User Manual 06/2005 Edition

simodrive
POSMO A
Distributed Positioning Motor
on PROFIBUS DP
 Brief Description 1
Installing and
Connecting–Up 2
Commissioning 3
SIMODRIVE POSMO A Communications via
PROFIBUS DP 4

Distributed Positioning Motor Description of the

on PROFIBUS DP Functions 5
Fault Handling
Diagnostics 6
User Manual
Installation and Service 7

List of Abbreviations A
References B
Dimension Drawings C
EC Declaration of
Conformity D
Valid for
Index E
Unit Software version
SIMODRIVE POSMO A
– 75 W motor Version O (3.0)
– 300 W motor Version G (3.0)

06.05 Edition
 SIMODRIVE documentation
3ls

Printing history
Brief details of this edition and previous editions are listed below.

The status of each edition is shown by the code in the ”Remarks” column.

Status code in the ”Remarks” column:

A.... New documentation

B.... Unrevised reprint with new Order No.

C.... Revised edition with new status

If factual changes have been made on the page since the last edition, this is indicated by a new
edition coding in the header on that page.

Edition Order No. Remarks

02.99 6SN2197–0AA00–0BP0 A
02.00 6SN2197–0AA00–0BP1 C
04.01 6SN2197–0AA00–0BP2 C
08.01 6SN2197–0AA00–0BP3 C
08.02 6SN2197–0AA00–0BP4 C
05.03 6SN2197–0AA00–0BP5 C
08.03 6SN2197–0AA00–0BP6 C
08.04 6SN2197–0AA00–0BP7 C
06.05 6SN2197–0AA00–0BP8 C

Trademarks
SIMATIC, SIMATIC HMI, SIMATIC NET, SIROTEC, SINUMERIK, SIMODRIVE and SIMODRIVE
POSMO are Siemens trademarks. Other product names used in this documentation may be trademarks
which, if used by third parties, could infringe the rights of their owners.

Other functions not described in this documentation might be executable in

Additional information can be found at: the control. However, no claim can be made regarding the availability of
http://www.ad.siemens.com/mc these functions when the equipment is first supplied or in the event of
servicing.
This publication was produced with Interleaf V 7
We have checked that the contents of this document correspond to the
hardware and software described. Nevertheless, differences might exist
and therefore we cannot guarantee that they are completely identical. The
information in this document is regularly checked and necessary
corrections are included in reprints. Suggestions for improvement are also
welcome.
 Siemens AG 2005 All rights reserved. Subject to change without prior notice.

Order No. 6SN2197–0AA00–0BP8 Siemens Aktiengesellschaft

Printed in the Federal Republic of Germany
Foreword
Instructions when reading
Structure of the The SIMODRIVE documentation is subdivided into the following levels:
documentation S General Documentation/Catalogs
S User Documentation
S Manufacturer/Service Documentation
You can obtain more detailed information on the documents listed in
the documentation overview as well as additional SIMODRIVE docu-
mentation from your local Siemens office.
This manual does not purport to cover all details or variations in equip-
ment, nor to provide for every possible contingency to be met in con-
nection with installation, operation or maintenance.
The contents of this document are not part of an earlier or existing con-
tract or agreement nor do they change this. The sales contract contains
the entire obligation of Siemens. The warranty conditions specified in
the contract between the parties is the sole warranty of Siemens. Any
statements contained herein neither create new warranties nor modify
the existing warranty.
Target group This documentation addresses machine manufacturers and service
personnel who use the SIMODRIVE POSMO A positioning motor.

Technical Support If you have any questions, please contact the following Hotline:
A&D Technical Support
Tel.: +49 (0) 180 5050 – 222
Fax: +49 (0) 180 5050 – 223
email: mailto: [email protected]
Internet: www.siemens.com/automation/support-request
If you have any questions regarding the documentation (suggestions,
corrections), please send a fax or email:
Fax: +49 (0) 9131/98 – 63315
email: mailto: [email protected]
Fax form Refer to the correction sheet at the end of the
documentation

Internet address You can obtain continually updated information about our product in the
Internet under:
http://www.siemens.com/motioncontrol

Current documen- An overview of the complete documentation and the languages in

tation which it is available, updated on a monthly basis, is available in the
Internet under the following address:
http://www.siemens.com/motioncontrol
Follow the menu items –> “Support” –> “Technical Documentation” –>
“Documentation – Overview”.
The Internet edition of DOConCD, DOConWEB, is available under:
http://www.automation.siemens.com/doconweb

Certificates You will find the certificates for the products described in this documen-
tation under: http://intra1.erlf.siemens.de/qm/home/index.html

E Siemens AG 2005 All Rights Reserved

SIMODRIVE POSMO A User Manual (POS1) – 06.05 Edition v
Foreword 06.05

Goal This user manual provides detailed information required for operating
the positioning motor SIMODRIVE POSMO A.
Should you wish for additional information or should exceptional pro-
blems arise that are not addressed in sufficient detail in this manual,
you can request the required information from your local Siemens of-
fice.

Information about The following should be observed when using this manual:
using this manual
1. Help: The following help is available for the reader:
 Complete table of contents
 Header line (as orientation):
the main chapter is in the upper header line
the sub–chapter is in the lower header line
 Appendix with
– Abbreviations and List of References
– Index
If you require information on a specific term, look in the Appendix
under ”Index” for this term.
The Chapter number as well as the page number is specified
where information on this term can be found.
2. Identifying ”new” or ”revised” information
The documentation 02.99 edition is the first edition.
How is the ”new” or ”revised” information identified for the other edi-
tions?
 This is specified directly next to the information ”from SW x.y”.
 The edition is in the header line on the respective page > 02.99.
3. Notation

means ”corresponds to”
 Numerical representation (examples)
– FFFF hex Hexadecimal number
– 0101bin Binary number
– 100dec Decimal number
 PROFIBUS signals (examples)
– STW.3 Control word bit 3
– ZSW.11 Status word bit 11
 Parameter (examples)
– P10 Parameter 10 without index
– P82:28 Parameter 82 with index 0, 1, ... 27 (28 indices)
– P82:13 Parameter 82 with index 13
– P82:x Parameter with undefined index x
– P56.2 Parameter 56 bit 2

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vi SIMODRIVE POSMO A User Manual (POS1) – 06.05 Edition
06.05 Foreword

Edition of the There is a fixed relationship between the edition of the documentation
documentation? and positioning motor software release.
 The first edition 02.99 describes the functionality of SW 1.0.
Software release?
 The 02.00 edition describes the functionality of SW 1.0 to 1.2.
What is new? What are the essential new functions for SW 1.2 in comparison to
SW 1.0?
– Run up mode can be set when the unit is powered up again (P56)
– Stand–alone mode (without bus communication, P100, P101)
– Suppress block [skip block]
– Program stop via traversing block
– Set actual position via traversing block
 The 04.01 edition describes the functionality of SW 1.0 to 1.5.
What are the essential new functions for SW 1.3 in comparison to
SW 1.2?
– Rotary axis: Signal position with modulo evaluation
– Direction of rotation of the motor shaft can be reversed (P3)
– Holding controller (P56.2, P57)
– Status bit ZSW.15: Modified behavior
– Behavior when shutting down supplemented
– FB 12 ”PARAMETERIZE_ALL_POSMO_A” (from 05.00)
Reading and writing the parameter set of a drive
What are the essential new functions for SW 1.4 in comparison to
SW 1.3?
– Worm gear SG 75
– Resetting the ”reference point set” status via P98
– Checkback signal, status of the input/output terminals 1 and 2
– Brake sequence control
– Additional diagnostics via P954
– Jogging without PROFIBUS and parameterization
– Backlash compensation with correction direction
– Flying measurement/actual value setting
What are the essential new functions for SW 1.5 in comparison to
SW 1.4?
– First software for 300 W motors
– Shared software for 75 W and 300 W motors
– Different union nuts for the connection cover for 75 W and 300 W
motors.
– ”SimoCom A” parameterizing and start–up tool
– PROFIBUS: Initiating a POWER ON–RESET via P97

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Foreword 06.05

 The 08.01 edition describes the functionality of SW 1.0 to 1.5.

– This edition contains troubleshooting information and updates
which have been obtained since the 04.01 edition.
 The 08.02 edition describes the functionality of SW 1.0 to 1.6.
– This edition contains troubleshooting information and updates
which have been obtained since the 08.01 edition.
 The 05.03 edition describes the functionality of SW 1.0 to 2.0.
– This edition contains troubleshooting information and updates
which have been obtained since the 08.02 edition.
What are the essential new functions for SW 2.0 in comparison to
SW 1.6?
– Speed setpoint interface
– Choice of positioning or speed setpoint operating mode (P700)
– Hardware limit switches
 The 08.03 edition describes the functionality of SW 1.0 to 2.0.
– This edition contains troubleshooting information and updates
which have been obtained since the 05.03 edition.
– The same connection union for connection covers for 75 W and
300 W motors.
 The 08.04 edition describes the functionality of SW 1.0 to 2.1.
What are the essential new functions for SW 2.1 in comparison to
SW 2.0?
– Reference to occurring zero mark
– Defined delay before next traversing block
– New order numbers (MLFB) for replacement parts
– New order numbers (MLFB) for UL certification of the 75W and
300W motor
 The 06.05 edition describes the functionality of SW 1.0 to 3.0.
What are the essential new functions for SW 3.0 in comparison to
SW 2.1?
– POSMO A – 300 W with extended temperature range
– Separate version, POSMO A – 300 W (being prepared)
– Telegram substitution function

UL certification SIMODRIVE POSMO A – 75W and – 300W have received UL certifica-

tion. The UL file number is ”E192450”.

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viii SIMODRIVE POSMO A User Manual (POS1) – 06.05 Edition
06.05 Foreword

Motor version, The following relationships exist between the version of the positioning
software version, motor, the software version of the drive software, the motor type and
motor type, SimoCom A:
SimoCom A
Table 1-1 Version, software release, motor type, SimoCom A

Motor version Software Using SimoCom A

(stamped on the motor) release
75 W motor 300 W motor 75 W motor 300 W motor can be Version
replaced
A – 1.0 yes no no –
B – 1.1 yes no no –
C – 1.1 yes no no –
D – 1.2 yes no no –
E – 1.2 yes no no –
F – 1.3 yes no no –
G, H A 1.4 yes yes no –
J, K B, C 1.5 yes yes yes 1.0, 2.0, 3.0
L D 1.6 yes yes yes 3.0
M E 2.0 yes yes yes 4.0
N F 2.1 yes yes yes 4.2
O G 3.0 yes yes yes 4.3
Information about the positioning motor can be read from the following parameters:
P0052 HW version
P0053 SW version
P0964 (from SW 1.4) Device identification (refer to Section 5.6.2)

Definition: The associated equipment/system may only be set–up and operated in

Who are conjunction with the documentation. Only qualified personnel may
qualified commission and operate such equipment/system. Qualified personnel
personnel? in the sense of safety–relevant information of this documentation are
persons who are authorized to commission, ground and tag the equip-
ment, systems and circuits according to the standards of safety techno-
logy.

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SIMODRIVE POSMO A User Manual (POS1) – 06.05 Edition ix
Foreword 06.05

Safety information This manual includes information and instructions that you must care-
fully observe for your own personal safety and to avoid material da-
mage. Information and instructions relating to your own personal safety
highlighted using warning triangles. Information and instructions regar-
ding general material damage do not have a warning triangle. Depen-
ding on the level of danger, the warning information and instructions are
shown in the sequence of decreasing importance.

Danger
! This symbol is always used if death, severe personal injury or
substantial material damage will result if proper precautions are not
taken.

Warning
! This symbol is always used if death, severe personal injury or
substantial material damage can result if proper precautions are not
taken.

Caution
! This symbol is always used if minor personal injury or material damage
can result if proper precautions are not taken.

Caution
This warning (without warning triangle) indicates that material damage
can result if proper precautions are not taken.

Notice
This warning indicates that an undesirable situation or condition can
occur if the appropriate instructions/information are not observed.

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x SIMODRIVE POSMO A User Manual (POS1) – 06.05 Edition
06.05 Foreword

Correct use Please carefully observe the following:

Warning
! The equipment may only be used for those applications described in
the Catalog and technical description. Further, equipment may only be
used in conjunction with third–party equipment/devices and compo-
nents that are recommended or certified by Siemens. The perfect, safe
operation of the product assumes that it has been correctly transpor-
ted, correctly stored, mounted and installed. Further, it assumes that it
is professionally handled and serviced.

Additional
information
Note
This symbol indicates important information about the product or part
of the document, where the reader should take special note.

Reader’s note
This symbol is shown, if it relates to important information which the
reader must observe.

Technical information

Warning
! Operational electrical equipment has parts and components which are
at hazardous voltage levels.
Incorrect handling of these units, i.e. not observing the warning
information, can therefore lead to death, severe bodily injury or
significant material damage.
Only appropriately qualified personnel may commission/start up this
equipment.
This personnel must have in–depth knowledge regarding all of the
warning information and service measures according to this manual.
Perfect, safe and reliable operation of the equipment assumes that it
has been professionally transported, stored, mounted and installed as
well as careful operator control and service.
Hazardous axis motion can occur when working with the equipment.

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SIMODRIVE POSMO A User Manual (POS1) – 06.05 Edition xi
Foreword 06.05

Note
When handling cables, observe the following:
 They may not be damaged,
 they may not be stressed,
 they may not come into contact with rotating components.

Warning
! When testing the voltage of the electrical equipment of the machines
on the system side, all of the SIMODRIVE drive unit connections must
be withdrawn or disconnected (EN 60204–1 (VDE 0113–1), Pt. 20.4).
This is necessary, as the SIMODRIVE insulation has already been
tested, and should not be subject to a new test (additional voltage
stressing).

Warning
! Commissioning is absolutely prohibited until it has been ensured
that the machine in which the components described here are
to be installed, fulfills the regulations/specifications of the Directive
98/37/EC.

Warning
! The information and instructions in all of the documentation supplied
and any other instructions must always be observed to eliminate
hazardous situations and damage.
 The information in the catalogs and offers also applies to the
design of special machine and device variants.
 Further, all of the relevant national, local land plant/system–specific
regulations and specifications must be taken into account.
 All work must be undertaken with the system in a no–voltage
condition!

Caution
When using mobile radio equipment (e.g. cellular phones,
walkie–talkies) with a transmitting power of > 1 W close to
SIMODRIVE POSMO A (< 1.5 m), this can have a negative impact on
the functioning of the SIMODRIVE POSMO A.

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xii SIMODRIVE POSMO A User Manual (POS1) – 06.05 Edition
06.05 Foreword

ESDS information ElectroStatic Discharge Sensitive Devices

and instructions

Note
Components, which can be destroyed by electrostatic discharge are
individual components, integrated circuits, or boards, which when
handled, tested, or transported, could be destroyed by electrostatic
fields or electrostatic discharge. These components are referred to as
ESDS (ElectroStatic Discharge Sensitive Devices).
Handling ESDS boards:
 When handling devices which can be destroyed by electrostatic
discharge, personnel, workstations and packaging must be well
grounded!
 Electronic boards should only be touched when absolutely
necessary.
 Personnel may only come into contact with the components, if
– they are continuously grounded through ESDS wristlets,
– they wear ESDS shoes, ESDS shoe grounding strips in
conjunction with an ESDS floor surface.
 Boards may only be placed on conductive surfaces (table with
ESDS surface, conductive ESDS foam rubber, ESDS packing bag,
ESDS transport containers).
 Boards may not be brought close to data terminals, monitors or
television sets (minimum clearance to the screen > 10 cm).
 Boards may not be brought into contact with highly insulating
materials which can be statically charged, e.g. plastic foils,
insulating desktops, clothing manufactured from man–made fibers.
 Measuring work may only be carried out on the boards, if
– the measuring unit is grounded (e.g. via protective conductor),
or
– for floating measuring equipment, the probe is briefly discharged
before making measurements (e.g. a bare–metal control
housing is touched).
 Only touch control boards, option modules and memory modules at
the front panel or at the edge of the PC boards.

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Foreword 06.05

Space for your notes

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xiv SIMODRIVE POSMO A User Manual (POS1) – 06.05 Edition
Table of Contents

1 Brief Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-19

1.1 General information about SIMODRIVE POSMO A . . . . . . . . . . . . . . . . . 1-19
1.2 Function overview and differences between 75 W/300 W . . . . . . . . . . . . 1-22
1.3 Safety guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-25
2 Installing and Connecting–Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-29
2.1 System overview of SIMODRIVE POSMO A . . . . . . . . . . . . . . . . . . . . . . . 2-29
2.2 Electrical system requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-30
2.2.1 General electrical requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-30
2.2.2 DC power supply (24 V, 48 V) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-31
2.2.3 Regenerative feedback protection when the motor brakes . . . . . . . . . . . . 2-37
2.3 Connection and wiring overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-43
2.3.1 Connection and setting possibilities in the connection cover . . . . . . . . . . . 2-44
2.3.2 Protective grounding and potential bonding . . . . . . . . . . . . . . . . . . . . . . . . . 2-50
2.4 Mounting SIMODRIVE POSMO A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-51
2.4.1 Mounting overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-51
2.4.2 Preparing the cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-52
2.4.3 Mounting the prepared cables in the connection cover . . . . . . . . . . . . . . . . 2-55
2.4.4 Extension set ”separate version” POSMO A – 300 W . . . . . . . . . . . . . . . . 2-58
2.5 Gearbox selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-60
2.5.1 Gearboxes for SIMODRIVE POSMO A – 75 W . . . . . . . . . . . . . . . . . . . . . . 2-60
2.5.2 Gearboxes for SIMODRIVE POSMO A – 300 W . . . . . . . . . . . . . . . . . . . . . 2-61
2.6 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-62
2.6.1 Technical data for SIMODRIVE POSMO A – 75 W . . . . . . . . . . . . . . . . . . . 2-62
2.6.2 Technical data for SIMODRIVE POSMO A – 300 W . . . . . . . . . . . . . . . . . . 2-66
3 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-73
3.1 General information on commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-73
3.2 Commissioning the DP master . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-75
3.2.1 Commissioning and communications for the master . . . . . . . . . . . . . . . . . . 3-75
3.2.2 SIMATIC S7 function blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-78
3.2.3 Parameterizing and start–up tool ”SimoCom A” (from SW 1.5) . . . . . . . . . 3-79
3.2.4 Parameterizing and start–up tool C1 master ”SIMODRIVE POSMO A
PROFIBUS MASTER” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-88
3.3 Commissioning an axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-90
3.3.1 Control structure positioning (pos mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-93
3.3.2 Control structure, speed setpoint (n–set mode) . . . . . . . . . . . . . . . . . . . . . . 3-94
3.3.3 Flow diagram to commission a SIMODRIVE POSMO A . . . . . . . . . . . . . . 3-95
3.3.4 Optimization runs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-97

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Table of Contents

4 Communications via PROFIBUS DP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-99

4.1 General information about PROFIBUS DP . . . . . . . . . . . . . . . . . . . . . . . . . 4-99
4.2 Process data (PZD area) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-103
4.2.1 Description of the control signals (data to drive) . . . . . . . . . . . . . . . . . . . . . 4-104
4.2.2 Description of the status signals (data from the drive) . . . . . . . . . . . . . . . . 4-110
4.2.3 Example: Operating the drive via the control signals with jogging 1 . . . . . 4-116
4.2.4 Example: The drive should traverse with n–set using the control signals 4-117
4.2.5 Sequence diagram ”Variable–speed drives” . . . . . . . . . . . . . . . . . . . . . . . . . 4-118
4.3 Parameter area (PKW area) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-121
4.3.1 Structure and description of the parameter area . . . . . . . . . . . . . . . . . . . . . 4-121
4.3.2 Example: Reading parameters via PROFIBUS . . . . . . . . . . . . . . . . . . . . . . 4-126
4.3.3 Example: Writing parameters via PROFIBUS . . . . . . . . . . . . . . . . . . . . . . . 4-128
4.4 Settings at the PROFIBUS DP master . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-130
4.4.1 General information on the DP master . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-130
4.4.2 Installing the new master device files (GSD) . . . . . . . . . . . . . . . . . . . . . . . . 4-132
4.4.3 Operating the slave with a third–party master . . . . . . . . . . . . . . . . . . . . . . . 4-132
5 Description of the Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-133
5.1 Operating mode (from SW 2.0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-133
5.2 ”Speed setpoint” mode (P700 = 1) (from SW 2.0) . . . . . . . . . . . . . . . . . . . 5-135
5.2.1 General information on the ”speed setpoint” mode . . . . . . . . . . . . . . . . . . . 5-135
5.2.2 Ramp–function generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-136
5.2.3 Direction of rotation reversal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-138
5.2.4 Displays the position actual value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-138
5.2.5 Adaptation of the speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-138
5.2.6 Parameters for n–set operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-139
5.2.7 Terminal signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-139
5.3 Programming the traversing blocks (only in the pos mode, P700 = 2) . . 5-140
5.3.1 Overview of the traversing blocks and programs . . . . . . . . . . . . . . . . . . . . . 5-140
5.3.2 Structure and description of the traversing blocks . . . . . . . . . . . . . . . . . . . . 5-143
5.3.3 Selecting and controlling traversing blocks and programs . . . . . . . . . . . . . 5-151
5.3.4 Behavior of speed–controlled traversing blocks . . . . . . . . . . . . . . . . . . . . . . 5-152
5.4 Operating modes (only the pos mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-153
5.4.1 Jogging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-153
5.4.2 Manual Data Input (MDI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-154
5.4.3 Automatic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-154
5.4.4 Tracking mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-154
5.5 SIMODRIVE POSMO A functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-155
5.5.1 Referencing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-155
5.5.2 Flying measurement/actual value setting (from SW 1.4) . . . . . . . . . . . . . . 5-166
5.5.3 Travel to fixed stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-173
5.5.4 Rotary axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-175
5.5.5 Backlash compensation and correction direction (from SW 1.4) . . . . . . . . 5-177
5.5.6 Jerk limiting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-179
5.5.7 Changeover, metric/inch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-180
5.5.8 Reversing the control sense (from SW 1.3) . . . . . . . . . . . . . . . . . . . . . . . . . 5-180
5.5.9 Standstill monitoring (zero–speed monitoring) . . . . . . . . . . . . . . . . . . . . . . . 5-181
5.5.10 Digital I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-182
5.5.11 Jogging without PROFIBUS and parameterization (from SW 1.4) . . . . . . 5-184

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5.5.12 Standalone mode (without bus communication) (from SW 1.2) . . . . . . . . . 5-185

5.5.13 Holding brake (from SW 1.4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-187
5.5.14 Limit switch monitoring functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-194
5.5.15 Telegram substitution (from SW 3.0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-197
5.6 Parameters for SIMODRIVE POSMO A . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-199
5.6.1 General information on parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-199
5.6.2 List of parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-201
5.6.3 Gearbox–dependent parameters, factory default settings . . . . . . . . . . . . . 5-230
6 Fault Handling and Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-233
6.1 LED fault display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-233
6.2 Faults and alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-234
6.2.1 General information on faults and warnings . . . . . . . . . . . . . . . . . . . . . . . . . 6-234
6.2.2 List of faults and warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-238
6.3 Analog test outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-250
6.4 Bus monitor AMPROLYZER for PROFIBUS DP . . . . . . . . . . . . . . . . . . . . 6-252
7 Installation and Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-253
7.1 Replacing the motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-253
7.2 Mounting or replacing a gearbox (only relevant for 300 W motors) . . . . 7-255
7.3 Spare parts for SIMODRIVE POSMO A . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-257
7.3.1 List of spare parts for the 300 W motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-257
7.3.2 Drive unit as spare part (only the 300 W motor) . . . . . . . . . . . . . . . . . . . . . . 7-258
A List of Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-261
B References .......................................................... B-265
C Dimension Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-269
C.1 Dimension drawings for SIMODRIVE POSMO A – 75W . . . . . . . . . . . . . C-269
C.2 Dimension drawings for SIMODRIVE POSMO A – 300W . . . . . . . . . . . . C-273
D EC Declaration of Conformity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-281
E Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-285


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 1

Brief Description 1
1.1 General information about SIMODRIVE POSMO A

Intelligent SIMODRIVE POSMO A is an intelligent distributed positioning motor

positioning motor connected as node to the PROFIBUS DP field bus.
SIMODRIVE POSMO A can be operated via PROFIBUS DP. This
means that all of the signals and data required to commission (start–
up) and operate the drive and also to evaluate faults are transferred via
PROFIBUS.
Further, the positioning motor can be operated in the standalone mode.
This means that in this case, bus communications are not required in
order to move the positioning motor.

SIMODRIVE POSMO A – 75 W SIMODRIVE POSMO A – 300 W

not to scale

Fig. 1-1 SIMODRIVE POSMO A positioning motor with connection cover and gearbox

Reader’s note
The following catalog is available for SIMODRIVE POSMO A:
References: /KT654/ Catalog DA 65.4

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 1 Brief Description 06.05
04.01
1.1 General information about SIMODRIVE POSMO A

Main features The main features are:

1  Power module and complete motion control in the motor
 Coupled using a communication and power bus
 PROFIBUS DP Standard slave
 Positioning functionality which is easy to handle
 Modular gearbox system with different ratios

Applications SIMODRIVE POSMO A can be used in almost all industry sectors,

such as:
 For production machines in packaging, woodworking, glass, printing,
plastics
 For machine tools and transfer lines
 In medical diagnostics – for example to move examination tables
and X–ray equipment

Typical Here are two typical applications from many:

applications
 Adjusting formats or endstops
 Setting process quantities (e.g. via valves)

Design The positioning motor is a 1–axis actuating drive with low envelope di-
mensions and compact power connection, drive converter power sec-
tion, closed–loop motor control, positioning control (open–loop), com-
munication and bus connection on the motor.
A 24 V supply voltage for the 75 W motor and 48 V for the 300 W
motor supply the drive power.
Reference: /KT101/ SITOP power, power supplies
Catalog

Gearbox selection The motor can be equipped and operated without a gearbox or with a
gearbox from a modular gearbox system.
 75 W motor: Modular gearbox system, refer to Chapter 2.5.1
 300 W motor: Modular gearbox system, refer to Chapter 2.5.2

Cables Standard cables are used for all connections.

Extension set If mounting space is restricted, it is possible to separate the drive unit
”separate version” from the motor. Using the extension set ”separate version” for
POSMO A – 300 W SIMODRIVE POSMO A – 300 W the drive unit can be mounted sepa-
(being prepared) rately from the motor.
The power and signal cables required (draggable) are supplied pre–fa-
bricated as the extension set ”separate version” (refer to Table 1-1).

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1.1 General information about SIMODRIVE POSMO A

Traversing The positioning motor can be traversed as follows:

possibilities
 Traverse to an end position with a velocity and acceleration which
1
(examples)
can be overridden.
 Traverse through a distance in a direction with velocity and accele-
ration which can be overridden.
 Traverse with a speed and acceleration which can be overridden,
direction is defined by the sign, as long as a time of logic condition
is fulfilled.
 Traverse as soon as an additional time or logic condition is fulfilled.
 Traverse as long as a time or logic condition is fulfilled.

Traversing blocks There are a total of 27 traversing blocks, which can be used as indivi-
and programs dual blocks or as program.
The traversing blocks are subdivided as follows:
Trav. block Use
 1 and 2 Reserved for jogging
 3 – 12 Individual traversing blocks
 13 – 17 Program 1 (standard, can be freely parameterized)
 18 – 22 Program 2 (standard, can be freely parameterized)
 23 – 27 Program 3 (standard, can be freely parameterized)
This setting is used as standard. Blocks 3 to 27 can be freely used as
single blocks or programs.

Communications The PROFIBUS DP field bus allows fast, cyclic data transfer between
the individual DP slaves and the higher–level DP master.
DP masters include, for example:
 Central controller of SIMATIC S7
 Master–capable communication processes (e.g. CP 5613)
 Communications modules (e.g. CP 342–5)
 Standard masters from other manufacturers
Reference: /IKPI/ Industrial Communications and
Field Devices, Catalog

Diagnostics Local diagnostics using LEDs for Fault/Ready.

The DP master can read–out and evaluate positioning motor faults and
warnings via PROFIBUS.
Two freely parameterizable analog test outputs for measurements
when service is required.

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 1 Brief Description 06.05
04.01
1.2 Function overview and differences between 75 W/300 W

1.2 Function overview and differences between 75 W/300 W

1
Function overview An overview of the features and functions of SIMODRIVE POSMO A is
provided in the following diagram.

Functions
Intelligent positioning motor as distributed
node connected to PROFIBUS  Software limit switch
 Hardware limit switch (from SW 2.0)
The motor can be operated in the following  27 traversing blocks (2 for jogging)
modes:
 Backlash compensation
 Closed–loop speed controlled operation  Set actual value
 Positioning Brake sequence  Rotary axis with modulo correction
control (from SW 1.4)  Jerk limiting
 Standstill monitoring (zero–speed
Connection cover with monitoring)
integrated PROFIBUS address  Travel to fixed stop
switch and terminating resistor
 Flying block change
 Standalone mode (from SW 1.2)
Non–volatile memory  Holding controller (from SW 1.3)
(FLASHEPROM) for  Control sense can be reversed
user data (parameters) (from SW 1.3)
 Jogging without PROFIBUS and
parameterization (from SW 1.4)
 Flying measurement/actual value
Straightforward setting (from SW 1.4)
commissioning by
 Speed setpoint interface (from SW 2.0)
adapting a few
parameters
 Telegram substitution (from SW 3.0)
SIMODRIVE
2 terminals for an input or POSMO A Load/electronics power supply
output
 Via a common cable
 can be parameterized as
either input or output
 Via a separate cable
 Various functions can be C1 master ”SIMODRIVE POSMO A
parameterized PROFIBUS MASTER” for PC/PG or
notebook
SimoCom A
Parameterizing and
2 test outputs
commissioning tool
(0 – 5 V)
(from SW 1.5)
Communications via PROFIBUS–DP
Load power supply
 PZD area
 75 W motor: 24 V DC (control words/status words)
 300 W motor: 48 V DC LED for diagnostics
 PKW area
Different (read/write parameters)
colors and flashing Modular gearbox system
frequencies
Function blocks  75 W motor:
Planetary/worm gear
 FB 10 CONTROL_POSMO_A (from 02.00)
 FB 11 PARAMETERIZE_POSMO_A (from 02.00)
 300 W motor:
Planetary gear (can be
 FB 12 PARAMETERIZE_ALL_POSMO_A (from 05.00) interchanged)

Fig. 1-2 Overview of SIMODRIVE POSMO A functions

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04.01 1 Brief Description
1.2 Function overview and differences between 75 W/300 W

Differentiating There are the following basic differences between POSMO A with 75 W
features and POSMO A with 300 W: 1
of the various
motor types
Table 1-1 Difference: POSMO A with 75 W and 300 W

SIMODRIVE POSMO A
Name 75 W 300 W
Order No. (MLFB) 6SN2 132–11–1BA1 6SN2 155–xy–1BA1
x = 1 ––> motor/drive unit, IP64
gearbox, IP54
x = 2 ––> Degree of protection IP65
y = 1 ––> with motor holding brake
y = 0 ––> without motor holding
brake
Extension set Not possible Outlet direction, side A:
”separate version” Length1 m: 6FX8002–6AA00–1AB0
3 m: 6FX8002–6AA00–1AD0
5 m: 6FX8002–6AA00–1AF0
Outlet direction, side B:
Length1 m: 6FX8002–6AA10–1AB0
3 m: 6FX8002–6AA10–1AD0
5 m: 6FX8002–6AA10–1AF0
Software all available versions possible from version A (SW 1.5)
Supply voltages 24 V DC 20 % 48 V DC 20 %
Rated output 62.5 W (S1) 176 W (S1)
75 W (S3, 25 %, 1 min) 300 W (S3, 25 %, 4 min)
Rated speed 3300 RPM (S1) 3500 RPM (S1)
2000 RPM (S3, 25 %, 1 min) 3000 RPM (S3, 25 %, 4 min)
Rated torque 0.18 Nm (S1) 0.48 Nm (S1)
0.36 Nm (S3, 25 %, 1 min) 0.95 Nm (S3, 25 %, 4 min)
Meas. system integrated integrated
816 increments/motor revolution 4096 increments/motor revolution
Ambient temperature 0...45 °C –20...45 °C
Gear without gearbox without gearbox
Planetary gearbox 1–stage Planetary gearbox 1–stage
Planetary gearbox 2–stage Planetary gearbox 2–stage
Planetary gearbox 3–stage Planetary gearbox, 3–stage
Worm gear (from SW 2.0)
Note:
The gearbox can be interchanged
Connection cover The connection cover for POSMO A 75 W does not fit on the
POSMO A 300 W and vice versa, i.e. they cannot be interchanged.

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 1 Brief Description 04.01
1.2 Function overview and differences between 75 W/300 W

Table 1-1 Difference: POSMO A with 75 W and 300 W, continued

1 SIMODRIVE POSMO A
Name 75 W 300 W
Dimensions
(without gearbox)
(approximate data) H
H
L L
W W
L = 202, W = 71, H = 163 [mm] L = 254, W = 80, H = 172 [mm]
Weights Motor without gearbox: 3.1 kg Motor without gearbox: 3.9 kg
(approximate data) Motor with 1–stage gearbox: 3.5 kg Motor with 1–stage gearbox: 5.1 kg
Motor with 2–stage gearbox: 3.7 kg Motor with 2–stage gearbox: 5.4 kg
Motor with 3–stage gearbox: 3.9 kg Motor with 3–stage gearbox: 8.2 kg
Motor with worm gear: 3.5 kg
Shaft end (motor) Without keyway Without keyway or with keyway
Technical data ––> Refer to Chapter 2.6.1 ––> Refer to Chapter 2.6.2

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04.01 1 Brief Description
1.3 Safety guidelines

1.3 Safety guidelines

1
Reader’s note
In addition to the technical information/instructions specified in the
foreword to this documentation, the following danger and warning
information/instructions should be carefully observed when using
SIMODRIVE POSMO A!

Danger
! 1. In order to avoid danger and damage, the data and instructions in
all of the documentation associated with this product should be
carefully observed. Please refer to the Catalogs or contact your
local SIEMENS office for the ordering data.
2. All of the work must be carried out by qualified, appropriately
trained personnel.
3. Before starting any work on SIMODRIVE POSMO A, the motor
must be disconnected in–line with the regulations according to the
5 safety rules. In addition to the main circuits, it is important to
observe if there are any supplementary or auxiliary circuits.
According to DIN VDE 0105 the ”5 safety rules” are as follows:
Disconnect from the power source, lock–out against reclosure,
ensure that the equipment really is in a no–voltage condition,
ground and short–circuit and cover or partition–off adjacent parts
that are under voltage (live).
The previously mentioned measures may only be reversed/restored
after all of the work has been completed and the motor has been
completely installed.
4. All rating plates, warning labels and information labels on the
SIMODRIVE POSMO A must be carefully observed!
5. Commissioning is prohibited until it has been clearly identified that
the machine, in which this component is to be installed, fulfills the
conditions of Directive 98/37/EC.
6. Caution when coming into contact! When SIMODRIVE POSMO A
is operational, surface temperatures of over 100 C can occur!
Danger of fire!
7. It is prohibited to use POSMO A in hazardous zones and areas.
8. The load power supply (48 V/24 V) and electronics power supply
(24 V) are not galvanically isolated.

Warning
! 9. Never disable protective functions and devices even for trial
operation.
10.For shaft ends with key, the key must be secured when operated
under trial conditions without drive–out element.
11. Check the direction of rotation with the motor uncoupled.

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 1 Brief Description 08.01
04.01
1.3 Safety guidelines

1 !
Caution
12.Suitable equipment must be used when mounting withdrawing
drive–out elements (e.g. coupling disk, belt pulley, gear, ...).
13.The motor may not be used as a step.
14.The valid national, local and plant/system–specific regulations and
requirements must be carefully observed.

Caution
15.It is not permissible to connect the unit to the three–phase line
supply as this could destroy the unit.
16.When mounting SIMODRIVE POSMO A with the shaft end facing
upwards, it must be guaranteed that no liquid can penetrate into the
upper bearing.
17.Ensure that the unit is correctly mounted at its flange and is
precisely aligned. If increased noise/vibration/temperatures occur, if
in doubt, power down.
18.If large amounts of dirt accumulate, the air ducts should be
regularly cleaned.
19.Axial forces are not permissible for SIMODRIVE POSMO A – 300
W with integrated holding brake.
After the motor has been mounted, the brake should be checked to
ensure that it functions perfectly.
The brake is only designed for a limited number of emergency
braking operations. It is not permissible to use the brake as
operating brake.
20.Supporting SIMODRIVE POSMO A 300 W
If the motor is subject to extreme vibration/shock loads, then it must
be supported using the three M5 threaded holes and an appropriate
bracket.
21.Degree of protection
It is not permissible that foreign bodies, dirt or moisture accumulate
at the connections.
Cable entry glands that are not used must be sealed so that they
are dust–tight and watertight!
In order to guarantee the degree of protection, all of the
connections must be sealed using plugs or with an appropriate PG
gland.
22.When mounting and withdrawing drive–out elements at the output
shaft, it is neither permissible to apply heavy knocks (e.g. using a
hammer) to the shaft end nor exceed the maximum permissible
axial or radial load at the shaft end.
23.The motors must be stored under the following ambient conditions:
Dry, dust–free and low vibration levels (vrms  0.2 mm/s).

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04.01 1 Brief Description
1.3 Safety guidelines

Notice
24.When using SIMODRIVE POSMO A in UL–certified systems, a
1
UL–certified varistor with the following properties is required in the
power supply cable.
at 24 V ––> VN = 38 V DC/Imax = 2000 A
e.g. SIOV–S20–K30 from EPCOS
at 48 V ––> VN = 65 V DC/Imax = 6500 A
e.g. SIOV–S20–K50 from EPCOS
This circuit is not required when using the DC–PMM (refer to
Chapter 2.2.3).
25.If changes occur with respect to the normal operating condition,
e.g. increased temperatures, noise or oscillation, if in doubt, power
down the motor. The cause should then be determined and if
necessary a SIEMENS Service Center should be contacted.
26.Machines and systems equipped with SIMODRIVE POSMO A
must be in full compliance with the protective requirements of the
EMC Directive. The plant/machine manufacturer is responsible in
ensuring this.

Note
27.It is not permitted to open up the drive units! We recommend that a
SIEMENS Service Center carries–out any repair or service work.
28.The connection covers for POSMO A – 75 W and POSMO A – 300
W cannot be interchanged. This means that the connection cover
for the 75 W motor does not fit on the 300 W motor and vice versa.
29.After the product has served its lifetime, the individual parts
should be disposed of in compliance with local regulations.
30.Possible special versions (including connection systems) and types
of construction can differ regarding the technical details! If there is
any uncertainty, we urgently recommend that you contact the
manufacturer (specifying the type designation and serial number) or
have the equipment repaired by a SIEMENS Service Center.
31.Immediately contact the transport company if damage is identified
after the equipment has been shipped. In case of damage, the drive
units should not be commissioned.
32.When connecting–up, it should be ensured that the connecting
cables are protected against torsional stressing, strain and
pressure; it should also be ensured that cables cannot kink.
33.Cables listed in the Siemens Catalog NC Z should be used when
connecting–up SIMODRIVE POSMO A.
34.Observe the rating plate data regarding type of construction and
degree of protection to ensure that they coincide with the conditions
at the point of installation!
35.The equipment must be mounted so that any thermal power loss is
adequately dissipated.

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1.3 Safety guidelines

1 Space for your notes

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Installing and Connecting–Up 2 2
2.1 System overview of SIMODRIVE POSMO A

System overview SIMODRIVE POSMO A positioning motor comprises the following

and components components:

Gating/control electronics
(PROFIBUS–DP master)
(e.g. SIMATIC S7–300 DP) PC/PG
(e.g. PG 740)

PROFIBUS–DP Checkback signal (e.g. BERO) (optional)

(Cables, refer to Control signal (e.g. relay) optional

Chapter 2.3)
Continues to the power supply of the next
SIMODRIVE POSMO A
Connection cover
SITOP power SIMODRIVE POSMO A (removable)
Regulated power Gear
supply module
(external power Power bus
supply)
(Cables, refer to
Chapter 2.3)

Continues to Power Management

the next Module (DC PMM)
PROFIBUS (optional)
node Motor Internal pulsed resistor
for braking

Electronics SITOP power

24 V external supply
for electronics and Regulated power
(optional) power electronics supply module
(external power
Note:
supply)
If the electronics is separately supplied, External supply for
then the power electronics can be  Power electronics (24 V or 48 V)
powered–up/powered–down and
independently of the electronics power
supply (no electrical isolation).  Electronics (24 V, if there is no dedicated supply)

Fig. 2-1 System overview of SIMODRIVE POSMO A

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02.99
2.2 Electrical system requirements

2.2 Electrical system requirements

2.2.1 General electrical requirements

2
General The following general requirements must be observed:
requirements  The PROFIBUS–DP is coupled in conformance with the Standard.
A standard PROFIBUS cable can be used. In order to loop in the
optional electronics power supply, the same bus cable can be used
that is used in the distributed ET 200X I/O device.
References: /ET200X/ Distributed ET 200X I/O
 All of the bus nodes should be certified for PROFIBUS use.

Note
When using connector couplings for PROFIBUS, at higher data
transfer rates (> 1.5 Mbaud), perfect functioning is no longer
guaranteed (cable reflection).

 An external power supply is required (24 V for a 75 W motor and 48

V for a 300 W motor, refer to Chapter 2.6.1 or 2.6.2 for technical
data).
 The maximum conductor cross–section for the load power supply is
4 mm2. If the power supply being used can supply more current
than is permissible for the cable, then the appropriate slow–acting
fuses must be provided (e.g. Neozed fuse).
 A power management module (DC PMM) can optionally be connec-
ted between the external load power supply and the input terminals
of the SIMODRIVE POSMO A. The DC PMM serves to eliminate
the regenerative feedback energy and to limit the conducted noise.
For higher levels of regenerative feedback energy, a Power Mana-
gement Module Extension (DC–PMM_E/48 V) can be connected
(refer to Chapter 2.2.3).
 If the bus communications and position sensing are to remain active
even with the load power supply switched–out, then an optional
electronics power supply (24 V 20 %) can be used. The cables
are routed in the ET 200X bus cable (distributed peripheral system).
 A BERO can only be connected as type 3–wire PNP.
 The length of the I/O cables, their ground cables and their
24 V supply cables may be a maximum of 30 m (refer to Table 2-3).
 The grounding concept is specified corresponding to the data provi-
ded in Chapter 2.3.
 The signal and power cables should be routed with a minimum 20
cm clearance between them and as close as possible to grounded
parts.

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02.99 2 Installing and Connecting–Up
2.2 Electrical system requirements

 When using a contactor in the load power supply, before opening

the contactor, it must be ensured that the pulses have been cance-
led via PROFIBUS (OFF 1).
 All of the power supplies must have ”protective separation”.
 When using SIMODRIVE POSMO A in UL–certified systems, a UL–
certified varistor with the following properties is required in the
2
power supply cable:
24 V ––> VN = 38 V DC, Imax = 2000 A
e.g. SIOV–S20–K30 from EPCOS
48 V ––> VN = 65 V DC, Imax = 6500 A
e.g. SIOV–S20–K50 from EPCOS
This circuit is not required when using the DC–PMM (refer to Chap-
ter 2.2.3).
 When using POSMO A – 300 W in the temperature range –20...0
C it should be ensured that all of the system components are certi-
fied for this temperature range.

2.2.2 DC power supply (24 V, 48 V)

General The load power supply must be dimensioned as a function of the num-
information on the ber of positioning motors SIMODRIVE POSMO A and the coincidence
power supply factor.

Note
If possible, the load power supply should be switched–in/switched–out
on the primary side.
If this is not possible for technical reasons, a power management
module (DC PMM) must be connected between the switch element
and the SIMODRIVE POSMO A, refer to Chapter 2.2.3.

 Switching–in and switching–out the 24 V/48 V load power supply on

the primary side (line–specific)

Line
supply
Con-
tactor
400 V
e.g. SITOP
24 V/48 V

Optional, according to Chapter 2.2.3

DC–PMM

...
SIMODRIVE
POSMO A

Fig. 2-2 Switching–in and switching–out the 24 V/48 V on the primary side

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2.2 Electrical system requirements

 Switching–in/switching–out the 24 V/48 V load power supply on the

primary side (line–specific)

Line
supply
2 400 V
e.g. SITOP
24 V/48 V

Con-
tactor

This is absolutely necessary in order

DC–PMM to eliminate cable–borne
disturbances

...
SIMODRIVE
POSMO A

Fig. 2-3 Switching–in/switching–out the 24 V/48 V load power supply on the secondary side
 Switching–in/switching–out the 24 V/48 V load power supply on the
primary side (line–specific) with a POSMO A which is to be separa-
tely switched

Line
supply
Con–
tactor

400 V
e.g. SITOP
24 V/48 V

DC–PMM Optional, according to Chapter

2.2.3

SIMODRIVE
POSMO A Con-
tactor
This is absolutely necessary
DC–PMM in order to eliminate
cable–borne disturbances

SIMODRIVE POSMO A
e.g. for a protective
gate

Fig. 2-4 Switching–in/switching–out 24 V/48 V on the primary side with a POSMO A to be separately
switched

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02.99 2 Installing and Connecting–Up
2.2 Electrical system requirements

24 V supply (75 W Technical data for the 24 V supply: refer to Chapter 2.6.1
motor)
Recommendation for the 24 V power supply:
Use a regulated SITOP power, power supply module to provide the 24
V power supply.
There are units with current ratings of 10 A, 20 A and 40 A.
2
Reference: /KT101/ SITOP power, power supplies
Catalog
Regenerative feedback protection when braking the motor
refer to Chapter 2.2.3

48 V supply (300 W Technical data for the 48 V supply: refer to Chapter 2.6.2
motor)
First recommendation for the 48 V power supply:
Use a regulated SITOP modular 48V/20A power supply module to pro-
vide the 48V load power supply. The SITOP 48 V/20 A power supply is
a chassis unit.
 Order No.: 6EP1 457–3BA00

Table 2-1 Technical data, SITOP modular 48V/20A

Name Description
Input voltage 3–ph 230/400 V ... 288/500 V AC
Frequency 50 ... 60 Hz (47 ... 63 Hz)
Output voltage (setting range) 48 V DC 3 %
Output current DC 0 ... 20 A
Degree of protection IP20 acc. to IEC 529
Safety class I
Dimensions (W x H x D) in mm 240 x 125 x 125

L+ Regener-
ative
SITOP modular 48 V
feedback
M protection 48 V M

(e.g.
DC-PMM)

Fig. 2-5 SITOP modular 48 V/20 A with regenerative feedback protection

Reference: /SI1/ SITOP modular 48 V/20 A power supplies

Operating Instructions
Regenerative feedback protection when braking the motor
refer to Chapter 2.2.3

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2.2 Electrical system requirements

Our second recommendation for the 48 V power supply:

Use two SITOP power regulated power supply modules connected in
series to provide the 48 V load power supply.
There are units with current ratings of 10 A, 20 A and 40 A.
2
L+ Regener-
SITOP power 24 V V1 ative
M feedback
protection
48 V M
(e.g.
L+ DC-PMM)
SITOP power 24 V V2
M

Note:
 Vx Protective diode (blocking voltage: 40 V, current: 3 A)
e.g.: Type SB 540 from RS Components Spoerle
Order No.: 183–4337
 When connected in series, the SITOP power must have the
same current ratings.

Fig. 2-6 Two SITOP power connected in series to double the voltage

Reference: /KT101/ SITOP power, power supplies

Catalog
Regenerative feedback protection when braking the motor (refer to
Chapter 2.2.3)
Our third recommendation for the 48 V power supply:
Use a rectifier unit to generate the 48 V load power supply.
The rectifier unit is an uncontrolled DC power supply with safety trans-
former and varistor circuit.
 Order No.: 4AV3596–0EG30–0C
 Applicable regulations
– EN 61558, EN 61131–2
– Conducted Immunity EN 50082–2, Interference Emission EN
50081–1
– Suitable for connection to public or industrial supply systems
in accordance with EN 61000–3–2/–3–3
 Installation conditions
– Upright mounting position
– Installation altitude up to 1000 m above sea level
– M6 bolt mounting using a bracket
– Rooms with outdoor climatic conditions according to DIN 50010
– Ambient temperature –25 C to +40 C
– Storage temperature –25 C to +60 C
 Cable using/protection, refer to Chapter 2.2.1

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2.2 Electrical system requirements

 Technical data

Table 2-2 Technical data of the rectifier unit

Input voltage
Name Description
3–ph. 480 V/400 V AC (+6 %/–10 %)
2
Frequency 50 ... 60 Hz
Output voltage 48 V DC
Output current 25 A DC
Output rating 20 000 µF/100 V
Residual ripple <5%
Insulating material class T 40/B
Degree of protection IP00
Safety class I

Regenerative feedback protection when braking the motor

refer to Chapter 2.2.3

Coincidence factor If several SIMODRIVE POSMO A are used but they are not all simulta-
neously operational, then a lower rating load power supply can be
used.
However a brief overload capability of the power supply must be gua-
ranteed otherwise the electronics of the SIMODRIVE POSMO A would
interpret voltage dips as an undervoltage condition and trip.
 Example 1: 3 SIMODRIVE POSMO A – 75 W
– Coincidence factor = 1
– Rated output, full speed
––> 3  4.5 A  1 = 13.5 A ––> SITOP power 20 A
 Example 2: 3 SIMODRIVE POSMO A – 75 W
– Coincidence factor = 0.7 (not all drives are simultaneously oper-
ational)
– Rated output, full speed
––> 3  4.5 A  0.7 = 9.45 A ––> SITOP power 10 A
 Example 3: 3 SIMODRIVE POSMO A – 300 W
– Coincidence factor = 1
– Rated output, full speed
––> 3  5.25 A  1 = 15,75 A ––> SITOP power 20 A
 Example 4: 3 SIMODRIVE POSMO A – 300 W
– Coincidence factor = 0.5 (not all drives are simultaneously oper-
ational)
– Rated output, full speed
––> 3  5.25 A  0.5 = 7.875 A ––> SITOP power 10 A

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2.2 Electrical system requirements

Withdrawing/ The connection cover can be withdrawn and inserted under voltage
inserting the with the motor stationary (OFF 1).
connection cover
If the PROFIBUS terminating resistor is not switched in on this node,
under voltage
i.e. if this drive is not the first or last node, then communications to the
2 other bus nodes is not interrupted.

Notice
When the connection is withdrawn, the actual position is not saved.
This means that the drive must be re–referenced after the cover has
been inserted.

i2t limitation This limiting function protects the positioning motor against permanent
overload.
If the positioning motor is operated for an excessive time over the per-
missible load limit, then the available motor current is automatically limi-
ted according to a characteristic.

I [A] not to scale

9

4.5
Warning
801/P953.1 (refer to Chapter 6.2.2)

0 15 t [s]

Fig. 2-7 i2t characteristic with 75 W motor

I [A] not to scale

21
20 Warning
801/P953.1 (refer to Chapter 6.2.2)

15

10.5
10

5
Warning
801/P953.1 (refer to Chapter 6.2.2)

0 15 60 t [s]

Fig. 2-8 i2t characteristic with 300 W motor

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02.99 2 Installing and Connecting–Up
2.2 Electrical system requirements

2.2.3 Regenerative feedback protection when the motor brakes

General If SIMODRIVE POSMO A is used in a system with low mechanical fric-

information on tion, then the electrical energy, regenerated when braking, can in-
regenerative
feedback
fluence the load power supply. In cases such as these, regenerative
feedback protection must be used.
2
protection
The regenerative feedback protection is dependent on the following:
 The coincidence factor on the line–up of POSMO A drives
 The number of positioning motors operated on one line
 The degree of efficiency of the mechanical system
 The friction
 The moments of inertia
 The regenerative feedback energy of a drive is calculated as follows
(without taking into account losses):
W = 1/2  J  ω2

W: Braking energy [Ws = (kgm2/s2)]

J: Moment of inertia [kgm2]
ω: Angular frequency = (2  π  n) / 60 [1/s] with n [RPM]

Braking energy Under the specified conditions, the following typical braking energy per
drive is obtained:
 Conditions
– Braking from rated speed in S3 duty
– Effective overall moment of inertia = motor moment of inertia
 Braking energy (in consideration of typically arising losses)
– 1.0 Ws ––> SIMODRIVE POSMO A – 75 W
– 2.5 Ws ––> SIMODRIVE POSMO A – 300 W
The effective total moment of inertia and the braking energy have a
linear interrelationship, i.e. for twice the moment of inertia, twice the
braking energy is generated when the motor brakes.

Rules when using The following rules must be observed for regenerative feedback protec-
regenerative tion:
feedback
 Regenerative feedback protection must be used when using a
protection
clocked load power supply (e.g. SITOP power).
 If the regenerative feedback energy is unknown, then regenerative
feedback protection should always be used.

