Setting The Sampling Times - Siemens Sinamics S120 Function Manual

Basic information about the drive system
12.12 System sampling times and number of controllable drives
Using EPOS
The following table lists the number of axes that can be operated with a SINAMICS S120
when using a basic positioning system (EPOS). The number of axes is dependent on the
current controller clock cycle.
Table 12- 23 Sampling times when using EPOS
Cycle times [µs]
Current controller Speed controller
250
250
125
The CPU processing time required for the function module EPOS (with 1 ms position
controller/4 ms positioner) corresponds to the same CPU processing time of 0.5 U/f axes
with 500 μs.
Using CUA31/CUA32
Information on using the Control Unit Adapter CUA31 or CUA32:
● CUA31/32 is the first component in the CUA31/32 topology: 5 axes
● CUA31/32 is not the first component in the CUA31/32 topology: 6 axes
● For a current controller cycle of 62.5 µs, only 1 axis is possible with one CUA31/32.
12.12.2

Setting the sampling times

The sampling times for:
● Current controller (p0115[0])
● Speed controller (p0115[1])
● Flux controller (p0115[2])
● Setpoint channel (p0115[3])
● Position controller (p0115[4])
● Positioner (p0115[5])
● Technology controller (p0115[6])
are set by selecting the appropriate values in p0112 for the closed-loop control configuration
in µs and are copied to p0115[0...6] depending on the performance levels required. The
performance levels range from xLow to xHigh.
Details of how to set the sampling times are given in the SINAMICS S120/S150 List Manual.
768
Cycle times [ms]
Position controller
250 2
250 1
125 1
Positioner Axes
8
4
4
Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2
Number
Infeed
6 1 [250 μs]
5 1 [250 μs]
4 1 [250 μs]
Drive functions