Position Control; Position Actual Value Conditioning - Siemens SINAMICS S120 Function Manual

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Position control

Function description

The "Position controller" function module is made up of the following subfunctions:

● Position actual value conditioning (including the lower-level measuring probe evaluation

and reference mark search)

● Position controller (including limits, adaptation and the pre-control calculation)

● Monitoring functions (including standstill, positioning, dynamic following error monitoring

and cam signals)

● Position tracking of the load gear (motor encoder), using absolute encoders for rotary axes

(modulo) as for linear axes.

The individual subfunctions are described below.

Function description

The actual position value processing converts the actual position value into a neutral distance

unit LU (Length Unit). To do this, the function block uses the encoder evaluation / motor control

with the available encoder interfaces Gn_XIST1, Gn_XIST2, Gn_STW and Gn_ZSW. These

just provide position information in encoder pulses and fine resolution (increments).

The actual position value is conditioned, regardless of whether the position controller is

enabled immediately after the system has booted, as soon as valid values are received via the

encoder interface.

Parameter p2502 (encoder assignment) is used to define from which encoder (1, 2 or 3), the

actual position value is sensed.

Drive functions

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

Function modules

9.7 Position control