Siemens SINAMICS S110 - Fig. 2-116 4010 - Position actual value preprocessing (r0108.3 = 1)

Position control
Function diagrams
2-881
© Siemens AG 2012 All Rights Reserved SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
Fig. 2-116 4010 – Position actual value preprocessing (r0108.3 = 1)
- 4010 -
Function diagram
87654321
fp_4010_98_eng.vsd
DO: SERVO
SINAMICS S110
09.11.09 V04.04.00
Position control - Position actual value preprocessing (r0108.3 = 1)
1000.00 μs
Position offset
(0/2667)
p2516[0...1]
+
+
s_act set setVal
(0)
p2515[0...1]
+
Act val_prep corr
(0/2685)
p2513[0...1]
Mot/load motor rev
-1048576...1048576
p2505[D] (1)
Mot/load motor rev
1...1048576
p2504[D] (1)
Encoder 1
LU
Inkr
LU per load rev
1...2147483647
p2506[D] (10000)
p0404.0
r0483[0]
Enc Gn_XIST2
r0482[0]
Enc Gn_XIST1
LU per 10 mm
1...2147483647
p2503[D] (10000)
r2521[0]
s_act
r2522[0]
v_act
r2523[0]
Measured value
r2524
LU/revolution
p2525[E]
Enc_adj offset
Pos act val valid
r2526.0
Referencing active
r2526.1
Meas val valid
r2526.2
0 = Rotary encoder
1 = Linear encoder
Abs_enc_adj stat
0...1
p2507[E] (1)
<1>
<2>
<2>
<2>
<2>
<2>
s_act
r2520[0]
ActVal_prep STW encoder 1
r0481[0]
Enc Gn_ZSW
[3612.1]
[3612.1]
[3635.1][4015.1]
[4015.1]
[3612.1]
[3635.4]
[4015.1]
[4704.3]
[4720]
0 = Measuring probe 1
1 = Measuring probe 2
0 = Rising edge
1 = Falling edge
Enc grid div
0...250000000 [nm]
p0407[E] (16000)
Rot enc pulse No.
0...16777215
p0408[E] (2048)
1 0 1 0
Enc fine Gx_XIST1
2...18
p0418[0...n] (11)
[3646.7]
[3646.7]
[3635.7][3646.7]
[3635.7]
Position difference betw.
2 sampling times
+
+
1
0
0
X
n
Y
n
= Y
n - 1
± X
n
[4704.8]
[4704.8]
r2521[1]
s_act
r2522[1]
v_act
Enc fine Gx_XIST2
2...18
p0419[0...n] (9)
r2723[D]
Load grbx abs_val
[4704.8]
<4>
<4>
<4>
<4>
<4>
<4> <4>
<4>
<4>
(0/r2684.7)
ActVal_prepCorrAct
p2512[0...1]
(0)
s_act setting act
p2514[0...1]
(0)
MT_eval edge
p2511[0...1]
(0)
MT_eval select
p2510[0...1]
(0/2684.1)
MT_eval act
p2509[0...1]
(0/2684.0)
Ref_mark act
p2508[0...1]
<4>
<4>
<4>
<4>
Position tracking
load gearbox for
absolute encoder
[4704.4]
<5>
<5>
<5>
Direct MT 2
p2517[0]
Direct MT 1
p2517[0]
r2523[1]
Measured value
<4>
<6>
Encoder assignment
p2502[D] (1)
<3>
<4>
[4730.5]
Y
n
+
1
0
–
(0)
ActVal_prepCorrAct
p2730[0...1]
<2>
<4>
0
<2> When the "basic positioner" function module (r0108.4 = 1) is active, these binector/connector inputs
are supplied by default with values from this module. The second value specifies this assignment.
<3> p2502 = 0: Position actual value preprocessing is not assigned to any encoder.
<4> [0] for position control; [1] for encoder 1.
<1> The parameter is only relevant for absolute
encoders. p2598/p2599 is used to perform
the adjustment. The position is entered via
p2598/p2599 [3612].
<5> Index [0]
encoder 1.
NOTE: SINAMICS S110 supports only one encoder. This encoder must be parameterized as encoder 1.
Position controller: A07454, A07495, F07453, F07493, F07494
Encoder 1: A07587, A07596, A07581, A07593, A07590
<6> Encoder 1 = r2527.0 - 2