Siemens SINAMICS G120 Parts list manual

Basic positioner
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SINAMICS
SINAMICS G120
Basic positioner
Function Manual
Edition 04/2015, firmware V4.7 SP3
04/2015, FW V4.7 SP3
A5E34257659B AB
Fundamental safety
instructions
1
Introduction
2
Basic positioner
3
Appendix
A

Siemens AG
Division Digital Factory
Postfach 48 48
90026 NÜRNBERG
GERMANY
A5E34257659B AB
Ⓟ
06/2015 Subject to change
Copyright © Siemens AG 2013 - 2015.
All rights reserved
Legal information
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This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.
DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.
WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.
CAUTION
indicates that minor personal injury can result if proper precautions are not taken.
NOTICE
indicates that property damage can result if proper precautions are not taken.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will
be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to
property damage.
Qualified Personnel
The product/system described in this documentation may be operated only by
personnel qualified
for the specific
task in accordance with the relevant documentation, in particular its warning notices and safety instructions.
Qualified personnel are those who, based on their training and experience, are capable of identifying risks and
avoiding potential hazards when working with these products/systems.
Proper use of Siemens products
Note the following:
WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant technical
documentation. If products and components from other manufacturers are used, these must be recommended
or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and
maintenance are r
equired to ensure that the products operate safely and without any problems. The permissible
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Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software
described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the
information in this publication is reviewed regularly and any necessary corrections are included in subsequent
editions.

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Function Manual, 04/2015, FW V4.7 SP3, A5E34257659B AB 5
Table of contents
1 Fundamental safety instructions.............................................................................................................. 7
1.1 General safety instructions .......................................................................................................7
1.2 Industrial security ......................................................................................................................8
2 Introduction............................................................................................................................................. 9
3 Basic positioner .................................................................................................................................... 11
3.1 Basic positioner and position control ......................................................................................11
3.2 Permissible encoder combinations .........................................................................................12
3.3 PROFIdrive interfaces.............................................................................................................15
3.3.1 Control and status word 1.......................................................................................................17
3.3.2 Control and status word 2.......................................................................................................19
3.3.3 Control and status word for the positioner..............................................................................20
3.3.4 Control and status word 1 for the positioner...........................................................................22
3.3.5 Control and status word 2 for the positioner...........................................................................24
3.3.6 Control word block selection...................................................................................................26
3.3.7 Control word MDI mode ..........................................................................................................27
3.3.8 Status word messages............................................................................................................28
3.3.9 Function block FB283 .............................................................................................................29
3.4 Commissioning .......................................................................................................................30
3.4.1 Commissioning sequence.......................................................................................................30
3.4.2 Normalizing the encoder signal ..............................................................................................32
3.4.2.1 Define the resolution...............................................................................................................32
3.4.2.2 Modulo range setting ..............................................................................................................34
3.4.2.3 Checking the actual position value .........................................................................................36
3.4.2.4 Setting the backlash................................................................................................................37
3.4.3 Limiting the positioning range .................................................................................................39
3.4.4 Setting the position controller .................................................................................................42
3.4.4.1 Precontrol and gain.................................................................................................................42
3.4.4.2 Optimizing the position controller............................................................................................43
3.4.4.3 Limiting the traversing profile..................................................................................................46
3.4.5 Setting the monitoring functions .............................................................................................48
3.4.5.1 Standstill and positioning monitoring ......................................................................................48
3.4.5.2 Following error monitoring ......................................................................................................50
3.4.5.3 Cam sequencer.......................................................................................................................52
3.4.6 Referencing.............................................................................................................................53
3.4.6.1 Referencing methods..............................................................................................................53
3.4.6.2 Setting the reference point approach......................................................................................55
3.4.6.3 Setting the flying referencing ..................................................................................................61
3.4.6.4 Set reference point..................................................................................................................67
3.4.6.5 Absolute encoder adjustment .................................................................................................69
3.4.7 Jogging ...................................................................................................................................71
3.4.7.1 Jog velocity .............................................................................................................................71
3.4.7.2 Incremental jogging.................................................................................................................72

