Safely Referencing Under Epos - Siemens Sinamics S120 Function Manual

Function modules
7.8 Basic positioner
● p0680 Central probe input terminal
● p2517 LR direct probe 1
● p2518 LR direct probe 2
7.8.6

Safely referencing under EPOS

Basic positioning with safe referencing
Some safety functions (e.g. SLP, SP) require safe referencing. If EPOS is active at a drive,
when referencing using EPOS, then the absolute position is also automatically transferred to
the Safety Integrated functions.
The Safety Integrated functions only evaluate the absolute position if a safety function is
parameterized, which requires an absolute value, e.g. SLP.
The following are examples for a load-side position calculation, depending on various
encoder mounting versions and axis types.
Example 1:
Safety Integrated Extended functions monitor the rotating load. EPOS and Safety Integrated
Extended functions use the same rotary encoder at the motor. The rotating load is coupled to
the motor via a gear. The speed/position values of the spindle are calculated.
● p2506 = 360000 => a position of 360000LU (r2521) corresponds to 360° (r9708)
● p2506 = 10000 => a position of 10000LU (r2521) corresponds to 360° (r9708)
The ratio for the gearbox used must be parameterized in p9521/p9522 for Safety Integrated
Extended functions and in p2504/p2505 for EPOS. For a gearbox to convert 2 motor
revolutions to 1 load revolution, set p9521 = 1, p9522 = 2, p2504 = 2 and p2505 = 1.
Example 2:
Safety Integrated Extended functions monitors the linear axis using the rotating motor
encoder.
EPOS references using the linear scale.
● p2503 = 100000 => a position of 100000LU (r2521) corresponds to 10 mm (r9708)
● p2503 = 10000 => a position of 10000LU (r2521) corresponds to 10 mm (r9708)
374
Gear unit
Motor
Encoder
Figure 7-20 Example1: EPOS and safe referencing_rotating
Spindle
Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2
Drive functions