Encoder Adjustment, Calibrating The Axes - Siemens SINUMERIK 840D sl Function Manual

have a direct impact on the accuracy of the safe position monitoring, and are therefore factored
into the functional checksum scope $MA_SAFE_ACT_CHECKSUM[0]. Further, if they do not
match the associated drive parameters, Alarm 27036 "Axis %1 encoder parameterization MD
%2[%3] was adapted" is output.
Just the same as for all encoder data, the NCK machine data for the DRIVE-CLiQ encoder
are not incorporated directly in the crosswise data comparison with the drive. However, they
are indirectly secured through the crosswise actual value comparison.
EnDatV2.2 converter
When using the EnDatV2.2 protocol, a delay is incurred when providing the actual value
information as a result of its serial data transfer.
If an EnDatV2.2 converter is used in a 2-encoder system, then as a consequence, a velocity-
dependent position difference is obtained. This must be taken into consideration in the
parameterization. In the SI service screen, using entry "Maximum position tolerance NCK/
drive" users can determine the position differences that occur, and make the appropriate
position tolerance setting in $MA_SAFE_POS_TOL.
This value includes the deviation as a result of the mechanical system, as well as also the
maximum difference resulting from the EnDatV2.2 delay.
6.4.2

Encoder adjustment, calibrating the axes

Adjusting the motor encoder
Generally, for 1-encoder systems, the integrated encoder is an integral component of the motor
(the encoder is adjusted to match the motor). Data relating to distance, speed and rotor position
(for synchronous drives) is obtained from one encoder. It is no longer possible to adjust the
encoders in motor measuring systems in the conventional sense.
Machine calibration
The machine zero and encoder zero are calibrated purely on the basis of the offset value (the
machine must be calibrated). This procedure must be carried out for both absolute and
incremental encoders.
Figure 6-4
When calibrating the machine, a known or operated position is approached using a dial gauge,
fixed stop, etc. and the offset determined. This offset is then entered into the appropriate
Safety Integrated
Function Manual, 12/2017, 6FC5397-4BP40-6BA1
Basics regarding the safety functions integrated in the system/drive
Positions and actual values
6.4 Actual value conditioning
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