Siemens SINAMICS S120 Function Manual page 464

Function modules
8.7 Closed-loop position control
The standstill monitoring and the positioning monitoring can be deactivated using the value
"0" in p2542 and p2544. The standstill window should be greater than or equal to the
positioning window (p2542 ≥ p2544). The standstill monitoring time should be less than or
equal to the positioning monitoring time (p2543 ≤ p2545).
Figure 8-11
Following error monitoring is activated via p2546 (following error tolerance). If the absolute
value of the dynamic following error (r2563) is greater than p2546, fault F07452 is output and
bit r2648.8 is reset.
Figure 8-12
The position controller has two cam controllers. If cam position p2547 or p2548 is passed in
the positive direction (r2521 > p2547 or p2548), then cam signals r2683.8 and r2683.9 are
reset.
Features
● Standstill monitoring (p2542, p2543)
● Positioning monitoring (p2544, p2545)
● Dynamic following error monitoring (p2546, r2563)
● Cam controllers (p2547, p2548, p2683.8, p2683.9)
Function diagrams (see SINAMICS S120/S150 List Manual)
• 4020
• 4025
464
Following error monitoring
Cam controllers
Position control - Standstill monitoring / positioning monitoring (r0108.3 = 1)
Position control - Dynamic following error monitoring, cam controllers
(r0108.3 = 1)
Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4
Drive functions