Linking an additional encoder

7.9 Linking an additional encoder

7.9.1 Fundamentals

Using encoders

SIMOTION D provides the option of integrating and configuring further encoders in addition to the motor encoder.

The following encoders are supported for operation with SIMOTION D:

● Encoders with DRIVE-CLiQ interface

● Encoders connected to a CU310 or CUA32 via the onboard encoder interface

● Encoders connected to SIMOTION D4x5 using an SMx module

● Encoders connected using PROFIBUS or PROFINET

Configuring two encoders

The additional encoder can be used in SIMOTION, for example, as:

● Machine encoder (second encoder)

● External encoders

● Encoder for hydraulic axes

You can use the external encoder, for example, to pick up an actual position value directly on the drive axis of a gear unit. If you are operating a second encoder as a machine encoder, you can work with encoder switchover.

Configuration tasks

Encoders connected using PROFIBUS or PROFINET are configured only for SIMOTION.

Encoders connected using SMx, DRIVE-CLiQ, or the onboard encoder interface

(CU310/CUA32), must be configured for the drive (SINAMICS Integrated) and SIMOTION.

● Configure the second encoder in the drive wizard of the corresponding drive

● Configuring a second encoder for the TO axis in SIMOTION

● You can configure the second encoder as one of the following:

– External encoder – Hydraulic axis

7.9 Linking an additional encoder

7.9.2 Configuring a second encoder on the SINAMICS Integrated

Requirement

You have configured the drive in the drive wizard.

Procedure

1. In the project navigator, open the "Configuration" entry under your drive using the

"SINAMICS_Integrated" > "Drives" menu command. The "Configuration" dialog box is opened.

2. Click the "Configure DDS..." button to open the drive wizard.

3. Work through the drive wizard until you reach the "SINAMICS_Integrated - Encoders"

dialog.

4. Select the "Encoder 2" option.

A list of the available encoders will be displayed.

5. Select the connected encoder and confirm with "Next".

6. In the "Configuration - SINAMICS Integrated - PROFIBUS (drive) Process Data Exchange" dialog box, select a message frame that supports the transmission of two encoder values (e.g. SIEMENS message frame 106, PZD-11/15).

7. Click the "Next" button to work through the remainder of the drive wizard.

8. In the "SINAMICS_Integrated - Configuration" dialog, click the "Transfer to HW Config"

button to perform a HW Config alignment.

Result

The drive is configured with two encoders.

7.9.3 Configuring a second encoder for the Axis technology object in SIMOTION

Requirement

You have configured the SINAMICS Integrated with two encoders, performed a HW Config alignment, and selected a message frame that can transfer two encoder values.

Procedure

1. In the project navigator, open the Axis Wizard of the axis.

2. In the "Drive Assignment" dialog box, select the same message frame that you have already used to configure the second encoder on the SINAMICS Integrated or the

"SINAMICS Integrated > Configuration" screen form (e.g. SIEMENS message frame 106, PZD-11/15).

7.9 Linking an additional encoder

Result

You have configured a second encoder for an Axis technology object in SIMOTION. The set message frame type enables you to use the value of a second encoder.

7.9.4 Configuring an external encoder in SIMOTION

An external encoder allows you to determine the position values of a drive without an associated axis.

Encoder using PROFIBUS/PROFINET

You have used HW Config to configure an encoder on the PROFIBUS or PROFINET. Two different possibilities are available for the encoder connection:

● Encoder interconnection using a PROFIdrive message frame (encoder with message frame type 81)

● Encoder interface as a direct value in the I/O area

Additional references

Detailed information is contained in the SIMOTION TO Axis, Electric/Hydraulic, External Encoder Function Manual

Encoder on the drive

You have configured a drive with two encoders and then an electric axis with the PROFIBUS message frame to be used. This procedure is described below.

Requirement

You have configured a drive with two encoders and then an electric axis with the PROFIBUS message frame to be used.

Procedure

1. In the project navigator, select "External Encoder" > "Insert External Encoder" to open the wizard for configuring an external encoder.

2. Work through the wizard until the "Drive Assignment" dialog box.

The following parameters, among others, will be displayed in this dialog:

– Encoder input, SINAMICS Integrated in this case

7.9 Linking an additional encoder

Result

The external encoder is configured and uses the second value, which is transferred by means of the selected PROFIBUS message frame.

Additional references

Detailed information is contained in the SIMOTION TO Axis, Electric/Hydraulic, External Encoder Function Manual

7.9.5 Configuring a hydraulic axis in SIMOTION

The hydraulic axis can use a Q-valve, for example, and control it by means of an analog output module. In order to determine the actual position value, the encoder required can be integrated as follows:

● Encoder using PROFIBUS/PROFINET

(refer to the SIMOTION TO Axis, Electric/Hydraulic, External Encoder Function Manual)

● By using an encoder connected to the drive (see description below)

Requirement

You have already configured a drive with two encoders and created an electric axis.

Procedure

1. In the project navigator, open the axis wizard via "Axis" > "Insert Axis".

2. Work through the axis wizard until the "Axis Type" dialog box.

3. Select the "Hydraulic" axis type and define the valve type and the control.

4. Run through the axis wizard until the "Encoder Assignment" dialog box.

5. Select the entry for the SINAMICS Integrated in the "Where Is the Position Encoder Connected?" field.

6. Work through the remainder of the axis wizard to complete the hydraulic axis configuration.

Result

The hydraulic axis uses the second encoder of the relevant drive of the SINAMICS Integrated as its encoder.

Additional references

Refer to the SIMOTION TO Axis, Electric/Hydraulic, External Encoder Function Manual.