Siemens SINAMICS S120 Function Manual page 481

approach, the drive can be reproducibly moved to its reference point. The geometry with a
positive starting direction (p2604 = "0") is shown in the following.
Figure 9-18
The signal on binector input p2595 (start referencing) is used to trigger travel to the reference
cam (p2607 = 1) if search for reference is selected at the same time (0 signal at binector input
p2597 (referencing type selection)). The signal in binector input p2595 (start referencing) must
be set during the entire referencing process otherwise the process is aborted. Once started, the
status signal r2684.11 (reference point set) is reset.
The software limit switch monitoring is inactive during the complete reference point approach;
only the maximum traversing range is checked. The SW limit switch monitoring is, if required,
re-activated after completion.
The velocity override set is only effective during the search for the reference cam (see step 1).
This ensures that the "cam end" and "zero mark" positions are always overrun at the same
speed. If signal propagation delays arise during switching processes, this ensures that the
offset caused during establishment of position is the same in each referencing process.
Axes that only have one zero mark over their complete traversing or modulo range are
designated with parameter p2607 = 0 (no reference cam present). After starting the referencing
process, synchronization to the reference zero marks is started straight away (see step 2) for
these axes.
Step 1: Travel to the reference cam
If there is no reference cam (p2607 = 0), then go to step 2.
When the referencing process is started, the drive accelerates at maximum acceleration
(p2572) to the reference cam approach velocity (p2605). The direction of the approach is
determined by the signal of binector input p2604 (reference point approach start direction).
When the reference cam is reached, this is communicated to the drive using the signal at
binector input p2612 (reference cam); the drive then brakes down to standstill with the
maximum deceleration (p2573).
Drive functions
Function Manual, 06/2019, 6SL3097-5AB00-0BP2
Example: Reference point approach with reference cam
Function modules
9.8 Basic positioner
479