Position-Referred Operating Modes - Siemens Sinamics S120 Commissioning Manual

Operating modes

7.1 Position-referred operating modes

7.1 Position-referred operating modes
In addition to torque and velocity-referred operating modes, with deviations to the CANopen
standard, also the position-referred operating modes "Homing Mode" and "Profile Position
Mode" can be used. The deviations to the standard are listed below:
Deviations for the Homing Mode
● It is only possible to activate the Homing Mode by activating the "Basic positioner"
function module in SINAMICS (p0108.4 = 1). Presently, selection using the standardized
CANopen objects (6060 hex or 6061 hex) is not possible.
● Although the following standardized CANopen objects are obligatory for the Homing
Mode, they are presently not supported:
– 6098 hex "Homing method"
– 6099 hex "Homing speeds"
However, these CANopen objects can be implemented using free objects (Page 54).
● Bits 4 and 8 of the CANopen control word are not supported according to the standard.
● Bits 12 and 13 of the CANopen status word are not supported according to the standard.
Deviation for the Profile Position Mode
● It is only possible to activate the Profile Position Mode by activating the "Basic positioner"
function module in SINAMICS (p0108.4 = 1). Presently, selection using the standardized
CANopen objects (6060 hex or 6061 hex) is not possible.
● Although the following standardized CANopen objects are obligatory for the Profile
Position Mode, they are presently not supported:
– 607A hex "Target position"
– 6081 hex "Profile velocity"
However, these CANopen objects can be implemented using free objects (Page 54).
● Bits 4, 5, 6, 8 and 9 of the CANopen control word are not supported according to the
standard.
● Bits 12 and 13 of the CANopen status word are not supported according to the standard.
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Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
CANopen interface