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SIMOTION

Supplement to SIMODRIVE

POSMO A Positioning Motor

Function Manual

01/2015

Содержание SIMODRIVE POSMO A

Страница 1: ...SIMOTION Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 01 2015 Introduction Fundamental safety instructions 1 Description 2 Function blocks 3 Application example 4 Appendix A ...

Страница 2: ...lified 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 manuf...

Страница 3: ... system Function block The function blocks for communication between the SIMOTION system and the distributed SIMODRIVE POSMO A positioning motor are part of the program library of the SIMOTION SCOUT engineering system SIMOTION Documentation An overview of the SIMOTION documentation can be found in the SIMOTION Documentation Overview document This documentation is included as electronic documentati...

Страница 4: ...ur own machine documentation http www siemens com mdm Training Click the following link for information on SITRAIN Siemens training courses for automation products systems and solutions http www siemens com sitrain FAQs Frequently Asked Questions can be found in SIMOTION Utilities Applications which are included in the scope of delivery of SIMOTION SCOUT and in the Service Support pages in Product...

Страница 5: ...iew of function blocks 17 3 2 Function block _POSMOA_control 17 3 3 Function block _POSMOA_nControl 24 3 4 Function block _POSMOA_rwParameter 29 3 5 Function block _POSMOA_rwAllParameter 32 3 6 Calling function blocks 38 4 Application example 41 4 1 General information on the application example 41 4 2 Operator control and monitoring of the application example in the detail view 43 4 3 Variables u...

Страница 6: ...Table of contents Supplement to SIMODRIVE POSMO A Positioning Motor 6 Function Manual 01 2015 ...

Страница 7: ...Industrial security Note Industrial security Siemens 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 re...

Страница 8: ...ation and newsletters can be found at http support automation siemens com Incorporate the automation and drive components into a state of the art integrated industrial security concept for the installation or machine For more detailed information go to http www siemens com industrialsecurity Make sure that you include all installed products into the integrated industrial security concept Fundament...

Страница 9: ...ual Hardware release POSMO A 75 W As of O Software release POSMO A 75 W As of V3 0 Hardware release POSMO A 300 W As of G Software release POSMO A 300 W As of V3 0 POSMO A positioning motors with different hardware and software requirements can be controlled with function blocks integrated in SIMOTION SCOUT V4 1 The functionality is restricted by the hardware software release of the POSMO A positi...

Страница 10: ...connect a SIMODRIVE POSMO A and points you must be aware of when doing so refer to the Installation and connection section of the Distributed Positioning Motor on PROFIBUS DP user manual On the SIMOTION device hardware platform connect SIMODRIVE POSMO A to one of the PROFIBUS DP interfaces The following figure shows how to connect a SIMODRIVE POSMO A drive to a SIMOTION hardware platform such as S...

Страница 11: ...from the SIMOTION system 1 Mount and wire the SIMODRIVE POSMO A positioning motor 2 Set the PROFIBUS DP node address on the connection cover of the SIMODRIVE POSMO A 3 Switch on the terminating resistor at the first and last bus node Note For steps 1 to 3 refer to Section Installation and Connection of the Distributed Positioning Motor on PROFIBUS DP user manual Description 2 2 Installation and st...

Страница 12: ...efer to the Distributed Positioning Motor on PROFIBUS DP user manual for more information on the following topics Axis commissioning Communication via PROFIBUS DP Description of functions Error handling and diagnostics Assembly and service 2 3 Inserting a SIMODRIVE POSMO A positioning motor into a SIMOTION project Requirement The following requirements must be met 1 You have created a project in S...

Страница 13: ... the POSMO A When you insert the POSMO A into your SIMOTION project the input and output addresses are assigned default values You can see these values when you select the inserted POSMO A You can read the input and output addresses in the lower part of the HW Config window You must create these addresses as I O variables in the symbol browser before calling the function blocks see Section Creatin...

