Direct Setpoint Input (Mdi) - Siemens SINAMICS S120 Function Manual

Function modules
8.8 Basic positioner
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p1528[0...n]
• p1529[0...n]
• p1545[0...n]
• r2526.0...9
• p2622[0...n]
• p2634[0...n]
• p2635
• p2637
• p2638
• r2683.0...14
• r2686[0...1]
• r2686[0...1]
8.8.9

Direct setpoint input (MDI)

The "direct setpoint specification" function allows for positioning (absolute, relative) and
setup (endless position-controlled) by means of direct setpoint specification (e.g. via the PLC
using process data).
During traversing, the motion parameters can also be influenced (on-the-fly setpoint
acceptance) and an on-the-fly change can be undertaken between the Setup and Positioning
modes. The "direct setpoint specification" mode (MDI) can also be used if the axis is not
referenced in the "setup" or "relative positioning" modes, which means that "flying
referencing" (see the separate section), flying synchronization, and post-referencing are
possible.
The "direct setpoint specification" function is activated by p2647 = 1. A distinction is made
between two modes: "positioning" mode (p2653 = 0) and "setup" mode (p2653 = 1).
In "positioning" mode, the parameters (position, velocity, acceleration and deceleration) can
be used to carry out absolute (p2648 = 1) or relative (p2648 = 0) positioning with the
parameter p2690.
In the "setup" mode, using parameters (velocity, acceleration and deceleration) endless
closed-loop position control behavior can be carried out.
It is possible to make a flying changeover between the two modes.
542
CI: Torque limit, upper/motoring, scaling
CI: Torque limit, lower/regenerative scaling
BI: Activate travel to fixed stop
CO/BO: LR status word
EPOS traversing block, task parameter
EPOS fixed stop maximum permissible following error
EPOS fixed stop monitoring window
BI: EPOS fixed stop reached
BI: EPOS fixed stop outside monitoring window
CO/BO: EPOS status word 1
CO: EPOS torque limit effective
CO: EPOS force limiting active (for linear motors)
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
Drive functions