Siemens Simovert Masterdrives Compendium page 859

Technology Option F01
9.8.17 Commissioning the positioning modes
Position encoder
Control
Setup
Optimizing the
position controller
Homing
9-168
Commissioning step:
Commission the positioning modes:
(you can skip this step if you only want to use the synchronization
functions)
First check the configuration of the encoder for position sensing with
reference to the section entitled "Encoder evaluation and position
sensing". If you use the EQN absolute encoder, for example, enter the
correct baud rate and the suitable zero offset in P149. Check the
function of the position encoder by operating the drive by hand, if
possible, and monitor the actual position value at n540.03 [815.4]. For a
linear axis, check the setting of the software limit switches again in
MD12 and MD13.
First operate the drive under pure speed control in "control" mode 4.
You can move the axis in jog mode with no evaluation of the software
limit switches (in software version 1.2 only fixed levels of 10 % and
100 % are implemented as jog setpoints).
You can then move the drive with "jog forwards" [J_FWD] and "jog
backwards" [J_BWD] under position control in mode 1 "setup" [819].
The software limit switches are evaluated with linear axes, however
with incremental position encoders they are only evaluated if a homing
procedure was performed after the system was switched on.
You can now optimize the position controller in setup mode: set the
loop gain factor P204.1 of the position controller [340.3] for the optimum
dynamic motion characteristic. In special situations, it can also be
practical to smooth the actual position and position setpoint, in order to
achieve an optimum control response - in P195.1 and P191.1 [340.2].
The integral component of the position controller is not normally used,
i.e. P206.1 can remain in the factory setting "0" [340.4].
If you use "homing" [821], first align the rough pulse switch (BERO) as
described in the "Position sensing system for motor encoder" section in
"Brief description of the technology functions". When you have selected
the mode [MODE_IN] = 2 you can start the homing procedure with the
control command "jog forwards" [J_FWD] or "jog backwards" [J_BWD].
MD4 allows the exact assignment of the position coordinate to the
machine zero (if you change MD4, please adjust the software limit
switches MD12/13).

You will find further information on "homing" mode in the "Brief
description of the technology functions" section and in the
"Reference point approach" chapter of the Function Description
of manual /1/.
6SE7087-6QX70 (Version AN)
Compendium Motion Control
08.2012
Siemens AG
SIMOVERT MASTERDRIVES