Configuring Instructions For Setpoint Generation - Siemens SIMOVERT MASTERDRIVE SLE Operating Instructions Manual

SLE / SLE-DP – SIMOLINK Encoder
6.5

Configuring instructions for setpoint generation

Siemens AG GWE-477 763 4070.76 J
SIMOVERT MASTERDRIVES
02.2001
The system-dependent setpoint transit delays of the MASTERDRIVES
MC are simulated by the SIMOLINK Encoder. Consequently, the
SIMOLINK Encoder behaves as regards output pulses (actual value) in
the same way as a position-controlled MASTERDRIVES MC with
respect to its encoder actual value. This means in practice that the
SIMOLINK Encoder reaches the same actual counter value in every
SIMOLINK cycle as the actual encoder value of the position-controlled
MASTERDRIVES MC unit (ignoring any differences in pulses per
revolution; the MC device must not exhibit any permanent position
control deviation). However, the setpoint transit times of the
MASTERDRIVES MC are dependent on a number of parameters and
the following therefore applies only to standard configurations.
Relevant parameters in standard configuration:
♦ Scanning time slot of master setpoint (U953.35 or U953.34):
Recommended setting: T4; must be calculated in the SIMOLINK
cycle time.
♦ Scanning time slot of setpoint calculation for the SIMOLINK Encoder
(U953.28):
Recommended setting: T4; must be calculated in the same time slot
as the master setpoint.
♦ Scanning sequence of setpoint calculation for the SIMOLINK
Encoder (U963.28):
Recommended setting: U963.28 =3360, U963.35 =3350; must be
calculated after the master setpoint computation.
These parameter settings can provide a common basis for the master
setpoint for the drives and the setpoint for the SIMOLINK Encoder,
ensuring that both are available simultaneously on the SIMOLINK ring.
♦ Scanning time slot of synchronism block (U953.33):
Recommended setting: T4; must be calculated in the same time slot
as master setpoint and SIMOLINK cycle time.
♦ Scanning sequence of synchronism operation block (U963.33):
Recommended setting: U963.33 =10; must be processed at the
beginning of T4 and all blocks in the setpoint path must be
calculated in order from SIMOLINK reception (U960.12 = 5) to
synchronism operation block.
♦ Position setpoint coupling to position controller (U953.40, U963.40):
Default setting: U953.40 =3, U963.40 =3400; time-optimized
position setpoint coupling
♦ Position setpoint interpolation of position controller (P770):
Default setting: P770 =1; Extrapolation mode.
♦ Speed precontrol of position controller (P209):
Default setting: P209 =312; the speed precontrol for the position
controller must be utilized without producing any permanent position
control deviation (MD49 = 100 %).
If these settings are made for all axes in the synchronous operation
drive grouping (MASTERDRIVES MC devices), it can be guaranteed
that the MASTERDRIVES MC units will have the same dynamic
response as the SIMOLINK Encoder.
Operating Instructions
Start-Up
6-21