Siemens SINAMICS S120 Function Manual page 457

Multiple drive data sets
Position tracking of the load gear can be activated in multiple drive data sets.
● The load gear is DDS-dependent.
● Load gear position tracking is computed only for the active drive data set and is EDS-
● The position tracking memory is only available once for each EDS.
● If position tracking is to be continued in different drive data sets with the same mechanical
● When the changeover between drive data sets involves a change in gear unit, the
● For identical mechanical relationships and the same encoder data set, DDS changeover
Restrictions
● Position tracking cannot be activated for an encoder data set which is used in different
● If an encoder data set is used in one DDS as a motor encoder with position tracking and
● If position tracking is reset in one drive data set, it is also reset in all other drive data sets
● The maximum permissible movement of an axis in an inactive drive data sets is half the
The table below describes the changeover behavior on transition from one DDS to another.
A changeover is always executed by DDS0.
An overview of DDS changeover without position tracking load gear can be found in section
"Instructions for data set changeover" in Section "EPOS - referencing".
Drive functions
Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4
dependent.
relationships and the same encoder data sets, it must be activated explicitly in all relevant
drive data sets. Possible applications for drive data set changeover with continued
position tracking:
– Star/delta changeover
– Different ramp-up times / controller settings
position tracking function starts from the beginning again, i.e. it behaves on changeover
as if a POWER ON had occurred.
has no effect on the calibration status and reference point status.
drive data sets as encoder1 for different gears. If an attempt is still made to activate
position tracking, fault "F07555 Drive encoder: Configuration position tracking" will be
displayed with fault value 03 hex.
A check is generally performed to determine whether the load gear is the same in all DDS
in which the relevant encoder data set is used.
Load gear parameters p2504[D], p2505[D], p2720[D], p2721[D] and p2722[D] must be
identical in this case.
in another DDS as an external encoder, the position tracking starts from the beginning
again, i.e. it behaves in the same way as it would do after a POWER ON.
which contain this encoder data set.
encoder range (see p2722: tolerance window).
Function modules
8.7 Closed-loop position control
457