Siemens Sinumerik 840D sl Function Manual page 591

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9. When the absolute value encoder has been recalibrated (MD34210 from 1 -->
2), the axis changes over into the "referenced" state. At this time, the new valid
actual position is accepted as the safe actual values (axis and drive).
10.Finally, with the JOG/REF machine mode active, on the HMI the "user agree-
ment" softkey must be pressed and the user agreement for the axis involved
must be reset. Alarms 27000/C01797 disappear and the functions "safe limit
position" and "safe cams" are safely active again.
Replacing a motor with incremental encoder
The same conditions apply as when replacing a motor with absolute encoder.
To calibrate the encoder, the reference point approach is set up, e.g. using refer-
ence point cams. This means that after the zero mark has been passed when
leaving the cam, the reference point is approached according to the offsets in
MD34080 REFP_MOVE_DIST and MD34090 REFP_MOVE_DIST_CORR -- and
the value of the reference point is set in MD34100 REFP_SET_POS. After the
referencing operation, Alarm messages 27000/C01797 "axis not safely referenced"
disappear and the functions "safe limit positions" and "safe cams" are safely active.
The important factor when replacing a motor (also without Safety Integrated) is that
a defined position reference can be established with respect to the mechanical
parts of the machine. For example, by mounting and removing the motor at a
defined mechanical position or appropriately re--calibrating the system after the
motor has been replaced. At this instant in time, Alarms 27000/C01797 still do not
disappear; they only disappear after the user agreement has been set.
After the old motor has been removed and the new motor installed, the following
procedure is recommended:
Re- -calibration procedure
1. Boot the control or initiate NCK Reset
2. If the JOG/REF machine mode is active on the HMI, the "user agreement" soft-
key must be pressed and the user agreement for the axis involved is withdrawn
to avoid Alarm 27001 axis <name of the axis> fault in a monitoring channel,
code 1003, values: NCK x, drive y
3. After the system has booted, the JOG/REF mode is selected and the feed
enable for the axis is issued. Carry out a reference point approach for the axis
involved.
© Siemens AG 2015 All Rights Reserved
SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) - - 10.2015 Edition
Commissioning
9.6 Replacing a motor or encoder
9-591