Siemens SINUMERIK 840D sl Function Manual page 365

03.06
9. When the absolute value encoder has been re-calibrated (MD 34210 from 1 –>
2), the axis changes over into the "referenced" state. At this time, the new valid
actual position is accepted as the safe actual values (axis and drive).
10.Finally, with the JOG/REF machine mode active, on the HMI the "user agree-
ment" softkey must be pressed and the user agreement for the axis involved
must be reset. Alarms 27000/C01797 disappear and the functions "safe limit
position" and "safe cams" are safely active again.
Replacing a motor with incremental encoder
The same conditions apply as when replacing a motor with absolute encoder.
To calibrate the encoder , a reference point approach has been set up, e.g. with
reference point cams. This means that after the zero mark has been passed when
leaving the cam, the reference point is approached according to the offsets in
34080 REFP_MOVE_DIST and 34090 REFP_MOVE_DIST_CORR – and the
value of the reference point is set in MD 34100: REFP_SET_POS. After the refer-
encing operation, Alarm messages 27000/C01797 "axis not safely referenced" dis-
appear and the functions "safe limit positions" and "safe cams" are safely active.
The important factor when replacing a motor (also without Safety Integrated) is that
a defined position reference can be established with respect to the mechanical
parts of the machine. For example, by mounting and removing the motor at a de-
fined mechanical position or appropriately re-calibrating the system after the motor
has been replaced. At this instant in time, Alarms 27000/C01797 still do not disap-
pear; they only disappear after the user agreement has been set.
After the old motor has been removed and the new motor installed, the following
procedure is recommended:
Re-calibration procedure
1. Boot the control or carry-out an NCK reset
2. If the JOG/REF machine mode is active on the HMI, the "user agreement" soft-
key must be pressed and the user agreement for the axis involved is withdrawn
to avoid Alarm 27001 Axis <name of the axis> fault in a monitoring channel,
Code 1003, values: NCK x, drive y
3. After the system has booted, the JOG/REF mode is selected and the feed en-
able for the axis is issued. Carry-out a reference point approach for the axis
involved.
© Siemens AG, 2006. All rights reserved
SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition
Commissioning
9.6 Replacing a motor or encoder
9-365