Parking Axis And Parking Encoder - Siemens SINAMICS S120 Function Manual

7.21

Parking axis and parking encoder

The "parking" function is used in two ways:
● "Parking axis"
– Monitoring of all encoders and Motor Modules assigned to the "Motor control"
– All encoders assigned to the "Motor control" application of a drive are prepared for the
– The Motor Module assigned to the "Motor control" application of a drive is prepared for
● "Parking encoder"
– Monitoring of a certain encoder is suppressed.
– The encoder is prepared for the "removed" state.
Parking an axis
When an axis is parked, the power unit and all the encoders assigned to the "motor control"
are switched to inactive (r0146[n] = 0).
● Control is carried out via the control/status words of the cyclic telegram (STW2.7 and
ZSW2.7) or using parameters p0897 and r0896.0.
● The drive must be brought to a standstill by the higher-level controller (disable pulses,
e.g. via STW1.0/OFF1).
● DRIVE-CLiQ communication to downstream components via the deactivated power unit
(r0126 = 0) remains active.
● A measuring system that is not assigned to the "motor control" (e.g. direct measuring
system) remains active (r0146[n] = 1).
● The drive object remains active (r0106 = 1).
Note
Once the "Parking axis" / "Parking encoder" status has been canceled, you may have to
carry out the following actions:
• If the motor encoder has been replaced: determine the commutation angle offset (p1990).
• A new encoder must be referenced again (e.g. to determine the machine zero point).
Drive functions
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
application of a drive are suppressed.
"removed" state.
the "removed Motor Module" state.
7.21 Parking axis and parking encoder
Basic functions
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