2 Parameters
2.2 List of parameters
SINAMICS G130/G150
392 List Manual (LH2), 07/2016, A5E03263479A
Caution: Speed control with encoder (p1300 = 21):
For the speed or position signal of the motor model there must always be a motor encoder available (evaluation via
SMC/SMI, see p0400). The actual speed of the motor (r0061) and the position data for synchronous motors continue
to come from this motor encoder and are not affected by the setting of p1440.
Interconnection of p1440:
If connector input p1440 is interconnected with an external speed actual value, the identical scaling of the speed
should be observed (p2000).
Notice: Speed control without encoder (p1300 = 20):
Dependent upon the transmission path of the external speed signal there will be dead times which have to be taken
into account when setting the speed controller parameters (p1470, p1472) and can lead to dynamic losses
accordingly. It is for this reason that signal transmission times have to be kept as low as possible.
So that the speed controller can also work at standstill, set p1750.2 = 1 (closed-loop operation from zero speed for
passive loads). If you do not make this setting, operation will switch to open-loop speed control in the low speed
range, switching the closed-loop speed controller off and rendering the measured actual speed ineffective.
Note: Speed control with encoder (p1300 = 21):
An external speed signal should, on the average, correspond to the speed of the motor encoder (r0061).
Description: Sets the smoothing time constant (PT1) for the speed actual value.
Dependency: Refer to: r0063
Notice: Smoothing times above 20 ms are only possible if the drive is accelerated or braked with the appropriately long ramp-
up/ramp-down times. Otherwise, significant torque errors can occur and there is the danger that the drive is switched
off (tripped) with F07902 (motor stalled).
Note: The speed actual value should be smoothed for encoders with a low pulse number or for resolvers.
After this parameter has been changed, we recommend that the speed controller is adapted and/or the speed
controller settings checked Kp (p1460) and Tn (p1462).
Description: Sets the smoothing time for the actual speed value of the speed controller for closed-loop control with encoder.
Note: The smoothing must be increased if there is gear backlash. For longer smoothing times, the integral time of the
speed controller must also be increased (e.g. using p0340 = 4).
Description: Displays the speed actual value at the speed controller's free-wiring actual value input p1440.
Dependency: Refer to: p1440
Note: This speed signal is only used by the speed controller and not by the motor model.
p1441[0...n] Actual speed smoothing time / n_act T_smooth
VECTOR_G (n/M) Can be changed: U, T Calculated: - Access level: 3
Data type: FloatingPoint32 Dyn. index: DDS, p0180 Func. diagram: 4710, 4715
P-Group: Closed-loop control Unit group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.00 [ms] 1000.00 [ms] 0.00 [ms]
p1442[0...n] Speed controller speed actual value smoothing time / n_ctr n_act T_smth
VECTOR_G (n/M) Can be changed: U, T Calculated: CALC_MOD_ALL Access level: 2
Data type: FloatingPoint32 Dyn. index: DDS, p0180 Func. diagram: 6020, 6040
P-Group: Closed-loop control Unit group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.00 [ms] 32000.00 [ms] 4.00 [ms]
r1443 CO: Speed controller speed actual value at actual value input / n_ctrl n_act inp
VECTOR_G (n/M) Can be changed: - Calculated: - Access level: 3
Data type: FloatingPoint32 Dyn. index: - Func. diagram: 6040
P-Group: Closed-loop control Unit group: 3_1 Unit selection: p0505
Not for motor type: REL Scaling: p2000 Expert list: 1
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
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