Siemens SINAMICS S120 Manual De Listas página 2327

Higher-level motion control
(e.g. SINUMERIK, SIMOTION)
Motion Control
&
Path
Interpolation
n_cmd
+
Offset and
Compensation
+
T_MAPC
Position actual value
generation
Master Application Cycle-Time
Encoder signals acc. telegram
[2415], [2416] and [2419]
Enc G1_XIST1
r0482[0]
Enc G2_XIST1
r0482[1]
DSC enc selection
Enc G3_XIST1
p1192
Invert position act value
r0482[2]
From motor
Diag G1_XIST1
encoder
<2>
1
r0479[0]
<9>
Diag G2_XIST1
2
r0479[1]
-1
Diag G3_XIST1
3
r0479[2]
<4>
Position actual value from
encoder 1, 2, 3 [4704.8]
<1> Principle of operation of Dynamic Servo Control (DSC): The feedback branch {2} completely
compensates the feedback coupling branch {1} in respect of the position actual value sent from the
drive. The fast actual value channel {3} allows for a high dynamic performance and high Kv factors.
<2> For the motor encoder (p1192 = 1) p1193 = 1 is effective.
When using encoder 2 or 3 (p1192 = 2, 3), p1193 corresponds to the "Increments per motor encoder
revolution/increments of the encoder selected (2, 3) during one motor rotation" (considering gear
ratios and also different encoder lines and fine resolutions).
1 2
DO: SERVO
Setpoint channel - Dynamic Servo Control (DSC) linear and DSC spline (r0108.6 = 1)
<4>
+
x XERR
S & H
–
{1}
SET
Application clock-cycle
synchronous (at PROFIdrive)
Dir of rot
p1821[D]
PROFIdrive
DSC encod
p0410.1[E]
AdaptFact Transmission
<10> p1193 (1)
0 0 SET
x
S & H
-1
1 1
3 4
SINAMICS
PROFIdrive sampling time
Control Unit
DSC_STW
p1194
DSC T_SYMM
DSC T_SYMM_ADD
p1195
p1427(DDS)
Speed pre-control
1
p1430
0
DSC KPC
p1191
DSC XERR
p1190
<6>
+
1
x,y
<4>
+ 0
Spline-
Interpolation
DSC on Speed controller sampling time
Delay
r1407.20
<3>
y Slave Application cycle-time
{2}
{3} x
<1>
<3> The deadtime for the PROFIdrive data transfer is set automatically.
<4> The position deviation must be referred to the increments of the motor
including the fine resolution.
<5> Normalization of KPC: If signal Δx = 1 motor revolution and
KPC = 1, then "n_set from DSC" = 0.001 motor revolutions/s.
<6> Clock-synchronous operation must be active for DSC.
<7> Only for p1400.17 = 1 and at limitation becomes p1407.19 = 1.
5
fp_3090_01_eng.vsd
11.02.16 V05.02.03
p0115[1] (Drive Object)
p1191 > 0 (connected)
n_set from DSC
1
<8>
0
Balancing
Spline torque
pre-control on
r1407.22
Spline-Interpolation
1
0
DSC x_set
Spline speed
r1196
pre-control
r1407.21
x
<5> Kp
+
y
Δx
+ +
–
t
Interpolator
DSC position
controller
T_SAPC
<8> With active symmetrization
(T_SYMM > 0), the speed
feedforward value is balanced
SET
using the sum of the following time
y
Fast position
S & H constants:
actual value channel
T_SYMM (refer to p1195) +
T_SYMM_ADD (p1427) + 0.5 *
T_Speed controller (p0115[1]).
<9> It is actualised with every DRIVE-
CLiQ base tact.
<10> Not for drive object ENC.
<101> To view the pre-assignment of the
sampling times in p0115, refer to
p0112.
6 7
Function diagram
SINAMICS S120
<101>
[2522.1]
[2522.1]
r1407.4
1
[5060.1]
0
1
[5020.1]
0
[5020.1]
Dynamic setpoint limit
a Δ ×
2 x
<7>
[5020.1]
[5030.3]
–
a Δ ×
2 x
8
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