RE Order Paragraph

Application example  07/2016
Conveyor systems – scissor

lifting table
Commissioning
https://support.industry.siemens.com/cs/ww/en/view/109482756
Warranty and liability

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Scissor lifting table

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Danger to personnel as a result of unintentional lowering

If the holding brake does not provide adequate protection, for vertical axes there
WARNING is danger to personnel if the load is unintentionally lowered. Plant or machine
builders must take this danger into account during the risk assessment and must
take the appropriate measures to minimize the risk of danger.
A example of the technical and organizational protective measures for different
operating modes is provided in \10\ Technical information sheet for axes subject
to gravity of the German Social Accident Insurance Association (DGUV).
This application example does not describe a machine safety concept that is
intended to minimize any danger corresponding to the information sheet of axes
subject to the force of gravity. The document only demonstrates how control-
related safety functions of the products presented can be utilized.

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Table of contents
Table of contents
Warranty and liability................................................................................................... 2
1 Application example for scissor lifts ............................................................... 5
1.1 Design .................................................................................................. 5
1.1.1 Fixed lifting tables ................................................................................. 6
1.1.2 Mobile lifting tables ............................................................................... 6
1.1.3 Safety requirements specified by the standards .................................. 7
1.2 Drive train ............................................................................................. 8
1.2.1 Spindle drive ......................................................................................... 8
1.2.2 Belt drive............................................................................................... 8
1.2.3 Drive concepts with a safety-related brake .......................................... 9
1.3 Sensors and closed-loop control mode .............................................. 10
1.3.1 Positioning using proximity switches .................................................. 10
1.3.2 Positioning using position encoders ................................................... 11
1.3.3 Monitoring ........................................................................................... 13
2 Task ................................................................................................................... 14
3 Solution............................................................................................................. 16
3.1 Overview............................................................................................. 16
3.2 Hardware and software components ................................................. 17
4 Installation and commissioning ..................................................................... 18
4.1 Basic commissioning .......................................................................... 18

4.1.1 Commissioning Wizard (offline) ......................................................... 18
4.1.2 Drive functions .................................................................................... 28
4.1.3 Basic positioner (EPOS)..................................................................... 29
4.1.4 Safety functions /Safe torque off (STO) ............................................. 33
4.2 Optimizing the lift drive (optional) ....................................................... 35
4.2.1 Optimizing the speed controller .......................................................... 35
4.2.2 Power and current limiting .................................................................. 39
4.2.3 Position controller ............................................................................... 40
5 Appendix .......................................................................................................... 43
6 References ....................................................................................................... 45
7 Contact persons .............................................................................................. 45
8 History............................................................................................................... 45

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1 Application example for scissor lifts

According to EN 1570-1, scissor lifting tables are load lifting equipment with a load
carrying platform, which are guided through their complete range of motion using a
mechanical arrangement (scissors mechanism). Lifting tables have a scissors
mechanism comprising scissor arms equally long with the axis at the center point
of the scissor arm. They can provide an average lifting distance of up to several
meters – and are predominantly used for heavier loads.
1.1 Design
An overview of the mechanical design of single-scissor lifting tables and their
safety requirements is provided in the following. Double or multiple-scissor lifting
tables to achieve higher lifting heights are not discussed in this application
example.
Fig. 1-1 Shows the basic design of a lifting table with the following terminology.
Fig. 1-1: Design of a lifting table
1. Upper frame or platform

2. Base frame
3. Articulated fixed bearing
4. Movable bearing side with linear or sliding guide
5. Scissors lever mechanism
Industrial scissor lifting tables to lift and lower objects in conveyor systems are
either operated by personnel or automatically as series lifting equipment. Only
automatically controlled scissor lifting tables are described in this application
example.
As a rule, scissor lifting tables are required with a constant lifting velocity. As a
consequence, designs are used to linearize the ratio between the drive output
speed and the hoisting velocity. Fig. 1-2shows such a design.
When lifting, the roll is guided at the white scissor arm. The lifting velocity can be
kept constant by the curved element along the track.

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Fig. 1-2: Principle of operation of a belt drive with constant lifting velocity
A distinction can be made between fixed and mobile scissor lifting tables.
1.1.1 Fixed lifting tables

Fixed lifting tables are predominantly used in conveyor systems in intralogistic

environments. The scissor lifting table manufacturer has designed his equipment to
remain fixed in place. The scissor lifting table moves between a minimum of two
fixed levels. Generally, the platform has a roller track to allow loads to be easily
loaded and unloaded.
1.1.2 Mobile lifting tables
Manufacturers of mobile scissor lifting tables have specifically designed their

equipment so that they can be moved. According to EN 1570-1, this can involve
scissor lifting tables that can be moved on wheels or cushions of air. Mobile lifting
tables can move along a fixed track provided by rails. Automatically guided lifting
tables have their own traction/propulsion drive. Mobile lifting tables are used as
standard in the final assembly area in the automotive industry. They are mounted
on skillet conveyors, which move the assembly technicians and the automobile
itself through the production environment.
The skillet conveyor transports the scissor lifting table. The vehicle body is placed
down on the scissor lifting table platform using mandrels. These lifting tables can
be flexibly moved to any position in the range of motion, so that the vehicle body
can be positioned at a level favorable for the specific assembly operation. Fig. 1-3
shows a mobile scissor lifting table on a skillet conveyor in the automotive industry
– this is located behind a concertina type element to prevent risk of crushing injury.

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Fig. 1-3: Scissor lifting table mounted on a skillet conveyor in the automotive industry
1.1.3 Safety requirements specified by the standards
Standard EN 1570 defines safety requirements for scissor lifting tables with a
maximum lifting velocity of 0.15 m/s, whereby a distinction is made between three
types of lifting tables:
- EN 1570-1 for lifting tables with a maximum of two stop positions (two levels)
- EN 1570-2 for lifting tables with a maximum of 2 stop positions for goods (two
levels)
- EN 1570-3 for lifting tables with a maximum of 2 stop positions for people
Some of the safety requirements laid down in EN 1570 are:
 Actuator elements must have an Emergency Stop device.
 If clearances for crushing and shearing cannot be maintained, then a

safety contact strip must be provided, which when actuated must stop
lifting table motion.
 Crushing and shearing positions can be avoided by using the appropriate
protection devices, bellows or sheet-metal partitions
 The lifting table must have arrester equipment if persons are on the lifting
table while it is moving either up or down. Hydraulic arrester cylinders or a
double drive are possible measures to implement this safety feature. If a
load carrying part breaks, lowering must be stopped within 100 mm and
the platform must be able to be held.
 All scissor lifting tables that have a mechanical drive system with spindles,
flat belts or toothed belts for lifting, must have a device which limits the
maximum motor torque to 150 % of the motor torque when lifting the
nominal load.
 If flat or toothed belts are used as load suspension equipment, then two
belts that can be independently adjusted must be provided.
 If a belt can become loose, then a safety device must be provided to
identify this condition. If a loose belt is identified, then the drive motor must
be switched off and it must remain switched off.
 Every drive must be equipped with an operating brake to stop and remain
stopped at every possible position with a payload on the platform. It is not
permissible that the brake can be inadvertently released. The brake must
automatically close soon as the drive can no longer be supplied with
power.
EN 81-1 and EN 81-2 apply for scissor lifting tables with lifting velocities exceeding
0.15 m/s.

