W.E.ST. POS-124-U-PFN, POS-124-U-ETC, POS-124-U-PDP Technical Documentation Manual

Technical Documentation

POS-124-U-PFN
POS-124-U-ETC

Two axes positioning and synchronisation control module with

integrated ProfiNet IO interface and SSI sensor interface

CONTENTS

1 General Information ............................................................................................................................................. 4

1.1 Order number ............................................................................................................................................. 4

1.2 Scope of supply ................................................................................................ .......................................... 4

1.3 Accessories ................................................................................................................................................ 4

1.4 Symbols used ............................................................................................................................................. 5

1.5 Legal notice ................................................................................................................................................ 5

1.6 Safety instructions ....................................................................................................................................... 6

2 Characteristics .................................................................................................................................................... 7

2.1 Device description ....................................................................................................................................... 8

3 Use and application ............................................................................................................................................. 9

3.1 Installation instructions ................................................................................................................................ 9

3.2 Typical system structure .............................................................................................................................10

3.3 Method of operation ...................................................................................................................................10

3.4 Commissioning ..........................................................................................................................................12

4 Technical description ......................................................................................................................................... 13

4.1 Input and output signals .............................................................................................................................13

4.2 LED definitions...........................................................................................................................................14

First section with USB ........................................................................................................................14

Second section (fieldbus) ...................................................................................................................14

4.3 Block Diagram ...........................................................................................................................................15

4.4 Typical wiring .............................................................................................................................................16

4.5 Connection examples .................................................................................................................................16

4.6 Technical data ...........................................................................................................................................17

5 Parameters ....................................................................................................................................................... 18

5.1 Parameter overview ...................................................................................................................................18

5.2 Basic parameters .......................................................................................................................................21

MODE (Switching between parameter groups) ...................................................................................21

5.3 System parameters ....................................................................................................................................21

LG (Changing the language for the help texts) ....................................................................................21

SENS (Malfunction monitoring) ..........................................................................................................21

PASSFB (Password fieldbus) .............................................................................................................21

EOUT (Output signal: READY = OFF) ................................................................................................22

HAND (Manual speed) .......................................................................................................................22

POSWIN (In-position monitoring range) ..............................................................................................23

VMODE (Selecting the control mode) .................................................................................................23

5.4 Input Output parameters.............................................................................................................................24

SELECT:X (Type of position sensors) ................................................................................................24

VRAMP (Ramp time for external speed demand) ................................................................................24

SIGNAL:U (Type and polarity of the output signal) ..............................................................................25

SYS_RANGE (Working stroke) ..........................................................................................................25

SIGNAL (Type of input) ......................................................................................................................25

N_RANGE (Nominal range of the sensor)...........................................................................................26

OFFSET (Sensor zero correction) ......................................................................................................26

SSI:POL (Direction of the sensor signal) .............................................................................................26

SSI:RES (Signal resolution) ...............................................................................................................26

SSI:BITS (Number of bits) ..................................................................................................................27

SSI:CODE (Signal coding) .................................................................................................................27

SSI:ERRBIT (Position of the “out of range” bit) ...................................................................................27

5.5 Positioning controller ..................................................................................................................................28

ACCEL (Acceleration in NC mode) ..................................................................................................... 28

Page 2 of 65 POS-124-U-Ethernet 08.11.2018

VMAX (Maximum speed in NC Mode) ................................................................................................28

V

(Loop gain setting) ........................................................................................................................28

0

A (Acceleration ramp time) .................................................................................................................29

D (Deceleration / braking distance) .....................................................................................................29

PT1 (Timing of the controller) .............................................................................................................30

CTRL (Deceleration characteristics) ...................................................................................................30

MIN (Deadband compensation) ..........................................................................................................31

MAX (Output scaling) .........................................................................................................................31

TRIGGER (Response threshold for the MIN parameter) ......................................................................31

OFFSET (Zero correction)..................................................................................................................32

5.6 Synchronous controller ...............................................................................................................................33

SYNCMODE (Operation mode synchronous run)................................................................................33

SYNCWIN (synchronization monitoring range)....................................................................................34

SYNC (Control parameters) ...............................................................................................................34

5.7 Special functions ........................................................................................................................................35

Drift compensation / high accurate positioning ....................................................................................35

DC:AV (Activation value)....................................................................................................................36

DC:DV (Deactivation value) ...............................................................................................................36

