Control functions 7

7.1 Compound controls

Control modes
Nine control modes are available for the SINAMICS V90 servo drive:

Basic control modes Pulse train input position control mode (PTI) 1)
Internal position control mode (IPos)
Speed control mode (S)
Torque control mode (T)
Fast pulse train input position control mode (Fast PTI)
Compound control modes Control change mode: PTI/S
Control change mode: IPos/S
Control change mode: PTI/T
Control change mode: IPos/T
Control change mode: S/T
1) Default control mode

Selecting a control mode

You can select a control mode by directly setting parameter p29003.

Parameter Range Default Unit Description

p29003 0 to 8 0 - Basic control modes:
0: Pulse train input position control mode
1: Internal position control mode
2: Speed control mode
3: Torque control mode
9: Fast pulse train input position control
mode
Compound control modes:
4: Control change mode: PTI/S
5: Control change mode: IPos/S
6: Control change mode: PTI/T
7: Control change mode: IPos/T
8: Control change mode: S/T

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 Control mode change for a compound control mode
For a compound control mode, you can change between two basic control modes by setting
the parameter p29003 and configuring the level sensitive signal C-MODE on DI10.

p29003 C-MODE
0 (the first control mode) 1 (the second control mode)
4 PTI S
5 IPos S
6 PTI T
7 IPos T
8 S T

Refer to Section "DIs (Page 123)" for detailed information about DIs.

Note
Note that if p29003 = 5 and the motor has been working in speed control mode for a certain
period of time; or p29003 = 7 and the motor has been working in torque control mode for a
certain period of time, the fault code F7493 might appear on the drive BOP. This, however,
will not cause the motor to stop. The motor remains operative under this circumstance and
you can clear the fault code manually.

Note
Fault F52904 occurs when the control mode is changed via p29003. You must save the
parameter and then re-power on the servo drive to apply relevant configurations. For more
information about the remedy and acknowledgement of this fault, refer to Section "List of
faults and alarms (Page 387)".

Note
Switching conditions
For the switching from PTI or IPos to S or T, you are recommended to perform control mode
switching after the INP (in position) signal is at high level.
For the switching from S or T to PTI or IPos, you can perform control mode switching only
after the motor speed is lower than 30 rpm.

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 7.2 General functions

7.2.1 Servo ON

Servo ON signal (SON)

Signal Signal name Pin assignment Setting Description

type
DI SON X8-5 (factory set- ON = rising Servo motor circuit is connected (the motor is in "S
ting) edge ON" state). Servo motor is ready to run.
OFF = falling Servo motor circuit is shut off (the motor is in "S OFF"
edge state). Servo motor is not ready to run.

Relevant parameter settings

Parameter Value setting Description

p29301 1 Signal SON (signal number: 1) is assigned to digital input 1 (DI1).
p29300 bit 0 = 1 Set signal SON at a high level forcedly.

Note
Refer to Section "Digital inputs/outputs (DIs/DOs) (Page 122)" for detailed information about
DI parameterization.
Refer to Chapter "Parameters (Page 341)" for detailed information about parameters.

Note
When you set bit 0 of p29300 to 1, the following apply:
After the drive is powered on, it will be set to "S ON" state automatically.
After a fault is acknowledged, the drive will be set to "S ON" state automatically.

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 7.2.2 Motor direction of rotation
With parameter p29001, you can reverse the direction of rotation of the motor without
changing the polarity of pulse train input setpoint and analog input setpoint. The polarity of
output signals like pulse train encoder output (PTO) and analog monitoring remains
unchanged at a reversal of direction.

Parameter Value Description Setpoint

Positive Negative
p29001 0 CW is forward direction Analog monitoring: Analog monitoring:
(factory setting)

PTO: PTO:

1 CCW is forward direction Analog monitoring: Analog monitoring:

PTO: PTO:

Note
After modifying parameter p29001, the reference point will lost. When the drive is working in
IPos control mode, you must perform referencing again.

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 7.2.3 300% overload capacity
SINAMICS V90 servo drives can work with 300% overload capacity for a specific time period.
The following diagrams show in details:

200 V variant servo drive

Without load With load

400 V variant servo drive

Without load With load

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 7.2.4 Over-travel
When the servo motor travels over the distance limit, the limit switch is turned on and then
the servo motor has an quick stop.

Note
The function is unavailable in the Fast PTI control mode.

Travel limit signal (CWL/CCWL)

In S, T, PTI, or IPos control mode, the motor rotates properly after you do as follows:
When F7492 is triggered after the STOP cam plus is reached in a positive traversing
direction, acknowledge the fault using the RESET signal, and then move the axis away
from the STOP cam plus in a negative traversing direction to return it to a position within
the valid traversing range.
When F7491 is triggered after the STOP cam minus is reached in a negative traversing
direction, acknowledge the fault using the RESET signal, and then move the axis away
from the STOP cam minus in a positive traversing direction to return it to a position within
the valid traversing range.

WARNING
Danger to life or malfunctions of the machine due to the motor travelling over the distance
limit
In T control mode, the motor travels over the distance limit if you only acknowledge the fault
without returning the axis to a position within the valid traversing range.
In S control mode, the motor travels over the distance limit if you only acknowledge the fault
without returning the axis to a position within the valid traversing range while signal CWL or
CCWL becomes from a low level (logic 0) to a high level (logic 1).
Acknowledge the fault, and then return the axis to a position within the valid traversing
range to prevent the motor from travelling over the distance limit.

Note
Make sure both signals CWL and CCWL are at a high level when the servo drive is
powered on.
In S control mode, the motor cannot rotate with no fault if you only acknowledge the fault
without returning the axis to a position within the valid traversing range while signal CWL
or CCWL keeps at a low level.
In PTI or IPos control mode, the motor cannot rotate with F7491/F7492 being triggered
again, if you only acknowledge the fault without returning the axis to a position within the
valid traversing range.

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 Signal CWL functions as the clockwise travel limit while signal CCWL functions as the
counter-clockwise travel limit. Both of them are level and edge sensitive signals.

Signal type Signal Pin assign- Setting Description

name ment
DI CWL X8-7 (factory Falling edge The servo motor has travelled to the
setting) clockwise travel limit and has an quick
stop after that.
DI CCWL X8-8 (factory Falling edge The servo motor has travelled to the
setting) counter-clockwise travel limit and has an
quick stop after that.

Relevant parameter settings

Parameter Value setting Description

p29303 3 Signal CWL (signal number: 3) is assigned to DI3.
p29304 4 Signal CCWL (signal number: 4) is assigned to DI4.
p29300 bit 1 = 1 Set signal CWL at a high level or rising edge forcedly.
bit 2 = 1 Set signal CCWL at a high level or rising edge forcedly.

Note
DI parameterization
Refer to Section "Digital inputs/outputs (DIs/DOs) (Page 122)" for detailed information about
DI parameterization.
Refer to Chapter "Parameters (Page 341)" for detailed information about parameters.

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 7.2.5 Stopping method at servo OFF
You can select a stopping method when the drive is in "S OFF" state. The following stopping
methods are available:
Ramp-down (OFF1)
Coast-down (OFF2)
Quick stop (OFF3)

Ramp-down (OFF1) and coast-down (OFF2)

The ramp-down and coast-down can be configured with the digital input signal SON.

SON in PTI, IPos, S or Fast PTI mode

Signal type Signal Pin assign- Setting Description

name ment
DI SON X8-5 (factory Rising edge Power circuit is powered on and the servo
setting) drive is ready to run.
Falling edge Motor ramps down.

