Siemens SINAMICS G120 - Table of Contents

Table of contents
Changes in the current edition.............................................................................................................. 3
1 Fundamental safety instructions........................................................................................................... 7
1.1 General safety instructions................................................................................................... 7
1.2 Warranty and liability for application examples ..................................................................... 8
1.3 Security information ............................................................................................................ 9
2 Introduction......................................................................................................................................... 11
3 Basic positioner and position control .................................................................................................. 13
4 Permissible encoder combinations...................................................................................................... 15
5 PROFIdrive interface ............................................................................................................................ 19
5.1 Control and status word 1 .................................................................................................. 21
5.2 Control and status word 2 .................................................................................................. 23
5.3 Control and status word for the positioner.......................................................................... 24
5.4 Control and status word 1 for the positioner....................................................................... 26
5.5 Control and status word 2 for the positioner....................................................................... 28
5.6 Control word block selection .............................................................................................. 30
5.7 Control word MDI mode..................................................................................................... 31
5.8 Status word messages........................................................................................................ 32
5.9 Function block FB283......................................................................................................... 33
6 Commissioning .................................................................................................................................... 35
6.1 Commissioning sequence................................................................................................... 35
6.2 Normalizing the encoder signal.......................................................................................... 37
6.2.1 De󹪝ne the resolution.......................................................................................................... 37
6.2.2 Modulo range setting......................................................................................................... 38
6.2.3 Checking the actual position value ..................................................................................... 40
6.2.4 Setting the backlash........................................................................................................... 41
6.3 Limiting the positioning range ........................................................................................... 43
6.3.1 Setting limits ..................................................................................................................... 43
6.3.2 Traversing beyond a STOP cam ........................................................................................... 45
6.4 Setting the position controller............................................................................................ 47
6.4.1 Precontrol and gain............................................................................................................ 47
6.4.2 Optimizing the position controller ...................................................................................... 48
6.4.3 Limiting the traversing pro󹪝le............................................................................................. 50
6.5 Setting the monitoring functions........................................................................................ 52
6.5.1 Standstill and positioning monitoring................................................................................. 52
6.5.2 Following error monitoring ................................................................................................ 54
Basic positioner
Function Manual, 09/2020, FW V4.7 SP13, A5E34257659B AG 5