Referencing - Siemens SINAMICS V90 Operating Instructions Manual

Control functions
7.4 Internal position control (IPos)
In order to compensate the backlash, the determined backlash must be specified in p2583
with correct polarity. At each direction of rotation reversal, the axis actual value is corrected
dependent on the actual traversing direction.
If the axis has been referenced or adjusted, then the setting of parameter p2604 (reference
point approach, starting direction) is used to activate the compensation value:
p2604
0
1
Parameter settings
Parameter Range
p2583 -200000 to
200000
p2604
7.4.6

Referencing

Referencing modes
If the servo motor has an incremental encoder, five referencing modes in total are available:
● Setting reference point with the digital input signal REF
● External reference cam (signal REF) and encoder zero mark
● Encoder zero mark only
● External reference cam (signal CWL) and encoder zero mark
● External reference cam (signal CCWL) and encoder zero mark
If the servo motor has an absolute encoder, the five referencing modes are available. You
can also adjust the absolute encoder (by setting current position as the zero position) with
the BOP function "ABS". Refer to Section "Adjusting an absolute encoder (Page 160)" for
details.
You can select one of these referencing modes by setting the parameter p29240:
Parameter
p29240
190
Unit
LU
0 to 1 -
Value
0 Setting reference point with the digital input signal REF
1 (default) External reference cam (signal REF) and encoder zero mark
2 Encoder zero mark only
3 External reference cam (signal CCWL) and encoder zero mark
4 External reference cam (signal CWL) and encoder zero mark
Traversing direction
Negative
Positive
Default
0 Backlash compensation
0 Set signal source for start direction of searching cam:
0: start in positive direction
•
1: start in negative direction
•
Activate compensation value
Immediately
Immediately
Description
Description
SINAMICS V90, SIMOTICS S-1FL6
Operating Instructions, 09/2015, A5E36037884