S120 Basic Positioner Overview

Automation and Drives
PR
SINAMICS S120 with basic positioner Epos
LIM E
No
gu IN
ara AR
n te
Y!
e!
SINAMICS
S120
Basic positioner
Consequential innovation - proven experience !!!
EPos
SINAMICS S120
STRENGTHEN EPos Masterdrives MC
Overview,
functionality
Customer benefits
+
STRENGTHEN positioning 611 U
Descriptive
+
text NEW: Positioning also in vector control
Details on the
functionality
= EPos SINAMICS S120

Background re:
the functionality
Positioning
EPos, SINAMICS S120 , A&D MC PM Uwe Schmidt // February 2007 // V2.5 Preliminary
PR
Overview of the functionality: E LIM
No
gu IN
ara AR
n te
e!Y!
SINAMICS Absolute and relative positioning of linear and rotary axes (modulo)
S120 with motor encoder or machine encoder.
Basic positioner
EPos Jogging: Position-controlled traversing; endless or a specified step width
SINAMICS S120
Referencing:
Overview,
Overview, - reference point approach including reversing cam functionality
functionality
functionality - flying referencing subordinate - also possible for positioning modes in operation
- reference point setting
Customer benefits - absolute encoder adjustment (when the positioning system is commissioned for the first time)
Operating mode MDI / direct setpoint input (based on Masterdrives MC Epos):

Flying and continuous setpoint changes (e.g. via the PLC) possible while traversing
Flying change between setting-up (endless closed-loop position control) and positioning
possible
Descriptive
text Operating mode traversing blocks (based on 611U):
64 traversing blocks including block change enable conditions and specific tasks;
Details on the e.g.: program steps (skips), continue flying, waiting times, setting digital outputs;
functionality (traverse to fixed endstop, external block change enable signals and jerk from V2.5 onwards)
Background re: Software limit switch: Traversing range limiting by evaluating the position setpoint
the functionality
Stop cam: The traversing range is limited by evaluating hardware limit switches
Backlash compensation
Dynamic following error monitoring, positioning/ standstill [zero speed] monitoring,

2 basic cam switching signals
PR
Overview of the functionality: E LIM
No
gu IN
ara AR
n te
e!Y!
SINAMICS The basic positioner is available in control types servo AND vector
in the S120 and S150! (not in Simotion D with Sinamics Integrated)
S120
Basic positioner Full graphics support (screen forms and Wizards) using Starter
EPos From the configuration of the mechanical system including background calculations
SINAMICS S120 through commissioning up to operator control and diagnostics
Overview,
Overview, All operating modes can be controlled via the PC for diagnostics and commissioning
functionality
functionality including shared control panel for both closed-loop speed and position controlled operation
Customer benefits Pre-configured Profidrive positioning telegrams

Positioning telegram types (7 , 110) (9 from V2.5 onwards) are available in SINAMICS
and when selected are automatically correctly connected-up -
this therefore guarantees fast and simple connection to automation devices.
The basic positioner offers flexible connection and can be adapted in the application
Descriptive engineering as it is predominantly equipped with BICO technology.
text This results a wide range of potential applications.
Details on the The basic positioner can be activated depending on the requirement on an axis-for-
functionality axis basis (scalable functionality)
i.e. due to the fact that the basic positioner FUNCTION MODULE can be selected on an
Background re: axis-for-axis basis, the performance of the CU320 is not utilized to the maximum
the functionality when commissioning/engineering the system.
In the expert mode it is possible to only activate the sub-set position controller/actual
value conditioning i.e. without upstream position ramp-function generator) this allows
the computation time utilization to be reduced
this allows e.g. free connection to automation systems that can/must carry-out the
interpolation themselves.
PR
Example of STARTER screen forms: E LIM
No
gu IN
ara AR
n te
e!Y!
SINAMICS
S120
Basic positioner Drive Navigator:
EPos navigates users through the
SINAMICS S120 control loop
Overview,
Overview,
functionality
functionality
Customer benefits
Descriptive
text
Details on the
functionality Configuring the
MECHANICAL SYSTEM
Background re:
the functionality
PR
No
gu IN
ara AR
n te
e!Y!
SINAMICS Control panel: Commissioning and diagnostics via the PC control:
S120
Basic positioner
EPos
SINAMICS S120
Overview,
Overview,
functionality
functionality
Customer benefits
Descriptive
text
Details on the
functionality
Background re:
the functionality
MDI, e.g.:
Setpoints via the
PLC
PR
SINAMICS S120 with basic positioner E LIM
No
gu IN
ara AR
n te
e!Y!
SINAMICS
S120
Basic positioner
Customer benefits
EPos flying and continuous mode/setpoint changes while actually traversing without requiring
SINAMICS S120 mandatory handshaking,
including easy-to-use benefits/ connection,
Overview, including process shortening transitions without the axes coming to a
functionality standstill
Customer
Customer benefits
benefits Can be simply and ideally connected to a PLC (..even third-party PLCs and process
data)
Can be simply adapted in the application engineering and simple to handle
Simple traversing block handling and implementation of fixed traversing blocks

