Drive functions
7.3 Function modules
Function Manual
226 Function Manual, 01/2011, 6SL3097-4AB10-0BP3
Commissioning position tracking load gear using STARTER
The position tracking function can be configured in the "Mechanical system" screen for
"Position control" in STARTER.
The "Mechanical system" screen for "Position control" is not made accessible unless the
function module "Basic positioner" is activated (r0108.4 = 1) which means that the function
module "Position control" (r0108.3 = 1) is automatically activated as well.
The "Basic positioner" function module can be activated via the commissioning wizard or the
drive configuration (configure DDS) (configuration "Closed-loop control structure" - checkbox
"Basic positioner").
Configuring the position tracking load gear function
The "Position tracking load gear" function can be configured in the following STARTER
screens:
1. In the "Mechanical system configuration" screen in the commissioning wizard.
2. In the project navigator under Drive → "Technology" → "Position control" in the
"Mechanical system" screen.
Function diagrams (see SINAMICS S110 List Manual)
● 4010 Position actual value conditioning
● 4704 Position and temperature sensing, encoders 1...2
● 4710 Actual speed value and rotor pos. meas., motor enc. (encoder 1)
Overview of important parameters (see SINAMICS S110 List Manual)
● p2502[0...n] LR encoder assignment
● p2503[0...n] LR length unit LU per 10 mm
● p2504[0...n] LR motor/load motor revolutions
● p2505[0...n] LR motor/load load revolutions
● p2506[0...n] LR length unit LU per load revolution
● r2520[0...n] CO: LR position actual value conditioning encoder control word
● r2521[0...n] CO: LR actual position value
● r2522[0...n] CO: LR actual velocity value
● r2523[0...n] CO: LR measured value
● r2524[0...n] CO: LR LU/revolutions
● r2525[0...n] CO: LR encoder adjustment offset
● r2526[0...n] CO/BO: LR status word
● p2720[0...n] Load gear configuration
● p2721[0...n] Load gear absolute encoder rotary revolutions virtual
● p2722[0...n] Load gear position tracking tolerance window
● r2723[0...n] CO: Load gea absolute value
● r2724[0...n] CO: Load gear position difference
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