Function modules
8.8 Basic positioner
Drive functions
542 Function Manual, 11/2017, 6SL3097-4AB00-0BP5
Overview of important parameters (see SINAMICS S120/S150 List Manual)
p1528[0...n]
CI: Torque limit, upper/motoring, scaling
p1529[0...n]
CI: Torque limit, lower/regenerative scaling
p1545[0...n]
BI: Activate travel to fixed stop
r2526.0...9
p2622[0...n]
EPOS traversing block, task parameter
p2634[0...n]
EPOS fixed stop maximum permissible following error
p2635
EPOS fixed stop monitoring window
p2637
BI: EPOS fixed stop reached
p2638
BI: EPOS fixed stop outside monitoring window
r2683.0...14
CO/BO: EPOS status word 1
r2686[0...1]
CO: EPOS torque limit effective
r2686[0...1]
CO: EPOS force limiting active (for linear motors)
Direct setpoint input (MDI)
The "direct setpoint specification" function allows for positioning (absolute, relative) and
setup (endless position-controlled) by means of direct setpoint specification (e.g. via the PLC
using process data).
During traversing, the motion parameters can also be influenced (on-the-fly setpoint
acceptance) and an on-the-fly change can be undertaken between the Setup and Positioning
modes. The "direct setpoint specification" mode (MDI) can also be used if the axis is not
referenced in the "setup" or "relative positioning" modes, which means that "flying
referencing" (see the separate section), flying synchronization, and post-referencing are
possible.
The "direct setpoint specification" function is activated by p2647 = 1. A distinction is made
between two modes: "positioning" mode (p2653 = 0) and "setup" mode (p2653 = 1).
In "positioning" mode, the parameters (position, velocity, acceleration and deceleration) can
be used to carry out absolute (p2648 = 1) or relative (p2648 = 0) positioning with the
parameter p2690.
In the "setup" mode, using parameters (velocity, acceleration and deceleration) endless
closed-loop position control behavior can be carried out.
It is possible to make a flying changeover between the two modes.
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