Descriptive
Graphic configuration, commissioning and operator screen forms (tool incl.
text
control panel)
Details on the Basic positioning is still available independent of the control technique vector / servo (..and
functionality their associated limits and constraints)
Background re:
the functionality Proven experience in this application area with ongoing innovation
===> cost and time saving

===> an innovation jump has been made and plant/system productivity increased
===> supplementary resources have been eliminated thanks to the application capability
===> engineering costs have been reduced
PR
Descriptive text (1/2) of the functionality: E LIM
No
gu IN
araAR
The basic positioner is used to position linear and rotary axes (modulo) in either absolute/relative
Y!
n te
e!
SINAMICS terms using a motor encoder (indirect measuring system) or an encoder mounted on the
S120 machine (direct measuring system).
Basic positioner
It is available as additive function module that can be activated in the basic control types servo control and
EPos vector control.
SINAMICS S120
Further, user-friendly configuring, commissioning and diagnostic functions (graphically prompted) are
Overview, available in STARTER for the basic positioning functionality.
Using STARTER, a control panel is available for the basic positioner and closed-loop speed controlled
functionality operation this can be used to control the functionality per PC for commissioning or diagnostics.
When the basic positioner is activated, the closed-loop position control is also activated. This is realized
Customer benefits automatically when activating the basic positioner via the drive Wizards of STARTER. Further, the internal
interconnections) (BICO technology) that are necessary are automatically established.
Pre-configured ProfiDrive positioning telegrams are available when they are selected, the internal
interconnection to the basic positioner is automatically established.
Descriptive
Descriptive
text The closed-loop position control essentially comprises two parts:
-- position actual value conditioning (including the subordinate measuring probe evaluation and reference
mark search)
Details on the -- position controller (including limits, adaptation, pre-control calculation)
functionality -- monitoring functions (standstill, positioning and dynamic following error monitoring, cam signals)
Background re: Further - using the basic positioner - the following functions can also be executed:
the functionality Mechanical system:
-- backlash compensation
-- modulo correction
Limits:
-- velocity/acceleration/deceleration limits
-- software limit switch (traversing range limiting by evaluating the position setpoint)
-- stop cams (the traversing range is limited by evaluating the hardware limit switch)
PR
Descriptive text (2/2) of the functionality: E LIM
No
gu IN
ara AR
Referencing and adjusting:
n te
e!Y!
SINAMICS -- setting the reference point (for axes are at standstill)
S120 -- reference point approach (dedicated operating mode including the reversing cam functionality, automatic
Basic positioner direction of rotation reversal, referencing to cam and encoder zero mark or only encoder zero mark or external
EPos equivalent zero mark (BERO)")
SINAMICS S120 -- flying referencing (during normal" traversing motion, can be referenced, superimposed using the measuring
probe evaluation; generally, evaluation of e.g. a BERO proximity switch. Superimposed function for the
Overview, following operating modes jogging, direct setpoint input/MDI" and traversing blocks".
functionality -- absolute encoder adjustment
Operating mode traversing blocks (64 traversing blocks):

Customer benefits -- the traversing blocks saved in the device are used for positioning including block change enable (advance)
conditions and specific tasks (requests) for an axis that was previously referenced
-- traversing block editor using STARTER
-- a traversing block contains the following information/data:
Task number and task (e.g. positioning, waiting, block jump GOTO, setting binary (digital) outputs
motion parameters (target position, velocity override for acceleration and deceleration)
Descriptive
Descriptive mode (e.g.: skip block, block change enable conditions such as continue_with_stop" and continue_flying")
text task parameters (e.g. delay time, block jump conditions)
Operating mode direct setpoint input (MDI):