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2.2 Electrical system requirements

Power If multiple axes are braked simultaneously in a system for operational

Management reasons, e.g. in the event of an EMERGENCY STOP or quasi–simulta-
Module neous traversing, a power management module (DC PMM) must be
(DC–PMM) used in order to convert the regenerative feedback energy.

2 The DC PMM is connected between the load power supply and the first
positioning motor SIMODRIVE POSMO A.

Type Order No. (MLFB)

DC–PMM/24V 9AL2137–1AA00–1AA0
DC–PMM/48V 9AL2137–1BA00–1AA0
Note:
Operating instructions in German and English
are provided with the power management
module (DC PMM).

Fig. 2-9 Power Management Module (DC–PMM)

Functions, features and technical data:

 Converting the regenerative feedback energy using an integrated
pulsed resistor with i2t monitoring
 Regenerative feedback protection
 Signals (e.g. ready, fault)
 Max. continuous motoring current capacity: 25 A
 Ambient temperature: 0...55 C
 Continuous power: 10 W (DC–PMM/24V)
15 W (DC–PMM/48V)
 Maximum energy drawn: 40 Ws
Example for POSMO A – 300 W (for 75 W, the following applies PD
= 10 W):
For power ratings above 15 W, the drives, that are above 15 W, are
integrated up according to the following formula and may not ex-
ceed 40 Ws.
T T
∫ P  dt – ∫ P  dt  E
t D max = 40 Ws
0 0
– Transistor on:
Vs 2 (58.5 V)2
Pt = = = 1711.125 W; PD = 15 W
RPMM 2Ω
Vs = switching threshold PMM 58.1...58.5 V; RPMM = 2 Ω
Pt – PD = 1711.125 W – 15 W = 1696.125 W
⇒ increment = 1696.125 W  t
– Transistor off:
Pt = 0; PD = 15 W
Pt – PD = – 15 W
⇒ decrement = 15 W  t

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02.99 2 Installing and Connecting–Up
2.2 Electrical system requirements

The maximum number of positioning motors that can be connected to a

DC PMM depends on the current carrying capacity, the coincidence
factor of the regenerative feedback and the regenerative feedback
energy.
If 1 Power Management Module is not sufficient to convert the braking
energy, then an additional supply line with an additional DC–PMM (75
2
W/300 W) must be provided – or a Power Management Module Exten-
sion DC–PMM_E/48V (300 W) can be used.

Power The DC–PMM_E/48 V is connected between the DC–PMM/48V and

Management the first SIMODRIVE POSMO A.
Module Extension
The DC–PMM_E/48V cannot be used as an autonomous (standalone)
(DC–PMM_E/48V)
device. It only operates in a group with the DC–PMM/48V.

Type Order No. (MLFB)

DC–PMM_E/48V 9AL2137–2BA00–1AA0
Note:
Operating instructions in German and English
are provided with the Power Management
Module (DC PMM).

Fig. 2-10 Power Management Module Extension (DC–PMM_E/48V)

Functions, features and technical data

(group, comprising DC–PMM/48V and DC–PMM_E/48V):
 Additional regenerative feedback protection
 Max. continuous motoring current capacity: 25 A
 Ambient temperature: 0...55 C
 Continuous power: 45 W
 Maximum energy drawn: 120 Ws
 As a maximum, one DC–PMM_E/48V may be operated in conjunc-
tion with a DC–PMM/48V.

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2.2 Electrical system requirements

Regenerative Depending on the type of power supply, the following possibilities are
feedback available to provide regenerative feedback protection when the motors
protection for brake:
24 V supply (75 W
Non–regulated 24 V power supply (transformer, rectifier)
motor)
2 The regenerative feedback protection depends on the following factors:
 Effective total moment of inertia
 Coincidence factor
 Power supply used (output rating)
Regulated 24 V power supply (SITOP power)
 Regenerative feedback protection with diode and capacitor
An example is shown in Fig. 2-11 where up to 3 drives can be ope-
rated under the following conditions:
– Effective overall moment of inertia = motor moment of inertia
– Coincidence factor = 1
– Braking from rated speed in S3 duty

SITOP power Diode (adapt the current load capacity

to SITOP, if required, use a heatsink)
L+ 24 V

To the M SIMODRIVE SIMODRIVE

remaining POSMO A, 1 POSMO A, 3
Elko
system
15000 µF/50 V

Fig. 2-11 Example: Regenerative feedback protection with diode and

capacitor

 Regenerative feedback protection with Power Management Module

24 V DC (DC–PMM/24V)
1 DC–PMM/24V can accept a braking power of 10 W.
Example:
Braking 5 motors, that individually have a rated current of 5 A and a
regenerative feedback energy of 3 Ws per braking operation, once
simultaneously, then a DC–PMM/24V is sufficient for this single bra-
king operation.
However, in this case, it is not possible to continuously brake the
motors per second or over a longer time period, as in this case, the
maximum permissible continuous power of 10 W would be excee-
ded and the I2t monitoring would respond. The unit goes into a
”fault” condition and can only be restarted after a ”reset”.

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02.99 2 Installing and Connecting–Up
2.2 Electrical system requirements

– Total current through the PMM: 5 x 5 A = 25 A

– Pulse load at the pulsed resistor: 5 x 3 Ws = 15 Ws
– Continuous power through
the pulsed resistor: 15 Ws/1s = 15 W
In this application, a maximum of only 3 motors could be braked
2
once per second or over a longer periods of time without the I2t mo-
nitoring responding and causing the unit to go into a ”fault” condition
(3 x 3 Ws /1s = 9 W < 10 W).

Regenerative Depending on the type of power supply, the following possibilities are
feedback available to provide regenerative feedback protection when the motors
protection for brake:
48 V supply (300 W
Non–regulated 48 V power supply (transformer, rectifier)
motor)
The regenerative feedback protection depends on the following factors:
 Effective total moment of inertia
 Coincidence factor
 Power supply used (output rating)
Regulated 48 V power supply (SITOP power)
 Regenerative feedback protection with diode and capacitor
An example is shown in Fig. 2-12 where up to 3 drives can be ope-
rated under the following conditions:
– Effective overall moment of inertia = motor moment of inertia
– Coincidence factor = 1
– Braking from rated speed in S3 duty

SITOP modular or 2 SITOP power

48 V 24 V
Diode (adapt the current load capacity
to SITOP, if required, use a heatsink)
L+ L+ 48 V

To the M SIMODRIVE SIMODRIVE

remaining POSMO A, 1 POSMO A, 3
M Elko
system
15000 µF/100 V

Fig. 2-12 Example: Regenerative feedback protection with diode and capacitor

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02.99
2.2 Electrical system requirements

 Regenerative feedback protection with Power Management Module

48 V DC (DC–PMM/48V)
1 DC–PMM/48V can accept a braking power of 15 W.
Example:
2 Braking 5 motors, that individually have a rated current of 5 A and a
regenerative feedback energy of 3.5 Ws per braking operation, once
simultaneously, then a DC–PMM/48V is sufficient for this single bra-
king operation.
However, in this case, it is not possible to continuously brake the
motors per second or over a longer time period, as in this case, the
maximum permissible continuous power of 15 W would be excee-
ded and the I2t monitoring would respond. The unit goes into a
”fault” condition and can only be restarted after a ”reset”.
– Total current through the PMM: 5 x 5 A = 25 A
– Pulse load at the pulsed resistor: 5 x 3.5 Ws = 17.5 Ws
– Continuous power through
the pulsed resistor: 17.5 Ws/1s = 17.5 W
In this application, a maximum of only 4 motors could be braked
once per second or over a longer periods of time without the I2t mo-
nitoring responding and causing the unit to go into a ”fault” condition
(4 x 3.5 Ws/1s = 14 W < 15 W).

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02.99 2 Installing and Connecting–Up
2.3 Connection and wiring overview

2.3 Connection and wiring overview

e.g. SIMATIC S7–300 DP e.g. relay 2

e.g. BERO 2

PROFIBUS interface
First node e.g. BERO 1
(in this case, the master) e.g. switch
––> Protective conductor (PE)1)
switch–in the terminating (refer to Chapter 2.3.2)
resistor

Potential bonding
conductor (refer
X9

X9
to Chapter 2.3.2)
X6

X6
X1

X1
5L+

6L+

5L+

6L+
+24 V/48 V

Ground
3L+ 5M

I/Q2 6M

3L+ 5M

I/Q2 6M
1VS X2

X2
I/Q1

2VS

1VS
I/Q1

2VS
4L+

4L+
3M

1M

2M

4M

3M

1M

2M

4M
L1

L1
X5

X5

+24 V

Ground
B1A1X3

B2 A2X4

B1A1X3

B2 A2X4

A cable

B cable
X7

X7
S1

S1

 Last node (here, to the right) ––> switch–in the terminating resistor (refer to Chapter 2.3.1)
 Set the PROFIBUS node address for the slaves (refer to Chapter 2.3.1)

+24 V
24 V electronics power supply
Ground (e.g. SITOP
e.g.power)
relay (optional)

+24 V/48 V +24 V/48 V

Power Management Module Load power supply
Ground (DC PMM) (optional) Ground (e.g. SITOP power)

1) The protective conductor may not be interrupted (refer to Chapter 2.3.2)

Fig. 2-13 Connection and wiring overview (example with DC PMM and electronics power supply)

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2.3 Connection and wiring overview

2.3.1 Connection and setting possibilities in the connection cover

Connection cover The SIMODRIVE POSMO A wiring is completely realized in the con-
2 from the top nection cover.
One connection can be used as input or output. The user defines this
using the appropriate wiring.
All of the cable connections are fed through PG glands.

Load power supply Dummy plugs (reserve)

cable
Refer under the index entry ”changing the cable outlet
Input/output direction”
When using this connection, the dummy plug is replaced
by a PG11 PG gland.
Torx T20
Protective conductor
max. 3 Nm
Cap Slotted
screw
When using this
connection, the dummy
Potential bonding/
plug is replaced by a
protective connection
PG11 PG gland.
cable with cable lug and
Cables for digital screw
inputs/outputs
Cross–section:
 4 mm2
Thread:
Cable for M5 x 10
 PROFIBUS through hole
or Load power supply cable
 PROFIBUS and Input/output
electronics power
––> e.g. to the next drive
supply
Cable for
Input/output  PROFIBUS
or
Slotted screw
 PROFIBUS and electronics power supply
4 (1.0 x 6.5) Input/output
max. 1.8 Nm ––> e.g. to the next drive

Fig. 2-14 SIMODRIVE POSMO A connection cover from the top

Caution
In order to guarantee the degree of protection, all of the connections
must be provided with either a dummy plug or with a PG gland; both of
these must be tightly screwed–in.

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02.99 2 Installing and Connecting–Up
2.3 Connection and wiring overview

Connection cover
from the bottom

S1 X3 X1 X6 /X9
Setting PROFIBUS Load power Internal load power supply 2
 PROFIBUS DP cable supply
Note:
node address Input/output Input/output
Equipping differs depending on
 PROFIBUS
whether it is a 75 W or 300 W
terminating resistor
motor

L1

5M 5L+
3L+
B1 A1
X3 X5 3M X6 X9
X2 X1
1VS
I/Q1
1M
X4 2VS
B2 A2
I/Q2 6M
6L+
2M
S1
4L+
X7 4M

X4 X2

X7 PROFIBUS DP cable Load power supply

Internal interface Input/output X5 Input/output

3L+ +24 V electronics power supply
input (optional)
3M 0 V ground
1VS Supply 1
Note: I/Q1 Digital input/output 1
Screwdriver for terminals (slotted screws) 1M 0 V ground
Where? Size! Tightening torque! 2VS Supply 2
 X1 and X2 1 (0.5 x 3.5) 0.6...0.8 Nm I/Q2 Digital input/output 2
 X3, X4 and X5 0 (0.4 x 2.5) 0.22...0.25 Nm 2M 0 V ground
4L+ +24 V electronics supply
output (optional)
4M 0 V ground

Fig. 2-15 SIMODRIVE POSMO A connection cover from the bottom

Caution
When supplied, the screws in the terminals are not tightened.
These must be tightened to the specified tightening torque – even
when the terminals are not being used – as otherwise the screws could
fall–out when the unit is subject to vibration.

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2.3 Connection and wiring overview

Connection cover The cable outlet direction is, as standard, in the opposite direction to
Change cable the motor drive shaft.
outlet direction
Depending on the mounting situation, the cable outlet direction of the
positioning motor can be changed.
2 How can the cable outlet direction be changed?
––> refer to Fig. 2-16
1. In the unwired connection cover, release the four screws of the con-
nection module.
2. Rotate the connection module and screw back into place.
3. Interchange the load current and PROFIBUS cabling in the connec-
tion cover at the top.

Connection module
Connection
cover the
Screws bottom

Screw type: Oval head screw

M3 x 6 – 8.8
SN 60730

Torx T10
max. 1.8 Nm

Screws

Connection cover
Dummy plug 2
from the top
Dummy plug 1
After turning the connection module,
connect–up as follows:
 Dummy plugs 1
––> reserved for future connections
 Dummy plug 2
When this connection is used, the
dummy plug is replaced by a PG11 PG
gland for the digital input/output cable.
 The interchanged cables should be
appropriately connected–up.
Refer to Chapter 2.4.3

Fig. 2-16 Connection cover: Changing the cable outlet direction

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2.3 Connection and wiring overview

Interfaces, All interfaces, terminals and switches of the SIMODRIVE POSMO A

terminals, are listed in the following table with technical information.
switch S1
Table 2-3 Overview of the interfaces, terminals and switches

No. Name Function Type Technical data Cross–

2
1) section
Load power supply 24 V for the 75 W motor
X1 5L+ +24 V/+48 V I/O 48 V for the 300 W motor
6L+ +24 V/+48 V I/O ––> Technical data on the power sup- max.
ply, refer to Chapter 2.6.1 or 2.6.2 4 mm2
X2 5M Ground 24 V/48 V I/O 0V
6M Ground 24 V/48 V I/O 0V
PROFIBUS DP bus connection max.
X3 A1 A cable I/O – 0.35
B1 B cable I/O – mm2

PROFIBUS DP bus connection max.

X4 A2 A cable I/O – 0.35
B2 B cable I/O – mm2

Electr. power supply (optional)

3L+ +24 V I/O 24 V  20 %
3M Ground, 24 V I/O Current drain: 250 mA
The electronics can be separately max.
supplied with 24 V via these terminals. 0.75
Advantage: When the load power sup- mm2
ply is shut down, the electronics are
still supplied with power and remain
functional (no galvanic isolation).
1VS P24 output O  Output (terminals Q1 and Q2):
I/Q1 Input/output terminal 1 I/O – Maximum current/output:
1M M24 output O 100 mA
2VS P24 output O  Supply (terminal VS):
I/Q2 Input/output terminal 2 I/O – Max. current/terminal:
X5 100 mA
2M M24 output O max.
 Input (terminals I1 and I2): 0.75
– Current drain: 15 mA mm2
– 24 V  20 %
The following can be connected:
 BERO (3–wire PNP)
 External relay
 Logical I/Os (PLC)
Electr. power supply (optional)
4L+ +24 V I/O 24 V  20 % max.
4M Ground, 24 V I/O 0.75
The electronics of an additional unit mm2
can be supplied from these terminals.

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2.3 Connection and wiring overview

Table 2-3 Overview of the interfaces, terminals and switches, continued

No. Name Function Type Technical data Cross–

1) section

2 X6
X9
–
Internal load power supply O
Equipping differs depending on whe-
ther it is a 75 W or 300 W motor
–

X7 – Internal interface I/O 15–pin D–sub socket connector –

Potential bonding conductor I 0V
(route as far as possible O 0V 4 ... 16
in parallel to the PROFIBUS ca- mm2
ble)
I 0V 4 ... 16
Protective conductor
O 0V mm2
S1 – PROFIBUS node address I DIL switch, 10–pin –

ÉÉ
PROFIBUS terminating resistor
Terminating Terminating

ÉÉ
ÉÉ
10
9
On/off
On/off
ON
on
ON
on
OFF
off
OFF
off

ÉÉ On/off
OFF
PROFIBUS communications

ÉÉ
8
PROFIBUS node address
26 = 64

ÉÉ
7 Example: 1 2
25 = 32

ÉÉ
6 S7: ON
64 OFF
0

ÉÉ
5 24 = 16 S6: ON
32 ON
32
ON
16 OFF
0

ÉÉ
23 = 8 S5:
4
S4: OFF
0 OFF
0

ÉÉ
3 22 = 4
S3: OFF
0 ON
4

ÉÉ 2 21 = 2
S2: OFF
0 OFF
0

ÉÉ
ON OFF
1 20 = 1 S1:

Σ=
ON
1
––––––––––
113
ON
1
––––––––––
37

ÉÉ
Note:
ÉÉ Standard setting

 Valid addresses which can be set: 3 to 126

 For the first and last physical PROFIBUS nodes, the terminating resistor must be
switched–in.
Switches 9 and 10 must always be in the same setting.
 The selected address is indicated using P918 (PROFIBUS node address).
 From SW 1.4, the following applies:
When powering–up the positioning motor, PROFIBUS node address 0 or 127 is
detected (all of the address switches are either OFF or ON); this means that the
function ”jog operation without PROFIBUS and parameterization” is activated (refer to
Chapter 5.5.11).
1) I: Input; O: Output

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2.3 Connection and wiring overview

Bus termination The following must be taken into consideration for the bus termination
for PROFIBUS at the PROFIBUS DP in connection with the ”DP Slave POSMO A”:
 The terminating resistor must be switched–in at the first and last bus
nodes.
 Is the ”DP slave POSMO A” the first or last bus node? 2
– If yes?
––> The bus termination must be switched–in using switch S1
(refer to Table 2-3).
––> The bus termination that has been switched–in is only
effective if the electronics power supply of the positioning
motor is powered–up and the connection is inserted.
– If no?
––> The bus termination must be switched–out using switch S1
(refer to Table 2-3).
 If it must be possible, with bus communications still operational, to
power down the SIMODRIVE POSMO A positioning motor without
resulting in errors, then the following applies:
– This ”DP slave POSMO A” may neither be used as the first nor
last bus node.
– For this ”DP slave POSMO A”, the bus termination must be
switched–out using switch S1 (refer to Table 2-3).
– Recommendation: Use an active bus terminating resistor
The ”active RS485 terminating element” bus component has its
own 24 V supply voltage and can terminate the bus indepen-
dently of the DP slave.
Order No. (MLFB): 6ES7972–0DA00–0AA0

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2.3 Connection and wiring overview

2.3.2 Protective grounding and potential bonding

Protective Use the M5 threaded hole in the connection cover for the protective
grounding conductor (refer to Chapter 2.3.1).
2
Notice
When removing a POSMO A it is not permissible that the protective
conductor is interrupted.
We recommend the following when connecting–up the protective
conductor:
 Star–type configuration, or
 The input and output of the protective conductor at the connection
cover must be crimped in one cable lug
(refer to Fig. 2-13).

Preparing Connect cable shields, ground connections and electronic grounds to

the grounding ground through the largest surface area.

Cable shields, The cable shields must be connected in the gland to the largest surface
grounding area.

PROFIBUS
cabling
Notice
The cable shield of each bus node must be connected to ground
through the largest possible surface area (at SIMODRIVE POSMO A
in the PG gland).
Recommendation:
Route a potential bonding conductor in parallel to PROFIBUS
(cable cross–section 4 – 16 mm2).
Use the M5 threaded hole in the connection cover for the potential
bonding conductor (refer to Chapter 2.3.1).
When using connector couplings for PROFIBUS, at higher data
transfer rates (> 1.5 Mbaud), perfect functioning is no longer
guaranteed (cable reflection).

Grounding Ground the load power supply at the secondary side in the cabinet.
load power supply When using a shielded cable, the shield must be connected at the sup-
ply point to ground potential through the largest possible surface area.
Grounding Ground the 24 V electronics power supply on the secondary side in the
electronics power cabinet. The power supply cables are routed without any shielding in
supply (optional) the PROFIBUS cable.
Power supply PELV
Protective Extra Low Voltage
The protective extra low voltage (PELV) must have protective separa-
tion, be grounded and must be safe to touch.
Applicable Standards:
DIN EN 60204 Part 1, DIN EN 60529, DIN EN 50178 DIN VDE 0160

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2.4 Mounting SIMODRIVE POSMO A

2.4 Mounting SIMODRIVE POSMO A

2.4.1 Mounting overview

2
Mounting and The following steps are required when mounting a SIMODRIVE
installation steps POSMO A:

Thoroughly remove all anti–corrosion agents from

the shaft end (use typical solvents)

Release the connection cover

of SIMODRIVE POSMO A Warning:
Prevent dirt falling
Mount the SIMODRIVE POSMO A motor without into the open drive
connection cover (refer to the dimension drawings in
Chapter C)

Prepare the connection cover for mounting:

 Prepare the cable ––> refer to Chapter 2.4.2
 Install the cables in the connection cover ––> refer to Chapter 2.4.3
 Set the PROFIBUS node address ––> refer to Chapter 2.3.1
 Switch 8 setting OFF for PROFIBUS communications ––> refer to Chapter 2.3.1
 Set the PROFIBUS terminating resistor ––> refer to Chapter 2.3.1

Locate the connection cover on the SIMODRIVE POSMO A and tighten the 2 screws
retaining the cover (max. tightening torque, 1.8 Nm)

Connect the protective and potential bonding conductors ––> refer to Chap. 2.3.2

Switch–on the power supply for the load and electronics

 Load power supply (if no independent electronics power supply is present)
 Load and electronics power supply (if both of the power supplies are separate)

LED?
off? yes Troubleshooting/diagnostics
or
––> Refer to Chapter 6
red steady light?

no Commisssion the drive system

––> Refer to Chapter 3

Fig. 2-17 Mounting and installation steps

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2.4 Mounting SIMODRIVE POSMO A

2.4.2 Preparing the cable

Note
2 We recommend that connector sleeves are used, but these are not
absolutely necessary.
The outer cable diameter should be maintained in order to guarantee
the IP 54/IP64/IP65 degree of protection.

Cable for the load

power supply  2 x max. 4 mm2, with or without shield, flexible conductor (finely–
stranded)
 Gland:
PG13.5 (with shield connection) for outdoors ∅ = 6–12 mm

10 not to scale

Load cable Shield

6 – 12
(a shield is
not
absolutely
necessary)
120 10

Fig. 2-18 Preparing load power supply cable

Cable for
PROFIBUS  2 x 0.35 mm2, with shield
(without
 Gland:
electronics power
supply) PG13.5 (with shield connection) for outdoors ∅ = 6–12 mm

8 not to scale
PROFIBUS Shield
cable 6 – 12

(without
electronics
power supply)
100 5

Fig. 2-19 Preparing the PROFIBUS cable

Recommendation for 2–core reeled cable:

 Not of trailing type 6XV1830–0EH10
 Trailing type 6XV1830–3BH10

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2.4 Mounting SIMODRIVE POSMO A

Cable for
PROFIBUS
 3 x 0.75 mm2, with or without shield
(with electronics
––> for electronics power supply
power supply)
+
2 x 0.35 mm2, with shield ––> for PROFIBUS 2
not to scale
120 10

8
1)
PROFIBUS 6 – 12
cable
(with PROFIBUS
electronics
power supply) Shield
100 5

1) Remove cores which are not used

Fig. 2-20 Preparing The PROFIBUS cable with electronics power supply

Recommendation for 5–core reeled cable: 6ES7194–1LY00–0AA0

Cables for
inputs/outputs
 2 x 3 x max. 0.75 mm2, with shield, flexible conductor (finely–stran-
ded)
 Gland:
The dummy plug provided should be replaced by a suitable PG11
gland
(e.g.: Pflitsch Company, type PG15152m2x6 – gland assembly
PG11/13.5 mounted using a multi–sealing insert for 2 cables with
6 mm diameter).

not to scale
10
1)
8 – 12
I/O cable

1)
Shield

1) Remove cores 120 10

which are not used

Fig. 2-21 Preparing cables for inputs/outputs

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2.4 Mounting SIMODRIVE POSMO A

Cables for
potential bonding
and protective
conductor Cross–section:  4 mm2
2 Torx T20 Thread: M5 x 10, hole

max. 3 Nm Note:
 The potential bonding conductor should be
routed as far as possible, in parallel to the
Profibus cable. This increases the
PROFIBUS noise immunity.
 It is not permissible that protective
conductors are interrupted (refer to Chapter
2.3.2)

Fig. 2-22 Potential bonding conductor and protective conductor

Example: The following pre–assembled cable is shown in Fig. 2-23:

Cable prepared for
 The PROFIBUS cable with electronics power supply
installation

Fig. 2-23 Example: Pre–assembled cable for PROFIBUS

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2.4 Mounting SIMODRIVE POSMO A

2.4.3 Mounting the prepared cables in the connection cover

How are the The following sequence should be maintained when installing the pre-
prepared cables pared cables into the connection cover (refer to Fig. 2-24): 2
installed? 1. Release the nut, dummy plugs and terminal insert/seal from the PG
gland.
2. Locate the nut and clamping insert/seal onto the cable.
3. Open–up the shield braiding (remove the insulating foil beneath it).
The shield must cover the O–ring by approx. 2 mm.
Cleanly cut–off any excessively long shield wires.
4. Assemble the nut with clamping insert/seal.
5. Insert these into the PG gland and tighten the nut.
6. Connect the ends of the cables to the lower side of the connection
cover.

Point 1 Ó
Ó M20 gland

Nut Cap Clamping insert/seal O ring Shield

Point 2
Point 3 Ó
Ó
Point 3
Ó
Ó M20 gland

ÓÓ
Connection to the PROFIBUS unit

ÓÓ
Point 4
Point 5

ÓÓ Point 6

ÓÓ Wiring at
X20

Fig. 2-24 How are the prepared cables installed?

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2.4 Mounting SIMODRIVE POSMO A

Fig. 2-25 Example: PG gland with all of the individual parts and components

Example: The following diagrams show a connection cover that has been con-
Connection cover nected–up:
mounted
 Connection cover from the top ––> refer to Fig. 2-26
 Connection cover from the bottom ––> refer to Fig. 2-27

Fig. 2-26 Connection cover with the cables inserted: View from the top

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2.4 Mounting SIMODRIVE POSMO A

Fig. 2-27 Connection cover with the cables inserted: View from below

Additional When routing the connecting cable, additional moisture protection can
protection against be achieved by appropriately angling the connecting cable (water loop).
moisture

”Water loop”

Fig. 2-28 Cable connection at SIMODRIVE POSMO A with ”water loop”

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2.4 Mounting SIMODRIVE POSMO A

2.4.4 Extension set ”separate version” POSMO A – 300 W

How is the The separate version for SIMODRIVE POSMO A – 300 W means that
extension set the drive unit is mounted separately from the motor. This means that
2 mounted? for applications with restricted space, the space requirement of the
motor can be flexibly adapted to the mounting space available.
The SIMODRIVE POSMO A – 300 W is supplied as complete unit.
This is the reason that for this particular application, the drive unit is to
be separated from the motor and connected to the motor using the ex-
tension set ”separate version”.
It is only permissible to use the pre–fabricated extension set from
Siemens. Refer to Chapter 1.2 for ordering data.
When disassembling the drive unit (refer to Fig. 2-29) and when moun-
ting/installing the extension set (refer to Fig. 2-30), proceed in the follo-
wing sequence:

Warning
! Before disassembling the drive unit, the positioning motor must be
brought into a no–voltage condition and locked–out so that it cannot be
powered–up again!

1. Release and remove the four retaining screws of the drive unit (do
not re–use!).
––> Allen key SW 3
2. Remove the drive unit

SW 3

Drive unit
POSMO A – 300 W

Motor

Fig. 2-29 Withdraw the drive unit from the motor

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2.4 Mounting SIMODRIVE POSMO A

3. Insert the extension set ”separate version” POSMO A – 300 W at

the motor and drive unit.
4. Using the 4 retaining screws supplied, screw the extension set to
the motor and drive unit.
– Torque wrench (Allen key, SW 3) 2
– Tighten the screws diagonally
– Torque: 1.8 Nm
5. Attach the potential bonding and protective conductor (cross–sec-
tion:  4 mm2)
– At the drive unit: Two screw terminals (M5) on the cover
––> refer to Chapter 2.3.1
– At the motor: Two of the three screw threads (M5) for the trans-
port lugs ––> refer to Fig. 2-30

Note:
Minimum bending radius of
the cables, 100 mm

4 screws supplied loose

with the equipment 3

3
5

Extension set, ”separate version” 4

Potential bonding and protective conductor (both ends) M5 x 10

not to scale

Fig. 2-30 Mounting the extension set ”separate version” POSMO A – 300 W

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2.5 Gearbox selection

2.5 Gearbox selection

2.5.1 Gearboxes for SIMODRIVE POSMO A – 75 W

2 Modular gearbox,
75 W motor
For SIMODRIVE POSMO A – 75 W, the following gearboxes can be
selected and used according to Table 2-4:
Table 2-4 System data, modular gearbox with planetary/worm gearboxes

Gearbox Stage Reduc- Effi- Torque Rated

type num- tion ciency speed
ber Permissible1) Available
S1 Briefly S1 S3 n
25 % (S1)
1 min
iGearbox hGearbox [Nm] [Nm] [Nm] [Nm] [RPM]
without
– – – – – 0.18 0.36 3300
gearbox
4.5 0.85 1.2 2.4 0.7 1.4 733
1
8 0.85 1.2 2.4 1.2 2.4 413
20.25 0.72 8 16 2.6 5.2 163
Planetary 36 0.72 8 16 4.7 9.3 92
2
gearbox
50 0.72 8 16 6.5 13.0 66
126.5625 0.61 24 48 13.9 27.8 26
3
162 0.61 24 48 17.8 35.6 20
5 0.70 2 4 0.6 1.3 660
Worm 24 0.50 3.5 7 2.2 4.3 138
1
gear2)3)
75 0.25 4 8 3.4 6.8 44
1) The specified permissible gearbox torque may not be exceeded.
Gearboxes can be briefly loaded (1 – 2 s when starting) with higher torques up to a maximum of twice the
continuous torque without causing permanent damage (but this does have a negative impact on the
gearbox lifetime). The gearbox could be destroyed if this limit is exceeded.
The current limits of the positioning motor are preset in the factory to prevent destruction by the torque
produced by the motor.
2) Notice: If the worm gear has to be rotated due to the mechanical design, then the mounting screws must
be subsequently tightened to a torque of 2 Nm and secured using Loctite 274. No warranty is accepted
for damage caused by incorrect changes.
3) Torsional play < 1°

Notice
Forced rotation acceleration or delay from the outside is permitted only
within the scope of permissible torques.
Due to the run–up time of the gearbox, elevated currents may occur
when commissioning for the first time (grease distribution in the
gearbox).

Reader’s note
Additional gearbox data ––> refer to Chapter 2.6.1
Dimension drawings
of motors and gearboxes ––> refer to Chapter C.1
Gearbox–dependent parameters ––> refer to Chapter 5.6.3

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2.5 Gearbox selection

2.5.2 Gearboxes for SIMODRIVE POSMO A – 300 W

Modular gearbox, For SIMODRIVE POSMO A –300 W, the following gearboxes can be
300 W motor selected and used according to Table 2-5:
2
Table 2-5 System data, modular gearbox with planetary gears

Gearbox Stage Step– Effi- Torque Rated

type num- down ciency speed
ber Permissible1) Available

S1 briefly S1 S3 S3 n
25 % 6.25 % (S1)
4 min 4 min
iGearbox hGearbox [Nm] [Nm] [Nm] [Nm] [Nm] [RPM]
without – – – – – 0.48 0.95 1.9 3500
gearbox
4 0.90 26 52 1.7 3.4 6.8 7502)
1
7 0.90 26 52 3.0 6.0 12.0 4292)
12 0.85 36 45 4.9 9.7 19.4 2502)
Planetary 20 0.85 42 52.5 8.2 16.2 32.3 1502)
gear 2
35 0.85 44 55 14.3 28.3 55.0 862)
49 0.85 44 55 20.0 39.6 55.0 612)
3 120 0.80 100 125 46.1 91.2 125.0 252)
1) The specified permissible gearbox torque may not be exceeded.
The gearboxes may be briefly subject to higher torques (1–stage: 200% continuous torque, 2 and 3–stage:
125% continuous torque) without the gearbox being destroyed (this has a negative impact on the lifetime).
The gearbox could be destroyed if this limit is exceeded.
The current limits of the positioning motor are preset in the factory to prevent destruction by the torque
produced by the motor.
2) Relating to the gearbox rated speed of 3000 rpm.

Notice
Forced rotation acceleration or delay from the outside is permitted only
within the scope of permissible torques.
Due to the run–up time of the gearbox, elevated currents may occur
when commissioning for the first time (grease distribution in the
gearbox).

Reader’s note
Additional gearbox data ––> refer to Chapter 2.6.2
Dimension drawings
of motors and gearboxes ––> refer to Chapter C.2
Gearbox–dependent parameters ––> refer to Chapter 5.6.3
Mounting or replacing gearboxes ––> refer to Chapter 7.2

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2.6 Technical data

2.6 Technical data

2.6.1 Technical data for SIMODRIVE POSMO A – 75 W

2
Table 2-6 Technical data for the POSMO A – 75 W positioning motor

Name Description
Load power supply Supply voltage: 24 VDC  20 %
Power consumption: rated:  4.5 A
for 200% overload (S3):  9 A
Note:
The rated output and rated speed are reduced when the 24 V
Electrical power supply voltage is fallen below.
data
Electr. power supply Voltage: 24 V DC  20 %
(optional) Current drain: 250 mA
Digital inputs Voltage: 24 V DC  20 %
Current drain: 15 mA
Digital outputs Maximum current/output: 100 mA

I [A] M [Nm]
200% overload
(75 W)
9 0.36
Torque/speed
characteristic Rated
motor S3 intermittent duty operating
M/n point
characteristic 4.5 0.18 (62.5 W)
Motor without
gearbox S1 continuous No–load
UIN = 24 VDC duty operating
point
0
2000 n
nN = 3300
[rev/min]
nno–load = 3600

0 ... 45 °C
up to 65 °C with continuous motor current reduction

IS1 [A]
4.5 Continuous motor current
4 reduction as a function of the
Permissible ambient temperature
ambient tem- 3
perature
2
1

0 45 50 55 60 65 ϑ [°C]

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2.6 Technical data

Table 2-6 Technical data for the POSMO A – 75 W positioning motor, continued

Name Description
Degree of IP 54
protection
EN 10034
Note:
IP40 at the motor shaft and planetary gearbox shaft. If necessary, an external seal must 2
Part 5 be provided. The shaft may not run in an oil bath. If necessary, grease lubrication must
IEC 34–5 be provided.

Installation Installation altitude above sea level in m Output as a % of the rated output
altitude 1000 100
1500 97
and
2000 94
permissible 2500 90
output 3000 86
3500 82
4000 77
Motor type Permanent–magnet brushless servomotor
(brushless DC: BLDC)
Cooling Non–ventilated (free convection)
Note:
The clearance 100 mm must be maintained to adjacent
parts and components on at least three sides of the
SIMODRIVE POSMO A
Overload monitoring i2t limitation
Measuring system Incremental
(integrated) Resolution: 816 increments/motor revolution
Rated motor speed 3 300 RPM (S1) Note:
2 000 RPM (S3, 25 %, 1 min) The data is only va-
lid for supply volta-
Rated motor torque 0.18 Nm (S1)
ges of  24 V
(without gearbox) 0.36 Nm (S3, 25 %, 1 min)
Rated motor power 62.5 W (S1)
(without gearbox) 75 W (S3, 25 %, 1 min)
Motor data Rated motor current 4.5 A
Motor efficiency 65 %
Motor moment of Ratio i: Without holding brake:
inertia
 referred to the without gearbox 60.00  10–6 kgm2
motor out drive
 +gearbox 4.5 1,233.2  10–6 kgm2
referred to the ge- 8 3,897.6  10–6 kgm2
arbox out drive 20.25 24,972.8  10–6 kgm2
36 78,926.4  10–6 kgm2
50 152,250.0  10–6 kgm2
126.5625 975,500.2  10–6 kgm2
162 1,598,259.6  10–6 kgm2
5 1,537.5  10–6 kgm2
24 35,424.0  10–6 kgm2
75 345,937.5  10–6 kgm2
Shaft load capability Axial load max. 150 N
(motor shaft) Radial load max. 150 N
(effective 20 mm from the mounting plane)

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2.6 Technical data

Table 2-6 Technical data for the POSMO A – 75 W positioning motor, continued

Name Description
S1 continuous oper- The equipment can operate continually at rated load without
ation duty the permissible temperature being exceeded.
2 Duty cycle =
Operating S3 intermittent duty The equipment can only be operated at rated load during the
possibilities power–on duration specified as a percentage of the load duty
(excerpt from cycle without the permissible temperature being exceeded.
S3 – 25 % The equipment is powered down in the no–load interval.
VDE 0530)
Overload factor = 2
Duty cycle = 1 min
Duration = 25 % of the duty cycle
Measuring max. 55 dB (A) Motor without gearbox
surface Note:
sound–pres-
sure level Speed range: 0 – 3300 RPM
EN 21680
Part 1
Backlash 1–stage planetary gear: 1.0 degrees
2–stage planetary gear: 1.0 degrees
3–stage planetary gear: 1.5 degrees
Worm gear: <1.0 degrees
Shaft load capability Axial load Radial load
(Gearbox shaft) (for center key)
Planetary gear max. 500 N max. 350 N
Worm gear 300 N max. 500 N max.

Gearbox Gearbox lifetime A generally valid statement cannot be made about the lifetime
data as a result of the various possible applications and the resul-
ting load types as well as varying ambient conditions.
Factors which influence the lifetime include:
 Duty types from continuous operation with one direction of
rotation up to extreme start/stop operation with load levels
from partial load up to full load and significant surge loa-
ding.
 Forced rotation accelerations or delays from the outside.
 External mechanical loads in the form of a vibration and
shock.
 The ambient temperature and humidity/moisture
 Motor without gearbox: 3.1 kg
 Motor with 1–stage gearbox: 3.5 kg
Weights  Motor with 2–stage gearbox: 3.7 kg
 Motor with 3–stage gearbox: 3.9 kg
 Motor with worm gear: 3.5 kg

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2.6 Technical data

Table 2-6 Technical data for the POSMO A – 75 W positioning motor, continued

Name Description
Relevant Standards IEC 68–2–1, IEC 68–2–2

Climatic envi-
Operating temperature
range
0 ... 45 C 2
ronmental
conditions Extended operating to +65 C with continuous reduced motor current
temperature range
Relevant Standards according to DIN EN 60721 Part 3–3, Class 3K5
Transport and storage –40 ... +70 C
temperature range
Climatic Relevant Standards according to DIN EN 60721, Part 3–1 and 3–2, Class 2K4 and
transport and 1K4
storage
conditions Note:
Data applies for components which have been packed ready
for transport.
Mechanical Relevant Standards IEC 68–2–32
ambient
conditions
 Vibration stressing in operation
Frequency range With constant deflection = 7 mm
2 ... 9 Hz
Frequency range With constant acceleration = 20 m/s2 (2 g)
Tested vibra- 9 ... 200 Hz
tion and
shock stres- Relevant Standards IEC 68–2–6, DIN EN 60721 Parts 3–0 and 3–3 Class 3M6
sing in oper-
ation
 Shock stressing in operation
Peak max. 250 m/s2 (25 g)
acceleration
Shock duration 6 ms
Relevant Standards DIN EN 60721 Part 3–0 and Part 3–3 Class 3M6
Relevant Standards DIN EN 60721 Part 3–3, Class 2M2
Vibration and
shock stres- Note:
sing during Data applies for components which have been packed ready
transport for transport.
Pollutant Relevant Standards IEC 68–2–60
stressing

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2.6 Technical data

2.6.2 Technical data for SIMODRIVE POSMO A – 300 W

Table 2-7 Technical data for the POSMO A – 300 W positioning motor
2 Name Description
Load power supply Supply voltage: 48 V DC  20 %
24 V DC  20 % (optional)
Power consumption:  5.25 A (with S1)
Note:
 A supply voltage less than 48 V means:
––> lower speed
Electrical  For motors with integrated holding brake, the power supply
data voltage must be > 24 V DC.
Electr. power supply Voltage: 24 V DC  20 %
(optional) Current drain: 500 mA
Digital inputs Voltage: 24 V DC  20 %
Current drain: 15 mA
digital outputs Maximum current/output: 100 mA

Voltage limiting Voltage limiting

I [A] M [Nm]
characteristic 24 V characteristic 48 V

2.0
21.0 1.9 Current limit S3

1.6 Rated operating point

24 V, 100 W
Torque/speed 15.75
S3 intermittent duty
characteristic Rated operating point
motor 1.2
48 V, 300 W
M/n 10.5 0.95
characteristic Continuous
0.8
Motor without power rating
gearbox 176 W
5.25 Current limit S1 (I2t)
0.4
S1 continuous duty No–load
operating point
0.0 0.0
1000 2000 3000 4000 n
[rev/min]
Speed limit = 3800

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2.6 Technical data

Table 2-7 Technical data for the POSMO A – 300 W positioning motor, continued

Name Description
S1 continuous oper- The equipment can operate continually at rated load without
ation duty the permissible temperature being exceeded.
Duty cycle =
2
S3 intermittent duty The equipment can only be operated at rated load during the
power–on duration specified as a percentage of the load duty
Operating cycle without the permissible temperature being exceeded.
possibilities The equipment is powered down in the no–load interval.
(excerpt from S3 – 25 % Power–on duration = 25 % (
60 s)
VDE 0530) ––> at 3000 RPM and 0.95 Nm
Duty cycle = 4 min
S3 – 6.25 % Power–on duration = 6.25 % (
15 s)
––> at 2000 RPM and 1.9 Nm
Duty cycle = 4 min
Measuring max. 55 dB (A) Motor without gearbox
surface max. 70 dB (A) Motor with 2–stage gearbox
sound–pres-
Note:
sure level
Speed range: 0 – 3000 RPM
EN 21680
Part 1
–20 ... 45 °C
up to 65 °C with continuous motor current reduction

IS1 [A]
5.25 Continuous motor current
5
reduction as a function of the
Permissible 4 ambient temperature
ambient tem-
perature 3
2
1

–20 45 50 55 60 65 ϑ [°C]

Degree of IP54 or IP65 can be ordered

protection
EN 10034
Part 5
IEC 34–5
Installation Installation altitude above sea level in m Output as a % of the rated output
altitude 1000 100
and 1500 97
Permissible 2000 94
output 2500 90
3000 86
3500 82
4000 77

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2.6 Technical data

Table 2-7 Technical data for the POSMO A – 300 W positioning motor, continued

Name Description
Motor type 3–phase brushless servomotor

2 Note:
The motor corresponds to the 1FK6 motor series.
Cooling Non–ventilated (free convection)
Note:
The clearance 100 mm must be maintained to adjacent
parts and components on at least three sides of the
SIMODRIVE POSMO A
Overload monitoring i2t limitation
Measuring system Incremental
(integrated) Resolution: 4096 increments/motor revolution
Rated motor speed 3500 RPM (S1) Note:
3000 RPM (S3, 25 %, 4 min) The data is only va-
Rated motor torque 0.48 Nm (S1) lid for supply volta-
(without gearbox) 0.95 Nm (S3, 25 %, 4 min) ges of  48 V
Rated motor power 176 W (S1)
(without gearbox) 300 W (S3, 25 %, 4 min)
Rated motor current 5.25 A (S1)
Motor data 10.5 A (S3, 25 %, 4 min)
Motor efficiency 75 % motor
68 % motor and drive unit
Motor moment of Ratio i: without holding brake: with holding brake:
inertia
 referred to the without gearbox 58.00  10–6 kgm2 65.00  10–6 kgm2
motor out drive
 +gearbox 4 1,424.0  10–6 kgm2 1,536.0  10–6 kgm2
referred to the ge- 7 4,267.9  10–6 kgm2 4,610.9  10–6 kgm2
arbox out drive 12 13,017.6  10–6 kgm2 14,025.6  10–6 kgm2
20 35,480.0  10–6 kgm2 38,280.0  10–6 kgm2
35 107,065.0  10–6 kgm2 115,640.0  10–6 kgm2
49 209,847.4  10–6 kgm2 226,654.4  10–6 kgm2
120 1,856,160.0  10–6 kgm2 1,956,960.0  10–6 kgm2
Shaft load capability  Axial load
(motor shaft) – Motor without holding brake max. 210 N
– Motor with holding brake forces not permissible
 Radial load max. 240 N
(effective 30 mm above the plane where the motor is bol-
ted)
Brake type EBD 0.13BS
Holding torque M4 1.1 Nm
DC current 0.4 A
Holding
Opening time 30 ms
brake
Closing time 10 ms
Number of emergency 2000 with a regenerative feedback energy of 13 Ws
braking operations
Backlash 1–stage planetary gear: <15’ (angular minutes)
Gearbox
2–stage planetary gear: <20’ (angular minutes)
data
3–stage planetary gear: <25’ (angular minutes)

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2.6 Technical data

Table 2-7 Technical data for the POSMO A – 300 W positioning motor, continued

Name Description
Efficiency 1–stage gearbox: 90 %
2–stage gearbox: 85 %
3–stage gearbox: 80 %
2
Temperature Max. permissible temperature: 90 C
Speed at the gearbox Nominal input speed: 3000 RPM
input Max. input speed:3500 RPM
Note:
A POSMO A with gearbox can be briefly operated up to the
maximum possible speed (depending on the supply voltage).
Shaft load capability 1-stage/2-stage gearbox
800
Radial and axial shaft
700
load capability for the
gearbox shaft 600
Fr perm [N]

500

400 Fa = 0 N

300
Fa = 500 N
200

Gearbox 100 Fa = 1000 N

data
0
Planetary gear 100 200 300 400 500 600 700 800 900
n2 [RPM]
3-stage gearbox
2700

2400

2100

1800
Fr perm [N]

1500
Fa = 1500 N
1200
Fa = 500 N
900 Fa = 0 N
600
Fa = 1000 N
300

0
100 200 300 400 500 600 700 800 900 1000
n2 [RPM]
Fa [N] axial force
Fr perm [N] permissible radial force
n2 [RPM] drive–out speed

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2.6 Technical data

Table 2-7 Technical data for the POSMO A – 300 W positioning motor, continued

Name Description
Gearbox lifetime A generally valid statement cannot be made about the lifetime

2 as a result of the various possible applications and the resul-

ting load types as well as varying ambient conditions.
Factors which influence the lifetime include:
Gearbox  Duty types from continuous operation with one direction of
data rotation up to extreme start/stop operation with load levels
from partial load up to full load and significant surge loa-
Planetary gear ding.
 Forced rotation accelerations or delays from the outside.
 External mechanical loads in the form of a vibration and
shock.
 The ambient temperature and humidity/moisture
 Motor without gearbox: 3.9 kg
 Motor with 1–stage gearbox: 5.1 kg
Weights
 Motor with 2–stage gearbox: 5.4 kg
 Motor with 3–stage gearbox: 8.2 kg
Climatic envi- Relevant Standards IEC 68–2–1, IEC 68–2–2
ronmental
conditions
Operating temperature –20 ... 45 C
range
Climatic oper-
ating condi- Extended operating to +65 C with continuous reduced motor current
tions temperature range
Relevant Standards according to DIN EN 60721 Part 3–3, Class 3K5
Transport and storage –40 ... +70 C
temperature range
Climatic Relevant Standards according to DIN EN 60721, Part 3–1 and 3–2, Class 2K4 and
transport and 1K4
storage
conditions Note:
Data applies for components which have been packed ready
for transport.
Mechanical Relevant Standards IEC 68–2–32
ambient
conditions

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2.6 Technical data

Table 2-7 Technical data for the POSMO A – 300 W positioning motor, continued

Name Description
 Vibration stressing in operation
Frequency range
2 ... 9 Hz
With constant deflection = 7 mm 2
Frequency range With constant acceleration = 20 m/s2 (2 g)
9 ... 200 Hz
Relevant Standards IEC 68–2–6, DIN EN 60721 Parts 3–0 and 3–3 Class 3M6
Tested vibra-
tion and  Shock stressing in operation
shock stres- Peak max. 250 m/s2 (25 g)
sing in oper- acceleration
ation
Shock duration 6 ms
Relevant Standards DIN EN 60721 Part 3–0 and Part 3–3 Class 3M6
Note:
In order to ensure a long lifetime, the motor should be supported if it is subject to exter-
nal vibration stressing (e.g. continuous operation at the resonant frequency)
Tapped holes are provided to support the motor.
Relevant Standards DIN EN 60721 Part 3–3, Class 2M2
Vibration and
shock stres- Note:
sing during Data applies for components which have been packed ready
transport for transport.
Pollutant Relevant Standards IEC 68–2–60
stressing

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Space for your notes

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Commissioning 3
3
3.1 General information on commissioning

Prerequisites for The following prerequisites must be fulfilled before commissioning the
commissioning drive:
1. Has the drive been completely installed, cabled and is it ready to be
powered–up?
––> Refer to Chapter 2
2. Has the PROFIBUS DP node address been set at the connection
cover of SIMODRIVE POSMO A?
––> Refer to Chapter 2.3.1
3. Has the terminating resistor been set at the first and last bus no-
des?
––> Refer to Chapter 2.3.1 and Chapter 2.3
4. Is there a master device file (GSD) and has it been installed?
––> Refer to Chapter 4.4.2

Communications SIMODRIVE POSMO A can only be controlled and parameterized via

between master PROFIBUS. This is the reason that it is absolutely necessary that com-
and slave munications are established between the DP master and the ”DP slave
POSMO A” that is to be commissioned.
What are the communication possibilities?
 C1 master SIMODRIVE POSMO A PROFIBUS MASTER
––> Refer to Chapter 3.2.4
 C2 master Parameterizing and start–up tool ”SimoCom A”
––> Refer to Chapter 3.2.3
 C1 master SIMATIC S5 or SIMATIC S7
––> Refer to Chapter 4.4
 Third–party master
––> Refer to the documentation associated with the third–party
master
Standalone operation can be set via P100 and P101:11. This means
that operation is possible without PROFIBUS communications (refer to
Chapter 5.5.12).

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3.1 General information on commissioning

Overview of the
communications

Master Slave
PROFIBUS DP PROFIBUS DP PROFIBUS DP
Standard slave telegram data Standard slave

 Connect–up
3  Install GSD files
For SIMODRIVE POSMO A the  Set the address
following is valid:  When required, set the
 PPO type 1 (PPO1) terminating resistor

 S7 – 300 with
integrated DP interface
 S7 – 400
PROFIBUS–DP
– SFC14 (SW)
– SFC15 (SW) Cyclic data
refer to Chapter 4.2, e.g.

 S7 – 312  Control word (STW)

 CP 342–5  Status word (ZSW)
SIMODRIVE
– FC1 (SW)
POSMO A
– FC2 (SW) Parameterizing data
refer to Chapter 4.3, e.g.
 Parameter number, Index
 PC/PG+
 parameter value
– CP 5412
– CP 5511 PROFIBUS–DP
– CP 5611

 Any third–party
master

Fig. 3-1 Overview of the communications for SIMODRIVE POSMO A

LED after After SIMODRIVE POSMO A has been powered up, the LED has the
power–on following status, if no fault/error has been detected:
 LED flashes green
––> bus connection is not established (refer to Chapter 6.1)

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3.2 Commissioning the DP master

3.2 Commissioning the DP master

3.2.1 Commissioning and communications for the master

How are The procedure on how to establish communications between the

communications
established
master and slave is shown using an example with the following prere-
quisites:
3
between the
Assumptions and prerequisites:
master and slave?
 The master is a SIMATIC S7–315–2 DP.
 The prerequisites for commissioning have been fulfilled
(refer to Chapter 3.1).
 The ”DP slave POSMO A” should be integrated into an existing
SIMATIC S7 project.
 The GSD file for the ”DP slave POSMO A” is available and installed
(refer to Chapter 4.4.2).
How communications are established:
1. Open the existing SIMATIC project.
2. In the hardware catalog, under PROFIBUS–DP, add the station
”SIMODRIVE POSMO A”.
3. Set the PROFIBUS address under properties.
The same address must be set at the positioning motor (DP slave)
using switch S1 (refer to Chapter 2.3.1).
4. Set the I/O address
Part I address O address
PKW 256 – 263 256 – 263 (each 8 bytes, addresses as example)
PZD 264 – 267 264 – 267 (each 4 bytes, addresses as examples)
5. Close the project and transfer to the master.
6. Power–up the drive and check the LED.
LED has steady green light?
yes ––> normal operation, communications is running error–free
no ––> evaluate the state of the LED (refer to Chapter 6.1)
The drive itself identifies the selected baud rate.

Note
The DP master can now communicate with the DP slave
SIMODRIVE POSMO A that has been powered–up.