Table of contents
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6Function Manual, 04/2015, FW V4.7 SP3, A5E34257659B AB
3.4.7.3 Setting jogging ....................................................................................................................... 72
3.4.8 Traversing blocks ................................................................................................................... 74
3.4.8.1 Travel to fixed stop................................................................................................................. 82
3.4.8.2 Examples ............................................................................................................................... 87
3.4.9 Direct setpoint input (MDI) ..................................................................................................... 89
A Appendix .............................................................................................................................................. 95
A.1 Manuals and technical support .............................................................................................. 95
A.1.1 Manuals for your converter .................................................................................................... 95
A.1.2 Configuring support................................................................................................................ 97
A.1.3 Product Support ..................................................................................................................... 98
Index .................................................................................................................................................... 99

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Function Manual, 04/2015, FW V4.7 SP3, A5E34257659B AB 7
Fundamental safety instructions
1
1.1
General safety instructions
WARNING
Risk of death if the safety instructions and remaining risks are not carefully observed
If the safety instructions and residual risks are not observed in the associated hardware
documentation, accidents involving severe injuries or death can occur.
•Observe the safety instructions given in the hardware documentation.
•Consider the residual risks for the risk evaluation.
WARNING
Danger to life or malfunctions of the machine as a result of incorrect or changed
parameterization
As a result of incorrect or changed parameterization, machines can malfunction, which in
turn can lead to injuries or death.
•Protect the parameterization (parameter assignments) against unauthorized access.
•Respond to possible malfunctions by applying suitable measures (e.g. EMERGENCY
STOP or EMERGENCY OFF).

Fundamental safety instructions
1.2 Industrial security
Basic positioner
8Function Manual, 04/2015, FW V4.7 SP3, A5E34257659B AB
1.2
Industrial security
Note
Industrial security
Si
emens provides products and solutions with industrial security functions that support the
secure operation of plants, solutions, machines, equipment and/or networks. They are
important components in a holistic industrial security concept. With this in mind
, Siemens’
products and solutions undergo continuous development. Siemens recommends strongly
that you regularly check for product updates.
For the secure operation of Siemens products and solutions, it is necessary to take suitable
preventive action (e.g.
cell protection concept) and integrate each component into a holistic,
state
-of-the-art industrial security concept. Third-party products that may be in use should
also be considered. For more information about industrial security, visit this address
(
http://www.siemens.com/industrialsecurity).
To stay informed about product updates as they occur, sign up for a product
-specific
newsletter. For more information, visit this address (
http://support.automation.siemens.com
).
WARNING
Danger as a result of unsafe operating states resulting from software manipulation
Software manipulation (e.g. by viruses, Trojan horses, malware, worms) can cause unsafe
operating states to develop in your installation which can result in death, severe injuries
and/or material damage.
•Keep the software up to date.
You will find relevant information and newsletters at this address
(http://support.automation.siemens.com).
•Incorporate the automation and drive components into a holistic, state-of-the-art
industrial security concept for the installation or machine.
You will find further information at this address
(http://www.siemens.com/industrialsecurity).
•Make sure that you include all installed products into the holistic industrial security
concept.

Basic positioner
Function Manual, 04/2015, FW V4.7 SP3, A5E34257659B AB 9
Introduction
2
Who requires this manual and why?
This manual addresses machine and plant manufacturers and commissioning engineers.
The manual describes the function "basic positioner" of the SINAMICS G120 inverter
equipped with the CU250S-2 Control Unit.
What is described in this manual?
This manual covers all the information, procedures and operations required for the following
scenarios:
●Controlling the basic positioner via the fieldbus.
●Commissioning the basic positioner.
What other information do you need?
This manual alone is not sufficient for installing or commissioning the standard inverter
functions. An overview of the documentation available and the associated applications is
provided in the sectionManuals and technical support (Page 95).
What is the meaning of the symbols in the manual?
An operating instruction starts here.
This concludes the operating instruction.

Introduction
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10 Function Manual, 04/2015, FW V4.7 SP3, A5E34257659B AB

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Basic positioner
3
3.1
Basic positioner and position control
Overview
Position control means controlling the position of an axis. An "axis" is a machine or system
component that comprises the inverter with active position control and the driven mechanical
system.
The basic positioner (EPos) calculates the traversing profile for the time-optimized traversing
of the axis to the target position.
Figure 3-1 Basic positioner and position control
The basic positioner has the following operating modes:
•
Direct setpoint input (MDI):
The external control specifies the posit
ion setpoint for the
axis.
•
Traversing block selection:
Position setpoints are saved in different traversing blocks
in the inverter. The external control selects a traversing
block.
•
Referencing:
Referencing establishes the reference of the position
measurement in the inverter to the machine.
•
Jogging:
This function is used to incrementally traverse the axis (Set
up).
•
Travel to fixed stop:
The inverter positions the axis with a defined torque
against a mechanical fixed stop.

