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Warranty and liability
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Table of contents
Warranty and liability................................................................................................... 2
1 Application example for scissor lifts ............................................................... 5
1.1 Design .................................................................................................. 5
1.1.1 Fixed lifting tables ................................................................................. 6
1.1.2 Mobile lifting tables ............................................................................... 6
1.1.3 Safety requirements specified by the standards .................................. 7
1.2 Drive train ............................................................................................. 8
1.2.1 Spindle drive ......................................................................................... 8
1.2.2 Belt drive............................................................................................... 8
1.2.3 Drive concepts with a safety-related brake .......................................... 9
1.3 Sensors and closed-loop control mode .............................................. 10
1.3.1 Positioning using proximity switches .................................................. 10
1.3.2 Positioning using position encoders ................................................... 11
1.3.3 Monitoring ........................................................................................... 13
2 Task ................................................................................................................... 14
3 Solution............................................................................................................. 16
3.1 Overview............................................................................................. 16
3.2 Hardware and software components ................................................. 17
4 Installation and commissioning ..................................................................... 18
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1.1 Design
An overview of the mechanical design of single-scissor lifting tables and their
safety requirements is provided in the following. Double or multiple-scissor lifting
tables to achieve higher lifting heights are not discussed in this application
example.
Fig. 1-1 Shows the basic design of a lifting table with the following terminology.
Fig. 1-1: Design of a lifting table
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Fig. 1-2: Principle of operation of a belt drive with constant lifting velocity
A distinction can be made between fixed and mobile scissor lifting tables.
Fig. 1-3: Scissor lifting table mounted on a skillet conveyor in the automotive industry
Standard EN 1570 defines safety requirements for scissor lifting tables with a
maximum lifting velocity of 0.15 m/s, whereby a distinction is made between three
types of lifting tables:
- EN 1570-1 for lifting tables with a maximum of two stop positions (two levels)
- EN 1570-2 for lifting tables with a maximum of 2 stop positions for goods (two
levels)
- EN 1570-3 for lifting tables with a maximum of 2 stop positions for people
Some of the safety requirements laid down in EN 1570 are:
Actuator elements must have an Emergency Stop device.
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Fig. 1-4 shows a scissor lifting table with spindle. Contrary to a belt drive, with a
spindle drive there is a constant relationship between the motor speed and output
torque. As a result of the mounting position, a helical geared motor from the
SIMOGEAR series of geared motors can be installed axially to the spindle.
Fig. 1-4: Scissor lifting table with spindle drive
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Generally, belt drives cost less than spindle drives, however they are not as
rugged. Fig. 1-5 shows a scissor lifting table with belt drive. For belt drives, the belt
is wound when lifting and when lowering. As a consequence, for belt drives, the
non-linear load torque is derived from the scissor mechanism lever and the belt
being wound. As the winding axis is in parallel with the axis of rotation, a geared
motor with angled gearbox is used. A bevel geared motor from the SIMOGEAR
geared motor series is an optimum fit for these types of applications.
In the automotive industry, for scissor lifting tables with belt drives it is specified
that when a belt breaks, the system can still be used once the defective belt has
been removed and the belt breakage monitoring bypassed. As a consequence, the
belts used must be overdimensioned to avoid breakage.
Lifting tables where technicians are on the platform or assembly workers are on the
workpiece on the platform, when lowering, have increased requirements relating to
machine safety. Lifting tables in the final assembly stage in an automotive plant are
a good example of this type of application. For the assembly worker, the greatest
risk is being crushed if the platform is inadvertently lowered or dropped. Using a
safety-related brake is one strategy to comply with machinery safety regulations. A
safety-related brake requires a safety-related brake control system and the brake
must be regularly subject to a function test.
Switching over from rapid traverse to crawl and stopping the drive can either be
realized independently in the drive or in a higher-level control system. For
distributed drive technology with degree of protection IP65, the sensors are directly
connected to the drive. Processing sensor signals in the drive can be realized with
SINAMICS G120D equipped with CU240D-2 PN and free function blocks \5\.
