DCB TraversingDrive V1 1 DOC EN PDF

Traversing Drive with
DCB Extension
Siemens
SINAMICS S120 Industry
Online
https://support.industry.siemens.com/cs/ww/en/view/109753102 Support
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Traversing Drive with DCB Extension

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Table of contents
Table of contents
Legal information ......................................................................................................... 2
1 Description of the application example ........................................................... 5
1.1 Overview............................................................................................... 5
1.2 Functionality ......................................................................................... 5
1.3 Components used ................................................................................ 7
2 Basics ................................................................................................................. 9
2.1 Cam profile ........................................................................................... 9
2.2 Acceleration angle .............................................................................. 10
2.3 Winding step ....................................................................................... 10
2.4 Waiting angle ...................................................................................... 10
2.5 Spikes ................................................................................................. 11
2.6 Displacement angle ............................................................................ 12
2.7 Conical coils ....................................................................................... 13
2.8 Homing functions ................................................................................ 14
2.9 Autarkic axis functions ........................................................................ 15
3 Commissioning the application ..................................................................... 16
3.1 For your safety ................................................................................... 16
3.1.1 Markings used for safety instructions ................................................. 16
3.1.2 Responsibilities of the operating company......................................... 16
3.2 Basic configuration in STARTER ....................................................... 18
3.3 Configuring the traversing drive ......................................................... 23

3.4 Interconnections between traversing drive and winder ...................... 27
3.4.1 Running the interconnection script ..................................................... 27
3.4.2 Creating the interconnections manually ............................................. 29
3.5 Interconnections to the basic system ................................................. 30
3.6 Control of the traversing axis ............................................................. 31
3.7 Homing of the traversing axis ............................................................. 34
3.8 Important traversing parameters ........................................................ 34
4 SIMATIC S7 block "LMCSINA_TraversingDriveFB" ..................................... 37
4.1 Function .............................................................................................. 37
4.2 Interface.............................................................................................. 38
4.2.1 Received data .................................................................................... 38
4.2.2 Send data ........................................................................................... 40
4.2.3 Inputs and Outputs of LMCSINA_TraversingDriveFB ........................ 43
4.2.4 Block Diagnosis .................................................................................. 47
4.3 Integration into the project .................................................................. 48
4.3.1 In case of utilisation PROFINET ........................................................ 48
4.3.2 Installation of the library LMCSINA .................................................... 48
5 Using the application ...................................................................................... 50
5.1 Scaling and units ................................................................................ 50
5.2 Axis dynamic response ...................................................................... 50
5.3 Switching on/switching off the following axis...................................... 52
5.4 Operating modes and axis states ....................................................... 52
5.5 Priorities of the operating modes ....................................................... 53
5.6 Stopping the axis ................................................................................ 53
5.7 Jog axis .............................................................................................. 54
5.8 Homing approach ............................................................................... 54
5.9 Set home position ............................................................................... 58
5.10 Flying homing ..................................................................................... 58
5.11 Absolute encoder adjustment ............................................................. 60
5.12 Positioning .......................................................................................... 60

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Table of contents
5.13 Optimizing position-controlled axes ................................................... 62

5.14 Start oft he traversing mode ............................................................... 62
5.15 Activation of the Spikes ...................................................................... 63
5.16 Activation of a defined displacement angle ........................................ 64
5.17 Activating conical coil types................................................................ 65
6 Program description ........................................................................................ 66
6.1 Function plan ...................................................................................... 66
6.2 Parameter lists ................................................................................... 81
6.2.1 Basic structure of the parameter descriptions .................................... 81
6.2.2 Parameterlist Traversing Drive ........................................................... 89
6.3 Execution groups .............................................................................. 129
6.4 Notes on computation time and memory load levels ....................... 129
6.4.1 Computational time load................................................................... 129
6.4.2 Memory utilization ............................................................................ 129
6.5 Faults and alarms ............................................................................. 130
6.5.1 Faults ................................................................................................ 130
6.5.2 Alarms .............................................................................................. 130
7 Appendix ........................................................................................................ 132
7.1 Application Support .......................................................................... 132
7.2 Links and Literature .......................................................................... 132
7.3 Change documentation .................................................................... 132
7.4 Upgrade information ......................................................................... 133
Upgrading the DCB Extension Library ............................................. 133
Upgrading the application version .................................................... 133

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1 Description of the application example

1.1 Overview
The traversing describes the targeted positioning/placement of the material on the
coil. While the winder is responsible for the rotation of the winding, the Traversing
Drive is responsible for a controlled arrangement of the material on the winding
coil. The traversing drive is always in interaction with the DCB winder application
(winder with DCB extension), as it operates as the leading axis for the traversing.
The traversing drive can be moved autarkic or is synchronized to the leading value
of the winder via a cam. Motion control functionality in this application is
implemented directly in the SINAMICS drive device.
By adjusting the input parameters, it is possible to directly influence the laying
pattern and thus specifically influence the stability of the winding structure. This
makes it possible to lay a wide variety of materials (e.g. textile threads, wire,
cables, etc.).
1.2 Functionality
The basic principle of the traversing is based on a cam synchronism between the
master axis (DCB extension winder) and the traversing drive. For this application
example, the S120 winder application with DCB Extension operates as master
drive, because this application supplies the actual position value processing of the
winder axis. The traversing drive then operates as a slave which reverses between
the coil end points via a cam.

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Fig. 1-1 Drive unit with winder and traversing drive


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1.3 Components used

Hardware
The following figure shows an example of a SINAMICS S120 multi-axis system
with the CU320-2 control unit. Only with this hardware the full range of functionality
of the application is available.
Fig. 1-2 SINAMICS S120 multi-axis system

This application example was created with these hardware and software
components:
Table 1-1
component amount article number Note
SINAMICS S120 drive 1 6SL3040-1MA01- Since firmware 5.1 with
assembly with control 0AA0 the library GMC V5.1
module CU320-2 PN
Commissioning tool 1 Starter since V5.1

Starter with installed (https://support.industry.
DCC siemens.com/cs/ww/en/v
iew/26233208)
SINAMICS DCB 1 6SL3077-0AA00- RT-license for CU (see
Extension Runtime 0AB0 following note)
License per CU
Function block library for 1 The appropriate library
motion control: must be installed in the
GMCV5_1_sinamics5_1. starter and loaded into
zip the drive unit.
NOTE The Traversing Drive V1.0 has to be used in combination with the SINAMICS
DCC Winder Extended V4.3. Under the following link, the DCC Winder Extended
can be downloaded:
https://support.industry.siemens.com/cs/ww/en/view/38043750

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Note The "Sinamics DCB Extension" runtime license, which is required to run new
DCC libraries on the CU, is subsequently licensed via the Web License
Manager. The description can be found in the Function Manual FH1 under "Drive
System Basics -> Licensing -> Generate License Keys via the Web License
Manager".
This application example consists of the following components:

Table 1-2
component filename Note
Manual 109753102_DCB_TraversingDrive_V1_0_DOC_EN.pdf
DCC Plan 109753102_Software_DCB_TraversingDrive_V1_0.zip
DCB Extension 109753102_Software_DCB_TraversingDrive_V1_0.zip see following
libary GMC note
Commissioning 109753102_Projectassistant_Traverser_V1_0.zip
Assistant
Note For the operation of DCB Extension libraries one runtime license per control unit
is required.

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2 Basics
2 Basics
2.1 Cam profile
Fig. 2-1 Cams profile of the Traversing Drive
The basic principle of traversing is based on cam synchronism between the winder
and the traversing drive. For this application example, the S120 winder application
with DCB Extension operates as master drive, as this application provides the
actual position value processing of the winder axis. The traversing drive operates
as a slave which reverses between the coil end points via a cam.
The following section describes the continuous movement of the Traversing Drive
and defines some basic terms.
Start of the normal, continuous traversing is the left edge of the coil, which is
always referred to position A below. Starting from this starting position, the
Traversing Drive first accelerates until he has reached the traversing velocity.
The duration of the acceleration phase is adjustable via the acceleration angle,
which describes the angle that the winder moves during the acceleration phase.
After the acceleration phase, the traversing drive moves with a constant velocity in
the direction of the right edge of the coil, this is always referred to position B below.
The velocity of the traversing is adjustable via the winding step. This parameter
defines how far the Traversing Drive positions away from the starting position,
while the winder does a full turn.
Before the Traversing Drive reaches position B, it is decelerated again. The

duration of the deceleration process is also defined by the acceleration angle.

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2 Basics
When the Traversing Drive reaches position B, it remains at this position for the
length of the waiting angle. The waiting angle defines for which angle, or how
many revolutions the Traversing Drive remains in the edge points before moving to
the other edge point. Then the traversing Drive reverses back to position A with the
same dynamics as to position B. As soon as position A is reached, the traversing
drive remains in this position for the duration of the waiting angle. Then the
operation can be restarted for the next layer.
2.2 Acceleration angle

Starting from starting position A, the Traversing Drive accelerates until it has
reached the traversing velocity. The duration of the acceleration phase is
adjustable via the acceleration angle, which describes the angle that the winder
moves during the acceleration phase. Therefore, the unit of the acceleration angle
must be set in degrees.
2.3 Winding step

After the acceleration phase, the Traversing Drive moves with a constant velocity in
direction of the coil edge. The velocity is adjustable via the winding step. This
defines how far the Traversing Drive is positioned while the winder does a full
revolution. The unit of the winding step is therefore µm per revolution. The winding
step has a significant influence on the laying profile.
2.4 Waiting angle

In order to build up the edge points of the winding core in a stable manner, the
Traversing Drive remains in the edge points for a certain time, while the winder
continues winding the material. The duration of the waiting angle refers to the
angle that the winder moves.

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2 Basics
2.5 Spikes
During the acceleration phase, the Traversing Drive positions at a slower velocity
compared to the traversing velocity, which results in more material being wound up
in these areas. This accumulation of material can be compensated by setting so-
called ‘spikes’.
The compensation is realized by an overspeed in the edge areas of the winding

coil. The spike defines the duration and the level of overspeed.
Four different spikes are available for this application. The first spike is after
starting from position A in direction B. The second spike is defined before position
B is reached. The third spike starts after starting from position B in direction A and
the fourth spike starts before reaching position A. The following figure shows the
resulting cam profile:
Fig. 2-2 Cam profile of the Traversing Drive with spikes


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2 Basics
2.6 Displacement angle

The duration of a traversing cycle results from the parameters of the Traversing
Drive- acceleration angle, winding step and waiting angle. This duration is
subsequently referred to the axis cycle length of the winder. This describes how
many degrees or how many revolutions the winder turns while the Traversing Drive
moves from position A to position B and back again.
At the start time of the traversing cycle, the winder is at a certain position x in [°].
After completion of the traversing cycle, when the Traversing Drive has returned to
position A and the waiting angle at position A has also expired, the winder is in
position y in [°]. The difference between the angle x and the angle y describes the
displacement angle.
In the worst case, acceleration angle, winding step and waiting angle were
selected so that a displacement angle of zero degrees results. So, start angle and
target angle are the same. This results in a material accumulation at the starting
position x in [°].
Fig. 2-3 Displacement angle = 0°, side view of the winding core
It would be better to specify a definable displacement angle. This means that the
material can be distributed at the edge points and there is no accumulation of
material in a position.
Fig. 2-4 Displacement angle = ideal, side view of the winding core

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2 Basics
For example, a displacement angle of 160° should be realized, as shown in the

following figure:
Fig. 2-5 Example 160° displacement angle
The displacement angle is realized by adjusting the traversing parameters:

• acceleration angle
• waiting angle
• winding increment
An algorithm is run through which tries to adjust the traversing parameters so that
the desired displacement angle is set. The parameters may be adjusted too much
by the algorithm so that they are no longer acceptable to the user. Therefore it is
possible to limit the changes of parameters to minimum and maximum limits. If the
limits are set too low, the displacement angle may not be reached with the narrow
limits. In this case, the displacement angle results automatically from the originally
required traversing parameters.
Furthermore, it is possible to define certain priorities - which of the traversing
parameters should be adjusted first in order to achieve the desired displacement
angle. If the displacement angle has not been reached by adjusting the first
parameter, the next parameter with the second lower priority is continued.
2.7 Conical coils

Compared to cylindrical coils, at conical coils, position A and position B change in
every layer. Therefore, a new cam must be calculated for each new layer.
Within this application, an offset for position A and an offset for position B can be
defined per layer. This makes it possible to define the edge points A and B either
further apart or closer together, etc.
A positive offset per layer at position A means that position A moves further to the
right. A negative offset per layer at A means that position A moves further to the
left.

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2 Basics
A positive offset per layer at position B means that position B moves further to the
right. A negative offset per layer at B means that position B moves further to the
left.
This allows to realize different coil profiles:

Fig. 2-6 Conical Coil Profiles:
2.8 Homing functions

Homing creates a reference between axis and machine mechanics. Various
homing functions are available for different applications and encoder types:
• Absolute encoder adjustment
• Set reference point
• Flying homing
• homing approach (with and without proximity switch)
Absolute encoder adjustment

Absolute encoder adjustment is only available for axes with absolute encoders as
position encoders. At the same time, the encoder adjustment is the recommended
method of homing if an absolute encoder is available.
The axis is first moved to a reference position relative to the mechanics. This can
be done, for example, by the machine operator using the "Jog" function. Once the
axis has reached the mechanically defined position, it is switched off. With the axis
switched off, the encoder adjustment can then be triggered. The encoder is
referenced to a definable position and the absolute information is automatically
remanently and fail-safe stored in the memory of the control unit. Even after
switching the drive unit off/on (disconnecting the supply voltage), the referencing of
the encoder is retained. After switching the machine on, no new homing is
necessary.
Set reference point

The "Set reference point" function sets the position (setpoint and actual value) of
the axis to a definable position. The reference point can be set during operation or
while the axis is stationary.
This type of homing is not stored in the device in a fail-safe manner. After switching
the device off/on, the axis is no longer homed and its current position is no longer
related to the mechanics. A new homing is then required.

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2 Basics
Flying homing
During flying homing, the axis is moved over a hardware interrupt, whereby its
position (setpoint and actual value) is set to a defined position at this moment. A
hardware interrupt is usually a measuring probe (e.g. contactless Bero) which is
connected to a fast digital input of the Control Unit. The probe has a position
defined for the mechanics, to which the axis is set when passing. The user can
freely select which function is used to move the axis over the probe (e.g. manually,
by typing, etc.).
NOTE Flying homing can be used independently from the encoder type, so it can also
be used for absolute encoders. It causes a remaining modification of the position
actual value as long as the drive isn’t reinitialized, so the advantage of
reproducing the position actual value after initialization of absolute encoders will
be lost.
Homing approach
During the homing approach, the axis actively moves to a hardware interrupt and
sets its position (setpoint and actual value) to a defined position. A hardware
interrupt can be either a probe (e.g. contactless Bero) connected to a fast digital
input of the Control Unit or the encoder zero mark. When referencing to encoder
zero mark, the axis is usually first moved over a proximity switch (Bero), since its
position relative to the mechanical system is defined and homed. After reaching the
proximity switch, the axis moves slowly to the next encoder zero mark and
references its position there.
2.9 Autarkic axis functions

The traversing axis can be uncoupled from the winder leading axis and perform
independent positioning movements. The following independent movements can
be realized:
• Jogging
• Absolute positioning
Jogging
The Jog function is used, for example, to set up the axis. During jogging, the axis
moves at a parameterisable velocity (usually low velocity). The axis moves
forwards or backwards until the Jog function is deselected.
For example, the axis could be moved to a certain position manually by a machine
operator. This is often used for subsequent maintenance or homing of the axis.
Absolute positioning
During absolute positioning, the axis moves from its current position to a definable
position. The positioning can be triggered with edge triggering. The positioning
movement can be defined by dynamic values and direction.

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3 Commissioning the application
3.1 For your safety

3.1.1 Markings used for safety instructions
Pictogram, signal word and text

All safety information contained in this document is identified by a text graphic –
comprising a pictogram and a signal word – with an explanatory text. The
combination of pictogram and signal word permits clearly differentiated information
levels based on the degree of danger. The safety instructions have a higher priority
than the information about activities to be carried out.
Levels
There are three safety information levels. They are marked with the same
pictogram. They differ by the signal word used.
DANGER indicates that death or severe personal injury will result if proper
! precautions are not taken.
DANGER
WARNING indicates that death or severe personal injury could result if

! proper precautions are not taken.
WARNING
NOTICE NOTICE indicates that an undesirable result or state may occur if the
corresponding instructions are not observed.
3.1.2 Responsibilities of the operating company
Intended use
The proper use of the application components exclusively comprises the open-loop
and closed-loop control of test setups that were adapted to the power/performance
of the application components. In order that the application functions perfectly, the
required SINAMICS standard components as well as the necessary hardware and
software components must have been installed.
The operating company may only make changes to the application components
after prior written agreement from the suppliers.
Improper use
The following are considered to constitute improper use (misuse):
• All forms of use that deviate from or exceed the above-mentioned proper use.
• Failure to observe the safety instructions.
• Failure to immediately rectify malfunctions that could impair safety.

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• All forms of manipulation of devices that serve to ensure the proper

functioning, unrestricted use, or active or passive safety of the equipment.
• The recommended hardware and software components are not used.
• Operation of the application components if they are not in perfect technical
condition as well as failure to operate them safely while considering the
inherent risks and complying with all instructions contained in this document.
The manufacturer disclaims liability of any kind in the event of improper use.
Obligation to monitor
The operating company has a continuous obligation to observe the overall
technical condition of the application components (obvious defects or damage as
well as changes in operating behavior).
The company operating the system is obliged to only operate the application if it is
in perfect condition. The company operating the system must check the state of the
application components each time before they are used and rectify any defects
before commissioning.
Qualification of personnel
The company operating the system must always deploy trained, authorized and
reliable personnel. All safety regulations must always be observed.
The personnel must have received special, in-depth training and instructions about
possible hazards and dangers.

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3.2 Selection of Commissiong mode

For this application example, a project wizard based on Microsoft Excel is
available, which simplifies the commissioning of the application. The wizard
automatically performs many steps during commissioning, such as the installation
of the required DCC plans and DCB extension libraries in the starter. The
application specific parameters such as winding step, acceleration angle, position
A, position B, etc. are also configured by the wizard. The connections to the winder
axis are created. After completion of the wizard, an executable starter project is
available.
Abbildung 3-1 Overview Projectassistant
Abbildung 3-2 Adjust application parameters

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Requirements for using the Assistant

Besides the application specific requirements (chapter 1.3), the following software
is necessary to use the assistant:
• Excel 32 Bit, Version 2010 or higher
Download the Project Assistant

The project assistant including documentation can be downloaded here:
Note It is not necessary to use the Project Assistant, as the drive can also be
configured manually in the starter. For this, please follow the further chapters of
this documentation.

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3.3 Basic configuration in STARTER

Installing the block libraries
• With the project closed, in Starter, under the shortcut menu "Options", select
"Installation of libraries and technology packages..."
Fig. 3-3 Installation of the libraries in starter
• Under "Add...", select the .zip file of the relevant library from the file system
Fig. 3-4 Selection of the DCB Extension library in the file browser
• Installation starts after the selected file has been opened (the installation can
take several minutes)
• You must repeat this step for all of the libraries that are required:
▪ GMCV5_1_sinamics5_1.zip
(you can find the .zip files of the libraries in the SIOS entry for the application)
• Go online with the drive device, and in its shortcut menu "Select technology
packages..."

