Siemens SINAMICS S120 Function Manual page 143

Wind-up effect
If the drive reaches its torque limits when in the DSC mode, e.g. because of excessively fast
setpoint inputs, then positioning motion can be overshot. With this so-called wind-up effect,
the drive overshoots the specified target, the controller enters a specific correction, the drive
reverses, again overshoots the target, etc. In order to avoid this behavior, the drive limits the
position controller to values, which the drive can always reliably maintain depending on the
acceleration capability. Set p1400.17 = 1 in order to activate dynamic setpoint limiting in the
DSC mode. In this case, the total weight (m
the weight p0341, p0342 and p1498 possibly using the mot ID). If the limiting responds, then
this is indicated in r1407.19. On this topic, also observe the description of parameter
p1400.17 and function diagram 3090.
Diagnostics
Parameter r1407 indicates which DSC closed-loop control structure is active, e.g.
r1407.20 = 1 means "DSC with Spline on".
Requirements for the display:
● p1190 and p1191 must be connected to a signal source with a value of > 0
● OFF1, OFF3 and STOP2 must not be active.
● The motor data identification must not be active.
● Master control must not be active.
The following conditions can mean that although the bit is set, the DSC function is not active:
● Isochronous mode has not been selected (r2054 ≠ 4).
● PROFIBUS is not isochronous (r2064[0] ≠ 1).
● On the control side, DSC is not active, which causes the value of KPC = 0 to be
Drive functions
Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3
(DSC structure activated).
transferred to p1191.
3.15 Dynamic Servo Control (DSC)
) must be precisely parameterized (determine
tot
Servo control
141