08.2012 Technology Option F01
Siemens AG 6SE7087-6QX70 (Version AN)
SIMOVERT MASTERDRIVES Compendium Motion Control 9-175
♦ The axis is already in position. You can recognize this condition
from the fact that the "function terminated" [FUT] status signal
changes to "1" (or remains at "1") immediately after the 0 → 1 edge
of the start command [STA]; you can monitor [FUT] in bit 27 of the
positioning status word via n541.04 (preferably on the PMU). This
can be the case with a rotary axis, for example, if the position
setpoint that has already been approached is calculated as the
target position by G90 through the "modulo rotary axis function"
(e.g. the axis is positioned at 5°, and a position of 365° is defined →
no G90 movement is performed). Check the effective position
setpoint in n549.02 (the setpoint including all offset values and
modulo functions). If you want to move a rotary axis through several
revolutions, use relative positioning with G91; in this case, no
modulo calculation is performed.
♦ The position setpoint is not correctly defined or is not wired
correctly. Check the current position setpoint in n540.12 [823.6] for
MDI mode.
♦ There is a converter fault. Bit 3 is enabled in basic unit status word 1
[200]). You can monitor the current fault and warning numbers in
connector K0250 [510.4].
♦ There is a mismatch between the speed/position encoder, encoder
cable and sensor board. Follow the instructions in "Checking the
speed/position controller".
9.8.23 General commissioning information
♦ Changes to the axis type MD1 and AVWF factor do not become
effective until the power supply to the electronics is switched off/on.
♦ Changes to
machine data parameters MD1...MD50 do not become
effective until they have been transferred (at a standstill) with
U502 = 2 [804.3].
♦ If a
positioning fault A129...A255 is active, you cannot start a
movement until you have remedied the cause of the fault and
acknowledged the warning. Diagnostic parameter n540.26 [818]
indicates whether a positioning fault is active. This parameter
indicates the number A129...A255 or "0" if no positioning fault is
active.
♦ Until you have optimized the position controller, it may be necessary
to enter more tolerant settings in the following monitoring
parameters:
•
Following error monitoring by increasing MD14/MD15 (affects
A140, A141)
•
"In-position monitoring" by increasing MD16/MD17 (affects
A142)
♦ If necessary, reduce the traversing velocity for the initial
commissioning steps by changing the
velocity override (in the
factory setting with U708 [809.1]).
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