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10.4.6.3
Control and status word for encoder 1.............................................................................. 349
10.4.6.4
Control word for block selection ...................................................................................... 350
10.4.6.5
Control word for MDI mode.............................................................................................. 351
10.4.6.6
Control and status word 1 for the positioner..................................................................... 352
10.4.6.7
Control and status word 2 for the positioner..................................................................... 354
10.4.6.8
Message word ................................................................................................................. 356
10.5
General functions ............................................................................................................ 357
10.5.1
Stopping method at servo-off ........................................................................................... 357
10.5.2
Speed limit ...................................................................................................................... 358
10.5.3
Torque limit ..................................................................................................................... 360
10.5.4
Vertical axis ..................................................................................................................... 361
10.5.5
PTO function (for S200 PN only) ....................................................................................... 362
10.5.6
Ramp-function generator ................................................................................................. 364
10.5.7
Setting motor overload protection in accordance with UL 61800-5-1 Ed.2......................... 367
10.6
Basic positioner (EPOS) .................................................................................................... 368
10.6.1
Mechanical system........................................................................................................... 369
10.6.1.1
Axis type.......................................................................................................................... 369
10.6.1.2
Units of measurement...................................................................................................... 370
10.6.1.3
Setting the backlash......................................................................................................... 371
10.6.2
Limits .............................................................................................................................. 373
10.6.2.1
Limiting the traversing range ........................................................................................... 373
10.6.2.2
Limiting the traversing profiles ......................................................................................... 374
10.6.3
Position monitoring ......................................................................................................... 374
10.6.3.1
Positioning and standstill monitoring ............................................................................... 374
10.6.3.2
Following error monitoring .............................................................................................. 375
10.6.4
Homing ........................................................................................................................... 376
10.6.4.1
Terms for homing ............................................................................................................ 377
10.6.4.2
Active homing ................................................................................................................. 378
10.6.4.3
Passive homing................................................................................................................ 381
10.6.4.4
Absolute encoder adjustment........................................................................................... 382
10.6.4.5
Setting the home position................................................................................................ 383
10.6.5
Traversing blocks ............................................................................................................. 383
10.6.5.1
Traversing block tasks ...................................................................................................... 383
10.6.5.2
Travel to fixed stop ........................................................................................................... 389
10.6.6
Direct setpoint input (MDI)............................................................................................... 390
10.6.7
Jog .................................................................................................................................. 394
10.6.8
Measuring probe evaluation and homing mark search ...................................................... 396
10.7
Safety Integrated (for S200 PN only)................................................................................. 398
10.7.1
Safety Integrated Functions.............................................................................................. 399
10.7.2
Certification ..................................................................................................................... 400
10.7.3
PFH values ....................................................................................................................... 400
10.7.4
Usage time ...................................................................................................................... 401
10.7.5
Stop functions ................................................................................................................. 401
10.7.5.1
Safe Torque Off (STO)....................................................................................................... 401
10.7.5.2
Functional features of STO ............................................................................................... 403
10.7.5.3
Discrepancy time ............................................................................................................. 404
10.7.5.4
Input filter........................................................................................................................ 405
10.7.5.5
Self-test of the fail-safe digital input (F-DI)........................................................................ 405
10.7.6
Safety Integrated function status/diagnostics.................................................................... 406
10.7.7
Responses to safety messages .......................................................................................... 406
10.7.7.1
Stop responses................................................................................................................. 406
10
SINAMICS S200 PROFINET servo drive system with SIMOTICS S-1FL2
Operating Instructions, 11/2023, FW V6.3, A5E51646752B AB
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