Function Diagrams And Parameters - Siemens Sinamics S120 Function Manual

Function modules
7.7 Closed-loop position control
7.7.2.6

Function diagrams and parameters

Function diagrams (see SINAMICS S120/S150 List Manual)
● 4010 Position actual value conditioning
● 4704 position and temperature sensing, encoders 1...3
● 4710 Actual speed value and rotor pos. meas., motor enc. (encoder 1)
Overview of important parameters (see SINAMICS S120/S150 List Manual)
● p2502[0...n] LR encoder assignment
● p2503[0...n] LR length unit LU per 10 mm
● p2504[0...n] LR motor/load motor revolutions
● p2505[0...n] LR motor/load load revolutions
● p2506[0...n] LR length unit LU per load revolution
● r2520[0...n] CO: LR position actual value conditioning encoder control word
● r2521[0...n] CO: LR actual position value
● r2522[0...n] CO: LR actual velocity value
● r2523[0...n] CO: LR measured value
● r2524[0...n] CO: LR LU/revolutions
● r2525[0...n] CO: LR encoder adjustment offset
● r2526[0...n] CO/BO: LR status word
● p2720[0...n] Load gear configuration
● p2721[0...n] Load gear absolute encoder rotary revolutions virtual
● p2722[0...n] Load gear position tracking tolerance window
● r2723[0...n] CO: Load gea absolute value
● r2724[0...n] CO: Load gear position difference
7.7.3 Position controller
Features
● Symmetrization (p2535, p2536)
● Limiting (p2540, p2541)
● Pre-control (p2534)
● Adaptation (p2537, p2538)
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Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2
Drive functions