Load Gear Position Tracking - Siemens SINAMICS S120 Function Manual

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The actual position values of the different encoders can be read out using parameter

r2521[0...3]. These actual position values can be corrected with a signed value from

p2513[0...3] after a 0/1 signal from the signal source in p2512[0...3].

In addition, the actual velocity value (r2522[0...3]) and the position offset for absolute

encoders p2525[0...3] can be processed for each encoder by the higher-level controller.

● Encoder assignment (p2502[D])

● Absolute encoder adjustment (p2507[E])

● Activate measuring probe evaluation (p2509[0...3])

● Measuring probe evaluation selection (p2510[0..3])

● Measuring probe edge (p2511[0..3])

● Activate actual position value processing, correction value (p2512[0...3])

● Actual position value processing, correction value (p2513[0...3])

● Position offset (p2516[0...3])

● Actual position value (r2521[0...3])

● Actual velocity value (r2522[0...3])

● Measuring probe evaluation/Reference mark search (p2523[0..3])

● Encoder adjustment, offset (p2525[E])

● Status word position controller (r2526)

● Status word encoder1 (r2527)

● Status word encoder2 (r2528)

● Status word encoder3 (r2529)

● EPOS reference point coordinate, signal source (p2598[0...3])

● Function diagram 4010 Position control - Actual position value processing

Load gear position tracking

Position tracking enables the load position to be reproduced when using gearboxes. It can

also be used to extend the position area.

Position tracking for load gear functions in the same way as position tracking for the

measuring gear (see "Measuring gear position tracking"). Position tracking is activated via

parameter p2720.0 = 1. The position tracking of the load gear, however, is only relevant for

the motor encoder (encoder 1). The load gear ratio is entered via parameters p2504 and

p2505. Position tracking can be activated with rotary axes (modulo) and linear axes.

Position tracking for the load gear can only be activated once for each motor data set MDS.

Drive functions

Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3

Function modules

7.7 Closed-loop position control