Function modules
8.7 Position control
Drive functions
492 Function Manual, 11/2017, 6SL3097-4AB00-0BP5
The measuring probe evaluation can be enabled for the encoder evaluation x, which is not
assigned to position control, via p2509[x]. The signal sources are assigned via p2510[0...3],
the edge evaluation is set via p2511[0...3]. The measured value is available in r2523[x] if, in
the status word for encoder x (encoder 0: r2526.0..9, encoder1: 2627.0..2, encoder2:
r2628.0..2, encoder3: r2529.0..2) the "Measurement value valid" bit is set.
The actual position values of the different encoders can be read out using parameter
r2521[0...3]. These actual position values can be corrected with a signed value from
p2513[0...3] after a 0/1 signal from the signal source in p2512[0...3].
In addition, the actual velocity value (r2522[0...3]) and the position offset for absolute
encoders p2525[0...3] can be processed for each encoder by the higher-level controller.
● Encoder assignment (p2502[D])
● Absolute encoder adjustment (p2507[E])
● Activate measuring probe evaluation (p2509[0...3])
● Measuring probe evaluation selection (p2510[0..3])
● Measuring probe edge (p2511[0..3])
● Activate actual position value processing, correction value (p2512[0...3])
● Actual position value processing, correction value (p2513[0...3])
● Position offset (p2516[0...3])
● Actual position value (r2521[0...3])
● Actual velocity value (r2522[0...3])
● Measuring probe evaluation/Reference mark search (p2523[0..3])
● Encoder adjustment, offset (p2525[E])
● Status word position controller (r2526)
● Status word encoder1 (r2527)
● Status word encoder2 (r2528)
● Status word encoder3 (r2529)
● EPOS reference point coordinate, signal source (p2598[0...3])
● Function diagram 4010 Position control - Actual position value processing
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