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

Commissioning

5.4 Commissioning in internal position control mode (IPos)

5.4 Commissioning in internal position control mode (IPos)
Step
1 Switch off the line supply.
2 Power off the servo drive and connect it to the controller (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 the
•
motor ID (p29000).
If the servo motor has an absolute encoder, the servo
•
drive can identify the servo motor automatically.
5 Switch to the internal position control mode by setting pa-
rameter 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 parameter
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.
136
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 set-
ting) (Page 101)" and "Connection examples with
PLCs (Page 105)".
Fault F52984 occurs when the servo motor is not
identified.
You can find the motor ID from the motor rating
plate. For the detailed information of the motor rating
plate, see Section "Motor components (Page 24)".
Refer to "Basic operations (Page 147)" for infor-
mation about how to change a parameter with the
BOP.
Refer to "Compound controls (Page 159)".
p29247: LU per load revolution
•
p29248: load revolutions
•
p29249: motor revolutions
•
Refer to "Setting mechanical system (Page 182)".
p29245 = 0: linear axis
•
p29245 = 1: modular axis
•
Refer to "Configuring the linear/modular axis
(Page 186)".
For a 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 185)".
Refer to "Setting fixed position setpoint (Page 183)".
Refer to "Torque limit (Page 196)" and "Speed limit
(Page 196)".
SINAMICS V90, SIMOTICS S-1FL6
Operating Instructions, 09/2016, A5E36037884-002