Siemens SIMOTICS S-1FL6 - Page 12

Table of contents
SINAMICS V90, SIMOTICS S-1FL6
10 Operating Instructions, 04/2019, A5E36037884-007
7.4 Fast pulse train input position control (Fast PTI) ................................................................. 235
7.5 Internal position control (IPos) ............................................................................................. 236
7.5.1 Setting mechanical system .................................................................................................. 236
7.5.2 Setting fixed position setpoint .............................................................................................. 237
7.5.3 Selecting a positioning mode - absolute/incremental .......................................................... 239
7.5.4 Configuring the linear/modular axis ..................................................................................... 240
7.5.5 Backlash compensation ....................................................................................................... 240
7.5.6 Referencing .......................................................................................................................... 241
7.5.7 Software position limit .......................................................................................................... 250
7.5.8 Speed limit ........................................................................................................................... 250
7.5.9 Torque limit .......................................................................................................................... 250
7.5.10 Selecting a fixed position setpoint and starting positioning ................................................. 250
7.5.11 Position tracking ................................................................................................................... 253
7.6 Speed control (S) ................................................................................................................. 256
7.6.1 Configuring speed setpoint .................................................................................................. 256
7.6.1.1 Speed control with external analog speed setpoint ............................................................. 256
7.6.1.2 Speed control with fixed speed setpoint .............................................................................. 258
7.6.2 Direction and stop ................................................................................................................ 258
7.6.3 Speed limit ........................................................................................................................... 259
7.6.4 Torque limit .......................................................................................................................... 259
7.6.5 Zero speed clamp ................................................................................................................ 259
7.6.6 Ramp-function generator ..................................................................................................... 260
7.7 Torque control (T) ................................................................................................................ 261
7.7.1 Torque setpoint .................................................................................................................... 261
7.7.1.1 Torque control with external analog torque setpoint ............................................................ 262
7.7.1.2 Torque control with fixed torque setpoint ............................................................................. 263
7.7.2 Direction and stop ................................................................................................................ 263
7.7.3 Speed limit ........................................................................................................................... 263
7.8 Communicating with the PLC ............................................................................................... 264
7.8.1 USS communication ............................................................................................................ 264
7.8.2 Modbus communication ....................................................................................................... 266
7.8.2.1 Overview .............................................................................................................................. 266
7.8.2.2 Cyclic communication .......................................................................................................... 271
7.8.2.3 Acyclic communication ......................................................................................................... 281
7.9 Absolute position system ..................................................................................................... 290
7.9.1 O
verview .............................................................................................................................. 290
7.9.2 Transmitting sequence for the absolute position data ......................................................... 291
8 Safety Integrated function .................................................................................................................... 293
8.1 Standards and regulations ................................................................................................... 293
8.1.1 General information ............................................................................................................. 293
8.1.1.1 Aims ..................................................................................................................................... 293
8.1.1.2 Functional safety .................................................................................................................. 294
8.1.2 Safety of machinery in Europe ............................................................................................. 294
8.1.2.1 Machinery Directive ............................................................................................................. 294
8.1.2.2 Harmonized European Standards........................................................................................ 295
8.1.2.3 Standards for implementing safety-related controllers ........................................................ 296
8.1.2.4 DIN EN ISO 13849-1 ........................................................................................................... 297
8.1.2.5 EN 62061 ............................................................................................................................. 298
8.1.2.6 Series of standards EN 61508 (VDE 0803) ......................................................................... 299