Alternatively, the drive reads in the signals and these are sent to the control system
via the fieldbus. In the control program, a switchover is made from rapid traverse to
the crawl speed \6\.
Machine or motor encoders can be used for closed-loop position control systems.
Linear encoders, for example wire-draw encoders, position coding systems or
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Table 1-1 Provides an overview of the possible closed-loop control modes using
the distributed SINAMICS drives with degree of protection IP65.
Table 1-1: Control modes of the distributed drives in degree of protection IP65
Drive Closed-loop speed Position control Dynamic
control response and
positioning
accuracy
Technology controller
U/f, vector control
SINAMICS G110M with analog actual Low
without encoder
value
SINAMICS G120D Technology controller
U/f, vector control with
with with analog actual Average
HTL or without encoder
CU240D-2 PN/DP value
Alternatively, the closed-loop position control can also be realized in the control
system. The controller evaluates the position actual value and sends the speed
setpoint, obtained from the closed-position control, to the drive. In this particular
case, the drive is only responsible for the closed-loop speed control.
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For high feed constant relationships, in the low feed range, in spite of high motor
speeds, only a low lifting distance is achieved. As a consequence, positioning
takes longer in this range.
1.3.3 Monitoring
As a result of the high safety requirements placed on lifting tables, various sensors
are used to monitor the safety equipment.
For example, proximity switches can be used to monitor maintenance support
columns. These maintenance support columns are used so that the platform
cannot be lowered below a critical height, therefore protecting maintenance
personnel against crushing injury. Maintenance of the lifting table, and therefore
e.g. drive jogging operation is only enabled when the sensors signal that the
maintenance support columns are attached.
For scissor lifting tables with belts drives, proximity switches are used which
respond for loose belts or when a belt breaks. The proximity switch must be
evaluated through multiple channels so that this can be safely detected. If a loose
belt is detected, then the drive is stopped with an Emergency Stop (STO).
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Mechanical limit switches can limit the lifting distance upwards or downwards. The
drive is stopped when the end stops are reached.
The maximum lifting velocity is prevented from being violated using arrester
equipment with emergency release function, for example, hydraulic arrester
cylinders. Pressure sensors can be used to monitor the arrester equipment to
check that it is functioning correctly. If the arrester equipment is triggered, then a
fault signal is transferred to the control system and operation is prevented.
2 Task
A specific example for a scissor lifting table is specified and calculated in this
application example – and a recommended solution described.
Mechanical system
Fig. 2-1 Shows the design of a scissor lifting table – and designates the dimensions
that are summarized in Table 2-1.
Fig. 2-1: Dimensions of the lifting table
Drive specification
The scissor lifting table should be implemented using a spindle drive corresponding
to Fig. 1-4. In Fig. 2-1, the spindle nut is located on the axis at point C. A standard
geared induction motor with helical gear unit is used, equipped with a motor
holding brake and an HTL incremental encoder. The motor should be operated
with an 87Hz characteristic. The drive data are listed in Table 2-2.
Table 2-2: Spindle attributes
Attributes Value
Spindle pitch P 30 mm
Flank diameter d 30 mm
Thread coefficient of friction μG 0.1
Flank angle β 30°
Travel profile
The positions should be able to be flexibly approach within the nominal lifting
height. The maximum lifting velocity is 0.2 m/s. Acceleration and deceleration differ
depending on whether lifting or lowering. The travel profile for two adjacent holding
points should trapezoidal as shown in Fig. 2-2.
Fig. 2-2: Trapezoidal travel profile
The positioning requirements are listed in Table 2-3. A wire-draw encoder should
be used for the closed-position control of the lifting table; this will allow positioning
accuracy of +/- 2.5 mm to be achieved.
