Siemens SINAMICS RAILCTRL, Function Manual

Page: 37 / 106

5.2 Closed-loop controlled operation
In closed-loop controlled operation, segment states (master/slave) are switched based on the
encoder values. Consequently, when traversing a carrier from one segment to the next, both
segments must have their own motor encoder.
Precondition
The motor encoders should have the following characteristics:
● Absolute encoder (if travel is made on the segment, no pole position identification is
required)
● Overlapping across segment limits
● For transport systems, it is advantageous to have an encoder that includes a passive
encoder magnet in the carrier and a detector in the linear motor segment, e.g.
– Magnetostrictive operating principle
– Position detection using Hall sensors
To allow the controlled variables to be consistently copied from the master to the slave, the
coupled SERVO drive objects must have the same current controller sampling time.
Function description
The following controlled variables are copied for coupling the segments:
● Commutation angle
commut_angle (r30486)
● Actual velocity value
v_act (r0063)
● Force setpoint
F_set (r0079)
The copied controlled variables cause the two segments for the secondary section to behave
identically and permit a jerk-free transition when traversing the carrier.
Reference
The coupling of the SERVO drive objects in closed-loop controlled operation is shown in
function diagram "7364 – SERVO coupling in closed-controlled operation (r30476.1 = 1),
structure (Page 76)".
Function description
5.2 Closed-loop controlled operation
RAILCTRL
Function Manual, 09/2019, A5E38120767B
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