Siemens SINAMICS S110 - Fig. 2-132 5210 - Speed controller without encoder

Servo control
Function diagrams
2-899
© Siemens AG 2012 All Rights Reserved SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
Fig. 2-132 5210 – Speed controller without encoder
- 5210 -
Function diagram
87654321
fp_5210_98_eng.vsd
DO: SERVO
SINAMICS S110
17.07.09 V04.04.00
Servo control - Speed controller without encoder
[7012.1]
[2522.3]
Acceleration
model
Total moment
of inertia
<2>
Balanced speed setpoint
+
–
Integrator control
x
[3050.8]
[3095.7]
+
+
–
From Advanced
Positioning Control
[7012.8]
[8011.2]
r1493
Mom of inert total
+
Mom of inert skal
(1)
p1497[C]
T
F
TnKp
From setpoint limiting
[4710.6]
Pre-control
balancing
0
1
<1>
[5490.4]
<3>
250.00 μs
<2> Setting rule: p0341, p0342 and p1498 must be set correctly.
<3> The integrator of the speed controller is re-parameterized to become a PT1 filter through a feedback element (p1494).
I component set
r1407.6
I component frozen
r1407.5 [2522.3]
[2522.3]
To torque
setpoint input
[5060.1]
r1480
n_ctrl PI-M_output (M_set_4)
r1481
n_ctrl P-M_output
r1482
n_ctrl I-M_output
n_ctrl Kp eff
r1468
n_ctr integ_fdbk T
p1494
n_ctrl SLVC Tn
0.0...100 000.0 [ms]
p1472[D] (20.0)
n_ctrl SLVC Kp
0.000...999 999.000 [Nms/rad]
p1470[D] (0.300)
1 = Kp-/Tn adaptation active
From speed control configuration
p1400.5
Kp_n adaptation factor [5050.6]
(= 1.00 for the factory setting)
Speed controller
Smoothing
M_accel T_smooth
0.00...100.00 [ms]
p1517[D] (4.00)
(0)
n_ctrl integ set
p1477[C]
n_ctr integ_setVal
(0)
p1478[C]
(0)
n_ctrl integ stop
p1476[C]
r1438
n_ctrl n_set
r0063
n_act smooth
Speed setpoint limited
r1407.11
1 = Sensorless operation speed
actual value, starting value
From speed control, configuration p1400.11
[5490.7]
n_limit pos eff
r1084
r0062
n_set after filter
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)
Load mom of inertia
p1498
Servo control enable from sequence control S4: Operation
<1> For p1472 = 0 the I component is disabled (Integral time = ).
M_pre-control_1
[5060.2]
M_accel unsmoothed
r1518[0]
M_accel smoothed
r1518[1]
n_prectr sym T
p1429[D]
n_prectrSym t_dead
p1428[D]
t_sample int ctrl
250.00 μs]
[3050.8]
[3095.7]
r0062
n_limit neg eff