Basic Positioner - Siemens SINAMICS S120 Function Manual

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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 is automatically activated when activating the basic positioner using the

commissioning wizards of STARTER. The required BICO interconnections are automatically

When the basic positioner is activated (r0108.4 = 1), position control (r0108.3 = 1) must also

be activated. This is realized automatically when activating the basic positioner via the

STARTER commissioning wizard.

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 further details, see Section "Position control (Page 429)".

Drive functions

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

Function modules

7.8 Basic positioner