DC:I (Integration time)........................................................................................................................36

DC:CR (Integrator limitation) ..............................................................................................................36

5.8 Special commands .....................................................................................................................................37

AINMODE (Input scaling mode) .........................................................................................................37

AIN (Analogue input scaling) ..............................................................................................................37

ETC_LOOP (Transfer rate) ................................................................................................................38

5.9 PROCESS DATA (Monitoring) ....................................................................................................................38

6 Common device functions .................................................................................................................................. 39

6.1 Failure monitoring ......................................................................................................................................39

6.2 Troubleshooting .........................................................................................................................................39

7 EtherCAT IO interface ....................................................................................................................................... 41

7.1 ETHERCAT CoE........................................................................................................................................41

7.2 EtherCAT installation .................................................................................................................................41

7.3 EtherCAT access handling ................................................................................................ .........................41

7.4 EtherCAT device profiles (ESI) ...................................................................................................................42

7.5 Standard Objects .......................................................................................................................................43

8 ProfiNet IO RT interface ..................................................................................................................................... 44

8.1 PROFINET IO function ...............................................................................................................................44

8.2 ProfiNet Installation guideline .....................................................................................................................44

8.3 PROFINET address assignment .................................................................................................................44

8.4 Device data file (GSDML) ................................ ...........................................................................................45

9 Process data ..................................................................................................................................................... 46

9.1 Data sent to the device...............................................................................................................................46

9.2 Data sent to Fieldbus .................................................................................................................................50

10 Parameterizing via Fieldbus ............................................................................................................................... 54

10.1 Procedure ..................................................................................................................................................54

10.2 Parameterlist .............................................................................................................................................55

11 Profinet – Driver Blocks for Simatic – Controllers ................................................................................................ 56

11.1 TIA – Portal ...............................................................................................................................................56

11.2 STEP7 – classic .........................................................................................................................................59

11.3 Common Properties ...................................................................................................................................62

12 Updating the module internal driver software for Profinet..................................................................................... 64

13 Notes ................................................................................................................................................................ 65

Page 3 of 65 POS-124-U-Ethernet 08.11.2018

1

1 General Information

1.1 Order number

Two axes positioning controller with programmable output (±10 V differential voltage or 4… 20 mA), ana-
logue or SSI sensor interface and optional synchronous control.

POS-124-U-PFN-21401 ProfiNet IO interface

POS-124-U-ETC-2131 EtherCAT IO interface

Alternative products

POS-124-U-PDP Version of the controller with ProfibusDP interface.

1.2 Scope of supply

The scope of supply includes the module including the terminal blocks which are a part of the housing.
The Profibus plug, interface cables and further parts which may be required should be ordered separately.
This documentation can be downloaded as a PDF file from www.w-e-st.de.

1.3 Accessories

WPC-300 Start-Up-Tool (download: www.w-e-st.de/produkte/software)

The number of the version consists of the hardware version (first two digits) and the software version (last two digits).
Because of the development of the products, these numbers can vary. They are not strictly necessary for the order. We
will always deliver the newest version.

Page 4 of 65 POS-124-U-Ethernet 08.11.2018

1.4 Symbols used

General information

Safety-related information

1.5 Legal notice

W.E.St.

Gewerbering 31
D-41372 Niederkrüchten

Tel.: [phone]
Fax.: [phone]

Homepage: www.w-e-st.de or www.west-electronics.com
EMAIL: [e-mail]

Date: 08.11.2018

The data and characteristics described herein serve only to describe the product. The user is required to
evaluate this data and to check suitability for the particular application. General suitability cannot be inferred
from this document. We reserve the right to make technical modifications due to further development of the
product described in this manual. The technical information and dimensions are non-binding. No claims may
be made based on them.

This document is protected by copyright.

Elektronik GmbH

Page 5 of 65 POS-124-U-Ethernet 08.11.2018

1.6 Safety instructions

Please read this document and the safety instructions carefully. This document will help to define the product
area of application and to put it into operation. Additional documents (WPC-300 for the start-up software) and
knowledge of the application should be taken into account or be available.
General regulations and laws (depending on the country: e.g. accident prevention and environmental protec­tion) must be complied with.

These modules are designed for hydraulic applications in open or closed-loop control cir­cuits. Uncontrolled movements can be caused by device defects (in the hydraulic module or
the components), application errors and electrical faults. Work on the drive or the electronics
must only be carried out whilst the equipment is switched off and not under pressure.