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1.2 Drive train

Hydraulic, spindle and belt drives are predominantly used for scissor lifting tables.
While hydraulic drives are mainly used for heavy loads, electric drives with spindle
or belts have a higher overall efficiency, and have a lower environmental impact.
Electric drives are subsequently described.
1.2.1 Spindle drive
Fig. 1-4 shows a scissor lifting table with spindle. Contrary to a belt drive, with a
spindle drive there is a constant relationship between the motor speed and output
torque. As a result of the mounting position, a helical geared motor from the
SIMOGEAR series of geared motors can be installed axially to the spindle.
Fig. 1-4: Scissor lifting table with spindle drive
1.2.2 Belt drive
Generally, belt drives cost less than spindle drives, however they are not as
rugged. Fig. 1-5 shows a scissor lifting table with belt drive. For belt drives, the belt
is wound when lifting and when lowering. As a consequence, for belt drives, the
non-linear load torque is derived from the scissor mechanism lever and the belt
being wound. As the winding axis is in parallel with the axis of rotation, a geared
motor with angled gearbox is used. A bevel geared motor from the SIMOGEAR
geared motor series is an optimum fit for these types of applications.

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Fig. 1-5: Scissor lifting table with belt drive
In the automotive industry, for scissor lifting tables with belt drives it is specified
that when a belt breaks, the system can still be used once the defective belt has
been removed and the belt breakage monitoring bypassed. As a consequence, the
belts used must be overdimensioned to avoid breakage.
1.2.3 Drive concepts with a safety-related brake

Lifting tables where technicians are on the platform or assembly workers are on the
workpiece on the platform, when lowering, have increased requirements relating to
machine safety. Lifting tables in the final assembly stage in an automotive plant are
a good example of this type of application. For the assembly worker, the greatest
risk is being crushed if the platform is inadvertently lowered or dropped. Using a
safety-related brake is one strategy to comply with machinery safety regulations. A
safety-related brake requires a safety-related brake control system and the brake
must be regularly subject to a function test.
Safe brake control

A safe brake control can be realized with drives in IP20 degree of protection for
installation in electrical cabinets and the Safe Brake Control (SBC) function.
Distributed drives in degree of protection IP65 require external components to
safely disconnect the brake power supply voltage, see Fig. 1-6. The brake control
with 180 VDC supply voltage is realized from the drive via the motor cable. Two
contactors with positively driven contacts are controlled from an F controller – and
monitored using their feedback signal contacts. The brake supply voltage can be
opened through two channels by initiating a Safe Torque Off (STO) and monitored.
Safe brake test

For the safe brake test, the perfect functioning of the brake must be tested at
regular intervals. To do this, the drive attempts to move against the closed brake
with a defined torque. The drive is either controlled by selecting the Safe Brake
Test (SBT) safety function in the drive (for SINAMICS S120) – or as part of an
engineered application by operating the drive with a defined torque limit or with a
torque setpoint in closed-loop torque control.
The correct functioning of the brake is verified if the motor shaft does not move
during the brake test. Verifying that the motor shaft is at a standstill must be
realized either using two encoder signals or a safety-related encoder signal. The
encoder signal or the standstill monitoring function is evaluated in the safety
program of the F controller. An example to implement the safety program is
provided in \7\. When using two non-safety-related encoder signals, these must be

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combined in the safety program of the F controller to create one safety-related

encoder signal by a carrying out a plausibility check \8\ (Siemens Intranet).
Fig. 1-6 shows a drive train in degree of protection IP65 with a safety-related brake.
A SINAMICS G120D with CU240D-2 PN/DP is used. Positioning is realized using
an absolute wire-draw encoder with SSI interface. The closed-loop speed control of
motors operated in parallel can be realized using sensorless vector control, as the
geared motors are rigidly coupled with one another. The brake is actuated as
previously described. The brake test is realized in the safety program. Both HTL
encoders are checked regarding plausibility and standstill.
Fig. 1-6: SINAMICS G120D with safety-related brake

1.3 Sensors and closed-loop control mode

Different sensors and closed-loop control modes are used depending on the
requirements relating to positioning accuracy and the dynamic performance.
1.3.1 Positioning using proximity switches
When positioning to distance sensors, proximity switches are used to changeover

between rapid traverse and crawl and to stop the drive. This technique is widely
established for fixed lifting tables with only two permanently defined stopping
positions. Fig. 1-7 schematically shows a scissor lifting table positioned using
proximity switches. When reaching the first upper proximity switch, the system
switches over from rapid traverse to crawl. The drive is stopped when reading in
the second proximity switch (OFF1). The limit switches initiate a fast stop (OFF3).

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Fig. 1-7: Scissor lifting table positioned using proximity switches
Switching over from rapid traverse to crawl and stopping the drive can either be
realized independently in the drive or in a higher-level control system. For
distributed drive technology with degree of protection IP65, the sensors are directly
connected to the drive. Processing sensor signals in the drive can be realized with
SINAMICS G120D equipped with CU240D-2 PN and free function blocks \5\.
Alternatively, the drive reads in the signals and these are sent to the control system
via the fieldbus. In the control program, a switchover is made from rapid traverse to
the crawl speed \6\.
1.3.2 Positioning using position encoders
Machine or motor encoders can be used for closed-loop position control systems.
Linear encoders, for example wire-draw encoders, position coding systems or
distance encoders can be used as absolute or machine encoders. These can

either directly specify the lifting height between the upper frame and base frame –
or measure the position within the linear guide on the movable bearing side. An
SSI interface or an analog voltage or current signal are the usual interfaces used.
The encoder resolution defines the positioning accuracy of digital SSI encoders.
On the other hand, for analog encoders, the positioning accuracy depends on the
signal noise and the resolution of the analog-digital converter at the drive analog
input. The advantage of absolute encoders is the fact that a reference point
approach (homing) is not required after switching on again – they only have to be
adjusted once.
As an alternative to linear encoders, using rotary encoders the lifting height can be
obtained based on the angular relationship. These are mounted on the axes of
rotation, for example, the fixed bearing side, and measure the angle between a
scissors arm and the frame. Rotary angular encoders can either be incremental or
absolute encoders.
For systems without any slip, for example, spindle drives, incremental motor
encoders can be used for the closed-loop position control. However, after the
system is switched on again, these require a reference point approach (homing). In
order to avoid a reference point approach (homing), for spindle drives, an absolute
encoder with SSI interface can be used on the motor side for the closed-loop
position control.
Note For lifting/hoisting drives it is not absolutely necessary to use an incremental

encoder for the closed-loop speed control. However, we do recommend that a
speed encoder is used. This means that precise control is possible down to a
speed of zero, so that undesirable dropping/sag can be better identified. Further,
this improves the dynamic performance of the speed control, which results in
shorter lifting and lowering times.
For speed control without encoder, the speed actual value is calculated, and in
the low speed range below 10% of the motor rated speed, it can fluctuate by the
motor slip frequency.