SON in T mode

Signal type Signal Pin assign- Setting Description

name ment
DI SON X8-5 (factory Rising edge Power circuit is powered on and the servo
setting) drive is ready to run.
Falling edge Motor coasts down.

Quick stop (OFF3)

The quick stop can be configured with the digital input signal EMGS.

Signal type Signal Pin assign- Setting Description

name ment
DI EMGS X8-13 (fixed) 1 Servo drive is ready to run.
0 Quick stop.

For detailed information about the digital input signals SON and EMGS, refer to Section
"Digital inputs/outputs (DIs/DOs) (Page 122)".

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 7.2.6 Travel to fixed stop
The function can be used to move the motor to a fixed stop at a specified torque without a
fault being signaled. The specified torque is built up and remains applied after the motor
reaches the fixed stop.
The desired torque derating is brought about by scaling the upper torque limit and the lower
torque limit.

Function behavior in PTI/Fast PTI control mode

You can configure the function of travelling to fixed stop by setting the following parameter.
When the fixed stop is reached, the drive sets the digital output torque limit reached (TLR).

Parameter Range Default Unit Description

p29045 0 to 1 0 - 0: Travel to fixed stop is inactive
1: Travel to fixed stop is active.

Signal type Signal name Setting Description

DO TLR 0 The generated torque has not reached any
torque limit.
1 The generated torque has nearly (internal hys-
teresis) reached the value of the positive torque
limit, negative torque limit or analog torque
limit.

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 Example
This example shows the operating procedures when you use the "Travel to fixed stop"
function in PTI control mode.
Prerequisites:
Use a 0.4 kW low inertia motor (rated torque = 1.27 Nm)
Procedures:
1. Set the p29045 = 1 to enable the "Travel to fixed stop" function.
2. Set the required torque limit. The smaller value of the following two torque limits will be
the active one.
Example
Internal torque limit TLM1:
–
– -
Overall torque limit:
–
– p1521 = -150 Nm
Actual torque limit = 300% × 1.27 Nm = 3.81 Nm
3. Servo on the motor and it traverses to the fixed stop.
The motor runs at the set speed until it reaches the stop and continues to work against
the stop until the torque limit has been reached.

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 Function behavior in IPos control mode
When the drive is working In IPos traversing block mode, if a traversing block is processed

limit for the FIXED STOP function. An adjustable monitoring window for travel to fixed stop
prevents the drive from traveling beyond the window if the fixed stop should break away.

Parameter Range Value Description

1 to 2 1 (default) POSITIONING
2 FIXED STOP

From the start position onwards, the target position is approached with the parameterized
speed (p2618). The fixed stop (the workpiece) must be between the start position and the
braking point of the axis; that is, the target position is placed inside the workpiece. The
preset torque limit is effective from the start, i.e. travel to fixed stop also occurs with a
reduced torque. The preset acceleration and deceleration overrides and the current speed
override are also effective. When the fixed stop is reached, the drive sets the digital output
torque limit reached (TLR).

Note
F7452 is disabled when the function of travelling to fixed stop is activated.

Fixed stop is reached

As soon as the axis comes into contact with the mechanical fixed stop, the closed-loop
control in the drive raises the torque so that the axis can move on. The torque increases up
to the value specified in the task and then remains constant. If the actual position following
error exceeds the value set in parameter p2634 (fixed stop: maximum following error), fixed
stop is reached.
Once the "Fixed stop reached" status has been detected, the traversing task "Travel to fixed
stop" is ended.

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 As long as the drive remains in fixed stop, the position setpoint is adjusted to the actual
position value (position setpoint = actual position value). Fixed stop monitoring and controller
enable are active.

Note
If the drive is in fixed stop, it can be referenced using the control signal "Set reference point".

If the axis leaves the position that it had at detection of the fixed stop by more than the
selected monitoring window for the fixed stop p2635, the speed setpoint is set to 0, and fault
F7484 "Fixed stop outside of the monitoring window" is triggered with the reaction OFF3
(quick stop). The monitoring window can be set using the parameter p2635 ("Fixed stop
monitoring window"). It applies to both positive and negative traversing directions and must
be selected such that it will only be triggered if the axis breaks away from the fixed stop.

Fixed stop is not reached

If the brake application point is reached without the "fixed stop reached" status being
detected, then the fault F07485 "Fixed stop is not reached" is output with fault reaction OFF1,
the torque limit is canceled and the drive cancels the traversing block.

Overview of important parameters

Traversing block position

Traversing block velocity
Internal positioning task
p2634 Fixed stop maximum following error
p2635 Fixed stop monitoring window

For more information about the parameters above, see Section "Parameter list (Page 343)".

Example
This example shows the operating procedures when you use the "Travel to fixed stop"
function in IPos control mode.
Prerequisites:
Use a 0.4 kW low inertia motor (rated torque = 1.27 Nm)
Procedures:
1. Set the target position of traversing block 0.

2. Configure the traversing task to be "FIXED STOP".

3. Set the required torque limit. The smaller value of the internal torque limit TLM and the
overall torque limit will be the active one.
4. Set the maximum following error by p2634 and the monitoring window by p2635.

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 5. Perform referencing.
Note:
When the SINAMICS V90 is working in IPos traversing block mode, referencing must be
performed before moving the axis.
6. After the drive performs referencing successfully, trigger traversing block 0 by the DI
signal P-TRG.
7. Observe the drive status to check whether the fixed stop is reached.
Fixed stop is reached:
– If the actual position following error exceeds the value set in parameter p2634, fixed
stop is reached.
Fixed stop is not reached:
– After the fixed stop is reached, if the axis leaves the fixed stop and exceeds the
monitoring window (p2635), the speed setpoint is set to 0, and fault F7484 occurs
– If the brake application point is reached without the "fixed stop reached" status being
detected, then the fault F7485 occurs
8. Once the "Fixed stop reached" status has been detected, the traversing task "Travel to
fixed stop" is ended.

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 7.3 Pulse train input position control (PTI)

7.3.1 Sequence of SON

When the SINAMICS V90 servo drive operates in pulse train input position control mode
(PTI), the pulse train setpoint must be send out after the RDY signal is ok.

Timing diagram

7.3.2 Selecting a setpoint pulse train input channel

As mentioned before, the SINAMICS V90 servo drive supports two channels for the setpoint
pulse train input:
24 V single end pulse train input
High-speed 5 V differential pulse train input (RS485)
You can select one of these two channels by setting the parameter p29014.

Parameter Range Default Unit Description

p29014 0 to 1 1 - 0: High-speed 5 V differential pulse train
input (RS485)
1: 24 V single end pulse train input

The position pulse train inputs come from either of the following two terminal groups.

Group 1 Group 2
Signal name Pin assignment Signal name Pin assignment
PTIA_D+ X8-1 PTIA_24P X8-36
PTIA_D- X8-2 PTIA_24M X8-37
PTIB_D+ X8-26 PTIB_24P X8-38
PTIB_D- X8-27 PTIB_24M X8-39

For more information about wiring, see Section "Control/status interface - X8 (Page 119)"
and "PTIs (Page 132)".

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 7.3.3 Selecting a setpoint pulse train input form
The SINAMICS V90 servo drive supports two kinds of setpoint pulse train input forms:
AB track pulse
Pulse + Direction
For both forms, positive logic and negative logic are supported.

Pulse train input form Positive logic = 0 Negative logic = 1

Forward (CW) Reverse (CCW) Forward (CW) Reverse (CCW)
AB track pulse

Pulse + Direction

You can select one of the setpoint pulse train input forms by setting the parameter p29010.

