Siemens SINUMERIK 840D sl Function Manual page 560

Commissioning
10.7 Replacing a motor or encoder
Replacing a motor with incremental encoder
The same conditions apply as when replacing a motor with absolute encoder.
To calibrate the encoder, the reference point approach is set up, e.g. using reference point
cams. This means that after the zero mark has been passed when leaving the cam, the
reference point is approached according to the offsets in MD34080 $MA_REFP_MOVE_DIST
and MD34090 $MA_REFP_MOVE_DIST_CORR - and the value of the reference point is set
in MD34100 REFP_SET_POS. After referencing, Alarm messages 27000/C01797 "axis not
safely referenced" disappear and the functions "safe limit positions" and "Safe Cams" are
safely active.
The important factor when replacing a motor (also without Safety Integrated) is that a defined
position reference can be established with respect to the mechanical parts of the machine. For
example, by mounting and removing the motor at a defined mechanical position or
appropriately re-calibrating the system after the motor has been replaced. At this instant in
time, Alarms 27000/C01797 still do not disappear; they only disappear after the user
agreement has been set.
After the old motor has been removed and the new motor installed, the following procedure is
recommended:
Re-calibration procedure
1. Boot the control or initiate an NCK reset
2. If the JOG/REF machine mode is active on the HMI, the "user agreement" softkey must be
pressed and the user agreement for the axis involved is withdrawn to avoid Alarm 27001
axis <Name of the axis> fault in a monitoring channel, code 1003, values: NCK x, drive y
3. After the system has booted, the JOG/REF mode is selected and the feed enable for the
axis is issued. Carry out a reference point approach for the axis involved.
4. After the reference point has been re-calibrated, the reference point approach must be re-
initiated. The axis changes over into the "referenced" state. At this time, the reference point
value is taken over as the safe actual value for the axis and drive.
5. Finally, with the JOG/REF machine mode active, on the HMI the "user agreement" softkey
must be pressed and the user agreement for the axis involved must be reset. Alarms 27000/
C01797 disappear and the functions "safe limit positions" and "Safe Cams" are safely active
again.
560
Function Manual, 12/2017, 6FC5397-4BP40-6BA1
Safety Integrated