Details on the -- positioning (absolute, relative) and setting-up (endless, closed-loop position controlled) using direct setpoint
functionality inputs (e.g. via the PLC using the appropriate process data)
-- the motion parameters can be continuously influenced while traversing (flying setpoint transfer)
Background re: it is also possible to make a flying change between the setting-up and positioning modes.
the functionality -- the direct setpoint input mode (MDI) can also be used for non-referenced axis in the setting-up or relative
positioning modes; this means that when flying referencing is used, flying synchronization and post-referencing
(subsequent referencing) are possible.
Operating mode - jogging:

-- the axis is traversed in the closed-loop position controlled mode using the modes endless position control or
incremental jogging" (in order to traverse by one step width" it is possible to changeover between these
modes)
PR
Common definition : E LIM
No
gu IN
ara AR
n te
e!Y!
SINAMICS
S120 rotary axis
Basic positioner (modulo)
EPos
SINAMICS S120
Overview,
functionality
Customer benefits
Descriptive
Descriptive
text linear axis
Details on the
functionality
Background re:
the functionality
PR
Details on the functionality: E LIM
No
gu IN
ara AR
n te
e!Y!
SINAMICS
S120 4 OPERATING MODES (can be toggled between when an axis has reached its
Basic positioner target position and is at a standstill):
EPos
SINAMICS S120
- JOGGING (closed-loop position controlled)
Overview,
functionality - REFERENCE POINT APPROACH
Customer benefits - MDI/DIRECT SETPOINT INPUT (positioning based on Masterdrives MC Epos)
- TRAVERSING BLOCKS (positioning based on 611U)
Priority of the operating modes with respect to one another when they are simultaneously
Descriptive selected:
text From top to the bottom i.e. JOGGING > REF. APPROACH > MDI > TRAVERSING BLOCKS
Details on the
Details on the
functionality
functionality Including subordinate (lower-level) FLYING REFERENCING in the operating modes
Jogging, Traversing blocks and MDI/direct setpoint input
Background re:
the functionality
In the operating mode MDI/direct setpoint input including
- flying and it is always possible to changeover during traversing between the modes
setting-up (= endless position-controlled traversing with v-set input)
and positioning absolute/relative
- flying and continuous setpoint change possible while actually traversing
PR
No
gu IN
ara AR
n te
e!Y!
SINAMICS
Operating mode: JOGGING
S120
Basic positioner
EPos The axis is traversed with position control using two modes
SINAMICS S120 that can be toggled between
Overview,
functionality 1. mode: Endless closed-loop position controlled using v-set input (the sign is evaluated)
Customer benefits 2. mode: Incremental jogging ( = in order to traverse through the specified step width)
... two selectable setpoints are available in both modes (jogging 1 / 2)
Descriptive
text
Details on the
Details on the
functionality
functionality
Background re:
the functionality
PR
No
gu IN
ara AR
n te
e!Y!
SINAMICS Jogging:
S120
Basic positioner
EPos
SINAMICS S120
Overview,
functionality
Customer benefits
Descriptive
text
Details on the
Details on the
functionality
functionality
Background re:
the functionality
PR
No
gu IN
ara AR
n te
e!Y!
SINAMICS Operating mode: REFERENCE POINT APPROACH (active
S120 referencing)
Basic positioner
EPos
SINAMICS S120 The reference point is fully automatically searched for and acquired
when using an incremental measuring system (e.g. encoder)
Overview,
functionality Reference point approach with the following evaluation possibilities:
- cam and encoder zero mark, encoder zero mark external equivalent zero mark (Bero)
Customer benefits - set reference point without traversing possible
Reversing cam functionality

Automatic direction of rotation reversal and search along the complete traversing range,
the start direction can be specified
Descriptive Various approach velocities can be specified (to the cam, to the reference mark, to the
text reference point) - e.g. to increase the accuracy of the reference mark detection
Monitoring using maximum traversing distances/tolerance bandwidths that can be specified