Parameter Range Default Unit Description

p29010 0 to 3 0 - 0: Pulse + Direction, positive logic
1: AB track, positive logic
2: Pulse + Direction, negative logic
3: AB track, negative logic

Note
After modifying parameter p29010, you must perform referencing again because the
reference point will lost after p29010 changes.

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 7.3.4 In position (INP)
When the deviation between the position setpoint and the actual position is within the preset
in-position range specified in p2544, the signal INP (in position) is output.

Parameter settings

Parameter Value range Setting Unit Description

value
p2544 0 to 40 (default) LU Position window (in-position range)
2147483647
p29332 1 to 13 3 - Digital output 3 assignment

DO configuration

Signal type Signal name Pin assignment Setting Description

DO INP X8-32 (factory 1 Number of droop pulses is in the preset in-position
setting) range (parameter p2544)
0 Droop pulses are beyond the in-position range

7.3.5 Smoothing function

With the smoothing function, the position characteristics curve from the pulse train input
setpoint can be transformed into an S-curve profile with a time constant specified in p2533.

Parameter setting

Parameter Range Default Unit Description

p2533 0 to 1000 0 ms Smoothes the parameter in response to a
sudden position setpoint

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 7.3.6 Electronic gear ratio

Encoder specifications
The encoder specifications are shown as follows:

Type Resolution Output pulses per revolution

A Incremental encoder 2500 ppr 10000
M Absolute encoder 21-bit single-turn 2097152
L Absolute encoder 20-bit + 12-bit multi-turn 1048576

Electronic gear
With the function of electronic gear, you can define the motor revolutions according to the
number of setpoint pulses, and sequentially define the distance of mechanical movement.
The minimum traveling distance of load shaft according to one setpoint pulse is called a
length unit (LU); for example, one pulse results in 1 µm movement.

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 Benefits of electronic gear (example)

Move the workpiece for 10 mm

Without electronic gear With electronic gear

Required number of setpoint pulses: Required number of setpoint pulses:
2500 ppr × 4 × (10 mm/6 mm) = 16666 (10 mm × 1000)/1 LU = 10000

The electronic gear ratio is a multiplier factor to pulse train setpoint. It is realized with a
numerator a

Parameter Range Default Unit Description

1 to 10000 1 - The first numerator of electronic gear
1 to 10000 1 - The second numerator of electronic gear
1 to 10000 1 - The third numerator of electronic gear
1 to 10000 1 - The forth numerator of electronic gear
p29013 1 to 10000 1 - The denominator of electronic gear

These four electronic gear ratios can be selected with the combination of the digital input
signals EGEAR1 and EGEAR2 (refer to Section "DIs (Page 123)").

EGEAR2 : EGEAR1 Electronic gear ratio Ratio value

0:0 Electronic gear ratio 1
0:1 Electronic gear ratio 2
1:0 Electronic gear ratio 3
1:1 Electronic gear ratio 4 p29013

Note
After a gear ratio is switched to another one via digital inputs, you need to wait 10 seconds
and then perform SERVO ON.

Note
The range of electronic gear ratio is from 0.02 to 200.
The electronic gear ratio can be set only at SERVO OFF state. After the setting, you need to
reference the drive again.

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 Calculation formula for the electronic gear ratio

Examples for calculating the electronic gear ratio

Step Description Mechanism

Ball screw Disc table

1 Identify mechanism Pitch of ball screw: 6 mm Rotary angle: 360o

Deduction gear ratio: 1:1 Deduction gear ratio: 1:3
2 Identify the encoder 10000 10000
resolution
3 Define LU 1 LU = 1 1 LU = 0.01o
4 Calculate the travel 6/0.001 = 6000 LU 360o/0.01o = 36000 LU
distance per load shaft
revolution
5 Calculate the electronic (1/6000)/(1/1) × 10000 = 10000/6000 (1/36000)/(1/3) × 10000 = 10000/12000
gear ratio
6 Set parameters 10000/6000 = 5/3 10000/12000 = 5/6
p29012/p29013

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 7.3.7 Inhibiting pulse train input setpoint (P-TRG)

Note
P-TRG in PTI control mode
Note that the function "inhibiting pulse train by P-TRG in PTI control mode" as described in
this section and the rest of the manual is reserved for future use.

The digital input signal P-TRG is the default connection of DI6 in the position control mode.
In the pulse train input position control mode (PTI), P-TRG is level sensitive and can be used
to allow or inhibit positioning operation according to pulse train input setpoint:
0: positioning according to pulse train input setpoint
1: inhibit pulse train input setpoint

Timing diagram

DI configuration
The signal P-TRG is the factory setting of DI6.

Signal type Signal Pin assign- Setting Description

name ment
DI P-TRG X8-10 (factory High level (1) Inhibit pulse train input setpoint
setting) Low level (0) Positioning according to pulse train input
setpoint

Note
Refer to Section "Digital inputs/outputs (DIs/DOs) (Page 122)" for detailed information about
DI parameterization.
The signal P-TRG is active only when the digital input signal SON is in OFF state.
When the signal P-TRG is active in the PTI mode or a compound mode with PTI, the
alarm A7585 occurs.

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 7.3.8 Speed limit
Four sources in total are available for the speed limit. You can select one of them via a
combination of digital input signals SLIM1 and SLIM2.

Digital input Speed limit

SLIM2 SLIM1
0 0 Internal speed limit 1
0 1 External speed limit (analog input 1)
1 0 Internal speed limit 2
1 1 Internal speed limit 3

Note
Control mode
The above four sources are valid in all control modes. You can switch among them when the
servo drive is running.

Note
Fault F7901 occurs when the actual speed exceeds the positive speed limit + hysteresis
speed (p2162) or the negative speed limit - hysteresis speed (p2162). Go to "List of faults
and alarms (Page 387)" for information about the acknowledgment of this fault.

Note
If the drive is working with external speed limit, the system continues to work automatically
after you repower on the 24 VDC power supply which is shut off unexpected for the drive. In
this case, do not touch the equipment.

Refer to "DIs (Page 123)" for more information about the digital input signals SLIM1 and
SLIM2.

Overall speed limit

Besides the above four channels, an overall speed limit is also available for all control modes.
The overall speed limit can be configured by setting the following parameters.

Parameter Range Default Unit Description

p1083 0 to 210000 210000 rpm Overall speed limit (positive)
p1086 -210000 to 0 -210000 rpm Overall speed limit (negative)

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 Internal speed limit
Select an internal speed limit by setting the following parameters.

Parameter Range Default Unit Description Digital input

SLIM2 SLIM1
0 to 210000 210000 rpm Internal speed limit 1 (posi- 0 0
tive)
0 to 210000 210000 rpm Internal speed limit 2 (posi- 1 0
tive)
0 to 210000 210000 rpm Internal speed limit 3 (posi- 1 1
tive)
-210000 to 0 -210000 rpm Internal speed limit 1 (neg- 0 0
ative)
-210000 to 0 -210000 rpm Internal speed limit 2 (neg- 1 0
ative)
-210000 to 0 -210000 rpm Internal speed limit 3 (neg- 1 1
ative)

Note
After the motor is commissioned, p1082, p1083, p1086, p29070 and p29071 set to the
maximum speed of the motor automatically.

External speed limit

Select an external speed limit by setting the following parameters.

Parameter Value range Default Unit Description

p29060 6 to 210000 3000 rpm Scaling for analog speed setpoint (maximum
speed setpoint corresponding to 10 V)
p29061 -0.5000 to 0.0000 V Offset adjustment for analog input 1 (speed
0.5000 setpoint)

7.3.9 Torque limit

Four sources in total are available for the torque limit. You can select one of them via a
combination of digital input signals TLIM1 and TLIM2.

