Force Controller - Siemens SINAMICS S120 System Manual

Drive functions
5.4 Force control
5.4.3

Force controller

Precontrol gain force controller
The factor to set the precontrol gain in the force controller (p1720) is only effective if the
force limiting or stiction input in p1400 is activated and the force controller is also activated
(p1400.14 = 1).
The more accurate the precontrol setting, the more effective the force limitation at high
velocities. An excessively high setting can result in continuous switching between force and
velocity controllers.
The plane adaptation (p1830 and p1831) and controlled system gain (p1475) are taken into
account by the precontrol.
Controlled system gain force controller
p1700 contains the proportional controlled system gain of the force control loop and is
preassigned by "Calculate drive model data".
The controlled system gain depends on the volume of oil in the cylinder and the nominal flow
rate of the servo solenoid valve. The value should not be changed.
The value in p1700 is the reference for the P gain of the force controller.
p1700 makes allowance for the effects of geometric dimensions.
The effect of the valve dynamic response is taken into account in p1715, which means that
the same gain value can always be set for an identical valve dynamic response at different
cylinders.
P component force controller
p1700 is the reference value, in which the influence of the geometrical dimensions is
summarized.
The effect of the valve dynamic response is taken into account in p1715, which means that
the same gain value can always be set for an identical valve dynamic response at different
cylinders.
If force limitation and/or stiction input are activated in p1400, the reduction in the force
controller P gain in response to higher setpoint-actual value deviations (large-signal
response) is entered in p1716. The P component of the force controller must be reduced
since the dynamic limitations of the actuator regarding large-signal response also reduce the
potential dynamic response of the control loop.
Small-signal response is set in p1715.
The factor in p1716 specifies as a percentage the value to which a P component of 10 V is
reduced.
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System Manual, 04/2015, 6SL3097-4BA00-0BP1
Hydraulic Drive