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Servo control
3.2 Speed setpoint filter
Drive Functions
66 Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4
3.2 Speed setpoint filter
The two speed setpoint filters are identical in structure and can be used as follows:
● Bandstop
● Low-pass 1st order (PT1) or
● Low-pass 2nd order (PT2)
Both filters are activated via parameter p1414.x. Parameters p1415 and p1421 are used to
select the filter elements.
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Figure 3-2 Filter overview for speed setpoint filters
Function diagrams (see SINAMICS S List Manual)
● 5020 Speed setpoint filter and speed pre-control
Overview of key parameters (see SINAMICS S List Manual)
Adjustable parameters
● p1414[DDS] Speed setpoint filter activation
● p1415[DDS] Speed setpoint filter 1 type
● p1416[DDS] Speed setpoint filter 1 time constant
● p1417[DDS] Speed setpoint filter 1 denominator natural frequency
● p1418[DDS] Speed setpoint filter 1 denominator damping
● p1419[DDS] Speed setpoint filter 1 numerator natural frequency
● p1420[DDS] Speed setpoint filter 1 numerator damping
● p1421[DDS] Speed setpoint filter 2 type
● p1422[DDS] Speed setpoint filter 2 time constant
● p1423[DDS] Speed setpoint filter 2 denominator natural frequency
● p1424[DDS] Speed setpoint filter 2 denominator damping
- SINAMICS S120 1
- SINAMICS 3
- Foreword 5
- Target group 6
- Benefits 6
- Search guides 6
- Technical Support 7
- America time zone 7
- ESD Notes 9
- Safety instructions 10
- Foreword 11
- Contents 13
- Contents 15
- 1.1 Active Infeed 21
- Schematic structure 22
- 1.1.4 Integration 25
- Identification methods 26
- Acknowledge error 27
- Infeed 28
- 1.1 Active Infeed 28
- 1.2 Smart Infeed 31
- Infeed 33
- 1.2 Smart Infeed 33
- 1.2 Smart Infeed 36
- 1.3 Basic Infeed 38
- DWN:DQGN: 39
- %UDNLQJ0RGXOH 39
- 1.3 Basic Infeed 41
- 1.4 Line contactor control 42
- Commissioning steps: 43
- Extended setpoint channel 47
- 2.2 Description 48
- 2.3 Jog 49
- Jog properties 50
- Jog sequence 51
- 2.4 Fixed speed setpoints 53
- 2.5 Motorized potentiometer 54
- Extended setpoint channel 55
- Adjustable parameters 56
- Display parameters 57
- Setpoint limitation 59
- 2.9 Ramp-function generator 60
- 2.9 Ramp-function generator 62
- 3.2 Speed setpoint filter 66
- OFF responses 70
- Activating the torque limits 74
- Examples 74
- 3.6 Current controller 75
- 3.6 Current controller 76
- 3.7 Current setpoint filter 78
- Transfer function: 79
- 3.7 Current setpoint filter 80
- Structure of V/f control 85
- Commissioning V/f control 85
- 9 86
- I>V@S 86
- 8>9@ 86
- RYHUVKRRWV 88
- .SBQLVWRRVPDOO 88
- GDPSHGUHVSRQVH 88
- Series reactor 91
- Commissioning/optimization 91
- Motor data 93
- Type plate data 93
- Induction motor 94
- Synchronous motor 96
- Standstill measurement 98
- Suitable zero marks are: 100
- Overview of key parameters 101
- 3.14 Vdc control 102
- Servo control 103
- 3.14 Vdc control 103
- Servo control 104
- 3.14 Vdc control 104
- Description 106
- Activating 107
- Deactivating 107
- Speed setpoint filter 108
- Diagnostics 108
- 3.16 Travel to fixed stop 109
- 3.16 Travel to fixed stop 110
