Efficient Networks Siemens Sinamics S120 - Manual (Page 240)

Function modules
7.8 Closed-loop position control
Drive Functions
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Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4
interconnected with r2685 (EPOS correction value) and p2512 with r2684.7 (activate
correction). This interconnection enables modulo offset by EPOS, for example.
p2516 can be used to switch in position offset. Using EPOS, p2516 is automatically
interconnected to r2667. Backlash compensation is implemented using this interconnection.
Using the connector input p2515 (position setting value) and a "1" signal at binector input
p2514 (set position actual value), a position setting value can be entered.
WARNING
When the actual position value is set (p2514 = "1" signal), the actual position value of the
position controller is kept at the value of connector p2515 as standard.
Incoming encoder increments are not evaluated. A difference in position cannot be
compensated for in this situation.
An inversion of the actual position value resulting from the encoder is undertaken using
parameter p0410. An inversion of the axis motion can be entered using a negative value in
p2505.
7.8.2.3 Indexed actual value acquisition
Properties
● Encoder assignment (p2502[DDS])
● Absolute encoder adjustment (p2507[EDS])
● Enable encoder evaluation (p2509[0..3])
● Encoder evaluation selection (p2510[0..3])
● Encoder edge (p2511[0..3])
● Enable position actual value preprocessing, corrective value (p2512[0..3])
● Position actual value preprocessing, corrective value (p2513[0..3])
● Position offset (p2516[0..3])
● Position actual value (r2521[0..3])
● Velocity actual value (r2522[0..3])
● Measuring probe evaluation/Reference mark search (p2523[0..3])
● Encoder adjustment, offset (p2525[EDS])
● Status word position controller (r2526)
● Status word encoder1 (r2527)
● Status word encoder2 (r2528)
● Status word encoder3 (r2529)
● EPOS reference point coordinate, signal source (p2598[0..3])
● Function diagram 4010 Position control - Position actual value preprocessing