Digital input Torque limit

TLIM2 TLIM1
0 0 Internal torque limit 1
0 1 External torque limit (analog input 2)
1 0 Internal torque limit 2
1 1 Internal torque limit 3

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 When the torque setpoint reaches torque limit, the torque is limited to the value selected by
TLIM1/TLIM2.

Note
Control mode
The above four sources are valid in the PTI mode, the IPos mode and the S mode. You can
switch among them when the servo drive is running.

Note
When the motor torque exceeds the torque limit, fault F52911/F52912 appears. The fault
indicates the motor torque exceeds the torque limitation of the selected group which is
determined by TLM1 and TLM2.

Refer to "DIs (Page 123)" for more information about the digital input signals TLIM1 and
TLIM2.

Overall torque limit

Besides the above four sources, an overall torque limit is also available for all control modes.
The overall torque limit takes effect when an quick stop (OFF3) happens. In this case, the
servo drive brakes with a maximum torque.

Parameter Range Default Unit Description

p1520 -1000000.00 to 0 Nm Overall torque limit (positive)
20000000.00
p1521 -20000000.00 to 0 Nm Overall torque limit (negative)
1000000.00

Internal torque limit

Select an internal torque limit by setting the following parameters.

Parameter Range Default Unit Description Digital input

TLIM2 TLIM1
p29043 -100 to 100 0 % Fixed torque setpoint - -
-150 to 300 300 % Internal torque limit 1 (positive) 0 0
-150 to 300 300 % Internal torque limit 2 (positive) 1 0
-150 to 300 300 % Internal torque limit 3 (positive) 1 1
-300 to 150 -300 % Internal torque limit 1 (negative) 0 0
-300 to 150 -300 % Internal torque limit 2 (negative) 1 0
-300 to 150 -300 % Internal torque limit 3 (negative) 1 1

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 The following diagram shows how the internal torque limit functions.

External torque limit

Parameter Range Default Unit Description Digital input

TLIM2 TLIM1
0 to 300 300 % Analog torque limit scaling 0 1
(value corresponding to 10 V)

input is shown as follows:

In this case, analog input of 5 V corresponds to 50% of rated torque and 10 V corresponds to
100% of rated torque.

Torque limit reached (TLR)

When the generated torque has nearly (internal hysteresis) reached the value of the positive
torque limit, negative torque limit or analog torque limit, the signal TLR is output.

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 7.3.10 Clearing droop pulses (CLR)
The droop pulses can be cleared with the parameter p29242 and the digital input signal CLR.

Selecting a clear mode by setting p29242

You can select a clear mode by setting the parameter p29242.

Parameter Range Default Unit Description

p29242 0 to 2 0 - 0: do not clear droop pulses
1: clear droop pulses with the high level
2: clear droop pulses with the rising edge

Clearing droop pulses with DI signal CLR

You can clear the droop pulses with the DI signal CLR after p29242 is set. The signal CLR is
the factory setting of pin 11 (DI7) on the control/status interface (X8).

p29242 = 0

p29242 = 1

p29242 = 2

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 Note
When you use the CLR high level to clear the pulses (p29242 = 1), the high level need to be
kept for more than 8 ms.
When the signal CLR is active in the PTI mode or a compound mode with PTI, the alarm
A7585 occurs.
If there are overshoot when you use the CLR function, you need to increase the integral time
(p29121).

7.3.11 Referencing (only for absolute encoder)

If an absolute encoder is used, you must adjust the absolute encoder with the BOP menu
function "ABS". For more information about the "ABS" menu function, see Section "Adjusting
an absolute encoder (Page 207)".

7.3.12 PTO function

Function
A pulse train encoder output (PTO) which provides pulse signals can transmit the signals to
the controller to realize a closed-loop control system inside the controller, or transmit them to
another drive as pulse train setpoint for a synchronous axis.

Electronic gear
The electronic gear ratio is a multiplier factor to the PTO to a controller. It is realized with a
numerator and a denominator. One numerator (p29031) and one denominator (p29032) are
used for the PTO electronic gear ratio:

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 Parameter Range Default Unit Description
p29031 1 to 1 - Numerator of output pulse
2147000000
p29032 1 to 1 - Denominator of output pulse
2147000000

Note
When you use the PTO electronic gear function, for the absolute encoder, the electronic
gear is based on the resolution of 8192 ppr.
The range of electronic gear ratio is from 0.02 to 200.
The electronic gear ratio can be set at SERVO OFF state only.

Note
PTO direction
For an application of fully closed-loop position control using PTI and PTO, you can set the
PTO direction with parameter p29033.

Note
When using the PTO function, the drive will output some pulses before the motor servo on if
you executing the following operations.
Default the drive with the BOP instruction.
Configure the motor ID on the drive.

Note
When you use the PTO electronic gear ratio function, zero mark will not be generated.

PTO zero mark

Make the servo motor rotate for more than one revolution before using PTO's zero mark for
referencing.

7.4 Fast pulse train input position control (Fast PTI)

Fast PTI control mode is an optimized PTI control mode. You can achieve a better dynamic
response performance by using it.
The control mode specific functions of Fast PTI control mode are mostly the same as that of
PTI control mode. For detailed function descriptions, you can refer to Section "Pulse train
input position control (PTI) (Page 222)" for reference.

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 7.5 Internal position control (IPos)

7.5.1 Setting mechanical system

By parameterizing the mechanical system, the link between the physical moving part and the
length unit (LU) is established.

The unit of the fixed position setpoint is the Length Unit (LU). All subsequent position
setpoint, related speed value, and acceleration value will maintain the LU as the unit in
internal position control mode.
Taking a ball screw system for example, if the system has a pitch of 10 mm/revolution
(10000 µm/revolution) and the resolution of the length unit is 1 µm (1 LU = 1 µm), one load
revolution corresponds to 10000 LU (p29247 = 10000).

Note
If the value of p29247 increases by N times, the values of p2542, p2544 and p2546 should
increase by N times accordingly. Otherwise, the fault F7450 or F7452 occurs.

Relevant parameters

Parameter Range Default Unit Description

p29247 1 to 10000 - LU per load revolution
2147483647
p29248 1 to 1048576 1 - Load revolutions
p29249 1 to 1048576 1 - Motor revolutions

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 Examples for configuring mechanical system

Step Description Mechanical system

Ball screw Disc table

1 Identify the mechanical Pitch of ball screw: 6 mm Rotary angle: 360o

system
Reduction gear ratio: 1:1 Reduction gear ratio: 3:1
2 Define LU 1 LU = 1 µm 1 LU = 0.01o
3 Calculate the LU per 6/0.001 = 6000 LU 360/0.01 = 36000 LU
load shaft revolution
4 Set param- p29247 6000 36000
eters p29248 1 1
p29249 1 3

7.5.2 Setting fixed position setpoint

Eight position setpoints in total are available. Each position setpoint comes from one group
of position data.

