Siemens SINAMICS S120 Function Manual page 486

Function modules
8.6 Extended torque control (kT estimator, servo)
The k
order to achieve a high torque accuracy. Before using the k
identification (p1909, p1910) must be performed with activated k
procedure, the values for stator resistance (p0350), leakage inductance (p0356) and voltage
emulation errors (p1952, p1953) are determined. The cable resistance must be entered in
p0352 before motor data identification.
The motor should be at room temperature when the identification routine is carried out.
Compensation of the voltage emulation error must be activated (p1780.8 = 1). The motor
temperature (p0600) should be sensed using a KTY or PT1000 sensor (p0601 = 2 or 3).
The k
dependent quantities. The estimate is less accurate if a motor temperature sensor is not
connected.
The k
the converter always has small inaccuracies. The lower the output voltage and speed, the
more inaccurate the estimate. This is the reason why the estimation is deactivated below a
specific speed. The estimated value is smoothed using time constant p1795. The correction
value for the torque constant is displayed in r1797.
By identifying the torque constant k
torque accuracy can be improved also below the speed threshold (p1752).
The k
Function diagrams (see SINAMICS S120/S150 List Manual)
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estimator requires the most accurate values for the motor parameters as possible in
T
estimator requires the motor temperature in order to track/correct the temperature-
T
estimator is only activated above a specific speed (p1752). The terminal voltage of
T
estimator is activated using p1780.3 and the voltage compensation using p1780.8.
T
Technology functions - kT estimator
using the rotating motor data identification routine, the
T
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
estimator, a motor data
T
estimator. In this
T
Drive functions