Siemens SINAMICS S120 Function Manual page 155

● Drive axis motion corresponds to the deflection (motion in the μm to mm range).
Uncontrollable axis motion is completely ruled out during the measurement.
● Parameters p3090 to p3096 must be correctly set for a successful elasticity-based PolID.
For a detailed description of the technique, see "Setting of the elasticity-based pole position
identification (Page 156)".
The following table contains basic information on the relevant parameters:
Drive functions
Function Manual, 06/2019, 6SL3097-5AB00-0BP2
WARNING
Uncontrollable axis motion as a result of incorrect settings
With incorrect settings during the elasticity-based PolID, uncontrollable axis motion can
occur when enabling the axis after the measuring procedure, which can cause death or
severe injury.
● Ensure that the settings in the context of this technique are correct.
● Ensure that after completing the technique, the axis cannot move.
Parameter Designation
p3090 PolID elasticity-based
configuration
p3091 PolID elasticity-based
ramp time
p3092 PolID elasticity-based
wait time
p3093 PolID elasticity-based
measurement count
p3094 PolID elasticity-based
deflection expected
p3095 PolID elasticity-based
deflection permitted
p3096 PolID elasticity-based
current
5.16 Pole position identification
Information about parameterization
The value "0" is preset in the parameter. For motors, where
the brake is installed between the motor and encoder, an
inversion may be required in order to take into account the
relationship between the sign of the deflection and the tor‐
que or force. The inversion is set in bit 0 (p3090[0]).
The ramp time is preset with 250 ms. This value should only
be changed if mechanical oscillations are present. Gener‐
ally, mechanical oscillations occur if the ramp time is too
short (< 250 ms).
The wait time serves as buffer between the measurement
operations. Set a wait time longer than 5 ms in order to
make a clear distinction between the individual measuring
operations.
We recommend you set 12 measurement steps to achieve
a rugged and precise PolID. The precision and duration of
the measurement increases proportionally with the number
of measurement steps.
The parameter setting depends heavily on the mechanical
design and the drive braking force, and must therefore be
set by the customer.
The maximum permissible deflection preset in the param‐
eter is 1 degree or 1 mm.
The parameter setting depends heavily on the mechanical
design and the drive braking force, and must therefore be
set by the customer.
Servo control
153