Страница 14: ... define the I O variables as ARRAY 0 7 and 0 3 of BYTE You assign the address settings in the hardware configuration to these I O variables The names of the I O inputs must be transferred to the function blocks as call parameters The prepared data for the I O outputs are provided by the function block as in out parameters The in out parameters must be be supplied with variables of type ARRAY 0 7 o...

Страница 15: ...l information refer to SIMOTION SCOUT online help Programming Manual of the corresponding programming language e g SIMOTION ST Structured Text Programming Manual SIMOTION MCC Motion Control Chart Programming Manual SIMOTION LAD FBD Ladder Diagram and Function Block Diagram Programming Manual These documents are shipped with SIMOTION SCOUT in electronic form Description 2 5 Creating I O Variables S...

Страница 16: ...Description 2 5 Creating I O Variables Supplement to SIMODRIVE POSMO A Positioning Motor 16 Function Manual 01 2015 ...

Страница 17: ...l Page 17 Function block _POSMOA_nControl Page 24 V4 1 and higher Function block _POSMOA_rwParameter Page 29 Function block _POSMOA_rwAllParameter Page 32 Note For the complete control and communication of the SIMODRIVE POSMO A from the SIMOTION program an instance must be created for each _POSMOA_rwParameter and _POSMOA_rwAllParameter function block and depending on the parameterized operating mo...

Страница 18: ...ed speed and acceleration to an assigned position The MDI parameters are transferred in block 3 The MDI block can be started with blockNumber 3 and start TRUE Fault acknowledgement Acknowledges a fault in the drive Note A fault must be acknowledged before the drive can move This requires that parameter enable TRUE Automatic single block operation automatic control Checkback signals are as follows ...

Страница 19: ...VHW UURU 7 EORFN1XPEHU 22 QR6WRS 22 QR6WRS QWHUPHGLDWH 22 VWDUW 22 YHOR2YHUULGH 17 MRJ2YHUULGH 22 MRJ 55 RI 7 55 RI 7 22 55 RI 7 HQDEOH S G Q S G2XW SNZ2XW 22 22 22 UHDG 25 22 VWDWXV RUG KRPLQJ MRJ B32602 BFRQWURO EXV SNZ Q 1 12 UHOHDVH UDNH 22 22 VLQJOH ORFN HQDEOH5G Q H W ORFN KDQJH 22 17 22 UHT RQWURO 22 GDWD5HDG GULYH DUQ QIR 25 VSHFLILF SDUDPHWHUV Function blocks 3 2 Function block _POSMOA_co...

Страница 20: ...s the home position This signal must be present for at least 50 ms releaseBrake 4 IN BOOL FALSE TRUE Release holding brake FALSE Brake sequence control effective jog1 IN BOOL FALSE Selection of jog 1 If jog 1 and 2 are set simultaneously a warning is issued and the drive does not move jog2 IN BOOL FALSE Selection of jog 2 If jog 1 and 2 are set simultaneously a warning is issued and the drive does...

Страница 21: ...Position parameter is evaluated relative to the current position FALSE MDI absolute The value in the mdiPosition parameter is evaluated in ab solute terms relative to the drive zero position set by homing mdiVelocity 3 IN INT 0 Velocity of MDI travel 0 to 100 mdiAcceleration 3 IN INT 0 Acceleration of MDI travel 0 to 100 mdiPosition 3 IN REAL 0 Target position of MDI travel Value range 2 105 to 2 ...

Страница 22: ...rID parameter errorID OUT WORD 16 0000 Number of the parameter assignment error signaled by the drive parameter identifier value PKW range 2 1 Parameter types IN input parameter OUT output parameter IN OUT in out parameter 2 See Distributed Positioning Motor on PROFIBUS DP user manual 3 This parameter is only transferred when the value of the parameter changes 4 As of SIMOTION V4 1 this parameter ...

