Efficient Networks S120 manual Travel to fixed stop, Application examples, Signals

Servo control 3.16 Travel to fixed stop

Overview of key parameters (see SINAMICS S List Manual)

●p1190 CI: DSC position deviation XERR

●p1191 CI: DSC position controller gain KPC

●p1192[DDS] DSC encoder selection

●p1193[DDS] DSC encoder adaptation factor

●r1407.4 CO/BO: Status word, velocity controller

3.16Travel to fixed stop

Description

This function can be used to move a motor to a fixed stop at a specified torque without a fault being signaled. When the stop is reached, the specified torque is built up and remains applied.

The desired torque derating is brought about by scaling the upper/motor-mode torque limit and the lower/regenerative-mode torque limit.

Application examples

●Screwing parts together with a defined torque.

●Moving to a mechanical reference point.

Signals

When PROFIBUS telegrams 2 to 6 are used, the following are automatically interconnected:

●Control word 2, bit 8

●Status word 2, bit 8

Also with PROFIdrive telegrams 102 to 106:

●Message word, bit 1

●Process data M_red to the scaling of the torque limit

Drive Functions	109
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4