Travel To Fixed Stop - Siemens SINAMICS S120 Function Manual

Overview of key parameters (see SINAMICS S List Manual)
● p1190 CI: DSC position deviation XERR
● p1191 CI: DSC position controller gain KPC
● p1192[DDS] DSC encoder selection
● p1193[DDS] DSC encoder adaptation factor
● r1407.4 CO/BO: Status word, velocity controller
3.16

Travel to fixed stop

Description
This function can be used to move a motor to a fixed stop at a specified torque without a
fault being signaled. When the stop is reached, the specified torque is built up and remains
applied.
The desired torque derating is brought about by scaling the upper/motor-mode torque limit
and the lower/regenerative-mode torque limit.
Application examples
● Screwing parts together with a defined torque.
● Moving to a mechanical reference point.
Signals
When PROFIBUS telegrams 2 to 6 are used, the following are automatically interconnected:
● Control word 2, bit 8
● Status word 2, bit 8
Also with PROFIdrive telegrams 102 to 106:
● Message word, bit 1
● Process data M_red to the scaling of the torque limit
Drive Functions
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4
Servo control
3.16 Travel to fixed stop
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