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Table 1-1 Provides an overview of the possible closed-loop control modes using
the distributed SINAMICS drives with degree of protection IP65.
Table 1-1: Control modes of the distributed drives in degree of protection IP65
Drive Closed-loop speed Position control Dynamic
control response and
positioning
accuracy
Technology controller
U/f, vector control
SINAMICS G110M with analog actual Low
without encoder
value
SINAMICS G120D Technology controller
U/f, vector control with
with with analog actual Average
HTL or without encoder
CU240D-2 PN/DP value
SINAMICS G120D EPOS with SSI position

U/f, vector control with
with encoder or with HTL High
HTL or without encoder
CU250D-2 PN/DP motor encoder
Alternatively, the closed-loop position control can also be realized in the control
system. The controller evaluates the position actual value and sends the speed
setpoint, obtained from the closed-position control, to the drive. In this particular
case, the drive is only responsible for the closed-loop speed control.
Closed-loop position control of non-linear mechanical systems

As a rule, scissor lifting tables must have a constant lifting velocity. However, as a
result of the mechanics of the scissors lever, the ratio between the motor speed
and lifting velocity is not linear. To evaluate this non-linearity, the feed constant of
the belt or spindle drive must be analyzed. Feed constant KVA is defined as the
linear distance (in this case, the lifting height), which is traveled through for one
revolution at the drive output. As a consequence, for a scissor lifting table with a
spindle drive, the feed constant is the lifting height after one spindle revolution, and
for a belt drive, the lifting height after one revolution of the belt winding system. For
lifting tables, depending on the mechanical system, feed constants vary along the
lifting distance.
We recommend that the closed-position control is optimized for the lifting range
with the highest feed constants, to avoid unstable control systems. As a
consequence, the positioning speed in the lifting range with lower feed constants
decreases – so that the required cycle time in a production environment may not
be able to be achieved. To evaluate the non-linearity, examples of mechanical
systems with varying feed constants over the lifting height are listed in Table 1-2.
Table 1-2: Feed constants to evaluate the non linearity

Minimum KVA Maximum KVA Ratio Assessment
25 mm 30 mm 1.2 Weak non linearity
40 mm 60 mm 1.5 Average non linearity
37 mm 92.5 mm 2.5 Significant non linearity
32 mm 220 mm 6.875 Very high non linearity
For high feed constant relationships, in the low feed range, in spite of high motor
speeds, only a low lifting distance is achieved. As a consequence, positioning
takes longer in this range.

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NOTICE Closed-loop control of the non linearity

Under certain circumstances, when the feed constants vary significantly, the
closed-loop position control in the SINAMICS G drive will not be able to achieve
the required dynamic performance. In this case, positioning takes longer than the
specified cycle time. It is possible that a SINAMICS S120 can provide the
dynamic performance required.
1.3.3 Monitoring
As a result of the high safety requirements placed on lifting tables, various sensors
are used to monitor the safety equipment.
For example, proximity switches can be used to monitor maintenance support
columns. These maintenance support columns are used so that the platform
cannot be lowered below a critical height, therefore protecting maintenance
personnel against crushing injury. Maintenance of the lifting table, and therefore
e.g. drive jogging operation is only enabled when the sensors signal that the
maintenance support columns are attached.
For scissor lifting tables with belts drives, proximity switches are used which
respond for loose belts or when a belt breaks. The proximity switch must be
evaluated through multiple channels so that this can be safely detected. If a loose
belt is detected, then the drive is stopped with an Emergency Stop (STO).
Mechanical limit switches can limit the lifting distance upwards or downwards. The
drive is stopped when the end stops are reached.
The maximum lifting velocity is prevented from being violated using arrester
equipment with emergency release function, for example, hydraulic arrester
cylinders. Pressure sensors can be used to monitor the arrester equipment to
check that it is functioning correctly. If the arrester equipment is triggered, then a
fault signal is transferred to the control system and operation is prevented.

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2 Task
2 Task
A specific example for a scissor lifting table is specified and calculated in this
application example – and a recommended solution described.
Mechanical system
Fig. 2-1 Shows the design of a scissor lifting table – and designates the dimensions
that are summarized in Table 2-1.
Fig. 2-1: Dimensions of the lifting table
Table 2-1: Mechanical data

Attribute Formula Value

symbols
Upper scissor arm a 1635 mm
Lower scissor arm b 1635 mm
Distance of the force c 0.5 * L2
Payload, lifting/lowering F 1200 N
Starting angle αmin 28°
Final angle αmax 44.33°
Effective lifting height HN 750 mm
Height (retracted) HB 1535 mm
Maximum distance between B and C L2 2887.3 mm
Highest feed constant KVmax 55.1 mm
Lowest feed constant KVmin 30.3 mm
Drive specification
The scissor lifting table should be implemented using a spindle drive corresponding
to Fig. 1-4. In Fig. 2-1, the spindle nut is located on the axis at point C. A standard
geared induction motor with helical gear unit is used, equipped with a motor
holding brake and an HTL incremental encoder. The motor should be operated
with an 87Hz characteristic. The drive data are listed in Table 2-2.
Table 2-2: Spindle attributes
Attributes Value
Spindle pitch P 30 mm
Flank diameter d 30 mm
Thread coefficient of friction μG 0.1
Flank angle β 30°

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2 Task
Travel profile
The positions should be able to be flexibly approach within the nominal lifting
height. The maximum lifting velocity is 0.2 m/s. Acceleration and deceleration differ
depending on whether lifting or lowering. The travel profile for two adjacent holding
points should trapezoidal as shown in Fig. 2-2.
Fig. 2-2: Trapezoidal travel profile
The positioning requirements are listed in Table 2-3. A wire-draw encoder should
be used for the closed-position control of the lifting table; this will allow positioning
accuracy of +/- 2.5 mm to be achieved.
Table 2-3
Attribute Formula Value
symbols
Maximum lifting velocity 200 mm/s
Acceleration 1 m/s²
Deceleration 1 m/s²
Positioning accuracy +/- 2.5 mm
Safety requirements
The upper and the lower end stops of the scissor lifting table are evaluated with
roller lever limit switches; when actuated they initiate an Emergency Stop (STO) in
the drive. The lifting table is also equipped with an Emergency Stop switch. When
actuated this initiates a fast stop (OFF3) via an F-program in the PLC, and once
the lifting table has decelerated, then STO is selected. All three switches are
directly connected to three safe digital inputs at the drive. The state of the safe
digital inputs should be transferred to the control system via PROFISafe. As a
consequence, in addition to the requirements relating to the fail-safe digital inputs,
the control system can implement additional requirements relating to safety
functions. For example, to process the subsequent system components in the
F program and to select STO in the drive via PROFIsafe.
Note The SS1, SLS, SDI and SSM encoderless functions in the G120/G120D are only
permissible for applications where the load can never accelerate the drive. As a
consequence, these functions based on the SINAMICS G120/G120D are not
permissible for scissor lifting tables.

