Safely Referencing Under Epos - Siemens SINAMICS S120 Function Manual

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Table of Contents

Function modules

7.8 Basic positioner

Overview of important parameters (see SINAMICS S120/S150 List Manual)

Safely referencing under EPOS

Basic positioning with safe referencing

Some safety functions (e.g. SLP, SP) require safe referencing. If EPOS is active at a drive,

when referencing using EPOS, then the absolute position is also automatically transferred to

the Safety Integrated functions.

The Safety Integrated functions only evaluate the absolute position if a safety function is

parameterized, which requires an absolute value, e.g. SLP.

The following are examples for a load-side position calculation, depending on various

encoder mounting versions and axis types.

Safety Integrated Extended functions monitor the rotating load. EPOS and Safety Integrated

Extended functions use the same rotary encoder at the motor. The rotating load is coupled to

the motor via a gear. The speed/position values of the spindle are calculated.

● p2506 = 360000 => a position of 360000LU (r2521) corresponds to 360° (r9708)

● p2506 = 10000 => a position of 10000LU (r2521) corresponds to 360° (r9708)

Probe 1, input terminal

Probe 2, input terminal

Zero mark selection, input terminal

Equivalent zero mark, input terminal

Probe, input terminal

Central probe, input terminal

LR direct probe 1

LR direct probe 2

Example1: EPOS and safe referencing_rotating

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

Drive functions