This handbook describes the functions and the electrical connections for this electronic as­sembly. All technical documents which pertain to the system must be complied with when
commissioning.

This device may only be connected and put into operation by trained specialist staff. The in­struction manual must be read with care. The installation instructions and the commissioning
instructions must be followed. Guarantee and liability claims are invalid if the instructions are
not complied with and/or in case of incorrect installation or inappropriate use.

CAUTION!

All electronic modules are manufactured to a high quality. Malfunctions due to the failure of
components cannot, however, be excluded. Despite extensive testing the same also applies
for the software. If these devices are deployed in safety-relevant applications, suitable exter­nal measures must be taken to guarantee the necessary safety. The same applies for faults
which affect safety. No liability can be assumed for possible damage.

Further instructions

 The module may only be operated in compliance with the national EMC regulations. It is

the user’s responsibility to adhere to these regulations.

 The device is only intended for use in the commercial sector.

 When not in use the module must be protected from the effects of the weather, contami-

nation and mechanical damage.

 The module may not be used in an explosive environment.

 To ensure adequate cooling the ventilation slots must not be covered.

 The device must be disposed of in accordance with national statutory provisions.

Page 6 of 65 POS-124-U-Ethernet 08.11.2018

2 Characteristics

This electronic module has been developed for controlling hydraulic positioning drives.
Both axes can be controlled independently or also be driven in synchronous mode via fieldbus.
The differential outputs are provided for the control of proportional valves with integrated or external electron-

ics (with differential input). Alternatively the output can be parameterized to 4… 20 mA. This module is in-
tended for the connection with analogue position sensors 0...10V or 4...20mA (scalable) or digital SSI sensor
interfaces.

The internal monitoring sends information about error and operating states via the fieldbus connection to the
master controller. The operational readiness is reported via a digital output, too.

Typical applications: Positioning control or synchronization control with hydraulic axes.

Features

 Two independent positioning axes
 Can be combined for synchronized control
 Command position value parameter, actual value response, control bytes and status bytes via

ProfiNet or EtherCAT fieldbus

 SSI-Sensor interface or analogue sensor interface (0….10V or 4…20mA)
 Simple and user-friendly sensor scaling
 Position resolution of 0.005 mm/s
 Principle of stroke-dependent deceleration for the shortest positioning time or NC profile

generator for constant speed

 Highly accurate positioning
 Advanced position control with PT1 controller, Drift compensation and Fine positioning
 Superimposed synchronization controller with PT1 (optimal for hydraulic applications)
 Optimal use with zero lapped control valves
 Synchronization control in Master/Slave or average value mode
 Fault diagnosis and extended function checking
 Simplified parameterization with WPC-300 software

Page 7 of 65 POS-124-U-Ethernet 08.11.2018

1 2 3 4

5 6 7 8

9 10 11 12

14 15 1613

Ready A B

46 47 4845

42 43 4441

34 35 3633

38 39 4037

30 31 3229

26 27 2825

18 19 2017

W.E.ST.

25 26 272841 42 43

44

V:

ID:

D-41372 Niederkrüchten

Homepage: http://www.w-e-st.de

W.E. ST.

Elektronik

Add.:Date:

Made in Germany

454647 48

RUN

ERR

131415 16

13 14 15

16

293031 32

114,0000 mm

67,5000 mm

99,0000 mm

Typenschild und Anschlussbelegung
Type plate and terminal pin assignment

Feldbusstatus
Fieldbus state

Klemmblöcke (steckbar)
Terminals (removable)

Feldbusschnittstelle
Fieldbus interface

Aktivität
Activity

USB

LEDs

2.1 Device description

Page 8 of 65 POS-124-U-Ethernet 08.11.2018

3 Use and application

3.1 Installation instructions

 This module is designed for installation in a shielded EMC housing (control cabinet). All cables which

lead outside must be screened; complete screening is required. It is also a requirement that no
strong electro-magnetic interference sources are installed nearby when using our control and regula­tion modules.

 Typical installation location: 24V control signal area (close to PLC)

The devices must be arranged in the control cabinet so that the power section and the signal section
are separate from each other.
Experience shows that the installation space close to the PLC (24 V area) is most suitable. All digital
and analogue inputs and outputs are fitted with filters and surge protection in the device.

