Siemens Sinamics S110 Function Manual page 210

Drive functions
7.3 Function modules
When the actual position value is set (p2514 = "1" signal), the actual position value of the
position controller is kept at the value of connector p2515 as standard.
Incoming encoder increments are not evaluated. A difference in position cannot be
compensated for in this situation.
An inversion of the actual position value resulting from the encoder is undertaken using
parameter p0410. An inversion of the axis motion can be entered using a negative value in
p2505.
Load gear position tracking
Features
● Configuration via p2720
● Virtual multiturn via p2721
● Tolerance window for monitoring the position at switching on p2722
● Input of the load gear via p2504 and p2505
● Display via r2723
Prerequisite
● Absolute encoder
Description
Position tracking enables reproduction of the position of the load when gears are used. It can
also be used to extend the position area.
Position tracking is activated via parameter p2720.0 = 1. The position tracking of the load
gear, however, is only relevant for the motor encoder (encoder 1). The load gear ratio is
entered via parameters p2504 and p2505. Position tracking can be activated with rotary axes
(modulo).
Position tracking for the load gear can only be activated once for each motor data set MDS.
The load position actual value in r2723 (must be requested via GnSTW.13, see section
"Control and status words for encoders") comprises the following information:
● Encoder pulses per revolution (p0408)
● Fine resolution per revolution (p0419)
● Virtual number of stored revolutions of a rotary absolute encoder (p2721)
● Load gear ratio (p2504/p2505)
Note
The sum of p0408, p0419 and p2721 is limited to 32 bits.
210
WARNING
Function Manual, 10/2008, 6SL3097-4AB10-0BP0
Drive functions