Siemens SINAMICS S120 Function Manual page 132

Servo control
3.13 Pole position identification
Selecting the reference mark for fine synchronization for determining the pole position using zero
marks
A precondition for determining the pole position using zero marks is that the zero mark
distance of the encoder is a multiple integer of the pole pitch / pole pair width of the motor.
For example, for linear motors with measuring systems where this is not available, the drive
permits the zero mark which is used for the reference point approach, to be used for fine
synchronization. With this zero mark, due to the mechanical arrangement, the commutation
angle = 0 or is available as offset in p0431.
This procedure is available for absolute encoders (with the exception of DRIVE-CLiQ
encoders), incremental encoders with equidistant zero mark and resolvers.
The sequence is then as follows:
1. Select the "fine synchronization with reference mark search" mode in p0437.
2. Via the PROFIdrive encoder interface, the drive receives the request for a reference mark
3. Together with the Sensor Module, the drive determines the reference mark as a result of
4. The drive provides the reference mark position via the PROFIdrive encoder interface.
5. The drive transfers the same position to the Sensor Module.
6. The Sensor Module corrects the commutation angle (fine synchronization).
Determining the suitable procedure for the pole position identification
Brake available
Motor can freely move
Motor has no iron
130
search.
the parameterization.
Saturation-based
Possible
Possible
Not possible
Motion-based
Not possible
Required
Possible
Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3
Elasticity-based
Required
Not possible
Possible
Drive functions