Speed Setpoint Channel: Training Objectives

Speed setpoint channel
Training objectives:
• You are familiar with the possibilities
of selecting and assigning speed
setpoint values
• You are able to parameterize the

speed setpoint channel using the
tool STARTER
SINAMICS Date:
File:
06/03/2007
ABU DHABI: Page 8 - 1
SITRAIN Training for
Automation and Drives
Siemens AG 2007. All rights reserved.
Speed setpoint channel

Content Page
Overview of the speed setpoint channel........................................................................................... 3
Fixed setpoints [3010]...................................................................................................................... 4
Motor potentiometer [3020]............................................................................................................... 5
Analog channels of TB30 [9104] or TM31 [9586].............................................................................. 6
Main-, additional- and inching setpoints [3030, 3040]........................................................................ 7
Limiters [3050].................................................................................................................................. 8
Ramp function generator, basic and extended [3060, 3070]............................................................. 9
Additional setpoints G150, S150 [3080]............................................................................................ 10
Additional setpoints / S120 “Servo with setpoint”, Vector [3080]....................................................... 11
Additional setpoints / S120 “Servo without setpoint“......................................................................... 12
DSC changeover and setpoint filter / only for “Servo“....................................................................... 13
Position controller without Dynamic Servo Control (DSC)................................................................. 14
Reaction time of disturbance variables for position without DSC...................................................... 15
Position controller with Dynamic Servo Control (DSC)..................................................................... 16
Equivalent of “position controller with DSC after compensation........................................................ 17
Position controller with Dynamic Servo Control (DSC) [3090]........................................................ 18
Telegrams for DSC........................................................................................................................... 19
SINAMICS Date:
File:
06/03/2007
Overview of the speed setpoint channel
Fixed setpoint
r1024
r1024
p1001 [3010]
... CO
p1015
CO
scaling
main SP additional
Automatic Motorpot p1070 cw/ccw limiting RFG setpoints
setpoint add. SP
r1050
r1050 r1170
r1170
[3060]
p1042 [3020] p1075 [3030] [3040] [3050] [3080]
[3070]
CI inching
r1114
r1114 r1119
r1119 r1150
r1150
p1058
PROFIBUS p1059
p1160
r2050
r2050
[2400] p1155
CI
Analog
r4055
r4055 The
[9104] The speed
speed setpoint
setpoint channel
channel comprises
comprises the
the different
different sources
sources of
of
[9586] setpoints,
setpoints, the
the speed
speed limits
limits and
and the
the ramp
ramp function
function generator.
generator.
SINAMICS Date:
File:
06/03/2007
Fixed setpoints [3010]

TM31:
p1001
X520.2 DI 1
r4022.1 p1020
X520.3 DI 2
r4022.2 p1021
(i.e. p0700=6)
p1015
p1001
r1024
r1024
...
p1015 •• By
By defining
defining 44 control
control bits
bits p1020
p1020 .... p1023
p1023
15
15 fixed
fixed setpoints
setpoints p1001
p1001 .... p1015
p1015
and
and “0“0 ““ can
can be
be selected.
selected.
•• You
You can
can “wire”
“wire” the
the selected
selected value
value r1024,
r1024,
as
as well
well as as individual
individual values.
values. p1001
p1001 .... p1015
p1015
•• The
The number
number of of the
the selected
selected value
value is
is
shown
shown by by r1197
r1197
SINAMICS Date:
File:
06/03/2007
Motor potentiometer [3020]
DI 1 MOP higher
r4022.1 p1035
DI 2
r4022.2 p1036
TM31 (i.e. p0700=6)
r1050
r1050
(X)
p1042
(X) After an offline-configuration the assignment of values is initially

