Vertical Axes - Siemens SINAMICS S120 Function Manual

Servo control

3.17 Vertical axes

● p2194[0...n] Torque threshold 2
● p2199.11 BO: Torque utilization < torque threshold value 2
3.17 Vertical axes
Description
With a vertical axis without mechanical weight compensation, electronic weight
compensation can be set by offsetting the torque limits (p1532). The torque limits specified in
p1520 and p1521 are shifted by this offset value.
The offset value can be read in r0031 and transferred in p1532.
To reduce compensation once the brake has been released, the torque offset can be
interconnected as a supplementary torque setpoint (p1513). In this way, the holding torque is
set as soon as the brake has been released.
Function diagrams (see SINAMICS S120/S150 List Manual)
● 5060 Torque setpoint, control type switchover
● 5620 Motor/generator torque limit
● 5630 Upper/lower torque limit
Overview of important parameters (see SINAMICS S120/S150 List Manual)
● r0031 Actual torque smoothed
● p1513[0...n] CI: Supplementary torque 2
● p1520[0...n] CO: Torque limit, upper/motoring
● p1521[0...n] CO: Torque limit, lower/regenerative
● p1532[0...n] CO: Torque limit, offset
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Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5
Drive functions