Control functions
7.5 Internal position control (IPos)
SINAMICS V90, SIMOTICS S-1FL6
Operating Instructions, 04/2019, A5E36037884-007
249
Follow the steps below to perform referencing with this mode:
1. Set relevant parameters.
p2599 -2147482648 to
0 LU Sets the position value for the reference
p2600 -2147482648 to
2147482647
0 LU Reference point offset
p2604
1)
0 to 1 0 - Sets signal source for start direction of
searching:
• 0: start in positive direction
• 1: start in negative direction
p2605 1 to 40000000 5000 1000
LU/mi
Speed for searching the cam
p2606 0 to 2147482647 21474826
LU Maximum distance for searching the cam
p2608 1 to 40000000 300 1000
LU/mi
Speed for searching zero mark
p2609 0 to 2147482647 20000 LU Maximum distance for searching the zero
p2611 1 to 40000000 300 1000
LU/mi
Speed for searching reference point
1)
When p29240= 4, the direction for searching the reference cam must be CW, that is p2604=0.
2. Configure the signal SREF and CWL.
3. Trigger SREF to a rising edge to start referencing.
g the referencing, if SREF is OFF, the referencing stops.
4. If the servo motor reaches the reference point, the signal REFOK (if configured) is output.
5. Switch off the signal SREF, and the referencing finishes successfully.
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