................................................................................................ 34
5.2.2.7. Zero Cycle search ............................................................................................................. 34
5.2.3. Phase 2: Check of the set parameters ............................................................................. 36
5.2.3.1. Operation sequence .......................................................................................................... 36
5.2.3.2. First steps ........................................................................................................................ 36
5.2.3.3. Check of the Incremental Encoder. ................................................................................... 36
5.2.3.4. Check that the axis remains stopped and closed in the position loop ............................... 36
5.2.3.5. Check of the manual commands ...................................................................................... 36
5.2.3.6. Check of the axis unit of measure .................................................................................... 36
5.2.3.7. Zero Cycle execution ........................................................................................................ 37
5.2.3.8. Detection of the Electronic Limit Switches ....................................................................... 39
5.2.3.9. Zero Cycle repetition ........................................................................................................ 39
5.2.3.10. Check of the Electronic Limit Switches........................................................................... 39
5.2.3.11. Calibration of the ideal value........................................................................................... 40
5.2.3.12. Tuning of the proportional gain .......................................................................................40
5.2.3.13. Tuning of the maximum error for a static positioning ...................................................... 40
5.2.3.14. Tuning of the maximum dynamic error ........................................................................... 41
5.2.3.15. Tuning of the test threshold for a positioned axis............................................................ 41
5.2.3.16. End of the operations...................................................................................................... 41

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Appendix A: Configuration of the DGFC Standard Parameters ............................... 42
Appendix B: Profibus Communication Configuration .............................................. 43
Appendix C: List of the Positioner Specific Alarms................................................. 46
Appendix D: List of the Command Error Codes ....................................................... 47

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INTRODUCTION
This manual describes the functioning methods, the configuration and the use of an independent positioner.
This positioner is suitable for DGFC mounted on AVy drives with a 1.xxx firmware version, on TPD32 from
8.000 firmware version and on AMV32 from 4.100 firmware version.
1. COMMANDS
The positioner control unit supplies the following commands:
• Zero cycle.
• Jog+ and Jog- movements.
• Jog movements with a fixed delta space
• Movement to Set Point 1.
• Movement to Set Point 2
• Movement to a 63-set point array.
The commands can be sent to the control unit with three different methods:
1. Via some suitaby configured digital inputs.
2. Via boolean parameters, which are specific for each command; such parameters can be written via the
serial communication channels.
3. Via a single parameter where each bit is assigned to a specific command. This parameter can be written
via the serial communication channels.
1.1. COMMAND SINGLE PARAMETER
The command single parameter:
name: dInAs1 ipa: 1270
has the following structure:
bit Name Description
0Enable Positioner enabling
1Hold Hold
2ResAlarm Alarm reset
3ZeroSearch Zero cycle start
4Jog+ Jog+ movement
5Jog- Jog- movement
6Move1 Movement to Set Point 1
7MoveN Movement to a 63-set point array
8IncrJog+ Jog+ movement with a fixed delta space
9IncrJog- Jog - movement with a fixed delta space
10 Move2 Movement to Set Point 2
11 Reserved 
12 Reserved 
13 Reserved 
14 ResetOverride Override set at 100%
15 EnRampS S-shaped ramp enabling

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1.2. ZERO CYCLE
When started, the control unit does not know the real position of the controlled axis; it happens indepen-
dently of the used position transducer (incremental or absolute encoder). The real position can be known
only at the end of the zero cycle. The zero cycle can be performed with different methods according to the
used transducer type; such methods are described in the following paragraphs.
The specific parameter controlling the zero cycle is the following:
name: zeroSearch ipa: 1206
The control initialization status can be detected by the following parameter:
name: zeroFound ipa: 1226
1.3. JOG COMMANDS
The Jog+ command moves the axis in a positive direction.
The Jog- command moves the axis in a negative direction.
The command is active on the Positive level.
The axis stops in two conditions:
1. When the Jog command is disabled.
2. When it reaches the maximum limit switch, for the Jog+ command, or when it reaches the minimum
limit switch, for the Jog- command.Such a condition is valid only after the zero cycle has been performed,
otherwise the axis goes on without end.
The axis speed profile can be of two types: with a normal or an S-shaped acceleration ramp. The profile is
selected via the EnableRampS (ipa 1306) parameter, whose values are the following:
• 0 It enables the speed profile with a normal ramp.
• 1 It enables the speed profile with an S-shaped ramp.
The speed, acceleration and jerk values performing the speed profile are stated via the following parameters:
• Speed name: JogSpeed ipa: 1019
• Acceleration name: JogAccel ipa: 1002
• Jerk name: JogJerk ipa: 1092 (not used with the trapezoidal profile)
The specific parameter controlling Jog+ is the following:
name: jogFwd ipa: 1209
The specific parameter controlling Jog- is the following:
name: jogRev ipa: 1210
1.4. IncrJog Commands
The IncrJog+ command moves the axis in the positive direction of the specified delta space.
The IncrJog- command moves the axis in the negative direction of the specified delta space.
These commands are active on the Positive level.

