Siemens SINAMICS S Series - Figure 2-152 5040 - Speed controller with encoder

Function Diagrams Servo control 2-1270
© Siemens AG 2007 All Rights Reserved
SINAMICS S List Manual (LH1), 07/2007
Figure 2-152 5040 – Speed controller with encoder
- 5040 -
Function diagram
87654321
fp_5040_01_eng.vsd
DO: SERVO
SINAMICS S
26.07.07 V02.05.00
Servo control - Speed controller with encoder
[5060.1]
n_ctrl Kp n lower
0.000...999 999.000 Nms/rad
p1460[D] (0.300)
r1480
n_ctrl PI-M_output
(M_set_1)
(0)
n_ctrl integ set
p1477[C]
n_ctrl integ_setVal
(0)
p1478[C]
Kp_n_basic
n_ctrl Tn n lower
0.00...100 000.00 ms
p1462[D] (20.00)
Integrator
control
r1482
n_ctrl I-M_output
Tn_n_basicTn_n_adapt
Speed
controller
[4710.6]
+
+
–
–
1 01 0
Kp_n_adapt
Speed controller, I component set
r1407.6
Speed controller, I component held
r1407.5 [2522.3]
[2522.3]
Tn
Kp
Hold Set
Set
Val
Uq at the limit of the ZSW current control
r1408.5
Torque limit reached
r1407.7 [2522.7]
[2530.7]
To Kp/Tn adaptation
[5050.2]
From Kp/Tn adaptation
[5050.7]
r0063
n_act smooth
r1454
n_ctrl sys dev Tn
r0064
n_ctrl system dev
n_ctrl Kp eff
r1468
n_ctrl Tn eff
r1469
<1>
<1> For p1462 = 0.0, the I component is disabled (integral time ).
Kp
p0115[1] (125.00 µs)
r1481
n_ctrl P-M_output
<2> For torque control, the I component is set to the value of r1515 (total supplementary torque).
<3> This parameter is set to 0 when pulses are canceled.
<2> <3>
<3>
<3>
+
r1438
n_ctrl n_set
+
1 = Kp/Tn adaptation active
p1400.5
[5490.7]
T
F
<4>
<4> The integrator of the speed controller is re-parameterized to become a PT1 filter through a feedback element (p1494).
n_ctrl integ fdbk T
p1494
[5030.8]
[5030.8]
(0)
n_ctrl integ stop
p1476[C]
[2610.4]
Enable speed controller from sequence control S4: Operation
0
1
r3771
APC n_load smth
[4711.7]
&
r0108.7 =1
p3700.8 =1
n_set for I component
r1439