Siemens SINAMICS S110 List Manual page 899

1 = Sensorless operation speed
actual value, starting value
From speed control, configuration p1400.11
[5490.7]
t_sample int ctrl
250.00 μs]
n_prectr sym T
n_limit pos eff
r1084
From setpoint limiting
[3050.8]
[3095.7]
Speed setpoint limited
From Advanced
Positioning Control
r1407.11
[7012.8]
[2522.3]
–
n_set after filter
r0062
+
[7012.1]
n_limit neg eff
[3050.8]
r0062
[3095.7]
Mot M_inertia
0.000 00...100 000.000 00 [kgm²]
p0341[M] (0.000 00)
Load mom of inertia
p1498
Mom of inert total
r1493
+
+
Mom of inert skal
Mot MomInert Ratio
p1497[C]
1.000...10 000.000
p0342[M] (1.000)
<1> For p1472 = 0 the I component is disabled (Integral time =
<2> Setting rule: p0341, p0342 and p1498 must be set correctly.
<3> The integrator of the speed controller is re-parameterized to become a PT1 filter through a feedback element (p1494).
1 2
DO: SERVO
Servo control - Speed controller without encoder
n_prectrSym t_dead
p1428[D]
Kp_n adaptation factor [5050.6]
Pre-control
(= 1.00 for the factory setting)
balancing
1 = Kp-/Tn adaptation active
From speed control configuration
p1429[D]
p1400.5
[5490.4]
n_ctrl n_set
r1438
[8011.2]
Balanced speed setpoint
x
n_act smooth
r0063
Acceleration
[4710.6]
model
M_accel T_smooth
0.00...100.00 [ms]
p1517[D] (4.00)
Total moment
of inertia
<2>
Smoothing
M_accel unsmoothed
(1)
r1518[0]
).
3 4
n_ctrl SLVC Kp n_ctrl SLVC Tn
0.000...999 999.000 [Nms/rad] 0.0...100 000.0 [ms]
<1>
p1470[D] (0.300) p1472[D] (20.0)
0
1
n_ctr integ_fdbk T
p1494
<3>
Kp
T
F
+
–
n_ctrl integ stop
p1476[C]
(0)
n_ctrl integ set
p1477[C] Integrator control
(0)
n_ctr integ_setVal
p1478[C]
(0)
Speed controller
M_accel smoothed
r1518[1]
5 6
fp_5210_98_eng.vsd
17.07.09 V04.04.00
250.00 μs
n_ctrl Kp eff
r1468
n_ctrl P-M_output
Tn
r1481
n_ctrl PI-M_output (M_set_4)
r1480
n_ctrl I-M_output
r1482
Servo control enable from sequence control S4: Operation
I component frozen
r1407.5
I component set
r1407.6
M_pre-control_1
7
Function diagram
SINAMICS S110
To torque
setpoint input
[5060.1]
[2522.3]
[2522.3]
[5060.2]
8
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