Страница 23: ...h the previous functions V4 1 you can leave out the new input parameters with a detailed notation when calling the FB Error messages faults and warnings The TRUE value at the error output parameter indicates a parameterization error The errorID output parameter provides more detailed information on the parameterization error that has occurred or has been signaled by POSMO A Parameterization errors...

Страница 24: ... SNZ Q S G2XW B32602 BQ RQWURO 22 22 22 S G Q LQLW 55 RI 7 55 RI 7 55 RI 7 55 RI 7 S G2XW 25 17 22 25 VWDWXV RUG UHDG DFW9DOXH HUURU HUURU 1 12 GDWD5HDG 22 HQDEOH UHOHDVH UHDNH DFFHO7LPH UHOHDVH5DPS VWDUW5DPS VHWSRLQW UHOHDVH6HWSRLQW UHVHW UURU UHT RQWURO 55 RI 7 22 55 RI 7 22 SNZ2XW EXV SNZ2XW EXV GULYH UURU GULYH UURU G GULYH DUQLQJ GULYH DUQ G GULYH DUQ QIR 22 25 22 25 25 22 17 22 22 17 22 22 2...

Страница 25: ... TRUE Sets the drive to Ready for operation The drive is now ready for operation provided there are no errors releaseBrake IN BOOL FALSE TRUE Release holding brake FALSE Brake sequence control effective accelTime IN DINT 0 Ramp up ramp down time ms During this time the setpoint is adjusted in speed controlled mode as follows Ramp up From zero to the maximum permissible actual speed Ramp down From ...

Страница 26: ...have been transferred FALSE Data transfer in progress e g ramp up time statusWord OUT WORD 16 0000 Display of status word actValue OUT DINT 0 Actual speed error OUT BOOL FALSE TRUE Request completed with error refer to the errorID parameter errorID OUT WORD 16 0000 Number of the parameter assignment error signaled by the drive parameter identifier value PKW range 2 driveError OUT BOOL FALSE Drive ...

Страница 27: ... g read parameter with _POSMOA_rwParameter FB data transfer is suspended until busy FALSE The value which was parameterized when busy TRUE changed to busy FALSE at the input parameter accelTime is transferred Completion of data transfer is displayed with a rising edge at the output parameter dataReady and stays at TRUE until the next data transfer is started Message frame substitution POSMO A soft...

Страница 28: ...propagation diagram Task integration call The _POSMOA_nControl function block must be called cyclically in the BackgroundTask or in the TimerInterruptTask Calling in the SystemInterruptTask is not permitted Calling the function block in synchronous tasks e g IPOSynchronousTask is not recommended for runtime reasons Function blocks 3 3 Function block _POSMOA_nControl Supplement to SIMODRIVE POSMO A...

Страница 29: ...utput parameters 3 4 Function block _POSMOA_rwParameter Task The _POSMOA_rwParameter function block enables parameters to be assigned for the connected SIMODRIVE POSMO A The functions are as follows Reading a parameter Provides the value of the specified parameter Writing a parameter value Sets the specified parameter to the specified value Loading factory settings Resets the parameter configurati...

Страница 30: ... Yes 1 This parameter is new or extended with SIMOTION V4 1 Call LAD representation SNZ Q UHDO9DOXH B32602 BUZ3DUDPHWHU H HF ULWH HQDEOH5HDG 22 GRQH 22 86 17 22 SNZ2XW EXV SDUD1XPEHU VXELQGH 5 8 17 VHW HIDXOW 22 VDYH3DUDPHWHU 22 22 SNZ2XW 55 RI 7 HUURU 22 HUURU 25 EXV UHDO9DOXH 22 5 GLQW9DOXH 17 GLQW9DOXH 17 1 12 VSHFLILF SDUDPHWHUV 55 RI 7 55 RI 7 Function blocks 3 4 Function block _POSMOA_rwPara...