 The module should be installed and wired in accordance with the documentation bearing in mind

EMC principles. If other consumers are operated with the same power supply, a star- connected
ground wiring scheme is recommended. The following points must be observed when wiring:

 The signal cables must be laid separately from power cables.
 Analogue signal cables must be shielded.
 All other cables must be screened if there are powerful interference sources (frequency

converters, power contactors) and cable lengths > 3m. Inexpensive SMD ferrites can be
used with high-frequency radiation.

 The screening should be connected to PE (PE terminal) as close to the module as possi-

ble. The local requirements for screening must be taken into account in all cases. The
screening should be connected to at both ends. Equipotential bonding must be provided
where there are differences between the connected electrical components.

 With longer lengths of cable (>10 m) the diameters and screening measures should be

checked by specialists (e.g. for possible interference, noise sources and voltage drop).
Particular care is required with cables of over 40 m in length – the manufacturer should
be consulted if necessary.

 A low-resistance connection between PE and the mounting rail should be provided. Transient inter-

ference is transmitted from the module directly to the mounting rail and from there to the local earth.

 Power should be supplied by a regulated power supply unit (typically a PELV system complying with

IEC364-4-4, secure low voltage). The low internal resistance of regulated power supplies gives bet­ter interference voltage dissipation, which improves the signal quality of high-resolution sensors in
particular. Switched inductances (relays and valve coils connected to the same power supply) must
always be provided with appropriate overvoltage protection directly at the coil.

Page 9 of 65 POS-124-U-Ethernet 08.11.2018

3.2 Typical system structure

This minimal system consists of the following components:

(*1) Proportional valve with OBE
(*2) Hydraulic cylinder
(*3) Position sensor
(*4) POS-124-U-PFN control module
(*5) interface to PLC with analogue and digital signals

3.3 Method of operation

This control module supports simple point-to-point positioning with hydraulic drives. The system works based
on the principle of stroke-dependent deceleration, i.e. the control gain (deceleration stroke) is set via param­eters D:A and D:B. Alternatively it can also function in NC-Modus by setting the loop gain parameters. In this
mode the drive will move with controlled velocity to the target position.

The deceleration characteristics can be set linearly (LIN) or approximately quadratically (SQRT1) via the
CTRL parameter. For normal proportional valves SQRT1 is the input setting.

For control valves with a linear flow curve it depends on the application. If LIN is selected for these valves a
significantly shorter deceleration distance can often be set (D:A and D:B).

Page 10 of 65 POS-124-U-Ethernet 08.11.2018

V+

V+

A:A D:A

A:B

D:B

MAX:A

MAX:B

driving out

volumetric flow

P-A

and B-T

control direction

control direction

driving in

Positioning sequence:
The positioning is controlled via Fieldbus. After switching on the ENABLE input, the command position (or

target position) is set equal to the actual position of the sensor and the axis stays in closed loop position con­trol mode. The READY output indicates that the system is generally ready for operation. After setting the
START-signal, the preset command value will be taken over. The axis immediately will drive to this new com­mand position and indicates reaching it by setting the InPos output.

The Poswin output stays active as long as the axis is within the preset Poswin window and the START input
is active. The driving velocity is regulated by a signal received by the fieldbus interface. The axis moves with
a limited speed according to this preset value.

The axis can be driven in manual mode (START is off) using the control bits HAND+ or HAND-. The velocity
is programmable. When the HAND signal is deactivated, the command position is set to the actual position
and the system stays in closed loop position control mode.

Setting the synchronous bit (GL) will synchronize both axes and the synchronization controller is overriding
the position controller of axes 2. Axes 2 is now following axes 1 according to the master-slave-principle.

In order to achieve a reliable synchronous control, the maximum speed should be limited to about 70… 80 %

of the possible speed. For compensating for deviations the slave axis must have the ability to move faster
than the master axis. This control margin is necessary and has to be considered during the system design.

Influences on positioning accuracy:
The positioning accuracy is determined by the hydraulic and mechanical conditions. The right choice of valve

is therefore a decisive factor. In addition, two mutually contradictory requirements (short position time and
high accuracy) must be taken into account when designing the system.
The electronic limitations lie mainly in the resolution of the analogue signals, although with our modules a
resolution of < 0.01% only needs to be considered with long positions. In addition, the linearity of the individ­ual signal points (PLC, sensor and control module) must be considered. The worst-case scenario is that a
system-specific absolute fault occurs.
The repeat accuracy is, however, not affected by this.

