Siemens SINAMICS S120 Function Manual page 464

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Function modules

7.8 Basic positioner

The signal on binector input p2595 (start referencing) is used to trigger travel to the

reference cam (p2607 = 1) if search for reference is selected at the same time (0 signal at

binector input p2597 (referencing type selection)). The signal in binector input p2595 (start

referencing) must be set during the entire referencing process otherwise the process is

aborted. Once started, the status signal r2684.11 (reference point set) is reset.

The software limit switch monitoring is inactive during the complete reference point

approach; only the maximum traversing range is checked. The SW limit switch monitoring is,

if required, re-activated after completion.

The velocity override set is only effective during the search for the reference cam (step 1).

This ensures that the "cam end" and "zero mark" positions are always overrun at the same

speed. If signal propagation delays arise during switching processes, this ensures that the

offset caused during establishment of position is the same in each referencing process.

Axes that only have one zero mark over their complete traversing or modulo range are

designated with parameter p2607 = 0 (no reference cam present). After starting the

referencing process, synchronization to the reference zero marks is started straight away

(see step 2) for these axes.

Step 1: Travel to the reference cam

If there is no reference cam present (p2607 = 0), go to step 2.

When the referencing process is started, the drive accelerates at maximum acceleration

(p2572) to the reference cam approach velocity (p2605). The direction of the approach is

determined by the signal of binector input p2604 (reference point approach start direction).

When the reference cam is reached, this is communicated to the drive using the signal at

binector input p2612 (reference cam); the drive then brakes down to standstill with the

maximum deceleration (p2573).

Example: Reference point approach with reference cam

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

Drive functions