Basic Positioner - Siemens Sinamics S120 Function Manual

Function modules

7.8 Basic positioner

If the "position control" function module is active, and to optimize the speed controller, a
function generator signal is interconnected to the speed controller input p1160, then the
position controller monitoring functions respond. To prevent this from happening, the position
controller must be disabled (p2550 = 0) and switched to the tracking mode (p2655 = 1, for
control using PROFIdrive telegram 110 PosSTW.0 = 1). In this way, the monitoring functions
are switched off and the position setpoint is tracked.
Function diagrams (see SINAMICS S120/S150 List Manual)
● 4010 Position actual value conditioning
● 4015 Position controller
● 4020 Zero-speed / positioning monitoring
● 4025 Dynamic following error monitoring, cam controllers
Overview of important parameters (see SINAMICS S120/S150 List Manual)
● r0108 drive objects, function module
● p1160[0...n] CI: Speed controller, speed setpoint 2
● p2550 BI: LR enable 2
7.8 Basic positioner
General description
The basic positioner (EPOS) is used to position linear and rotary axes (modulo) in
absolute/relative terms with motor encoder (indirect measuring system) or machine encoder
(direct measuring system). EPOS is available in the servo and vector modes.
For the basic positioner functionality, STARTER provides graphic guides through the
configuration, commissioning and diagnostic functions. A control panel in STARTER
supports you when operating the basic positioner and when operating in the closed-loop
speed controlled mode.
The position control is automatically activated when activating the basic positioner using the
commissioning wizards of STARTER. The required BICO interconnections are automatically
made.
When the basic positioner is activated (r0108.4 = 1), then the position control (r0108.3 = 1)
should also be activated. This is realized automatically when activating the basic positioner
via the STARTER commissioning wizard.
The basic positioner requires the position controller functions. The BICO interconnections,
which are automatically made by the basic positioner when activated, must be changed by
experienced users (experts) only.
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CAUTION
Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2
Drive functions