W.E.ST. POS-124-U-PFN Guide

Technical Documentation
POS-124-U-PFN
POS-124-U-ETC
Two axes positioning and synchronisation control module with
integrated ProfiNet IO interface and SSI sensor interface

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CONTENTS
1General Information.............................................................................................................................................4
1.1 Order number............................................................................................................................................. 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 Typical system structure.............................................................................................................................10
3.3 Method of operation...................................................................................................................................10
3.4 Commissioning..........................................................................................................................................12
4Technical description.........................................................................................................................................13
4.1 Input and output signals .............................................................................................................................13
4.2 LED definitions...........................................................................................................................................14
First section with USB........................................................................................................................14
Second section (fieldbus)...................................................................................................................14
4.3 Block Diagram ...........................................................................................................................................15
4.4 Typical wiring.............................................................................................................................................16
4.5 Connection examples.................................................................................................................................16
4.6 Technical data...........................................................................................................................................17
5Parameters .......................................................................................................................................................18
5.1 Parameter overview...................................................................................................................................18
5.2 Basic parameters.......................................................................................................................................21
MODE (Switching between parameter groups) ...................................................................................21
5.3 System parameters....................................................................................................................................21
LG (Changing the language for the help texts)....................................................................................21
SENS (Malfunction monitoring)..........................................................................................................21
PASSFB (Password fieldbus).............................................................................................................21
EOUT (Output signal: READY = OFF)................................................................................................22
HAND (Manual speed).......................................................................................................................22
POSWIN (In-position monitoring range)..............................................................................................23
VMODE (Selecting the control mode).................................................................................................23
5.4 Input Output parameters.............................................................................................................................24
SELECT:X (Type of position sensors) ................................................................................................24
VRAMP (Ramp time for external speed demand)................................................................................24
SIGNAL:U (Type and polarity of the output signal)..............................................................................25
SYS_RANGE (Working stroke) ..........................................................................................................25
SIGNAL (Type of input)......................................................................................................................25
N_RANGE (Nominal range of the sensor)...........................................................................................26
OFFSET (Sensor zero correction)......................................................................................................26
SSI:POL (Direction of the sensor signal).............................................................................................26
SSI:RES (Signal resolution)...............................................................................................................26
SSI:BITS (Number of bits)..................................................................................................................27
SSI:CODE (Signal coding).................................................................................................................27
SSI:ERRBIT (Position of the “out of range” bit) ...................................................................................27
5.5 Positioning controller..................................................................................................................................28
ACCEL (Acceleration in NC mode).....................................................................................................28

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VMAX (Maximum speed in NC Mode)................................................................................................28
V0(Loop gain setting) ........................................................................................................................28
A (Acceleration ramp time).................................................................................................................29
D (Deceleration / braking distance).....................................................................................................29
PT1 (Timing of the controller).............................................................................................................30
CTRL (Deceleration characteristics)...................................................................................................30
MIN (Deadband compensation)..........................................................................................................31
MAX (Output scaling).........................................................................................................................31
TRIGGER (Response threshold for the MIN parameter)......................................................................31
OFFSET (Zero correction)..................................................................................................................32
5.6 Synchronous controller...............................................................................................................................33
SYNCMODE (Operation mode synchronous run)................................................................................33
SYNCWIN (synchronization monitoring range)....................................................................................34
SYNC (Control parameters) ...............................................................................................................34
5.7 Special functions........................................................................................................................................35
Drift compensation / high accurate positioning....................................................................................35
DC:AV (Activation value)....................................................................................................................36
DC:DV (Deactivation value) ...............................................................................................................36
DC:I (Integration time)........................................................................................................................36
DC:CR (Integrator limitation)..............................................................................................................36
5.8 Special commands.....................................................................................................................................37
AINMODE (Input scaling mode) .........................................................................................................37
AIN (Analogue input scaling)..............................................................................................................37
ETC_LOOP (Transfer rate)................................................................................................................38
5.9 PROCESS DATA (Monitoring)....................................................................................................................38
6Common device functions..................................................................................................................................39
6.1 Failure monitoring......................................................................................................................................39
6.2 Troubleshooting.........................................................................................................................................39
7EtherCAT IO interface .......................................................................................................................................41
7.1 ETHERCAT CoE........................................................................................................................................41
7.2 EtherCAT installation .................................................................................................................................41
7.3EtherCAT access handling.........................................................................................................................41
7.4 EtherCAT device profiles (ESI)...................................................................................................................42
7.5 Standard Objects.......................................................................................................................................43
8ProfiNet IO RT interface.....................................................................................................................................44
8.1PROFINET IO function...............................................................................................................................44
8.2 ProfiNet Installation guideline.....................................................................................................................44
8.3 PROFINET address assignment.................................................................................................................44
8.4 Device data file (GSDML)...........................................................................................................................45
9Process data.....................................................................................................................................................46
9.1 Data sent to the device...............................................................................................................................46
9.2 Data sent to Fieldbus.................................................................................................................................50
10 Parameterizing via Fieldbus...............................................................................................................................54
10.1 Procedure..................................................................................................................................................54
10.2 Parameterlist .............................................................................................................................................55
11 Profinet –Driver Blocks for Simatic –Controllers................................................................................................56
11.1 TIA –Portal ...............................................................................................................................................56
11.2 STEP7 –classic.........................................................................................................................................59
11.3 Common Properties...................................................................................................................................62
12 Updating the module internal driver software for Profinet.....................................................................................64
13 Notes................................................................................................................................................................65

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1 General Information
1.1 Order number
Two axes positioning controller with programmable output (±10 V differential voltage or 4… 20 mA), ana-
logue or SSI sensor interface and optional synchronous control.
POS-124-U-PFN-2140
1
ProfiNet IO interface
POS-124-U-ETC-2131 EtherCAT IO interface
Alternative products
POS-124-U-PDP Version of the controller with ProfibusDP interface.
1.2 Scope of supply
The scope of supply includes the module including the terminal blocks which are a part of the housing.
The Profibus plug, 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 (download: www.w-e-st.de/produkte/software)
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.

