Commissioning - Siemens SINAMICS S120 Function Manual

Function modules
7.7 Closed-loop position control
7.7.6

Commissioning

The "position control" function module is integrated in the system as follows:
Commissioning
The configuration screen for "Position control" in STARTER is not made accessible unless
the function module "Basic positioner" is activated (r0108.4 = 1) which means that the
function module "Position control" (r0108.3 = 1) is automatically activated as well.
The "basic positioner" function module can be activated via the commissioning wizard or the
drive configuration (configure DDS) (configuration "Closed-loop control structure" - checkbox
"Basic positioner").
To ensure correct, error-free operation of the basic positioner, it is absolutely essential that
the "Position control" function module is activated and the position control correctly
configured.
If the "position control" function module is active, and to optimize the speed controller, a
function generator signal is interconnected to the speed controller input p1160, then the
position controller monitoring functions respond. To prevent this from happening, the position
controller must be disabled (p2550 = 0) and switched to the tracking mode (p2655 = 1, for
control using PROFIdrive telegram 110 PosSTW.0 = 1). In this way, the monitoring functions
are switched off and the position setpoint is tracked.
Function diagrams (see SINAMICS S120/S150 List Manual)
• 4010
• 4015
• 4020
• 4025
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• r0108
• p1160[0...n] CI: Speed controller, speed setpoint 2
• p2550
448
Position control - Actual position value processing (r0108.3 = 1)
Position control - Position controller (r0108.3 = 1)
Position control - Standstill monitoring / positioning monitoring (r0108.3 = 1)
Position control - Dynamic following error monitoring, cam controllers
(r0108.3 = 1)
Drive object function module
BI: Position control enable 2
Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3
Drive functions