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Intelligent Positioning Motors on PROFIBUS DP SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ Centralized / Decentralized Drive Technology Cabinet Cabinet PROFIBUS DP-Master Central Control and Power Units 3AC PS 24VDC 3AC Motor and Encoder Cable Powerbus Profibus SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ Advantages of distributed drive technology q Central machine control is relieved of positioning tasks q Units and subsets of machines can be independently started without involving the central control Ä q Distributed intelligence Configuring/engineering costs of the hardware are reduced Ä Interfaces reduced q q Coupling to the system is simplified Ä Standard PROFIBUS protocols Ä Programming using standard tools Productive using shorter equipping times for automatic adjustment of formats and end stops SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ Results of iwb*-Study Cost analysis BAZ SIMODRIVE POSMO A * Institute for Machine Tools and Economy TU München Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ Product profile Basic features SIMODRIVE POSMO A is an intelligent, distributed positioning motor connected to PROFIBUS-DP Basic features F F F F Onboard closed-loop control and power module Connected via the communications and power bus PROFIBUS DP standard slave positioning functionality on board SIMODRIVE POSMO A with its consequentially distributed concept is establishing a new level in Drive technology SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ Product profile Basic features (1) Connecting cover Converter power module positioning control program memory communication module Brushless DC-Motor Planetary gear SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ System data Connection cover I/O terminals and 24 V DC for the electronics power supply 24 V DC supply voltage Signal connection to the drive converter power module PROFIBUS-DP connection, two core cable Coding switch for bus terminating resistor SIMODRIVE POSMO A Coding switch for PROFIBUS-DP address Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ Typical applications and industry sectors Typical applications include: F F F Adjusting formats and end stops Adjusting process quantities (e.g. via valves) or simply just positioning Application areas include among others: F F F Production machines for packaging, woodworking, glass, plastic and printing technology Medical diagnostics Moving examination tables or x-ray equipment Machine tools and transfer lines, simple adjusting tasks SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ General System Data (1) q Cooling: self-cooled without fan q Gearbox Variations: Planetary gear Worm gear without gear q F F F F Two terminals, parameterizable as inputs or outputs Reading BERO signals for referencing Trigger signal for the integrated positioning functions Initiating pulse cancellation at the inverter Control signal for braking or clamping devices SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ General System Data (2) T-Functionality With the connection cover removed q q q G All of the cable connections are retained PROFIBUS communication continues to function The power supply for subsequent/downstream systems is maintained Cable outlet as standard: In the direction of the drive shaft, cable outlet can be rotated through 180° SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ System data Closed-loop control and diagnostics Closed-loop control Data F F F Cl.-loop position control P controller, 10 ms clock cycle Cl.-loop speed control PI controller, 4 quadrants, 1 ms clock cycle Cl.-loop current control PI controller, I2t limiting, 125 µs clock cycle Diagnostics F F F PROFIBUS DP Standard diagnostics Display via LED: Diagnostic sockets 2 parameterizable analog outputs for service purposes SIMODRIVE POSMO A Fault / ready Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ Technical Data 75 W F F F F F F F F F Rated voltage 24 VDC +/- 20 % Rated power 75 W (S3 25%, 1min) Rated speed 3300 RPM Rated torque 0.36 Nm (S3 25%, 1min) Rated current 4.5 A (S1) Pos. measuring System incremental, TTL-Signals, 816 P/R Protection class IP 54 Weight approx. 