Basic positioner
3.2 Permissible encoder combinations
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12 Function Manual, 04/2015, FW V4.7 SP3, A5E34257659B AB
3.2
Permissible encoder combinations
Overview
You can connect two encoders to the inverter. The encoder for the speed controller must be
mounted on the motor shaft.
Table 3- 1 Encoder combinations
Encoders for the speed
controller
Encoders for the position controller
SUB-D connector
Terminal strip
DRIVE-CLiQ interface
HTL or
TTL
encod-
er
SSI
encod-
er
Re-
solver
HTL
encod-
er
Connection via Sensor Module SMC or SME
DRIVE-
CLiQ
encod-
er
HTL or
TTL
encod-
er
SSI
encod-
er
Re-
solver
Endat
2.1
sin/cos
encod-
er
Encoderless
②
②
②
②
②
②
②
②
②
②
HTL or TTL
encoder
①--- --- ③③③③③③③
Resolver --- ---
①
--- --- --- --- --- --- ---
HTL encoder ③③--- ①③③③③③③
HTL or TTL
encoder
③③--- ③①--- --- --- --- ---
Resolver
③
③
---
③
--- ---
①
--- --- ---
Endat 2.1
③
③
---
③
--- --- ---
①
--- ---
DRIVE-CLiQ
encoder
③③--- ③--- --- --- --- --- ①
sin/cos encoder
③
③
---
③
--- --- --- ---
①
---
The symbols ---, ①, ②and ③are explained in the table below.

Basic positioner
3.2 Permissible encoder combinations
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Table 3- 2 Explanation regarding encoder combinations
---
This combination is not permissible.
①
Position controllers and speed controllers use the same encoder on the motor shaft.
Advantage:
Favorably-priced solution
Disadvantages:
•Depending on the gear ratio,
restrictions regarding the accu-
racy of the position control.
•Not suitable for position control
in the case of mechanical slip
on the load side
②
The position controller evaluates an encoder on the motor shaft or on the load side.
The speed controller operates without an encoder.
Advantages:
•You can use an encoder that is
already present on the load
side, e.g. an SSI encoder, for
position control.
•Favorably-priced solution
Disadvantages:
•Restrictions regarding the accu-
racy and dynamic performance
of the position control
•Not suitable for the position
control of hoisting gear
•The "Travel to fixed stop" EPos
function is not possible.
③
The position controller evaluates an encoder on the load side.
The speed controller evaluates an encoder on the motor shaft.
Compared to the other options of
encoder assignment, this configu-
ration provides the best control
results.

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3.2 Permissible encoder combinations
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14 Function Manual, 04/2015, FW V4.7 SP3, A5E34257659B AB
Example
An HTL encoder is connected to the terminal strip.
You have the following o
ptions in this case:
•
You use the HTL encoder for the speed controller and operate the drive without position
control.
•
You use the HTL encoder both for the speed controller and for the position controller ①.
•
You operate the drive with encoderless speed control and use the encoder for the
position controller ②.
•
You use the HTL encoder at the
terminal strip only for the speed
controller and a second encoder for
the position controller ③.
You can connect the second encoder for
the position controller
either to the SUB-
D
-connector or to the DRIVE-CLiQ inter-
face.

Basic positioner
3.3 PROFIdrive interfaces
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3.3
PROFIdrive interfaces
The send and receive telegrams of the inverter for cyclic communication are structured as
follows:
Figure 3-2 Telegrams for cyclic communication - Position control