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3.2 Commissioning the DP master

Data to/from the The following data transfers in the PZD and PKW areas result from the
drive in the PZD peripheral addresses configured in the example:
and PKW areas

Control signals, data to the drive

PAB 264 PAB 265
Note:
PAW 264 Control word (STW)
Description of the PZD
3 PAW 266 Select block number
PAB 266
Start byte (STB)
PAB 267
area
––> Refer to Chapter 4.2

Status signals, data from the drive

PEB 264 PEB 265
PEW 264 Status word (ZSW)

DP slave PEW 266 Actual block number Checkback signal (RMB)

POSMO A
PEB 266 PEB 267

Fig. 3-2 Data transfer in the PZD area in the ”positioning” mode (P700=2) (addresses are only as
example)

Control signals, data to the drive

PAB 264 PAB 265 Note:

PAW 264 Control word (STW) Description of the PZD area

PAW 266 Speed setpoint, bits 0...14, sign, bit 15 ––> Refer to Chapter 4.2

PAB 266 PAB 267 Normalization of the speed actual

values:
4000hex ––> 1000hex of the
speed specified in P880
Status signals, data from the drive
PEB 264 PEB 265
PEW 264 Status word (ZSW)

DP slave PEW 266 Speed actual value, bits 0...14, sign, bit 15
POSMO A
PEB 266 PEB 267

Fig. 3-3 Data transfer in the PZD area in the ”speed setpoint” mode (P700=1) (addresses are only as
example)

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3.2 Commissioning the DP master

Data to the drive

PAB 256 PAB 257
PAW 256 AK – PNU (parameter number) PKE
PAW 258 IND (Index) Reserved IND/reserved
PAW 260 PWE 1 (parameter value) PWE
Note:
PAW 262 PWE 2 (parameter value) PWE  The PKW area must be
PAB 262 PAB 263 consistently transferred. 3
 Description of the PKW
area
––> Refer to Chapter 4.3

Data from the drive

PEB 256 PEB 257
PEW 256 AK – PNU (parameter number) PKE
DP slave
POSMO A PEW 258 IND (Index) Reserved IND/reserved
PEW 260 PWE 1 (parameter value)
EB 266 EB 267 PWE
PEW 262 PWE 2 (parameter value) PWE

PEB 262 PEB 263

Fig. 3-4 Data transfer in the PKW area (addresses are only example addresses)

Commissioning After establishing communications, the commissioning of the DP

asks after master should be completed.
communications
The following tasks have to be fulfilled:
have been
established 1. Carry out a function check
You can set the required enable bits here for the function test.
––> Refer to Chapter 4.2
Move the drive as follows:
– Jogging 1 (to the left, 20 % of 3000 RPM motor revolutions)
or
– Jogging 2 (to the right, 20 % of 3000 RPM)
2. Generate the user program for the PZD area
Generating a user program in the DP master to supply the control
and status words.
––> Refer to Chapter 4.2
3. Generate the user program for the PKW area
Generate the user software the communicate the PKW area.
––> Refer to Chapter 4.3

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3.2 Commissioning the DP master

3.2.2 SIMATIC S7 function blocks

Brief description These function blocks make it easier to control and assign parameters
for a SIMODRIVE POSMO A positioning motor from the SIMATIC S7
program.
This means that a drive, for example, can be parameterized without
3 being knowledgeable about PROFIBUS parameter formats and the
task IDs.

Which blocks are The following function blocks are available:

available?
 FB 10 CONTROL_POSMO_A (from 02.00)
 FB 11 PARAMETERIZE_POSMO_A (from 02.00)
 FB 12 PARAMETERIZE_ALL_POSMO_A (from 05.00)

Where are these You can obtain all of the function blocks up to Version 1.5 at no charge
function blocks? from your local Siemens office (sales partner). However, these function
blocks do not support the ”speed setpoint” mode and will not be further
innovated.
Function blocks with expanded functional scope (including the ”speed
setpoint” operating mode) are available in the software package ”Drive
ES SIMATIC” from Version 5.3 onwards.

Software Class C Siemens AG accepts no liability and no warranty that these block ex-
amples operate error–free.
The software license conditions according to Class C apply.
––> Refer to the description of the function blocks which has also been
installed

Installation Prerequisites: SIMATIC S7 Manager version 4.02 and higher

Run the unzipped file ”setup.exe” and following the instructions.
The function blocks are then available in the SIMATIC Manager under
the ”Posmo A Library Vx” library.
The associated description of the function blocks is available as pdf
document under:
Start ––> Simatic ––> S7 Manuals ––> Posmo A Library

Reader’s note
In order that you always have an up–to–date description which
matches the blocks, please refer to the information on the blocks
provided in the PDF document which was also installed.

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3.2 Commissioning the DP master

3.2.3 Parameterizing and start–up tool ”SimoCom A” (from SW 1.5)

Prerequisite A PG/PC is required to install the tool; it must fulfill the following mini-
mum requirements:
 Operating system:
Windows 95, Windows 98 or Windows NT
Windows ME or Windows 2000
3
Windows XP
 32 MB RAM memory
 30 MB free memory on the hard disk

Where can I get The ”SimoCom A” parameterizing and start–up tool is available through
”SimoCom A”? the Internet as follows:
 German
http://www.ad.siemens.de/mc/html_00/info/download/
 English
http://www.ad.siemens.de/mc/html_76/info/download/

Which version is The ”SimoCom A” parameterizing and start–up tool can be used for all
the optimum SIMODRIVE POSMO A drives from SW 1.5 onwards.
”SimoCom A”
The functional scope of the ”SimoCom A” tool is continually adapted to
version?
the expanded functionality of these drives.
In order to parameterize and handle all of the functions of a drive using
”SimoCom A”, the optimum matching ”SimoCom A” must be used. This
depends on the drive software release.

Reader’s note
Which version of ”SimoCom A” optimally matches which drive and
which drive software release?
Refer to ”SimoCom A” as follows:
Help ––> info about ”SimoCom A” ... ––> versions

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3.2 Commissioning the DP master

Installing This is how you install the ”SimoCom A” tool on your PG/PC:
”SimoCom A”

Reader’s note
The ”readme.txt” file is provided on the software CD.
Please observe the information, tips and tricks provided in this file.

3 1. Insert the software CD into the appropriate drive of your PG/PC.

2. Run the ”setup.exe” file in the ”disk1” directory of the required ver-
sion of ”SimoCom A”.
–> START –> RUN –> OPEN SETUP.EXE –> OK
3. Follow the instructions which the installation program displays step–
by–step.
Result:
– The ”SimoCom A” tool has now been installed in the target direc-
tory which you selected.
– The tool can e.g. be started as follows:
–> START –> PROGRAMS –> SIMOCOMA
–> SimoComA –> mouse click

Un–installing This is how you can un–install the ”SimoCom A” parameterizing and
”SimoCom A” start–up tool from your PG/PC:
 Using the program/operation of ”SimoCom A”
The ”SimoCom A” tool can be e.g. un–installed as follows:
–> START –> PROGRAMS –> SIMOCOMA
–> un–install SimoComA –> mouse click
 Using the Control Panel just like any other Windows program
– Select the ”control panel”
–> START –> SETTINGS –> CONTROL PANEL
– Double–click on the ”Software” symbol
– Select the ”SimoCom A” program from the selection field
– Press the ”add/remove...” button and then follow the instructions

Online operation, You can go into online operation as follows:

”SimoCom A” with
 Online operation via the CP 5511/CP 5611 directly with the fieldbus
drive
PC/PG <––> CP 5511/CP 5611 <––> PROFIBUS <––> drives
 Online operation via the MPI interface of SIMATIC S7
PC/PG <––> MPI <––> PROFIBUS <––> drives

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3.2 Commissioning the DP master

Prerequisites for The following prerequisites must be fulfilled in order to establish online
online operation operation between ”SimoCom A” and a drive via the PROFIBUS DP
fieldbus:
1. Communication modules, if ”connect via PROFIBUS”
– CP 5511 (PROFIBUS coupling via PCMCIA card)
Structure:
PCMCIA card, type 2 + adapter with 9–pin SUB–D socket con-
nector to connect to PROFIBUS. 3
Order No. (MLFB): 6GK1551–1AA00
or
– CP 5611 (PROFIBUS coupling through a short PCI card)
Structure:
Short PCI card with 9–pin SUB–D socket to connect to
PROFIBUS.
Order No. (MLFB): 6GK1561–1AA00
– CP 5613 (PROFIBUS connection via a short PCI card)
Structure:
Short PCI card with 9–pin SUB–D socket to connect to
PROFIBUS,
diagnostic LEDs,
PROFIBUS controller ASPC2 StepE
Order No. (MLFB): 6GK1561–3AA00
For newer PGs, this communications interface is already included.
2. SIMATIC CPU, if ”connect via MPI interface”
A routing–capable SIMATIC–CPU is required for a coupling via MPI
interface.
3. S7–DOS from V5.0
The software is also installed when installing ”SimoCom A”.
4. Connecting cable
– between CP 5511 or CP 5611 and the PROFIBUS fieldbus
or
– between the MPI interface from the PG and SIMATIC CPU

Note
Going online/offline in cyclic operation via PROFIBUS:
While PROFIBUS is in cyclic operation, ”SimoCom A” with CP xxxx
can be attached or disconnected from the fieldbus via the following
plug–in cable without creating a fault.
Order No. (MLFB): 6ES7901–4BD00–0XA0 (plug–in cable)

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Settings for For ”SimoCom A”, communications should be set as follows via
”SimoCom A” PROFIBUS–DP:
 Options – Settings – Communications ––> ”Interface” dialog”
 With ”For ”Go online” connect via” set the following:
––> ”direct connection”, if a coupling is directly established using
the fieldbus
or
3 ––> ”routed via S7”, if coupled via an MPI interface
Online operation can be directly established to the drive directly via the
fieldbus using the ”Go online” function.

Example:
Online operation
via PROFIBUS

”SimoCom A” SIMATIC S7–300 (CPU: S7–315–2–DP)

parameterizing
PG/PC and start–up
tool

ÄÄ
MPI

ÄÄ
or
Setup.exe CP 5511
or
CP 5611 or
or First
note
CP 5613
(here the
master)
––>
Switch–in the
terminating
resistor

PROFIBUS–DP

 At the last node (in this case at the left) ––> switch in the terminating resistor (refer to Chapter 2.3.1)
 Set the PROFIBUS node address for the slaves (refer to Chapter 2.3.1)

Fig. 3-5 Example for online operation via PROFIBUS: ”SimoCom A” <––> 2 drives

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Entry into Prerequisites:

”SimoCom A”
The parameterizing and start–up tool ”SimoCom A” is installed on the
PG/PC and can be started.
The following basic screen is displayed after the first start:

Fig. 3-6 Basic display of ”SimoCom A”

Note
This is what you really need to know when using ”SimoCom A”:
The program attempts to ”think with you”:
 If you select a command, which is presently not available for a
specific reason (e.g. you are offline and wish to ”move an axis ”),
then the program does what you would probably wish it to do:
It goes ”online”, and offers you a list of drives and after the required
drive has been selected, it opens the traversing window. However,
if you do not wish to do this, then you can exit and continue as
required.
 Only the information is provided in the dialog boxes which must be
available as a result of the selected configuration.
Please observe the information on ”SimoCom A” in Table 3-1.

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Information on The information in the following provides basic information on data on

”SimoCom A” how to handle the parameterizing and commissioning tool ”SimoCom A”.

Table 3-1 Information on ”SimoCom A”

Function Description
Tasks  Check the wiring (go into the Online Help: connection diagrams)
which can be handled  Establish a connection to the drive to be parameterized
3 using ”SimoCom A”
 Change the parameters
– The essential parameters are changed, dialog–prompted
– You can change all of the parameters using the expert list
 Traverse the axis
 Diagnose the drive status
– Obtain an overview of all of the connected drives and their status
– Detect the connected hardware
– Display the terminal status
– Alarms and information on how they can be removed
 Carry–out diagnostics
– Parameterize test sockets (DAU1, DAU2). Selected signals in the drive
can be routed to the test sockets for measurement with an oscilloscope.
 Save the results
– Save the parameters in the drive FEPROM
– Save the parameters in a file/open a file
– Print the parameters
 Compare parameter sets
This allows the difference between 2 parameters sets to be identified.
 Initialize the drive
The drive can be initialized using this function. It is then necessary to confi-
gure a drive.
 Load the factory setting
The status of a drive when originally shipped can be established using this
function.
 Generate a user parameter list.
The user can include a parameter in this list. This list has the same functio-
nality as the expert list.
Language Menu ”Option/Settings/Language”
Browser The browser (the lefthand window) can be set to the following areas via the lo-
wer buttons:
 Parameter (Par)
 Operator control (OpCo)
 Diagnostics (Diag)
Close/open the browser: Menu ”Options/settings/browser”

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Table 3-1 Information on ”SimoCom A”, continued

Function Description
Working offline ... in other words, you are working on the computer only and have no
connection to a drive. Only the opened files are included in the browser under
”Operate”.
Working online ... in other words, you are connected to one or more drives and ”SimoCom A”
also recognizes these drives.
This is the case if ”SimoCom A” has already searched for the interface once. 3
You go online, if
 Your default is set in the menu ”Options/Settings/Communications” (this is
realized when starting ”SimoCom A”)
 Select it with the operation ”Find online drives”
During online operation, the opened files and all drives available via the
interface are found in the browser under ”Operation”.
Note:
The parameters displayed via ”SimoCom A” are not cyclically read.
Working in the drive You can work directly in the drive or only at the PC in the file, but only with one
or data set at any one time.
in the file For example, you can be connected with a POSMO A – 300 W (4A) and a
POSMO A – 75 W (6A), so that you have access to the parameter sets in both
of the drives – and at the same time have several files open. All of these
parameter sets are displayed in the browser under ”Operate” and also in the
menu ”File”.
If you select ”Drive 4A”, then you will see the current status and parameters of
drive 4A – but no others. When changing over, for example to the ”My.par” file,
then you only see the parameters associated with this file.
Parameters files which have been opened can be re–closed using
the”File/Close file” menu.
Assign the PC the ... means that the ”DP Slave POSMO A” should be controlled from the PC.
master control How is the control authority transferred to the PC?
 The C1 master must signal OFF 1, OFF 2 or OFF 3
 Transfer the control authority to the PC using the menu ”Operator control/
control authority for PC”
Returning the control ... means that the ”DP Slave POSMO A” should be controlled from the C1
authority master.
How is the control authority returned?
 Bring the drive to a standstill
 Withdraw the PC controller enable
Procedure when com- Recommendation: Set the browser to ”Parameter” and work through the
missioning following dialog boxes one after the other ”Configuration – re–configure drive”
––> ”Mechanical system” ––> ”Traversing blocks”.
1. Configuration ... enter the drive type, gearbox stage and braking option (only for 300 W motor)
used.
If this data is changed, this causes the parameters, which are dependent on it,
to be re–calculated, i.e. changes previously made to the parameters involved
are overwritten.
2. Mechanical system ... here you can define the mechanical system being used
(e.g. rotary axis?, external gearbox?).

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Table 3-1 Information on ”SimoCom A”, continued

Function Description
3. Limits ... here, you can define the basic limit values and properties of all of the posi-
tion–controlled or speed–controlled traversing blocks. This defines the charac-
teristics of the time–velocity profile and, for speed control sets, the characteris-
tics of the time–speed profile. The maximum current and the maximum overcur-
rent of the drive can be defined.

3 4. Digital I/O ... both digital inputs/outputs can be parameterized here. The function of an in-
put/output can be very quickly defined by selecting a text. It is then still possible
to display the actual status of the input/output in SimoCom A or, to invert an in-
put/output.
5. Monitoring ... here, you can define several parameter values which are required for correct
and safe sequence of a traversing motion. These included, e.g.:
 Software limit switch
 Maximum following error
 Precise stop and standstill window
Faults and warnings, which are possible in operation, can also be re–defined
here.
6. Controller ... here, you can define the parameters of the control loop.
7. Traversing blocks ... here, you can generate the traversing programs by parameterizing the indivi-
(only the pos dual traversing blocks.
mode)
8. Referencing ... here, you can generate the traversing program in an automated way which
(only the pos allows a reference approach travel to a BERO with or without direction reversal.
mode) ... here, you can define the parameters for the speed setpoint interface.
9. Speed setpoint in-
terface
(only n–set mode,
from version 4.0
onwards)
Traverse the drive After the drive has been configured, you can already move the axis from the
PC.
Call: Menu ”Operate/Jog/ ...” or menu ”Operate/MDI/ ...”

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Table 3-1 Information on ”SimoCom A”, continued

Function Description
Expert list You can influence the complete parameter set of a drive using the expert list,
i.e. you can individually change each parameter.
In this case, the operator is not additionally supported by dialog boxes.
Parameterization using the expert list should only be used in exceptional cases.
Operating information:
 Call: Menu ”Start–up/Additional parameters/Expert list” 3
 The standard value and the value limits for the actual parameters are
displayed via the tooltip.
 Modified values only become effective after pressing the Enter key or if
another parameter was selected. Values which are not active have a yellow
background.
 Expert list selected ––> Menu ”List” or the righthand mouse key
The following functions can be executed in this window:
– Display filter: Here, you have the possibility of selecting as to which data
should appear in the expert list: e.g. all data or only the controller data.
– Search: Using F3 (or menu ”List/Search), you can search for specific
terminals. For instance, you can search for ”temp” if you wish to know
the value for the electronics temperature.
– Bit–coded values: With the cursor, go to the line and press F4 (or menu
”List/bit value”). You then obtain a plain text display of the individual bits
and can select these at a click of the mouse.
Data transfer Also here, the program attempts to ”think with you”:
If you are presently working on a drive and select File/Download into drive” then
the program assumes that you wish to download a file, still to be selected, into
this particular drive.
If a file is presently open, then the program assumes that using the same
command, you wish to download this open data set into a drive still to be
selected.
If these assumptions are not applicable, then you can always undo by
canceling.
Integrated help The ”SimoCom A” tool is equipped with an integrated help function which sup-
ports you when using the ”SimoCom A” and the ”SIMODRIVE POSMO A” drive.
You can call the help function for ”SimoCom A”:
 Using the menu ”Help/help subjects ...” or
 By pressing the ”Help” button or
 By pressing key ”F1”

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3.2.4 Parameterizing and start–up tool C1 master ”SIMODRIVE

POSMO A PROFIBUS MASTER”

Brief description The ”SIMODRIVE POSMO A PROFIBUS MASTER” allows data to be

transferred between a PC, PG or notebook as Class 1 master (C1
master) with SIMODRIVE POSMO A via the PROFIBUS–DP fieldbus.
3 A connection to PROFIBUS is implemented using the SIMATIC NET
DP programming interface.

Reader’s note
Limitations and important information should be taken from the readme
file supply with the system.
A description of the tool is available as online help.
You will find installation instructions on the last installation floppy disk.

What can the C1 The most important functions of the master include:
master do?
 Controlling SIMODRIVE POSMO A via control signals
 Displaying status signals (e.g. status word, actual values)
 Programming, selecting and starting traversing blocks
 Reading and writing individual parameters
 Saving and downloading all parameters (including the traversing
blocks)
 Establishing the factory presetting, etc.

Where can I obtain You can obtain the master at no charge from your local Siemens office
the C1 master? (sales partner).
The software is available through the Internet as follows:
 German
http://www.ad.siemens.de/mc/html_00/info/download/
 English
http://www.ad.siemens.de/mc/html_76/info/download/

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System As a minimum, the following hardware and software environment is

requirements required in order to operate the C1 master:
 The PG, PC or Notebook must have
– Operating system: Windows 95/98
– 32 MB RAM memory
– 10 MB free memory on the hard disk
 Requirements placed on the communications 3
– CP 5511 (PROFIBUS coupling via PCMCIA card)
Structure:
PCMCIA card, type 2 + adapter with 9–pin SUB–D socket con-
nector to connect to PROFIBUS.
Order No. (MLFB): 6GK1551–1AA00
– CP 5611 (PROFIBUS connection via a short PCI card)
Structure:
Short PCI card with 9–pin SUB–D socket to connect to
PROFIBUS.
Order No. (MLFB): 6GK1561–1AA00
– CP 5613 (PROFIBUS connection via a short PCI card)
Structure:
Short PCI card with 9–pin SUB–D socket to connect to
PROFIBUS,
diagnostic LEDs,
PROFIBUS controller ASPC2 StepE
Order No. (MLFB): 6GK1561–3AA00
For newer PGs, this communications interface is already included.
 Software requirements
– SIMATIC NET,
SOFTNET–DP/Windows 98 NT 4.0/5.0 or newer
Order No. (MLFB): 6GK1704–5DW–3AA0
– TCL/TK Interpreter Version 8.0
(this is included in the installation software)

Un–installing the This is how you can un–install the C1 master from your PG/PC:
C1 master?
 Select the ”control panel”
–> START –> SETTINGS –> CONTROL PANEL
 Double–click on the ”Software” symbol
 Select the program to be uninstalled
 Press the ”add/remove...” button and then follow the instructions

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3.3 Commissioning an axis

The appropriate parameters must be appropriately set to adapt the
axis.

Parameters for The most important parameters for general settings are:
general settings 
3 (refer to

P1
P2
Axis type
Travel per gearbox revolution
Chapter 5.6.2)
 P3 Gearbox ratio
 P4 Dimension unit
 P8 Maximum speed
 P10 Maximum velocity
 P22 Maximum acceleration

Parameters for The most important parameters for monitoring functions are:
monitoring  P6 Software limit switch, start
functions
(refer to  P7 Software limit switch, end
Chapter 5.6.2)  P12 Maximum following error
 P14 Standstill range

Note
There are neither software switches nor traversing range limits in the
n–set mode (from SW 2.0).
The drive must always be able to rotate endlessly and therefore to be
parameterized as rotary axis. It must be de–referenced.

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Example: How are the assumed values represented in Fig. 3-7 in the appropriate
Parameterizing parameters?
a linear axis

Motor Gearbox Traversing range

3000 RPM 1 : 4.5 –1000 1000
Table 20

POSMO A ÍÍÍÍÍÍÍÍÍ Spindle

3
Fig. 3-7 Example: Parameterizing the linear axis

 P1 = 0 :Axis type, linear axis

 P2 = 20 :Travel per gearbox revolution
 P3 = 4.5 :Gearbox ratio
 P4 = 0 :Dimension units mm
 P6 = –1000 :SW limit switch, start
 P7 = 1000 :SW limit switch, end
 P8 = 3000 :Maximum speed
 P10 = 13333.33 :Maximum velocity
:vmax = 3000 RPM  1/4.5  20 mm = 13333.33 mm/min
When parameterizing a linear axis, the maximum possible traversing
range is automatically defined as +/– 200000 mm/degrees/inch.
This means that,
 the software limit switches are de–activated (P0005=P0006) or
 the software limit switches are active but the drive has not been re-
ferenced,
so that it can be traversed up to a maximum of +/–200000 mm/degrees/inch.

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Example: How are the assumed values represented in Fig. 3-8 in the appropriate
Parameterizing parameters?
a rotary axis

Motor Gearbox Gearbox Traversing range

3000 RPM 1 : 4.5 1:4 0 to 360 degrees
(modulo 360 degrees)

3 POSMO A

Fig. 3-8 Example: Parameterizing a rotary axis

 P1 = 360 :Axis type, rotary axis, modulo 360 degrees

 P2 = 360 :Travel per gearbox revolution
 P3 = 18 (4.5  4) :Gearbox ratio
 P4 = 1 :Dimension units, degrees
 P6 = P7 = 0 :For a rotary axes, deactivate the software
limit switch
 P8 = 3000 :Maximum speed
 P10 = 60000 :Maximum velocity
:vmax = 3000 RPM  360 degrees/18 = 60000 degrees/min
For a rotary axis, the internal position actual value calculation limits the
maximum modulo value with which a drive can be parameterized.
The following inter–relationship exists:
F in the following is a conversion factor which depends on the dimen-
sion system:
Dimension system inch: F = 25.4
Dimension system mm/degrees: F=1
 POSMO A 75 W:
– P1 < 2147483647  P2 / (F  816  |P3|)
– P2 > P1  F  816  |P3| / 2147483647
– |P3| < 2147483647  P2 / (F  816  P1)
 POSMO A 300 W:
– P1 < 2147483647  P2 / (F  4096  |P3|)
– P2 > P1  F  4096  |P3| / 2147483647
– |P3| < 2147483647  P2 / (F  4096  P1)
From SW 1.6, the following applies:
When changing P1, P2 or P3, a check is automatically made in the
drive as to whether these three parameter values fulfill the appropriate
formula. If the modified value lies outside the valid range, then the drive
rejects it and the old value is kept.

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3.3.1 Control structure positioning (pos mode)

Description The structure of the current/speed and position controller in the ”posi-
tioning” mode (pos mode) is shown in the following figure.

P8
P9
Speed
3
P23
nset Closed–loop controller Current
speed controlled regulator
3 5 6
0
u
Program control word
(PSW.0) – –
1 nset i
P21 P17 P18 P20 set
sset
P54
2 1
– Closed–loop
P10 P19 position iact
M
P15 P57 controlled
P22 P16 P28 4
P23
Position controller sact

Parameters Measuring signals

P8 Maximum speed 1 Current actual value
P9 Ramp–up time 2 Speed actual value
P10 Maximum velocity 3 Speed setpoint
P15 Backlash compensation 4 Position actual value
P16 Maximum overcurrent 5 Current setpoint from the speed controller
P17 P gain, n controller 6 Current setpoint smoothed
P18 Integral action time, n controller
Note:
P19 Kv factor (position loop gain) These signals can be output via the analog
P20 Current setpoint smoothing measuring outputs.
P21 Speed setpoint smoothing ––> Refer to Chapter 6.3
P22 Maximum acceleration
P23 Jerk time constant
P28 Maximum current
P54 P gain, n controller, standstill (if P56.2 = 1, this was standard before SW 1.3)
P57 P gain, holding controller, standstill (if P56.2 = 0, this was standard from SW 1.3)
Note:
Additional information on the parameters is provided in the parameter list.
––> Refer to Chapter 5.6.2

Fig. 3-9 Closed–loop structure for the ”positioning” mode for SIMODRIVE POSMO A

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3.3.2 Control structure, speed setpoint (n–set mode)

Description The structure of the current/speed controller in the

”speed setpoint” mode (n–set mode) is shown in the following figure.

3 Setpoint Setpoint  P880  P3

PROFIBUS–DP
PZD 2 4096

Speed controller
P8
P9 Closed–loop Current regulator
P23 speed controlled
P8 P25 2 3 4
nset u

nset – –
P21 P17 P18 P20 iset
P54
5 1

iac
M
t

P16 P28
Actual
value nact  4096 na
PROFIBUS–DP
PZD 2 P880  P3 ct

Parameters Measuring signals

P8 Maximum speed 1 Current actual value
P9 Ramp–up time 2 Speed setpoint
P16 Maximum overcurrent 3 Current setpoint from the speed controller
P17 P gain, n controller 4 Current setpoint smoothed
P18 Integral action time, n controller 5 Speed actual value
P20 Current setpoint smoothing Note:
P21 Speed setpoint smoothing These signals can be output via the analog
P23 Jerk time constant measuring outputs.
P25 Override, acceleration ––> Refer to Chapter 6.3
P28 Maximum current
P54 P gain, n controller, standstill

Note:
Additional information on the parameters is provided in the parameter list.
––> Refer to Chapter 5.6.2

Fig. 3-10 Closed–loop control structure, ”speed setpoint” mode for SIMODRIVE POSMO A

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3.3.3 Flow diagram to commission a SIMODRIVE POSMO A

START Prerequisites:
 Start–up tool has been installed
Define the dimension units (P4: 0=mm, 1=degr., 2=inch)
 Communications established
between the master and slave

Axis Rotary axis

Modulo?
yes 3
type?
(P1)
no

Linear axis Modulo value Enter modulo value

(P1 = 0) (e.g. P1 = 360 degrees)

Enter a gearbox step–down ratio

(P3, e.g. for 1 : 4,5 ––> P3 = 4.5

Traversing distance per revolution

at the gearbox output (P2)

Define maximum velocity

(P10 = P8  P2/P3)

Define maximum acceleration (P22)

The acceleration can be increased as a
maximum up to drive current limit

Define the software limit switch (P6, P7)

P6 = P7 ––> SW limit switched de–activated

Set monitoring functions

P12 (maximum following error)
P14 (standstill range)

yes, required
Optimization?

To optimize, the parameters of the control

no
unit should be adapted (refer to Fig. 3-9).
The speed and position controllers are The analog test outputs can be used to
preset in the factory and these settings support the optimization routine (refer to
should be adequate for most applications Chapter 6.3).

END

Fig. 3-11 Flow diagram when commissioning the system for the first time in the positioning mode
(P700=2)

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Prerequisites:
START  Start–up tool has been installed
 Communications established
between the master and slave
n–set no (P700 = 2)
operation? Refer to the flow diagram, Fig. 3-11

3 yes (P700 = 1

Rotary axis (P1 >0.0)

Define dimension units (P4: 1 = degr.)

Enter a gearbox step–down ratio

(P3, e.g. for 1 : 4.5 ––> P3 = 4.5)

Traversing distance per revolution

at the gearbox output (P2)

Normalization of the maximum speed

(P880)

Define ramp–up time (P9)

Define the override velocity (P24) and
acceleration (P25)

Set monitoring functions

P1426 (tolerance bandwidth, speed actual value)
P1427 (delay time Nset reached)

yes, required
Optimization?

To optimize, the parameters of the control

no
unit should be adapted (refer to Fig. 3-10).
The speed controller is pre–set in the The analog test outputs can be used to
factory and this setting should be adequate support the optimization routine (refer to
for most applications Chapter 6.3).

END

Fig. 3-12 Flow diagram when commissioning the system for the first time in the speed setpoint mode
(P700=1)

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3.3.4 Optimization runs

Optimizing the The speed and position controller is preset in the factory and should be
speed and adequate for most applications.
position
However, if changes are required, analog measuring outputs can be
controllers
used to support the optimization procedure (refer to Chapter 6.3).
3
Caution
! Only appropriately trained personnel with control knowhow may
optimize the speed and current controllers.

Parameters for The following parameters must be configured in this order to optimize
optimizing the speed and position controller:
(refer to
 P17 P gain, n controller
Chapter 5.6.2)
 P18 Integral action time, n controller
 P20 Current setpoint smoothing
 P19 Kv factor (position loop gain)
 P22 Maximum acceleration
 P21 Speed setpoint smoothing
 P54 P gain, n controller, standstill
(if P56.2 = 1, this was standard before SW 1.3)
 P57 P gain, holding controller, standstill
(if P56.2 = 0, this was standard from SW 1.3)
 P15 Backlash compensation
 P23 Jerk time constant


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Space for your notes

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Communications via PROFIBUS DP 4
4.1 General information about PROFIBUS DP

General PROFIBUS DP is an international, open fieldbus standard and is defi-

information ned in the following Standards:
4
 European fieldbus EN 50170 Part 2
 DIN 19245 Part 1 and 3
 IEC 61158
PROFIBUS DP is optimized for fast, data transfer at the field level for
time–critical applications.
The fieldbus is used for cyclic and non–cyclic data transfer between a
master and the slaves assigned to this master.

Master and slave For PROFIBUS DP a differentiation is made between master and
slave.
 Master (active bus device)
Devices, which represent a master on the bus, define data transfer
along the bus, and are therefore known as active bus nodes.
For the masters, a differentiation is made between 2 classes:
– DP Master class 1 (DPMC1):
These are central master systems that exchange data with the
slaves in defined message cycles.
Examples: SIMATIC S5, SIMATIC S7, etc.
– DP Master class 2 (DPMC2):
These are devices for configuring, commissioning, operator con-
trol and monitoring in bus operations.
Examples: Programming units, operator control and visualization
devices
 Slave (passive bus node)
These devices may only receive, acknowledge and transfer messa-
ges to a master when so requested.

Reader’s note
The SIMODRIVE POSMO A positioning motor is a slave on the
fieldbus. This slave is designated ”DP slave POSMO A” in the
following.

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4.1 General information about PROFIBUS DP

Data transfer At power–up, the ”DP slave POSMO A” automatically detects the baud
technology, baud rate set on the fieldbus.
rate
When commissioning the fieldbus, the baud rate is defined the same
for all devices starting from the master.

Data transfer via Data is transferred between the master and slaves according to the
PROFIBUS master/slave principle. The drives are always the slaves.
This permits extremely fast cyclic data transfer.

4 Essential
properties of bus
For SIMODRIVE POSMO A for communications via PROFIBUS, the
following properties are involved:
communications

Table 4-1 Essential properties of bus communications

Features Which of these does the ”DP slave

POSMO A” have?
Supports 9.6 kbaud Yes
Supports 19.2 kbaud Yes
Supports 45.45 kbaud Yes
Supports 93.75 kbaud Yes
Supports 187.5 kbaud Yes
Supports 500 kbaud Yes
Supports 1.5 Mbaud Yes
Supports 3 Mbaud Yes
Supports 6 Mbaud Yes
Supports 12 Mbaud Yes
Supports the FREEZE control command Yes
Supports the SYNC control command Yes
Supports automatic baud rate search Yes
Station number can be changed via software No

Addressing The PROFIBUS node address and the terminating resistor are perma-
nently set in the connection cover of SIMODRIVE POSMO A.
––> Refer to Chapter 2.3.1

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4.1 General information about PROFIBUS DP

Protocol for the

”DP slave
POSMO A”

DP Master Class 1
(PLC, e.g. SIMATIC S7)

PROFIBUS–DP

PNO Guideline, profile for ”variable–speed drives”

4
 Cyclic data transfer: PZD part
 Non–cyclic data transfer: PKW part
DP slave
POSMO A

Fig. 4-1 Protocol for the ”DP slave POSMO A”

Net data structure The structure of the net data for cyclic operation is referred to as
according to PPOs a parameter process data object (PPO) in the ”PROFIBUS profile for
variable–speed drives”.
Reference: /P3/ PROFIBUS
Profile for variable–speed drives
The net data structure for cyclic data transfer is sub–divided into two
areas, which are transferred in each telegram.
 Process data area (PZD, process data)
This area contains the control words, setpoints and status informa-
tion and actual values.
The following data is transferred with the process data:
– Control words and setpoints (task: master ––> drive)
or
– Status words and actual values (responses: drive ––> master)
Description: ––> refer to Chapter 4.2
 Parameter area (PKW, parameter identification value)
This telegram section is used to read and/or write parameters and
to read out faults.
Description: ––> refer to Chapter 4.3

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4.1 General information about PROFIBUS DP

Telegram structure The telegrams for cyclic data transfer have the following basic struc-
for cyclic ture:
data transfer

Net data (PPO)

Protocol Protocol
Parameter Process
frame frame
identifier data
(header) value (PZD) (trailer)
(PKW)

4 Fig. 4-2 Telegram structure for cyclic data transfer

PPO types There are 5 defined PPO types (PPO1 to PPO5).

For SIMODRIVE POSMO A, only PPO type 1 (PPO1) can be used.
PPO1 is structured as follows:
 4 words for the parameter area (PKW area)
 2 words for the process data area (PZD area)

Table 4-2 Structure of Parameter Process Data Object 1 (PPO 1)

Net data
PKW PZD
 Refer to Chapter 4.3  Refer to Chapter 4.2
PZD PZD ...
PKE IND PWE
1 2
1st 2nd 3rd 4th 1st 2nd ...
word word word word word word
PPO1 ...
Abbreviations:
PPO Parameter Process data Object
PKW Parameter ID value
PKE Parameter ID
IND Sub–index, sub–parameter number, array index
PWE Parameter value
PZD Process data

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4.2 Process data (PZD area)

4.2 Process data (PZD area)

Structure The process data area for PPO type 1 consists of 2 words (PZD 1 and
PZD 2).

Table 4-3 Structure of the process data (PZD)

Net data
PKW PZD
 Refer to Chapter 4.3 4
PZD PZD ...
PKE IND PWE
1 2
1st 2nd 3rd 4th 1st 2nd ...
word word word word word word
PPO1 ...

”Positioning” mode (P700=2)

Bit 15 ... 0 15 ... 8 7 ... 0
Master ––> slave Select
Start byte
Control signals Control word block number
(STB)
(refer to Chapter (STW) (AnwSatz)
4.2.1)

Master <–– slave Actual block Checkback

Status signals (refer Status word (ZSW) number signal byte
to Chapter 4.2.2) (AktSatz) (RMB)

”Speed setpoint” mode (P700=1)

Bit 15 ... 0 15 ... 0
Master ––> slave
Control word Speed setpoint, bits 0...14,
Control signals sign, bit 15
(refer to Chapter (STW)
4.2.1)

Master <–– slave

Speed actual value, bits
Status signals (refer Status word (ZSW)
0...14, sign, bit 15
to Chapter 4.2.2)

Abbreviations:
PKW Parameter ID value STW Control word
PZD Process data AnwSatz Select block number
PPO Parameter Process data Object STB Start byte
ZSW Status word
AktSatz Actual block number
RMB Checkback signal byte

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4.2 Process data (PZD area)

4.2.1 Description of the control signals (data to drive)

Control word The master issues its commands to the slave using the control word
(STW) (STW).
(pos mode)
Table 4-4 Structure of control word STW for the pos mode

Open holding brake/close holding brake (from SW 1.4)

Read–in enable/no read–in enable
External block change/no external block change
4 Automatic single block operation/automatic
Start referencing/stop referencing
Control requested/no control requested
Jogging 2 ON/jogging 2 OFF
Jogging 1 ON/jogging 1 OFF

Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Reset the fault memory

Activate traversing task (edge)
Operating condition/intermediate stop
Operating condition for positioning/stop
Enable operation/inhibit operation
Note:
Operating condition/OFF 3
1 signal/0 signal Operating condition/OFF 2
ON/OFF 1
Note:
 The signals designated in this way must have at least a ”1” signal in order to be able to
operate a motor.
Furthermore, STW.8 or STW.9 must be set to ”1” for jogging 1 or 2.

Table 4-5 Description of the individual signals in the control word (STW) for the pos mode

Bit Signal name Signal status, signal description

1 ON
Ready
0 ON/OFF 1 0 OFF 1
Shutdown, decelerating along the down ramp, power dis-
connected, tracking operation.

1 Operating condition
Ready
1 Operating condition/OFF 2 0 OFF 2
The power is disconnected and the motor coasts down,
power–on inhibit

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4.2 Process data (PZD area)

Table 4-5 Description of the individual signals in the control word (STW) for the pos mode

Bit Signal name Signal status, signal description

1 Operating condition
Ready
2 Operating condition/OFF 3 0 OFF 3
Deceleration along the current limit, power disconnected
from the motor, tracking operation, power–on inhibit

1 Enable operation
Ready
3
Enable operation/
inhibit operation 0 Inhibit operation 4
Power disconnected from the motor, motor coasts down,
”operation inhibited” status

1 Operating condition for program

The signal must be continuously present in order to execute
a traversing task.
Operating condition for pro-
4 0 Stop
gram/stop
Deceleration along the current limit.
The motor remains stationary with the holding torque.
The actual traversing task is rejected.

1 Operating condition for program

The signal must be continuously present in order to execute
a traversing task.

0 Intermediate stop
Operating condition for pro-
5 The drive brakes from an active traversing task along the
gram/intermediate stop
ramp to n = 0 and then remains stationary with the holding
torque.
The traversing task is not rejected.
For a change to bit 5 = 1, the traversing task is continued.

1/0 Each edge enables a traversing task or a new setpoint (tog-

gle bit).
Activate traversing task An edge change may only be realized if bit 12 of the status
6 word is used to acknowledge that the previous traversing
(edge) 0/1
task was accepted.
A program start is valid as a traversing task.

1 Acknowledge faults (0/1 edge)

7 Reset fault memory Refer to Chapter 6.2
0 –

1 Jogging 1 ON
If operation is enabled and positioning is not active ––> the
drive traverses closed–loop speed controlled with jogging
8 Jogging 1 ON/jogging 1 OFF setpoint 1.
––> Refer to Chapter 5.4.1
0 Jogging 1 OFF

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4.2 Process data (PZD area)

Table 4-5 Description of the individual signals in the control word (STW) for the pos mode

Bit Signal name Signal status, signal description

1 Jogging 2 ON
If operation is enabled and positioning is not active ––> the
drive traverses closed–loop speed controlled with jogging
9 Jogging 2 ON/jogging 2 OFF setpoint 2.
––> Refer to Chapter 5.4.1
0 Jogging 2 OFF

1 Not used or permanent 1 signal

4 From SW 3.0: If P701 = 1 ––> process data (PZD) are ac-

cepted
10 Control from PLC requested 0 –
From SW 3.0:
If P701 = 1 ––> drive state is kept constant (last valid pro-
cess data with STW.10 = 1)

1 Referencing is executed
Start referencing/ Requirement: Operation enabled
11
stop referencing
0 Normal operation

1 Automatic single block operation

Disables programmed path controlled operation.
Automatic single block oper- Each block has to be re–started.
12
ation/automatic
0 Automatic
Programmed path controlled operation is effective.
1 External block change
The active block is interrupted and the subsequent block is
selected. This is realized, dependent on the program, with
External block change/ approximate positioning or precise stop.
13
no external block change When the block change is recognized, the position actual
value of the axis is written into P55 (signal position).
0 No external block change

1 Read–in enable
Read–in enable/ The following program block is enabled for execution.
14
no read–in enable
0 No read–in enable

1 Open holding brake

The integrated holding brake can be controlled using this
signal.
The signal corresponds to P56.4 (open holding brake).
Open holding brake/
brake sequence control ef- Note:
15 fective If the holding brake is controlled using an input terminal with
(from SW 1.4) function number 26 (open holding brake), then this signal
has no effect.
––> Refer to Chapter 5.5.13
0 Brake sequence control effective

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4.2 Process data (PZD area)

Select The master selects the traversing block to be started by entering the
block number required block number into this control byte.
(AnwSatz)
The selection becomes effective, if:
 If neither a traversing block nor program is active.
 The program or the traversing block has been completely executed.
 The program or the traversing block was canceled by an external
signal or a fault.

Start byte The start byte is compared with a bit mask ”SMStart” (P86:x) program-
(STB) med in a traversing block. 4
This means that the program sequence can be influenced via the start
byte.
 P86:x (high byte) = 0: If there is no function
The block is not influenced by the start byte.
 P86:x (high byte) > 0: Function available
The block can only be started if the bits, set in P86:x (high byte), are
also set in the start byte.
The program control can be additionally influenced via P80:x bit 6
and bit 7.

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4.2 Process data (PZD area)

Control word The master issues its commands to the slave using control word STW.
(STW)
(n–set mode)
Table 4-6 Structure of the control word (STW) for the n–set mode

Open holding brake/close holding brake (from SW 1.4)

Reserved

Control requested/no control requested

4 Reserved

Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Reset the fault memory

Enable setpoint/inhibit setpoint
Ramp–function generator start/ramp–function generator stop
Ramp–function generator enable
Enable operation/inhibit operation
Note:
Operating condition/OFF 3
1 signal/0 signal Operating condition/OFF 2
ON/OFF 1
Note:
 The signals designated in this way must have at least a ”1” signal in order to be able to oper-
ate a motor.

Table 4-7 Description of the individual signals in the control word (STW) for the n–set mode

Bit Signal name Signal status, signal description

1 ON
Ready
0 ON/OFF 1 0 OFF 1
Shutdown, decelerating along the down ramp, power dis-
connected, tracking operation.

1 Operating condition
Ready
1 Operating condition/OFF 2 0 OFF 2
The power is disconnected and the motor coasts down,
power–on inhibit

1 Operating condition
Ready
2 Operating condition/OFF 3 0 OFF 3
Deceleration along the current limit, power disconnected
from the motor, tracking operation, power–on inhibit

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4.2 Process data (PZD area)

Table 4-7 Description of the individual signals in the control word (STW) for the n–set mode, continued

Bit Signal name Signal status, signal description

1 Enable operation
Ready
Enable operation/
3 0 Inhibit operation
inhibit operation
Power disconnected from the motor, motor coasts down,
”operation inhibited” status
1 Enables the ramp–function generator
The motor accelerates to the speed setpoint along the para-
meterized ramp
4
Ramp–function generator
enable 0  Standstill 4
The motor does not accelerate up to its speed setpoint
 While traversing
Braking with the maximum acceleration

Ramp–function generator 1 Motor accelerates corresponding to the parameterized ramp

5 start/ramp–function genera-
tor stop 0 The speed is kept at the actual value

0/1 Setpoint enable (acceleration along the ramp)

1/0 Setpoint inhibit
Enable setpoint/
6
inhibit setpoint  No ramp–up at standstill
 While traversing
Braking along the ramp
1 Acknowledge faults (0/1 edge)
7 Reset fault memory Refer to Chapter 6.2
0 –
8, 9 Reserved
1 Not used or permanent 1 signal
From SW 3.0: If P701 = 1 ––> process data (PZD) are ac-
cepted
10 Control from PLC requested 0 –
From SW 3.0:
If P701 = 1 ––> drive state is kept constant (last valid pro-
cess data with STW.10 = 1)
11
to Reserved
14
1 Open holding brake
The integrated holding brake can be controlled using this
signal.
Open holding brake/ The signal corresponds to P56.4 (open holding brake).
brake sequence control ef- Note:
15 fective If the holding brake is controlled using an input terminal with
(from SW 1.4) function number 26 (open holding brake), then this signal
has no effect.
––> Refer to Chapter 5.5.13
0 Brake sequence control effective

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4.2 Process data (PZD area)

4.2.2 Description of the status signals (data from the drive)

Status word (ZSW) The slave signals its current status to the master using the status word
(pos mode) (ZSW).

Table 4-8 Structure of the status word (ZSW) in the pos mode

Load power supply available/load power supply failed

Within the traversing block/outside the traversing block
Drive traversing/drive stationary
Setpoint/traversing task acknowledged (edge)
4 Reference point set/no reference point set
Reference position reached/outside reference position
Control requested/local control
No following error/following error

Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Warning present/no warning present

Power–on inhibit/no power–on inhibit
No OFF 3 present/OFF 3 present
No OFF 2 present/OFF 2 present
Note: Fault present/no fault present
Operation enabled/operation inhibited
1 signal/0 signal Ready or no fault
Ready to be powered–up/not ready to be powered–up

Table 4-9 Description of the individual signals in the status word (ZSW) in the pos mode

Bit Signal name Signal status, signal description

1 Power supply powered–up

Ready to be powered–up/
0
not ready to be powered–up 0 Not ready to power–up

1 Ready
1 Ready or no fault
0 Not ready

1 Operation enabled
Operation enabled/
2
operation inhibited 0 Operation inhibited

1 The drive is faulted and not operational.

The drive goes into the power–on inhibit after the fault has
been successfully removed and acknowledged.
Fault present/
no fault present Which faults are present?
3 ––> refer to P947 (faults)

(refer to Chapter 6.2) and

––> P954 (supplementary information, faults/warnings)

0 No fault present

1 No OFF 2 present
No OFF 2 present/
4
OFF 2 present 0 OFF 2 command present

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4.2 Process data (PZD area)

Table 4-9 Description of the individual signals in the status word (ZSW) in the pos mode, continued

Bit Signal name Signal status, signal description

1 No OFF 3 present
No OFF 3 present/
5
OFF 3 present 0 OFF 3 command present

1 Power–on inhibit

Power–on inhibit/ The system can only be powered–up using ”OFF 1” follo-
6 wed by ”ON”.
no power–on inhibit
0 No power–on inhibit

1 Warning present
The drive still remains operational. Acknowledgment is
4
Warning present/ not required.
no warning present Which warning is present?
7 ––> refer to P953 (warnings)
and
(refer to Chapter 6.2) ––> P954 (supplementary information, faults/warnings)

0 Warning not present

1 No following error
The dynamic target (reference) actual position compari-
son is made within the defined following error window.
No following error/following
8 The following error window is defined using P12 (maxi-
error
mum following error) (refer to Chapter 5.6.2).

0 Following error

1 Master, Class 1
Control requested/ 0 No master Class 1 (but master, Class 2)
9 local control Note:
(from SW 1.4) Before SW 1.4, the following is valid:
The signal is not supported (a permanent ”1” signal).

1 Reference position reached

Before SW 1.6 the following applies:
 The position reference value is located at the end of a
traversing task within the positioning window.
 The traversing task was interrupted by a fault, stop or
OFF commands.
From SW 1.6, the following applies:
The behavior is dependent on P56, bit 3:
10
Reference position reached/  P56.3=1
outside reference position – The position reference value is located at the end
of a traversing task within the positioning window.
 P56.3=0
– The position reference value is located at the end
of a traversing task within the positioning window.
– The traversing task was interrupted by a fault, stop
or OFF commands.
0 Outside the refer. position

1 Referencing was executed and is valid

Reference point set/
11
no reference point set 0 Valid reference not available

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4.2 Process data (PZD area)

Table 4-9 Description of the individual signals in the status word (ZSW) in the pos mode, continued

Bit Signal name Signal status, signal description

1/0 An edge is used to acknowledge that a new traversing

Setpoint/ task or setpoint was transferred.
12 traversing task acknowled-
0/1 Same signal level as STW.6 (activate traversing task (sig-
ged (edge)
nal edge)).

1 Traversing task is executed (n  0)

Drive traversing/drive statio- The drive is stationary after it reaches its target position.
13
nary 0 Signals the completion of a traversing task or standstill for

4 1
intermediate stop and stop.

Within the traversing block

A traversing block is active.
Within the traversing block/
14
outside the traversing block 0 Outside the traversing block
No traversing block is active.

1 Load power supply available

Load power supply available/
15 0 Load power supply failed
load power supply failed
This corresponds to the ”undervoltage” fault
Note:
When an undervoltage condition is detected, the appro-
priate fault is signaled and ZSW.15 is set to ”0”.
 Before SW 1.3 the following applies:
ZSW.15 is set to ”1”, if, when acknowledging the fault,
an undervoltage condition is no longer detected.
 From SW 1.3, the following applies:
ZSW.15 is set to ”1” if an undervoltage condition is no
longer detected.
The fault itself remains until it is acknowledged.
ZSW.15 indicates the status of the load power supply,
independent of the fault and acknowledgment.

Actual The block number of the actual traversing block is entered into this sta-
block number tus byte.
(AktSatz) If no block is active, then the block number of the selected traversing
block is signaled back, i.e. the block which should be the next block to
be started.

Checkback signal The programmed block components ”MMStart”, ”MMStop” and

byte (RMB) ”MMPos” corresponding to the program sequence are output in this
status byte.
This means that the master has information about programmed block
for additional processing and evaluation.
Checkback signal (feedback) of the terminal status (from SW 1.4), refer
to Chapter 5.5.10
 RMB.6 ––> state of terminal 1
 RMB.7 ––> state of terminal 2

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4.2 Process data (PZD area)

Status word (ZSW) The slave signals its current status to the master using the status word
(n–set mode) (ZSW).

Table 4-10 Structure of the status word (ZSW) for the n–set mode

Load power supply available/load power supply failed

Reserved
Drive traversing/drive stationary
Status, terminal 2
Status, terminal 1
Ramp–up completed/ramp–up active
Control requested/local control
Speed in the tolerance bandwidth/
outside the tolerance bandwidth 4
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Warning present/no warning present

Power–on inhibit/no power–on inhibit
No OFF 3 present/OFF 3 present
No OFF 2 present/OFF 2 present
Note: Fault present/no fault present
Operation enabled/operation inhibited
1 signal/0 signal Ready or no fault
Ready to be powered–up/not ready to be powered–up

Table 4-11 Description of the signals in the status word (ZSW) for the n–set mode

Bit Signal name Signal status, signal description

1 Power supply powered–up

Ready to be powered–up/
0
not ready to be powered–up 0 Not ready to power–up

1 Ready
1 Ready or no fault
0 Not ready

1 Operation enabled
Operation enabled/
2
operation inhibited 0 Operation inhibited

1 The drive is faulted and not operational.

The drive goes into the power–on inhibit after the fault has
Fault present/ been successfully removed and acknowledged.
no fault present Which faults are present?
3 ––> refer to P947 (faults)
and
(refer to Chapter 6.2)
––> P954 (supplementary information, faults/warnings)
0 No fault present

1 No OFF 2 present
No OFF 2 present/
4
OFF 2 present 0 OFF 2 command present
1 No OFF 3 present
No OFF 3 present/
5
OFF 3 present 0 OFF 3 command present

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4.2 Process data (PZD area)

Table 4-11 Description of the signals in the status word (ZSW) for the n–set mode, continued

Bit Signal name Signal status, signal description

1 Power–on inhibit
Power–on inhibit/ The system can only be powered–up using ”OFF 1” follo-
6 wed by ”ON”.
no power–on inhibit
0 No power–on inhibit

1 Warning present
The drive still remains operational. Acknowledgment is
Warning present/ not required.
Which warning is present?
4 7
no warning present
––> refer to P953 (warnings)
and
(refer to Chapter 6.2) ––> P954 (supplementary information, faults/warnings)
0 Warning not present

Speed in the tolerance band- 1 Speed is within the parameterized tolerance window
8 width/outside the tolerance
bandwidth 0 Speed is outside the parameterized tolerance window

1 Master, Class 1
Control requested/ 0 No master Class 1 (but master, Class 2)
9 local control Note:
(from SW 1.4) Before SW 1.4, the following is valid:
The signal is not supported (a permanent ”1” signal).

