7 Commissioning (software)
7.10 Configuring drive-related I/Os
7.10.7 Using inputs for measuring inputs on the D4x5
Configuring inputs for measuring inputs
Measuring inputs are used for fast, accurate measurement of actual positions. This is achieved with hardware support (for example, the measuring input on the assigned drive unit). Digital inputs for standard peripherals, e.g. the SIMATIC ET 200 distributed I/O system, cannot generally be used as inputs for measuring inputs.
For SIMOTION, the TO measuringInput controls the measuring input functionality.
SIMOTION differentiates between two classes of inputs for measuring inputs; these classes have different properties that are configured differently.
Local and global measuring inputs
Depending on the used hardware platform, the following local and global measuring inputs are available for the measuring tasks:
● Local measuring inputs are axis-related and implemented in the SINAMICS drive. The actual position value is measured.
● Global measuring inputs can be freely assigned to the axes and add an internal
timestamp to the measurement result for more precise determination of the axis positions.
7.10 Configuring drive-related I/Os
Table 7- 12 Comparison of local and global measuring inputs
Local measuring input Global measuring input Supported hardware D4x5, CX32, CU310, CU320 TM15, TM17 High Feature
As of V4.1 SP1: D410, D4x5
As of V4.1 SP2: CX32, CU310, CU320 Measurement operation With a signal edge at the relevant input,
the current actual values of an encoder connected to a Control Unit are measured with positioning accuracy to determine lengths and distances.
With a signal edge at the relevant input, the current actual values of one or more encoders are measured using timestamp functionality with positioning accuracy in order to provide information for determining lengths and distances (possible with any encoders included in the project).
Configuration of the TO measuringInput
in the SIMOTION SCOUT The assignment of inputs is always permanent depending on the hardware of the Control Unit and is performed during the configuration of the TO measuringInput using the measuring input number.
The assignment of inputs is not fixed depending on the hardware and is performed during the configuration of the TO measuringInput using the hardware address.
TO measuringInput setting Single measurement
(Measurement jobs must be issued individually for each measurement.
Several interpolation cycle clocks lie between two measurements.)
yes yes
TO measuringInput setting Cyclical measurement
(The measurement is activated just once and runs cyclically until deactivated.)
(yes)
Although the TO measuringInput can be requested to perform a cyclical measurement, it subdivides such a measurement into the execution of a series of single tasks. In such a case, the minimum separation between two measurements is several servo cycles.
yes
D4x5, CX32, CU310, CU320:
The minimum interval between two measurements is 3 servo cycles (max.
2 edges per measurement) TM17 High Feature:
Minimum interval between two
measurements is 1 servo cycle (max. 2 edges per measurement)
TM15:
No cyclic measurement available Use of multiple TO measuringInputs on
one axis/encoder, whereby these can be active concurrently.
no yes
Listening TO measuringInput no yes
Measuring on virtual axes no yes
Measuring on axes attached to a
different drive unit no yes
7.10 Configuring drive-related I/Os
Table 7- 13 Measuring inputs - Overview of quantity structures and functionality Max. available quantity structure
CU310 D4x5 CX32 CU320 TM15 TM17 High
Feature Max. number of inputs
for measuring inputs 3 6 3 6 24 16
Can be configured as a
local measuring input x x x x - -
Can be configured as a
global measuring input x x x x x x
Configuring local measuring inputs
Local measuring inputs are always permanently assigned to an axis (drive). They are configured separately for each drive. The drive and the input for the measuring input must always be located on the same Control Unit. The measuring results are transferred using the axis message frame in accordance with the PROFIdrive profile. Message frame 39x does not need to be configured for local measuring inputs.
The settings for the use of the local measuring inputs must be made in the expert list.
Table 7- 14 Local measuring inputs, required settings in the expert list (1)
Parameterization as All DI/DOs used as measuring inputs need to
be defined as inputs via parameter p728[8..15]
of the Control Unit. D4x5, CU320 CX32, CU310
p728[8] (DI/DO 8) Input Input input on the Control Unit
p728[15] (DI/DO 15) Input _
7.10 Configuring drive-related I/Os
Table 7- 15 Local measuring inputs, required settings in the expert list (2)
Parameterization as The terminals for the local inputs for
measuring inputs must be assigned via parameters p488[0..2] and p489[0..2] of the drive.
