Siemens SINAMICS V90 Operating Instructions Manual page 7

7.2 Basic positioner (EPOS) ....................................................................................................... 151
7.2.1 Setting the mechanical system ............................................................................................. 151
7.2.2 Configuring the linear/modular axis ...................................................................................... 152
7.2.3 Backlash compensation ........................................................................................................ 153
7.2.4 Over-travel ............................................................................................................................ 154
7.2.5 Software position limit ........................................................................................................... 155
7.2.6 Speed limit ............................................................................................................................ 156
7.2.7 Torque limit ........................................................................................................................... 156
7.2.8 Referencing ........................................................................................................................... 156
7.2.9 Traversing blocks .................................................................................................................. 161
7.2.10 Direct setpoint input (MDI) .................................................................................................... 166
7.2.11 EJOG .................................................................................................................................... 169
7.2.12 Position tracking .................................................................................................................... 171
7.3 Speed control (S) .................................................................................................................. 172
7.3.1 Speed limit ............................................................................................................................ 172
7.3.2 Torque limit ........................................................................................................................... 173
7.3.3 Ramp-function generator ...................................................................................................... 175
8 PROFINET communication ................................................................................................................. 177
8.1 Supported telegrams............................................................................................................. 177
8.2 I/O data signals ..................................................................................................................... 179
8.3 Control word definition .......................................................................................................... 181
8.3.1 STW1 control word (for telegrams 1, 2, 3, 5) ........................................................................ 181
8.3.2 STW2 control word (for telegrams 2, 3, 5) ............................................................................ 182
8.3.3 STW1 control word (for telegrams 102, 105) ........................................................................ 182
8.3.4 STW2 control word (for telegrams 102, 105) ........................................................................ 183
8.3.5 STW1 control word (for telegrams 7, 9, 110, 111) ................................................................ 184
8.3.6 STW2 control word (for telegrams 9, 110, 111) .................................................................... 184
8.3.7 G1_STW encoder 1 control word .......................................................................................... 185
8.3.8 SATZANW control word ........................................................................................................ 186
8.3.9 MDI_MOD control word......................................................................................................... 186
8.3.10 POS_STW control word ........................................................................................................ 187
8.3.11 POS_STW1 positioning control word .................................................................................... 188
8.3.12 POS_STW2 positioning control word .................................................................................... 188
8.4 Status word definition............................................................................................................ 189
8.4.1 ZSW1 status word (for telegrams 1, 2, 3, 5) ......................................................................... 189
8.4.2 ZSW2 status word (for telegram 2, 3, 5) ............................................................................... 190
8.4.3 ZSW1 status word (for telegrams 102, 105) ......................................................................... 190
8.4.4 ZSW2 status word (for telegram 102, 105) ........................................................................... 191
8.4.5 ZSW1 status word (for telegram 7, 9, 110, 111) ................................................................... 191
8.4.6 ZSW2 status word (for telegrams 9, 110, 111) ..................................................................... 192
8.4.7 G1_ZSW encoder 1 status word ........................................................................................... 192
8.4.8 MELDW status word ............................................................................................................. 193
8.4.9 POS_ZSW1 positioning status word ..................................................................................... 193
8.4.10 POS_ZSW2 positioning status word ..................................................................................... 194
9 Safety integrated function .................................................................................................................... 195
9.1 Standards and regulations .................................................................................................... 195
9.1.1 General information .............................................................................................................. 195
9.1.1.1 Aims ...................................................................................................................................... 195
SINAMICS V90, SIMOTICS S-1FL6
Operating Instructions, 04/2017, A5E37208830-003
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