W.E.S.T. Elektronik POS-124-A-PDP Guida

W.E.ST.

Elektronik GmbH

Technical Documentation

POS-124-A-PDP

POS-124-I-PDP

Two axes positioning and synchronisation control module with

integrated profibus interface and SSI sensor interface

W.E.ST.

Elektronik GmbH

Page 2 of 45 POS-124-*-PDP-1121 13.02.2013

CONTENTS

General Information............................................................................................................................................. 4

1.1

Order number .............................................................................................................................................. 4

1.2

Scope of supply ........................................................................................................................................... 4

1.3

Accessories ................................................................................................................................................. 4

1.4

Symbols used .............................................................................................................................................. 5

1.5

Using this documentation ............................................................................................................................ 5

1.6

Legal notice ................................................................................................................................................. 5

1.7

Safety instructions ....................................................................................................................................... 6

Characteristics..................................................................................................................................................... 7

2.1

Device description ....................................................................................................................................... 8

Use and application ............................................................................................................................................. 9

3.1

Installation instructions ................................................................................................................................ 9

3.2

Typical system structure ............................................................................................................................ 10

3.3

Method of operation................................................................................................................................... 10

3.4

Commissioning .......................................................................................................................................... 12

Technical description......................................................................................................................................... 13

4.1

Input and output signals............................................................................................................................. 13

4.2

LED definitions........................................................................................................................................... 14

4.3

Circuit diagram........................................................................................................................................... 15

4.4

Typical cabling........................................................................................................................................... 16

4.5

Connection examples ................................................................................................................................ 16

4.6

Technical data ........................................................................................................................................... 17

Parameters ........................................................................................................................................................ 18

5.1

Parameter overview................................................................................................................................... 18

5.2

Parameter description................................................................................................................................ 20

5.2.1

LG (Changing the language for the help texts) ................................................................................. 20

5.2.2

PDPADR (Profibus adress)............................................................................................................... 20

5.2.3

MODE (Switching between parameter groups)................................................................................. 20

5.2.4

SENS (Module monitoring) ............................................................................................................... 21

5.2.5

STROKE1 /STROKE2 (Full stroke)................................................................................................... 21

5.2.6

VRAMP1 /VRAMP2 (Ramp time for external speed demand) .......................................................... 21

5.2.7

VMODE1 / VMODE2 (Switching over the control mode)................................................................... 22

5.2.8

VMAX1 / VMAX2 (Maximum speed in NC Mode) ............................................................................. 22

5.2.9

POL1 / POL2 (Output polarity).......................................................................................................... 23

5.2.10

EOUT1 / EOUT2 (Output signal in case of error).............................................................................. 23

5.2.11

INPX (Sensor type define) ................................................................................................................ 24

5.2.12

SSI:OFFSET (Sensor offset)............................................................................................................. 24

5.2.13

SSI:POL (Direction of the sensor signal)........................................................................................... 24

5.2.14

SSI:RES (Signal resolution).............................................................................................................. 25

5.2.15

SSI:BITS (Number of bits)................................................................................................................. 25

5.2.16

SSI:CODE (Signal coding)................................................................................................................ 25

5.2.17

AIN (Analogue input scaling)............................................................................................................. 26

5.2.18

A1 / A2 (Acceleration time) ............................................................................................................... 27

5.2.19

D1 / D2 (Deceleration / braking distance) ......................................................................................... 27

5.2.20

1 / V

2 (Loop gain setting)............................................................................................................. 28

5.2.21

CTRL1 / CTRL2 (Deceleration function characteristic) ..................................................................... 29

5.2.22

GL: P (gain of the synchronization in SDD mode)............................................................................. 30

5.2.23

GL: V0 (gain of the synchronization in NC mode)............................................................................. 30

5.2.24

GL:T1 (Time constant of the synchronisation control)....................................................................... 30

5.2.25

GL:E (Window for the synchronization error) .................................................................................... 30

W.E.ST.

Elektronik GmbH

Page 3 of 45 POS-124-*-PDP-1121 13.02.2013

5.2.26

HAND1 / HAND2 (Manual speed) ..................................................................................................... 31

5.2.27

MIN / MIN2 (Overlap compensation)................................................................................................. 32

5.2.28

MAX1 / MAX2 (Limitation) ................................................................................................................. 32

5.2.29

TRIGGER (Response threshold for the MIN parameter)................................................................... 32

5.2.30

OFFSET1 / OFFSET2 (Zero correction)............................................................................................ 33

5.2.31

INPOS:S1 / INPOS:S2 (In position window)...................................................................................... 33

5.2.32

INPOS:D1 / INPOS:D2 (following error window) ............................................................................... 33

5.2.33

PROCESS DATA (Monitoring) .......................................................................................................... 34

Appendix............................................................................................................................................................ 35

6.1

Failure monitoring ...................................................................................................................................... 35

6.2

Troubleshooting ......................................................................................................................................... 35

6.3

Description of the command structure........................................................................................................ 37

Profibus DP interface ......................................................................................................................................... 38

7.1

Profibus functions....................................................................................................................................... 38

7.2

Installation.................................................................................................................................................. 38

7.3

GSD Configuration File .............................................................................................................................. 38

7.4

Description Profibus DP interface .............................................................................................................. 39

7.5

Commands via PROFIBUS........................................................................................................................ 40

7.5.1

Command map.................................................................................................................................. 40

7.5.2

Definition of the control bits: .............................................................................................................. 41

7.6

DATA send to PROFIBUS ......................................................................................................................... 42

7.6.1

Feedback map................................................................................................................................... 42

7.6.2

Definition of the status bits: ............................................................................................................... 43

Notes.................................................................................................................................................................. 44

W.E.ST.