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3 Solution
3 Solution
3.1 Overview
Fig. 3-1 shows an overview of the automation solution for the previously specified
scissor lifting table. A SINAMICS G120D with CU250D-2 PN F is used for the
position control and extended safety functions. The gearbox spindle is driven by a
SIMOGEAR helical geared motor equipped with an HTL encoder. A wire-draw
encoder with SSI interface (SICK AFM60E-S1AA001024 with MRA-F130-110D2
mechanical system) is used for the position control. An S7-300 F is used as higher-
level control.
Fig. 3-1: Automation solution of the scissor lifting table
Note The SINAMICS G120D is capable of regenerative operation with energy

recovery. As a consequence, neither braking resistor nor line reactor are
required.
Emergency limit switches N201 and N202 – as well as the Emergency Stop
pushbutton – are connected to the SINAMICS G120D through two channels each
as a fail-safe digital input. The status of the fail-safe digital inputs is transferred to
the control system in a fail-safe fashion via PROFIsafe.

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3 Solution
3.2 Hardware and software components

The application example was created using the following components.
Hardware components
Table 3-1: Hardware components
Component Qty. Order number Note
CPU317F-2 PN/DP 1 6ES7317-2FK14-0AB0 Or another fail-safe S7-300 F
or or S7-1500 F
CPU1516F-3 PN/DP 6ES7516-3FN01-0AB0
S7 MICRO MEMORY 1 6ES7953-8LM20-0AA0
CARD
SINAMICS G120D 1 6SL3546-0FB21-1FA0 With position control and
CU250D-2 PN-F extended safety functions;
Control Unit with FW
4.7.6
SINAMICS G120D 1 6SL3525-0PE17-5AA1 With energy recovery and
PM250D Power integrated Class A line filter
Module
SINAMICS SD card 1 6SL3054-7TD00-2BA0 Optional: Recommended for
maintenance/service (this
case, without firmware)
Connection system Prefabricated cables and

for SINAMICS options: Download Catalog
G120D
SIMOGEAR helical 1 Plus options (see
geared motor design/dimensioning)
SIRIUS position 2 3SE5232-0BE10 Roller lever, form E
switches
Software components
Table 3-2: Software components
Component Qty. Order number Note
SIZER V3.14 1 Free of charge download
Software components for Step7 Classic
SIMATIC STEP 7 1 6ES7810-4CC10-0YA5
V5.5
S7 Distributed 1 6ES7833-1FC02-0YA5
Safety
V5.4 SP5
STARTER 1 Free of charge download
V4.4 SP1
Alternative software components for Step7 TIA
SIMATIC STEP 7 1 6ES7822-1AA03-0YA5
Prof. V13 SP1
STEP 7 Safety 1 6ES7833-1FA13-0YA5
Advanced V13 SP1
SINAMICS 1 Integrated in TIA or as free of
Startdrive V13 SP1 charge download

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4 Installation and commissioning

4.1 Basic commissioning
Commissioning the drive and its various functions is described in the following.
First, check that you have configured the correct hardware components.
Fig. 4-1: Control module and power unit
4.1.1 Commissioning Wizard (offline)
Start the commissioning Wizard under "Control_Unit > Configuration".

Fig. 4-2: Commissioning wizard
Set the control mode "[21] Speed control (with encoder)".

Fig. 4-3: Control structure

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Set the I/O configuration to "EPOS with fieldbus", as the setpoint is entered via
PROFINET.
Fig. 4-4: Default settings for setpoints

The motor data is specified corresponding to an IEC motor, i.e. 50 Hz and SI units.
A load duty cycle with high overload for vector drives for a supply voltage of 400 V
can be kept as power unit application.
Fig. 4-5: Drive settings

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Read off the motor MLFB from the SIMOGEAR rating plate. A typical rating plate is
shown in the following diagram for demonstration purposes.
Fig. 4-6: SIMOGEAR rating plate
Select motor type: "[100] 1LE1 standard induction motor" and activate "Select
standard motor from list". Then select the main MLFB of the motor and select the
motor.
Fig. 4-7: Motor
If you cannot read the main MLFB of the induction motor from the rating plate, then
take the motor type designation from the SIZER project documentation
corresponding to Fig. 4-8.
Fig. 4-8: SIZER project documentation – SIMOGEAR designation
An assignment table is listed in Chapter 5, with which you can determine the
appropriate main article number of the induction motor that you wish to select.

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Change the motor connection type to "Delta"; the motor data will then be displayed
for a delta connection (rated voltage = 230V etc.). Set the checkmark for the 87Hz
calculation.
Fig. 4-9: Important parameters

Note If you are using a motor that is not included in the list, then from firmware 4.6 and
higher you can enter the motor data as described in this FAQ for the 87Hz
characteristic.
The specified current limit (150% overload) and maximum speed already refer to
the motor in a delta connection and 87Hz characteristic.
Note When using the basic positioner, the ramp-up and ramp-down times have no
effect on the travel profile. However, faults initiate a stop response with OFF1
and OFF3, so that the lowest possible times should be selected here.
Fig. 4-10: Drive functions

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Select "[2] Identifying motor data (at standstill)" to precisely identify the motor data
using a stationary measurement. Keep the setting "Complete calculation" for
calculating the motor parameters.
Fig. 4-11: Drive functions

Risk for persons

Do not select a rotating measurement for linear axes, such as a scissor lifting
WARNING table! The rotating measurement attempts to determine the mass moment of
inertia of the load by accelerating the motor and to optimize the speed controller.
To do this, the motor must be coupled to the load. With these motion sequences,
it is possible that the mechanical limits of the machine are exceeded.

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Note For SINAMICS drives, encoder_1 is interpreted as motor encoder, i.e. before the
gearbox and encoder_2 as machine encoder, i.e. at the drive output after the
gearbox.
For "Encoder_1", using "Select standard encoder from list" select the HTL encoder
with code number 3001 for the HTL encoder with A/B track, zero mark R and 1024
pulses per revolution. The encoder is evaluated via the interface of the CU250D-2.
Fig. 4-12: Encoder 1

Now parameterize the machine encoder as encoder_2; in this example, a wire-

draw encoder from SICK, which is created as user-defined encoder.
Note The wire-draw encoder must always be parameterized as encoder 2, as

SINAMICS only accepts encoder 2 to be on the load side.

