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Page 19 of 62 

POS-124-U-PFN-2030 

23.08.2016 

 

Group 

Command 

Default 

Unit 

Description 

Position control (MODE = POSITION)

 

 

 

HAND_1:A 
HAND_1:B 

3330 

-3330 

0.01 % 
0.01 % 

Output signal in manual mode 

 

 

POSWIN_1:S 
POSWIN_1:D 

200 

5000  

µm 

µm 

Range of the in position monitoring 

 

 

VMODE_1 

SDD  - 

Method of positioning 

 

 

HAND_2:A 
HAND_2:B 

3330 

-3330 

0.01 % 

0.01 % 

Output signal in manual mode 

 

 

POSWIN_2:S 
POSWIN_2:D 

200 

5000 

µm 

µm 

Range of the in position monitoring 

 

 

VMODE_2 

SDD  - 

Method of positioning 

 

Profile generator (VMODE = NC)

 

 

 

ACCEL_1 

250  mm/s² 

Acceleration 

 

 

VMAX_1 

50  mm/s 

Maximum velocity 

 

 

V0_1:A 
V0_1:B 
V0_1:RES 

10 

10 

1 

1/s 

1/s 
- 

Loop gain 

 

Loop gain resolution

 

 

 

ACCEL_2 

250  mm/s² 

Acceleration 

 

 

VMAX_2 

50  mm/s 

Maximum velocity 

 

 

V0_2:A 
V0_2:B 
V0_2:RES 

10 

10 

1 

1/s 

1/s 
- 

Loop gain 

 

Loop gain resolution

 

 

Control parameters (VMODE = SDD)

 

 

 

VRAMP_1 

100  ms 

Speed ramp time 

 

 

A_1:A 
A_1:B 

   100 

   100 

ms 

ms 

Acceleration time 

 

 

D_1:A 
D_1:B 
D_1:S 

25 

25 
10 

mm 

mm 
mm 

Deceleration stroke

 

 

 

PT1_1

 

1  ms 

PT1-filter time constant 

 

 

CTRL_1 

SQRT1   - 

Control characteristic 

 

 

VRAMP_2 

100  ms 

Speed ramp time 

 

 

A_2:A 
A_2:B 

   100 
   100 

ms 
ms 

Acceleration time 

 

 

D_2:A 
D_2:B 
D_2:S 

25 

25 
10 

mm 

mm 
mm 

Deceleration stroke

 

 

 

PT1_2

 

1  ms 

PT1-filter time constant 

 

 

CTRL_2 

SQRT1   - 

Control characteristic 

 

 

 

Содержание POS-124-U-PFN

Страница 1: ...Technical Documentation POS 124 U PFN Two axes positioning and synchronisation control module with integrated ProfiNet IO interface and SSI sensor interface...

Страница 2: ...ew 18 5 2 Basic parameters 21 LG Changing the language for the help texts 21 MODE Switching between parameter groups 21 5 3 Input signal adaptation 22 SENS Malfunction monitoring 22 SELECT X Type of p...

Страница 3: ...commands 38 AINMODE Input scaling mode 38 AIN Analogue input scaling 38 5 8 PROCESS DATA Monitoring 39 6 Appendix 40 6 1 Failure monitoring 40 6 2 Troubleshooting 40 7 ProfiNet IO RT interface 42 7 1...

Страница 4: ...inal 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 f...

Страница 5: ...ate 23 08 2016 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 Gener...

Страница 6: ...ion 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 inva...

Страница 7: ...oo Typical applications Positioning control or synchronization control with hydraulic axes Features Two independent positioning axes Can be combined for synchronized control Command position value par...

Страница 8: ...19 20 17 W E ST 25 26 27 28 41 42 43 44 V ID D 41372 Niederkr chten Homepage http www w e st de W E ST Elektronik Add Date Made in Germany 45 46 47 48 Klemmbl cke steckbar Terminals removable LEDs US...

Страница 9: ...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 a...

Страница 10: ...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...

Страница 11: ...position and the system stays in closed loop position control mode Setting the synchronous bit GL will synchronize both axes and the synchronization controller is overriding the position controller of...

Страница 12: ...ical for the application Control signals Check the control signal with a voltmeter The control signals PIN 15 to PIN16 and PIN19 to PIN20 lies in the range of 10V In the current state it should show 0...

Страница 13: ...Valve control signal axis 1 Type of signal and polarity can be selected by the parameter SIGNAL U1 PIN 19 20 Valve control signal axis 2 Type of signal and polarity can be selected by the parameter SI...

Страница 14: ...s An internal data error was detected and corrected automatically The module still works regularly To acknowledge the error the module has to be cycle powered YELLOW A YELLOW B Both yellow LEDs flash...

Страница 15: ...back Position 2 Input Scaling 0 10V 4 20mA 0 V 19 20 18 Output A Output B Differentialinput AXIS 1 AXIS 2 u2 Current mode 4 20 mA PIN 19 PIN 18 GND 36 31 47 48 41 42 43 44 24 V 0 V CLK CLK DATA DATA I...

