Siemens SINAMICS S120 Function Manual page 479

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If the reference point (p2599) is in the encoder range, the actual position value is set to the

reference point during adjustment. Otherwise, adjustment is canceled with F07443.

Unplanned movement of the machine when using the encoder outside the defined encoder

If a rotary absolute encoder is used outside the defined encoder range, then after switching off/

switching on, motion can occur that was not planned. This can damage the machine.

● After adjustment, ensure that the encoder range that has been set up is not exited.

● Activate position tracking (p2720.0) if there is a risk that the encoder range is exited.

Linear absolute value encoder

No overflow occurs with linear absolute encoders, which means that the position can be

restored within the entire traversing range after switch off/on once adjustment has been carried

out. During adjustment, the actual position value is set in line with the reference point.

Absolute encoder adjustment with offset acceptance

In addition to the previously described method, the adjustment can also be carried out using the

"Absolute encoder adjustment with offset acceptance" function.

The "Absolute encoder adjustment with offset acceptance" is realized by determining and

accepting an offset value while the drive is being commissioned for the first time.

When determining the offset, the encoder actual value is aligned once with the machine zero;

it is then set as being valid, and the system synchronizes to the absolute position that has been

determined. It is not necessary that the axis is located at a defined reference position.

After the drive has been switched off the encoder position information is retained. This means

that the axis does not have to be readjusted when the drive powers up.

Requirements

The following requirements must be satisfied before the adjustment:

● The offset value p2525 was determined when commissioning the drive for the first time.

● After being commissioned for the first time, the drive train and its configuration was not

mechanically changed.

Drive functions

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

Function modules

9.8 Basic positioner