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Fig. 4-13: Encoder_2
The wire-draw encoder from SICK (AFM60E-S1AA001024 with MRA-F130-110D2

mechanical system) that is used is parameterized according to the data plate data
as SSI encoder with 24V data. As the encoder, deviating from the mechanical
resolution, always sends a 24 bit telegram, which electrically behaves like an

encoder with 4096 pulses, the singleturn resolution with 4096 must be configured.
Additional mechanical data should be taken from the rating/type plates of the
components that are used. The following data are used in this specific example:
Table 4-1: Data of the wire-draw encoder
Wire-draw encoder SSI; 24 bit
Multiturn resolution 4096
Singleturn resolution 2048 mechanical / 4096 electrical
Encoder pitch 334.32 mm/revolution
Fig. 4-14: User-defined encoder data

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With the SSI encoder principle, fine interpolation is not possible, so that the fine
resolution should be set to 2 bits.
A gear factor must be parameterized to convert the rotation of the wire-draw
encoder to translatory motion of the load/mechanical system. To do this, a
relationship is established between both feed constants, the largest mechanical
feed constant of the mechanical system and the encoder pitch so that the encoder
motion is referred to the load motion.
In this example, the encoder has a pitch of 334.32mm per revolution, see Table
4-1, and the largest mechanical feed constant is 55.1mm per revolution, see K Vmax
of the Excel tool. The quotient of the two values (551/3343) is the gear ratio, which
establishes the reference of the wire-draw encoder to the mechanical
lifting/lowering motion.
Depending on how the encoder is mounted, position inversion must be taken into
account so that the position actual value is not negative.
Fig. 4-15: Gear ratio and fine resolution encoder_2

The position control is realized with the wire-draw encoder defined as encoder_2,
which acts as the machine encoder.
Fig. 4-16: Measurement system

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The load gear ratio of i=4.26 is configured as fraction.

The most precise results are obtained by specifying the actual tooth relationships,
which can be taken from SIMOGEAR Catalog MD50.1 , in this case 715/168.
Fig. 4-17: SIMOGEAR catalog excerpt
Alternatively, the data from the Sizer project documentation can be used.
Fig. 4-18: Gear ratio from the Sizer project documentation
A value of 551 was configured for "LU per load revolution" p2506, which results out
of a value of 55.1 mm is the largest mechanical feed constant KVmax with resolution
1LU = 0.1 mm. For changing feed constants, in practice the proven approach is to
parameterize the largest feed constant that occurs, in order to avoid the speed
precontrol from going into saturation (reaching its limit).

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Fig. 4-19: Mechanical system
Complete the commissioning with "Finish". Check the motor data for the delta
connection under "Control_Unit->Configuration".
Fig. 4-20: Motor data in the configuration after basic commissioning
Go online with the CU250S-2, and load the data to the target device.

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4.1.2 Drive functions
Brake control
Parameterize the brake control (p1215) under "Control_Unit > Functions > Brake
control" to "[1] Motor holding brake acc. to sequence control" in order to control the
brake directly from the power unit. Take the brake opening and closing times from
the project documentation.
Fig. 4-21: Brake opening/brake closing time from the Sizer project documentation
Note Round off the brake closing time to above 100 ms so that the drive remains
somewhat longer in closed-loop control, and is not deactivated before the brake
has closed.
Fig. 4-22: Brake control

If the load sags after opening the brake, in p1475 "Torque when opening" you can
define a torque value for the holding brake. The motor holding brake only opens
after the drive has established the torque defined there; as a consequence, this
value should correspond to the load torque. In the example, parameter p1475 is
linked with "Fixed value1" p2900 where a percentage value referred to the
reference torque in p2003 is entered, in the example this is 50%.
Note The actual load torque depends on the load and the hoisting height, and must
therefore be determined on a case-for-case basis for each application in order to
avoid that the load (in this case platform) sags or ascends too quickly.

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Communication
Carefully ensure that under "Control_Unit > Communication > Fieldbus", standard
telegram "[111] SIEMENS telegram 111, PZD 12/12" is selected, which is generally
used when employing the basic positioner.
Parameterize the "PROFIsafe telegram 900" to control the safety functions using
PROFIsafe and to be able to transfer the F-DIs to the PLC.
Fig. 4-23: PROFINET telegram selection
Motor temperature monitoring

You set the motor temperature monitoring under "Control_Unit > Messages and
monitoring > Motor temperature". Leave the response to overtemperature at the
preset value "[12] Messages, no reduction of I_max temperature storage". Select
"[2] KTY84" as temperature sensor. Set the ambient temperature.
Fig. 4-24: Motor temperature monitoring
4.1.3 Basic positioner (EPOS)
When using direct setpoint input (MDI) via the fieldbus, it is not necessary to
parameterize the positioning as such. However, the absolute encoder must be
adjusted and the traversing range and traversing profile limiting, jog velocity – and
where relevant, the home position approach velocity (not necessary here) – must
be parameterized.

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Absolute encoder adjustment

For commissioning, the absolute encoder must be adjusted under "Control_Unit >
Technology > Basic positioner > Homing > Homing button". The position actual
value is set to the home position by calculating an offset between the actual
position and the home position. After the adjustment, save the converter data in the
non-volatile memory (RAM to ROM).
Fig. 4-25: Absolute encoder adjustment
Limits
Software end positions can be activated under "Control_Unit > Technology > Basic
positioner > Limiting" in addition to the emergency end position cams. They are
located before the lower emergency end position (N201) as well as upper
emergency end position (N202). Here they are set 10 cm behind the upper or lower
position. The software limit switches are activated via the fieldbus. The lower
emergency end position output cam, N201 (stop output cam minus) is connected to
DI 0 (r722.0), and the upper emergency end position N202 (stop output cam plus)
is connected to DI2 (r722.2). Here, one channel each from F-DI 0 and F-DI 1 is
used, so that when the end position output cam is reached, in addition to STO
being initiated, also the EPOS receives a stop command.
Fig. 4-26: Traversing range limitation

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The velocity and acceleration are entered in the traversing profile limitation. The
maximum velocity for the 87Hz characteristic on the motor side is 2610 rpm, i.e.
equal to 337584 LU/min = 337 1000LU/min.
Fig. 4-27: Traversing profile limitation – max. velocity
The acceleration and deceleration configured was 1 m/s², which corresponds to

10000 LU/s².
Fig. 4-28: Traversing profile limitation – max. acceleration and deceleration

10000 LU * 1 m 10000 LU * 1 m
1000 * m * s² 1000 * m * s²
Note
As the brake control is realized the same as the sequence control, the ramp
down time of OFF1 (P1121) and OFF3 (P1135) should be as short as possible.
In addition, for the traversing profile limitation, jerk limiting can be activated, which
has a positive impact on the system stability.
Fig. 4-29: Jerk limitation activation

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Jog
The jog velocity is saved under "Control_Unit > Technology > Basic positioner >
Jogging > Configure jog setpoints" in the drive, and must be specified as LU/min.
The jog velocity should be as low as possible so that positions can be precisely
approached. Enter a velocity of 5 m/min or 50,000 LU/min, for example.
Fig. 4-30: Jogging – configuring jog setpoints


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4.1.4 Safety functions /Safe torque off (STO)
Note As already described in Note on the safety functions on page 15, only the STO
safety function can be used for this application. However, the extended safety
functions are required to transfer the status of the safe inputs to the F-PLC. As a
consequence, all of the other safety functions in the F program of the PLC must
be permanently interconnected with a 1 signal – or must be deselected.
The safety functions are parameterized under "Control_Unit > Functions > Safety
Integrated". Click on "Change settings" to start safety commissioning. From the
drop-down field, select "Extended functions via PROFIsafe" and select the
"Enable" safety functions.
Fig. 4-31: Parameterizing safety functions
For function STO no settings have to be made in the corresponding window.