Page 11 of 65 POS-124-U-Ethernet 08.11.2018

Step

Task

Installation

Install the device in accordance with the circuit diagram. Ensure it is wired cor­rectly and that the signals are well shielded. The device must be installed in a pro­tective housing (control cabinet or similar).

Switching on for the
first time

Ensure that no unwanted movement is possible in the drive (e.g. switch off the hy­draulics). Connect an ammeter and check the current consumed by the device. If
it is higher than specified there is an error in the wiring. Switch the device off im­mediately and check the wiring.

Setting up communication

Once the power input is correct the PC (notebook) should be connected to the se­rial interface. Please see the WPC-300 program documentation for how to set up
communication.

Further commissioning and diagnosis are supported by the operating software.

Pre-parameterisation

Now set up the following parameters (with reference to the system design and cir­cuit diagrams):

SYSRANGE, SENSOR SETTINGS, POLARITY, ACCELERATION and
DECELERATION.
Pre-parameterisation is necessary to minimise the risk of uncontrolled move­ments.

Parameterise specific settings for the control element (MIN for following error
compensation and MAX for maximum velocity).

Reduce the speed limitation to a value which is uncritical for the application.

Control signals

Check the control signal with a voltmeter. The control signals (PIN 15 to PIN16
and PIN19 to PIN20) lies in the range of ± 10V. In the current state it should show
0V. Alternatively, if current signals are used, approx. 0 mA should flow.
CAUTION! This signal depends on the EOUT setting.

Field communication

Activate the fieldbus communication and check whether the right values and bits
are send to the module.

Switching on the
hydraulics

The hydraulics can now be switched on. The module is not yet generating a
signal. Drives should be at a standstill or drift slightly (leave its position at a slow
speed).

Activating ENABLE

CAUTION! Drives can now leave their position and move to an end position at full
speed. Take safety measures to prevent personal injury and damage.

Drives stay in the current position (with ENABLE the actual position is accepted
as the required position). If the drive moves to an end position, the polarity is
probably wrong.

Activating START

With the start signal the demand value on the analogue demand value input is ac­cepted and the axis moves to the predefined target position.
If START is disabled the axis stops in the preset deceleration distance D:S.

Manual (HAND) operation

If START is disabled the axis can be moved manually with HAND+ or HAND- . Af­ter disabling the HAND signal, the axis stops in a controlled manner at the current
position.

Optimize controller

Now optimize the controller parameters according to your application and your re­quirements.

3.4 Commissioning

Page 12 of 65 POS-124-U-Ethernet 08.11.2018

Connection

Supply

PIN 3, PIN 31 and
PIN 35

Power supply (see technical data)

PIN 4, PIN 32 and
PIN 36

0 V (GND) connection.

Connection

Analogue signals

PIN 11

0 V (GND), potential for analogue input signals, internally connected to PIN 4

PIN 12

0 V (GND), potential for analogue output signals, internally connected to PIN 4

PIN 13

Analogue input: position actual value (X1), signal range 0… 10V or 4… 20 mA, scalable

PIN 14

Analogue input: position actual value (X2), signal range 0… 10V or 4… 20 mA, scalable

PIN 15 / 16

Valve control signal axis 1.
Type of signal and polarity can be selected by the parameter SIGNAL:U1.

PIN 19 / 20

Valve control signal axis 2.
Type of signal and polarity can be selected by the parameter SIGNAL:U2.

Connection

SSI sensors

PIN 33

Power supply for sensor 1

PIN 34

0 V (GND) for sensor 1

PIN 37

CLK +

PIN 38

CLK -

PIN 39

DATA +

PIN 40

DATA -

PIN 47

Power supply for sensor 2

PIN 48

0 V (GND) for sensor 2

PIN 41

CLK +

PIN 42

CLK -

PIN 43

DATA +

PIN 44

DATA -

Connection

Digital inputs and outputs

PIN 8

Enable input:
This digital input signal initializes the application. The signal will be combined with the soft-

ware enable of the corresponding axis.

PIN 1

READY output:
ON: The module is enabled; there are no discernible errors.
OFF: Enable is deactivated or an error has been detected.

