Siemens SINAMICS S Series - Figure 2-139 4015 - Position controller (r0108.3 = 1)

Position control
Function Diagrams
2-1255
© Siemens AG 2007 All Rights Reserved SINAMICS S List Manual (LH1), 07/2007
Figure 2-139 4015 – Position controller (r0108.3 = 1)
- 4015 -
Function diagram
87654321
fp_4015_01_eng.vsd
DO: SERVO, VECTOR
SINAMICS S
17.07.07 V02.05.00
Position control - Position controller (r0108.3 = 1)
p0115[4]
t
x,y x
y
x
t
y
s_set_filt T
0.00...1000.00 [ms]
p2533[D] (0.00)
d
dt
Pre-control
balancing
Simulation of the build-up of the
pre-control speed
+
n_pre-ctrl factor
0.00...200.00 [%]
p2534[D] (0.00)
n_pre-ctrl filter PT1
0.00...100.00 [ms]
p2536[D] (0.00)
Tn
0.00...100000.00 [ms]
p2539[D] (0.00)
r2559
LR_output I-comp
r2558
LR_output P-comp
Kp
0.000...300.000 [1000/min]
p2538[D] (1.000)
+
r2562
n_set total
+
r2556
s_set after interp
r2557
LR_input sys dev
d
dt
r2564
M_pre-ctrl value
-1
LR_output limit
0.000...210000.000 [RPM]
p2540[D] (210000.000)
p2540
LR_output lim src
(p2540)
p2541
s_act
(r2521[0])
p2532
v_set
(0/r2666)
p2531
s_set
(0/r2665)
p2530
Adaptation
(1)
p2537
1 = Position controller output limited
r2526.6
r2560
n_setp
r2561
n_pre-ctrl value
Tn
P
[4025.1]
n_ffCtrl flt t_dead
0.00...2.00
p2535[D] (0.00)
t_sample int ctrl
p0115[4]
[4010.8]
[4010.8]
LU/rev LU/mm
(r2524)
p2555
p2513 p2512
[4020.1]
<1>
<1> When the "basic positioner" function module (r0108.4 = 1) is active, these binector/connector inputs are supplied by default with values from this module.
The second value specifies this assignment.
<1>
[4020.1]
[4025.1]
[-/3635.7]
[-/3635.7]
<2> For p2534 > 0 % the following applies: A deadtime of two position controller clock cycles is additionally effective.
<3> For p2534 = 0 % the following applies: Pre-control balancing is not effective.
–
–
+
<2>
<3>
r2565
Following err act
<2>
r2566
M_prectr M_inertia
p2567[D]
2
<4>
<4> Not applicable if the “linear motor“ function module is active (r0108.12 = 1).
<5> Only if the “extended brake control“ function module is active (r0108.14 = 1).
[3080.3]
&
[4010.8]
p2549
(r0899.2)
Enable 1
p2550
(0/1)
Enable 2
<1>
p1152
(r0899.15)
Setpt 2 enable
<5>
[2503.7]
[2503.7]
Pos act val valid
r2526.0
1 = Position control active
r2526.3
[3635.1]