Siemens Sinamics S120 Function Manual page 121

Further PZD data telegram types can be used with the telegram extension. It must then be
ensured that SERVO supports a maximum of 20 PZD setpoints and 28 PZD actual values.
Note
Synchronization is required on the control side and on the drive side for the operation of
DSC.
A detailed description of the DSC mode of operation is provided in function diagram 3090
(see SINAMICS S120/S150 List Manual).
Reducing the number of drives
Dynamic Servo Control results in an additional utilization for the Control Unit. This reduces
the maximum possible number of drives to
● Five drives with a current controller cycle of 125 µs
● Two drives with a current controller cycle of 62.5 µs.
Operating states
The following operating states are possible for DSC (for details, see SINAMICS S120/S150
List Manual, function diagram 3090):
Operating state for DSC
Speed/torque precontrol with linear
interpolation
Speed precontrol with splines
Speed/torque precontrol with
splines
The following improvements are achieved as a result of spline interpolation:
1)
•
•
•
For active symmetrization (T_SYMM > 0), using p1427 you can set an additive symmetrizing time
2)
constant T_SYMM_ADD to symmetrizing the speed precontrol value when torque precontrol is active.
In this case, the speed precontrol value is symmetrized with the sum of the following time constants:
T_SYMM (see p1195) + T_SYMM_ADD (p1427) + 0.5 × T_speed controller cycle (p0115[1])
In this case, speed generation is automatically taken into account using position differences with half
a speed controller cycle.
Drive functions
Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2
1)
A finer interpolation of the torque in the speed controller clock cycle and therefore softer motion;
torque surges are also avoided.
For torque-speed precontrol:
Extremely high path accuracy (i.e. lower following error in the control behavior).
High-frequency path motion is possible
Meaning
As a result of the step-like torque precontrol in the position
controller clock cycle, a pulsed torque characteristic is
obtained with the excitation clock cycle.
1)
The position setpoint is made symmetrical.
•
The speed precontrol value is not made symmetrical.
•
The position setpoint is made symmetrical.
•
The speed precontrol value is made symmetrical.
•
The torque precontrol value is not made symmetrical.
•
Servo control
3.15 Dynamic Servo Control (DSC)
2)
119