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You can access parameterizing the safety inputs by pressing button "Safety inputs"
Here, enable the transfer of the "F_DI in PROFIsafe telegram" and select the three
F-DIs for transfer.
Fig. 4-32: Safety inputs
Using the "Configuration" button, now open the corresponding window

Here, you must specify the F-Destination-Address of the F-CPU – in this case C7
hex, and a signal to select the test stop must be selected.
Fig. 4-33: Configuration
Then click on "Copy parameters after download" and "Activate settings" one after
the other. You are prompted to assign or change a password. Copy from RAM to
ROM and switch off the power supply for the CU and on again to activate the
safety settings.
To verify safety-oriented parameters, an acceptance test must be performed

after the machine has been commissioned for the first time and also after
changes are made to safety-related parameters. The acceptance test must be
WARNING appropriately documented. You can find additional information in this Application
example.

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4.2 Optimizing the lift drive (optional)

As a rotating measurement cannot be carried out, if the dynamic performance is
not adequate, then the speed controller must be manually optimized. To do this,
proceed as follows:
1. Optimizing the speed controller
2. If required, adapt the limiting
3. Optimizing the position controller
4.
NOTICE Prior to optimizing

Before carrying out the optimization steps, ensure that all motor data have been
correctly entered. The basic commissioning must have been completed with
"Complete calculation" of the motor data (p340 is again zero).
The optimization is subsequently described using an example.
4.2.1 Optimizing the speed controller
The speed controller under "Control_Unit > Open-loop/closed-loop control > Speed
controller" defines the speed at which the speed actual value tracks the speed
setpoint.
Fig. 4-34: Parameterizing the speed controller
Coarse optimization
Using the following rule of thumb, Kp can be roughly determined using the
symmetrical optimum. You start at n equal to one. If the dynamic performance is
not adequate, then you continue with n equal to two etc.
𝑇𝑛 = 4 ∙ 𝑇𝑆 (𝑆𝑢𝑚 𝑜𝑓 𝑎𝑙𝑙 𝑑𝑒𝑙𝑎𝑦𝑠) ≅ 90 − 120 𝑚𝑠
𝑁𝑜𝑚𝑖𝑛𝑎𝑙 𝑚𝑜𝑡𝑜𝑟 𝑠𝑡𝑎𝑟𝑡𝑖𝑛𝑔 𝑡𝑖𝑚𝑒 (𝑟0345)
𝐾𝑃 = 𝑛 ∙ 𝑤𝑖𝑡ℎ 𝑛 = 1, 2, …
𝐼𝑛𝑡𝑒𝑔𝑟𝑎𝑙 𝑡𝑖𝑚𝑒 𝑇𝑛 (𝑃1462)

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Manual optimization according to the symmetrical optimum
Note The speed controller should be optimized in the range of the lowest linear feed,
as the resulting speed is the highest here.
Alternatively, the speed controller can be manually optimized according to the

symmetrical optimum in the following steps: However, here it should be noted that
the speed controller should optimized in the range of the lowest linear feed, as the
resulting speed is the highest here.
1. Increase the P gain factor Kp (P1460) until the speed actual value overshoots
the setpoint step by 4.3%. Set Tn to zero or the maximum value.
2. Then reduce integration time Tn (integral time P1462) from approx. 120 ms
until the speed actual value overshoots the setpoint step by 43%.
NOTICE Before optimizing the speed controller

1. Beforehand, ensure that the travel distance is sufficient for the setpoint step.
2. At the control panel, operate in the closed-loop speed controlled mode (f-setpoint
input) so that the position controller is not active.
3. The speed setpoint step must be issued from a speed, where the friction can be
neglected. Therefore, enter a step of e.g. 500 to 700 rpm.
4. Set the integration time Tn (P1462), the torque precontrol (P1496) and the ramp-up
(P1120) and ramp-down time (P1121) to zero.
5. The speed controller should optimized in the range of the lowest linear feed.
The system is optimized based on the step response using the control panel. Trace
the speed setpoint (r62) and the speed actual value (r61[0]). Fig. 4-35 shows the
resulting step response of the speed controller according to the symmetrical
optimum.
Fig. 4-35: Step response for various speed controller settings
Note During the step, ensure that the drive current, torque, voltage or power is not
limited (see the next Chapter 4.2.2).
Torque precontrol
The acceleration required is obtained based on the speed setpoint change. The
drive can calculate the torque required from the mass moment of inertia and the
acceleration. The torque precontrol controls the torque without involving the speed
controller. As a consequence, the speed controller only has to compensate
disturbing variables, such as mechanical oscillations. However, for the torque
precontrol it is assumed that the static load torque has already been precontrolled
when opening the brake. Torque precontrol is not absolutely necessary for

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operating the lifting table; however, it does have a positive impact on the stability
and dynamic performance.
As a rotating measurement cannot be carried out for the scissor lifting table, the
torque precontrol must be manually parameterized. Enter the ratio between the
complete moment of inertia and the motor moment of inertia in p342. The moment
of inertia ratio varies while lifting/lowering so that here the best setting must be
determined.
Increase the scaling (P1496) of the precontrol from 50% step-by-step up to 100%.
Fig. 4-36: Torque precontrol in the speed controller
Ideally, in the current controller clock cycle, trace the speed setpoint (r62), speed
actual value (r61), torque setpoint (r79), speed controller I-torque output (r1482)
and accelerating torque (r1518). If, as a result of increasing the torque precontrol,
the torque setpoint starts to oscillate, increase the smoothing time constant of the
torque setpoint in parameter p1517, e.g. to 10 ms. Fig. 4-37 shows the influence of
the precontrol and the setpoint smoothing on the torque setpoint and the speed
actual value.
The torque precontrol should be selected so that the I component of the speed
controller essentially remains constant. As a consequence, the acceleration torque
required is, to a large extent, provided by the precontrol, and the I controller mainly
compensates disturbing quantities, see trace Fig. 4-38.

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Fig. 4-37: Torque setpoint and speed actual value with precontrol
Fig. 4-38: SINAMICS trace torque precontrol.

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4.2.2 Power and current limiting
Check the power, current and torque limiting by tracing r56[13]. Limiting is active if,
during the optimization, this is one. The limiting can be adapted under
"Control_Unit > Open-loop/closed-loop control > Torque limitation".
If necessary, increase the current limit (P640) up to a maximum of 200% of the
rated motor current (P305). Then set P340 to
"[5] Calculate technological limits and threshold values" in order to automatically
adapt the torque and power limits (you must be connected online with the drive).
Fig. 4-39: Setting the current limits

Set the regenerative power limit to the negative rated power of the power unit; in
this case -0.75kW, as this is the maximum power that the power unit can
regenerate to the line supply. If necessary, deviating from the automatic
calculation, the power limit when motoring can be increased to a maximum of three
times the rated motor power.
Fig. 4-40: Adapting power limits
As a result of the requirements laid down in the applicable standards, the

calculated limit torque should be limited to 150% of the rated motor torque.

