Function Manual Basic Positioner ___________________

Introduction 1

___________________
Basic positioner 2

___________________
Appendix A
SINAMICS

SINAMICS G120
Function Manual Basic Positioner

Function Manual

Edition 06/2013, firmware V4.6

06/2013, FW V4.6
A5E31759509B AB
Legal information
Warning notice system
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 required to ensure that the products operate safely and without any problems. The permissible
ambient conditions must be complied with. The information in the relevant documentation must be observed.

Trademarks
All names identified by ® are registered trademarks of Siemens AG. The remaining trademarks in this publication
may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
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.

Siemens AG A5E31759509B AB Copyright © Siemens AG 2013.

Industry Sector Ⓟ 07/2013 Technical data subject to change All rights reserved
Postfach 48 48
90026 NÜRNBERG
GERMANY
Table of contents

1 Introduction ................................................................................................................................................ 7
2 Basic positioner ......................................................................................................................................... 9
2.1 Basic positioner and position control .............................................................................................9
2.2 Permissible encoder combinations in the "Vector" control mode ................................................10
2.3 Permissible encoders in the "Servo" control mode ......................................................................12
2.4 PROFIdrive interfaces..................................................................................................................13
2.4.1 Control and status word 1 ............................................................................................................15
2.4.2 Control and status word 2 ............................................................................................................17
2.4.3 Control and status word for the positioner ...................................................................................18
2.4.4 Control and status word 1 for the positioner ................................................................................20
2.4.5 Control and status word 2 for the positioner ................................................................................22
2.4.6 Control word block selection ........................................................................................................24
2.4.7 Control word MDI mode ...............................................................................................................25
2.4.8 Status word messages.................................................................................................................26
2.4.9 Function block FB283 ..................................................................................................................27
2.5 Commissioning.............................................................................................................................28
2.5.1 Commissioning sequence ............................................................................................................28
2.5.2 Normalizing the encoder signal....................................................................................................29
2.5.2.1 Define the resolution ....................................................................................................................29
2.5.2.2 Modulo range setting ...................................................................................................................31
2.5.2.3 Checking the actual position value ..............................................................................................33
2.5.2.4 Setting the backlash .....................................................................................................................34
2.5.3 Limiting the positioning range ......................................................................................................36
2.5.4 Setting the position controller.......................................................................................................38
2.5.4.1 Precontrol and gain ......................................................................................................................38
2.5.4.2 Optimizing the position controller .................................................................................................39
2.5.4.3 Limiting the traversing profile .......................................................................................................42
2.5.5 Setting the monitoring functions...................................................................................................44
2.5.5.1 Standstill and positioning monitoring ...........................................................................................44
2.5.5.2 Following error monitoring ...........................................................................................................46
2.5.5.3 Cam sequencer ............................................................................................................................48
2.5.6 Referencing ..................................................................................................................................49
2.5.6.1 Referencing methods ...................................................................................................................49
2.5.6.2 Setting the reference point approach ...........................................................................................51
2.5.6.3 Setting the flying referencing .......................................................................................................57
2.5.6.4 Set reference point .......................................................................................................................62
2.5.6.5 Absolute encoder adjustment ......................................................................................................64
2.5.7 Jogging.........................................................................................................................................66
2.5.7.1 Jog velocity ..................................................................................................................................66
2.5.7.2 Incremental jogging ......................................................................................................................67
2.5.7.3 Setting jogging .............................................................................................................................67
2.5.8 Traversing blocks .........................................................................................................................69
2.5.8.1 Travel to fixed stop .......................................................................................................................76

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 5
Table of contents

2.5.8.2 Examples..................................................................................................................................... 80
2.5.9 Direct setpoint input (MDI) .......................................................................................................... 82
A Appendix.................................................................................................................................................. 87
A.1 Additional information on the converter ...................................................................................... 87
A.1.1 Manuals for your converter ......................................................................................................... 87
A.1.2 Configuring support ..................................................................................................................... 88
A.1.3 Product Support .......................................................................................................................... 88
Index ........................................................................................................................................................ 89

Function Manual Basic Positioner

6 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
Introduction 1
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 sectionAdditional information on the converter (Page 87).

What is the meaning of the symbols in the manual?

An operating instruction starts here.

This concludes the operating instruction.

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 7
Introduction

Function Manual Basic Positioner

8 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
Basic positioner 2
2.1 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 2-1 Basic positioner and position control

The basic positioner has the following operating modes:

• Direct setpoint input (MDI): The external control specifies the position 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.

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 9
Basic positioner
2.2 Permissible encoder combinations in the "Vector" control mode

2.2 Permissible encoder combinations in the "Vector" control mode

Overview
In the "Vector" control mode you are allowed to use two encoders per inverter. The encoder
for the speed controller must be mounted on the motor shaft.

Table 2- 1 Encoder combinations

Encoders for the speed Encoders for the position controller

controller
SUB-D connector Terminal strip DRIVE-CLiQ interface

HTL or SSI Resolver HTL Connection via Sensor Module SMC or SME DRIVE-
TTL encoder encoder HTL or SSI Resolver Endat sin/cos CLiQ
encoder TTL encoder 2.1 encoder encoder
encoder
Encoderless ② ② ② ② ② ② ② ② ② ②
HTL or TTL ① --- --- ③ ③ ③ ③ ③ ③ ③
encoder
Resolver --- --- ① --- --- --- --- --- --- ---

HTL encoder ③ ③ --- ① ③ ③ ③ ③ ③ ③

HTL or TTL ③ ③ --- ③ ① --- --- --- --- ---
encoder
Resolver ③ ③ --- ③ --- --- ① --- --- ---

Endat 2.1 ③ ③ --- ③ --- --- --- ① --- ---

DRIVE-CLiQ ③ ③ --- ③ --- --- --- --- --- ①

encoder
sin/cos encoder ③ ③ --- ③ --- --- --- --- ① ---

The symbols ---, ①, ② and ③ are explained in the table below.

Function Manual Basic Positioner

10 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.2 Permissible encoder combinations in the "Vector" control mode

Table 2- 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
accuracy 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
accuracy 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
configuration provides the best
control results.

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 11
Basic positioner
2.3 Permissible encoders in the "Servo" control mode

Example

An HTL encoder is connected to the terminal strip.

You have the following options 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 You can connect the second encoder for
terminal strip only for the speed the position controller either to the SUB-
controller and a second encoder for D-connector or to the DRIVE-CLiQ
the position controller ③. interface.

2.3 Permissible encoders in the "Servo" control mode

In the "Servo" control mode you are only allowed to connect one encoder to the inverter. The
encoder must be mounted on the motor shaft.

Table 2- 3 Permissible encoders for speed controller and position controller

SUB-D connector Terminal strip DRIVE-CLiQ interface

HTL or SSI Resolver HTL Connection via Sensor Module SMC or SME DRIVE-
TTL encoder encoder HTL or SSI Resolver Endat 2.1 sin/cos CLiQ
encoder TTL encoder encoder encoder
encoder

Figure 2-2 Position controllers and speed controllers evaluate the same encoder

Function Manual Basic Positioner

12 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.4 PROFIdrive interfaces

2.4 PROFIdrive interfaces

The send and receive telegrams of the inverter for cyclic communication are structured as
follows:

Figure 2-3 Telegrams for cyclic communication - Position control

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 13
Basic positioner
2.4 PROFIdrive interfaces

Table 2- 4 Explanation of the abbreviations

Abbreviation Significance
STW1 Control word 1
ZSW1 Status word 1 see Control and status word 1 (Page 15)
STW2 Control word 2
ZSW2 Status word 2 see Control and status word 2 (Page 17)
SATZANW Selection of traversing block see Control word block selection (Page 24)
AKTSATZ Currently selected traversing block
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 Status word messages (Page 26)
NIST_B Actual speed value (32 bits)
frei Freely interconnectable
MDI_VELOCITY MDI velocity
MDI_ACC MDI acceleration
MDI_DEC MDI deceleration
MDI_MOD Selection of positioning mode with direct setpoint input (MDI) see Control word MDI mode (Page 25)
POS_STW Control word for basic positioner
POS_ZSW Status word for basic positioner see Control and status word for the positioner (Page 18)
POS_STW1 Control word 1 for basic positioner
POS_ZSW1 Status word 1 for basic positioner see Control and status word 1 for the positioner (Page 20)
POS_STW2 Control word 2 for basic positioner
POS_ZSW2 Status word 2 for basic positioner see Control and status word 2 for the positioner (Page 22)
WARN_CODE Number of the actual alarm
FAULT_CODE Number of the actual fault

Function Manual Basic Positioner

14 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.4 PROFIdrive interfaces

2.4.1 Control and status word 1

Control word 1 (STW1)

Table 2- 5 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 p0840[0] =
ramp-function generator. The converter switches off the r2090.0
motor at standstill.
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 p0844[0] =
standstill. 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 p0848[0] =
p1135 down to standstill. 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] =
1 = Enable operation Switch-on motor (pulses can be enabled). r2090.3

4 0 = Reject traversing job Axis brakes down to standstill with the maximum p2641 =
deceleration. Converter rejects the actual traversing block. 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 p2640 =
override. Converter remains in the actual traversing block. 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 p2103[0] =
still active, the converter switches to "closing lockout" state. 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] =
1 = Control via PLC Control via fieldbus, converter accepts the process data from r2090.10
the fieldbus.
11 0 = Stop referencing --- p2595 =
1 = Start referencing The converter does not start referencing. r2090.11

12 Reserved
13 0 → 1: External block change The axis goes to the next traversing block. p2633 =
r2090.13
14, 15 Reserved

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 15
Basic positioner
2.4 PROFIdrive interfaces

Status word 1 (ZSW1)

Table 2- 6 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 p2080[0] =
inhibited. r0899.0
1 1 = Ready Motor is switched on (ON command = 1); no fault is active. p2080[1] =
With the command "Enable operation" (STW1.3) the converter r0899.1
switches on the motor.
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 p2080[6] =
command and an additional ON command. 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 p2080[8] =
position setpoint is within the permissible tolerance p2546. r2684.8
9 1 = Control requested The automation system is requested to accept the control from p2080[9] =
the converter. 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 --- p2080[12] =
block active r2684.12
13 1 = Axis is at a standstill The absolute speed is less than p2161. p2080[13] =
r2199.0
14 Reserved 1 = Axis --- p2080[14] =
accelerates r2684.4
15 Reserved 1 = Axis brakes --- p2080[15] =
r2684.5

Function Manual Basic Positioner

16 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.4 PROFIdrive interfaces

2.4.2 Control and status word 2

Control word 2 (STW2)

Table 2- 7 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] = p0820[0] =
r2092.0 r2093.0
1 Drive data set selection DDS, bit 1 p0821[0] = p0821[0] =
r2092.1 r2093.1
1 to 6 Reserved
7 1 = Parking axis selection p0897 = p0897 =
r2092.7 r2093.7
8 1 = Travel to fixed stop p1545[0] = p1545[0] =
r2092.8 r2093.8
9 to 15 Reserved

Status word 2 (ZSW2)

Table 2- 8 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 p2081[5] =
SIMOTION control. 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

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 17
Basic positioner
2.4 PROFIdrive interfaces

2.4.3 Control and status word for the positioner

Positioning control word (POS_STW)

Table 2- 9 POS_STW and interconnection with parameters in the converter

Bit Meaning Comments P No.