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Table 2-3
Attribute Formula Value
symbols
Maximum lifting velocity 200 mm/s
Acceleration 1 m/s²
Deceleration 1 m/s²
Positioning accuracy +/- 2.5 mm
Safety requirements
The upper and the lower end stops of the scissor lifting table are evaluated with
roller lever limit switches; when actuated they initiate an Emergency Stop (STO) in
the drive. The lifting table is also equipped with an Emergency Stop switch. When
actuated this initiates a fast stop (OFF3) via an F-program in the PLC, and once
the lifting table has decelerated, then STO is selected. All three switches are
directly connected to three safe digital inputs at the drive. The state of the safe
digital inputs should be transferred to the control system via PROFISafe. As a
consequence, in addition to the requirements relating to the fail-safe digital inputs,
the control system can implement additional requirements relating to safety
functions. For example, to process the subsequent system components in the
F program and to select STO in the drive via PROFIsafe.
Note The SS1, SLS, SDI and SSM encoderless functions in the G120/G120D are only
permissible for applications where the load can never accelerate the drive. As a
consequence, these functions based on the SINAMICS G120/G120D are not
permissible for scissor lifting tables.
3 Solution
3.1 Overview
Fig. 3-1 shows an overview of the automation solution for the previously specified
scissor lifting table. A SINAMICS G120D with CU250D-2 PN F is used for the
position control and extended safety functions. The gearbox spindle is driven by a
SIMOGEAR helical geared motor equipped with an HTL encoder. A wire-draw
encoder with SSI interface (SICK AFM60E-S1AA001024 with MRA-F130-110D2
mechanical system) is used for the position control. An S7-300 F is used as higher-
level control.
Fig. 3-1: Automation solution of the scissor lifting table
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Emergency limit switches N201 and N202 – as well as the Emergency Stop
pushbutton – are connected to the SINAMICS G120D through two channels each
as a fail-safe digital input. The status of the fail-safe digital inputs is transferred to
the control system in a fail-safe fashion via PROFIsafe.
Hardware components
Table 3-1: Hardware components
Component Qty. Order number Note
CPU317F-2 PN/DP 1 6ES7317-2FK14-0AB0 Or another fail-safe S7-300 F
or or S7-1500 F
CPU1516F-3 PN/DP 6ES7516-3FN01-0AB0
S7 MICRO MEMORY 1 6ES7953-8LM20-0AA0
CARD
SINAMICS G120D 1 6SL3546-0FB21-1FA0 With position control and
CU250D-2 PN-F extended safety functions;
Control Unit with FW
4.7.6
SINAMICS G120D 1 6SL3525-0PE17-5AA1 With energy recovery and
PM250D Power integrated Class A line filter
Module
SINAMICS SD card 1 6SL3054-7TD00-2BA0 Optional: Recommended for
maintenance/service (this
case, without firmware)
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Software components
Table 3-2: Software components
Component Qty. Order number Note
SIZER V3.14 1 Free of charge download
Software components for Step7 Classic
SIMATIC STEP 7 1 6ES7810-4CC10-0YA5
V5.5
S7 Distributed 1 6ES7833-1FC02-0YA5
Safety
V5.4 SP5
STARTER 1 Free of charge download
V4.4 SP1
Alternative software components for Step7 TIA
SIMATIC STEP 7 1 6ES7822-1AA03-0YA5
Prof. V13 SP1
STEP 7 Safety 1 6ES7833-1FA13-0YA5
Advanced V13 SP1
SINAMICS 1 Integrated in TIA or as free of
Startdrive V13 SP1 charge download
Set the I/O configuration to "EPOS with fieldbus", as the setpoint is entered via
PROFINET.
The motor data is specified corresponding to an IEC motor, i.e. 50 Hz and SI units.
A load duty cycle with high overload for vector drives for a supply voltage of 400 V
can be kept as power unit application.
