Efficient Networks S120 manual Function modules 7.9 Basic positioner

Function modules 7.9 Basic positioner

position controller monitoring functions respond. To prevent this from happening, the position controller must be disabled (p2550 = 0) and switch to tracking mode (p2655 = 1, for control using PROFIdrive telegram 110 PosSTW.0 = 1). In this way, the monitoring functions are switched off and the position setpoint is tracked.

Function diagrams (see SINAMICS S List Manual)

●4010 Position actual value conditioning

●4015 Position controller

●4020 Zero-speed / positioning monitoring

●4025 Dynamic following error monitoring, cam controllers

7.9Basic positioner

General description

The basic positioner is used to position linear and rotary axes (modulo) in absolute/relative terms with motor encoder (indirect measuring system) or machine encoder (direct measuring system). It is available in the servo and vector modes.

User-friendly configuration, commissioning, and diagnostic functions are also available in STARTER for the basic positioner functionality (graphic navigation). In STARTER, there is a control panel for the basic positioner and speed-controlled operation; using this control panel, the functionality can be started from a PC/PG to commission the system or carry-out diagnostics.

When the basic positioner is activated (r0108.4 = 1), then the position control (r0108.3 = 1) should also be activated. This is realized automatically when activating the basic positioner via the STARTER commissioning Wizard. Further, the necessary "internal interconnections" (BICO technology) are automatically established.

CAUTION

The basic positioner requires the position controller functions. The BICO interconnections established by the basic positioner must be changed by experienced users only.

This means that naturally the position control functions are also available (e.g. standstill monitoring, positioning monitoring, dynamic following error monitoring, cam controllers, modulo function, measuring probe evaluation). Also refer to the section "Position control".

In addition, the following functions can be carried-out using the basic positioner:

●Mechanical system

–Backlash compensation

–Modulo offset

–Position tracking of the load gear (motor encoder) with absolute encoders

Drive Functions	251
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4