Velocity Edge GX440 Operations Instructions Page 276
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Setpoint channel and closed-loop control
7.4 Vector speed/torque control with/without encoder
Drive converter cabinet units
276 Operating Instructions, 10/2008, A5E00288214A
7.4.3 Speed controller
Description
Both closed-loop control techniques with and without encoder (SLVC, VC) have the same
speed controller structure that contains the following components as kernel:
● PI controller
● Speed controller pre-control
● Droop Function
The torque setpoint is generated from the total of the output variables and reduced to the
permissible magnitude by means of torque setpoint limitation.
The speed controller receives its setpoint (r0062) from the setpoint channel and its actual
value (r0063) either directly from the speed actual value encoder (vector control with
encoder) or indirectly via the motor model (encoderless vector control). The system
difference is increased by the PI controller and, in conjunction with the pre-control, results in
the torque setpoint.
When the load torque increases, the speed setpoint is reduced proportionately when the
droop function is active, which means that the single drive within a group (two or more
mechanically connected motors) is relieved when the torque becomes too great.
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The optimum speed controller setting can be determined via the automatic speed controller
optimization function (p1900 = 1, rotating measurement).
If the moment of inertia has been specified, the speed controller (Kp, Tn) can be calculated
by means of automatic parameterization (p0340 = 4). The controller parameters are defined
in accordance with the symmetrical optimum as follows:
Tn = 4 x Ts
Kp = 0.5 x r0345 / Ts = 2 x r0345 / Tn
Ts = Sum of the short delay times (includes p1442 and p1452).
- SINAMICS 1
- SINAMICS S150 3
- Preface 5
- Technical support 6
- Spare parts 6
- Internet address 6
- Table of contents 10
- Table of contents 11
- Safety information 15
- Prerequisites 16
- Safety information 17
- Device overview 21
- Features 22
- Quality 22
- Service 23
- 2.3 Structure 24
- Device overview 25
- 2.3 Structure 25
- 2.4 Wiring principle 26
- 'HYLFHGHVLJQDWLRQ 27
- GHYLFHRSWLRQV 27
- 0RQWKRIPDQXIDFWXUH 27
- <HDURIPDQXIDFWXUH 27
- 2.5 Type plate 28
- 2.5 Type plate 29
- Mechanical installation 31
- Transportation 32
- Storage 33
- 3.3 Installation 34
- Mechanical installation 35
- 3.3 Installation 35
- 3.3.2 Preparation 36
- 3.3.3 Installation 37
- ,QVHUWWKHHQFORVHGVFUHZV 39
- IURPDERYH 39
- ,QVHUWWKHHQFORVHG 39
- VFUHZVIURPEHORZ 39
- 3.3 Installation 40
- Attaching the Hood 41
- Required tools 48
- 4.4 Introduction to EMC 50
- 4.4 Introduction to EMC 51
- 4.5 EMC-compliant design 52
- Shield connection 53
- I/O interfacing 53
- Filtering cables 53
- 4.6 Power connections 54
- 4.6 Power connections 55
- Direction of motor rotation 56
- 4.6 Power connections 58
- 4.8 Signal connections 62
- Overview 63
- 4.8 Signal connections 64
- X520: 4 digital inputs 65
- X530: 4 digital inputs 66
- 4.8 Signal connections 67
- 4.9 Other connections 70
- Restrictions 71
- Diagnostics 76
- Setting 81
- ([SHUWDFFHVVOHYHO 86
- Duty cycles 87
