Efficient Networks Siemens Sinamics S120 - Manual (Page 275)

Function modules
7.9 Basic positioner
Drive Functions
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4
275
7.9.5.5 Vertical axes
Note
In servo mode, with suspended axes, a torque limit offset (p1532) can be entered (see
chapter: Servo Control -> Suspended axes).
With asymmetrical torque limits p1522 and p1523, when traversing to fixed stop, the fixed
weight is taken into account in the parameters r2686 and r2687.
If, for example, with a suspended load, the values of p1522 = +1000 Nm and of p1523 = -
200 Nm are specified, then a fixed weight of 400 Nm (p1522 - p1523) is assumed. If the
clamping torque is now configured as 400 Nm, then, during active traversing to fixed stop,
r2686[0] is set with the value 80% and r2686[1] with the value 0% and r2687 with the value
800 Nm.
7.9.5.6 Integration
Function diagram overview (see List Manual)
● 3616 Traversing blocks mode (r0108.4 = 1)
● 3617 Traversing to fixed stop (r0108.4 = 1)
● 4025 Dynamic following error monitoring, cam controllers (r0108.3 = 1)
Overview of important parameters (refer to the List Manual)
● p1528 CI: Torque limit, upper/motoring, scaling
● p1529 CI: Torque limit, lower/regenerative scaling
● p1545 BI: Activates travel to fixed stop
● r2526 CO/BO: LR status word
● p2622 EPOS traversing block, task parameter
● p2634 EPOS Fixed stop maximum permissible following error
● p2635 EPOS Fixed stop monitoring window
● p2637 BI: EPOS Fixed stop reached
● p2638 BI: EPOS Fixed stop outside monitoring window
● r2683 CO/BO: EPOS status word 1
● r2686 CO: EPOS Torque limit effective