Position Tracking - Siemens SINAMICS V90 Operating Instructions Manual

6. Perform referencing.
Note:
When the SINAMICS V90 PN is working in EPOS traversing block mode, referencing
must be performed before moving the axis.
7. After the drive performs referencing successfully, trigger traversing block 0 by control
word STW1.6.
8. Observe the drive status to check whether the fixed stop is reached.
Fixed stop is reached:
– If the actual position following error exceeds the value set in parameter p2634, fixed
Fixed stop is not reached:
– After the fixed stop is reached, if the axis leaves the fixed stop and exceeds the
– If the brake application point is reached without the "fixed stop reached" status being
9. Once the "Fixed stop reached" status has been detected, the traversing task "Travel to
fixed stop" is ended. The program advances to the next block depending on the task
parameterization.
7.1.5

Position tracking

The position tracking function can be used to realize the following features:
● Setting up a virtual multi-turn for a single-turn absolute encoder
● Extending the position area
● Enabling the load position to be reproduced when using gearboxes
If the position tracking function is enabled, the actual position value can be saved in a power-
off retentive memory when you power off the drive. When you power on the drive again, the
saved position value can be read by the drive.
Virtual multi-turn encoder
For a single-turn absolute encoder with position tracking activated (p29243 = 1), p29244 can
be used to enter a virtual multi-turn resolution. This enables you to generate a virtual multi-
turn encoder value from a single-turn encoder. The actual position value in r2521 is limited to
2 places.
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● When position tracking is deactivated (p29243 = 0):
Encoder actual position value range = actual single-turn resolution
● When position tracking is activated (p29243 = 1):
Encoder actual position value range = actual single-turn resolution × virtual multi-turn
resolution (p29244)
SINAMICS V90, SIMOTICS S-1FL6
Operating Instructions, 04/2020, A5E37208830-008
stop is reached.
monitoring window (p2635), the speed setpoint is set to 0, and fault F7484 occurs.
detected, then the fault F7485 occurs.
Control functions
7.1 General functions
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