SIEMENS
9/5
Siemens D 31 · 2015
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Function
SINAMICS S110 servo drives
0.12 kW to 90 kW (0.16 hp to 125 hp)
SINAMICS S110 servo drives
Basic positioner (EPos)
SINAMICS S110 provides powerful and precise positioning
functions. Due to its flexibility and adaptability, the basic
positioner can be used for a wide range of positioning tasks.
The functions are easy to handle both during commissioning
and during operation. Furthermore, they are characterized by
their comprehensive monitoring functions.
Many applications can be carried out without external position
controllers.
The EPos basic positioner is available as a function module that
can be activated in the drive,, and is used for the absolute/
relative positioning of linear and rotary axes (modulo) with both
rotary and linear motor encoders (indirect measuring system).
User-friendly configuring and commissioning including control
panel (operation using PC) and diagnostics with the STARTER
commissioning tool.
In addition to extremely flexible positioning functions, EPos
offers a high degree of user-friendliness and reliability thanks
to integral monitoring and compensation functions.
Different operating modes and their functionality increase
flexibility and plant productivity, for example, by means of
"on-the-fly" and bumpless correction of the motion control.
Preconfigured PROFIdrive positioning frames are available
which, when selected, automatically establish the internal
"connection" to the basic positioner.
Functionality of the EPos basic positioner
Closed-loop position control with the following essential
components
•
Position actual value sensing (including the lower-level
measuring probe evaluation and reference mark search)
•
Position controller (including limits, adaptation and pre-control
calculation)
•
Monitoring functions (standstill, positioning and dynamic
following error monitoring, cam signals)
Mechanical system
•
Backlash compensation
•
Modulo offset
Limits
•
Speed/acceleration/delay/jerk limitation
•
Software limit switch (traversing range limitation by means of
position setpoint evaluation)
•
Stop cams (traversing range limitation by means of hardware
limit switch evaluation)
Referencing and alignment
•
Set reference point (for an axis at standstill)
•
Search for reference (separate mode including reversing cam
functionality, automatic reversal of direction, referencing to
"output cam and encoder zero mark" or only "encoder zero
mark" or "external zero mark (BERO)")
•
Flying referencing (seamless subordinate referencing is
possible during "normal" traversing with the aid of measuring
input evaluation, generally evaluation, e.g. of a proximity
sensor). Subordinate function for the modes "jog", "direct
setpoint input/MDI" and "traversing blocks")
•
Absolute encoder alignment
Traversing blocks mode (16 traversing blocks)
•
Positioning using traversing blocks stored in the drive unit,
including block change enable conditions and specific tasks
for a previously referenced axis
•
Traversing block editor using STARTER
•
A traversing block contains the following information:
- Job number and job (e.g. positioning, waiting, GOTO set
jump, setting of binary outputs, travel to fixed stop)
- Motion parameters (target position, override speed for
acceleration and deceleration)
- Mode (e.g.: hide block, continuation conditions such as
"Continue_with_stop", "Continue_flying" and
"Continue_externally using high-speed probe inputs")
- Job parameters (e.g. wait time, block step conditions)
Direct setpoint input (MDI) mode
•
Positioning (absolute, relative) and setting-up (endless
closed-loop position control) using direct setpoint inputs (e.g.
via the PLC using process data)
•
It is always possible to influence the motion parameters during
traversing (on-the-fly setpoint acceptance) as well as for on-
the-fly changes between the setup and positioning modes
•
The direct setpoint input operating mode (MDI) can also be
used in the relative positioning or setup mode if the axis is not
referenced. This means that on-the-fly synchronization and re-
referencing can be carried out using "flying referencing".
Jog mode
•
Closed-loop position controlled traversing of the axis with
"endless position controlled" or "jog incremental" modes
(traverse through a "step width"), which can be toggled
© Siemens AG 2014