Fixed position setpoint Corresponding parameters

Parameter Description
Fixed position setpoint 1 Fixed position setpoint 1 (P_pos1)
Speed of fixed position setpoint 1 (P_pos_spd1)
p2572 IPos maximum acceleration
p2573 IPos maximum deceleration
Fixed position setpoint 2 Fixed position setpoint 2 (P_pos2)
Speed of fixed position setpoint 2 (P_pos_spd2)
p2572 IPos maximum acceleration
p2573 IPos maximum deceleration
Fixed position setpoint 3 Fixed position setpoint 3 (P_pos3)
Speed of fixed position setpoint 3 (P_pos_spd3)
p2572 IPos maximum acceleration
p2573 IPos maximum deceleration
Fixed position setpoint 4 Fixed position setpoint 4 (P_pos4)
Speed of fixed position setpoint 4 (P_pos_spd4)
p2572 IPos maximum acceleration
p2573 IPos maximum deceleration

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 Fixed position setpoint Corresponding parameters
Parameter Description
Fixed position setpoint 5 Fixed position setpoint 5 (P_pos5)
Speed of fixed position setpoint 5 (P_pos_spd5)
p2572 IPos maximum acceleration
p2573 IPos maximum deceleration
Fixed position setpoint 6 Fixed position setpoint 6 (P_pos6)
Speed of fixed position setpoint 6 (P_pos_spd6)
p2572 IPos maximum acceleration
p2573 IPos maximum deceleration
Fixed position setpoint 7 Fixed position setpoint 7 (P_pos7)
Speed of fixed position setpoint 7 (P_pos_spd7)
p2572 IPos maximum acceleration
p2573 IPos maximum deceleration
Fixed position setpoint 8 Fixed position setpoint 8 (P_pos8)
Speed of fixed position setpoint 8 (P_pos_spd8)
p2572 IPos maximum acceleration
p2573 IPos maximum deceleration

Parameter settings

Parameter Range Default Unit Description

- 0 LU Fixed position setpoint 1 to 8
2147482648
to
2147482647
1 to 600 1000 Speed of fixed position setpoint 1 to 8
40000000 LU/min
p2572 1 to 2000000 Motor de- 1000 IPos maximum acceleration
pendent LU/s²
p2573 1 to 2000000 Motor de- 1000 IPos maximum deceleration
pendent LU/s²

Note
When the motor is working in the IPos control mode, you need to check that whether the
values of the parameters p2542, p2544, p2546, p2573, and p2574 are your desired values.
The values are set automatically by the drive based on the encoder resolution.

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 7.5.3 Selecting a positioning mode - absolute/incremental
In the internal position control mode, you can select between absolute positioning mode and
incremental positioning mode with the parameter p29241.

Parameter Range Default Unit Description

p29241 0 to 3 0 - Absolute or incremental positioning mode:
0: incremental
1: absolute
2: absolute, positive (only for a rotary axis
with modulo correction)
3: absolute, negative (only for a rotary
axis with modulo correction)

NOTICE
Pre-conditions for using the absolute mode
The absolute mode can be used only after:
the axis has been referenced for incremental measuring system. Refer to Section
"Referencing (Page 241)" for detailed information about referencing.
the axis has been adjusted for absolute measuring system. Refer to Section "Adjusting
an absolute encoder (Page 207)" for reference.

Example

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 7.5.4 Configuring the linear/modular axis
You can choose to use a linear axis or a modular axis depending on your actual application.
The linear axis has a restricted traversing range, which is the factory setting of the
SINAMICS V90 servo drive.
The modular axis has an unrestricted traversing range. The value range of the position
repeats itself after a value is specified in p29245. You can use the modular axis by setting
the following parameters additionally.

Parameter Range Default Unit Description

p29245 0 to 1 0 - 0: linear axis
1: modular axis
p29246 1 to 360000 LU Modular range
2147482647

Note
After modifying parameter p29245, you must perform the referencing operation again.

7.5.5 Backlash compensation

Generally, backlash occurs when the mechanical force is transferred between a machine
part and its drive:

If the mechanical system was to be adjusted/designed so that there was absolutely no

backlash, this would result in high wear. Thus, backlash can occur between the machine
component and the encoder. For axes with indirect position sensing, mechanical backlash
results in a false traversing distance because the axis, at direction reversal, travels either too
far or not far enough corresponding to the absolute value of the backlash.

Note
Pre-conditions for backlash compensation
The backlash compensation is active after
the axis has been referenced for incremental measuring system. Refer to Section
"Referencing (Page 241)" for detailed information about referencing.
the axis has been adjusted for absolute measuring system. Refer to Section "Adjusting an
absolute encoder (Page 207)" for reference.

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 In order to compensate the backlash, the determined backlash must be specified in p2583
with correct polarity. At each direction of rotation reversal, the axis actual value is corrected
dependent on the actual traversing direction.
If the axis has been referenced or adjusted, the setting of parameter p2604 (reference point
approach, starting direction) is used to activate the compensation value.

p2604 Traversing direction Activate compensation value

0 Negative Immediately
1 Positive Immediately

Parameter settings

Parameter Range Default Unit Description

p2583 -200000 to 0 LU Backlash compensation
200000
p2604 0 to 1 0 - Set signal source for start direction of
searching cam:
0: start in positive direction
1: start in negative direction

7.5.6 Referencing

Referencing modes
If the servo motor has an incremental encoder, totally five referencing modes are available:
Setting reference point with the digital input signal REF
External reference cam (signal REF) and encoder zero mark
Encoder zero mark only
External reference cam (signal CWL) and encoder zero mark
External reference cam (signal CCWL) and encoder zero mark
If the servo motor has an absolute encoder, the five referencing modes are available. You
can also adjust the absolute encoder (by setting current position as the zero position) with
the BOP function "ABS". Refer to Section "Adjusting an absolute encoder (Page 207)" for
details.

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 You can select one of these referencing modes by setting the parameter p29240.

Parameter Range Default Unit Description

p29240 0 to 4 1 - 0: Setting reference point with the digital
input signal REF
1: External reference cam (signal REF) and
encoder zero mark
2: Encoder zero mark only
3: External reference cam (signal CCWL) and
encoder zero mark
4: External reference cam (signal CWL) and
encoder zero mark

Note
Referencing mode for absolute encoder
If an absolute encoder is connected, the five referencing modes are available. You can
select the different referencing modes with parameter p29240. When p29240 = 1 to 4, the
referencing process can only be implemented before you use the "ABS" function. Once the
"ABS" function is implemented, the four referencing modes are not available any more.

Note
p29240 can be modified only when the drive is in IPos mode.

Setting reference point with the digital input signal REF (p29240=0)

Note
Preconditions for this referencing mode
The servo motor must be in "S ON" state and keep standstill.
The signal REF must be OFF under the following conditions:
– before power-on
– when switching from another referencing mode to this referencing mode
– when switching from another control mode to internal position control mode
The current position is set to zero at a rising edge of the signal REF and the servo drive is
referenced:

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 CAUTION
The referencing point may not be fixed during referencing.
The servo motor must be in "S ON" state so that the referencing point is fixed during
referencing.

External reference cam (signal REF) and encoder zero mark (p29240=1)
The referencing is triggered by signal SREF. After that, the servo motor accelerates to the
speed specified in p2605 to find the reference cam. The direction (CW or CCW) for
searching the reference cam is defined by p2604. When the reference cam is reached

accelerates again to the speed specified in p2608 and the running direction is opposite to the

servo motor reaches the first zero mark, it starts to travel towards the reference point defined
in p2600 with the speed specified in p2611. When the servo motor reaches the reference

referencing finishes successfully.

The whole process is shown in the diagram below:

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 Follow the steps below to perform referencing with this mode:
1. Set relevant parameters.

