Basic Positioner - Siemens SINAMICS S120 Function Manual

8.8

Basic positioner

The basic positioner (EPOS) is used to position linear and rotary axes (modulo) in
absolute/relative terms with motor encoder (indirect measuring system) or machine encoder
(direct measuring system). EPOS is available for servo control and vector control.
For the basic positioner functionality, STARTER provides graphic guides through the
configuration, commissioning and diagnostic functions. A control panel in STARTER
supports you when operating the basic positioner and when operating in the closed-loop
speed controlled mode.
The position control (r0108.3 = 1) is also automatically activated when activating the basic
positioner (r0108.4 = 1) using the commissioning wizards of STARTER. The required BICO
interconnections are automatically made.
Note
The basic positioner requires the position controller functions. The BICO interconnections,
which are automatically made by the basic positioner when activated, must be changed by
experienced users (experts) only.
Functions of the position control
This means that the following functions are available for the position control:
● Standstill monitoring
● Position monitoring
● Dynamic following error monitoring
● Cam controllers
● Modulo function
● Probe evaluation
For more information, see Chapter "Position control (Page 488)".
Functions of the basic positioner
In addition, the following functions can be carried out using the basic positioner:
● Mechanical system
– Backlash compensation
– Modulo offset
– Position tracking of the load gear (motor encoder) with absolute encoders
● Limits
– Traversing profile limits
– Traversing range limits
– Jerk limitation
Drive functions
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
Function modules
8.8 Basic positioner
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