Siemens SINAMICS S110 List Manual page 882

Setpt 2 enable
<4> p1152
[2503.7]
(r0899.15)
Enable 1
&
p2549
[2503.7] (r0899.2)
Enable 2
<1>
p2550
(0/1)
Pos act val valid
r2526.0
[4010.8]
LU/rev LU/mm
p2555
(r2524)
[4010.8]
0.00...1000.00 [ms]
p2533[D] (0.00)
s_set
<1>
p2530 [4020.1]
[3635.7] (0/r2665)
x,y x
y
x
v_set
<1>
p2531
t
[3635.7] (0/r2666)
p2512,
p2513
<2>
p2730
+
–
s_act
[4010.8] p2532
[4020.1] (r2521[0])
[4025.1]
<1> When the "basic positioner" function module (r0108.4 = 1) is active, these binector/connector inputs are supplied by default with values from this module.
The second value specifies this assignment.
<2> For p2534 > 0 % the following applies: A deadtime of two position controller clock cycles is additionally effective.
<3> For p2534 = 0 % the following applies: Pre-control balancing is not effective.
<4> Only if the "extended brake control" function module is active (r0108.14 = 1).
1 2
DO: SERVO
Position control - Position controller (r0108.3 = 1)
0.00...200.00 [%]
r2566
d
dt
Adaptation
p2537
s_set_filt T
s_set after interp
r2556
y
<3>
Pre-control
balancing
Simulation of the build-up of the
t pre-control speed
n_pre-ctrl filter PT1
t_sample int ctrl
0.00...100.00 [ms]
Following err act
p2536[D] (0.00)
r2565
<2>
n_ffCtrl flt t_dead
0.00...2.00
p2535[D] (0.00)
LR_output limit
0.000...210000.000 [rpm]
p2540[D] (210000.000)
3 4
n_pre-ctrl factor
p2534[D] (0.00)
Kp
0.000...300.000 [1000/min]
p2538[D] (1.000)
(1)
P
LR_output P-comp
r2558
[4025.1]
Tn
+
–
LR_output I-comp
r2559
Tn
0.00...100000.00 [ms]
p2539[D] (0.00)
LR_input sys dev
r2557
LR_output lim src
p2541
p2540 (p2540)
5
fp_4015_98_eng.vsd
30.09.11 V04.04.00
1 = Position control active
M_prectr M_inertia
p2567[D]
d
dt
2
+
+
-1
1 = Position controller output limited
6 7
Function diagram
SINAMICS S110
1000.00 μs
r2526.3
[3635.1]
M_pre-ctrl value
r2564
n_pre-ctrl value
r2561
n_set total
r2562
[3080.3]
n_setp
r2560
r2526.6
8
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