Drive Object Clock Cycle Recommended / Do_Clock Recom - Siemens SINAMICS G150 Manual

Recommend.: When changing the sampling times of the current and speed controllers (also refer to p0115), then we recommend
that after exiting commissioning (p0009 = 0) the controller settings are re-calculated using p0340 = 4.
When adjusting the current controller sampling time, it is recommended to use values that are an integer multiple of
6.25 µs. The sampling times of analog or digital inputs/outputs (see p0799, p4099) should be set to an integer
multiple of the current controller sampling time.
If the current controller sampling time is to be reduced with respect to the default setting (e.g. < 250 µs), then it is
recommended that the motor data identification (standstill measurement) is executed beforehand, in order to avoid a
thermal overload of the power unit as a result of high pulse frequencies (p1800).
Index: [0] = Current controller
[1] = Speed controller
[2] = Flux controller
[3] = Setpoint channel
[4] = Pos controller
[5] = Positioning
[6] = Techn controller
Dependency: Depending on the number and type of vector drives, the sampling times are preset differently.
The sampling times can only be separately set if p0112 is 0 (expert). If a sampling time is modified in the expert
mode, then all of the sampling times with higher indices are automatically changed in the same ratio as the sampling
time itself was changed. Slower time slices are only taken if the calculated sampling time is also permitted. Upper
limit is 8 ms.
Higher-level controls must be calculated in integral ratios to lower-level controls (e.g. p0115[1] = N * p0115[0]; where
N is an integer number). The sampling time of the speed controller (p0115[1]) can have as a maximum a value of
800% of the current controller sampling time (p0115[0]).
The sampling times for setpoint channel (p0115[3]), position controller (p0115[4]), positioning (p0115[5]) and
technology controller (p0115[6]) must have at least 2x the value of the current controller sampling time (p0115[0]).
The sampling time of the current controller p0115[0] and pulse frequency p1800 are checked at each parameter
download, and when necessary changed, if, for p0092 = 1, the current controller sampling time is not an integral
multiple of 125 µs or if p0112 is set > 1. For p0092 = 0, the check with p0112 = 0 (= expert) can be deactivated.
Refer to: r0110, r0111, p0112
Note: For function modules that can be activated (e.g. technology controller), the parameters values are pre-assigned.
For power unit type PM340 (r0203), only current controller sampling times of 250 µs or 500 µs can be set. The
minimum current controller clock cycle is otherwise 125 µs (SINAMICS G: 250 µs), the maximum current controller
clock cycle is 500 µs. The minimum speed controller clock cycle for SINAMICS G is 1 ms.
Current controller clock cycles less than 250 µs are restricted by the number of drives or by the number of power
units connected in parallel (also see F01340).
For chassis power units connected in parallel, it is recommended to connect the DRIVE-CLiQ cables (partially) in
parallel between the Control Unit and the individual Motor Modules.
For D410-2, the current controller sampling times can only be permanently changed with p0112 = 0 (e.g. to 250 µs).
r0116[0...1]

Drive object clock cycle recommended / DO_clock recom

B_INF, CU_G130_DP, Can be changed: -
CU_G130_PN,
Data type: FloatingPoint32
CU_G150_DP,
P-Group: Closed-loop control
CU_G150_PN, TB30,
Not for motor type: -
TM31, VECTOR_G
Min
- [µs]
Description: Displays the recommended sampling time for the drive objects.
r00116[0] = recommended sampling time:
Recommended value which would then make the complete system operational.
r00116[1] = recommended sampling time:
Recommended value, which after changing other clock cycles on the DRIVE-CLiQ line, would result in an operational
system.
Index: [0] = Change only for the actual drive object
[1] = Changing all objects on the DRIVE-CLiQ line
Dependency: Refer to: p0115
SINAMICS G130/G150
List Manual (LH2), 04/2014, A5E03263479A
Calculated: -
Dyn. index: -
Units group: -
Scaling: -
Max
- [µs]
2 Parameters
2.2 List of parameters
Access level: 3
Func. diagram: -
Unit selection: -
Expert list: 1
Factory setting
- [µs]
85