Siemens SINAMICS S120 Function Manual page 295

signal).
With FW version V2.6 and higher, a reference point can also be set in conjunction with an
intermediate stop.
The current actual position of the drive is set here as the reference point using the
coordinates specified by connector input p2598 (reference point coordinates). The setpoint
(r2665) is adjusted accordingly.
This function also uses actual position value correction for the position controller (p2512 and
p2513). Connector input p2598 is connected to adjustable parameter p2599 as standard.
The binector input is not effective for the traversing task being presently executed.
Absolute encoder adjustment
Absolute encoders must be adjusted while commissioning. After the machine has been
powered-down the position information of the encoder is kept.
When p2507 = 2 is entered, using the reference point coordinate in p2599, an offset value
(p2525) is determined. This is used to calculate the position actual value (r2521). Parameter
p2507 signals the adjustment with a "3" - in addition bit r2684.11 (reference point set) is set
to "1".
The offset of the encoder adjustment (p2525) should be saved in a non-volatile fashion
(RAM to ROM) to permanently save it.
Note
If an adjustment is lost on an already adjusted axis, the axis will remain unadjusted from
CU320 with order number 6SL3040-...-0AA1 and version C or higher or CU310 even when
the drive unit is switched OFF/ON. The axis needs to be adjusted again in such cases.
During adjustment with the rotary absolute encoder, a range is aligned symmetrically
around the zero point with half the encoder range within which the position is restored after
switch off/on. If position tracking is deactivated (2720.0 = 0), only one encoder overflow is
permitted to occur in this range (further details are given in chapter Position controller ->
Position actual value conditioning). Once adjustment has been carried out, the range must
not be exited because a unique reference between the actual encoder value and the
mechanical components cannot be established outside the range.
If the reference point p2599 is in the encoder range, the actual position value is set in line
with the reference point during adjustment. Otherwise, it is set to a corrected value in the
encoder range.
No overflow occurs with linear absolute encoders, which means that the position can be
restored within the entire traversing range after switch on/off once adjustment has been
carried out. During adjustment, the actual position value is set in line with the reference
point.
Referencing with DRIVE-CLiQ encoders
The DRIVE-CLiQ encoder is available as either a "multiturn" or "singleturn" absolute
encoder. If the "referencing" function is selected via the PROFIdrive encoder interface and if
Drive functions
Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5
CAUTION
Function modules
7.9 Basic positioner
295