- Threshold switch 87
- Interface overview 93
- MAC address 94
- X1400 Ethernet interface 94
- Assembly 94
- CAN bus interface -X451 97
- CAN bus interface -X452 97
- 4.9.17.1 Description 98
- 4.9.17.2 Connection 99
- 4.9.17.3 Connection example 100
- Parameter settings 101
- 4.9.18.1 Description 102
- Description 102
- 4.9.18.2 Connection 103
- X520: Encoder connection 103
- 4.9.18.3 Connection example 104
- 4.9.19.1 Description 106
- Electrical installation 107
- 4.9 Other connections 107
- Electrical installation 108
- 4.9 Other connections 108
- &DEOHOHQJWK>P@ 109
- 4.9.19.2 Connection 111
- Connection 116
- Commissioning 119
- 5.1 Chapter content 120
- 5.2.1 Installing STARTER 122
- 5.3.1 Creating a project 123
- The STARTER project wizard 125
- Commissioning 127
- Configuring the drive unit 133
- Choosing the options 134
- Configure the infeed 136
- Settings 161
- ) ) ) ) ) 165
- 0% 50% 100% 165
- 3/($6(:$,7 165
- 5.5.2 Basic commissioning 167
- First commissioning: infeed 168
- Analog outputs 176
- Digital outputs 176
- 6HOHFWSDUDPHWHUUHVHW 178
- 3UHVV2 178
- Parameter reset via STARTER 179
- Operation 181
- Command sources 182
- Setpoint sources 182
- Function diagrams 182
- 6.3.1 Parameters 183
- Parameter categories 184
- 6.3.2 Drive objects 185
- Properties of a drive object 186
- Configuring drive objects 186
- Parameters 186
- 6.3.3 Data sets 187
- U 188
- S 188
- U 188
- U 188
- U 188
- EDS: Encoder data set 189
- MDS: Motor data set 190
- Copy motor data set (MDS) 191
- Function diagram 191
- Parameter 192
- Operation 193
- %2%LQHFWRURXWSXW 196
- 6LJQDOVRXUFH 196
- %,%LQHFWRULQSXW 196
- 6LJQDOVLQN 196
- 6.4 Command sources 197
- Control word 1 198
- Status word 1 198
- Switching the command source 198
- Priority 199
- 6.5 Setpoint sources 205
- 6.5 Setpoint sources 206
- Signal flow diagram 207
- 6.5.3 Fixed speed setpoints 209
- 6.6 PROFIBUS 210
- PROFIBUS link 211
- Connectors 211
- Bus terminating resistor 211
- 6.6 PROFIBUS 212
- Cable routing 213
- 6.6.2 Control via PROFIBUS 214
- General information 216
- Telegram interconnections 217
- 6.6 PROFIBUS 219
- Using the AOP 221
- 228
- ) ([WHUQDOIDXOW 228
- ^9(&725`)DXOWV 228
- %DFN $FN+HOS 228
- Vector object 231
- Scalings for vector object 232
- Object A_INF 232
- Scalings for object A_INF 232
- TM31 object 233
- Date format 233
- Resetting AOP settings 234
- 6.7.5.5 AOP30 diagnosis 234
- Software/database version 234
- Battery status 234
- Keyboard test 235
- LED test 235
- 6.7.7.1 LOCAL/REMOTE key 236
- 6.7.7.2 ON key / OFF key 236
- 6.7.7.6 AOP setpoint 238
- 6.7.7.7 Timeout monitoring 239
- 6.7.8 Faults and alarms 241
- 6.8 PROFINET IO 244
- 6.8 PROFINET IO 245
- Settings in STARTER 246
- 6.8 PROFINET IO 248
- PROFINET 250
- Real-time communication 251
- 6.8.2.3 Addresses 252
- Definition: MAC address 252
- IP address 252
- IP address assignment 252
- Device name 252
- Definition: Sub-network mask 253
- Default router 253
- 6.8.2.4 Data transmission 254
- 7.1 Chapter content 257
- 7.2 Setpoint channel 258
- 7.2.4 Speed limitation 261
- 7.3 V/f control 264
- 7.3 V/f control 265
- 7.3.1 Voltage boost 267
- 7.3 V/f control 268
- 7.3.2 Slip compensation 270
- Motor model change 275
- 7.4.3 Speed controller 276
