Siemens SINAMICS S120 Function Manual page 492

Function modules
8.7 Position control
The measuring probe evaluation can be enabled for the encoder evaluation x, which is not
assigned to position control, via p2509[x]. The signal sources are assigned via p2510[0...3],
the edge evaluation is set via p2511[0...3]. The measured value is available in r2523[x] if, in
the status word for encoder x (encoder 0: r2526.0..9, encoder1: 2627.0..2, encoder2:
r2628.0..2, encoder3: r2529.0..2) the "Measurement value valid" bit is set.
The actual position values of the different encoders can be read out using parameter
r2521[0...3]. These actual position values can be corrected with a signed value from
p2513[0...3] after a 0/1 signal from the signal source in p2512[0...3].
In addition, the actual velocity value (r2522[0...3]) and the position offset for absolute
encoders p2525[0...3] can be processed for each encoder by the higher-level controller.
Features
● Encoder assignment (p2502[D])
● Absolute encoder adjustment (p2507[E])
● Activate measuring probe evaluation (p2509[0...3])
● Measuring probe evaluation selection (p2510[0..3])
● Measuring probe edge (p2511[0..3])
● Activate actual position value processing, correction value (p2512[0...3])
● Actual position value processing, correction value (p2513[0...3])
● Position offset (p2516[0...3])
● Actual position value (r2521[0...3])
● Actual velocity value (r2522[0...3])
● Measuring probe evaluation/Reference mark search (p2523[0..3])
● Encoder adjustment, offset (p2525[E])
● Status word position controller (r2526)
● Status word encoder1 (r2527)
● Status word encoder2 (r2528)
● Status word encoder3 (r2529)
● EPOS reference point coordinate, signal source (p2598[0...3])
● Function diagram 4010 Position control - Actual position value processing
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Function Manual, 11/2017, 6SL3097-4AB00-0BP5
Drive functions