1 Ramp–up completed
Ramp–up completed/ramp–
10
up active 0 Ramp–up not completed

11 Status, terminal 1 Checkback signal from the parameterized terminal signals

12 Status, terminal 2 Checkback signal from the parameterized terminal signals

1 Traversing task is executed (n  0)
Drive traversing/drive statio- The drive is stationary after it reaches its target position.
13
nary 0 Signals the completion of a traversing task or standstill for
intermediate stop and stop.

14 Reserved

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4.2 Process data (PZD area)

Table 4-11 Description of the signals in the status word (ZSW) for the n–set mode, continued

Bit Signal name Signal status, signal description

1 Load power supply available

Load power supply available/
15 0 Load power supply failed
load power supply failed
This corresponds to the ”undervoltage” fault
Note:
When an undervoltage condition is detected, the appro-
priate fault is signaled and ZSW.15 is set to ”0”.
 Before SW 1.3 the following applies:
ZSW.15 is set to ”1”, if, when acknowledging the fault,
an undervoltage condition is no longer detected. 4
 From SW 1.3, the following applies:
ZSW.15 is set to ”1” if an undervoltage condition is no
longer detected.
The fault itself remains until it is acknowledged.
ZSW.15 indicates the status of the load power supply,
independent of the fault and acknowledgment.

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4.2.3 Example: Operating the drive via the control signals with jogging 1

Example: The drive should be operated with jogging 1.

Traverse drive
Assumptions for the slave:
with jogging 1
 The drive has been completely commissioned is
connected to PROFIBUS–DP and is ready to run.
 PROFIBUS node address = 12
Assumptions for the master:
4  The DP master is a SIMATIC S7 (CPU: S7–315–2–DP)
 Hardware configuration
– PROFIBUS node address = 12
– Part I address O address
PKW 256 – 263 256 – 263 (not shown in the example)
PZD 264 – 267 264 – 267

SIMATIC S7–300 (CPU: S7–315–2–DP)

PG/PC

MPI

Control signals
STW PAW 264 = 0100 0101 0011 1111
AnwSatz/STB PAB 266 = 0 PAB 267 = 0
PROFIBUS–DP

Status signals
ZSW PEW 264 = 1111 x011 0011 0111
AktSatz/RMB PEB 266 = 0 PEB 267 = 0
Input signals at
the DP slave
Output signals at
the DP slave
DP slave
POSMO A

STW, ZSW Control word, Status word

PAB, PAW Peripheral output byte, word
AnwSatz, AktSatz Select block, Actual block
PEB, PEW Peripheral input byte, word
STB, RMB Start byte, Checkback signal byte

Fig. 4-3 Example: Operating the drive with jogging 1

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4.2 Process data (PZD area)

4.2.4 Example: The drive should traverse with n–set using the control
signals

Example: The drive should be operated with n = 500 rpm (gearbox output) in
Traverse drive n–set mode.
with n–set
Assumptions for the slave:
 The drive has been completely commissioned is
connected to PROFIBUS–DP and is ready to run.
 PROFIBUS node address = 12
Assumptions for the master:
4
 The DP master is a SIMATIC S7 (CPU: S7–315–2–DP)
 Hardware configuration
– PROFIBUS node address = 12
– Part I address O address
PKW 256 – 263 256 – 263 (not shown in the example)
PZD 264 – 267 264 – 267

SIMATIC S7–300 (CPU: S7–315–2–DP)

PG/PC

MPI

Prerequisites:
 Gearbox ratio is entered in P3
 P880 = 4096
Control signals
STW PAW 264 = xxxx xxxx x111 1111
PAW 266 = 0000 0001 1111 01000
PROFIBUS–DP

Status signals
ZSW PEW 264 = 1010 0111 0011 0111
PEW 266 = 0000 0001 1111 0100
Input signals at
the DP slave
Output signals at
the DP slave
DP slave
POSMO A

PAW Peripheral output word

PEW Peripheral input word
STW, ZSW Control word, Status word

Fig. 4-4 Example: Drive should traverse with n–set

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4.2 Process data (PZD area)

4.2.5 Sequence diagram ”Variable–speed drives”

pos mode

STW Control word

START
ZSW Status word
p Bit dep. on the program (0 or 1)
Power–on inhibit
s Traversing task bit of the STW
x Bit not defined (0 or 1) ZSW
x00x x111 x111 0000 OFF 2
Change from 0 to 1 or 1 to 0 Power i.e. STW.1 = 0
4 Change from 0 to 1 and back again
Change from 1 to 0 and back again
ON
OFF 1
(from every
device state)
i.e.
Not ready to STW.0 =
power–up
OFF 2 active
ZSW =
x00x x111 x000 x000 ZSW =
xxxx xxxx x1x0 x000
Initialize
Referencing (homing) i.e.
STW = 0100 0100 0011 1111 No OFF 2
ZSW =
i.e.. STW.1 = 1
100x 1111 0011 0111 Referencing
(homing)
OFF
i.e. OFF 3
Referencing
STW.11 = 0 i.e. STW.2 = 0
(homing) ON
(from every
i.e. STW.11 = 1
device state)
Operation enabled
ZSW =
Jogging ON OFF 3 active
100x x111 0011 0111
i.e. STW.8/9 = 1
ZSW =
Jogging
xxxx xxxx x10x x000
OFF
Jogging i.e.
STW.8/9 = 0 Traversing task Stop
No OFF 3
ZSW = i.e. i.e.
i.e. STW.2 = 1
111x x011 0011 0111 STW.6 = STW.4 =

Traversing task Fault

active (from every
ZSW = device state)
11ps xp11 0011 0111
No
Intermediate stop Fault
intermediate stop
i.e.
i.e. ZSW =
STW.5 = 0
STW.5 = 1 xxxx xxxx xxxx 1xxx
Intermediate stop
Fault resolved,
ZSW = acknowledge faults
110s xp11 0011 0111 i.e. STW.7 =

Fig. 4-5 Flow diagram, ”Variable–speed drives” for the pos mode

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4.2 Process data (PZD area)

n–set operation
STW Control word
START
ZSW Status word
p Bit dep. on the program (0 or 1) Power–on inhibit
s Traversing task bit of the STW
ZSW OFF 2
x Bit not defined (0 or 1) x00x x111 x111 0000 i.e. STW.1 = 0
Change from 0 to 1 or 1 to 0 Power (from every
Change from 0 to 1 and back again ON OFF 1 device state)
i.e.
Change from 1 to 0 and back again
STW.0 =
Not ready to
OFF 2 active
power–up
1) only valid if STW.5 = 0
(the speed actual value is kept ZSW = ZSW = 4
constant) x00x x111 x000 x000 xxxx xxxx x1x0 x000

Initialize
i.e. No OFF 2
STW = xxxx xxxx x000 1111 i.e.. STW.1 = 1
OFF 3
i.e. STW.2 = 0
Operation enabled (from every
Speed device state)
constant ZSW =
i.e. STW.5 = 0 1x0x xxxx x000 1111
OFF 3 active
Enable Speed setpoint is accepted
setpoint i.e. STW.4/5/6 = 1 (any ZSW =
Braking down to zero
i.e. STW.6 = 1 sequence) xxxx xxxx x10x x000
speed along a ramp
ZSW =
xxxx xxxx x0x1 1111 Inhibit setpoint No OFF 3
Ramp–up to the i.e. STW.2 = 1
i.e. STW.6 = 0 setpoint
ZSW = Fault
xxxx xxxx x111 1111 (from every
device state)
Braking Speed Braking
Speed constant
i.e. increases i.e.
i.e. STW.5 = 0
STW.4 = 0 i.e. STW.5 = 1 STW.4 = 0 Fault
Speed actual value is ZSW =
STW.6 = 11) kept constant xxxx xxxx xxxx 1xxx
STW.6 = 01) ZSW =
xxxx xxxx x101 1111
Inhibit setpoint Fault resolved,
i.e. STW.6 = 0 acknowledge faults
Braking
Enable setpoint i.e. STW.7 =
i.e. STW.4 = 0
i.e. STW.6 = 1

Braking with maximum Braking with maximum

acceleration acceleration
ZSW = ZSW =
xxxx xxxx x0x0 1111 xxxx xxxx x1x0 1111
Speed Speed
constant constant
i.e. STW.5 = 0 i.e. STW.5 = 0

Fig. 4-6 Flow diagram ”Variable–speed drives” for the n–set mode

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4.2 Process data (PZD area)

Note
The following conditions should be observed:
 Control word STW.4 has priority over STW.6
 Control words STW.4 and STW.6 have priority over STW.5
This means:
 If the drive brakes along the ramp, then when STW.4 is withdrawn,
the drive brakes with the maximum deceleration.
 If STW.5 = 0. STW.4 and STW.6 brake according to how they are
defined.
4  If STW.5 is reset while braking, this does not mean that the speed
is kept constant.

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4.3 Parameter area (PKW area)

4.3 Parameter area (PKW area)

4.3.1 Structure and description of the parameter area

Tasks For PPO Type 1 for the net data, a parameter with 4 words is also
transferred.
The following tasks are possible using the parameter range:
 Request parameter value (reading parameters)
 Change parameter value (writing into parameters)
4
 Request number of array elements

Structure of the The PKW area comprises the parameter ID (PKE), the sub–index (IND)
PKW area and the parameter value (PWE).

Table 4-12 Structure of the parameter area (PKW)

Net data
PKW PZD
PKE IND PWE
Word 1 2 3 4 1 2
PPO1

Bit 15 ... 0 Bit 15 ... 0

Value with the appropriate data type

Word 3 Word 4
Bit 15 ... 8 7 ... 0
Sub–parameter number
Reserved Word 2
(index)

Bit 15 ... 12 11 10 ... 0

AK
Re– PNU
Value range 0 ... 15 Word 1
served Value range 1 ...1 999
refer to Table 4-13

Abbreviations:
PPO Parameter Process data Object PWE Parameter value
PKW Parameter ID value PZD Process data
PKE Parameter ID AK Task and response ID
IND Sub–index, sub–parameter number, PNU Parameter number
array index

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4.3 Parameter area (PKW area)

Task The IDs for the task telegram (master ––> slave) should be taken from
telegram the following table 4-13:
IDs
Table 4-13 Task IDs (master ––> slave)

Task Function Response IDs

identifica- (positive)
tion
0 No task 0
1 Request parameter value 1, 2
2 Change parameter value (word) 1

4 3 Change parameter value (double word) 2

4, 5 – –
6 Request parameter value (array) 4, 5
7 Change parameter value (array word) 4
8 Change parameter value (array double 5
word)
9 Request number of array elements 6
Note:
 The negative response ID is 7,
i.e. this is a task that cannot be executed
––> fault ID, refer to Table 4-15

Response The IDs for the response telegram (master ––> slave) should be taken
telegram, from the following table 4-14:
IDs
Table 4-14 Response IDs (slave ––> master)

Response ID Function
0 No response
1 Transfer parameter value (word)
2 Transfer parameter value (double word)
3 –
4 Transfer parameter value (array word)
5 Transfer parameter value (array double word)
6 Transfer number of array elements
7 Task cannot be executed (with error number)
8, 9 and 10 –

Fault evaluation If tasks cannot be executed, the slave responds as follows:

 Outputs a response ID = 7
 Outputs an error number in word 4 of the parameter area

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Table 4-15 Error IDs for the ”DP slave POSMO A”

Error ID Error cause

0 Illegal parameter number (the parameter does not exist)
1 Parameter value cannot be changed (the parameter can only be read or is write
protected)
2 Upper or lower value limit exceeded
3 Incorrect sub–index
4 No array (parameter does not have any sub–parameter)
5 Incorrect data type
9
17
Descriptive element not available
Task cannot be executed due to the operating state
4
18 Other error

Data types The data type, to which the parameter is assigned, must be written into
the parameter values using the PKW mechanism.
The following apply for the format names (acc. to the recommended
PROFIBUS guideline):

Table 4-16 Parameter formats

Format Length Description

(byte)
C4 4 Fixed–point value, 32 bit with 4 decimal places (value = number/10 000)
Example:
P11 = 75 000 ––> 7.5 mm
I4 4 32–bit integer number (32–bit integer)
I2 2 16–bit integer number (16–bit integer)
T4 4 32–bit time constant (as for unsigned 32–bit integer)
Time as a multiple of the sampling time of 10 ms
T2 2 16–bit time constant (as for unsigned 16–bit integer)
Time is entered as a multiple of the sampling time
Speed control = 1 ms, position control = 10 ms
N2 2 Linear normalized value 200 %: 100 %
4 000hex (16 384dec)
E2 2 Linear fixed–point value, 16 bit with 7 binary decimal places
0
0hex, 128
4 000hex
V2 2 Bit sequence
16 Boolean quantities combined in 2 octets

Note
All data are saved in the little Endian format (the same as for the
PROFIBUS Standard).

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4.3 Parameter area (PKW area)

Transferring For SIMODRIVE POSMO A the traversing blocks are saved in parame-
traversing blocks ters which means that they can only be read and changed via the PKW
mechanism.

Reader’s note
The parameters for the traversing blocks are described in Chapter
5.3.2.

When mapping the traversing blocks to the parameters, the parameter

number defines the block components (position, velocity, etc.) and the
4 sub–parameter number of the traversing block number.
Example: P0081.17 ––> position, parameter 81 with traversing block 17
Addressing in the PKW mechanism:
 The parameter ID (PKE) addresses the block components.
 The sub–index (IND) addresses the traversing block number
This means that a complete set can only be read or changed one after
the other via the individual components.
Additionally:
1. Machine data is mapped to the parameters
2. Additional parameters (e.g. P947, P953, etc.) are possible from the
PROFIBUS Guidelines.

Rules for The following rules apply for the task/response processing:
processing 1. A task or a response can always only be referred to one parameter.
tasks/responses
2. The master must repeat a task until it has received the appropriate
response from the slave (clock cycle: 10 ms).
3. The slave provides the response until the master has formulated a
new task.
4. The master recognize the response to a task which it issued:
– by evaluating the response ID
– by evaluating the parameter number (PNU)
– if required, by evaluating the parameter index (IND)
5. For response telegrams that contain parameter values, the slave,
for this cyclic repeat process, always responds with the updated
value.
This involves all responses to the tasks ”request parameter value”
and ”request parameter value (array)”.

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4.3 Parameter area (PKW area)

Note
The time between sending a change task and when the change
actually becomes effective is not always the same. No maximum times
can be guaranteed!
The response times of the PKW channel depend on the utilization level
of the fieldbus.

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4.3 Parameter area (PKW area)

4.3.2 Example: Reading parameters via PROFIBUS

Example: It at least one fault is present, the drive fault buffer (P947) should be
Reading read out and buffered on the master side.
parameters via
Assumptions for the slave:
PROFIBUS
 The drive has been completely commissioned is
connected to PROFIBUS–DP and is ready to run.
 PROFIBUS node address = 12

4 Assumptions for the master:

 The DP master is a SIMATIC S7 (CPU: S7–315–2–DP)
 Hardware configuration
– Node address = 12
– Part I address O address
PKW 256 – 263 256 – 263
PZD 264 – 267 264 – 267 (not shown in the example)

What has to be If the input signal from the peripheral area (I/O area) I265.3 (ZSW1.3,
programmed fault present/no fault present) has a ”1” signal, then the following must
on the master side? be executed on the master side (refer to Fig.4-7):
1. Programming SFC14 and SFC15
The standard functions SFC14 ”Read slave data” and SFC15 ”write
slave data” are required in order to consistently transfer more than 4
bytes.
2. Request parameter value
– Write into the PKW output signals (AB 256 – 263)
with
AK = 1, PNU = 947, IND = 0, PWE = no significance
3. Read parameter value and save
– Evaluate the PKW input signals (EB 256 – 263)
– If AK = 1, PNU = 947, IND = 0 and PWE = xx
––> then OK
––> P947 = xx read and buffer
– If AK = 7,
––> then not OK
––> evaluate the fault number in EW 262
(refer to Table 4-15)

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SIMATIC S7–300 (CPU: S7–315–2–DP)

PG/PC

MPI

PKW area (task)

PKE PAW 256 = 0001 0011 1011 0011 AK = 1, PNU = 947
IND PAW 258 = 0000 0000 0000 0000 Index = 0
PWE1 PAW 260 = 0000 0000 0000 0000 Value (high)
PWE2 PAW 262 = 0000 0000 0000 0000 Value (low)
PROFIBUS–DP 4
Input signals at
the DP slave Output signals at
the DP slave

PKW area (response)

PKE PEW 256 = 0001 0011 1011 0011 AK = 1, PNU = 947
IND PEW 258 = 0000 0000 0000 0000 Index = 0
PWE1 PEW 260 = 0000 0000 0000 0000 Value (high)
DP slave PWE2 PEW 262 = 0000 0001 0010 0000 Value (low)
POSMO A Bit 8 ––> Speed controller at its limit
Bit 5 ––> Standstill monitoring
PAW Peripheral output word Refer to Chapter 6.2
PEW Peripheral input word
PKE Parameter ID
IND Sub–index, sub–parameter number, array index
PWE Parameter value
AK Task and response ID
PNU Parameter number

Fig. 4-7 Example: Reading parameters via PROFIBUS

Note
The SIMATIC S7 ”FB 11” block can be used to ”Read parameters via
PROFIBUS”.
––> Refer to Chapter 3.2.2

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4.3 Parameter area (PKW area)

4.3.3 Example: Writing parameters via PROFIBUS

Example: Dependent on a condition, a value of 786.5 mm should be written into

Reading the position in traversing block 4 (P81:4) via PROFIBUS.
parameters
Assumptions for the slave:
via PROFIBUS
 The drive has been completely commissioned is
connected to PROFIBUS–DP and is ready to run.
 PROFIBUS node address = 12

4 Assumptions for the master:

 The DP master is a SIMATIC S7 (CPU: S7–315–2–DP)
 Hardware configuration
– Node address = 12
– Part I address O address
PKW 256 – 263 256 – 263
PZD 264 – 267 264 – 267 (not shown in the example)

What has to be If the condition to write the position in traversing block 4 is available,
programmed then the following must occur on the master side
on the master side? (refer to Fig. 4-8):
1. Write the parameter value (define task)
– Write to PKW output signals (AB 256 – 263)
with
AK = 8, PNU = 81, IND = 4, PWE = 7 865 000dec = 78 02 A8hex
2. Check the task
– Evaluate the PKW input signals (EB 256 – 263)
– If AK = 5, PNU = 81, IND = 4 and PWE = 7 865 000dec
––> the OK
– If AK = 7,
––> then not OK
––> evaluate the fault number in EW 262
(refer to Table 4-15)

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SIMATIC S7–300 (CPU: S7–315–2–DP)

PG/PC

MPI

PKW area (task)

PKE PAW 256 = 1000 0000 0101 0001 AK = 8, PNU = 81
IND PAW 258 = 0000 0100 0000 0000 Index = 4
PWE1 PAW 260 = 00 78hex (e.g.) Value (high)
PWE2 PAW 262 = 02 A8hex (e.g.) Value (low)
PROFIBUS–DP 4
Input signals at
the DP slave Output signals at
the DP slave

PKW area (response)

PKE PEW 256 = 0101 0000 0101 0001 AK = 5, PNU = 81
IND PEW 258 = 0000 0100 0000 0000 Index = 4
PWE1 PEW 260 = 00 78hex (e.g.) Value (high)
DP slave PWE2 PEW 262 = 02 A8hex (e.g.) Value (low)
POSMO A
PAW Peripheral output word
PEW Peripheral input word
PKE Parameter ID
IND Sub–index, sub–parameter number, array index
PWE Parameter value
AK Task and response ID
PNU Parameter number

Fig. 4-8 Example: Writing parameters via PROFIBUS

Note
The SIMATIC S7 ”FB 11” block can be used to ”write parameters via
PROFIBUS”.
––> Refer to Chapter 3.2.2

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4.4 Settings at the PROFIBUS DP master

4.4 Settings at the PROFIBUS DP master

4.4.1 General information on the DP master

Performance PROFIBUS devices have different performance features.

features of
The characteristic features of the slaves are summarized in a master
the PROFIBUS
device file (GSD) so that all of the master systems can correctly ad-
devices
dress the DP slave.
4 The features for the various master systems are summarized in a stan-
dardized master device file (GSD).

What is a A master device (GSD file) describes the features of a DP slave in a

master device file precisely defined, uniform format in accordance with EN 50 170, Vo-
(GSD file)? lume 2, PROFIBUS.
GSD files are saved in the directory ”\GSD”.
The associated bitmaps are saved in the directory ”\Bitmaps”.

GSD file for the The master device file (GSD) for the ”DP slave POSMO A” is available
”DP slave as ASCII file as follows:
POSMO A”
File name: SIEM8054.GSD
Where is the GSD file for the ”DP slave POSMO A”?
From your local Siemens office (sales partner)
or
via the Internet http://www.profibus.com/gsd/

Data transfer The PKW must be consistently transferred.

(consistent/
Consistent data include input/output data areas, which from the con-
inconsistent)
tents, contain closed information which cannot be accommodated using
a byte, word or double–word structure.
For consistent data transfer, you require the SFC 14 and SFC 15
blocks in SIMATIC S7.

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4.4 Settings at the PROFIBUS DP master

Setting up Proceed as follows to generate the required user program for consi-
consistent data stent data transfer:
transfer (e.g. for
 Open ”OB1” (object folder).
SIMATIC S7)
 In the Program Editor, enter the ”CALL SFC 14” command and
press the RETURN key. The SCF 14 is displayed with its input and
output parameters.
Supply the input and output parameters. Now, call–up SFC 15 and
appropriately supply the parameters.
When the two SFCs are called–up, the associated block shells for
these standard functions are automatically copied into the block ob-
ject folder from the STEP 7 standard library.
 In order to be able to simply check the data transfer in the applica-
4
tion example, allocate the data, as shown in the example, to an ap-
propriate data block.
 Now save OB 1 with save and close the window of the program edi-
tor for the OB 1.
Now create DB 40. Using the task bar, change from Windows 95/NT
to the SIMATIC Manager and select the blocks object folder. The
block objects, system data, OB 1, DB 40, SFC 14 and SCF 15 are
in this object folder.
 Transfer these with ”download all blocks” into the CPU 315–2DP.
 After the transfer has been completed, the CPU 315–2DP must be
switched back to RUN.
If the motor is connected, the LED display elements for the DP in-
terface are dark. The CPU must be in the RUN condition.

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4.4 Settings at the PROFIBUS DP master

4.4.2 Installing the new master device files (GSD)

Installing a new When configuring a PROFIBUS–DP system where DP devices are to

GSD file? be incorporated, which the configuring tool does not ”know” then the
new GSD files must be appropriately installed.
How is a new GSD file installed with SIMATIC S7?
New GSD files are installed in ”HW Config” as follows:
TOOLS ––> Installing new GSD file

4 Importing station All of the GSD files of DP devices of a plant/system are saved in the
GSD project (e.g. for SIMATIC S7).
This means that it is always possible to edit this project using an addi-
tional configuring/engineering tool, to which the project was transferred
– even if the GSD files for the DP devices to be used have still not
been installed on this device.
GSD files that are only saved in existing projects, but not in the general
GSD directory, are transferred into the generally valid GSD directory
using GSD import. This means that they can be used for additional new
projects.

4.4.3 Operating the slave with a third–party master

GSD file required The master device data (GSD file) supplied with the equipment con-
tains all of the information/data that a DP master system requires in
order to incorporate SIMODRIVE POSMO A as DP standard slave in
its PROFIBUS configuration.
If the third–party master system allows a GSD file to be directly incor-
porated, then the file for the DP slave can be directly copied into the
appropriate sub–directory.


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Description of the Functions 5
5.1 Operating mode (from SW 2.0)
SIMODRIVE POSMO A can be either parameterized in the ”positio-
ning” or ”speed setpoint” mode. Mixed operation is not supported.

Speed setpoint In the ”speed setpoint” mode (n–set mode) a speed setpoint can be 5
(P700 = 1) entered via PROFIBUS DP; the speed is then controlled to this speed
(from SW 2.0) setpoint at the gearbox output.

Note
In this particular operating mode, only modulo axes (p1 > 0) are
permissible. Software limit switches cannot be activated.

The following functions are possible in the ”speed setpoint” mode:

 Rotary axis
 Jerk limiting
 Changeover, metric/inch
 Control sense reversal
 Digital I/O
 Holding brake
 Speed setpoint, interface
 Hardware limit switches

Reader’s note
Information on the various functions, refer to Chapter 5.

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5.1 Operating mode (from SW 2.0)

Positioning In the ”positioning” mode (pos mode), 27 archived traversing blocks

(P700 = 2) can be traversed in the drive.
The traversing blocks offer various possibilities for the block change
enable (P80, P81) and the positioning type (P80.1: Relative or abso-
lute).
The following functions are possible in the ”positioning” mode:
 Homing
 Flying measurement/actual value setting (from SW 1.4)
 Travel to fixed stop
 Linear/rotary axis
 Backlash compensation and correction direction (from SW 1.4)
 Jerk limiting
5  Changeover, metric/inch
 Reversing the control sense (from SW 1.3)
 Standstill monitoring (zero–speed monitoring)
 Digital I/O
 Jogging without PROFIBUS and parameterization (from SW 1.4)
 Standalone mode (without bus communication) (from SW 1.2)
 Holding brake (from SW 1.4)
 Software limit switch
 Hardware limit switch (from SW 2.0)

Note
The factory setting is the ”positioning” mode!

Reader’s note
Information on the various functions, refer to Chapter 5.

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5.2 ”Speed setpoint” mode (P700 = 1) (from SW 2.0)

5.2 ”Speed setpoint” mode (P700 = 1) (from SW 2.0)

5.2.1 General information on the ”speed setpoint” mode

Description For operation with a DP master, a speed setpoint can be cyclically input
into the POSMO A 75 W/300 W drives via PROFIBUS DP. The speed
actual value is also cyclically fed back via PROFIBUS DP.
The ”speed setpoint” mode is activated via P700 = 1 and de–activated
via P700 = 2; however, only power–on is effective.
The active operating mode is displayed in P930.

Note 5
The following control bit must be set to change most of the parameters
in the ”speed setpoint” mode:
 STW.0 = 0 (ON/OFF 1) or
 STW.4 = 0 (ramp–function generator enable)
Corresponds to the state ”no traversing block active” in the ”positioning
mode”.

If the factory pre–setting is downloaded, then the ”speed setpoint”

mode is immediately de–activated and the system goes into the ”posi-
tioning” mode.

Note
Before changing the operating mode, the factory pre–setting should be
downloaded using P970. This allows a defined initial status to be
achieved.

Reader’s note
Closed–loop control structure for the speed setpoint interface, refer to
Chapter 3.3.2.

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5.2 ”Speed setpoint” mode (P700 = 1) (from SW 2.0)

Transmission The speed setpoint and the speed actual feedback value are transfer-
elements red using PZD data.

Input n–set Primary speed

(PZD2) setpoint: Limiting (P8)
PZD2  P880  P3
7FFFhex np = If +/– np
PROFIBUS–DP ... 4096
greater than/less
1000hex (= P880) than
(STW)
... +/– P8 Speed
0000hex
setpoint
... ––> Limiting
8000hex to +/– P8
Ramp-fct.
Act. value (PZD2) generator

5 7FFFhex
...
Hex value to feed back
the speed actual value:
PROFIBUS–DP 1000hex (= P880) M
nact  4096
... nact =
(ZSW) ( ) P880  P3
0000hex hex
... Actual speed value
8000hex

Fig. 5-1 Transfer, speed setpoint/actual value

Reader’s note
PZD data, refer to Chapter 4.2.

5.2.2 Ramp–function generator

General The ramp–function generator is used to limit the acceleration when the
information speed setpoint changes as a step function.
POSMO A transfers the speed setpoint from the DP master to the
ramp–function generator as soon as it is in a specific state of the
PROFIBUS state machine (refer to Chapter 4.2.2).

How do the At run–up, the software limit switches are automatically de–activated
software limit (P6 = P7) and a rotary axis parameterized. In this case, P1 is set to the
switches function? maximum value which corresponds to the parameterized values P2 and
P3.
P1 may not be set to zero in ”speed setpoint” mode so that no more
traversing range limits can be activated. Referencing is not possible.

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5.2 ”Speed setpoint” mode (P700 = 1) (from SW 2.0)

The software limit switches must remain de–activated so that the drive
can always rotate endlessly. This is the reason that in the speed set-
point mode the drive must be parameterized as rotary axis and be de–
referenced.

Input/output For the ramp–function generator, the following signals are used:
signals for the
 Input signals:
ramp–function
generator – Ramp–function generator enable (STW.4 = 1)
– Ramp–function generator start/ramp–function generator stop
(STW.5 = 1)
– Enable setpoint/inhibit setpoint (STW.6 = 1)
 Output signals:
– Speed in the tolerance bandwidth/speed outside the tolerance
bandwidth (ZSW.8)
5
– Ramp–up completed/ramp–up not completed (ZSW.10)

RFG input
nset

t
RFG output
nset
nact P1426

P1426

t
Speed in the
tolerance
bandwidth
(ZSW.8)
t
Ramp–up
completed
(ZSW.10)
t0 t1 t

t > P1427

t = t1 – t0
Delay time P1427:
If
t > P1427, then ”ramp–up completed” (ZSW.10 = 1)

Fig. 5-2 Signal characteristics for the ramp–function generator

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5.2 ”Speed setpoint” mode (P700 = 1) (from SW 2.0)

5.2.3 Direction of rotation reversal

P880 is used to normalize the speed which is obtained at the gearbox

output of the motor when a setpoint of 1000hex (4096dec) is entered
using control word STW.
If a negative value is entered into P880, then, in addition, the motor
direction of rotation is inverted.
There is the following assignment between inversion, direction of rota-
tion, and setpoint:
 Without inversion, the motor rotates clockwise for a positive setpoint
 With inversion, the motor rotates anti–clockwise for a positive set-
point
Definition of the direction of rotation:
5  When viewing the output shaft, the shaft rotates counter–clockwise
 The motor direction of rotation is counter–clockwise
 When viewing the output shaft, the shaft rotates clockwise
 The motor direction of rotation is clockwise

5.2.4 Displays the position actual value

The position actual value can be set with P40 when commissioning the
system and so that the axis position can be tracked. P40 corresponds
with the settings of P1 to P4.

Note
The system does not go into the ”drive referenced” state when writing
into P40.
The write from P40, the drive must be in closed–loop control, but with
the condition STW.4 = 0 (internal setpoint = 0).

5.2.5 Adaptation of the speed controller

At standstill, the speed controller gain (P17) is changed–over to P54

(P gain, speed controller standstill).

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5.2 ”Speed setpoint” mode (P700 = 1) (from SW 2.0)

5.2.6 Parameters for n–set operation

The following parameters are used for the general parameterization in

the ”speed setpoint” mode:
 P8 Maximum speed
 P9 Ramp–up time
 P25 Override, acceleration
 P58 Holding brake, brake opening time
 P59 Speed, close holding brake
 P60 Holding brake, brake delay time
 P61 Holding brake, controller inhibit time
 P700 Selector switch mode
 P880 Normalizing N–SET
5
 P930 Actual operating mode
 P1426 Tolerance bandwidth, speed actual value
 P1427 Delay time Nset reached

5.2.7 Terminal signals

It is not possible to feed back the terminal signals as was the case pre-
viously (pos mode). This is because the feedback signal byte (RMB) is
used to display the speed actual value.
The relevant bits of the control and status word in the n–set mode are
interlocked with the terminals using the appropriate parameterization
(P31/P32).
Feedback signals of the terminals is realized using status word
ZSW (n–set).
––> ZSW.11: Feedback signal, terminal 1
––> ZSW.12: Feedback signal, terminal 2

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5.3 Programming the traversing blocks (only in the pos mode, P700 = 2)

5.3 Programming the traversing blocks (only in the pos

mode, P700 = 2)

5.3.1 Overview of the traversing blocks and programs

Traversing blocks There are a total of 27 traversing blocks for SIMODRIVE POSMO A.
and programs
The components are emulated in parameters and the traversing blocks
in sub–parameters. The sub–parameter number corresponds to the
traversing block number. The traversing blocks are programmed by
writing the appropriate parameters into SIMODRIVE POSMO A.
Traversing blocks and programs:
5
Table 5-1 Traversing blocks and programs (factory default setting)

Jogging Jogging Single Program 1 Program 2 Program 3 Components

– + blocks
1 2 3 – 12 13 – 17 18 – 22 23 – 27
P80:1 P80:2 P80:3 – :12 P80:13 – :17 P80:18 – :22 P80:23 – :27 PSW
(Program control
word)
P81:1 P81:2 P81:3 – :12 P81:13 – :17 P81:18 – :22 P81:23 – :27 Target position
P82:1 P82:2 P82:3 – :12 P82:13 – :17 P82:18 – :22 P82:23 – :27 Velocity or speed
P83:1 P83:2 P83:3 – :12 P83:13 – :17 P83:18 – :22 P83:23 – :27 Acceleration
P84:1 P84:2 P84:3 – :12 P84:13 – :17 P84:18 – :22 P84:23 – :27 Timer value
P85:1 P85:2 P85:3 – :12 P85:13 – :17 P85:18 – :22 P85:23 – :27 Signal position
P86:1 P86:2 P86:3 – :12 P86:13 – :17 P86:18 – :22 P86:23 – :27 SMStart, MMStart
P87:1 P87:2 P87:3 – :12 P87:13 – :17 P87:18 – :22 P87:23 – :27 MMStop, MMPos
Note: Note:
Traversing blocks 1 Traversing blocks 3 to 27 are set in the factory.
and 2 are perma- The allocation of block numbers to individual traversing
nently reserved for blocks and programs can be changed using P99:21 (Pro-
jogging. gram Manager).

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5.3 Programming the traversing blocks (only in the pos mode, P700 = 2)

Difference: The single traversing blocks and programs have the same structure
Single block– referred to the parameter structure.
program
 The following is valid for single traversing blocks:
– These blocks must be individually selected and started.
– The program–specific instructions which occur in the traversing
blocks (e.g. path mode) are ignored in the traversing blocks (re-
fer to Table 5-6).
 The following is valid for programs:
– A program is started by selecting and starting a block within the
program. The additional blocks are then automatically executed
as programmed.

How are
single blocks and
Blocks 3 to 27 can be combined to form programs via P99:21 (Program
Manager). 5
programs
The following rules apply when defining programs:
defined?
1. The value, saved under an index of P99:21, is the block number of
the first block in the appropriate program area.
2. The block number of the last block in the program area is obtained
from the start of the block of the next area minus 1.
3. Valid block starts lie in the range between 3 and 27.
4. The last block of the last valid program area is 27.
5. All block numbers from the first block of the first program area are
single blocks.
6. All entries from P99:21 are evaluated in the sequence of the index
until an invalid block start or a value less than the previous value is
found.
The factory default setting for P99:21 is as follows:

Table 5-2 P99:21 (program management)

(factory default setting)

Index
P99:21
1 2 3 4 5 6 ... 19 20
Value 13 18 23 0 0 0 ... 0 0

Program 3 Block 23 – 27

Program 2 Block 18 – 22

Program 1 Block 13 – 17

Note: refer to Table 5-1

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5.3 Programming the traversing blocks (only in the pos mode, P700 = 2)

Pre–assignment of Traversing blocks 3 to 27 are preset as follows:

the traversing
blocks 3 ... 27
Table 5-3 Pre–assignment of traversing blocks 3 ... 27 (factory presetting)

Presetting of standard traversing blocks

31) 271)
Parameters Value ... Parameters Value Components
P80:3 3 ... P80:27 3 PSW (program control word)
P81:3 0 ... P81:27 0 Target position
P82:3 100 ... P82:27 100 Velocity or speed
P83:3 100 ... P83:27 100 Acceleration
P84:3 0 ... P84:27 0 Timer value
5 P85:3 0 ... P85:27 0 Signaling position
P86:3 0000Hex ... P86:27 0000Hex SMStart, MMStart
P87:3 0000Hex ... P87:27 0000Hex MMStop, MMPos
1) Traversing blocks 3 to 27: Traverse with the maximum speed and maximum acceleration 0 mm relative
Such traversing blocks are zero blocks.
Such a block can be very simply converted into a standard positioning block by setting the target position
and program control word (PSW).

Pre–assignment of Traversing blocks 1 and 2 are reserved for jogging and are pre–assi-
traversing blocks 1 gned as follows:
and 2 for jogging
Table 5-4 Pre–assignment of traversing blocks 1 and 2 for jogging (factory presetting)

Pre–assignment of traversing blocks for jogging

11) 22)
Parameters Value Parameters Value Components
P80:1 0 P80:2 0 PSW (program control word)
P81:1 0 P81:2 0 Target position
P82:1 –100 P82:2 100 Velocity or speed
P83:1 100 P83:2 100 Acceleration
P84:1 0 P84:2 0 Timer value
P85:1 0 P85:2 0 Signaling position
P86:1 0000Hex P86:2 0000Hex SMStart, MMStart
P87:1 0000Hex P87:2 0000Hex MMStop, MMPos
1) Traversing block 1: Traverse with maximum speed and maximum acceleration in a negative direction
2) Traversing block 2: Traverse with maximum speed and maximum acceleration in a positive direction

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5.3 Programming the traversing blocks (only in the pos mode, P700 = 2)

5.3.2 Structure and description of the traversing blocks

Structure of the The traversing blocks are emulated in parameters as follows:

traversing blocks
Table 5-5 Parameters for traversing blocks

Block memory... Description Memory

Block Block ... Components Min. Stan- Max. Units Format ... Block
1 2 dard 1) 2) 27
80:1 80:2 ... PSW 0000Hex – FFFFhex – V2 ... 80:27
(Program control
word)
81:1 81:2 ... Target position –2  105 – 2  105 mm C4 ... 81:27
Degrees 5
inch
82:1 82:2 ... Velocity or –1005) – 100 % N2 ... 82:27
speed 3)

83:1 83:2 ... Acceleration 0 – 100 % N2 ... 83:27

4)

84:1 84:2 ... Timer value 0 – 2  106 10 ms T4 ... 84:27

85:1 85:2 ... Signaling posi- –2  105 – 2 105 mm C4 ... 85:27
tion Degrees
inch
86:1 86:2 ... SMStart, 0000Hex – FFFFhex – V2 ... 86:27
MMStart
87:1 87:2 ... MMStop, 0000Hex – FFFFhex – V2 ... 87:27
MMPos
1) The task ID to change a value can be derived from the data width (2 or 4) specified in the format.
Examples: I2 ––> AK = 2 for array parameters AK = 7, C4 ––> AK = 3 for array parameters AK = 8
2) Formats: ––> refer to Chapter 4.3, Table 4-16
3) Traversing blocks 1 and 2: Speed = P82:x  P26  P24  P8
Traversing blocks 3 to 27: Closed–loop speed controlled operation: Speed = P82:x  P24  P8
Closed–loop position contr. operation: Velocity = P82:x  P24  P10
4) Traversing blocks 1 and 2: Acceleration = P83:x  P27  P25  P9
Traversing blocks 3 to 27: Closed–loop speed contr. operation: Acceleration = P83:x  P25  P9
Closed–loop position controlled mode: Accel. = P83:x  P25  P22
5) Negative value: ––> Reversal of the motor direction

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5.3 Programming the traversing blocks (only in the pos mode, P700 = 2)

PSW The program control word defines the general properties and character-
(Program control istics of a traversing block.
word, P80:28)
Table 5-6 Structure of the program control word (PSW, P80:28)

Bit Description Signal status, description Effective

for sin-
gle
blocks
1 Enter position and velocity (position control)
0 Motion type yes
0 Enter speed (speed control index)

Positioning type 1 Relative

1 (only for positio- yes
0 Absolute
ning)

5 2 Timer type
1
0
Traverse as soon as the timer no longer runs
Traverse as long as the timer is running
no

Logic operation 1 Traverse if timer or start byte condition is fulfilled

3 between timer no
with start byte 0 Traverse if timer and start byte condition is fulfilled

Return program 1 Jump to the start of the program after the end of block
4 yes
jump (M18) 0 No response
1 Continuous path mode
 Approximate positioning to the following program block
 The following block is immediately processed when the time
to apply the brake is reached
Pos., velocity, motion type, positioning type, traversing type
10 66 POSITIONINGABSOLUTE Continuous path mode
30 100 POSITIONINGABSOLUTE Continuous path mode
20 33 POSITIONINGABSOLUTE Precise stop

v Example:
5 Traversing type no
Program
100
with 3 traversing blocks
66
Brake application point
33

t
–33
Block 1 Block 2 Block 3

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02.99 5 Description of the Functions
5.3 Programming the traversing blocks (only in the pos mode, P700 = 2)

Table 5-6 Structure of the program control word (PSW, P80:28), continued

Bit Description Signal status, description Effective

for sin-
gle
blocks
0 Precise stop
 The position programmed in the block is precisely approa-
ched
 The axis is braked down to standstill
 The block is changed when the target area is reached (pre-
cise stopping window)
 A precise stop is always executed at the end of program
Pos., velocity, motion type, positioning type, traversing type
20 66 POSITIONING ABSOLUTE Precise stop

5 Traversing type
40
10
100 POSITIONING
33 POSITIONING
RELATIVE Precise stop
RELATIVE Precise stop
no 5
v
Example:
100
Program
66 with 3 traversing
blocks
33

Block 1 Block 2 Block 3 t

1 The block is executed, if at least one of the bits, configured in the

Negate start start mask, is not set.
6 no
byte condition
0 Normal evaluation
1 The following is valid dependent on the condition defined in
SMStart:
 fulfilled then the block is executed
SMStart type
7  not fulfilled then the block is skipped no
(from SW 1.2)
0 Wait until the start condition is fulfilled according to SMStart. The
block is executed if the condition is fulfilled and ”Execute block”
is present.

Program stop 1 Program end when the end of the block is reached
8 no
(from SW 1.2) 0 No response

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5.3 Programming the traversing blocks (only in the pos mode, P700 = 2)

Table 5-6 Structure of the program control word (PSW, P80:28), continued

Bit Description Signal status, description Effective

for sin-
gle
blocks
1 Before SW 1.4 the following applies:
The actual position is set the same as the signaled position at
the end of the block. In conjunction with this, the end of block
means the following:
 For an exact stop:
After entry into the exact stop window
 For smoothing:
After entry into the exact stop window of the next block
 After withdrawing the start conditions or an external block
Set reference change:

5 9 position
(from SW 1.2)
Immediately after entering the exact stop window
From SW 1.4, the following applies:
no

At the end of the block, the position of the last zero mark is set
the same as the signal position and the drive is referenced.
0 –
Note:
Bit 9 = 0 if
 Bit 10 = 1 (flying actual value setting) or
 Bit 11 = 1 (flying measurement) or
 Bit 14 = 1 (reference to occurring zero mark (from SW 2.1)
1 Active
0 Inactive
Flying actual va- Note:
10 lue setting Bit 10 = 0 if yes
(from SW 1.4)  Bit 9 = 1 (set reference position) or
 Bit 11 = 1 (flying measurement) or
 Bit 14 = 1 (reference to occurring zero mark
(from SW 2.1)
1 Active
0 Inactive
Flying measure- Note:
11 ment Bit 11 = 0 if yes
(from SW 1.4)  Bit 9 = 1 (set reference position) or
 Bit 10 = 1 (flying actual value setting) or
 Bit 14 = 1 (reference to occurring zero mark
(from SW 2.1)
1 Active
0 Inactive
Traverse along Note:
the shortest
12 For axes with modulo correction and absolute position data, yes
path
when the bits are set, the shortest traversing distance is calcula-
(from SW 1.4) ted and traversed.
Programming the traversing direction using the velocity sign is
ineffective when the function is active (refer to Chapter 5.5.3).

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5.3 Programming the traversing blocks (only in the pos mode, P700 = 2)

Table 5-6 Structure of the program control word (PSW, P80:28), continued

Bit Description Signal status, description Effective

for sin-
gle
blocks
Active
If a traversing block with the number x+1 should be started after
a specified time following traversing block x, this specified time
must be configured in traversing block x.
The following conditions must be observed for implementation:
 Traversing block x
– Timer mode: ”Traverse as long as the timer is running”
(P80:x.2 = 0)
– Timer value: desired delay in ms (P84:x)
– PSW (program control word): ”Defined delay before next
traversing block” (P80:x.13 = 1)
 Traversing block x+1:
5
– PSW (program control word): ”Wait for start condition”
(P80:(x+1).7 = 0)
This special delay is handled internally in the drive. It can not be
checked via parameter P45 (timer status).
In this case, traversing block x+1 starts regardless of the length
of the traversing path in traversing block x.
If traversing block x is interrupted early due to the loss of a start
condition (SMStart), traversing block X+1 also will not start until
the time has expired (case 4).

v Case 1: Normal process

Defined delay
time to the next Block 1 Block 2
13 1
traversing block

t (P80:13 = 1) t
(from SW 2.1)

v Case 2: Traversing block longer than timer value

(abortion)
no
Block 1 Block 2

t (P80:13 = 1) t

Case 3: Terminal function (SimoCom A)

v Start bit = 1

Block 1 Block 2

t (P80:13 = 1) t

Case 4: Terminal function (SimoCom A)

v Start bit = 1 Start bit = 0

Block 1 Block 2

t (P80:13 = 1) t

t is the timer value of block 1

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5.3 Programming the traversing blocks (only in the pos mode, P700 = 2)

Table 5-6 Structure of the program control word (PSW, P80:28), continued

Bit Description Signal status, description Effective

for sin-
gle
blocks
Note:
Upon an external block change:
 If the target position in traversing block x has not yet been
Defined delay reached, an external block change acts like the loss of a start
time to the next 1
13 condition in traversing block x.
traversing block
(from SW 2.1)
 However, if traversing block x+1 has already been selected
as the current traversing block (P48), an external block
change acts on traversing block x+1.
0 Inactive

5 Active
The traversing block is aborted upon the occurrence of a zero
mark. The reference point is set to the value given in the signal
position.
1 If this function is used together with a digital input (BERO) that is
configured with an additional cam monitoring (P31/P32), referen-
cing only takes place if a cam signal edge has occurred in accor-
Reference to dance with P56.7. If the corresponding signal has not occurred at
occurring zero the digital input, the drive is de–referenced upon reaching the
14 yes
mark zero mark. In this case, error 711/912 is signaled.
(from SW 2.1)
Inactive
Note:
Bit 14 = 0 if
0
 Bit 9 = 1 (set reference position) or
 Bit 10 = 1 (flying actual value setting) or
 Bit 11 = 1 (flying measurement)
15 Reserved – – –

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5.3 Programming the traversing blocks (only in the pos mode, P700 = 2)

Timer value Contains the time required for the timer. A value of 0 de–activates the
(P84:28) function.

Signaling position When this position is passed, the bits, specified in the MMPos, are set
(P85:28) and signaled to the master via the feedback signal byte (RMB).
From SW 1.4, the following applies:
When the ”set reference position” function is activated (PSW.9 = 1) or
”flying actual value setting” (PSW.10 = 1), this parameter is the setting
value. The ”signal position” function is then inactive.

SMStart Contains a mask, that determines which bits of the start byte (STB) in
(P86:28, high byte) the PZD are to be evaluated as additional start bits to start program
blocks.
A program block starts as soon as, in addition to the normal start 5
enable signals, all of the configured bits are set.
If one of the bits is withdrawn, traversing motion stops and the block is
exited.
A value of 0 de–activates the function.

MMStart Contain bit masks, which are OR’d with the status signals (feedback
(P86:28, low byte) signal byte, RMB) when a pre–defined event occurs.
MMStop
These events include:
(P87:28, high byte)
MMPos  MMStart: Start of the traversing block
(P87:28, low byte)
Bits that are activated at the start of a traversing block.
MMStart is reset at the end of block.
 MMStop: End of the traversing block (as for ZSW.14)
Bits that are activated at the end of a traversing block.
MMStop is reset at the start of a new traversing block.
 MMPos: Passing the signaled position
Bits that are activated when passing the signaled position.
MMPos is reset when a new traversing block is started.
Note:
MMPos is ineffective when the ”set reference position” (PSW.9 = 1)
or ”flying actual value setting” (PSW.10 = 1) function is activated.

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5.3 Programming the traversing blocks (only in the pos mode, P700 = 2)

1 2 3 4 5 6
STW bit 6

1. Start from the master ZSW bit 12

2. Acknowledgment from the
motor
MMStart
3. Pass over the signaling
position
4. Block completed
MMStop
5. Start the next block from
the master
6. Next block
MMPos

5 Fig. 5-3 Signal timing for feedback signals from program blocks

Difference: The parameters, which are saved in the traversing blocks, are only
closed–loop speed evaluated if it makes sense in the mode specified by the program con-
controlled – trol word (PSW). This means, for example, in the speed controlled
closed–loop range, the target position is ignored.
position controlled

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5.3 Programming the traversing blocks (only in the pos mode, P700 = 2)

5.3.3 Selecting and controlling traversing blocks and programs

Signals for The following PROFIBUS signals are available to select and control the
traversing blocks traversing blocks and programs saved in SIMODRIVE POSMO A:
and programs

Control signals Status signals

Description, refer to Chapter 4.2.1 Description, refer to Chapter 4.2.2

Actual block number

Select block number
(AktSatz)
(AnwSatz)
Activate traversing task (edge) Within the traversing
(STW.6)
SIMODRIVE
block/outside the traversing block
(ZSW.14)
5
Automatic single block POSMO A
operation/automatic
Drive traversing/drive stationary
(STW.12)
(ZSW.13)
External block change/
no external block change Setpoint/traversing task
(STW.13) acknowledged (edge)
(ZSW.12)
Read–in enable/
no read–in enable
Reference position
(STW.14) reached/outside reference position
Operating condition/interm. stop (ZSW.10)
(STW.5)
Following error/
Operating condition/stop no following error
(STW.4) (ZSW.8)

Fig. 5-4 Signals for traversing block and programs

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5.3 Programming the traversing blocks (only in the pos mode, P700 = 2)

5.3.4 Behavior of speed–controlled traversing blocks

Description Speed–controlled traversing blocks use the speed controller to regulate

the actual speed to the setpoint speed.
Because the actual position value/position setpoint has no influence on
this control, the position setpoint is set equal to an actual position value
resulting from the speed change.

What has to If a speed–controlled traversing block is terminated by a stop command

be observed? (e.g. due to expired timer) or by an external block change and no error
is present, then:
 if the SIMODRIVE POSMO A switches to closed–loop position con-
5 trol,
 the actual position present after the standstill is kept according to
the controller setting.
If during a speed–controlled traversing block
 the override speed (P24) is set to zero
or
 the control word STW.5 is set to zero (intermediate stop),
then the SIMODRIVE POSMO A remains in speed control and regula-
tes the speed to zero, regardless of the current actual position of the
axis.
From this follows:
––> If, for example, the drive mechanical system moves
from the actual position opposing the maximum possible
motor current, then the SIMODRIVE POSMO A controls
the mechanical system so that at the new position the actual
speed is zero.
The positional shift does not affect the closed–loop control.
––> For closed–loop control at zero speed, a minimum drive
velocity can occur due to the closed–loop control. This is not
evaluated by the drive as the axis has no speed when seen over
the average.
If the SIMODRIVE POSMO A should keep its position at
zero speed, then the closed–loop speed control traversing block
must be ended and changed–over to closed–loop position control

Note
The execution of an intermediate stop, for instance to stop the axis
temporarily at a position, is not recommended in speed–controlled
traversing blocks due to the behavior described above!

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5.4 Operating modes (only the pos mode)

5.4 Operating modes (only the pos mode)

As standard, SIMODRIVE POSMO A is in the automatic mode. The
operating mode can be changed using the bits in the control word.

5.4.1 Jogging

Description Traversing blocks 1 and 2 are reserved for jogging.

Note
Pre–assignment of traversing blocks 1 and 2 for jogging
––> refer to Chapter 5.3.1
5
The jog mode has the following functions:
 After setting the appropriate control signal, the jog traversing block
is selected, and immediately executed.
– Control signal STW.8 Jogging 1 ON/OFF
– Control signal STW.9 Jogging 2 ON/OFF
 After this signal has been withdrawn, the block is stopped. The
distance to go is rejected. After this, the block selection is re–activa-
ted via the control signal ”SNR”.
 If both jogging signals are simultaneously set or if the axis is not at
standstill due to an active traversing block, then jogging is rejected
with an alarm.
 When jogging, speed and acceleration override are effective:
– Speed = P82:x  P26  P24  P8 (refer to Chapter 5.6.2)
– Acceleration = P83:x  P27  P25  P9(refer to Chapter 5.6.2)
 Stop and intermediate stop do not influence the jogging blocks.

Defining the The following is valid when viewing the output shaft of the positioning
direction of motor:
rotation of the
 If the shaft rotates in the counter–clockwise direction
motor
––> the motor direction of rotation is negative (counter–clockwise)
––> This can be achieved, e.g. using jogging 1
 If the shaft rotates in the clockwise direction
––> the motor direction of rotation is positive (clockwise)
––> This can be achieved, e.g. using jogging 2
From SW 1.3, the required motor direction of rotation can be set using
P3 (gearbox step–down factor (refer to Chapter 5.5.8)).