- 7.4.3.3 Reference model 282
- ,QWHJUDOWLPH 284
- ZLWKRXWDGDSWDWLRQ 284
- ZLWKDGDSWDWLRQ 284
- 3URSRUWLRQDOJDLQ 284
- 7.4.3.5 Droop Function 285
- Requirement 285
- OFF responses 287
- • r1527 289
- Supplementary conditions 291
- Short-circuit protection 293
- Output terminals 295
- 8.2 Analog outputs 296
- Output terminals 299
- 8.2 Analog outputs 299
- 8.3 Digital outputs 300
- 8.3 Digital outputs 301
- 8.3 Digital outputs 302
- 9.1 Chapter content 303
- 9.2 Active Infeed functions 305
- 9.2.2 Harmonics controller 306
- 9.3 Drive functions 310
- 9.3 Drive functions 312
- 9.3.4 Vdc control 318
- 9.3 Drive functions 319
- Automatic restart mode 323
- 9.3.6 Flying restart 325
- Search,max 326
- 9.3.6.3 Parameters 327
- 9.3.7.1 Description 328
- Motor changeover sequence 329
- 9.3.7.3 Function diagram 329
- 9.3.7.4 Parameters 330
- Procedure 333
- 9.3.9.2 Parameters 334
- Total system runtime 335
- Relative system runtime 335
- Actual motor operating hours 335
- 9.3.11 Simulation operation 336
- 9.3.12 Direction reversal 337
- 9.3.13 Unit changeover 338
- Unit groups 339
- 9.4 Extended functions 342
- Key control parameters 344
- 9.4.2 Bypass function 345
- K 1 K 2 346
- Activation 346
- Parameterization 346
- Transfer process 347
- 9.4.2.4 Function diagram 351
- 9.4.2.5 Parameters 352
- 9.4 Extended functions 354
- 16 is automatically 359
- Load gear position tracking 360
- 9.4 Extended functions 361
- Several drive data sets 363
- • r2526 366
- 9.4.6 Basic positioner 372
- %DFNODVK 374
- Modulo offset 375
- • p2577 376
- • p2583 376
- 9.4.6.2 Limitations 376
- Maximum acceleration/delay 377
- Software limit switch 377
- 9HORFLW\PV 378
- $FFHOHUDWLRQPVt 378
- 9.4.6.3 Referencing 381
- Set reference point 381
- Flying referencing 386
- 9.4.6.4 Traversing blocks 389
- POSITIONING 392
- FIXED STOP 392
- ENDLESS POS, ENDLESS NEG 392
- WAITING 393
- SET_O, RESET_O 394
- Fixed stop reached 396
- Fixed stop is not reached 397
- Vertical axes 397
- 6HWWLQJYDOXHVSUHVHQW 399
- 9DOLGVHWWLQJYDOXHV 399
- • p2642 400
- 9.4.6.7 Jog 401
- Example 406
- 9.5.3 Blocking protection 408
- 10.1 Chapter content 413
- 10.2 Diagnosis 414
- 10.2 Diagnosis 415
- 10.2 Diagnosis 416
- Indicating faults and alarms 425
- What is a fault? 425
- What is an alarm? 425
- 10.4 Service and Support 428
- 10.4.1 Spare parts 429
- 10.4 Service and Support 430
- Maintenance and servicing 431
- 11.2 Maintenance 432
- 11.3 Maintenance 433
- 11.3.1 Installation device 434
- Crane lifting lugs 435
- 11.3 Maintenance 436
- 11.4 Replacing components 437
- Replacing the power block 438
- Preparatory steps 439
- Removal steps 439
- Installation steps 439
- 11.4 Replacing components 442
- Replacing the fan 456
- Removal 457
- Installation 457
- Replacing 475
- Automatic firmware update 478
- Maintenance and servicing 479
- 6,(0(166,1$0,&6 480
- 6RIWZDUHEHLQJORDGHG 480
- VXSSO\ 480
- Technical specifications 481
- 5 to 95 % 482
- 12.2.1 Derating data 483
- Technical specifications 485
- 12.2.2 Overload capability 487
- Appendix 509
- A.1 List of abbreviations 510
- A.2 Parameter macros 511
- A.2 Parameter macros 512
- Appendix 513
- A.2 Parameter macros 513
- Index 525
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