Details on the
Details on the e.g. to the cams, between the cams and zero mark, distance to the zero mark
functionality
functionality
Automatic traversing for reference point offset possible regarding reference mark and
Background re: via reference point coordinates that can be entered via BICO
the functionality
Automatic direction of rotation reversal at the reference cam - so that, for example, reversing cams
or hardware limit switches (when the STOP cam functionality is disabled) can be used as reference cams
(this eliminates some of the hardware required)
(in the START direction that can be specified the zero mark has priority as reference mark BEFORE
the reference cam)
PR
No
gu IN
ara AR
n te
e!Y!
SINAMICS Reference point approach ( = active referencing) :
S120
Basic positioner
EPos
SINAMICS S120
Overview,
functionality
Customer benefits
Descriptive
text
Details on the
Details on the
functionality
functionality
Background re:
the functionality
PR
No
gu IN
ara AR
n te
Y!
e!
SINAMICS Operating mode: TRAVERSING BLOCKS (positioning based on 611U
S120 functionality)
Basic positioner
EPos
Positioning using traversing blocks saved in the device (for a referenced axis)
SINAMICS S120
64 traversing blocks are possible including block change enable conditions and specific tasks
Overview,
functionality User-friendly traversing block editor
Customer benefits For each block, e.g. position and velocity can be separately set and the acceleration as
well as the deceleration override can be entered
Tasks; e.g.:
positioning absolute / relative, ABS_POS/_NEG (forced direction of rotation input for modulo axes),
endless pos / neg, wait (waiting time), GOTO (block jump), SET_O / RESET_O (setting / resetting
Descriptive from up to two digital outputs simultaneously)
text From V2.5 onwards: traversing to fixed endstop (torque limiting, endstop detection via following errror
detection or external signal, detection of fixed endstop fracture and fault reaction ) , jerk (activate, deactivate)
Details on the
Details on the
functionality
functionality
Block change conditions:
End , continue with stop, continue flying (at the start of braking)
Background re: From V2.5 onwards: continue external, continue external wait, continue external alarm
the functionality (External block transition via fast measuring probes or selectable BICO-signal)
Traversing blocks can be skipped (suppressed)
When any given traversing block is activated (BICO) a traversing block being executed can be
interrupted and a flying change made into the new traversing block !
PR
No
gu IN
ara AR
n te
e!Y!
SINAMICS Traversing block editor:
S120
Basic positioner
EPos
SINAMICS S120
Overview,
functionality
Customer benefits
Descriptive
text
Details on the
Details on the
functionality
functionality
Background re:
the functionality
PR
No
gu IN
ara AR
n te
Y!
e!
SINAMICS Operating mode: MDI / direct setpoint input
S120 (positioning based on MASTERDRIVES MC EPos functionality)
Basic positioner
EPos Positioning/setting-up with direct setpoint inputs (e.g. process data, PLC)
SINAMICS S120 that can also be continuously influenced even while actually traversing
Overview, Flying and continuous setpoint transfer is possible while the axis is actually moving
functionality ...e.g. setpoint data from the communications interface, PLC
(e.g.: position, V-set, V-override, acceleration, deceleration, signal to forcibly change the direction of rotation)
Customer benefits
It is possible to make a flying change between the various modes while the axis is
actually moving:
- mode: Setting-up ( endless closed-loop position controlled mode, v-set input)
- mode: Positioning, absolute/relative (for modulo, also: forced direction of rotation change, shortest path/distance)
Descriptive
text
In this mode it is also possible to traverse a non-referenced axis
(modes: setting-up + positioning relative), e.g. by using flying synchronizing/referencing
Details on the
Details on the
functionality
functionality This is the reason that this functionality offers, for example, the following:
In the mode MDI/direct setpoint input in the setting-up mode with secondary/subordinate flying
Background re: referencing the axis is automatically moved and referenced in the production direction during the
the functionality continuous traversing motion. The system can then make a flying change into the positioning
mode without the axis coming to a standstill; new setpoints - e.g. via the PLC can always be
transferred.
This can offer advantages for the following situations e.g. for
- axes, that may only be operated in one direction of rotation or continuous material webs
- minimizing the approach time, waste as well as increasing the production rate
- machines with slip can also be post-referenced on the fly
PR
No
gu IN
ara AR
n te
e!Y!
SINAMICS Direct setpoint input / MDI :
S120
Basic positioner
EPos
SINAMICS S120
Overview,
functionality
Customer benefits
Descriptive
text
Details on the
Details on the
functionality
functionality
Background re:
the functionality
PR
No
gu IN
ara AR
n te
e!Y!
SINAMICS
Flying referencing (passive referencing)
S120
Basic positioner
EPos Referencing the axis during normal traversing motion
using a measuring probe (standard setting) including possible continuous
SINAMICS S120 post-referencing !!!
Overview, Can be executed as subordinate function in the following operating modes: jogging,
functionality traversing blocks and MDI/direct setpoint input !!!
Customer benefits Can be selected for both incremental and absolute measuring systems (encoders)
It is possible to toggle between measuring probes (2 measuring probe inputs

