Siemens SINAMICS S150 NEMA, Operating Instructions Manual, Page: 597 / 862

Functions, monitoring and protective functions
9.3 Drive functions
Enclosed Drives
Operating Instructions, 12/2018, A5E36652151A
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9.3.25.10 Rotor position adaptation
For example, for a dirty encoder disk, the drive adds the missing pulses to the pole position
using the zero mark that is cyclically received in order to correct the rotor position error. If, for
example EMC interference causes too many pulses to be added, then these will be
subtracted again every time the zero mark is crossed.
Commissioning
"Rotor position adaptation" is activated with p0430.22 = 1.
Principle of operation
When the rotor position adaptation is activated, the incorrect pulses on the A/B track are
corrected in the rotor position for commutation. The tolerance bandwidth for the zero mark
is ±30° electrical. The rate of correction is 1/4 of an encoder pulse between two zero marks;
this means that sporadically missing or superfluous pulses are corrected.
Note
When the function "Commutation with zero mark" (p0404.15 = 1) is activated, then the
system waits until fine synchronization has been completed before making a correction
(r1992.8 = 1).
9.3.25.11 Pulse number correction for faults
Interference currents or other EMC faults can falsify encoder evaluation. However, it is
possible to correct the measured signals using the zero marks.
Commissioning
"Pulse number correction for faults" is activated with p0437.2 = 1.
The permissible tolerance for the zero mark distance in encoder pulses is a set using p4680.
The limits of the tolerance window, up to which the drive corrects the pulse number, are set
using p4681 and p4682.
The minimum length of the zero mark is set using p4686.