08.2012
Technology Option F01
Siemens AG
6SE7087-6QX70 (Version AN)
SIMOVERT MASTERDRIVES
Compendium Motion Control
9-135
9.7.2.8
Setting the parameters for the positioning modes
U953.32 is used to nest the positioning modes [802.8] in a sampling
time. In the factory setting of this parameter (20), the positioning
software does not run (see [702]).
U953.32=4
; Nest positioning modes in sampling time T4
(=2
4
*T0=16*200µs=3.2 ms with converter frequency 5 kHz)
MDI block numbers 1 and 3 [823], which are selected by the switches
on terminals 3 and 4 (Chapter 3), should be set as follows in our
application example:
MDI block 1:
♦
First G function
= 90 (absolute, not relative positioning)
♦
Second G function = 30 (100 % of the acceleration/deceleration
set in MD18/MD19)
♦
Position setpoint (X) = 0 LU
♦
Velocity (F)
= 5 000 000 LU/min (equals 500 000°/min =
half the maximum velocity in MD23/2; equals
1389 motor revolutions/min)
The velocity in the MDI block is defined in [10 LU/min] instead of
[1000 LU/min] as in the machine data
U550.01=9030 (WE) ; Absolute positioning, 100 % acceler-
; ation override [823.4]
U550.02=0 (WE) ; Position setpoint X=0 [823.5]
U550.03=500 000
; Velocity F=5 000 000 LU/min, input in
; [10 LU/min] [823.6]
MDI block 3
:
♦
First G function
= 90 (absolute not relative positioning)
♦
Second G function = 30 (100 % of the acceleration/deceleration
set in MD18/MD19)
♦
Position setpoint (X) = 16 200 LU (1620° in clockwise direction of
rotation, equals 4.5 revolutions)
♦
Velocity (F)
= 1 000 000 LU/min (equals 100 000°/min =
1/10 maximum velocity MD23; equals 277
motor revolutions/min)
U552.01=9030 (WE) ; Absolute positioning, 100 % acceler-
; ation override [823.4]
U552.02=16 200
; Position setpoint X=16200 LU [823.5]
U552.03=100 000
; Velocity F=1 000 000 LU/min, input in
; [10 LU/min]
[823.6]
Nesting the
positioning modes
in the sampling
time:
NOTE