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Fig. 3-5
• For the libraries, select the action "Load into target device", and then
acknowledge "Perform actions"
• With this step, you align the offline and online versions of all of the libraries
used in the project. The libraries being used are designated by a checkmark in
the first column. The drive device can only be subsequently loaded to the
project if all of the libraries used match offline and online.

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Fig. 3-6 Online offline comparison of existing libraries
• The block libraries have now been installed in Starter and in the target device
• If no license is available yet, the "Trial License Mode" can be activated for a
limited time during commissioning
• Configure all of the drives of your system as usual in Starter. Online, you can
start an automatic configuration to read out all DRIVE CLiQ components and
drives
• Go offline.
• Configure the synchronous axes as well as the leading axes or measuring
wheel as described in the following

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3.4 Configuring the traversing drive

• Activate the position control function module at the traversing axis:
▪ In the offline mode, go into the configuration screen form of the drive
▪ Under "Function modules/technology packages...", activate the position control
(caution: it is not permissible that the basic positioner function module is
enabled)
Fig. 3-7 Activation of the position control function module in STARTER


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Importing the DCC chart

• Select by right clicking on the drive under "Expert" -> "Import object".
Fig. 3-8 Import of the DCC plan

• Selecting the .XML file for the traversing drive from the file system
• After the import has been completed, the DCC chart appears below the drive
• Save and compile your project after the DCC chart has been imported. All
basic interconnections to the drive are automatically established
Mechanic settings of the traversing axis

• Using the Project Navigator, with "Technology" →"Position
control"→"Mechanical system" go into the mechanical system screen form of
the position actual value processing

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• Here, set the position actual value resolution of the load revolution that
matches the mechanical system of your axis. A detailed description of the
setting is provided in Chapter Scaling and units
• If applicable, enter the gear ratio of a gear connected to the motor.
Fig. 3-9 Mechanical settings
NOTICE An increasing offset of the reference position due to an inaccurate gear

ratio can possibly damage the mechanical system
The gear ratio must be precisely specified as numerator/denominator of the
gearbox/gearing; typically, the values stamped on the type plate are values that
have been rounded off.

If the gear ratio is precisely set, then a load revolution is precisely mapped and
the position of the axis is precisely at the same position even after an infinite
number of revolutions.
• In the case of an absolute encoder, when required, activate the position

tracking of the load gear (e.g. for 𝐺𝑒𝑎𝑟 𝑟𝑎𝑡𝑖𝑜 ≠ 2𝑛 𝑤𝑖𝑡ℎ 𝑛 ∈ 𝑁):
Fig. 3-10 position monitoring

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NOTICE Incorrect reference position after switching on the drive device again – this
can damage the mechanical system
If a 𝐺𝑒𝑎𝑟 𝑟𝑎𝑡𝑖𝑜 ≠ 2𝑛 𝑤𝑖𝑡ℎ 𝑛 ∈ 𝑁 is applied when using an absolute encoder, and
if the absolute encoder position follow-up mode is not activated, then the zero
position is no longer correct after a multiturn overflow of the encoder followed by
switching the power supply off and then on again. This especially occurs for
rotary axes that continually rotate in one direction – or for linear axes with a wide
traversing range.
The axis position is then incorrect by an integer multiple of the remainder of the
𝐸𝑛𝑐𝑜𝑑𝑒𝑟 𝑚𝑢𝑙𝑡𝑖𝑡𝑢𝑟𝑛 𝑟𝑎𝑛𝑔𝑒
division .
𝐺𝑒𝑎𝑟 𝑟𝑎𝑡𝑖𝑜
• Note: After configuration and downloading the project, an absolute encoder

must be subsequently adjusted. This is realized as described in Chapter 5.11
Absolute encoder adjustment.

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3.4 Interconnections between traversing drive and winder

3.4.1 Running the interconnection script
Using the script integrated in the project
With this variant you must import the script into every project where you wish to
use it. However, the script remains integrated in the project, even when archiving
and transferring. As a consequence, this variant makes sense if you wish to
execute your own project-specific supplements at this script.
To do this, proceed as follows:
• Insert a script folder at the project level
Fig. 3-11
• Import the interconnection script

(LMCSINA_TraversingDrive_Communication_Script_Vx_y.xml)

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Fig. 3-12
• "Accept and execute" the script
Fig. 3-13
➢ When using the application without control via a higher-level SIMATIC PLC, select
option "only winder and traversing drive interconnections". The script then only
interconnects the winder with the traversing drive. Follow the instructions provided
by the script.
➢ When using the application with control via a higher-level SIMATIC PLC, select
option "Interconnections between winder and traversing drive and PLC interface for
LMCSINA_TraversingDriveFB". The script then interconnects the winder with the
traversing drive - and in addition, the appropriate PZD interconnection for cyclic
communication. Follow the instructions provided by the script.

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3.4.2 Creating the interconnections manually
If the script won’t be used, the interconnections can be created manually in Starter.
Interconnections on the winder axis, between winder and traversing drive
The DCB Extension Winder must be used on the winder axis. The following
interconnections between winder and traversing drive must be done on the winder
axis:
Table 3-1 Interconnections between traversing drive and winder

Winder Traversing drive
p23510 CI: Axis cycle r22102 CO: Axis cycle length winder
length winder
splice
p23531 Splice position r22103 BO: Actual position value winder
actual value descending/ascending (0=desc; 1= asc)
ascending/descen
ding (0 =
descending; 1 =
ascending)
p23701 BI: Reset actual r22104 BO: Reset actual position value back to 0
position value LU
back to 0 LU
Interconnections on the traversing axis, between traversing drive and winder

Table 3-2 Interconnections between traversing drive and winder
Traversing drive Winder
p21900 CI: LU/load r23700 CO: LU/load revolution winder effective
revolution winder
p21901 CI: actual position r23705 CO: actual position winder modulo 360
winder Modulo
360
p22099 BI: actual position r23703.0 BO: actual position winder
value of the descending/ascending
Traversing Drive
(0=desc; 1=asc)
p22100 CI: Actual position r23512 CO: Actual position value [LU]
winder [LU]
p22101 actual velocity r23513 CO: actual velocity value
value winder winder[1000LU/min]
[1000LU/min]

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3.5 Interconnections to the basic system

Table 3-3 Interconnection from the basic system to the traversing drive
Traversing drive Basic system
p25500 CI: Actual position r2521[0] CO: LR position actual value, Position
value control
p25501 BI: Measured r2526.2 Measured value valid
value valid
p25502 CI: Measured r2523[0] CO: LR measured value, Position control
value
p25503 BI: Position r2526.3 Position control active
control active
p25504 BI: OFF2 Internal r46.17 OFF2 enable internal missing
signal
p25505 BI: Encoder r2684.11 CO/BO: EPOS status word 2
adjusted
p25506 BI: Operation r899.2 CO/BO: Status word sequence control,
enabled Operation enabled
Table 3-4 Interconnections to the basic system

Basic system Traversing drive
p2508 BI: LR activate r21716 BO: Activate zero mark sensing

reference mark
search, Position
control
p2509[0] BI: LR activate r21717 BO: Activate probe evaluation
measuring probe
evaluation,
Position control
p2512 BI: LR pos. actual r25007 BO: Correction bit NOV for actual position
value value processing
preprocessing
activate corr.
value (edge),
Position control
p2513[0] CI: LR Position r25005 CO: Correction value for actual position
actual value value processing
preprocessing
corrective value,
Position control
p849[0] BI: No Quick Stop r24911 BO: HW- and SW limit switch drive release
/ Quick Stop granted
(OFF3) signal
source 2
p1160[0] CI: Speed r2562 CO: LR total speed setpoint
controller speed
setpoint 2
p2530 CI: LR position r25001 CO: Position setpoint for position controller
setpoint (integer)
p2531 CI: LR velocity r25003 CO: velocity setpoint to the position
setpoint controller (integer)
p2534 LR speed 100 %
precontrol factor
p2549 BI: LR enable 1 r899.2 Operation enabled

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Basic system Traversing drive

P2550 BI: LR enable 2 1
p2694 CI: LR r25002 CO: Position setpoint for position controller
supplementary (double)
setpoint position
p2695 CI: LR r25004 CO: velocity setpoint to the position
supplementary controller (double)
setpoint velocity
p2730[0] BI: LR pos. actual r25006 BO: Correction bit POV for actual position
value value processing
preprocessing
activate neg. corr.
(edge), Position
control
3.6 Control of the traversing axis

Technology control word 1 of the p21511 traversing drive is mainly responsible for
controlling the homing functions. Technology control word 2 is mainly used to
control the traversing functions. Please note that the two control words of the
traversing drive are again available bit-wise from p21550...p21585. These word-
wise control words are again OR´ed with the bit-wise parameters. The following
section shows the OR´ing

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Fig. 3-14 Technology control word 1 (homing)


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Fig. 3-15 Technology control word 2 (Traversing Drive)


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3.7 Homing of the traversing axis

A detailed overview of the various homing functions and which parameters are
required for this can be found in Chapter 4.8, 4.10 and 4.11
3.8 Important traversing parameters

The parameter p21902 fine resolution of the mechanics must match the value in
p2506 LR length unit LU per load revolution. The following section describes how
to set this parameter.
Specification: The slave axis represents a linear mechanism. Positioning should be
carried out with a resolution of micrometers (µm). The linear mechanism is realized
via a spindle with a spindle pitch (forward movement per load revolution) of 10 mm.
Determination LU per load revolution: The starting point is always the load side, the
load to be moved. Any existing gearboxes are parameterised in the mechanical
mask. The position controller then automatically calculates the appropriate motor
speed based on the gear factor. The known spindle pitch of 10 mm per revolution
with a desired resolution in micrometers (10 mm * 10Fine resolution(p21902) = 10 [mm] *
1000 [1/1000mm] = ) 10 000 LU per load revolution (p2506) with a fine
resolution(p21902) of 3. 1 LU in other words corresponds to 1 µm. So:
p2506 = 10 000 LU per Loadrevolution = spindle pitch * 10Fine resolution(p21902)

p21902 = 3
Parameter- Parameter description explanation

no.
p21950 Position A fixed [µm] The position of the left coil edge in µm
p21952 Position B fixed [µm] The position of the right coil edge in µm
p21954 For each winder revolution, the traversing axis
winding step fixed [µm/U]
moves on by this number of µm
p22006 Front, highest actual position The front or rather the right software limit switch,
value [mm] (SW limit switch) input in mm
p22007 Rear, smallest actual position The rear or rather the left software limit switch,
value[mm] (SW limit switch) input in mm
p22008 BI: Hardware limit switch front (low The signal source for the front or rather the right
active) hardware limit switch. This is active if this
parameter receives a negative edge
p22009 BI: Rear hardware limit switch (low The signal source for the rear or rather the left
active) hardware limit switch. This is active if this
parameter receives a negative edge
p22010 CI: Position A [µm] The position of the left coil edge in µm, if the
position is to be sent from a PLC. The unit of the
parameter is DINT. By default this parameter is
interconnected with r21951, this value is in
principle exactly the fixed value of p21950. If it is
now to be sent from the PLC, then the standard
wiring can be disconnected and p22010 can be
interconnected with a PZD.
p22011 CI: Position B [µm] The position of the right coil edge in µm, if the
position is to be sent from a PLC. The unit of the
parameter is DINT. By default this parameter is
interconnected with r21953, this value is in
principle exactly the fixed value of p21952. If it is
now to be sent from the PLC, the standard wiring

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no.
can be disconnected and p22011 can be
interconnected with a PZD.
p22012 Acceleration angle [°] The duration of the acceleration process as a
function of the winder axis
p22013 Waiting angle [°] The duration of waiting of the traversing drive at
the edge points to create a stable winding core.
p22014 CI: winding step [µm/U] The traversing axis moves this number of µm
further per winder revolution. This parameter can
be used to set the winding step via a PLC. To do
this, simply disconnect the standard circuit and
interconnect it to a PZD. Unit of the parameter is
DINT
p22015 Starting position of the 1st layer If the traversing axis should not start at position A
[mm] at the beginning, a different starting position of the
traversing axis can be defined for the first layer. Via
p21573 =1 and rising edge at p21576 can then be
automatically positioned to this position.
p22016 Maintenance position[mm] The maintenance position of the traversing drive.
Via p21573 =1 and rising edge at p21582 it is
possible to do a positioning to this position.
p22020 Displacement angle [°] Input of a defined displacement angle. More
detailed information can be found in chapter 2.6
Displacement angle. The displacement angle
calculation must also be enabled via p21580 = 1.

p22021 Acceleration angle lower limit [°] While using displacement angle calculation this is
the lower acceptable limit
p22022 Acceleration angle upper limit [°] While using displacement angle calculation this is
the upper acceptable limit
p22023 Waiting angle lower limit [°] While using displacement angle calculation this is
p22024 Waiting angle upper limit [°] While using displacement angle calculation this is
p22025 Winding step lower limit [mm/rev] While using displacement angle calculation this is
p22026 Winding step upper limit [mm/rev]. While using displacement angle calculation this is
p22027 Priority waiting angle (3=highest, During the displacement angle calculation, the
2=middle, 1=lowest) parameter with the highest priority is adjusted first,
then the parameter with the middle priority, etc.
p22028 Priority acceleration angle During the displacement angle calculation, the
(3=highest, 2=middle, 1=lowest) parameter with the highest priority is adjusted first,
p22029 Priority winding step (3=highest, During the displacement angle calculation, the
p22030 CI: Priority control word The priorities of the displacement angle calculation
can also be specified wordwise. Thus only the
wordwise part is evaluated and not the fixed values
of p22027 - 22029 The control word looks for
example:
Controlword = 01|10|11
W | B |WS
W = Wait angle; B = Acceleration Angle; WS =
Winding Step

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no.
In this example, if the priority of the waiting angle =
1, acceleration angle = 2 and winding step = 3
p22040 Spike1: total angle [°] More detailed information on spikes can be found
in chapter 2.5 Spike. This is the total angle or the
duration of the first spike.
p22041 Spike1: Offset of the winding step More detailed information on spikes can be found
[mm/rev] in chapter 2.5 Spike. This is the total angle or the
duration of the second spike.
duration of the third spike.
duration of the fourth spike.

p22052 Conical coils: Offset per layer at A positive offset per layer at position A means that
position A [mm] position A moves further to the right. A negative
offset per layer at A means that position A moves
further to the left.
p22053 Conical coils: Offset per layer at A positive offset per layer at position B means that
position B [mm] position B moves further to the right. A negative
offset per layer at B means that position B moves
further to the left.
p22054 Conical coils: Maximum A position This parameter is only relevant if conical coils
[mm] should be wound with the coil edge points moving
to each other.
If the edge points move towards each other in

conical windings, a maximum position A can be
defined here. This prevents the positions from
overlapping.
p22055 Conical coils: Maximum B position This parameter is only relevant if conical coils
to each other.

overlapping.

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4 SIMATIC S7 block "LMCSINA_TraversingDriveFB"
4 SIMATIC S7 block
"LMCSINA_TraversingDriveFB"
Fig. 4-1
4.1 Function
FB LMCSINA_TraversingDriveFB can be used to control the application from an
S7-1200/1500. The controller performs the following functions:
• Reads in control bits and setpoints - and transfers them to SINAMICS
• Receives status bits and actual values from SINAMICS and makes them
available within SIMATIC S7.
• Selects the operating mode, and transfers the technology setpoints and actual
values corresponding to the operating mode.

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Copyright  Siemens AG 2018 All rights reserved
4.2 Interface
The following table shows the interface between drive and higher level controller from drive side. The interface is adapted for use with the
standard block LMCSINA_TraversingDriveFB, but can be also the base for other control variants.
Hinweis The shown interface can be comfortably set up using the applications own script
file, see 3.4.1Running the interconnection script
4.2.1 Received data
Table 4-1 Received data

Parameter Name Interconnection Comment
(Connector/Binector)
p840[0] BI: ON / OFF (OFF1) r2090.0 Control Word 1 of the drive ON / OFF (OFF1)
(CW1)
p844[0] BI: No coast-down / coast-down (OFF2) signal source r2090.1 No coast-down / coast-down (OFF2)
1 signal source 1
p848[0] BI: No Quick Stop / Quick Stop (OFF3) signal source r2090.2 No Quick Stop / Quick Stop (OFF3)
1 signal source 1
p852[0] BI: Enable operation/inhibit operation r2090.3 Enable operation/inhibit operation
p1140[0] BI: Enable ramp-function generator/inhibit ramp- r2090.4 Enable ramp-function generator/inhibit
function generator ramp-function generator
p1141[0] BI: Continue ramp-function generator/freeze ramp- r2090.5 Continue ramp-function
function generator generator/freeze ramp-function
generator
p1142[0] BI: Enable setpoint/inhibit setpoint r2090.6 Enable setpoint/inhibit setpoint
p2103[0] BI: 1. Acknowledge faults r2090.7 1. Acknowledge faults
r2090.8 --
r2090.9 --

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p854[0] BI: Control by PLC/no control by PLC r2090.10 Control by PLC/no control by PLC
p1113[0] BI: Setpoint inversion r2090.11 Setpoint inversion
p1035[0] BI: Motorized potentiometer setpoint raise r2090.13 Motorized potentiometer setpoint raise
p1036[0] BI: Motorized potentiometer lower setpoint r2090.14 Motorized potentiometer lower setpoint
r2090.15 --
p21511 CI: Technology control word 1 (Homing) r2050[1] Interconnection of Technology control word 1 of the traversing drive
p21512 CI: Technology control word 2 (Traversing Drive) r2050[2] Interconnection of Technology control word 2 of the traversing drive
p820[0] BI: Drive Data Set selection DDS bit 0 r2093.0 Control word 2 drive (CW2) Drive Data Set selection DDS bit 0
p821[0] BI: Drive Data Set selection DDS bit 1 r2093.1 Drive Data Set selection DDS bit 1
r2093.5
r2093.6
p897 BI: Parking axis selection r2093.7 Parking axis selection
r2093.8
r2093.9
r2093.10
p828[0] BI: Motor changeover feedback signal r2093.11 Motor changeover feedback signal
p2045 CI: PB/PN clock synchronous controller sign-of-life r2050[3]
signal source
p22010 CI: Position A [µm] r2060[4] Interconnection of position setpoint for Position A (left edge of
traversing drive)
p22011 CI: Position B [µm] r2060[6] Interconnection of position setpoint for Position B (right edge of
traversing drive)
p21801 CI: Override jogvelocity [%] r2050[8] Interconnection of override jogvelocity

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p21652 CI: Override relative velocity [%] r2050[9] Interconnection of override relative velocity
p21654 CI: Override relative acceleration [%] r2050[10] Interconnection of override relative acceleration
p21855 CI: Positioning velocity override [%] r2050[11] Interconnection of override positioning velocity
p21851 CI: Positioning setpoint connector variable value r2060[12] Interconnection of variable position setpoint
p21702 CI: Signal source reference coordinate [LU] r2060[14] Interconnection of reference coordinate
p22014 CI: winding step [µm/U] r2060[16] Interconnection of winding step
4.2.2 Send data
Table 4-2 Send data

