Siemens SINAMICS S120 Function Manual page 469

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Table of Contents

● Direct encoder without position tracking:

v = p0421 · p2506 · p0433 / (p0432 · p2576)

● Direct encoder with position tracking for the measuring gear:

v = p0412 · p2506 / p2576

With position tracking it is recommended to change p0412 or p2721.

● Backlash compensation (p2583)

● Modulo offset (p2577)

Commissioning the function

If you activated the "Basic positioner" function module in the Startdrive engineering tool, you will

find the "Mechanics" screen form under "Drive axis > Parameter assignment > Basic parameter

assignment > Mechanics".

Further information

For additional information on parameterizing the "Mechanics" function can be found in the

SINAMICS S120 with Startdrive Commissioning Manual.

Function diagrams (see SINAMICS S120/S150 List Manual)

Overview of important parameters (see SINAMICS S120/S150 List Manual)

● r2684.0...15

Drive functions

Function Manual, 06/2019, 6SL3097-5AB00-0BP2

EPOS - Interpolator (r0108.4 = 1)

Position control - Actual position value processing (r0108.3 = 1)

EPOS modulo offset modulo range

BI: EPOS modulo offset activation

EPOS backlash compensation

CO/BO: EPOS status word 2

CO: EPOS correction value

Function modules

9.8 Basic positioner