4 Technical description

4.1 Input and output signals

Page 13 of 65 POS-124-U-Ethernet 08.11.2018

LEDs

Description of the LED function

GREEN

Identical to the READY output.
OFF: No power supply or ENABLE is not activated

ON: System is ready for peration

Flashing: Error discovered
Only active when SENS = ON

YELLOW A

STATUS output.
OFF: The axis 1 is outside the INPOS window.
ON: The axis 1 is within the INPOS window.

YELLOW B

STATUS output.
OFF: The axis 2 is outside the INPOS window.
ON: The axis 2 is within the INPOS window.

GREEN +
YELLOW A+B

1. Chasing light (over all LEDs): The bootloader is active. No normal functions are
possible.

2. All LEDs flash shortly every 6 s: An internal data error was detected and corrected
automatically! The module still works regularly. To acknowledge the error the module
has to be cycle powered.

YELLOW A +
YELLOW B

Both yellow LEDs flash oppositely every 1 s: The nonvolatile stored parameters are in­consistent! To acknowledge the error, the data have to be saved with the SAVE command
or the corresponding button in the WPC.

LEDs

Description of the LED function

GREEN
at ports

Green LEDs shows network traffic at the relating port.
OFF: No connection available

ON: Active network connected

Flashing: Existing data traffic

GREEN

The green RUN LED indicates the status of the central communication processor.
OFF: Bus not started / Initializing
Flashing: Status EtherCAT: Safe Operational

Status ProfiNet: wait for data
Flickering: Status EtherCAT: ­ Status ProfiNet: Failure
ON: Connected and active

RED

The red ERR LED indicates a faillure state
OFF: No Error.
Flashing: EtherCAT: No communication (PLC-Faiilure, lost frames)

ProfiNet: Node flash test
ON: ProfiNet: Failure in the data communication

4.2 LED definitions

First section with USB

Second section (fieldbus)

Page 14 of 65 POS-124-U-Ethernet 08.11.2018

4.3 Block Diagram

POS-124-U-Ethernet

24 V

PE via DIN-RAIL

15

16

12

1

Output: A

Output: B

8

Ready

Enable

24 V output

USB Type B

Differentialinput

13

0 V

11

ANA Feedback
Position 1

Output
Adaptation

24 V input

wa1

x1

u1

Internal Power

3

4

0 V

Position
via Fieldbus

Control program

v1

Current mode: 4... 20 mA
PIN 15 = +, PIN 12 = GND

Profile
Generator

VMODE = NC

0..10V

4..20mA

0 V

Control
Function

SDD or NC
mode

Output

limitation

DC

DC

24 V

0 V

PELV

-

e1w1

VMODE = SDD

Speed

35

32

14

0 V

11

ANA Feedback
Position 2

Input
Scaling

0..10V

4..20mA

0 V

19

20

18

Output: A

Output: B

Differentialinput

AXIS 1

AXIS 2

u2

Current mode: 4... 20 mA
PIN 19 = +, PIN 18 = GND

36

31

47
48

41
42

43
44

24 V

0 V

CLK+
CLK-

DATA+

DATA-

INPX = SSI

SSI Feedback
Position 2

Speed
via Fieldbus

SSI
Sensor

33
34

37
38

39
40

24 V

0 V

CLK+
CLK-

DATA+
DATA-

INPX = SSI

SSI Feedback
Position 1

INPX = ANA

INPX = ANA

Synchronous
Controller

MS or AV

Enable Sync.
via Fieldbus

x1

x2

Serial
57600 Bd
8N1

USB

RJ45

RJ45

Fieldbus

Adaption

Input
Scaling

SSI
Sensor

Support

- Real time function

- communication

- Error handling

Diagnostics

- Remote control

- Process data

- Error information

Send to the Fieldbus

- Status informations

- System errors

- command position

- feedback position

Page 15 of 65 POS-124-U-Ethernet 08.11.2018

power
supply

24V

0V

24

232221

32313029

20191817

GND
+24 V DC

-> ENABLE

+/- 10 V (4...20mA)
to valve no. 1

8765

16151413

1211109

4321

0..10V, 4..20mA
sensor inputs
13 = X1, 14 = X2

+/- 10 V (4...20mA)
to valve no. 2

power supply
communication module

393837

48474645

44434241

36353433

CLK­CLK+

DATA­DATA+

GND
+24 V DC

SSI 2
sensor interface

40

SSI 1
sensor interface

CLK+
CLK­DATA+
DATA-

+24 V DC
GND

PE clamp

PE clamp

<- READY

RJ45

OUT

RJ45

IN

+In PIN 13 or 14
PIN 12 (GND)