can be selected, positive/negative edge) switched over using BICO technology
Descriptive For flying referencing while carrying-out RELATIVE positioning it can be selected as to
text whether the correction value for the traversing distance should be taken into account or not
Details on the
Details on the For post-referencing it is possible to evaluate a real/incorrect BERO signal (inner/outer
functionality
functionality position difference window)
Background re:
the functionality
PR
No
gu IN
ara AR
n te
e!Y!
SINAMICS Flying referencing (= passive referencing) :
S120
Basic positioner
EPos
SINAMICS S120
Overview,
functionality
Customer benefits
Descriptive
text
Details on the
Details on the
functionality
functionality
Background re:
the functionality
PR
No
gu IN
ara AR
n te
e!Y!
SINAMICS Software limit switches for linear axes:
For a referenced axis the traversing range is limited by evaluating the position setpoint
S120
Basic positioner Stop cams: The traversing range is limited by evaluating a hardware limit switch
EPos The limit switches can also be used as reversing cams or reference cams for the reference
SINAMICS S120 point approach e.g. for a reference point approach the stop cam functionality is de-selected
(BI:p2568) > reduces the level of hardware resources required
Overview,
functionality Velocity override can be used in all operating modes
(for reference point approach only for reference cam approach velocity)
Customer benefits
Backlash compensation
Corrects the position actual value as a result of any mechanical play (backlash) between the
motor and load
Intermediate stop and reject traversing task can be controlled in the positioning
Descriptive modes (traversing blocks and MDI/direct setpoint input)
text The old traversing direction can be continued after an intermediate stop
Details on the
Details on the Dynamic following error monitoring
functionality
functionality (this eliminates velocity-dependent components and therefore permits monitoring functions to
be implemented with a far more rigid tolerance equivalent time constants of the control loop
Background re: subordinate (secondary) to the position controller are taken into account),
the functionality position monitoring (target position reached),
standstill monitoring
2 basic cam switching signals (in the closed-loop position control)

No hysteresis, cam position can only be parameterized (no BICO), only ONE position for signal
change for each cam (..this means no ON/OFF position for each cam), but one BICO output is
available for each cam
PR
No
gu IN
ara AR
n te
e!Y!
SINAMICS
S120 Positioning/standstill monitoring
Basic positioner
EPos
SINAMICS S120
Overview,
functionality
Customer benefits
Descriptive
text
Details on the
Details on the
Following error monitoring
functionality
functionality
Background re:
the functionality
PR
No
gu IN
ara AR
n te
e!Y!
SINAMICS Software limit switches and stop cams (hardware limit switch):
S120
Basic positioner
EPos
SINAMICS S120
Overview,
functionality
Customer benefits
Descriptive
text
Details on the
Details on the
functionality
functionality
Background re:
the functionality
PR
No
gu IN
ara AR
n te
e!Y!
SINAMICS
S120 Referencing types that are available:
Basic positioner > Reference point approach (active referencing) (operating mode: see details in
EPos previous overheads)
SINAMICS S120 > Flying referencing (passive referencing) (see details in previous overheads)
> Reference point setting
Reference point setting is possible in the initial state (= target position reached and axis
Overview,
stationary (zero speed)), none of the operating modes are active) and from V2.5 onwards also in
functionality
intermediate stop (MDI and Traversing blocks)
> Absolute encoder adjustment
Customer benefits (when commissioning for the first time: Determining the offset at standstill [zero speed]
using the reference coordinates)
The following functions are not possible for a NON-referenced axis:

