POS-123PDP rev 11 - W.E.ST. Elektronik GmbH

W.E.ST. Elektronik GmbH
Technical documentation
POS-123-PDP

W.E.ST. Elektronik GmbH
Table of contents
Revisions .................................................................................................................................................4
Ordering code ..........................................................................................................................................4
Accessories .............................................................................................................................................4
General description ..................................................................................................................................5
General installation remarks .....................................................................................................................6
Description of the unit ..............................................................................................................................7
In- and outputs for the synchronization controller .............................................................................8
LED Function...................................................................................................................................8
Block diagram..................................................................................................................................9
Typical wiring................................................................................................................................. 10
Technical Data .............................................................................................................................. 11
Dimensions ................................................................................................................................. 11
General IO description ................................................................................................................... 12
Power supply ............................................................................................................................... 12
Digital inputs................................................................................................................................ 12
Digital outputs ............................................................................................................................. 12
Analogue inputs........................................................................................................................... 12
Analogue outputs ........................................................................................................................ 13
Serial interface ............................................................................................................................ 14
Start-up and commissioning guidelines .................................................................................................. 15
Parameter table ..................................................................................................................................... 16
Parameter description ............................................................................................................................ 18
INPX (Sensor input selection) ...................................................................................................... 18
VMODE (Activation of the NC mode) ........................................................................................... 18
SENS (sensor monitoring) ........................................................................................................... 18
PDPADR (Profibus Address) ....................................................................................................... 18
STROKE (Maximum stroke of the sensor) ................................................................................... 18
SSIOFFSET (Sensor offset) ........................................................................................................ 19
SSIRES (Resolution of the sensor) .............................................................................................. 19
This sensor resolution is always used for the input data via Profibus. ........................................... 19
SSIBITS (Data protocol length in Bits) ......................................................................................... 19
SSICODE (Transmitting code) ..................................................................................................... 19
SSIPOL (Sensor polarity) ............................................................................................................ 20
AIN (input signal scaling) ............................................................................................................. 20
VRAMP (ramp time for the external velocity) ................................................................................ 21
VMAX (Internal maximum velocity preset) .................................................................................... 21
A (acceleration time) .................................................................................................................... 21
D (deceleration stroke or braking distance) .................................................................................. 21
CTRL (braking characteristics)..................................................................................................... 22
INPOS (in positioning window)..................................................................................................... 23
HAND (Hand speed) .................................................................................................................... 23
OFFSET (zero point adjustment) ................................................................................................. 23
POL (output polarity) ................................................................................................................... 23
MIN (compensation of the dead zone) ......................................................................................... 24
MAX (maximum output signal) ..................................................................................................... 24
TRIGGER (threshold value of MIN) .............................................................................................. 24
DC (Setting drift compensation) ................................................................................................... 25
SAVE (data storing in EEPROM) ................................................................................................. 25
LOADBACK (copy of the EEPROM into the active RAM) ............................................................. 25
UPLOAD (actual parameter list) ................................................................................................... 25
ST (internal status) ...................................................................................................................... 26
PROCESS DATA (monitoring) ..................................................................................................... 26
Profibus DP linking................................................................................................................................. 27
Profibus functions .......................................................................................................................... 27
Installation ..................................................................................................................................... 27
GSD Configuration File .................................................................................................................. 27
Prozess data definition ................................................................................................................ 28
Page 2 of 33

W.E.ST. Elektronik GmbH
Commands via PROFIBUS ............................................................................................................29
DATA send to PROFIBUS .............................................................................................................30
System structure............................................................................................................................32
Comments .............................................................................................................................................33
Page 3 of 33

Revisions
W.E.ST. Elektronik GmbH
Date
Module
revision
Comment
21.12.05 1113-rev 1 New hardware, ME5 board.
• Switchable sensor input (SSI and analogue)
26.04.06 1113-rev 2 • Emergency brake ramp mode
• Command „DIN“ replace through „ST“
30.05.06 1113-rev 3 Offset input (SSI) in mm.
16.06.06 1113-rev 4 Selection of SSI Sensors expanded
14.02.07 1113-rev 5 High / Low and Low / High speed mode
15.05.07 1113-rev 6 Velocity limitation in hand-mode
New functions
• New parameter calculation, neither rounding error
05.06.07 1115-rev 7 • Baudrate up to 56700 Baud
• Bootloader
• New brake ramp calculation
26.09.07 1115-rev 8 Implementation of a drift-compensator
10.01.08 1115-rev 9 PO and OFFSET now for analog Input
22.01.08 1115-rev 10 Number of SSI sensors extended
18.02.08 1115-rev 11 Position Error xw is send to Profibus DP
Ordering code
POS-123PDP - with analogue ± 10 V output
* = Version number, for ordering not necessary. Changes of the last digit (13 to 14) indicate technical improvements
at 100% compatibility. Changes from 13 to 20 indicate significant technical improvements. In
this case check the documentation about the parameter and wiring.
Accessories
RS232-SO - programming cable with RS232C interface
USB-SO - programming cable with USB interface
HHT-302 - Hand held terminal
WPC-300 - Start up software
W.E.ST. Elektronik GmbH
Gewerbering 31
D-41372 Niederkrüchten
Fax.: +49 (0) 2163 57 73 55 - 11
Homepage: www.w-e-st.de or www.west-electronics.com
EMAIL: info@w-e-st.de
Date: 20.05.2008
Revision: 11
Page 4 of 33

