Function Module "Basic Positioner" - Siemens SINAMICS S120 Function Manual

Extended Functions

Function module "basic positioner"

4.24 Function module "basic positioner"
General description
The basic positioner is used to position linear and rotary axes (modulo) in absolute/
relative terms with motor encoder (indirect measuring system) or machine encoder
(direct measuring system). It is available in the servo and vector modes.
Further, user-friendly configuration, commissioning and diagnostic functions are
available in STARTER for the basic positioner functionality (graphic navigation). In
STARTER, there is a control panel for the basic positioner and speed-controlled
operation; using this control panel, the functionality can be started from a PC/PG to
commission the system or carry-out diagnostics.
When the basic positioner is activated (r0108.4 = 1), then the position control
(r0108.3 = 1) should also be activated. This is realized automatically when
activating the basic positioner via the commissioning Wizards of STARTER.
Further, the necessary "internal interconnections" (BICO technology) are automa-
tically established.
This means that naturally the position control functions are also available (e.g.
standstill monitoring, positioning monitoring, dynamic following error monitoring,
cam controllers, modulo function, measuring probe evaluation). Also refer to the
section "Position control".
In addition, the following functions can be carried-out using the basic positioner:
S Mechanical system
– Backlash compensation
– Modulo correction
S Limits
– Traversing profile limits
– Traversing range limits
S Referencing or adjusting
– Set reference point (for an axis at standstill that has reached its target
position)
– Reference point approach
(autonomous mode including reversing cam functionality, automatic direction
of rotation reversal, referencing to "cams and encoder zero mark" or only
"encoder zero mark" or "external equivalent zero mark (BERO)")
– Flying referencing
(during the "normal" traversing motion, it is possible to reference,
superimposed, using the measuring probe evaluation; generally, evaluating
e.g. a BERO. Higher-level (superimposed) function for the modes "jog",
direct setpoint input/MDI and "traversing blocks")
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SINAMICS S120 Function Manual, 03/2006 Edition