Integration - Siemens SINAMICS S120 Function Manual

Function modules
7.8 Closed-loop position control
7.8.6

Integration

The "positon control" function module is integrated in the system as follows:
Commissioning
The configuration screen for "Position control" in STARTER is not made accessible unless
the function module "Basic positioner" is activated (r0108.4 = 1) which means that the
function module "Position control" (r0108.3 = 1) is automatically activated as well.
The "basic positioner" function module can be activated via the commissioning wizard or the
drive configuration (configure DDS) (configuration "Closed-loop control structure" - checkbox
"Basic positioner").
To ensure correct, error-free operation of the basic positioner, it is absolutely essential that
the "Position control" function module is activated and the position control correctly
configured.
If the "position control" function module is active, and to optimize the speed controller, a
function generator signal is interconnected to the speed controller input p1160, then the
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 S120/S150 List Manual)
● 4010 Position actual value conditioning
● 4015 Position controller
● 4020 Zero-speed / positioning monitoring
● 4025 Dynamic following error monitoring, cam controllers
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Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5
Drive functions