Siemens Sinamics S110 Function Manual page 124

Drive functions
7.1 Servo control
Commissioning of torque control mode
1. Set torque control mode (p1300 = 23; p1501 = "1" signal)
2. Specify torque setpoint
Figure 7-6
3. Activate enable signals
OFF responses
● OFF1 and p1300 = 23
● OFF1, p1501 = "1" signal and p1300 ≠ 23
● OFF2
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– Select source (p1511)
– Scale setpoint (p1512)
– Select supplementary setpoint (1513)
Torque setpoint
– Reaction as for OFF2
– No separate braking response; the braking response takes place by a drive that
specifies the torque.
– The pulses are suppressed when the brake application time (p1217) expires. Zero
speed is detected when the actual speed drops below the speed threshold (p1226) or
once the monitoring time (p1227) started when speed setpoint ≤ speed threshold
(p1226) has expired.
– Switching on inhibited is activated.
– Immediate pulse suppression, the drive coasts to standstill.
– The motor brake (if parameterized) is closed immediately.
– Switching on inhibited is activated.
Function Manual, 10/2008, 6SL3097-4AB10-0BP0
Drive functions