Direct Setpoint Input (Mdi) - Siemens SINAMICS S120 Function Manual

Vertical axis
Note
In servo control, a torque limit offset (p1532) can be entered for vertical axes (see also
Chapter Vertical axis (Page 181)).
With asymmetrical torque limits p1522 and p1523, the self-weight is taken into account for
travel to fixed stop in parameters r2686 and r2687.
If, for example, with a suspended load, p1522 is set to +1000 Nm and p1523 to -200 Nm, then
a net weight of 400 Nm (p1522 - p1523) is assumed. If the clamping torque is now configured
as 400 Nm, then r2686[0] is preset to 80%, r2686[1] to 0% and r2687 to 800 Nm when travel
to fixed stop is activated.
Function diagrams (see SINAMICS S120/S150 List Manual)
● 3616
● 3617
● 4025
Overview of important parameters (see SINAMICS S120/S150 List Manual)
● p1528[0...n]
● p1529[0...n]
● p1545[0...n]
● r2526.0...9
● p2622[0...n]
● p2634[0...n]
● p2635
● p2637
● p2638
● r2683.0...14
● r2686[0...1]
● r2686[0...1]
9.8.9

Direct setpoint input (MDI)

Function description
The "direct setpoint specification" function allows for positioning (absolute, relative) and setup
(endless position-controlled) by means of direct setpoint specification (e.g. via the PLC using
process data).
Drive functions
Function Manual, 06/2019, 6SL3097-5AB00-0BP2
EPOS - Traversing blocks mode (r0108.4 = 1)
EPOS - Travel to fixed stop (r0108.4 = 1)
Position control - Dynamic following error monitoring, cam controllers (r0108.3
= 1)
CI: Torque limit upper/motoring scaling
CI: Torque limit, lower/regenerative scaling
BI: Activate travel to fixed stop
CO/BO: LR status word
EPOS traversing block, task parameter
EPOS fixed stop maximum permissible following error
EPOS fixed stop monitoring window
BI: EPOS fixed stop reached
BI: EPOS fixed stop outside monitoring window
CO/BO: EPOS status word 1
CO: EPOS torque limit effective
CO: EPOS force limiting active (for linear motors)
Function modules
9.8 Basic positioner
499