General description
W.E.ST. Elektronik GmbH
This electronic module is developed for controlling of hydraulic drives via an integrated Profibus DP interface.
A typical repeatable positioning accuracy of up to 0,01 % with analogue sensors or up to 0,001 mm
with digital SSI sensors can be achieved. Command signals and actual values are transmitted from the
module to the PLC by the Profibus communication interface. Proportional valves with integrated electronics
(typically with control valves) can be driven by the analogue differential output.
Internal profile generation (acceleration time, max. velocity and stroke depended deceleration) provides
fast and excellent positioning. The drive works in open loop mode and is switched over in closed loop during
deceleration. This is a time-optimal positioning structure with very high stability. The maximal velocity
can be limited by the external velocity input. An extra NC mode can be used for a speed controlled profile
generation.
The adjustment via RS232C is simple and easy to understand (command line input, ASCII format). A
standard terminal program or a special windows application software (WPC-300, download from our
homepage) can be used.
Typical applications: General position control.
Features
Communication via Profibus DP: Command values, actual values,
control word and status word
Sensor resolution up to 0,001 mm
Speed resolution up to 0,005 mm/s
Principle of stroke depended deceleration
High / Low speed profile generation
Optimal use of overlapped and zero overlapped proportional valves
Internal profile, defined by acceleration time, max velocity and de-
celeration stroke
Extern definable velocities
Simple and application orientated parameter settings
Failure monitoring
Adjustments via RS232C interface
Page 5 of 33

General installation remarks
Explanation of terms and notes on safety
Terms:
wl: command signal
xl: actual signal
xw: control error (w-x)
v: speed
u: output signal
Mounting instructions
W.E.ST. Elektronik GmbH
This module is for the installation provided in shielded electromagnetic compatibility housing (EMC conform).
All cables operating outside have to be screened. A complete shielding is presupposed. By use of our
control modules it is also presupposed, that no strong electrical disturbances near the module are installed.
Typical mounting area: 24V control signal area (near PLC)
During the arrangement of the electrical cabinet a separation between power part (and power cables) and
signal part must be taken in consideration. Experience shows us that the area next to the PLC (24 V area)
is suitable. All digital and analogue inputs and outputs have filters and an over voltage protection. In
case of correct wiring and shielding all EMC demands are fulfilled. If there are nevertheless any problems,
please send us detailed sketches of mounting and wiring. We will look after this problem immediately.
Even if all EMC-norms are fulfilled, technical problems in special cases are possible. Our experience has
shown us that most of these problems are caused in the physical conditions of the cables. If everything is
shielded continuously and configured correctly, no problems have to be expected.
ATTENTION!
ATTENTION!
Due to electrical disturbances, failure at components as well as software faults can cause
in individual cases uncontrolled movements at the drive. Appropriate safety precautions
have to be considered during the engineering.
Connection and start up of the module may only be allowed by qualified persons
who have, because of education, experience and instruction, sufficient
acknowledge on relevant directives and approved technical rules. Please
read and follow the operating instructions carefully. In case of non observance
of the instruction the guaranty and liability claim expires.
Page 6 of 33

Description of the unit
W.E.ST. Elektronik GmbH
Positioning control
This module is a further development of the analogue position controller POS-123A.
The POS-123PDP is a module with digital or analogue position measuring and an integrated communication
via Profibus DP.
It can be used as an universal axis controller for hydraulic drives.
Because of a second position and a second velocity it is optionally possible to drive to this position with
the corresponding speed (rapid traverse and creeping speed respectively creeping speed and rapid traverse)
Positioning: Similar to the POS-123 the axis can be used as point to point controller (stroke
depended deceleration) as well as in NC mode. With only a few parameters the controller can
be optimized, the movement profile is preset via Profibus (position and velocity).
Because of the input of a second position and speed, the axis can be driven to this position with
the second velocity. This mode is only activated when the velocity command value 2 is typed
in. The following features have to be noticed:
- the target position is command value 2 (P2) combined with velocity 2 (V2).
- the switch over position is command value 1 (P1), combined with velocity 1 (V1).
Switching over position from a high to a lower speed is calculated by the deceleration function
and V2.
Switching over from a low to a high velocity is carried out at the position (P1) via the acceleration
ramp; see below.
- If the positioning command value 2 (P2) is between the actual and the position command
value 1 (P1), to position 2 (P2) can only be driven with speed 1 (V1).
velocity
velocity
V1
acceleration deceleration
Low to high speed
V1
High to low speed
P1 P2
Page 7 of 33
V2
V2
P1 P2
acceleration deceleration
time / position
time / position

W.E.ST. Elektronik GmbH
In- and outputs for the synchronization controller
Terminal Description of the analogue inputs and outputs
PIN 14 Analogue feedback value (X), range 0… 100% corresponds to 0… 10V or
4… 20 mA
PIN 15 / 16 Differential output (U) ± 100% corresponds to ± 10V differential voltage,
optionally (I-version) current output ±100% corresponds to 4… 20 mA (PIN 15 to
PIN 11)
Terminal Description of the digital inputs and outputs
PIN 8 Enable input:
This digital input signal initializes the application. The analogue output is active
and the READY signal indicates that all components are working correctly. Target
position is set to actual position and the drive is closed loop controlled.
LED Function
LEDs Description of the LED function
GREEN Identical with the READY output.
OFF: No power or ENABLE is inactive.
ON: System in process
FLASHING Failure detected (internal or 4… 20 mA).
Only if SENS = ON.
YELLOW Identical with the STATUS output.
OFF: Control error depending of the error parameter.
ON: No control error.
Page 8 of 33

