Basic functions
7.21 Parking axis and parking encoder
Drive functions
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
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Parking axis and parking encoder
The "parking" function is used in two ways:
● "Parking axis"
– Monitoring of all encoders and Motor Modules assigned to the "Motor control"
application of a drive are suppressed.
– All encoders assigned to the "Motor control" application of a drive are prepared for the
"removed" state.
– The Motor Module assigned to the "Motor control" application of a drive is prepared for
the "removed Motor Module" state.
● "Parking encoder"
– Monitoring of a certain encoder is suppressed.
– The encoder is prepared for the "removed" state.
When an axis is parked, the power unit and all the encoders assigned to the "motor control"
are switched to inactive (r0146[n] = 0).
● Control is carried out via the control/status words of the cyclic telegram (STW2.7 and
ZSW2.7) or using parameters p0897 and r0896.0.
● The drive must be brought to a standstill by the higher-level controller (disable pulses,
e.g. via STW1.0/OFF1).
● DRIVE-CLiQ communication to downstream components via the deactivated power unit
(r0126 = 0) remains active.
● A measuring system that is not assigned to the "motor control" (e.g. direct measuring
system) remains active (r0146[n] = 1).
● The drive object remains active (r0106 = 1).
Note
Once the "Parking axis" / "Parking encoder" status has been canceled, you may have to
carry out the following actions:
If the motor encoder has been replaced: determine the commutation angle offset (p1990).
A new encoder must be referenced again (e.g. to determine the machine zero point).
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