Download simodrive posmo a

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
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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
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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
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Siemens
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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
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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
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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
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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
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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
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*) 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
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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
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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
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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
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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
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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
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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
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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
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E15_POSMO A/
Start-up Tool „POSMO A Master“ (1)
SIMODRIVE POSMO A
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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
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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
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E15_POSMO A/
Start-up Tool „SimoCom A“ (1)
SIMODRIVE POSMO A
Excellence i n
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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:
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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
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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
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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:
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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:
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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:
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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:
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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
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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/