Siemens SINUMERIK 840D sl Function Manual

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Replacing a motor with incremental encoderThe same conditions apply as when replacing a motor with absolute encoder.To calibrate the encoder, the reference point approach is set up, e.g. using reference pointcams. This means that after the zero mark has been passed when leaving the cam, thereference point is approached according to the offsets in MD34080 $MA_REFP_MOVE_DISTand MD34090 $MA_REFP_MOVE_DIST_CORR - and the value of the reference point is setin MD34100 REFP_SET_POS. After referencing, Alarm messages 27000/C01797 "axis notsafely referenced" disappear and the functions "safe limit positions" and "Safe Cams" aresafely active.The important factor when replacing a motor (also without Safety Integrated) is that a definedposition reference can be established with respect to the mechanical parts of the machine. Forexample, by mounting and removing the motor at a defined mechanical position orappropriately re-calibrating the system after the motor has been replaced. At this instant intime, Alarms 27000/C01797 still do not disappear; they only disappear after the useragreement has been set.After the old motor has been removed and the new motor installed, the following procedure isrecommended:Re-calibration procedure1. Boot the control or initiate an NCK reset2. If the JOG/REF machine mode is active on the HMI, the "user agreement" softkey must bepressed and the user agreement for the axis involved is withdrawn to avoid Alarm 27001axis fault in a monitoring channel, code 1003, values: NCK x, drive y3. After the system has booted, the JOG/REF mode is selected and the feed enable for theaxis is issued. Carry out a reference point approach for the axis involved.4. After the reference point has been re-calibrated, the reference point approach must be re-initiated. The axis changes over into the "referenced" state. At this time, the reference pointvalue is taken over as the safe actual value for the axis and drive.5. Finally, with the JOG/REF machine mode active, on the HMI the "user agreement" softkeymust be pressed and the user agreement for the axis involved must be reset. Alarms 27000/C01797 disappear and the functions "safe limit positions" and "Safe Cams" are safely activeagain.Commissioning10.7 Replacing a motor or encoderSafety Integrated560 Function Manual, 12/2017, 6FC5397-4BP40-6BA1