AIN:W 2000 1600 2000 C ( für 0... 100%)

0... 10 V feedback signal

+In PIN 13 or PIN 14
In PIN 12 (GND)

sensor with 4... 20 mA (two wire connection)

z. B. 24 V

+In PIN 13 or 14
PIN 12 (GND)

AIN:W 2000 1600 2000 C ( für 0... 100%)

sensor with 4... 20 mA (three wire connection)

z. B. 24 V

Valve (6 + PE plug) with OBE electronics

A : 24 V supply
B : 0 V supply

C : GND or enable
D : + differential input
E : - differential input
F : diagnostics
PE -

PIN 15
PIN 16

PIN 12

Module

4.4 Typical wiring

4.5 Connection examples

Page 16 of 65 POS-124-U-Ethernet 08.11.2018

Supply voltage (Ub)
Current requirement
External protection

[VDC]

[mA]

[A]

24 (±10 %)
500
1 medium time lag

Digital inputs

Input resistance

[V]
[V]

[kOhm]

OFF : < 2
ON : > 10
25

Digital outputs

Maximum output current

[V]
[V]

[mA]

OFF: < 2
ON: max. Ub
50

Analogue inputs (sensor and
demand value signal)
Signal resolution

[V]

[mA]

[%]

0… 10; 33 kOhm
4… 20; 250 Ohm

0.01(internally 0.0031) incl. oversampling

Analogue outputs
Voltage

Signal resolution
Current
Signal resolution

[V]

[mA]

[%]

[mA]

[%]

2 x 0… 10; Differential output
5 (max. load)

0.024

4… 20; 390 Ohm maximum load

0.024

SSI interface

-

RS-422 specification, 150 kBaud

Controller sample time

[ms]

1

Serial interface

USB, 9600… 57600 Baud, 1 stop bit, no
parity, Echo Mode

Profinet IO
Data rate
Conformance class

[Mbit/s]

-

100
CC-B

Housing

Snap-on module to EN 50022
PA 6.6 polyamide
Flammability class V0 (UL94)

Weight

[kg]

0,385

Protection class
Temperature range
Storage Temperature
Humidity

[°C]
[°C]

[%]

IP20

-20… 60

-20... 70

< 95 (non-condensing)

Connections

USB-B
11 x 4-pole terminal blocks
2 x RJ45 Ethernet jack
PE: via the DIN mounting rail

EMC

EN61000-6-4: 2007 +A1:2011
EN61000-6-3: 2005

4.6 Technical data

Page 17 of 65 POS-124-U-Ethernet 08.11.2018

Group

Command

Default

Unit

Description

Basic parameters

MODE

STD

-

Parameter view

System parameters (MODE = SYSTEM)

LG

EN

-

Changes the language of the help texts

SENS

ON

-

Malfunction monitor

PASSFB

0

-

Password for fieldbus parameterization

EOUT_1

0

0,01 %

Output signal if not ready

EOUT_2

0

0,01 %

Output signal if not ready

Axis 1

HAND_1:A

HAND_1:B

3330

-3330

0,01 %

0,01 %

Output signal in manual mode

POSWIN_1:S

POSWIN_1:D

200

5000

µm

µm

Windows of the “in position” monitoring

VMODE_1

SDD

-

Method of positioning

Axis 2

HAND_2:A

HAND_2:B

3330

-3330

0,01 %

0,01 %

Output signal in manual mode

POSWIN_2:S

POSWIN_2:D

200

5000

µm

µm

Windows of the “in position” monitoring

VMODE_2

SDD

-

Method of positioning

Input and output parameters (MODE = IOCONFIG)