Elektronik GmbH

Page 4 of 45 POS-124-*-PDP-1121 13.02.2013

1 General Information

1.1 Order number

POS-124-A-PDP-1121

triple stage module with digital SSI-interface with analogue ±10 V

differential output, housing width 67,5 mm

POS-124-I-PDP-1121 triple stage module with digital SSI-interface with analogue 4… 20 mA

output, housing width 67,5 mm

Alternative products:

POS-124-A-PDP-S1-1121 double stage module without digital SSI-interface with analogue ±10 V

differential output, 45 mm housing width

POS-124-I-PDP-S1-1121 double stage module without digital SSI-interface with analogue

4… 20 mA output, 45 mm housing width

1.2 Scope of supply

The scope of supply includes the module including the terminal blocks which are a part of the housing.

The Profibus plug, interface cables and further parts which may be required should be ordered separate-

ly. This documentation can be downloaded as a PDF file from www.w-e-st.de.

1.3 Accessories

RS232-SO - Programming cable with RS232 interface

USB-SO - Programming cable with USB interface

WPC-300 - Start-Up-Tool (download: www.w-e-st.de/produkte/software)

PDP-Plug - Profibus connector with switchable terminating resistors

The number of the version consists of the hardware-version (first two digits) and the software-version (second two

digits). Because of the development of the products these numbers can vary. They are not strictly necessary for the

order. We will always deliver the newest version.

W.E.ST.

Elektronik GmbH

Page 5 of 45 POS-124-*-PDP-1121 13.02.2013

1.4 Symbols used

General information

Safety-related information

1.5 Using this documentation

Structure of the documentation:

The standard product is descibed up to chapter 6. The extensions like POWER STAGE or

SSI-INTERFACE are described in the chapters ADDITIONAL INFORMATION.

1.6 Legal notice

W.E.St.

Elektronik GmbH

Gewerbering 31

D-41372 Niederkrüchten

Tel.: +49 (0)2163 577355-0

Fax.: +49 (0)2163 577355 -11

Homepage: www.w-e-st.de or www.west-electronics.com

EMAIL: [email protected]e

Date: 13.02.2013

The data and characteristics described herein serve only to describe the product. The user is required to

evaluate this data and to check suitability for the particular application. General suitability cannot be in-

ferred from this document. We reserve the right to make technical modifications due to further develop-

ment of the product described in this manual. The technical information and dimensions are non-binding.

No claims may be made based on them.

This document is copyright.

W.E.ST.

Elektronik GmbH

Page 6 of 45 POS-124-*-PDP-1121 13.02.2013

1.7 Safety instructions

Please read this document and the safety instructions carefully. This document will help to define the

product area of application and to put it into operation. Additional documents (WPC-300 for the start-up

software) and knowledge of the application should be taken into account or be available.

General regulations and laws (depending on the country: e.g. accident prevention and environmental pro-

tection) must be complied with.

These modules are designed for hydraulic applications in open or closed-loop control cir-

cuits. Uncontrolled movements can be caused by device defects (in the hydraulic module

or the components), application errors and electrical faults. Work on the drive or the elec-

tronics must only be carried out whilst the equipment is switched off and not under pres-

sure.

This handbook describes the functions and the electrical connections for this electronic

assembly. All technical documents which pertain to the system must be complied with

when commissioning.

This device may only be connected and put into operation by trained specialist staff. The

instruction manual must be read with care. The installation instructions and the commis-

sioning instructions must be followed. Guarantee and liability claims are invalid if the in-

structions are not complied with and/or in case of incorrect installation or inappropriate

use.

CAUTION!

All electronic modules are manufactured to a high quality. Malfunctions due to the failure

of components cannot, however, be excluded. Despite extensive testing the same also

applies for the software. If these devices are deployed in safety-relevant applications,

suitable external measures must be taken to guarantee the necessary safety. The same

applies for faults which affect safety. No liability can be assumed for possible damage.

Further instructions

•The module may only be operated in compliance with the national EMC regulations. It

is the user’s responsibility to adhere to these regulations.

•The device is only intended for use in the commercial sector.

•When not in use the module must be protected from the effects of the weather, con-

tamination and mechanical damage.

•The module may not be used in an explosive environment.

•To ensure adequate cooling the ventilation slots must not be covered.

•The device must be disposed of in accordance with national statutory provisions.

W.E.ST.

Elektronik GmbH

Page 7 of 45 POS-124-*-PDP-1121 13.02.2013

2 Characteristics

This electronic module has been developed for controlling hydraulic positioning drives.