0 1 = Follow-up mode The converter continuously corrects the position setpoint to p2655[0] =
follow the position actual value. r2092.0
1 1 = Set reference point The converter accepts the reference point coordinate in its p2596 =
position actual value and setpoint. 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 converter positions the p2591 =
load by the specified traversing path in a positive or negative r2092.5
direction.
0 = Jogging velocity active If the jogging command is active, the converter positions the
load with the jog velocity in the direction of the beginning or
end of the traversing range.
6…15 Reserved --- ---

Function Manual Basic Positioner

18 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.4 PROFIdrive interfaces

Positioning status word (POS_ZSW)

Table 2- 10 POS_ZSW and interconnection with parameters in the converter

Bit Meaning Comments P No.

0 1 = Follow-up mode active The converter is in the follow-up mode. p2084[0] =
r2683.0
1 1 = Velocity limiting is active The converter limits the velocity of the axis. p2084[1] =
r2683.1
2 1 = Setpoint is stationary During a positioning operation, the setpoint no longer p2084[2] =
changes. r2683.2
3 1 = Position setpoint reached The axis position is within the positioning window. p2084[3] =
r2684.3
4 1 = Axis traverses forwards The axis traverses in the positive direction. p2084[4] =
0 = Axis is stationary or traverses --- r2683.4
backwards
5 1 = Axis traverses backwards The axis traverses in the negative direction. p2084[5] =
0 = Axis is stationary or traverses forwards --- r2683.5

6 1 = Software limit switch, minus actuated The load is outside the permitted traversing range. p2084[6] =
r2683.6
7 1 = Software limit switch, plus actuated p2084[7] =
r2683.7
8 1 = Position actual value ≤ cam switching Feedback of the software cams in the converter. p2084[8] =
position 1 r2683.8
0 = Cam switching position 1 passed
9 1 = Position actual value ≤ cam switching p2084[9] =
position 2 r2683.9
0 = Cam switching position 2 passed
10 1 = Direct output 1 active The converter sets these signals in the actual traversing p2084[10] =
block. r2683.10
11 1 = Direct output 2 active See also Section: Traversing blocks (Page 69) p2084[11] =
r2683.11
12 1 = Fixed stop reached The axis is at the fixed stop p2084[12] =
r2683.12
13 1 = Fixed stop clamping torque reached The axis is at the fixed stop and has reached the p2084[13] =
clamping torque. r2683.13
14 1 = Travel to fixed stop active The converter moves the axis to a fixed stop. p2084[14] =
r2683.14
15 Reserved --- ---

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 19
Basic positioner
2.4 PROFIdrive interfaces

2.4.4 Control and status word 1 for the positioner

Positioning control word 1 (POS_STW1)

Table 2- 11 POS_STW1 and interconnection in the converter

Bit Meaning Comments P No.

0 Traversing block selection, bit 0 Selecting the traversing block p2625 = r2091.0
1 Traversing block selection, bit 1 p2626 = r2091.1
2 Traversing block selection, bit 2 p2627 = r2091.2
3 Traversing block selection, bit 3 p2628 = r2091.3
4 to 7 Reserved --- ---
8 0 = Relative positioning is selected The converter interprets the position setpoint as the p2648 = r2091.8
position setpoint relative to the start position.
1 = Absolute positioning is selected The converter interprets the position setpoint as
absolute position setpoint relative to machine zero
point.
9 01 = Absolute positioning for rotary Selection of the positioning type for a rotary axis. p2651 = r2091.9
axis in the positive direction
10 10 = Absolute positioning for rotary p2652 = r2091.10
axes in negative direction
00, 11 = Absolute positioning for a
rotary axis through the shortest
distance
11 Reserved --- ---
12 1 = Continuous acceptance The converter accepts position setpoint changes p2649 = r2091.12
immediately.
0 = MDI block change with control The converter accepts a changed position setpoint
word 1, bit 6 with the signal change 0 → 1 of control word 1, bit
6. See also Section: Control and status word 1
(Page 15).
13 Reserved --- ---
14 1 = Select Set up Toggling the axis operating mode between "Set up" p2653 = r2091.14
0 = Select positioning and "Positioning", see also Section: Direct setpoint
input (MDI) (Page 82).
15 1 = Activate MDI The converter receives its position setpoint from an p2647 = r2091.15
0 = Deactivate MDI external control.

Function Manual Basic Positioner

20 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.4 PROFIdrive interfaces

Positioning status word 1 (POS_ZSW1)

Table 2- 12 POS_ZSW1 and interconnection in the converter

Bit Meaning Comments P No.

0 Active traversing block bit 0 (20) Number of the currently selected traversing block. p2083[0] =
r2670[0]
1 Active traversing block bit 1 (21) p2083[1] =
r2670[1]
2 Active traversing block bit 2 (22) p2083[2] =
r2670[2]
3 Active traversing block bit 3 (23) p2083[3] =
r2670[3]
4 Active traversing block bit 4 (24) p2083[4] =
r2670[4]
5 Active traversing block bit 5 (25) p2083[5] =
r2670[5]
6 Reserved --- ---
7
8 1 = STOP cam minus active The axis is currently located at a STOP cam. p2083[08] =
r2684[13]
9 1 = STOP cam plus active p2083[09] =
r2684[14]
10 1 = Jogging active The converter is in the jogging mode. p2083[10] =
r2094[0]
11 1 = Reference point approach active The converter is presently executing a reference point p2083[11] =
approach. r2094[1]
12 1 = Flying referencing active The converter references when passing the reference p2083[12] =
cam. r2684[1]
13 1 = Traversing block active The converter receives its position setpoint from a p2083[13] =
traversing block. r2094[2]
14 1 = Set up active The axis is in the "Set up" operating mode. p2083[14] =
r2094[4]
15 1 = MDI active The converter receives its position setpoint from an p2083[15] =
0 = MDI inactive external control. r2670[15]

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 21
Basic positioner
2.4 PROFIdrive interfaces

2.4.5 Control and status word 2 for the positioner

Positioning control word 2 (POS_STW2)

Table 2- 13 POS_STW2 and interconnection with parameters in the converter

Bit Meaning Comments P No.

0 1 = Activate follow-up mode The converter continuously corrects the position setpoint to p2655[0] =
follow the position actual value. r2092.0
1 1 = Set reference point The converter accepts the reference point coordinate in its p2596 =
position actual value and setpoint. r2092.1
2 1 = Reference cam active The axes is currently located at the reference cam. p2612 =
r2092.2
3 Reserved --- ---
4
5 1 = Incremental jogging active If the jogging command is active, the converter positions the p2591 =
axis by the specified traversing path in a positive or negative r2092.5
direction.
0 = Jogging velocity active If the jogging command is active, the converter positions the
axis with the jog velocity in the direction of the beginning or
end of the traversing range.
6 Reserved --- ---
7
8 1 = Selects referencing using flying Select the referencing type. p2597 =
referencing r2092.8
0 = Selects referencing via the
reference point approach
9 1 = Starts reference point approach in Select the start direction for automatic referencing. p2604 =
negative direction r2092.9
0 = Starts reference point approach in
positive direction
10 1 = Selects probe 2 Edge of the probe input, with which the converter references p2510[0] =
0 = Selects probe 1 its actual position value. r2092.10
11 1 = Probe falling edge Select the edge of the probe input, with which the converter p2511[0] =
0 = Probe, rising edge references its actual position value. r2092.11

12 Reserved --- ---

13
14 1 = Software limit switch active The converter evaluates its software limit switch. p2582 =
r2092.14
15 1 = STOP cams active Converter evaluates the stop cams. p2568 =
r2092.15

Function Manual Basic Positioner

22 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.4 PROFIdrive interfaces

Positioning status word 2 (POS_ZSW2)

Table 2- 14 POS_ZSW2 and interconnection with parameters in the converter

Bit Meaning Comments P No.

