Siemens SINAMICS S120 Function Manual page 857

Cycle times for servo control and HLA
The following table lists the number of axes that can be operated with a Control Unit in servo
control and HLA. The number of axes is also dependent on the cycle times of the controller:
Table 14-13 Sampling time setting for servo control
Cycle times [µs]
Current con‐ Speed controller
troller
125 125
62.5 62.5
31.25 31.25
2)
Valid for TM31 or TM15IO; restrictions are possible for TM54F, TM41, TM15, TM17, TM120, TM150 depending on the set
1)
sampling time.
In the cycle level 31.25 µs, you can also create the following objects:
2)
Sensor Module External (SME) and SMC20 that support the current firmware and hardware. These can be recognized from
the Article end number ... 3.
No additional axis can be operated in this cycle level.
Adjustable pulse frequencies and current controller sampling times for servo control
The pulse frequencies that can be set depending on the selected current controller sampling
time are shown in r0114. Because of the integrating current measurement, pulse frequencies
that are a multiple of half the current controller sampling frequency should be preferred.
Otherwise, the current is not measured synchronous to the pulse frequency and a fluctuating
actual current value results. This causes disturbance in the control circuits and higher losses in
the motor (such as pulse frequency 5.333 kHz and current controller sampling time 62.5 μs).
The recommended settings are marked with XX in the Table; all other possible settings are
marked with X.
Table 14-14 Pulse frequencies and current controller sampling times for servo control
Pulse frequen‐
cy [kHz]
250.0
16.0 X
13.333 ‑
12.0 X
10.666 ‑
10.0 ‑
8.888 ‑
8.0 X
6.666 ‑
6.4 ‑
5.333 ‑
5.0 ‑
4.444 ‑
4.0 X
Drive functions
Function Manual, 06/2019, 6SL3097-5AB00-0BP2
Number
Axes
6
3
1
2)
Current controller sampling time [µs]
187.5 150.0 125.0
‑ ‑ X
‑ X ‑
‑ ‑ ‑
X ‑ ‑
‑ ‑ ‑
‑ ‑ ‑
‑ ‑ X
‑ X ‑
‑ ‑ ‑
X ‑ ‑
‑ ‑ ‑
‑ ‑ ‑
‑ ‑ XX
Basic information about the drive system
14.12 System rules, sampling times and DRIVE-CLiQ wiring
Motor/dir. measur‐
ing systems
Infeed
1 [250 μs]
1 [250 μs]
1 [250 μs]
100.0 93.75 75.0
‑ ‑ ‑
‑ ‑ X
‑ ‑ ‑
‑ X ‑
X ‑ ‑
‑ ‑ ‑
‑ ‑ ‑
‑ ‑ XX
‑ ‑ ‑
‑ XX ‑
XX ‑ ‑
‑ ‑ X
‑ ‑ ‑
TM
1)
6 / 6 3 [2000 μs]
3 / 3 3 [2000 μs]
1 / 1 3 [2000 μs]
62.5 50.0 37.5
X ‑ ‑
‑ ‑ XX
‑ ‑ ‑
‑ ‑ ‑
‑ XX ‑
‑ ‑ X
XX ‑ ‑
‑ X X
‑ ‑ ‑
X ‑ X
‑ X ‑
‑ ‑ ‑
X ‑ ‑
/TB
31.25
XX
‑
‑
X
‑
‑
X
‑
X
‑
‑
‑
‑
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