Siemens SINAMICS S120 - Closed-Loop Velocity Control; Velocity Adaptation;Precontrol

Drive functions
5.3 Closed-loop velocity control
Hydraulic Drive
142 System Manual, 04/2015, 6SL3097-4BA00-0BP1
5.3
Closed-loop velocity control
5.3.1
Velocity adaptation/precontrol
Velocity setpoint adaptation
The transition interface NC → drive scales the maximum velocity set in p2000.
Velocity limitation is set using p1083 and p1086.
Velocity setpoint interpolation
The velocity control is configured using parameter p1400.
Velocity setpoints are preset in the position controller cycle.
In order to prevent rigorous drive positioning motion at the beginning of each position
controller cycle, the last and the actual velocity setpoint are interpolated linearly in the drive.
Figure 5-2 Velocity setpoint interpolation