0 1 = Follow-up mode active The converter is in the follow-up mode. p2084[0] =
r2683.0
1 1 = Velocity limiting is active The converter limits the velocity of the axis. p2084[1] =
r2683.1
2 1 = Setpoint is stationary During a positioning operation, the setpoint no longer p2084[2] =
changes. r2683.2
3 1 = Print index outside outer window The discrepancy between the actual position and the p2084[3] =
reference point was greater than permitted during flying r2684.3
referencing.
4 1 = Axis traverses forwards The axis traverses in the positive direction. p2084[4] =
0 = Axis is stationary or traverses --- r2683.4
backwards
5 1 = Axis traverses backwards The axis traverses in the negative direction. p2084[5] =
0 = Axis is stationary or traverses forwards --- r2683.5

6 1 = Software limit switch, minus actuated The axis is outside the permitted traversing range. p2084[6] =
r2683.6
7 1 = Software limit switch, plus actuated p2084[7] =
r2683.7
8 1 = Position actual value ≤ cam switching Feedback of the cam sequencer in the converter. p2084[8] =
position 1 r2683.8
0 = Cam switching position 1 passed
9 1 = Position actual value ≤ cam switching p2084[9] =
position 2 r2683.9
0 = Cam switching position 2 passed
10 1 = Direct output 1 active The converter sets these signals in the actual traversing p2084[10] =
block. r2683.10
11 1 = Direct output 2 active See also paragraph: Traversing blocks (Page 69) p2084[11] =
r2683.11
12 1 = Fixed stop reached The axis is at the fixed stop p2084[12] =
r2683.12
13 1 = Fixed stop clamping torque reached The axis is at the fixed stop and has reached the p2084[13] =
clamping torque. r2683.13
14 1 = Travel to fixed stop active The converter moves the axis to a fixed stop. p2084[14] =
r2683.14
15 1 = Traversing command active Feedback signal indicating as to whether the converter p2084[15] =
0 = Axis stationary is currently moving the axis. r2684.15

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 23
Basic positioner
2.4 PROFIdrive interfaces

2.4.6 Control word block selection

Block selection

Table 2- 15 Block selection and interconnection in the converter

Bit Meaning Comments P No.

0 Block selection, bit 0 Example for selecting p2625 = r2091.0
1 Block selection, bit 1 traversing block number p2626 = r2091.1
5:
2 Block selection, bit 2 p2627 = r2091.2
3 Block selection, bit 3 p2628 = r2091.3

4…14 Reserved
15 0 = Deactivate MDI Switching from traversing blocks to direct setpoint p2647 = r2091.15
1 = Activate MDI input.

Actual traversing block

Table 2- 16 Feedback signal of the actual traversing block

Bit Meaning Comments P No.

0 Actual traversing block, bit 0 --- p2081[0] = r2670.0
1 Actual traversing block, bit 1 p2081[1] = r2670.1
2 Actual traversing block, bit 2 p2081[2] = r2670.2
3 Actual traversing block, bit 3 p2081[3] = r2670.3
4…14 Reserved
15 0 = MDI active --- p2081[15] = r2670.15
1 = MDI not active

Function Manual Basic Positioner

24 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.4 PROFIdrive interfaces

2.4.7 Control word MDI mode

MDI mode

Table 2- 17 Selection of the MDI mode and interconnection with parameters in the converter

Bit Meaning Comments P No.

0 0 = Relative positioning is selected The converter interprets the position setpoint as the p2648 = r2094.0
position setpoint relative to the start position.
1 = Absolute positioning is selected The converter interprets the position setpoint as
absolute position setpoint relative to machine zero
point.
1 01 = Absolute positioning for rotary Selection of the positioning type for a rotary axis. p2651 = r2094.1
axis in the positive direction
2 10 = Absolute positioning for rotary p2652 = r2094.2
axes in negative direction
00, 11 = Absolute positioning for a
rotary axis through the shortest
distance
3…15 Reserved

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 25
Basic positioner
2.4 PROFIdrive interfaces

2.4.8 Status word messages

Status word messages (MELDW)

Table 2- 18 Status word for messages and interconnection with parameters in the converter

Bit Meaning Description P No.

0 0 = Ramp-function generator active The motor is presently p2082[0] = r2199.5
accelerating or braking
1 = Ramp-up/ramp-down completed Speed setpoint and actual
speed are the same.
1 1 = Torque utilization [%] < torque threshold value 2 --- p2082[1] = r2199.11
(p2194)
2 1 = |n_act| < speed threshold value 3 (p2161) --- p2082[2] = r2199.0
3 1 = |n_act| speed threshold value 2 (p2155) --- p2082[3] = r2197.1
4, 5 Reserved
6 1 = No motor overtemperature alarm The motor temperature is p2082[6] = r2135.14
within the permissible range.
7 1 = No alarm, thermal power unit overload The converter temperature is p2082[7] = r2135.15
within the permissible range.
8 1 = Speed setpoint - actual value deviation within Speed setpoint and actual p2082[8] = r2199.4
tolerance t_on speed are within the
permissible tolerance range
p2163.
9, 10 Reserved
11 1 = Controller enable The speed controller is p2082[11] = r0899.8
enabled.
12 1 = Drive ready The converter is ready to be p2082[12] = r0899.7
switched on.
13 1 = Pulses enabled The motor is switched on. p2082[13] = r0899.11
14, 15 Reserved

Function Manual Basic Positioner

26 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.4 PROFIdrive interfaces

2.4.9 Function block FB283

Overview
The function block FB283 is an interface block that connects an inverter with basic positioner
to a SIMATIC S7 controller via PROFIBUS/PROFINET.
The block FB283 transfers all of the required process data to and from the drive. It is suitable
for both controlling the basic positioner and for a pure speed-controlled drive.
The FB283 additionally provides the following functions:
● Reading and writing parameters in the inverter.
● Reading out the fault buffer of the inverter.
● Transferring up to 16 traversing blocks when a function is initiated.
● Reading or writing a maximum of any 10 parameters with one job, e.g. for product
adaptation.
A configuration example and a description of the FB283 can be found on the Internet: FB283
(http://support.automation.siemens.com/WW/view/en/25166781).

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 27
Basic positioner
2.5 Commissioning

2.5 Commissioning

2.5.1 Commissioning sequence

We recommend that you commission the basic positioner using the "STARTER" tool.
Downloading: STARTER
(http://support.automation.siemens.com/WW/view/en/10804985/133200).

① Assign encoders to the axes.

→ Operating instructions
② Set the communication via the fieldbus.
→ Operating instructions
→ PROFIdrive interfaces (Page 13)
③ Optimize the speed control
→ Operating instructions
④ → Scale the encoder signal (Page 29)

⑤ → Set the axis traversing range (Page 36)

⑥ → Optimize the position controller (Page 38)

⑦ → Set the positioning accuracy (Page 44)

⑧ → Establish the reference to the machine zero

point (Page 49)

⑨ → Set up the axis (Page 66)

⑩ → Save and call the traversing blocks in the

inverter (Page 69)
or
→ Enter a position setpoint from the external
control via fieldbus (Page 82)

Function Manual Basic Positioner

28 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.5 Commissioning

2.5.2 Normalizing the encoder signal

2.5.2.1 Define the resolution

Distance unit (LU): the resolution of the position actual value in the converter
The converter calculates the position actual value of the axis using the neutral position unit
LU (Length Unit). The distance unit LU is independent of whether the converter controls e.g.
the position of an elevating platform or the angle of rotary table.
Firstly, for your application define the required resolution. In other words: Which distance or
angle corresponds to the length unit (LU)?
The following rules apply when selecting the distance unit LU:
1. The higher the resolution of the distance unit LU, the higher the accuracy of the position
control.
2. If you select a resolution that is too high, then the converter cannot represent the position
actual value over the complete axis traversing range. The converter responds with a fault
in the case of an overflow when representing the number.
3. The resolution of the distance unit LU should be less than the maximum resolution that is
obtained from the resolution of the distance-encoder.

Normalize the encoder signal

Preconditions
● You are online with the STARTER .
● You have selected the "Mechanical system" screen.
● You have defined the required resolution for your particular application (e.g. 1 LU ≙ 1 µm
or 1 LU ≙ 1/1,000° (1 millidegree).

Procedure
To normalize the encoder signal, proceed as follows:
1. Enable the settings so they can be edited.
2. Enter the gear ratio of the axis. Load revolutions.
3. Motor revolutions
Unknown gear ratio
If you do not know the gear ratio, then you must measure the ratio, for example by
manually rotating the motor and counting the load revolutions.
Example: After 5 motor revolutions, the load has turned through 37 °. The ratio is
therefore 37 ° / (5 × 360 °). You must then enter the following values into STARTER:
– ② 37 [load revolution]
– ③ 1800 [motor revolution]

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 29
Basic positioner
2.5 Commissioning

4. Check the maximum resolution based on your encoder data.

With SSI encoders, the STARTER displays an excessive value. Encoder resolution = ¼ ×
displayed value.
5. Calculate:
Value = 360 ° / required resolution, e.g. 360 °/ 0.1 ° = 3600.
Enter this value into STARTER.

You have normalized the encoder signal.

Parameter Meaning
p2502 Encoder assignment
0 No encoder
1 Encoder 1
2 Encoder 2
p2503 Length unit LU per 10 mm
p2504 Motor/load motor revolutions
p2505 Motor/load load revolutions
p2506 Length unit LU per load revolution

Function Manual Basic Positioner

30 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.5 Commissioning

2.5.2.2 Modulo range setting

Description

Linear axis
A linear axis is an axis whose traversing range is limited in both motor directions of rotation
by the mechanical system of the machine, e.g.:

• Stacker crane
• Elevating platform
• Tilting station
• Gate/door drive

The converter maps the complete traversing range to the

position actual value.

Modulo axis
A modulo axis is an axis with an infinite traversing range, e.g.:

• Rotary table
• Conveyor belt
• Roller conveyor

The converter maps the modulo range on the position

actual value. If the load position leaves the modulo range,
then the value range of the position actual value repeats in
the converter.

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 31
Basic positioner
2.5 Commissioning

Setting the modulo range

Preconditions
● You are online with the STARTER .
● You have selected the "Mechanical system" screen.

Procedure
To set the modulo range, proceed as follows:
1. Enable the modulo correction.
2. Define the modulo range.
Example 1: In the case of a rotary table, one load revolution corresponds to 3600 LU. In
this case, the modulo correction is also 3600.
Example 2: For a roller conveyor, 100 motor revolutions corresponds to one production
cycle. For a resolution of 3600 LU per motor revolution, the modulo range is 360000 LU.

You have now set the modulo range.

Parameter Meaning
p2576 Modulo offset, modulo range
p2577 Modulo correction activation (signal = 1)
r2685 Offset value

Function Manual Basic Positioner

32 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.5 Commissioning

2.5.2.3 Checking the actual position value

After normalization of the encoder signal you should check the actual position value.

