Basic Positioner - Siemens SINAMICS S150 Operating Instructions Manual

Functions, monitoring, and protective functions
9.4 Extended functions
9.4.6

Basic positioner

Description
The "basic positioner" function module (EPOS) is used for the absolute/relative positioning of
rotary axes (modulo) with motor encoders (indirect measuring system) or machine encoders
(direct measuring system).
User-friendly configuration, commissioning, and diagnostic functions are also available in
STARTER for the basic positioner functionality (graphic navigation). A control panel is
available in STARTER for the basic positioner and variable speed operation, which can be
used to control the functionality via the PC/PG for commissioning or diagnostics.
When the basic positioner is activated (r0108.4 = 1), position control (r0108.3 = 1) must also
be activated. This occurs automatically when the basic positioner is activated by the
commissioning Wizard in STARTER. The required "internal connections" (BICO technology)
are also established automatically.
The basic positioner requires the position controller functions. The BICO interconnections
established by the basic positioner must be changed by experienced users only.
As a result, the position control functions are also available (e.g. zero-speed monitoring,
position monitoring, dynamic following error monitoring, cam controllers, modulo function,
measurement probe evaluation). See "Closed-loop position control".
In addition, the following functions can be carried out using the "basic positioner" function
module:
● Mechanical system (is assigned to position controller in the STARTER)
● Limitations
364
CAUTION
– Backlash compensation
– Modulo offset
– Position tracking of the load gearbox (motor encoder) with absolute encoders
– Velocity profile limitations
– Traversing range limits
– Jerk limit
Drive converter cabinet units
Operating Instructions, 07/07, A5E00288214A