Commissioning In Internal Position Control Mode (Ipos) - Siemens SINAMICS V90 Operating Instructions Manual

Commissioning

5.3 Commissioning in internal position control mode (IPos)

5.3 Commissioning in internal position control mode (IPos)
Step
1 Switch off the mains supply.
2 Power off the servo drive and connect it to the control-
ler (for example, SIMATIC S7-200 SMART) with the
signal cable.
3 Switch on the 24 VDC power supply.
4 Check the servo motor type.
If the servo motor has an incremental encoder,
•
input motor ID (p29000).
If the servo motor has an absolute encoder, the
•
servo drive can identify the servo motor automati-
cally.
5 Switch to the internal position control mode by setting
parameter p29003=1.
6 Save the parameter and restart the servo drive to
apply the setting of the internal position control mode.
7 Set the mechanical gear ratio with parameters
p29247, p29248 and p29249.
8 Select the axis type by setting parameter p29245. If
you use the modular axis, you need to define the
modular range by setting parameter p29246.
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.
112
Description Remarks
The digital signals CWL, CCWL and EMGS must be kept
at high level (1) to ensure normal operation.
Refer to "Standard application wirings (factory setting)
(Page 81)" and "Connection examples with PLCs
(Page 89)".
Fault F52984 occurs when the servo motor is not identi-
fied.
You can find the motor ID from the motor rating plate. Go
to "Motor components (Page 29)" for detailed descriptions
about motor rating plate.
Refer to "Basic operations (Page 123)" for information
about how to change a parameter with the BOP.
Refer to "Compound controls (Page 135)".
p29247: LU per load revolution
•
p29248: load revolutions
•
p29249: motor revolutions
•
Refer to "Setting mechanical system (Page 157)".
p29245 = 0: linear axis
•
p29245 = 1: modular axis
•
Refer to "Configuring linear/modular axis (Page 161)".
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 160)".
Refer to "Setting fixed position setpoint (Page 158)".
Refer to "Torque limit (Page 171)" and "Speed limit
(Page 171)".
Operating Instructions, 07/2015, 6SL3298-0AV60-0BP0
SINAMICS V90, SIMOTICS S-1FL6