- traversing blocks operating mode
Descriptive - in the operating mode MDI/direct setpoint input the Absolute positioning (i.e. setting-up
text and relative positioning are also possible here - and are often practical!)
Details on the
Details on the Changing-over between units - mm, inch, Degrees, LU including selectable resolutions
functionality
functionality of between 1 and 0.00001
(in V2.4 and V2.5, only LU was possible)
Background re: The units LU permit the most accurate and the most flexible adaptation of the
the functionality
position actual value resolution;
this is because the internal high-resolution position actual value resolution precise to
one increment can also be used externally (customer perspective, setpoint input),
and customers are able to select any setpoint normalization/actual value normalization.
PR
No
gu IN
ara AR
n te
e!Y!
SINAMICS
S120 From V2.5 onwards:
Basic positioner
Jerk limiting (jerk) can be permanently activated or via PZD (BICO) in ALL operating modes.
EPos In the traversing blocks mode, this can be additionally activated/de-activated as a function
SINAMICS S120 of the particular task, if the jerk is not permanently or via PZD (BICO) activated.
In V2.4, the position setpoint filter (p2533) can be used in the position controller for rounding-off.
Overview, This is also easily possible as the position setpoint filter influences both the position setpoint as well as
functionality also the speed pre-control (assuming the symmetrical adaptation of the setpoints) and a filter that can be
separately set (p2535/p2536) is available for the pre-control symmetrization (delay, position setpoint at
Customer benefits the position controller as a ratio to the speed pre-control, following error compensation).
EPos is implemented as function module (computation time is only utilized when the function
is actually selected).
The necessary interconnections to the basic system are AUTOMATICALLY established. (BICO
technology interconnections are automatically established and parameterized when the function module is
Descriptive selected). Further, these interconnections both to the basic system as well as within the EPos
text can be adapted using Bico technology as part of the application engineering to implement the
customers specific requirements; this therefore results in a wide range of possible applications.
Details on the
Details on the In the expert mode, it is possible to only activate the sub-set position controller/ actual value
functionality
functionality preparation (i.e. without the upstream position ramp-function generator) to reduce the load on the
computation time.
Background re: This allows, e.g. free link to the automation systems that handle the interpolation
the functionality and the position ramp-function generator channel.
Further, this means that the complex handshaking technique, executed via the control, can be
eliminated e.g. when initiating/retrieving position measured values per measuring probe
(I.e.: Gn_XIST1, Gn_XIST2, Gn_STW, Gn_ZSW), this is because the position actual value conditioning
module to a large extent automatically executes this.
PR
No
gu IN
ara AR
n te
e!Y!
SINAMICS
S120 Position controller:
Basic positioner
EPos PI controller algorithm is also possible (and not only P controller), in order to position,
SINAMICS S120 for example, large flywheel masses.
Extremely large control loop time constants when compared to the sum of the small time
constants are handled using position controller=PI controller /n controller=P controller.
Overview,
functionality
Kv can be adapted using BICO technology (PZD input) and position controller output
limiting, controlled using BICO technology for e.g. moments of inertia that change, or
Customer benefits influence during the traversing profile or approach behavior (presses, partial cross-cutter
functionality), or simplified starting behavior when connecting to a third-party PLC etc.
Speed pre-control as well as torque pre-control available from the closed-loop position control.
Descriptive Position actual value inversion is included in the basic device functionality.
text From V2.4 onwards, in addition, the direction of rotation bit is included in the basic device
functionality (feedback and manipulated variables are inverted together, e.g. drive mounting
Details on the
the RIGHT/LEFT at the machine but only one production direction).
Details on
functionality
functionality
Background re:
the functionality
PR
No
gu IN
ara AR
n te
e!Y!
SINAMICS Position controller screen form:
S120
Basic positioner
EPos
SINAMICS S120
Overview,
functionality
Customer benefits
Descriptive
text
Details on the
Details on the
functionality
functionality
Background re:
the functionality
PR
Background regarding the functionality: E LIM
No
gu IN
ara AR
n te
e! Y!
SINAMICS Encoder systems / position actual value conditioning in conjunction with EPos:
S120 Rotary and linear encoders
Basic positioner All of the encoder systems (p0400) released for the basic device functionality are supported
EPos with the exception measuring systems with distance-coded zero marks.
SINAMICS S120 The evaluation of an indirect linear measuring system being used (motor linear encoder) as
direct measuring system (encoder connected to the machine) is not supported using Starter screen forms but is
possible using the expert mode (parameter list).
Overview,
functionality Rotary axis functionality (modulo) or linear axis functionality
can be FREELY ASSIGNED both for rotary as well as also for linear motor encoders
Customer benefits (indirect measuring system) or machine encoders (direct measuring system).
Therefore, also: Rotary encoders (either mounted at the machine or motor) can be consciously operated with
linear axis functionality
Absolute encoders are supported.

