Siemens SINAMICS S120 System Manual page 143

Velocity setpoint filter
The complexity of applying velocity setpoint filters means that it is not possible to provide
generally applicable, definitive guidelines for their use. However, criteria for selecting filters
and their parameters are defined below.
The velocity setpoint filters are used to adapt the velocity-controlled drive grouping to the
higher-level position control. You can choose between bandstop and low pass filters
(PT2/PT1).
The filter has the following tasks:
● Smooth the control response characteristic
● Dampen mechanical resonance
● Symmetrize different dynamic responses of axes, especially the response of interpolating
axes
Note
Low-pass filters can be employed on interpolating axis groupings to compensate for
differences in dynamic response in velocity control loops.
The total equivalent time constant (equivalent time constant of velocity control loop +
equivalent time constant of velocity setpoint filter) must be set to an identical value for all
mutually interpolating axes.
Entering damping values close to the minimum input limits results in overshoots in the
time range up to a factor of 2.
The filter is activated using p1414 (= 1) and deactivated (= 0). No filter is active in the default
setting. Using p1415, the type of velocity filter can be parameterized as PT1 or PT2 low-pass
or bandstop filter.
The main filter data are defined using p1416 to p1426.
The filter is deactivated if a value of 0 is entered in p1416.
Entering a value < 10 Hz as the low-pass natural frequency deactivates the filter.
Hydraulic Drive
System Manual, 04/2015, 6SL3097-4BA00-0BP1
Drive functions
5.3 Closed-loop velocity control
143