Siemens Sinamics S120 Function Manual page 526

Communication
10.1 Communication according to PROFIdrive
XERR (position deviation)
The position deviation for dynamic servo control (DSC) is transmitted via this setpoint.
The format of XERR is identical to the format of G1_XIST1.
KPC (position controller gain factor)
The position controller gain factor for dynamic servo control (DSC) is transmitted via this
setpoint.
Transmission format: KPC is transmitted in the unit 0.001 1/s.
Value range: 0 to 4000.0
Special case: When KPC = 0, the "DSC" function is deactivated.
Example:
A2C2A hex ≐ 666666 dec ≐ KPC = 666.666 1/s ≐ KPC = 40 1000/min.
DSC_STW
Control word for DSC splines
Table 10- 13 Description DSC_STW
Bit
0 DSC with spline on
1...3 Reserved
4 Speed pre-control for DSC with spline
on
5 Torque pre-control for DSC with spline
on
6...15 Reserved
T_SYMM
DSC symmetrizing time constant
Sets the signal source for the symmetrizing time constant T_SYMM for DSC with spline.
● T_SYMM = 0:
● T_SYMM > 0:
The symmetrizing time constant T_SYMM has the unit 10 μs in the Unsigned16 format.
524
Meaning
Symmetrization is deactivated
The position setpoint is always made symmetrical.
Remarks
1 DSC with spline on
0 DSC with spline off
– –
1 Speed pre-control for DSC with spline on
0 Speed pre-control for DSC with spline off
1 Torque pre-control for DSC with spline on
0 Torque pre-control for DSC with spline off
-
Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2
Parameter
CI: p1194
–
CI: p1194
CI: p1194
-
Drive functions