EPOS positioning with v90

Hello,

here you find an example project with V90PN and EPOS. THe SINA_POS block from the DriveLib in TIA Portal is used here to control the EPOS. This should be quite easy to handle.

https://support.industry.siemens.com/cs/de/en/view/109747750

Hello,

you can download the DriveLib here (in case you haven't installed Startdrive, so that the lib was installed to TIA automatically):

https://support.industry.siemens.com/cs/de/de/view/109475044

There are different TIA versions of the lib available. I think you can use the version for V12SP1 and upgrade it when opening in TIA V13 (should be done automatically). Or if you have V13SP1 you can directly take this version of lib.

Hi,

to the brake: I described it in your other forum entry. If you have no motor brake, please select p1215 = "0".

To the SINA_POS:

This is quite difficult to explain now, but of course you can program your own block. The requirement is that you understood the EPOS functionality and you know which functions of the EPOS you want to realize with your block and which signals you need to select / unselect for this. Then you can use the Standard telegram 111, too. In your block you need to create something like a structure that is similar to the bits/words in telegram 111 (I think you can find suitable UDTs already for each telegram in TIA). Inside your block you write the commands of telegram 111 according to your wanted functionality. The cyclic data exchange can be done by the blocks "DPRD_DAT" (for reading) and DPWR_DAT("for writing") that you need to call in your own FB. As parameter of these functions you need to give the read or write data of your structure and the correct HW-ID (like in the SINA_POS nowadays).

So in your FB you first read in your defined inputs, read in the data from the drive with DPRD_DAT, then do your own logic and set the bits/words of the write part of your struct and then you write the data with DPWR_DAT to the drive and optionally give some feedback to your outputs of the FB.

I hope this helps.

Hello,

so you configured your drive with V-ASSISTANT, right?

Then please check the value of p1215. In case you have a holding brake it should be set to "1". In case you have no holding brake it should be set to "0". Then save the parameterization. 

Then try to enable the axis and also have a look at the status of your SINA_POS FB. Maybe you have another fault (e.g. wrong HW ID is set at the input or the communication doesn't work properly or something).