Siemens SINAMICS S150 Operating Instructions Manual page 365

● Homing or adjustment
● Traversing blocks mode (64 traversing blocks)
● Direct setpoint specification mode (MDI)
● Jog mode
● Standard PROFIdrive positioning telegrams are available (telegrams 7, 9 and 110), the
● Control using PROFIdrive telegrams 7 and 110.
Commissioning
The "basic positioner" function module can be activated by running the commissioning
Wizard. Parameter r0108.4 indicates whether the function module has been activated.
Drive converter cabinet units
Operating Instructions, 07/07, A5E00288214A
– Setting reference point (with stationary axis)
– Homing
(separate mode including reversing cam functionality, automatic reversal of direction,
homing to "cams and encoder zero mark" or only "encoder zero mark" or "external
zero mark (BERO)")
– Flying referencing
(superimposed homing possible during "normal" traversing with the aid of the
measurement probe evaluation (normally evaluation of a BERO, for example).
Superimposed function for the modes "Jog", "Direct setpoint specification / MDI" and
"Traversing blocks".
– Homing with incremental measuring systems
– Absolute encoder adjustment
– Positioning by means of traversing blocks stored in the device, including continuation
conditions and specific jobs for previously homed axis
– Traversing block editor using STARTER
– A traversing block contains the following information:
Job number
Task (e.g. position, wait, GOTO set jump, set binary outputs)
Motion parameters (target position, override speed for acceleration and deceleration)
Mode (e.g.: skip block, continuation conditions such as "Continue_with_stop" and
"Continue_flying")
Job parameters (e.g. wait time, block step conditions)
– Positioning (absolute, relative) and setting-up (endless closed-loop position control)
using direct setpoint inputs (e.g. via the PLC or process data)
– It is always possible to influence the motion parameters during traversing (on-the-fly
setpoint acceptance) as well as on-the-fly change between the Setup and Positioning
modes.
– Position-controlled traversing of the axis with the switchable modes "Endless position-
controlled" or "Incremental jog" (to traverse an "increment")
selection of which automatically establishes the internal "connection" to the basic
positioner.
Functions, monitoring, and protective functions
9.4 Extended functions
365