Control Properties Of The Cu320-2 Control Unit - Siemens SINAMICS G130 Engineering Manual

SINAMICS S120
Engineering Information
6.2.3

Control properties of the CU320-2 Control Unit

Booksize format, pulse frequency 4 kHz, closed-loop torque control
Servo Control
Synchronous 1FK7 with
motor resolver R14DQ
125 ms
Controller cycle
Total rise time 0.7 ms
(without delay)
650 Hz
Characteristic
angular frequency
-3 dB
3 % von M
Torque ripple
0
Torque accuracy ±1.5 % of M
Asynchronous 1PH7/1PH8
motor without encoder
125 ms
Controller cycle
Total rise time –
(without delay)
Characteristic –
angular frequency
-3 dB
–
Torque ripple
–
Torque accuracy
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Vector Control
1FT7
1FK7/1FT7 synchronous motors are not
designed for operation in vector control
mode.
125 ms
0.5 ms
900 Hz
0.6 % von M
0
±1.5 % of M
0 0
1PH7/1PH8 1PH7/1PH8
with incremental without encoder
encoder 1024 S/R
125 ms 250 ms
0.8 ms 2 ms
600 Hz 250 Hz
1.5 % von M 2 % von M
rated
±3.5 % von M ±2 % von M
rated
Notes
At a speed operating range from 50 rpm
for resolver.
In this case, the dynamic response is
determined primarily by the encoder
system.
With speed operating range of 20 rpm
up to rated speed.
A ripple of < 1 % is possible with an
absolute encoder ≤ 1 rpm.
Not possible with resolver.
Measured value averaged over 3 s.
With motor identification and friction
compensation.
In torque operating range up to ± M
Speed operating range 1:10 up to rated
speed.
Notice: External influences such as
motor temperature can cause an
additional long-time inaccuracy
(constancy) of about ± 2.5 %. Approx.
± 1 % less accuracy in field-weakening
range.
1PH7/1PH8
with incremental
encoder 1024 S/R
250 ms
1.2 ms With encoderless operation in speed
operating range 1:10, with encoder
50 rpm and above up to rated speed.
400 Hz With encoderless operation in speed
operating range 1:10.
The dynamic response is enhanced by
an encoder feedback.
2 % von M
With encoderless operation in speed
rated rated
operating range 1:20, with encoder
20 rpm and above up to rated speed.
±1.5 % von M
Measured value averaged over 3 s.
rated rated
With motor identification and friction
compensation, temperature effects
compensated by KTY84 / PT1000
and mass model.
In torque operating range up to ± M
Approx. additional inaccuracy of
± 2.5 % in field-weakening range.
Servo: Speed operating range 1:10
referred to rated speed.
Vector: Speed operating range 1:50
referred to rated speed.
.
0
.
rated