Siemens Sinamics S110 Function Manual page 223

● Referencing or adjusting
● Traversing blocks operating mode
● Direct setpoint input (MDI) mode
● Jog mode
● Standard PROFIdrive positioning telegrams are available (telegrams 7, 9, 110 and 111).
● Control using PROFIdrive telegrams 7 and 110.
Drive functions
Function Manual, 10/2008, 6SL3097-4AB10-0BP0
– Set reference point (for an axis at standstill that has reached its target position)
– 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
(during the "normal" traversing motion, it is possible to reference, superimposed, using
the measuring probe evaluation; generally, evaluating e.g. a BERO. Higher-level
(superimposed) function for the modes "jog", direct setpoint input/MDI and "traversing
blocks")
– Referencing with incremental measuring systems
– Absolute encoder adjustment
– 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)
– Positioning (absolute, relative) and setting-up (endless closed-loop position control)
using direct setpoint inputs (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.
– Closed-loop position controlled traversing of the axis with the "endless position
controlled" or "jog incremental" modes that can be toggled between (traverse through
a "step width")
When these are selected, the internal "connection" to the basic positioner is established
automatically.
Drive functions
7.3 Function modules
223