Travel To Fixed Stop - Siemens Sinamics S110 Function Manual

Overview of important parameters (see SINAMICS S110 List Manual)
● p1190 CI: DSC position deviation XERR
● p1191 CI: DSC position controller gain KPC
● p1192[D] DSC encoder selection
● p1193[D] DSC encoder adaptation factor
● r1407.4 CO/BO: Status word, velocity controller
7.1.16

Travel to fixed stop

Description
This function can be used to move a motor to a fixed stop at a specified torque without a
fault being signaled. When the stop is reached, the specified torque is built up and remains
applied.
The desired torque derating is brought about by scaling the upper/motor-mode torque limit
and the lower/regenerative-mode torque limit.
Application examples
● Screwing parts together with a defined torque.
● Moving to a mechanical reference point.
Signals
When PROFIBUS telegrams 2 to 4 are used, the following are automatically interconnected:
● Control word 2, bit 8
● Status word 2, bit 8
Drive functions
Function Manual, 10/2008, 6SL3097-4AB10-0BP0
Drive functions
7.1 Servo control
165