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5.4 Operating modes (only the pos mode)

5.4.2 Manual Data Input (MDI)

Description For SIMODRIVE POSMO A, the MDI mode is replaced when selecting
a single traversing block.
New coordinates are programmed by overwriting one of the traversing
blocks which is then transferred at the next start.

5.4.3 Automatic

Description In the ”automatic mode”, traversing blocks and programs can be selec-
ted, started and their behavior significantly influenced via the interface.
5 When programs are run, it is possible to change over into the ”automa-
tic single–block mode” using the control signal STW.12. This is used to
test the drive system.

5.4.4 Tracking mode

Description If an axis is in the tracking mode, then the control is disabled and its
position reference value tracks the actual position actual value.
For SIMODRIVE POSMO A, the tracking mode cannot be explicitly
selected.
In fact, it becomes implicitly active if e.g. closed–loop control is no lon-
ger active after withdrawing STW.0.

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5.5 SIMODRIVE POSMO A functions

5.5 SIMODRIVE POSMO A functions

5.5.1 Referencing

Description For SIMODRIVE POSMO A, an incremental position measuring

system is used. In order that the positioning motor identifies the axis
zero, the measuring system must be synchronized with the axis.

Table 5-7 What are the referencing possibilities?

Type Referencing possibilities Sketch

ÏÏÏÏÏÏÏÏ
Approach the visual mark
Set the actual value via P40
––> This position is assigned to the required
actual value. 5
Approach the endstop
ÏÏÏÏÏÏÏÏ
Set the actual value via P40
––> This position is assigned to the required
actual value.
ÏÏÏÏÏÏÏÏ
ÏÏÏ
Axis wi-

ÏÏÏÏÏÏÏÏ
thout re- Approach the visual mark
ference

ÏÏÏÏÏÏÏÏ
cams Set STW.11
––> The position of the last zero mark which
was passed is overwritten by the value from
P51) (reference point coordinate).

Approach the endstop

Set STW.11
ÏÏÏÏÏÏÏÏ
––> The position of the last zero mark which
was passed is overwritten by the value from
P51) (reference point coordinate).
ÏÏÏ
Reference travel to BERO without direction re-
versal
––> The axis remains stationary after exiting the
reference cam.
The position of the last zero mark which was
ÄÄÄÄ
passed is overwritten with the reference posi-
Axis tion1).
with re- Reference approach to the BERO with direction
ference reversal
cams2)
––> The axis remains stationary after exiting the
reference cam.
The position of the last zero mark which was
passed is overwritten with the reference posi-
tion1).
Reference to occurring zero mark (from SW 2.1) Refer to Chapter 5.5.1
Flying ”Flying actual value setting” function Refer to Chapter 5.5.2
(from SW 1.4)
1) The actual position to be written is corrected by the distance which was traveled since the last zero mark.
2) This function must be emulated using the existing traversing blocks (refer to the following examples).

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5.5 SIMODRIVE POSMO A functions

Secondary The following limitations apply when referencing:

conditions when
 The positioning motor supplies the following zero marks:
referencing
– 75 W motor ––> 4 zero marks per motor revolution
– 300 W motor ––> 1 zero mark per motor revolution
 The position of the zero mark, which was last recognized, is over-
written with the value in P5 (reference point coordinate) by setting
STW.11 (start referencing/stop referencing).
The actual position to be written is corrected by the distance which
was traveled since the last zero mark.
Prerequisite:
The axis must be at a standstill and be in closed–loop control.
If the axis is moving, then the value is not accepted and an alarm is
output.
5  If the motor was not moved after being powered up, i.e. a zero mark
has still not been passed, and therefore there is no valid position for
a zero mark, then referencing is rejected and a warning output.
The ”referenced” status is lost.
 Generally, the following is valid:
ZSW.11 (reference point set/no reference point set) is used to dis-
play whether an axis is referenced.
 Resetting the status ”reference point set” (from SW 1.4)
For a stationary axis that has been referenced, the ”no reference
point set” state is re–established by writing a 0 into P98.
 The following applies for a non–referenced axis:
– No blocks with absolute position data are executed.
– The axis zero of the axis is the position after the drive has been
powered up.

Warning
! For non–referenced axes, the software limit switches are not
monitored.
Suitable measures must be implemented in the system (e.g. hardware
limit switches) in order to avoid injury to personnel and damage to the
machine.

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5.5 SIMODRIVE POSMO A functions

Setting actual The SIMODRIVE POSMO A positioning motor can be referenced at a

value by writing specific axis position by writing the required actual value into P40 (posi-
into P40 tion actual value).
For a stationary axis, this position is accepted as position actual value,
and after this, SIMODRIVE POSMO A is considered to have been refe-
renced.
 Move, e.g. using ”jogging” to the required axis position.
 Reference the positioning motor by writing the actual value, valid for
this axis position, into P40 (position actual value).

Note
For ”set actual value”, the same conditions must exist as when
referencing, i.e. the drive must be closed–loop controlled and be
stationary. 5

Set the reference The reference position can be set to a zero mark using the traversing
position to the block as shown in the following program example.
zero mark via the
Example:
traversing block
(from SW 1.4)  Program control word (PSW) = 515dec (10 0000 0011bin)
P80:x
Bit 9 = 1 ––> Set reference position
Bit 1 = 1 ––> relative
Bit 0 = 1 ––> enter the position and velocity (closed–loop pos. contr.)
 Target position = 100.0 mm P81:x
 Speed = 100 % P82:x
 Acceleration = 100 % P83:x
 Time = 0 ms P84:x
 MeldPos = 50.0 P85:x
For this traversing block, the axis traverses through 100 mm relative. At
the end of the block, the setting value for the reference position is read
from ”MeldPos”, in order to correct the distance moved since the last
zero mark. The axis is then referenced.
This function corresponds to referencing an axis with reference cams
(refer to Table 5-7).

Set the actual The actual value can be set via a traversing block as shown in the
value via the above program example.
traversing block
At the end of the block, the position, saved in ”MeldPos” becomes the
(before SW 1.4)
new actual position of the drive.

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5.5 SIMODRIVE POSMO A functions

Reference The ”travel to fixed stop” function can be used as follows for referen-
approach with cing:
”traverse to
 Set the current to a permissible value for the fixed endstop.
fixed endstop”
– P28 (max. current) = ”required current”
– P16 (max. overcurrent) = ”required overcurrent”
 Suppress the ”speed controller at the endstop ” fault.
– P30.0 = ”1” Fault ”speed controller at its limit”
––> is re–defined to become a warning
 Traverse to the fixed endstop by jogging
When the endstop is reached, it is displayed as follows:
– ZSW.7 = ”1” ––> means ”warning present”

5 and
– P953.7 = ”1” ––> means ”speed controller at the endstop”
 Cancel jogging
 Set a valid position actual value for the fixed endstop position
– Write a valid position actual value into P40
P40 = ”requested actual value” Position actual value
or
– Assign a valid position actual value from P5
The position of the last zero mark is set to the value in P5 (refe-
rence point coordinate) by ”start referencing” and ”stop referen-
cing” (STW.11).
The actual position to be written is corrected by the distance
which was traveled since the last zero mark.
Set the ”stop referencing” depending on ”reference point set”
(ZSW.11).

Reader’s note
”Travel to fixed stop” function refer to Chapter 5.5.3

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Reference point The reference point approach is executed via program. The axis traver-
approach to BERO ses without direction of reversal dependent on the reference cam sig-
without direction nal.
reversal

Zero marks

ÄÄÄÄÄ
Reference
Reference cam mark
signal
(e.g. from BERO)
ÄÄÄÄÄ Reference cams

Traversing
profile

Fig. 5-5 Reference travel to BERO without direction reversal

5
Prerequisites:
 Connect reference cam signal to terminal 1
(X5, I/Q1, refer to Chapter 2.3)
 Define terminal 1 as input and transfer the input terminal signal di-
rectly into the start byte
(e.g. start byte bit 7 ––> P31 = 25, refer to Chapter 5.5.10)
Program the following traversing program (example):
 Program block (e.g. block 13)
– SMStart bit 7 as start condition
– Program control word (PSW) = 224dec (00 1110 0000bin) (E0hex)
(closed–loop speed controlled with smoothing, negated start
byte, skip when start byte is not fulfilled)
– Speed e.g. 20 % (= approach velocity)
– Acceleration 100 %
 Program block (e.g. block 14)
– SMStart bit 7 as start condition
– Program control word (PSW)
= 384dec (01 1000 0000bin) (180hex)
(closed–loop speed controlled without negated start byte)
– Speed e.g. 5 % (= shutdown velocity)
– Acceleration 100 %
– Program end when the end of the block is reached
 Start program
As soon as ZSW.14 = ”0” (outside traversing block) is signaled, the
reference point can be set with STW.11 (start referencing/stop refe-
rencing).

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5.5 SIMODRIVE POSMO A functions

 Set reference coordinate

The position of the last zero mark before the end of the second pro-
gram block is therefore set to the value in P5 (reference point coor-
dinate).
Set simplified reference position (from SW 1.4)
The drive is automatically referenced when the above traversing pro-
gram is run if the following is specified in the second block:
 P85:14 (signaling position for block 14)
= set ”required reference point coordinate”
 Set PSW.9 (set reference position) to 1
In this case, the last part of the example above is eliminated.

5 Note
 If the direction of rotation is reversed in both traversing blocks
(negative velocity), the reference point approach is executed in the
opposite direction.
 In order to select the last zero mark at the reference cam as
reference point coordinate, the shutdown velocity should be
selected low enough, so that when braking after leaving the cam,
no other zero marks are passed.
 Reference cam length
A cam length should be selected so that the axis brakes from the
approach velocity to the shutdown velocity while still at the cam.

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Reference The reference point approach is executed via program. The axis traver-
approach to the ses with direction reversal depending on the reference cam signal.
BERO with
direction reversal
Zero marks

Reference

ÄÄÄÄÄ
Reference cam mark
signal
(e.g. from BERO) Reference cams

Traversing
profile

Fig. 5-6 Reference approach to the BERO with direction reversal 5

Prerequisites:
 Connect reference cam signal to terminal 1
(X5, I/Q1, refer to Chapter 2.3)
 Define terminal 1 as input and transfer the input terminal signal di-
rectly into the start byte
(e.g. start byte bit 7 ––> P31 = 25, refer to Chapter 5.5.10)
Program the following traversing program (example):
 Program block (e.g. block 13)
– SMStart bit 7 as start condition
– Program control word (PSW) = 224dec (00 1110 0000bin) (E0hex)
(closed–loop speed controlled with smoothing, negated start
byte, skip when start byte is not fulfilled)
– Speed e.g. 20 % (= approach velocity)
– Acceleration 100 %
 Program block (e.g. block 14)
– SMStart bit 7 as start condition
– Program control word (PSW)
= 384dec (01 1000 0000bin) (180hex)
(closed–loop speed controlled without negated start byte)
– Speed e.g. –5 %
(= shutdown velocity with direction reversal)
– Acceleration 100 %
– Program end when the end of the block is reached
 Start program
As soon as ZSW.14 = ”0” (outside traversing block) is signaled, the
reference point can be set with STW.11 (start referencing/stop refe-
rencing).

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 Set reference coordinate

The position of the last zero mark before the end of the second pro-
gram block is therefore set to the value in P5 (reference point coor-
dinate).
Set simplified reference position (from SW 1.4)
The drive is automatically referenced when the above traversing pro-
gram is run if the following is specified in the second block:
 P85:14 (signaling position for block 14)
= set ”required reference point coordinate”
 Set PSW.9 (set reference position) to ”1”
In this particular case, the last section in the example above is eliminated.

5 Note
 If the direction of rotation is reversed in both traversing blocks, the
reference point approach is executed in the opposite direction.
 In order to select the last zero mark at the reference cam as
reference point coordinate, the shutdown velocity should be
selected low enough, so that when braking after leaving the cam,
no other zero marks are passed.
 Reference cam length
The cam length should be selected, so that the axis brakes from
the approach velocity to standstill while still at the cam.
 Position of the reference cam
If the reference cam is not favorably mounted, when the traversing
program starts from the cam, a different reference point can be
obtained than when starting in front of the reference cam.
Remedy: Extend the referencing (homing) program so that initially
the axis moves away from the cam.

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Reference to Use of the function in a traversing program

occurring zero
mark (from SW 2.1)
Note
Before starting the function, the drive should be de–referenced
(set P98 to 0)

The following two cases show examples of a referencing program. The

blocks in the reference program have the following functions:
Block 1: ”Traverse up to cam”
Block 2: ”Leave cam”
Block 3: ”Reference to occurring zero mark”
Block 4: ”Traverse to absolute position”
 Case 1: Starting in front of the cam
5
(e.g. referencing with direction reversal)

Zero marks

ÄÄÄÄÄ
Zero mark

Reference
cam signal
Block 1
ÄÄÄÄÄ Reference cams
Traversing
profile

Block 4 Block 3 Block 2

Fig. 5-7 Reference to occurring zero mark, start in front of the cam

Referencing is performed at the zero mark occurring after leaving

the cam.

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5.5 SIMODRIVE POSMO A functions

 Case 2: Starting at the cam

(e.g. referencing with direction reversal)

Zero mark

ÄÄÄÄ
Traversing
profile

ÄÄÄÄ Reference cams

Block 4 Block 3 Block 2

Block 1 is immediately rejected because the start condition ”traverse
up to cam” is rejected.
5 Fig. 5-8 Reference to occurring zero mark, start at the cam

Referencing is performed at the zero mark occurring after leaving

the cam.
The function ”reference to occurring zero mark” can be assigned to an
individual traversing block (with the No.: X ) of the drive.
The activation takes place with P80:X.14 = 1.
The corresponding traversing block (relative position/absolute positi-
on/speed–controlled) is executed until occurrence of a zero mark. The
drive is referenced at the zero mark to the position given in the signal
position (P85:X).
If the function is executed in connection with a positioning block (rela-
tive position/absolute position), the specified path must pass over a
zero mark.
A speed–controlled block stops at the zero mark.

Note
The function ”Reference to occurring zero mark” cannot be used
simultaneously with one of the following functions in a traversing block:
 ”Flying measurement” (P80:X.11 = 1)
 ”Flying actual value setting” (P80:X.11 = 1)
 ”Set reference position” (P80:X.9 = 1)

Using the function with the help of the parameterizing and start–
up tool SimoCom A (from version 4.02.xx)
The reference dialog allows the configuration of a referencing program
with 4 traversing blocks, in accordance with the diagrams shown in
the dialog.

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As in the previous referencing function (before SW 2.1), all required

data must be entered in the dialog.
This data must then be confirmed with ”Generate traversing program”.
Functions of the referencing program:
 Block X: ”Traverse up to cam”
 Block X+1: ”Leave cam”
 Block X+2: ”Reference to occurring zero mark”
 Block X+3: ”Traverse to absolute position”
The selected input terminal is automatically monitored for a cam signal
edge through the use of the dialog in SimoCom A.
P56.7 can be used to configure whether the cam signal edge to be mo-
nitored should be a negative (P56.7 = 0; standard value for leaving the
cam) or a positive (P56.7 = 1 leaving an inverted cam). 5
The traversing program generated by the dialog is only created accor-
ding to the standard setting (setting P56.7 = 0).
If no corresponding cam signal edge occurs, the program is aborted (in
traversing block X+2) with error message 711 and supplementary infor-
mation 912. In this case (use of the referencing program with cam mo-
nitoring), the drive is de–referenced.

Referenced axis Before SW 1.2, the following is valid:

when powering up
If a referenced axis is switched–out, then it is still referenced after it
again
has been switched–in again if it was not moved when it was switched–
out (refer to ZSW.13 = 0).
From SW 1.2, the following applies:
Another behavior when the axis is switched–in again can be set using
P56 (operating options).
––> refer to Chapter 5.6.2 under P56

Behavior when For axes with extremely low friction, it should be noted that a motor can
powering–down move into a preferred position when it is powered–down. In the least
favorable case, this uncontrolled compensation movement is 11 de-
grees on the motor shaft.
If the electronics power supply is simultaneously switched–out, then
this drive motion is not detected.
Possible counter measures include:
 If there are separate electronics and load power supplies then the
electronics power supply must be switched–off with a delay after the
load power supply has been switched off.
 The pulses should be cancelled before switching–off the load and
electronics power supply (e.g. using STW.1 = 0).

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5.5 SIMODRIVE POSMO A functions

5.5.2 Flying measurement/actual value setting (from SW 1.4)

Note
For the ”flying measurement/actual value setting” function, digital input
1 is updated in a 125 µs grid.
While the motor is braking, a 0/1 edge is ineffective and the ”flying
measurement/actual value setting” function is not executed.

Flying The positioning motor can be used for test purposes using the ”flying
measurement measurement” function.
(from SW 1.4)

v
5 Block 18

t
Block 19

Input signal 1
”flying measuring/actual
value setting” 0
 Brakes along the braking ramp t
 Block change with delete distance to go
What happens for a 0/1 signal edge?
 The position value is written into P62 (measuring position)
 Continue the program
 Traverses as programmed in the block
 The measured value in P62 (measuring position) is
No input signal detected? not updated

Fig. 5-9 Example: Flying measurement

What should be done?

The following has to be done in order to use the ”flying measurement”
function?
1. Connect the signal transmitter to digital input 1 (X5 terminal I/Q1)
––> the signal transmitter must be high active
––> refer to Chapter 2.3 and 2.4
2. Assign digital input 1 to the ”flying measurement/actual value set-
ting” function
––> In the SimoCom A using the tab ”Par” and entry ”digital inputs/
outputs”
––> by setting SIMATIC S7 P31 to 27
3. Program the traversing block, activating the ”flying measurement”
function
––> set PSW.11 to ”1”
4. Read the measured value after a 0/1 signal edge has been detected
––> P62 (measuring position) = measured position value

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Example Position–controlled traversing motion to the cam/BERO with stop

if a cam was not detected.

v Block 10
Block 9

t
Block 11

Input signal 1
”flying measurement”
0
t

v Block 10
Block 9
5
t

Input signal 1
”flying measurement”
0
 Brakes along the braking ramp t
 Block change with delete distance to go
What happens for a 0/1 signal edge?  The position value is written into P62
(measuring position)
 Continue the program (here: block 10)
What happens if an edge is  The drive changes after the traversing distance, specified
not detected? in block 9, to block 10.
 The drive stops because this does not contain a start
condition. This means, that in comparison to a
speed–controlled solution, it can be ensured that the drive
does not endlessly move if the cam/BERO is either not
wired at all or is defective.

Fig. 5-10 Example: Position–controlled traversing motion to cam/BERO with stop

Using a special configuration of the traversing blocks, the ”flying mea-

surement” function can be executed so that the drive stops if the
BERO/cam is not reached within a specified maximum distance. In this
particular case, the program is still active and must be interrupted using
a stop command.
In this case, the first program block selected is – e.g. block No. 9.
What should be done?
The following has to be done in order to use the ”flying measurement”
function?
1. Connect the signal transmitter to digital input 1 (X5 terminal I/Q1)
––> the signal transmitter must be high active
––> refer to Chapter 2.3 and 2.4

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2. Assign digital input 1 the function ”accept value directly in the

start byte (bit 7)”
––> In the SimoCom A using the tab ”Par” and entry ”digital inputs/
outputs”
––> by setting SIMATIC S7 P0031 to 25
3. Program the traversing block (e.g. Block No. 9) as follows
––> In the SimoCom A using the tab ”Par” and entry
”traversing blocks”
––> Select the ”relative” traversing type
(via SIMATIC S7 P0080:9 bit 0 = 0)
––> Enter the target position (max. distance to the cam)
The sign of the distance specifies whether the signal lies in the
positive or negative traversing direction to the
5 actual value. (If this distance was moved through, the drive
stops and changes to the following traversing block.)
––> Select the block change enable ”continue flying”
(via SIMATIC S7 P0080:9 bit 5 = 1)
––> In the section block PSW, select ”flying measurement: active”
(via SIMATIC S7 P0080:9 bit 10 = 1)
4. Then program the following traversing block as follows (e.g. block
No. 10)
––> Select the ”relative” traversing type
(via SIMATIC S7 P0080:10 bit 0 = 0)
––> Position = 0,
set the velocity to the value of block 9 (v  0)
(via SIMATIC S7 P0081:10 = 0; P0082:10 = 0)
––> Select the block change enable ”continue flying”
(via SIMATIC S7 P0080:10 bit 5 = 1)
––> in the selection box PSW ”SM start type” check the default
setting ”SM start type: wait” (bit=0)
(via SIMATIC S7 P0080:10 bit 7 = 0)
––> in the selection box PSW, select ”flying measurement: active”
(via SIMATIC S7 P0080:10 bit 10 = 1)
This means that a measurement is also made if the cam is
passed while braking.
––> Set SM/MM – start bit 15 = 1
(via SIMATIC S7 P0086:10 bit 15 = 1)
This means that the traversing block is only executed if the
BERO/cam was also reached.
The program can be started under the ”Control” tab, entry ”Automatic”.
The program with the number of the start block must be selected to do
this.

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Possible program sequence:

1. The following happens if the BERO/cam in block 9 signals a 0/1
edge at the digital input before the braking phase:
– The motor brakes along the braking ramp
– A block change with delete distance to go is initiated
– The measured position value is written into P0062 (measuring
position)
– The program continues with block 10. As a result of the cam
feedback signal via start byte bit 7, this immediately receives the
start condition, specified in the SM/MM start and changes to
block 11.
2. The following happens if the BERO/cam in block 9 did not provide a
signal at the digital input before the braking phase:
– The motor brakes along the braking ramp and then changes, 5
after this has been initiated, to traversing block 10
– If, the cam still outputs a signal in the braking phase, then the
measuring function in block 10 is executed and a change is
made to traversing block 11.
– If a cam does not output a signal in the braking phase, then tra-
versing block 10 does not have a valid start condition and there-
fore goes into the state ”wait for start condition”.
In this case, the program has not been completed. When the cam sig-
nal or BERO outputs a signal via the digital input, the program with
block 11 is continued without a position having been measured.

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Flying actual value Setting of the actual value can be triggered via a 0/1 signal edge at in-
setting put terminal 1 during processing of a block.
(from SW 1.4)
The dimension system is then re–synchronized. The following blocks
are then executed in the new reference system.

v Block 13

Block 14

t
Input signal 1
”flying
measuring/actual 0
value setting” t
5  Brakes along the braking ramp
 Block change with delete distance to go
What happens for a 0/1 signal edge?
 The actual value is set to the position in P85:28 (signal
position)
––> the new reference system applies from this position
No input signal detected?  Traverses as programmed in the block

Fig. 5-11 Example: Flying actual value setting

What should be done?

The following has to be done in order to use the ”flying actual value
setting” function?
1. Connect the signal transmitter to digital input 1 (X5 terminal I/Q1)
––> the signal transmitter must be high active
––> refer to Chapter 2.3 and 2.4
2. Assign digital input 1 to the ”flying measurement/actual value set-
ting” function
––> In the SimoCom A using the tab ”Par” and entry ”digital inputs/
outputs”
––> by setting SIMATIC S7 P31 to 27
3. Program the traversing block, activating the ”flying actual value set-
ting” function
––> set PSW.10 to ”1”
4. Enter the value for ”actual value setting”
––> P85:28 (signaled position) = required actual value

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Example Flying actual value setting followed by absolute positioning (from

SW 1.4)
The following example shows how the actual value can be set flying
when approaching a BERO/cam and then an absolute or relative posi-
tioning operation can be started.
However, for safety reasons, positioning should be interrupted if neither
BERO nor cam were detected within a specified maximum distance.
In this case, the first program block selected is – e.g. block No. 9.
1. Connect the signal transmitter to digital input 1 (X5 terminal I/Q1)
––> the signal transmitter must be high active
––> refer to Chapter 2.3 and 2.4
2. Assign digital input 1 to the ”flying measurement/actual value set-
ting” function
––> In the SimoCom A using the tab ”Par” and entry ”digital inputs/
5
outputs”
––> by setting SIMATIC S7 P31 to 27
3. Program the traversing block (e.g. Block No. 9) as follows
––> In the SimoCom A using the tab ”Par” and entry
”traversing blocks”
––> Select the ”relative” position (PSW.0 = 1)
––> Select the block change enable ”flying”
(via SIMATIC S7 P0080:9 bit 5 = 1)
––> Enter the target position (max. distance to the cam)
The sign of the distance specifies whether the signal lies in the
positive or negative traversing direction to the
actual value.
––> in the selection box PSW, select ”flying actual value setting:
active” (PSW.10 = 1)
––> enter the required actual value in the signaling position.
If a relative positioning to the new reference point is then to be carried–
out in block No. 10, then the block change enable condition in block
No. 9 must be programmed for ”continue flying”. The block is now
changed with delete distance to go.
The traversing block to find the signals has now been programmed
If the signal is detected within the maximum distance via the digital in-
put, then the actual position is set to the required actual value and the
drive goes into the state ”reference point set” (ZSW1.11=1).
If the subsequent traversing blocks are configured as absolute blocks,
these are only executed if the ”flying actual value setting” was success-
ful in traversing block number 9.

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However, in this case, it is necessary that the drive is in the state ”refe-
rence point is not set” (ZSW1.11=0) before the start of traversing block
No. 9.
If the drive was already referenced when block No. 9 was started, and
a signal was not found, then it is possible that the absolute blocks were
executed in the incorrect reference system. This is the reason that be-
fore the program is started, POSMO A must always be ”de–referenced”
(P98 = 0).

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5.5.3 Travel to fixed stop

Description A linear or rotary axis can be moved in the closed–loop speed control-
led mode to a fixed endstop using the ”travel to fixed stop” function.
Upon reaching a fixed endstop, the defined torque/force is then built
up.
This feature can be used, e.g. as follows:
 To clamp workpieces (e.g. to press the spindle sleeve against the
workpiece)
 To approach the mechanical reference point (refer to Chapter 5.5.1)

What should be The following has to be done to traverse to a fixed endstop:

done?
 Set the current to a permissible value for a fixed endstop
– P28 (max. current) = ”required current”
5
– P16 (max. overcurrent) = ”required overcurrent”
 Suppress the ”speed controller at the endstop” fault
– P30.0 = ”1” Fault ”speed controller at its limit”
––> this is re–defined to become a warning
 Move to the fixed endstop closed–loop speed–controlled (PSW.0 =
”0” or jogging)
When the endstop is reached, it is displayed as follows:
– ZSW.7 = ”1” ––> means ”warning present”
and
– P953.7 = ”1” ––> means ”speed controller at the endstop”
 Stop traversing

What has to be The following has to be observed:

observed?

Note
 The ”travel to fixed stop” function can only be practically used when
traversing in the closed–loop speed controlled mode (PSW.0 = ”0”
or jogging).
For closed–loop position controlled techniques (PSW.0 = ”1”), the
”fixed endstop reached” state can only be exited using OFF
commands.
 Limit P28 and P16 to values at which torques significantly below
the torque limit occur at the gearbox output.
P28 maximum current
P16 maximum overcurrent
 Limit the traversing velocity to a value which is significantly below
the maximum velocity at the rated speed.

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The following must also be observed:

The function ”travel to fixed stop” causes an externally forced rotation
delay and therefore an externally forced torque that must be below the
permissible torques indicated in Chapter 2.5.1 for POSMO A – 75 W
and 2.5.2 for POSMO A – 300 W. The electrical torque limiter is inef-
fective here!
The torque must therefore be limited with mechanical measures for for-
ced braking. The endstop therefore cannot be designed to be perma-
nently fixed; rather, it must be flexible enough that the forced braking
process is extended over a specific minimum time ∆t. The minimum
time results from:
 The translated moment of inertia of the motor = JMot  i
 The speed at the gearbox output (NShaft,) at which the endstop is
approached. The speed must be entered in rad/s for computational
5 inspection.
 The maximum permissible gearbox torque
for the POSMO A – 75 W with i = 162 : 1 and a speed of 18 rpm (cor-
responds to a motor speed of 2916 rpm) yields, for example
2π
18 rpm   (0.00006 kg  m2  1622)
NShaft  (JMot  i2) 60 smin–1
∆t = = = 65 ms
Mmax_perm 48 N  m

The mechanical components of the endstop according to the diagrams

in
Table 5-7 must therefore be designed to be flexible enough that the
motion is not braked abruptly, but is extended over at least 65 ms. The
centrifugal masses that are braked to a standstill by the mechanical
endstop comprise not only the moment of inertia of the motor (as in the
above example), but all moments of inertia and linearly moved masses
participating in the motion. For the event that the mechanical forced
braking takes place unevenly, a corresponding safety factor must be
accounted for in the brake time calculation.
As an alternative to a carefully soft design of the endstop, the mechani-
cal limitation of the torque during forced braking can also be implemen-
ted with a coupling on the gearbox output. The coupling then exhibits
the required flexibility krot in the direction of rotation, whereby only the
translated motor moment of inertia need then be considered as centri-
fugal mass.
Mmax_perm 1 (48 N  m)2 1
krot = 2  =  = 410 N  m rad–1
(JMot  i2) NShaft2 (0.00006 kg  m2  1622) 2π
18 rpm 
60 smin–1

Upon transfer of the maximum permissible torque for this gearbox, the
coupling twists by approx. 1/10 rad, in other words about 6 degrees.
The user must check whether this much twisting can be accepted.

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5.5.4 Rotary axis

Parameterizing A rotary axis is parameterized using the following parameters:

rotary axes
 P1 axis type e.g. = 360
 P2 travel per gearbox revolution e.g. = 360
 P3 gearbox step–down factor e.g. = 18
 P4 dimension units e.g. = 1
Example (refer to Chapter 3.3):
A rotary axis with modulo 360 and dimension units of degrees is para-
meterized with these typical values.

Programming The traversing characteristics of a rotary axis are dependent on which po-
sitioning type has been programmed – either ABSOLUTE or RELATIVE.
 Absolute motion
5
– Target position
The target position is programmed in the traversing block using
P81:28 and is executed, modulo–corrected.
Example:
P81:4 = 520 ––> for modulo 360, the axis is positioned to 160
– Velocity and traversing direction
The velocity and traversing direction is programmed in the tra-
versing block using P82:28.
Velocity: Absolute value of P82:28
Traversing direction: Sign of P82:28
+: ––> positive direction
–: ––> negative direction
Traverse through
the shortest distance: PSW.12 = ”1” (from SW 1.4)
 Relative motion
– Target position and traversing direction
The target position is programmed in the traversing block using
P81:28 and is not executed, modulo–corrected.
P81:28 > 0 ––> positive traversing direction
P81:28 < 0 ––> negative traversing direction
Examples:
P81:4 = 520 ––> the axis moves in a positive direction through
520
P81:4 = –10 ––> the axis moves in a negative direction through
10
– Velocity
Velocity: is entered via P82:28

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0° Example 1 0° Example 1

315° 45° 315° 45°

Start Start

270° 90° 270° 90°

Example 2
Example 2
225° 135° 225° 135°

180° 180°

Positioning type = ABSOLUTE Positioning type = RELATIVE

5 Example 1 (PSW.12 = ”0”): Example 1:
P81:4 = 315 P81:4 = –90
P82:4 = –100 P82:4 = 100
––> Traverse with 100 % to 315° negative ––> Traverse with 100 % through 90° negative
Example 2 (PSW.12 = ”0”): Example 2:
P81:4 = 315 P81:4 = 135
P82:4 = 100 P82:4 = 100
––> Traverse with 100 % to 315° positive ––> Traverse with 100 % through 135 ° positive

Fig. 5-12 Example: Programming rotary axes

Signal position The following should be observed for the signaling position:
(P85:28)
 Before SW 1.3 the following applies:
Signal position – The drive has precisely one zero position (refer to Chapter
(P55) 5.5.1). The signal position is viewed, referred to this position.
– A modulo evaluation is not made.
 The following applies from SW 1.3:
– The signal position is saved, evaluated as modulo value

Software limit The software limit switches act the same as for a linear axis.
switch
 P6 Software limit switch, start (refer to Chapter 5.6.2)
 P7 Software limit switch, end
The software limit switches are de–activated with P6 = P7.

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5.5.5 Backlash compensation and correction direction (from SW 1.4)

Description When an indirect measuring system is used (position measuring enco-

der at the motor), at each direction reversal, the mechanical play is first
traveled through before the axis moves.
For this measuring system, mechanical play falsifies the traversing
distance. This is because at direction reversal, the axis moves too little
by the absolute value of the play.
After entering the backlash compensation and the correction direction,
at each direction reversal, the axis actual value is corrected depending
on the actual traversing direction.

Table 5
Backlash M Motor

M
G
ÏÏÏ ÏÏÏÏÏ
ÏÏÏÏÏÏÏÏ
G Encoder

For a direction reversal, the encoder actual value leads the

actual value (table) ––> the table does not traverse far enough

Fig. 5-13 Backlash

Example: The following procedure is recommended to determine the backlash of

Determining the an axis:
backlash
 Traverse the axis e.g. in the positive direction – take up the play
 Mount a dial gauge on the axis mechanical system
 Note down the actual position 1 (read P40)
 Traverse the axis in the negative direction until axis movement can
be detected at the dial gauge
 Note down the actual position 2 (read P40)
The backlash is obtained from the difference between actual position 1
and actual position 2.

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Correction The correction direction of the backlash compensation is defined as

direction (from follows using the sign of P15:
SW 1.4)
P15 = positive ––> positive correction direction
The following applies when first traversing after power–on:
 Traversing in the positive direction – backlash is corrected
 Traversing in the negative direction– backlash is not corrected
P15 = negative ––> negative correction direction
The following applies when first traversing after power–on:
 Traversing in the positive direction – backlash is not corrected
 Traversing in the negative direction– backlash is corrected

5 Note
The following applies when entering a value in P15 (backlash
compensation):
Depending on the sign of P15, the actual value can be immediately
shifted by the value entered for the backlash. The backlash value
becomes effective immediately and is taken into account in the display.

Parameter P15 Backlash compensation

(refer to Chapter
5.6.2)

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5.5.6 Jerk limiting

Description Acceleration and deceleration are step–like if jerk limiting is not used.
Using jerk limiting, a ramp–type increase can be parameterized for both
quantities, so that approach and braking are ”smooth” (jerk–limited).

Applications Jerk limiting can be used, e.g. for positioning tasks using liquids or ge-
nerally to reduce the mechanical stressing on an axis.

5
t
a
P22
P22 t
P23
r

a: Acceleration
r: Jerk
a [mm/s2]
P23 = TR [s] = t: Time
r [mm/s3]
TR : Jerk time
v: Velocity

Fig. 5-14 Jerk limiting

Parameter P23 Jerk time constant

(refer to Chapter
P22 Maximum acceleration
5.6.2)

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5.5.7 Changeover, metric/inch

Description When changing over between mm and inch and vice versa, all existing
values, dependent on length measurements, are automatically chan-
ged.
All of the following inputs and outputs are handled in the new dimen-
sion units.

Parameter P4 Dimension unit

(refer to Chapter
5.6.2)

5 5.5.8 Reversing the control sense (from SW 1.3)

Description Before SW 1.3 the following applies:

The direction of rotation of the motor shaft depends on whether it tra-
verses in the positive or negative direction and cannot be changed.
From SW 1.3, the following applies:
The direction of rotation of the motor shaft can be set as required, de-
pendent on whether traversing in the positive or negative direction
using P3.

Table 5-8 Traversing and direction of rotation of the motor shaft

Traversing direction Rotation of the motor shaft

when viewing the motor shaft drive out end
P3 = positive P3 = negative
(from SW 1.3)
Traversing in the posi- Clockwise Counter–clockwise
tive direction
Traversing in the nega- Counter–clockwise Clockwise
tive direction

Parameter P3 Gearbox ratio

(refer to Chapter
5.6.2)

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5.5.9 Standstill monitoring (zero–speed monitoring)

Description Using the standstill monitoring function, the system can detect when
the axis leaves the target position (under load, for hanging axes, etc.).

Mode of operation The monitoring time (P13) is started after the motion block has been
completed (position reference value = target setpoint).
After the monitoring time (P13) has expired, it is cyclically monitored as
to whether the actual axis position remains within the standstill range
(P14) around the target position.
Objective:
Continually check whether the position of the axis is also maintained.
5
Position Target range (P11)
value
x
Target
position

Standstill range
Position Position
(P14)
reference actual
value value The standstill monitoring is
cyclically evaluated from here

t
Monitoring time (P13)

Fig. 5-15 Standstill monitoring (zero–speed monitoring)

Fault When the standstill monitoring responds, an appropriate fault is signaled.

Switching–off When the next block is started, the standstill monitoring is disabled.

Parameter P11 Target range

(refer to Chapter
P13 Monitoring time
5.6.2)
P14 Standstill range

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5.5.10 Digital I/O

Description For SIMODRIVE POSMO A, there are 2 freely–parameterizable input/

output terminals. The function of a terminal is defined by appropriately
parameterizing it.
 Designation of the input/output terminals (refer to Chapter 2.3.1)
– X5 terminal I/Q1 Terminal 1
– X5 terminal I/Q2 Terminal 2
 Parameterization of the input/output terminals (refer to Chapter 5.6.2)
– P31 Function, terminal 1
– P32 Function, terminal 2
5
Note
The digital inputs/outputs are updated every 10 ms.

Reader’s note
List of function numbers for digital inputs/outputs?
––> refer to Chapter 5.6.2 under P31 (function, terminal 1)
The list is valid for terminals 1 and 2.

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Control The following rules apply for allocating functions:

 The hardware inputs/outputs are high active.
 Rules for input terminals
– A hardware terminal has a higher priority than a PROFIBUS sig-
nal
If a terminal is parameterized as input, then this terminal comple-
tely assumes the function, i.e. a control signal, with the same
significance, received via PROFIBUS, is ignored.
Exceptions:
If a terminal is parameterized to the value 100, 101 or 102 (OFF
1, OFF 2, OFF 3 logically AND’ed with the terminal) then the fol-
lowing applies:
The signals are only present if they are set from both the termi-
nal and the PROFIBUS–DP master (this is a safety measure). 5
– If the 2 input terminals are assigned the same function number,
then terminal 2 has priority.

Warning
! The appropriate signals from PROFIBUS DP are ignored!

 Rules for output terminals

– Output signals are output via a terminal without influencing
PROFIBUS communications.
– Inversion:
The outputs can be inverted by adding 128 to the values speci-
fied in the function list.
Example:
The ”reference point set” signal should be output inverted via
terminal 1.
––> Parameter value = 74 + 128 = 202 (refer to Chapter 5.6.2)
––> set P31 = 202
––> a signal is set at the terminal if SIMODRIVE POSMO A is
not referenced.
 Signaling the terminal state (from SW 1.4)
The actual state of the terminal can be displayed in the feedback
signal byte (RMB) by adding 256 to the value specified in the func-
tion list.
RMB.6 ––> state of terminal 1
RMB.7 ––> state of terminal 2
Feedback signal byte (RMB)refer to Chapter 4.2 and 4.2.2

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5.5.11 Jogging without PROFIBUS and parameterization (from SW 1.4)

Description Using this function, it is possible to immediately traverse the positioning

motor in the jog mode using the input terminals without PROFIBUS
communication and without parameterization.
If PROFIBUS node address 0 or 127 is detected when the positioning
motor is powered–up (all address switches are either OFF or ON), then
the following is executed:
 The factory default setting for the parameters is downloaded.
 Parameters which were possibly changed beforehand are ignored.
 Jogging is selected with the following data:
5 – P100 = 17471dec ––> simulation of the control word
– P31 = 4 function, terminal 1 <––> jogging –
– P32 = 5 function, terminal 2 <––> jogging +
These changes are not saved.

What should be The following has to be done to be able to use the positioning motor in
done? the jogging mode without parameterization and PROFIBUS:
1. Connect the load power supply and both digital inputs
––> refer to Chapter 2.3 and 2.4
2. Set the PROFIBUS node address to 0 or 127
––> refer to Chapter 2.3.1 and Table 2-3

Caution
! For reliable operation, it is absolutely necessary that the motor is
correctly mounted and connected up (refer to Chapter 2).

3. Switch on the load power supply

4. Operate the positioning motor in the jogging mode
24 V/0 V at X5, I/Q1 ––> jogging 1 ON/OFF (jogging –)
24 V/0 V at X5, I/Q2 ––> jogging 2 ON/OFF (jogging +)

Note
 Jogging mode refer to Chapter 5.4.1
 After setting a PROFIBUS node (device) address
0 or
127
then standalone operation is possible as usual (refer to Chapter
5.5.12).

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5.5.12 Standalone mode (without bus communication) (from SW 1.2)

Description Safety signals, such as e.g. OFF1 are continually required. This
means, that when bus communications are interrupted, the motor is
immediately shut down with fault. This can be prevented using P100
(simulation of the control word).

Caution
! In standalone mode, the drive is automatically reset in event of an
error, in other words:
 The faults which occur are automatically acknowledged
 Before SW 1.3 the following applies: The block sequence is

 From SW 1.3, the following applies:

re–started
The block sequence is
5
continued from the next
defined block

Setting standalone If the value of P100 is not equal to zero (e.g. 443Fhex), when powering–
mode up without a master or if communications fail then after
3 seconds, the control word is replaced by this value.
The terminal signals remain active with the highest priority.
A maximum of ten traversing blocks in the range 3 to 27 can be preset
with SIMODRIVE POSMO A in P101:11 for the standalone mode.
These specified blocks are then processed consecutively in standalone
mode.
Rules when executing the blocks:
 Execution sequence: from P101:1 to P101:10
 If it is recognized that P101:x = 0, then the last block which is ent-
ered is continuously repeated.
 If the block lies within a program range, then the program is execu-
ted, as programmed from this block.
The factory default setting for P101:11 is as follows (refer to Table 5-9):

Table 5-9 P101:11(block sequence in the standalone mode)

(factory default setting)

Index
P101:11
1 2 3 4 5 6 7 8 9 10
Value 0 0 0 0 0 0 0 0 0 0

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Jogging operation Assumption:

in the standalone
Jogging 1 and 2 are permanently connected via digital inputs and para-
mode
meterized using P31 and P32 (refer to Chapter 5.5.10).
This means that when the bus communications fail, in order that the
positioning motor can still be jogged via these inputs, the following ap-
plies:
 Before SW 1.3 the following applies:
In order to be able to jog, only one block without traversing motion
may be entered in P101:1.
e.g.: P101:1 = 5, P101:2 – :10 = 0, block 5 with standard values
 The following applies from SW 1.3:
In order to be able to jog, P101:1 – :10 = 0 or
0.

5 If a block sequence is specified in P101:10, then a jogging signal

which is present is always effective before repeating the last speci-
fied block.
e.g.: P101:1 = 5, P101:2 = 7 and P101:3 – :10 = 0
––> Jogging becomes effective before repeating block 7

Parameter P100 Control word simulation

(refer to Chapter
P101:11 Block sequence in standalone mode
5.6.2)

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5.5.13 Holding brake (from SW 1.4)

Description Using the brake sequence control, the axes can be held at standstill to
avoid undesirable motion.
The sequence control can be used both for motors with integrated hol-
ding brake as well as to control an external holding brake.
 Holding brake for 75 W motors
75 W motors do not have an integrated holding brake.
An external holding brake can always be used. In this case, it is
controlled using an appropriately parameterized digital output.
 Holding brake for 300 W motors
300 W motors are optionally available with integrated holding brake. 5
An external holding brake can always be used. In this case, the brake
is controlled using an appropriately parameterized digital output.

Warning
!  It is not permissible to use the integrated holding brake as working
brake, as generally it is only designed for a limited number of
emergency braking operations.
 Axial forces may not be applied to the shaft – both when installing
and operating the system!

Current I Voltage V
Brake opened

IB

UB

tc1 t
t0

t0 = Opening time tc1 = Closing time

Fig. 5-16 Terminology (time) for holding operation

Reader’s note
Technical data, refer to Chapter 2.6.2, Table 2-7.

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Holding brake The brake sequence control operates with the ”open holding brake”
connection output signal. The signal can be output as follows:
 Motor with integrated holding brake (only 300 W motors)
No additional wiring is required for the brake sequence control.
 Motor with external holding brake
The external holding brake is controlled using a digital output with
function number 95 (open holding brake).
The following must be observed:
– Output terminal X5, I/Q1, I/Q2
– Activated via P56.4 and P56.6
– Parameterizing the output terminal ––> refer to Chapter 5.5.10

5 – Connecting up the output terminal ––> refer to Chapter 2.3

– The relay for the holding brake is connected at the parameteri-
zed output terminal.

Parameter The following parameters are available for the ”Holding brake” function:
(refer to Chapter
 P31 Function, terminal 1
5.6.2)
 P32 Function, terminal 2
 P56.4 Open holding brake
 P56.5 Monitoring, holding brake undervoltage
 P56.6 Open the holding brake, also for an external holding brake
 P58 Holding brake, brake opening time
 P59 Speed, close holding brake
 P60 Holding brake, brake delay time
 P61 Holding brake, controller inhibit time

Signals The following signals are relevant for the ”holding brake” function:
(refer to Chapter
 Input signal
5.5.10)
– Input terminal (X5, I/Q1, I/Q2)
Function number 26 Open holding brake
– PROFIBUS
Control signal STW.15 Open holding brake
 Output signal
– Output terminal (X5, I/Q1, I/Q2)
Function number 95 Control external holding brake

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Open brake When the brake control is activated, when the status changes from ”re-
ady” to ”operation enabled”, the brake is opened. At the same time, the
pulses are enabled and the axis goes into closed–loop controlled oper-
ation without a traversing task. The holding controller is switched in.
In order to give the brake the necessary time to mechanically open, the
drive starts after the brake opening time (P58).
The drive goes into the ”operation enabled” status after the time in P58
has expired.

Objective The brake opening time should be selected, so that after the ”controller
when setting the enable” is issued, the speed controller becomes active when the motor
brake opening time holding brake opens. For all other settings, the control acts against the
brake.
The following applies:
Brake opening time (P58)  Time to open the holding brake 5

Ready Transitio Operation enabled

n
1
”Controller enable”
0
t
Output signal 1
”control external
0
holding brake” t
1
Holding controller
0
t

Speed setpoint

t
P58 (holding brake, brake opening time)

1
Speed controller active
0

ÄÄÄÄÄ
t

ÄÄÄÄÄ
1
Holding brake
0
Time t

to open the holding brake

Fig. 5-17 Opening the brake: Behavior when the status changes from ”ready” to ”operation enabled”

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Closing the brake The ”controller enable” is withdrawn for the following events:
when withdrawing
 STW.0 (ON/OFF 1) = 1/0 signal
the ”controller
enable”  STW.2 (operating condition/OFF 3) = 1/0 signal
 A fault occurs, where it is possible to brake in a controlled fashion
(e.g. software limit switch actuated)
What happens if the ”controller enable” is withdrawn?
 The axis is actively braked and the brake delay time started
– The axis is actively braked according to the data entered (ramp
or maximum deceleration)
– The brake delay time (P60) is started
 The brake control signal is withdrawn

5 The brake control signal is withdrawn, if

– nact = nholding brake (P59), or
– The brake delay time (P60) has expired
 Start the controller inhibit time (P61) and then cancel the pulses

Speed setpoint Positioning

OFF 1 – OFF 3 – fault
mode
t
Actual speed value Drive braked actively
P59 (e.g.: regenerative braking)
nholding brake
t
Output signal 1
”control external
holding brake” 0
P60 Holding brake t
brake delay time
1
”Internal pulse enable”
0

ÄÄÄÄ
P61 Holding brake t

ÄÄÄÄ
controller inhibit time
1

ÄÄÄÄ
Holding brake
0
Time t

to close the holding brake

Fig. 5-18 Closing the brake: Behavior when withdrawing ”controller enable”

Objective for this The controller inhibit time should be harmonized so that the closed–
setting loop control is only withdrawn after the brake has been closed. This
prevents an axis from possibly sagging.

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Closing the brake The ”pulse enable” is withdrawn when the following events occur:
when the ”pulse
 STW.2 (operating condition/OFF 2) = 1/0 signal
enable” is
withdrawn  STW.3 (operation enabled/operation inhibited) = 1/0 signal
 A fault occurs, where it is no longer possible to brake in a controlled
fashion (e.g. encoder fault)
What happens if the ”pulse enable” is withdrawn?
When the pulse enable is withdrawn, the drive ”coasts” down and the
output signal ”open holding brake” is canceled.
The motor ”coasts” down until the brake becomes effective mechani-
cally and brings the motor to a standstill.
After the time taken for the brake to close, the drive is braked by the
motor holding brake.

5
Positioning mode OFF 2 – operating inhibit – fault

1
”Pulse enable”
0
t

Output signal 1
”control external 0
holding brake” t

Speed setpoint

t
The drive ”coasts” down
The drive is braked by the
Actual speed value
holding brake

ÄÄÄÄÄ
t

ÄÄÄÄÄ
1
Holding brake
0
Time t

to close the holding brake

Fig. 5-19 Closing the brake: Behavior when withdrawing ”pulse enable”

Warning
! When this type of braking is used, it subjects the holding brake to
mechanical wear and therefore should only be seldomly used.

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Example: Task and assumptions:

Motor with
A motor with external holding brakes should be used for hanging axes.
external holding
The holding brake is to be controlled via output terminal 1.
brake
What other settings are required?
1. Connect the relay to control the motor holding brake to output termi-
nal 1.
2. Assign the ”control external holding brake” function to output termi-
nal 1.
P31 = 95
3. Activate the brake sequence control in the drive.
P56.4 = 0, STW.15 = 0
4. Set the parameters to open the holding brake.
5 – P58 (holding brake, brake opening time)
The brake opening time must be set so that it is equal to or grea-
ter than the time required to actually open the holding brake.
5. Set the parameters to close the holding brake when ”controller
enable” is withdrawn.
– P59 (speed, close holding brake)
– P60 (holding brake, brake delay time)
The brake delay time (P60) must be harmonized with the speed,
at which the holding brake is closed (P59).
– P61 (holding brake, controller inhibit time)
The controller inhibit time must be harmonized with the time that
it takes to close the brake so that the drive cannot sag.
Example to determine the controller inhibit time
Mark the position of the axis and initiate a fault which results in
the controller enable being withdrawn (e.g. change the setting of
the software limit switch in P6 or P7).
Does the axis sag (drop slightly)?
––> yes, then increase the controller inhibit time (P61)
––> no, then the settings are OK

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24 V

Open/close the holding brake

Terminal 1 Terminal 2

0V

Ä
ÄÄ ÄÄ
Ä
ÍÍÍÍÍÍÍÍÍÍ
Brake
sequence
control
5
Motor with integrated External holding brake
holding brake (optional)

Parameters
P31 Function, terminal 1
P32 Function, terminal 2
P56.4 Open holding brake
P56.5 Monitoring, holding brake undervoltage
P56.6 Open the holding brake, also for an external holding brake
P58 Holding brake, brake opening time
P59 Speed, close holding brake
P60 Holding brake, brake delay time
P61 Holding brake, controller inhibit time
Inputs/Outputs
P31 = 26 Terminal 1 as input with ”open holding brake” function
P32 = 95 Terminal 2 as output with the ”control external holding brake” function

Fig. 5-20 Example: Integrated holding brake – external holding brake

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5.5.14 Limit switch monitoring functions

Description For POSMO A, the following limit switch monitoring functions can be
used:
 Hardware limit switch (from SW 2.0)
 Software limit switch
The limit switch monitoring functions can be used to limit the operating
range or to protect the machine and are also available in the n–set
mode.

Hardware limit Software limit Software limit Hardware limit

ÏÏ ÏÏ
switch switch switch switch

ÏÏ ÏÏ
start start end end
(NO contact)1) (NO contact)1)
5 P6 P7

ÏÏ
ÏÏ ÏÏ
ÏÏ
ÏÏ
Mechanical
ÏÏ
Mechanical
end of end of
traversing traversing
range range
Input terminal Input terminal
with the function number 28/301) with the function number 29/311)
”Hardware limit switch start” ”Hardware limit switch end”
1) From SW 3.0 the following applies:
The hardware limit switch can also be implemented as an NC contact
(refer to P31/P32).

Fig. 5-21 Limit switch monitoring functions

Hardware limit There is a hardware limit switch for every axis and every approach di-
switch rection. The hardware limit switches must be connected to an input ter-
(HW limit switch) minal (P31/P32) with the following function numbers.
 Function ”hardware limit switch start” ––> function number 28
 Function ”hardware limit switch, end” ––> function number 29
––> Refer to Chapter 5.6.2

Traverse to a When traversing to a hardware limit switch, the associated input signal
hardware limit is set and the following response is automatically initiated:
switch?
 The axis is braked down to the maximum velocity set using P28
(maximum velocity).
 The following fault is signaled:
– Fault 706/707 software limit switch, start/end
– Supplementary info 911 hardware limit switch, passed/reached

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How do you move If an axis is located at a hardware limit switch, then it can be moved
away from a away as follows:
hardware limit
1. Acknowledge the fault
switch?
2. Return the axis to the valid traversing range
In the jog mode or via velocity, move away in a direction opposite to
the approach direction
or
1. Withdraw the controller enable (control signal ON/OFF1)
2. Set the input terminal (function number 28/29) to 0

Note
If the hardware limit switch was passed, then it is only possible to
continue to traverse in the original direction, if after acknowledging the 5
fault, the axis is traversed in the opposite direction and again passes
over the hardware limit switch.