Preconditions
● You are online with the STARTER .
● You have selected the screen for "Actual value processing".

Procedure
To ensure that the converter calculates the actual position value correctly, you must check
the following:
● There must be no overflow of the actual position value in the entire traverse range. The
converter can show as a maximum the value range of -2147483648 … 2147483647. If
this maximum value is exceeded, the converter reports fault F07493.
● If you have defined a modulo range, the converter resets the actual position value after
passing through the range.

You have now checked the calculation for the actual position value.

Parameter Meaning
r2521[0] Position actual value for position control

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 33
Basic positioner
2.5 Commissioning

2.5.2.4 Setting the backlash

Description
Backlash (also called play, dead travel on reversing etc.) is the distance or the angle that a
motor must travel through when the direction of rotation reverses until the axis actually
moves in the other direction.

Figure 2-4 Backlash in a spindle

With the appropriate setting, the converter corrects the positioning error caused by the
backlash when reversing.
The converter corrects the backlash under the following condition:
● For an incremental encoder, the axis must be referenced.
See also section: Referencing (Page 49).
● For an absolute encoder, the axis must be adjusted.
See also section: Absolute encoder adjustment (Page 64).

Measuring backlash

Procedure
To measure the backlash, proceed as follows:
1. Move the axis to position A in the machine. Mark this position in the machine and note
down the actual position value in the converter, see also Section: Checking the actual
position value (Page 33).
2. Move the axis a little bit more in the same direction.
3. Move the axis in the opposite direction until the actual position value in the converter
shows the same value as at position A. Due to the backlash when reversing, the axis is
now at position B.

Function Manual Basic Positioner

34 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.5 Commissioning

4. Measure the position difference Δ = A - B in the machine.

Figure 2-5 Measuring backlash

You have measured the backlash.

Correcting backlash

Requirements
You have selected the "Mechanical system" screen.

Procedure
To correct the measured backlash, set the following:
● If the axis has not traveled far enough, then set a positive backlash.
● If the axis has traveled too far, then set a negative backlash.

You have corrected the backlash.

Parameter Meaning
p2583 Backlash compensation
r2685 Offset value

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 35
Basic positioner
2.5 Commissioning

2.5.3 Limiting the positioning range

Description

Positioning range for linear axes

The converter limits the positioning range of a linear axis using a software limit switch. The
converter only accepts position setpoints that lie within the software limit switches.

Figure 2-6 Limiting the positioning range of a linear axis

In addition, using its digital inputs, the converter evaluates signals from stop cams. When
passing a STOP cam, the converter responds – depending on the setting – either with a fault
or an alarm.

Fault as response
When passing the STOP cam, the inverter brakes the axis with the OFF3 ramp-down time,
switches the motor off, and reports the fault F07491 or. F07492. To switch the motor on
again, you must do the following:
● Switch the motor off (OFF1).
● Acknowledge the fault.
● Move the axis away from the STOP cam, e.g. using the jogging function.

Alarm as response
When passing the STOP cam, the converter brakes the axis with the maximum deceleration
(see Section: Limiting the traversing profile (Page 42)), maintains the axis in closed-loop
control and outputs alarm A07491 or A07492. In order to bring the axis back into the valid
traversing range, you must move the axis from the STOP cam, e.g. using the jogging
function.

Setting the limits of the positioning range

Precondition
You have selected the "Limit" screen.

Procedure
To set the limits of the positioning range, proceed as follows:
1. Enable the software limit switch.
2. Move the axis to the positive limit position in your machine. Set the position of the
software limit switches to the actual position value.

Function Manual Basic Positioner

36 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.5 Commissioning

3. Move the axis to the negative limit position in your machine. Set the position of the
software limit switches to the actual position value.
4. Enable the STOP cams.
5. Interconnect the signal of the STOP cam minus with the corresponding signal of your
machine.
Signal = 0 means an active STOP cam.
6. Interconnect the signal of the STOP cam plus with the corresponding signal of your
machine.

You have now set the limits of the positioning range.

Parameter Meaning
p2568 STOP cam activation
p2569 STOP cam, minus
p2570 STOP cam, plus
p2578 Software limit switch, minus signal source
p2579 Software limit switch, plus signal source
p2580 Software limit switch, minus
p2581 Software limit switch, plus
p2582 Software limit switch activation
r2683.6 Software limit switch, minus actuated
r2683.7 Software limit switch, plus actuated
r2684.13 STOP cam minus active
r2684.14 STOP cam plus active

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 37
Basic positioner
2.5 Commissioning

2.5.4 Setting the position controller

2.5.4.1 Precontrol and gain

Preconditions and constraints

Before you optimize the position controller, the closed-loop drive speed control must be
optimally set.
Dynamic response and accuracy of the closed-loop position control depend heavily on the
lower-level closed-loop or open-loop control or the motor speed:
● Position control in connection with an optimally set vector control with speed encoder
provides the best results.
● Position control with encoderless vector control (sensorless vector control, SLVC)
provides satisfactory results for most applications. Hoisting/lifting applications require a
speed controller.
● If you operate the position control with the U/f control of drive, then you must take into
account some significant reduction in closed-loop control performance and precision.

Position controllers in hoisting gear

U/f control is not suitable for vertical axes, such as elevating platforms or hoisting gear used
in high-bay racking units, as the axis generally cannot reach the target position as a result of
the limited precision of the U/f control.

Description

Figure 2-7 Position controller with precontrol

If the speed control of the converter has an encoder to feedback the actual speed, then
deactivate the integral component TN of the position controller.
If you use the position control together with the encoderless vector control (SLVC,
SensorLess Vector Control), the positioning accuracy may be inadequate. With active
integral time, positioning accuracy improves.

Function Manual Basic Positioner

38 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.5 Commissioning

2.5.4.2 Optimizing the position controller

To optimize the position controller, you must move the axis with the position control and
assess the control performance. How you move an axis using the STARTER is described
below.

Optimizing the position controller

Procedure
To optimize the position controller, proceed as follows:
1. In the control panel, select the operating mode "Basic positioner".
2. Click the "Jog" button.
3. Enter a speed setpoint.

4. Adjust the proportional gain.

Assess the controller characteristics:
– If the motor is running unevenly, the controller is unstable. In this case, reduce the
proportional gain ④ of the position controller.
If the closed-loop control is stable, but you are still dissatisfied with the control
dynamics, then increase the position controller proportional gain. Then check the
stability of the controller.

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 39
Basic positioner
2.5 Commissioning

5. Adjust the integral time.

Start with an integral time of 100 ms, and test your setting by traversing the axis with the
active position controller using the "jog" function.
Lower integral times increase the control dynamics but can, however, result in unstable
controller characteristics.

Function Manual Basic Positioner

40 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.5 Commissioning

6. Following controller optimization, set the precontrol of the position controller to 100%.

7. Check the controller characteristics again.

You have optimized the position controller.

Parameter Meaning
p2534 Speed precontrol factor
p2538 Proportional gain / Kp
p2539 Integral time / Tn
p2731 Signal = 0: activate position controller

Advanced settings
If you permanently activate the integral time of the position controller, the characteristics of
the position control change as follows:
● The following error while positioning goes to zero.
● When positioning the axis, it tends to overshoot; this means that the axis briefly moves
beyond the target position.

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 41
Basic positioner
2.5 Commissioning

2.5.4.3 Limiting the traversing profile

Description
The converter calculates the traversing profile when positioning from specified values for
velocity, acceleration and jerk (= acceleration change with respect to time).

Figure 2-8 Example: Effect of jerk limiting

If the axis must traverse more slowly or must accelerate at a lower rate or "softly", then you
must set the relevant limits to lower values. The lower that one of the limits is, the longer the
converter needs to position the axis.

Setting the traversing profile limitation

Precondition
You have selected the "Limit" screen and the "Traversing profile limitation" tab.

Procedure
To set the limitation of the traversing profile, proceed as follows:
1. Set the maximum velocity with which the converter may position the axis.
2. Set the maximum acceleration.
3. Set the maximum delay.
The "override" in the traversing blocks or for the direct setpoint input refers to the values
② and ③.

Function Manual Basic Positioner

42 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.5 Commissioning

4. Reduce the maximum jerk, if you require softer acceleration and braking.
5. For permanent jerk limiting, set this signal to 1.

You have now set the limitation of the traversing profile.

Parameter Meaning
p2571 Maximum velocity
p2572 Maximum acceleration
p2573 Maximum deceleration
p2574 Jerk limiting
p2575 Activating jerk limiting
1 signal: Jerk limiting is active

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 43
Basic positioner
2.5 Commissioning

2.5.5 Setting the monitoring functions

2.5.5.1 Standstill and positioning monitoring

Description
As soon as the setpoint for the position within a positioning operation no longer changes,
then the converter sets the "Setpoint stationary" signal to 1. With this signal, the converter
starts to monitor the position actual value:
● As soon as the axis has reached the positioning window, the converter signals that the
target has been reached, and maintains the axis in closed-loop control.
● If the axis does not come to a standstill within the standstill monitoring time, the converter
reports fault F07450.
● If the axis does not enter the positioning window within the positioning monitoring time,
the converter reports fault F07451.

Figure 2-9 Standstill monitoring and positioning monitoring

Setting standstill monitoring and positioning monitoring

Precondition
You have selected the "Monitoring" screen and the "Position monitoring" tab.

Procedure
To set the standstill and positioning monitoring, proceed as follows:
1. Set the required positioning accuracy.
2. Set the time within which the axis must be positioned.

Function Manual Basic Positioner

44 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.5 Commissioning

3. Set the required standstill window.

The standstill window must be larger than the positioning window.
4. Set the time within which the axis must be at standstill.
5. Define the signal "Target position reached" as a message to a higher-level control.

You have now set the standstill and position monitoring.

Parameter Meaning
p2542 Standstill window (target position ±p2542)
p2543 Standstill monitoring time
p2544 Positioning window (target position ±p2544)
p2545 Positioning monitoring time

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 45
Basic positioner
2.5 Commissioning

2.5.5.2 Following error monitoring

Description
The following error is the deviation between the position setpoint and the position actual
value while the converter is positioning the axis.