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3.3 PROFIdrive interfaces
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16 Function Manual, 04/2015, FW V4.7 SP3, A5E34257659B AB
Table 3- 3 Explanation of the abbreviations
Abbreviation
Significance
STW1
Control word 1
ZSW1
Status word 1, see also: Control and status word 1 (Page 17)
STW2
Control word 2
ZSW2
Status word 2, see also:
SATZANW
Select the traversing block, see also: Control and status word 2 (Page 19)
AKTSATZ
Currently selected traversing block, see also: Control word block selection (Page 26)
MDI_TARPOS
Position setpoint for direct setpoint input (MDI)
XIST_A
Actual position value (32 bits)
OVERRIDE
Speed setpoint
MELDW
Status word for messages, see also: Status word messages (Page 28)
NACT_B
Actual speed value (32 bits)
Free
Freely interconnectable
MDI_VELOCITY
MDI velocity
MDI_ACC
MDI accelerating torque
MDI_DEC
MDI braking torque
MDI_MOD Selects the positioning mode with direct setpoint input (MDI), see also: Control word MDI mode
(Page 27)
POS_STW
Control word for basic positioner
POS_ZSW
Status word for the basic positioner, see also: Control and status word for the positioner (Page 20)
POS_STW1
Control word 1 for basic positioner
POS_ZSW1
Status word 1 for the basic positioner, see also: Control and status word 1 for the positioner (Page 22)
POS_STW2
Control word 2 for basic positioner
POS_ZSW2 Status word 2 for the basic positioner, see also: Control and status word 2 for the positioner (Page 24)
WARN_CODE Number of the actual alarm
FAULT_CODE
Number of the actual fault

Basic positioner
3.3 PROFIdrive interfaces
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3.3.1
Control and status word 1
Control word 1 (STW1)
Table 3- 4 Control word 1 for active basic positioner
Bit
Meaning
Comments
P No.
0 0 = OFF1 The motor brakes with the ramp-down time p1121 of the
ramp-function generator. The converter switches off the
motor at standstill.
p0840[0] =
r2090.0
0 →1 = ON The converter goes into the "ready" state. If, in addition, bit 3
= 1, the converter switches on the motor.
1 0 = OFF2 Switch off motor immediately, then the motor coasts to a
standstill.
p0844[0] =
r2090.1
1 = No OFF2
It is possible to switch on the motor (ON command).
2 0 = Quick stop (OFF3) Quick stop: the motor brakes with the OFF3 ramp-down time
p1135 down to standstill.
p0848[0] =
r2090.2
1 = No quick stop (OFF3)
It is possible to switch on the motor (ON command).
3
0 = Inhibit operation
Immediately switch-off motor (cancel pulses).
p0852[0] =
r2090.3
1 = Enable operation
Switch-on motor (pulses can be enabled).
4 0 = Reject traversing job Axis brakes down to standstill with the maximum decelera-
tion. Converter rejects the actual traversing block.
p2641 =
r2090.4
1 = Do not reject traversing task
Axis can be started or travel to position setpoint.
5 0 = Intermediate stop Axis brakes down to standstill with the specified deceleration
override. Converter remains in the actual traversing block.
p2640 =
r2090.5
1 = No intermediate stop
Axis can be started or continue to travel to position setpoint.
6 0 →1: Activate traversing job The converter starts axis travel to the setpoint position. p2631 =
r2090.6
0 →1: Setpoint transfer MDI p2650 =
r2090.6
7 0 →1: = Acknowledge faults Acknowledge fault in the converter. If the ON command is
still active, the converter switches to "closing lockout" state.
p2103[0] =
r2090.7
8 1 = jogging bit 0 Jogging 1 p2589 =
r2090.7
9 1 = jogging bit 1 Jogging 2 p2590 =
r2090.7
10
0 = No control via PLC
Converter ignores the process data from the fieldbus.
p0854[0] =
r2090.10
1 = Control via PLC
Control via fieldbus, converter accepts the process data from
the fieldbus.
11
0 = Stop referencing
---
p2595 =
r2090.11
1 = Start referencing
The converter does not start referencing.
12
Reserved
13 0 →1: External block change The axis goes to the next traversing block. p2633 =
r2090.13
14, 15
Reserved