- Signal chart 111
- Control and status messages 112
- 3.17 Vertical axes 113
- Vector control 115
- Vector control 117
- 4.3 Speed controller 119
- 4.3 Speed controller 120
- Parameterization 123
- Free Kp_n adaptation 123
- Reference model 126
- 4.6 Droop 127
- 4.6 Droop 128
- 4.7 Torque control 129
- 4.7 Torque control 130
- 4.7 Torque control 131
- 4.8 Torque limiting 132
- 4.9 Vdc control 133
- Properties 134
- 4.9 Vdc control 135
- Drive Functions 136
- Motor identification (p1910) 139
- 0RWRU0RGXOH 0RWRU 141
- &DEOHDQG 141
- VHULHVLQGXFWDQFH 141
- Rotating measurement 144
- Induction motors, rotating 146
- Features 147
- Supplementary conditions 147
- Commissioning 147
- 0RWRU0RGXOH 0RWRU&DEOH 148
- Drive Functions 149
- Integration 152
- 4.16 Flying restart 154
- 4.16 Flying restart 155
- 4.17 Synchronization 156
- 4.18 Simulation operation 157
- 4.18.2 Features 158
- 4.18.3 Commissioning 158
- 4.20 Bypass 159
- Prerequisite 160
- Example 161
- 4.20 Bypass 162
- Bypass function 166
- Synchronization 166
- 4.20 Bypass 167
- 5.1 Introduction 169
- 5.1 Introduction 170
- 5.2 Voltage boost 171
- 9ROWDJHERRVWDWDFFHOHUDWLRQ 171
- 3HUPDQHQWYROWDJHERRVW 171
- 5.2 Voltage boost 172
- DFFHOHUDWLRQ 173
- 2XWSXWYROWDJH 173
- 9IQRUPDO 173
- 5.3 Slip compensation 174
- 5.4 Vdc control 175
- 5.4 Vdc control 177
- 5.4 Vdc control 178
- Basic functions 179
- Function in STARTER 180
- Using STARTER offline 181
- Scaling for vector object 181
- Scaling for servo object 182
- Scaling for object A_Inf 182
- Scaling for object B_Inf 182
- 6.3 Modular machine concept 183
- 6.3 Modular machine concept 184
- 6.4 Sinusoidal filter 185
- 6.5 dv/dt filter plus VPL 186
- Restrictions 187
- Automatic restart mode 189
- Basic functions 193
- DC brake (induction motors) 195
- 6.9 OFF3 torque limits 198
- Commissioning via parameters 199
- 6.11 Simple brake control 200
- 6.11.3 Commissioning 201
- 6.11.4 Integration 202
- Actual motor operating hours 203
- Total system runtime 203
- Relative system runtime 203
- 6.13.1 Description 204
- Example: parking axis 205
- Example: parking sensor 205
- 0HDVXULQJJHDU 207
- S>@S>@ 207
- 6.14.2 Measuring gear 208
- 0RWRUORDG 209
- (QFRGHUV 209
- 6.14 Position tracking 210
- Tolerance window (p0413) 211
- 6.14.2.3 Prerequisites 211
- 6.14.2.4 Integration 212
- General description 213
- (p4400 = 1) 214
- Prerequisites 215
- General 216
- 6.16 Updating the firmware 217
- Upgrade the project 218
- Function modules 219
- 7.2 Technology controller 220
- 7.2.4 Examples 221
- 7.2.5 Integration 222
- Motorized potentiometer 223
- Closed-loop control 223
- 7.3.1 Features 224
- 7.3.2 Commissioning 225
- 7.3.3 Integration 225
- 7.4 Extended brake control 226
- 7.4.4 Examples 227
- 7.4.5 Integration 228
- Release/apply brake 229
- Free modules 229
- Brake monitoring functions 229
- 7.4 Extended brake control 230
- 7.5 Braking Module 231
- Acknowledgement of faults 232
- 7.6 Cooling system 233
- 7.6 Cooling system 234
- Commissioning via STARTER 235
- Description of the k 236
- estimator 236
- 7.8.1 General features 237
- 7.8.2.2 Description 238
- Function modules 239
