Siemens SINAMICS S Manuel page 1108

Enable 1
p2549
(0899.2)
Enable 2 &
p2550
<1> (0/1)
LU/rev LU/mm
p2555
[4010.8] (2524)
Position setpoint filter T
0.00...1000.00 [ms]
p2533[D] (0.00)
s_set
<1> p2530 [4020.1]
(0/2665)
x,y x
y
[-/3635.7]
x
v_set
p2531
t
(0/2666)
<1>
[-/3635.7]
p2513 p2512
<2>
+
–
s_act
[4020.1]
p2532
[4025.1]
[4010.8] (2521)
<1> When the function module "basic positioner" (r0108.4 =1) is active, these binector/connector inputs are supplied as standard from these. The second value specifies this assignment.
<2> For p2534 > 0 % the following applies: In addition, a deadtime of two position controller clock cycles is effective.
<3> For p2534 = 0 % the following applies: The pre-control symmetrization is not effective.
1 2
DO: SERVO, VECTOR
Position control – Position controller (r0108.3 = 1)
d
dt
Adaptation
p2537
s_set after interp
r2556
y
Pre-control
symmetrization
Simulation of the build-up of the pre-
t
control speed
n_pre-ctrl filter PT1
0.00...100.00 [ms]
Following error act
p2536[D] (0.00)
r2565
<2>
n_pre-ctrl filt t_dead
0.00...2.00
p2535[D] (0.00)
LR_output limit
0.000...210000.000 [RPM]
p2540[D] (210000.000)
3 4
n_pre-ctrl factor
0.00...200.00 [%]
p2534[D] (100.00)
Kp
0.000...300.000 [1000/min]
p2538[D] (1.000)
(1)
P
LR_output P-comp
r2558
<3>
[4025.1]
Tn
+
– LR_output I-comp
r2559
Sampling time
position controller
p0115[4]
Tn
0.00...100000.00 [ms]
p2539[D] (0.00)
LR_input sys dev
r2557
LR_output limit S_src
p2541
p2540 (2540)
5 6
fp_4015_01_eng.vsd
20.02.06 V02.04.00
p0115[4]
n_pre-ctrl value
r2561
M_pre-ctrl value
d
dt r2564
+
n_set total
r2562
+
-1
n_setp
r2560
1 = Position controller output limited
r2526.6
1 = Position control active
r2526.3 [3635.1]
7 8
Function diagram
- 4015 -
SINAMICS S