Block diagram
Power supply
24V
0V
Enable
24 V
0 V
analogue
actual position
0..10V
4..20mA
0 V
SSI
actual position
0 V
8
3
4
19
20
14
11
25
26
27
28
31
32
CLK+
CLK-
DC
DATA+
DATA-
24 V
0 V
24 V input
DC
W.E.ST. Elektronik GmbH
12 V
5 V
profile- generator
setpoint w over
the fieldbus
Input Selektor
ain:i a b c x
i = XL
a,b,c = -10000...10000
x = V|C
SSI Interface
ssioffset x
x = -30000..30000
ssires x
x = 10.1000
ssibits x
x = 8..31
ssicode x
x = gray | bin
ssipol x
x = + | -
save
loadback
upload
wl
Allgemeine Kommandos
offset x
x = -1000.. 1000
Control program
SUPPORT
Freigabe
inpx = ana
Freigabe
inpx = ssi
xl
xw
DIAGNOSTICS
st
wl
xl
xw
u
v
RS232 C
9600 Baud
1 Stopbit
no parity
3,5 mm JISC-6560 Buchse
Deceleration A
d:i x
i = A
x = 50..10000
Deceleration B
d:i x
i = B
x = 50..10000
brakeramp
d:i x
i = S
x = 0..10000
setpoint v over
the fieldbus
Page 9 of 33
Acceleration A
a:i x
i = A
x = 1..2000 ms
Acceleration B
a:i x
i = B
x = 1..2000 ms
CONFIGURATION
inpx x (x = SSI|ANA)
pdpadr x (i = 1..126)
vmode x (ON | OFF)
hand:i x (i = A|B, x = -10000..10000)
inpos x (x = 0..1000)
ctrl x (x = LIN|SQRT1|SQRT2)
stroke x (x = 10..10000)
sens x (ON| OFF)
POS-123PDP
v
u
Driftcompensator
dc:i x
i = I
x = 3... 30000
dc:i x
i = AV
x = 0... 10000
dc:i x
i = DV
x = 0... 10000
dc:i x
i = RA
x = 0... 10000
valve adaption
vramp x
x = 10..2000
min:i x
i = A|B
x = 0..5000
max:i x
i = A|B
x = 5000..10000
trigger x
x = 0..3000
pol x
x = +|-
24 V output
24 V output
Profi-Bus
SUBD 9 pol
Output: A (0..10)V
u
PE via DIN-RAIL
15
16
Output: B (0..10)V
9 9
12
1
2
Profibus DP
differenzinput from the
aktuator
I version: 4... 20 mA output
PIN 15 = +, PIN 12 = GND
Ready
InPos

Typical wiring
ENABLE
+/- 10 V
to control valve
PE Klemme
1
5
9
13
W.E.ST. Elektronik GmbH
2
6
10
14
3
7
11
15
4
8
12
16
17
21
25
29
18
22
26
30
Page 10 of 33
19
23
27
31
20
24
28
32
PE Klemme
24V
Power supply
0V
PE
DATA-
DATA+
CLK-
CLK+
GND
+24 V DC
SSI / SSD
sensor interface

Technical Data
Power supply
Current consumption
External fuse
Dimensions
WIDTH (see technical data)
W.E.ST. Elektronik GmbH
[VDC]
[mA]
[A]
Digital inputs [V]
[V]
Digital outputs [V]
[V]
Analogue inputs (sensor and command
signals)
Resolution
[V]
[mA]
[%]
Page 11 of 33
12… 30 (incl. ripple)
400 + sensor power consumption
1 (medium lag)
logic 0: < 2 V
logic 1: > 12 V
logic 0: < 2 V
logic 1: > 12 V (max. 50 mA)
0...10; 33 kOhm
4...20; 250 Ohm
0,01 (internally 0,0031)
SSI Interface RS422 specification: Bits, code, and resolution are
programmable
Analogue outputs
Max. load
Resolution
[V]
[mA]
[mA]
[%]
Sample time ms 1
Interface
Profibus DP
Baudrate
ID-Nummer
2 x 0...10 (differential output)
5
4...20 mA (I version); 390 Ohm max. load
0,024
RS 232C, 9600 Baud, 1 stopbit, No parity, Echo
Mode
9.6,19.2, 93.75, 187.5, 500, 1500, 3000, 6000,
12000 kbit/s
1810h
Housing Snap-On Module EN 50022
Polyamide PA 6.6
Combustibility class V0 (UL94)
Protection class
Temperature range
Humidity
[IP]
[°C]
[%]
Dimensions (width) [mm] 45
20
-20… 60