(Connektor/Binector)
p2080[0] Binector-connector converter status word 1 r899.0 Status word 1 (ZSW1) via Ready for switch on
p2080[1] r899.1 Binector-connector Ready
converter (description see
p2080[2] r899.2 list manual) Operation enabled
p2080[3] r2139.3 Fault present
p2080[4] r899.4 No coasting active
p2080[5] r899.5 No Quick Stop active
p2080[6] r899.6 Switching on inhibited active
p2080[7] r2139.7 Alarm present
p2080[8] r2197.7 Speed setpoint - actual value deviation
in tolerance t_off
p2080[9] r899.9 Control request
p2080[10] r2199.1 f or n comparison value reached or
exceeded
p2080[11] r1407.7 Torque limit reached
p2080[12] r899.12 Open holding brake

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p2080[13] r2135.14 Alarm motor overtemperature
p2080[14] r2197.3 n_act >= 0
p2080[15] r2135.15 Alarm power unit thermal overload
p2081[0] Binector-connector converter status word 2 r51.0 Status word 2 (ZSW2) via DDS effective bit 0
Binector-connector
p2081[1] r51.1 DDS effective bit 1
converter (description see
p2081[2] r51.2 list manual) DDS effective bit 2
p2081[5] r2139.11 Alarm class bit 0
p2081[6] r2139.12 Alarm class bit 1
p2081[7] r896.0 Parking axis active
p2081[8] r1406.8 Travel to fixed stop (only
SERVO/VECTOR)
p2081[9]
p2081[10] r899.11 Pulses enabled
p2081[11] r835.0 Motor changeover active
p2081[12]
p2081[13]
p2081[14]
p2081[15]
p2051[0] CI: IF1 PROFIdrive PZD send word, PZD 1 r2089[0] Status word 1 (ZSW1) ) via Binector-connector converter
p2051[1] CI: IF1 PROFIdrive PZD send word, PZD 2 r2132 Actual Fault Code
p2051[2] CI: IF1 PROFIdrive PZD send word, PZD 3 r2131 Actual Alarm Code
p2051[3] CI: IF1 PROFIdrive PZD send word, PZD 4 r2089[1] Status word 2 (ZSW2)
p2051[4] CI: IF1 PROFIdrive PZD send word, PZD 5 r21541 Technology status word 1 (state axis)
p2051[5] CI: IF1 PROFIdrive PZD send word, PZD 6 r21542 Technology status word 2 (state traversing drive)
p2061[6] CI: IF1 PROFIdrive PZD send word, PZD 7+8 r2521[0] Position actual value [LU]
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p2061[8] CI: IF1 PROFIdrive PZD send word, PZD 9+10 r2522[0] Velocity actual value [1000LU/min]
p2051[10] CI: IF1 PROFIdrive PZD send word, PZD 11 r80 Torque actual value
p2061[11] CI: IF1 PROFIdrive PZD send word, PZD 12+13 r22070 Number of layers
p2061[13] CI: IF1 PROFIdrive PZD send word, PZD 14+15 r22059 Displacement angle actual [m°]
p2061[15] CI: IF1 PROFIdrive PZD send word, PZD 16+17 r22102 Axis cycle length winder
p2061[17] CI: IF1 PROFIdrive PZD send word, ZD 18+19 r24900 Axis state

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4.2.3 Inputs and Outputs of LMCSINA_TraversingDriveFB
Table 4-3: Inputs and Outputs of LMCSINA_TraversingDriveFB

Name P- Data Comment
Typ type
enableFB IN BOOL Block enable
FALSE: FB without function
TRUE: FB enabled
ackError IN BOOL RISING EDGE: quit errors of FB and errors of
SINAMICS
enableAxis IN BOOL FALSE= traversing drive not enabled
TRUE= traversing drive enabled
selectHoming IN BOOL Select homing
FALSE: no homing
TRUE: homing mode selected
homingMode IN INT Homing mode
1: Set reference point
2: Start absolute encoder adjustment
3: Enable flying homing
4: Enable and start active homing procedure
referenceCoordinate IN DINT Reference coordinate for homing functions
interruptMethod IN BOOL Selection of Interrupt for active homing
TRUE: Measuring input as interrupt

FALSE: encoder zero mark as interrupt
homingOnlyOnInterrupt IN BOOL Selection of type for active homing
TRUE: active homing only on interrupt, without
proximity switch
FALSE: active homing with proximity switch and
interrupt
homingDirection IN BOOL Selection of active homing direction
TRUE: negative starting direction
FALSE: positive starting direction
homingEdge IN BOOL Selection of edge detection proximity switch for
active homing
TRUE: negative edge detection
FALSE: positive edge detection
stopDrive IN BOOL Stop drive
TRUE: Axis ramps down with given dynamics
and stays in standstill as long as this input is
enabled (level detection)
FALSE: Move axis with next highest mode
jogPositive IN BOOL Jog forward
TRUE: Move axis forward with given jog velocity
as long as the input is enabled (level detection)
jogNegative IN BOOL Jog backward
TRUE: Move axis backward with given jog
velocity as long as the input is enabled (level
detection)
selectPositioning IN BOOL Select Positioning
FALSE: Positioning not active
TRUE: Positioning active

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Typ type
startPosToA IN BOOL if selectPositioning = TRUE and rising edge at
startPosToA, traversing drive will be positioned
to Position A
startPosToB IN BOOL if selectPositioning = TRUE and rising edge at
startPosToB, traversing drive will be positioned
to Position B
startPosToStartPos IN BOOL if selectPositioning = TRUE and rising edge at
startPosToStartPos, traversing drive will be
positioned to start position p22015
startPosToMaintenance IN BOOL if selectPositioning = TRUE and rising edge at
startPosToMaintenance, traversing drive will be
positioned to maintenance position p22016
freePositionSetpoint IN DINT If selectPositioning = TRUE and rising edge at
startFreePositioning, traversing drive will be
positioned to a free position sepoint
startFreePositioning IN BOOL If selectPositioning = TRUE and rising edge at
startFreePositioning, traversing drive will be
positioned to a free position sepoint
jogVelocityOverride IN REAL Velocity override for jog velocity
Valid values: 0..199%
velocityOverride IN REAL Velocity override
accelerationOverride IN REAL acceleration override

positioningVelocityOverride IN REAL Positioning Velocity override
enableTraversing IN BOOL Enable continious traversing (level active)
startDirection IN BOOL In case the traversing drive won’t be started at
position A, but rather anywhere else between
position A and B, the start direction (of
enableTraversing) of the traversing drive can be
selected
FALSE: start direction to Position B
TRUE: start direction to Position A
positionA IN DINT Position A (left coil edge) in µm
positionB IN DINT Position B (right coil edge) in µm
windingStep IN DINT Winding step in µm/winder revolution
coilType IN BOOL Coil type
FALSE: cylindrical
TRUE: conical
enableDisplacementAngle IN BOOL Enable Displacement Angle forcing
FALSE: displacement angle is an automatic
result from the traversing parameters
TRUE: displacement angle = p22020
enableSpikes IN BOOL Enable of spikes (velocity overshoot at coil
edges)
FALSE: spikes not active
TRUE: spikes active
resetLayerCount IN BOOL Reset layer counting back to zero
deactivateHWlimit IN BOOL FALSE: HW limit monitoring not active
TRUE: HW limit monitoring active

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Typ type
quitHWlimits IN BOOL RISING EDGE: quit HW limits
deactivateSWlimit IN BOOL FALSE: SW limit monitoring not active
TRUE: SW limit monitoring active
quitSWlimits IN BOOL RISING EDGE: quit SW limit switches
quitDynamicError IN BOOL RISING EDGE: quit dynamic error (sina_sync
block)
freeSendWord19 IN WORD Free communication word for the user to send
additional data to the drive
Note: Destination in drive is parameter r2050[18]
freeSendWord20 IN WORD Free communication word for the user to send
additional data to the drive
Note: Destination in drive is parameter r2050[19]
HardwareID IN HW_IO Setting of ID of the free telegram 20/28 to the
following axis
Note: The Hardware ID is automatically
assigned by the PLC when interconnecting the
drive to it. A list of all Hardware IDs can be found
under PLC tags -> system constants. Always
use the ID of the telegram to the drive (not the
ID of the drive itself).
valid OUT BOOL TRUE: Block outputs valid
busy OUT BOOL TRUE: Block is calculated

error OUT BOOL TRUE: Block fault
status OUT WORD Block state
warncode OUT WORD Actual warncode (r2132) of the drive
faultcode OUT WORD Actual faultcode (r2131) of the drive
axisEnabled OUT BOOL TRUE: Axis enabled (OFF1 enabled – axis in
operation)
axisError OUT BOOL TRUE: Axis fault
axisHomed OUT BOOL TRUE: Position control enabled
axisStandstill OUT BOOL TRUE: Axis homed
axisStops OUT BOOL TRUE: Axis in standstill (v = 0)
jogFwdActive OUT BOOL TRUE: Axis stops (velocity is ramped down to
standstill)
jogBwdActive OUT BOOL TRUE: Jog forward active
homingActive OUT BOOL TRUE: Jog backward active
positioningActive OUT BOOL TRUE: Active homing activated
followUpActive OUT BOOL TRUE: Positioning mode active
encAdjActive OUT BOOL TRUE: Follow up mode active (Position control
disabled) – position setpoint is set to actual
position value
encAdjError OUT BOOL TRUE: Absolute encoder adjustment active
Note: Do not switch on the axis as long as the
adjustment is active
encAdjDone OUT BOOL TRUE: Fault in absolute encoder adjustment
(Cause: see parameter r23921)
axisMovesFwd OUT BOOL TRUE: Axis moves forward (v > 0)
axisMovesBwd OUT BOOL TRUE: Axis moves backward (v < 0)
positionControlActive OUT BOOL TRUE: position control active

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Typ type
dynamicsNotValid OUT BOOL TRUE: Axis dynamics not valid
Note: Set valid values for velocity and
acceleration and acknowledge the error by the
input "ackError"
For details see application manual -> axis
dynamics
actualPosition OUT DINT Actual position of the axis (r2521[0]) in [LU]
actualVelocity OUT DINT Actual velocity of the axis (r2522[0]) in [1000
LU/min]
load OUT Real Actual torque value of the axis (r80)
Note: normalized to p2003
4000hex = 16384dec = 100% of p2003
7FFFhex = 32767dec = 199% of p2003
FFFFhex = -32768dec = -200% of p2003
travReady OUT BOOL FALSE: Traversing drive is not homed yet or is
not in between position A and B
TRUE: Traversing drive is homed and in
between position A and B
travMoves OUT BOOL FALSE: Traversing Drive is in standstill,
standstill cam is active
TRUE: Traversing Drive moves, start or
continuous cam is active

startCamIsActive OUT BOOL FALSE: start cam not active
TURE: start cam active
contCamIsActive OUT BOOL FALSE: continious cam not active
TURE: continious cam active
standCamIsActive OUT BOOL FALSE: standstill cam not active
TURE: standstill cam active
spikesAreActive OUT BOOL FALSE: spikes not active
TRUE: spikes active
isAtPositionA OUT BOOL FALSE: traversing drive is not at position A
TRUE: traversing drive is at position A
isAtPositionB OUT BOOL FALSE: traversing drive is not at position B
TRUE: traversing drive is at position B
displacementAngle OUT DINT Actual displacement angle in milli degrees [m°]
numberOfLayers OUT UDINT Actual number of layers:
A layer will be counted, if the traversing drive
has moved vom position A to position B (or from
Position B to Position A). The movement from A
to B and back to A will be counted as two layers
axisCycleLengthWinder OUT DINT Axis cycle length winder [LU]
axisState OUT UDINT Actual axis state (r24900)
cyclicReadState OUT DWORD Actual state / fault of the cyclic reading
command (for diagnosis in case of faulty
communication -> see help of block DPRD_DAT
in TIA Portal)
Note: in many cases a wrong HardwareID was
set
cyclicWriteState OUT DWORD Actual state / fault of the cyclic writing command
(for diagnosis in case of faulty communication ->
see help of block DPRD_DAT in TIA Portal)

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Typ type
Note: in many cases a wrong HardwareID was
set
freeReceiveWord25 OUT WORD Word for free usage for the user to read
additional data from the drive
Note: Value needs to be interconnected to
parameter p2051[24] in the drive
4.2.4 Block Diagnosis

Table 4-4
No. Cause
7000 Block is not enabled
7001 Block is in first cycle after enable
7002 Block is enabled and in cyclic mode
8600 Internal block error
8610 Error DPRD_DAT
8620 Error DPWR_DAT
8630 Value of input homingMode is not valid

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4.3 Integration into the project

At first, you have to set up the telegram configuration correctly. For this purpose,
you have to open the project in STARTER and select the tab “communication” →
“telegram configuration” of the drive unit. Please adjust 28 for input data length and
20 for output data length for the traversing drive.
Afterwards, click onto “save project and compile changes”.

4.3.1 In case of utilisation PROFINET
If you use a drive with PROFINET:
A GSDML file has to be created to integrate the drive into TIA Portal. For this
purpose, please follow the instructions of the application example ‘SINAMICS G/S:
Generating GSDML files for S120, S150, G130, G150’: It can be found at this link:
Please follow the instructions of the documentation of the application example till
chapter 3.3.2.
4.3.2 Installation of the library LMCSINA
You have to download the library LMCSINA from the SIOS and save it anywhere to
your computer. Afterwards, follow the instructions of this document and not the
instructions of the LMCSINA documentation.
LMCSINA:
After the download, you have to unpack the ‘LMCSINA library.zip’.
Now, you have to open TIA Portal and retrieve the library under the tab ‘Global
libraries’. The tab can be found at the right hand side of the monitor.
Figure 4-2
Now you have to search for the unpacked file and open ‘LMCSINA.xxxx’.

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Figure 4-3
Afterwards, you have to choose a folder in which the library will be retrieved.
• At this point, you have to copy (drag & drop) the block
‘LMCSINA_TraversingDriveFB’ into the folder ’Program blocks’
Fig. 4-4

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5 Using the application

5.1 Scaling and units
All position parameters, for example, the setpoint position or reference coordinates
are specified in LU (Length Units). As a consequence, this guarantees the correct
connection to the position controller of the basic system.
Velocities, acceleration rates and jerk are specified in the following units:
• Velocity [1000LU/min]
• Acceleration [1000LU/s²]
• Jerk [1000LU/s³]
By using unit LU, any mechanical system and each freely selectable physical unit
can be emulated. The reference value to the configuration is always parameter "LU
per load revolution" (p2506). Using this, the user defines an appropriate position
resolution for his application.
Configuring this parameter is described in the following examples.
Example for a linear axis

Task: The following axis represents a linear mechanical system. Positioning should
be performed with a resolution of micrometers (µm). The linear mechanical system
is implemented using a spindle with a spindle pitch (forward motion per load
revolution) of 10 mm.
Defining the LU per load revolution: The basis is always from the load side, i.e.
from the load to be moved. If relevant, gearboxes that might be used, are
parameterized in the mechanical screen form. Based on the gearbox ratio, the
position controller automatically calculates the appropriate motor speed. The
known spindle pitch of 10 mm per revolution - with the required resolution in
millimeters - therefore results in (10 [mm] * 1000 [1/1000mm] = ) 10 000 LU per
load revolution (p2506). Put another way, 1 LU therefore corresponds to 1 µm.
Entering commands: If you now want to specify that the linear axis is positioned
through 25.5 mm, then this results in a positioning setpoint of 25 500 LU. The
velocity can also be converted into the selected physical units using the reference
of the LU per load revolution. A velocity setpoint of 3500 mm/min for example,
results in a converted value of 3 500 000 LU/min. As a result of the unit
[1000LU/min], a setpoint of 3 500 [1000 LU/min] is parameterized.
5.2 Axis dynamic response

The axis dynamic response defines the compensatory operations of the axis. Such
a compensatory operation can involve, for example, stopping the moving.
In addition, there is a positioning velocity for the axis. This applies as active velocity
in the positioning mode. In this case, acceleration (r21681) and jerk limiting
(p21655) of the axis also apply.
The axis dynamic response comprises the following values:
• Maximum relative velocity (to stop the axis)
• Maximum relative acceleration
• Jerk limiting
• Positioning velocity (for positioning operations)

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Table 4-1
Parameter Active value
Maximum relative - p21651 - reference value The active value is obtained
velocity relative velocity [1000 LU/min] from the reference value
- p21652 - CI: Override multiplied by the percentage
relative velocity [%] override:
p21651 x p21652
Maximum relative - p21653 - reference value The active value is obtained
acceleration relative acceleration [1000 from the reference value
LU/s²] multiplied by the percentage
- p21654 - CI: Override override:
relative acceleration [%] p21653 x p21654
Jerk limiting - p21655 - jerk limitation p21655
[1000 LU/s³]
Positioning velocity -p21854 - positioning velocity The active value is obtained
reference value [1000 LU/min] from the reference value
-p21855 - CI: Positioning multiplied by the percentage
velocity override [%] override:
p21854 x p21855
Valid values
Relative velocity and relative acceleration must always have an active value higher
than 0.
Jerk limiting must always have a value greater than or equal to 0. A value of 0
means that jerk limiting is not active, and acceleration represents a step function.
Response for inadmissible values

Before every operating mode change (i.e. before every transition with dynamic
response), the values for active relative velocity and acceleration are checked. If
one of the values is not valid, then the axis is braked in a controlled fashion with
the last valid dynamic response value. Further, Alarm A51061 is initiated at the
drive object, and parameter "BO: Dynamics setting invalid" (r21578 or bit 15 in
technology status word 1) is set to 1. This fault state can only be exited if a valid,
active dynamic response is entered. In addition, by acknowledging control bit "BI:
Acknowledge dynamics setting error" (p21578 or bit 8 in technology control word 2)
it can be confirmed that the axis is enabled again. The axis then switches into the
enabled operating mode.
If, for a mode change, it is identified that the dynamic response has been changed
and is valid, then this is accepted as active dynamic response – and in the case of
a subsequently invalid dynamic response, is used as dynamic response to stop the
axis in a controlled fashion.

