Siemens SINAMICS S120 Commissioning Manual page 183

Precondition
● You have completely specified and configured the motor used in the device configuration
of the drive axis.
Note
This basic parameterization cannot be performed without having completed this full
configuration.
Extrapolating position values
This parameter is displayed only for pure SSI encoders, namely, for encoders without
HTL/TTL or SIN/COS tracks. Because, compared with the speed controller cycle of the
SINAMICS, the serial transfer is relatively slow, the data can already be obsolete on arrival
at the Sensor Module. If the data transfer is not fast enough, you may need to switch to
encoders with a faster data transmission rate.
1. Activate "Extrapolate position values " in order to extrapolate the SSI data for the next
speed controller cycle.
– Advantage: The dead time between two speed controller cycles reduces and the
– Disadvantage: For fluctuating speeds, the extrapolated value accuracy can vary.
2. Evaluate the advantages and disadvantages carefully.
3. Also check the deployed baud rate. A higher baud rate may allow a sufficiently fast data
transmission.
Inverting values
As the mounting direction of the encoder (at the right- or left-hand side) cannot be defined,
but depends on the specific motor being used (linear motor, torque motor, etc.), where
appropriate, invert the position and the speed in order to reverse the direction.
1. Select the "Actual speed value inverted" option (p0410.0)
2. Select the "Actual position value inverted" option (p0410.1)
Parameterizing the measuring gearbox position tracking
Position tracking enables the load position to be reproduced when using gearboxes. It can
also be used to extend the position range.
1. Activate the position tracking for measuring gearboxes.
2. Select whether the position tracking should be made for a rotary axis or linear axis
(p0411).
A rotary axis is considered to be a modulo axis (modulo correction can be activated by a
higher-level controller or EPOS). For a linear axis, the position tracking is used principally
to extend the position range (see "Virtual multiturn resolution").
Commissioning with Startdrive
Commissioning Manual, 12/2018, 6SL3097-5AA10-0BP0
closed-loop controller becomes more dynamic.
4.8 Basic parameterization of the drive objects
Commissioning
181