Table Of Contents - Siemens SINAMICS G120 Function Manual

Table of contents

1 Fundamental safety instructions .............................................................................................................. 7
1.1 General safety instructions ....................................................................................................... 7
1.2 Industrial security ...................................................................................................................... 8
2 Introduction ............................................................................................................................................. 9
3 Basic positioner .................................................................................................................................... 11
3.1 Basic positioner and position control ...................................................................................... 11
3.2 Permissible encoder combinations ......................................................................................... 12
3.3 PROFIdrive interfaces............................................................................................................. 15
3.3.1 Control and status word 1 ....................................................................................................... 17
3.3.2 Control and status word 2 ....................................................................................................... 19
3.3.3 Control and status word for the positioner .............................................................................. 20
3.3.4 Control and status word 1 for the positioner ........................................................................... 22
3.3.5 Control and status word 2 for the positioner ........................................................................... 24
3.3.6 Control word block selection ................................................................................................... 26
3.3.7 Control word MDI mode .......................................................................................................... 27
3.3.8 Status word messages............................................................................................................ 28
3.3.9 Function block FB283 ............................................................................................................. 29
3.4 Commissioning ....................................................................................................................... 30
3.4.1 Commissioning sequence ....................................................................................................... 30
3.4.2 Normalizing the encoder signal .............................................................................................. 32
3.4.2.1 Define the resolution ............................................................................................................... 32
3.4.2.2 Modulo range setting .............................................................................................................. 34
3.4.2.3 Checking the actual position value ......................................................................................... 36
3.4.2.4 Setting the backlash................................................................................................................ 37
3.4.3 Limiting the positioning range ................................................................................................. 39
3.4.4 Setting the position controller ................................................................................................. 42
3.4.4.1 Precontrol and gain ................................................................................................................. 42
3.4.4.2 Optimizing the position controller ............................................................................................ 43
3.4.4.3 Limiting the traversing profile .................................................................................................. 46
3.4.5 Setting the monitoring functions ............................................................................................. 48
3.4.5.1 Standstill and positioning monitoring ...................................................................................... 48
3.4.5.2 Following error monitoring ...................................................................................................... 50
3.4.5.3 Cam sequencer ....................................................................................................................... 52
3.4.6 Referencing ............................................................................................................................. 53
3.4.6.1 Referencing methods .............................................................................................................. 53
3.4.6.2 Setting the reference point approach...................................................................................... 55
3.4.6.3 Setting the flying referencing .................................................................................................. 61
3.4.6.4 Set reference point .................................................................................................................. 67
3.4.6.5 Absolute encoder adjustment ................................................................................................. 69
3.4.7 Jogging ................................................................................................................................... 71
3.4.7.1 Jog velocity ............................................................................................................................. 71
3.4.7.2 Incremental jogging ................................................................................................................. 72
Basic positioner
Function Manual, 04/2015, FW V4.7 SP3, A5E34257659B AB
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