Siemens SINAMICS S120 Function Manual page 545

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Table of Contents

Optimizing traversing

For optimization of traversing, refer to the information in the following table.

If the change in inertia is already known, ...

If the load or the friction changes, ...

If the load estimation is completed and the moment

of inertia is not settled (r1407.24/26 = 0), ...

If no constant speed setpoints (e.g. sinusoidal) are

included in the traversing profile, ...

If constant speed setpoints are included in the tra‐

versing profile, ...

Drive functions

Function Manual, 06/2019, 6SL3097-5AB00-0BP2

Acceleration torque M

Motor torque M

(≙ setpoint acceleration)

Parameters for calculating the moment of inertia

9.12 Moment of inertia estimator

you can delete the measurement memory for the

moment of inertia with p1565 = 1. As a conse‐

quence, r1407.26 (moment of inertia estimator sta‐

bilized) is cleared. Parameter r1407.26 is then only

set again if sufficient measurement time with ac‐

celeration is available.

you can delete the settling condition for the load

estimation with p1565 = -1. The load estimation

must therefore be settled again prior to estimating

the moment of inertia.

we recommend increasing the acceleration.

Note: If the "Basic positioner" (EPOS) function

module is activated, you can increase acceleration

with the parameters p2572 and p2573.

we recommend activating the load estimation in

the event of changes in the speed setpoints via

p1400.26 = 0.

we recommend suppressing the load estimation in

the event of changes in the speed setpoints via

p1400.26 = 1. This will ensure greater accuracy for

load and inertia estimation.

Function modules