SIEMENS
13/19
Siemens D 21.4 · 2017
Tools and configuration
Configuration notes
SINAMICS S120 Control Units
13
■
Configuration
(continued)
Fundamental closed-loop control characteristics of SINAMICS S
•
Booksize format, pulse frequency 4 kHz, closed-loop torque control
Servo Control
Vector Control
Notes
Synchronous motor
1FK7
with R14DQ
1)
1FT7
Vector Control is not designed as an
operating mode for 1FK7/1FT7
synchronous motors.
Controller cycle
125
μ
s
125
μ
s
Rise time (without delay)
0.7 ms
0.5 ms
At a speed operating range from 50 rpm
for resolver.
Characteristic angular
frequency -3 dB
650 Hz
900 Hz
In this case, the dynamic response is
determined primarily by the encoder system.
Torque ripple
3 % of
M
0
0.6 % of
M
0
For a speed operating range of 20 rpm
up to rated speed.
A ripple of < 1 % is possible with an absolute
encoder
≤
1 rpm.
Not possible with resolver.
Torque accuracy
± 1.5 % of
M
0
± 1.5 % of
M
0
Measured value averaged over 3 s.
With motor identification and friction
compensation.
In the torque operating range up to ±
M
0
.
Speed operating range 1:10 up to rated
speed.
Attention:
External influences such as motor
temperature can cause an additional long-
time inaccuracy (constancy) of about ±2.5 %.
Approx. ±1 % lower accuracy in field-
weakening range.
Induction motor
1PH8
without encoder
1PH8
with incremental
encoder 1024 S/R
1PH8
without encoder
1PH8
with incremental
encoder 1024 S/R
Controller cycle
125
μ
s
125
μ
s
250
μ
s
250
μ
s
Total rise time (without delay)
–
0.8 ms
2 ms
1.2 ms
With encoderless operation in speed
operating range 1:10, with encoder 50 rpm
and above up to rated speed.
Characteristic angular
frequency -3 dB
–
600 Hz
250 Hz
400 Hz
With encoderless operation in speed
operating range 1:10.
The dynamic response is improved when
using an encoder (feedback signal).
Torque ripple
–
1.5 % of
M
rated
2 % of
M
rated
2 % of
M
rated
With encoderless operation in speed
operating range 1:20, with encoder 20 rpm
and above up to rated speed.
Torque accuracy
–
± 3.5 % of
M
rated
± 2 % of
M
rated
± 1.5 % of
M
rated
Measured value averaged over 3 s.
With motor identification and friction
compensation, temperature effects
compensated by KTY84 and mass model.
In torque operating range up to ±
M
rated
.
Approx. additional inaccuracy of ± 2.5 %
in field-weakening range.
Servo
: Speed operating range 1:10
referred to rated speed.
Vector
: Speed operating range 1:50
referred to rated speed.
1)
R14DQ: Resolver 14 bit (resolution 16384, internally 2-pole).
© Siemens AG 2017