Technical data

Drive functions
7.1 Servo control
Function Manual
162 Function Manual, 06/2012, 6SL3097-4AB10-0BP4
● For motors without iron, the pole position cannot be identified using the saturation-based
technique.
● With 1FK7 motors, two-stage procedures must not be used (p1980 = 4). The value in
p0329, which is set automatically, must not be reduced.
For the motion-based technique, the following supplementary conditions apply:
● The motor must be free to move and it may not be subject to external forces (no
hanging/suspended axes)
● It can only be used for a speed setpoint = 0 or from standstill.
● If there is a motor brake, then this must be open (p1215 = 2).
● The specified current magnitude (p1993) must move the motor by a sufficient amount.
WARNING
Before using the pole position identification routine, the control sense of the speed
control loop must be corrected (p0410.0).
For rotating motors, in encoderless operation with a small positive speed setpoint (e.g.
10 RPM), the speed actual value (r0061) and the speed setpoint (r1438) must have the
same sign.
Pole position determination with zero marks
The pole position identification routine provides coarse synchronization. If zero marks exist,
the pole position can be automatically compared with the zero mark position once the zero
mark(s) have been passed (fine synchronization). The zero mark position must be either
mechanically or electrically (p0431) calibrated. If the encoder system permits this, then we
recommend fine synchronization (p0404.15 = 1). This is because it avoids measurement
spread and allows the determined pole position to be additionally checked.
Suitable zero marks are:
● One zero mark in the complete traversing range
● Equidistant zero marks whose relevant position to the commutation are identical
● Distance-coded zero marks