Drive functions
7.1 Servo control
Function Manual
Function Manual, 01/2011, 6SL3097-4AB10-0BP3
181
7.1.19 Pulse/direction interface
Thanks to the pulse/direction interface, SINAMICS S110 can be used for simple positioning
tasks on a controller. The controller is connected to SINAMICS S110 via the encoder
interface (connector X23) of the CU305. The controller uses the following methods to give
setpoints to the drive via interface X23:
● Pulse/direction signals
or
● Incremental encoder emulation via A and B track
Application 1: Position-controlled drive
Control
Servo
drive
Servo
motor
Actual position
Set position
Direction
AB
s
p
Figure 7-27 "Position-controlled drive" application
The controller specifies position setpoints via the pulse/direction interface. The position
control in the drive executes all the pulses received since the enable. If the discrepancy
between the setpoint and actual positions is too great, the drive generates a fault (F07452
"LR: Following error too great").
You must then acknowledge the following error and use the "position reset" signal (see
"Control signals" table) to reset the setpoint/actual value. You should also use the "position
reset" signal in the following cases:
● Endlessly rotating axes
With endlessly rotating axes, briefly set and then cancel the "position reset" signal after
any traversing task completed by the controller. This will ensure the maximum range (32
bits) is not exceeded.
● Absolute encoder
With absolute encoders, you need to set the "position reset" signal at the outset in order
to reset the actual value and thereby enable the axis to move.
Application 2: Speed-controlled drive
The drive is subject to speed control when operating on the controller. The clock frequency
determines the speed setpoint (for details on how this is calculated, refer to the
"Commissioning the pulse/direction interface" chapter).
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