Siemens SINAMICS S120 - Page 395

Appendix
A.5 System rules, sampling times and DRIVE-CLiQ wiring
Commissioning with Startdrive
Commissioning Manual, 11/2017, 6SL3097-4AA10-0BP1
395
Line Modules
● For Active Line Modules (ALM) and Smart Line Modules (SLM) in booksize format, the
only current controller sampling time which can be set is 125 µs or 250 µs.
● For Basic Line Modules (BLM), the only current controller sampling time that can be set is
250 µs (booksize format).
Motor Modules
● For Single Motor Modules in booksize format, a current controller sampling time of
minimum 31.25 µs can be set (31.25 µs ≤ p0115[0] ≤ 500 µs).
● For Double Motor Modules in booksize format, a current controller sampling time of
minimum 62.5 µs can be set (62.5 µs ≤ p0115[0] ≤ 500 µs).
Servo control
● For servo control, a current controller sampling time between 31.25 µs and 250 µs can be
set (31.25 µs ≤ p0115[0] ≤ 250 µs).
● The fastest sampling time of a drive object in the servo control mode is obtained as
follows:
– T
i
= 31.25 µs: Exactly one drive object in servo control
– T
i
= 62.5 µs: Max. 3 drive objects in servo control
– T
i
= 125 µs: Max. 6 drive objects in servo control
Vector control / V/f control
● A current controller sampling time between 125 µs and 500 µs can be set for vector
control (125 µs ≤ p0115[0] ≤ 500 µs). This also applies for operation with V/f control.
● For vector control and vector control V/f control, and when using a sine-wave filter (p0230
> 0), it is only permissible to change the current controller sampling time of the DO
involved in multiple integer steps of the default value on account of the design of the sine-
wave filter.
● The fastest sampling time of a drive object in vector control is obtained as follows:
– T
i
= 250 µs: Max. three drive objects in vector control
– T
i
= 375 µs: Max. four drive objects in vector control
– T
i
= 400 µs: Max. five drive objects in vector control
– T
i
= 500 µs: Max. six drive objects in vector control
● The fastest sampling time of a drive object in V/f control mode is obtained as follows:
– T
i
= 500 µs: Max. 12 drive objects in V/f control mode
● When vector control is operated together with vector control V/f control, a maximum of 11
axes is possible (ALM, TB and TM also possible).
Safety functions
● Only Single Motor Modules are permissible for servo control with a current controller
sampling time T
IReg
≤ 62.5 μs with the "Safety sensorless" functionality.