Siemens Sinamics S120 Function Manual page 355

This means that the following functions are available for the position control:
● Standstill (zero-speed) monitoring
● Position monitoring
● Dynamic following error monitoring
● Cam controllers
● Modulo function
● Probe evaluation
For further details, see the section "Position control".
In addition, the following functions can be carried out using the basic positioner:
● Mechanical system
● Limits
● Referencing or adjusting
Drive functions
Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2
– Backlash compensation
– Modulo offset
– Position tracking of the load gear (motor encoder) with absolute encoders
– Traversing profile limits
– Traversing range limits
– Jerk limitation
– Set reference point (for an axis at standstill that has reached its target position)
– Reference point approach
(autonomous mode including reversing cam functionality, automatic direction of
rotation reversal, referencing to "cams and encoder zero mark" or only "encoder zero
mark" or "external equivalent zero mark (BERO)")
– Flying referencing
(during the "normal" traversing motion, it is possible to reference, superimposed, using
the measuring probe evaluation; generally, evaluating e.g. a BERO. Higher-level
(superimposed) function for the modes "jog", direct setpoint input/MDI and "traversing
blocks")
– Referencing with incremental measuring systems
– Absolute encoder adjustment
Function modules
7.8 Basic positioner
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