Siemens SINAMICS S120 Function Manual page 99

● The following factors are monitored by the current controller and therefore always apply in
addition to torque limitation:
– Stall power
– Maximum torque-generating current
● Offset of the setting values also possible (see "Example: Torque limits with or without
offset").
● The following torque limits are displayed via parameters:
– Lowest of all upper torque limits with and without offset
– Highest of all lower torque limits with and without offset
Torque limiting versions
The following versions are available:
● No settings are possible:
The application does not require any additional restrictions to the torque limits.
● Fixed limits are required for the torque:
The fixed upper and lower limits or alternatively the fixed motor and regenerative limits
can be specified separately from different sources.
● Dynamic limits are required for the torque:
– The dynamic upper and lower limits or alternatively the dynamic motor and
– Parameters are used to select the source of the actual limit.
● A torque offset can be parameterized.
● In addition, the power limits can be parameterized independently of one another for motor
and regenerative mode.
Negative values at r1534 or positive values at r1535 represent a minimum torque for the
other torque directions and can cause the drives to rotate if no counteractive load torque is
generated (see function diagram 5630 in the SINAMICS S120/S150 List Manual).
Uncontrolled movement of the drive as a result of incorrect parameter assignment
If there is no opposing (load) torque, incorrect parameterization of the torque limits can
result in uncontrolled drive motion, therefore resulting in death or severe injury.
• Ensure that the limits are correctly parameterized.
Drive functions
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
regenerative limit can be specified separately from different sources.
WARNING
Servo control
4.5 Torque setpoint limitation
99