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3.3 PROFIdrive interfaces
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18 Function Manual, 04/2015, FW V4.7 SP3, A5E34257659B AB
Status word 1 (ZSW1)
Table 3- 5 Status word 1 when the basic positioner is active
Bit
Meaning
Comments
P No.
Telegram 110
Telegram 111
0 1 = Ready to start Power supply is switched on; electronics initialized; pulses are
inhibited.
p2080[0] =
r0899.0
1 1 = Ready Motor is switched on (ON command = 1); no fault is active.
With the command "Enable operation" (STW1.3) the converter
switches on the motor.
p2080[1] =
r0899.1
2 1 = Operation enabled Motor follows setpoint. See control word 1, bit 3. p2080[2] =
r0899.2
3 1 = Fault present The converter has a fault. Acknowledge fault using STW1.7. p2080[3] =
r2139.3
4 1 = OFF2 inactive Coast down to standstill is not active. p2080[4] =
r0899.4
5 1 = OFF3 inactive Quick stop is not active. p2080[5] =
r0899.5
6 1 = Closing lockout active It is only possible to switch on the motor after an OFF1 com-
mand and an additional ON command.
p2080[6] =
r0899.6
7 1 = Alarm present Motor remains switched on; no acknowledgment necessary. p2080[7] =
r2139.7
8 1 = Following error in tolerance The actual difference between the actual position and the posi-
tion setpoint is within the permissible tolerance p2546.
p2080[8] =
r2684.8
9 1 = Control requested The automation system is requested to accept the control from
the converter.
p2080[9] =
r0899.9
10 1 = Position setpoint reached The axis has reached the position setpoint. p2080[10] =
r2684.10
11 1 = Reference point set The axis is referenced. p2080[11] =
r2684.11
12 0 →1 = Acknowledgement, traversing
block active
--- p2080[12] =
r2684.12
13 1 = Axis is at a standstill The absolute speed is less than p2161. p2080[13] =
r2199.0
14 Reserved 1 = Axis acceler-
ates
--- p2080[14] =
r2684.4
15 Reserved 1 = Axis brakes --- p2080[15] =
r2684.5

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Function Manual, 04/2015, FW V4.7 SP3, A5E34257659B AB 19
3.3.2
Control and status word 2
Control word 2 (STW2)
Table 3- 6 Control word 2 and interconnection in the converter
Bit
Meaning
Comments
Interconnection
Telegram 9
Telegrams
110, 111
0 Drive data set selection DDS, bit 0 p0820[0] =
r2092.0
p0820[0] =
r2093.0
1 Drive data set selection DDS, bit 1 p0821[0] =
r2092.1
p0821[0] =
r2093.1
1 to 6 Reserved
7 1 = Parking axis selection p0897 =
r2092.7
p0897 =
r2093.7
8 1 = Travel to fixed stop p1545[0] =
r2092.8
p1545[0] =
r2093.8
9 to 15
Reserved
Status word 2 (ZSW2)
Table 3- 7 Control word 2 and interconnection in the converter
Bit
Meaning
Description
Interconnection
0 1 = Drive data set DDS effective, bit 0 p2081[0] =
r0051.0
1 1 = Drive data set DDS effective, bit 1 p2081[1] =
r0051.1
2 to 4
Reserved
---
5 1 = Alarm class bit 0 Only for internal diagnostics when using a
SIMOTION control.
p2081[5] =
r2139.11
6 1 = Alarm class bit 1 p2081[6] =
r2139.12
7 1 = Parking axis active --- p2081[7] =
r0896.0
8 1 = Travel to fixed stop --- p2081[8] =
r1406.8
9 Reserved ---
10 1 = Pulses enabled Motor switched on p2081[10] =
r0899.11
11 to 15 Reserved --- p2081[11] =
r0835.0

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3.3 PROFIdrive interfaces
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20 Function Manual, 04/2015, FW V4.7 SP3, A5E34257659B AB
3.3.3
Control and status word for the positioner
Positioning control word (POS_STW)
Table 3- 8 POS_STW and interconnection with parameters in the inverter
Bit
Meaning
Comments
P No.
0 1 = Follow-up mode The inverter continuously corrects the position setpoint to
follow the position actual value.
p2655[0] =
r2092.0
1 1 = Set reference point The inverter accepts the reference point coordinate in its posi-
tion actual value and setpoint.
p2596 =
r2092.1
2 1 = Reference cam active The load is currently on the reference cam. p2612 =
r2092.2
3
Reserved --- ---
4
5 1 = Incremental jogging active If the jogging command is active, the inverter positions the
load by the specified traversing path in a positive or negative
direction.
p2591 =
r2092.5
0 = Jogging velocity active If the jogging command is active, the inverter positions the
load with the jog velocity in the direction of the beginning or
end of the traversing range.
6…15
Reserved
---
---