3,7 kg Ambient Temperature 0...45 °C (up to 65° C with derating) SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ *) permissible continuous gearbox torque briefly , for example for approaching can be overloaded by a factor of 2 Modular gearbox 75 W No. of stages 1 PLG Type Ratio 4,5 8 2 20,25 36 50 3 126,6 162 w/out gearbox 5 SG 24 75 Efficiency 0,85 0,85 0,72 0,72 0,72 0,61 0,61 0,7 0,5 0,25 M perm S1 * [Nm] 1,2 1,2 8 8 8 24 24 2 3,5 4 M S1 [Nm] 0,7 1,2 2,6 4,7 6,5 13,9 17,8 0,18 0,6 2,2 3,4 M S3 ** [Nm] 1,4 2,4 5,2 9,3 13,0 27,8 35,6 0,36 1,3 4,3 6,8 n [RPM] 733 413 163 92 66 26 20 3300 660 138 44 **) S3: 25% switch-on duration 60s Example 15 s traversing 45 s interval SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ Torque-Speed Diagram 75W M Nm 0,40 Current Limit S3 2 IN Maximum S3 Load (75 W) 0,36 V) (24 rve t cu imi eL ltag Vo 0,32 0,28 0,24 0,20 Current Limit S1 (I2 t) Nominal motor working point rated power (62 W) IN 0,16 Speed limit 0,12 0,08 0,04 1000 SIMODRIVE POSMO A 2000 3000 4000 n x min Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ Technical Data 300 W F F F F F F F F F F Rated voltage 48 VDC ± 20% Rated power 300 W (S325% ) at 48V and 3000 min-1 Rated speed 3000 min-1 Rated torque 0.95 Nm at S3 25% Rated current 5 A (S1) 10A (S3 25% ) Pos. measuring System incremental, TTL-Signals, 4096 P/R Brake optional Holding Brake Protection IP 54 Weight 4,0 - 5,5 kg Ambient Temperature 0...45 °C (up to 65° C with derating) SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ Modular gearbox 300 W Typ Stages Ratio Efficiency PLG 1 4 7 12 20 35 49 - 0,90 0,90 0,85 0,85 0,85 0,85 - 2 without Gear M S1 [Nm] 1,7 3,0 4,9 8,2 14,3 20,0 0,48 n2 M S3 25% M S3 6,3% -1 [Nm] [Nm] [min ] 3,4 6,8 750 6,0 12,0 429 9,7 19,4 250 16,2 32,3 150 28,3 44,0 86 39,6 44,0 61 0,95 1,90 3000 MS3 25%: Switch on duration:60 s, Cycle time: 4min MS3 6,3% : Switch on duration:15 s, Cycle time: 4min SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ Torque-Speed Diagram 300W M Nm 2,0 1,6 1,4 (I 0) IN 1,2 1,0 0,8 S3 6,3% ) 48V ve ( cur imit eL tag Vol 1,8 Maximum S3 Load (400 W) V) (24 rve it cu Lim tage Vol 2 IN Current Limit S3 T h e rm a l M o to r L im it Motor working point 24V supply (100 W) 0,6 Nominal motor working point rated power (300 W) S3 Current Limit S1 (I2 t) 0,5 I N S1 operating mode (176 W) Speed limit 0,4 25% 0,2 1000 2000 SIMODRIVE POSMO A 3000 4000 n x min Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ Functionality - positioning (1) F F F F F F F F F F Rotary axis / linear axis Dimension units mm/inch/degrees Jerk limiting To reduce the stressing on the mechanical system Flying block change For rounding-off External block change Programmable signaling position Actual value setting For referencing Travel to end stop Can be emulated Backlash compensation Software limit switch Braking Management SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ Functionality - positioning (2) Integrated positioning functionality and programmable motion sequence F 'Move absolute to' End position, at velocity and acceleration with override F 'Move relative' A distance in a direction with velocity and acceleration with override F 'Move with' Speed and acceleration with override, direction via sign, until a time or logic operation is fulfilled F 'Move as soon as' An additional time-or logic operation is fulfilled 'Move as long as' A time or logic operation is fulfilled 'Move and report' from a position a pre-defined byte combination F F SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ Functionality - positioning examples F‘Move to' 100 mm at v=55% a=30% (absolute) F‘Move for' 150 mm in positive Direction at v=100% and a=80% (relative) F‘Move with' n=60 % for eternity (S1-Operation) (speed-controlled) Additional logical combinations: F‘Move as soon as' F‘Move as long as' F‘Move and report' a Timer has expired and / or an Input is not active a Timer is running and / or an Input is active at Position 266 mm a pre-defined byte combination SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ Functionality referencing (pre-assigned actual position) F F F F Referencing with BERO signal If the BERO signal is present, a defined value is read from a machine data for referencing. Referencing with saved actual value The actual position is saved at power-off, and is read-in for referencing at power-up. Referencing with 'move to fixed end stop' The drive traverses with a defined torque to a mechanical end stop (e.g. at the end of a traversing path). A defined value is then read-out of a machine data for referencing. Referencing via an external multi-turn absolute value encoder The PROFIBUS master reads the actual value from the encoder via PROFIBUS and transfers this for referencing. SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ Functionality - "SIMULATIONS OPERATION" F POSMO A operates as "stand alone" (without Profibus) Œ Programming the positioning task with start-up tool The traversing task is programmed decentrally at the drive