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The axis stops in three conditions:
1. When the IncrJog+ or IncrJog- command is disabled.
2. When it reaches the maximum limit switch, for the IncrJog+command, or when it reaches the minimum
limit switch, for the IncrJog- command.
3. When the fixed delta space is over.
The delta space is stated via the following parameter:
name: JogSpace ipa: 1085
The axis speed profile can be of two types: with a normal or an S-shaped acceleration ramp. The profile is
selected via the EnableRampS (ipa 1306) parameter, whose values are the following:
• 0 It enables the speed profile with a normal ramp.
• 1 It enables the speed profile with an S-shaped ramp.
The speed, acceleration and jerk values performing the speed profile are stated via the following parameters:
• Speed name: SpeedSpace ipa: 1088
• Acceleration name: AccelSpace ipa: 1091
• Jerk name: JerkSpace ipa: 1293
The specific parameter controlling IncrJog+ is the following:
name: spaceFwd ipa: 1295
The specific parameter controlling IncrJog- is the following:
name: spaceRev ipa: 1297
1.5. MOVE1 COMMAND
The Move1 command moves the axis towards a specified position.
This command is active on the Positive level.
It is active only after the zero cycle has been completed.
The axis stops:
1. When the hold contact is open.
2. When the command is disabled.
The position to be reached by the axis is specified via the following parameter:
name: TargetPos1 ipa: 1000
The axis speed profile can be of two types: with a normal or an S-shaped acceleration ramp. The profile is
selected via the EnableRampS (ipa 1306) parameter, whose values are the following:
• 0 It enables the speed profile with a normal ramp.
• 1 It enables the speed profile with an S-shaped ramp.

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The speed, acceleration and jerk values performing the speed profile are stated via the following parameters:
• Speed name: SpeedMove1 ipa: 1086
• Acceleration name: AccelMove1 ipa: 1089
• Jerk name: JerkMove1 ipa: 1094
The specific parameter controlling Move1 is the following:
name: move1 ipa: 1211
TheTargetIn1 variable (ipa 1321) is different from 0 (TRUE) when the difference between the real value
and the position stated in Target1 is lower than TargetThr1 (ipa 1098):
TargetIn1 = | actPos – Target1 | < TargetThr1
1.6. MOVE2 COMMAND
The Move2 command moves the axis towards the specified position.
This command is active on the Positive level.
It is active only after the zero cycle has been completed.
The axis stops:
1. When the hold contact is open.
2. When the command is disabled.
The position to be reached by the axis is specified via the following parameter:
name: TargetPos2 ipa: 1012
The axis speed profile can be of two types: with a normal or an S-shaped acceleration ramp. The profile is
selected via the EnableRampS (ipa 1306) parameter, whose values are the following:
• 0 It enables the speed profile with a normal ramp.
• 1 It enables the speed profile with an S-shaped ramp.
The speed, acceleration and jerk values performing the speed profile are stated via the following parameters:
• Speed name: SpeedMove2 ipa: 1087
• Acceleration name: AccelMove2 ipa: 1090
• Jerk name: JerkMove2 ipa: 1095
The specific parameter controlling Move2 is the following:
name: move2 ipa: 1236
The TargetIn2 variable (ipa 1322) is different from 0 (TRUE) when the difference between the real value
and the position stated in Target2 is lower than TargetThr2 (ipa 1099):
TargetIn2 = | actPos – Target2 | < TargetThr2

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1.7. MOVEN COMMAND
The MoveN command moves the axis towards one of the specified Sets. Each Set is made of three para-
meters: position, speed and acceleration.
This command is active on the Positive level.
It is active only after the zero cycle has been completed.
The axis stops:
1. When the hold contact is open.
2. When the command is disabled.
The Set to be performed is specified via the following parameter:
name: Selector ipa: 1265
The position to be reached by the axis is contained into the selected Set.
The axis speed profile can be of two types: with a normal or an S-shaped acceleration ramp. The profile is
selected via the EnableRampS (ipa 1306) parameter, whose values are the following:
• 0 It enables the speed profile with a normal ramp.
• 1 It enables the speed profile with an S-shaped ramp.
The speed and acceleration values are contained into the selected Set. The jerk value, on the contrary, is
specified via the following parameter:
• Jerk name: JerkMoveN ipa: 1097
The maximum number of available Sets is 63. Each Set consists of position, speed and acceleration.
The positions correspond to the parameters included between 8000 and 8062.
The speeds correspond to the parameters included between 8200 and 8262.
The accelerations correspond to the parameters included between 8400 and 8462.
The Selector value can be set:
1) Via the field bus.
2) Via the serial line.
3) Via the digital I/Os.
1) Command performed via the field bus
Configuration:
1. SelIoSel (ipa 1319) = 0.
Execution:
2. DinAs0 (ipa 1268) = number of position Sets.
3. DinAs1 (ipa 1269) bit 7 = 1 MoveN command.

