Siemens SINUMERIK 840D Description Of Functions page 470

8 Application examples
8.7 Replacing a motor or encoder
The alarm results in a STOP B followed by a STOP A (safe pulse cancellation)
for the axis involved.
The user agreement is also cancelled. This means that the axis loses the status
"safely referenced" in connection with the Alarms 27000/300950 axis <name of
the axis> not safely referenced.
The actual position value supplied by the new motor encoder does not have a
reference to the mechanical system. This means that the absolute value
encoder must be re-aligned and set-up at this point.
Re-calibration 1.
procedure
2.
3.
4.
5.
6.
7.
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SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03
Note
An acceptance report is generally not required when a motor has been
replaced.
Carry out an NCK reset
Note
After the NCK-Reset, the axis can be traversed again. Alarms 27000/300950
"Axis not safely referenced" are still present and indicate that the functions
"Safe limit positions" and "Safe cams" are not active in this state. For
example, if the "Safe limit positions" as being used as a substitute for
hardware limit switches, then they are not functioning at this time!
Move the axis to the reference position after first setting MD 34010
REFP_CAM_DIR_ IS_MINUS according to the approach direction. (MD
34010 should be set to 1 if the axis is moved in the minus direction
to the reference position.)
MD 34100: Set REFP_SET_POS to the actual value of the reference
position.
MD 34210: Set ENC_REFP_STATE = 1 to activate the calibrated settings.
Select the axis that is to be calibrated on the machine control panel and
press the RESET key on the machine control panel.
Select the JOG/REF mode, enable the axis feed.
The calibration process must be initiated with traversing key + or -
according to MD 34010: REFP_CAM_DIR_IS_MINUS and the approach
direction to the reference position. (Backlash has been eliminated.)
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11.03