Siemens SINAMICS V90 Operating Instructions Manual page 7

6.5.5 Transferring data (SD to drive) ............................................................................................. 155
6.5.6 Updating firmware ................................................................................................................. 156
6.5.7 Adjusting AI offsets ............................................................................................................... 157
6.5.8 Adjusting an absolute encoder ............................................................................................. 158
7 Control functions ................................................................................................................................. 159
7.1 Compound controls ............................................................................................................... 159
7.2 General functions .................................................................................................................. 161
7.2.1 Travel to fixed stop ................................................................................................................ 161
7.2.2 Servo ON .............................................................................................................................. 163
7.2.3 Motor direction of rotation ..................................................................................................... 164
7.2.4 Over-travel ............................................................................................................................ 165
7.2.5 Stopping method at servo OFF ............................................................................................. 166
7.3 Pulse train input position control (PTI) .................................................................................. 167
7.3.1 Sequence of SON ................................................................................................................. 167
7.3.2 Selecting a setpoint pulse train input channel ...................................................................... 168
7.3.3 Selecting a setpoint pulse train input form ............................................................................ 168
7.3.4 In position (INP) .................................................................................................................... 169
7.3.5 Smoothing function ............................................................................................................... 170
7.3.6 Electronic gear ratio .............................................................................................................. 170
7.3.7 Inhibiting pulse train input setpoint (P-TRG) ......................................................................... 174
7.3.8 Speed limit ............................................................................................................................ 175
7.3.9 Torque limit ........................................................................................................................... 176
7.3.10 Clearing droop pulses (CLR) ................................................................................................ 179
7.3.11 Referencing (only for absolute encoder)............................................................................... 180
7.3.12 PTO function ......................................................................................................................... 180
7.4 Internal position control (IPos) .............................................................................................. 182
7.4.1 Setting mechanical system ................................................................................................... 182
7.4.2 Setting fixed position setpoint ............................................................................................... 183
7.4.3 Selecting a positioning mode - absolute/incremental ........................................................... 185
7.4.4 Configuring the linear/modular axis ...................................................................................... 186
7.4.5 Backlash compensation ........................................................................................................ 186
7.4.6 Referencing ........................................................................................................................... 187
7.4.7 Software position limit ........................................................................................................... 195
7.4.8 Speed limit ............................................................................................................................ 196
7.4.9 Torque limit ........................................................................................................................... 196
7.4.10 Selecting a fixed position setpoint and starting positioning .................................................. 196
7.5 Speed control (S) .................................................................................................................. 198
7.5.1 Configuring speed setpoint ................................................................................................... 198
7.5.1.1 Speed control with external analog speed setpoint .............................................................. 199
7.5.1.2 Speed control with fixed speed setpoint ............................................................................... 200
7.5.2 Direction and stop ................................................................................................................. 200
7.5.3 Speed limit ............................................................................................................................ 201
7.5.4 Torque limit ........................................................................................................................... 201
7.5.5 Zero speed clamp ................................................................................................................. 201
7.5.6 Ramp-function generator ...................................................................................................... 202
7.6 Torque control (T) ................................................................................................................. 203
7.6.1 300% overload capacity ........................................................................................................ 203
7.6.2 Torque setpoint ..................................................................................................................... 204
7.6.2.1 Torque control with external analog torque setpoint ............................................................. 204
SINAMICS V90, SIMOTICS S-1FL6
Operating Instructions, 09/2016, A5E36037884-002
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