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SIEMENS 可编程控制器
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Functionality of the EPos basic positioner

Lower-level closed-loop position control with the following essential components

Actual position value processing (including the lower-level measuring input evaluation and reference mark search)
Position controller (including limits, adaptation and pre-control calculation)
Position control cycle 8 ms (speed control cycle 2 ms)
Monitoring functions (standstill, positioning and dynamic following error monitoring, cam signals)

Mechanical system

Backlash on reversal compensation

Limitations

Speed/acceleration/delay/jerk limitation
Software limit switches (traversing range limitation by means of position setpoint evaluation)
Stop cams (traversing range limitation using hardware limit switch evaluation)

Referencing or adjustment

Set reference point (for an axis at standstill that has reached its target position)
Search for reference (separate mode including reversing cam functionality, automatic reversal of direction, referencing to "output cam and encoder zero mark" or only "encoder zero mark" or "external zero mark (BERO)")
Flying referencing (seamless subordinate referencing is possible during "normal" traversing with the aid of measuring input evaluation, generally evaluation, e.g. of a proximity sensor). Subordinate function for the modes "jog", "direct setpoint input/MDI" and "traversing blocks")
Absolute encoder alignment

Traversing blocks mode (16 traversing blocks)

Positioning using traversing blocks that can be stored in the drive unit including block change enable conditions and specific tasks for an axis that was previously referenced
Traversing block editor using STARTER
A traversing block contains the following information:
- Job number and job (e.g. positioning, waiting, GOTO set jump, setting of binary outputs, travel to fixed stop)
- Motion parameters (target position, override speed for acceleration and deceleration)
- Mode (e.g.: hide block, continuation conditions such as "Continue_with_stop", "Continue_flying" and "Continue_externally using high-speed probe inputs")
- Job parameters (e.g. wait time, block step conditions)

Direct setpoint input (MDI) mode

Positioning (absolute, relative) and setting-up (endless closed-loop position control) using direct setpoint inputs (e.g. via the PLC using process data)
It is always possible to influence the motion parameters during traversing (on-the-fly setpoint acceptance) as well as for on-the-fly changes between the setup and positioning modes.
The direct setpoint specification operating mode (MDI) can also be used in the relative positioning or setup mode if the axis is not referenced. This means that on-the-fly synchronization and re-referencing can be carried out using "flying referencing".

Jog mode

Closed-loop position controlled traversing of the axis with "endless position controlled" or "jog incremental" modes (traverse through a "step width"), which can be toggled between

Integration

Connection diagram for the CU230P‑2 Control Unit series

More information about the interfaces of the Control Unit is available on the Internet at:
https://support.industry.siemens.com/cs/document/109477360

Connection diagram for the CU240E‑2 Control Unit series

More information about the interfaces of the Control Unit is available on the Internet at:
https://support.industry.siemens.com/cs/document/109477361

Connection diagram for the CU250S-2 Control Unit series

More information about the interfaces of the Control Unit is available on the Internet at:
https://support.industry.siemens.com/cs/document/99730303

Communication interface USS, Modbus RTU, BACnet MS/TP, FLN P1 (BACnet MS/TP and FLN P1 for CU230P‑2 HVAC only)

PROFIBUS DP communication interface

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