using a notebook, PC or PG. • Disconnecting Profibus The drive starts with a pre-defined traversing block as single block or program with optional block change enable conditions. Example: 4 different positions are approached using 2 switches or Beros SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ Communication PROFIBUS DP (1) Siemens SPC3 PROFIBUS controller is used to connect to the bus. The SPC3 F F F automatically sets itself to the selected data transfer rate between 9.6 kbaud and 12 Mbaud, informs the user about received data and generates autonomous responses for the master saves all of the data in its 1.5 Kbyte dual-port RAM SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ PPO Types of PROFIDRIVE Profile (PKW/PZD Channel) PKW PKE IND PZD PWE STW HSW ZSW HIW Cyclic process data-transfer Typ 1 non-cyclic Parameter channel PZD3 PZD4 PZD5 PZD6 Typ 2 Typ 3 Typ 4 PZD3 PZD9 PZD10 Typ 5 (0 or 8 Byte) Parameter read Parameter write (4, 12 or 20 Byte) Abbreviations PPO Parameter Prozeßdaten Objekt PKW Parameterkennung Wert PZD Prozeßdaten PKE Parameterkennung IND Subindex PWE Parameterwert STW Steuerwort ZSW Zustandswort HSW Hauptsollwert HIW Hauptistwert Process data SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ Profibus - Communication with PPO 1 User Data PKW PKE IND 1. Word 2. Word PZD PWE 3. Word 4. Word PZD 1 PZD 2 ... 1. Word 2. Word ... PPO 1 Bit 15... Master ---> Slave ...0 15.............8 Controlword (STW) Control-Signals Slave ---> Master Status-Signals SIMODRIVE POSMO A Statusword (ZSW) 7...............0 Set Startbyte Block-No. STB Actual Feedback Block-No. byte (RMB) Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ Start-up Tool „POSMO A Master“ (1) SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ Start-up Tool „POSMO A Master“ (2) F Ÿ For all POSMO A up to Version 1.4.x (H) POSMO A as DP Normslave only to be operated at PROFIBUS Master Class 1 only (cyclic Duties). Ÿ because no DP/V1 Duties (acyclic Duties) available in older POSMO A F Requirements Ÿ Ÿ Ÿ IBS-Tool „POSMO A Master“ TCL Interpreter Version 8.0 Master capable (Class 1-Master) PC/PG/Notebook Ä Ä Communication processor CP5511(PCMCIA) or CP5611or CP5412 Softnet DP - from SIMATIC NET SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ Start-up Tool „POSMO A Master“ (3) Master Class 1 Master Class 2 Master Class 1 SIMATIC S7 SIMATIC M7 1 SIMATIC OP 37 F1 F2 F3 F4 F5 F6 F7 F8 F9 F10 F11 F12 A/ BC7 DE8 I JK L M TAB * 4 5 Q RS TU ALT - 1 2 Y Z: \ = CTRL + . 0 FG9 H NO6 P VW 3X '(+/-) A-Z A-Z ESC ACK I N SHELPENTER SHIFT DEL TEMP F13 F14 F15 F16 F17 F18 F19 DISK HD BUSY K1 K2 K3 K4 K5 K6 K7 POWER K9 K10 K11 K12 K13 K14 K15 F20 K8 K16 PROFIBUS-DP SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ Start-up Tool „SimoCom A“ (1) SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ Start-up Tool „SimoCom A“ (2) F Ÿ Ÿ For all POSMO A from Version 1.5.x (J) on DP/V1 and S7-Duties implemented (acyclic Duties) POSMO A can be operated at PROFIBUS Master Class 2 F Requirements Ÿ PC/PG/Notebook Ä Ä Communication processor CP5511(PCMCIA) or CP5611or CP5412 MPI Interface SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ Start-up Tool „SimoCom A“ (3) SimoCom A SimoCom U Master Class 2 imovis Master Class 2 Master Class 1 SIMATIC S7 SIMATIC M7 1 SIMATIC OP 37 F1 F2 F3 F4 F5 F6 F7 F8 F9 F10 F11 F12 A/ BC7 DE8 I JK L M TAB * 4 5 Q RS TU ALT - 1 2 Y Z: \ = CTRL + . 0 FG9 H NO6 P VW 3X '(+/-) A-Z A-Z ESC ACK I N SHELPENTER SHIFT DEL TEMP F13 F14 F15 F16 F17 F18 F19 DISK HD BUSY K1 K2 K3 K4 K5 K6 K7 POWER K9 K10 K11 K12 K13 K14 K15 F20 K8 K16 PROFIBUS-DP SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ Start-up Tool „SimoCom A“ integrated in DRIVE ES F SimoCom A will be integrated as Drive-Monitor in DRIVE ES BASIC Ä for Customers using POSMO A in great plants and machines together with several other PROFIBUS-drives Ä for Customers using DRIVE ES in TIA-conform machines and plants requiring following criteria: ( : < joint communication joint programming / parameterizing joint data store SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ SIMATIC- Function block for easy programming in S7 (1) I_O_adress Initialisation Referencing Jogging_1 Jogging_2 Jogging_override Start No_intermediate_stop FB10 Fault No_Stop Ready Fault_acknowledgemment Block_number Override Start_byte Warning Status Word POSMO A control Actual Block Checkback_signal_byte MDI_type Warn_number MDI_velocity Fault Number MDI_acceleration MDI_position FB_coordination SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ SIMATIC- Function block for easy programming in S7 (2) I_O_adress