General IO description
W.E.ST. Elektronik GmbH
This description is a general description of the technical data of out open loop and closed loop control
modules. Please check the implemented IO signals via the block diagram about availability.
Power supply
This module is designed for 12… 30 VDC (typical 24 V) of a power supply. This power supply must correspond
to the actual EMC standards.
All inductivities at the same power supply (relays, valves …) must be provided with an over voltage protection
(varistors, free-wheel diodes …).
It is recommended to use a regulated power supply (linear or switching mode) for the supply of the module
and the sensors. These power supplies have a clearly lower internal resistance in comparison with
non regulated power supplies and therefore a better spurious rejection.
Power supply : 12… 30 VDC, incl. ripple
Power consumption: 400 mA + sensor power consumption
External protection: 1 A medium lag
Digital inputs
ATTENTION: Without an external fuse and in case of a continual short-circuit the
module can be destroyed in spite of all internal protections.
The digital inputs are designed for a voltage level of 12 V and 24 V. The typical connections to the PLC
will not be screened if the modules are arranged carefully and with short cable lengths. As common potential
0V (PIN 4) is used.
All inputs are protected with suppressor diodes and RC-filters against transient overshoots.
Low level: < 4 V
High level: > 12 V
Current: < 0,1 mA
Digital outputs
The digital outputs are designed for a voltage level of 12 V and 24 V. The typical connections to the PLC
will not be screened if the modules are arranged carefully and with short cable lengths. As common potential
0V (PIN 4) is used.
All outputs are protected with suppressor diodes and RC-filters against transient overshoots.
Low level: < 4 V
High level: > 10 V
Current: max. 50 mA (with load of 200 Ohm)
Analogue inputs
By use of analogue inputs you have to distinguish between symmetrical and asymmetrical inputs.
All analogue inputs must be screened.
The symmetrical input is carried out as a differential input for voltage signals and can be switched over
per software to bipolar or unipolar signals. Especially by use of high-resolution analogue signals an additional
cable twisted in pairs has to be taken.
Page 12 of 33

W.E.ST. Elektronik GmbH
The asymmetrical inputs are optimized for the two-pole-conductor techniques (voltages or current signals
as usual in the automobile industry). They can be switched over by software between voltage and
current input. A low-impedance GND connection is required for good signal transmission. In this configuration
the return line is the GND of the power supply. Therefore sensors and the control module should be
combined at a common star point (low impedance) with the GND of the power supply. As common potential
the 0V PIN 11 and optionally PIN 12 are used.
All inputs are protected with suppressor diodes and RC-filter against transient overshoots.
Differential input:
Voltage level: bipolar ±10 V (PIN 9 and PIN 10)
unipolar 0… 10 V (PIN 10 against PIN 9)
input resistance: > 91 k
Asymmetrical inputs:
Voltage level: unipolar 0… 10 V (against PIN 11)
input resistance: 25 k
Current level: unipolar 4… 20 mA (against PIN 11)
input resistance: app. 250
Analogue outputs
The analogue outputs are carried out as symmetrical differential outputs. Because all power amplifiers
have a differential input (especially valves with integrated electronics), an optimal signal transmission
even over greater distances is possible. All analogue outputs have to be wired with screened cables.
Ideally, twisted pair cables are used. For the signal potential or if both outputs are used as two separate
asymmetrical signals (f. e. for plug amplifiers), PIN 12 as GND potential has to be used. All outputs are
protected with suppressor diodes against transient overshoots.
As differential output:
Voltage level: bipolar ±10 V (PIN 15 and PIN 16)
Output current: max. 10 mA
As asymmetrical outputs:
Voltage level: 2 x unipolar 0… 10 V (PIN 15 or PIN 16 against PIN 12)
Output current: max. 10 mA
As current output:
Voltage level: 1 x unipolar 4… 20 mA (PIN 15 to PIN 12)
max output current: max. 22 mA
max load: 390 ohm
ATTENTION! At the asymmetrical output with the 0 V potential at PIN 12 a minimal
output voltage of approx 0,1 to 0,15 V exists.
Page 13 of 33

Serial interface
W.E.ST. Elektronik GmbH
The serial interface is chosen for the parametering with a PC or a notebook. A suitable cable of 3,5mm
JISC-6560 plug to 9pol. RS232 (PC compatible) can be bought under RS232-SO.
You can parameterize our modules with each terminal program. However, by use of our application software
WPC-300 you have enlarged functions and therefore it is preferable.
Download: WWW.WEST-ELECTRONICS.COM or WWW.W-E-ST.DE
Features:
Table orientated parametering
Saving and loading of the parameter sets
Process data monitoring
Oscilloscope for dynamical optimization of the control parameters
Terminal window for flexible data input
Page 14 of 33

W.E.ST. Elektronik GmbH
Start-up and commissioning guidelines
1. The module must be mounted and wired with attentions to EMC requirements. A star orientated
ground connection should be used when other power consumers are sharing the same power
supply. Following points have to be taken in account for wiring:
Signal cable and power cable have to be wired separately.
Analogue signal cables must be screened.
Other cables should be screened in case of strong electrical disturbance (power relays,
frequency controlled power driver). With high frequency EMI inexpensive ferrite elements
can be used. In this typical configuration of installation (see point 2 to 4), no extra step
should be taken in consideration.
2. By the arrangement of the electrical cabinet a separation between the power part (and power cables)
and signal part must be taken in consideration. Experience shows us that the area next to
the PLC (24 V area) is suitable.
3. Low impedance between PE “protected earth” and DIN-Rail should be used. Transient interference
voltages at the terminals are discharged via DIN-Rail to the local PE. The screens have to
be connected directly next to the module via PE terminals.
4. The power supply should be carried out voltage regulated (that is PWM controlled). The low impedance
of controlled power supplies facilitates improved interference damping. Therefore the
signal resolution will be increased. Switched inductance (relays and solenoids) operating from the
same power supply has to be damped by surge protection elements directly by the inductance.
5. According to the motion diagram, the power amplifier- / valve- / drive combination should drive
out with positive output signal (PIN 15 to PIN 16) and the output voltage of the sensor heightens.
ATTENTION: This output is a differential output. Both outputs may not be
connected with 0V.
Page 15 of 33

