F
u
nct
ion
D
iag
ra
m
s
Serv
o control
2-
12
68
© Siemens AG
2007 All Rights Reserved
S
IN
A
MICS
S List Manua
l (
L
H1), 0
7
/2007
Fi
gure 2-1
5
0
5
020 – Spe
ed setpoin
t filter and spe
ed pre-con
trol
<5> The interpolator is only effective for clock-cycle synchronous PROFIdrive
operation and sign-of-life received from the master (STW2.12 ... STW2.15). If the
Dynamic Servo Control (DSC) is active, an additional deadtime of one speed
controller clock cycle is effective.
- 5020 -
Fuction diagram
8
7
6
5
4
3
2
1
fp_5020_01_eng.vsd
DO: SERVO
SINAMICS S
11.05.07 V02.05.00
Servo control - Speed setpoint filter and speed pre-control
PT1 low pass
PT2 low pass
p1416[D]
x
y
p1415[D]
fn_n
p1417[D]
D_n
p1418[D]
fn_z
p1419[D]
D_z
p1420[D]
fn_n
p1417[D]
D_n
p1418[D]
+
+
p1414.0[D]
Setpoint filter 1
PT1 low pass
PT2 low pass
p1422[D]
x
y
p1421[D]
fn_n
p1423[D]
D_n
p1424[D]
fn_z
p1425[D]
D_z
p1426[D]
fn_n
p1423[D]
D_n
p1424[D]
p1414.1[D]
Setpoint filter 2
To
speed controller
[5210.1]
and to
reference model
[5030.1]
Speed pre-control signal
Interpolator
n_prectrl
(0)
p1430[C]
x
y
x
x
x
x
1
0
1
0
1
0
y
y
<2>
f
2nd Order Filter
y
f
2nd Order Filter
y
y
y
<2>
r0060
n_set before filt
<1> Low-pass, 2nd order. Detailed representation at [1024].
t
y
t
y
r0062
n_set after filt
<2> General 2nd-order filter. Detailed representation at [1024].
<3>
<1>
<1>
f
|y|
fn
D
f
|y|
fn
D
0
1
2
0
1
2
p0115[1] (125.00 µs)
<3> Speed pre-control only available for speed control with encoder. Pre-control
signal permanently connected to "0" for close-loop control without encoder
and for V/f control.
<4> p1400.10 = 1 is recommended if a torque pre-control signal is also connected at
[5060] in addition to the speed pre-control signal.
<4>
<5>
<6>
<6>
<6> For a 1/0 edge from control command STW2.8 "travel to fixed stop" [2444] the
output of all filters is set to the input value for an instantaneous response to a
change of the speed setpoint sign.
[3090.8]
F07421 "Speed setpoint filter natural frequency > Shannon frequency"
[5490.7]
1 = Interpolation
Speed controller pre-control active
From speed control configuration
p1400.7
[5490.7]
1 = Speed pre-control
for balancing
From the speed control
configuration
p1400.10
n_set smth
r0020
Monitoring
n_prectrl_2
[5030.1]
n before setpoint filter
from function generator
+
+
n after setpoint filter
from function generator
100 ms
0
1
t
x,y
x
y
[2701.1]
[2704.1]
r1170
n_ctrl setp sum
[3080.8]
Speed setpoint
n_set from DSC
[3090.8]
+
+
[2522.7]
Speed setpoint from DSC
r1407.4
1
0
