Siemens SINAMICS S120 Function Manual page 498

Function modules
8.7 Position control
The table below describes the changeover behavior on transition from one DDS to another.
A changeover is always executed by DDS0.
An overview of DDS changeover without position tracking load gear can be found in section
"Instructions for data set changeover" in Section "EPOS - referencing".
Table 8- 5 DDS changeover with load gear position tracking
DDS
p0186 (MDS)
p0187 (encoder 1)
p0188 (encoder 2)
p0189 (encoder 3)
p2502 (encoder for
position control)
Mechanical relationships
p2504/p2505/p2506/
p2503
A, B, C and D designate
different mechanical
relationships.
Load gear position
tracking
Table 8- 6 DDS changeover response
DDS Changeover response
0 -
1 Changeover during pulse inhibit or operation has no effect
2 Encoder adjustment and referencing bit are reset. Position tracking for EDS0 is no longer calculated and must
be re-adjusted when switching back to DDS0.
3 Position tracking for EDS0 is continued and the referencing bit is reset.
4 Pulse inhibit/operation: Position tracking for EDS0 is continued and the referencing bit is reset.
5 Position tracking for EDS4 is newly initiated and the referencing bit is reset.
the same applies to EDS0.
6 Position tracking for EDS5 is newly initiated and the referencing bit is reset.
the same applies for EDS0.
7 MDS changeover alone during pulse inhibit or operation has no effect
8 Pulse inhibit/operation: Referencing bit is reset.
consequence, the actual position value also changes (the offset correction of the position tracking is canceled).
When switching back to DDS0, the position tracking for EDS0 is newly initiated and the referencing bit is re-
set. It only makes sense to switch back to DDS0 without a new adjustment in DDS0 if the user did not make a
1)
new adjustment in DDS8 and the permissible tolerance window (p2722) was not exited.
9 Pulse inhibit/operation: Position tracking for EDS6 is newly initiated and the referencing bit is reset.
switching back to DDS0, the same applies to EDS0.
The referencing bit (r2684.11) is reset for a DDS changeover. If, in the new DDS, the EDS already has an adjusted
1)
encoder, then the referencing bit is set again.
498
0 1 2
0 0 0
EDS0 EDS0 EDS0
EDS1 EDS1 EDS1
EDS2 EDS2 EDS2
Enco- Enco- Enco-
der_1 der_1 der_1
A A B
Acti- Acti- Deac-
vated vated tivated
3 4 5
0 0 1
EDS0 EDS0 EDS4
EDS1 EDS3 EDS1
EDS2 EDS2 EDS2
Enco- Enco- Enco-
der_2 der_2 der_2
A A A
Acti- Acti- Acti-
vated vated vated
1)
Position tracking for EDS0 is no longer calculated and, as a
1)
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
6 7 8
2 3 0
EDS5 EDS0 EDS0
EDS6 EDS1 EDS1
EDS6 EDS2 EDS2
enco- Enco- Enco-
der_1 der_1 der_1
D A A
Acti- Acti- Deac-
vated vated tivated
1)
When switching back to DDS0,
1)
. When switching back to DDS0,
1)
When
1)
Drive functions
9
4
EDS6
EDS0
EDS2
Enco-
der_1
C
Acti-
vated