Figure 2-10 Monitoring the following error

The converter reports fault F07452 if the following error is too high. If you set the tolerance
to 0, monitoring is deactivated.

Setting following error monitoring

Precondition
You have selected the "Monitoring" screen and the "Following error monitoring" tab.

Procedure
To set the monitoring of the following error, proceed as follows:
1. Set the monitoring window.
Start with the factory setting value.
Test your setting by positioning the axis at maximum velocity, e.g. from the control panel.
If the converter stops the travel with fault F07452 , you will need to either increase the
monitoring window or increase the dynamics of the position controller.

Function Manual Basic Positioner

46 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.5 Commissioning

2. If you want to evaluate the message in your higher-level control, interconnect this signal
with, for example, a status bit in the fieldbus telegram.

You have now set the monitoring of the following error.

Parameter Meaning
p2546 Dynamic following error monitoring tolerance
r2563 Following error, dynamic model

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 47
Basic positioner
2.5 Commissioning

2.5.5.3 Cam sequencer

Description
The converter compares the position actual value with two different positions and therefore
simulates two independent cam switching signals.

If you need this function, set the cam switching position to match your particular application
and appropriately interconnect the cam switching signal.

Parameter Meaning
p2547 Cam switching position 1
p2548 Cam switching position 2
r2683.8 Position actual value <= cam switching position 1
r2683.9 Position actual value <= cam switching position 2

Function Manual Basic Positioner

48 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.5 Commissioning

2.5.6 Referencing

2.5.6.1 Referencing methods

Overview
If you are using an incremental encoder for the position actual value, after the supply voltage
is switched off, the converter loses its valid position actual value. After the supply voltage is
switched on again, the converter no longer knows the reference of the axis position to the
machine.
Referencing re-establishes the reference between the zero point of the position calculated in
the converter and the machine zero point.
Absolute encoders retain their position information, even after the supply has been switched
off.
The converter offers various ways of referencing the axis:
● Reference point approach - only with incremental encoders
● Flying referencing - with all encoder types
● Set reference point - with all encoder types
● Absolute encoder adjustment - with absolute encoders

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 49
Basic positioner
2.5 Commissioning

Reference point approach

The converter automatically traverses the axis to a defined reference point.

Example: A workpiece must be positioned at a

starting point before machining starts.

Flying referencing
The converter corrects its position actual value while traversing and reduces errors, e.g.
caused by wheel slip or a gear ratio that has not been precisely set.
Example: A pallet on a roller conveyor must be stopped at a specific position. However, the
exact position of the pallet on the conveyor is only known when a sensor is passed.

Figure 2-11 Positioning an item to be transported on a roller conveyor

Set the reference point and adjust the absolute encoder

The converter takes the reference point coordinate as the new axis position.

Function Manual Basic Positioner

50 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.5 Commissioning

2.5.6.2 Setting the reference point approach

Description
A reference point approach generally consists of the following three steps:
1. Travel to reference cam.
When it receives a signal, the axis searches in a specified direction for the reference
cam.
2. Travel to zero mark.
After reaching the reference cam, the axis changes the traversing direction and evaluates
the zero mark of the encoder.
3. Travel to reference point.
After the zero mark is reached, the axis traverses to the reference point and synchronizes
the actual position value in the converter with the machine.

Step 1: Travel to reference cam

The converter accelerates the axis in the start direction to the "Approach velocity". Once the
axis has reached the reference cam, in step 2, the converter switches to the reference point
approach.
Reversing cams make sense if the reference cam does not extend up to the end of the
traversing range. After reaching a reversing cam, the converter continues to search for the
reference cam in the opposite direction.

Figure 2-12 Step 1: Travel to reference cam

Under one of the following conditions, the converter skips the first step and starts with step 2:
● The axis is already at the reference cam.
● There is no reference cam available.

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 51
Basic positioner
2.5 Commissioning

Step 2: Travel to zero mark

The behavior of the axis in step 2 depends on whether a reference cam is available:

• Reference cam available: When the converter reaches the reference cam, the
axis accelerates in the opposite direction to the start
direction , to the "approach velocity zero mark".
• No reference cam is available: The converter accelerates the axis in the start
direction to the "approach velocity zero mark".

Figure 2-13 Step 2: Travel to zero mark if a reference cam is available

Figure 2-14 Travel to the zero mark if a reference cam is not available

Function Manual Basic Positioner

52 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.5 Commissioning

Step 3: Travel to reference point

After the converter has detected a zero mark, the axis moves with the "approach velocity
reference point" to the reference point coordinate.

Figure 2-15 Step 3: Travel to reference point

After the load has reached the reference point coordinate, the converter sets its position
setpoint and actual value to this value.

Setting the reference point approach

Preconditions
1. You have selected the "Homing" screen.
2. You have come to the settings via the button on the screen.
3. You have selected "Active homing".

Procedure
To set the reference point approach, proceed as follows:
1. You specify the referencing mode:
– Only using the encoder zero mark
– With external zero mark
– With reference cam and encoder zero mark
2. Specify the start direction.
3. Set the approach velocity to the reference cam.
4. Set the approach velocity to the reference point.
5. Set the approach velocity to the zero mark.

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 53
Basic positioner
2.5 Commissioning

6. Specify the reference point coordinate.

7. Specify the reference point offset.
8. Specify the max. permissible distance to the reference cam in step 1 of active
referencing.
9. If a reference cam is available: Define the maximum permitted distance to the zero mark.
10.If no reference cam is available: Define the tolerance for travel to the zero mark.
11.Close the screen form.

You have set the USB reference point approach.

Function Manual Basic Positioner

54 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.5 Commissioning

Defining the digital signals for controlling referencing

Procedure
To define the digital signals for controlling, proceed as follows:
1. This signal starts the reference point approach.
2. This signal must be 0 for the reference point approach.
3. Interconnect the signal of the reference cam with the corresponding signal of your
machine.
4. If you use the reversing cam minus, interconnect the reversing cam with the
corresponding signal, e.g. with the fieldbus.
0 = Reversing cams active.
5. If you use the reversing cam plus, interconnect the reversing cam with the corresponding
signal, e.g. with the fieldbus.
0 = Reversing cams active.

You have now defined the digital signals for controlling.

Defining the analog signals for controlling referencing

Procedure
To define the analog signals for controlling, proceed as follows:
1. Define the signal source for the velocity override.
See also section: Direct setpoint input (MDI) (Page 82).
2. Change the source for the reference point coordinate, if necessary.

You have now defined the analog signals for controlling.

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 55
Basic positioner
2.5 Commissioning

Parameter Meaning
p2595 Start referencing
p2598 Reference point coordinate, signal source
p2599 Reference point coordinate value
p2600 Reference point approach, reference point offset
p2604 Reference point approach, start direction
p2605 Reference point approach, approach velocity, reference cam
p2606 Reference point approach reference cam, maximum distance
p2607 Reference point approach reference cam available
p2608 Reference point approach, approach velocity, zero mark
p2609 Reference point approach, max distance reference cam and zero mark
p2610 Reference point approach, tolerance band for the distance to the zero mark
p2611 Reference point approach, approach velocity, reference point
p2612 Reference point approach, reference cam
p2613 Reference point approach reversing cam, minus
p2614 Reference point approach reversing cam, plus
r2684.0 Reference point approach active
r2684.11 Reference point set

Function Manual Basic Positioner

56 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.5 Commissioning

2.5.6.3 Setting the flying referencing

Description
During motion, the load passes a reference cam. The converter evaluates the reference cam
signal via a suitable fast digital input, and corrects its calculated position during travel. The
fast digital inputs of the converter used for flying referencing are also called probe inputs.
For flying referencing, the converter corrects the position setpoint and actual value
simultaneously.
If the position actual value correction means that the axis has already passed the point
where it should start braking, then the axis travels beyond the target and approaches the
target from the opposite direction.

Figure 2-16 Flying referencing

The converter sets the "Reference point set" signal back to zero after its supply voltage is
switched off and switched on again. The converter only corrects its position actual value for a
1 signal from "Start referencing". In this way, you can define, for example, the direction of
travel when the converter is referencing.

Setting flying referencing

Precondition
1. You have selected the "Homing" screen.
2. You have come to the settings via the button on the screen.
3. You have selected "Passive homing".

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 57
Basic positioner
2.5 Commissioning

Procedure
To set the flying referencing, proceed as follows:
1. Set with which edge of the reference cam signal the converter references its position
actual value:
0: Rising edge
1: Falling edge
2. Interconnect the switchover of reference cams 1 and 2 with a signal of your choice.
3. Select the digital input with which reference cam 1 is interconnected.
4. Select the digital input with which reference cam 2 is interconnected.
Several reference points:
If you require several reference points for an axis, then you must do the following:
– Assign the corresponding digital input to the respective reference point.
– Change the reference point coordinate during operation, e.g. using the non-cyclic
communication of the fieldbus.
5. Set the inner window for referencing. You deactivate the inner window with the value 0.
6. Set the outer window for referencing. You deactivate the outer window with the value 0.
Referencing can be suppressed depending on the deviation of the actual position value:
Inner window: For excessively small deviations, the converter does not correct its position
actual value.
Outer window: The converter signals an excessive deviation, but does not correct its
position actual value.

Figure 2-17 Outer and inner window for flying referencing

7. Specify the following:

– Taking into account the offset in traversing distance: The converter corrects both the
actual position as well as the setpoint. The relative traversing distance is shorter or
longer by the value of the correction.
Example: 500 LU is the axis start position. The axis should travel relatively through
1000 LU. The converter corrects the reference point during travel by 2 LU, and travels
to the corrected target position 1498 LU.

Function Manual Basic Positioner

58 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.5 Commissioning

– Not taking into account the correction in the traversing distance: The converter
corrects both the actual position as well as the setpoint. The relative travel distance
remains unchanged.
Example: 500 LU is the axis start position. The axis should travel relatively through
1000 LU. The converter corrects the reference point during travel by 2 LU, however,
moves to the old target position 1500 LU.
8. Set the reference point coordinate p2599 via the expert list in the STARTER.
9. Close the screen form.