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2) Command performed via the serial line
Configuration:
1. SelIoSel (ipa 1319) = 0.
2. MoveNSel (ipa 1280) = 0.
Execution:
3. SelectorSer (ipa 1305) = number of position Sets
4. moveN (ipa 1279) = 1 command
3) Command performed via I/Os
Configuration:
1. SelIoSel (ipa 1319) = 1.
2. MoveNSel (ipa 1280) = it selects the input number required by the Pad A.
3. SelectorSel0 (ipa 1313), SelectorSel1 (ipa 1314), SelectorSel2 (ipa 1315), SelectorSel3 (ipa
1316), SelectorSel4 (ipa 1317) : select the desired input number.
Execution
4. The specific inputs have to be suitably controlled.
If the number of the available digital inputs is lower than 5, the SelectorSelX variable, referring to the
missing input, has to be set with disable.
2. FUNCTIONS
The application supplies some functions:
• Area control
Area control
The bits of the InArea (ipa 1269) variable are set according to the following rule:
• bit 0 of InArea = ActPos > Area0
• bit 1 of InArea = ActPos > Area1
• bit 2 of InArea = ActPos > Area2
• bit 3 of InArea = ActPos > Area3
The AreaN variables have the following IPAs:
•Area0 IPA = 1069
•Area1 IPA = 1070
•Area2 IPA = 1071
•Area3 IPA = 1072
The ActPos variable containing the axis real value has an IPA=1005.

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3. CONFIGURATOR
The configurator is a tool allowing to configure and run the position control.
3.1. MAIN PAGE
The commands available on this page are the following:
•Command it enables the manual command page.
•Set 01-12 it enables the page aimed at setting the position Sets from 01 to 12
•Set 13-24 it enables the page aimed at setting the position Sets from 13 to 24
•Set 25-36 it enables the page aimed at setting the position Sets from 25 to 36
•Set 37-48 it enables the page aimed at setting the position Sets from 37 to 48
•Set 49-60 it enables the page aimed at setting the position Sets from 49 to 60
•Set 61-64 it enables the page aimed at setting the position Sets from 61 to 64
•Set Area it enables the page aimed at setting the area Sets
•Dig. Input configuration it enables the page for the digital input configuration
•Dig.Output configuration it enables the page for the digital output configuration
•Encoder configuration it enables the page for the encoder configuration
•Absolute Encoder Configur. it enables the page for the absolute encoder configuration
•Axis configuration it enables the page for the positioner configuration
•Command Configuration it enables the page for the command and analog input configuration
•About Application … it enables the page containing the information about the application
version
•Idle it forces the DGFC card to the Idle state
•Ready it forces the DGFC card to the Ready state
•Run it forces the DGFC card to the Run state
•ResetAlarm it resets possible still present DGFC alarms
•GetStatus it shows the DGFC present state
•Refresh it refreshes the present page
•Download it loads the parameters contained in a PC file onto the DGFC
•Upload it saves the DGFC parameters on a PC file
•Save it saves the DGFC parameters into the retentive memory of the DGFC
•Exit it closes the present page

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3.2. COMMAND PAGE
1. It controls the zero cycle execution. It shows also the present state of the zero initialization.
2. It controls the execution of the Jog+and Jog- movements, allowing to set the specific speed, accelera-
tion and jerk values.
3. It controls the execution of the IncrJog+ and IncrJog- movements, allowing to set the values of the
specific speed, acceleration, jerk and moving space.
4. It performs the Move1 command allowing to set the speed, acceleration, jerk and destination values.
5. It performs the Move2 command allowing to set the speed, acceleration, jerk and destination values.
6. It performs the MoveN command allowing to set the jerk value and the number of the Set to be performed.
7. It forces the movement end and cancels possible still present commands.
8. Axis ideal value.
9. Axis real value.
10. It forces the DGFC card to the Idle state.
11. It forces the DGFC card to the Ready state.
12. It forces the DGFC card to the Run state.
13. It cancels possible DGFC still present alarms.
14. It shows the DGFC present state.
15. It refreshes the present page.
16. It exits from the present page.
17. It enables the S-shaped acceleration and deceleration ramp.
18. Present speed override with specific increasing and decreasing buttons.
Description of the flags placed on the page left side:
a- driveReady it shows if the drive is ready.
b- drive Start it shows if the drive is enabled.
c- posEnable it shows if the position control is enabled.
d- hold it shows if the control unit is in a hold condition.
e- posStatus it shows the positioner state.
f- posAlarm it shows a possible still present alarm.
g- command it shows the active command.
h- cmdResult it shows the result of the main-required command.
i- seqResult it shows the result of the sequencer-required command.
1
2
3
4
5
6
7
8
910 11 12 13 14 15 16
17
18
c
d
e
f
g
h
i
a
b

