Siemens SINAMICS S120 Function Manual page 466

Function modules
9.8 Basic positioner
Functions of the basic positioner
In addition, the following functions can be carried out using the basic positioner:
● Mechanical system
– Backlash compensation
– Modulo offset
– Position tracking of the load gear (motor encoder) with absolute encoders
● Limits
– Traversing profile limits
– Traversing range limits
– Jerk limitation
● Referencing or adjustment
– Setting reference point (with stationary axis)
– Reference point approach
– Flying referencing
– Referencing with incremental measuring systems
– Absolute encoder adjustment
● Traversing blocks operating mode
– Positioning using traversing blocks that can be saved in the drive unit including block
– Traversing block editor
– A traversing block contains the following information: Traversing block number, job (e.g.
● Direct setpoint specification mode (MDI)
– Positioning (absolute, relative) and setting-up (endless closed-loop position control)
– It is always possible to influence the motion parameters during traversing (on-the-fly
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Separate operating mode including reversing cam functionality, automatic reversal of
direction, referencing to "cams and encoder zero mark", only "encoder zero mark" or
"external zero mark (BERO)".
Superimposed referencing is possible during "normal" traversing with the aid of the
measurement probe evaluation; normally evaluation of a BERO, for example.
Superimposed function for the modes "Jog", "Direct setpoint specification / MDI" and
"Traversing blocks".
change enable conditions and specific tasks for an axis that was previously referenced
positioning, wait, GOTO block step, setting of binary outputs), motion parameters (target
position, velocity override for acceleration and deceleration), mode (e.g.: skip block,
block change enable conditions such as "Continue_with_stop" and "Continue_flying"),
task parameters (e.g. delay time, block step conditions)
using direct setpoint specifications (e.g. via the PLC or process data)
setpoint acceptance) as well as on-the-fly change between the Setup and Positioning
modes
Function Manual, 06/2019, 6SL3097-5AB00-0BP2
Drive functions