Siemens SINAMICS S120 Manual De Listas página 2384

1 = Sensorless operation speed
actual value, starting value
From speed control, configuration p1400.11
[5490.7]
n_prectrSym t_dead
p1428[D]
t_sample int ctrl
p0115[1]
n_prectr sym T
p1429[D]
n_limit pos eff
[3050.8]
r1084
[3095.7]
Speed setpoint
limited
r1407.11
[7012.8]
[2522.3]
–
n_set after filter
r0062
+
[7012.1]
n_limit neg eff
[3050.8]
r1087
[3095.7]
Mot M_mom of inert
0.000 00...100 000.000 00 [kgm²]
p0341[M] (0.000 00)
Load mom of inertia
p1498
Mom of inert total
r1493
+
+
M_mom inert scal
Mot MomInert Ratio
p1497[C]
1.000...10 000.000
p0342[M] (1.000)
<1> For p1472 = 0 the I component is disabled (Integral time =
<2> Setting rule: p0341, p0342 and p1498 are correctly set if the r1480 speed output displays values around 0 when accelerating in sensorless operation.
<3> The integrator of the speed controller is re-parameterized to become a PT1 filter through a feedback element (p1494).
1 2
DO: SERVO
Servo control - Speed controller without encoder
Balanced speed setpoint
Pre-control
balancing
n_act smooth
r0063
[4710.7]
Speed active filter
fn_d
p1447[D] D_d
p1448[D]
|y|
x
D
x
Acceleration
model
fn
<2> PT2 low pass
fn_n D_n
p1450[D]
p1449[D]
|y|
x
Total moment of
2nd Order Filter
inertia
<2>
fn_d D_d
1447[D] p1448[D]
(1)
M_accel unsmoothed
r1518[0]
).
3 4
n_ctrl SLVC Kp
0.000...999 999.000 [Nms/rad]
p1470[D] (0.300)
n_ctrl n_set
r1438
[8011.2]
Kp_n adaptation factor [5050.6]
(= 1.00 for the factory setting)
1 = Kp-/Tn adaptation active
From speed control configuration
p1400.5
n_ctr integ_fdbk T
p1494
<3>
p1413.1
T
F
+
0
–
1
y
n_act smooth
r1445
f
n_ctrl integ stop
p1476[C]
(0)
p1446[D]
n_ctrl integ set
p1477[C]
1
(0)
y
n_ctr integ_setVal
2
p1478[C]
f
(0)
<1>
M_accel T_smooth
0.00...100.00 [ms] Speed controller
p1517[D] (4.00)
Smoothing
5
fp_5210_01_eng.vsd
26.07.13 V05.02.03
p0115[1] (250.00 µs)
0
n_ctrl Kp eff
r1468
1
n_ctrl Kp adapt %
r1484
n_ctrl SLVC Tn
0.0...100 000.0 [ms]
p1472[D] (20.0)
<1>
n_ctrl P-M_output
Kp Tn
r1481
n_ctrl PI-M_output
(M_set_4)
r1480
n_ctrl I-M_output
r1482
Integrator control
Servo control enable
from sequence control S4: Operation
I component frozen
I component set
M_accel smoothed
r1518[1]
6 7
Function diagram
SINAMICS S120
To torque
setpoint input
[5060.2]
r1407.5 [2522.3]
r1407.6 [2522.3]
[5060.2]
8
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