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Sinamics V90 Violent pos when power on.

Created by: AutoGen_8156230 at: 4/26/2018 6:11 PM (8 Replies)

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4/26/2018 6:11 PM	Rate (0)
AutoGen_8156230 Posts: 2 Rating: (0)	Hello! I have a 0,4kw V90 Servo with incremental enoder and the motor has no brake. I run the servo via profinet, telegram 111. To the problem... If i stop the servo, the move it by hand. And then i start it again. The servo will auto positioning to the latest commanded position, in the most violent way it can. Can i somehow change this speed it does this so it is not so violent? or can i disable it? Im using MDI block change with rising edge signal. If i perform a start positioning like usual, the servo reads my target velocity and runs smoothly. I want this function, run to last commaded pos, but in a more controled way.
AutoGen_8156230 Posts: 2 Rating: (0)
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4/27/2018 11:36 AM	Rate (0)
Technology Team Platinum Expert Joined: 10/11/2006 Last visit: 4/17/2025 Posts: 6008 Rating: (827)	Hello, what do you exactly mean with "stop Servo"? Do you disable it or do you push it away by hand when the drive is still in control? When the drive is not disabled, the behavior of the axis is normal, as you build up a following error between setpoint position and actual position. Otherwise: By default connection it is as follows: If the position controller is disabled, the so called "tracking mode" is active, which means that the position setpoint is set to the position actual value. So if your drive is disabled, also your position controller should be disabled and tracking mode gets active automatically - except something was changed in the standard connections. You could check p2655[0] and [1], first should be interconnected to r2092.0 the other to r2526.7. And p2549 should be connected to r899.2 so that the position controller is switched off when the drive is disabled. An option to select the tracking manually when the drive is switched off is to set the bit 0 in word 3 of Telegram 111.
	With best regards, Technology Team Application consulting and pre sales support for SINAMICS, SIMATIC Technology, SIMOTION, SIMOTICS and MOTION CONNECT
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This contribution was helpful to 1 thankful Users Yu-wen Tang

4/27/2018 3:09 PM	Rate (0)
AutoGen_8156230 Posts: 2 Rating: (0)	I will try to explain it again. First, I drive the servo motor to a position, let's say 1000LU. The servo motor is then in position 1000LU and then I open the safety gate on the machine. The servo gets disable by STO and via the Profinet (OFF1,2,3) STW 1.0 to STW 1.5 = 0 Then I enter the cell and move the engine by hand to position 500 LU. Then I leave the cell. Restores the security and then I send SERVO ENABLE signals via the Profinet at the same time, the servo STO channels are okey. Then when the servo becomes ENABLE, it moves violently to the last achieved position. 1000 LU I have been looking for p2655 and could not find it. POS_STW2.0, tracking mode active is always set to zero = 0 This would not have been a problem if I had a brake in the motor.
AutoGen_8156230 Posts: 2 Rating: (0)
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4/28/2018 4:35 PM	Rate (0)
Tecla Advanced Member Joined: 7/22/2011 Last visit: 12/23/2023 Posts: 78 Rating: (2)	Hello, I have the same problem. A motor with a brake may not be a solution. I have tried to change p29120 and p29121 but with no valuable result. A suggested mode is the use of a motor with a turn absolute encoder. I will try this as soon I will have the motor. Also where to find p2655 and p2549 Yours Sincerely, Pier Giovanni
	Last edited by: Tecla at: 4/28/2018 4:36:57 PM
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10/2/2018 2:33 PM	Rate (0)
SimSiemens Posts: 2 Rating: (1)	When the drive stays inside the positioning window you need to decide whether you want to activate the follow up mode (by activating POS_STW2 Bit 0 by your PLC program) or if you leave it 0 the follow up mode is not active and the drive will move back to the old setpoint after switching on. BR,
SimSiemens Posts: 2 Rating: (1)
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This contribution was helpful to 1 thankful Users Yu-wen Tang

10/3/2018 5:17 AM	Rate (0)
Yu-wen Tang Silver Member Joined: 10/7/2009 Last visit: 4/15/2025 Posts: 266 Rating: (96)	Hi, Just as TechTeam and SimSiemens said, you can solve this problem by activating the Tracking mode (POS_STW2 Bit 0) in your program. If you are using TIA Portal V14 FB284 "SINA_POS" V5.0 to control SINAMICS V90 PN, the bit you should set for activating the Tracking mode is: "SINA_POS_DB".sxSendBuf.EPosSTW2.%X0. Please see the attached picture, a tested example for activating the Tracking mode and solving the same problem as you have (violent positioning when Servo enable). Best regards, Yu-wen Attachment Sina_Pos_TrackingPos.PNG (1300 Downloads)

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9/22/2022 7:46 AM	Rate (0)
ALIRAJABI Member Joined: 9/27/2015 Last visit: 1/1/2024 Posts: 5 Rating: (0)	Hello, in my opinion, it is too bad for V90 ،This is a defect That we can't activated the tracking mode in part of parameter when we use Telegram and this sure be should separate from plc control, This is different with s110 and this is very dangerous in V90
	Last edited by: ALIRAJABI at: 09/22/2022 07:51:22
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12/8/2023 6:37 PM	Rate (0)
AutoRNT Member Joined: 4/1/2022 Last visit: 10/4/2024 Posts: 2 Rating: (0)	how i can do that in tia portal v17 ??

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12/11/2023 10:54 AM	Rate (0)
Technology Team Platinum Expert Joined: 10/11/2006 Last visit: 4/17/2025 Posts: 6008 Rating: (827)	Hello, during power on command position will be set to actual position. So it's necessary to store the last position after power off. Then you can to a MDI positioning to the stored value. SINAMICS V90 PN: Basic Positioner (EPos) https://support.industry.siemens.com/cs/ww/en/view/109817888
	With best regards, Technology Team Application consulting and pre sales support for SINAMICS, SIMATIC Technology, SIMOTION, SIMOTICS and MOTION CONNECT
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