Read off the motor MLFB from the SIMOGEAR rating plate. A typical rating plate is
shown in the following diagram for demonstration purposes.
Fig. 4-6: SIMOGEAR rating plate
Select motor type: "[100] 1LE1 standard induction motor" and activate "Select
standard motor from list". Then select the main MLFB of the motor and select the
motor.
Fig. 4-7: Motor
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If you cannot read the main MLFB of the induction motor from the rating plate, then
take the motor type designation from the SIZER project documentation
corresponding to Fig. 4-8.
An assignment table is listed in Chapter 5, with which you can determine the
appropriate main article number of the induction motor that you wish to select.
Change the motor connection type to "Delta"; the motor data will then be displayed
for a delta connection (rated voltage = 230V etc.). Set the checkmark for the 87Hz
calculation.
Note If you are using a motor that is not included in the list, then from firmware 4.6 and
higher you can enter the motor data as described in this FAQ for the 87Hz
characteristic.
The specified current limit (150% overload) and maximum speed already refer to
the motor in a delta connection and 87Hz characteristic.
Note When using the basic positioner, the ramp-up and ramp-down times have no
effect on the travel profile. However, faults initiate a stop response with OFF1
and OFF3, so that the lowest possible times should be selected here.
Select "[2] Identifying motor data (at standstill)" to precisely identify the motor data
using a stationary measurement. Keep the setting "Complete calculation" for
calculating the motor parameters.
Note For SINAMICS drives, encoder_1 is interpreted as motor encoder, i.e. before the
gearbox and encoder_2 as machine encoder, i.e. at the drive output after the
gearbox.
For "Encoder_1", using "Select standard encoder from list" select the HTL encoder
with code number 3001 for the HTL encoder with A/B track, zero mark R and 1024
pulses per revolution. The encoder is evaluated via the interface of the CU250D-2.
With the SSI encoder principle, fine interpolation is not possible, so that the fine
resolution should be set to 2 bits.
A gear factor must be parameterized to convert the rotation of the wire-draw
encoder to translatory motion of the load/mechanical system. To do this, a
relationship is established between both feed constants, the largest mechanical
feed constant of the mechanical system and the encoder pitch so that the encoder
motion is referred to the load motion.
In this example, the encoder has a pitch of 334.32mm per revolution, see Table
4-1, and the largest mechanical feed constant is 55.1mm per revolution, see K Vmax
of the Excel tool. The quotient of the two values (551/3343) is the gear ratio, which
establishes the reference of the wire-draw encoder to the mechanical
lifting/lowering motion.
Depending on how the encoder is mounted, position inversion must be taken into
account so that the position actual value is not negative.
The position control is realized with the wire-draw encoder defined as encoder_2,
which acts as the machine encoder.
Alternatively, the data from the Sizer project documentation can be used.
A value of 551 was configured for "LU per load revolution" p2506, which results out
of a value of 55.1 mm is the largest mechanical feed constant KVmax with resolution
1LU = 0.1 mm. For changing feed constants, in practice the proven approach is to
parameterize the largest feed constant that occurs, in order to avoid the speed
precontrol from going into saturation (reaching its limit).
Complete the commissioning with "Finish". Check the motor data for the delta
connection under "Control_Unit->Configuration".
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Go online with the CU250S-2, and load the data to the target device.
Brake control
Parameterize the brake control (p1215) under "Control_Unit > Functions > Brake
control" to "[1] Motor holding brake acc. to sequence control" in order to control the
brake directly from the power unit. Take the brake opening and closing times from
the project documentation.
Fig. 4-21: Brake opening/brake closing time from the Sizer project documentation
Note Round off the brake closing time to above 100 ms so that the drive remains
somewhat longer in closed-loop control, and is not deactivated before the brake
has closed.