Software The software limit switch start (P6) and software limit switch end (P7)
limit switches can be correspondingly set to limit the operating range or to protect the
(SW limit switches) machine.
P6, P7

Notice
The software limit switches only become active if the following
conditions exist:
 P6 < P7
 pos mode: The axis is referenced (”reference point set” output
signal)
Only then is it certain that the axis will be immediately stopped if it
attempts to move out of the permissible range.

Note
The SW limit switch monitoring is dependent on the axis type as
follows:
For a linear axis or rotary axis with modulo correction, the following is
valid:
––> The software limit switches can be activated via P6<P7 and set
via P6 and P7.

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Traverse to a Upon traversing to a software limit switch, the following reaction is au-
software limit tomatically triggered:
switch?
 When the axis reaches the software limit switch, then the axis is
braked down to the velocity set in P10 (maximum velocity). The axis
therefore comes to a standstill after the limit switch.
 One of the following faults/warnings is signaled:
– Fault 706 software limit switch, start
– Fault 707 software limit switch, end
– Alarm 803 software limit switch, start
– Alarm 804 software limit switch, end

How do you move If an axis is located at a software limit switch, then it can be moved
5 away from a
software limit
away as follows:
1. Acknowledge the fault
switch?
2. Return the axis to the valid traversing range
In the jog mode or via velocity, move away in a direction opposite to
the approach direction
or
withdraw the controller enable (OFF1) and ”manually” move the
drive.

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5.5.15 Telegram substitution (from SW 3.0)

Description For specific applications it is necessary that under no circumstances

(PROFIBUS–DP fails) that the axis of the drive comes undesirably to a
standstill or the drive state can be configured to ”freeze” to run–down
the master.

Warning
! For P701=1, the function is immediately effective. The drive only
evaluates PZD data if STW.10 = 1.
It must be carefully ensured that the drive can always be stopped
using an EMERGENCY SWITCHING–OFF button/function In addition
we recommend that one of the two input terminals should be
parameterized with the ”OFF1” function (refer to P31/P32). 5
The function is available for both operating modes – ”positioning” and
”speed setpoint” (P700).

Behavior after
being activated
 PZD data that is available (STW, block selection and start byte) is
(P701 = 1)
only evaluated if the STW.10 ”control from PLC requested” is equal
to ”1”.
 If STW.10 changes from ”1” to ”0”, then the currently active drive
state (PZD data being used) is frozen. The drive uses the last recei-
ved STW, block selection and start byte (or speed setpoint) where
STW.10 was 1.
 PZD data that is received is only taken into account if STW.10 = 1.
In this case, PZD data must be sent from the same master type as
before the connection was lost. It is not possible to interrupt a con-
nection with a Class 1 master (S7–CPU) and resume communica-
tions with a Class 2 master (PG/SimoCom A) (refer to P928).
 If the drive is powered–up (power–on) and P701 = 1 was previously
saved in the FEPROM (refer to P971), then the drive only responds
when PZD data is available, if STW.10 = 1.
 If the bus connection to the drive fails, then the currently active drive
state is frozen. The drive uses the last received STW, block selec-
tion and start byte where STW.10 was 1.
After the bus connection has been restored, PZD data that is recei-
ved is only taken into account again if STW.10 = 1. Also in this
case, PZD data must be sent from the same master type as before
the connection was interrupted.

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 The drive LED indicates when PZD data is being actively substituted
((P701 = 1 and STW.10 = 0).
In this case, the LED flashes, alternating between yellow/green.
If STW.10 = 1, then the behavior of the LED is compatible to the
behavior with P701 = 0.
 The function cannot be used in the standalone mode (refer to
P100).
 Independent of the operating mode and independent of P701, para-
meters P967 and P972 always display the PZD data presently being
internally used in the drive.
This can used, when establishing a connection to the drive, after
bus failure or replacing the master, to immediately send the last va-
lid control word (for which STW.10 = 1), the last valid block selection
5 and start byte (or speed setpoint) to the drive. This means that the
connection can be immediately restored without changing the status
of the drive.

Behavior for The drive behavior is compatible to previous software releases.

P701 = 0
PZD data is always evaluated independently of STW.10.
(factory
pre–setting)

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5.6 Parameters for SIMODRIVE POSMO A

5.6.1 General information on parameters

General The majority of the parameters required when commissioning the

information system for the first time are, for SIMODRIVE POSMO A, already pre-
set in the factory (factory default setting).
All of the motor, power module and encoder data are known because of
the fixed hardware. This means that the commissioning (start–up) data
is limited to defining the gearbox (refer to Chapter 5.6.3) and the
system geometry as well as some positioning data and software limit
switches. 5
Saving parameters There is a non–volatile memory to save parameters.
After parameters have been changed, they must be saved by transfer-
ring them into the non–volatile memory.
The parameters are loaded from the non–volatile memory after power
up.
Transfer into the non–volatile memory?
 Set P971 from 0 to 1
 Data save is automatically acknowledged with P971 = 0

Changing For safety reasons, some parameters can only be changed if a traver-
parameters sing block is not active, i.e. the motor is not moving (equalization move-
ments initiated by the closed–loop position control are an exception).
Exceptions:
 It is always possible to change parameters of traversing blocks
which are not selected.
 It is always possible to change parameters which do not have an
appropriate ID.
Illegal change tasks are rejected in the PKW part with PROFIBUS fault
number 17 (task not able to be executed due to the operating state)
(refer to Chapter 5.1).

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Setting the factory The factory setting of parameters for SIMODRIVE POSMO A can be
default re–established if required.
Establish the factory default setting?
 Set P970 from 1 to 0
 Download is automatically acknowledged with P970 = 1
The parameters are now in the volatile memory (RAM).
After the parameters have been transferred into the non–volatile
memory, the factory default setting is loaded when powering up.
 Set P971 from 0 to 1
 Data save is automatically acknowledged with P971 = 0

5 Service functions
for parameters
For SIMODRIVE POSMO A, the following service functions are avail-
able with reference to parameters:
(refer to Chapter
 P980:78 Supported parameters
5.6.2)
List of all supported parameters
 P990:78 Changes with respect to the factory default setting
List of all of the parameters that have been
changed with respect to the factory default setting

Parameters for The following parameters are available for positioning motor identifica-
identification (refer tion:
to Chapter 5.6.2)
 P52 Hardware version
 P53 Firmware version
 P964:8 (from SW 1.4) Drive identification

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5.6.2 List of parameters

Reader’s note
The parameters, listed in the following, are valid for all software
releases of SIMODRIVE POSMO A.
The complete list is updated corresponding to the Edition of this
documentation (refer to the Edition status in the header line) and
corresponds to the software release of SIMODRIVE POSMO A
documented here.
The parameters that are dependent on the software release are
appropriately identified.

Explanation of the The parameters are listed as follows:

5
parameter list

Parameter number (examples)

P0010 Parameter 10 without index
P0082:28 Parameter 82 with index 0, 1, ... 27 (28 indices)
P0082:13 Parameter 82 with index 13
P0082:x Parameter 82 with undefined index x
P0056.2 Parameter 56 bit 2
Data type
Parameter text ––> Refer to Chapter 4.3.1

decimal hexadecimal

Pdddd || hh word_word word_word

075W 300W
Min Standard Max Units Data type Effective
xx xx xx xx yy zz

Parameter description
Motor type
Specifies for which motor the parameter is
valid. Effective
075W ––> 75 W motor  immediately ––> becomes immediately
300W ––> 300 W motor effective when a change is made
When a parameter is changed, it is not permissible
Units
that a traversing block is active. If a parameter can be
MSR: Dimension system grid
changed while the axis is traversing, then an explicit
1 MSR = 1 mm for P4 = 0
reference is made.
1 MSR = 1 degr. for P4 = 1
1 MSR = 1 inch for P4 = 2 In the ”speed setpoint” mode, this means that STW.4
must be 0.
 RO ––> Read Only
The parameter can only be read and not written into.

Fig. 5-22 Parameter list

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Parameter list The following parameters are available for SIMODRIVE POSMO A:
Version: 04.03.02
P0001 / 01 Axis type
300W
Min Standard Max Unit Data type Effective
0 0 200000 MSR C4 immed.
0.0 ––> Linear axis
> 0.0 ––> rotary axis
The value corresponds to the modulo correction of the axis (e.g.: P1 = 360 ––> 0.0 – 359.9).
Note:
If the drive is programmed as a rotary axis (P1 > 0), the start and end of software limit switches
must lie within the modulo range. Furthermore, P6>=0 and P7<=P1 must apply.
The following applies from SW 1.6:
The parameter is limited in relation to the gear reduction factor and the travel per gear revolu-
tion.
5 The following formula applies:
F = Conversion factor (mm ––> F = 1 ; inch ––> F = 25.4)
P1 < 2147483647 * P2 / (F * 4096 * |P3| )
The following applies from SW 2.0:
Only the procedure with modulo axes is possible in the ”Speed setpoint” operating mode
(P930).
075W
Min Standard Max Unit Data type Effective
0 0 200000 MSR C4 immed.
0.0 ––> Linear axis
> 0.0 ––> rotary axis
The value corresponds to the modulo correction of the axis (e.g.: P1 = 360 ––> 0.0 – 359.9).
Note:
If the drive is programmed as a rotary axis (P1 > 0), the start and end of software limit switches
must lie within the modulo range. Furthermore, P6>=0 and P7<=P1 must apply.
The following applies from SW 1.6:
The parameter is limited in relation to the gear reduction factor and the travel per gear revolu-
tion.
The following formula applies:
F = Conversion factor (mm ––> F = 1 ; inch ––> F = 25.4)
P1 < 2147483647 * P2 / (F * 816 * |P3| )
The following applies from SW 2.0:
Only the procedure with modulo axes is possible in the ”Speed setpoint” operating mode (P930).

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P0002 / 02 Distance per gearbox revolution

300W
Min Standard Max Unit Data type Effective
0.0001 10 200000 MSR C4 immed.
The parameter specifies the travel which is moved through in the reference system after a gear-
box revolution.
Note:
The following applies from SW 1.6:
With a modulo axis (P1 > 0), the path per gear revolution is limited by the axis type and the
gear reduction ratio.
The following formula applies:
F = Conversion factor (mm ––> F = 1 ; inch ––> F = 25.4)
P2 > P1 * F * 4096 * |P3| / 2147483647
075W
Min Standard Max Unit Data type Effective
0.0001 10 200000 MSR C4 immed.
The parameter specifies the travel which is moved through in the reference system after a gear- 5
box revolution.
Note:
The following applies from SW 1.6:
With a modulo axis (P1 > 0), the path per gear revolution is limited by the axis type and the
gear reduction ratio.
The following formula applies:
F = Conversion factor (mm ––> F = 1 ; inch ––> F = 25.4)
P2 > P1 * F * 816 * |P3| / 2147483647

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P0003 / 03 Gearbox step-down ratio

300W
Min Standard Max Unit Data type Effective
–200000 1 200000 – C4 immed.
The step-down ratio should be entered in accordance with the gear used.
Note:
P3 = 0 is not permissible.
Sign change ––> direction of rotation change
This parameter has a gearbox-dependent factory default.
The following applies before SW 1.3: Min. value = 0.0001
The following applies from SW 1.6:
With a modulo axis (P1 > 0), the gear reduction ratio is limited by the path per gear revolution
and the axis type.
The following formula applies:
F = Conversion factor (mm ––> F = 1 ; inch ––> F = 25.4)
|P3| < 2147483647 * P2 / (F * 4096 * P1)
5 075W
Min Standard Max Unit Data type Effective
–200000 1 200000 – C4 immed.
The step-down ratio should be entered in accordance with the gear used.
Note:
P3 = 0 is not permissible.
Sign change ––> direction of rotation change
This parameter has a gearbox-dependent factory default.
The following applies before SW 1.3: Min. value = 0.0001
The following applies from SW 1.6:
With a modulo axis (P1 > 0), the gear reduction ratio is limited by the path per gear revolution
and the axis type.
The following formula applies:
F = Conversion factor (mm ––> F = 1 ; inch ––> F = 25.4)
|P3| < 2147483647 * P2 / (F * 816 * P1)
P0004 / 04 Dimension units
300W 075W
Min Standard Max Unit Data type Effective
0 0 2 – I2 immed.
Dimension units for parameter values (0 = mm, 1 = degree, 2 = inch).
P0005 / 05 Reference point coordinate
300W 075W
Min Standard Max Unit Data type Effective
–200000 0 200000 MSR C4 immed.
The parameter specifies the position at the reference point.
Note:
The parameter value can be changed while traversing.

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5.6 Parameters for SIMODRIVE POSMO A

P0006 / 06 Software limit switch, start

300W 075W
Min Standard Max Unit Data type Effective
–200000 –200000 200000 MSR C4 immed.
The parameter specifies the software limit switch, left negative.
de-activated: P6 = P7
activated: P6 < P7
Note:
Also refer to P7.
If the drive is programmed as a rotary axis (P1 > 0), the start and end of software limit switches
must lie within the modulo range. Furthermore, P6>=0 and P7<=P1 must apply.
The following applies from SW 2.0:
Software limit switches are not possible in the ”Speed setpoint” operating mode (P930).
P0007 / 07 Software limit switch, end
300W 075W
Min
–200000
Standard
200000
Max
200000
Unit
MSR
Data type
C4
Effective
immed.
5
The parameter specifies the software limit switch, right positive.
de-activated: P6 = P7
activated: P6 < P7
Note:
Also refer to P6.
If the drive is programmed as a rotary axis (P1 > 0), the start and end of software limit switches
must lie within the modulo range. Furthermore, P6>=0 and P7<=P1 must apply.
The following applies from SW 2.0:
Software limit switches are not possible in the ”Speed setpoint” operating mode (P930).
P0008 / 08 Maximum speed
300W
Min Standard Max Unit Data type Effective
0 3000 3800 rpm C4 immed.
Max. motor speed referred to the motor axis
075W
Min Standard Max Unit Data type Effective
0 3000 3600 rpm C4 immed.
Max. motor speed referred to the motor axis.
P0009 / 09 Acceleration time
300W 075W
Min Standard Max Unit Data type Effective
10 100 15000 ms T2 immed.
During this time, in the speed-controlled operation, the setpoint is set as follows:
Ramp-up: From zero up to the maximum permissible actual speed
Ramp-down: From the maximum permissible actual value down to zero
The following applies from SW 2.0:
The ramp-up time can be changed with immediate effect in the ”Speed setpoint” operating
mode.
This is also possible when the drive is moving.

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P0010 / 0A Maximum motor velocity

300W 075W
Min Standard Max Unit Data type Effective
0 30000 2000000 MSR/min I4 immed.
Max. permissible velocity, dependent on the system.
The max. speed in P8 was not exceeded in operation.
Note:
This parameter has a gearbox-dependent factory default.
P0011 / 0B Target range
300W 075W
Min Standard Max Unit Data type Effective
0 2 200000 MSR C4 immed.
The parameter specifies the precise stopping range (precise stopping window).
Note:
P0011 may not be set too low, as otherwise a traversing task cannot be completed. The setting
5 is dependent on the encoder resolution and the gear ratio.
P0012 / 0C Max. following error
300W 075W
Min Standard Max Unit Data type Effective
0 200000 200000 MSR C4 immed.
The parameter specifies the maximum permissible following error.
Note:
The following error status is displayed using status signal ZSW.8 (no following error / following
error).
P0013 / 0D Monitoring time
300W 075W
Min Standard Max Unit Data type Effective
0 100 2000000 ms T4 immed.
After the motion block has been completed (position ref. value = target ref. value), this time is
started.
After the time has expired, the standstill monitoring and P gain are activated for standstill (P54,
P57).
P0014 / 0E Standstil range
300W 075W
Min Standard Max Unit Data type Effective
0 200000 200000 MSR C4 immed.
Tolerance range for the closed-loop position control at standstill.
Note:
The parameter value can be changed while traversing.
P0015 / 0F Backlash compensation
300W 075W
Min Standard Max Unit Data type Effective
–200000 0 200000 MSR C4 immed.
The mechanical backlash for direction reversal can be compensated using this parameter.
P15 = negative ––> Correction direction negative
P15 = positive ––> Correction direction positive
Note:
The following applies before SW 1.4: Min. value = 0.0

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5.6 Parameters for SIMODRIVE POSMO A

P0016 / 10 Max. overcurrent

300W
Min Standard Max Unit Data type Effective
0 10.5 42 A C4 immed.
Max. overcurrent for the breakaway torque.
Note:
This parameter has a gearbox-dependent factory default.
The parameter is valid for: n < 100 RPM and max. 500 ms
Maximum values depend on the gear unit ––> see User Manual under the heading ”Gear unit
dependant parameters (factory settings)”
The following applies as from SW 1.5:
The parameter value can be changed while traversing.
075W
Min Standard Max Unit Data type Effective
0 9 18 A C4 immed.
Max. overcurrent for the breakaway torque.
Note:
This parameter has a gearbox-dependent factory default.
5
The parameter is valid for: n < 100 RPM and max. 500 ms
Maximum values depend on the gear unit ––> see User Manual under the heading ”Gear unit
dependant parameters (factory settings)”
The following applies as from SW 1.5:
The parameter value can be changed while traversing.
P0017 / 11 P gain, speed controller
300W
Min Standard Max Unit Data type Effective
0 3 100 – I4 immed.
The parameter specifies the P gain for traversing operation.
Note:
The parameter value can be changed while traversing.
Also refer to P54
075W
Min Standard Max Unit Data type Effective
0 20 100 – I4 immed.
The parameter specifies the P gain for traversing operation.
Note:
The parameter value can be changed while traversing.
The following applies before SW 1.2: Max. value = 40
Also refer to P54
P0018 / 12 Integral action time, speed controller
300W
Min Standard Max Unit Data type Effective
2 10 1000 ms T2 immed.
The parameter specifies the I component for the speed controller.
Note:
The parameter value can be changed while traversing.
075W
Min Standard Max Unit Data type Effective
2 22 1000 ms T2 immed.
The parameter specifies the I component for the speed controller.
Note:
The parameter value can be changed while traversing.

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P0019 / 13 Kv factor (position loop gain)

300W 075W
Min Standard Max Unit Data type Effective
0.1 1 9.9 1000/min C4 immed.
The parameter defines at which traversing velocity of the axis, which following error is obtained.
Kv factor significance
Low: Slow response to a setpoint-actual value difference, following error is high
High: Fast response to a setpoint-actual value difference, following error is low
P0020 / 14 Current setpoint smoothing
300W 075W
Min Standard Max Unit Data type Effective
0.3 0.3 10 ms C4 immed.
Lowpass (PT1 characteristics)
Note:
The parameter value can be changed while traversing.
5 P0021 / 15 Speed setpoint smoothing
300W 075W
Min Standard Max Unit Data type Effective
2 2 100 ms C4 immed.
Lowpass (PT1 characteristics)
Note:
The parameter value can be changed while traversing.
P0022 / 16 Maximum acceleration
300W
Min Standard Max Unit Data type Effective
0 4000 200000 MSR/s2 C4 immed.
Max. acceleration for closed-loop position controlled operation.
Note:
This parameter has a gearbox-dependent factory default.
075W
Min Standard Max Unit Data type Effective
0 1000 200000 MSR/s2 C4 immed.
Max. acceleration for closed-loop position controlled operation.
Note:
This parameter has a gearbox-dependent factory default.
P0023 / 17 Jerk time constant
300W 075W
Min Standard Max Unit Data type Effective
0 0 400 ms T4 immed.
The acceleration/deceleration is changed over this time.
Note:
Input resolution = 10 ms

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P0024 / 18 Override velocity

300W 075W
Min Standard Max Unit Data type Effective
0 16384 16384 % N2 immed.
Closed-loop speed control: referred to P8 (maximum speed)
Closed-loop position controlled: referred to P10 (maximum velocity)
Note:
The parameter value can be changed while traversing.
P0025 / 19 Override acceleration
300W 075W
Min Standard Max Unit Data type Effective
0 16384 16384 % N2 immed.
Closed-loop speed control: referred to P9 (acceleration time)
P25 = 50% means: Doubling of ramp
P25 = 10% means: Multiplication by 10 of ramp
Closed-loop position controlled:
The following applies from SW 2.0:
referred to P22 (maximum acceleration) 5
The acceleration override can be changed with immediate effect in the ”Speed setpoint” oper-
ating mode.
This is also possible when the drive is moving.
P0026 / 1A Override speed, jogging
300W 075W
Min Standard Max Unit Data type Effective
0 3276 16384 % N2 immed.
Referred to P8 (maximum speed).
Is calculated in addition to P24 (override velocity).
Note:
The parameter value can be changed while traversing.
P0027 / 1B Override acceleration, jogging
300W 075W
Min Standard Max Unit Data type Effective
0 8192 16384 % N2 immed.
Refer to P9 (acceleration time).
Is calculated in addition to P25 (override acceleration).

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P0028 / 1C Max. current

300W
Min Standard Max Unit Data type Effective
0 10.5 21 A C4 immed.
Upper limit, motor current.
Note:
The parameter value can be changed while traversing.
This parameter has a gearbox-dependent factory default.
Maximum values depend on the gear unit ––> see User Manual under the heading ”Gear unit
dependant parameters (factory settings)”
075W
Min Standard Max Unit Data type Effective
0 9 9 A C4 immed.
Upper limit, motor current.
Note:
The parameter value can be changed while traversing.
5 This parameter has a gearbox-dependent factory default.
Maximum values depend on the gear unit ––> see User Manual under the heading ”Gear unit
dependant parameters (factory settings)”
P0029 / 1D Electronics temperature tolerance time
300W 075W
Min Standard Max Unit Data type Effective
0 120000 2000000 ms T4 immed.
For an electronics overtemperature condition, after this time, the warning is changed to a fault,
i.e. the appropriate response is activated.
Note:
The electronics temperature is displayed using P47.
Input resolution = 10 ms
The parameter value can be changed while traversing.
P0030 / 1E Fault suppression
300W 075W
Min Standard Max Unit Data type Effective
0 0 F Hex I2 immed.
If the bit is set, instead of the appropriate fault, only a warning is output.
Bit 0: Speed controller at its endstop
Bit 1: Start, software limit switch or end, software limit switch
Software limit switches always stop an axis.
Bit 2: Standstill monitoring
Bit 3: Undervoltage of the load current supply (from SW 1.6)

Note:
The parameter value can be changed while traversing.
P0031 / 1F Function terminal 1
300W 075W
Min Standard Max Unit Data type Effective
0 0 793 – I2 immed.
The function of the terminal is defined using this parameter:
The following applies from SW 2.0:
The meaning of terminal parameterization depends on the operating mode (P930).
Parameters with different meanings are marked.

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Parameters which are not marked have the same function in both operating modes.
0 No function
1 I (STW.4) Positioning operating mode:Operating condition positioning. Stop and reject
the actual traversing task on cancelation. Stop
Speed setpoint operating mode:Ramp-function generator enable. Stop with
maximum acceleration on cancelation.
2 I (STW.5) Positioning operating mode:Operating condition positioning. Stop without
rejecting the actual traversing task on cancelation. Stop
Speed setpoint operating mode: Ramp-function generator START / Ramp-
function generator STOP. The actual speed remains constant on cancelation.
3 I (STW.6) Positioning operating mode:Activate traversing task
Speed setpoint operating mode: Setpoint enable. Deceleration at the ramp on
cancelation.
4 I (STW.8) Positioning operating mode:Jogging –
Speed setpoint operating mode:No function
5 I (STW.9) Positioning operating mode:Jogging +
Speed setpoint operating mode:No function
6 I (STW.11) Positioning operating mode:Referencing 5
Speed setpoint operating mode:No function
7 I (STW.12) Positioning operating mode:Automatic single block.
Speed setpoint operating mode:No function
8 I (STW.13) Positioning operating mode:External block change.
Speed setpoint operating mode:No function
9 I (STW.14) Positioning operating mode:Read-in enable.
Speed setpoint operating mode:No function
10 I (RMB.0) Positioning operating mode:Accept value directly in checkback byte (bit 0).
Speed setpoint operating mode:No function
11 I (RMB.1) Positioning operating mode:Accept value directly in checkback byte (bit 1).
Speed setpoint operating mode:No function
12 I (RMB.2) Positioning operating mode:Accept value directly in checkback byte (bit 2).
Speed setpoint operating mode:No function
13 I (RMB.3) Positioning operating mode:Accept value directly in checkback byte (bit 3).
Speed setpoint operating mode:No function
14 I (RMB.4) Positioning operating mode:Accept value directly in checkback byte (bit 4).
Speed setpoint operating mode:No function
15 I (RMB.5) Positioning operating mode:Accept value directly in checkback byte (bit 5).
Speed setpoint operating mode:No function
16 I (RMB.6) Positioning operating mode:Accept value directly in checkback byte (bit 6).
Speed setpoint operating mode:No function
17 I (RMB.7) Positioning operating mode:Accept value directly in checkback byte (bit 7).
Speed setpoint operating mode:No function
18 I (STB.0) Positioning operating mode:Accept value directly in start byte (bit 0).
Speed setpoint operating mode:No function
19 I (STB.1) Positioning operating mode:Accept value directly in start byte (bit 1).
Speed setpoint operating mode:No function
20 I (STB.2) Positioning operating mode:Accept value directly in start byte (bit 2).
Speed setpoint operating mode:No function
21 I (STB.3) Positioning operating mode:Accept value directly in start byte (bit 3).
Speed setpoint operating mode:No function
22 I (STB.4) Positioning operating mode:Accept value directly in start byte (bit 4).
Speed setpoint operating mode:No function
23 I (STB.5) Positioning operating mode:Accept value directly in start byte (bit 5).
Speed setpoint operating mode:No function

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24 I (STB.6) Positioning operating mode:Accept value directly in start byte (bit 6).
Speed setpoint operating mode:No function
25 I (STB.7) Positioning operating mode:Accept value directly in start byte (bit 7).
Speed setpoint operating mode:No function
26 I (STB.15) Open holding brake (software version 1.4 and higher)
27 I Positioning operating mode: On-the-fly measurement / actual value setting
(software version 1.4 and higher)
This function is only possible via terminal 1.
Other input parameters can also be used.
The input is updated in a 125 microsecond grid for the function ”On-the-fly
measurement / actual value setting”.
Speed setpoint operating mode:No function
28 E Hardware limit switch start (closing contact) (as of SW 2.0)
29 E Hardware limit switch end (closing contact) (as of SW 2.0)
30 E Hardware limit switch start (opening contact) (as of SW 3.0)
31 E Hardware limit switch end (opening contact) (as of SW 3.0)
5 64
65
O
O
(ZSW.0)
(ZSW.1)
Ready for power-up
Ready
66 O (ZSW.2) Operation enabled
67 O (ZSW.3) Fault
68 O (ZSW.4) OFF 2
69 O (ZSW.5) OFF 3
70 O (ZSW.6) Power-on inhibit
71 O (ZSW.7) Warning
72 O (ZSW.8) Positioning operating mode: Following error.
Speed setpoint operating mode: Speed within tolerance band
73 O (ZSW.10) Positioning operating mode: Setpoint position reached.
Speed setpoint operating mode: Ramp-up complete
74 O (ZSW.11) Positioning operating mode: Reference point set.
Speed setpoint operating mode: Checkback from Terminal1
75 O (ZSW.12) Positioning operating mode: Acknowledge traversing task.
Speed setpoint operating mode: Checkback from Terminal2
76 O (ZSW.13) Drive moves
77 O (ZSW.14) Positioning operating mode: Within traversing block.
Speed setpoint operating mode:No function
78 O (ZSW.15) Load power supply available
79 O (STB.0) Positioning operating mode: Accept value directly from start byte (bit 0).
Speed setpoint operating mode:No function
80 O (STB.1) Positioning operating mode: Accept value directly from start byte (bit 1).
Speed setpoint operating mode:No function
81 O (STB.2) Positioning operating mode: Accept value directly from start byte (bit 2).
Speed setpoint operating mode:No function
82 O (STB.3) Positioning operating mode: Accept value directly from start byte (bit 3).
Speed setpoint operating mode:No function
83 O (STB.4) Positioning operating mode: Accept value directly from start byte (bit 4).
Speed setpoint operating mode:No function
84 O (STB.5) Positioning operating mode: Accept value directly from start byte (bit 5).
Speed setpoint operating mode:No function
85 O (STB.6) Positioning operating mode: Accept value directly from start byte (bit 6).
Speed setpoint operating mode:No function
86 O (STB.7) Positioning operating mode: Accept value directly from start byte (bit 7).
Speed setpoint operating mode:No function
87 O (RMB.0) Positioning operating mode: Accept value directly from checkback byte (bit 0)
(software version 1.2 and higher). Speed setpoint operating mode:No function

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88 O (RMB.1) Positioning operating mode: Accept value directly from checkback byte (bit 1)
(software version 1.2 and higher). Speed setpoint operating mode:No function
89 O (RMB.2) Positioning operating mode: Accept value directly from checkback byte (bit 2)
(software version 1.2 and higher). Speed setpoint operating mode:No function
90 O (RMB.3) Positioning operating mode: Accept value directly from checkback byte (bit 3)
(software version 1.2 and higher). Speed setpoint operating mode:No function
91 O (RMB.4) Positioning operating mode: Accept value directly from checkback byte (bit 4)
(software version 1.2 and higher). Speed setpoint operating mode:No function
92 O (RMB.5) Positioning operating mode: Accept value directly from checkback byte (bit 5)
(software version 1.2 and higher). Speed setpoint operating mode:No function
93 O (RMB.6) Positioning operating mode: Accept value directly from checkback byte (bit 6)
(software version 1.2 and higher). Speed setpoint operating mode:No function
94 O (RMB.7) Positioning operating mode: Accept value directly from checkback byte (bit 7)
(software version 1.2 and higher). Speed setpoint operating mode:No function
95 O Control external holding brake (software version 1.4 and higher)
100 I (STW.0) OFF 1 logically ANDed with the terminal
101 I (STW.1)
102 I (STW.2)
OFF 2 logically ANDed with the terminal
OFF 3 logically ANDed with the terminal 5
Note:
If a terminal is parameterized as input or output, the following applies:
––> Addition with 256 means:
Positioning operating mode:
Status display via RMB.6/7. (terminal 1/2) (SW 1.4 and higher).
Speed setpoint operating mode:
Status check back via ZSW.11 (terminal 1) ZSW.12 (terminal 2).
If a terminal is parameterized as output, the following applies:
––> Addition with 128 means:
Inversion for signal output.
Applies from SW 2.1:
This function can be used only with the function ”Reference to occurring zero mark”.
––> Addition with 512 means: the terminal input is monitored for an edge. The addition of 512
is only possible for terminal parameterizations from the interval [18..25] (accept the value
in the start byte). The type of the edge to be monitored can be parameterized in P56.7.
The parameter value can be changed during the procedure.
P0032 / 20 Function terminal 2
300W 075W
Min Standard Max Unit Data type Effective
0 0 793 – I2 immed.
Refer to P31 (function, terminal 1).

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P0033 / 21 Address, test socket 1

300W 075W
Min Standard Max Unit Data type Effective
0 FC32 FFFFFFFF Hex I4 immed.
The parameter addresses the measured value for output via the analog test output.
FC00 Speed setpoint (motor shaft)
FC66 Actual speed value (motor shaft)
FC6A Position actual value
FC32 Current actual value
FC38 I set (speed controller)
FC3A I set (smoothed)
Note:
The parameter value can be changed while traversing.
P0034 / 22 Shift factor, test socket 1
300W 075W
5 Min
0
Standard
7
Max
F
Unit
Hex
Data type
I2
Effective
immed.
Shift factor for analog test socket 1.
Note:
Shift factor change of +1 corresponds to doubling the value
Shift factor change by –1 corresponds to halving the value
The parameter value can be changed while traversing.
P0035 / 23 Offset, test socket 1
300W 075W
Min Standard Max Unit Data type Effective
0 80 FF Hex I2 immed.
Offset for analog test socket 1.
Note:
With offset = 80 hex, for ”0” 2.5 V is output.
The parameter value can be changed while traversing.
P0036 / 24 Address, test socket 2
300W 075W
Min Standard Max Unit Data type Effective
0 FC66 FFFFFFFF Hex I4 immed.
Note:
Refer to P33 (address, test socket 1).
P0037 / 25 Shift factor, test socket 2
300W 075W
Min Standard Max Unit Data type Effective
0 0 F Hex I2 immed.
Note:
Refer to P34 (shift factor, test socket 1).
P0038 / 26 Offset, test socket 2
300W 075W
Min Standard Max Unit Data type Effective
0 80 FF Hex I2 immed.
Note:
Refer to P35 (offset, test socket 1).

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P0039 / 27 Position setpoint

300W 075W
Min Standard Max Unit Data type Effective
– – – MSR C4 RO
This parameter specifies the position setpoint in the selected unit of measurement.
P0040 / 28 Position actual value
300W 075W
Min Standard Max Unit Data type Effective
–200000 0 200000 MSR C4 immed.
This position is directly accepted as new actual value by writing the required position into P40
The drive must be closed-loop controlled and stationary.
The axis is then considered to have been referenced.
The following applies from SW 2.0:
It is possible to write the actual position value in the ”Speed setpoint” operating mode.
The axis is always dereferenced in this operating mode.
P0041 / 29 Speed setpoint
5
300W 075W
Min Standard Max Unit Data type Effective
– – – rpm C4 RO
”Positioning” operating mode:
Indicates the speed setpoint relative to the motor shaft.
P0042 / 2A Actual speed
300W 075W
Min Standard Max Unit Data type Effective
– – – rpm C4 RO
”Positioning” operating mode:
Indicates the speed setpoint relative to the motor shaft.
P0043 / 2B Current setpoint
300W 075W
Min Standard Max Unit Data type Effective
– – – A C4 RO

P0044 / 2C Current actual value

300W 075W
Min Standard Max Unit Data type Effective
– – – A C4 RO

P0045 / 2D Timer status

300W 075W
Min Standard Max Unit Data type Effective
– – – ms T4 RO

P0046 / 2E Following error

300W 075W
Min Standard Max Unit Data type Effective
– – – MSR C4 RO

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P0047 / 2F Electronics temperature

300W 075W
Min Standard Max Unit Data type Effective
– – – C C4 RO
This parameter serves to monitor the electronics temperature in the >0 C range to avoid pos-
sible overheating of the module.
Temperatures in the negative temperature range are not monitored and not correctly displayed.
P0048 / 30 Actual traversing block, block number
300W 075W
Min Standard Max Unit Data type Effective
– – – – I2 RO
The parameter specifies the block number of the traversing block presently being processed.
P0049 / 31 Following block, block number
300W 075W
5 Min
–
Standard
–
Max
–
Unit
–
Data type
I2
Effective
RO
The parameter specifies the block number of the next block.
The following block is the next traversing block to be executed.
P0050 / 32 Velocity setpoint
300W 075W
Min Standard Max Unit Data type Effective
– – – MSR/min I4 RO

P0051 / 33 Actual velocity

300W 075W
Min Standard Max Unit Data type Effective
– – – MSR/min I4 RO

P0052 / 34 Hardware version

300W 075W
Min Standard Max Unit Data type Effective
– – – – I4 RO
The parameter indicates the hardware version of the motor.
=1 ––> Hardware version A
=4 ––> Hardware version D, etc.
P0053 / 35 Firmware version
300W 075W
Min Standard Max Unit Data type Effective
– – – – I4 RO
The parameter indicates the firmware version of the drive.
Example:
= 10202 ––> Firmware version 01.02.02

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P0054 / 36 P gain, speed controller standstill

300W
Min Standard Max Unit Data type Effective
1 2 100 – I4 immed.
This parameter specifies the P gain for axis at standstill.
Note:
Refer to P56.2
The parameter value can be changed while traversing.
075W
Min Standard Max Unit Data type Effective
1 5 100 – I4 immed.
This parameter specifies the P gain for axis at standstill.
Note:
The following applies before SW 1.2: Max. value = 40
The following applies before SW 1.4: Min. value = 0
Refer to P56.2
The parameter value can be changed while traversing. 5
P0055 / 37 Signal position
300W 075W
Min Standard Max Unit Data type Effective
– – – MSR C4 RO
Last position for external block change or when canceling the program block by withdrawing the
start byte condition.
Note:
The following is valid for the position for rotary axis:
The following applies before SW 1.3: ––> no modulo evaluation
The following applies from SW 1.3: ––> modulo evaluation
P0056 / 38 Operating options
300W 075W
Min Standard Max Unit Data type Effective
0 0 FFFF Hex V2 immed.
Bit 1.0 Drive referenced and behavior after restart (from SW 1.2)
= 00: The motor is referenced when powering-up again if it had already been
referen-ced when powered-down and was stationary. The behavior is as it was
before SW 1.2.
= 01: The motor is referenced when powering-up again if it was already referenced
when powered-down and was not stationary (ZSW.13).
= 1x: The motor is not referenced when powering-up again.
(x: the bit can either 0 or 1)

The following applies from SW 2.0:

The drive is always dereferenced in the ”Speed setpoint” operating mode (P930).
Bit 0 and bit 1 have no function in this operating mode.
Bit 2 P gain at standstill (from SW 1.3)
= 0: P gain of holding controller active (P57)
= 1: Speed controller P gain active (P54)

The following applies from SW 2.0:

The speed controller is always active in the ”Speed setpoint” operating mode (P930).
Bit 2 has no meaning here.
P54 is effective at zero speed.

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Bit 3 Response of Bit 10 in the status word ”Setpoint position reached” (as of SW 1.6)
= 0: ”Set position reached” is signaled when:
– traversing block fully completed
– Abort of the traversing block by: Fault, Stop or OFF commands
= 1: ”Setpoint position reached” is signalled only after full completion of the traversing
block.
Bit 4 Open holding brake (from SW 1.4)
= 0: Brake sequence control active
= 1: Open holding brake
Bit 5 Monitoring, holding brake undervoltage (from SW 1.4)
= 0: Deactivatd (P947.12)
= 1: Activated (P947.12)
Bit 6 Open holding brake is also effective for external holding brakes (from SW 1.4)
= 0: Brake sequence control active
= 1: Open holding brake is also effective for an external holding brake

5 Bit 7 Option bit for the function: ”Reference to occurring zero mark” (from SW 2.1)
The following applies if one of the two input terminals has been parameterized with the
function ”Cam monitoring”:
= 0: A check is made as to whether a negative cam edge (leaving the cam) occurred
before the zero mark.
= 1: A check is made as to whether a positive cam edge (leaving an inverted cam)
occurred before the zero mark.
Bit 14 This bit controls the response to the fault message ”undervoltage load power supply”.
The following applies as of SW 3.0: this fault only occurs if the drive is to be switched
from follow-up mode to control mode. If no enable signals are set in the control word
and only the power supply to the electronics is switched on, the alarm ”Undervoltage
load power supply” is signalled.
This alarm automatically disappears when the load power supply is switched in.
= 0: Response to fault 701 as described previously
= 1: Response to fault 701 as in previous software versions
P0057 / 39 P gain, holding controller standstill
300W
Min Standard Max Unit Data type Effective
5 20 250 – I4 immed.
P gain for axis standstill.
Note:
Refer to P56.2
075W
Min Standard Max Unit Data type Effective
50 100 250 – I4 immed.
P gain for axis standstill.
Note:
Refer to P56.2
Available from SW 1.3.

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P0058 / 3A Holding brake, brake opening time

300W 075W
Min Standard Max Unit Data type Effective
0 100 1000 ms T4 immed.
For ”pulse enable” the setpoint is output delayed by this time.
Note:
Available from SW 1.4.
P0059 / 3B Speed, close holding brake
300W 075W
Min Standard Max Unit Data type Effective
0 10 3000 rpm C4 immed.
When withdrawing ”controller enable” and this speed is fallen below, the holding brake is closed.
The holding brake is always closed after the time in P60 has expired.
Note:
Available from SW 1.4.
P0060 / 3C Holding brake, brake delay time 5
300W 075W
Min Standard Max Unit Data type Effective
0 400 15000 ms T4 immed.
When withdrawing ”controller enable” this time is started and after it expires, the holding brake
is closed.
The holding brake can also be closed if the speed in P59 is fallen below.
Note:
Available from SW 1.4.
P0061 / 3D Holding brake, control blocking time
300W 075W
Min Standard Max Unit Data type Effective
0 100 1000 ms T4 immed.
When withdrawing the brake control signals, this time is started and after it has expired, the pul-
ses are deleted.
Note:
Available from SW 1.4.
P0062 / 3E Measuring position
300W 075W
Min Standard Max Unit Data type Effective
–200000 0 200000 MSR C4 immed.
The position value for the ”flying measurement” function is written into this parameter.
Note:
This parameter is overwritten at each measuring operation.
Available from SW 1.4.
P0080:28 / 50 Program control word PSW
300W 075W
Min Standard Max Unit Data type Effective
0 3 FFFF Hex V2 immed.
The program control word defines the general behavior of a traversing block.
Bit 0 Motion type
= 1: Enter position and velocity
= 0: Enter speed

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Bit 1 Positioning type (only when positioning)

= 1: Relative
= 0: Absolute
Bit 2 Timer type
= 1: Traverse as long as the timer no longer runs
= 0: Traverse as long as the timer runs
Bit 3 Logic operation between timer with start byte
= 1: Traverse if the timer or start bytes are fulfilled
= 0: Traverse if the timer and start byte are fulfilled
Bit 4 Return jump to program
= 1: Jump to the start of the program after the end of the block
= 0: No response
Bit 5 Traversing type
= 1: Continuous path mode
= 0: Precise stop
Bit 6 Negate start byte condition
5 = 1: Block is executed if at least one of the bits set in the start mask is not configured
= 0: Normal evaluation
Bit 7 SMStart type (from SW 1.2)
= 1: The following is valid dependent on the condition defined in SMStart:
Fulfilled ––> Execute block, Not fulfilled ––> Skip block
= 0: Wait until the start condition is fulfilled acc. to SMStart
Bit 8 Program stop (from SW 1.2)
= 1: End of program at end of block
= 0: No response
Bit 9 Set reference position, actual position
= 1: Active
Before SW 1.4 the following applies: At the end of the block the actual position is
set the same as the signaled position.
The following applies from SW 1.4: At the end of the block, the position of the last
zero mark is set the same as the signaled position and the drive is referenced.
= 0: Inactive
Bit 10 Flying actual value setting (from SW 1.4)
= 1: Active
= 0: Inactive
Bit 11 Flying measurement (from SW 1.4)
= 1: Active
= 0: Inactive
Bit 12 Traverse through the shorted path (from SW 1.4)
= 1: Active (only for modulo correction with absolute position data)
= 0: Inactive
Note:
Refer to P81:28 (target position).
Bit 13 Defined delay time until the next traversing block (from SW 2.1)
=1 Active: The next traversing block begins after exactly the time parameterized in
the timer value irrespective of the distance to be traversed in the current
traversing block and irrespective of the discontinuance of any start conditions.
(As a result of ”external block change” during the traversing motion, the following
block also waits until the delay time has expired.)
This function is valid only in conjunction with the timer type ”traverse as long as
the timer runs” (compare bit 2).
This function is valid only for the following traversing block (after skipping the
following traversing block, the started delay time is no longer evaluated).

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The following block only waits until the time has expired if this has been
parameterized with P80:x.7=0 (wait for start condition).
The delay time runs down internally in the drive. It c a n n o t be controlled via P45.
=0 Inactive
Bit 14 Reference to occurring zero mark (from SW 2.1)
=1 Active: The traversing block is canceled if a zero mark occurs. The reference
point is set to the value stated in the signaling position.
If this function is used in conjunction with an input terminal (BERO) which has
been parameterized with an additional cam monitoring (compare P31/P32), then
referencing takes place only if a cam edge according to P56.7 has occurred. If
the corresponding signal has not occurred at the input terminal, then the drive is
dereferenced when it reaches the zero mark.
In this case, fault 711 and the supplementary information 912 are signaled.
=0 Inactive
P0081:28 / 51 Target position
300W 075W
Min Standard Max Unit Data type Effective 5
–200000 0 200000 MSR C4 immed.
The parameter specifies the target position in the traversing block.
Note:
Index (using as an example P81):
P81:0 ––> no significance
P81:1 ––> traversing block 1
P81:2 ––> traversing block 2
...
P81:27 ––> traversing block 27
Block numbers (factory default):
1 Traversing block jogging –
2 Traversing block jogging +
3 ... 12 Single block
13 ... 17 Program 1
18 ... 22 Program 2
23 ... 27 Program 3
All blocks before program 1 are single blocks.
P0082:28 / 52 Velocity or speed
300W 075W
Min Standard Max Unit Data type Effective
–16384 16384 16384 % N2 immed.
The parameter specifies the velocity or speed in the traversing block.
Note:
Refer to P81:28 (target position).
P0083:28 / 53 Acceleration
300W 075W
Min Standard Max Unit Data type Effective
0 16384 16384 % N2 immed.
The parameter specifies the acceleration in the traversing block.
Note:
Refer to P81:28 (target position).

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P0084:28 / 54 Timer value

300W 075W
Min Standard Max Unit Data type Effective
0 0 20000000 ms T4 immed.
Contains the time required for the timer.
Note:
Value 0 de-activates the function.
Input resolution = 10 ms
Refer to P81:28 (target position).
P0085:28 / 55 Message position
300W 075W
Min Standard Max Unit Data type Effective
–200000 0 200000 MSR C4 immed.
When passing this position, the bits, specified in MMPos (P87:28) are set, and signaled to the
master via the return byte (RMB).
5 Note:
The following is valid for the position for rotary axis:
The following applies before SW 1.3: ––> no modulo evaluation
The following applies from SW 1.3: ––> modulo evaluation
The following applies from SW 1.4:
If the ”set reference position” function is activated (PSW.9= 1) or ”flying actual value setting”
(PSW.10= 1), this parameter is the setting value.
The signaling position function is then inactive.
Refer to P81:28 (target position).
P0086:28 / 56 SMStart MMStart
300W 075W
Min Standard Max Unit Data type Effective
0 0 FFFF Hex V2 immed.
Message mask start (MMStart):
Contains the bit mask which is activated when starting a traversing block and which is OR’d
with the status signals (RMB).
Start mask start (SMStart):
Contains a mask, which defines which bits of the start byte (STB) are evaluated in the PZD as
additional start bits.
The block starts as soon as all of the configured bits are set in addition to the normal start
enable signals.
If one of the bits is withdrawn, traversing motion stops and the block is ended.
Note:
Value 0 de-activates the function.
Refer to P81:28 (target position).

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P0087:28 / 57 MMPos MMStop

300W 075W
Min Standard Max Unit Data type Effective
0 0 FFFF Hex V2 immed.
Message mask stop (MMStop):
Bits, which are activated at the end of a traversing block and on the status signals (RMB).
MMStop is reset when starting a new traversing block.
Message mask, position (MMPos):
Bits, which are activated when passing the signaling position and are OR’d with the status sig-
nals (RMB).
MMPos is reset when starting a new traversing block.
Note:
Value 0 de-activates the function.
Refer to P81:28 (target position).
P0097 / 61 Carry-out POWER-ON RESET
300W 075W
Min Standard Max Unit Data type Effective
5
0 0 1 – I2 immed.
A POWER-ON RESET for the drive can be carried-out using this parameter.
0 Output status
1 Carry-out POWER ON-RESET
Note:
After P0097 = 1, POWER ON-RESET is immediately carried-out. Communications is interrup-
ted. The master does not receive an acknowledgment.
Available with software version 1.5 and higher.
P0098 / 62 Reset reference point set
300W 075W
Min Standard Max Unit Data type Effective
0 0 1 – I2 immed.
0 No reference point set
1 Reference point set
Note:
For a stationary, referenced axis, when writing zero into P98 = 0, the ”No reference point set”
status is re-established.
Refer to ZSW.11
Available from SW 1.4.
P0099:21 / 63 Program management
300W 075W
Min Standard Max Unit Data type Effective
0 0 27 – I2 immed.
The parameter specifies the start of a program.
P99:0 ––> no significance
P99:1 ––> start, program 1 (standard value = 13)
P99:2 ––> start, program 2 (standard value = 18)
P99:3 ––> start, program 3 (standard value = 23), etc.
Note:
The parameter value can be changed while traversing.

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P0100 / 64 Control word simulation

300W 075W
Min Standard Max Unit Data type Effective
0 0 FFFF – V2 immed.
If the cyclic communication with Master Class 1 is interrupted for more than 3 seconds, this
control word is used. All terminal signals remain active with priority.
=0 ––> no simulation
= 17471 dec (= 443F hex) ––> value recommended for simulation
Note:
The parameter value can be changed while traversing.
P101 must be > 0.
When operating the system with Master Class 2 alone (SimoCom A), the simulation mode is
activated immediately when making entries in P100.
Available from SW 1.2.
P0101:11 / 65 Block sequence in standalone operation
5 300W 075W
Min Standard Max Unit Data type Effective
0 0 27 – I2 immed.
For standalone operation, a maximum of 10 traversing blocks can be entered in the range 3 to
27 in P101:11.
These specified blocks are executed one after the other in the standalone mode.
P101:0 ––> no significance
P101:1 ––> 1st block
P101:2 ––> 2nd block, etc.
Note:
The parameter value can be changed while traversing.
Available from SW 1.2.
P0700 / 2BC Operating mode selector switch
300W 075W
Min Standard Max Unit Data type Effective
1 2 2 – I2 PO
This parameter is used for selecting the operating mode.
Operating mode changes only take effect when the parameter set is saved in the FEPROM
(P971 0 ––> 1) followed by a Power
If SimoCom A is in use, the operating mode should be selected via the configuration dialog.
The following operating modes are supported:
1 ––> Speed setpoint
2 ––> Positioning
The parameter corresponds to parameter 930.
Note:
Before changing the operating mode load factory default setting via P970.
This allows achieving a pre-defined initial status.
Available with software version 2.0 and higher.

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P0701 / 2BD Activate substitution

300W 075W
Min Standard Max Unit Data type Effective
0 0 1 – I2 immed.
The parameter is used to activate the telegram substitution function.
WARNING:
The parameter acts i m m e d i a t e l y. After activation, the drive responds only to PZD control
signals, provided STW.10=1. Read b e f o r e using the parameter the further description in the
online help for SimoComA. (Menu: Help–>Short Introduction SimoComA–>Contents–>Telegram
substitution.)
P701=1 Telegram substitution activated
P701=0 Telegram substitution deactivated
Available from SW3.0 and higher.
P0880 / 370 N-SETPOINT normalization
300W 075W
Min
–100000
Standard
4096
Max
100000
Unit
rpm
Data type
C4
Effective
immed.
5
This parameter defines the normalization as to which speed sets in at the gear output when a
setpoint of 1000h (4096d) is specified via the control word (STW).
P0918 / 396 PROFIBUS node address
300W 075W
Min Standard Max Unit Data type Effective
– – – – I2 RO
The node address is read from address switch S1.
P0928 / 3A0 Control authority PZD
300W 075W
Min Standard Max Unit Data type Effective
1 1 2 – V2 immed.
Request for control authority from a Class 2 DP master.
Note:
Available from SW 1.4.
P0930 / 3A2 Actual operating mode
300W 075W
Min Standard Max Unit Data type Effective
– – – – I2 RO
This parameter indicates the active operating mode.
P930 = 2 means: Positioning operating mode
software version 2.0 and higher: P930 = 1 means: Speed setpoint operating mode.

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P0947 / 3B3 Faults

300W 075W
Min Standard Max Unit Data type Effective
– – – – I2 RO
The parameter indicates, bit-coded, which faults are present.
Bit0 corresponds to Fault 700,
Bit1 corresponds to Fault 701, etc.
Note:
SimoCom A:
Read about possible faults in the online help:
Help ––> Help topics ––> Index ––> 700...715
User Manual:
The description of the faults, how they can be acknowledged as well as a list of all the faults is
provided in Section ”Fault handling and diagnostics”.
Refer to the index entry ”Faults”.

5 P0953 / 3B9
300W 075W
Warnings

Min Standard Max Unit Data type Effective

– – – – I2 RO
The parameter indicates, bit-coded, which alarms are present.
Bit0 corresponds to Warning 800,
Bit1 corresponds to Warning 801, etc.
Note:
SimoCom A:
Read about possible warnings in the online help:
Help ––> Help topics ––> Index ––> 800...812
User Manual:
The description of the warnings, how they can be acknowledged as well as a list of all the war-
nings is provided in Section ”Fault handling and diagnostics”.
Refer to the index entry ”Warnings”.
P0954 / 3BA Additional information on faults/warnings
300W 075W
Min Standard Max Unit Data type Effective
– – – – I2 RO
The parameter indicates, bit-coded, which supplementary information is available.
The additional information allows to diagnose the faults and warnings exactly.
Bit0 corresponds to Supplementary information 900,
Bit1 corresponds to Supplementary information 901, etc.
Note:
SimoCom A:
Read about possible supplementary information in the online help:
Help ––> Help topics ––> Index ––> 900...911
User Manual:
The description of the faults/warnings, how they can be acknowledged as well as a list of all the
faults/warnings is provided in Section ”Fault handling and diagnostics”.
Refer to the index entry ”Faults/Warnings”.
See also P947 and P953.
Available from SW 1.4.