Parameter table
W.E.ST. Elektronik GmbH
Commands Parameter Defaults Units Description
inpx X= SSI|ANA SSI - Selection of the sensor input channel.
vmode x X= on|off Off - Activation of the NC-generator. The command position is generated
by a velocity profile (internal or external preset of v). The axis
drives more or less speed controlled.
sens x x= on|off on - Activation of the sensor and internal failure monitoring.
pdpadr x X= 1… 126 5 - Profibus address
stroke x X= 2… 3000 200 mm Sensor stroke.
ssioffset X X=
-300000… 300000
0 0,01 mm Zero point adjustment of the sensor.
ssires X X= 1… 5000 1000 ink/mm Resolution of the sensor.
ssibits x X= 8… 32 24 - Bits of the data word.
ssicode x X= GRAY|BIN GRAY - Format of the data word.
ssipol x X= +|- + - Sensor polarity, attention: SSIOFFSET has to be set to compensate
negative position values.
ain:i a b c x i= XL
a= -10000… 10000
b= -10000… 10000
c= -10000… 10000
x= V|C
: 10000
: 10000
: 0
: V
-
-
0,01%
-
vramp x X= 1… 2000 200 ms Ramp time for velocity input.
Page 16 of 33
Analogue input scaling. XL for the input and V = voltage.
C = current. With the parameters a, b and c the inputs can be
scaled (output = a / b * (input - c)).
Because of the programming of the x-value (x = C) the corresponding
input will be switched over to current automatically.
vmax x X= 1… 20000 50 mm/s Parameter is active in vmode = ON only.
VEL defines the maximum speed. Via the external command
speed an actual speed between 0,5… 100 % can be selected.
a:i x i= A|B
X= 1… 2000
d:i x i= A|B|S
X(A,B)= 50… 10000
X(S)= 0… 10000
ctrl x X= lin|sqrt1
|sqrt2
:A 200
:B 200
:A 2500
:B 2500
:S 1000
ms
ms
0,01%
0,01%
0,01%
Acceleration time depending on direction. A indicates analogue
output 15 and B indicates analogue output 16.
Normally A = flow p-A, B-T and B = flow P-B, A-T.
Deceleration stroke depending on direction. The loop gain is calculated
by the deceleration stroke. The shorter the higher. In case
of instabilities longer deceleration stroke will be sufficient.
sqrt1 - Selection of the control function: lin = standard linear P-control,
sqrt1 = progressive time optimized deceleration curve, sqrt2 =
sqrt1 with a higher gain in position
inpos x X= 0… 5000 32 0,01% Range for the InPos signal (status output).
hand:i x i= A|B
X= -10000… 10000
:A 3300
:B -3300
0,01%
0,01%
Degree of output signal in manual mode
offset x X= -2000… 2000 0 0,01% The offset will be added to the command value.
pol x x= +|- + - For changing the output polarity. All A and B adjustments depend
on the output polarity. The right polarity should be defined first.
min:i x i= A|B
x= 0… 5000
max:i x i= A|B
X= 5000… 10000
:A 0
:B 0
:A 10000
:B 10000
0,01%
0,01%
0,01%
0,01%
Deadband compensation of positive overlapped proportional
valves. Good adjustment will increase positioning accuracy.
Maximum output range for adapting control range to maximum
flow range.
trigger x X= 0… 2000 200 0,01% Point to activate the deadband compensation (min). Also useful
for reduced sensitivity in position with control valves.

W.E.ST. Elektronik GmbH
Commands Parameter Defaults Units Description
dc:i x i= I|AV|DV|RA
I:x = 3… 30000
AV:x = 0… 10000
DV:x = 0… 10000
RA:x = 0… 10000
I:x 1300
AV:x 0
DV:x 0
RA:x 500
ms
0,01%
0,01%
0,01%
Page 17 of 33
Activation and adjustment of the Drift-compensator. . If necessary,
the drift compensation with "DC: AV x" in a catchment area activated
and the target range by "DC: DV x" disabled. "DC: I x", the
time constant and "DC: RA x" value area of the integrator.
save - - - Storing the programmed parameter in E²PROM.
loadback - - - Reloading the parameter from E²PROM in working RAM
upload - - - Parameter list with programmed data, for terminal programs only
st - - - Status of the digital inputs.
wl, xl, xw, u,
v
- - - Actual signals: command value, actual value, process data, control
divergence and reference value.
default - - - Preset values will be set.

