Velocity Controller - Siemens SINAMICS S120 System Manual

5.3.2

Velocity controller

Velocity controller cycle
The velocity controller cycle p0115[0] is the sampling time, with which the velocity control
loop is calculated.
Note the following points when setting this cycle:
● Short cycle
Good dynamic response, but measurement noise from actual velocity value is higher.
● Long cycle
Poor dynamic response, actual velocity values have low noise levels
Recommended setting:
Increase cycle time for measuring systems with wide scale graduations or large derivative-
action time of D component.
Adaptation of P and D components
Adaptation is recommended where the natural frequency of the servo solenoid valve is
higher than that of the drive.
Precondition:
● This is only possible after the piston has been calibrated
For the adaptation, the HLA module must know just where the piston is located in the
cylinder, and then from the resulting oil columns identify elasticities and in turn natural
frequencies.
With p1400.0, adaptation is activated (p1400.0 = 1) or deactivated (p1400.0 = 0). If
adaptation is deactivated, then p1461 and p1464 apply.
● Adaptation on (see diagram "Adaptation")
With p1460, the P gain is set, and with p1465, p1467 the derivative-action time (D
component) at the A and B cylinder sides.
p1461 and p1466 are active for position p0351
● Adaptation OFF
p1461 and p1466 are active over the complete range.
Hydraulic Drive
System Manual, 04/2015, 6SL3097-4BA00-0BP1
Drive functions
5.3 Closed-loop velocity control
149