Parameter Range Default Unit Description

p2599 -2147482648 to 0 LU Sets the position value for the reference
2147482647 point coordinate.
p2600 -2147482648 to 0 LU Reference point offset
2147482647
p2604 0 to 1 0 - Sets signal source for start direction of
searching:
0: start in positive direction
1: start in negative direction
p2605 1 to 40000000 5000 1000 Speed for searching the cam
LU/mi
n
p2606 0 to 2147482647 21474826 LU Maximum distance for searching the cam
47
p2608 1 to 40000000 300 1000 Speed for searching zero mark
LU/mi
n
p2609 0 to 2147482647 20000 LU Maximum distance for searching the zero
mark
p2611 1 to 40000000 300 1000 Speed for searching reference point
LU/mi
n

2. Configure signals SREF and REF.

Refer to Chapter "Digital inputs/outputs (DIs/DOs) (Page 122)" for reference.
3. Trigger SREF to a rising edge to start referencing.

Note
During the referencing, if SREF is OFF, the referencing stops.

4. If the servo motor reaches the reference point, the signal REFOK (if configured) is output.
5. Switch off the signal SREF, and the referencing finishes successfully.

Encoder zero mark only (p29240=2)

In this mode, there is no cam available. The referencing is triggered by signal SREF. After
that, the servo motor accelerates to the speed specified in p2608 and the direction (CW or
CCW) is defined by p2604. When the servo motor reaches the first zero mark, it starts to
travel towards the reference point defined in p2600 with the speed specified by p2611. When
the servo motor reaches the reference point (p2599), the signal REFOK is output. Switch off

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 The whole process is shown in the diagram below:

Follow the steps below to perform referencing with this mode:

1. Set relevant parameters.

Parameter Range Default Unit Description

p2599 -2147482648 to 0 LU Sets the position value for the reference
2147482647 point coordinate.
p2600 -2147482648 to 0 LU Reference point offset
2147482647
p2604 0 to 1 0 - Sets signal source for start direction of
searching:
0: start in positive direction
1: start in negative direction
p2608 1 to 40000000 300 1000 Speed for searching zero mark
LU/mi
n
p2609 0 to 2147482647 20000 LU Maximum distance for searching the zero
mark
p2611 1 to 40000000 300 1000 Speed for searching reference point
LU/mi
n

2. Configure the signal SREF.

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 3. Trigger SREF to a rising edge to start referencing.

Note
During the referencing, if SREF is OFF, the referencing stops.

4. If the servo motor reaches the reference point, the signal REFOK (if configured) is output.
5. Switch off the signal SREF, and the referencing finishes successfully.

External reference cam (signal CCWL) and encoder zero mark (p29240=3)
The referencing is triggered by signal SREF. After that, the servo motor accelerates to the
speed specified in p2605 to find the reference cam. The direction (CCW) for searching the

motor decelerates to standstill with maximum deceleration. After that, the servo motor
accelerates again to the speed specified in p2608 and the running direction (CW) is opposite

servo motor finds the first zero mark, it starts to travel towards the reference point defined in
p2600 with the speed specified in p2611. When the servo motor reaches the reference point

finishes successfully.
The whole process is shown in the diagram below:

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 Note
During the referencing process, the signals CWL and CCWL are unavailable. Once the
process is complete, the signals will act as limits signal again.
For the safety purpose, the maximum distance for searching the cam (p2606) and the
maximum distance for searching the zero mark (p2609) must be set.

Follow the steps below to perform referencing with this mode:

1. Set relevant parameters.

Parameter Range Default Unit Description

p2599 -2147482648 to 0 LU Sets the position value for the reference
2147482647 point coordinate.
p2600 -2147482648 to 0 LU Reference point offset
2147482647
p2604 1) 0 to 1 0 - Sets signal source for start direction of
searching:
0: start in positive direction (CW)
1: start in negative direction (CCW)
p2605 1 to 40000000 5000 1000 Speed for searching the cam
LU/mi
n
p2606 0 to 2147482647 21474826 LU Maximum distance for searching the cam
47
p2608 1 to 40000000 300 1000 Speed for searching zero mark
LU/mi
n
p2609 0 to 2147482647 20000 LU Maximum distance for searching the zero
mark
p2611 1 to 40000000 300 1000 Speed for searching reference point
LU/mi
n
1) When p29240= 3, the direction for searching the reference cam must be CCW, that is
p2604=1.

2. Configure the signal SREF and CCWL.

3. Trigger SREF to a rising edge to start referencing.

Note
During the referencing, if SREF is OFF, the referencing stops.

4. If the servo motor reaches the reference point, the signal REFOK (if configured) is output.
5. Switch off the signal SREF, and the referencing finishes successfully.

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 External reference cam (signal CWL) and encoder zero mark (p29240=4)
The referencing is triggered by signal SREF. After that, the servo motor accelerates to the
speed specified in p2605 to find the reference cam. The direction (CW) for searching the

decelerates to standstill with maximum deceleration. After that, the servo motor accelerates
again to the speed specified in p2608 and the running direction (CCW) is opposite to the

motor finds the first zero mark, it starts to travel towards the reference point defined in p2600
with the speed specified in p2611. When the servo motor reaches the reference point

finishes successfully.
The whole process is shown in the diagram below:

Note
During the referencing process, the signals CWL and CCWL are unavailable. Once the
process is complete, the signals will act as limits signal again.
For the safety purpose, the maximum distance for searching the cam (p2606) and the
maximum distance for searching the zero mark (p2609) must be set.

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 Follow the steps below to perform referencing with this mode:
1. Set relevant parameters.

Parameter Range Default Unit Description

p2599 -2147482648 to 0 LU Sets the position value for the reference
2147482647 point coordinate.
p2600 -2147482648 to 0 LU Reference point offset
2147482647
p2604 1) 0 to 1 0 - Sets signal source for start direction of
searching:
0: start in positive direction
1: start in negative direction
p2605 1 to 40000000 5000 1000 Speed for searching the cam
LU/mi
n
p2606 0 to 2147482647 21474826 LU Maximum distance for searching the cam
47
p2608 1 to 40000000 300 1000 Speed for searching zero mark
LU/mi
n
p2609 0 to 2147482647 20000 LU Maximum distance for searching the zero
mark
p2611 1 to 40000000 300 1000 Speed for searching reference point
LU/mi
n
1) When p29240= 4, the direction for searching the reference cam must be CW, that is p2604=0.

2. Configure the signal SREF and CWL.

3. Trigger SREF to a rising edge to start referencing.

Note
During the referencing, if SREF is OFF, the referencing stops.

4. If the servo motor reaches the reference point, the signal REFOK (if configured) is output.
5. Switch off the signal SREF, and the referencing finishes successfully.

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 7.5.7 Software position limit
The following two software position limits are available in the internal position control mode:
Positive position limit
Negative position limit
The function of software position limit only becomes active after going to reference. When
the actual position reaches one of the above-mentioned software position limits, motor speed
decelerates to 0.

Parameter settings

Parameter Range Default Unit Description

p2580 - - LU Negative software position limit switch
2147482648 2147482648
to
2147482647
p2581 - 2147482648 LU Positive software position limit switch
2147482648
to
2147482647
p2582 0 to 1 0 - Activation of software limit switch:
0: deactivate
1: activate

7.5.8 Speed limit

Refer to "Speed limit (Page 229)" for details.

7.5.9 Torque limit

Refer to "Torque limit (Page 230)" for details.

7.5.10 Selecting a fixed position setpoint and starting positioning

In the IPos mode, two methods are available to select a fixed position setpoint and then start
motor running according to selected fixed position setpoint:
select a fixed position setpoint with the co-settings of signals POS1, POS2 and POS3 and
then use the trigger signal P-TRG to start positioning
use the rising edge of the signal STEPF, STEPB or STEPH
Refer to Chapter "Digital inputs/outputs (DIs/DOs) (Page 122)" for detailed information about
the signals POS1, POS2, POS3, P-TRG, STEPF, STEPB, STEPH.

