W.E.S.T. Elektronik POS-123-P-PFN Guide

Technical Documentation
POS-123-P-PFN
Universal position control module with integrated power stage and Profinet interface

Page 2 of 53 POS-123-P-PFN 31.03.2021
CONTENTS
1General Information.................................................................................................................................................4
1.1 Product Name................................................................................................................................................. 4
1.2 Scope of supply.............................................................................................................................................. 4
1.3 Accessories.................................................................................................................................................... 4
1.4 Symbols used................................................................................................................................................. 5
1.5 Legal notice.................................................................................................................................................... 5
1.6 Safety instructions.......................................................................................................................................... 6
2Characteristics.........................................................................................................................................................7
2.1 Device description.......................................................................................................................................... 8
3Use and application.................................................................................................................................................9
3.1 Installation instructions ................................................................................................................................... 9
3.2 Method of operation...................................................................................................................................... 10
3.2.1 Positioning sequence............................................................................................................................10
3.2.2 Influences on positioning accuracy.......................................................................................................12
3.2.3 Optional additional function: motion profile with second speed.............................................................12
3.3 Commissioning............................................................................................................................................. 13
4Technical description.............................................................................................................................................14
4.1 Input and output signals ............................................................................................................................... 14
4.2 LED definitions ............................................................................................................................................. 14
4.2.1 First section (left part of module) ..........................................................................................................14
4.2.2 Second section (right part of module)...................................................................................................15
4.3 Circuit diagram ............................................................................................................................................. 16
4.4 Typical wiring................................................................................................................................................ 17
4.5 Connection examples................................................................................................................................... 17
4.6 Technical data.............................................................................................................................................. 18
5Parameter..............................................................................................................................................................19
5.1 Parameter overview...................................................................................................................................... 19
5.2 System parameters ...................................................................................................................................... 21
5.2.1 MODE (Parameter view).......................................................................................................................21
5.2.2 LG (Changing the language).................................................................................................................21
5.2.3 SENS (Malfunction monitor) .................................................................................................................21
5.2.4 PASSFB (Password for fieldbus)..........................................................................................................22
5.2.5 EOUT (Output signal if READY = OFF)................................................................................................22
5.2.6 HAND (Manual speed)..........................................................................................................................22
5.2.7 POSWIN:S (Static position monitoring).................................................................................................23
5.2.8 POSWIN:D (Dynamic position monitoring) ...........................................................................................23
5.3 Input signal adaptation ................................................................................................................................. 23
5.3.1 SYS_RANGE (System stroke)..............................................................................................................23
5.3.2 SIGNAL (Type of input signal)..............................................................................................................23
5.3.3 N_RANGE:X (Sensor nominal pressure)..............................................................................................24
5.3.4 OFFSET:X (Sensor offset)....................................................................................................................24
5.4 Position Controller........................................................................................................................................ 24
5.4.1 VRAMP (Ramp time for external speed demand).................................................................................24
5.4.2 VMODE (Methode of positioning) .........................................................................................................25
5.4.3 ACCEL (Acceleration)...........................................................................................................................25
5.4.4 VMAX (Maximum speed in NC mode)..................................................................................................25
5.4.5 V0(Loop gain setting) ...........................................................................................................................26
5.4.6 V0:RES (Resolution of the Loop Gain Input) ........................................................................................26
5.4.7 A (Acceleration time).............................................................................................................................27
5.4.8 D (Deceleration / braking distance).......................................................................................................27