SELECT:X

SSI

-

Selection of the sensor signals

VRAMP_1

100

ms

Speed ramp time

VRAMP_2

100

ms

Speed ramp time

SIGNAL_1:U

U+-10

-

Type and polarity of the analogue output

SIGNAL_2:U

U+-10

-

Type and polarity of the analogue output

Axis 1

SYS_RANGE_1

100

mm

Axis working stroke

SIGNAL_1:X

U0-10

-

Type of analogue input

N_RANGE_1:X

100

mm

Sensor length

OFFSET_1:X

0

µm

Sensor offset

Axis 2

SYS_RANGE_2

100

mm

Axis working stroke

SIGNAL_2:X

U0-10

-

Type of analogue input

N_RANGE_2:X

100

mm

Sensor length

5 Parameters

5.1 Parameter overview

Page 18 of 65 POS-124-U-Ethernet 08.11.2018

Group

Command

Default

Unit

Description

OFFSET_2:X

0

µm

Sensor offset

SSI connection

SSI_1:POL

+

-

Sensor polarity

SSI_2:POL

+

-

Sensor polarity

SSI:RES

100

10 nm

Sensor resolution

SSI:BITS

24

-

Number of transmitted bits

SSI:CODE

GRAY

-

Type of transmission code

SSI:ERRBIT

0

-

Position of the error bit

Positioning controller 1 (MODE = POS_1)

Positioning VMODE = NC

ACCEL_1

250

mm/s²

Acceleration

VMAX_1

50

mm/s

Maximum velocity

V0_1:A

V0_1:B

V0_1:RES

10

10

1

1/s

1/s

-

Loop gain

Loop gain resolution

Positioning VMODE = SDD

A_1:A

A_1:B

100

100

ms

ms

Acceleration time

D_1:A

D_1:B

D_1:S

25

25

10

mm

mm

mm

Deceleration stroke

Controller

PT1_1

1

ms

PT1-filter time constant

CTRL_1

SQRT1

-

Control characteristic

MIN_1:A

MIN_1:B

0

0

0,01 %

0,01 %

Deadband compensation

MAX_1:A

MAX_1:B

10000

10000

0,01 %

0,01 %

Output scaling

TRIGGER_1

200

0,01 %

Deadband compensation trigger point

OFFSET_1

0

0,01 %

Offset value for the output

Positioning controller 2 (MODE = POS_2)

Positioning VMODE = NC

ACCEL_2

250

mm/s²

Acceleration

VMAX_2

50

mm/s

Maximum velocity

V0_2:A

V0_2:B

V0_2:RES

10

10

1

1/s

1/s

-

Loop gain

Loop gain resolution

Positioning VMODE = SDD

A_2:A

A_2:B

100

100

ms

ms

Acceleration time

D_2:A

D_2:B

D_2:S

25

25

10

mm

mm

mm

Deceleration stroke

Controller common settings / valve adaption

Page 19 of 65 POS-124-U-Ethernet 08.11.2018

Group

Command

Default

Unit

Description

PT1_2

1

ms

PT1-filter time constant

CTRL_2

SQRT1

-

Control characteristic

MIN_2:A

MIN_2:B

0

0

0,01 %

0,01 %

Deadband compensation

MAX_2:A

MAX_2:B

10000

10000

0,01 %

0,01 %

Output scaling

TRIGGER_2

200

0,01 %

Deadband compensation trigger point

OFFSET_2

0

0,01 %

Offset value for the output

Synchronisation Controller (MODE = SYNC)

SYNCMODE

MS

-

Synchronization mode

SYNCWIN

5000

µm

Synchronization error window

SYNC:P

SYNC:V0

SYNC:T1

25

10

80

mm

s-1

ms

P gain (deceleration stroke, SDD)
Loop gain (NC)
Time constant

Special functions (MODE = EXTRA)

Fine positioning / drift compensation

DC_1:AV

DC_1:DV

DC_1:I

DC_1:CR

0

0

2000

500

0,01 %

0,01 %

ms

0,01 %

Point of activation
Point of deactivation
Time constant of the integrator function
Limit of the control range

DC_2:AV

DC_2:DV

DC_2:I

DC_2:CR

0

0

2000

500

0,01 %

0,01 %

ms

0,01 %

Point of activation
Point of deactivation
Time constant of the integrator function
Limit of the control range

Special commands

AINMODE

EASY

-

Input scaling mode

AIN_1:X

AIN_2:X

A: 1000

B: 1000

C: 0

X: V

-

-

0,01 %

-

Free scaling of the analogue inputs (MATH). Re­places SIGNAL, N_RANGE and OFFSET.

Please contact W.E.St. before using these com­mands.

ETC_LOOP

NORMAL|FAST

-

Cycle time of the data transfer.
Only available when using EtherCAT devices!

Page 20 of 65 POS-124-U-Ethernet 08.11.2018