7.15.2.7 Finalizing online commissioning....................................................................................... 243
7.15.2.8 Checking the interconnection of digital inputs.................................................................. 245
7.15.2.9 Acceptance - completion of commissioning...................................................................... 246
7.16 Safely Limited Speed (SLS) ............................................................................................... 247
7.17 Setpoints ......................................................................................................................... 255
7.17.1 Overview......................................................................................................................... 255
7.17.2 Specifying the setpoint via the eldbus............................................................................. 256
7.17.3 Electromechanical potentiometer..................................................................................... 257
7.17.4 Motorized potentiometer as setpoint source ..................................................................... 258
7.17.5 Fixed speed setpoint as setpoint source............................................................................ 262
7.18 Setpoint processing.......................................................................................................... 265
7.18.1 Overview......................................................................................................................... 265
7.18.2 Invert setpoint ................................................................................................................. 266
7.18.3 Inhibit direction of rotation .............................................................................................. 267
7.18.4 Skip frequency bands and minimum speed....................................................................... 268
7.18.5 Speed limitation .............................................................................................................. 269
7.18.6 Ramp-function generator................................................................................................. 270
7.19 PID technology controller ................................................................................................. 275
7.20 Motor control................................................................................................................... 282
7.20.1 Setting the saturation characteristic of the permanent magnet synchronous motor (third-
party motor) .................................................................................................................... 282
7.20.2 U/f control ....................................................................................................................... 284
7.20.2.1 Characteristics of U/f control ............................................................................................ 285
7.20.2.2 Selecting the U/f characteristic ......................................................................................... 286
7.20.2.3 Optimizing motor starting................................................................................................ 287
7.20.3 Sensorless vector control with speed controller................................................................. 289
7.20.3.1 Structure of vector control without encoder (sensorless)................................................... 289
7.20.3.2 Optimizing the closed-loop speed controller..................................................................... 291
7.20.3.3 Advanced settings............................................................................................................ 293
7.20.3.4 Optimizing the operation of the permanent magnet synchronous motor........................... 295
7.20.3.5 Friction characteristic....................................................................................................... 297
7.20.3.6 Moment of inertia estimator ............................................................................................ 299
7.20.3.7 Pole position identication ............................................................................................... 306
7.20.4 Torque control ................................................................................................................. 308
7.21 Electrically braking the motor........................................................................................... 309
7.21.1 DC braking....................................................................................................................... 310
7.21.2 Dynamic braking.............................................................................................................. 313
7.22 Overcurrent protection..................................................................................................... 315
7.23 Converter protection using temperature monitoring ......................................................... 316
7.24 Motor temperature monitoring using a temperature sensor.............................................. 320
7.25 Motor protection by calculating the temperature .............................................................. 323
7.26 Motor and converter protection by limiting the voltage..................................................... 325
7.27 Monitoring the driven load............................................................................................... 327
7.27.1 No-load monitoring ......................................................................................................... 327
7.27.2 Rotation monitoring......................................................................................................... 328
7.27.3 Torque monitoring........................................................................................................... 329
Table of contents
SINAMICS G115D Wall Mounted distributed drive
Operating Instructions, 07/2023, FW V4.7 SP14, A5E52808211A AA 9
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