Function Diagrams
Setpoint channel
2-1234
© Siemens AG 2007 All Rights Reserved
SINAMICS S List Manual (LH1), 07/2007
Figure 2-121 3090 – Dynamic Servo Control (DSC)
t
x,y x
y
- 3090 -
Function diagram
87654321
fp_3090_01_eng.vsd
DO: SERVO
SINAMICS S
05.02.07 V02.05.00
Setpoint channel - Dynamic Servo Control (DSC)
S & H
SET
Higher-level motion control (e.g. SINUMERIK, SIMOTION)
SINAMICS Control Unit
S & H
SET
S & H
SET
Kp
Motion Control
&
Path
Interpolation
n_cmd
x_cmd
NSOLL_B
KPC
XERR
+
+
x
+
Position actual value
generation
r0482[0]
From the motor encoder
G1_XIST1
r0482[1]
G2_XIST1
r0482[2]
G3_XIST1
Position actual values from encoder 1, 2, 3
[4704.8]
<1> Principle of operation of Dynamic Servo Control (DSC): The feedback branch {2} completely compensates the feedback coupling branch {1} in respect of the position actual value sent from the drive. The fast actual value
channel {3} allows for a high dynamic performance and high Kv factors.
<2> For the motor encoder (p1192 = 1) p1193 = 1 is effective.
When using encoder 2 or 3 (p1192 = 2, 3), p1193 corresponds to the "Increments per motor encoder revolution/increments of the encoder selected (2, 3) during one motor rotation" (considering gear ratios and also different
encoder lines and fine resolutions).
<3> The deadtime for the PROFIdrive data transfer is set automatically.
<4> Sample & Hold element; refer to [1021].
<5> The position deviation must be referred to the increments of the motor including the fine resolution.
<6> Normalization of KPC: If signal {4} = 1 motor revolution and KPC = 1, then "n_set from DSC" = 0.001 motor revolutions/s.
<7> Clock-synchronous operation must be active for DSC.
<101> To view the pre-assignment of the sampling times in p0115, refer to p0112.
y
Application clock-cycle
synchronous (at PROFIdrive)
Encoder signals acc.
telegram type [2420]
Selecting the
position encoder
p1192
1
2
3
Position deviation
p1190
n_set from DSC
[5020.1]
[5030.3]
–
<5>
<6>
<4>
Speed pre-control
y
<2>
<4>
<4>
+
+
<5>
+
–
<6>
DSC position
controller
Interpolator
p1191 > 0 (interconnected)
p1191 > 0 (interconnected)
1 = DSC active
To the speed
pre-control input
(p1430)
[5020.1]
[5020.2]
[5030.3]
P gain
x
DSC encoder
adaptation
factor
p1193 (1)
Fast position
actual value
channel
PROFIdrive
Transmission
Delay
<3>
T_MAPC
Master application cycle time
x
e.g. p0922 = 5, 6, 105 [2420]
Speed controller clock cycle
0
p1191
Offset and
compensation
{2}
{3}
<1>
{4}
{1}
Refer to [1020.7]
y
T_SAPC
Slave application cycle
time
p0115[1] (Drive Object)
<101>
Refer to [1020.7]
Speed controller clock
cycle
PROFIdrive sampling time
To Next Page
Loading...
