2 Parameters
2.2 List of parameters
SINAMICS G120D
348 List Manual (LH14), 01/2016, A5E33842313
Description: Display and connector output for the torque precontrol value.
Dependency: Refer to: p1511, p1512
Note: The torque pre-control value is the derivation over time of the speed pre-control value and is referred to a moment of
inertia of 1 kgm^2/2 PI. When using the pre-control, then this should be evaluated corresponding to the actual
moment of inertia.
Description: Display and connector output for the actual following error.
This value is the deviation between the position setpoint - after fine interpolation - and the position actual value.
Notice: When speed pre-control is active (p2534 > 0 %), the following applies:
To calculate this value, the position setpoint is delayed by two position controller clock cycles.
When speed pre-control is inactive (p2534 = 0 %), the following applies:
To calculate this value, the position setpoint is delayed by two position controller clock cycles.
Description: Displays the speed at the input of the pre-control channel.
Note: This display parameter is used for diagnostics even when the pre-control is inactive (p2534 = 0%).
Description: Sets the moment of inertia for the torque pre-control.
Dependency: Refer to: p2534, r2564
Note: When calculating the torque pre-control value (r2654), the time derivation of the speed pre-control value is multiplied
by 2 PI * p2567.
For reasons associated with the compatibility to earlier firmware versions, the factory setting for p2567 = 1 kgm^2/2
PI. This means that CO: r2564 remains as standard the derivation over time of the speed pre-control value and is
referred, as before, to a moment of inertia of 1 kgm^2/2 PI. For torque pre-control, the moment of inertia can now be
directly entered into p2567 (instead of subsequently evaluating the pre-control value.
r2564 CO: LR torque pre-control value / M_prectrl val
CU250D-2_PN_F
CU250D-2_DP_F
Access level: 1 Calculated: - Data type: FloatingPoint32
Can be changed: - Scaling: p2003 Dyn. index: -
Unit group: 7_1 Unit selection: p0505 Func. diagram: 4015
Min Max Factory setting
- [Nm] - [Nm] - [Nm]
r2565 CO: LR following error actual / Following err act
CU250D-2_PN_F
CU250D-2_DP_F
Access level: 1 Calculated: - Data type: Integer32
Can be changed: - Scaling: - Dyn. index: -
Unit group: - Unit selection: - Func. diagram: 4015
Min Max Factory setting
- [LU] - [LU] - [LU]
r2566 LR speed input pre-control / n inp prectrl
CU250D-2_PN_F
CU250D-2_DP_F
Access level: 1 Calculated: - Data type: FloatingPoint32
Can be changed: - Scaling: p2000 Dyn. index: -
Unit group: 3_1 Unit selection: p0505 Func. diagram: 4015
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
p2567[0...n] LR torque pre-control moment of inertia / M_prectr M_inertia
CU250D-2_PN_F
CU250D-2_DP_F
Access level: 3 Calculated: - Data type: FloatingPoint32
Can be changed: U, T Scaling: - Dyn. index: DDS, p0180
Unit group: 25_1 Unit selection: p0100 Func. diagram: 4015
Min Max Factory setting
0.000000 [kgm²] 100000.000000 [kgm²] 0.159155 [kgm²]
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