You have now set flying referencing.

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 59
Basic positioner
2.5 Commissioning

Defining the digital signals for controlling referencing

Procedure
To define the digital signals for controlling, proceed as follows:
1. This signal starts flying referencing.
2. For flying referencing, this signal must be 1.
The other signals are of no significance for flying referencing.

You have now defined the digital signals for controlling.

Function Manual Basic Positioner

60 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.5 Commissioning

Defining the analog signals for controlling referencing

Procedure
To define the analog signals for controlling, proceed as follows:
1. Define the signal source for the velocity override.
See also section: Direct setpoint input (MDI) (Page 82).
2. Change the source for the reference point coordinate, if necessary.

You have now defined the analog signals for controlling.

Parameter Meaning
p2595 Start referencing
p2598 Reference point coordinate, signal source
p2599 Reference point coordinate value
p2601 Flying referencing, inner window
p2602 Flying referencing, outer window
p2603 Flying referencing, relative positioning mode
p2612 Reference point approach, reference cam
r2684.11 Reference point set
p2660 Measured value referencing

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 61
Basic positioner
2.5 Commissioning

2.5.6.4 Set reference point

Description
Position the load, e.g. using the "jog" function, at the reference position in the machine.

Figure 2-18 Set reference point

Activate 'set home position'

Precondition
You have selected the "Homing" screen.

Procedure
To activate 'set home position', proceed as follows:
1. Interconnect this bit with the corresponding signal of your machine.
If the axis is stationary, with the signal change 0 → 1, the inverter sets its actual position
value to the reference point coordinate.
For this function, all of the other signals are of no significance.

Function Manual Basic Positioner

62 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.5 Commissioning

2. In STARTER, proceed in the expert list and set p2599 to the reference point coordinate.

You have now activated 'set home position'.

Parameter Meaning
p2596 Set reference point
p2598 Reference point coordinate, signal source
p2599 Reference point coordinate value
r2684.11 Reference point set

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 63
Basic positioner
2.5 Commissioning

2.5.6.5 Absolute encoder adjustment

Absolute encoder adjustment

Precondition
1. You have positioned the axis (e.g. using the "jog" function) to the reference position in the
machine.
2. You have selected the "Homing" screen.
3. You have come to the settings via the button on the screen.
4. You have selected "Absolute encoder adjustment".

Procedure
To adjust the absolute encoder, proceed as follows:
1. Specify the reference point coordinate.
2. Accept the reference point coordinate in the position actual value.

You have now adjusted the absolute encoder.

Function Manual Basic Positioner

64 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.5 Commissioning

Parameter Meaning
p2598 Reference point coordinate, signal source
p2599 Reference point coordinate value
p2507 Absolute encoder adjustment status
0 Error has occurred in the adjustment
1 Absolute encoder was not adjusted
2 Absolute encoder was not adjusted and encoder adjustment was initiated
3 Absolute encoder adjusted

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 65
Basic positioner
2.5 Commissioning

2.5.7 Jogging

2.5.7.1 Jog velocity

Description
Only input a setpoint velocity for the converter for velocity jog. With the signal "Jogging 1" or
"Jogging 2", the converter accelerates the axis to the relevant setpoint velocity. The
converter stops the axis when the respective "Jog" signal returns to zero.

Figure 2-19 Jog velocity

Function Manual Basic Positioner

66 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.5 Commissioning

2.5.7.2 Incremental jogging

Description
In the case of incremental jogging, input a relative traversing distance and a velocity setpoint
into the converter. With the signals "Jogging 1" or "Jogging 2" the converter positions the
axis by the respective travel path.

Figure 2-20 Incremental jogging

2.5.7.3 Setting jogging

Precondition
You have selected the "Jog" screen.

Procedure
To set the "jog" function, proceed as follows:
1. Interconnect the signal that defines the mode for the "jog" function.
0: Velocity jogging
1: Incremental jogging
2. Interconnect the signal for jogging 1.
3. Interconnect the signal for jogging 2.
4. Select the button for the other settings.
5. Set the velocities for the "jogging 1" function.
6. Set the velocities for the "jogging 2" function.

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 67
Basic positioner
2.5 Commissioning

7. If you use the incremental jog, set the relative position setpoint for the "jogging 1"
function.
This value has no significance for velocity jogging.
8. If you use the incremental jog, set the relative position setpoint for the "jogging 2"
function.
This value has no significance for velocity jogging.

You have set the "jog" function.

Parameter Meaning
p2585 Jogging 1 setpoint velocity
p2586 Jogging 2 setpoint velocity
p2587 Jogging 1 traversing distance
p2588 Jogging 2 traversing distance
p2589 Jogging 1 signal source
p2590 Jogging 2 signal source
p2591 Incremental jogging

Function Manual Basic Positioner

68 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.5 Commissioning

2.5.8 Traversing blocks

Description
A traversing block describes a positioning instruction for the drive.
The converter saves 16 different traversing blocks, which it normally executes one after the
other. However, you can also directly select a specific traversing block or skip traversing
blocks.

Table 2- 19 Components of a traversing block

Element Meaning
Number With this number in the range 0 to 15, every traversing block can be selected
using binary-coded control signals.
Job Positioning command: You can give the converter various commands. For some
Parameter jobs, you must also specify a parameter. See the table below.
Mode Positioning mode: Positioning relative to the start position or absolute to the
machine zero point.
Position Target position
Velocity v Setpoints for the traversing profile.
Acceleration a
Braking -a

Advance Jump condition to the next traversing block. See the table below.

Job and parameters

Table 2- 20 Job and parameters

Job Parameter Meaning

Positioning --- • Axis absolute or relative positioning.
• Rotary axis with modulo correction in a positive or
negative direction, absolute positioning.
Travel to fixed Force [N] or torque Traverse axis to a fixed stop:
stop [0.01 Nm]
• Linear axis with reduced force.
• Rotary axis with reduced torque.
See also the section: Travel to fixed stop (Page 76).
Endless travel --- Traverse the axis at the specified velocity to the
positive or negative end of the traversing range.
Wait Time [ms] Wait the specified time.
Go to Number The converter then executes the next traversing block
with the specified number.
Set, reset 1 Set output 1 Set or reset internal signals in the converter:
2 Set output 2

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 69
Basic positioner
2.5 Commissioning

Job Parameter Meaning

3 Set outputs 1 and • Output 1: r2683.10
2
• Output 2: r2683.11
You can interconnect the signals with digital outputs of
the converter or with bit 10 and 11 of the positioning
status word of the fieldbus.
See also the sections: Control and status word for the
positioner (Page 18) , Control and status word 2 for the
positioner (Page 22)
Jerk 0 Inactive Activate or deactivate jerk limiting.
1 active See also the section: Limiting the traversing profile
(Page 42).

Conditions for advance

Table 2- 21 Advance: Jump condition to the next traversing block

Condition Meaning Traversing block

CONTINUE If the axis has reached the setpoint position and has come
WITH STOP to a standstill, the converter executes the next traversing
block.

CONTINUE The converter goes to next traversing block at the braking

FLYING instant.

CONTINUE At the external E If the E signal is not present, the drive

EXTERNAL signal, the behaves just the same as for
converter goes "CONTINUE FLYING".
to the next
traversing block.
CONTINUE If the E signal is ---
EXTERNAL not present, the
WAIT converter exits the
actual traversing
block and
CONTINUE continues to wait As long as the axis
EXTERNAL for the signal. is at a standstill,
ALARM the converter
signals alarm
A07463.
END The converter exits the actual traversing block if the target
position has been reached. The converter does not go to
the next traversing block.

Function Manual Basic Positioner

70 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.5 Commissioning

Programming traversing blocks

Precondition
1. You have selected the "Traversing blocks" screen.
2. You select the "Program traversing blocks" button.

Procedure
To program the traversing blocks, proceed as follows:
1. Assign a unique number for each traversing block.
2. Define the command and the corresponding parameters.
3. Set the job-specific values.
4. Define the step enabling condition for the next job.
5. If you travel to a fixed stop, a button appears to make additional settings for this function.
See also section: Travel to fixed stop (Page 76).
6. Click this button to interconnect the status signals of the traversing blocks, for example,
with bit 10 and 11 of the positioner status word with the fieldbus.
7. When you have programmed all traversing blocks, close the screen.

You have programmed the traversing blocks.

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 71
Basic positioner
2.5 Commissioning

Define digital signals for controlling

Procedure
To define the digital signals for controlling the traversing blocks, proceed as follows:
1. Define the signal for the start of the traversing block.
The signal change 0 → 1 starts the currently selected traversing block.
2. In the factory setting, this signal is interconnected with the appropriate internal signals of
the converter. We recommend that you do not change this setting.
3. See ②.
4. See ②.
5. Define the signal for the settings for the intermediate stop.
The axis temporarily stops for the "intermediate stop" = 0 signal. The axis continues its
travel with "intermediate stop" = 1. The same traversing block as before the stop is active.
See also section: Examples (Page 80).
6. Define the signal for "reject signaling task".
For the signal "reject traversing task" = 0, the converter stops the axis with the maximum
deceleration (p2573). If you start the axis again with "Activate traversing request" = 0 → 1,
the converter starts again with the currently selected traversing block.

7. Interconnect the signals for selecting the traversing block number.

The converter reads the traversing block number as binary code.

You have now defined the digital signals for controlling the traversing blocks.

Function Manual Basic Positioner

72 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.5 Commissioning

Define analog signals for controlling

Procedure
To define the analog signals for controlling the traversing blocks, proceed as follows:
1. Change the signal source for the velocity override, if required.
The velocity override refers to the velocity values you have set in the screen for
programming the traversing blocks.

You have now defined the analog signals for controlling the traversing blocks.

Define an external signal for block change

Precondition
You have selected the "External block change" button.

Procedure
To define an external signal for the block change, proceed as follows:
1. Specify whether the external signal is received via a fast digital input (probe) or from
another source, e.g. via the fieldbus.
2. To initiate a block change via the machine control system, you must interconnect this
signal with a signal of your choice.
3. Select the input with which cam signal 1 is interconnected.
4. Select the input with which cam signal 2 is interconnected.