If the load sags after opening the brake, in p1475 "Torque when opening" you can
define a torque value for the holding brake. The motor holding brake only opens
after the drive has established the torque defined there; as a consequence, this
value should correspond to the load torque. In the example, parameter p1475 is
linked with "Fixed value1" p2900 where a percentage value referred to the
reference torque in p2003 is entered, in the example this is 50%.
Note The actual load torque depends on the load and the hoisting height, and must
therefore be determined on a case-for-case basis for each application in order to
avoid that the load (in this case platform) sags or ascends too quickly.
Communication
Carefully ensure that under "Control_Unit > Communication > Fieldbus", standard
telegram "[111] SIEMENS telegram 111, PZD 12/12" is selected, which is generally
used when employing the basic positioner.
Parameterize the "PROFIsafe telegram 900" to control the safety functions using
PROFIsafe and to be able to transfer the F-DIs to the PLC.
Fig. 4-23: PROFINET telegram selection
When using direct setpoint input (MDI) via the fieldbus, it is not necessary to
parameterize the positioning as such. However, the absolute encoder must be
adjusted and the traversing range and traversing profile limiting, jog velocity – and
where relevant, the home position approach velocity (not necessary here) – must
be parameterized.
Limits
Software end positions can be activated under "Control_Unit > Technology > Basic
positioner > Limiting" in addition to the emergency end position cams. They are
located before the lower emergency end position (N201) as well as upper
emergency end position (N202). Here they are set 10 cm behind the upper or lower
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position. The software limit switches are activated via the fieldbus. The lower
emergency end position output cam, N201 (stop output cam minus) is connected to
DI 0 (r722.0), and the upper emergency end position N202 (stop output cam plus)
is connected to DI2 (r722.2). Here, one channel each from F-DI 0 and F-DI 1 is
used, so that when the end position output cam is reached, in addition to STO
being initiated, also the EPOS receives a stop command.
The velocity and acceleration are entered in the traversing profile limitation. The
maximum velocity for the 87Hz characteristic on the motor side is 2610 rpm, i.e.
equal to 337584 LU/min = 337 1000LU/min.
Note
As the brake control is realized the same as the sequence control, the ramp
down time of OFF1 (P1121) and OFF3 (P1135) should be as short as possible.
In addition, for the traversing profile limitation, jerk limiting can be activated, which
has a positive impact on the system stability.
Jog
The jog velocity is saved under "Control_Unit > Technology > Basic positioner >
Jogging > Configure jog setpoints" in the drive, and must be specified as LU/min.
The jog velocity should be as low as possible so that positions can be precisely
approached. Enter a velocity of 5 m/min or 50,000 LU/min, for example.
Note As already described in Note on the safety functions on page 15, only the STO
safety function can be used for this application. However, the extended safety
functions are required to transfer the status of the safe inputs to the F-PLC. As a
consequence, all of the other safety functions in the F program of the PLC must
be permanently interconnected with a 1 signal – or must be deselected.
The safety functions are parameterized under "Control_Unit > Functions > Safety
Integrated". Click on "Change settings" to start safety commissioning. From the
drop-down field, select "Extended functions via PROFIsafe" and select the
"Enable" safety functions.
Fig. 4-31: Parameterizing safety functions
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You can access parameterizing the safety inputs by pressing button "Safety inputs"
Here, enable the transfer of the "F_DI in PROFIsafe telegram" and select the three
F-DIs for transfer.
Then click on "Copy parameters after download" and "Activate settings" one after
the other. You are prompted to assign or change a password. Copy from RAM to
ROM and switch off the power supply for the CU and on again to activate the
safety settings.
The speed controller under "Control_Unit > Open-loop/closed-loop control > Speed
controller" defines the speed at which the speed actual value tracks the speed
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setpoint.
Fig. 4-34: Parameterizing the speed controller
Coarse optimization
Using the following rule of thumb, Kp can be roughly determined using the
symmetrical optimum. You start at n equal to one. If the dynamic performance is
not adequate, then you continue with n equal to two etc.