Page 3 of 53 POS-123-P-PFN 31.03.2021
5.4.9 PT1 (Time constant of the controller)................................................................................................... 28
5.4.10 CTRL (Deceleration characteristics) .................................................................................................... 28
5.5 Output signal adaptation............................................................................................................................... 29
5.5.1 MIN (Deadband compensation) ........................................................................................................... 29
5.5.2 MAX (Output scaling)........................................................................................................................... 29
5.5.3 TRIGGER (Response threshold for the MIN parameter)...................................................................... 29
5.5.4 OFFSET (Zero correction) ................................................................................................................... 30
5.5.5 SIGNAL:U (Polarity of the output signal).............................................................................................. 30
5.6 Power stage.................................................................................................................................................. 30
5.6.1 CURRENT (Rated output current) ....................................................................................................... 30
5.6.2 DAMPL (Dither amplitude)................................................................................................................... 31
5.6.3 DFREQ (Dither frequency)................................................................................................................... 31
5.6.4 PWM (PWM Frequency)...................................................................................................................... 31
5.6.5 ACC (Current loop auto adjustment).................................................................................................... 32
5.6.6 PPWM (P gain of the current loop) ...................................................................................................... 32
5.6.7 IPWM (I gain of the current loop)......................................................................................................... 32
5.6.8 IMS (Theoretical maximum current drain)............................................................................................ 33
5.7 Special commands ....................................................................................................................................... 33
5.7.1 AINMODE............................................................................................................................................ 33
5.7.2 AIN (Analogue input scaling)................................................................................................................ 34
5.7.3 ST (Status Report)............................................................................................................................... 35
5.8 PROCESS DATA (Monitoring)...................................................................................................................... 35
6Appendix............................................................................................................................................................... 36
6.1 Failure monitoring......................................................................................................................................... 36
6.2 Troubleshooting............................................................................................................................................ 36
7PROFINET IO RT interface .................................................................................................................................. 38
7.1 Functions...................................................................................................................................................... 38
7.2 Address assignment..................................................................................................................................... 38
7.3 Device data file (GSDML)............................................................................................................................. 38
7.4 IO Description............................................................................................................................................... 39
7.5 Commands via Profinet ................................................................................................................................ 41
7.5.1 Overview.............................................................................................................................................. 41
7.5.2 Definition control word 1....................................................................................................................... 42
7.5.3 Definition control word 2....................................................................................................................... 43
7.6 Feedback via Profinet................................................................................................................................... 44
7.6.1 Overview.............................................................................................................................................. 44
7.6.2 Definition status word 1........................................................................................................................ 45
7.6.3 Definition status word 2........................................................................................................................ 46
7.7 Parameterisation via Profinet........................................................................................................................ 47
7.7.1 Procedure ............................................................................................................................................ 47
7.7.2 Parameter List...................................................................................................................................... 48
8Profinet-Driver Blocks for Simatic-Controllers....................................................................................................... 49
8.1 Integration of the Block into the PLC program.............................................................................................. 49
8.2 Function........................................................................................................................................................ 52
9Notes.................................................................................................................................................................... 53

Page 4 of 53 POS-123-P-PFN 31.03.2021
1 General Information
1.1 Product Name
POS-123-P-PFN-2040
1
positioning control module with analog sensor interface, integrated power stage
and Profinet interface
Alternative products:
POS-123-P standard device with analog command signals
1.2 Scope of supply
The scope of supply includes the module plus the terminal blocks which are part of the housing.
Interface cables and further parts which may be required should be ordered separately.
This documentation can be downloaded as a PDF file from www.w-e-st.de.
1.3 Accessories
WPC-300 - Start-Up-Tool (downloadable from our homepage - products/software)
Any standard cable with USB-A and USB-B connector can be used as the programming cable.
1
The number of the version consists of the hardware version (first two digits) and the software version (last two digits).
Because of the development of the products these numbers can vary. They are not strictly necessary for the order. We will
always deliver the newest version.

Page 5 of 53 POS-123-P-PFN 31.03.2021
1.4 Symbols used
General information
Safety-related information
1.5 Legal notice
W.E.St. Elektronik GmbH
Gewerbering 31
D-41372 Niederkrüchten
Tel.: [phone]
Fax.: [phone]
Home page: www.w-e-st.de
EMAIL: [e-mail]
Date: 31.03.2021
The data and characteristics described herein serve only to describe the product. The user is required to
evaluate this data and to check suitability for the particular application. General suitability cannot be inferred
from this document. We reserve the right to make technical modifications due to further development of the
product described in this manual. The technical information and dimensions are non-binding. No claims may
be made based on them.
This document is protected by copyright.

