Control Loops Involved; Isochronous Data Exchange - Siemens SIMATIC S7-1500 Manual

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2 Hardware Configuration for "Motion Control"

2.2 Control loops involved

2.2
Control loops involved
When configuring a motion control application, whilst using the technology objects
of the SIMATIC controller and the SINAMICS drive technology, the following
control loops are involved in cascading configuration.
Figure 2-2 Schematic diagram of the control loops involved
Position
controller
Current control
In dependence of the requested torque for the motor, the current control will
provide the required current to control the motor.
This functionality is part of the SINAMICS drive system.
Speed control
The speed control provides the desired torque setpoint for the current control
so that the motor can reach the requested speed.
This functionality is also part of the SINAMICS drive system.
Position control
The position control provides the speed setpoint for the speed control
depending on the requested position, so that the motor or the drive axle can be
moved to the requested position or the requested position can be maintained.
The functionality of the position control is provided from the SIMATIC controller
via the "axis" technology object.
In order to improve the control quality or the positioning, the following additional
functions are provided in addition to the above mentioned control loop:
Dynamic Servo Control (DSC):
This moves the position control into the drive and it is usually calculated in fast
speed control clock of the drive, which improves the control quality of
positioning.
Feed forward control:
This function can enable a proportional speed feed forward control in the
position control, which enables a fast forwarding of speed changes in the drive.
2.3

Isochronous data exchange

The control loop structure when using a position control is divided between the
SIMATIC controller and the SINAMICS drive system. This is why the data
exchange between these two components has to be designed in a way that a
stable control is possible.
This is the reason why the use of the isochronous data exchange between the
SINAMICS controller and the SINAMICS drive system via which the control loop
spans, is highly recommended.
TOs of S7-1500(T)
Entry ID: 109743134,
V1.0,
Speed
controller
SIMATIC
05/2017
Current
controller
SINAMICS
Motor
Enc
11

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