Siemens SINAMICS G120D - Fig. 2-94 4015 - Position controller

Function diagrams Position control 2-684
© Siemens AG 2012 - 2013 All Rights Reserved
SINAMICS G120D List Manual (LH14), 01/2013
Fig. 2-94 4015 – Position controller
- 4015 -
Function diagram
87654321
fp_4015_97_55.vsd
Position control
G120D CU250D-2
12.12.2012 V4.6
Position controller
t
x,y x
y
x
t
y
d
dt
+
+
+
d
dt
-1
Tn
P
[4025.1]
p0115[4]
[4010.8]
[4010.8]
[3635.1]
[4020.1]
<1>
[4020.1]
[4025.1]
[3635.7]
[3635.7]
<2>


+
<1>
<2>
<1>
2
[2503.7]
&
[4010.8]
(899.2)
Enable 1
p2549
(1)
Enable 2
p2550
LU/rev LU/mm
(2524[0])
p2555
s_set
(2665)
p2530
v_set
(2666)
p2531
s_act
(2521[0])
p2532
Adaptation
(1)
p2537
r2565
Following err act [LU]
ZSW
r2526
r2526
.0
Pos act val valid
s_set_filt T
0.00 ... 1000.00 [ms]
p2533 [D] (0.00)
n_prectrl fact
0.00 ... 200.00 [%]
p2534 [D] (0.00)
LR_outp lim S_src
(2540[0])
p2541
LR_outp limit
0.000 ... 210000.000 [1/min]
p2540 (210000.000)
Kp
0.000 ... 300.000 [1000/min]
p2538 [D] (1.000)
Tn
0.00 ... 100000.00 [ms]
p2539 [D] (0.00)
n_prectrFlt t_dead
0.00 ... 2.00
p2535 [D] (0.00)
n_prectrl filt PT1
0.00 ... 100.00 [ms]
p2536 [D] (0.00)
M_prectr M_inertia
0.000000 ... 100000.000000 [kgm²]
p2567 [D] (0.159155)
r2564
M_prectrl val [Nm]
r2562
n_set total [1/min]
r2560
n_set [1/min]
r2557
LR_inp sys dev [LU]
r2558
LR_outp P comp [1/min]
r2556
s_set after interp [LU]
ZSW
r2526
r2526
.6
1 = Position controller output
limited
ZSW
r2526
r2526
.3
1 = Position control active
For p2534 > 0 % the following applies: A deadtime of two position controller clock cycles is additionally effective.
For p2534 = 0 % the following applies: Pre-control balancing is not effective.
n inp prectrl [1/min]
r2566
Simulation of the build-up of the
pre-control speed
Pre-control
balancing
r2561
n_prectrl val [1/min]
(1407.16)
Reduce I comp
p2731
Act val_prep corr
(2685[0])
p2513
(2684.7)
ActVal_prepCorrAct
p2512
(0)
ActV_prep neg corr
p2730
r2559
LR_outp I
comp [1/min]