Siemens SINAMICS S120 Function Manual page 468

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Function modules

9.8 Basic positioner

If a stationary axis is referenced by setting the reference point or an adjusted axis is powered-

up with an absolute encoder, then the setting of parameter p2604 (reference point approach,

starting direction) is relevant for switching-in the compensation value.

A modulo axis has an unrestricted traversing range. The value range of the position repeats

itself after a specific value that can be parameterized (the modulo range or axis cycle), e.g. after

one revolution: 360° -> 0°. The modulo range is set in parameter p2576, the offset is activated

with parameter p2577. The modulo offset is undertaken at the setpoint end. This is provided

with the correct sign via connector output r2685 (correction value) to appropriately correct the

actual position value.

EPOS initiates the activation of the correction via a rising edge of binector output r2684.7

(activate correction) (r2685 (correction value) and r2684.7 (activate correction) are already

connected as standard with the corresponding binector/connector input of the actual position

value processing). Absolute positioning details (e.g. in a traversing task) must always be within

the modulo range. Modulo offset can be activated for linear and rotary length units. The

traversing range cannot be limited by a software limit switch.

With active modulo offset and the application of absolute encoders, as a result of potential

encoder overflows, it must be ensured that there is an integer ratio v between the multiturn

resolution and the modulo range.

The ratio v can be calculated as follows:

● Motor encoder without position tracking:

v = p0421 · p2506 · p0433 · p2505 / (p0432 · p2504 · p2576)

● Motor encoder with position tracking for the measuring gear:

v = p0412 · p2506 · p2505 / (p2504 · p2576)

● Motor encoder with position tracking for the load gear:

v = p2721 · p2506 · p0433 / (p0432 · p2576)

● Motor encoder with position tracking for the load and measuring gear:

v = p2721 · p2506 / p2576

The compensation value is switched in as a function of p2604

Traversing direction

Modulo offset

Switch in compensation value

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

Drive functions