Siemens SINAMICS SIMOTICS S200 PROFINET - Page 789

Note
For p2534 >= 100 % (precontr
ol activated) the following applies:
The dynamic following error (r2563) corresponds to the system deviation (r2557) at the position controller input.
For 0 % < p2534 < 100 % (precontrol activated) or p2534 = 0 % (precontrol deactivated) the following applies:
The dynamic following error (r2563) is the deviation between the measured position actual value and a value that is
calculated from the position setpoint via a PT1 model. This compensates the system-related velocity-dependent system
deviation for a P controller.
r2564 LR torque precontrol value
 Data type: FloatingPoint32 Visible in: S
tandard display 
Read permission: Read drive data or acknowledge messages
Write permission: Edit device con󹪝gur
ation or driv
e applications
Parameter group: Position controller
Unit: Nm
Description: Displays the torque precontrol value.
Note
The torq
ue precontrol value is the derivation over time of the speed precontrol value and is referred to a moment of
inertia of 1 kgm^2/2 PI. When using the precontrol, then this should be evaluated corresponding to the actual moment
of inertia.
r2565 LR following error actual
 Data type: FloatingPoint32 Visible in: S
tandard display 
Read permission: Read drive data or acknowledge messages
Write permission: Edit device con󹪝gur
ation or driv
e applications
Parameter group: Position controller
Unit: mm
Description: Displays the actual following error.
This v
alue is t
he de
viation between the position setpoint - after 󹪝ne interpolation - and the position actual value.
NOTICE
When speed precontrol is active (p2534 > 0 %), the following applies:
To calculate t
his value, the position setpoint is delayed by two position controller sampling times.
When speed precontrol is inactive (p2534 = 0 %), the following applies:
To calculate this value, the position setpoint is delayed by two position controller clock cycles.
r2565 LR following error actual
S200 Basic PN (EPOS
Las
tseit
e r
otierend),
S200 PN (EPOS
Lastseite rotierend)
Data type: FloatingPoint32 Visible in: Standard display 
Read permission: Read drive data or acknowledge messages
Write permission: Edit device con󹪝gur
ation or driv
e applications
Parameter group: Position controller
Unit: °
Description: Displays the actual following error.
This value is the de
viation between the position setpoint - after 󹪝ne interpolation - and the position actual value.
NOTICE
When speed precontrol is active (p2534 > 0 %), the following applies:
To calculate t
his value, the position setpoint is delayed by two position controller sampling times.
When speed precontrol is inactive (p2534 = 0 %), the following applies:
To calculate this value, the position setpoint is delayed by two position controller clock cycles.
Appendix
A.3Parameters
SINAMICS S200 PROFINET servo drive system with SIMOTICS S-1FL2
Operating Instructions, 11/2023, FW V6.3, A5E51646752B AB 787