Siemens SINAMICS S120 Function Manual page 583

For the "APC without sensor on the load side" function, parameters p0341, p0342 and p1498
are used to calculate to the moment of inertia. Parameters p0341 and p0342 are dependent on
the motor data set. Parameter p1498 is dependent on DDS. These parameters can be used to
emulate, for example, different load states of the axis for different APC settings.
Activation parameter p3700 is not dependent on any parameter set. The configuration of APC
acts the same on all data sets.
The BICO sinks for the acceleration sensor (p3750) and for the velocity actual value (p3749)
are dependent on CDS. If CDS data sets have been created, then these two parameters must
be appropriately handled.
Application on master-slave axes
On axes which form a master-slave group with multiple drives, only one direct measuring
system is generally integrated. In this particular case, the direct measuring system is assigned
to the master. You must observe the following if you want to use APC on a master-slave axis
with direct measuring system:
● The efficiency of APC may be reduced if only the master is parameterized.
● To increase the efficiency, also parameterize the slave drives with APC via the BICO link of
the speed actual value.
Parameterizing slave drives
Proceed as follows to parameterize slave drives with APC:
1. p3700.9 = 1
2. p3749 = Master.r3771[0]
3. p3748: The scaling must be appropriately set.
When parameterizing, you must also take into account the following conditions:
– Different gearbox ratios
– Different directions of rotation
– The ratio of the scaling parameters p2000 if the motors used for the master and slave
If the parameter has been correctly set, then Slave.r3771[0] must = Master.r3771[0].
Other remarks
In this document, APC has been subdivided into several subfunctions. APC allows these
subfunctions to be almost arbitrarily combined as required. References have been made to
applications for which a certain combination appears to make sense - or not.
The speed controller acts as control loop subordinate to the APC control loop. As a
consequence, we recommend that the Kp/Tn adaptation of the speed controller is deactivated
(p1400.5 = 0).
Drive functions
Function Manual, 06/2019, 6SL3097-5AB00-0BP2
9.14 Advanced Position Control (including Active Vibration Suppression)
have different rated speeds.
Function modules
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