Siemens SINAMICS S120 Function Manual page 100

Servo control
5.6 Torque setpoint limitation
● A torque offset can be parameterized.
● In addition, the power limits can be parameterized independently of one another for motor
and regenerative mode.
Negative values at r1534 or positive values at r1535 represent a minimum torque for the other
torque directions and can cause the drives to rotate if no counteractive load torque is generated
(see function diagram 5630 in the SINAMICS S120/S150 List Manual).
Example: torque limits with / without offset
The following figure demonstrates an instance in which the signals selected via parameters
p1522 and p1523 additionally restrict the torque limits which were parameterized via 1520 and
p1521. The hatched area in the figure shows the permissible torque range.
Figure 5-8
Fixed and variable torque limit settings
The following table provides an overview of the setting of fixed and variable torque limits.
Selection
Mode
Fixed torque limit
Source for variable torque
limit
Source for variable scaling
factor of torque limit
Torque offset for torque
limit
98
Example: torque limits with / without offset
Maximum upper or lower torque limits
p1400.4 = 0
Upper torque limit (as positive
value)
Lower torque limit (as negative
value)
Upper torque limit
Lower torque limit
Upper torque limit
Lower torque limit
Shifts the upper and lower torque
limits together
Torque limitation mode
Maximum motor or regenerative mode torque
limits p1400.4 = 1
p1520 Motor mode torque limit (as positive
value)
p1521 Regenerative mode torque limit (as
negative value)
p1522 Motor mode torque limit
p1523 Regenerative mode torque limit
p1528 Motor mode torque limit
p1529 Regenerative mode torque limit
p1532 Shifts the motor and regenerative
mode torque limits together
Function Manual, 06/2019, 6SL3097-5AB00-0BP2
p1520
p1521
p1522
p1523
p1528
p1529
p1532
Drive functions