Mechanical System - Siemens SINAMICS S120 Commissioning Manual

Commissioning
5.7 Basic parameterization of the drive objects
Parameterizing the measuring gearbox position tracking
Position tracking enables the load position to be reproduced when using gearboxes. It can also
be used to extend the position range.
1. Activate the position tracking for measuring gearboxes.
2. Select whether the position tracking should be made for a rotary axis or linear axis (p0411).
A rotary axis is considered to be a modulo axis (modulo correction can be activated by a
higher-level controller or EPOS). For a linear axis, the position tracking is used principally to
extend the position range (see Section "Virtual multiturn resolution" below).
Virtual multiturn resolution
With a rotary absolute encoder (p0404.1 = 1) with activated position tracking (p0411.0 = 1), the
virtual multiturn resolution (p0412) can be used to enter a virtual multiturn resolution. This
makes it possible to generate a virtual multiturn encoder (r0483) from a singleturn encoder. The
virtual encoder range must be able to be represented via r0483.
When no measuring gearboxes (n = 1) are present, the value in p0421 replaces the actual
number of stored revolutions of a rotary absolute encoder. Increasing this value extends the
position range (see linear axis). When measuring gearboxes are present, this value sets the
resolvable motor revolutions represented in r0483.
Tolerance window
After switch on, the difference between the stored position and the current position is
determined and initiated depending on the following:
• Difference within the tolerance window: The position is reproduced based on the current
encoder actual value.
• Difference outside the tolerance window: Message F07449 is issued.
• The tolerance window is preassigned to the encoder range quadrant, although it can be
changed.
5.7.4.7

Mechanical system

Overview
In the "Mechanical system" screen form, check the settings of the position control and adjust
them if necessary. Depending on the encoder type selected for position control and the motor
encoder, various configurations are displayed for the mechanical system.
The "Position tracking" option allows the load position to be reproduced when using gearboxes.
This option can also be used to extend the position range. The position tracking of the load gear
however, is only relevant for a motor encoder (encoder 1).
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Commissioning with Startdrive
Commissioning Manual, 06/2020, 6SL3097-5AA10-0BP2