Closed-Loop Position Control; General Features; Position Actual Value Conditioning; Features - Siemens SINAMICS S120 Function Manual

kT estimator:
● p1752 Motor model, changeover speed operation with encoder
● p1795 Motor model PEM k
● r1797 Motor model PEM k
Compensation of the voltage emulation error of the drive converter:
● p1952 Voltage emulation error, final value
● p1953 Voltage emulation error, current offset
7.8

Closed-loop position control

7.8.1

General features

The position controller essentially comprises the following parts:
● Position actual value conditioning (including the lower-level measuring probe evaluation
● Position controller (including limits, adaptation and the pre-control calculation)
● Monitoring functions (including standstill, positioning, dynamic following error monitoring
● There is still no position actual value conditioning for distance-coded measuring systems.
● Position tracking of the load gear (motor encoder), using absolute encoders for rotary
7.8.2

Position actual value conditioning

7.8.2.1

Features

● Correction value (p2512, p2513)
● Setting value (p2514, p2515)
● Position offset (p2516)
● Position actual value (r2521)
● Velocity actual value (r2522)
● Motor revolutions (p2504)
● Load revolutions (p2505)
● Spindle pitch (p2506)
● Position tracking (p2720ff)
Drive Functions
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4
and reference mark search)
and cam signals)
axes (modulo) as for linear axes.
adaptation smoothing time
T
adaptation correction value
T
Function modules
7.8 Closed-loop position control
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