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 73
Basic positioner
2.5 Commissioning

5. Specify the edge with which the inverter jumps to the next traversing block:
0: Rising edge
1: Falling edge

You have now defined an external signal for the block change.

Parameter Meaning
p0488 Probe 1, input terminal
p0489 Probe 2, input terminal
p0581 Probe edge
0 Positive edge 0 → 1
1 Negative edge 1 → 0
p2615 Maximum number of traversing blocks
p2616[0…n] Traversing block, block number
p2617[0…n] Traversing block, position
p2618[0…n] Traversing block, velocity
p2619[0…n] Traversing block, acceleration override
p2620[0…n] Traversing block, deceleration override
p2621[0…n] Traversing block, job
1 POSITIONING 6 GOTO
2 FIXED STOP 7 SET_O
3 ENDLESS_POS 8 RESET_O
4 ENDLESS_NEG 9 JERK
5 WAIT
p2622[0…n] Traversing block, job parameter

Function Manual Basic Positioner

74 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.5 Commissioning

Parameter Meaning
p2623[0…n] Traversing block, job mode
Value = 0000 cccc bbbb aaaa
cccc = 0000 Positioning Absolute
cccc = 0001 mode Relative
cccc = 0010 Absolute positive (only for rotary axis with modulo
correction)
cccc = 0011 Absolute negative (only for rotary axis with modulo
correction)
bbbb = 0000 Advance End
bbbb = 0001 condition Continue with stop
bbbb = 0010 Continue flying
bbbb = 0011 Continue external
bbbb = 0100 Continue external wait
bbbb = 0101 Continue external alarm
aaaa = 0001 Identifiers: Skip block
p2624 Sort traversing block
To sort the traversing blocks according to their block number: p2624 = 0 → 1.
p2625 Traversing block selection, bit 0
p2626 Traversing block selection, bit 1
p2627 Traversing block selection, bit 2
p2628 Traversing block selection, bit 3
p2631 Activate traversing block (0 → 1)
p2632 External block change evaluation
0 External block change via probe
1 External block change via BI: p2633
p2633 External block change (0 → 1)
p2640 Intermediate stop (0 signal)
p2641 Reject traversing job (0 signal)
p2646 Velocity override

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 75
Basic positioner
2.5 Commissioning

2.5.8.1 Travel to fixed stop

Preconditions
The "Travel to fixed stop" function is only possible with the control type vector control with
encoder (VC):
"Travel to fixed stop" is not possible with the following types of control:
● V/f control
● Vector control without encoder (SLVC)

Description
With this function, the converter positions a machine part to another machine part with force
locking – and presses both machine parts together with an adjustable force.
Examples:
1. A door is pressed against a frame so that it is reliably closed.
2. A rotary table is pressed against a mechanical fixed stop, in order to secure a specific
alignment.

When traveling to a fixed stop, the

following applies:
• You must specify the position
setpoint far enough behind the
mechanical fixed stop. The load
must reach the mechanical fixed
stop before the converter brakes
the axis.

• If the start of braking point is located in front of the mechanical fixed stop, the converter
cancels the travel and outputs fault F07485.
• Before starting the travel, the converter calculates the traversing profile for accelerating
and braking the axis. The selected torque limit for the fixed stop has no influence on this
calculation. However, the torque limit for the fixed stop reduces the available drive torque
for the complete traversing distance. If the torque available for the predicted acceleration
is not sufficient, then the following error is higher.
If the following error monitoring for travel to fixed stop responds, then you must reduce
the acceleration override.

Function Manual Basic Positioner

76 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.5 Commissioning

Fixed stop has been reached

You have two options to define when the fixed stop is reached:
1. Fixed stop via an external sensor:
At the fixed stop, the load actuates an external sensor. The sensor signals the converter
that the fixed stop has been reached. Depending on the advance condition, the converter
maintains the axis at the position with the set torque or goes to the next traversing block.
2. Fixed stop using maximum following error:
If the axis comes into contact with the mechanical fixed stop, then the actual position
value remains stationary. However, the converter still increases its position setpoint. The
converter detects the fixed stop from a settable difference between the position setpoint
and position actual value. Depending on the advance condition, the converter maintains
the axis at the position with the set torque or goes to the next traversing block.

Example: Fixed stop using maximum following error

Table 2- 22 Traversing blocks

Ind. No. Job Par. Mode s v a -a Advance

1 1 TRAVEL TO FIXED 5 RELATIVE 10,000 10 100 100 CONTINUE WITH STOP
STOP
2 2 POSITIONING 0 ABSOLUTE 0 500 100 100 END

Figure 2-21 Converter detects the fixed stop using the following error

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 77
Basic positioner
2.5 Commissioning

Set travel to fixed stop

Precondition
1. You have programmed "Travel to fixed stop" as traversing block.
See also section: Traversing blocks (Page 69).
2. If you select the "Programming traversing blocks" button, the "Configuration of fixed stop"
button appears.

Procedure: Fixed stop using an external signal

To set "Travel to fixed stop" using an external signal, proceed as follows:
1. Select "Fixed stop using an external signal".
2. Interconnect the sensor that signals when the fixed stop is reached with this signal.
3. Set the tolerance.

Function Manual Basic Positioner

78 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.5 Commissioning

After the fixed stop is detected, the inverter monitors the actual position of the axis. If the
position actual value changes by more than this distance, then the converter stops the
axis and outputs fault F07484. Therefore, the converter detects that the fixed stop has
"broken away"

You have now set "Travel to fixed stop" using an external signal.

Procedure: Fixed stop using maximum following error

To set "Travel to fixed stop" using maximum following error, proceed as follows:
1. Select "Fixed stop using maximum following error":
2. Set the following error that the inverter uses to detect the fixed stop.
3. Set the tolerance.
After the fixed stop is detected, the inverter monitors the actual position of the axis. If the
actual position value changes by more than this distance, then the converter stops the
axis and outputs fault F07484. Therefore, the converter detects that the fixed stop has
"broken away"

You have now set "Travel to fixed stop" using maximum following error.

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 79
Basic positioner
2.5 Commissioning

Parameter Meaning
p2634 Fixed stop, maximum following error
p2635 Fixed stop, monitoring window
p2637 Fixed stop reached
0 Fixed stop has not been reached.
1 Fixed stop has been reached.
p2638 Fixed stop outside the monitoring window
p2639 Torque limit reached
0 Torque limit has not been reached.
1 Torque limit has been reached.

2.5.8.2 Examples

1. Example

Table 2- 23 Traversing blocks

Ind. No. Job Par. Mode s v a -a Advance

1 1 POSITIONING 0 RELATIVE 10000 5000 100 100 CONTINUE WITH STOP
2 2 POSITIONING 0 ABSOLUTE 0 5000 100 100 END

Figure 2-22 Positioning an axis using traversing blocks

Function Manual Basic Positioner

80 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.5 Commissioning

2. Example

Table 2- 24 Traversing blocks

Ind. No. Job Par. Mode s v a -a Advance

1 1 POSITIONING 0 RELATIVE 10000 2000 100 100 CONTINUE EXTERNAL
ALARM
2 2 POSITIONING 0 RELATIVE 10000 5000 100 100 CONTINUE EXTERNAL
ALARM
3 3 POSITIONING 0 ABSOLUTE 0 5000 100 100 END

The converter only goes to the next traversing block for the 0 → 1 change of the "External
block selection" signal.

Figure 2-23 Positioning an axis using traversing blocks

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 81
Basic positioner
2.5 Commissioning

2.5.9 Direct setpoint input (MDI)

Description
For direct setpoint input (MDI, Manual Data Input), a higher-level control provides the
converter with the position setpoint and traversing profile.

Example 1
The higher-level control specifies the value of the setpoint either as a relative or an absolute
position setpoint:

Figure 2-24 Axis with direct setpoint input (MDI) positioning

Example 2
The higher-level control selects the mode "Set-up":

Figure 2-25 Set up axis with direct setpoint input (MDI)

Function Manual Basic Positioner

82 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.5 Commissioning

Defining the digital signals for controlling direct setpoint input

Precondition
You have selected the "Direct setpoint input (MDI)" screen.

Procedure
Interconnect the signals to control the direct setpoint input using the appropriate signals from
your machine control.

① Enables MDI. This bit must be = 1 if you control the converter using MDI.
② Specifies the MDI mode:
0: Positioning: Traverse the axis with position control using the target position.
1: Set up: Traverse the axis position-controlled using velocity input
While operational, the axis operating mode can be switched over from "Set up" to
"Positioning".
If "Set up" is active, then the two bits ⑥ and ⑦ define the direction of travel.
③ Intermediate stop:
0: The converter stops the axis and maintains the axis in position after standstill. The
actual traversing block still remains valid.
1: The axis continues the interrupted traversing block.
④ Reject traversing block:
0: The converter stops the axis and maintains the axis in position after standstill. The
converter can no longer continue the actual traversing block.
1: Axis waits for a new start command.
⑤ Positioning mode: These signals are only effective
0: Relative (see also bit ⑨). if, in the interface for analog
1: Absolute (the axis must be referenced). signals, the value ⑥ is not

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 83
Basic positioner
2.5 Commissioning

⑥ Direction selection for "Set up" (Bit ② = 1): interconnected. See also the
table below.
⑦ Bit ⑥ = 1: Positive direction.
Bit ⑦ = 1: Negative direction.
If both bits are the same, the axis stops.
⑧ Accept setpoint:
0 → 1: Start axis
Is only active, if bit ⑨ = 0.
⑨ 1: Continuous mode:
The converter continually accepts changes to the position setpoint. In this mode, relative
positioning is not permitted (see bit ⑤).
0: The converter starts using bit ⑧.
You have now interconnected the digital signals for controlling the direct setpoint input.

Defining the analog signals for controlling direct setpoint input

Precondition
You have selected the "Direct setpoint input (MDI)" screen.