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 Selecting the target position with the signals POS1, POS2 and POS3, and starting the positioning
with the trigger signal P-TRG
Select one of the eight fixed position setpoints with the co-settings of signals POS1, POS2
and POS3:

Fixed position setpoint Signal

POS3 POS2 POS1
Fixed position setpoint 1 0 0 0
Fixed position setpoint 2 0 0 1
Fixed position setpoint 3 0 1 0
Fixed position setpoint 4 0 1 1
Fixed position setpoint 5 1 0 0
Fixed position setpoint 6 1 0 1
Fixed position setpoint 7 1 1 0
Fixed position setpoint 8 1 1 1

In the fixed position control mode, the signals POS1 and POS2 are default assignments of
DI7 and DI8 while the signal POS3 is not assigned:

Signal type Signal name Pin assignment Description

DI POS1 X8-11 Select a fixed position setpoint.
DI POS2 X8-12
DI POS3 To be assigned

Note
Configuration of POS3
If the POS3 is not assigned to any DI, its status is assumed to be 0, which means only the
following fixed position setpoints can be used:
Fixed position setpoint 1
Fixed position setpoint 2
Fixed position setpoint 3
Fixed position setpoint 4

After selecting a fixed position setpoint, the servo motor can start positioning at a rising edge
of the signal P-TRG.
The digital input signal P-TRG is the default assignment of DI6 in the internal position control
mode:

Signal type Signal Pin assign- Setting Description

name ment
DI P-TRG X8-10 (factory Starts positioning according to selected
setting) fixed position setpoint

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 The timing diagram for starting positioning with the trigger signal P-TRG is shown as follows:

Selecting the target position and starting the positioning with the rising edge of the signal STEPF,
STEPB or STEPH
If the signal STEPF is enabled, the servo motor, at a rising edge of STEPF, traverses to next
fixed position setpoint. For example, if the servo motor currently locates at the fixed position
setpoint 3, the servo motor traverses to the fixed position setpoint 4 at a rising edge of
STEPF.
If the signal STEPB is enabled, the servo motor, at a rising edge of STEPB, traverses to
previous fixed position setpoint.
If the signal STEPH is enabled, the servo motor, at a rising edge of STEPH, traverses to the
fixed position setpoint 1.

Note
The servo drive can respond to the rising edge of the signal STEPF, STEPB or STEPH only
when the servo motor is at a standstill.
If the servo motor is at fixed position 8, a rising edge of STEPF is not responded.
If motor is at fixed position 1, a rising edge of STEPH is responded, but a rising edge of
STEPB is not responded.
During positioning, if the motor stops unexpectedly, the drive assumes that the target
position has been reached; for example, if the motor stops between POS2 and POS3
because of a fault after the signal STEPB (traversing to POS2) is given, the drive assumes
that POS2 has been reached.

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 7.5.11 Position tracking
The position tracking function can be used to realize the following features:
Setting up a virtual multi-turn for a single-turn absolute encoder
Extending the position area
Enabling the load position to be reproduced when using gearboxes
If the position tracking function is enabled, the actual position value can be saved in a power-
off retentive memory when you power off the drive. When you power on the drive again, the
saved position value can be read by the drive.

Virtual multi-turn encoder

For a single-turn absolute encoder with position tracking activated (p29243 = 1), p29244 can
be used to enter a virtual multi-turn resolution. This enables you to generate a virtual multi-
turn encoder value from a single-turn encoder. The actual position value in r2521 is limited to
232 places.
When position tracking is deactivated (p29243 = 0):
Encoder actual position value range = actual single-turn resolution
When position tracking is activated (p29243 = 1):
Encoder actual position value range = actual single-turn resolution × virtual multi-turn
resolution (p29244)

Tolerance window
The tolerance window is preset to a quarter of one encoder revolution. After switching on the
drive, the difference between the saved position and the actual position is determined.
Based on the difference, the following situations apply:
Difference being within the tolerance window:
The position is reproduced based on the actual encoder value.
Difference exceeding the tolerance window:
The fault F7449 (for EPOS control mode) is output.

NOTICE
Multi-turn position loss resulting from the axis movement when the drive is power-off
When the drive is power-off, if the axis moves, the drive does not store the multi-turn
position (when using the virtual multi-turn encoder). The actual position loses.
Make sure that the motor holding brake function is enabled when you use the position
tracking function.

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 Position area extension
After the position tracking function is activated, the position area can be extended.

Example
An absolute encoder that can represent eight encoder revolutions is used here.
If the position tracking function is deactivated (p29243 = 0), the position for +/- 4 encoder
revolutions can be reproduced.
If you activate the position tracking function (p29243 = 1), and set the virtual multi-turn
p29244 = 24, and the gear ratio p29248/p29249 = 1, the position for +/- 12 encoder
revolutions (+/- 12 load revolutions with load gear) can be reproduced.

Mechanical gear configuration

If you are using a mechanical gear between the motor and the load, and using an absolute
encoder to process the position control, an offset occurs (depending on the gear ratio)
between the zero position of the encoder and the load whenever encoder overflow occurs.

Note
If the ratio between the multi-turn resolution and the modulo range (p29246) is not an integer
number, fault F7442 is output.

To make the ratio between the multi-turn resolution and the modulo range an integer number,
observe the following formulas. The ratio v is calculated as follows:
Motor encoder without position tracking (p29243 = 0):
– For multi-turn encoders:
v = (4096 × p29247 × p29248)/(p29249 × p29246)
– For single-turn encoders:
v = (p29247 × p29248)/(p29249 × p29246)
Motor encoder with position tracking (p29243 = 1):
v = (p29244 × 29247)/p29246

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 Example

Gear ratio = p29248 : p29249 = 1 : 3

The absolute encoder can count eight encoder revolutions
Position tracking function is deactivated (p29243 = 0)

For each encoder overflow, there is a load-side offset of 1/3 load revolution, after three
encoder overflows, the motor and load zero position coincide again. The position of the load
can no longer be clearly reproduced after one overflow.
In this case, if you activate the position tracking function (set p29243 = 1), and set the virtual
multi-turn p29244 = 24, the gear ratio is calculated with the encoder actual position value.

Note
Be sure to perform the "ABS" function again after you set p29243 to 1.

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 Overview of important parameters

p29243 Position tracking activate

p29244 Absolute encoder virtual rotary revolutions
p29248 Mechanical gear: Numerator
p29249 Mechanical gear: Denominator
LR position actual value

7.6 Speed control (S)

7.6.1 Configuring speed setpoint

Eight sources in total are available for speed setpoint. You can select one of them with the
combination of digital input signals SPD1, SPD2 and SPD3:

Digital signal Torque limit

SPD3 SPD2 SPD1
0 0 0 External analog speed setpoint (analog input 1)
0 0 1 Fixed speed setpoint 1 (p1001)
0 1 0 Fixed speed setpoint 2 (p1002)
0 1 1 Fixed speed setpoint 3 (p1003)
1 0 0 Fixed speed setpoint 4 (p1004)
1 0 1 Fixed speed setpoint 5 (p1005)
1 1 0 Fixed speed setpoint 6 (p1006)
1 1 1 Fixed speed setpoint 7 (p1007)

Refer to "DIs (Page 123)" for more information about the digital signals SPD1, SPD2 and
SPD3.

7.6.1.1 Speed control with external analog speed setpoint

In the S mode, when the digital input signals SPD1, SPD2 and SPD3 are all at low level (0),
analog voltage from the analog input 1 is used as the speed setpoint.
The analog voltage from the analog input 1 correponds to a parameterized speed value.
Default speed value is rated motor speed. The analog voltage of 10 V corresponds to the
maximum speed setpoint (V_max) and this maximum speed setpoint can be specified by
parameter p29060.

