Travel To Fixed Stop - Siemens Sinamics S120 Function Manual

Servo control

3.16 Travel to fixed stop

Overview of important parameters (see SINAMICS S120/S150 List Manual)
● p1160 CI: Speed controller, speed setpoint 2
● p1190 CI: DSC position deviation XERR
● p1191 CI: DSC position controller gain KPC
● p1192[D]: DSC encoder selection
● p1193[D]: DSC encoder adaptation factor
● p1194 CI: DSC control word DSC_STW
● p1195 CI: DSC Symmetrizing time constant T_SYMM
● p1400.17 speed control configuration; DSC position controller limiting active
● r1407.4 CO/BO: Status word speed controller; speed setpoint of DSC
● r1407.19 CO/BO: Status word speed controller; DSC position controller limited
● r1407.20 CO/BO: Status word speed controller; DSC with spline on
● r1407.21 CO/BO: Status word speed controller; speed precontrol for DSC with spline on
● r1407.22 CO/BO: Status word speed controller; torque precontrol for DSC with spline on
● p1430 CI: Speed pre-control
3.16 Travel to fixed stop
Description
This function can be used to move a motor to a fixed stop at a specified torque without a
fault being signaled. When the stop is reached, the specified torque is established and is
then continuously available.
The desired torque derating is brought about by scaling the upper/motor-mode torque limit
and the lower/regenerative-mode torque limit.
Application examples
● Screwing parts together with a defined torque.
● Moving to a mechanical reference point.
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Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2
Drive functions