Страница 31: ...th an array 2 enableRead IN BOOL FALSE TRUE Reads parameter cyclically edge FALSE TRUE Reads parameter one time execWrite IN BOOL FALSE edge FALSE TRUE Writes parameter When set simultaneously with enableRead read is executed setDefault IN BOOL FALSE edge FALSE TRUE Loads factory settings When set simultaneously with enableRead read is executed saveParameter IN BOOL FALSE edge FALSE TRUE Saves par...

Страница 32: ...vides more detailed information on the parameterization error that has occurred or has been signaled by POSMO A Parameterization errors do not need to be acknowledged Changed parameters e g ramp up time can be transferred again 3 5 Function block _POSMOA_rwAllParameter Task The _POSMOA_rwAllParameter function block enables reading and writing of the parameter block of the connected SIMODRIVE POSMO...

Страница 33: ...90 116 No No No 1426 1 Yes Yes Yes 1427 1 Yes Yes Yes 1 This parameter is new or extended with SIMOTION V4 1 Call LAD representation 1 SNZ Q EXV B32602 BUZ OO3DUDPHWHU 22 GRQH 22 SNZ2XW DOO3DUD3RVPR H HF5HDG H HF ULWH 55 RI 7 22 55 RI 7 22 6WUXFWB32602 BSDUDPV SNZ2XW 55 RI 7 HUURU 22 HUURU 25 17 HUURU3DUD1XPEHU 6WUXFWB32602 BSDUDPV DOO3DUD3RVPR EXV 22 12 SRV0RGH 22 VSHFLILF SDUDPHWHUV Function blo...

Страница 34: ...ntrolled mode pkwOut IN OUT ARRAY 0 7 of BYTE Prepared FB data for I O outputs of the POSMO A allParaPosmoA IN OUT Struct_POS MOA_params Data structure for all parameters of the POSMO A busy IN OUT BOOL Coordination of the FBs done OUT BOOL FALSE TRUE When current request has been completed FALSE There is no request pending or a request is being executed error OUT BOOL FALSE TRUE Request completed...

Страница 35: ...ed r w p9 INT 10 Rampup time r w p10 DINT 30000 Maximum velocity r w p11 REAL 2 0 Target area r w p12 REAL 20000 0 Maximum following error r w p13 DINT 50 Monitoring time r w p14 REAL 20000 0 Zero speed area r w p15 REAL 0 0 Backlash on reversal compensation r w p16 REAL 9 0 Maximum overcurrent r w p17 DINT 20 P gain of speed controller r w p18 INT 22 Integral time of speed controller r w p19 REAL...

Страница 36: ...0 0 Signal position r p56 INT 0 Operating position r w p57 DINT 20 P gain of stop controller zero speed HW Version F and higher r w p58 DINT 100 Holding brake release time r w p59 REAL 10 0 Holding brake closure speed r w p60 DINT 400 Holding brake deceleration time r w p61 DINT 100 Holding brake controller disable time r w p62 REAL 0 0 Measuring position r p80 ARRAY 0 27 of Array_POSMOA_prgCtrlIn...

Страница 37: ...and for actual speed value r w p1427 2 INT 0 Delay time for Ramp up completed signal r w 1 r read w write 2 This parameter is new or extended with SIMOTION V4 1 Structure of Array_POSMOA_prgCtrlInfo Array_POSMOA_prgCtrlInfo contains the program control word Here you can define the behavior of a traversing block see Distributed Positioning Motor on PROFIBUS DP user manual Table 3 6 Structure of Arr...

Страница 38: ...ror Parameterization errors do not need to be acknowledged Changed parameters e g ramp up time can be transferred again 3 6 Calling function blocks In order to be able to work with the function blocks in your user program proceed as follows The numbers shown in the following program segment correspond to the steps below 1 Create the function block instances see the following program segment e g cr...