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P0964:8 / 3C4 Drive identification

300W 075W
Min Standard Max Unit Data type Effective
– – – – V2 RO
Indices:
0 Siemens = 42d
1 Drive type POSMO A 75W/300W = 1201/1202
2 Firmware version (x.yy.zz)
3 Firmware date (year) (xxxx decimal)
4 Firmware date (day/month) (ddmm decimal)
5 No. of axes (always 1)
6 No. of option modules (always 0)
7 Gearbox code
Note:
Available from SW 1.4.
P0967 / 3C7
300W 075W
Control word
5
Min Standard Max Unit Data type Effective
0 0 FFFF Hex V2 immed.
This parameter corresponds to the control signals ”control word (STW)”.
Note:
The following applies from SW 1.4:
If the Class 2 DP master has control authority, then control is realized via this parameter.
The following applies from SW 2.0:
The meanings of bits 4, 5, 6, 8, 9, 11, 12, 13 and 14 depend on the active operating mode.
SimoCom A:
Please consult the online help for more detailed information:
Help ––> Help topics ––> Index ––> PROFIBUS diagnostics
User Manual:
Bit assignment, refer to Section ”Communications via PROFIBUS-DP”.
Refer to the index entry ”Process data”.
P0968 / 3C8 Image of current status word
300W 075W
Min Standard Max Unit Data type Effective
– – – Hex V2 RO
This parameter corresponds to the status signals ”status word (ZSW)”.
The following applies from SW 2.0:
The meanings of bits 8, 10, 11, 12, 14 depend on the active operating mode (P930).
Note:
SimoCom A:
Please consult the online help for more detailed information:
Help ––> Help topics ––> Index ––> PROFIBUS diagnostics
User Manual:
Bit assignment, refer to Section ”Communications via PROFIBUS-DP”.
Refer to the index entry ”Process data”.

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P0970 / 3CA Factory default download

300W 075W
Min Standard Max Unit Data type Effective
0 1 1 Hex V2 immed.
1/0 ––> Download the factory default
Note:
Downloading is automatically acknowledged with a 1.
P0971 / 3CB Write into FEPROM
300W 075W
Min Standard Max Unit Data type Effective
0 0 1 Hex V2 immed.
0/1 ––> Save parameter set in a non-volatile memory
Note:
Saving is automatically acknowledged by a 0.
P0972 / 3CC Select block number and PZD start byte/n-setpoint
5 300W 075W
Min Standard Max Unit Data type Effective
0 0 FFFF Hex V2 immed.
This parameter corresponds to the control signals ”select block number” and ”start byte”.
If the Class 2 DP master has control authority, then control is realized via this parameter.
Note:
Available from SW 1.4.
The following applies from SW 2.0:
The speed setpoint is transferred using these bits in the ”Speed setpoint” operating mode
(P930).
The setpoint specifies the speed at the gear output.
P0973 / 3CD Actual block number and checkback byte / n-actual
300W 075W
Min Standard Max Unit Data type Effective
– – – Hex V2 RO
For the complete PZD status, the actual block number and the return byte in the PKW channel
are signaled here.
Note:
Available from SW 1.4.
The following applies from SW 2.0:
The actual speed value is returned using these bits in the ”Speed setpoint” operating mode
(P930).
The actual value represents the speed at the gear output.
0980:116 / 3D4 Supported parameters
300W 075W
Min Standard Max Unit Data type Effective
– – – – I2 RO
All of the parameters supported by the device are listed here in an increasing sequence.
P980:0 ––> no significance
P980:1 = 1 (P1)
...
P980:77 = 990 (P990)

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0990:116 / 3DE Changes with respect to the factory default

300W 075W
Min Standard Max Unit Data type Effective
– – – – I2 RO
All of the parameters which have been changed over the factory default are listed here in an
increasing sequence.
P990:0 ––> no significance
P990:1 = 4 (e.g. P4)
P990:2 = 990 (P990)
P990:3 = after the end of the list
Note:
For parameters with index, the parameter number is listed if at least 1 parameter of the array
was changed.
P1426 / 592 Tolerance band for actual setpoint value
300W
Min
0
Standard
100
Max
3800
Unit
rpm
Data type
C4
Effective
immed.
5
075W
Min Standard Max Unit Data type Effective
0 100 3600 rpm C4 immed.
This parameter defines the tolerance band for the actual speed value.
If the actual speed value is within this tolerance band around the specified setpoint, the bit
”Speed within tolerance band” is output (ZSW.8).
Note:
This parameter is visible in SimoCom A only in operating mode ”Speed setpoint” (P930).
Available with software version 2.0 and higher.
P1427 / 593 Delay time Nsetpoint has elapsed
300W 075W
Min Standard Max Unit Data type Effective
0 0 15000 ms T2 immed.
This parameter defines the delay time following which the bit ”Ramp-up complete” (ZSW.10) is
output.
If the actual speed value for the specified time is within the tolerance band (P1426), ZSW.10 is
output.
Note:
This parameter is visible in SimoCom A only in operating mode ”Speed setpoint” (P930).
Available with software version 2.0 and higher.

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5.6 Parameters for SIMODRIVE POSMO A

5.6.3 Gearbox–dependent parameters, factory default settings

Gearbox– Depending on the gearbox used, the parameters listed in Table 5-10
dependent are pre–set before the equipment is supplied:
parameters
Table 5-10 Gearbox–dependent parameters (factory presetting – default)

Gearbox P964:7 P3 P10 P16 P22 P28

Gearbox Maximum Maximum Maximum Maximum
Step– step– velocity overcur- acceler– current
Gear–
down down rent ation
Type box
ratio factor
code
iGearbox
– [mm/min] [A] [mm/s2 ] [A]

5 75 W motor: Gearbox–dependent parameters (factory default setting)

without gearbox 2049 1 30000 18.0 1000 9.0
4.5 2050 4.5 6660 13.33 225 7.8
8 2058 8 3750 7.5 125 4.6
20.25 2059 20.25 1480 18.0 50 9.0
Planetary 36 2060 36 830 11.11 30 7.9
gearbox
50 2061 50 600 8.0 20 5.6
126.5625 2062 126.5625 237 9.48 8 7.8
162 2063 162 185 7.4 6 6.0
5 2064 5 6000 18.0 200 9.0
Worm gear 24 2065 24 1250 7.3 40 7.3
75 2066 75 400 2.7 13 5.3

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5.6 Parameters for SIMODRIVE POSMO A

Table 5-10 Gearbox–dependent parameters (factory presetting – default), continued

Gearbox P964:7 P3 P10 P16 P22 P28

Gearbox Maximum Maximum Maximum Maximum
Step– step– velocity overcur- acceler– current
Gear–
down down rent ation
Type box
ratio factor
code
iGearbox
– [mm/min] [A] [mm/s2 ] [A]
300 W motor: Gearbox–dependent parameters (factory default setting)
20511)
Keyway
20672)
without
Smooth 20751) 1 30000 42.0 4000 21.0
Gearbox shaft (wi-
thout key- 20762)
way)
2052
5
4 4 7500 42.0 1000 21.0
2068
2053
7 7 4285 42.0 570 21.0
2069
2054
12 12 2500 37.5 330 21.0
2070

Planetary 2055
20 20 1500 26.25 200 21.0
gearbox 2071
2056
35 35 855 15.7 115 14.8
2072
2057
49 49 610 11.2 80 10.6
2073
2078
120 120 250 10.4 33 10.4
2079
1) Upper value ––> gearbox code for the motor without holding brake
2) Lower value ––> gearbox code for the motor with holding brake

Notice
After another gearbox type has been mounted, the
gearbox–dependent parameters no longer match the gearbox and
must therefore be changed corresponding to Table 5-10.
P964:7 (gearbox code) can only be changed with ”SimoCom A” using
the drive configuration.

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5.6 Parameters for SIMODRIVE POSMO A

Space for your notes

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Fault Handling and Diagnostics 6
6.1 LED fault display

LED An LED with the following significance is provided on the rear of the
fault display positioning motor for diagnostics LED:

Table 6-1 What does an LED mean when it is bright?

LED display Is the What status does the drive have?

bus What are the fault possibilities?
Color How is it lit? OK?
none from no  The equipment is powered down or is defective
6
 The power supply is incorrectly connected (incorrect
polarity)
Steady light no  Critical hardware defect, CPU cannot be used
 Briefly after power up, even if the unit is OK
Red Disappears after the system has completely run up.
Flashing yes  Fault present, drive not ready
 Read–out the fault number ––> refer to Chapter 6.2
Red/yellow Alternating no  Bus communications interrupted
flashing light
Steady light yes  Standard operation
Flashing yes  Run–up, bus being initialized (baud rate adjustment,
configuration, parameterization)
Green  No bus connection established:
– Bus cables not OK
– Address incorrectly set
– Bus parameterizing error
Steady light no  Bus run–up, incorrect configuration telegram
Yellow
Flashing no  Bus run–up, incorrect parameterizing telegram
Yellow/ Alternating no  Standalone mode is active
green flashing light ––> Refer to Chapter 5.5.12
(from SW  From SW 3.0:
1.2) P701 = 1 (telegram substitution activated) and the re-
ceived STW.10 = 0.
The drive uses precisely the last valid STW (with
STW.10 = 1).

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6.2 Faults and alarms

6.2 Faults and alarms

6.2.1 General information on faults and warnings

Preliminary When a fault or warning is detected then this is displayed in the positio-
comment ning motor by setting the appropriate status signal and the fault/war-
ning bits in P947, P953 and P954.
The faults and warnings can be evaluated as follows:
 Via PROFIBUS in cycle operation
By reading the status signal and evaluating the bit–coded parameter
values for the faults and warnings (P947, P953 and P954).
 Via SimoCom A in online operation
The faults or warnings that have occurred are converted into an ap-
propriate fault/warning number and displayed.
6
Table 6-2 Overview of faults and warnings

Fault bit Fault number Status signal Meaning

Warning bit Warning number
for SimoCom A
P947.0 700 Fault 700
ZSW.3
... ... ...
(faults present)
P947.15 715 Fault 715
P953.0 800 Warning 800
ZSW.7
... ... ...
(warning present)
P953.15 815 Warning 815
P954.0 900 Supplementary information 900
... (from SW ... ...
ZSW.3 or ZSW.7
1.4) 915 Supplementary information 915
P954.15

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6.2 Faults and alarms

Differences What is the difference between a fault and a warning?

between
 Faults (refer to Table 6-2)
faults and
warnings? – A fault causes an appropriate response for the positioning motor.
– Faults must be acknowledged after the fault cause has been re-
moved.
– The motor signals ”fault present” using its diagnostics LED – red
flashing light.
 Warnings (refer to Table 6-2)
– Warnings are automatically deleted after the cause of the fault
has been removed.

Faults Faults indicate to the user positioning motor states where the motor
can only be shut down or switched into a no current condition.
How does the DP master evaluate faults?
1. By reading the status signal ZSW.3 (fault present)
A ”1” signal indicates that there is at least 1 fault.
6
2. By reading P947 (3B3hex)
The parameter value indicates, bit–coded, which faults are present
(refer to Table 6-2 and Chapter 6.2.2).
3. By reading P954 (3BAhex) (from SW 1.4)
The parameter value indicates, bit–coded, which supplementary
information is present (refer to Table 6-2 and Chapter 6.2.2).
How are the faults acknowledged?
1. Remove the cause of this fault (refer to Chapter 6.2.2).
2. STW.7 (reset the fault memory) = set 0/1 signal edge.
3. Set the STW.0 (ON/OFF 1) to ”0” and ”1”.

Note
If the status signal ZSW.3 (fault effective) is not ”0”, then the above
points should be repeated for the fault or faults that are still present.
SIMODRIVE POSMO A can only resume normal operation after all of
the faults that are present have been acknowledged.
The faults are described in detail in Chapter 6.2.2.

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6.2 Faults and alarms

Fault suppression Fault suppression should only be used for start–up purposes or for spe-
cial traversing programs. When fault suppression(s) are active, the cor-
rect program execution must be monitored by the higher–level control.
 ”Speed controller at endstop” fault suppression
The fault is converted to a warning.
This fault suppression should only be used for the function ”travel to
fixed stop”.
If this fault suppression is used in other traversing programs, the
appearance of the warning ”Speed controller at endstop” must be
handled by the higher–level control. In addition, the bit of the status
word ”Position setpoint reached” (ZSW.10) must be evaluated to
ensure that a target position was reached correctly despite the oc-
currence of warnings.
 ”Undervoltage” fault suppression
This fault suppression serves to suppress a fault suppression upon
switching on the drive if the load power supply is connected separa-
tely and is switched on only after the electronics power supply.
6 The fault suppression must be deactivated before starting a traver-
sing movement.
If a voltage dip occurs during a positioning instruction while the fault
”Load power supply undervoltage” is suppressed, this positioning
instruction is aborted.

Warnings Warnings indicate to the user motor statues that do not necessarily
mean that operation must be interrupted.
How does the DP master evaluate warnings?
1. By reading the status signal ZSW.7 (warning effective)
A ”1” signal indicates that there is at least 1 warning present.
2. By reading P953 (3B9hex)
The parameter value indicates, bit–coded, which warnings are pre-
sent (refer to Table 6-2 and Chapter 6.2.2).
3. By reading P954 (3BAhex) (from SW 1.4)
The parameter value indicates, bit–coded, which supplementary
information is present (refer to Table 6-2 and Chapter 6.2.2).

Note
If the status signal ZSW.7 (warning effective) is not ”0”, then the above
points must be repeated for the warning or warnings that are still
present.
Warnings are described in detail in Chapter 6.2.2.

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6.2 Faults and alarms

Remedy For faults and warnings, measures are described which can be applied
to remove/withdraw the fault/warning.
In this case, one of the possibilities specified is to replace the positio-
ning motor. For POSMO A – 300 W, it is also possible, corresponding
to the information given as counter–measure, to only change the drive
unit.
 Replacing the positioning motor
––> refer to Chapter 7.1
 Replacing the drive unit (only POSMO A – 300 W)
––> refer to Chapter 7.3.2

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6.2 Faults and alarms

6.2.2 List of faults and warnings

Reader’s note
The faults and warnings, listed in the following, are valid for all
software releases of SIMODRIVE POSMO A.
The complete list is updated corresponding to the Edition of the
documentation (refer to the Edition status in the header line) and
corresponds to the software release of SIMODRIVE POSMO A
documented here.
The individual faults and warnings are not designated as a function of
the software release.

Version: 04.03.02
700 / P947.0 Overvoltage
Cause The load voltage has exceeded 35 V (75 W motor) or 60 V (300 W
motor).
6 When braking, the braking energy is excessive which causes an inad-
missible increase in the load voltage.
Remedy Provide regenerative feedback protection.
Acknowledgement Remove cause, set STW.7 = 1/0 and STW.0 = 0/1
Stop response Pulse suppression
701 / P947.1 Undervoltage of the load current supply
Cause The load voltage has fallen below 17 V.
The load power supply is overloaded.
SITOP: The load voltage was powered-down when braking due to over-
voltage.
The following applies as of SW 3.0: this fault only occurs if the drive is
to be switched from follow-up mode to control mode. If no enable sig-
nals are set in the control word and only the power supply to the elec-
tronics is switched on, the alarm ”Undervoltage load power supply” is
signalled.
This alarm automatically disappears when the load power supply is
switched in.
The response to the fault can be set with P56.14.
Remedy Increase load power supply rating.
SITOP: Provide regenerative feedback protection.
Acknowledgement Remove cause, set STW.7 = 1/0 and STW.0 = 0/1
Stop response Pulse suppression

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6.2 Faults and alarms

702 / P947.2 Electronics temperature

Cause The electronics temperature is > 90 degrees Celsius and has been pre-
sent for longer than specified in P29 (electronics temperature tolerance
time).
An excessive electronics temperature is first signaled using warning
800 (warning, electronics temperature).
The ambient temperature is too high.
Remedy Observe the de-rating characteristic.
Reduce ambient temperature.
Acknowledgement Remove cause, set STW.7 = 1/0 and STW.0 = 0/1
Stop response Braking with maximum acceleration (P22)
703 / P947.3 Overcurrent fault
Cause The current limit has been exceeded.
The motor or the electronics is defective.
Remedy Replace the positioning motor.
Acknowledgement Remove cause, set STW.7 = 1/0 and STW.0 = 0/1
Stop response Pulse suppression
6
704 / P947.4 Encoder fault
Cause The signal sequence for the rotor position identification is not permissi-
ble.
The number of increments between two rotor position signals lies out-
side the permissible tolerance.
The motor or the electronics is defective.
Remedy Replace the positioning motor.
Acknowledgement Remove cause, set STW.7 = 1/0 and STW.0 = 0/1
Stop response Pulse suppression
705 / P947.5 Standstill monitoring
Cause The motor was moved out of the standstill area (P14) in the closed-loop
controlled status.
Note:
The fault can be changed-over to a warning using P30 (fault suppres-
sion).
Remedy Check P14 (standstill area).
Acknowledgement Remove cause, set STW.7 = 1/0 and STW.0 = 0/1
Stop response Pulse suppression

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6.2 Faults and alarms

706 / P947.6 Software limit switch, start

Cause The actual position lies outside the range defined by the software limit
switch.
When traversing to a software limit switch, the motor is always stop-
ped.
SW 1.6 and higher: This fault is also signalled if the traversing range
limits of the axis (+/– 200000mm or degrees or inches) are reached. In
this case, the Additional information 910 (P954.10) is output.
SW 2.0 and higher: This error is also output when the corresponding
hardware limit switch (start) has been overrun.
In this case, additional information 911 (P954.11) is output.
Note:
The fault can be changed-over to a warning using P30 (fault suppres-
sion).
Remedy Move away in the opposite direction.
Check P6 (software limit switch, start).
Acknowledgement Remove cause, set STW.7 = 1/0 and STW.0 = 0/1
Stop response Braking with maximum acceleration (P22)
6 707 / P947.7 Software limit switch, end
Cause The actual position lies outside the range defined by the software limit
switch.
When traversing to a software limit switch, the motor is always stop-
ped.
SW 1.6 and higher: This fault is also signalled if the traversing range
limits of the axis (+/– 200000mm or degrees or inches) are reached. In
this case, the Additional information 910 (P954.10) is output.
SW 2.0 and higher: This error is also output when the corresponding
hardware limit switch (end) has been overrun.
In this case, additional information 911 (P954.11) is output.
Note:
The fault can be changed-over to a warning using P30 (fault suppres-
sion).
Remedy Move away in the opposite direction.
Check P7 (software limit switch, end).
Acknowledgement Remove cause, set STW.7 = 1/0 and STW.0 = 0/1
Stop response Braking with maximum acceleration (P22)

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6.2 Faults and alarms

708 / P947.8 Speed controller at stop

Cause The speed controller is at its limit for more than 200 ms.
The required speed is not reached.
The load or friction is too high or the drive is too small.
The current limit (P28, P16) is set too low.
The drive is defective.
Note:
The fault can be changed-over to a warning using P30 (fault suppres-
sion).
Remedy Reduce load.
Increase current limit.
Replace the positioning motor.
Check the drive parameterization.
Acknowledgement Remove cause, set STW.7 = 1/0 and STW.0 = 0/1
Stop response Pulse suppression
709 / P947.9 Bus communications
Cause Bus communications between the master and slave has failed.
The bus cable has been withdrawn or is defective 6
The EMC faults on the bus cable are too high.
Remedy Check fieldbus.
Acknowledgement Remove cause, set STW.7 = 1/0 and STW.0 = 0/1
Stop response Pulse suppression
710 / P947.10 Hardware watchdog reset
Cause After a restart, after initiating the CPU monitoring, the positioning motor
goes into a fault condition.
Note:
The following applies from SW 1.3: Afterwards the positioning motor is
no longer referenced.
Remedy Posmo A 75W : Replace the positioning motor.
Posmo A 300W : Replace the drive unit.
Acknowledgement Remove cause, set STW.7 = 1/0 and STW.0 = 0/1
Stop response Pulse suppression

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6.2 Faults and alarms

711 / P947.11 Flying measurement/actual value setting

Cause The ”flying measurement/actual value setting” function has not been
correctly parameterized.
The bit combination for the program control word (PSW) is illegal. No
function is executed.
When the function is running, terminal 1 was re-parameterized as out-
put. The motion is cancelled and the axis is braked with the maximum
deceleration.
From SW 2.1: This fault is also signaled if a fault has occurred during
the execution of the function ”Reference to occurring zero mark” (see
P80, P31/32, P56). In this case, the supplementary information 912 is
also signaled.
The function ”Reference to occurring zero mark” cannot be used in
conjunction with P80:x.9, P80:x.10 or P80:x.11.
Remedy Check program control word (PSW.9, PSW.10, PSW.11).
Check terminal parameterization (P31 = 27 or other input parameteriza-
tion).
Acknowledgement Remove cause, set STW.7 = 1/0 and STW.0 = 0/1
6 Stop response Pulse suppression
712 / P947.12 Holding brake, undervoltage
Cause At least the following voltage characteristics are required in order to
open and hold the integrated holding brake:
Open Load power supply > 24 V
Stop Load power supply > 18 V
The drive is stopped if the load power supply voltage is too low.
Note:
This fault can be disabled for a motor without holding brake
(P56.5 = 0).
Remedy Check the load power supply and increase rating.
Acknowledgement Remove cause, set STW.7 = 1/0 and STW.0 = 0/1
Stop response Pulse suppression
713 / P947.13 Reference position lost
Cause During shutdown, the drive was in motion. Therefore, the reference po-
siton has not been accepted. The drive is not referenced.
Remedy Reference drive.
Acknowledgement Remove cause, set STW.7 = 1/0 and STW.0 = 0/1
Stop response Pulse suppression
714 / P947.14 Error in the FEPROM
Cause We have detected a fault in the non-volatile memory (FEPROM).
Remedy Additional information? ––> Evaluate P954
Acknowledgement Remove cause, set STW.7 = 1/0 and STW.0 = 0/1
Stop response Pulse suppression

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6.2 Faults and alarms

715 / P947.15 System error

Cause An internal fault was detected in the drive.
Remedy Activate/deactivate positioning motor.
Check and correct the motor data.
Posmo A 75W : Replace the positioning motor.
Posmo A 300W : Replace the drive unit.
Acknowledgement Remove cause, set STW.7 = 1/0 and STW.0 = 0/1
Stop response Pulse suppression
800 / P953.0 Electronics temperature warning
Cause The electronics temperature is > 90 degrees Celsius.
If the permissible maximum electronics temperature is exceeded for
longer than the time specified in P29 (electronics temperature tolerance
time), then a fault is output and the drive is powered-down.
The ambient temperature is too high.
Remedy Observe the de-rating characteristic.
Reduce ambient temperature.
Acknowledgement not required 6
Stop response None
801 / P953.1 Motor i2t monitoring
Cause The I2t limiting for the motor current is active, the current is limited to
Irated.
The load or the load duty cycle is too high.
Remedy Reduce load duty cycle.
Acknowledgement not required
Stop response None
802 / P953.2 Standstill monitoring
Cause The motor was moved out of the standstill area (P14) in the closed-loop
controlled status.
Note:
The warning is only signaled if the appropriate fault is suppressed.
Remedy –
Acknowledgement not required
Stop response None

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803 / P953.3 Software limit switch, start

Cause The actual position lies outside the range defined by the software limit
switch.
When traversing to a software limit switch, the motor is always stop-
ped.
SW 1.6 and higher: This warning is also signalled if the traversing
range limits of the axis (+/– 200000mm or degrees or inches) are re-
ached. In this case, the additional information 910 (P954.10) is output.
SW 2.0 and higher: This warning is also output when the corresponding
hardware limit switch (start) has been overrun.
In this case, additional information 911 (P954.11) is output.
Note:
The warning is only signaled if the appropriate fault is suppressed.
Remedy Move away in the opposite direction.
Check P6 (software limit switch, start).
Acknowledgement not required
Stop response None

6 804 / P953.4 Software limit switch, end

Cause The actual position lies outside the range defined by the software limit
switch.
When traversing to a software limit switch, the motor is always stop-
ped.
SW 1.6 and higher: This warning is also signalled if the traversing
range limits of the axis (+/– 200000mm or degrees or inches) are re-
ached. In this case, the additional information 910 (P954.10) is output.
SW 2.0 and higher: This warning is also output when the corresponding
hardware limit switch (end) has been overrun.
In this case, additional information 911 (P954.11) is output.
Note:
The warning is only signaled if the appropriate fault is suppressed.
Remedy Move away in the opposite direction.
Check P7 (software limit switch, end).
Acknowledgement not required
Stop response None

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805 / P953.5 Jogging: Jogging not possible

Cause Drive not enabled.
Jogging already selected.
Traversing block being processed.
Note:
Additional information? ––> evaluate P954
Remedy –
Acknowledgement not required
Stop response None
806 / P953.6 Referencing: Position not accepted
Cause When referencing, the position was not accepted.
Motor moving (ZSW.13 = 1).
Drive not enabled.
Traversing block being processed.
After power-on: The motor has still not moved.
Note:
Additional information? ––> evaluate P954
Remedy The motor must be stationary and closed-loop controlled.
6
Acknowledgement not required
Stop response None
807 / P953.7 Speed controller at stop
Cause The speed controller is at its limit for more than 200 ms.
The required speed is not reached.
The load or friction is too high or the drive is too small.
The current limit (P28, P16) is set too low.
The drive is defective.
For the ”traverse to fixed endstop” function, this warning is output when
the fixed endstop is reached.
Note:
The warning is only signaled if the appropriate fault is suppressed.
Remedy Reduce load.
Increase current limit.
Replace the positioning motor.
Acknowledgement not required
Stop response None
808 / P953.8 Start absolute block not possible
Cause A block with absolute position data can only be started for a referenced
drive.
Remedy Reference drive.
Acknowledgement not required
Stop response None

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6.2 Faults and alarms

809 / P953.9 Program cannot be started

Cause Drive not enabled.
Invalid block number selected.
Enable signals missing.
A traversing block is already being processed.
STW.11 (start referencing) is set.
Traversing block with absolute position data and drive not referenced.
Positioning mode not enabled (STW.4, STW.5)
Note:
Additional information? ––> evaluate P954
Remedy –
Acknowledgement not required
Stop response None
810 / P953.10 Invalid program selection
Cause An attempt was made to either select block 0 or a block > 27.
Remedy Select valid block (1 to 27).
6 Acknowledgement not required
Stop response None
811 / P953.11 Speed limiting active
Cause The required axis velocity requires a higher speed than that specified in
P8 (max. speed).
Up to SW 1.5:
The velocity is limited to the maximum speed.
The following applies from SW 1.6:
P24 ”Override speed” is limited so that maximum speed is used.
Remedy Enter lower velocity.
Adapt P10 (max. velocity).
Adapt P8 (max. speed).
Acknowledgement not required
Stop response None
812 / P953.12 Undervoltage of the load current supply
Cause The following applies from SW 1.6:
The load voltage has fallen below 17 V.
The load power supply is overloaded.
SITOP: The load voltage was powered-down when braking due to over-
voltage.
Remedy Increase load power supply rating.
SITOP: Provide regenerative feedback protection.
Acknowledgement not required
Stop response None

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6.2 Faults and alarms

900 / P954.0 Operation not enabled

Cause Bits to enable the drive missing.
Remedy Set enable signals in the control word (STW).
Acknowledgement not required
Stop response None
901 / P954.1 Illegal operating status
Cause If the program is running, jogging or referencing is not possible.
Remedy –
Acknowledgement not required
Stop response None
902 / P954.2 Single block active
Cause If the program is running and in the single block mode, jogging or refe-
rencing is not possible.
Remedy –
6
Acknowledgement not required
Stop response None
903 / P954.3 Both jogging signals active
Cause –
Remedy –
Acknowledgement not required
Stop response None
904 / P954.4 Positioning mode not enabled
Cause Operating condition for program missing (STW.4).
Remedy –
Acknowledgement not required
Stop response None
905 / P954.5 Axis has still not been moved
Cause The axis was still not moved after power-on.
Remedy –
Acknowledgement not required
Stop response None

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906 / P954.6 FEPROM error upon writing or deletion

Cause Presumably, there is a hardware fault in the non-volatile memory (FE-
PROM).
Remedy Replace the positioning motor.
Acknowledgement not required
Stop response None
907 / P954.7 FEPROM No positional data available
Cause In order to restart, the drive requires positional data. This has not been
saved correctly upon the last ramp-down.
Remedy If necessary, reference the drive.
Activate/deactivate positioning motor.
Replace the positioning motor.
Acknowledgement not required
Stop response None
908 / P954.8 FEPROM No factory setting available
6
Cause Presumably, there is a hardware fault in the non-volatile memory (FE-
PROM).
Remedy Replace the positioning motor.
Acknowledgement not required
Stop response None
909 / P954.9 FEPROM No user parameters available
Cause Presumably, the drive was deactivated when saving the user parame-
ters into the non-volatile memory (FEPROM).
There may also be a hardware fault in the non-volatile memory (FE-
PROM).
Remedy Check and correct the motor data.
Restore the data in the FEPROM.
Replace the positioning motor.
Acknowledgement not required
Stop response None
910 / P954.10 Traversing range limit reached
Cause Axis has reached a traversing range limit.
The traversing range limits of the axis are +/– 200000mm or degrees or
inches.
Remedy For drives turning endlessly, a modulo value must be entered in Para-
meter 1.
Acknowledgement not required
Stop response None

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06.05
04.01
02.99 6 Fault Handling and Diagnostics
6.2 Faults and alarms

911 / P954.11 Hardware limit switch crossed/reached

Cause The axis has reached or crossed a hardware limit switch.
The exact limit switch is defined by the simultaneously output error or
warning of the software limit switch.
Remedy Acknowledge fault.
Continued travel in opposite direction.
Note:
Continued travel is generally only possible in the opposite direction.
If the hardware limit switch is crossed, continued travel in the original
direction is only possible if travel continues in the opposite direction
following fault acknowledgement and if the hardware switch is crossed
again.
This ensures that the axis is within the permitted traversing range.
Acknowledgement not required
Stop response None
912 / P954.12 No cams occurred before the zero mark
Cause This supplementary information has been reported together with the
fault 711 ”Flying measurement/actual value setting”: 6
The function ”Reference to occurring zero mark” has been activated in
the current traversing block.
In addition, an input terminal has been parameterized with the function
”Cam monitoring”.
However, a reference cam edge was not detected before the zero mark
occurred.
The drive has therefore been dereferenced for safety reasons.
Remedy Ensure that the input terminal connected to the cam is correctly para-
meterized and that the cam is connected to the correct input terminal.
Ensure that the type of BERO (NC contact/NO contact) corresponds to
P56 (bit7).
Acknowledgement not required
Stop response None

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 6 Fault Handling and Diagnostics 04.01
02.99
6.3 Analog test outputs

6.3 Analog test outputs

Description There are analog test outputs at the rear of the SIMODRIVE POSMO A
that are only accessible when the cover has been unscrewed (removed).

Caution
! Measurements may only be made in exceptional cases by
appropriately trained personnel. The ”correct” text sockets must be
used, as short–circuits will permanently damage the module (refer to
Fig. 6-1).

The following parameters are available for the analog test

sockets:
 P33, P34, P35 address, shift factor and offset for DAU 1
 P36, P37, P38 address, shift factor and offset for DAU 2
6
Which signal is output via the test outputs?
 This is defined by entering an appropriate address in P33 or P36.

SIMODRIVE POSMO A
with cover attached
Screw type: Counter–sunk screw
M4 x 12 – 8.8
SN 63261
Torx T15/80 Pin Function

max. 3.9 Nm 1 DAU 1

2 DAU 2
3 M (reference)
Test pins
Pin 3 2 1 ––> 75 W motor
Pin 1 2 3 ––> 300 W motor

0.64
SIMODRIVE POSMO A
X11 with cover removed
2.54 2.54

5V
2.5 V
0 V of the
meas. signal
Test sockets:
0V
0.64 mm

Fig. 6-1 SIMODRIVE POSMO A test sockets with the cover removed

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04.01
02.99 6 Fault Handling and Diagnostics
6.3 Analog test outputs

Caution
In order to guarantee the degree of protection of SIMODRIVE POSMO
A, after measurements have been made at the analog test sockets,
the cover must be screwed back on.

Standard The test sockets provide the following signals as standard:

assignment
 DAU 1 (current actual value)
P33 (ADDRESS: FC32hex
64562dec)
P34 shift factor = 7:
∆V = 1.9 V
9 A ––> 75 W motor
∆V = 1.0 V
12 A ––> 300 W motor
P35 offset = 80hex
128dec
 DAU 2 (speed actual value)
P36 (ADDRESS: FC66hex
64614dec)
P37 shift factor = 0: (∆V = 0.625 V
1000 RPM) 6
P38 offset = 80hex
128dec

∆V = 1.25 V
1000 RPM for a shift factor = 1

∆V = 0.625 V
1000 RPM for a shift factor = 0
5V
Offset V
nact = 0 RPM
2.5 V
= 80hex
0V

Fig. 6-2 Voltage values when measuring the speed actual value

Note
With offset = 80hex a voltage of 2.5 V is output for ”0”.
 A shift factor change of +1 corresponds to doubling the value
 A shift factor change of –1 corresponds to halving the value

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 6 Fault Handling and Diagnostics 08.02
04.01
02.99
6.4 Bus monitor AMPROLYZER for PROFIBUS DP

Possible The following supplementary addresses are available:

supplementary
 Speed setpoint:
addresses
FC00hex
64512dec same normalization as the speed act. value
 Position actual value:
FC6Ahex
64618dec
shift factor
= 6: 1 motor revolution
4 V ––> 75 W motor
= 4: 1 motor revolution
5 V ––> 300 W motor
 Iset (n controller):
FC38hex
64568dec same normalization as the current act. value
 Iset (smoothed):
FC3Ahex
64570dec same normalization as the current act. value

Reader’s note
The signals are shown in Chapter 3.3.1.

6
6.4 Bus monitor AMPROLYZER for PROFIBUS DP

Description The AMPROLYZER bus monitor can be used to diagnose, monitor and
trace data transfer in PROFIBUS networks.
AMPROLYZER (Advanced Multicard PROFIBUS Analyzer)

Internet address The software is freeware and is available from the Internet as follows:
––> http://www.ad.siemens.com/simatic–cs
––> search for the article number 338386
The self–extracting EXE file can be downloaded.
For more information on the AMPROLYZER bus monitor, please refer
to the information in the Internet and the files supplied.


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Installation and Service 7
7.1 Replacing the motor

Replacing the We recommend the following procedure when the positioning motor
motor has to be replaced:
1. Save the parameters of the SIMODRIVE POSMO A.
The parameters will be required again for the new motor.
2. Cancel the pulses: Control signal STW.1 (OFF 2) = 0
3. Power–down the load and electronics power supplies.
4. Release and remove the connection cover of the positioning motor
(2 screws).
Protect the connecting cover and now open positioning motor
against dirt – appropriately cover.
7
5. Unscrew the complete defective positioning motor together with the
gearbox.
6. Bolt on the new complete SIMODRIVE POSMO A. Before installing,
clean the shaft ends thoroughly of anti–corrosion agents with a typi-
cal solvent.
7. Release and withdrawn the connection cover of the new
SIMODRIVE POSMO A (2 screws).
Protect the connecting cover and now open positioning motor
against dirt – appropriately cover.
8. Locate the wired ”old” cover on the new positioning motor which has
been bolted into place and tighten the screws (2 screws).
9. Power–up the load and electronics power supplies.
10.Re–load the parameters saved under the first point.
11. Check: Does the positioning motor run fault–free?
– if yes ––> then the ”old” connection cover is O. K.
– if no ––> the ”old” connection cover is possibly defective
replace the connection cover
12.Screw the connection cover back onto the positioning motor.
13.Return to the following address.

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 7 Installation and Service 08.01
04.01
7.1 Replacing the motor

Addresses to You can also obtain the address of your local regional spare parts cen-
return the ter at the following Internet address
positioning motor
 Address: http://www3.ad.siemens.de/partner
 Product group: SIMODRIVE

Note
If the ”old” connection cover of the SIMODRIVE POSMO A is not
defective, then it should be left at the mounting location and should
then be re–mounted on the ”new” positioning motor with the existing
wiring.

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08.01
04.01 7 Installation and Service
7.2 Mounting or replacing a gearbox (only relevant for 300 W motors)

7.2 Mounting or replacing a gearbox (only relevant for 300 W

motors)

What is required to The following materials and tools are required to mount or replace a
mount or replace gearbox:
gearboxes?
1. Four retaining screws per motor (M6 x 20 acc. to DIN 6912)
2. Tools: SW 4 and SW 5 Allen keys
3. Sealing agent: (e.g. Fluid D from Teroson)
4. Loctite: (e.g. Loctite Type 649)
5. Solvent: (e.g. Sevenax 72)
6. New gearbox: refer to the modular gearboxes in Chapter 2.5.2

What preparations The following preparations must be made before mounting or changing
have to be made? gearboxes:
 This point is only valid if the gearbox is be replaced
– Remove the cover from the mounting hole
– Rotate the clamping hub with respect to the adapter plate in or- 7
der to line–up the mounting holes
– Release the clamping hub coupling of the gearbox
– Release the 4 screws between the motor and gearbox
– Remove the gearbox
 Prepare the gearbox to be mounted
– Clean the opening for the gearbox input shaft
– Clean the mounting surface and remove any possible damage
(e.g. impressions in the mating surfaces, burs)
 Preparing the motor
– Clean the motor shaft
– Clean the mounting surface and remove any possible damage
(e.g. impressions in the mating surfaces, burs)
– Apply a sealing agent to the motor flange

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 7 Installation and Service 04.01
7.2 Mounting or replacing a gearbox (only relevant for 300 W motors)

What are the steps When mounting a gearbox, proceed as follows:

when mounting a
1. Carefully locate the gearbox on the motor by applying gentle pres-
gearbox?
sure until there is no longer a gap between the motor and gearbox.
2. Tighten the clamping hub coupling
– Tool: Allen key SW 4
– Torque: max. 6 Nm
3. Establish the connection between the motor and gearbox
– Tool: Allen key SW 5
– Tighten the screws diagonally
– Torque: max. 5 Nm 10 %
4. Secure the screws (Loctite)

Notice
If another gearbox has been mounted, the gearbox–dependent
parameters no longer match the gearbox being used and these
parameters must be appropriately changed.
––> Refer to Chapter 5.6.3
7

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08.04
04.01 7 Installation and Service
7.3 Spare parts for SIMODRIVE POSMO A

7.3 Spare parts for SIMODRIVE POSMO A

7.3.1 List of spare parts for the 300 W motors

What spare parts The following spare parts are available for SIMODRIVE POSMO A –
are there? 300 W:
 Drive unit 6SN2157–0AA01–0BA1
 Planetary gearbox, degree of protection IP54
––> Only available as a new part with a delivery time of 10 days.
– Planetary gearbox i=4 6SN2157–2BD10–0BA0
– Planetary gearbox i=7 6SN2157–2BF10–0BA0
– Planetary gearbox i = 12 6SN2157–2BH10–0BA0
– Planetary gearbox i = 20 6SN2157–2CK10–0BA0
– Planetary gearbox i = 35 6SN2157–2CM10–0BA0
– Planetary gearbox i = 49 6SN2157–2CP10–0BA0
– Planetary gearbox i = 120 6SN2157–2DU10–0BA0
 Planetary gearbox, degree of protection IP65
7
––> Only available as a new part with a delivery time of 10 days.
– Planetary gearbox i=4 6SN2157–2BD20–0BA0
– Planetary gearbox i=7 6SN2157–2BF20–0BA0
– Planetary gearbox i = 12 6SN2157–2BH20–0BA0
– Planetary gearbox i = 20 6SN2157–2CK20–0BA0
– Planetary gearbox i = 35 6SN2157–2CM20–0BA0
– Planetary gearbox i = 49 6SN2157–2CP20–0BA0

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 7 Installation and Service 06.05
04.01
7.3 Spare parts for SIMODRIVE POSMO A

7.3.2 Drive unit as spare part (only the 300 W motor)

Replacing the We recommend the following procedure if a drive unit is to replaced:

drive unit

2 slotted screws

4 (1.0 x 6.5)

Connection cover

4 self–tapping Allen keys

SW 3 M4 x 16
2.5 – 3 Nm

7
Gearbox

Motor
Drive unit
not to scale

Fig. 7-1 Replacing the drive unit

Reader’s note
Up–to–date and binding information on this subject should be taken
from the documentation provided with the spare parts ”Installation and
mounting instructions, replacing the drive unit”.

What is required to The following are required to replace the drive unit:
replace the drive 1. Tools
unit?
– Screwdriver Size 4 (1.0 x 6.5)
– Allen key SW 3
2. New drive unit
3. Parameter sets of the old drive unit (save and make available)

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06.05
04.01 7 Installation and Service
7.3 Spare parts for SIMODRIVE POSMO A

How do you The drive unit is replaced as follows:

replace the drive
unit?
Caution
The positioning motor must be brought into a no–voltage condition
before the drive unit is replaced.

1. Remove the connection cover

– Tool Screwdriver, Size 4 (1.0 x 6.5)
2. Release the four screws retaining the drive unit
– Tool Allen key SW 3
3. Remove the old drive unit
4. Mount the new drive unit
5. Tighten the four screws retaining the drive unit
– Tool Allen key SW 3
– Tighten the screws diagonally
– Tightening torque 2.5 – 3 Nm
6. Locate the connection cover and tighten the screws 7
– Tool Screwdriver, Size 4 (1.0 x 6.5)
7. Load the parameter set
The parameter set provided must be downloaded into the new drive
unit from the old drive unit.
8. Testing the positioning motor

Note
For the separate version where the motor and drive unit are separated,
the installation sequence when replacing the drive unit is the same.
However, in this case, the drive unit is removed from the extension set
”separate version”.

Order No. (MLFB) The spare drive unit has the following Order No:
Order No. (MLFB): 6SN2157–0AA01–0BA1

Address to return Refer to Chapter 7.1 under ”Address to return the positioning motor” for
the drive unit the address of the regional spare parts department that is responsible
(300 W motor) for you.


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 7 Installation and Service 04.01
06.05
7.3 Spare parts for SIMODRIVE POSMO A

Space for your notes

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7-260 SIMODRIVE POSMO A User Manual (POS1) – 06.05 Edition
List of Abbreviations A
ABS Absolute
AC Alternating Current
AK Task and response ID
AktSatz Actual block number: Part of the status signals
AMPROLYZER Advanced Multicard PROFIBUS Analyzer: Bus monitor for PROFIBUS
AnwSatz Select block number: Part of the control signals
Bin Abbreviation for binary number
BLDC Brushless Direct Current
Permanent–magnet brushless servomotor
C1 master PROFIBUS master, Class 1
C2 master PROFIBUS master, Class 2
C4 PROFIBUS parameter format
COM Communications module
CP Communications processor
A
CPU Central Processing Unit
DC Direct current
Dec Abbreviation for decimal number
DIL Dual–In–Line
DP Distributed Periphery
DPMC1, 2 DP Master Class 1, 2 DP Master Class 1, 2
EMC ElectroMagnetic Compatibility
EN Europäische Norm [European Standard]
EPROM Program memory with fixed program
ESD Modules/components that can be destroyed by electrostatic discharge
ESDS Electrostatic Discharge Sensitive Devices:
components sensitive to electrostatic discharge
FB Function block
FLASHEPROM Flash EPROM: Memory which can be read and written into
FOC Fiber–optic cable

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 A List of Abbreviations 04.01

FW Firmware
GSD Master device file: describes the features of a DP slave
Hardware Hardware
HEX Abbreviation for a hexadecimal number
HWE Hardware limit switches
I2 PROFIBUS parameter format
I4 PROFIBUS parameter format
i Gearbox step–down ratio
I Input
IB Input byte
IBN Commissioning
IEC International Electrotechnical Commission: International standard in
electrical technology
IN Input
IND Sub–index, sub–parameter number array index: Part of a PKW
INT Integer: Integer number
IW Input word
Kv Position loop gain (Kv factor)
A LED Light Emitting Diode
M Ground
MB Mega byte
MDI Manual Data Input
MPI Multi Point Interface: Multi–point serial interface
MSR Dimension system grid
N2 PROFIBUS parameter format
nact Speed actual value
NN Standard zero (average sea level)
nset Speed setpoint
O Output
OB Output byte
OC Operating condition
Order No. [MLFB] Machine Readable Product Designation: Order No.
Out Output
OW Output word

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A-262 SIMODRIVE POSMO A User Manual (POS1) – 06.05 Edition
04.01 A List of Abbreviations

P Parameter
PAB Peripheral output byte
PAW Peripheral output word
PC Personal Computer
PEB Peripheral input byte
PELV Protective extra low voltage Protective extra–low voltage
The protective extra–low voltage PELV must have protective separa-
tion, be grounded and shockproof
PEW Peripheral input word
PG Programming device
PKE Parameter identification: Part of a PKW
PKW Parameter identification value: Parameterizing part of a PPO
PLC Programmable logic controller (e.g. SIMATIC S7)
PMM Power Management Module
PNO PROFIBUS User Organization
PNU Parameter numbers
PO POWER ON
POSMO A Positioning Motor Actuator: Positioning motor
PPO Parameter process data object:
Cyclic data telegram when transferring data with PROFIBUS–DP and
A
the ”variable–speed drives” profile
PROFIBUS Process Field Bus: Serial data bus
PS Power supply
PSW Program control word
PZD Process data: Process data section of a PPO
Q Output
RAM Random Access Memory
Program memory that can be read and written into
REL Relative
RMB Checkback signal byte
RO Read Only
S1 Continuous duty
S3 Intermittent duty
SN Siemens Standard
SNR Block number
SS Interface

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SIMODRIVE POSMO A User Manual (POS1) – 06.05 Edition A-263
 A List of Abbreviations 04.01

STB Start byte

STW Control word
SW x.y Software x.y
SW x Key size x mm
SWE Software limit switch
T4 PROFIBUS parameter format
Term. Terminal
VDE Verband Deutscher Elektrotechniker [Association of German Electrical
Engineers]
VDI Verein Deutscher Ingenieure [Association of German Engineers]
VS Power supply
xact Position actual value
xset Position setpoint value
ZSW Status word


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A-264 SIMODRIVE POSMO A User Manual (POS1) – 06.05 Edition
References B
General documentation

/KT654/ Catalog DA 65.4  2005

SIMODRIVE 611 universal and POSMO
Order No.: E86060–K5165–A401–A4

/BU/ Catalog NC 60  2004

Automation Systems for Machine Tools
Order No.: E86060–K4460–A101–B1
Order No.: E86060–K4460–A101–B1 –7600 (English)

/Z/ MOTION–CONNECT
Connections & System Components for SIMATIC, SINUMERIK,
MASTERDRIVES and SIMOTION
Catalog NC Z
Order No.: E86060–K4490–A001–B1
Order No.: E86060–K4490–A001–B1–7600 (English)

/ST7/ SIMATIC B
Programmable Logic Controllers Catalog SIMATIC S7
Catalog ST 70
Order No.: E86 060–K4670–A111–A3

/KT101/ SITOP power, Power Supplies

Catalog KT 10.1 2002
Order No.: E86060–K2410–A101–A4

/SI1/ SITOP modular 48V/20A Power Supplies (6EP1 457–3BA00)

Operating Instructions 07.2002
Order No.: C98130–A7552–A1–1–6419

/STEP7/ Automation with STEP 7 in STL

SIMATIC S7–300/400 Programmable Logic Controllers
SIEMENS; Publicis MCD Verlag; Hans Berger
Order No.: A19100–L531–B665
ISBN 3–89578–036–7

Siemens AG 2005 All Rights Reserved

SIMODRIVE POSMO A User Manual (POS1) – 06.05 Edition B-265
 B References 06.05

Electronic documentation

/CD1/ The SINUMERIK System DOC ON CD

(with all SINUMERIK 840D/840Di/810D/FM–NC and SIMODRIVE
publications)
Order No.: 6FC5 298–7CA00–0AG2

Documentation for PROFIBUS

/IKPI/ Catalog IK PI  2005

Industrial Communications and Field Devices
Order No.: E86060–K6710–A101–B4
Order No.: E86060–K6710–A101–B4–7600 (English)

/P1/ PROFIBUS–DPV1, Basics, Tips and Tricks for Users

Hüthig; Manfred Popp
EN50170
ISBN 3–7785–2781–9

/P2/ PROFIBUS–DP, Fast Entry

PROFIBUS User Organisation e.V.; Manfred Popp
Order No.: 4.071

/P3/ PROFIBUS, Profile for Variable–Speed Drives, PROFIDRIVE

September 1997 Edition
B PROFIBUS User Organization e.V.
76131 Karlsruhe , Haid–und–Neu–Straße 7;
Order No.: 3.071

/P4/ Decentralization with PROFIBUS–DP

Design, Configuring and
Using PROFIBUS–DP with SIMATIC S7
SIEMENS; Publics MCD Verlag; Josef Weigmann, Gerhard Kilian
Order No.: A19100–L531–B714
ISBN 3–89578–123–1

/P5/ Manual for PROFIBUS Networks

SIEMENS;
Order No.: 6GK1 970–5CA10–0AA0

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B-266 SIMODRIVE POSMO A User Manual (POS1) – 06.05 Edition
06.05 B References

Manufacturer/Service documentation

/POS1/ SIMODRIVE POSMO A (06.05 Edition)

User Manual
Order No.: 6SN2 197–0AA00–0BP8

/POS2/ SIMODRIVE POSMO A (08.03 Edition)

Mounting Instructions 75/300 W Motor (provided with each drive)
Order No.: On request

/posa_mv/ SIMODRIVE POSMO A – 300 W (03.05 Edition)

Mounting Instructions Extension Set ”Separate Version”
Order No.: On request

/posa_mta/ SIMODRIVE POSMO A – 300 W (12.01 Edition)

Mounting Instructions Replacing the Drive Unit
Order No.: On request

/posa_mtg/ SIMODRIVE POSMO A (02.04 Edition)

Mounting Instructions Replacing the Gearbox
Order No.: On request

/S7H/ SIMATIC S7–300 (2002 Edition)

Installation Manual Technological Functions
– Reference Manual: CPU Data (HW Description)
– Reference Manual: Module Data B
Order No.: 6ES7 398–8AA03–8AA0

/S7HT/ SIMATIC S7–300 (03.97 Edition)

Manual: STEP 7, Fundamentals, V. 3.1
Order No.: 6ES7 810–4AC02–8AA0

/S7HR/ SIMATIC S7–300 (03.97 Edition)

Manual: STEP 7, Reference Manuals, V. 3.1
Order No.: 6ES7 810–4CA02–8AR0

/ET200X/ SIMATIC (05.01 Edition)

Distributed ET 200X
Manual EWA 4NEB 780 6016–01 04
Part of the package with Order No.
6ES7 198–8FA01–8AA0

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 B References 06.05

/EMV/ SINUMERIK, SIROTEC, SIMODRIVE (06.99 Edition)

EMC Design Guidelines
Configuration Manual (HW)
Order No.: 6FC5 297–0AD30–0BP1

You will find an up–to–date declaration of conformity on the Internet at

http://www4.ad.siemens.de

Please enter the ID No: 15257461 in the field ’Search’ (top right) and
then click on ’go’.


