Siemens SINAMICS S120 Manual De Listas página 2379

1 = Encoderless oper. speed actual value starting value
From speed control config
p1400.11
[5490.7]
n_prectrSym t_dead
p1428[D]
t_sample int ctrl
p0115[1]
n_prectr sym T
p1429[D]
n_limit pos eff
[3050.8]
r1084
[3095.7]
Speed setpoint limited
r1407.11
[7012.8]
[2522.3]
–
n_set after filter
r0062
+
[7012.1]
n_limit neg eff
[3050.8]
r1087
[3095.7]
Mot M_inertia
0.000 00...100 000.000 00 [kgm²]
p0341[M] (0.000 00)
Load mom of inertia
p1498
Mom of inert total
r1493
+
+
Mom of inert scal
Mot MomInert Ratio
p1497[C]
1.000...10 000.000
p0342[M] (1.000)
<1> For p1462 = 0 the I component is disabled (Integral time =
<2> This parameter is set to 0 when pulses are canceled.
<3> For torque control, the I component is set to the value of r1515 (total supplementary torque).
<4> The integrator of the speed controller is re-parameterized to become a PT1 filter through a feedback element (p1494).
<5> Adjustment instructions: Correctly set p0341, p0342 and p1498 and set p1517 to 0.00 ms to achieve dynamic pre-control.
1 2
DO: SERVO
Servo control - Speed controller, M/n pre-control with encoder (p1402.4 = 1)
n_act smooth
r0063
[4710.7]
p3702 p3702
APC n_load smth
r3771.0
Pre-control
balancing [4711.8]
r0108.7 =1
0
&
p3700.8 =1
Balanced speed setpoint
Speed active filter
fn_d
p1447[D] p1448[D]
|y|
x
x D
Acceleration
model
fn
<3> PT2 low pass
fn_n D_n
p1450[D]
p1449[D]
|y|
x
Total moment
of inertia
2nd Order Filter
<5>
fn_d D_d
1447[D] p1448[D]
M_accel unsmoothed
(1)
r1518[0]
).
3 4
+
1
Tn_n_adapt
–
From Kp-/Tn-adaption
[5050.7] Kp_n_adapt
n_ctrl n_set
r1438
+
n_ctrl sys dev
[2701.1], [2704.1],
r0064
+
[5300.1], [5620.5],
[8011.2]
n_ctrl sys dev Tn
1
r1454
n_prectrl_2
n_ctr integ_fdbk T
[5020.8]
+
p1494
+
<4>
r3771.1
p1413.1
T
D_d
+
0
–
1
y
n_act smooth
r1445
f
n_ctrl integ stop
p1476[C]
(0)
p1446[D]
n_ctrl integ set
p1477[C]
1
(0)
y
n_ctr integ_setVal
2
p1478[C]
f
(0)
Speed controller
M_accel T_smooth
0.00...100.00 [ms] Torque limit reached
p1517[D] (4.00)
[2522.7] r1407.7
Limit Vq
[2530.7] r1408.5
Smoothing
5
fp_5042_01_eng.vsd
11.02.16 V05.02.03
n_ctrl Kp n lower n_ctrl Tn n lower
p1460[D] (0.300) p1462[D] (20.00)
<1>
Tn_n_basic
1 0 1 0
Kp/Tn adapt act
p1400.5
n_ctrl Kp eff
r1468
n_ctrl Kp adapt %
r1484
n_ctrl Tn eff
r1469
n_ctrl P-M_output
Kp Tn
F
r1481
<2>
n_ctrl PI-M_output
(M_set_4)
r1480
<2>
n_ctrl I-M_output
r1482
<2> <3>
Integrator control
from sequence control S4: Operation
M_accel smoothed
r1518[1]
6 7
Function diagram
SINAMICS S120
p0115[1] (125.00 µs)
To the Kp-/Tn
adaption
[5050.2]
To torque
setpoint input
[5060.2]
Servo control enable
I component frozen
r1407.5 [2522.3]
I component set
r1407.6 [2522.3]
[5060.2]
8
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