Drive functions
7.3 Function modules
Function Manual
Function Manual, 01/2011, 6SL3097-4AB10-0BP3
291
Example for the adjustable sampling times in SINAMICS S110:
The basic sampling time (r20002) on the SERVO drive object is 250 µs, which means that
the following sampling times are possible:
● Hardware sampling times:
p20000[x] = 0 (runtime group not computed)
p20000[x] = 1 x 250 µs = 250 µs (not permitted because less than 1 ms)
p20000[x] = 2 x 250 µs = 500 µs (not permitted because less than 1 ms)
p20000[x] = 3 x 250 µs = 750 µs (not permitted because less than 1 ms)
p20000[x] = 4 x 250 µs = 1000 µs
p20000[x] = 5 x 250 µs = 1250 µs
...
p20000[x] = 31 x 250 µs = 7750 µs (longest hardware sampling time)
p20000[x] = 32 x 250 µs = 8000 µs (can be selected as a multiple of r20002 - but is a
software sampling time)
p20000[x] = 33 x 250 µs = 8250 µs (rejected because greater than r20003!)
The settings below are no longer possible because the sampling times would exceed 8
ms.
The basic value of the software sampling time is: r20003 = 8 ms.
● Software sampling times:
p20000[x] = 1001: Sampling time = 1 x 8 ms = 8 ms
p20000[x] = 1002: Sampling time = 2 x 8 ms = 16 ms
p20000[x] = 1003: Sampling time = 3 x 8 ms = 24 ms
p20000[x] = 1004: Sampling time = 4 x 8 ms = 32 ms
p20000[x] = 1005: Sampling time = 5 x 8 ms = 40 ms
p20000[x] = 1006: Sampling time = 6 x 8 ms = 48 ms
p20000[x] = 1008: Sampling time = 8 x 8 ms = 64 ms
p20000[x] = 1010: Sampling time = 10 x 8 ms = 80 ms
p20000[x] = 1012: Sampling time = 12 x 8 ms = 96 ms
p20000[x] = 1016: Sampling time = 16 x 8 ms = 128 ms
p20000[x] = 1020: Sampling time = 20 x 8 ms = 160 ms
p20000[x] = 1024: Sampling time = 24 x 8 ms = 192 ms
p20000[x] = 1032: Sampling time = 32 x 8 ms = 256 ms
p20000[x] = 1040: Sampling time = 40 x 8 ms = 320 ms
p20000[x] = 1048: Sampling time = 48 x 8 ms = 384 ms
p20000[x] = 1064: Sampling time = 64 x 8 ms = 512 ms
p20000[x] = 1096: Sampling time = 96 x 8 ms = 768 ms
Note
The missing intermediate values are not permitted by the system.
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