Siemens SINAMICS S120 Function Manual page 310

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Table of Contents

Function modules

7.9 Basic positioner

Vertical axis

In servo mode, a torque limit offset (p1532) can be entered for vertical axes (see also

chapter: Servo control -> Vertical axis).

With asymmetrical torque limits p1522 and p1523, the net weight is taken into account for

travel to fixed stop in parameters r2686 and r2687.

If, for example, with a suspended load, p1522 is set to +1000 Nm and p1523 to -200 Nm,

then a net weight of 400 Nm (p1522 - p1523) is assumed. If the clamping torque is now

configured as 400 Nm, then r2686[0] is preset to 80%, r2686[1] to 0% and r2687 to 800 Nm

when travel to fixed stop is activated.

Function diagrams (see SINAMICS S120/S150 List Manual)

● 3616 Traversing blocks mode (r0108.4 = 1)

● 3617 Travel to fixed stop (r0108.4 = 1)

● 4025 Dynamic following error monitoring, cam controllers (r0108.3 = 1)

Overview of important parameters (see SINAMICS S120/S150 List Manual)

● p1528 CI: Torque limit, upper/motoring, scaling

● p1529 CI: Torque limit, lower/regenerative scaling

● p1545 BI: Activate 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

Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5

Drive functions