Siemens SINAMICS V90 Operating Instructions Manual page 7

6.5.5 Transferring data (SD to drive) ............................................................................................. 131
6.5.6 Updating firmware ................................................................................................................. 131
6.5.7 Adjusting AI offsets ............................................................................................................... 132
6.5.8 Adjusting an absolute encoder ............................................................................................. 134
7 Control functions ................................................................................................................................. 135
7.1 Compound controls ............................................................................................................... 135
7.2 General functions .................................................................................................................. 136
7.2.1 Servo ON .............................................................................................................................. 136
7.2.2 Direction of motor rotation .................................................................................................... 137
7.2.3 Over-travel ............................................................................................................................ 138
7.2.4 Motor holding brake .............................................................................................................. 140
7.2.5 Stopping method at servo OFF ............................................................................................. 142
7.3 Pulse train input position control (PTI) .................................................................................. 143
7.3.1 Sequence of SON ................................................................................................................. 143
7.3.2 Selecting a setpoint pulse train input channel ...................................................................... 143
7.3.3 Selecting a setpoint pulse train input form ............................................................................ 144
7.3.4 In position (INP) .................................................................................................................... 144
7.3.5 Smoothing function ............................................................................................................... 145
7.3.6 Electronic gear ratio .............................................................................................................. 145
7.3.7 Inhibiting pulse train input setpoint (P-TRG) ......................................................................... 149
7.3.8 Speed limit ............................................................................................................................ 150
7.3.9 Torque limit ........................................................................................................................... 151
7.3.10 Clearing droop pulses (CLR) ................................................................................................ 154
7.3.11 Referencing (only for absolute encoder)............................................................................... 155
7.3.12 PTO function ......................................................................................................................... 155
7.4 Internal position control (IPos) .............................................................................................. 157
7.4.1 Setting mechanical system ................................................................................................... 157
7.4.2 Setting fixed position setpoint ............................................................................................... 158
7.4.3 Selecting a positioning mode - absolute/incremental ........................................................... 160
7.4.4 Configuring linear/modular axis ............................................................................................ 161
7.4.5 Backlash compensation ........................................................................................................ 161
7.4.6 Referencing ........................................................................................................................... 162
7.4.7 Software position limit ........................................................................................................... 171
7.4.8 Speed limit ............................................................................................................................ 171
7.4.9 Torque limit ........................................................................................................................... 171
7.4.10 Selecting a fixed position setpoint and starting positioning .................................................. 171
7.5 Speed control (S) .................................................................................................................. 174
7.5.1 Configuring speed setpoint ................................................................................................... 174
7.5.1.1 Speed control with external analog speed setpoint .............................................................. 174
7.5.1.2 Speed control with fixed speed setpoint ............................................................................... 175
7.5.2 Direction and stop ................................................................................................................. 176
7.5.3 Speed limit ............................................................................................................................ 176
7.5.4 Torque limit ........................................................................................................................... 176
7.5.5 Zero speed clamp ................................................................................................................. 177
7.5.6 Ramp-function generator ...................................................................................................... 178
7.6 Torque control (T) ................................................................................................................. 179
7.6.1 300% overload capacity ........................................................................................................ 179
7.6.2 Torque setpoint ..................................................................................................................... 180
7.6.2.1 Torque control with external analog torque setpoint ............................................................. 180
SINAMICS V90, SIMOTICS S-1FL6
Operating Instructions, 07/2015, 6SL3298-0AV60-0BP0
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