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5.3 Switching on/switching off the following axis

The axis is switched on/switched off just like a standard speed axis. The DCC
application does not influence this standard switch-on logic. To switch on/switch
off, the "Control word sequence control" must be used (includes, for example, the
OFF1 command, OFF2 command, etc.) The axis goes into operation and the
power unit feeds current to the motor.
5.4 Operating modes and axis states

A central axis block controls the following axis. This manages the various operating
modes and the transitions from one mode into the next. For diagnostics and as
feedback signal indicating the state of the axis block, and therefore the axis itself,
there is a diagnostics parameter " CO: Axis state" (r24900). All of the possible axis
states are listed in the following table, and also as explanation for the following
sections.
Table 4-2
Value Meaning
0 Initialization
5 Reading the LU per load revolution:
10 Follow-up mode
21 Stopping active (stop enabled and the axis is braking)
22 Axis has stopped (stop enabled and the axis has stopped)
31 Jog forward compensation (velocity is adapted)
32 Jog forward active
41 Jog backward compensation (velocity is adapted)
42 Jog backward active
51 Homing approach (homing is enabled and the axis brakes)
52 Homing approach axis stationary (homing enabled and the
axis is stationary waiting for a start command)
53 Homing approach with Bero active, compensation of the
velocity for "Velocity up to the Bero"
54 Homing approach with Bero active, velocity same as "Velocity
up to the Bero"
55 Homing approach with the Bero not active, compensation of
the velocity for "Velocity after Bero"
56 Homing approach with Bero not active, velocity equal to
"Velocity after Bero"
58 Homing approach positioning (position back to reference
coordinate)
61 Positioning stop (position mode enabled and the axis brakes
until the task is started)
62 Positioning standstill (position mode enabled and the axis
brakes until the task is started)
63 Positioning absolute active
64 Positioning relative active
71 Channel change absolute to channel 1
72 Channel change absolute to channel 2
73 Channel change relative to channel 1
74 Channel change relative to channel 2
81 Synchronizing to channel 1
82 Synchronizing to channel 2
90 Relative synchronous operation
100 Absolute synchronous operation

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Value Meaning
101 Relative compensation mode change
8000 Setup error
5.5 Priorities of the operating modes

All operating modes have a defined priority. This guarantees a defined response
when various commands are simultaneously enabled. The following operating
modes are assigned a priority in the sequence (first operating mode = highest
priority; last operating mode = lowest priority):
1. Follow-up mode (axis switched off / position control not enabled)
2. Stop drive
3. Jog forward
4. Jog backward
5. Homing approach mode
6. Positioning mode
7. synchronism to the winder
The following functions are not assigned a specific priority, and can be executed in
parallel to the operating modes listed above:
• Flying homing
• Set home position
5.6 Stopping the axis

Using control bit "BI: Stop drive" (p21570 or bit 0 in technology control word 2), the
drive can be stopped at any time position-controlled and with a dynamic response
that can be specified. This operating mode has the highest priority when the axis is
switched on/position control, and can therefore replace every other operating mode
(e.g. positioning, synchronous operation, etc.). In this case, the winder should also
be switched off so that the material is not wound in the wrong place.
It can happen that the traversing axis comes to a stop outside the coil edge points
(depending on how high the dynamic range has been set). If the traversing mode
should then be switched on again, the axis must first be moved back to a starting
position within the coil edge points. Various positioning functions are available for
this (see 4.12 Positioning).
The dynamic response for braking is defined in the axis dynamic response
(parameters, see Chapter Axis dynamic response). In so doing, here, only the
active relative acceleration and jerk limiting are taken into account. In this particular
case, relative acceleration is considered as absolute value braking (decelerating)
the axis.
During braking, feedback signal "BO: Axis stops" (r24906 or bit 2 in the technology
status word 1) is set. Once standstill has been reached, feedback signal "BO: Axis
in standstill" (r24902 or bit 1 in the technology status word 1) is set.

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5.7 Jog axis

The jog function is used to set up an axis, for example. With jogging, the axis is
traversed with a parameterizable velocity (generally a low velocity). The axis
moves forward or backward until the jogging function is disabled.
This means that the axis can be manually traversed to a specific position by a
machine operator. This function is frequently used when maintaining or homing the
axis or to move the traversing axis to a defined starting position.
As long as bit "BI: Jog forward" (p21571 or bit 1 in technology control word 2) is
set, the axis traverses with the velocity parameterized in parameter "Jog velocity
[1000 LU/min]" (p21800). Feedback signal "BO: Jog forward active" (r21802 or bit
3 in the technology status word 1) is set.
As long as bit "BI: Jog backward" (p22003 or bit 2 in technology control word 2) is
set, the axis traverses with the negated velocity in parameter "Jog velocity [1000
LU/min]" (-1 x p21800). Feedback signal "BO: Jog backward active" (r22006 or bit
4 in the technology status word 1) is set.
5.8 Homing approach

For a homing approach, the axis traverses up to a hardware interrupt; here, it sets
its position (setpoint and actual value) to a defined position. A hardware interrupt
can either be a probe (e.g. contactless Bero proximity switch), which is connected
to a fast digital input of the Control Unit, or the encoder zero mark. When homing
using the encoder zero mark, the axis is generally traversed over a proximity switch
(Bero), as its position is defined with reference to the mechanical system. Once the
proximity switch has been reached, the axis slowly traverses to the next encoder
zero mark, where it homes its position.
This type of homing (homing approach) is not retentively saved in the device. After
switching-off/switching-on the device, the axis is no longer considered to be
homed, and its actual position no longer has any reference to the mechanical
system. This means that it must be homed again.
Enabling the homing approach operating mode

The homing approach operating mode is enabled using control bit "BI: Enable
homing approach" (p21553 or bit 3 in the technology control word 1). This control
bit must remain enabled during the complete homing operation, otherwise the
operation will be canceled and the operating mode exited. When enabled, the axis
first brakes to a standstill, and then waits for the command to start the homing
approach.
Configuring and performing a homing approach with Bero (proximity switch) and
interrupt (encoder zero mark)
For this type of homing approach, control bit "BI: Enable homing only on interrupt
(without Bero switch)" (p21556 or bit 6 in technology control word 1) is set to 0.
Using control bit "BI: Homing approach direction (0 = positive; 1 = negative)"
(p21557 or bit 7 in technology control word 1) the approach direction is defined.
The digital input must be parameterized at signal source "BI: Signal source homing
Bero switch" (p21710), which is connected to the proximity switch (Bero). If, for
example, the Bero is connected at terminal X122.1 of the Control Unit, then the
parameter would be parameterized as follows:
– p21710 = (DO_ControlUnit) r722.1

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If, for example, reversing cams are connected for linear axes, then these are
equivalent to the Bero in signal sources "BI: Signal source reverse cam minus"
(p21711) and "BI: Signal source reversing cam plus" (p21712).
The encoder zero mark should be used here as interrupt method. Do this, control
bit "BI: Select interrupt method (0 = zero mark; 1 = probe)" (p21555 or bit 5 in the
technology control word 1) should be set to 0.
The velocities for the homing approach are defined in parameters "Homing velocity
to Bero [1000 LU/min]" (p21713) and "Homing approach velocity to home position
[1000 LU/min]" (p21714).
Using control bit "BI: Start homing approach" (p21554 or bit 4 in the technology
control word 1), the homing approach is started after all of the signal sources have
been configured. Initially, the axis traverses with velocity p21713. Once the Bero
has been reached, the velocity changes to p21714, and a search is made for the
next encoder zero mark. If the axis passes over the encoder zero mark, then the
axis is homed (setpoint and actual value are set) - and the axis positions back to
this position.
During the homing approach, feedback signal "BO: Homing approach active"
(r21721 or bit 5 in the technology status word 1) is set.
Using feedback signal "BO: Axis homed" (r21720 or bit 0 in the technology status
word 1) indicates that the homing approach was successfully carried out.
The homing approach operating mode can then be disabled again.
Summary of the configuration parameters for this homing type:

Table 4-3
Parameter Setting
p21556 (or bit 6 technology control word 1) 0
p21557 (or bit 7 technology control word 1) 0 for positive approach direction
1 for negative approach direction
p21710 Signal source proximity switch (Bero)
p21711 / p21712 Signal source reversing cam, if being
used
p21713 / p21714 Velocities for homing approach
p21553 (or bit 3 technology control word 1) Signal for enabling the homing
approach mode
p21554 (or bit 4 technology control word 1) Signal to start the homing approach

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Fig. 4-1
Reference coordinate
Enable homing
approach
Start homing &
approach
Bero
Signal
Interrupt
Signal
Configuring and carrying out the homing approach without Bero (proximity switch) only
to an interrupt (encoder zero mark or probe)
For this type of homing approach, control bit "BI: Enable homing only on interrupt
(without Bero switch)" (p21556 or bit 6 in technology control word 1) is set to 1.
Using control bit "BI: Homing approach direction (0 = positive; 1 = negative)"

(p21557 or bit 7 in technology control word 1).
If, for example, reversing cams are connected for linear axes, then these are
parameterized in the signal sources "BI: Signal source reverse cam minus"
(p21913) and "BI: Signal source reversing cam plus" (p21712). If for example, a
reversing cam is connected at terminal X122.2 of the Control Unit, then the
parameter would be parameterized as follows:
– p21711 = (DO_ControlUnit) r722.2
Either the encoder zero mark or a probe is parameterized as interrupt method. Do
this, control bit "BI: Select interrupt method (0 = zero mark; 1 = probe)" (p21555 or
bit 5 in the technology control word 1) is appropriately set. Generally, for linear
mechanical systems, for this type of homing a probe is used, as the reference to
the mechanical system is known. The encoder zero mark could be used for rotary
axes (without gearbox).
If a probe (Bero) is to be used for homing, then the probe signal must be wired to a
fast digital input of the Control Unit. The probe signal at parameter "Probe 1 input
terminal, encoder 1/2" (p488[0/1]) must then be selected. The index depends on
whether encoder 1 or encoder 2 is used for the axis position control. For instance,
if the probe is connected at X122.12 of the Control Unit, then p488[0/1] must be set
= 2.
The velocity for the homing approach is defined in parameter "Homing approach
velocity to home position [1000 LU/min]" (p21713).
Using control bit "BI: Start homing approach" (p21554 or bit 4 in the technology
control word 1), the homing approach is started after all of the signal sources have
been configured. The axis now traverses with velocity p21714. If the axis passes
over the interrupt signal (encoder zero mark or probe), then the axis is homed
(setpoint and actual value are set) - and the axis positions back to this position.
During the homing approach, feedback signal "BO: Homing approach active"
(r21721 or bit 5 in the technology status word 1) is set.

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word 1) indicates that the homing approach was successfully carried out.
The homing approach operating mode can then be disabled again.

Table 4-4
Parameter Setting
p21557 (or bit 7 technology control word 1) 0 for positive approach direction
1 for negative approach direction
p21711 / p21712 Signal source reversing cam, if being used
p21555 (or bit 5 technology control word 1) 0 to evaluate the encoder zero mark
1 for probe evaluation
p21714 Velocity for homing approach
p488[0/1] Selects the signal source to which the
probe is wired
p21553 (or bit 3 technology control word 1) Signal for enabling the homing approach
mode
p21554 (or bit 4 technology control word 1) Signal to start the homing approach
Fig. 4-2
Enable homing
approach
Start homing &
approach
Interrupt
Signal

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5.9 Set home position

Setting the home position function can be executed in every operating mode. For a
positive edge at control bit "BI: Set home position" (p21550 or bit 0 in technology
control word 1), the position of the axis (setpoint and actual value) newly set to the
parameterized reference coordinate.
The reference coordinate is defined in parameter “Reference coordinate fixed value
[LU]" p21700. When using the PLC control block, the reference coordinate from
"CI: Signal source reference coordinate [LU]" (p21702) becomes active. The active
reference coordinate is displayed in parameter "Active reference coordinate"
(r21703).
word 1) indicates that the home position was successfully set.
This type of homing is not retentively saved in the device. After switching-
off/switching-on the device, the axis is no longer considered to be homed, and its
actual position no longer has any reference to the mechanical system. This means
that it must be homed again.
5.10 Flying homing

For flying homing, the axis is moved over a hardware interrupt, where its position
(setpoint and actual value) is set to a defined position at this instant in time. A
hardware interrupt is generally a probe (e.g. contactless Bero proximity switch),

which is connected to a fast digital input of the Control Unit. The probe has a
defined position with respect to the mechanical system, to which the axis is set
when it passes by. Users can freely select the function which is used to traverse
the axis past the probe (e.g. manually, using the jog function, in synchronous
operation to the winder, etc.).
This type of homing is not retentively saved in the device. After switching-
off/switching-on the device, the axis is no longer considered to be homed, and its
actual position no longer has any reference to the mechanical system. This means
that it must be homed again.
NOTE Flying homing can be used independently from the encoder type, so it can also
be used for absolute encoders. It causes a remaining modification of the position
actual value as long as the drive isn’t reinitialized, so the advantage of
reproducing the position actual value after initialization of absolute encoders will
be lost.

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Configuring flying homing

To start, the probe signal must be wired to a fast digital input of the Control Unit.
The probe signal at parameter "Probe 1 input terminal, encoder 1/2" (p488[0/1])
must then be selected. The index depends on whether encoder 1 or encoder 2 is
used for the axis position control. For instance, if the probe is connected at
X122.12 of the Control Unit, then p488[0/1] must be set = 2.
(r21703).
Using control bit "BI: Enable flying homing" (p21552 or bit 2 in the technology
control word 1) and the position corrected with the next edge at the probe input. If
the axis has to be homed again, then the function must first be disabled and then
enabled again.
word 1) indicates that flying homing was successfully carried out.
Information regarding flying homing during a positioning operation:

If the axis is homed flying during an absolute positioning operation, then the
positioning is automatically recalculated so that after position correction, the axis
can traverse to the originally defined setpoint position.

Table 4-5
Parameter Setting
p488[0/1] Selects the signal source to which the
probe is wired
p21700 Reference coordinate
p21553 (or bit 3 technology control word 1) Signal to enable flying homing
Fig. 4-3
Enable flying
homing
Interrupt
Signal

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5.11 Absolute encoder adjustment

The absolute encoder adjustment is only available for axes equipped with absolute
encoder as position encoder. At the same time, when an absolute encoder is being
used, encoder adjustment is the recommended homing type.
To do this, the axis is brought to a reference position referred to the mechanical
system. The machine operator can do this using the "Jog" function, for example.
Once the axis has reached the mechanically defined position, it is shut down. The
encoder for the axis that has been shut down can then be adjusted. To do this, the
encoder is homed to a definable position and the absolute information
automatically and retentively saved in the Control Unit memory so that it is not lost
on power failure. After switching-off/switching-on the drive device (disconnecting
the power supply), the encoder homing is kept. This means that after switching on
the machine, the axis does not have to be homed again.
Configuring and adjusting the encoder

(r21703).
Using control bit "BI: Adjust absolute encoder" (p21551 or bit 1 in the technology
control word 1) the adjustment is started (The axis is not allowed to be in
regulation.).
Feedback signal "BO: Absolute encoder adjustment active" (r21722 or bit 8 in the
technology status word 1) indicates that the encoder is being adjusted.
In the case of an error, feedback signal "BO: Absolute encoder adjustment error"
(r21724 or bit 9 in the technology status word 1) is set. The associated error code
is shown in parameter "CO: Absolute encoder adjustment error code" (r21726).
If the adjustment was successfully performed, then feedback signal "BO: Absolute
encoder adjustment done" (r21723 or bit 10 in the technology status word) is set.
The absolute information is then automatically and retentively saved in the Control
Unit memory so that it is not lost on power failure.
The encoder only has to be adjusted again if changes are made to the mechanical
system or if the encoder is replaced.
5.12 Positioning
The traversing axis can be positioned independent of the leading value signal of
the winder. It decouples itself from the leading value and traverses independently.
There are two basic autonomous positioning types:
• Free to a position setpoint (r21853)
• Positioning to fixed values, e.g. to position A/ position B/ maintenance position/
start position for 1st layer
However, the positioning operating mode must always be selected first.
The dynamic response for positioning is defined in the axis dynamic response
(parameters, see Chapter Axis dynamic response).
Enabling the positioning mode

The positioning mode is enabled using control bit "BI: Enable positioning mode"
(p21573 or bit 3 in the technology control word 2). This control bit must remain

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enabled during the complete positioning operation, otherwise the operation will be
canceled and the operating mode exited. When enabled, the axis first brakes to a
standstill, and then waits for the start condition to start positioning.
Using feedback signal "BO: Positioning mode active" (r21856 or bit 6 in the
technology status word 1) indicates that the positioning mode is active.
Configuration and execution of a positioning process to one of the fixed values

The effective positioning velocity is derived from the product of the parameters
"Positioning velocity reference value [1000 LU/min]" (p21854) and "CI: Positioning
velocity override [%]" (p21855).
The following fixed position values can be automatically approached by sending a
rising edge to the respective start parameter.
Summary of the configuration parameters for this positioning type:
Table 4-6
Parameter Setting
To position A p21950 (without PLC) or p21574 BI: Start positioning to position A
p22010 (with PLC)
To position B p21952 (without PLC) or p21575 BI: Start positioning to position B
p22011 (with PLC)
To the start position of the 1st layer p22015 p21576 BI: Start positioning to the starting
position at the 1st layer
For maintenance position p22016 p21582 BI: Start positioning to
maintenance position
Configuration and execution of a positioning process to a free position setpoint (r21853)

The effective positioning velocity is derived from the product of the parameters
"Positioning velocity reference value [1000 LU/min]" (p21854) and "CI: Positioning
velocity override [%]" (p21855).
The setpoint position to which the axis is to be positioned is specified in parameter
"Positioning setpoint fixed value [LU]" (p21850). If the application is controlled via
the PLC control block, the positioning setpoint of the signal source "CI: Positioning
Setpoint Source [LU]" (p21852) becomes active. The effective positioning setpoint
is displayed in the "Positioning setpoint effective" parameter (r21853).
The positioning process is started by a positive edge at control bit " BI: Start free
positioning to position setpoint (r21853)" (p21577 or bit 7 in technology control
word 2).
Summary of the configuration parameters for this positioning type:
Table 4-7
Parameter Setting
p21573 (or bit 3 technology control word 2) 1 - Selection of positioning mode
p21854 / p21855 Velocity for positioning
p21850 Positioning setpoint (if a PLC control
block is not used)
p21577 (or bit 7 technology control word 2) 1 - pos. edge at the start command starts
positioning

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5.13 Optimizing position-controlled axes

To start, the speed control of each drive should be optimized (e.g. using the
automatic control setting or through manual optimization based on the tools
provided in STARTER).
Further, we recommend that for position-controlled axes, in most cases the speed
precontrol at the position controller is activated. Speed precontrol is activated by
setting the precontrol factor in parameter "LR speed precontrol factor [%]"
(p2534[0]). A factor of 100% is generally used here. This means that there is no
following error while traversing with constant velocity.
For individual applications it may be necessary to activate the torque precontrol to
also suppress following errors while the axis is accelerating/decelerating.
5.14 Start oft he traversing mode

The traversing mode can be started via parameter p21583 "BI: Enable traversing
mode" or via technology control word 2, bit 13 and must remain active as long as
the traversing mode is to remain switched on.
With a rising edge at this parameter, the system first checks whether the traversing
axis is within the edge positions A and B of the coil. If the traversing drive is outside
these positions, i.e. the actual position value is smaller than position A or larger
than position B, then it is not possible to start the traversing mode and warning
A51060 is issued. In this case, the traversing drive must first be repositioned to a
starting position (see chapter 4.7 or 4.12).

After successful enabling of the traversing mode, the traversing drive starts from
the current position in an adjustable start direction. The starting direction of the
traverser can be set via p21584 "BI: Starting direction (0= in direction B; 1 = in
direction A)".

