Fig. 2-128 5040 – Speed controller with encoder
- 5040 -
Function diagram
87654321
fp_5040_98_eng.vsd
DO: SERVO
SINAMICS S110
27.10.08 V04.04.00
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
+
+
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]
r1454
n_ctrl sys dev Tn
r0064
n_ctrl sys 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
250.00 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
n_set for I component
r1439
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