Siemens SINAMICS S120 Function Manual page 292

Extended Functions
Terminal Module 41 (TM41)
General description
The TM41 outputs incremental encoder signals. The signals can be generated
using a speed value via a process data word (p4400 = 0) or using an encoder posi-
tion actual value of a drive (p4400 = 1). The incremental encoder signal can, for
example, be evaluated by a control or other drives.
One analog input, 4 digital inputs and 4 bidirectional digital inputs/outputs are avail-
able. The can, for example, be used to enter an analog speed setpoint and transfer
control and status signals – e.g. OFF1/ON, ready or fault.
Description (p4400 = 0) incremental encoder emulation using a speed value
Example:
A speed setpoint is received via PROFIdrive telegram 3 (r2060), which is intercon-
nected to p1155. The speed setpoint can be filtered using a (p1414.0) PT2 element
(p1417 and p1418) and delayed with a deadtime (p1412). The number of encoder
pulses per revolution can be set using parameter p0408. The distance between the
zero marks and the position when enabling the A/B tracks (r4402.1) can be en-
tered into parameter p4426 and enabled with p4401.0.
n_ctrl n _set 1
p1155
(2060 [1])
Fig. 4-35
Description (p4400 = 1) incremental encoder emulation using encoder position actual
value
The encoder position actual value of a drive (r0479) is interconnected to the TM41
via a connector input (p4420) and is therefore available at the TM41 as pulse
encoder emulation. The signals of the pulse encoder emulation can, for example,
be read-in from one control. This means, for example, it is possible to implement a
position controller in the control and to transfer its output as analog speed setpoint
to the drive. The number of encoder pulses per revolution (p0408) and the fine in-
terpolation (p0418) must be set the same as the drive. The sampling time p4099[3]
must be set to the current controller clock cycle (p0115[0]) of the drive. The run-
time of the encoder position actual value up to the pulse encoder emulation can be
compensated using the deadtime compensation with p4421. If p4422 = 1, the input
signal p4420 is inverted.
4-292
n_set_filt 1 fn _n n_set _filt 1 D_n
p1417
p1418
|y|
D
f
PT 2 lowpass
Block diagram of the incremental encoder emulation
n_set deadtime Encoder pulse number
p1412 p 0408
Format
adaptation
Dead time
© Siemens AG 2006 All Rights Reserved
SINAMICS S120 Function Manual, 03/2006 Edition
TM41