Страница 39: ...oundTask END_INTERFACE IMPLEMENTATION PROGRAM ExamplePosmoA Program of BackgroundTask VAR temporary array for outputs of FBs tmpPkwOutput ARRAY 0 7 of BYTE tmpPzdOutput ARRAY 0 3 of BYTE END_VAR 3 INSTANCE CALL of FB _POSMOA_control myPosmoAControl pkwIn myPkwIn pzdIn myPzdIn enable myEnable homing myHoming jog1 myJogNegative jog2 myJogPositive busy myBusy pkwOut tmpPkwOutput pzdOut tmpPzdOutput 4...

Страница 40: ...tmpPkwOutput myPzdOut tmpPzdOutput 7 END_PROGRAM ExamplePosmoA END_IMPLEMENTATION Note The ExamplePosmoA program must be assigned in the execution system Function blocks 3 6 Calling function blocks Supplement to SIMODRIVE POSMO A Positioning Motor 40 Function Manual 01 2015 ...

Страница 41: ...l value Jogging Move in positive or negative direction MDI Travel to the required position Parameter handling Write or read individual parameters Save all parameters in the EEPROM of the POSMO A Read out current actual position The current actual position of the POSMO A is read cyclically in jog mode and in MDI and stored in a variable Hardware platform The application example is available for var...

Страница 42: ...dditional handling steps for the example are carried out using the Enums in the symbol browser within the myCommand structure This requires that the E_posmoA element be selected from the Programs container in the project navigator Values from the Control value column are assigned to the corresponding variables by clicking Immediate control Error messages Pending errors and warnings for example rea...

Страница 43: ...stance created of the _POSMOA_control function block jogOverride 100 veloOverride 100 noStopIntermediate TRUE No intermediate stop noStop TRUE No stop In the Control value column of the symbol browser select the check boxes for the following variables and select the values to be assigned myCommand START_JOG_POSITIVE Jogging in positive direction myCommand START_JOG_NEGATIVE Jogging in negative dir...

Страница 44: ...llowing variables and select the values to be assigned myCommand START_HOMING Clicking Immediate control assigns the value to the variable and the POSMO A is homed to the value set in parameter 40 of POSMO A Note For more information on the homing of the POSMO A refer to the Distributed Positioning Motor on PROFIBUS DP user manual This documentation is included in the SIMOTION SCOUT scope of deliv...

Страница 45: ...read in the symbol browser as follows myCheckbacks actCommand MDI_BLOCK_ACTIVE Move MDI block absolute activated myCheckbacks actCommand NO_COMMAND_ACTIVE myCheckbacks done TRUE myCheckbacks positionReached TRUE MDI block traversed without error The current actual position of POSMO A can be read in the symbol browser from the myCheckbacks actPosition variable Note The MDI mode may be terminated on...

Страница 46: ...mmand WRITE_ONE_PARAMETER Write individual parameter myWrParaNumber You state the number of the parameter to be written here myWrSubIndex You state the subindex of the parameter to be written here for indexed parameters only myWrRealValue You state the value of the parameter to be written here data types C4 and N2 2 myWrDintValue Here you state the value of the parameter to be written data types I...

Страница 47: ...nt fault acknowledgement state can be read in the symbol browser as follows myCheckbacks actCommand RESET_ERRORS_ACTIVE Fault acknowledgement active myCheckbacks actCommand NO_COMMAND_ACTIVE myCheckbacks done TRUE Fault acknowledgement completed Note A POSMO A fault can only be acknowledged successfully when the cause of the error no longer exists 4 3 Variables used in application example Table 4 ...

Страница 48: ...ET_ERRORS_ACTIVE 5 Acknowledge faults on POSMO A active READ_PARA_ACTIVE 6 Read individual parameter active WRITE_PARA_ACTIVE 7 Write individual parameter active SAVE_PARAMETER_ACTIVE 8 Save all parameters in the EEPROM of POSMO A active NO_COMMAND_ACTIVE 9 No action active Table 4 4 Data structure Struct_checkbacks Symbol Data type Meaning actCommand enumActCommand Enums active actions done BOOL ...

