12.2010 Contents
6SE7087-6QX70 (Version AM) Siemens AG
8 Compendium Motion Control SIMOVERT MASTERDRIVES
8.5.7.2 Profile Velocity mode................................................................................... 8.5-68
8.5.7.3 Synchronous mode...................................................................................... 8.5-70
8.5.7.4 Homing mode .............................................................................................. 8.5-71
8.5.7.5 Profile Torque mode .................................................................................... 8.5-97
8.5.7.6 Setup mode ................................................................................................. 8.5-97
8.5.7.7 Automatic Position mode............................................................................. 8.5-98
8.5.7.8 Automatic Single Block mode...................................................................... 8.5-98
8.5.8 Diagnostics and troubleshooting ................................................................. 8.5-99
8.5.8.1 Error and alarm displays on basic unit ........................................................ 8.5-99
8.5.8.2 Evaluation of CBC diagnostic parameter .................................................. 8.5-103
8.5.8.3 Meaning of CBC diagnostics ..................................................................... 8.5-104
8.5.9 CANopen EDS........................................................................................... 8.5-106
8.5.10 Parameterization........................................................................................ 8.5-107
8.5.10.1 Parameterization for the CBC CANopen with MASTERDRIVES
MC_F01 and MASTERDRIVES MC_B-Pos.............................................. 8.5-107
8.5.11 Logical interconnections for control and status words .............................. 8.5-108
8.5.12 General plans of interconnections in MASTERDRIVES MC..................... 8.5-116
8.5.13 Terms and abbreviations ........................................................................... 8.5-133
9 TECHNOLOGY OPTION F01 .......................................................................... 9-1
9.1 Enabling technology option F01 ....................................................................... 9-1
9.2 Overview of the documentation ........................................................................ 9-1
9.3 Application areas .............................................................................................. 9-3
9.3.1 General functions.............................................................................................. 9-3
9.3.2 Positioning ........................................................................................................ 9-5
9.3.3 Synchronization ................................................................................................ 9-7
9.3.4 Technology functions already included in the standard software .................. 9-13
9.3.5 Seamless Integration in SIMATIC Automation Solutions ............................... 9-15
9.4 Brief description of the technology functions.................................................. 9-16
9.4.1 Overview of the function diagrams ................................................................. 9-16
9.4.2 Integrating the technology into the basic unit [801]........................................ 9-17
9.4.3 General information on position encoder evaluation [230] ... [270]................ 9-17
9.4.4 Resolver evaluation [230] ............................................................................... 9-19
9.4.5 Optical sin/cos encoder [240] ......................................................................... 9-20
9.4.6 Multiturn encoder evaluation [260, 270] ......................................................... 9-22
9.4.7 Pulse encoder evaluation [250, 255] .............................................................. 9-32
9.4.8 Position sensing system for motor encoder [330] .......................................... 9-35
9.4.9 Using absolute encoders for positioning of motors with load-side gearing
and rotary axis ................................................................................................ 9-48
9.4.10 Linear axis with absolute encoder when the traversing range is greater
than the display range of the encoder. ........................................................... 9-52
9.4.11 Position sensing system for external machine encoder [335]........................ 9-53
9.4.12 Position control system [340].......................................................................... 9-54
9.4.13 Technology overview and mode manager [802] ............................................ 9-57
9.4.14 Machine data [804] ......................................................................................... 9-59
9.4.15 Parameter download file POS_1_1 [806] ....................................................... 9-60
9.4.16 Positioning control signals [809]..................................................................... 9-61
9.4.17 Positioning status signals [811] ...................................................................... 9-61
9.4.18 Digital I/Os for positioning [813]...................................................................... 9-62
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