Setting The Permissible Residual Sway; Settings To Monitor The Oscillation State; Setting The Damping Factor - Siemens SIMOTION D4x5-2 DP/PN Operating Instructions Manual

9.4.2.4

Setting the permissible residual sway

Set the parameters for residual sway (P169, P170) only as low as required. Values that are too
low can have the following effects due to dead times in the communication of all components:
● Residual sway after stopping
● Delay in reaching the target position
Table 9-3
Control method
Conventional control
Time-optimized control
Note
If parameter P169 is operative, the SC_COMPLETED status bit is set when the set residual
sway is reached. Elimination of the sway continues with the maximum possible accuracy
however.
You can therefore decide whether elimination of the sway should cease when the
parameterized residual sway is reached, or whether it should continue so as to reduce the
residual sway even further.
Note
If parameter P170 is operative, the SC_COMPLETED status bit is set when the set residual
sway is reached and sway elimination is terminated immediately.
It is therefore possible to prevent higher levels of dynamic stress at the end of acceleration with
the time-optimized control method. The residual sway at the end of acceleration may be greater
than the residual sway at the end of stopping.
9.4.2.5

Settings to monitor the oscillation state

Set parameters P156 and P159 as described in Chapter Monitoring the oscillation state
(Page 371).
9.4.2.6

Setting the damping factor

A damping factor (P85, P86) for the trolley can be set separately for the acceleration and
deceleration phases. Higher values (approximately > 1.4) result in non-periodic transient
responses, lower values (approximately < 1.4) in overshoot. Damping factors close to the
default settings represent a compromise between short rise time and slight overshoot. We
recommend leaving the parameter at the default value.
The difference between the damping factors for acceleration and deceleration should not be
too large, as the output velocity can otherwise change abruptly during the transition to the
deceleration phase.
SC integrated STS, GSU
Operating Instructions, 07/2019, A5E48271265B AA
Residual sway as a function of the control method
Parameter operative at
end of acceleration:
P169
P170
Commissioning AddOn Software
9.4 Sway control commissioning
Parameter operative at end of
deceleration:
P169
P169
339