Siemens SINAMICS V90 Operating Instructions Manual page 188

Control functions
7.4 Internal position control (IPos)
Note
Referencing mode for absolute encoder
If an absolute encoder is connected, the five referencing modes are available. You can
select the different referencing modes with parameter p29240. When p29240 = 1 to 4, the
referencing process can only be implemented before you use the "ABS" function. Once the
"ABS" function is implemented, the four referencing modes are not available any more.
Note
p29240 can be modified only when the drive is in IPos mode.
Setting reference point with the digital input signal REF (p29240=0)
Note
Preconditions for this referencing mode
• The servo motor must be in "S ON" state and keep standstill.
• The signal REF must be OFF under the following conditions:
– before power-on
– when switching from another referencing mode to this referencing mode
– when switching from another control mode to internal position control mode
The current position is set to zero at a rising edge of the signal REF and the servo drive is
referenced:
The referencing point may not be fixed during referencing.
The servo motor must be in "S ON" state so that the referencing point is fixed during
referencing.
188
CAUTION
SINAMICS V90, SIMOTICS S-1FL6
Operating Instructions, 09/2016, A5E36037884-002