08.2012 Technology Option F01
Siemens AG 6SE7087-6QX70 (Version AN)
SIMOVERT MASTERDRIVES Compendium Motion Control 9-131
9.7.2.5 Velocity normalization P353 [20.5] and P205 [340.2]
Parameters P353 and P205 are used to define the maximum traversing
velocity
, which must never be exceeded during operation
(mechanical limit velocity).
In our application example, we want to set a limit of 1 000 000°/min, i.e.
10 000 000 LU/min (1 length unit = 1 LU = 0.1°; see above). P205 must
therefore be set to the following value:
P205=10 000 ; Rated velocity 10 000 000 LU/min,
; Input in [1000 LU/min] [340.2]
This parameter mainly affects only the normalization of the loop gain for
the position controller. The value of P205 must also be entered in
machine data MD23 (see below).
Since no gearbox is installed, the reference speed of the motor P353
(in min
-1
) can be calculated directly, i.e. the motor speed at which the
rated velocity P205 is reached:
P205 = 10 000 000 LU/min = 1 000 000°/min = (1 000 000/360) min
-1
=
2777.777 min
-1
P60=5 ; Change to "drive setting" parameter menu
P353=2778 ; Reference speed in motor revs/min [20.5]
P60=0 ; Exit drive setting
The speed setpoint definition KK0150 for the speed controller [360.4]
refers to this reference speed: if KK0150 is equal to 100 %, the
reference speed of 2778 min
-1
defined in P353 is the motor speed. The
following motor speed setpoints output by the technology refer to this
reference speed:
♦ The speed precontrol value KK312 [817.7 and 836.8] for the position
control modes
♦ The speed setpoint K311 [817.7] for the speed control modes, e.g.
homing
The velocity override is normally set to U708 = 100 %. You can use this
parameter to reduce the velocity of all movements, e.g. in the initial
commissioning phase.
U708=78 (WE) ; Fixed velocity override 100 % [809.1]
P770 ; Setting as described in Section 9.4.10
P771
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