Control functions
7.5 Internal position control (IPos)
SINAMICS V90, SIMOTICS S-1FL6
248 Operating Instructions, 04/2019, A5E36037884-007
External reference cam (signal CWL) and encoder zero mark (p29240=4)
The referencing is triggered by signal SREF. After that, the servo motor accelerates to the
speed specified in p2605 to find the reference cam. The direction (CW) for searching the
reference cam is defined by p2604. When the signal CWL is detected (1→0), the servo motor
decelerates to standstill with maximum deceleration. After that, the servo motor accelerates
again to the speed specified in p2608 and the running direction (CCW) is opposite to the
direction defined by p2604. The signal CWL switches to high level (0→1). When the servo
motor finds the first zero mark, it starts to travel towards the reference point defined in p2600
with the speed specified in p2611. When the servo motor reaches the reference point
(p2599), the signal REFOK is output. Switch off the signal SREF (1→0) and the referencing
finishes successfully.
The whole process is shown in the diagram below:
During the referencing process, the signals CWL and CCWL are unavailable. Once the
process is complete, the signals will act as limits signal again.
For the safety purpose, the maximum distance for searching the cam (p2606) and the
maximum distance for searching the zero mark (p2609)
be set.
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