Siemens SINAMICS S120 Function Manual page 152

Servo control
4.14 Pole position identification
This procedure is available for absolute encoders (with the exception of DRIVE-CLiQ
encoders), incremental encoders with equidistant zero mark and resolvers.
The sequence is then as follows:
1. Select the "fine synchronization with reference mark search" mode in p0437.
2. Via the PROFIdrive encoder interface, the drive receives the request for a reference mark
search.
3. Together with the Sensor Module, the drive determines the reference mark as a result of
the parameterization.
4. The drive provides the reference mark position via the PROFIdrive encoder interface.
5. The drive transfers the same position to the Sensor Module.
6. The Sensor Module corrects the commutation angle (fine synchronization).
Determining the suitable procedure for the pole position identification
Brake available
Motor can freely move
Motor has no iron
Important parameters depending on the pole position identification procedure
p0325
p0329
p1980
p1981
p1982
p1983
r1984
r1985
r1986
r1987
p1990
r1992
p1993
p1994
p1995
p1996
p1997
p3090
152
Saturation-based
Possible
Possible
Not possible
Saturation-based
+
+
Value 0, 1 or 4
+
+
+
+
+
+
+
+
+
-
-
-
-
-
-
Motion-based
Not possible
Required
Possible
Motion-based
-
-
Value 10
+
+
+
+
+
+
+
+
+
+
+
+
+
+
-
Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4
Elasticity-based
Required
Not possible
Possible
Elasticity-based
-
-
Value 20
-
+
+
+
+
+
+
+
+
-
-
-
-
-
+
Drive functions