Siemens SINAMICS S120 Function Manual page 154

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Servo control

5.16 Pole position identification

Saturation-based PolID

The following notes and supplementary conditions apply to the saturation-based PolID:

● The technique can be performed for both braked and non-braked motors.

● The technique can only be performed for a speed setpoint = 0 or from standstill.

● In order to obtain meaningful measurement results, the specified currents (p0325, p0329)

must be sufficiently high.

● For motors without iron, the pole position cannot be identified with the saturation-based

● For 1FN3 motors, it is not permissible to traverse with the 2nd harmonic (p1980 = 0, 4).

● With 1FK7 motors, a two-stage technique must not be used (p1980 = 4). The value in p0329,

which is set automatically, must not be reduced.

Inaccuracy when determining the commutation angle

If several 1FN3 linear motors are coupled together, and at the same time a saturation-based

PolID is performed for the commutation (p1980 ≤ 4 and p1982 = 1), this can influence the DC-

link voltage. Fast current changes in the DC link cannot be completely compensated. In this

case, the commutation angle is not determined precisely.

● If high precision is required, perform the PolIDs in succession. This can be achieved, for

example, by enabling the individual drives one after the other (with a time offset).

Motion-based PolID

For the motion-based technique, the following notes and supplementary conditions apply:

● The motor must be free to move and must not be subject to external forces. The technique

therefore cannot be performed for vertical axes.

● The technique can only be performed for a speed setpoint = 0 or from standstill.

● If there is a motor brake, it must be open (p1215 = 2).

● The specified current magnitude (p1993) must move the motor by a sufficient amount.

● A position sensor must be available and also activated.

Elasticity-based PolID

For the elasticity-based technique, the following notes and supplementary conditions apply:

● A brake must be available and must also be activated during the PolID. Either the drive

controls the brake (p1215 = 1 or 3) or the brake is externally activated in advance of the

PolID start and deactivated again after the operation.

● A position sensor must be available and also activated.

Function Manual, 06/2019, 6SL3097-5AB00-0BP2

Drive functions