6
6.2 Positioning mode (P0700 = 3, from SW 2.1)
6-380
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SIMODRIVE 611 universal Description of Functions (FBU) – 04.05 Edition
Table 6-25 Parameters for speed pre–control
No.
Name Min. Standard Max. Units Effective
0203 Speed pre–control mode 0 0 1 – Immedi-
ately
... the speed pre–control can be activated/de–activated.
1 Speed pre–control active
0 Pre–control not active
0204:8 Factor, speed pre–control 1.0 100.0 100.0 % Immedi-
ately
... the supplementary speed setpoint which was entered is weighted.
When the axis control loop has been optimally set as well as a precisely determined equivalent
time constant of the speed control loop (P0205, P0206), the pre–control factor has the value
100%.
0205:8 Balancing filter, speed pre–control
(dead time)
0.0 0.0 10.0 ms Immedi-
ately
... allows the performance of the speed control loop to be simulated with a dead time.
Note:
The entered value is limited to two position controller clock cycles (P1009)
(1 position controller clock cycle is, as standard = 2 ms, refer to Chapter 4.6).
0206:8 Balancing filter, speed pre–control
(PT1)
0.0 0.0 100.0 ms Immedi-
ately
... allows, in addition to P0205:8 the performance of the speed control loop to be simulated us-
ing a PT
1
filter (low–pass filter).
... allows a possibly active speed setpoint smoothing to be better emulated (PT1).
0210:8 Time constant, position reference value
filter
0.0 0.0 1 000.0 ms Immedi-
ately
... is the time constant of the PT1 position reference value filter.
The effective Kv factor is reduced using the filter (position loop gain).
Applications:
To reduce the pre–control dynamic performance
Example: Kv factor = 3 * 1000/min ––> P0210:8 = 20.0 ms
Jerk limiting
This makes it possible to achieve smoother control characteristics with improved response
to disturbances.
1012.8 Average value filter, speed setpoint – – – hex Immedi-
ately
... selects whether the speed setpoint steps from the position controller output (position control-
ler clock cycle) are interpolated in the speed controller clock cycle (adapted).
= 1 Average value filter, speed setpoint filter on (standard)
Disadvantage: Delay in the position control loop by half a position controller clock
cycle.
= 0 Average value filter, speed setpoint off
6 Description of the Functions
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