Siemens SINAMICS S Series - Figure 2-197 7012 - Advanced Positioning Control (APC, r0108.7 = 1)

Technology functions
Function Diagrams
2-1317
© Siemens AG 2007 All Rights Reserved SINAMICS S List Manual (LH1), 07/2007
Figure 2-197 7012 – Advanced Positioning Control (APC, r0108.7 = 1)
- 7012 -
Function diagram
87654321
fp_7012_01_eng.vsd
DO: SERVO
SINAMICS
21.05.07 V02.05.00
Technology functions - Advanced Positioning Control (APC, r0108.7 = 1)
r3777[1]
Filter 1.1 output value
APC n_load ctr1 Kp
0.000...100.000 [Ns/m]
p3760[D] (10.000)
APC Filt 2.1 fn_n
0.5...16000.0 [Hz]
p3723[D] (2000.0)
p0115[1] x p3706
p0115[1] (125.00 µs)
APC Filt 1.1 fn_n
0.5...16000.0 [Hz]
p3713[D] (2000.0)
APC Filt 1.1 D_n
0.000...10.000
p3714[D] (0.700)
APC Filt 1.1 fn_d
0.5...16000.0 [Hz]
p3711[D] (2000.0)
APC Filt 1.1 D_d
0.050...10.000
p3712[D] (0.700)
APC Filt 2.2 fn_n
0.5...16000.0 [Hz]
p3728[D] (2000.0)
APC Filt 2.1 fn_d
0.5...16000.0 [Hz]
p3721[D] (2000.0)
APC Filt 2.2 D_n
0.000...10.000
p3729[D] (0.700)
APC Filt 2.1 D_n
0.000...10.000
p3724[D] (0.700)
APC Filt 2.2 fn_d
0.5...16000.0 [Hz]
p3726[D] (2000.0)
APC Filt 2.1 D_d
0.050...10.000
p3722[D] (0.700)
APC Filt 2.2 D_d
0.050...10.000
p3727[D] (0.700)
[5030.1]
[5210.1]
0
1
APC n_load ctr1 Tv
0.00...500.00 [ms]
p3761[D] (0.00)
Activating APC
p3700.0
APC n_load ctr2 Kp
0.000...100.000 [Ns/m]
p3765[D] (10.000)
APC Filt 3.1 fn_n
0.5...16000.0 [Hz]
p3733[D] (2000.0)
APC Filt 3.2 fn_n
0.5...16000.0 [Hz]
p3738[D] (2000.0)
APC Filt 3.1 fn_d
0.5...16000.0 [Hz]
p3731[D] (2000.0)
APC Filt 3.2 D_n
0.000...10.000
p3739[D] (0.700)
APC Filt 3.1 D_n
0.000...10.000
p3734[D] (0.700)
APC Filt 3.2 fn_d
0.5...16000.0 [Hz]
p3736[D] (2000.0)
APC Filt 3.1 D_d
0.050...10.000
p3732[D] (0.700)
APC Filt 3.2 D_d
0.050...10.000
p3737[D] (0.700)
APC n_load ctr2 Tv
0.00...500.00 [ms]
p3766[D] (0.00)
p0115[1] x p3707
[5030.5]
-
+
+
+
Filter 3.1
Filter 3.2
Filter 2.2Filter 2.1
<1>
<1>
<1>
<1>
<1>
0
Filter 1.1
[5210.1]
[4711.7]
r3772[0] r3772[1]
r3777[0]
r3773[1]
r3773[0]
+
+
+
+
<1>
<2> The "Advanced Position Control (APC, r0108.7)" function module is only
available for SINUMERIK controllers with integrated SINAMICS
functions.
3.2
3.1
2.2
2.1
1.1
Filter
Active
APC filter act
p3704
Bit 0 = 1
Bit 4 = 1
Bit 5 = 1
Bit 8 = 1
Bit 9 = 1
Inactive
Bit 0 = 0
Bit 4 = 0
Bit 5 = 0
Bit 8 = 0
Bit 9 = 0
General
2nd-Order Filter
Bit 0 = 1
Bit 4 = 1
Bit 5 = 1
Bit 8 = 1
Bit 9 = 1
Low Pass (PT2)
Bit 0 = 0
Bit 4 = 0
Bit 5 = 0
Bit 8 = 0
Bit 9 = 0
APC filter type
p3705
<2>