Siemens SINAMICS RAILCTRL Function Manual page 48

Commissioning
6.2 Basic commissioning
Settings for operating modes
1. Setting the velocity to switch over the motor model (open-loop controlled operation)
In p1755, set the velocity to switch over the motor model for encoderless operation. Once
the set velocity is exceeded, the velocity control without encoder becomes active and the
system is traversed using the EMF model. Below the switching velocity, a constant current
is controlled and the linear motor traverses in the open-loop controlled I/f mode along its
path.
In p1755, you must set a velocity that is higher than the maximum velocity in open-loop
controlled operation.
2. Setting the encoder measuring range in closed-loop controlled operation
Because the SINAMICS encoder evaluation in closed-loop controlled operation is only
possible for one carrier, only one carrier may be present in each measuring range of an
encoder. As a consequence, you should restrict the measuring range of each encoder.
When defining the measuring range, take into account an overlap between adjacent
encoders. The minimum overlap setting depends on the maximum velocity.
– For the minimum overlap distance d
– Example: For a maximum velocity v
3. Setting the scaling of the P gain of the velocity controller (closed-loop controlled operation)
To achieve a high accuracy at the segment transition, we recommend that connector output
r30474 is interconnected with binector input p1466. As a consequence, the proportional
gain (Kp) of the velocity controller is scaled.
Parameterizing overtemperature protection
The linear motors of a multi-carrier system do not contain any integrated protective circuit. In
the event of a malfunction, high currents can cause a fast temperature rise. We recommend
that you use the motor temperature model 1 (I2t) for fast temperature monitoring.
Note
Observe the notes for protection against overtemperature in the associated product
documentation of the connected motor.
The I2t motor model is parameterized with the SINAMICS parameters:
Table 6-1
Parameter
p0600
p0611
p0612
Function diagram 8017 in the SINAMICS S120/S150 List Manual contains an overview for the
motor temperature model 1 (I2t).
46
is obtained.
Parameterizing the I2t motor model
Parameter name
Motor temperature sensor for
monitoring
I2t motor model thermal time
constant
Mot_temp_mod activation
, the following applies: d
min
= 4 m/s, a minimum overlap distance d
max
Description
Sets the sensor for monitoring the motor temperature
Sets the winding time constant
The time constant is 40 s for linear motors in multi-car‐
rier systems.
Activates the motor temperature model
Function Manual, 09/2019, A5E38120767B
= 2 ms · v
min max
= 8mm
min
RAILCTRL