Technology Option F01 08.2012
6SE7087-6QX70 (Version AN) Siemens AG
9-136 Compendium Motion Control SIMOVERT MASTERDRIVES
9.7.2.9 Testing the positioning functions of the application example
a) Note: The sequence of the homing procedure is described in
function diagram sheet [821] and the Function Description in the
"Motion Control for MASTERDRIVES MC and SIMATIC M7"
manual /1/.
b) Select "homing" mode at the switches on terminals 3 and 4 (see
Figure 9-42).
c) Acknowledge any active positioning warnings "Axxx" at the switch
on terminal 5. The most important warnings are generated by the
following error monitoring and "in-position monitoring" systems
[818.5]. If necessary, select a more tolerant setting for the
monitoring system temporarily by increasing MD14...MD17.
d) Switch on the drive at terminal 8.
e) Start homing with "jog forwards" (1 signal at terminal 7)
f) Simulate a rough pulse at DIN 4 (0-1 edge reduces the velocity, 1-
0 edge terminates referencing)
g) Optimize the position controller loop gain. For example, the
optimum setting for a two-axis demonstration pack is as follows:
P204.1=8,000 ; Loop gain factor for position controller [340.3]
a) Select MDI mode at the switches on terminals 3 and 4
b) Select MDI block 3 at terminal 6
c) Start the positioning movement using the START command at
terminal 7
d) The wheel now moves 4.5 revolutions to the right.
e) Switch from MDI block 3 to MDI block 1 at terminal 6. The MDI
block is permanently assigned with position setpoint X = 0 and five
times the velocity F.
f) Start another positioning operation. The drive now moves back to
position 0 at 5 times the velocity (in the clockwise direction,
because jog forwards = 1), i.e. through 5.5 revolutions.
Performing the
homing procedure
Positioning with MDI
on drive 2 (function
diagram, sheet
[823])
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