Efficient Networks Siemens Sinamics S120 - Manual (Page 237)

Function modules
7.8 Closed-loop position control
Drive Functions
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4
237
kT estimator:
● p1752 Motor model, changeover speed operation with encoder
● p1795 Motor model PEM k
T
adaptation smoothing time
● r1797 Motor model PEM k
T
adaptation correction value
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
and reference mark search)
● Position controller (including limits, adaptation and the pre-control calculation)
● Monitoring functions (including standstill, positioning, dynamic following error monitoring
and cam signals)
● 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
axes (modulo) as for linear axes.
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)