- Absolute value adjustment at standstill (first commissioning).
Descriptive Recommendation for rotary absolut encoder e.g. for linear axes:
text Choose the traversing range and absolut value adjustment in +/- half of the multi-turn range (Xist2).
With it one electrical overflow of the encoder because of mechanical mounting within EXACT ONE (..not several)
Details on the complete multi-turn range is in control of software (...even without position tracking for absolut encoders)
- Flying referencing possible (exception).
functionality
Background
Background re:re: Drive data set changeover (DDS) including encoder data set (EDS, 3 encoder data sets)
the
thefunctionality
functionality
Presently, the position actual value conditioning for EPos can evaluate one encoder at the
same time (each encoder data set) and more is also not practical for the Epos functionality.
However it is still planned to be able to evaluate two additional encoders at the same time
through the position actual value conditioning for the EPos; e.g. for monitoring purposes
or to transfer to the PLC
(..as an alternative to Gn_Xist1/Gn_Xist2, etc.).
PR
No
gu IN
ara AR
n te
e!Y!
SINAMICS Explanation of system terminology that is necessary for a better understanding (from V2.4):
S120 Measuring gearbox means: (functionality in the basic device, encoder data set EDS)
Basic positioner
Ratio between the motor motor encoder or load machine encoder
EPos Load gearbox means: (functionality of the position actual value conditioning/EPos)
SINAMICS S120 Ratio between the load - motor
Overview, The measuring gearbox between the motor motor encoder also influences the
functionality commutation angle (closed-loop current control) and must thus correspond to the real
relationships and for example - cannot be used to adapt to the axis cycle
Customer benefits (product cycle, position control loop). In this case a load gearbox should be used!
If a measuring gearbox is used between the load and encoder mounted on the machine then
it goes without saying that an adaptation can be made to the axis cycle (product cycle).
The following is implemented from V2.4 onwards:

Descriptive - measuring gearbox (motor motor encoder, load encoder mounted at the machine)
text and load gearbox for rotary axes/modulo or linear axis
Details on the
functionality
Background
Background re:re:
the
thefunctionality
functionality
PR
No
gu IN
ara AR
n te
e! Y!
SINAMICS Position tracking for absolute encoders
S120
Basic positioner Position tracking is only necessary for absolute encoders and under the follow. conditions:
EPos - overflow of the multi-turn range AND multi-turn count / gearbox" is NOT AN INTEGER NUMBER
or
SINAMICS S120 - extension of the measuring range beyond the multi-turn range for linear axes
Overview,
functionality
Customer benefits
Descriptive
text
Details on the Example: Gearbox ratio 1:3, the absolute encoder can count 8 revolutions
functionality Position tracking from V2.4 onwards:
- only when a measuring gearbox is used between the motor and motor encoder or load and
Background
Background re:re: encoder mounted on the machine for rotary axis/modulo
the
thefunctionality
functionality (e.g. : 1FW3 torque motors with absolute encoder non integer number for the toothed belt ratio)
Additional Position tracking from V2.5 onwards (..essentially the completion):

- for measuring gearboxes between the motor and motor encoder for linear axis
- for measuring gearboxes between the load and encoder mounted to the machine for linear
axis
- for load gearboxes (motor load) for rotary axis/modulo and linear axis
PR
No
gu IN
ara AR
n te
e!Y!
SINAMICS Functional expansions of V2.5 in detail (part 1/5):
S120
Basic positioner Traversing blocks / new task: traversing to fixed endstop
EPos - torque limiting
SINAMICS S120 - endstop detection via following errror detection or external signal
- detection of fixed endstop fracture and fault reaction
Overview, - Starter-mak: Basic positioner/Program traversing blocks/Job
functionality
Customer benefits
Descriptive
text
Details on the
functionality
Background
Background re:re:
the
thefunctionality
functionality
PR
No
gu IN
ara AR
n te
e!Y!
S120
Basic positioner Traversing blocks / new block change conditions: External block transition
EPos - continue external, continue external wait, continue external alarm
SINAMICS S120 External block transition via fast measuring probes or selectable BICO-signal
- Starter-mask: Basic positioner/Program traversing blocks/configuration
Overview, and Basic positioner/Program traversing blocks/Advance
functionality
Customer benefits
Descriptive
text
Details on the
functionality
Background
Background re:re:
the
thefunctionality
functionality
PR
No
gu IN
ara AR
n te
e!Y!
S120
Basic positioner Additional Position tracking from V2.5 onwards (..essentially the completion)
EPos for absolut encoders
SINAMICS S120 - for load gearboxes (motor load) for rotary axis/modulo and linear axis
- for measuring gearboxes between the motor and motor encoder for linear axis
Overview, - for measuring gearboxes between the load and encoder mounted to the machine for linear
functionality axis
- Starter-mask: Position control / Mechanics or axis assistent, configuration (load gearboxes)
Customer benefits
Descriptive
text
Details on the
functionality
Background
Background re:re:
Example: Gearbox ratio 1:3
the
thefunctionality
functionality
the absolute encoder can count 8 revolutions
Hint: For linear axis with rotary absolut encoder