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5.15 Activation of the Spikes

The meaning of the spikes is explained in more detail in chapter 2.5 Spike.
The following parameters are relevant for the duration of the spikes and the
velocity offset of the spikes.
in chapter 2.5 spike. This is the total angle or the
[mm/rev] in chapter 2.5 spike. This is the overspeed of the
first spike.
second spike.
third spike.
fourth spike.
To activate and leave the spikes activated, parameter p21581 BI: Enable spikes (0
= without spikes; 1 = with spikes) or via technology control word 2, bit 11 must be
set to 1. The spike becomes active when the traversing mode is switched on
p21583 BI: Enable traversing mode = rising edge or via technology control word 2,
bit 13 or the traversing drive is back at position A (corresponds to an axis cycle
correction of the master axis).

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5.16 Activation of a defined displacement angle

More detailed explanations on the subject of displacement angles can be found in
chapter 2.6.
The following parameters are relevant for the displacement angle calculation:
p22020 Displacement angle [°] Input of a defined displacement angle. More
detailed information can be found in chapter 2.6
Displacement angle. The displacement angle
calculation must also be enabled via p21580 = 1.
p22021 Acceleration angle lower limit [°] For offset angle calculation, this is the lower
acceptable limit
p22022 Acceleration angle upper limit [°] For offset angle calculation, this is the upper
acceptable limit
p22023 Waiting angle lower limit [°] For offset angle calculation, this is the lower
acceptable limit
p22024 Waiting angle upper limit [°] For offset angle calculation, this is the upper
acceptable limit
p22025 Winding step lower limit [mm/rev] For offset angle calculation, this is the lower
acceptable limit
p22026 Winding step upper limit [mm/rev]. For offset angle calculation, this is the upper
acceptable limit
p22027 Priority waiting angle (3=highest, During displacement angle calculation, the

p22028 Priority acceleration angle During displacement angle calculation, the
p22029 Priority winding increment During displacement angle calculation, the
p22030 CI: Priority control word The priorities of the displacement angle calculation
can also be specified wordwise. Thus only the
wordwise part is evaluated and not the fixed values
of p22027 - 22029 The control word looks for
example:
Control word = 01|10|11
W | B |WS
W = Wait angle; B = Acceleration Angle; WS =
Winding Step
In this example the priority of the waiting angle = 1,
acceleration angle = 2 and winding step = 3
After all parameters have been configured, the displacement angle calculation can
be enabled via p21580 "BI: Enable displacement angle calculation (0 = random; 1
= as specified)" or via the technology control word 2, bit 10. The displacement
angle becomes active when the traversing mode is switched on via p21583 BI:
Release traversing mode = rising edge.

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5.17 Activating conical coil types

More detailed explanations on the topic of conical winding forms can be found in
chapter 2.7.
The following parameters are relevant for conical winding forms:
p22052 Conical coils: Offset per layer at A positive offset per layer at position A means
position A [mm] that position A moves further to the right. A
negative offset per layer at A means that
position A moves further to the left.
p22053 Conical coils: Offset per layer at A positive offset per layer at position B means
position B [mm] that position B moves further to the right. A
negative offset per layer at B means that
position B moves further to the left.
p22054 Conical coils: Maximum A position This parameter is only relevant if conical coils
towards each other.

overlapping.
p22055 Conical coils: Maximum B position This parameter is only relevant if conical coils
towards each other.

overlapping.
After all parameters have been configured, the conical winding form can be
enabled via p21579" BI: winding form (0= cylindrical; 1 = conical)" or via technology
control word 2, bit 9. The conical winding form becomes active when the traversing
mode is switched on via p21583 BI: Enable traversing mode = rising edge or via
technology control word 2, bit 13 or the traversing drive is back at position A
(corresponds to an axis cycle correction of the master axis).
Please note that the number of layers r22070 "CO: Number of layers" must always
be correct for conical winding forms. Otherwise the edge positions will not be
calculated correctly. Before a new conical winding should be wound, the position
counter must be reset, either via parameter p21585 " BI: Reset position counter
back to 0" or via technology control word 2, bit 15.

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6 Program description
6.1 Function plan

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DRIVE-CliQ

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Winder
Traverser
1 2 3 4 5 6 7 8
67
DO: SERVO, VECTOR Fu nktionsplan_TR V.vsd
Winkelgleichlauf_V2_0_de.vsd Function diagram
TRV1010
Overview Traversing Drive 29.08.18 V01.00.00 SINAMICS
CI: Technology control word 1 p21511 p21000[0] = [3005]

(0) r21521 CO: TechSTW 1 active Controlunit
(homing)
1
p21550
BI: Set reference point
(0) Bit 0 Set reference point
p21551
BI: Adjust absolute encoder
(0) Bit 1 Adjust absolute encoder
p21552
BI: Select Flying Homing
(0) Bit 2 Select Flying Homing

p21553
BI: Enable homing approach
(0) Bit 3 Enable homing approach
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p21554
BI: Start homing approach
(0) Bit 4 Start homing approach
BI: Select interrupt method p21555

(0 = zero mark; 1 = probe) (0) Bit 5 Select interrupt method
BI: Select homing to interrupt p21556

only (without homing bero) (0) Bit 6 BI: Select homing to interrupt only (without homing bero)
BI: homing approach direction p21557

(0 = positive; 1 = negative) (0) Bit 7 Decides the direction of approach of the homing approach
BI: Select edge evaluation p21558

(0 = positive ed.;1 = negative ed.) (0) Bit 8 Selection of edge evaluation
BI: Disable hardware limit p21559

switch monitoring (0) Bit 9 This deactivates the monitoring of the hardware limit switch
BI: Acknowledge hardware p21560

limit switch (0) Bit 10 This acknowledges the hardware limit switch
BI: Deactivate Software p21561

Limit switch monitoring (0) Bit 11 This deactivates the monitoring of the software limit switch
BI: Acknowledge Software p21562

Limit switch (0) Bit 12 This acknowledges the software limit switch
1 2 3 4 5 6 7 8
68
DO: SERVO, VECTOR Fu nktionsplan_TR V.vsd Function diagram
TRV1020
Control word 1 Traversing Drive 29.08.18 V01.00.00 SINAMICS
p21000[0] = [3005]
Controlunit
CO: Technology status word 1 (Status Axis)
Bit Nr. Technology Status Word 1 r21541
0 1 = Axis homed
1 1 = Axis in standstill
2 1 = Axis stops
3 1 = Jog forward active

4 1 = Jog backward active
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5 1 = Homingmode active
6 1 = Positioning mode active
7 1 = Following up mode active
8 1 = Absolute encoder adjustment active
9 1 = Absolute encoder adjustment error
1 = Absolute encoder adjustment successfully

10
completed
11 1 = Axis moves forward
12 1 = Axis moves backward
13 1 = position control active
14 1 = Invalid dynamic setting
15 reserved
1 2 3 4 5 6 7 8
69
TRV1030
Status word 1, Traversing Drive 29.08.18 V01.00.00 SINAMICS
p21000[0] = [3005]
Controlunit
CI: Technology control word 2 p21512

(Traversing Drive) (0) r21522 CO: TechSTW 2 active
1
p21570
BI: Stop drive
(0) Bit 0 Stop drive
p21571
BI: Jog forward
(0) Bit 1 Jog forward
p21572
BI: Jog backward
(0) Bit 2 Jog backward

p21573
BI: Select positioning mode
(0) Bit 3 Enable positioning mode
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p21574
BI: Start positioning to position A
(0) Bit 4 Start positioning to position A
p21575
BI: Start positioning to position B
(0) Bit 5 Start positioning to position B
BI: Start positioning to the p21576

starting position at the 1st layer (0) Bit 6 In operation as velocity master N_Setpoint is enabled
BI: Start free positioning to p21577

position setpoint (r21853) (0) Bit 7 Start free positioning to position setpoint (r21853)
p21578
BI: Acknowledge dynamic error
(0) Bit 8 Acknowledge dynamic error
BI: Winding form p21579

(0= cylindrical; 1 = conical) (0) Bit 9 This specifies the winding form
BI: Enable discplacement angle
calculation p21580
(0 = random; 1 = as specified) (0) Bit 10 This releases the displacement angle calculation
BI: Enable spikes p21581
(0 = without spikes; (0) Bit 11 This enables the spikes
1 = with spikes)
BI: Start positioning to p21582
maintenance position (0) Bit 12 Moves to maintenance position
p21583
BI: Enable Traversing [TRV 1240.6]
(0) Bit 13 S Q
HW- or SW limit switch Enable traversing
BI: Start direction actuated 1
p21584 R Q
(0 = in direction B;
(0) Bit 14 This gives the start direction
1 = in direction A) Stop drive
p21585
BI: Reset layer counter back to 0
(0) Bit 15 The layer counter for conical winding forms is reset
1 2 3 4 5 6 7 8
70
DO: SERVO, VECTOR V.vsd
nktionsplan_CAL.vsd
Fu nktionsplan_TR Function diagram
TRV 1040
CAL1020
Steuerwort
Control 12
word Traversing Drive
Verleger 29.08.18 V01.00.00 SINAMICS
p21000[0] = [3005]
Controlunit
CO: Technology status word 1 (Status Traversing Drive)
Bit Nr. Technology Status Word 2 r21542
0 1 = Traversing Drive is ready to switch on
1 1 = Traversing Drive is moving

2 1 = Start cam is active
3 1 = Continuous cam is active

4 1 = Standstill cam is active
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5 1 = Spikes active
6 1 = Displacement angle is forced
7 reserved
8 1 = cylindrical coil
9 1 = at position A
10 1 = at position B
11 1 = actual position value ascending
12 reserved
13 reserved
14 reserved
15 reserved
1 2 3 4 5 6 7 8
71
DO: SERVO, VECTOR V.vsd
nktionsplan_CAL.vsd
Fu nktionsplan_TR Function diagram
TRV 1050
CAL1030
Zustandswort
Status Verleger Drive
word 1,1,Traversing 29.08.18 V01.00.00 SINAMICS
p21000[0] = [3005]
Controlunit
Traversing Drive
calculation
[TRV 1040.2] Enable traversing mode r21719 BO: Traversing Drive is ready to switch on [TRV 1050.1]
[TRV 1040.2] positioning mode Traversing Drive moves [TRV 1050.1]
Start curve is active [TRV 1050.1]

[TRV 1040.2] Reset layer counter
[TRV 1040.2] Start positioning to

Continuous cam active [TRV 1050.1]
position A
[TRV 1040.2] Start positioning to Standstill of cams is active [TRV 1050.1]

position B
[TRV 1040.2] Start positioning to the Spikes active [TRV 1050.1]
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starting position of the 1st layer
cylindrical winding[TRV 1050.1]
[TRV 1040.2] start direction
p25500 at position A [TRV 1050.1]

CI: Position actual value
(r2521[0])
BI: Position actual value of the Traversing Drive p22099 at position B [TRV 1050.1]
(0=descending; 1=ascending) (0)
Control word Selection of the cam [TRV 1090.2]
[TRV 1040.2] Selection of homing approach X, Y, L Parameters for cam start [TRV 1080.1]
p25506
BI: Operation enabled X, Y, L Parameters for continuous cam [TRV 1080.4]
(0)
p21900 X, Y, L Parameters for cam standstill [TRV 1080.6]

CI: LU/load revolution winder
(0)
Start calculation start cam [TRV 1080.1]
Start calculation continuous cam [TRV 1080.4]
Start calculation standstill cam [TRV 1080.6]
1 2 3 4 5 6 7 8
72
DO: SERVO, VECTOR Fu nktionsplan_TR V.vsd
Winkelgleichlauf_V2_0_de.vsd Function diagram
TRV 1060
Traversing Drive calculation DCB Extension block 29.08.18 V01.00.00 SINAMICS
p21000[0] = [3005]
Controlunit
Fine resolution of the mechanics

r22102 CO: Axis cycle length winder
p21902
r22070 CO: Number of layers

Position A
in [mm]
p22010 r22059 CO: actual displacement angle [m°]
Position B
in [mm]
p22011

BO: displacement angle calculation
r22061
via adaptation of waiting angle
Starting position of the 1st layer
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in [mm]
p22015 BO: displacement angle calculation
r22062
via adaptation acceleration angle
Coilparameters
(p22012 – p22014) BO: displacement angle calculation
r22063
(p22050 – p22053) via adaption winding step
[TRV 1040.2] Activate displacement angle BO: displacement angle results from
r22064
the input parameters
offset parameters
(p22020 – p22029 ) r22065 Resulting waiting angle [°]
CI: Priority p22030 r22066 Resulting acceleration angle [°]

control word (0)
r22067 Resulting winding step [mm/rev]
CI: actual position p22100

winder (0) [TRV 1230.2] position setpoint
[TRV 1040.2] Activate spikes
spike parameters
(p22040 - p22047)
1 2 3 4 5 6 7 8
73
TRV 1070
Module Traversing Drive calculation 29.08.18 V01.00.00 SINAMICS
p21000[0] = [3005]
Controlunit
Start cam Continuous cam Standstill cam

Function Function Function
3rd degree 3rd degree 3rd degree
start curve cont. curve standstill curve
polynomial polynomial polynomial
[TRV 1090.2] [TRV 1090.2] [TRV 1090.2]
Start Start Start
error error error
calculation calculaion calculation
X1 X1 X1
Y1 Y1 Y1
[TRV 1060.6]
X2 X2 X2

Y2 Y2 Y2
X3 X3
Y3
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Y3
X4
X4 Y4
Y4
X5
[TRV X5 Y5
1060.6] Y5 X6
X6 Y6
Y6 X7
Y7
X7
Y7 X8
Y8
X8
Y8 X9
[TRV 1060.6] Y9
X9 X10
Y9 Y10
X11
Y11
X12
Y12
X13
Y13
X14
Y14
X15
Y15
X16
Y16
X17
Y17
1 2 3 4 5 6 7 8
74
TRV 1080
Traversing Drive cam calculation 29.08.18 V01.00.00 SINAMICS
p21000[0] = [3005]
Controlunit
p22100
CI: Actual position winder
(0)
p22101
CI: actual velocity winder [1000LU/min] (0)

Selecting of the
cam
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[TRV 1060.6] Control word
selection of the cam Cam evaluation CAMD
Function start cam [TRV 1080.3] 1
XP YP Position leading value 1 [TRV 1210.1]
2
Function continuous cam [TRV 1080.6]
3
XV
YV Velocity leading value 1 [TRV 1210.1]
4 FKT
Function standstill cam [TRV 1080.8]
1 2 3 4 5 6 7 8
75
TRV 1080
Traversing Drive cam evaluation 29.08.18 V01.00.00 SINAMICS
p21000[0] = [3005]
Controlunit
CI: Override relative velocity [%]

p21652 Axis module
(100.0)
BO: Axis stops
Reference value relative velocity r24906
[1000 LU/min] VMX Synchronism functions BO: Invalid dynamic setting
p21651 (1000.0)
r21670
effective relative velocity

CI: Override relative acceleration [%] [1000 LU/min]
Absolute synchronism with the winder r21680
p21654 s
effective relative acceleration

(100.0) AMX
[1000 LU/s²]
r21681
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Reference value relative acceleration
[1000 LU/s²] t
p21653 (200.0) CO: Axis state
r24900
Jerk limitation
[1000 LU/s³] JRK Autarkic axis movements
CO: Diagnosis: Status of control bits
p21655 (200.0)
r24950
Absolute pos itioning
BO: Follow-up mode active
Jogging
v r24901
BO: Axis in standstill

r24902
t
Position control active
r2526.3 EN BO: Axis moves forward
r24903
STOP BO: Axis moves backward

Homing functions r24904
ACK
Encod er adjustment ...
Flying homing
homing a ppro ach
1 2 3 4 5 6 7 8
76
DO: SERVO, VECTOR FP_SyncBasic.vsd Function diagram
TRV 1200
SinaSync axis module - dynamics, mechanics and diagnostics 29.08.18 V01.00.00 SINAMICS
p21000[0] = [3005]
Axis module Controlunit
Position controller (basic

system)
CI: LR Position setpoint
CO: Position setpoint for position controller (integer) p2530
YPI r25001 (r25001)
CI: LR Velocity setpoint

CO: velocity setpoint to the position controller (integer) p2531
YVI r25003 (r25003)

CI: LR supplementary
setpoint position
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CO: Position setpoint for position controller (decimal) p2694
YPD r25002 (r25002)
CI: LR supplementary
setpoint velocity
CO: velocity setpoint to the position controller (decimal) p2695
YVD r25004 (r25004)
BI: LR pos. actual value

Preprocessing activate
neg. corr. (edge), Position control
BO: Correction bit POV for position actual value processing p2730
POV r25006 (r25006)
BI: LR pos. actual value
preprocessing activate
corr. value (edge), Position control
BO: Correction bit NOV for position actual value processing p2512
NOV r25007 (r25007)
CI: LR Position actual value
preprocessingcorrective value,
Position control
CO: Correction value for position actual value processing p2513
COR r25005 (r25005)
1 2 3 4 5 6 7 8
77
TRV 1210
SinaSync axis module connection to position controller/basic system 29.08.18 V01.00.00 SINAMICS
p21000[0] = [3005]
p21000[2] [3006]
Gleichlauf
Following axis position

Homing functions
CI: Measured value
CO: Reference coordinate p25502
(r2523[0]) Set reference po in t
Reference coordinate connector fixed value
fixed value [LU] r21701 BI: Encoder adjusted s
p21700 (0) p2505
(r2684.11)
CI: Signal source reference
coordinate [LU] BO: Axis homed

r21720
p21702
(r21701)

effective reference coordinate Absolute enco der adjustment
r21703 s BO: Absolute encoder adjustment active
Beitrags-ID: 109753102, V1.0, 08/2018

r21722
BO: Absolute encoder adjustment
non-volatile save to ROM successfully completed
&
Position control active r2526.3 1 r21723
BO: Absolute encoder adjustment fault

r21724
& BO: Absolute encoder adjustment status

Homing ap proa ch with Bero and Interrupt r21725
BI: Signal source homing bero 0
s
p21710 CO: Absolute encoder adjustment fault code
(0) r21726
BI: Signal source
reverse cam minus BI: Measured value valid
p21711 p25551 BO: Activate zero mark sensing
(0) (r2526.2)
r21716
BI: Signal source
reverse cam plus BO: Activate probe evaluation
p21712 r21717
(0)
Homing ap proa ch only on interrupt BO: Homing approach active

s r21721
Homing approach 1
velocity up to bero
[1000 LU/min]
p21713 (1000.0)
Homing approach
velocity up to home position
[1000 LU/min]
p21714 (500.0)
1 2 3 4 5 6 7 8
78
TRV 1220
Axis module homing functions - set reference point, adjustment, homing 29.08.18 V01.00.00 SINAMICS
CI: Position setpoint

p21000[0] = [3005]
connector variable
p21851 (0) 
0
Postion setpoint from Following axis position
Positioning functions
DCB Extension Block
trav_calculation
active Positioning relative
s
0
Position setpoint fixed 0
p21850 (0) 0
Δ
1
1
t
Positioning setpoint
Postion setpoint from active 1 BO: Positioning mode
DCB Extension Block r21853 active
trav_calculation r21856

