Siemens SINAMICS S120 Function Manual page 596

Function modules
8.14 Advanced Position Control (including Active Vibration Suppression)
For SINAMICS with SINUMERIK, this involves a machine license within SINUMERIK. The
license can be activated in SINUMERIK Operate in the menu "Commissioning > Licenses".
(The general machine data 19308.1 is set = 1). Activation means that the NC must be
switched on (power on).
Preassigning parameters
It makes sense to assign some APC parameters in advance.
Default value
p3702: APC load speed/motor
speed weighting
p3778: APC speed limit
p3779: APC speed limit monitoring
time
Selecting the direct measuring
system
Using an external acceleration
sensor
Optional: Taking into account the
setpoint acceleration of the axis
After preassigning the parameters, carry out a RAM to ROM data backup.
Note
Using p3749
• When interconnecting a speed actual value from another axis, we recommend that the
"Speed information available" bit (r1992.11) is evaluated (e.g. interconnect to an external
fault p2106 ... p2108).
• To avoid an additional dead time as a result of the calculation sequence, we recommend
that the drive object of signal source of p3749 is set with a higher priority (p7900).
596
Explanation
For reasons relating to the compatibility to older software releases, the value is pre-
assigned 1 To optimize the encoder combination, a starting value of 0 is set.
Setting the limit for the APC output value. For Siemens standard motors (1FT, 1FK)
with rated speeds in the range 2000 ... 6000 rpm, then it makes sense to have a
speed limit of about 500 rpm. The limit can be set, so that the required manipulated
variable of the APC controller is reached.
Monitoring time for speed limiting. A suitable value is 50 ms.
If a direct measuring system is used, then this must be selected for the APC. As
standard, the second drive measuring system (p3701 = [2] encoder 2) is used. A
possibly existing third measuring system (p3701 = [3] encoder 3) can be used.
Further, a measuring system from another signal source can be used. To do this,
BICO sink p3749 provided for the purpose is wired (set the signal scaling using
p3748). This is activated using p3700.9 = 1 (p3701 is then ignored). This case is
especially interesting for master-slave axes (see also the example provided in Chap-
ter "APC with load velocity control (Page 616)").
The acceleration sensor must be integrated into the system (e.g. using a TM31 mod-
ule). The function is activated in the APC using p3700.1 = 1. The acceleration sensor
signal must be wired to BICO sink p3750. For this purpose, a highpass filter to filter
low frequencies can be set in p3751.
For applications where a high contour precision is required (in the mold making area)
we recommend that p3700.3 is set = 1. This means that the actual setpoint accelera-
tion of the axis is taken into account in the APC calculation.
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
Drive functions