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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]
Homepage: www.w-e-st.de or www.west-electronics.com
EMAIL: [e-mail]
Date: 08.11.2018
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.

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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 protec-
tion) must be complied with.
These modules are designed for hydraulic applications in open or closed-loop control cir-
cuits. 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 as-
sembly. 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 in-
struction 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 exter-
nal 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, contami-
nation 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.

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2 Characteristics
This electronic module has been developed for controlling hydraulic positioning drives.
Both axes can be controlled independently or also be driven in synchronous mode via fieldbus.
The differential outputs are provided for the control of proportional valves with integrated or external electron-
ics (with differential input). Alternatively the output can be parameterized to 4… 20 mA. This module is in-
tended for the connection with analogue position sensors 0...10V or 4...20mA (scalable) or digital SSI sensor
interfaces.
The internal monitoring sends information about error and operating states via the fieldbus connection to the
master controller. The operational readiness is reported via a digital output, too.
Typical applications: Positioning control or synchronization control with hydraulic axes.
Features
Two independent positioning axes
Can be combined for synchronized control
Command position value parameter, actual value response, control bytes and status bytes via
ProfiNet or EtherCAT fieldbus
SSI-Sensor interface or analogue sensor interface (0….10V or 4…20mA)
Simple and user-friendly sensor scaling
Position resolution of 0.005 mm/s
Principle of stroke-dependent deceleration for the shortest positioning time or NC profile
generator for constant speed
Highly accurate positioning
Advanced position control with PT1 controller, Drift compensation and Fine positioning
Superimposed synchronization controller with PT1 (optimal for hydraulic applications)
Optimal use with zero lapped control valves
Synchronization control in Master/Slave or average value mode
Fault diagnosis and extended function checking
Simplified parameterization with WPC-300 software

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2.1 Device description
1 2 3 4
5 6 7 8
910 11 12
14 15 1613
Ready A B
46 47 4845
42 43 4441
34 35 3633
38 39 4037
30 31 3229
26 27 2825
18 19 2017
W.E.ST.
25 26 27 28 41 42 43 44
V:
ID:
D-41372 Niederkrüchten
Homepage: http://www.w-e-st.de
W.E.ST. Elektronik
Add.:Date:
Made in Germany
45 46 47 48
RUN ERR
13 14 15 16
13 14 15 16
29 30 31 32
114,0000 mm
67,5000 mm
99,0000 mm
Typenschild undAnschlussbelegung
Type plate and terminal pin assignment
Feldbusstatus
Fieldbus state
Klemmblöcke (steckbar)
Terminals (removable)
Feldbusschnittstelle
Fieldbus interface
Aktivität
Activity
USB
LEDs

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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 a requirement that no
strong electro-magnetic interference sources are installed nearby when using our control and regula-
tion modules.
Typical installation location: 24V 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 space close to the PLC (24 V area) is most suitable. All digital
and analogue inputs and outputs are fitted with filters and surge protection 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- connected
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 shielded.
All other cables must be screened if there are powerful interference sources (frequency
converters, power contactors) and cable lengths > 3m. 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 possi-
ble. 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.
With 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).
Particular care is required with cables of over 40 m in length –the manufacturer should
be consulted if necessary.
A low-resistance connection between PE and the mounting rail should be provided. Transient inter-
ference 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
IEC364-4-4, secure low voltage). The low internal resistance of regulated power supplies gives bet-
ter interference voltage dissipation, which improves the signal quality of high-resolution sensors in
particular. Switched inductances (relays and valve coils connected to the same power supply) must
always be provided with appropriate overvoltage protection directly at the coil.

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3.2 Typical system structure
This minimal system consists of the following components:
(*1) Proportional valve with OBE
(*2) Hydraulic cylinder
(*3) Position sensor
(*4) POS-124-U-PFN control module
(*5) interface to PLC with analogue and digital signals
3.3 Method of operation
This control module supports simple point-to-point positioning with hydraulic drives. The system works based
on the principle of stroke-dependent deceleration, i.e. the control gain (deceleration stroke) is set via param-
eters D:A and D:B. Alternatively it can also function in NC-Modus by setting the loop gain parameters. In this
mode the drive will move with controlled velocity to the target position.
The deceleration characteristics can be set linearly (LIN) or approximately quadratically (SQRT1) via the
CTRL parameter. For normal proportional valves SQRT1 is the input setting.
For control valves with a linear flow curve it depends on the application. If LIN is selected for these valves a
significantly shorter deceleration distance can often be set (D:A and D:B).