Beitrags-ID: 109753102, V1.0, 08/2018
1
Positioning absolute
s
1
t
CI: Positioning velocity override [%]

p21855
(100.0)
Positioning velocity Jogging

reference value v BO: Jog forward active
[1000 LU/min] r21802
p21854 (10000.0)
Reference value jog velocity BO: Jog backward active
[1000 LU/min] r21803
p21800 (1000.0) t
1 2 3 4 5 6 7 8
79
TRV 1230
Axis module positioning functions 29.08.18 V01.00.00 SINAMICS
p21000[0] = [3005]
control_unit
HW_LIMIT
[TRV 1020.4] Deactivate HW limit

switches BO: Hardware limit switch actuated
r24907
BI: Hardware limit front (Low active)
p22008
(1)
BI: Hardware limit rear (Low active) BO: Position actual value in
p22009 between hardware limit switches
(1) r24907

[TRV 1020.4] acknowledge Hardware limit switches
Beitrags-ID: 109753102, V1.0, 08/2018

SW_LIMIT
BI: Drive Enable
[TRV 1020.4] Deactivate Software BO: HW- and SW limits (OFF3)
limit switch monitoring Drive enabled
p849
r24911 (1)
CI: Position actual value traversing p25500
&
drive (r2521[0])
r24909 BO: position actual value in between software limit switches

p22006 front, biggest position actual value [mm] (SW limit switch)
p22007 rear, lowest position actual value [mm] (SW limit switch)
HW- or Software- limit actuated [1040.6]

[TRV 1020.4] Acknowledge Software limit switches 1
p21902 fineresolution of the mechanics
r24910 BO: Software limit actuated
1 2 3 4 5 6 7 8
80
TRV 1240
Hardware and Software limit switches V05.01.00
31.01.18 V01.00.00
28.08.18 SINAMICS
6.2 Parameter lists

6.2.1 Basic structure of the parameter descriptions
The data in the following example have been chosen at random. The table below
contains all the information that can be included in a parameter description. Some
of the information is optionally shown.
The parameter lists have the following structure:
- - - - - - - - - - - - - - - - - - - - Start of example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
--------------
pxxxx[0...n] BICO: Full parameter name / abbreviated parameter name
Drive object Can be changed: U, T Calculated: - Access level: 2
Function diagram:
Data type: Dynamic index: -
ASC 1012
P group: Unit group: - Unit selection: -
Not for motor type: - Expert list: 1
Min Max Factory setting
0.00 [Nm] 10.00 [Nm] 0.00 [Nm]
Description: Text
0: Name and meaning of value 0
Values:
etc.
Recommendation: Text
Bit array: Bit Signal name 1 signal 0 signal FP
00 Name and meaning of bit 0 Yes No ASC 1620
01 Name and meaning of bit 1 Yes No ASC 1620
02 Name and meaning of bit 2
Yes No ASC 1620
etc.
Dependency: Text
See also: pxxxx, rxxxx
See also: Fxxxxx, Axxxxx
Danger: Warning: Caution: Safety notices with a warning triangle
DANGER WARNING CAUTION
Caution: Notice: Safety notices without a warning triangle

Note: Information that might be useful.
- - - - - - - - - - - - - - - - - - - - End of example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
-
The individual pieces of information are described in detail below.

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pxxxx[0...n] Parameter number

The parameter number is made up of a "p" or "r", followed by the parameter
number and optionally the index or bit array.
Examples of the representation in the parameter list:
p... adjustable parameters (can be read and written to)
r... display parameters (read only)
p0918 adjustable parameter 918
p0099[0...3] adjustable parameter 99, indices 0 to 3
p1001[0...n] adjustable parameter 1001, indices 0 to n
(n = can be configured)
r0944 display parameter 944
r2129.0...15 display parameter 2129, with bit array from
Bit 0 (lowest bit) to bit 15 (highest bit)
Other examples of notation in the documentation:

p1070[1] adjustable parameter 1070, index 1
p2098[1].3 adjustable parameter 2098, index 1 bit 3
r0945[2](3) display parameter 945, index 2 of
Drive object 3
p0795.4 adjustable parameter 795, bit 4
The following applies to adjustable parameters:

The parameter value as delivered is specified under "Factory setting" with the
relevant unit in square brackets. The value can be adjusted within the range
defined by "Min" and "Max".
The term "linked parameterization" is used in cases where changes to adjustable
parameters affect the settings of other parameters.
Linked parameterization can be initiated, for example, as a result of the following
actions and parameters:
Executing macros
p0015, p0700, p1000, p1500
Setting the PROFIBUS telegram (BICO interconnection)
p0922
Setting component lists
p0230, p0300, p0301, p0400
Automatically calculate and pre-assign
p0112, p0340, p0578, p3900
Restoring the factory settings
p0970
The following applies to display parameters:

The fields "Min", "Max" and "Factory setting" are specified with a dash "-" and the
relevant unit in square parentheses.

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Note The parameter list can contain parameters that are not visible in the expert lists
of the particular commissioning software (e.g. parameters for trace functions).
The parameters of the application example are completely visible in the expert
list.
BICO: Full parameter name / abbreviated parameter name
The following abbreviations can appear in front of the BICO parameter name:
BI: Binector Input
This parameter selects the source of a digital signal.
BO: Binector Output
This parameter is available as a digital signal for interconnection with
other parameters.
CI: Connector Input
This parameter selects the source of an "analog" signal.
CO: Connector Output
This parameter is available as an "analog" signal for interconnection
with other parameters.
CO/BO: Connector/Binector Output Connector/Binector Output

This parameter is available as both an "analog" and also as digital
signals for interconnection with other parameters.
Note A BICO input (BI/CI) cannot be just interconnected with any BICO output
(BO/CO, signal source).
When interconnecting a BICO input using the commissioning software, only the
signal sources that are actually possible are listed.
Function diagrams 1020 ... 1030 of the List Manual explain the symbols for BICO
parameters and how to handle BICO technology.

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Drive object (function module)

A drive object (DO) is an independent, "self-contained" functional unit that has its
own parameters and, in some cases, faults and alarms.
When carrying out commissioning using the commissioning software, you can
enable/disable additional functions and their parameters by activating/deactivating
function modules accordingly.
Note Reference: /FH1/ SINAMICS S120 Function Manual Drive Functions
The parameter list specifies in which drive object and function module each
individual parameter is used.
Examples:
p1070 CI: Main setpoint
SERVO (extended setpoint), VECTOR
The parameter is available only in association with a SERVO drive object
and the "Extended setpoint channel" function module or with drive object
VECTOR irrespective of activated function modules.
p1055 BI: Jog bit 0
SERVO, VECTOR
For drive objects SERVO and VECTOR, regardless of which function
modules have been activated, this parameter is always available. This
means that it is available with every activated function module belonging to
the drive object.
A parameter can belong to one, several or all drive objects.
Note All parameters of this application example are also available after installation at
the SERVO and VECTOR drive objects. The "Position controller" function
module is required for the functionality.

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Can be changed:
The "-" sign indicates that the parameter can be changed in any object state and
that the change will be effective immediately.
The information "C1(x), C2(x), T, U" ((x): optional) means that the parameter can
be changed only in the specified drive device state and that the change will not
take effect until the device switches to another state. One or more states are
possible.
The following states are available for the parameter:
C1(x) Commissioning device C1: Commissioning 1

The device is being commissioned (p0009 > 0).
The pulses cannot be enabled.
The parameter can only be changed in the following device
commissioning settings (p0009 > 0):
• C1: Can be changed for all settings p0009 > 0.
• C1(x): Can only be changed for settings p0009 = x.
A modified parameter value does not take effect until the device
commissioning mode is exited with p0009 = 0.
C2(x) Commissioning drive object C2: Commissioning 2

The drive is being commissioned (p0009 = 0 and p0010 > 0).
The pulses cannot be enabled.
The parameter can only be changed in the following drive
commissioning settings (p0010 > 0):
• C2: Can be changed for all settings p0010 > 0.
• C2(x): Can only be changed for settings p0010 = x.
A modified parameter value does not take effect until drive
commissioning mode is exited with p0010=0.
U operation U: Run
The pulses have been enabled.
T ready T: Ready to run
The pulses have not been enabled and the state "C1(x)" or "C2(x)" is
not active.
Note Parameter p0009 is CU-specific (available on the Control Unit).

Parameter p0010 is drive-specific (available for each drive object).
The operating state of individual drive objects is displayed in r0002.
Calculated
Specifies whether the parameter is influenced by automatic calculations. The
calculation attribute defines which activities influence the parameter.
Note This attribute is not relevant for the application parameters.

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Access level
Specifies the minimum access level required to be able to display and change the
relevant parameter. The access level can be set using p0003.
The system uses the following access levels:

1. Standard
2: Extended
3: Expert
4: Service
Note Parameter p0003 is CU-specific (available on the Control Unit). A higher access
level will also include the functions of the lower levels.
Data type
Note The data type attribute is not listed for the application parameters.
Dynamic index
Note This dynamic index attribute is not relevant for the application parameters.
Function diagram
The parameter is included in this function diagram. The structure of the parameter
function and its relationship with other parameters is shown in the specified chart.
P group (only when accessing via BOP (Basic Operator Panel))

Specifies the functional group to which this parameter belongs. The required
parameter group can be set via p0004.
Note Parameter p0004 is CU-specific (available on the Control Unit).
Unit, unit group and unit selection
Note These attributes are not relevant for the parameters of the application example; it
is not possible to switch over the units.
Parameter values
Min Minimum parameter value [unit]

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Max Maximum parameter value [unit]

Factory setting Value when supplied [unit]
In the case of a binector/connector input, the signal source of the default BICO
interconnection is specified. A non-indexed connector output is assigned the index
[0].
Not for motor type
Note The motor type attribute is not relevant for the application parameters.
Scaling
Note The scaling attribute is not relevant for the application parameters. If there is a
reference to another parameter, then this is indicated in the parameter list.
Expert list
Note The expert list attribute is not relevant for the application parameters.
Description
Explanation of the function of a parameter.
Values
Lists the possible values of a parameter.
Recommendation
Information about recommended settings.
Index
Note The index attribute is not relevant for the application parameters.

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Bit array
For parameters with bit arrays, the following information is provided about each bit:
Bit number and signal name
Meaning for signal states 0 and 1
Function diagram (optional)
The signal is shown on this function diagram.
Dependency
Conditions that must be fulfilled in conjunction with this parameter. Also includes
special interactions that can occur between this parameter and others.
Where relevant, after "See also:", the following information is shown:

List of other relevant parameters to be considered.
List of faults and alarms to be considered.
Safety notes
Important information that must be observed to avoid the risk of physical injury or
material damage.
Information that must be observed to avoid any problems. Information that the user
may find useful.
Number ranges of parameters

The parameters of the application example are in the number range for Drive
Control Chart (DCC) from 21000 to 25999.

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6.2.2 Parameterlist Traversing Drive
r21500 Software version DCB Traversing Drive

SERVO, VECTOR Can be changed:U/T Calculated: - Access level: 1
Data type: Dynamic index: - Function diagram:
P group: - Unit group: - Unit selection: -
1.0
Beschreibung: Software version of the DCB Traversing Drive
r21501 Entry ID
109753102
Description: The SIOS ID of the DCB Traversing Drive
r21502 Internal ID

84828669
Description: The internal ID of the DCB Traversing Drive

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p21511 CI: Technology control word 1 (homing)

Data type: Dynamic index: - Function diagram: TRV1020
-
Description: Technology control word 1 for control via the higher-level PLC
0 Set home position Enable pos. edge Disable
1 Adjust absolute encoder Enable pos. edge Disable
2 Flying homing Enable Disable
3 Homing approach Enable Disable
4 Start homing approach Enable pos. edge Disable
5 Select interrupt method Zero mark Probe
6 Homing only on interrupt Only on interrupt Bero and interrupt
7 Homing approach start direction Negative Positive
8 Select edge evaluation Negative Positive
9 Disable hardware limit switch monitoring Deactivated Monitoring active
10 Acknowledge hardware limit switch Enable Disable
11 Disable software limit switch monitoring Deactivated Monitoring active
12 Acknowledge software limit switch Enable Disable
Note: The control word bits are logically OR'd with the corresponding parameters of the expert list.
p21512 CI: Technology control word 2 (Traversing Drive)

-
Description: Technology control word 2 for control via the higher-level PLC
0 Stop drive Enable Disable
1 Jog forward Enable Disable
2 Jog backward Enable Disable
3 Enable positioning mode Enable Disable
4 Start positioning to position A Enable Disable
5 Start positioning to position B Enable Disable
6 Start positioning to starting position at 1st layer Enable Disable
7 Start free positioning to position setpoint (r21853) Enable Disable
8 Acknowledge dynamic fault Enable Disable
9 wraparound shape Conical cylindrical
10 Enable displacement angle calculation Not forced forced
11 Enable spike With spike Without spike
12 Start positioning to maintenance position Enable Disable
13 Enable Traversing Drive mode Enable Disable
14 start direction Direction A Direction B
15 Reset layer counter Reset No Reset
Note: The control word bits are logically OR'd with the corresponding parameters of the expert list.

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r21521 CO: TechCW 1 active

-
Description: Display of the effective control bits from technology control word 1
Note: This parameter allows you to determine which control bits are active in the application as the control word bits are
logically OR'd with the corresponding parameters of the expert list. Bit-by-bit breakdown, see description p21511.
r21522 CO: TechCW 2 active

Data type: Dynamic index: - Function diagram: TRV 1040
-
Description: Display of the effective control bits from technology control word 2
Note: This parameter allows you to determine which control bits are active in the application as the control word bits are
logically OR'd with the corresponding parameters of the expert list. Bit-by-bit breakdown, see description
p215112.
r21541 CO: Technology status word 1 (Status Axis)


-
Description: Displays technology status word 1
0 Axis homed Homed Not homed
1 Axis at a standstill Standstill Not at a standstill
2 Axis stops Stop active Stop inactive
3 Jog forward active Active Inactive
4 Jog backward active Active Inactive
5 Homing approach active Active Inactive
6 Positioning mode active Active Inactive
7 Follow-up mode active Active Inactive
8 Encoder adjustment active Active Inactive
9 Encoder adjustment error Yes No
10 Encoder adjustment successful Yes No
11 Axis moves forward Yes No
12 Axis moves backward Yes No
13 Position control active Active Inactive
14 Dynamic values invalid Yes No
15 Block error RLA interface Yes No

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r21542 CO: Technology status word 1 (Status Traversing Drive)

-
Description: Anzeige des Technologiezustandswort 1
0 Traversing Drive is ready to switch on Yes No
1 Traversing Drive moves Yes No
2 Start curve is active Active Inactive
3 Continuous curve is active Active Inactive
4 Standstill curve is active Active Inactive
5 spikesare active Active Inactive
6 Displacement angle is specified As requested Random
7 Reserved
8 Cylindrical winder Yes No
9 Is at position A Yes No
10 Is at position B Yes No
Actual position value of winder in ascending Ascending descending
11
order
p21550 BI: Set reference point

-
Description: Signal source for the function Set reference point
This parameter is OR´d with bit 0 in technology control word 1
Note: By setting the reference point, the slave axis is referenced to a defined position. This function can be performed
both at standstill and during movement. No hardware interrupt (such as a probe) is required for setting the
reference point. This type of homing is a volatile stored homing. After switching the device off/on, the axis is again
not referenced and must be referenced again.
p21551 BI: Adjust absolute encoder

Data type: Dynamic index: - Function diagram: BSY1020
-
Description: Signal source for the absolute encoder adjustment function
This parameter is OR'd with bit 1 in technology control word 1
Note: Using the absolute encoder adjustment, the following axis is homed to a defined position. This function can only
be executed with the position control deactivated. First, bring the axis into a known mechanical reference position
(e.g. using the jog function). The position is then set and the absolute information is saved to the drive device.
This type of homing is homing that is retentively saved (data not lost when the power fails). Even after switching
off the device and switching it on again, the axis remains homed and does not have to be re-homed. (for details
on the configuration, see Chapter Absolute encoder adjustment).

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p21552 BI: Select Flying Homing

-
Description: Signal source for the flying homing function
Note: Using the flying homing function, when the axis passes a hardware interrupt (generally a probe or the encoder
zero mark), the axis is homed while traversing. The axis searches for the next interrupt if the function is activated
using this control bit. There, the axis is set to a defined position and is considered as being homed. This type of
homing is homing that is non-retentively saved (data lost when the power fails). After switching off the device and
switching it on again, the axis is not homed and must be re-homed. (for details on the configuration, see Chapter,
Flying homing)
p21553 BI: Enable homing approach

-
Description: Signal source for the enabling of the homing approach operating mode

Note: The homing approach is a dedicated operating mode of the following axis. The operating mode must be explicitly
enabled using this control bit before the homing approach is started. This bit must remain active during the
complete homing approach. If it is disabled before the homing approach has been completed, then the operating
mode is exited and the axis is not homed.
This type of homing is homing that is non-retentively saved (data lost when the power fails). After switching off the
device and switching it on again, the axis is not homed and must be re-homed. (for configuring details, see
Chapter, Homing approach)
p21554 BI: Start homing approach

-
Description: Signal source for starting the homing approach
Note: Before the homing approach can be started, the homing approach must be enabled as operating mode (p21910).
When the homing approach operating mode is enabled, the homing approach is started with a positive edge at
this control bit.

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p21555 BI: Select interrupt method (0 = zero mark; 1 = probe)

-
Description: Sets the signal source for selecting the interrupt methods when homing
Recommendation: For flying homing, a probe should be selected as interrupt method.
For the homing approach operating mode, a distinction is made between homing approach with Bero and
interrupt (p21916 = 0), and homing approach only on an interrupt (p21916 = 1). In the first case, the encoder zero
mark should be selected as interrupt method. A measuring probe should be selected as interrupt method if only
homed on an interrupt.
Note: For configuring details, see Chapter Homing approach / flying homing
p21556 BI: Select homing to interrupt only (without homing bero)

-
Description: Signal source for selection of the referencing modes

Note: If a proximity switch (Bero) is available for the homing approach, whose mechanical position is known – and an
encoder zero mark – then p21916 is set to 0. To start, the axis traverses to the proximity switch, and then
activates the search for the zero mark. The axis is then homed with the next zero mark. If, for the homing
approach, only a probe signal is available (e.g. a hardware limit switch), then p21916 is set to 1. When starting
the homing approach, an immediate search is made for the interrupt signal (generally a probe) – and the axis is
homed when reaching this interrupt.
(for configuring details, see Chapter, Homing approach)
p21557 BI: Homing approach direction (0 = pos; 1 = neg)

-
Description: Signal source for selecting the approach direction for the homing approach
Values: 0 Positive approach direction
1 Negative approach direction
p21558 BI: Select edge evaluation (0 = pos ed.; 1 = neg ed.)

-
Description: Signal source to select the edge evaluation of the proximity switch (Bero) for the homing approach
Values: 0 Axis responds to a positive edge of the proximity switch
1 Axis responds to a negative edge of the proximity switch

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p21559 BI: Disable hardware limit switch monitoring

-
Description: Signal source to disable hardware limit switches
Note: 0 HW limit switches are activated
1 HW limit switches are deactivated
p21560 BI: Acknowledge hardware limit switch

-
Description: Signal source for the acknowledgement of the hardware limit switches after they have been triggered.
Note: 0 no acknowledgement
1 Hardware limit switches are acknowledged
p21561 BI: Disable monitoring software limit switch

-
Description: Signal source to disable software limit switches
Note: 0 SW limit switches are activated
1 SW limit switches are deactivated
p21562 BI: Acknowledge software limit switch

-
Description: Signal source for the acknowledgement of the software limit switches after they have been triggered.