- , for example 240
- 16 is automatically 240
- Tolerance window (p2722) 244
- 7.8.2.6 Integration 245
- 7.8.3 Position controller 246
- 7.8.4 Monitoring functions 247
- Figure 7-13 Cam controllers 248
- 7.8.6 Integration 250
- 7.9 Basic positioner 251
- 7.9 Basic positioner 252
- %DFNODVKS 253
- 7.9.2 Limits 255
- Software limit switches 256
- $FFHOHUDWLRQ>PVt@ 257
- 6SHHGPV 257
- 9HORFLW\PV 258
- 7.9.3 Referencing 259
- Set reference point 260
- Absolute encoder adjustment 260
- 7.9 Basic positioner 261
- On-the-fly homing 264
- 7.9.4 Traversing blocks 267
- POSITIONING 269
- FIXED STOP 270
- ENDLESS POS, ENDLESS NEG 270
- WAITING 271
- 7.9.5 Travel to fixed stop 272
- 7.9.5.2 Fixed stop reached 273
- 7.9.5.4 Cancel 274
- 2) can be entered (see 275
- 7.9.7 Jog 279
- 7.9.8 Status signals 280
- 7.10 DCC axial winder 282
- Function blocks 283
- Functional principle 284
- 7.10 DCC axial winder 285
- 7.10 DCC axial winder 286
- 7.11.1 Features 288
- 7.11.2 Integration 288
- 7.11.3 Description 289
- 7.11.4 Application examples 289
- 7.11.5 Commissioning 290
- 8.3 Block protection 293
- 8.5 Thermal motor protection 296
- 9.1 General information 299
- 9.1 General information 300
- 9.1.2 Supported functions 301
- 9.1 General information 303
- Checking the checksum 304
- Safety Integrated versions 304
- Password 305
- 9.2 Safety instructions 307
- 9.3 Safe Torque Off (STO) 308
- 9.3 Safe Torque Off (STO) 309
- Examples, Booksize: 310
- Release of the SS1 function 311
- Two-channel brake control 313
- Examples: 314
- Example: Terminal groups 317
- Commissioning notes 318
- 9.7.3 Safety faults 323
- Acceptance test 325
- 9.8.2 Documentation 326
- SI parameters 333
- Checksums 333
- Data backup 333
- Countersignatures 333
- Commissioning engineer 333
- 9.9 Application examples 334
- Description of functions 335
- Behavior for Emergency Stop 336
- Switching on the drives 337
- General information 341
- 10.1.2 Application classes 342
- 'ULYH 343
- 'ULYH 'ULYH 343
- 7HFKQRORJ\ 343
- $XWRPDWLRQ 343
- 352),%86352),1(7 343
- Dynamic Servo Control (DSC) 346
- 10.1.3 Cyclic communication 347
- Telegram interconnections 349
- The telegram structure 350
- Structure of the telegrams 350
- Interface Mode 352
- Procedure: 352
- CTW1 (control word 1) 355
- See function diagram [2475] 356
- CTW2 (control word 2) 358
- See function diagram [2476] 360
- See function diagram [2477] 360
- XERR (position deviation) 361
- A_DIGITAL 363
- STW1 (status word 1) 365
- See function diagram [2479] 367
- STW2 (status word 2) 368
- Bit Meaning Comments BICO 372
- 0 Not ready to start 372
- BO: r0899.0 372
- See function diagram [3645] 373
- AktSatz 374
- Example of encoder interface 375
- 0 No request 377
- ● See G1_CTW (table 4-19) 379
- Error code in Gn_XIST2 383
- Receive signals: 385
- Transmit signals: 385
- A_DIGITAL (digital outputs) 385
- See function diagram [2458] 386
- E_DIGITAL (digital inputs) 387
- MTn_ZS_F and MTn_ZS_S 388
- Example: central probe 389
- Structure of the data cycle 391
- 'HYLFH 393
- Task description 399
- Basic procedure 399
- Request reference mirrored 400
- Request reference = 40 402
- Subindex = 0 dec 26 403
