Siemens SINAMICS S120 Function Manual page 214

Basic functions
6.15 Terminal Module 41 (TM41)
Figure 6-14
Description (p4400 = 1) incremental encoder emulation using encoder position actual value
The encoder position actual value of a drive (r0479) is interconnected to the TM41 via a
connector input (p4420) and is therefore available at the TM41 as pulse encoder emulation.
The signals of the pulse encoder emulation can, for example, be read-in from one control. In
this way, it is possible, for example, to implement the position controller in a higher-level
control without PROFIBUS and to assign the speed setpoint to the drive via the analog
output of the control and the analog input of the TM41 (see example TM41). The number of
encoder pulses per revolution (p0408) and the fine interpolation (p0418) must be set the
same as the drive.
The runtime of the encoder position actual value up to the pulse encoder emulation can be
compensated using the deadtime compensation with p4421. If p4422 = 1, input signal p4420
is inverted.
The sampling time for encoder emulation (p4099[3]) is automatically adjusted to the
application cycle of the connected encoder (connector input p4420) if the factory setting of
p4099[3] does not match the application cycle. The adjustment is made after initial POWER
ON and following the logical application (connector input p4420) of the encoder. The error
message F35228 indicates that the value p4099[3] has been changed.
The message can be acknowledged immediately. The new sampling time is active after
saving (RAM to ROM) and a POWER ON.
Hardware requirements:
● The TM41 shall operate on a DRIVE-CLiQ line that is separated from the Motor Modules.
● If multiple TM41s operate on the same DRIVE-CLiQ line, the sampling times p4099[3]
Example: Commissioning the incremental encoder emulation using the encoder position actual value
(p4400 = 1)
Encoder signals from the motor encoder are to be output from the SERVO drive object via
TM41.
214
Block diagram of the incremental encoder emulation
The communication cycle of the DRIVE-CLiQ line must match the application cycle of the
associated encoder.
must be identical for all TM41s. In this case, the emulated encoders must have the same
application cycle.
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4
Drive Functions