Siemens SINAMICS S120 Function Manual page 156

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Servo control

5.16 Pole position identification

Pole position correction with zero marks

The pole position identification routine provides coarse synchronization. If zero marks exist, the

pole position can be automatically compared with the zero mark position once the zero mark(s)

have been passed (fine synchronization). The zero mark position must be either mechanically

or electrically (p0431) calibrated. If the encoder system permits this, then we recommend fine

synchronization (p0404.15 = 1). This is because it avoids measurement spread and allows the

determined pole position to be additionally checked.

Suitable zero marks

● One zero mark in the complete traversing range

● Equidistant zero marks

● Distance-coded zero marks

Selecting the reference mark for fine synchronization for determining the pole position using zero marks

A precondition for determining the pole position using zero marks is that the zero mark distance

of the encoder is a multiple integer of the pole pitch / pole pair width of the motor.

For example, for linear motors with measuring systems where this is not available, the drive

permits the zero mark which is used for the reference point approach, to be used for fine

synchronization. With this zero mark, due to the mechanical arrangement, the commutation

angle = 0 or is available as offset in p0431.

This technique 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. Set the "Commutation with selected zero mark" mode in p0430.24.

2. Via the PROFIdrive encoder interface, the drive receives the request for a reference mark

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).

Function Manual, 06/2019, 6SL3097-5AB00-0BP2

Drive functions