Siemens SINAMICS S Manuel page 1126

1 = Sensorless operation speed
actual value, starting value
From speed control, configuration p1400.11
[5490.7]
n_limit pos eff
r1084
From setpoint limiting
[3050.8]
[3095.7]
From Advanced Positioning Control
[7012.8]
–
n_after filter
r0062
+
[7012.1]
From setpoint limiting
[3050.8]
[3095.7]
n_limit neg eff
r1087
Mot M_inertia
0.000 00...100 000.000 00 kgm²
p0341[M] (0.000 00)
<1> For p1472 = 0 the I component is disabled (Tn_n =
<2> Setting rule: p0341, p0342 and p1498 are correctly set if, when accelerating in sensorless operation, the
speed output r1480 displays values around/in the vicinity of 0.
<3> 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 without encoder - speed controller
Kp_n-Adaptation factor [5050.6]
(= 1.00 for the factory setting)
Speed setpoint
limiting active
r1407.11
[2522.3]
x
Acceleration
model
Mot mom of inertia ratio
Total moment of
1.000...10 000.000
inertia
p0342[M] (1.000)
<2>
+
+
Load moment of inertia
p1498
3 4
n_ctrl SLVC Kp
0.000...999 999.000 Nms/rad
p1470[D](0.300)
0
1
1 = Kp-/Tn adaptation active
From speed control configuration
p1400.5
n_ctrl integr_feedback
[5490.4]
n_ctrl n_set
r1438
Symmetrized speed setpoint
+
–
n_act smooth
r0063
[4710.6]
n_ctrl integ stop
p1476[C]
(0)
n_ctrl integ_set
p1477[C]
M_accel T_smooth
(0)
0.00...100.00 ms
p1517[D] (4.00)
n_ctrl integ_set value
p1478[C]
(0)
Smoothing
5 6
fp_5210_01_eng.vsd
22.11.05 V02.04.00
n_ctrl SLVC Tn
p0115[1] (125.00 µs)
0.0...100 000.0 ms
<1>
p1472[D](20.0)
n_ctrl Kp eff
r1468
<3>
p1494
n_ctrl P-M_output
T
r1481
F
Kp Tn
n_ctrl PI-M_output
(M_set_4)
r1480
I_ctrl I-M_output
r1482
To torque
setpoint input
Integrator
[5060.1]
control
Speed
controller
M_pre-control_1
I-component held
r1407.5 [2522.3]
I component set
r1407.6 [2522.3]
7 8
Function diagram
SINAMICS S
- 5210 -