Application Examples - Siemens SINAMICS S120 Function Manual

Determining the maximum acceleration limits
Prerequisite is that the pulses have been disabled in the drive and the maximum moment of
inertia has been determined.
The maximum target acceleration for the basic positioner (EPOS) is determined with the aid
of the inertia estimator. This is performed only once after the activation of bit p5271.5. The
load torques and a control reserve of 20% are taken into account.
The user must decide to what extent this maximum acceleration is permissible for the
mechanical system of the machine (elastomechanical system) or for the thermal load
capability of the motor (depending on the load cycle). The calculated acceleration (p2572) or
deceleration (p2573) may have to be reduced by the commissioning engineer.
4.8.2.3

Application examples

Positioning axes
A positioning axis application can always be used when an axis performs a point-to-point
motion independent of other axes. p5302.7 = 0 must be set.
The axis is tuned for positioning without overshoot.
Interpolating axes
EPOS position controller with higher-level controller
Interpolating axis applications are required when several axes jointly perform a path motion,
for example, in which the deviation to the contour should be as small as possible. Parameter
p5302.7 = 1 must be set. The precontrol must not be switched off subsequently.
The controlled dynamic response is set with parameter p5275. All interpolating axes must
have the same value.
With values that are too small, the axis can overshoot during positioning. If this has a
negative effect on the application, the value in p5275 must be increased in all axes. The axis
with the largest estimated time constant (r5274) in the settled state is the determining axis.
Drive functions
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
Servo control
4.8 Autotuning
125