Parameter description
INPX (Sensor input selection)
W.E.ST. Elektronik GmbH
Command Parameter Default Unit
inpx:I x x= SSI|ANA SSI -
This parameter determined the selection of the sensor input. The standard is a digital sensor with SSI
specification at the corresponding connections (clamps 25 to 28 and 31, 32). Alternatively an analogue
input which is indicated in the command as parameters “ANA” can be used. The command AIN is used
for input scaling of the analogue input.
VMODE (Activation of the NC mode)
Commands Parameter Defaults Units
vmode x x= ON|OFF OFF
With this parameter the NC mode (almost closed loop controlled velocity) will be activated. In OFF state
the stroke depended deceleration is active; the velocity preset limits the output signal.
In ON state a profile generator generates the positioning demand value and the axis drives to the target
position with the defined velocity. The stroke time is defined by the parameter VEL.
SENS (sensor monitoring)
Commands Parameter Defaults Units
sens x x= ON|OFF ON -
The sensor monitoring can be activated (with 4… 20 mA sensors).
PDPADR (Profibus Address)
Command Parameter Default Unit
pdpadr X= 1… 126 5 -
Number of the address for Profibus communication
STROKE (Maximum stroke of the sensor)
Command Parameter Default Unit
stroke X= 2… 3000 200 mMm
With this parameter the length of the sensor is given.
The length of the sensor is needed for the scaling of the analogue input and for the calculation of the
braking stroke.
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SSIOFFSET (Sensor offset)
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Command Parameter Default Unit
ssioffset x x=
-300000… 3000000
With this parameter the offset of the sensor is given.
SSIRES (Resolution of the sensor)
0 0,01 mm
Command Parameter Default Unit
ssires x x= 1… 5000 1000 inkr/mm
With this parameter the resolution of the sensor is given.
The highest resolution (1000) corresponds to 1 µm. In the first place this resolution is needed for the internal
calculations.
This sensor resolution is always used for the input data via Profibus.
SSIBITS (Data protocol length in Bits)
Command Parameter Default Unit
ssibits x x= 8… 32 24 bits
With this parameter the number of bits of the sensor is given.
SSICODE (Transmitting code)
Command Parameter Default Unit
ssicode x x= GRAY|BIN GRAY -
With this parameter the transmitting code of the sensor is given.
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SSIPOL (Sensor polarity)
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Command Parameter Default Unit
ssipol x x= +|- + -
In order to reverse the working direction of the sensor, the polarity can be changed via this command.
In Any Case also the SSIOFFSET has to be adjusted.
Example:
Sensor length = 200 mm opposite working direction is necessary.
SSIPOL is set on “-“ and SSIOFFSET on 20000.
AIN (input signal scaling)
Commands Parameter Defaults Units
ain:i a b c x i= XL
a= 0… 10000
b= 0… 10000
c= -10000… 10000
x= V|C
: 1000
: 1000
: 0
: V
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-
-
0,01%
-
With this command each input can be scaled individually. For the scaling function the following linear
equation is taken.
a
y
b
x c
x is the input signal and y is the output signal.
At first the offset (c) will be subtracted (in 0,01% units) from the input signal, then the signal will be multiplied
with factor a / b. a and b should always be positive. With these both factors every floating-point value
can be simulated (for example: 1.345 = 1345 / 1000).
With the x parameter value the internal measuring resistance for the current measuring (0… 20 mA or
4… 20 mA) will be activated (V for voltages input and C for current input). ATTENTION: This resistor is
never activated at the k input.
AIN:xx a b c x
i with voltage: AIN:i 1000 1000 0 V
i with current: AIN:i 1250 1000 2000 C

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VRAMP (ramp time for the external velocity)
Commands Parameter Defaults Units
vramp x x= 1… 2000 200 ms
Here the ramp time for velocity changes will be set.
Operating shocks can be reduced when changing the external velocity.
VMAX (Internal maximum velocity preset)
Command Parameter Default Unit Description
vmax x x= 1… 20000 50 mm/s
Here the maximum velocity can be limited internally. This parameter is only active in case of
VMODE = ON.
A (acceleration time)
Commands Parameter Defaults Units
a:i x i= A|B
x= 0… 2000
:A 200
:B 200
This parameter is set in ms.
The ramp time is separately set for driving out (A) and for driving in (B).
D (deceleration stroke or braking distance)
Commands Parameter Defaults Units
d:i x i= A|B|S
x(A,B)
= 50… 10000
x(S)= 0… 10000
:A 2500
:B 2500
:S 1000
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ms
ms
0,01%
0,01%
0,01%
This parameter is set in 0,01 % units of the maximum length of the sensor.
The braking distance is set dependent from the direction. The controller gain will be calculated by means
of the braking distance. The shorter the braking distance the higher the gain (see command CTRL). In
case of instabilities a longer braking distance should be set. With the parameter D: S ratio as indication of
the maximum length sensor, a brake indicated only after the removal of the start signal is activated.

CTRL (braking characteristics)
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Commands Parameter Defaults Units
ctrl x x= lin|sqrt1
|sqrt2
sqrt1 -
With this parameter, the braking characteristic of the hydraulic axis is controlled. With positive overlapped
proportional valves one of both SQRT braking characteristics should be used. The nonlinear flow curve of
the valves is mostly linearized by the SQRT function.
If zero overlapped proportional valves (control valves) are used, you can choose between LIN and
SQRT1 according to the application. The progressive gain characteristic of SQRT1 has the better positioning
accuracy. According to the application there is maybe a longer braking distance, so that the total
stroke time will be longer.
LIN: Linear braking characteristics (control gain corresponds to: 10000 / d:i).
SQRT1: Root function for the calculation for the braking curve. The control gain goes up quadratic
with a small control error (control gain corresponds to: 30000 / d:i). This characteristic
is preferably used with positive overlapped proportional valves.
SQRT2: Root function for the calculation for the braking curve. The control gain goes up quadratic
with a small control error (control gain corresponds to: 50000 / d:i).
Velocity
CTRL = LIN
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Braking stroke
D:A or D:B
Stroke
CTRL = SQRT

