Siemens SINAMICS S120 Function Manual page 12

Contents
4 Servo control ........................................................................................................................................ 83
4.1 Speed controller .......................................................................................................................... 86
4.2 Speed setpoint filter .................................................................................................................... 87
4.3 Speed controller adaptation ........................................................................................................ 89
4.4 Torque-controlled operation ........................................................................................................ 92
4.5 Torque setpoint limitation ............................................................................................................ 95
4.6 Current controller ...................................................................................................................... 100
4.7 Current setpoint filters ............................................................................................................... 103
4.7.1 Function diagrams and parameters .......................................................................................... 109
4.8 Autotuning ................................................................................................................................. 111
4.8.1 One button tuning ...................................................................................................................... 112
4.8.2 Online tuning ............................................................................................................................. 115
4.8.2.1 "Drive-based" online tuning ....................................................................................................... 115
4.8.2.2 Automatic pre-assignment and adaptation during operation .................................................... 118
4.8.2.3 Application examples ................................................................................................................ 120
4.8.2.4 Problem handling ...................................................................................................................... 121
4.8.3 Current setpoint filter adaptation ............................................................................................... 122
4.8.3.1 Activating/deactivating the current setpoint filter adaptation ..................................................... 122
4.8.3.2 Principle of operation of the current setpoint filter adaptation................................................... 124
4.8.3.3 Stability of the speed control loop ............................................................................................. 126
4.8.3.4 Lower and upper limit frequencies ............................................................................................ 127
4.8.3.5 Remedy for insufficient adaptation ............................................................................................ 127
4.8.4 Function diagrams and parameters .......................................................................................... 128
4.9 Note about the electronic motor model ..................................................................................... 129
4.10 V/f control .................................................................................................................................. 130
4.11 Optimizing the current and speed controller ............................................................................. 134
4.12 Sensorless operation (without an encoder) .............................................................................. 136
4.13 Motor data identification ............................................................................................................ 141
4.13.1 Motor data identification induction motor .................................................................................. 144
4.13.2 Motor data identification synchronous motor ............................................................................ 146
4.14 Pole position identification......................................................................................................... 149
4.15 Vdc control ................................................................................................................................ 156
4.16 Dynamic Servo Control (DSC) .................................................................................................. 160
4.17 Travel to fixed stop .................................................................................................................... 165
4.18 Vertical axes .............................................................................................................................. 170
4.19 Variable signaling function ........................................................................................................ 171
4.20 Central probe evaluation ........................................................................................................... 173
4.20.1 Examples................................................................................................................................... 179
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Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4
Drive functions