Siemens SINAMICS G130 Engineering Manual page 215

Servo control
Induction motor 1PH7/ 1PL6
without
encoder
Booksize format, pulse frequency 4 kHz, closed-loop speed control
125 μs
Controller cycle
Total rise time (rise 13 ms
time + dead time) (12 + 1)
Characteristic 40 Hz
angular frequency
-3 dB
Speed ripple See notes
Speed accuracy 0.1 x f
slip
Chassis format, pulse frequency 2 kHz, closed-loop torque control
250 μs
Controller cycle
Total rise time (rise -
time + dead time)
Characteristic -
angular frequency
-3 dB
Torque ripple -
Torque accuracy -
Vector control
1PH7/ 1PL6 1PH7/ 1PL6
with without
incrementtal encoder
encoder
1024
.
pulses/rev
125 μs 250 μs
5 ms 12 ms
(4 + 1) (11 + 1)
120 Hz 50 Hz
See notes See notes
≤ 0.001 %
0.05 x f
slip
of n
rated
250 μs 250 μs
2.6 ms 3.5 ms
(1.6 + 1) (2.5 + 1)
350 Hz 200 Hz
2 % of M 2.5 % of
rated
M
rated
±3.5 % ±2 % of
of M M
rated rated
Notes
1PH7/ 1PL6
with incremental
encoder
1024 pulses/rev.
250 μs
8 ms With encoderless operation in speed operating
(7 + 1) range 1:10, with encoder 50 rpm and above up to
rated speed.
A dead time of 1 ms is the default setting for
PROFIBUS DP.
80 Hz With encoderless operation in speed operating
range 1:10. The dynamic response is enhanced by
an encoder feedback.
Servo with encoder is slightly more favorable than
Vector with encoder, as the speed controller cycle
with Servo is quicker.
See notes Mainly determined by the total mass moment of
inertia, the torque ripple and, most importantly, the
mechanical design.
It is not therefore possible to specify a generally
valid value.
≤ 0.001 %
Without encoder: Determined primarily by the
of n accuracy of the calculation model for the torque-
rated
producing current and rated slip of the
asynchronous motor (see table "Typical slip
values").
With speed operating range 1: 50 (Vector) or 1:10
(Servo) and with active temperature evaluation.
250 μs
2.6 ms With encoderless operation in speed operating
(1.6 + 1) range 1:10, with encoder 50 rpm and above up to
rated speed.
A dead time of 1 ms is the default setting for
PROFIBUS DP.
300 Hz With encoderless operation in speed operating
range 1:10. The dynamic response is enhanced by
an encoder feedback.
2 % of M With encoderless operation in speed operating
rated
range 1:20, with encoder 20 rpm and above up to
rated speed.
±1.5 % Measured value averaged over 3 s.
of M
rated With motor identification and friction compensation;
temperature effects compensated by KTY84 and
mass model. In torque operating range up to
±M . Approx. additional inaccuracy of ± 2.5 % in
rated
field-weakening range.
Servo: Speed operating range 1:10 referred to
rated speed.
Vector: Speed operating range 1:50 referred to
rated speed.
SINAMICS Engineering Manual - May 2008
SINAMICS S120
Engineering Information
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