2 Parameters
2.2 List of parameters
SINAMICS G130/G150
986 List Manual (LH2), 07/2016, A5E03263479A
Description: Displays the velocity resolution for safety-relevant motion monitoring functions.
For index 0:
Displays the safe velocity resolution (load side). Setpoints for velocity limits or parameter changes for velocities
below this threshold have no effect.
For index 1:
Displays the safe velocity accuracy based on the safe encoder accuracy
Index: [0] = Actual velocity resolution
[1] = Minimum velocity resolution
Note: For index 0:
This parameter does not provide any information about the actual accuracy of the velocity sensing. This depends on
the type of actual value sensing, the gear factors as well as the quality of the encoder being used.
Conversion of:
(internal fixed value/ Tsi) to mm/min (linear) or rpm (rotary) with Tsi = p9500 (SI Motion monitoring clock cycle).
Example:
For Tsi = 12 ms, r9732[0] = 5 mm/min (linear) or 1/72 rpm (rotary) is obtained.
For index 1:
- for a 2-encoder system with non safety-capable encoders, this means the poorer value for both encoders. Index[1]
takes into account the coarse resolution of the encoder only
Internal calculation, which also incorporates the factor for the motor-load side conversion, the gearbox ratio and the
safety monitoring clock cycle. Result returns mm/min (linear) or rpm (rotary).
- for safety without encoder, index 1 is not relevant, and is always the value of zero.
Description: Displays the velocity resolution for safety-relevant motion monitoring functions.
For index 0:
Displays the safe velocity resolution (load side). Setpoints for velocity limits or parameter changes for velocities
below this threshold have no effect.
For index 1:
Displays the safe velocity accuracy based on the safe encoder accuracy
Index: [0] = Actual velocity resolution
[1] = Minimum velocity resolution
Note: For index 0:
This parameter does not provide any information about the actual accuracy of the velocity sensing. This depends on
the type of actual value sensing, the gear factors as well as the quality of the encoder being used.
Conversion of:
(internal fixed value/ Tsi) to mm/min (linear) or rpm (rotary) with Tsi = p9500 (SI Motion monitoring clock cycle).
Example:
For Tsi = 12 ms, r9732[0] = 5 mm/min (linear) or 1/72 rpm (rotary) is obtained.
r9732[0...1] SI Motion velocity resolution / SI Mtn v_res
VECTOR_G Can be changed: - Calculated: - Access level: 3
Data type: FloatingPoint32 Dyn. index: - Func. diagram: -
P-Group: Safety Integrated Unit group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [mm/min] - [mm/min] - [mm/min]
r9732[0...1] SI Motion velocity resolution / SI Mtn v_res
VECTOR_G (Safety
rot)
Can be changed: - Calculated: - Access level: 3
Data type: FloatingPoint32 Dyn. index: - Func. diagram: -
P-Group: Safety Integrated Unit group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
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