Siemens SINAMICS S120, Function Manual

Page: 508 / 1094

Function modules
8.8 Basic positioner
Drive functions
508
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
● Referencing or adjustment
–
Setting reference point (with stationary axis)
– Reference point approach
(autonomous mode including reversing cam functionality, automatic direction of
rotation reversal, referencing to "cams and encoder zero mark" or only "encoder zero
mark" or "external equivalent zero mark (BERO)")
– Flying referencing
(superimposed referencing possible during "normal" traversing with the aid of the
measurement probe evaluation (normally evaluation of a BERO, for example).
Superimposed function for the modes "Jog", "Direct setpoint specification / MDI" and
"Traversing blocks")
– Referencing with incremental measuring systems
– Absolute encoder adjustment
● Traversing blocks operating mode
–
Positioning using traversing blocks that can be saved 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:
Traversing block number
Job (e.g. positioning, wait, GOTO block step, setting of binary outputs)
Motion parameters (target position, velocity override for acceleration and deceleration)
Mode (e.g. skip block, block change enable conditions such as "Continue_with_stop"
and "Continue_flying")
Task parameters (e.g. delay time, block step conditions)
● Direct setpoint specification mode (MDI)
–
Positioning (absolute, relative) and setting-up (endless closed-loop position control)
using direct setpoint specifications (e.g. via the PLC or process data)
– It is always possible to influence the motion parameters during traversing (on-the-fly
setpoint acceptance) as well as on-the-fly change between the Setup and Positioning
modes
● Jog mode
–
Position-controlled traversing of the axis with the switchable modes "Endless position-
controlled" or "Incremental jog" (to traverse an "increment")
● Standard PROFIdrive positioning telegrams are available (telegrams 7, 9 and 110), the
selection of which automatically establishes the internal "connection" to the basic
positioner
● Control via PROFIdrive telegrams 7 and 110
(for further information, see Section “Cyclic communication (Page 738)” and SINAMICS
S120/S150 List Manual)