- Master and slave 405
- Bus access method 406
- &RQWURO8QLW 410
- Setting the PROFIBUS address 411
- Device master file 412
- Commissioning for VIK–NAMUR 412
- Device identification 412
- 10.2.2.3 Diagnosis options 413
- Pro Tool and WinCC flexible 414
- Assumption: 416
- Settings: 416
- Sequence: 416
- Setting criteria for times 419
- Minimum times for reserves 419
- User data integrity 420
- Publisher 421
- Subscriber 422
- Links and taps 422
- Applications 422
- Setpoints 423
- Example, setpoint assignment 423
- ● Amount of data 424
- Settings in HW Config 426
- Procedure 426
- Commissioning in STARTER 431
- GSD File 434
- PROFINET 437
- Real-time communication 438
- 10.3.1.3 Addresses 439
- Definition: MAC address 439
- IP address 439
- IP address assignment 439
- Device name 439
- 10.3.2 Hardware setup 441
- References 442
- Clock generation 442
- Telegrams 442
- DCP flashing 442
- Step 7 routing with CBE20 443
- Connecting the supervisor 443
- 10.3.3 RT classes 444
- Set RT class 445
- Not isochronous 445
- Data exchange 445
- Refresh time 446
- Overview 446
- Sync domain 446
- Send clock/refresh time 447
- IO_Input 448
- CA_Start 448
- IO_Output 448
- Parameters 453
- FRQWDFWRU 454
- 11.3 Motor changeover 455
- 11.3 Motor changeover 456
- Preconditions: 457
- 11.3.4 Integration 459
- 11.4.1 Features 460
- 11.4.2 Description 460
- 11.5.1 Description 463
- (Servo) 465
- 12.1 Parameter 467
- 12.1 Parameter 468
- Resetting parameters 469
- Access level 469
- 12.2 Data sets 470
- 12.2.2 DDS: Drive Data Set 471
- EDS: Encoder Data Set 472
- 12.2.4 MDS: Motor Data Set 473
- Copying a command data set 474
- Copying a drive data set 474
- 12.2.5 Integration 475
- 12.3 Drive objects 476
- Overview of drive objects 477
- Configuring drive objects 477
- 12.4.1 Description 478
- Notation: 480
- ',; 482
- 12.4.7 Scaling 483
- 12.5 Inputs/outputs 484
- Digital inputs 485
- Digital outputs 486
- 12.5.3 Analog inputs 488
- 6PRRWKLQJ 489
- $GGLWLRQDO\IRU 489
- FXUUHQWRXWSXWHJ 489
- 'ULYH1R 490
- Information on the displays 491
- Information on the keys 491
- BOP20 functions 492
- Parameters for BOP 492
- All drive objects 492
- Drive object, Control Unit 492
- Operating display 493
- Parameter display 494
- Value display 495
- 9DOXHGLVSOD\ 496
- 3DUDPHWHUGLVSOD\ 496
- Displaying faults 497
- Displaying alarms 498
- Precondition: 499
- 12.8.2 Replacing a device 503
- 12.9 DRIVE-CLiQ topology 504
- 12.10.1 General rules 506
- Recommended rules 508
- Rules for FW2.1 510
- Rules for FW2.2 510
- Rules for FW2.3 511
- Rules for FW2.4 512
- Rules for FW2.5 SP1: 513
- (booksize) 514
- Blocksize 517
- Chassis 518
- 12.11.1 Introduction 521
- 12.12 System sampling times 523
- Introduction 524
- 12.12 System sampling times 526
- 12.13 Licensing 531
- Entering the license key 532
- ASCII code 533
- 12.13 Licensing 534
- Appendix 535
- Appendix 537
- A.3 List of abbreviations 541
- A.3 List of abbreviations 542
- A.3 List of abbreviations 543
- Index 555
- Automation and Drives 560
- Motion Control Systems 560
- Postfach 3180 560
- 91050 ERLANGEN 560
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