𝑇𝑛 = 4 ∙ 𝑇𝑆 (𝑆𝑢𝑚 𝑜𝑓 𝑎𝑙𝑙 𝑑𝑒𝑙𝑎𝑦𝑠) ≅ 90 − 120 𝑚𝑠
𝑁𝑜𝑚𝑖𝑛𝑎𝑙 𝑚𝑜𝑡𝑜𝑟 𝑠𝑡𝑎𝑟𝑡𝑖𝑛𝑔 𝑡𝑖𝑚𝑒 (𝑟0345)
𝐾𝑃 = 𝑛 ∙ 𝑤𝑖𝑡ℎ 𝑛 = 1, 2, …
𝐼𝑛𝑡𝑒𝑔𝑟𝑎𝑙 𝑡𝑖𝑚𝑒 𝑇𝑛 (𝑃1462)
Note The speed controller should be optimized in the range of the lowest linear feed,
as the resulting speed is the highest here.
5. The speed controller should optimized in the range of the lowest linear feed.
The system is optimized based on the step response using the control panel. Trace
the speed setpoint (r62) and the speed actual value (r61[0]). Fig. 4-35 shows the
resulting step response of the speed controller according to the symmetrical
optimum.
Fig. 4-35: Step response for various speed controller settings
Note During the step, ensure that the drive current, torque, voltage or power is not
limited (see the next Chapter 4.2.2).
Torque precontrol
The acceleration required is obtained based on the speed setpoint change. The
drive can calculate the torque required from the mass moment of inertia and the
acceleration. The torque precontrol controls the torque without involving the speed
controller. As a consequence, the speed controller only has to compensate
disturbing variables, such as mechanical oscillations. However, for the torque
precontrol it is assumed that the static load torque has already been precontrolled
when opening the brake. Torque precontrol is not absolutely necessary for
operating the lifting table; however, it does have a positive impact on the stability
and dynamic performance.
As a rotating measurement cannot be carried out for the scissor lifting table, the
torque precontrol must be manually parameterized. Enter the ratio between the
complete moment of inertia and the motor moment of inertia in p342. The moment
of inertia ratio varies while lifting/lowering so that here the best setting must be
determined.
Increase the scaling (P1496) of the precontrol from 50% step-by-step up to 100%.
Fig. 4-36: Torque precontrol in the speed controller
Ideally, in the current controller clock cycle, trace the speed setpoint (r62), speed
actual value (r61), torque setpoint (r79), speed controller I-torque output (r1482)
and accelerating torque (r1518). If, as a result of increasing the torque precontrol,
the torque setpoint starts to oscillate, increase the smoothing time constant of the
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torque setpoint in parameter p1517, e.g. to 10 ms. Fig. 4-37 shows the influence of
the precontrol and the setpoint smoothing on the torque setpoint and the speed
actual value.
The torque precontrol should be selected so that the I component of the speed
controller essentially remains constant. As a consequence, the acceleration torque
required is, to a large extent, provided by the precontrol, and the I controller mainly
compensates disturbing quantities, see trace Fig. 4-38.
Fig. 4-37: Torque setpoint and speed actual value with precontrol
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Check the power, current and torque limiting by tracing r56[13]. Limiting is active if,
during the optimization, this is one. The limiting can be adapted under
"Control_Unit > Open-loop/closed-loop control > Torque limitation".
If necessary, increase the current limit (P640) up to a maximum of 200% of the
rated motor current (P305). Then set P340 to
"[5] Calculate technological limits and threshold values" in order to automatically
adapt the torque and power limits (you must be connected online with the drive).
Set the regenerative power limit to the negative rated power of the power unit; in
this case -0.75kW, as this is the maximum power that the power unit can
regenerate to the line supply. If necessary, deviating from the automatic
calculation, the power limit when motoring can be increased to a maximum of three
times the rated motor power.
NOTICE In operation, the motor must be able to thermally withstand this load.
