Efficient Networks Siemens Sinamics S120 - Manual (Page 251)

Function modules
7.9 Basic positioner
Drive Functions
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4
251
position controller monitoring functions respond. To prevent this from happening, the position
controller must be disabled (p2550 = 0) and switch to tracking mode (p2655 = 1, for control
using PROFIdrive telegram 110 PosSTW.0 = 1). In this way, the monitoring functions are
switched off and the position setpoint is tracked.
Function diagrams (see SINAMICS S List Manual)
● 4010 Position actual value conditioning
● 4015 Position controller
● 4020 Zero-speed / positioning monitoring
● 4025 Dynamic following error monitoring, cam controllers
7.9 Basic positioner
General description
The basic positioner is used to position linear and rotary axes (modulo) in absolute/relative
terms with motor encoder (indirect measuring system) or machine encoder (direct measuring
system). It is available in the servo and vector modes.
User-friendly configuration, commissioning, and diagnostic functions are also available in
STARTER for the basic positioner functionality (graphic navigation). In STARTER, there is a
control panel for the basic positioner and speed-controlled operation; using this control
panel, the functionality can be started from a PC/PG to commission the system or carry-out
diagnostics.
When the basic positioner is activated (r0108.4 = 1), then the position control (r0108.3 = 1)
should also be activated. This is realized automatically when activating the basic positioner
via the STARTER commissioning Wizard. Further, the necessary "internal interconnections"
(BICO technology) are automatically established.
CAUTION
The basic positioner requires the position controller functions. The BICO interconnections
established by the basic positioner must be changed by experienced users only.
This means that naturally the position control functions are also available (e.g. standstill
monitoring, positioning monitoring, dynamic following error monitoring, cam controllers,
modulo function, measuring probe evaluation). Also refer to the section "Position control".
In addition, the following functions can be carried-out using the basic positioner:
● Mechanical system
– Backlash compensation
– Modulo offset
– Position tracking of the load gear (motor encoder) with absolute encoders