Parameter Range Default Unit Description

p29060 6 to 210000 3000 rpm Maximum analog speed setpoint correspond-
ing to 10 V

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 The relationship between the analog voltage and the speed setpoint is shown as follows:

Note
If the drive is working with external analog speed setpoint, the system continues to work
automatically after you repower on the 24 VDC power supply which is shut off unexpected
for the drive. In this case, do not touch the equipment.

Offset adjustment for analog input 1

Offset exists for the input voltage from the analog input 1. You have two methods to adjust
such offset:
Automatic adjustment with BOP function: refer to "Adjusting AI offsets (Page 205)" for
details.
Manual input of an offset value (p29061)

Parameter Range Default Unit Description

p29061 -0.5000 to 0.0000 V Offset adjustment for analog input 1 (speed
0.5000 setpoint)

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 7.6.1.2 Speed control with fixed speed setpoint

Parameter settings
In the S mode, when at least one of the three digital input signals SPD1, SPD2 and SPD3 is
at high level, one of the following parameter values is used as speed setpoint.

Parameter Range Default Unit Description Digital input

SPD3 SPD2 SPD1
p1001 -210000 to 0 rpm Fixed speed setpoint 1 0 0 1
210000
p1002 -210000 to 0 rpm Fixed speed setpoint 2 0 1 0
210000
p1003 -210000 to 0 rpm Fixed speed setpoint 3 0 1 1
210000
p1004 -210000 to 0 rpm Fixed speed setpoint 4 1 0 0
210000
p1005 -210000 to 0 rpm Fixed speed setpoint 5 1 0 1
210000
p1006 -210000 to 0 rpm Fixed speed setpoint 6 1 1 0
210000
p1007 -210000 to 0 rpm Fixed speed setpoint 7 1 1 1
210000

7.6.2 Direction and stop

Two digital input signals are used to control motor direction and run/stop.
CWE: clockwise enable
CCWE: counter-clockwise enable
The following table shows you in details:

Signal Fixed torque setpoint Analog torque setpoint

CCWE CWE + polarity - polarity 0V
0 0 0 0 0 0
0 1 CW CW CCW 0
1 0 CCW CCW CW 0
1 1 0 0 0 0

Note
In S mode or T mode, when the servo motor is ready to run, signal CWE or CCWE is a must
to start running the motor.
For more information about signals CWE and CCWE, refer to "DIs (Page 123)".

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 7.6.3 Speed limit
Refer to "Speed limit (Page 229)" for details.

7.6.4 Torque limit

Refer to "Torque limit (Page 230)" for details.

7.6.5 Zero speed clamp

The function of zero speed clamp is used to stop motor and lock motor axis when motor
speed setpoint is below a parameterized threshold level (p29075).
This function is available only when the analog input 1 is used as the source of speed
setpoint. The digital input signal ZSCLAMP is used to activate this function. When both
motor speed setpoint and motor actual speed are below the parameterized threshold level
and signal ZSCLAMP is logic "1", the motor is locked. Drive exits from clamping state either
when the motor speed setpoint is above the threshold level or when the signal ZSCLAMP is
logic "0".

Parameter settings

Parameter Range Default Unit Description

p29075 0 to 200 200 rpm Zero speed clamp threshold
p29060 6 to 210000 3000 % Maximum analog speed setpoint correspond-
ing to 10 V

DI configuration

Signal type Signal name Pin assign- Setting Description

ment
DI ZSCLAMP To be as- 1 When the motor speed setpoint is below
signed zero speed clamp threshold, the motor is
locked.
0 No action

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 Note
When p29003=4 and CMODE is "1", the drive is working in speed control mode. In this case
if ZSCLAMP is activated, the drive will switch to PTI control mode and PTI pulse input will
lead motor running under PTI control mode.

Note
For more information about the signal ZSCLAMP, refer to "DIs (Page 123)".

7.6.6 Ramp-function generator

The ramp-function generator is used to limit acceleration in the event of abrupt setpoint
changes and thus helps prevent load surges during drive operation.
The ramp-up time p1120 and ramp-down time p1121 can be used to set acceleration and
deceleration ramps separately. This allows a smoothed transition in the event of setpoint
changes.
The maximum speed p1082 is used as the reference value for calculating the ramp-up and
ramp-down times.
You can see the properties of the ramp-function generator from the diagram below:

S-curve ramp-function generator

You can also use the S-curve ramp-function generator by setting p1115 to 1. The S-curve
ramp-function generator is realized with the following parameters:
the acceleration (p1120) and deceleration (p1121) ramps
the initial (p1130) and final (p1131) rounding-off times

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 You can see the properties of the S-curve ramp-function generator from the diagram below:

Parameter settings

Parameter Range Default Unit Description

p1082 0 to 210000 1500 rpm Maximum motor speed
p1115 0 to 1 0 - Ramp-function generator selection
p1120 0 to 999999 1 s Ramp-function generator ramp-up time
p1121 0 to 999999 1 s Ramp-function generator ramp-down time
p1130 0 to 30 0 s Ramp-function generator initial rounding-off
time
p1131 0 to 30 0 s Ramp-function generator final rounding-off
time

7.7 Torque control (T)

7.7.1 Torque setpoint

Two sources are available for torque setpoint:
External setpoint: analog input 2
Fixed setpoint: p29043
These two resources can be selected with the digital input signal TSET.

Signal Level Source of torque setpoint

TSET 0 (default) Analog torque setpoint (analog input 2)
1 Fixed torque setpoint (p29043)

Refer to "DIs (Page 123)" for detailed information about the signal TSET.

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 7.7.1.1 Torque control with external analog torque setpoint
In the T mode, when the digital input signal TSET is at low level, analog voltage from the
analog input 2 is used as the torque setpoint.
The analog voltage from the analog input 2 corresponds to a parameterized torque value
V corresponds to rated
V corresponds to 50% of the rated
torque.

Parameter Range Default Unit Description

p29 0 to 100 100 % Scaling for analog torque setpoint (corre-
sponding to 10 V)

Note
The value of analog input 2 can be monitored through parameter p29351.

Offset adjustment for analog input 2

Offset exists for the input voltage from the analog input 2. The motor can run at a very low
speed even the current input voltage is 0 V. You have 2 methods to adjust such offset:
Automatic adjustment with BOP function: refer to "Adjusting AI offsets (Page 205)" for
details.
Manual input of an offset value (p29042)

Parameter Range Default Unit Description

p29042 - 0.50 to 0 V Offset adjustment for analog input 2 (torque set-
0.50 point)

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 7.7.1.2 Torque control with fixed torque setpoint

Parameter settings

Parameter Range Default Unit Description

p29043 -100 to 100 0 % Fixed torque setpoint

7.7.2 Direction and stop

Two digital input signals are used to control motor direction and run/stop:
CWE: clockwise enable
CCWE: counter-clockwise enable
The following table shows you in details:

Signal Fixed torque setpoint Analog torque setpoint

CCWE CWE + polarity - polarity 0V
0 0 0 0 0 0
0 1 CW CW CCW 0
1 0 CCW CCW CW 0
1 1 0 0 0 0

Note
In S mode or T mode, when the servo motor is ready to run, signal CWE or CCWE is a must
to start running the motor.
For more information about the signals CWE and CCWE, refer to "DIs (Page 123)".

7.7.3 Speed limit

Refer to "Speed limit (Page 229)" for details.

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