Siemens Sinumerik 840D sl Function Manual page 590

Commissioning
9.6 Replacing a motor or encoder
Further, the user agreement is withdrawn. This means that the axis loses the
status "safely referenced" in connection with the Alarms 27000/C01797 axis
<name of the axis> not safely referenced.
The actual position value supplied by the new motor encoder has no reference to
the mechanical system. This means that the absolute value encoder must be
re--aligned and set--up at this point.
Note
A safety acceptance report is generally not required after a motor has been
replaced.
Re- -calibration procedure
1. NCK carry out a reset
Note
After the NCK--Reset, the axis can be traversed again. Alarms 27000/C01797
"Axis not safely referenced" are still present and indicate that the functions "safe
limit positions" and "safe cams" are not active in this state. For example, if the
"safe limit positions" are to be used as a substitute for hardware limit switches,
then they are not functioning at this time!
2. Traverse the axis to the reference position, but first enter MD34010
REFP_CAM_DIR_IS_MINUS corresponding to the approach direction.
(MD34010 should be set = 1 if the axis is moved in the negative (minus)
direction to the reference position.)
3. Set MD34100 REFP_SET_POS to the actual value of the reference position.
4. Set MD34210 ENC_REFP_STATE = 1 to activate the calibration.
5. Select the axis that is to be calibrated on the machine control panel and press
the RESET key on the machine control panel.
6. Select the JOG/REF mode, enable the axis feed.
7. Corresponding to MD34010 REFP_CAM_DIR_IS_MINUS and the traversing
direction to the reference position, calibration should be started using the "+" or
"– " traversing key. (Backlash has been moved through).
8. The axis does not traverse. Instead, the offset between the correct actual value
(reference position) and the actual value -- supplied by the encoder -- is entered
in MD34090 REFP_MOVE_DIST_CORR. The actual value appears in the basic
screen and the axis signals "referenced". The value 2 is entered in MD34210 as
result.
Example:
MD34010=1 (minus) and the reference position was approached in the negative
(minus) direction. This means that the "–" key must also be pressed on the
machine control panel.
9-590
SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) - - 10.2015 Edition
© Siemens AG 2015 All Rights Reserved
10/15