Control And Status Word, Encoder - Siemens SINAMICS G110M Function Manual

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3.1.1.3

Control and status word, encoder

Telegrams 3 and 4 allow the higher-level control system to directly access the encoder.
Direct access is necessary, if the higher-level control is responsible for the closed-loop
position control for the drive.
If you enable the "Basic positioner" position control in the inverter, then telegrams 3 and 4
cannot be selected, and the inverter handles the encoder control.
Control word encoder (G1_STW and G2_STW)
Bit Significance Explanation
Bit 7 = 0
0 Function 1 1 = search for reference cam
1 with a positive start direction
1 Function 2 1 = search for reference cam
1 with a negative start direc-
tion
2 Function 3 1 = search for reference cam
2 with a positive start direction
3 Function 4 1 = search for reference cam
2 with a negative start direc-
tion
4 Command 1 = activate the function requested using bit 0 ... 3
bit 0
5 Command 1 = read the value requested using bit 0 ... 3
bit 1
6 Command Reserved
bit 2
7 Mode 1 = flying referencing
0 = search for reference cams
8 Reserved ---
...
12
13 Cyclic abso- 1 = request for the cyclic transfer of the position actual value in G1_XIST2 or
lute value G2_XIST2
14 Parking 1 = request to park the encoder
15 Acknow- 0 → 1 = acknowledge encoder fault
ledge
28
Bit 7 = 1
1 = request flying referencing to the rising
edge of reference cam 1
1 = request flying referencing to the falling
edge of reference cam 1
1 = request flying referencing to the rising
edge of reference cam 2
1 = request flying referencing to the falling
edge of reference cam 2
Function Manual, 01/2016, FW V4.7 SP6, A5E34229197B AC
Signal interconnection
in the inverter
Telegram 3:
Encoder 1:
p0480[0] = r2050[4]
Telegram 4:
Encoder 1:
p0480[0] = r2050[4]
encoder 2:
p0480[1] = p2050[9]
Telegram 102:
Encoder 1:
p0480[0] = r2050[5]
Telegram 103:
Encoder 1:
p0480[0] = r2050[5]
encoder 2:
p0480[1] = p2050[10]
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