Number Index FB 11 Read Fault_present Write Task_completed Factory_default Parameter_save Value POSMO A parameter read/write Fault_number FB_coordination SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ SIMATIC- Function block for easy programming in S7 (3) I_O_adress Read_all Write_all FB 12 Task_present Fault_present Fault_parameter_number POSMO A parameter save Fault_number FB_active SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ 24 V DC networking concept (1) 24 V DC of the electronics from the load voltage SIMODRIVE POSMO DP El. Load PROFIBUS-DP master 24 V power supply SIMODRIVE POSMO SIMODRIVE POSMO SIMODRIVE POSMO DP DP DP El. Load El. Load El. Load PROFIBUS-DP 24 V DC load DC power management SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ 24 V DC - networking concept (2) 24 V DC of the electronics via PROFIBUS cable SIMODRIVE POSMO DP PROFIBUS-DP master El. Load SIMODRIVE POSMO DP El. Load SIMODRIVE POSMO SIMODRIVE POSMO DP DP El. Load El. Load PROFIBUS-DP 24 V electronics power supply 24 V load power supply SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ DC Power Management 24 V / 48 V Function • • • • Integrated pulsed resistor with I²t limiting Reverse current protection Connections for "start inhibit" Diagnostics - LED - Signals, fault acknowledgment via terminal Design/packaging • Degree of protection IP20 • SIMATIC (S7-300) housing format • For mounting directly on a C-type rail SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ Catalog/Product Brief/Documentation F F F F F NC 60 Ordering Catalog „SINUMERIK & SIMODRIVE“ CA 01 Electronic Catalog „Automation Components“ ST PI Components on Fieldbus „PROFIBUS & AS-Interface“ User Manual Edition German Edition English Edition Italian Edition French Edition Spanish 6SN2197-0AA00-0AP1 6SN2197-0AA00-0BP1 6SN2197-0AA00-0CP1 6SN2197-0AA00-0DP1 6SN2197-0AA00-0EP1 Available from: RLZE Product Brief: Short Description, Ger. Short Description, Eng. SIMODRIVE POSMO A Edition 11/98 6ZB5411-0AJ01-0BA2 Edition 11/98 6ZB5411-0AJ02-0BA2 Available from: LZ Fürth Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ http://intra2.erlf.siemens.de Information in INTRANET r Parameterizing Tool POSMO A For programming and parameterizing POSMO A via PC/PG/notebook r Function blocks For easy programming in S7 programs r Dimension drawings in dxf format For using in CAD programs r Applications POSMO A Example applications r Documentation User manual in German and English r GSD - File For embedding POSMO A in S7 Profibus Master Sytems SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ Training r POSMO A Training in Nuremberg Moorenbrunn (2 days) The workshop is for service und sales personnel, who would like to operate Posmo A. A basic knowledge of S7 programming is helpful. Communication of Posmo A via PG and start-up tool as well as handling and programming in S7 are the main focus of this workshop. r Content ð Hardware and installation of Posmo A ð Drive-functions of Posmo A ð Connection and start-up on PROFIBUS-DP with programming examples ð Communication via PROFIBUS DP using a PG with the start-up tool and S7-Master ð Practical training with application examples r Further information: Mr. Uebler +49 911 895 3209 SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ Single axis demonstation case 6SN2832-0PG00-0AA0 r Aluminium case with dimensions: 470x150x410 mm. r SIMODRIVE POSMO A with gear r Load disc + safety cover r Connection module with on/off switch, fuses and service socket r SITOP power supply 5A r Power Management Module r Reset switch for PMM r BERO connected to POSMO A r Profibus cable with Profibus plug SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ 2 axis demonstration case r Aluminium case with dimensions: 470x300x410 mm. 6SN2832-0CF00-0AA0 r SIMODRIVE POSMO A with Gear r Load discs+ safety cover r SIMATIC C7-626DP incl. signal cable, set up frame and Profibus plug r Connection module with on/off switch, fuses and service socket r SITOP power supply 5A r Power Management Module r Reset switch for PMM r BERO connected to POSMO A r Profibus cable with Profibus plug SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/ Contact Partners F Hotline: A&D MC CS, Erl F80, Tel.: +49 180 525 8008 Fax: +49 180 525 8009 F Ordering Service: A&D MC LOG KAM Tel.: +49 9131-98-4333/4463/4304 Fax: +49 9131-98-1915 F Spare Parts Service: A&D MC GWE ERZ Tel.: +49 9131-98-1234 Fax: +49 9131-98-1164 F Repair Service: A&D MC GWE RPZ Tel.: +49 9131-98-1141 Fax: +49 9131-98-1655 SIMODRIVE POSMO A Excellence i n Automation & Driv es: Siemens A&D MC PM / 04/01 E15_POSMO A/