Siemens Sinamics S120 Function Manual page 349

Note
We only recommend that experts use the position controller functions without using the basic
positioner.
Description
The position controller is a PI controller. The P gain can be adapted using the product of
connector input p2537 (position controller adaptation) and parameter p2538 (Kp).
Using connector input p2541 (limit), the speed setpoint of the position controller can be
limited without pre-control. This connector input is pre-interconnected with connector output
p2540.
The position controller is enabled by an AND link of the binector inputs p2549 (position
controller 1 enable) and p2550 (position controller 2 enable).
The position setpoint filter (p2533 time constant position setpoint filter) is a PT1 element, the
symmetrizing filter as deadtime element (p2535 symmetrizing filter speed pre-control
(deadtime) and PT1 element (p2536 symmetrizing filter speed pre-control (PT1)). The speed
pre-control p2534 (factor, speed pre-control) can be disabled via the value 0.
Function diagrams (see SINAMICS S120/S150 List Manual)
● 4015 Position controller
Overview of important parameters (see SINAMICS S120/S150 List Manual)
● p2533[0...n] LR position setpoint filter time constant
● p2534[0...n] LR speed precontrol factor
● p2535[0...n] LR speed precontrol symmetrizing filter dead time
● p2536[0...n] LR speed precontrol symmetrizing filter PT1
● p2537 CI: LR position controller adaptation
● p2538[0...n] LR proportional gain
● p2539[0...n] LR integral time
● p2540 CO: LR position controller output speed limit
● p2541 CI: LR position controller output speed limit signal source
Drive functions
Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2
Function modules
7.7 Closed-loop position control
347