G120 - Encoder positioning

Hello,

This case is very interesting for me. I haven't done anything with encoder positioning up to this point, untill my manager gave me a project, in woch I have to.
Can you give me some feedback on how this is going, and specificly how the encoder data needs to be processed?

Thanks in advance.
With kind regards,

T.

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Split from G120 - Encoder´s Position value - Profinet Telegram.

If you have a real positioning application please DO NOT do it like described here with telegram 352 - this is speed control!

For positioning with SINAMICS + SIMATIC you have 2 good options:

1. use Technology Object "Positioning Axis" inside the PLC -> the intelligence of Motion Control is inside the PLC and the drive is just the "dumb" speed controller

2. use EPOS (basic positioner) inside the drive for positioning in combination with telegram 111 and in your PLC code you use the SINA_POS FB to give the commands from your user program to the drive (next setpoint position, ...)

These are the 2 correct ways of doing positioning applications.

Using EPOS didn't solved my problem. I think I had a license problem to enable that function on the Drive side. I ended doing the following:

- I changed the 352 telegram to Standar telegram

- I programmed myself the communication block using the basic instructions for profinet comms.

Using the standar telegram gave me a complete flexibility to choose wich data I wanted to share PLC-Drive. This is configured using SCOUT/STARTER, on the drive side.

It seems like a complex solution but please check the HW / Software combination I was facing. If you are working with TIA PORTAL this may be much easier.

I learned the basics using the following doc. from SIEMENS:

https://support.industry.siemens.com/cs/attachments/58820849/58820849_SINAMICS_G120_at_S7-300400-PN_DOKU_v23_en.pdf

Note: you can search for the code example and open the blocks to see how they are programmed

Thank you for the answer. I will look into it, and see what I can do.

With kind regards,
T.