Plc: CPU 1510SP-1 PN: 6ES7 510-1DJ01-0AB0 
Servo: SINAMICS S110 CU310 PN: 6SL3 040-0LA01-0AA0  

This will be a motion control application. 

I expect an exemplary program regarding this.  

Additionally, the servo motor will be used in two ways.  

1. In manual operation, it will count with its own encoder. 
 
2. It will count with external encoder in automatic operation.  
 
Here I will explain how to connect the external encoder and manage it programmatically.   

The external encoder will not rotate while working with its own encoder.

Technology Team

Hello,

I am not sure if I got your question but you need to add the second encoder to the drive object (to the MoMo). Then the encoder by default is connected to the CU via DRIVE-CLiQ. You can also delete this connection and connect it to the MoMo but this doesn't make a difference for the software. The second encoder is assigned to your axis, independent on where it is linked to (CU or MoMo).

If for your position control the encoder 2 is selected (p2502) then the homing is done with the second encoder. In the end it just means that the actual position is evaluated from the signals of encoder 2. And a homing is manipulating the actual position evaluation.

If I didn't understand the question correct, please let me know.

------------------------------------------------------------------------------------------
Split from S120 CU320-2 With 2 encoders how to?.

Closed cause question posted twice.

The second thread with the subject Motion control application for a motor that drives the pipe is published within the conference SIMATIC Technology.

Best regards,
Jen_Moderator
​