Speed Limit; Torque Limit; Referencing - Siemens SINAMICS V90 Operating Instructions Manual

Control functions
7.2 Basic positioner (EPOS)
7.2.6

Speed limit

Refer to Section "Speed limit (Page 172)" for details.
7.2.7

Torque limit

Refer to Section "Torque limit (Page 173)" for details.
7.2.8

Referencing

Referencing modes
When telegrams 7, 9, 110, and 111 are used, starting referencing can be configured with the
PROFINET control word STW1.11:
Control word
If the servo motor has an incremental encoder, totally three referencing modes are available:
● Setting reference point with the digital input signal REF
● External reference cam (signal REF) and encoder zero mark
● Encoder zero mark only
If the servo motor has an absolute encoder, the three referencing modes are available. You
can also adjust the absolute encoder (by setting current position as the zero position) with
the BOP function "ABS". Refer to Section "Adjusting an absolute encoder (Page 146)" for
details.
You can select one of these referencing modes by setting the parameter p29240:
Parameter
Note
Referencing mode for absolute encoder
If an absolute encoder is connected, the three referencing modes are available. You can
select the different referencing modes with parameter p29240. When p29240 = 1 or 2, the
referencing process can only be implemented before you use the "ABS" function. Once the
"ABS" function is implemented, the two referencing modes are not available any more.
156
Setting
STW1.11 1
0
Value
p29240 0
1 (default)
2
Start referencing.
Stop referencing.
Referencing with external signal REF
Referencing with external reference cam (signal REF) and
encoder zero mark
Referencing with zero mark only
Operating Instructions, 04/2017, A5E37208830-003
Description
Description
SINAMICS V90, SIMOTICS S-1FL6