Page 6 of 53 POS-123-P-PFN 31.03.2021
1.6 Safety instructions
Please read this document and the safety instructions carefully. This document will help to define the product
area of application and to put it into operation. Additional documents (WPC-300 for the start-up software) and
knowledge of the application should be taken into account or be available.
General regulations and laws (depending on the country: e. g. accident prevention and environmental
protection) must be complied with.
These modules are designed for hydraulic applications in open or closed-loop control circuits.
Uncontrolled movements can be caused by device defects (in the hydraulic module or the
components), application errors and electrical faults. Work on the drive or the electronics must
only be carried out whilst the equipment is switched off and not under pressure.
This handbook describes the functions and the electrical connections for this electronic
assembly. All technical documents which pertain to the system must be complied with when
commissioning.
This device may only be connected and put into operation by trained specialist staff. The
instruction manual must be read with care. The installation instructions and the commissioning
instructions must be followed. Guarantee and liability claims are invalid if the instructions are
not complied with and/or in case of incorrect installation or inappropriate use.
CAUTION!
All electronic modules are manufactured to a high quality. Malfunctions due to the failure of
components cannot, however, be excluded. Despite extensive testing the same also applies
for the software. If these devices are deployed in safety-relevant applications, suitable external
measures must be taken to guarantee the necessary safety. The same applies for faults which
affect safety. No liability can be assumed for possible damage.
Further instructions
•The module may only be operated in compliance with the national EMC regulations. It is
the user’s responsibility to adhere to these regulations.
•The device is only intended for use in the commercial sector.
•When not in use the module must be protected from the effects of the weather,
contamination and mechanical damage.
•The module may not be used in an explosive environment.
•To ensure adequate cooling the ventilation slots must not be covered.
•The device must be disposed of in accordance with national statutory provisions.

Page 7 of 53 POS-123-P-PFN 31.03.2021
2 Characteristics
This electronic module has been developed for controlling hydraulic positioning drives. The demands are
given via Profinet. Proportional valves with up to 2.6 Ampere nominal current can be controlled directly. The
advantage of the integrated power output stage is based on the integrated control behavior without additional
dead times. The setpoint is specified via a Profinet interface, the position feedback of the cylinder is read in as
an analog signal.
The position controller is optimized for stroke-dependent deceleration or the NC control mode. The controller
and the controller settings are adapted to typical requirements and thus permit rapid and uncritical optimization
of the control behavior. The optimized control function offers a high degree of precision together with high
stability for hydraulic drives. The movement cycle is controlled via the external position and speed demands in
SDD mode or via the internal profile generator in NC mode.
Our start-up tool WPC-300 supports the parameterising and trouble shooting. The fieldbus interface provides a
continuous monitoring of actual values and operating states. Control parameters can also be changed via
Profinet.
Typical applications: general positioning drives, fast transport drives, handling systems, speed-controlled
axes and also tracer control.
Features
•Control via Profinet interface
•Analog free scalable sensor input
•Real physical units like mm or mm/s
•Principle of stroke-dependent deceleration for fast and robust positioning
•NC profile generator for constant speed
•Application oriented parameterising
•Controlling and monitoring via fieldbus
•Integrated power stage
•Individual profile demand by speed, acceleration and delay
•Fault diagnosis and extended function checking
•Simplified parameterisation with WPC-300 software

Page 8 of 53 POS-123-P-PFN 31.03.2021
2.1 Device description
1 2 3 4
5 6 7 8
910 11 12
14 15 1613
W.E.ST.
Ready A B
18 19 2017
22 23 2421
Error
LinkAct1
State
LinkAct2
V:
ID:
Add.:Date:
Made in Germany
D-41372Niederkrüchten
Homepage: http://www.w-e-st.de
W.E.ST. Elektronik
Supply
45,0000 mm99,0000 mm
114,0000 mm
TypenschildundAnschlussbelegung
Type plateandterminal pinassignment
13 14 15 16
13 14 15 16
Klemmblöcke (steckbar)
Terminals (removable)
LEDs
USB
Interface
Feldbus / Fieldbus
RJ45 Profinet
Feldbus / Fieldbus
Profinet LEDs

