Siemens SINAMICS V90 Operating Instructions Manual page 137

Step
9 Check and select a positioning mode by setting pa-
rameter p29241.
10 Configure the fixed position setpoint (p2617[0] to
p2617[7] and p2618[0] to p2618[7]) according to
mechanism.
11 Set the torque limitation and speed limitation.
12 Configure necessary digital input signals by setting the
following parameters:
p29301[1]: DI1
•
p29302[1]: DI2
•
p29303[1]: DI3
•
p29304[1]: DI4
•
p29305[1]: DI5
•
p29306[1]: DI6
•
p29307[1]: DI7
•
p29308[1]: DI8
•
13 Check the encoder type and perform referencing:
For an incremental encoder, choose a referencing
•
mode by setting parameter p29240 and perform
referencing.
For an absolute encoder, choose a referencing
•
mode and adjust the encoder with the BOP menu
function "ABS". Refer to "Adjusting an absolute
encoder (Page 160)".
14 Set the pulse train encoder output.
15 Save parameters with the BOP.
16 Switch on the line supply.
SINAMICS V90, SIMOTICS S-1FL6
Operating Instructions, 09/2015, A5E36037884
Description
5.4 Commissioning in internal position control mode (IPos)
For linear axis, there are two positioning modes:
p29241=0: incremental
•
p29241=1: absolute
•
For modular axis, there are four positioning modes:
p29241=0: incremental
•
p29241=1: absolute
•
p29241=2: absolute, positive (only for a rotary axis
•
with modulo correction)
p29241=3: absolute, negative (only for a rotary axis
•
with modulo correction)
Refer to "Selecting a positioning mode - abso-
lute/incremental (Page 188)".
Refer to "Setting fixed position setpoint (Page 186)".
Refer to "Torque limit (Page 199)" and "Speed limit
(Page 199)".
The factory settings are:
p29301[1]: 1 (SON)
•
p29302[1]: 2 (RESET)
•
p29303[1]: 3 (CWL)
•
p29304[1]: 4 (CCWL)
•
p29305[1]: 5 (G-CHANGE)
•
p29306[1]: 6 (P-TRG)
•
p29307[1]: 21 (POS1)
•
p29308[1]: 22 (POS2)
•
Refer to "Digital inputs/outputs (DIs/DOs) (Page 91)".
NOTE: You must configure the digital input signal REF or
SREF according to your selection of referencing mode.
Refer to "Referencing (Page 190)".
Five referencing modes are available:
p29240=0: with digital input signal REF
•
p29240=1 (default): external referencing cam (REF)
•
and encoder zero mark
p29240=2: only encoder zero mark
•
p29240=3: external referencing cam (CCWL) and
•
encoder zero mark
p29240=4: external referencing cam (CWL) and en-
•
coder zero mark.
Refer to "Referencing (Page 190)".
Refer to "PTO function (Page 183)".
Commissioning
Remarks
137