INPOS (in positioning window)
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Commands Parameter Defaults Units
inpos x x= 0… 2000 200 0,01mm
This parameter is entered in 0,01 mm units.
The INPOS command defines the window when the INPOS message is indicated. The positioning
process is not influenced by this message. The controller remains active.
In NC-mode this message has to be interpreted as following error control.
HAND (Hand speed)
Commands Parameter Defaults Units
hand:i x
i= A|B
x= -10000… 10000
:A 3330
:B -3330
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0,01%
0,01%
With this parameter, the hand speed can be preset. For the corresponding switch input the direction can
be defined by the sign.
The hand speed is also limited by the external velocity preset (MIN evaluation).
OFFSET (zero point adjustment)
Commands Parameter Defaults Units
offset x
x= -2000… 2000 0 0,01%
This parameter is entered in 0,01% units.
The corresponding OFFSET will be added to the control error (demand value - actual value + offset). With
this parameter the zero point failure can be compensated.
POL (output polarity)
Commands Parameter Defaults Units
pol x x= +|- + -
The output polarity of the controller can be switched over.

MIN (compensation of the dead zone)
MAX (maximum output signal)
TRIGGER (threshold value of MIN)
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Commands Parameter Defaults Units
min:i x
max:i x
trigger x
i= A|B
x= 0… 5000
x= 5000… 10000
x= 0… 2000
-
0
10000
200
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-
0,01%
0,01%
0,01%
With this command, the output signal is adjusted to the valve characteristics. The positioning controllers
have a double-gain characteristic curve instead of a typical overlapped jump. The advantage is a better
and more stabile positioning behaviour. With this compensation, non-linear volume flow characteristic
curves can be adjusted too.
MIN:B
MAX:B
ATTENTION: If there exist also possibilities for adjustments at the valve or at the valve
electronics, it has to be guaranteed, that the adjustment has to be carried out at the power
amplifier or at the positioning module.
If the MIN value is set too high, it influences the minimal velocity, which cannot be adjusted
any longer. In extreme case this causes to an oscillating around the closed loop
controlled position.
Output
two flow gain
characteristics
TRIGGER
standard deadband
compensation
Input
MAX:A
MIN:A

DC (Setting drift compensation)
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Kommando Parameter Vorgabe Einheit
dc:i x i= I|AV|DV|RA
I:x = 3… 30000
AV:x = 0… 10000
DV:x = 0… 10000
RA:x = 0… 10000
I:x 1300
AV:x 0
DV:x 0
RA:x 500
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ms
0,01%
0,01%
0,01%
The drift compensation is a possible way, to prevent drift axis in the target position.
By adding a switch integral part of the alternate value is the axis effectively held in position. The parameter
DC: I define the setting time of the integral share.
The activation threshold "DC: AV x" is in percent of the stated value.
Below the absolute value of the signal in relation to this parameter is the drift Compensator activated.
Immediately to the position of the target position can be disabled the integrator again, this is the commando
"DC: DV x", whose value is also in percent of the value entered.
The target range of the drift compensation is determined by the command DC: RA.
In default of the module is the drift compensation off by the parameters "DC: AV 0" and DC: DV 0.
SAVE (data storing in EEPROM)
Commands Parameter Defaults Units
save - - -
Every parameter change is immediately active but only saved in RAM. For permanent storing in
EEPROM the command SAVE has to be used to copy the parameter from RAM into EEPROM memory.
LOADBACK (copy of the EEPROM into the active RAM)
Commands Parameter Defaults Units
loadback - - -
With this command, the data will be written back from EEPROM to RAM. This is helpful when the previous
control parameter (before the last saving) will be reactivated.
UPLOAD (actual parameter list)
Commands Parameter Defaults Units
para - - -
A compact list of all programmed parameter values.

ST (internal status)
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Commands Parameter Defaults Units
st - - -
Monitoring of the control and status word.
With the command „ST“, in terminal mode of the application software WPC-300, the control word can be
carried out in binary code: Format control word: 0000 0000 / 0000 0000
Left to the slash stands the Byte 1- control word or status word “Hi“, then Byte 2- control word or status
word “Lo“
Bit 8 begins in the first place (Enable or Ready)
PROCESS DATA (monitoring)
Commands Parameter Units
wl
Demand value
0,01 mm
xl
Actual value
xw
Control deviation
v
Velocity
u
Actuator signal
The process data can be read out now. They show the actual and command values.
Page 26 of 33