Страница 16: ...r interface 40 SSI 1 sensor interface CLK CLK DATA DATA 24 V DC GND PE clamp PE clamp READY RJ45 Profinet RJ45 Profinet 4 5 Connection examples In PIN 13 or 14 PIN 12 GND AIN W 2000 1600 2000 C f r 0...

Страница 17: ...nal resolution Current Signal resolution V mA mA 2 x 0 10 Differential output 5 max load 0 024 4 20 390 Ohm maximum load 0 024 SSI interface RS 422 Specification 150 kBaud Controller sample time ms 1...

Страница 18: ...esolution SSI BITS 24 Number of transmitted bits SSI CODE GRAY Type of transmission code SSI ERRBIT 0 Position of the error bits Axis 1 SSI_1 POL Sensor polarity SYS_RANGE_1 100 mm Axis working stroke...

Страница 19: ...250 mm s Acceleration VMAX_1 50 mm s Maximum velocity V0_1 A V0_1 B V0_1 RES 10 10 1 1 s 1 s Loop gain Loop gain resolution ACCEL_2 250 mm s Acceleration VMAX_2 50 mm s Maximum velocity V0_2 A V0_2 B...

Страница 20: ...f not ready MIN_2 A MIN_2 B 0 0 0 01 0 01 Deadband compensation MAX_2 A MAX_2 B 10000 10000 0 01 0 01 Output scaling TRIGGER_2 200 0 01 Deadband compensation trigger point OFFSET_2 0 0 01 Offset value...

Страница 21: ...r English can be selected for the help texts MODE Switching between parameter groups Command Parameters Unit Group MODE x x STD EXP BASIC This command changes the operating mode Various commands defin...

Страница 22: ...always active because otherwise no errors are detectable via the READY output Deactivating is possible mainly for troubleshooting SELECT X Type of position sensors Command Parameters Unit Group SELECT...

Страница 23: ...d Parameters Unit Group SSI BITS X x 8 31 INPUT With this command the number of data bits can be set Take the data from the sensor data sheet SSI CODE Signal coding Command Parameters Unit Group SSI C...

Страница 24: ...input signal If the demand is set incorrectly this leads to incorrect system settings and the dependent parameters such as speed and gain cannot be calculated correctly N_RANGE X Nominal range of the...

Страница 25: ...nit Group SIGNAL_1 X x SIGNAL_2 X x x OFF U0 10 I4 20 U10 0 I20 4 INPUT This command can be used to change the type of input signal voltages or current and to define the direc tion of the signal This...

Страница 26: ...use the manual mode in conjunction with the EOUT command After the deactivation of the HAND input the output is set to the EOUT value POSWIN In position monitoring range Command Parameter Unit Group P...

Страница 27: ...s One disadvantage is that the speed varies with the fluctuating pressure as the system runs under open loop control NC Numerically Controlled In this mode a position profile is generated internally T...

Страница 28: ...In NC Mode the loop gain is normally specified rather than the deceleration distance5 The internal gain is calculated from this gain value together with the VMAX and SYS_RANGE parameters i Intern i D...

Страница 29: ...alculated inter nally depending on the deceleration distance The shorter the deceleration distance the higher the loop gain A longer deceleration distance should be specified in the event of instabili...

Страница 30: ...the SQRT7 function In case of zero lapped valves control valves and servo valves the LIN or SQRT1 function should be used regardless of the application The progressive characteristic of the SQRT1 func...

Страница 31: ...rves as command value for the synchro nous controller which has an effect on both axes while trying to synchronize them The lagging one will be accelerated and the advanced one decelerated w Ramp func...

Страница 32: ...ms SYNC SDD SYNC NC SYNC These parameters are used to optimize the synchronization controller The SYNC controller works as a PT1 or PI compensator for optimized controlling of hydraulic drives The pa...

Страница 33: ...off in the event of an error This is normal behavior CAUTION If the output signal is 4 20 mA the output is switched off when EOUT 0 If a null value 12 mA is to be output in the event of an error EOUT...

Страница 34: ...that the adjustment is performed either at the power amplifier or in the module If the MIN value is set too high this has an effect on the minimum speed which can then no longer be adjusted In extreme...

Страница 35: ...T This command is used to define the output signal voltage or current and to change the polarity10 Differential output 100 corresponds with 10 V 0 10 V at PIN 15 and PIN 16 or PIN 19 and PIN 20 Curren...

Страница 36: ...te offsets and other failure To prevent instabilities the integrator value will be frozen when the output value is lower than the deactivation point Drift compensation to compensate failure of the zer...

Страница 37: ...DV x DC_2 I x DC_2 CR x x 0 2000 x 0 1000 x 0 2000 x 0 500 x 0 2000 x 0 1000 x 0 2000 x 0 500 0 01 0 01 ms 0 01 0 01 0 01 ms 0 01 OUTPUT DC AV This parameter is used to define the activation point ac...

Страница 38: ...0 10000 x V C 0 01 MATH INPUT This command offers an individual scalable input The following linear equation is used for the scaling Output A B Input C The C value is the offset e g to compensate the...

Страница 39: ...on 20 4 mA and the signal 16 mA 20 mA 4 mA will be gained to 100 20 mA Each of this parameterization for 4 20 mA is setting the range to 0 100 5 8 PROCESS DATA Monitoring Command Parameters Unit WA1...