max. +/-31 overflows behind the gearbox are allowed.
PR
No
gu IN
ara AR
n te
e!Y!
S120
Basic positioner Jerk limiting (jerk)
EPos - Jerk can be permanently activated or via process data (BICO) in ALL operating modes.
SINAMICS S120 - In the traversing blocks mode, this can be additionally activated/de-activated as a function
of the particular task, if the jerk is not permanently or via process data (BICO) activated.
Overview, - Starter-mask:
functionality Basic positioner/.. ..limits/traversing profile limitation and ..Program traversing blocks/Job
Customer benefits
Descriptive
text
Details on the
functionality
Background
Background re:re:
the
thefunctionality
functionality
PR
No
gu IN
ara AR
n te
e!Y!
SINAMICS
S120 Functional expansions of V2.5 in detail (part 5/5):
Basic positioner
EPos
SINAMICS S120
Profidrive Positioning telegram type 9 (... 7 and 110 from V2.4 onwards)
Overview, - Starter-mask: e.g. Communication/PROFIBUS or axis wizard
functionality
Customer benefits Reference point setting also in intermediate stop (MDI and Traversing blocks)
- Starter-mask: Basic positioner/Homing
configuration of standstill/position monitoring

Descriptive - F07450 (standstill monitoring) and F07451 (position monitoring )
text correspond to F07452 (following error monitoring) are configurable from F (fault) to A (alarm).
E.g. thereby it makes possible a selective tolerance via PLC (BICO) in case of further on
Details on the activated monitoring.
functionality
Background
Background re:re: Reversing cam functionality also with reference point approach without cam
the
thefunctionality
functionality mark
...means even in mode only encoder zero mark or external equivalent zero mark (Bero)
- Starter-mask: Basic positioner/Homing
PR
E LIM
Thank you very much for your attention ! No
gu
ara
IN
AR
n te
e!Y!
SINAMICS
S120
Basic positioner
EPos
SINAMICS S120
Overview,
functionality
Customer benefits
EPos Basic positioner
Descriptive
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ic
Details on the
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functionality
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Background re: he in aa
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EP

S120 Basic Positioner Overview

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S120 Basic Positioner Overview

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Automation and Drives

= EPos SINAMICS S120

Operating mode MDI / direct setpoint input (based on Masterdrives MC Epos):

Dynamic following error monitoring, positioning/ standstill [zero speed] monitoring,

Customer benefits Pre-configured Profidrive positioning telegrams

Can be simply adapted in the application engineering and simple to handle

Simple traversing block handling and implementation of fixed traversing blocks

===> cost and time saving

Operating mode traversing blocks (64 traversing blocks):

Operating mode direct setpoint input (MDI):

Operating mode - jogging:

Customer benefits - MDI/DIRECT SETPOINT INPUT (positioning based on Masterdrives MC Epos)

- TRAVERSING BLOCKS (positioning based on 611U)

... two selectable setpoints are available in both modes (jogging 1 / 2)

Reversing cam functionality

Monitoring using maximum traversing distances/tolerance bandwidths that can be specified

Traversing blocks can be skipped (suppressed)

It is possible to toggle between measuring probes (2 measuring probe inputs

2 basic cam switching signals (in the closed-loop position control)

The following functions are not possible for a NON-referenced axis:

Absolute encoders are supported.

The following is implemented from V2.4 onwards:

Additional Position tracking from V2.5 onwards (..essentially the completion):

Hint: For linear axis with rotary absolut encoder

configuration of standstill/position monitoring

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