Fig. 2-129 5042 – Speed controller, torque/speed pre-control with encoder (p1402.4 = 1)
- 5042 -
Function diagram
87654321
fp_5042_98_eng.vsd
DO: SERVO
SINAMICS S110
03.03.09 V04.04.00
Servo control - Speed controller, M/n pre-control with encoder (p1402.4 = 1)
[7012.1]
[2522.3]
Acceleration
model
Total moment
of inertia
<5>
Balanced speed setpoint
+
–
M_pre-control_1
Integrator control
<5> Setting rule: p0341, p0342 and p1498 are correctly set if the r1480 speed output displays values around 0 when accelerating in sensorless operation.
x
[2522.3]
[2522.3]
<4> The integrator of the speed controller is re-parameterized to become a PT1 filter through a feedback element (p1494).
[3050.8]
[3095.7]
[3050.8]
[3095.7]
+
[8011.2]
+
T
F
TnKp
[5060.2)
n_ctrl Kp n lower
0.000...999 999.000 [Nms/rad]
p1460[D] (0.300)
Kp_n_basic
n_ctrl Tn n lower
0.00...100 000.00 [ms]
p1462[D] (20.00)
Tn_n_basic
Tn_n_adapt
1 01 0
Kp_n_adapt
To the Kp-/Tn adaption
[5050.2]
n_ctrl Tn eff
r1469
<1>
250.00 μs
<2><3>
<3>
<3>
<4>
From setpoint limiting
[4710.6]
<3> This parameter is set to 0 when pulses are canceled.
[5060.2]
<1> For p1472 = 0 the I component is disabled (Integral time = ).
r1493
Mom of inert total
Mom of inert skal
(1)
p1497[C]
Load mom of inertia
p1498
Mot MomInert Ratio
1.000...10 000.000
p0342[M] (1.000)
Mot M_inertia
0.000 00...100 000.000 00 [kgm²]
p0341[M] (0.000 00)
n_limit neg eff
r1087
r0062
n_set after filter
Speed setpoint limited
r1407.11
Pre-control
balancing
n_ctrl Kp eff
r1468
I component set
r1407.6
I component frozen
r1407.5
r1480
n_ctrl PI-M_output (M_set_4)
r1481
n_ctrl P-M_output
r1482
n_ctrl I-M_output
n_ctr integ_fdbk T
p1494
r1438
n_ctrl n_set
r0063
n_act smooth
(0)
n_ctrl integ set
p1477[C]
n_ctr integ_setVal
(0)
p1478[C]
(0)
n_ctrl integ stop
p1476[C]
Speed controller
Smoothing
M_accel T_smooth
0.00...100.00 [ms]
p1517[D] (4.00)
<2> For torque control, the I component is set to the value of r1515 (total supplementary torque).
M_accel unsmoothed
r1518[0]
M_accel smoothed
r1518[1]
Pulse enable HW
[2701.8]
Limit Vq
r1408.5
Torque limit reached
r1407.7[2522.7]
[2530.7]
r0064
n_ctrl sys dev
r1454
n_ctrl sys dev Tn
r1084
n_limit pos eff
n_prectrSym t_dead
p1428[D]
t_sample int ctrl
250.00 μs
n_prectr sym T
p1429[D]
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