Page 9 of 53 POS-123-P-PFN 31.03.2021
3 Use and application
3.1 Installation instructions
•This module is designed for installation in a shielded EMC housing (control cabinet). All cables which
lead outside must be screened; complete screening is required. It is also necessary to avoid strong
electro-magnetic interference sources being installed nearby when using our open and closed loop
control modules.
•Typical installation location: 24 V control signal area (close to PLC)
The devices must be arranged in the control cabinet so that the power section and the signal section
are separate from each other.
Experience shows that the installation place close to the PLC (24 V area) is most suitable. All digital
and analogue inputs and outputs are fitted with filters and surge absorbers in the device.
•The module should be installed and wired in accordance with the documentation bearing in mind EMC
principles. If other consumers are operated with the same power supply, a star-shaped ground wiring
scheme is recommended. The following points must be observed when wiring:
•The signal cables must be laid separately from power cables.
•Analogue signal cables must be screened.
•All other cables must be screened if there are powerful interference sources (frequency
converters, power contactors) and cable lengths > 3 m. Inexpensive SMD ferrites can be
used with high-frequency radiation.
•The screening should be connected to PE (PE terminal) as close to the module as
possible. The local requirements for screening must be taken into account in all cases. The
screening should be connected to at both ends. Equipotential bonding must be provided
where there are differences between the connected electrical components.
•If having longer lengths of cable (> 10 m), the diameters and screening measures should
be checked by specialists (e. g. for possible interference, noise sources and voltage drop).
Special care is required if using cables of over 40 m in length, and if necessary the
manufacturer should be consulted if necessary.
•A low-resistance connection between PE and the mounting rail should be provided. Transient
interference is transmitted from the module directly to the mounting rail and from there to the local
earth.
•Power should be supplied by a regulated power supply unit (typically a PELV system complying with
IEC 60364-4-41 / VDE 0100-410, secure low voltage). The low internal resistance of regulated power
supplies gives better interference voltage dissipation, which improves the signal quality of high-
resolution sensors in particular. Switched inductances (relays and valve coils) which are connected to
the same power supply must always be provided with appropriate overvoltage protection directly at the
coil.

Page 10 of 53 POS-123-P-PFN 31.03.2021
3.2 Method of operation
This control module supports simple point-to-point positioning with hydraulic drives. The system works on the
principle of stroke-dependent deceleration, i. e. the control gain (deceleration stroke) is set via parameters D:A
and D:B. Alternatively the loop gain V0:A and V0:B will be used in NC mode. In this mode the velocity is
controlled and the profile ist defined by the velocity and the acceleration.
The deceleration characteristics can be set linearly (LIN) or approximately quadratically (SQRT1) via the
CTRL parameter. For normal proportional valves SQRT1 is the standard setting. In NC mode normally the LIN
variation is the better fitting one.
3.2.1 Positioning sequence
The positioning procedure is controlled by the switching inputs. After the ENABLE signal is applied, the
required position equal to the actual position is set in the module and the drive remains stationary under
control at the current position. The general readiness for operation is now reported via the READY output. The
START signal activates the transmitted position setpoint. This happens either only on the rising edge of the
START signal or continuously if the DIRECT control bit is set.
The drive moves directly to the new required position and reports the reached position via the InPos output.
The InPos output remains active as long as the position is maintained and as long as the START signal
remains applied.
In manual mode (START disabled) the drive can be moved by means of HAND+ or HAND-. The drive moves
under open-loop control at the programmed manual speeds.
When the HAND (+ or -) signal is switched off, the current actual position is accepted as the required position
and the drive comes to a controlled stop.
The HAND mode can be used-in case of a sensor failure-to drive the axis manually.
V+
V+
A:A D:A
A:B
D:B
MAX:A
MAX:B
driving out
volumetric flow P-A and B-T
control direction
control direction
driving in