D4x5, CU320 CX32, CU310
p488[0]
(measuring input 1 input terminal, encoder 1) p488[1]
(measuring input 1 input terminal, encoder 2) p488[2]
(measuring input 1 input terminal, encoder 3) p489[0]
(measuring input 2 input terminal, encoder 1) p489[1]
(measuring input 2 input terminal, encoder 2) Specification of the input
terminal of the measuring input in the expert list of the drive
p489[2]
(measuring input 2 input terminal, encoder 3)
DI/DO 9,
Because a maximum of three encoders can be assigned to a drive, the index [0..2] specifies whether the measurement applies to 1, 2 or 3.
The following must be taken into account:
● Only two TO measuringInputs can be configured per TO axis or TO externalEncoder.
● Only one TO measuringInput can be active on a TO axis or TO externalEncoder.
Table 7- 16 Local measuring inputs, configuration of the TO measuringInput
Axis measuring system no. Under axis measuring system number, enter the number of the used encoder system (namely, encoder 1, 2 or 3). Encoder system 1 is the default setting.
Local measuring Activate the checkbox when a local measuring input is used.
Measuring input number Enter here which measuring input is used (namely, 1 or 2). Input 1 is the default setting.
Detailed information can be found in the SIMOTION Motion Control Output Cams and Measuring Inputs Function Manual.
7.10 Configuring drive-related I/Os
Configuring global measuring inputs
Global measuring inputs can be freely assigned to the axes (drives) and add an internal timestamp to the measurement result for more precise determination of the axis positions.
The drive and the input for the measuring input do not need to be located on the same Control Unit. The measuring results are not transferred using the axis message frame, but using the 391/392 axis message frame.
Table 7- 17 Global measuring inputs, required settings in the expert list (1)
Parameterization as All DI/DOs used as measuring inputs need to
be defined as inputs via parameter p728[8..15]
of the Control Unit. D4x5, CU320 CX32, CU310
p728[8] (DI/DO 8) Input Input input on the Control Unit
p728[15] (DI/DO 15) Input _
Table 7- 18 Global measuring inputs, required settings in the expert list (2)
Parameterization as Parameter p680[0..5] of the Control Unit is
used to specify the terminals of the global inputs for the measuring inputs. Depending on the Control Unit and message frame 39x, a maximum of 6 global inputs for measuring inputs can be specified.
D4x5, CU320 CX32, CU310
p680[0]
(measuring input 1 input terminal, encoder 1) p680[1]
(measuring input input terminal, encoder 2) p680[2]
(measuring input input terminal, encoder 3) p680[3]
(measuring input input terminal, encoder 1) p680[4]
(measuring input input terminal, encoder 2) Specifying the input
terminals of the measuring inputs
p680[5]
(measuring input input terminal, encoder 3)
DI/DO 9 or
7.10 Configuring drive-related I/Os
logical hardware address and the bit number of the digital input to be used as the measuring input are used to assign the measuring input to an axis.
The p490 parameter of the Control Unit can be used to invert a measuring input.
Note
The p684, and r685 to r688 parameters of the Control Unit have no relevance for SIMOTION.
Note
When the 39x message frames are used, a HW Config must always be performed after changes have been made to onboard I/O-relevant parameters. "Download to the target system" must then be used to download the changed configuration data into the target device.
Axis measuring system no. Under "Axis measuring system number", enter the number of the encoder system used (encoder 1...3). Encoder system 1 is the default setting.
Global measuring Activate the checkbox when a global measuring input is used.
Enter the logical HW address and the bit number of the input used here.
Logical HW address and bit number Input
D4x5, CU320
Input
CX32, CU310 Start address message frame 39x +3, bit 0 - -
Start address message frame 39x +3, bit 1 DI/DO9 DI/DO9 Start address message frame 39x +3, bit 2 DI/DO10 DI/DO10 Start address message frame 39x +3, bit 3 DI/DO11 DI/DO11 Start address message frame 39x +3, bit 4 - - Start address message frame 39x +3, bit 5 DI/DO13 - Start address message frame 39x +3, bit 6 DI/DO14 - Logical HW address and bit
number
Start address message frame 39x +3, bit 7 DI/DO15 -
Additional references
Detailed information can be found in the SIMOTION Motion Control Output Cams and Measuring Inputs Function Manual.