Siemens Sinamics S110 Function Manual page 214

Drive functions
7.3 Function modules
Restrictions
● Position tracking cannot be activated for an encoder data set which is used in different
● If an encoder data set is used in one DDS as a motor encoder with position tracking and
● If position tracking is reset in one drive data set, it is also reset in all other drive data sets
● An axis in an inactive drive data set may move by a maximum of half an encoder range
Commissioning position tracking load gear using STARTER
The position tracking function can be configured in the "Mechanical system" screen for
"Position control" in STARTER.
The "Mechanical system" screen for "Position control" is not made accessible unless the
function module "Basic positioner" is activated (r0108.4 = 1) which means that the function
module "Position control" (r0108.3 = 1) is automatically activated as well.
The "basic positioner" function module can be activated via the commissioning wizard or the
drive configuration (configure DDS) (configuration "Closed-loop control structure" - checkbox
"Basic positioner").
Configuring the position tracking load gear function
The "Position tracking load gear" function can be configured in the following STARTER
screens:
1. In the "Mechanical system configuration" screen in the commissioning wizard.
2. In the project navigator under Drive -> "Technology" -> "Position control" in the
Integration
Function diagrams (see SINAMICS S110 List Manual)
● 4010 Position actual value conditioning
● 4704 Position and temperature sensing, encoders 1...2
● 4710 Actual speed value and rotor pos. meas., motor enc. (encoder 1)
214
drive data sets as encoder1 for different gears. If an attempt is still made to activate
position tracking, fault "F07555 (Drive encoder: Configuration position tracking" will be
displayed with fault value 03 hex.
A check is generally performed to determine whether the load gear is the same in all DDS
in which the relevant encoder data set is used.
In this case, the settings in each of the load gear parameters p2504[D], p2505[D],
p2720[D], p2721[D] and p2722[D] must be identical.
in another DDS as an external encoder, the position tracking starts from the beginning
again, i.e. it behaves in the same way as it would do after a POWER ON.
which contain the relevant encoder data set.
(see p2722: tolerance window).
"Mechanical system" screen.
Function Manual, 10/2008, 6SL3097-4AB10-0BP0
Drive functions