Страница 49: ...Parameter block Error during reading or writing has occurred driveWarning BOOL POSMO A warning is pending driveWarningID WORD Warning number Application example 4 3 Variables used in application example Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 01 2015 49 ...

Страница 50: ...Application example 4 3 Variables used in application example Supplement to SIMODRIVE POSMO A Positioning Motor 50 Function Manual 01 2015 ...

Страница 51: ...erride jogOverride start Start start singleBlock Automatic_operation enableRdIn Read_in_enable extBlockChange External_blockchange noStopIntermediate No_intermediate_stop intermediateStop noStop No_stop stop resetError Fault_acknowledgement resetError blockNumber Block_number blockNumber veloOverride Override velocityOverride setStartInformation Start_byte setStartInformation mdiMode MDI_type MDIM...

Страница 52: ...ontrol FB 9 enable pkwIn pzdIn init Initialization releaseBrake Brake_release accelTime Acc_Time releaseRamp Ramp_en startRamp Ramp_on setpoint Sp releaseSetpoint Sp_en resetError Fault_acknowledgement reqControl Ctrl_req busy FB_coordination pkwOut pzdOut ready Ready active dataReady Data_transfer_ready statusWord Status_word actValue Pv error errorID driveError Fault driveErrorId Fault_number dr...

Страница 53: ...FB 12 _FB_posmoA_readWriteAllParameter pkwIn I_O_address PKWInputInterface execRead Read_all read execWrite Write_all write posMode Pos_en pkwOut I_O_address PKWOutputInterface allParaPosmoA allPosmoAParameter busy FB_active busy done Task_complete done error Fault_present error errorID Fault_number errorNumber errorParaNumber Fault_parameter_number errorParameterNumber Data structure elements Str...

Страница 54: ...arameter27 p28 p28 parameter28 p29 p29 parameter29 p30 p30 parameter30 p31 p31 parameter31 p32 p32 parameter32 p33 p33 parameter33 p34 p34 parameter34 p35 p35 parameter35 p36 p36 parameter36 p37 p37 parameter37 p38 p38 parameter38 p39 p39 parameter39 p40 p40 parameter40 p41 p41 parameter41 p42 p42 parameter42 p43 p43 parameter43 p44 p44 parameter44 p45 p45 parameter45 p46 p46 parameter46 p47 p47 p...

Страница 55: ...84 parameter84 p85 p85 parameter85 p86 p86 parameter86 p87 p87 parameter87 p99 p99 parameter99 p100 p100 parameter100 p101 p101 parameter101 p700 p700 p701 p701 p880 p880 p930 p930 parameter930 p964 p964 parameter964 p1426 p1426 p1427 p1427 Program control word Array_POSMOA_prgCtrlInfo Array_posmoA_programControlInformation A 2 List of abbreviations Table A 2 Abbreviations Abbreviation Meaning DC ...

Страница 56: ...er part of a PPO POSMO A Positioning Motor Actuator PPO Parameter Process data Object Cyclic data message frame when transferring data with PROFIBUS DP and the variable speed drives profile PZD Process data Process data part of a PPO ST Structured text STW Control word SW Software TO Technology object Appendix A 2 List of abbreviations Supplement to SIMODRIVE POSMO A Positioning Motor 56 Function ...

Страница 57: ... 13 M Message frame substitution FB _POSMOA_control 22 FB _POSMOA_nControl 27 P POSMO A application example 41 POSMO A function blocks _POSMOA_control 17 _POSMOA_nControl 24 _POSMOA_rwAllParameter 32 _POSMOA_rwParameter 29 Call example 38 Overview 17 R References 3 S SIMOTION and SIMATIC names 51 Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 01 2015 57 ...

Страница 58: ...Index Supplement to SIMODRIVE POSMO A Positioning Motor 58 Function Manual 01 2015 ...

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