Epos And Safe Setpoint Velocity Limitation; Referencing - Siemens SINAMICS S120 Function Manual

8.8.3

EPOS and safe setpoint velocity limitation

If safe speed monitoring (SLS) or the safe direction motion monitoring (SDI) is also to be
used at the same time as the EPOS positioning function, EPOS must be informed about the
activated monitoring limits. Otherwise these speed monitoring limits can be violated by the
EPOS setpoint input. By monitoring the limit value, if violated, the drive is stopped therefore
exiting the intended motion sequence. In this case, the relevant safety faults are output first,
and then the sequential faults created by EPOS.
Using parameter r9733, the safety functions offer EPOS setpoint limiting values, which when
taken into account, prevent the safety limit value being violated.
In order to prevent a safety limit violation by the EPOS setpoint specification, you must
transfer the setpoint limit value (r9733) as follows to the maximum speed setpoint of EPOS
(p2594):
● r9733[0] = p2594[1]
● r9733[1] = p2594[2]
In this regard you must set the delay time for SLS/SOS (p9551), so that the relevant safety
monitoring function only becomes active after the maximum required time for the speed to be
reduced below the limit. This required braking time is determined by the current speed, the
jerk limit in p2574 and the maximum delay in p2573.
8.8.4

Referencing

After a machine has been switched on, for positioning, the absolute dimension reference
must be established to the machine zero. This procedure is referred to as referencing.
The following referencing types are possible:
● Setting the reference point (all encoder types)
● Incremental encoder
● Flying referencing (passive (p2597 = 1))
● Absolute encoder
A connector input is provided to enter reference point coordinates for all types of referencing.
This allows, e.g. changes/input via the higher-level controller. However, to permanently enter
the reference point coordinate, an adjustable parameter for this quantity is also required. As
standard, this adjustable parameter p2599 is interconnected to connector input p2598.
Drive functions
Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4
Active referencing (reference point approach (p2597 = 0)):
– Reference cams and encoder zero mark (p2607 = 1)
– Encoder zero mark (p0495 = 0 or p0494 = 0)
– External zero mark (p0495 ≠ 0 or p0494 ≠ 0)
– Absolute encoder adjustment
– Flying referencing (passive (p2597 = 1))
8.8 Basic positioner
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Function modules
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