Siemens SINAMICS V90 Operating Instructions Manual page 163

Note
p29240 is inactive for absolute encoder
If an absolute encoder is connected, the parameter p29240 is inactive.
Note
p29240 can be modified only when the drive is in IPos mode.
Setting reference point with the digital input signal REF (p29240=0)
Note
Preconditions for this referencing mode
• The servo motor must be in servo on state and keep standstill.
• The signal REF must be OFF under the following conditions:
– before power-on
– when switching from another referencing mode to this referencing mode
– when switching from another control mode to internal position control mode
The current position is set to zero at a rising edge of the signal REF and the servo drive is
referenced:
The referencing point may not be fixed during referencing.
The servo motor must be in servo on state so that the referencing point is fixed during
referencing.
SINAMICS V90, SIMOTICS S-1FL6
Operating Instructions, 07/2015, 6SL3298-0AV60-0BP0
CAUTION
Control functions
7.4 Internal position control (IPos)
163