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Fig. 4-41: Torque limits
NOTICE In operation, the motor must be able to thermally withstand this load.
4.2.3 Position controller
Note The position controller should be optimized in the range of the highest feed
constants, as otherwise the system could become unstable.
Start with a low P gain/KV value of approximately 0.05. Here, allow high
acceleration rates and deactivate jerk limiting.
The "EPOS jog" function via the control panel is used for optimization
The setting of the position controller under "Control_Unit > Technology > Position
control > Position controller" also defines the dynamic response. An optimized
position controller quickly reaches the setpoint position without any overshoot.
Change the P gain (Kv factor [servo gain factor] P2538) from one to approx. 0.05 –
and keep the integral time (P2539) at zero.
Fig. 4-42: Setting the position controller

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Trace the speed setpoint (EPos velocity setpoint r2666), the speed actual value
(r61.0), the torque setpoint (r79), the position actual value (r2521.0) and the
following error (r2563) analogous to Fig. 4-43. Observe as to whether the position
actual value is free of any overshoot, and whether the following error goes to zero
adequately fast.
Fig. 4-43: Position controller trace
Speed precontrol
With speed precontrol, the speed generated from the position setpoints is routed so
that the position controller is bypassed.
To increase system stability, reactivate jerk limiting and if necessary, adapt it. In
addition, you can increase the time constant of the position setpoint filter (P2533)
Fig. 4-44: Optimizing the position controller setpoints
Trace the following data:

 r60 speed setpoint (blue)
 r2558 position controller output P component (brown)
 r2561 speed precontrol value (black)
 r2556 position controller position setpoint (orange)
 r2521[0] position controller position actual value (pink)
 r80[0] torque actual value (aquamarine)

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Increase the speed control factor (p2534) until the speed precontrol does not
overcontrol (does not go into saturation) – and the position controller P component
is not negative. In the range of the highest feed constant, the speed should almost
be completely generated by the precontrol. The non-linear response of the
mechanical system is compensated using the P component of the position
controller; this adds an increasing speed setpoint to the precontrol value so that the
decreasing feed constant is corrected.
Fig. 4-45: Speed precontrol trace
Highest feed
constant
Acceleration Deceleration

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5 Appendix
5 Appendix
Converting motor article numbers
If only the type designation of the geared motor is known, using the following table
the main order number of the standard induction motor can be determined.
This can be specified in STARTER.
Table 8-1: Converting the type designation of the motor installed in the geared motor
(obtained from SIZER) to the main order number (for commissioning in
STARTER)
SIMOGEAR / 1LA / 1LE main SIMOGEAR / 1LA / 1LE main
MOTOX article number MOTOX article number
LA100L4 1LA71064AA.. LE132MF4E 1LE10011CB2.....

LA100L6 1LA71066AA.. LE132MJ6 1LE10021CC3.....
LA100L8 1LA71078AB.. LE132MJ6E 1LE10011CC3.....
LA100LA8 1LA71068AB.. LE132MJ6P 1LE10231CC2.....
LA100LB4 1LA71074AA.. LE132MJ8 1LE10021CD2.....
LA112M6 1LA71136AA.. LE132SB2E 1LE10011CA0.....
LA112M8 1LA71138AB.. LE132SB6 1LE10021CC0.....
LA112MB4 1LA71134AA.. LE132SC6E 1LE10011CC0.....
LA132M4 1LA71334AA.. LE132SF2E 1LE10011CA1.....
LA132MA6 1LA71336AA.. LE132SF2P 1LE10231CA0.....

LA132MA8 1LA71338AB.. LE132SF4 1LE10021CB0.....
LA132MB6 1LA71346AA.. LE132SF4E 1LE10011CB0.....
LA132S6 1LA71306AA.. LE132SH6P 1LE10231CC0.....
LA132S8 1LA71308AB.. LE132SL8 1LE10021CD0.....
LA132SB4 1LA71304AA.. LE132ZMS4P 1LE10231CB2.....
LA132ZMP4 1LA71374AA.. LE132ZMS6P 1LE10231CC3.....
LA160L4 1LA71664AA.. LE132ZSQB2P 1LE10231CA1.....
LA160LB6 1LA71666AA.. LE132ZST4P 1LE10231CB0.....
LA160LB8 1LA71668AB.. LE160LA4 1LE10021DB4.....
LA160M8 1LA71638AB.. LE160LB2E 1LE10011DA4.....
LA160MB4 1LA71634AA.. LE160LD4E 1LE10011DB2.....
LA160MB6 1LA71636AA.. LE160LL6E 1LE10011DC4.....
LA160MB8 1LA71648AB.. LE160LN6 1LE10021DC4.....
LA63MD4 1LA70604AB.. LE160LN8 1LE10021DD4.....
LA63ME2 1LA70602AA.. LE160MB2E 1LE10011DA2.....
LA63ME4 1LA70604AB.. LE160MD4 1LE10021DB2.....
LA63MF2 1LA70632AA.. LE160MD8 1LE10021DD2.....
LA63MF4 1LA70634AB.. LE160MF4E 1LE10011DB2.....
LA71B4 1LA70754AB.. LE160MG2E 1LE10011DA3.....
LA71B6 1LA70766AA.. LE160MG2P 1LE10231DA2.....
LA71C4 1LA70764AB.. LE160ML6 1LE10021DC2.....
LA71C6 1LA70726AA.. LE160ML6E 1LE10011DC2.....
LA71M4 1LA70734AB.. LE160ML8 1LE10021DD3.....
LA71M6 1LA70736AA.. LE160MM2P 1LE10231DA3.....
LA71M8 1LA70708AB.. LE160MPB4P 1LE10231DB2.....
LA71MB8 1LA70738AB.. LE160MW6P 1LE10231DC2.....
LA71MG2 1LA70702AA.. LE160ZLJ2P 1LE10231DA4.....

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5 Appendix
SIMOGEAR / 1LA / 1LE main SIMOGEAR / 1LA / 1LE main

MOTOX article number MOTOX article number
LA71MG4 1LA70704AB.. LE160ZLL4P 1LE10231DB4.....

LA71MG6 1LA70706AA.. LE160ZLW6P 1LE10231DC4.....
LA71MH2 1LA70732AA.. LE80MA2E 1LE10010DA2.....
LA71MH4 1LA70734AB.. LE80MD4E 1LE10010DB2.....
LA71MH6 1LA70736AA.. LE80MD6E 1LE10010DC2.....
LA71S4 1LA70704AB.. LE80ME2E 1LE10010DA3.....
LA71S6 1LA70706AA.. LE80ME2P 1LE10030DA2.....
LA71ZMD4 1LA70784AB.. LE80MH4E 1LE10010DB3.....
LA71ZMP4 1LA70774AB.. LE80MK6E 1LE10010DC3.....
LA80M4 1LA70834AA.. LE80ZMJ2P 1LE10030DA3.....
LA80M6 1LA70836AA.. LE80ZMQ4P 1LE10030DB3.....
LA80M8 1LA70838AB.. LE90LH2E 1LE10010EA4.....
LA80S4 1LA70804AA.. LE90LH4E 1LE10010EB4.....
LA80S6 1LA70806AA.. LE90LLB6E 1LE10010EC4.....
LA80S8 1LA70808AB.. LE90SG2E 1LE10010EA0.....
LA90L4 1LA70964AA.. LE90SG4E 1LE10010EB0.....
LA90L6 1LA70966AA.. LE90SH6E 1LE10010EC0.....
LA90LA8 1LA70968AB.. LE90SM2P 1LE10030EA0.....
LA90S4 1LA70904AA.. LE90SM4P 1LE10030EB0.....

