Siemens SINAMICS S Manuel page 1123

1 = Kp/Tn adaptation
from the speed control configuration
p1400.5
[5490.7]
n_ctrl n_set
[5030.8] r1438
r0108.7 =1
&
p3700.8 =1
[4711.7] r3771
1
n_act smooth
0
[4710.6] r0063
n_set for I component
[5030.8]
Enable speed controller from sequence control S4: Operation
[2610.4]
n_ctrl integ stop
p1476[C]
<1> For p1462 = 0.0, the I component is disabled (integral action time =
<2> For torque control, the I component is set to the value of r1515 (supplementary torque).
<3> This parameter is set to 0 when the pulses are cancelled.
<4> The integrator of the speed controller is re-parameterized to become a PT1 filter through a feedback element (p1494).
1 2
DO: SERVO
Servo speed control with encoder - speed controller
From Kp/Tn adaptation
[5050.7]
n_diff
r0064
+
–
n_ctrl Ctrl_diff Tn
r1454
–
+
(0)
n_ctrl integ set
p1477[C]
(0)
n_ctrl integ_set val
p1478[C]
).
3 4
n_ctrl Kp n lower
0.000...999 999.000 Nms/rad
p1460[D] (0.300)
Tn_n_adapt
Kp_n_adapt
1 0
Kp
<4> +
n_ctrl integr_fdbk
p1494
+
T Tn
Kp
F
Set
Hold Set Val
Speed
controller
Uq at the limit of the ZSW current control
Integrator
control
(0)
5 6
fp_5040_01_eng.vsd
02.03.06 V02.04.00
n_ctrl Tn n lower
p0115[1] (125.00 µs)
0.00...100 000.00 ms
p1462[D] (20.00)
<1>
Kp_n_basic
To Kp/Tn adaptation [5050.2]
Tn_n_basic
1 0
n_ctrl Kp eff
r1468
n_ctrl P-M_output
r1481
<3>
n_ctrl Tn effective
r1469
n_ctrl PI-M_output
(M_set_1)
r1480
<3>
n_ctrl I-M_output
r1482
<2> <3>
r1408.5 [2530.7]
Torque limit reached
r1407.7 [2522.7]
Speed controller, I component held
r1407.5 [2522.3]
Speed controller, I component set
r1407.6 [2522.3]
7 8
Function diagram
- 5040 -
SINAMICS S
[5060.1]