Both axes are controlled complete autonomous via the Profibus. Optionally an interconnection to a two

axes synchronised system is intended.

The differential outputs are covered for activation of constant valves with integrated or external

electronics (differential input). Intended is this module for the connection of analogue way sensors 0...10V

or 4...20mA (scalable) or digital SSI sensor interfaces.

The internal control signals operating states and error conditions via Profibus to the higher-level control.

The operation is signaled by a switch output.

Typical applications: Positioning control or synchronization control with hydraulic axes.

Features

•Two independent positioning axes

•Can be combined for synchronization controls

•Command position parameter, actual value response, on loop control byte and status byte via

fieldbus Profibus DP

•Principle of stroke-dependent deceleration for the shortest positioning time or NC profile gen-

erator for constant speed

•Analogue or digital (SSI) actual value registration for both axes

•Superimposed synchronization controller as PT1 actuator

•Usable with zero lapped control valves

•Fault diagnosis and extended function checking

•Simplified parameterization with WPC-300 software version 3.2

W.E.ST.

Elektronik GmbH

Page 8 of 45 POS-124-*-PDP-1121 13.02.2013

2.1 Device description

D-inputs

D-outputs

Enable

24 V

0 V

Ready

ID:

Analogue

GND

Pos. 1

Pos. 2

Differential

output

Add.:Date:

Made in Germany

W.E.ST.

Ready

Status

1234

5678

9 10 11 12

14 15 1613

D-41372 Niederkrüchten

Homepage: http://www.w-e-st.de

W.E.ST.

Elektronik

30 31 3229

26 27 2825

18 19 2017

22 23 2421

Profibus

9pol SUBD

Online

46 47 4845

42 43 4441

34 35 3633

38 39 4037

Klemmblöcke (steckbar)

Terminals (removable)

LEDs

RS232

Interface

Typenschild und Anschlussbelegung

Type plate and terminal pin assignment

67,5000 mm

99,0000 mm

114,0000 mm

PROFIBUS Buchse

PROFIBUS connector

121,0000 mm

W.E.ST.

Elektronik GmbH

Page 9 of 45 POS-124-*-PDP-1121 13.02.2013

3 Use and application

3.1 Installation instructions

•This module is designed for installation in a shielded EMC housing (control cabinet). All cables

which lead outside must be screened; complete screening is required. It is also a requirement

that no strong electro-magnetic interference sources are installed nearby when using our control

and regulation modules.

•Typical installation location: 24V control signal area (close to PLC)

The devices must be arranged in the control cabinet so that the power section and the signal sec-

tion are separate from each other.

Experience shows that the installation space close to the PLC (24 V area) is most suitable. All

digital and analogue inputs and outputs are fitted with filters and surge protection in the device.

•The module should be installed and wired in accordance with the documentation bearing in mind

EMC principles. If other consumers are operated with the same power supply, a star- connected

ground wiring scheme is recommended. The following points must be observed when wiring:

•The signal cables must be laid separately from power cables.

•Analogue signal cables must be shielded.

•All other cables must be screened if there are powerful interference sources (frequen-

cy converters, power contactors) and cable lengths > 3m. Inexpensive SMD ferrites

can be used with high-frequency radiation.

•The screening should be connected to PE (PE terminal) as close to the module as

possible. The local requirements for screening must be taken into account in all cases.

The screening should be connected to at both ends. Equipotential bonding must be

provided where there are differences between the connected electrical components.

•With longer lengths of cable (>10 m) the diameters and screening measures should

be checked by specialists (e.g. for possible interference, noise sources and voltage

drop). Particular care is required with cables of over 40 m in length – the manufacturer

should be consulted if necessary.

•A low-resistance connection between PE and the mounting rail should be provided. Transient in-

terference is transmitted from the module directly to the mounting rail and from there to the local

earth.

•Power should be supplied by a regulated power supply unit (typically a PELV system complying

with IEC364-4-4, secure low voltage). The low internal resistance of regulated power supplies

gives better interference voltage dissipation, which improves the signal quality of high-resolution

sensors in particular. Switched inductances (relays and valve coils connected to the same power

supply) must always be provided with appropriate overvoltage protection directly at the coil.

W.E.ST.

Elektronik GmbH

Page 10 of 45 POS-124-*-PDP-1121 13.02.2013

3.2 Typical system structure

This minimal system consists of the following components:

(*1) proportional valve

(*2) hydraulic cylinder

(*3) position sensor

(*4) POS-124-PDP control module

(*5) interface to PLC with analogue and digital signals

3.3 Method of operation

This control module supports simple point-to-point positioning with hydraulic drives. The system works

based on the principle of stroke-dependent deceleration, i.e. the control gain (deceleration stroke) is set

via parameters D:A and D:B. Alternatively the loop gain will be used in NC mode.

The deceleration characteristics can be set linearly (LIN) or approximately quadratically (SQRT1) via the

CTRL parameter. For normal proportional valves SQRT1 is the input setting.

For control valves with a linear flow curve it depends on the application. If LIN is selected for these valves

a significantly shorter deceleration distance can often be set (D:A and D:B).

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