Profibus DP linking
Profibus functions
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The module supports all baud rates from 9,6 kbit/s up to 12000 kbit/s with auto detection of the baud rate.
The functionality is defined in IEC 61158. The Profibus address can be programmed by a terminal program,
WPC-300 or online via the Profibus. A diagnostic LED indicates the online status.
Installation
A typical screened Profibus plug (D-Sub 9pol with switchable termination) is mandatory.
Every Profibus segment must be provided with an active bus termination at the beginning and at the end.
The termination is already integrated in all common Profibus plugs and can be activated by DIL switches.
The Profibus cable must be screened. PIN 17 have to be connected with PE (low impedance).
GSD Configuration File
The GSD data are available on our homepage http://www.w-e-st.de/DE/Produkte/produkte.html file:
hms_1810.gsd.
The communication parameter are 16 bytes (8 words) for IN and OUTPUT variables.
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Prozess data definition
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The resolution (data via Profibus) of the command position is defined by the actual sensor resolution. The
module works always with full sensor accuracy.
The scaled speed is defined by 0x3fff (16373) for 100% of the maximum programmed speed.
Optional two positions and two speeds can be sent to the module. In this mode high/low speed or
low/high speed profiles are generated automatically. This mode is deactivated by programming zero for
speed 2.
The module will be controlled by the control word, the command positions and speeds:
ENABLE: is additionally required to the hardware ENABLE.
START: the new command position is taken over by a signal change from low to high
(from 0 to 1). By deactivation of this bit, the system stops via a programmed deceleration
ramp.
HAND+, HAND-: Manual mode
Command values:
Command position 1 and 2: related to the sensor resolution.
Command velocity 1 and 2: 100 % corresponds to 0x3fff.
Feedback of the status word, the command position and the actual position
READY: System is ready for positioning.
InPos: In position signal.
Sensor error: if the sensor control is activated and if there exists a sensor failure, the
READY signal will be deactivated.
In case of a sensor failure (READY signal) the hardware-enable-signal has to be deactivated.
Actual values:
Command position: Can be interpreted variously according to the mode.
Normal = preset command position,
NC-Modus = calculated command position of the generator,
Actual position: corresponding to the sensor solution.
Control deviation (x-w): according to the sensor resolution.
In the NC-mode shows the contouring error (difference in the value of the nominal value
generator to the actual value). Control deviation (x-w): according to the sensor resolution.
Page 28 of 33

Commands via PROFIBUS
16 data bytes are sent to the module.
Definition of the control word:
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Byte Function Comment
1 (0) control word Hi
2 (1) control word Lo actual not used
3 (2) command position 1 Hi
4 (3) command position 1
5 (4) command position 1
6 (5) command position 1 Lo
7 (6) velocity 1 Hi
8 (7) velocity 1 Lo
9 (8) command position 2 Hi active, if a second velocity is pro-
10 (9) command position 2
grammed ( Byte 13 und 14 )
11 (10) command position 2
12 (11) command position 2 Lo
13 (12) velocity 2 Hi
14 (13) velocity 2 Lo
15 (14) - reserved
16 (15) - reserved
Byte 1 (0) - control word Hi
Bit Function
8 (7) Enable (with hardware enable) 1= ready
7 (6) Start 1= active
6 (5) Hand- 1= active
5 (4)
4 (3)
3 (2)
2 (1)
1 (0)
Hand+ 1= active
Byte 3 (2) bis 6 (5) - command position 1
Bit Function
25 (24)…32 (31) command position Hi Byte defined by the
17 (16)…24 (23)
9 (8)…16 (15)
1 (0)…8 (7) command position Lo Byte
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resolution of the
sensor
Byte 7 (6) und 8 (7) - command velocity 1
Bit Function
9 (8)…16 (15) velocity Hi Byte max 3f hex
1 (0)…8 (7) velocity Lo Byte max ff hex

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Byte 9 to 12 - command position 2
Bit Function
25 bis 32 command position Hi Byte defined by the
17 bis 24
9 bis 16
1 bis 8 command position Lo Byte
Page 30 of 33
resolution of the
sensor
Byte 13 and 14 - command velocity 2
Bit Function
9 bis 16 velocity Hi Byte max 3f hex
1 bis 8 velocity Lo Byte max ff hex
The enable bit is combined with the external enable input, that means both signals must exist, in order to
enable the axes.
DATA send to PROFIBUS
Totally, 16 Bytes will be sent to the Profibus.
Byte Function Comment
1 (0) status word Hi
2 (1) status word Lo not used
3 (2) actual position Hi
4 (3) actual position
5 (4) actual position
6 (5) actual position Lo
7 (6) internal command position Hi
8 (7) internal command position
9 (8) internal command position
10 (9) internal command position Hi
11 (10) Control deviation Hi In resolution of the positioning
12 (11) Control deviation
sensor
13 (12) Control deviation
14 (13) Control deviation Lo
15 (14) -
16 (15) -

The status word is encoded as follows:
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Byte 1 (0) - status word Hi
Bit Function
8 (7) READY 1= ready-to-operate
7 (6)
6 (5)
5 (4)
4 (3)
3 (2)
2 (1)
1 (0)
INPOS 1= value in pos-window
Byte
Byte 3 (2) bis 6 (5) command position
Function Comment
25 (24)…32 (31) command position Hi-Byte In resolution of the positioning
17 (16)…24 (23) command position
sensor
9 (8)…16 (15) command position
1 (0)…8 (7) command position Lo-Byte
Byte
Byte 7 (6) bis 10 (9) internal command position
Function Comment
25 (24)…32 (31) internal command position Hi-Byte In resolution of the positioning
17 (16)…24 (23) internal command position
sensor
9 (8)…16 (15) internal command position
1 (0)…8 (7) internal command position Lo-Byte
Byte
Byte 11 (10) bis 14 (13) Control deviation
Function Comment
25 (24)…32 (31) Control deviation Hi-Byte In resolution of the positioning
17 (16)…24 (23) Control deviation
sensor
9 (8)…16 (15) Control deviation
1 (0)…8 (7) Control deviation Lo-Byte
Page 31 of 33

System structure
Output
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Enable
8
POS-123PDP
Addr= 5 (Slave)
Abschluss =
SSI or analogue position sensor
Page 32 of 33
Profibus DP

Comments
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