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Note The position controller should be optimized in the range of the highest feed
constants, as otherwise the system could become unstable.
Start with a low P gain/KV value of approximately 0.05. Here, allow high
acceleration rates and deactivate jerk limiting.
The "EPOS jog" function via the control panel is used for optimization
The setting of the position controller under "Control_Unit > Technology > Position
control > Position controller" also defines the dynamic response. An optimized
position controller quickly reaches the setpoint position without any overshoot.
Change the P gain (Kv factor [servo gain factor] P2538) from one to approx. 0.05 –
and keep the integral time (P2539) at zero.
Fig. 4-42: Setting the position controller
Trace the speed setpoint (EPos velocity setpoint r2666), the speed actual value
(r61.0), the torque setpoint (r79), the position actual value (r2521.0) and the
following error (r2563) analogous to Fig. 4-43. Observe as to whether the position
actual value is free of any overshoot, and whether the following error goes to zero
adequately fast.
Fig. 4-43: Position controller trace
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Speed precontrol
With speed precontrol, the speed generated from the position setpoints is routed so
that the position controller is bypassed.
To increase system stability, reactivate jerk limiting and if necessary, adapt it. In
addition, you can increase the time constant of the position setpoint filter (P2533)
Fig. 4-44: Optimizing the position controller setpoints
Increase the speed control factor (p2534) until the speed precontrol does not
overcontrol (does not go into saturation) – and the position controller P component
is not negative. In the range of the highest feed constant, the speed should almost
be completely generated by the precontrol. The non-linear response of the
mechanical system is compensated using the P component of the position
controller; this adds an increasing speed setpoint to the precontrol value so that the
decreasing feed constant is corrected.
Fig. 4-45: Speed precontrol trace
Highest feed
constant
Acceleration Deceleration
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5 Appendix
Converting motor article numbers
If only the type designation of the geared motor is known, using the following table
the main order number of the standard induction motor can be determined.
This can be specified in STARTER.
Table 8-1: Converting the type designation of the motor installed in the geared motor
(obtained from SIZER) to the main order number (for commissioning in
STARTER)
SIMOGEAR / 1LA / 1LE main SIMOGEAR / 1LA / 1LE main
MOTOX article number MOTOX article number
6 References
Table 6-1
Topic Title
\1\ Siemens Industry https://support.industry.siemens.com/cs/ww/en/
Online Support
\2\ Download page of https://support.industry.siemens.com/cs/ww/en/view/109482756
the article
\3\ STARTER https://support.industry.siemens.com/cs/ww/en/view/26233208
download
\4\ Download SIZER https://support.industry.siemens.com/cs/ww/en/view/54992004
\5\ Rapid traverse- https://support.industry.siemens.com/cs/ww/en/view/32234405
crawl switchover
using FFB
\6\ Roller conveyor https://support.industry.siemens.com/cs/ww/en/view/109587632
control blocks
\7\ Safe standstill https://support.industry.siemens.com/cs/ww/en/view/49221879
monitoring
\8\ Safety-relevant https://support.industry.siemens.com/cs/ww/en/view/45830615
evaluation of
standard modules
\9\ Catalog for https://support.industry.siemens.com/cs/ww/en/view/65355810
Siemens AG Copyright year All rights reserved
supplementary
products G120D
\10\ Auslegung Regele, Stephan (2011): Auslegung von Maschinenelementen
Scherenhubtisch [Dimensioning machine elements]. Formulas, usage tips,
[Engineering a calculation programs Munich, Vienna: Carl Hanser
scissor lifting table]
7 Contact persons
Siemens AG
Digital Factory Division
Factory Automation
Production Machines
DF FA PMA APC
Frauenauracher Strasse 80
D-91056 Erlangen, Germany
mailto: tech.team.motioncontrol@siemens.com
8 History
Table 8-1
Version Date Change
V1.0 07/2016 First edition