Extended Torque Control (Kt Estimator, Servo) - Siemens SINAMICS S120 Function Manual

8.6

Extended torque control (kT estimator, servo)

The "Extended torque control" function module comprises two modules - the k
and the compensation of the voltage emulation error of the drive converter. As a
consequence, the torque accuracy is increased.
Note
When this function module is activated, the maximum number of drives that can be
controlled from a Control Unit is reduced by at least one drive.
Features
● k
● Compensation of the voltage emulation error of the drive converter (p1952, p1953)
● Configuration via p1780
Commissioning
The extended torque control is activated offline:
1. Click the drive and right-click to open the shortcut menu "Properties ... ".
The "Object Properties" window opens.
2. Click the "Function modules" tab.
The selection of possible function modules opens.
3. Click the "Extended torque control" checkbox to activate this option.
4. Click "OK" to activate the function module.
5. Select the "Connect to selected target devices" option.
6. Call the "Download project to target system" function.
Alternatively, you can also activate function modules in STARTER under "Configuration >
Function modules / technology packages".
Activation can be checked in parameter r0108.1.
Description of the k
T
The adaptation of the torque constants for synchronous motors is used to improve the
absolute torque accuracy for the control (closed-loop) of synchronous motors. The
magnetization of the permanent magnets varies as a result of production tolerances and
temperature fluctuations and saturation effects. The function "k
constant k
the k
inner motor torque. The frictional losses must be compensated from the friction characteristic
using a supplementary torque.
Drive functions
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
estimator (only for synchronous motors)
T
estimator
[Nm/A] in the control to the prevailing magnetization. It only makes sense to use
T
estimator in conjunction with the friction characteristic as the k
T
8.6 Extended torque control (kT estimator, servo)
estimator" adapts the torque
T
Function modules
estimator
T
estimator corrects the
T
485