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p21570 BI: Stop drive

-
Description: Signal source for the enabling of the stop drive operating mode
Note: When the axis is switched on, this operating mode is the mode with the highest priority. By enabling this control
bit, the axis can be stopped when it is in every other operating mode. When enabled, the axis is braked down to
standstill with the parameterized axis dynamic response. This control bit is active as a function of the signal level.
It must remain enabled so that the axis remains at standstill. If the control bit is disabled, then the next higher
operating mode is active.
p21571 BI: Jog forward

-
Description: Signal source for enabling the jog forward operating mode
Note: When enabling this operating mode, the axis traverses independently in the positive direction with the
parameterized jog velocity (p21800).
p21572 BI: Jog backward

-
Description: Signal source for enabling the jog forward operating mode
Note: When enabling this operating mode, the axis traverses independently in the negative direction with the
parameterized jog velocity (p21800).
p21573 BI: Select positioning mode

-
Description: Signal source for enabling the positioning operating mode
Note: The positioning operating mode must be explicitly enabled using this control bit. When enabled, the axis is braked
down to standstill with the parameterized axis dynamic response and waits for the next positioning start condition.
This control bit is active as a function of the signal level. It must remain enabled so that the axis remains in the
positioning mode. If the control bit is disabled, then the next higher operating mode is active.

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p21574 BI: Start positioning to position A

-
Description: Signal source for automatic positioning to position A p21950.
Note: First, the positioning mode p21573 must be selected.
p21575 BI: Start positioning to position B

-
Description: Signal source for automatic positioning to position A p21952.
p21576 BI: Start positioning to the starting position at the 1st layer

-
Description: Signal source for automatic positioning to the starting position of the first layer p22015.
p21577 BI: Start free positioning to position setpoint (r21853)

-
Description: Signal source to start free positioning to position setpoint r21853.

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p21578 BI: Acknowledge dynamic error

-
Description: Signal source to acknowledge dynamic error.
Note: In case of an incorrect parameterization of the axis dynamics, this must first be set correctly and then
acknowledged via this control bit. Then the axis changes directly back to the selected operating mode (see
chapter Operating Modes).
p21579 BI: Winding form (0= cylindrical; 1 = conical)

-
Description: Signal source to set the winding form.
Note: 0 cylindrical winding
1 conical winding
p21580 BI: Enable displacement angle calculation (0 = random; 1 = as specified)

-
Description: Signal source to enable the displacement angle calculation.
Note: 0 displacement angle results from the parameters acceleration and waiting angle, as well as the winding step
1 displacement angle is specified in parameter p22020
p21581 BI: Enable spikes (0 = without spikes; 1 = with spikes)

-
Description: Signal source to enable the spikes.
Note: 0 Spikes are not enabled
1 Spikes are enabled
See also: p22040 – p22047

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p21582 BI: Start positioning to maintenance position

-
Description: Signal source to start positioning to maintenance position.
p21583 BI: Enable Traversing

-
Description: Signal source to start traversing.
Note: Der Verlegemodus kann nur eingeschaltet werden, wenn gilt: Position A <= Lageistwert Verleger <= Position B
p21584 BI: Start direction (0= in direction B; 1 = in direction A)


-
Description: Signal source for the start direction of the traversing.
Note: 0 Start in direction B
1 Start in direction A
p21585 BI: Reset layer counter back to 0

-
Description: Signal source to reset the layer counter.
Note: The layer counter is only active for conical windings
0 No reset
1 Reset

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p21651 Reference value relative velocity [1000 LU/min]

-3,40282E+43 3,40282E+43 -
Description: Setting value for reference value relative axis velocity
Recommendation: Only values greater than 0.0 are valid.
Note: The effective relative velocity results from the product of p21651 x p21652
p21652 CI: Override relative velocity [%]

-
Description: Signal source for the override of the axis relative velocity
Note: The effective relative velocity results from the product of p21651 x p21652
p21653 Reference value relative acceleration [1000 LU/s²]

-3,40282E+43 3,40282E+43 -
Description: Setting value for reference value relative axis acceleration
Note: The active relative acceleration is obtained from the product p21553 x p21554
p21654 CI: Override relative acceleration [%]

-
Description: Signal source for the override of the axis relative acceleration
Note: The active relative acceleration is obtained from the product p21553 x p21554

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p21655 Jerk limitation [1000 LU/s³]

-3,40282E+43 3,40282E+43 -
Description: Setting value for axis jerk limiting
Note: A value of 0.0 means that the axis is traversing without jerk limiting. The acceleration then manifests a step.
r21670 BO: Invalid dynamic setting

-
Description: Display of the incorrect parameterization of the axis dynamics
r21680 effective relative velocity [1000 LU/min]


-
Description: Displays the active relative velocity – or the currently valid dynamic response
Note: The active relative velocity is obtained from the product of p21551 x p21552. If, for an operating mode change, an
invalid parameterization is identified, then the axis brakes down to standstill with the axis dynamic response that
was last valid.
r21681 effective relative acceleration [1000 LU/s²]

-
Description: Displays the active relative acceleration – or the currently valid dynamic response
Note: The active relative acceleration is obtained from the product p21553 x p21554. If, for an operating mode change,
an invalid parameterization is identified, then the axis brakes down to standstill with the axis dynamic response
that was last valid.

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p21700 Reference coordinate fixed value [LU]

-2147483648 2147483647 -
Description: Setting value for the fixed value of the reference coordinate
Note: The reference coordinate is applicable for the following functions: Set home position, absolute encoder
adjustment, homing approach and flying homing
r21701 CO: Reference coordinate connector fixed value

-
Description: Output connector for the fixed value of the reference coordinate (p21905).
Note: This output connector must be interconnected to p21702, if the fixed value from p21700 is to be applicable as
reference coordinate.
p21702 CI: Signal source reference coordinate [LU]


-
Description: Signal source for the active reference coordinate
Note: The active reference coordinate is interconnected in this signal source. If the fixed value from p21700 is to be
valid, then connector r21701 must be interconnected here.
r21703 effective reference coordinate

-
Description: Displays the currently active reference coordinate

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p21710 BI: Signal source homing bero

-
Description: Signal source for the homing Bero / proximity switch for the homing approach
Recommendation: If, for the homing approach, a proximity switch is used, then this is generally connected to a digital input on the
Control Unit. The BiCo signal of the digital input (e.g. R722.x) is then interconnected with p21710.
p21711 BI: Signal source reverse cam minus

-
Description: Signal source for the front reversing cam for the homing approach operating mode
Recommendation: If, for the homing approach of linear axes, reversing cams are used, then their outputs are generally connected to
the digital inputs on the Control Unit. The BiCo signal of the digital inputs (e.g. R722.x) is then interconnected
with p21711 / p21712.
Note: Reversing cam minus is the front reversing cam; this is approached if the linear axis traverses in the negative
direction.
p21712 BI: Signal source reverse cam plus

-
Description: Signal source for the rear reversing cam for the homing approach operating mode
Recommendation: If, for the homing approach of linear axes, reversing cams are used, then their outputs are generally connected to
the digital inputs on the Control Unit. The BiCo signal of the digital inputs (e.g. R722.x) is then interconnected
with p2711 / p21712.
Note: Reversing cam plus is the rear reversing cam; this is approached if the linear axis traverses in the positive
direction.
p21713 Homing approach velocity up to bero [1000 LU/min]

-3,40282E+43 3,40282E+43 -
Description: Setting value for the homing approach velocity up to the proximity switch
Recommendation: This velocity is generally higher than the velocity to the home position (p21714)
Note: For the homing approach, this velocity is only active if the homing mode with Bero and interrupt is selected
(p21556 = 0).

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p21714 Homing approach velocity up to home position [1000 LU/min]

-3,40282E+43 3,40282E+43 -
Description: Setting value for the homing approach velocity up to the home position (interrupt)
Recommendation: This velocity is generally lower than the velocity to the homing Bero (p21713)
Note: This velocity is either active after the proximity switch was approached/actuated so that the zero mark can then
be searched for with a slower velocity – or is directly active if homing only on interrupt is selected as homing
mode.
r21716 BO: Activate zero mark sensing

-
Description: Displays the activation of the zero mark sensing
Note: This connector must be interconnected to the basic system at parameter p2508.
r21717 BO: Activate probe evaluation

-
Description: Displays the activation of the probe evaluation
Note: This connector must be interconnected to the basic system at parameter p2509.
r21719 BO: Traversing Drive is ready to switch on

-
Description: Displays whether the traversing drive is within positions A and B.
Values: 0 not ready to switch on
1 ready to switch on

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r21720 BO: Axis homed

-
Description: Displays the feedback signal, axis homed
Values: 0 Axis not homed
1 Axis homed
Note: The axis can be homed using the following functions: Set home position, absolute encoder adjustment and flying
homing
r21721 BO: Homing approach active

-
Description: Displays the feedback signal, homing approach active
Values: 0 Homing approach mode inactive
1 Homing approach mode active
r21722 BO: Absolute encoder adjustment active

-
Description: Displays the feedback signal, absolute encoder adjustment active
Values: 0 Encoder adjustment inactive
1 Encoder adjustment active
Note: The encoder can only be adjusted when the axis is switched off. It is only available for absolute encoders.
r21723 BO: Absolute encoder adjustment successfully completed

-
Description: Displays the feedback signal, absolute encoder adjustment successfully completed
Values: 0 Encoder adjustment not initiated / error for encoder adjustment / encoder adjustment active
1 Encoder adjustment initiated and successfully completed

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r21724 BO: Absolute encoder adjustment fault

-
Description: Displays the feedback signal, absolute encoder adjustment error
Values: 0 Encoder adjustment not initiated / encoder adjustment active / encoder adjustment initiated and no error
occurred
1 Encoder adjustment initiated and error has occurred
Note: The encoder can only be adjusted when the axis is switched off. It is only available for absolute encoders.
r21725 BO: Absolute encoder adjustment status

-
Description:
Values: 0 Adjustment inactive
1 Parameter p2502 (encoder assignment position control) is acyclically read

2 Parameter p404 (absolute encoder being used?) is acyclically read
3 Parameter p2599 (reference coordinate) is acyclically written to
4 Parameter p2507 = 2 (initiate encoder adjustment) is acyclically written to
5 Parameter p971 = 1 (data not retentively saved at the drive object) is acyclically written to
6 Adjustment successfully completed-> return to status 0
r21726 CO: Absolute encoder adjustment fault code

-
Description: Displays the error code if an error occurred while adjusting the encoder
Values: 0 No error
100 Adjustment initiated, although the position control of the axis was enabled
200 Position control was enabled while adjusting
300 Encoder is not an absolute encoder (p404.1 = 0)
400 The monitoring time for the encoder feedback signal adjusted from the basic system exceeded
DPV1 DPV1 code for read/write access error (evaluates encoder adjustment status, to identify which
parameters should be read/written to)
Recommendation: If the encoder adjustment is incorrect, using the Starter trace function, trace the encoder adjustment status and
the error code.

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p21800 Reference value jog velocity [1000 LU/min]

-3,40282E+43 3,40282E+43 -
Description: Setting value of the jog velocity for the Jog mode of operation
p21801 CI: Override jog velocity [%]

-
Description: Signal source for the axis jog velocity override
Note: The effective jogging velocity results from the product of p21800 x p21801.
The jog velocity is only valid for the Jog mode.
r21802 BO: Jog forward active


-
Description: Displays the feedback signal for the jog forward active operating mode
Values: 0 Jog forward inactive operating mode
1 Jog forward active operating mode
r21803 BO: Jog backward active

-
Description: Displays the feedback signal for the jog backward active operating mode
Values: 0 Jog backward inactive operating mode
1 Jog backward active operating mode
p21850 Positioning setpoint fixed value [LU]

-2147483648 2147483647 -
Description: Setting value for the fixed value of the positioning setpoint
Note: The position setpoint applies to the following functions:
Free positioning

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r21851 CO: Positioning setpoint connector fixed value

-
Description: Output connector for the fixed value of the position setpoint (p21850).
p21852 CI: Signal source positioning setpoint [LU]

-
Description: Signal source for the active position setpoint
r21853 Positioning setpoint active


-
Description: Displays the currently active position setpoint
p21854 Positioning velocity reference value [1000 LU/min]

-3,40282E+43 3,40282E+43 -
Description: Setting value for reference value positioning velocity of the axis
Note: The active positioning velocity is obtained from the product p21854 x p21855.
The positioning velocity is only applicable for the positioning operating mode.
p21855 CI: Positioning velocity override [%]

-
Description: Signal source for the override of the axis positioning velocity
Note: The active positioning velocity is obtained from the product p21854 x p21855.
The positioning velocity is only applicable for the positioning operating mode.

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r21856 BO: Positioning mode active

-
Description: Displays the feedback signal the positioning operating mode is active
Note: 0 Positioning operating mode inactive
1 Positioning operating mode active
p21900 CI: LU / load revolution winder

-
Description: Setting the signal source of the LU/load revolution of the winder
p21901 CI: Actual position of Modulo 360 winder


-
Description: Adjustment of the actual position value of the winder relative to 360°
p21902 Fine resolution of the mechanics

-32768 32767 -
Description: Parameter p21902 fine resolution of the mechanics must match the value in p2506 LR length unit LU per load
revolution. The following section describes how to set this parameter.
Specification: The slave axis represents a linear mechanism. Positioning should be carried out with a resolution of
micrometers (µm). The linear mechanism is realized via a spindle with a spindle pitch (forward movement per
load revolution) of 10 mm.
Determination LU per load revolution: The starting point is always the load side, the load to be moved. Any
existing gearboxes are parameterised in the mechanical mask. The position controller then automatically
calculates the appropriate motor speed based on the gear factor. The known spindle pitch of 10 mm per
revolution with a desired resolution in micrometers (10 mm * 10fine resolution = 10[mm] * 1000[1/1000mm] = ) 10
000 LU per load revolution (p2506) with a fine resolution of 3. 1 LU in other words corresponds to 1 µm.

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p21950 Position A fixed [µm]

-2147483648 2147483647 -
Description: Adjustment of position A in µm.
r21951 CO: Position A fixed effective [µm]

-
Description: Displays the effective position A of p21950
p21952 Position B fixed [µm]


-2147483648 2147483647 -
Description: Adjustment of position B in µm.
r21953 CO: Position B fixed effective [µm]

-
Description: Displays the effective position B of p21952
p21954 winding step fixed [µm/U]

-2147483648 2147483647 -
Description: The winding step is the distance, the installer moves, while the winder moves one complete turn.

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r21955 CO: Fixed winding step [µm/U]

-
Description: Displays the fixed winding step p21954.
p22006 Front, highest actual position value [mm] (SW limit switch)
-3,40282E+43 3,40282E+43 -
Description: Setting of the front SW limit switch in [mm]. If the actual position value is >= p22006, an OFF3 is performed.
p22007 Rear, smallest actual position value[mm] (SW limit switch)


-3,40282E+43 3,40282E+43 -
Description: Setting of the rear SW limit switch in[mm]. If the actual position value <= p22007 is detected, an OFF3 is
performed.
p22008 BI: Hardware limit switch front (low active)

-
Description: Signal source of the front HW limit switch. This is Low active, i.e. an OFF3 is performed as soon as this signal =
0.
p22009 BI: Rear hardware limit switch (low active)

-
Description: Rear HW limit switch signal source. This is Low active, i.e. an OFF3 is performed as soon as this signal = 0.

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p22010 CI: Position A [µm]

-
Description: Position A, if it is to be sent via a controller. By default, this parameter is linked to r21951. However, if position A
is to be transmitted by a controller, this wiring can be resolved and a PZD can be connected.
p22011 CI: Position B [µm]

-
Description: Position B, if it is to be sent via a controller. By default, this parameter is linked to r21953. However, if position A
is to be transmitted by a controller, this wiring can be resolved and a PZD can be connected.
p22012 Acceleration angle [°]


-3,40282E+43 3,40282E+43 -
Description: Starting from starting position A, the traverser accelerates until it has reached the traversing speed. The duration
of the acceleration phase is adjustable via the acceleration angle, which describes the angle that the winder
travels during the acceleration phase. Therefore, the unit of the acceleration angle must be set in degrees.
p22013 Waiting angle [°]

-3,40282E+43 3,40282E+43 -
Description: In order to build up the edge points of the winding core in a stable manner, the installer remains in the edge
points for a certain time, while the winder continues to wind up the material. The duration of the waiting angle
refers to the angle that the winder travels.
p22014 CI: winding step [µm/U]

-
Description: The winding step if it is to be sent via a controller. By default, this parameter is linked to r21955. However, if the
winding step is to be sent by a controller, this wiring can be resolved and a PZD can be connected.

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p22015 Starting position of the 1st layer [mm]

-3,40282E+43 3,40282E+43 -
Description: If the first layer is not to be started at position A or B, a defined start position can be set here, to which the
traversing drive can then be positioned. See chapter Positioning.
p22016 Maintenance position [mm]

-3,40282E+43 3,40282E+43 -
Description: Adjustment of the maintenance position of the traversing drive. You can position to this position, see chapter
Positioning
p22020 Displacement angle [°]


-3,40282E+43 3,40282E+43 -
Description: Setting of a defined displacement angle. More detailed explanations on the topic of displacement angles can be
found in the basics.
p22021 Acceleration angle lower limit [°]

-3,40282E+43 3,40282E+43 -
Description: This parameter is only relevant if a defined displacement angle is to be set.
This sets the lower acceptable limit for the acceleration angle.
p22022 Acceleration angle upper limit [°]

-3,40282E+43 3,40282E+43 -
This sets the upper acceptable limit for the acceleration angle.

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p22023 Waiting angle lower limit [°]

-3,40282E+43 3,40282E+43 -
This sets the lower acceptable limit for the waiting angle.
p22024 Waiting angle upper limit [°]

-3,40282E+43 3,40282E+43 -
This sets the upper acceptable limit for the waiting angle.
p22025 Winding step lower limit [mm/rev]


-3,40282E+43 3,40282E+43 -
This sets the lower acceptable limit for the winding increment.
p22026 Winding step upper limit [mm/rev]

-3,40282E+43 3,40282E+43 -
This sets the upper acceptable limit for the winding increment.
p22027 Priority waiting angle (3=highest, 2=middle, 1=lowest)

0 65535 -
Furthermore, it is possible to define certain priorities, which of the laying parameters should be adjusted first in
order to achieve the displacement angle. If the displacement angle has not been reached by adjusting the first
parameter, the next parameter with the next lower priority is continued.

