Siemens Sinamics S120 Function Manual page 334

Function modules
7.6 Extended torque control (kT estimator, servo)
The k
order to achieve a high torque accuracy. Before using the k
(p1909, p1910) must be performed with activated k
for stator resistance (p0350), leakage inductance (p0356) and voltage emulation errors
(p1952, p1953) are determined. The cable resistance must be entered in p0352 before
motor identification.
The motor should be at room temperature when the identification routine is carried out.
Compensation of the voltage emulation error must be activated (p1780.8 = 1). The motor
temperature (p0600) should be recorded via a KTY sensor (p0601 = 2 or 3).
The k
dependent quantities. The estimate is less accurate if a motor temperature sensor is not
connected.
The k
the converter always has small inaccuracies. The lower the output voltage and speed, the
more inaccurate the estimate. This is the reason that the estimation is de-activated below a
specific speed. The estimated value is smoothed using time constant p1795. The correction
value for the torque constant is displayed in r1797.
By identifying the torque constant k
accuracy can be improved also below the speed threshold (p1752).
The k
Function diagrams (see SINAMICS S120/S150 List Manual)
● 7008 kT estimator
Overview of important parameters (see SINAMICS S120/S150 List Manual)
● r0108.1 drive objects function module - extended torque control
● p1780.3 selects motor model PEM k
● p1780.8 Compensation of the voltage emulation error in the drive converter
Motor/drive converter identification
● p0352[0...n] Cable resistance
● p1909 Motor data identification control word
● p1910 Motor data identification, stationary
kT estimator
● p1752[0...n] Motor model changeover speed operation with encoder
● p1795[0...n] motor model PEM k
● r1797[0...n] motor model PEM k
Compensation of the voltage emulation error of the drive converter
● p1952[0...n] Voltage emulation error final value
● p1953[0...n] Voltage emulation error current offset
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estimator requires the most accurate values for the motor parameters as possible in
T
estimator requires the motor temperature in order to track/correct the temperature-
T
estimator is only activated above a specific speed (p1752). The terminal voltage of
T
estimator is activated using p1780.3 and the voltage compensation using p1780.8.
T
estimator. In this procedure, the values
T
using the rotating motor identification routine, the torque
T
adaptation
T
adaptation smoothing time
T
adaptation correction value
T
Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2
estimator, a motor identification
T
Drive functions