Siemens SINAMICS S120 Function Manual page 452

Function modules
7.8 Basic positioner
Functions of the basic positioner
In addition, the following functions can be carried out using the basic positioner:
● Mechanical system
● Limits
● Referencing or adjustment
● Traversing blocks operating mode
● Direct setpoint specification mode (MDI)
450
– Backlash compensation
– Modulo offset
– Position tracking of the load gear (motor encoder) with absolute encoders
– Traversing profile limits
– Traversing range limits
– Jerk limitation
– Setting reference point (with stationary axis)
– Reference point approach
(autonomous mode including reversing cam functionality, automatic direction of
rotation reversal, referencing to "cams and encoder zero mark" or only "encoder zero
mark" or "external equivalent zero mark (BERO)")
– Flying referencing
(superimposed referencing possible during "normal" traversing with the aid of the
measurement probe evaluation (normally evaluation of a BERO, for example).
Superimposed function for the modes "Jog", "Direct setpoint specification / MDI" and
"Traversing blocks")
– Referencing with incremental measuring systems
– Absolute encoder adjustment
– Positioning using traversing blocks that can be saved in the drive unit including block
change enable conditions and specific tasks for an axis that was previously referenced
– Traversing block editor using STARTER
– A traversing block contains the following information:
Traversing block number
Job (e.g. positioning, wait, GOTO block step, setting of binary outputs)
Motion parameters (target position, velocity override for acceleration and deceleration)
Mode (e.g. skip block, block change enable conditions such as "Continue_with_stop"
and "Continue_flying")
Task parameters (e.g. delay time, block step conditions)
– Positioning (absolute, relative) and setting-up (endless closed-loop position control)
using direct setpoint specifications (e.g. via the PLC or process data)
– It is always possible to influence the motion parameters during traversing (on-the-fly
setpoint acceptance) as well as on-the-fly change between the Setup and Positioning
modes
Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3
Drive functions