Function Diagrams And Parameters; Position Controller - Siemens SINAMICS S120 Function Manual

Function modules
8.7 Position control
8.7.2.6

Function diagrams and parameters

Function diagrams (see SINAMICS S120/S150 List Manual)
• 4010
• 4704
• 4710
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p2502[0...n]
• p2503[0...n]
• p2504[0...n]
• p2505[0...n]
• p2506[0...n]
• r2520[0...2]
• r2521[0...3]
• r2522[0...3]
• r2523[0...3]
• r2524
• p2525[0...n]
• r2526.0...9
• p2720[0...n]
• p2721[0...n]
• p2722[0...n]
• r2723[0...n]
• r2724[0...n]
• p2730[0...3]
8.7.3

Position controller

The position controller is a PI controller. The P gain can be adapted using the product of
connector input p2537 (position controller adaptation) and parameter p2538 (Kp).
Using connector input p2541 (limit), the speed setpoint of the position controller can be
limited without precontrol. This connector input is pre-interconnected with connector output
p2540.
500
Position control - Actual position value processing (r0108.3 = 1)
Encoder evaluation - Position and temperature sensing, encoders 1 ... 3
Encoder evaluation - Actual speed value and pole position sensing encoder
1
LR encoder assignment
LR length unit LU per 10 mm
LR motor/load motor revolutions
LR motor/load load revolutions
LR length unit LU per load revolution
CO: LR actual position value processing encoder control word
CO: LR actual position value
CO: LR actual velocity value
CO: LR measured value
CO: LR LU/revolutions
CO: LR encoder adjustment offset
CO/BO: LR status word
Load gear configuration
Load gear, absolute encoder, rotary revolutions, virtual
Load gear, position tracking, tolerance window
CO: Load gear absolute value
CO: Load gear position difference
BI: LR actual position value processing correction negative act.
(edge)
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
Drive functions