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B-268 SIMODRIVE POSMO A User Manual (POS1) – 06.05 Edition
Dimension Drawings C
C.1 Dimension drawings for SIMODRIVE POSMO A -- 75W

Contents The dimension drawings for the SIMODRIVE POSMO A -- 75W positio-
ning motor with the following gearboxes are provided in this chapter:
S Motor without gearbox ----> refer to Fig. C-1
S Motor with planetary gearbox, stages 1, 2, 3 ----> refer to Fig. C-2
S Motor with worm gearbox ----> refer to Fig. C-3

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SIMODRIVE POSMO A User Manual (POS1) -- 06.05 Edition C-269
 C
1 2 3 4 5 6 7 8

CAD--Drawing
Manual modification
prohibited

C-270
Fig. C-1
A A

147± 1
[5.787 ± .039]
71± 1
[ 2.795 ± .039 ] A B A B

M4
C Dimension Drawings

M5 M5
B B

63± 1
[2.480 ± .039]
0.06 [.002] A
0.03 [.001]
]

M4, 7 deep
C
[M4, .276 deep] C
+.0001

M5, 7 deep
[M5, .276 deep]
--0.011
]

8+0.005
[ .3150 --.0004

100± 1
[ 3.937 ± .039 ]
25 --0.04
[ .984 --.001
63± 0.5
[ 2.480 ± .019 ]

A
D D

59± 0.7 2 --0.3

[ 2.323 ± .027 ]
C.1 Dimension drawings for SIMODRIVE POSMO A -- 75W

[ .079 --.011
]
36± 0.1 125± 0.8 25± 1
0.2 [.007]
[ 1.418 ± .003 ] [ 4.921 ± .031 ] [ .984 ± .039 ]
40± 0.1 124± 0.5
0.2 [.007]
[ 1.575 ± .003 ] [ 4.882 ± .019 ]
49± 0.1 0.2 [.007]
[ 1.929 ± .003 ]

Dimension drawing: SIMODRIVE POSMO A -- 75 W without gearbox

E E

Belonging to this:
PRO/E--CAD

DIN 6 General tolerance: Doc. number: A5E00269782

Confie’ a titre de secret d’ entreprise. Tous droits reserves ISO 2768--mk
Scale: 1:1 kg/piece:
Tolerance
Confiado como secreto industial. Nos reservamos todos los derechos
ISO 8015
Comunicado como segredo empresarial. Reservados todos os direitos First angle A2

projection Tolerances: Surface: Material: Sheet size

Pg--Verschraubung Pg threaded joint cable Tightening torque Nm inlb
The reproduction, transmission or use of this document or its Date: 05.04.2004
contents is not permitted without express written authority. Type Type cable Tightening torque Author: Rosenboom SIMODRIVE POSMO A -- 75W
Offenders will be liable for damages. All rights, including rights
Check: Hecht
F created by patent grant or registration of a utility model or design, A Pg13.5 threaded joint HSK M EMV Hummel 12.0--6.0 [.472--.236] M5 3.0 26
are reserved. without gearbox
B Pg 11 dummy plugs, Type 514/11 Pflitsch ------ M4 1.8 16 Dep.: A&D MC RD 45 Name:
Weitergabe sowie Vervielfältigung dieser Unterlage, Verwer-- Site: Erlangen F80 Type/MLFB: 6SN2132--.....--....
tung und Mitteilung ihres Inhalts nicht gestattet, soweit nicht
ausdrücklich zugestanden. Zuwiderhandlungen verpflichten 1

zu Schadenersatz. Alle Rechte vorbehalten, insbesondere für Sheet:

den Fall der Patenterteilung oder GM--Eintragung. A5E00269782 MB aa
1
A & D
aa O. No. 01.06.04 M Article: Doc.type Revision Sheets:

1 2 3 4 5 Rev. Modification Date Name Replacement for / replaced by:

* Pro/E *
08.04
08.03
02.99

E Siemens AG 2005 All Rights Reserved

SIMODRIVE POSMO A User Manual (POS1) -- 06.05 Edition
 1 2 3 4 5 6 7 8

CAD--Drawing
Manual modification
prohibited
08.04
08.03
02.99

Fig. C-2
A A

147± 1
[5.787 ± 0.039]
71± 1 11 ± 0.5
[ 2.795 ± .039 ] A B A B [ .433 ± .019 ]

M4

M5
M5
B B

63± 1
[2.480 ± 0.039]

E Siemens AG 2005 All Rights Reserved

Spring washer 4x6.5 DIN 6888, Series A
Curved washer .157x.256

Gearbox
Gearbox 12
[.472]
]

C C
+.0003
--0.003
]

M5, 7.5 deep

[M5, 0.295 deep]
12+0.008
[ .4724 --.0001

SIMODRIVE POSMO A User Manual (POS1) -- 06.05 Edition

100± 1
[ 3.937 ± .039 ]
32 --0.039
[ 1.260 --.001
52± 0.3
[ 2.047 ± .011 ]
63± 0.5
[ 2.480 ± .019 ]

A
D D

40± 0.1 59± 0.7 3

0.15 [.005] A 0.06 [.002] A
[ 1.575 ± .003 ] [ 2.323 ± .027 ] [ .118 ]
L2± 1 25± 1 0.03 [.001]
[L 2± .039] [ .984 ± .039 ]
L1± 2
[L 1± .079]
124± 0.5
[ 4.882 ± .019 ]

E E

Getriebestufen L L Motor--Typ Tightening torque

Nm inlb

Dimension drawing: SIMODRIVE POSMO A -- 75 W with planetary gearbox

Gearbox stages mm[inch] mm[inch] Motor type Tightening torque Belonging to this:
PRO/E--CAD

DIN 6 General tolerance . . Doc. number: A5E00269786

Confie’ a titre de secret d’ entreprise. Tous droits reserves
3 205.5 [8.091] 80.5 [3.169] BG 63x55 M5 3.0 26
ISO 2768--mk . .
Scale: 1:1 kg/piece: .
2 190.5 [7.500] 65.5 [2.579] BG 63x55 M4 1.8 16 Tolerance . .
Confiado como secreto industial. Nos reservamos todos los derechos
ISO 8015 .
Comunicado como segredo empresarial. Reservados todos os direitos 1 175 [6.890] 50 [1.969] BG 63x55 First angle A2
.
projection Tolerances: Surface: Material: Sheet size

The reproduction, transmission or use of this document or its Date: 05.04.04

contents is not permitted without express written authority. Author: Rosenboom SIMODRIVE POSMO A -- 75W
Offenders will be liable for damages. All rights, including rights
Check: Hecht
F created by patent grant or registration of a utility model or design, Pg--Verschraubung Pg threaded joint cable
are reserved. with planetary gearbox
Type Type cable Dep.: MC RD45 Name:
Weitergabe sowie Vervielfältigung dieser Unterlage, Verwer-- Site: Erlangen F80 Type/MLFB: 6SN2132--.....--....
tung und Mitteilung ihres Inhalts nicht gestattet, soweit nicht
A Pg13.5 threaded joint HSK M EMV Hummel 12.0--6.0 [.472--.236]
ausdrücklich zugestanden. Zuwiderhandlungen verpflichten 1

zu Schadenersatz. Alle Rechte vorbehalten, insbesondere für B Pg 11 dummy plugs, Type 514/11 Pflitsch ------ a5e00269786 MB aa Sheet:
den Fall der Patenterteilung oder GM--Eintragung.
1
A & D
aa O. No. 01.06.04 M Article: Doc.type Revision Sheets:

1 2 3 4 5 Rev. Modification Date Name Replacement for / replaced by:

C.1 Dimension drawings for SIMODRIVE POSMO A -- 75W

* Pro/E *
C Dimension Drawings

C-271
C
 C
1 2 3 4 5 6 7 8

CAD--Drawing
Manual modification
prohibited

C-272
Fig. C-3
M5, 8 deep
[M5, .315 deep]
147± 1
A A
[5.787 ± .039]
11 ± 0.5
71± 1 A B A B
[ 2.795 ± .039 ] [ .433 ± .019 ]
30± 0.1
[ 1.181 ± .003 ]

M4
M5 M5
C Dimension Drawings

63± 1
B B

50± 0.1

[2.480 ± .039]
[ 1.969 ± .003 ]

Spring washer 3x5 71

DIN6888, series A 28 [2.795]
Scheibenfeder [1.102]
.118x.197 35 Gearbox
[1.378] Gearbox
C C

g5
100± 1
[ 3.937 ± .039 ]

10
[ .394 ]
12

]
]
63± 0.5
[ 2.480 ± .019 ]

[ .472 ]
31
[ 1.220 ]

M5, 8 deep

25 --0.04
[ .984 --.001
25 --0.04
[ .984 --.001
38
[ 1.496 ]

[M5, .315 deep]

D D

50± 0.1
[ 1.969 ± .003 ]
A
35
[ 1.378 ]

0.08 [.003] A
C.1 Dimension drawings for SIMODRIVE POSMO A -- 75W

0.03 [.001]

3.5 30± 0.1 3.5

125± 0.8 M4 .8 deep
[ .138 ] [ 1.181 ± .003 ] [ .138 ]
[ 4.921 ± .031 ] [M4, 0.315 deep]
30 41 59± 0.7 36± 0.1
[ 1.181 ] [ 1.614 ] [ 2.323 ± .027 ] [ 1.417 ± .003 ]
56 124± 0.5 50± 0.1
[ 2.205 ] [ 4.882 ± .019 ] [ 1.969 ± .003 ]
E E
86± 0.3

Dimension drawing: SIMODRIVE POSMO A -- 75W with worm gearbox

[ 3.386 ± .011 ]

Belonging to this:
PRO/E--CAD

DIN 6 General tolerance . . Doc. number: A5E00269803

Confie’ a titre de secret d’ entreprise. Tous droits reserves ISO 2768--mk . .
Scale: 1:1 kg/piece: .
Tolerance . .
Confiado como secreto industial. Nos reservamos todos los derechos
ISO 8015 .
Comunicado como segredo empresarial. Reservados todos os direitos First angle A2
.
projection Tolerances: Surface: Material: Sheet size

The reproduction, transmission or use of this document or its Date: 05.04.2004

contents is not permitted without express written authority. Author: Rosenboom SIMODRIVE POSMO A -- 75W
Offenders will be liable for damages. All rights, including rights Pg--Verschraubung Pg threaded joint cable Tightening torque Nm inlb Check: Hecht
F created by patent grant or registration of a utility model or design,
are reserved. Type Type cable Tightening torque with worm gearbox
Dep.: MC RD45 Name:
Weitergabe sowie Vervielfältigung dieser Unterlage, Verwer--
A Pg13.5 threaded joint HSK M EMV Hummel 12.0--6.0 [.472--.236] M5 3.0 26 Site: Erlangen F80 Type/MLFB: 6SN2132--.....--....
tung und Mitteilung ihres Inhalts nicht gestattet, soweit nicht
ausdrücklich zugestanden. Zuwiderhandlungen verpflichten B Pg 11 dummy plugs, Type 514/11 Pflitsch ------ M4 1.8 16 1

zu Schadenersatz. Alle Rechte vorbehalten, insbesondere für Sheet:

den Fall der Patenterteilung oder GM--Eintragung. A5E00269803 MB aa
1
A & D
aa O. No. 02.06.04 M Article: Doc.type Revision Sheets:

2 3 4 5 Rev. Modification Date Name Replacement for / replaced by:

08.04
08.03
02.99

E Siemens AG 2005 All Rights Reserved

SIMODRIVE POSMO A User Manual (POS1) -- 06.05 Edition
06.05
08.04
08.03
02.99 C Dimension Drawings
C.2 Dimension drawings for SIMODRIVE POSMO A -- 300W

C.2 Dimension drawings for SIMODRIVE POSMO A -- 300W

Contents The dimension drawings for the SIMODRIVE POSMO A -- 300W posi-
tioning motor with the following gearboxes are provided in this chapter:
S Motor without gearbox ----> refer to Fig. C-4
S Motor with planet. gearbox (1--stage, 2--stages) ----> refer to Fig. C-5
S Motor with planetary gearbox (3--stage) ----> refer to Fig. C-6
S SIMODRIVE POSMO A -- 300 W extension set ”separate version”
-- Motor without gearbox ----> refer to Fig. C-7
-- Motor with planet. gearb. (1--stage, 2--stages) ----> refer to Fig. C-8
-- Motor with planetary gearbox (3--stage) ----> refer to Fig. C-9

E Siemens AG 2005 All Rights Reserved

SIMODRIVE POSMO A User Manual (POS1) -- 06.05 Edition C-273
 C
1 2 3 4 5 6 7 8

CAD--Drawing

Manual modification

C-274
prohibited

Fig. C-4
A A

Zentrierung/centering
DIN332 -- DR M5

k6
8 24.5
C Dimension Drawings

[ .315 ] [ .965 ]
B B

+.0004
30

172

+0.012
[6.77]
[ 1.181]

14 +0.001
[ .5512 +.0001]

j6

Confi titre de secret d’entreprise. Tous droits rservs.

Confiado como secreto industial. Nos reservamos todos los derechos
Comunicado como segredo empresarial. Reservados todos os direitos
+.0004

+0.012
60 --0.007
[ 2.3622 --.0002]
36
[ 1.417 ]
C C

3
[ .118] m

verpflichten
k

72
Thread M5x10 (3x) for lifting eye [ 2.835 ]
and support /
80
thread M5x10 (M5x.394) (3x) useful for
D [ 3.150 ] D
Ausführung mit Paßfeder /
lifting eye and support

The reproduction, transmission or use of this document

tung und Mitteilung ihres Inhalts nicht gestattet, soweit nicht
ausdrücklich zugestanden. Zuwiderhandlungen
zu Schadenersatz. Alle Rechte vorbehalten, insbesondere für
den Fall der Patenterteilung oder GM--Eintragung.
version with key
Ausf./ Type Achshöhe/ Gewicht / weight Länge / length
4
Dimensions acc. to DIN 6885 Sh. 1 / version shaft height
[ .157 ]
C.2 Dimension drawings for SIMODRIVE POSMO A -- 300W

Dimensions acc. to DIN 6885 Sh.1 ohne Bremse/ mit Bremse/

5
[.197]
without brake with brake k m

mm [inch] kg [lb] mm [inch]

01 6SN2155 36 [1.417] 3.9[8.6] 4.0[8.8] 254 [10] 140 [5.512]

16 Belonging to this:
E
22
PRO/E--CAD

[.630] [ .866 ] DIN 6

. .
Doc. number: A5E00282014_oG

Dimension drawing: SIMODRIVE POSMO A -- 300 W without gearbox

Flange and shaft
Tolerance acc. to DIN 42955 . .
not toleranced size ± 1mm Scale: 1:2 kg/piece: .
. .
flange and shaft
Tolerance acc. to DIN 42955 .
not toleranced size ± 1mm A3
First angle .

projection
Surface: Material: Sheet size

Date: 26.11.03
Dimension drawing POSMO A 300W
Author: Nesmiyan
without gearbox

The reproduction, transmission or use of this document or its

contents is not permitted without express written authority .
Offenders will be liable for damages. All rights, including rights
created by patent grant or registration of a utility model or design,
are reserved.
Check: Hecht
dimension sheet POSMO A 300W
without gearbox
Dep.: MC RD45 Name:

Site: Erlangen F80 Type/MLFB: 6SN2155

F 1:4
1

Sheet:
A5E00282014 o.G. MB AO
1
A & D
aa O. No. 04.06.04 Nesm Article: Doc.type Revision Sheets:

1 2 3 4 Rev. Modification Date Name Replacement for / replaced by:

08.04
02.99

* Pro/E *

E Siemens AG 2005 All Rights Reserved

SIMODRIVE POSMO A User Manual (POS1) -- 06.05 Edition
 1 2 3 4 5 6 7 8

CAD--Drawing

Manual modification
08.04
02.99

prohibited

Fig. C-5
A A

h6
30 27.5
[ 1.181] [ 1.083 ]
9

172
12 [ .354 ]

[6.772]

40 --0.016
[ 1.5748 --.0006]
[ .472 ]

M5
B B

64.3
[ 2.532 ]
72
[ 2.835 ]

70
[ 2.756 ]

Confi titre de secret d’entreprise. Tous droits rservs.

Confiado como secreto industial. Nos reservamos todos los derechos
Comunicado como segredo empresarial. Reservados todos os direitos

E Siemens AG 2005 All Rights Reserved

36
[ 1.417 ]

k6
m

+.0004
C
k C

+0.012
Thread M5x10 (3x) for lifting eye 80

16 +0.001
[ .6299 +.0001]
Ausführung mit Paßfeder / and support / [ 3.150 ]
version with key thread M5x10 (M5x.394) (3x) useful

verpflichten
25 for lifting eye and support

SIMODRIVE POSMO A User Manual (POS1) -- 06.05 Edition

18 [ .984 ]
Ver. / Type Getriebe/gearbox Achshöhe/ Gewicht / weight Länge / length Schutzart/
[ .709 ]
B version shaft height Degree of protection

Gearbox ratios/ without brake/mit Bremse/

D ratios without brake with brake k l m D

The reproduction, transmission or use of this document

tung und Mitteilung ihres Inhalts nicht gestattet, soweit nicht
ausdrücklich zugestanden. Zuwiderhandlungen
zu Schadenersatz. Alle Rechte vorbehalten, insbesondere für
den Fall der Patenterteilung oder GM--Eintragung.
mm [inch] kg [lb] mm [inch]

01 6SN2155 1--stufig/ 4/7 36[1.417] 5.1[11.2] 5.2[11.5] 254[10] 124[4.882] 140[5.512] IP 54

1--stage
2

5
[ .197 ]
02 6SN2155 2--stufig/ 12/20/35/49 36[1.417] 5.4[11.9] 5.5[12.1] 254[10] 146[5.748] 140[5.512] IP 54
[ .079 ] B 2--stage
03 6SN2155 1--stufig/ 4/7 36[1.417] 5.2[11.5] 5.3[11.7] 254[10] 136[5.354] 140[5.512] IP65
1--stage
Dimensions acc. to DIN 6885 Sh. 1/
B--B 04 6SN2155 2--stufig/ 12/20/35/49 36[1.417] 5.5[12.1] 5.6[12.3] 254[10] 158[6.220] 140[5.512] IP65
Dimensions acc. to DIN 6885 Sh.1 2--stage
Belonging to this:
E
PRO/E--CAD

. .
DIN 6 Doc. number: A5E00282014 with 1&2 st. g.
Flanges and shaft tolerance
acc. to DIN 42955 . .
flanges and shaft tolerance Scale: 1:2 kg/piece: .
. .
acc. to DIN 42955
not toleranced size: ± 1 mm .
not toleranced size: ± 1mm A3
First angle .

projection
Surface: Material: Sheet size

Date: 26.11.03
Dimension drawing Posmo A 300W
Author: Nesmiyan
with 1-- and 2--stage gearbox

The reproduction, transmission or use of this document or its

contents is not permitted without express written authority .
Offenders will be liable for damages. All rights, including rights
created by patent grant or registration of a utility model or design,
are reserved.
Check: Hecht
dimension sheet Posmo A 300W
with 1-- and 2--stage gearbox
Dep.: MC RD45 Name:

Site: Erlangen F80 Type/MLFB: 6SN2155

F

Sheet:
A5E00282014 MB AO
1:4 1
A & D
aa O. No. 02.06.04 Nesm Article: Doc.type Revision Sheets:

1 2 3 4 Rev. Modification Date Name Replacement for / replaced by:

C.2 Dimension drawings for SIMODRIVE POSMO A -- 300W

* Pro/E *
C Dimension Drawings

Dimension drawing: SIMODRIVE POSMO A -- 300W with planetary gearbox (1--stage, 2--stage)

C-275
C
 C
1 2 3 4 5 6 7 8

CAD--Drawing

Manual modification

C-276
prohibited

Fig. C-6
A A

45 --0.2

[ 1.772 --.007]
9
C Dimension Drawings

[ .354 ]

172
16

[6.772]

M6
B B
[ .630 ]

h6
]

Confi titre de secret d’entreprise. Tous droits rservs.

Confiado como secreto industial. Nos reservamos todos los derechos
Comunicado como segredo empresarial. Reservados todos os direitos
84
[ 3.307 ]
72
[ 2.835 ]

84
[ 3.307 ]

55 --0.019
[ 2.1654 --.0007]
36
[ 1.417

k6
C
m C

+.0005
k

+0.015
Ausführung mit Paßfeder /
Thread M5x10 (3x) for lifting eye 80

20 +0.002
[ .7874 +.0001]
version with key
and for support / [ 3.150 ]

verpflichten
36
22.5 thread M5x10 (M5x.394) (3x) useful
[ 1.417] 84
[ .886 ] for lifting eye and support [ 3.307 ]
C

D D
Ausf./ Type Getriebe/gearbox Achshöhe/ Gewicht / weight Länge / length Schutzart/

The reproduction, transmission or use of this document

tung und Mitteilung ihres Inhalts nicht gestattet, soweit nicht
ausdrücklich zugestanden. Zuwiderhandlungen
zu Schadenersatz. Alle Rechte vorbehalten, insbesondere für
den Fall der Patenterteilung oder GM--Eintragung.
version shaft height Degree of protection
4.5

6
[ .236 ]
[ .177 ] C Gearbox ratios ohne Bremse/
mit Bremse/ k l m
ratios without brake
with brake
C.2 Dimension drawings for SIMODRIVE POSMO A -- 300W

Dimensions acc. to DIN 6885 Sh.1 / mm [inch] kg [lb] mm [inch]

C--C Dimensions acc. to DIN 6885 Sh.1 3--stufig/

01 6SN2155 3--stage 120 36[1.417] 8.2[18.1] 8.3[18.3] 254[10] 228[8.976] 140[5.512] IP 54

]
Belonging to this:
E
PRO/E--CAD

. .
DIN 6 Doc. number: A5E00282014 with 3 st. g.
Flanges and shaft tolerance

178.6
[ 7.030
acc. to DIN 42955 . .
flanges and shaft tolerance Scale: 1:2 kg/piece: .
. .
acc. to DIN 42955
not toleranced size: ± 1 mm .
not toleranced size: ± 1 mm A3
First angle .

projection
Surface: Material: Sheet size

Date: 26.11.03
Dimension drawing Posmo A 300W
Author: Nesmiyan
with 3--stage gearbox

The reproduction, transmission or use of this document or its

contents is not permitted without express written authority .
Offenders will be liable for damages. All rights, including rights
created by patent grant or registration of a utility model or design,
are reserved.
Check: Hecht
dimension sheet Posmo A 300W
with 3--stage gearbox
Dep.: MC RD45 Name:

Site: Erlangen F80 Type/MLFB: 6SN2155

F

Dimension drawing: SIMODRIVE POSMO A -- 300W with planetary gearbox (3--stage)

1

Sheet:
A5E00282014 MB AO
1:4 1
A & D
aa O. No. 08.06.04 Nesm Article: Doc.type Revision Sheets:

1 2 3 4 Rev. Modification Date Name Replacement for / replaced by:

08.04
02.99

* Pro/E *

E Siemens AG 2005 All Rights Reserved

SIMODRIVE POSMO A User Manual (POS1) -- 06.05 Edition
 1 2 3 4 5 6 7 8
CAD--Drawing
109.5
Manual modification [4.311
]
159.399
06.05
02.99

prohibited [6.276 ] 97

Fig. C-7
[3.819
]

A A

Zentrierung/centering
DIN332 -- DR M5

gearbox
k6
8 24.5
[ .315 ] [ .965 ]

+.0004
172
[6.772]

+0.012
14 +0.001
[ .5512 +.0001]
46
30 [ 1.811]
[ 1.181]
B B

j6
109
[ 4.291 ]

+.0004

+0.012

E Siemens AG 2005 All Rights Reserved

36
[ 1.417 ]

60 --0.007
[ 2.3622 --.0002]
m
k
C C
3
[ .118 ]
Thread M5x10 (3x) for lifting eye
and can be used for support /
72
thread M5x10 (M5x.394) (3x) useful for [2.835 ]
lifting eye and support

SIMODRIVE POSMO A User Manual (POS1) -- 06.05 Edition

80
[3.150]

D D

Ausführung mit Paßfeder /

version with key
Dimensions acc. to DIN 6885 Sh.1
E Dimensions acc. to DIN 6885 Sh.1 E

5
[.197]
1:4

22 Belonging to this:
Note:
PRO/E--CAD

[.866] DIN 6 General tolerance . . Doc. number: A5E00282014_oG_AA_M

ISO 2768--mk . .
Additional dimension data on the motor -- 300 W and drive unit, refer to the Scale: 1:2 kg/piece: .
Confi ’titre de secret d’entreprise. Tous droits rservs. Tolerance . .
dimension drawings for SIMODRIVE POSMO A -- 300 W in Chapter C.2. ISO 8015 .
Confiado como secreto industial. Nos reservamos todos los derechos A2
First angle .
Comunicado como segredo empresarial. Reservados todos os direitos projection Material:
Gewicht / weight Gewicht / weight Tolerances: Surface: Sheet size
Ausf./ Type Achshöhe/ Länge / length
ohne Kabel/without cable ohne Kabel/without cable Date: 20.04.2005 Dimension drawing POSMO A 300W modular
version shaft height
Motorseite/motor side Umrichterseite/Inverter Author: Heilmann
The reproduction, transmission or use of this document or its without gearbox
contents is not permitted without express written authority. ohne Bremse/ mit Bremse/ Check: Hecht
F without brake with brake k m dimension sheet Posmo A 300W modular
Offenders will be liable for damages. All rights, including rights
created by patent grant or registration of a utility model or design, without gearbox
are reserved. mm [inch] kg [lb] mm [inch] Dep.: MC RD45 Name:
Erlangen F80 Type/MLFB: 6SN2155
Site:
01 6SN2155 36 [1.417] 2.9[6.4] 3.0[6.6] 1.5[3.3] 184.1 [7.248] 140 [5.512]
Weitergabe sowie Vervielfltigung dieser Unterlage, Verwer-- 1
tung und Mitteilung ihres Inhalts nicht gestattet, soweit nicht
Sheet:
ausdrcklich zugestanden. Zuwiderhandlungen verpflichten A5E00282014 MB AC
zu Schadenersatz. Alle Rechte vorbehalten, insbesondere fr 1
den Fall der Patenterteilung oder GM--Eintragung. A &D
Article: Doc.type Revision Sheets:

Dimension drawing: SIMODRIVE POSMO A -- 300 W extension set ”separate version” without
1 2 3 4 5 Rev. Modification Date Name Replacement for / replaced by:
* Pro/E *
C.2 Dimension drawings for SIMODRIVE POSMO A -- 300W
C Dimension Drawings

C-277
C
 C
1 2 3 4 5 6 7 8
CAD--Drawing
Manual modification
prohibited 159.399

C-278
[6.276]

Fig. C-8
A A

172
[6.772]

30 27.5

]
[1.181
] [1.083
]

--.0006
9
C Dimension Drawings

[.354]
12

40--0.016 h6
[ 1.5748
M5
B
[.472] B

109
[4.291]

]
72
[2.835]

64.3
[2.532]
70
[2.756]
36
[1.417

]
+.0004
m

+0.012 k6
Thread M5x10 (3x) for lifting eye

16+0.001
[ .6299+.0001
k
and can be used for support / 97
Ausführung mit Paßfeder / [3.819]
C 109.5 thread M5x10 (M5x.394) (3x) useful C
[4.311
] version with key

planetary gearbox (1--stage, 2--stage)

for lifting eye and support
25
[.984
] B
Dimensions acc. to DIN 6885 Sh.1
Dimensions acc. to DIN 6885 Sh.1

46
[1.811]
B--B
D A B D
C.2 Dimension drawings for SIMODRIVE POSMO A -- 300W

E Note: E

Additional dimension data on the motor -- 300 W and drive unit, refer to the dimension
drawings for SIMODRIVE POSMO A -- 300 W in Chapter C.2.
80 1:4
PRO/E--CAD

[3.150] Belonging to this:

Ver. / Type Getriebe/gearbox Achshöhe/ Gewicht / weight Gewicht / weight Länge / length Schutzart/ General tolerance . . Doc. number: A5E00282014 with 1&2 st. g.
DIN 6
version cableKabel/without cable
shaft height ohne Kabel/withoutohne Degree of protection ISO 2768--mk . .
Motor / motor Umrichter / inverter Scale: 1:2 kg/piece: .
Confi titre
’ de secret d’entreprise. Tous droits rservs. Tolerance . .
bersetzungen / without brake/
mit Bremse/ k l ISO 8015 .
Confiado como secreto industial. Nos reservamos todos los derechos ratios without brake
with brake m
First angle . A2
Comunicado como segredo empresarial. Reservados todos os direitos projection Tolerances: Surface: Material:
Sheet size
mm [inch] kg [lb] Date: 20.04.2005
mm[inch] Dimension drawing POSMO A 300W modular
Author: Heilmann with 1-- and 2--stage gearbox
The reproduction, transmission or use of this document or its 1--stufig/
contents is not permitted without express written authority . 01 6SN2155 1--stage 4/7 36[1.417] 4.1[9.0] 4.2[9.2] 1.5[3.3] 184.1 [7.248]
124[4.882]140[5.512] IP 54 Check: Hecht
F Offenders will be liable for damages. All rights, including rights dimension sheet POSMO A 300W modular
with 1-- and 2--stage gearbox
created by patent grant or registration of a utility model or design, 02 6SN2155 2--stufig/ 12/20/35/49 36[1.417] 4.4[9.7] 4.5[9.9] 1.5[3.3] 184.1 [7.248]
146[5.748]140[5.512] IP 54
are reserved.
2--stage Dep.: MC RD45 Name:

03 6SN2155 1--stufig/ 4/7 36[1.417] 4.2[9.2] 4.3[9.5] 1.5[3.3] 184.1 [7.248]

136[5.354]140[5.512] IP65 Site: Erlangen F80 Type/MLFB: 6SN2155
1--stage
Weitergabe sowie Vervielfltigung dieser Unterlage, Verwer-- 1
tung und Mitteilung ihres Inhalts nicht gestattet, soweit nicht 04 6SN2155 2--stufig/ 12/20/35/49 36[1.417] 4.5[9.9] 4.6[10.1] 1.5[3.3] 184.1 [7.248]
158[6.220]140[5.512] IP65
2--stage Sheet:
ausdr cklich zugestanden. Zuwiderhandlungen verpflichten

Dimension drawing: SIMODRIVE POSMO A -- 300 W extension set ”separate version” with
zu Schadenersatz. Alle Rechte vorbehalten, insbesondere fr A5E00282014 MB AC 1
den Fall der Patenterteilung oder GM--Eintragung. A&D Article: Doc.type Revision Sheets:

Replacement for / replaced by:

1 2 3 4 5 Rev.Modification
Date Name
* Pro/E *
06.05
02.99

E Siemens AG 2005 All Rights Reserved

SIMODRIVE POSMO A User Manual (POS1) -- 06.05 Edition
 1 2 3 4 5 6 7 8 9 10 11 12
CAD--Drawing
Manual modification
prohibited
06.05
02.99

Fig. C-9
A A

159.399
[6.276
] 97
[3.819
]

l
B B

45--0.2

172
]

[6.772]
[ 1.772
--.007
]
9

46
[1.811
[.354]
16

M6
[.630
]

h6
]
]

]
109
[4.291

84
[3.307]
84
[3.307

72
[2.835
]

55--0.019
[ 2.1654--.0007
C C

36
[1.417

E Siemens AG 2005 All Rights Reserved

+.0005

planetary gearbox (3--stage)

+0.002 k6
20+0.015
[ .7874+.0001
m
k
80
[3.150
]
84
D [3.307] D

Thread M5x10 (3x) for lifting eye

and can be used for support /
thread M5x10 (M5x.394) (3x) useful

SIMODRIVE POSMO A User Manual (POS1) -- 06.05 Edition

for lifting eye and support

109.5
[4.311
]
E E

Ausführung mit Paßfeder /

version with key
22.5
36 [.886
]
[1.417
]C

F F

4.5

6
[.236]
[.177
]
C Abmaße nach DIN 6885Bl1/
C--C Dimensions acc. to DIN 6885 Sh.1

Ausf./ Type Getriebe/gearbox Achshöhe/ Gewicht / weight Gewicht / weight Länge / length Schutzart/
G version ohne Kabel/without cable
shaft height ohne Kabel/without cable Degree of protection G
Motor / motor Umrichter / inverter
bersetzungen / ohne Bremse/
mit Bremse/ k l m
ratios without brake
with brake

mm [inch] kg [lb] mm [inch] 1:2

01 6SN2155 3--stufig/
3--stage 120 36[1.417] 7.2[15.9] 7.3[16.1] 1.5[3.3] 254[10] 228[8.976]140[5.512] IP 54

Belonging to this:
PRO/E--CAD

DIN 6 General tolerance . . Doc. number: A5E00282014 with 3 st. G._m

ISO 2768--mk . .
Confi titre de secret d’entreprise. Tous droits rservs. Tolerance . . Scale: 1:2 kg/piece: .
ISO 8015 .
Confiado como secreto industial. Nos reservamos todos los derechos Note: A1
First angle .
projection Sheet size
Comunicado como segredo empresarial. Reservados todos os direitos Tolerances: Surface: Material:
Date: 20.04.2005 Mablatt POSMO A 300W modular
H The reproduction, transmission or use of this document or its
Additional dimension data on the motor -- 300 W and drive unit, refer to the dimension Author: Heilmann mit 3--stufigem Getriebe
contents is not permitted without express written authority . Check: Hecht dimension sheet POSMO A 300W modular
Offenders will be liable for damages. All rights, including rights
created by patent grant or registration of a utility model or design,
drawings for SIMODRIVE POSMO A -- 300 W in Chapter C.2. with 3 stage gearbox
are reserved. Dep.: MC RD45 Name:
Site: Erlangen F80 Type/MLFB:
6SN2155

Dimension drawing: SIMODRIVE POSMO A -- 300 W extension set ”separate version” with
Weitergabe sowie Vervielfltigung dieser Unterlage, Verwer-- 1
tung und Mitteilung ihres Inhalts nicht gestattet, soweit nicht Sheet:
ausdr cklich zugestanden. Zuwiderhandlungen verpflichten A5E00282014 MB AC
zu Schadenersatz. Alle Rechte vorbehalten, insbesondere fr 1
den Fall der Patenterteilung oder GM--Eintragung. A& D Sheets:
Article: Doc.type Revision
1
2 3 4 5 6 7 8 9 Rev. Modification Date Name Replacement for / replaced by:
C.2 Dimension drawings for SIMODRIVE POSMO A -- 300W

* PRO/E *

J
C Dimension Drawings

C-279
C
 C Dimension Drawings 02.99
06.05
C.2 Dimension drawings for SIMODRIVE POSMO A -- 300W

Space for your notes

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C-280 SIMODRIVE POSMO A User Manual (POS1) -- 06.05 Edition
EC Declaration of Conformity D
Note
An excerpt of the EC Declaration of Conformity for SIMODRIVE
POSMO A is provided in the following.
The complete EC Declaration of Conformity can be found as follows:
Reference: /EMC/ EMC Configuring Guidelines

Siemens AG 2005 All Rights Reserved

SIMODRIVE POSMO A User Manual (POS1) – 06.05 Edition D-281
 D EC Declaration of Conformity 08.02

Fig. D-1 EC Declaration of Conformity

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D-282 SIMODRIVE POSMO A User Manual (POS1) – 06.05 Edition
08.02 D EC Declaration of Conformity

Fig. D-2 Annex A to the EC Declaration of Conformity (excerpt)

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SIMODRIVE POSMO A User Manual (POS1) – 06.05 Edition D-283
 D EC Declaration of Conformity 08.02

Annex C to the EC Declaration of Conformity No. E002

Fig. D-3 Annex C to the EC Declaration of Conformity (excerpt)



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D-284 SIMODRIVE POSMO A User Manual (POS1) – 06.05 Edition
Index E
A Cable
Changing the outlet direction, 2-46
Abbreviations, A-261
Example: Prepared, 2-54
Acknowledging faults, 6-235
for electronics power supply, 2-53
Address, 2-45, 2-48
for inputs/outputs, 2-53
Documentation (Fax, email), v
for PROFIBUS-DP, 2-52
Internet, v
for the low power supply, 2-52
Technical Support, v
Cable installation
Ambient conditions, 2-70
Example, 2-56
AMPROLYZER (bus monitor), 6-252
How?, 2-55
Analog test outputs, 6-250
Moisture protection, 2-57
Standard assignment, 6-251
Certificates, v
Supplementary addresses, 6-252
Changing the cable outlet direction, 2-46
Applications, 1-20
Characteristic
Automatic, 5-154
Ambient temperature, 2-62, 2-67
Axis type, 3-91, 3-92
i2t, 2-36
M/n 300 W motor, 2-66
M/n 75 W motor, 2-62
B Closed–loop control structure, pos mode,
Backlash compensation, 5-177 3-93
Bits Closed–loop control structure, n-set mode,
for faults, 6-234 3-94
for warnings, 6-234 Closed–loop position control
Blocks (FB 10, 11, 12), 3-78 Overview, 3-93
Brake sequence control (from SW 1.4), Standstill monitoring (zero–speed moni-
5-187, 5-194 toring), 5-181
Bus communications Coincidence factor, 2-35
Addressing, 4-100 Commissioning
Data transfer via PROFIBUS, 4-100 an axis, 3-90
Establishing the, 3-75 Establish communications, 3-75
Features, 4-100 Prerequisites, 3-73
Bus monitor, 6-252 Tool for, 3-79, 3-88
Bus termination, 2-48, 2-49 Communications via PROFIBUS, 1-21, 4-99
Components, 2-29

C E
C1 master, 4-99, 4-111, 4-114
C2 master, 4-99, 4-111, 4-114

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SIMODRIVE POSMO A User Manual (POS1) – 06.05 Edition E-285
 E Index 06.05

Connection cover Direction of rotation changeover, 5-143

75/300 W motor, 1-23, 2-45, 2-48 Direction of rotation definition, motor, 5-153
from below, 2-45 Display terminal status (from SW 1.4),
from the top, 2-44 4-112, 5-183
Withdraw/insert under voltage, 2-36 Drive unit
Connection overview, 2-43 as spare part (300 W motor), 7-257,
Consistent data transfer, 4-130 7-259
Continuous duty S1, 2-64, 2-67 Replacing (300 W motor), 7-259
Control authority (from SW 1.5), 3-85
CP 5511, 3-89
Correct use, xi E
CP 5611, 3-89
EC Declaration of Conformity, D-281
Current documentation, v
Effective, 5-201
Electrical design
Coincidence factor, 2-35
D i2t limiting, 2-36
Danger information, x Power supply, 2-31
Data transfer Regenerative feedback protection, 2-37
Consistent, 4-130 ESDS instructions, xiii
Inconsistent, 4-130 Establish communications, 3-75
Data type, 4-123, 5-201 Establish factory default setting, 5-200
DC-PMM, 2-38 Expert list (from SW 1.5), 3-87
DC-PMM_E/48V, 2-39 Explanation of symbols, x
Declaration of Conformity, D-281 External block change, 4-106
Device identification, ix
Diagnostics
LED, 1-21, 6-233 F
PROFIBUS, 6-252
Fault evaluation, 6-233, 6-234
Difference 75/300 W motor, 1-23
Fault suppression, 6-236
Digital inputs/outputs
Fault LED, 6-233
Connecting–up, 2-43
Faults, 6-235
Description, 5-182
Acknowledgment?, 4-105, 4-109, 6-235
Rules, 5-183
Bits and numbers, 6-234
Status (from SW 1.4), 4-112, 5-183
Difference to warnings, 6-235
Digital outputs, 5-182
Evaluating via PROFIBUS?, 6-235
Dimension drawing, C-269
Overview, 6-234
300 W motor
Status signal (ZSW.3), 4-110, 4-113,
with planetary gearbox 1-stage, C-275
6-235
with planetary gearbox 2-stage, C-275
Which warnings are there?, 6-234
with planetary gearbox 3-stage, C-276
Flying actual value setting (from SW 1.4),
without gearbox, C-274
5-170
75 W motor
E with planetary gearbox, C-271
with worm gearbox, C-272
Flying measurement (from SW 1.4), 5-166
Function block, 1-22, 3-78
FB 10 (CONTROL_POSMO_A, from
without gearbox, C-270
02.00), 3-78
Dimension drawing, extension set, ”separate
FB 11 (PARAMETERIZE_POSMO_A,
version”, 300 W motor
from 02.00), 3-78
with planetary gearbox 1-stage, C-278
FB 12 (PARAMETE-
with planetary gearbox 2-stage, C-278
RIZE_ALL_POSMO_A, from 05.00),
with planetary gearbox 3-stage, C-279
3-78
without gearbox, C-277

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E-286 SIMODRIVE POSMO A User Manual (POS1) – 06.05 Edition
06.05 E Index

Function overview, 1-22 Inversion

FW version, ix Direction of rotation, motor shaft, 5-180
Output terminals, 5-183
Start byte condition, 5-145
G
Gear, Selection of, 1-20
Gearbox J
300 W motor Jerk limiting, 5-179
Data, 2-68, 2-69, 2-70 Jogging operation, 5-153
Dependent parameters, 5-231 In the standalone mode, 5-186
M/n-characteristic, 2-66 without PROFIBUS and parameterization
Modular system, 2-61 (from SW 1.4), 5-184
75 W motor
Data, 2-64
Dependent parameters, 5-230 K
M/n-characteristic, 2-62
Kv factor (position loop gain), 3-93
Modular system, 2-60
as spare part (300 W motor)
Degree of protection IP54, 7-257
Degree of protection IP65, 7-257 L
Code, 5-230, 5-231 LED display, 6-233
Permissible torque, 2-60, 2-61 Linear axis, 3-91
Replacing (300 W motor), 7-255 List
Gearbox–dependent parameters (factory of abbreviations, A-261
presetting – default), 5-230 of faults, 6-238
Grounding, 2-50 of gearbox–dependent parameters,
5-230
of parameters, 5-202
H of references, B-265
of the gearboxes (300 W motor), 2-61
Hardware limit switch, 5-194
of the gearboxes (75 W motor), 2-60
Help for the reader, vi
of the terminal functions, 5-182
Holding brake (from SW 1.4), 5-187, 5-194
of warnings, 6-238
Holding controller (from SW 1.3)
Integral action time, 3-93, 3-94
P gain, 3-93
Homing, 5-155 M
Overview, 5-155 Master
Hotline, v Class 1, 4-99, 4-111, 4-114
HW version, ix Class 2, 4-99, 4-111, 4-114
Master device file (GSD), 4-130
MDI, 5-154
I
i2t characteristic, 2-36
Meas. system
300 W motor, 2-68 E
75 W motor, 2-63
Importing station GSD, 4-132
Measurement, flying (from SW 1.4), 5-166
Individual traversing blocks, 5-141
Measuring outputs, 6-250
Inputs/outputs, digital, 5-182
Modulo value, 3-92, 5-175
Installation altitude, 2-63, 2-67
Moisture protection, 2-57
Integrated help, 3-87
Interfaces, 2-47
Intermittent duty S3, 2-64, 2-67
Internet address, v

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SIMODRIVE POSMO A User Manual (POS1) – 06.05 Edition E-287
 E Index 06.05

Monitoring when positioning Operating modes

Following error, 4-111 Automatic, 5-154
Reference position reached, 4-111 Homing, 5-155
Standstill monitoring (zero–speed moni- Jogging operation, 5-153
toring), 5-181 MDI, 5-154
Motor holding brake (from SW 1.4), 5-187, Tracking operation, 5-154
5-194 Operation with third–party master, 4-132
Motor identification, 5-200 Operation without bus communications,
Motor type, 1-19, 1-23, 5-201 5-185
Mounting and installation steps Order No.
for gearboxes (300 W motor), 7-256 for 300 W motor, 1-23
for motor mounting, 2-51 for 48 V rectifier unit, 2-34
for the drive unit (300 W motor), 7-259 for 75 W motor, 1-23
MSR (dimension system grid), 5-201 for catalogs and documentation, B-265
for DC-PMM (Power Management Mo-
dule), 2-38, 2-39
N for SITOP power module 48V/20A, 2-33
for spare parts, 7-257
New information
Overview
for SW 1.2, vii
Closed–loop control structure, pos
for SW 1.3, vii
mode, 3-93
for SW 1.4, vii
Closed–loop control structure, n-set
for SW 1.5, vii
mode, 3-94
for SW 2.0, viii
Connecting–up, 2-43
for SW 2.1, viii
Connection, 2-43
for SW 3.0, viii
Control signals, 4-104, 4-108
Identification of, vi
Faults, 6-234
Node address (station address), 2-45, 2-48
Functions, 1-22
Notes
Gearbox, 2-60, 2-61, 5-230
Danger and warning information, x
Homing, 5-155
Electrostatic discharge sensitive devices,
Mounting, 2-51
xiii
Parameters, 5-202
Hotline, v
References, B-265
Technical, xi
Status signals, 4-110, 4-113
Technical Support, v
System, 2-29
Numbers
Traversing blocks, 5-140
for faults, 6-234
Warnings, 6-234
for warnings, 6-234
Numerical formats, 4-123

E Offline with SimoCom A (from SW 1.5), 3-85

Online with SimoCom A (from SW 1.5), 3-85
Operating mode
Positioning, 5-134
Speed setpoint, 5-133

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E-288 SIMODRIVE POSMO A User Manual (POS1) – 06.05 Edition
06.05 E Index

P Process data (PZD area), 4-101, 4-103

Control signals
Parameter area (PKW area), 4-101, 4-121
Control word (STW), 4-103
Data types, 4-123
Control word (STW) (n-set mode),
Fault evaluation, 4-122
4-108
How is a task executed?, 4-124
Control word (STW) (pos mode),
Structure of, 4-121
4-104
Task/response processing, 4-124
Select block number (AnwSatz),
Task/response IDs, 4-122
4-103, 4-107
Transferring traversing blocks, 4-124
Speed setpoint, 4-103
Parameterizing, using SimoCom A (from
Start byte (STB), 4-103, 4-107
SW 1.5), 3-79
Status signals
Parameterizing and start–up tool ”SimoCom
Actual block number (AktSatz), 4-103,
A” (from SW 1.5), 3-79
4-112
Parameters
Actual speed value, 4-103
All modified, 5-200
Checkback signal (RMB), 4-103,
All supported, 5-200
4-112
Factory default setting, 5-200
Status word (ZSW), 4-103
for identification, 5-200
Status word (ZSW) (n-set- mode),
Formats for, 4-123
4-113
Gearbox–dependent (300 W motor),
Status word (ZSW) (pos-mode), 4-110
5-231
PROFIBUS-DP
Gearbox–dependent (75 W motor), 5-230
Address, 2-45, 2-48
General information, 5-199
Baud rate, 4-100
List of, 5-202
Bus monitor, 6-252
Listing the, 5-201
Cable for, 2-52
Saving, 5-199
Data transfer technology, 4-100
Service functions, 5-200
Example: Operate drive, 4-116, 4-117
Path controlled operation, 5-144
Example: Reading parameters, 4-126
PELV, 2-50
Example: Writing parameters, 4-128
Personnel – qualified?, ix
General information, 4-99
PG gland, 2-56
Master and slave, 4-99
Position measuring encoder
Node address (station address), 2-45,
300 W motor, 2-68
2-48
75 W motor, 2-63
Terminating resistor, 2-45, 2-48, 2-49
POSMO A – 300 W, Extension set, ”sepa-
Programs, 1-21, 5-140, 5-141
rate version”, 1-20
Classifying the, 5-141
Potential bonding, 2-50
Program areas, 5-140
Potential bonding conductor, 2-44
Program control word (PSW), 5-144
Power Management Module (DC-PMM),
Selecting and controlling, 5-151
2-38
Protective conductor, 2-44
Power Management Module Extension (DC-
Protective grounding, 2-50
PMM_E/48V), 2-39
Power–on inhibit, 4-111, 4-114, 4-118, 4-119
Powering–down, 5-165
E
PPO types, 4-102 Q
Precise stop, 5-145 Qualified personnel, ix

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SIMODRIVE POSMO A User Manual (POS1) – 06.05 Edition E-289
 E Index 06.05

R SimoCom A (from SW 1.5)

Entry in, 3-83
References, B-265
Information on, 3-84
Referencing (homing)
Installing/un–installing, 3-80
Limitations for, 5-156
Integrated help, 3-87
Reset (from SW 1.4), 5-156
Optimum version, 3-79
Set via actual value, 5-157
SIMODRIVE POSMO A
to cam with reversal, 5-161
Brief description, 1-19
to cam without reversal, 5-159
Function overview, 1-22
to occurring zero mark (from SW 2.1),
System overview, 2-29
5-163
Wiring overview, 2-43
to zero mark via the traversing block
SITOP Power, 2-33, 2-34
(from SW 1.4), 5-157
Software Class C, 3-78
via fixed endstop, 5-158
Software limit switch, 5-195
Regenerative feedback protection, 2-37
Software release, ix
Replacing
Spare parts, 7-254, 7-257
the drive unit (300 W motor), 7-258
Speed controller
the gearbox (300 W motor), 7-255
Integral action time, 3-93, 3-94
the motor, 7-253
P gain, 3-93, 3-94
Replacing a motor, 7-253
P gain, standstill (zero speed), 3-93, 3-94
Replacing the drive unit (only 300 W motor),
Standalone mode (from SW 1.2), 5-185
7-258
Standstill monitoring (zero–speed monito-
Revisions, vi
ring), 5-181
Rotary axis, 3-92, 5-175
Status signal
for faults (ZSW.3), 6-235
for warnings (ZSW.7), 6-236
S Step–down ratio, 2-60, 2-61
S1 continuous duty, 2-64, 2-67 Support, v
S1 switch S1, 2-45, 2-48 SW limit switches, 5-195
S3 intermittent duty, 2-64, 2-67 Switchover
Safety information, x Closed–loop speed-/position controlled,
Screwdriver 5-144
for connection cover, 2-44 Metric/inch, 5-180
for connection module, 2-46 System overview, 2-29
for cover (measuring), 6-250 System requirements, 2-30
for terminals, 2-45
Sequence diagram ”Variable–speed drives”
n-set mode, 4-119 T
pos mode, 4-118
Technical data
Set actual value
300 W motor, 2-66
Flying (from SW 1.4), 5-170
75 W motor, 2-62
via traversing block, 5-157
Ambient conditions, 2-70
E Write via P40, 5-157
Settings at the DP master, 4-130
Electrical data, 2-62, 2-66
Holding brake, 300 W motor, 2-68
Shaft load capability
Motor data 300 W motor, 2-68
Gearbox shaft (300 W motor), 2-69
Motor data 75 W motor, 2-63
Gearbox shaft (75 W motor), 2-64
Technical Support, v
Motor shaft (300 W motor), 2-68
Telegram structure for cyclic data transfer,
Motor shaft (75 W motor), 2-63
4-102
SIMATIC blocks, 3-78

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E-290 SIMODRIVE POSMO A User Manual (POS1) – 06.05 Edition
06.05 E Index

Telegram substitution (from SW 3.0), 5-197 W

Terminal status (from SW 1.4), 4-112, 5-183
Warning information, x
Terminals, 2-44, 2-45, 2-47, 5-182
Warnings, 6-236
Terminating resistor, 2-45, 2-48, 2-49
Bits and numbers, 6-234
Tool
Difference to faults, 6-235
for connection cover, 2-44
Evaluating via PROFIBUS?, 6-236
for connection module, 2-46
Overview, 6-234
for cover (measuring), 6-250
Status signal (ZSW.7), 4-111, 4-114,
for replacing gearboxes (300 W motor),
6-236
7-255
Which warnings are there?, 6-234
for replacing the drive unit (300 W
Water loop, 2-57
motor), 7-258
Weights
for terminals, 2-45
for a 300 W motor, 2-70
Tightening torque, 2-45
for a 75 W motor, 2-64
Tracking operation, 5-154
What is new?
Travel to fixed stop, 5-158, 5-173
for SW 1.2, vii
Traversing blocks, 1-21, 5-140
for SW 1.3, vii
Classifying the, 5-140
for SW 1.4, vii
Pre–assignment block 3 to 27, 5-142
for SW 1.5, vii
Pre–assignment, blocks 1 and 2, 5-142
for SW 2.0, viii
Programming the, 5-143
for SW 2.1, viii
Selecting and controlling, 5-151
for SW 3.0, viii
Structure of, 5-143
Wiring overview, 2-43
Traversing possibilities, 1-21, 5-144
Traversing without PROFIBUS and parame-
terization (from SW 1.4), 5-184
X
X1, 2-45, 2-47
U X2, 2-45, 2-47
X3, 2-45, 2-47
UL certification, viii
X4, 2-45, 2-47
UL approval, 1-27, 2-31
X5, 2-45, 2-47
Units, 5-201
X6, 2-45, 2-48
Using the manual, vi
X7, 2-45, 2-48
X9, 2-45, 2-48
V
Varistor, 1-27, 2-31 Z
Version
Zero mark, 5-156, 5-159, 5-161
of SimoCom A, ix
of the firmware, ix
of the hardware, ix
overview, ix
the motor, ix E


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E-292 SIMODRIVE POSMO A User Manual (POS1) – 06.05 Edition
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SIMODRIVE POSMO A
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General Documentation/Catalogs

SINUMERIK
SIMODRIVE Catalog Catalog

Catalog DA 65.4 SL 01 System solutions KT 10.1 Power supplies

SIMODRIVE 611 universal IK PI Industrial Communication SITOP power
and POSMO and Field Devices ST 70 SIMATIC
Catalog NC 60 CA 01 Components for ST 80 SIMATIC HMI
Automation Systems for Automation & Drives
Machine Tools

Manufacturer/Service Documentation

SINUMERIK
SIROTEC
SIMODRIVE SIMODRIVE SIMODRIVE Manual

POSMO A POSMO A

User Manual Mounting EMC Design Distributed

Instructions Guidelines I/O System ET200
75 W motor SINUMERIK (PROFIBUS Configuring
300 W motor SIROTEC Guidelines)
SIMODRIVE
(supplied with each
drive)

Electronic Documentation

SINUMERIK
SIMODRIVE

840D/810D/ DOC ON CD
FM–NC/611/ The SINUMERIK System
Motors
Siemens AG
Automation and Drives
Motion Control Systems
Postfach 3180, D – 91050 Erlangen © Siemens AG 2005
Subject to change without prior notice
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www.siemens.com/motioncontrol Printed in the Federal Republic of Germany