Siemens SINAMICS S120 Function Manual page 150

Servo control
4.14 Pole position identification
Notes regarding pole position identification
The relevant procedure can be selected using parameter P1980. The following procedures
are available for pole position identification:
● Saturation-based 1st + 2nd harmonics (p1980 = 0)
● Saturation-based 1st harmonic (p1980 = 1)
● Saturation-based, two-stage (p1980 = 4)
● Motion-based (p1980 = 10)
● Elasticity-based (p1980 = 20)
The following supplementary conditions apply to the saturation-based motion procedure:
● This procedure can be used for both braked and non-braked motors.
● It can only be used for a speed setpoint = 0 or from standstill.
● The specified current magnitudes (p0325, p0329) must be sufficient to provide a
significant measuring result.
● For motors without iron, the pole position cannot be identified using the saturation-based
procedure.
● For 1FN3 motors, it is not permissible to traverse with the 2nd harmonic (p1980 = 0, 4).
● With 1FK7 motors, a two-stage procedure must not be used (p1980 = 4). The value in
p0329, which is set automatically, must not be reduced.
For the motion-based procedure, the following supplementary conditions apply:
● The motor must be free to move and it may not be subject to external forces (no
hanging/suspended axes).
● It can only be used for a speed setpoint = 0 or from standstill.
● If there is a motor brake, then this must be open (p1215 = 2).
● The specified current magnitude (p1993) must move the motor by a sufficient amount.
For the elasticity-based procedure, the following supplementary conditions apply:
● A brake must be available and must also be closed during the pole position identification.
Either the drive controls the brake (p1215 = 1 or 3) or the brake is externally closed well
in advance of the start of the pole position identification and is re-opened after the
operation has been completed.
● Parameters p3090 to p3096 must be correctly set for a successful pole position
identification.
● The specified current magnitude (p3096) must deflect the motor by a sufficient amount.
● The ratio between the sign of the deflection and the force/torque must be taken into
account in p3090.0.
150
Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4
Drive functions