Siemens SINUMERIK 840D sl Function Manual page 364

Commissioning
9.6 Replacing a motor or encoder
The user agreement is also cancelled. This means that the axis loses the status
"safely referenced" in connection with the Alarms 27000/C01797 axis <name of the
axis> not safely referenced.
The actual position value supplied by the new motor encoder has no reference to
the mechanical system. This means that the absolute value encoder must be re-
aligned and set-up at this point.
Note
A safety acceptance report is generally not required after a motor has been
replaced.
Re-calibration procedure
1. Carry-out an NCK reset
Note
After the NCK-Reset, the axis can be traversed again. Alarms 27000/C01797
"Axis not safely referenced" are still present and indicate that the functions "safe
limit positions" and "safe cams" are not active in this state. For example, if "safe
limit positions" is being used as a substitute for hardware limit switches,
then it is important to note that at this time, the safe limit positions are not
functional!
2. Move the axis to the reference position after first setting MD 34010
REFP_CAM_DIR_IS_MINUS according to the approach direction. (34010
should be set to 1 if the axis is moved in the negative (minus) direction to the
reference position.)
3. MD 34100: Set REFP_SET_POS to the actual value of the reference position.
4. MD 34210: Set ENC_REFP_STATE = 1 to activate the calibration.
5. Select the axis that is to be calibrated on the machine control panel and press
the RESET key on the machine control panel.
6. Select the JOG/REF mode, enable the axis feed.
7. The calibration process must be initiated with traversing key + or – according to
MD 34010: REFP_CAM_DIR_IS_MINUS and the approach direction to the ref-
erence position. (Backlash has been moved through).
8. The axis does not traverse. Instead, the offset between the correct actual value
(reference position) and the actual value – supplied by the encoder – is entered
in MD 34090: REFP_MOVE_DIST_CORR. The actual value appears in the ba-
sic screen and the axis signals "referenced". The value 2 is entered in MD
34210 as result.
Example:
MD 34010=1 (minus) and the reference position was approached in the nega-
tive (minus) direction. This means that the "–" key must also be pressed on the
machine control panel.
9-364
SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition
© Siemens AG, 2006. All rights reserved
03.06