Procedure
Interconnect the signals to control the direct setpoint input using the appropriate signals from
your machine control:

① Override velocity, referred to ③

② Position setpoint
③ Velocity setpoint for the traversing profile.
④ Acceleration override and deceleration, referred to the values of the traversing profile
⑤ limitation. See also section: Limiting the traversing profile (Page 42).

Function Manual Basic Positioner

84 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Basic positioner
2.5 Commissioning

⑥ "Mode adaptation" is interconnected with a signal:

xx0x hex Absolute positioning.
xx1x hex Relative positioning.
xx2x hex Position the rotary axis in the positive direction.
xx3x hex Position the rotary axis in the negative direction.
"Mode adaptation" is not interconnected (=0):
The signals ⑤, ⑥ and ⑦ of the upper table are effective.
You have now interconnected the analog signals for controlling the direct setpoint input.

Set fixed setpoint

In some applications it is sufficient if the inverter moves the axis for each task in the same
way, absolute or relative to the position setpoint. This approach can be achieved with fixed
setpoints.

Procedure
To set the fixed setpoints, proceed as follows:
1. Select the button for configuring the fixed setpoint:

2. Set the values suitable to your application:

You have set the fixed setpoints.

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 85
Basic positioner
2.5 Commissioning

Parameter Meaning
p2640 Intermediate stop (0 signal)
p2641 Reject traversing job (0 signal)
p2642 Direct setpoint input/MDI, position setpoint
p2643 Direct setpoint input/MDI, velocity setpoint
p2644 Direct setpoint input/MDI, acceleration override
p2645 Direct setpoint input/MDI, deceleration override
p2646 Velocity override
p2647 Direct setpoint input/MDI selection
p2648 Direct setpoint input/MDI, positioning type
0 Absolute positioning is selected
1 Relative positioning is selected
p2649 Direct setpoint input/MDI, acceptance method selection
0 Values are accepted when p2650 = 0 → 1
1 Continuous acceptance of values
p2650 Direct setpoint input/MDI, setpoint acceptance, signal edge
p2650 = 0 → 1 and p2649 = 0 signal
p2651 Direct setpoint input/MDI, positive direction selection
p2652 Direct setpoint input/MDI, negative direction selection
p2653 Direct setpoint input/MDI, set up selection
Signal = 1: Set up is selected.
p2654 Direct setpoint input/MDI, mode adaptation
p2690 Position fixed setpoint
Interconnect fixed setpoint: p2642 = 2690
p2691 Velocity fixed setpoint
Interconnect fixed setpoint: p2643 = 2691
p2692 Acceleration override fixed setpoint
Interconnect fixed setpoint: p2644 = 2692
p2693 Deceleration override fixed setpoint
Interconnect fixed setpoint: p2645 = 2693

Function Manual Basic Positioner

86 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
Appendix A
A.1 Additional information on the converter

A.1.1 Manuals for your converter

Informati Manual Contents Available Download or order number
on depth languages
++ Getting Started Guide Installing the converter and English, Download manuals
commissioning. German, (http://support.automation.
+++ Operating Instructions Installing the converter and Italian, siemens.com/WW/view/en/
for the SINAMICS G120 converter commissioning. Description French, 22339653/133300)
with the CU250S-2 Control Unit of the converter functions. Spanish, SINAMICS
Chinese Manual Collection
+++ Function Manual Basic Positioner (this manual) English, Documentation on DVD,
German order number
+++ Function Manual for Safety Configuring PROFIsafe. English, 6SL3097-4CA00-0YG0
Integrated Installing, commissioning German,
for the SINAMICS G120, G120C and operating fail-safe Chinese
and G120D converters functions of the converter.

+++ List Manual Complete list of all English,

parameters, alarms and German,
faults. Chinese
Graphic function diagrams.
+ Getting Started Guide Installing the Power Module English
for the following SINAMICS G120
Power Modules:
• PM240, PM250 and PM260
• PM240-2
+ Installation Instructions Installing components
for reactors, filters and braking
resistors
+++ Hardware Installation Manual Installing power modules, English,
for the following SINAMICS G120 reactors and filters. German
Power Modules: Maintaining power modules.
• PM240
• PM240-2
• PM250
• PM260
+++ Operating Instructions Operating Operator Panels,
for the following Operator Panels: door mounting kit for
mounting of IOP.
• BOP-2
• IOP

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 87
Appendix
A.1 Additional information on the converter

A.1.2 Configuring support

Table A- 1 Support when configuring and selecting the converter

Manual or tool Contents Available Download or order number

languages
Catalog D 31 Ordering data and technical English, Everything about SINAMICS G120
information for the standard German, (www.siemens.en/sinamics-g120)
SINAMICS G converters Italian,
French,
Spanish
Online catalog (Industry Ordering data and technical English,
Mall) information for all SIEMENS German
products
SIZER The overall configuration tool for English, You obtain SIZER on a DVD
SINAMICS, MICROMASTER German, (Order number: 6SL3070-0AA00-0AG0)
and DYNAVERT T drives, motor Italian, French and in the Internet:
starters, as well as SINUMERIK, Download SIZER
SIMOTION controls and (http://support.automation.siemens.com/W
SIMATIC Technology W/view/en/10804987/130000)
Configuration Manual Selecting geared motors, English, Configuration Manual
motors, converters and braking German (http://support.automation.siemens.com/W
resistor based on calculation W/view/en/37728795)
examples

A.1.3 Product Support

If you have further questions

You can find additional information on the product and more in the Internet under: Product
support (http://support.automation.siemens.com/WW/view/en/4000024).
In addition to our documentation, under this address we offer our complete knowledge base
online: You can find the following information:
● Actual product information (Update), FAQ (frequently asked questions), downloads.
● The Newsletter contains the latest information on the products you use.
● The Knowledge Manager (Intelligent Search) helps you find the documents you need.
● Users and specialists from around the world share their experience and knowledge in the
Forum.
● You can find your local representative for Automation & Drives via our contact database
under "Contact & Partner".
● Information about local service, repair, spare parts and much more can be found under
"Services".

Function Manual Basic Positioner

88 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
Index

Flying referencing, 21, 22

Following error, 41, 46, 77
Follow-up mode, 19, 22
A Function block FB283, 27
Absolute encoder, 64
Accuracy, 38, 44 G
Actual position value, 29, 33
Axis, 9 Gate/door drive, 31
Gear ratio, 29
Getting Started,
B
Backlash, 34 H
Block selection, 24
Hardware Installation Manual,
Hoisting gear, 38
C Hotline, 88
HTL encoder, 10
Cam sequencer, 23, 48
Cam switching position, 19
Catalog, 88 I
Configuring support, 88
Control dynamics, 38 Incremental jogging, 67
Control panel, 39 Industry Mall, 88
Control precision, 38 Integral component, 41
Control word 1, 15 Integral time, 41
Control word 2, 17 Intermediate stop, 72, 83
Conveyor belt, 31

J
D Jerk limiting, 42
DRIVE-CLiQ, 12 Jog velocity, 66
Dynamic response, 38 Jogging, 22, 39
Jogging (EPos), 9

E
L
Elevating platform, 29, 31
Encoder zero mark, 53 Limit switch (software), 36
Encoderless speed control, 12, 38 Limit switches, 36
Endat 2.1, 10 Linear axis, 31
EPos (basic positioner), 9 List Manual,
LU (Length Unit), 29

F
M
FB283, 27
Fixed stop, 9, 76 Machine zero point, 49
Fixed stop reached, 19 Manual Collection,

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 89
Index

Manuals Pulse cancelation, 15

Converter accessories, Pulse enable, 15
Download,
Function Manual for Safety Integrated,
Overview, Q
MDI, 9
Questions, 88
MDI (Manual Data Input), 82
MDI mode, 25
Mechanical fixed stop, 76
R
MELDW (status word messages), 26
Modulo axis, 31 Reference cam, 22, 51
Modulo correction, 32 Reference point, 51
Modulo range, 31 Reference point approach, 21, 22, 51
Reference point approach, 21, 22, 51
Reference point approach, 21, 22, 51
N referencing
Flying,
Neutral distance unit LU, 29
Referencing, 9
Absolute encoder adjustment,
Set reference point,
O
Resolution, 29
Operating instruction, 7 Resolver, 10
Operating instructions, Reversing cam, 51
Override, 84 Roller conveyor, 31, 50
Overview Rotary table, 29, 31, 76
Manuals,

S
P Sensorless Vector Control (SLVC), 38
POS_STW (positioning control word), 18 Set reference point, 22
POS_STW1 (positioning control word 1), 20 Set up, 9, 20, 21, 83
POS_STW2 (positioning control word 2), 22 sin/cos encoder, 10
POS_ZSW (positioning status word), 19 SIZER, 88
POS_ZSW1 (positioning status word 1), 21 Software limit switch, 19, 22
POS_ZSW2 (positioning status word 2), 23 SSI encoder, 10
Position actual value, value range, 33 Stacker crane, 31
Position control, 9 Standstill monitoring, 44
Position controller, 38 Status word 1, 16
Position setpoint reached, 19, 45 Status word 2, 17
Positioning control word, 18 Status word messages, 26
Positioning control word 1, 20 STOP cam, 21, 22, 36
Positioning control word2, 22 STW1 (control word 1), 15
Positioning monitoring, 44 STW2 (control word 2), 17
Positioning status word, SUB-D connector, 12
Positioning status word 1, Support, 88
Positioning status word 2, Symbols, 7
Positioning window, 44
Precontrol, 38
Probe, 22, 57 T
Procedure, 7
Target position reached, 45
Proportional controller, 38
Terminal strip, 12
Proportional gain, 39

Function Manual Basic Positioner

90 Function Manual, 06/2013, FW V4.6, A5E31759509B AB
 Index

Tilting station, 31
Traversing block, 9, 21, 69
Traversing block selection, 20
Traversing profile, 42

V
Value range, position actual value, 33

Z
Zero mark, 51
ZSW1 (status word 1), 16
ZSW2 (status word 2), 17

Function Manual Basic Positioner

Function Manual, 06/2013, FW V4.6, A5E31759509B AB 91