Siemens SINAMICS V90 Operating Instructions Manual page 226

Control functions
7.8 Absolute position system
Main step
③
Configure relative parameters.
④
Referencing with the BOP or SINAMICS V-
ASSISTANT.
NOTE:
You must perform the referencing operation under the
following conditions:
System setup is performed.
•
The servo drive has been changed.
•
The servo motor has been changed.
•
An alarm occurs.
•
⑤
Select a communication protocol with p29007.
⑥
Configure the parameters for selected communication
protocol.
⑦
Save the parameters and restart the drive.
⑧
Start transmitting.
⑨
Transmit the calibration status of the absolute encoder
to the PLC.
⑩
Transmit the absolute position data to the PLC.
226
Sub step/comment
1. Set PTI input parameters (p29010 to p29014).
2. Set position control parameters (p29247 to p29249).
3. Set electrical gear p29012 and p29013.
1. Run the servo motor for a proper distance.
2. Adjust the absolute encoder with the BOP menu function
"ABS" or SINAMICS V-ASSISTANT.
Set value for p29007.
0: no protocol
•
1: USS protocol
•
2: Modbus protocol
•
1. Set RS485 address (p29004).
2. Set baud rate (p29009).
3. Set the command and setpoint source if you use Modbus
protocol (p29008).
1. Turn on the servo-on enable signal (SON).
2. The PLC checks the standstill status and alarm status
through the digital output of the servo drive.
3. If there is no alarm and the motor is in standstill status, the
PLC sends a data request to the servo drive through the
RS485 cable.
4. In response to the data request from PLC, the servo drive
transmits calibration status (p2507[0]=3) of encoder to the
PLC.
1. If the absolute encoder is calibrated, and meanwhile, the
servo drive is ready (the digital output RDY is logic 1) and
in standstill status (the digital output signal INP is logic 1),
the PLC sends a data request to drive through the RS485
cable.
2. In response to the data request from the PLC, the servo
drive transmits the absolute position data (r2521) to the
PLC.
Operating Instructions, 09/2015, A5E36037884
SINAMICS V90, SIMOTICS S-1FL6