Страница 40: ...t the device is in an operable state and there is communication between the module and the WPC 300 Furthermore the valve control parameterization has been set with the assistance of the valve data she...

Страница 41: ...he system is working and also actuating the valve Various potential problems could be The parametrisation is not yet adjusted to the system gain too high There is severe interference on the power supp...

Страница 42: ...west pn by default The IP address is assigned to the device by the ProfiNet IO controller PLC For this the gateway has a device name on which it is addressed The IP address of the PROFINET IO device...

Страница 43: ...6 6 DC_FREEZE Storing of the drift compensation value as offset for the output SC Synchronous control In synchronous run the preset values for axis 2 are not active The system is driven by the demand...

Страница 44: ...within the preset window for synchronous error SENSERROR Sensor error Monitored are SSI and 4 20 mA input signals Attention Inverted signal an error exists if the bit is not set DERROR Internal data...

Страница 45: ...5 7 6 8 7 Command position 1 Low LSB 9 8 Command speed 1 High int 0 0x3fff 0 100 10 9 Command speed 1 Low 11 10 Command position 2 High MSB long 0 10000000 0 001 mm 12 11 13 12 14 13 Command position...

Страница 46: ...s 1 5 4 HandB1 Manual mode axis 1 6 5 HandA1 Manual mode axis 1 7 6 START1 Start positioning axis 1 8 7 ENABLE1 Unblocking axis 1 Byte 1 Control word 1 Low Byte Nr Bit Funktion 1 0 2 1 DC_FREEZE2 Addi...

Страница 47: ...te the communication and as watchdog signal 2 1 3 2 4 3 5 4 6 5 7 6 SC Synchronous controller 8 7 DIRECT Direct mode for command position Byte 3 Control word 2 Low Byte Nr Bit Funktion 1 0 2 1 3 2 4 3...

Страница 48: ...MSB Signalaufl sung 1 m 0 001 mm 6 5 7 6 8 7 Actual position 1 Low LSB 9 8 Internal command position 1 High MSB Signalaufl sung 1 m 0 001 mm 10 9 11 10 12 11 Internal command position 1 Low LSB 13 12...

Страница 49: ...the window 7 6 POSWIN1 S Axis 1 target position reached 8 7 READY1 operational readiness axis 1 Byte 1 Status word 1 High Byte Nr Bit Function 1 0 SENSERROR2 Error of the sensor of axis 2 2 1 3 2 4 3...

Страница 50: ...RROR Checksum error ProfiNet 8 7 DERROR Internal data error Byte 3 Status word 2 Low Byte Nr Bit Function 1 0 LIVEBIT_OUT Feedback LIVEBIT monitoring of the communication 2 1 3 2 4 3 5 4 6 5 7 6 PARA_...

Страница 51: ...both ENABLE bits in the control words have to be reset If necessary switch off hydraulics to avoid drift Parameterizing At first set PARAMODE bit to enable fieldbus parameterizing This will be report...

Страница 52: ...0x2014 MIN_1 B 0x0000 0x1770 15 0x2015 TRIGGER_1 0x0000 0x0BB8 16 0x2016 OFFSET_1 0xF060 0x0FA0 17 0x2021 POSWIN_2 S 0x0002 0x30D40 18 0x2022 POSWIN_2 D 0x0002 0x30D40 19 0x2023 ACCEL_2 0x0001 0x4E20...

Страница 53: ...n in the TIA project and the interconnections are explained 1 Import the GSDML file 2 Project the connection between PLC and controller card via Profinet 3 Assemble a module IN OUT 32 bytes The addres...

Страница 54: ...as new external file 5 Subsequently click on the imported file and chose generate blocks from source After this step the driver block can be found in the blocks folder Its number may differ This FB ca...

Страница 55: ...the Si matic Manager First the GSDML file has to be imported in the HW configurator Then create a Profinet system and choose the component UNIGATE IC Profinet 2Port from the catalogue folder PROFINET...

Страница 56: ...h corresponds to the file name here it is WEST_POS124U_PFN Prior to compiling them a free block number has to be allotted to the name in the Symbol Editor After saving the symbol list the FB can be cr...

Страница 57: ...Page 57 of 62 POS 124 U PFN 2030 23 08 2016...

Страница 58: ...detailed diagnostic information BUS ERROR CODE Nr Bit Funktion 1 0 Internal data error DERROR 2 1 Checksum error ProfiNet CHKERROR 3 2 Data overflow error ProfiNet BUFFEROV 4 3 Receiving error access...

Страница 59: ...Page 59 of 62 POS 124 U PFN 2030 23 08 2016...

Страница 60: ...user should then carry out a firmware update according to the steps shown in the WPC help file After carrying out the firmware update the user needs to perform a few more steps to update the fieldbus...

Страница 61: ...Exiting script download is displayed This procedure needs to be done only one time after the firmware update It is mandatory if the bus driver in the firmware has been changed This will be announced...

Страница 62: ...Page 62 of 62 POS 124 U PFN 2030 23 08 2016 10 Notes...

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