Siemens SINAMICS S120 Function Manual page 461

Figure 9-12
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
Overview of important parameters (see SINAMICS S120/S150 List Manual)
● p2530
● p2532
● p2542
● p2543
● p2544
● p2545
● p2546[0...n]
● p2547
● p2548
● p2551
● p2554
● r2563
● r2683.8
● r2683.9
● r2684.0...15
Drive functions
Function Manual, 06/2019, 6SL3097-5AB00-0BP2
Cam controllers
Position control - Standstill monitoring / positioning monitoring (r0108.3 = 1)
Position control - Dynamic following error monitoring, cam controllers (r0108.3
= 1)
CI: LR position setpoint
CI: LR actual position value
LR standstill window
LR standstill monitoring time
LR positioning window
LR position monitoring time
LR dynamic following error monitoring tolerance
LR cam switching position 1
LR cam switching position 2
BI: LR setpoint message present
BI: LR travel command message active
CO: LR following error, dynamic model
CO/BO: EPOS status word 1;
actual position value <= cam switching position 1
CO/BO: EPOS status word 1;
actual position value <= cam switching position 2
CO/BO: EPOS status word 2
Function modules
9.7 Position control
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