LA90S6 1LA70906AA.. LE90SQ6P 1LE10030EC0.....
LA90SA8 1LA70908AB.. LE90ZLR2P 1LE10030EA4.....
LA90ZLB4 1LA70974AA.. LE90ZLR4P 1LE10030EB4.....
LE100LA8 1LE10021AD4..... LES180LE6E 1LE1.011EC4.....
LE100LB4 1LE10021AB4..... LES180LJ6P 1LE1.031EC4.....
LE100LD2E 1LE10011AA4..... LES180MM4E 1LE1.011EB2.....
LE100LD6 1LE10021AC4..... LES180MQ4P 1LE1.031EB2.....
LE100LE4E 1LE10011AB4..... LES180ZLJ4E 1LE1.011EB4.....
LE100LH4 1LE10021AB5..... LES180ZLN4P 1LE1.031EB4.....
LE100LK4E 1LE10011AB5..... LES200LG6E 1LE1.012AC4.....
LE100LK8 1LE10021AD5..... LES200LM6P 1LE1.032AC4.....
LE100LLB6E 1LE10011AC4..... LES200LN4E 1LE1.012AB5.....
LE100ZLK2P 1LE10231AA4..... LES200LP6E 1LE1.012AC5.....
LE100ZLSA4P 1LE10231AB4..... LES200ZLS6P 1LE1.032AC5.....
LE100ZLSB4P 1LE10231AB5..... LES200ZLU4P 1LE1.032AB5.....
LE112MA2E 1LE10011BA2..... LES225SD4E 1LE1.012BB0.....
LE112MB6 1LE10021BC2..... LES225SD4P 1LE1.032BB0.....
LE112ME4 1LE10021BB2..... LES225YMF4E 1LE1.012BB2.....
LE112ME4E 1LE10011BB2..... LES225YMF4P 1LE1.032BB2.....
LE112ME6E 1LE10011BC2..... LES225YMF6E 1LE1.012BC2.....
LE112MG8 1LE10021BD2..... LES225YMF6P 1LE1.032BC2.....
LE112ZMH2P 1LE10231BA2..... LES250MD4E 1LE1.012CB2.....
LE112ZMKB4P 1LE10231BB2..... LES250MD4P 1LE1.032CB2.....
LE132MA6 1LE10021CC2..... LES250MD6E 1LE1.012CC2.....
LE132MB6E 1LE10011CC2..... LES250MD6P 1LE1.032CC2.....
LE132ME4 1LE10021CB2.....

Entry ID: 109482756, V1.0, 07/2016 44
6 References
6 References
Table 6-1
Topic Title
\1\ Siemens Industry https://support.industry.siemens.com/cs/ww/en/
Online Support
\2\ Download page of https://support.industry.siemens.com/cs/ww/en/view/109482756
the article
\3\ STARTER https://support.industry.siemens.com/cs/ww/en/view/26233208
download
\4\ Download SIZER https://support.industry.siemens.com/cs/ww/en/view/54992004
\5\ Rapid traverse- https://support.industry.siemens.com/cs/ww/en/view/32234405
crawl switchover
using FFB
\6\ Roller conveyor https://support.industry.siemens.com/cs/ww/en/view/109587632
control blocks
\7\ Safe standstill https://support.industry.siemens.com/cs/ww/en/view/49221879
monitoring
\8\ Safety-relevant https://support.industry.siemens.com/cs/ww/en/view/45830615
evaluation of
standard modules
\9\ Catalog for https://support.industry.siemens.com/cs/ww/en/view/65355810
supplementary
products G120D
\10\ Auslegung Regele, Stephan (2011): Auslegung von Maschinenelementen
Scherenhubtisch [Dimensioning machine elements]. Formulas, usage tips,
[Engineering a calculation programs Munich, Vienna: Carl Hanser
scissor lifting table]
7 Contact persons
Siemens AG
Digital Factory Division
Factory Automation
Production Machines
DF FA PMA APC
Frauenauracher Strasse 80
D-91056 Erlangen, Germany
mailto: tech.team.motioncontrol@siemens.com
8 History
Table 8-1
Version Date Change
V1.0 07/2016 First edition

Entry ID: 109482756, V1.0, 07/2016 45

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Application example  07/2016

Conveyor systems – scissor

Warranty and liability

deficiency or breach of a condition which goes to the root of the contract

Scissor lifting table

Danger to personnel as a result of unintentional lowering

Scissor lifting table

4.1 Basic commissioning .......................................................................... 18

Scissor lifting table

1 Application example for scissor lifts

1. Upper frame or platform

Scissor lifting table

1.1.1 Fixed lifting tables

Fixed lifting tables are predominantly used in conveyor systems in intralogistic

1.1.2 Mobile lifting tables

Manufacturers of mobile scissor lifting tables have specifically designed their

Scissor lifting table

1.1.3 Safety requirements specified by the standards

 If clearances for crushing and shearing cannot be maintained, then a

Scissor lifting table

1.2 Drive train

1.2.1 Spindle drive

1.2.2 Belt drive

Scissor lifting table

Fig. 1-5: Scissor lifting table with belt drive

1.2.3 Drive concepts with a safety-related brake

Safe brake control

Safe brake test

Scissor lifting table

combined in the safety program of the F controller to create one safety-related

Fig. 1-6: SINAMICS G120D with safety-related brake

1.3 Sensors and closed-loop control mode

1.3.1 Positioning using proximity switches

When positioning to distance sensors, proximity switches are used to changeover

Scissor lifting table

Fig. 1-7: Scissor lifting table positioned using proximity switches

1.3.2 Positioning using position encoders

distance encoders can be used as absolute or machine encoders. These can

Note For lifting/hoisting drives it is not absolutely necessary to use an incremental

Scissor lifting table

SINAMICS G120D EPOS with SSI position

Closed-loop position control of non-linear mechanical systems

Table 1-2: Feed constants to evaluate the non linearity

Scissor lifting table

NOTICE Closed-loop control of the non linearity

Scissor lifting table

Table 2-1: Mechanical data

Attribute Formula Value

Scissor lifting table

Scissor lifting table

Note The SINAMICS G120D is capable of regenerative operation with energy

Scissor lifting table

3.2 Hardware and software components

Connection system Prefabricated cables and

Scissor lifting table

4 Installation and commissioning

4.1.1 Commissioning Wizard (offline)

Start the commissioning Wizard under "Control_Unit > Configuration".

Fig. 4-2: Commissioning wizard

Set the control mode "[21] Speed control (with encoder)".

Scissor lifting table

Fig. 4-4: Default settings for setpoints

Fig. 4-5: Drive settings

Scissor lifting table