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3.3. POSITION SET
From 01-12 Set pages to 61-64 Set pages it is possible to set the position Sets with their specific speeds and
accelerations.
1. This column shows the Set number;
2. This column shows the value stored into the Set. Such value can be set automatically or by hand;
3. This column shows and allows to set the Set speed;
4. This column shows and allows to set the Set acceleration;
5. This column allows to set the Set value by hand;
6. It forces the end of a movement;
7. It controls the execution of the IncrJog+ and IncrJog- movements, allowing to set the movement
space. The speed and the acceleration can be changed in the Command page;
8. Present override with specific increasing and decreasing buttons;
9. It performs the MoveN command allowing to set the number of the Set to be performed;
10. It controls the execution of the Jog+ and Jog- movements. The speed and the acceleration can be
changed in the Command page;
11. Value of the present Memo Set index;
12. Value of the required Memo Set index;
13. Increasing and decreasing of the Memo Set index;
14. Value Memo command;
15. Axis Ideal value;
16. Axis Real value;
1 2 3 4 5
6
7 8 9 10 11 12
13
14
15
16

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3.4. 01-04 AREA
This page allows to set the reference Sets of the area function.
1. This column shows the area number;
2. This column shows the area stored value. Such value can be set only by hand;
3. This column allows to set the area value by hand;
4. It controls the execution of the IncrJog + and IncrJog - movements, allowing to set the movement
space. The speed and the acceleration can be changed in the Command page;
5. Present override with the specific increasing and decreasing buttons;
6. It performs the MoveN command allowing to set the number of the Set to be performed;
7. It controls the execution of the Jog+ and Jog- movements. The speed and the acceleration can be
changed in the Command page;
8. Axis Ideal value.
9. Axis Real value.
1 2 3
4 5 7
8
9
6

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3.5. DIGITAL INPUT CONFIGURATION 1
This is the first page which allows to combine the digital inputs with the positioner commands.
1. It configures the hold command.
2. It configures the positioner enabling command.
3. It configures the Jog+ command.
4. It configures the Move1 command.
5. It configures the Cycle0 command.
6. It configures the Jog- command.
7. It configures the Move2 command.
8. it goes to the second configuration page of the digital input.
9. It goes to the third configuration page of the digital input.
3.5.1. Digital Input Configuration 2
This is the second page which allows to combine the digital inputs with the positioner commands.
1. It configures the IncrJog+ command.
2. It configures the IncrJog- command.
3. It configures the Move3 command.
As for the configuration of the Digital Configuration 3, see the page “MoveN Command Configuration”.
The page “ADVANCED” is reserved for an internal use.
2
1
3
4
5
6
7
8
9
1
3
2

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3.6. DIGITAL OUTPUT CONFIGURATION
This page allows to configure the digital outputs.
1. It selects the output PAD.
2. It configures the digital outputs.
1
2

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3.7. COMMAND CONFIGURATION
This page allows to configure some commands.
1. It configures the Move 1 command.
2. It configures the Move 2 command.
3. It configures the Move N command.
4. It loads the parameters contained in a PC file onto the DGFC.
5. It saves the DGFC parameters on a PC file.
3.7.1. Move 1 Command Configuration
1. Value to be reached.
2. Speed of the MOVE 1 command.
3. Acceleration of the MOVE 1 command.
4. Jerk of the Move 1 command.
5. It selects the source of the Move 1 command.
6. It selects the source of Target Pos 1.
7. Setting of the reached value threshold.
Flag:
a- Pad 3. Value source Pad when the value is selected by the analog input.
b- Target Pos 1. Value obtained after the scaling procedure if the value source is set by the analog input.
5
4
1
2
3
1 2 3
6
4
5
7
a
b

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3.7.2. Move 2 Command Configuration
1. Value to be reached.
2. Speed of the MOVE 2 command.
3. Acceleration of the MOVE 2 command.
4. Jerk of the Move 2 command.
5. It selects the source of the Move 2 command.
6. It selects the source of Target Pos 2.
7. Setting of the reached value threshold.
3.7.3. Move N Command Configuration
1. It selects the enabling of the digital input selection.
2. It configures the Move N command with a Multiplexer mode.
1
2
1 2 3
6
4
5
7