Siemens Sinamics S110 Function Manual page 128

Drive functions
7.1 Servo control
4. A torque offset can be parameterized.
5. In addition, the power limits can be parameterized separately for motor and regenerative
Example: Torque limits with or without offset
The signals selected via p1522 and p1523 include the torque limits parameterized via p1520
and p1521.
Figure 7-9
Activating the torque limits
1. Use parameters to select the torque limitation source.
2. Use a control word to specify the torque limitation mode.
3. The following can also be carried out if necessary:
Examples
● Travel to fixed stop
● Tension control for continuous goods conveyors and winders
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mode.
NOTICE
Negative values at r1534 or positive values at r1535 represent a minimum torque for the
other torque directions and can cause the drive to rotate if no load torque is generated
to counteract this (see function diagram 5630 in the SINAMICS S110 List Manual).
Example: Torque limits with or without offset
– Select and activate additional limitations.
– Set the torque offset.
Function Manual, 10/2008, 6SL3097-4AB10-0BP0
Drive functions