blocked for a number of parameters. Online these values can be
changed immediately, offline only after an initial Upload.
SINAMICS Date:
File:
06/03/2007
Analog channels of TB30 [9104] or TM31 [9586]
TB30
r4055
r4055
TM31
AO 0 AO 1
p4071[0] p4071[1]
SINAMICS Date:
File:
06/03/2007
Main-, additional- and inching setpoints [3030, 3040]
p1070
r1114
r1114
p1075
•• main
main setpoint
setpoint and
and additional-
additional-
setpoint
setpoint are
are scaleable;
scaleable; the
the two
two
setpoints
setpoints are
are added
added
•• two
two inching
inching values
values are
are available
available
•• the
the direction
direction of
of speed
speed can
can be
be in-
in-
verted, a direction can be blocked
verted, a direction can be blocked
SINAMICS Date:
File:
06/03/2007
Limiters [3050]
r1114
r1114 p1080 r1119
r1119
p1083
p1082
r1112
r1112
p1091 p1094 p1086
p1101
SINAMICS Date:
File:
06/03/2007
Ramp function generator, basic and extended [3060, 3070]
p1135
p1120 p1121
Basic ramp function generator Extended ramp function generator
SINAMICS Date:
File:
06/03/2007
Additional setpoints G150, S150 [3080]
p1155
p1160
r0062
r0062
p1430
SINAMICS Date:
File:
06/03/2007
Additional setpoints / S120 “Servo with setpoint”, Vector [3080]
p1155
p1160
r0062
r0062
only for
vector p1430
SINAMICS Date:
File:
06/03/2007
Additional setpoints / S120 “Servo without setpoint“
p1155
p1160
p1135
p1121
Properties of “Servo without setpoint channel“

• setpoint is connected directly to p1155, p1160
• preferably in conjunction with Dynamic Servo Control
• ramp-down times for OFF1 and OFF3
• CTW1, bit5 (freeze RFG) without function
• not for Standard Telegram 1
SINAMICS Date:
File:
06/03/2007
DSC changeover and setpoint filter / only for “Servo“
Proportional gain
p1191>0 (connected)
1 = DSC active
Position difference
p1190>0 (connected)
SINAMICS Date:
File:
06/03/2007
Position controller without Dynamic Servo Control (DSC)
n.set
speed-contr. drive
pos.-contr. master
ncmd : speed setpoint

xcmd : position setpoint
xerr : position error
xact : actual position
Tsc : sampling time speed-controller
Tpc : sampling time position-controller
Kpc : position controller gain
: not used !
When using the “position controller of the master controller” dead times at the speed setpoint
interface result in a reduction of the controller dynamics.
SINAMICS Date:
File:
06/03/2007
Reaction time of disturbance variables for position without DSC
DP-cycle time
Position controller-Interrupt
BG PC PC PC
SIMOTION task A1 A2 A3
DP DP DP acyclic DP DP DP
PROFIBUS GC reserve GC
S1 S2 S3 part S1 S2 S3
T dx
T in T out
SW
SINAMICS IW without DSC: T.in + T.DP + T.out S1
S1 with DSC: speed controller cycle time
actual setpoints
values (speed)
(position) DP S PROFIBUS-transmit time for one slave
T dx Overall transmit time for all slaves
T in Time interval between availability of actual values and start of DP-cycle
T out Time interval between Global Control and calculation of setpoints
GC Global Control Telegram
LR A Position controller calculation time for one axis
SINAMICS Date:
File:
06/03/2007
Position controller with Dynamic Servo Control (DSC)

n.set
1 3
pos.-contr. master
2
speed-contr. drive
po
s.-
co
4
nt r
.d
riv
e
A
: active !
Using the “position controller of the drive” allows a response to disturbance variables with cycle time of
speed controller; setpoints remain delayed. Interpolation still requires the “master position controller”.
SINAMICS Date:
File:
06/03/2007
Equivalent of “position controller with DSC after compensation
speed-contr. drive
po
s.-
co
nt r
.d
riv
e
Position actual value
for axis interpolation
: active !
Using the “position controller of the drive” allows a response to disturbance variables with cycle time of
speed controller; setpoints remain delayed. Interpolation still requires the “master position controller”.
SINAMICS Date:
File:
06/03/2007
Position controller with Dynamic Servo Control (DSC) [3090]
SINAMICS Date:
File:
06/03/2007
Telegrams for DSC
SINAMICS Date:
File:
06/03/2007

Speed Setpoint Channel: Training Objectives

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Speed setpoint channel

• You are able to parameterize the

Speed setpoint channel

Fixed setpoints [3010]

(X) After an offline-configuration the assignment of values is initially

Analog channels of TB30 [9104] or TM31 [9586]

p1091 p1094 p1086

Basic ramp function generator Extended ramp function generator

Additional setpoints G150, S150 [3080]

Additional setpoints / S120 “Servo without setpoint“

Properties of “Servo without setpoint channel“

Position controller without Dynamic Servo Control (DSC)

ncmd : speed setpoint

Position controller with Dynamic Servo Control (DSC)

Position controller with Dynamic Servo Control (DSC) [3090]

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