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p22028 Priority acceleration angle (3=highest, 2=middle, 1=lowest)

0 65535 -
p22029 Priority winding increment (3=highest, 2=middle, 1=lowest)

0 65535 -
p22030 CI: Priority control word

-
The priorities of the displacement angle calculation can also be specified word by word. Thus only the word by
word part is evaluated and not the fixed values: from p22027 - 22029. The control word looks for example:
Control word = 01|10|11
W | B |WS
W = Wait angle; B = Acceleration Angle; WS = Winding Step
In this example, if the priority of the waiting angle = 1, acceleration angle = 2 and winding step = 3
p22040 Spike1: total angle [°]

-3,40282E+43 3,40282E+43 -
Description: This parameter is only relevant if spikes should be used.
Setting the duration of the first spike.
The first spike is after starting from position A in direction B. The second spike is defined before position B is
reached. The third spike starts after starting from position B in direction A and the fourth spike starts before
reaching position A.

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p22041 Spike1: Offset of the winding step [mm/rev]

-3,40282E+43 3,40282E+43 -
Setting the speed offset in mm/revolution of the first spike.

-3,40282E+43 3,40282E+43 -
Setting the duration of the second spike.

-3,40282E+43 3,40282E+43 -
Setting the speed offset in mm/revolution of the second spike.

-3,40282E+43 3,40282E+43 -
Setting the duration of the third spike.

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-3,40282E+43 3,40282E+43 -
Setting of the speed offset in mm/rotation of the winder of the third spike.

-3,40282E+43 3,40282E+43 -
Setting the duration of the fourth spike.

-3,40282E+43 3,40282E+43 -
Setting the speed offset in mm/revolution of the fourth spike.
p22052 Conical coils: Offset per layer at position A [mm]

-3,40282E+43 3,40282E+43 -
Description: This parameter is only relevant if conical coils should be used.
Within this application, an offset for position A and an offset for position B can be defined per layer. This makes it
possible to define the edge points A and B either further apart or closer together, etc.
A positive offset per layer at position A means that position A moves further to the right. A negative offset per
layer at A means that position A moves further to the left.
A positive offset per layer at position B means that position B moves further to the right. A negative offset per
layer at B means that position B moves further to the left.

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p22053 Conical coils: Offset per layer at position B [mm]

-3,40282E+43 3,40282E+43 -
Description: This parameter is only relevant if conical coils should be used.
Within this application, an offset for position A and an offset for position B can be defined per layer. This makes it
possible to define the boundary points A and B either further apart, or closer together, etc.
A positive offset per layer at position A means that position A moves further to the right. A negative offset per
layer at A means that position A moves further to the left.
A positive offset per layer at position B means that position B moves further to the right. A negative offset per
layer at B means that position B moves further to the left.
p22054 Conical coils: Maximum A position [mm]

-3,40282E+43 3,40282E+43 -
Description: This parameter is only relevant if conical coils should be wound with the coil edge points moving towards each
other.
If the edge points move towards each other in conical windings, a maximum position A can be defined here. This
prevents the positions from overlapping.
This parameter is only relevant if conical coils should be wound with the coil edge points moving towards each
other.
If the edge points move towards each other in conical windings, a minimum position B can be defined here. This
p22055 Conical coils: Maximum B position [mm]

-3,40282E+43 3,40282E+43 -
Description: This parameter is only relevant if conical coils should be wound with the coil edge points moving towards each
other.
If the edge points move towards each other in conical windings, a maximum position A can be defined here. This
This parameter is only relevant if conical coils should be wound with the coil edge points moving towards each
other.
If the edge points move towards each other in conical windings, a minimum position B can be defined here. This

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r22059 CO: actual displacement angle [m°]

-
Description: Display of the actual displacement angle regardless of whether it is calculated randomly or whether it is specified
by the user.
r22061 BO: Displacement angle calculation via adaptation of waiting angle

-
The displacement angle was achieved by adjusting the waiting angle.
r22062 BO: Displacement angle calculation via adaptation acceleration angle


-
The displacement angle was achieved by adjusting the acceleration angle.
r22063 BO: Displacement angle calculation via adaption winding increment

-
The displacement angle was achieved by adjusting the winding increment.
r22064 BO: Displacement angle results from the input parameters

-
Description: The displacement angle was achieved by setting the acceleration angle, waiting angle and winding step and the
resulting axis cycle.

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r22065 Resulting waiting angle [°]

-
The displacement angle was achieved by adjusting the waiting angle. This parameter then displays the adjusted
waiting angle.
r22066 Resulting acceleration angle [°]

-
The displacement angle was achieved by adjusting the acceleration angle. This parameter then displays the
adjusted acceleration angle.
r22067 Resulting winding step [mm/rev]


-
The displacement angle was achieved by adjusting the waiting angle. This parameter then displays the adjusted
winding step.
r22070 CO: Number of layers

-
Description: This parameter is only relevant if conical windings are used.
This parameter displays the number of layers already laid.
p22099 BI: actual position value Traversing Drive (0=desc; 1=asc)

-
Description: Setting of the signal source, whether the actual position value of the traversing drive strives towards + or - ∞

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p22100 CI: Actual position winder [LU]

-
Description: Setting the signal source actual position of the winder
p22101 actual velocity winder [1000LU/min]

-
Description: Setting the signal source actual velocity value of the winder
r22102 CO: Axis cycle length winder


-
Description: Output of the signal source for the axis cycle length of the winder
r22103 BO: Actual position value winder descending/ascending (0=desc;1=asc)

-
Description: Indicates whether the actual position value of the winder strives towards + or - ∞
r22104 BO: Reset actual position value back to 0 LU

-
Description: Output of the signal source for resetting the actual position value of the winder

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r24900 CO: Axis state

-
Description: This display parameter shows the current operating mode of the axis. Clearing transactions between operating
modes are also output here. This parameter is used to diagnose the axis movements and can be evaluated as a
feedback signal for controlling the axis.
A detailed description of all states can be found in the chapter Operating modes and axis states.
r24901 BO: Follow-up mode active

-
Description: Display of the feedback signal that the axis is in tracking mode.
Values: 0 Axis and position control are enabled
1 Axis and position control are not enabled and the axis is in tracking mode
Note: If the axis is in tracking mode, the position setpoint is adjusted to the actual position value of the axis. This allows
the axis to be rotated in switched-off operation without any position difference at the position controller when
switching on again.
r24902 BO: Axis in standstill

-
Description: Indication of the feedback that the axis is at standstill
Values: 0 Axis traverses
1 Axis stands still
r24903 BO: Axis moves forward

-
Description: Displays the feedback signal that the axis is traversing with a positive velocity.
0 Axis at a standstill or axis is traversing backward
1 Axis moves forward

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r24904 BO: Axis moves backward

-
Description: Displays the feedback signal that the axis is traversing with a negative velocity
0 Axis at a standstill or axis is traversing forward
1 Axis moves backward
r24905 BO: Compensation movement active

-
Description: Display the feedback that the axis is changing the operating mode
0 Axis is in the selected operating mode
1 Axis is currently executing a compensation movement
r24906 BO: Axis stops

-
Description: Displays the feedback signal that the axis is braking
Note: 0 Stop drive operating mode inactive - or the axis is already at a standstill
1 Stop drive operating mode active - and drive brakes
r24907 BO: Actual position value within hardware limit switch

-
Description: Display whether the actual position value is within the left and right hardware limit switches.
Values: 0 not within
1 within the hardware limit switch

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r24908 BO: Hardware limit switch actuated

-
Description: Display whether an HW limit switch has been triggered.
0 No hardware limit switch has been triggered
1 A hardware limit switch has been triggered
r24909 BO: Actual position value within software limit switch

-
Description: Display whether the actual position value is within the left and right software limit switches.
Values: 0 not within
1 within the hardware limit switch
r24910 BO: Software limit switch actuated

-
Description: Display whether a SW limit switch has been triggered.
Values: 0 no SW limit switch was triggered
1 SW limit switch was triggered
r24911 BO: HW- and SW limit switch drive released

-
Description: Display whether both HW and SW limit switches are OK
Values: 0 HW or SW limit switch is triggered
1 HW or SW limit switch is not triggered

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r24950 CO: Diagnosis: Status of control bits

-
Description: Display of the summary of all control bits in a diagnosis value
Note: This display parameter is used together with the status of the axis for Siemens internal diagnostic purposes.
r25001 CO: Position setpoint for position controller (integer)

-
Description: Display of the position setpoint signal (integer) to the position controller
Note: This connector must be connected to the basic system at parameter p2530.
r25002 CO: Position setpoint for position controller (decimal)


-
Description: Display of the position setpoint signal (decimal) to the position controller
r25003 CO: velocity setpoint to the position controller (integer)

-
Description: Display of the velocity setpoint signal (integer) to the position controller
r25004 CO: velocity setpoint to the position controller (decimal)

-
Description: Display of the velocity setpoint signal (decimal) to the position controller

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r25005 CO: Correction value for position actual value prep

-
Description: Display of the correction value for the position controller
r25006 BO: Correction bit POV for position actual value prep
-
Description: Display of the position correction bit for positive position overflows
r25007 BO: Correction bit NOV for position actual value prep

-
Description: Display of the position correction bit for negative position overflows
r25008 CO: Current position offset to leading value

-
Description: Display of the current position offset of the slave axis to the master axis
Note: In relative synchronism, the slave axis follows the master axis with undefined or non-parameterizable
misalignment. This display parameter shows the offset between the slave axis and the currently selected leading
value.
p25500 CI: Position actual value

-
Description: Signal source to read-in the position actual value
Note: This connector must be interconnected with parameter r2521[0].

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p25501 BI: Measured value valid

-
Description: Signal source for the feedback signal, measured value valid
Note: This connector must be interconnected with parameter r2526.2
p25502 CI: Measured value

-
Description: Signal source to feed back the measured value
Note: This connector must be interconnected with parameter r2523[0]
p25503 BI: Position control active


-
Description: Signal source to feed back the position control active
p25504 BI: OFF2 Internal signal

-
Description: Signal source for the feedback signal OFF2 internal
p25505 BI: Encoder adjusted

-
Description: Signal source for the feedback signal that the encoder is adjusted

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p25506 BI: Operation enabled

-
Description: Signal source for feedback from the drive if operation is enabled.

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6.3 Execution groups

Please set the traversing drive's Execution group as follows:
DCC-plan traversing drive

Table 6-1
Execution group Setting
Control_unit "BEFORE standard technology
controller"
DCC-plan winderExt
Table 6-2
Execution group Setting
Splice control "BEFORE basic positioner"
6.4 Notes on computation time and memory load levels

Depending on the set sampling times for the internal control cycles, there are
different calculation time loads and maximum quantity structures. The values apply
when using firmware version V5.1.0 on a CU320-2!
6.4.1 Computational time load
DCC plan traversing drive
Table 6-3
Execution group/ Computation load for configuration
Execution group setting "Standard" (4ms)
Control_unit 5,8%
("BEFORE standard technology controller")
DCC plan winderExt
Table 6-4
Execution group/ Computation load for configuration
Execution group setting "Standard" (4ms)
Splice control 2,9 %

("BEFORE basic positioner")
6.4.2 Memory utilization
The DCC plan for the traversing axis contains in total 63 blocks.

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6.5 Faults and alarms

6.5.1 Faults
F51051 Error in the SPLINE64 block of the continuous cam

Drive object: SERVO, VECTOR
Response: Traversing drive slows down to standstill with the last valid dynamic
Acknowledgment: NONE
Cause: Probably one of the internally calculated interpolation points is incorrect (internal error)
Remedy Enter valid values for acceleration angle, winding step and waiting angle and then acknowledge all errors
on the drive. If this does not help, please contact tech.team.motioncontrol@siemens.com
F51052 Error CAMD block on DCC plan page A4

Cause: Internal error
Remedy Please contact tech.team.motioncontrol@siemens.com
6.5.2 Alarms
A51060 The traversing drive position actual value r2521[0] is not within the coil edge points

Response: The traversing axis cannot be started
Acknowledgment: AUTOMATIC if the position actual value is again within the coil edge points A and B and
the traversing mode is activated with a rising edge
Cause: The position actual value of the traversing drive r2521[0] is smaller than the coil edge point A r21951 or
larger than the coil edge point B r21953.
Remedy You can position the traversing drive autarkically, for example directly to position A. To do this, activate
positioning mode p21573 and then start positioning to position A with a rising edge at p21574. If you want
to move to another position, read chapter 4.12
A51061 Invalid axis dynamics

Acknowledgment: Acknowledgement via p21571 (or bit 10 in technology control word 2)
Cause: The setting for the axis dynamics (velocity and/or acceleration) is invalid.
Remedy Parameterize a valid axis dynamics. The incorrect parameter setting must then be acknowledged. (valid
values, parameter numbers and acknowledgement see chapter Axis dynamics)

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A51062 Absolute encoder adjustment incorrect

Response: NONE
Cause: The requested absolute encoder adjustment was not successfully completed. Identify cause via error
value:
100: Adjustment triggered, although position control of the axis was enabled
200: Position control enabled during adjustment
300: Encoder is not an absolute value encoder (p404.1 = 0)
400: Exceeding the monitoring time for encoder feedback adjusted by the basic system
DPV1: DPV1 Code for incorrect read/write access (evaluate encoder adjustment status to identify which
parameter should be read/written)
Remedy If encoder adjustment is incorrect, record the encoder adjustment status (r23920) and the error code
(r23921) using the starter trace function.
Correct the cause of the error and start the adjustment of the absolute value encoder again.
A51063 Hardware limit or software limit exceeded, or axis is not yet homed
Response: OFF3, if bit r24911 has been linked with p849
Acknowledgment: If r24907 = 0 then acknowledge via p21560 = 1 and then acknowledge all errors (p2103 = 1); if r24909 = 0
then acknowledge via all errors (p2103 = 1)
Cause: r24907 = 0 or r24909 = 0
Remedy Homing your axis using chapter 3.7 If the axis was already homed, first acknowledge the error and then
position your axis back to a valid position within the limit switches. Positioning is described in more detail
in chapter 4.12.

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7 Appendix
7 Appendix
7.1 Application Support
Siemens AG
Digital Factory Division
Factory Automation
Production Machines
DF FA PMA APC
Frauenauracher Str. 80
D-91056 Erlangen, Germany
mailto: tech.team.motioncontrol@siemens.com
7.2 Links and Literature

Table 6-1
No. Topic
\1\ Siemens Industry Online Support
https://support.industry.siemens.com
\2\ Link to this entry page of this application example
\3\ Link to the entry page of the SINAMICS DCC Winder Extended
7.3 Change documentation

Table 6-2
Version Date Modifications
V1.0 08/2018 First version
V1.1 10/2018 Displacement angle calculation improved
Projectassistant added

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7 Appendix
7.4 Upgrade information

Upgrading the DCB Extension Library
Future versions of the DCB-Extension libraries will be compatible to the existing
version. For using libraries with versions higher than the versions mentioned in this
documentation, please consider the instructions in the libraries documentation.
Upgrading the library version requires a new compilation of the DCC plan. Make
sure that the parameterizations you have made are copied to the chart sources
either by reading the current project from the drive unit and saving it or by
transferring the offline parameter values to the chart in the DCC chart under
"Options" → "Read back BICOs and parameters":
Figure 7-1
Upgrading the application version

The following procedure is recommended for upgrading an application version:
• Check in the history of the application whether there was a shift in the
parameter range between the old and the new version - if this is the case, the
upgrade can only be done manually by reparameterization. If there was no
shift, the upgrade can be simplified as follows:
• Create a backup copy of your project in order to be able to check parameter
values later.
• In the Starter commissioning tool, open the expert list of the drive with the
application to be upgraded
• Go to parameter r21500 and mark it by clicking
• Scroll to the last parameter of the application and mark it while holding down
the shift key to select all existing DCC parameters
• Right-click on the highlighted parameters and select "Save as
executable script at the source object"

Beitrags-ID: 109753102, V1.0, 08/2018 133
7 Appendix
Figure 7-2
Select a suitable name in the following input mask and save the script
• Go to the "Diagnostics" of the drive object via the project navigator and select
the sub-item "Interconnections" there. Here you will find the tabs "Binector
output (BO)" and "Connector output (CO)". Select the option "Optimize view" to
see only interconnected parameter outputs.
• Note of the application specific interconnections, these start with the parameter
number r21500. You do not have to write down the values from "Binector input"
and "Connector input" because they are already stored in the script.
• Delete the old version DCC plan and import the new version as described in
the documentation.
• Compile the new DCC plan before proceeding
• Execute the previously created script with the parameter setting values of the
old application. The output window displays errors, warnings, and information.
Deselecting "Information" will display any errors and warnings that have
occurred, typically parameters that are no longer necessary in the new version
and thus no longer available. Check the displayed errors and warnings in this
regard.
• Restore the previously noted BiCo interconnections between the application
and other drive objects via existing commissioning scripts or by setting in the
expert list.

Beitrags-ID: 109753102, V1.0, 08/2018 134

DCB TraversingDrive V1 1 DOC EN PDF

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Traversing Drive with

Traversing Drive with DCB Extension

3.3 Configuring the traversing drive ......................................................... 23

Traversing Drive with DCB Extension

5.13 Optimizing position-controlled axes ................................................... 62

Upgrading the application version .................................................... 133

Traversing Drive with DCB Extension

1 Description of the application example

Traversing Drive with DCB Extension

Fig. 1-1 Drive unit with winder and traversing drive

Traversing Drive with DCB Extension

1.3 Components used

Fig. 1-2 SINAMICS S120 multi-axis system

Commissioning tool 1 Starter since V5.1

Traversing Drive with DCB Extension

This application example consists of the following components:

Traversing Drive with DCB Extension

Before the Traversing Drive reaches position B, it is decelerated again. The

Traversing Drive with DCB Extension

2.2 Acceleration angle

2.3 Winding step

2.4 Waiting angle

Traversing Drive with DCB Extension

The compensation is realized by an overspeed in the edge areas of the winding

Fig. 2-2 Cam profile of the Traversing Drive with spikes

Traversing Drive with DCB Extension

2.6 Displacement angle

Traversing Drive with DCB Extension

For example, a displacement angle of 160° should be realized, as shown in the

The displacement angle is realized by adjusting the traversing parameters:

2.7 Conical coils

Traversing Drive with DCB Extension

This allows to realize different coil profiles:

2.8 Homing functions

Absolute encoder adjustment

Set reference point

Traversing Drive with DCB Extension

2.9 Autarkic axis functions

Traversing Drive with DCB Extension

3 Commissioning the application

3.1 For your safety

Pictogram, signal word and text

WARNING indicates that death or severe personal injury could result if

3.1.2 Responsibilities of the operating company

Traversing Drive with DCB Extension

• All forms of manipulation of devices that serve to ensure the proper

Traversing Drive with DCB Extension

3.2 Selection of Commissiong mode

Abbildung 3-2 Adjust application parameters

Traversing Drive with DCB Extension

Requirements for using the Assistant

Download the Project Assistant

Traversing Drive with DCB Extension

3.3 Basic configuration in STARTER

Fig. 3-3 Installation of the libraries in starter

Traversing Drive with DCB Extension

Traversing Drive with DCB Extension

Fig. 3-6 Online offline comparison of existing libraries

Traversing Drive with DCB Extension

3.4 Configuring the traversing drive

Fig. 3-7 Activation of the position control function module in STARTER

Traversing Drive with DCB Extension

Importing the DCC chart